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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Contact-dependent growth inhibition (CDI) systems deploy a large family of polymorphic ionophoric toxins for inter-bacterial competition

Contact-dependent growth inhibition (CDI) is a widespread form of inter-bacterial competition mediated by CdiA effector proteins. CdiA is presented on the inhibitor cell surface and delivers its toxic C-terminal region (CdiA-CT) into neighboring bacteria upon contact. Inhibitor cells also produce CdiI immunity proteins, which neutralize CdiA-CT toxins to prevent auto-inhibition. Here, we describe a diverse group of CDI ionophore toxins that dissipate the transmembrane potential in target bacteria. These CdiA-CT toxins are composed of two distinct domains based on AlphaFold2 modeling. The C-terminal ionophore domains are all predicted to form five-helix bundles capable of spanning the cell membrane. The N-terminal "entry" domains are variable in structure and appear to hijack different integral membrane proteins to promote toxin assembly into the lipid bilayer. The CDI ionophores deployed by E. coli isolates partition into six major groups based on their entry domain structures. Comparative sequence analyses led to the identification of receptor proteins for ionophore toxins from groups 1 & 3 (AcrB), group 2 (SecY) and groups 4 (YciB). Using forward genetic approaches, we identify novel receptors for the group 5 and 6 ionophores. Group 5 exploits homologous putrescine import proteins encoded by puuP and plaP, and group 6 toxins recognize di/tripeptide transporters encoded by paralogous dtpA and dtpB genes. Finally, we find that the ionophore domains exhibit significant intra-group sequence variation, particularly at positions that are predicted to interact with CdiI. Accordingly, the corresponding immunity proteins are also highly polymorphic, typically sharing only ~30% sequence identity with members of the same group. Competition experiments confirm that the immunity proteins are specific for their cognate ionophores and provide no protection against other toxins from the same group. The specificity of this protein interaction network provides a mechanism for self/nonself discrimination between E. coli isolates.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2023

COLLABORATIVE DEVELOPMENT PROJECTS - PHOTONIC MEMORY CONTROLLER MODULE (P-MCM)

As computational density for high-performance computing and big-data services continues to scale, performance scalability of next generation computing systems is becoming increasingly constrained by limitations in memory access, power dissipation and chip packaging. The processor-memory communication bottleneck, a major challenge in current multicore processors due to limited pin-out and power budget, presents a detrimental scaling barrier to data-intensive computing. A consortium team of small businesses and leading researchers that includes experts from photonics processor-memory architecture, III/V photonic laser design/fabrication, silicon photonics design/fabrication, photonics packaging and assembly, and FPGA-based high-performance memory controller IP development – to collaboratively develop a commercialization path for a Photonic Memory Controller Module (P-MCM).

97 MATHEMATICS AND COMPUTING↗
NASA NTRS2005

Wake Vortex Tracking Using a 35 GHz Pulsed Doppler Radar

A 35 GHz, pulsed-Doppler radar system has been designed and assembled for wake vortex detection and tracking in low visibility conditions. Aircraft wake vortices continue to be an important factor in determining safe following distances or spacings for aircraft in the terminal area. Currently, under instrument meteorological conditions (IMC), aircraft adhere to conservative, fixed following-distance guidelines based primarily on aircraft weight classifications. When ambient conditions are such that vortices will either drift or dissipate, leaving the flight corridor clear, the prescribed spacings are unnecessarily long and result in decreased airport throughput. There is a potential for significant airport efficiency improvement, if a system can be employed to aid regulators and pilots in setting safe and efficient following distances based on airport conditions. The National Aeronautics and Space Administration (NASA), the Federal Aviation Agency, and Volpe National Transportation Systems Center have promoted and worked to develop systems that would increase airport capacity and provide for safe reductions in aircraft separation. The NASA Aircraft Vortex Spacing System (AVOSS), a wake vortex spacing system that can provide dynamic adjustment of spacings based on real-time airport weather conditions, has demonstrated that Lidar systems can be successfully used to detect and track vortices in clear air conditions. To fill the need for detection capability in low-visibility conditions, a 35 GHz, pulsed-Doppler radar system is being investigated for use as a complimentary, low-visibility sensor for wake vortices. The radar sensor provides spatial and temporal information similar to that provided by Lidar, but under weather conditions that a Lidar cannot penetrate. Currently, we are analyzing the radar design based upon the data and experience gained during the wake vortex Lidar deployment with AVOSS at Dallas/Fort Worth International Airport. As part of this study, two numerical models were utilized in system simulations. The results of this study improve our understanding of the method of detection, resolution requirements for range and azimuth, pulse compression, and performance prediction. Simulations applying pulse compression techniques show that detection is good in heavy fog to greater than 2000 m. Both compressed and uncompressed short pulses show the vortex structure. To explore operational challenges, siting and scanning strategies were also analyzed. Simulation results indicate that excellent wake vortex detection, tracking and classification is possible in drizzle (+15 dBZ) and heavy fog (- 13 dBZ) using short pulse techniques (<99ns) at ranges on the order of 900 m, with a modest power of 500 W output. At 1600 m, detection can be expected at reflectivities as low as -13 dBZ (heavy fog). The radar system, as designed and built, has the potential to support field studies of a wake vortex spacing system in low-visibility conditions ranging from heavy fog to rain, when sited within 2000m of the flight path.

Neece, Robert T.↗
NASA NTRS2020

Efficient Thermal Management for Sampling Arm Actuators

An electric actuator incorporating novel features for thermal management is designed and analyzed. Reducing intra-actuator thermal resistance is not only beneficial for cold missions (helping to pre-heat the gearbox) but can also enable high power applications in benign environments. The proposed design increases the thermal conductance between the motor windings and the motor casing by at least two orders of magnitude over the state of practice actuator designs. The design leverages Additive Manufacturing (AM) to integrate a complex 3 dimensional Oscillating Heat Pipe (OHP) directly within the actuator structure. A baseline actuator without this thermal management feature was fabricated. Testing was conducted to evaluate the temperature difference between actuator components at a range of motor winding heat dissipations. An analysis of a proposed revised design incorporating OHPs into the input structure indicated an increase in the effective thermal conductivity of 8 and 22 times for the nominal and start-up modes respectively. In addition, the thermal conductance between the windings and the input structure is increased by a factor of 90, and the thermal conductance between the windings and the gear assembly is increased by a factor of 200 with the proposed design.

Odagiri, Kimihide↗
NASA NTRSDate not supplied

Design of a Dynamic Radioisotope Power System Generator Testbed

The DRPS Testbed is a configurable laboratory test article designed to demonstrate the latest topology of a dynamic radioisotope power system generator. It utilizes an array of Stirling convertors arranged around a centrally located heat source that is radiantly coupled to the convertor hot ends. The Testbed is designed to dissipate all the waste heat through the housing and is outfitted with means for auxiliary cooling methods as well. During the past three years, the team at NASA’s Glenn Research Center has been designing and analyzing the various aspects of the DRPS Testbed. Currently, the parts for the Testbed are being manufactured, and the team is focusing on developing the test stand, supporting hardware, and assembly and operation procedures in preparation for the anticipated first operation of the DRPS Testbed in summer of 2022.

Ernestina Wozniak↗
NASA NTRS2013

Silicon Heat Pipe Array

Improved methods of heat dissipation are required for modern, high-power density electronic systems. As increased functionality is progressively compacted into decreasing volumes, this need will be exacerbated. High-performance chip power is predicted to increase monotonically and rapidly with time. Systems utilizing these chips are currently reliant upon decades of old cooling technology. Heat pipes offer a solution to this problem. Heat pipes are passive, self-contained, two-phase heat dissipation devices. Heat conducted into the device through a wick structure converts the working fluid into a vapor, which then releases the heat via condensation after being transported away from the heat source. Heat pipes have high thermal conductivities, are inexpensive, and have been utilized in previous space missions. However, the cylindrical geometry of commercial heat pipes is a poor fit to the planar geometries of microelectronic assemblies, the copper that commercial heat pipes are typically constructed of is a poor CTE (coefficient of thermal expansion) match to the semiconductor die utilized in these assemblies, and the functionality and reliability of heat pipes in general is strongly dependent on the orientation of the assembly with respect to the gravity vector. What is needed is a planar, semiconductor-based heat pipe array that can be used for cooling of generic MCM (multichip module) assemblies that can also function in all orientations. Such a structure would not only have applications in the cooling of space electronics, but would have commercial applications as well (e.g. cooling of microprocessors and high-power laser diodes). This technology is an improvement over existing heat pipe designs due to the finer porosity of the wick, which enhances capillary pumping pressure, resulting in greater effective thermal conductivity and performance in any orientation with respect to the gravity vector. In addition, it is constructed of silicon, and thus is better suited for the cooling of semiconductor devices.

Yee, Karl Y.↗
NASA NTRSDate not supplied

Design of a Dynamic Radioisotope Power System Generator Testbed

The Dynamic Radioisotope Power System (DRPS) Testbed is a configurable laboratory test article designed to demonstrate the latest topology of a dynamic radioisotope power system generator. It utilizes an array of Stirling convertors arranged around a centrally located heat source that is radiantly coupled to the convertor hot ends. The Testbed is designed to dissipate all the waste heat through the housing and is outfitted with means for auxiliary cooling methods as well. During the past three years, the team at NASA’s Glenn Research Center (GRC) has been designing and analyzing the various aspects of the DRPS Testbed. Currently, the parts for the Testbed are being manufactured, and the team is focusing on developing the test stand, supporting hardware, and assembly and operation procedures in preparation for the anticipated first operation of the DRPS Testbed in summer of 2022.

Generator↗
DOE OSTI2021

Design and evaluation of an open-source, conformable skin-cooling system for body magnetic resonance guided focused ultrasound treatments

Magnetic resonance guided focused ultrasound (MRgFUS) treatment of tumors uses inter-sonication delays to allow heat to dissipate from the skin and other near-field tissues. Despite inter-sonication delays, treatment of tumors close to the skin risks skin burns. This work has designed and evaluated an open-source, conformable, skin-cooling system for body MRgFUS treatments to reduce skin burns and enable ablation closer to the skin. A MR-compatible skin cooling system is described that features a conformable skin-cooling pad assembly with feedback control allowing continuous flow and pressure maintenance during the procedure. System performance was evaluated with hydrophone, phantom and in vivo porcine studies. Sonications were performed 10 and 5 mm from the skin surface under both control and forced convective skin-cooling conditions. 3D MR temperature imaging was acquired in real time and the accumulated thermal dose volume was measured. Gross analysis of the skin post-sonication was further performed. Device conformability was demonstrated at several body locations. Hydrophone studies demonstrated no beam aberration, but a 5–12% reduction of the peak pressure due to the presence of the skin-cooling pad assembly in the acoustic near field. Phantom evaluation demonstrated there is no MR temperature imaging precision reduction or any other artifacts present due to the coolant flow during MRgFUS sonication. The porcine studies demonstrated skin burns were reduced in size or eliminated when compared to the control condition. An open-source design of an MRgFUS active skin cooling system demonstrates device conformability with a reduction of skin burns while ablating superficial tissues.

60 APPLIED LIFE SCIENCES↗
NASA NTRS2012

Multi-Mission Radioisotope Thermoelectric Generator Heat Exchangers for the Mars Science Laboratory Rover

The addition of the Multi-Mission Radioisotope Thermoelectric Generator (MMRTG) to the Mars Science Laboratory (MSL) Rover requires an advanced thermal control system that is able to both recover and reject the waste heat from the MMRTG as needed in order to maintain the onboard electronics at benign temperatures despite the extreme and widely varying environmental conditions experienced both on the way to Mars and on the Martian surface. Based on the previously successful Mars landed mission thermal control schemes, a mechanically pumped fluid loop (MPFL) architecture was selected as the most robust and efficient means for meeting the MSL thermal requirements. The MSL heat recovery and rejection system (HRS) is comprised of two Freon (CFC-11) MPFLs that interact closely with one another to provide comprehensive thermal management throughout all mission phases. The first loop, called the Rover HRS (RHRS), consists of a set of pumps, thermal control valves, and heat exchangers (HXs) that enables the transport of heat from the MMRTG to the rover electronics during cold conditions or from the electronics straight to the environment for immediate heat rejection during warm conditions. The second loop, called the Cruise HRS (CHRS), is thermally coupled to the RHRS during the cruise to Mars, and provides a means for dissipating the waste heat more directly from the MMRTG as well as from both the cruise stage and rover avionics by promoting circulation to the cruise stage radiators. A multifunctional structure was developed that is capable of both collecting waste heat from the MMRTG and rejecting the waste heat to the surrounding environment. It consists of a pair of honeycomb core sandwich panels with HRS tubes bonded to both sides. Two similar HX assemblies were designed to surround the MMRTG on the aft end of the rover. Heat acquisition is accomplished on the interior (MMRTG facing) surface of each HX while heat rejection is accomplished on the exterior surface of each HX. Since these two surfaces need to be at very different temperatures in order for the fluid loops to perform efficiently, they need to be thermally isolated from one another. The HXs were therefore designed for high in-plane thermal conductivity and extremely low through-thickness thermal conductivity by using aluminum facesheets and aerogel as insulation inside a composite honeycomb core. Complex assemblies of hand-welded and uniquely bent aluminum tubes are bonded onto each side of the HX panels, and are specifically designed to be easily mated and demated to the rest of the RHRS in order to ease the integration effort.

Mastropietro, A. J.↗
DOE OSTI2020

Connecting energetics to dynamics in particle growth by oriented attachment using real-time observations

The interplay between crystal and solvent structure, interparticle forces and ensemble particle response dynamics governs the process of crystallization by oriented attachment (OA), yet a quantitative understanding is lacking. Using as a model system ZnO, we combine in situ TEM observations of single particle and ensemble assembly dynamics with simulations of interparticle forces and responses to relate experimentally derived interparticle potentials to the underlying interactions. We show that OA is driven by forces and torques due to a combination of electrostatic ion-solvent correlations and dipolar interactions that act at separations well beyond 5 nm. Importantly, coalignment is achieved before particles reach separations at which strong attractions drive the final jump to contact. The observed barrier to attachment is negligible, while dissipative factors in the quasi-2D confinement of the TEM fluid cell lead to abnormal diffusivities with timescales for rotation much less than for translation, thus enabling OA to dominate.

36 MATERIALS SCIENCE↗
NASA NTRS1988

Standardization of the carbon-phenolic materials and processes. Vol. 2: Test methods and specifications

Carbon-phenolic composite materials are used in the ablation process in the nozzles of the Space Shuttle Main Engine. The nozzle is lined with carbon cloth-phenolic resin composites. The extreme heat and erosion of the burning propellant are controlled by the carbon-phenolic composite by means of ablation, a heat and mass transfer process in which a large amount of heat is dissipated by sacrificailly removing material from a surface. Phenolic materials ablate with the initial formation of a char. The depth of the char is a function of the heat conduction coefficient of the composite. The char layer is a poor conductor so it protects the underlying phenolic composite from the high heat of the burning propellant. The nozzle component ablative liners (carbon cloth-phenolic resin composites) are tape wrapped, hydroclave and/or autoclave cured, machined and assembled. The tape consists of prepreg broadcloth. The materials flow sheet for the nozzle ablative liners is given. The prepreg is a three component system: phenolic resin, carbon cloth, and carbon filler. This is Volume 2 of the report, Test Methods and Specifications.

Hall, William B.↗
NASA NTRS1991

A high-temperature furnace for applications in microgravity

Technology in the area of material processing and crystal growth has been greatly furthered by research in microgravity environments. The role of efficient, lightweight furnaces with reliable performance is crucial in these experiments. A need exists for the development of a readily duplicated, high-temperature furnace satisfying stringent weight, volume, and power constraints. A furnace was designed and is referred to as the UAH SHIELD. Stringent physical and operating characteristics for the system were specified, including a maximum weight of 20 kg, a maximum power requirement of 60 W, and a volume of the furnace assembly, excluding the batteries, limited to half a Get-Away-Special canister. The UAH SHIELD furnace uses radiation shield and vacuum technology applied in the form of a series of concentric cylinders enclosed on either end with disks. Thermal testing of a furnace prototype was performed in addition to some thermal and structural analysis. Results indicate the need for spacing of the shields to accommodate the thermal expansion during furnace operation. In addition, a power dissipation of approximately 100 W and system weight of approximately 30 kg was found for the current design.

Source record↗
NASA NTRS2004

Thermally Insulating, Kinematic Tensioned-Fiber Suspension

A salt pill and some parts of a thermally insulating, kinematic suspension system that holds the salt pill rigidly in an adiabatic-demagnetization refrigerator (ADR) is presented. "Salt pill" in this context denotes a unit comprising a cylindrical container, a matrix of gold wires in the container, and a cylinder of ferric ammonium alum (a paramagnetic salt) that has been deposited on the wires. The structural members used in this system for both thermal insulation and positioning are aromatic polyamide fibers (Kevlar(R) or equivalent) under tension. This suspension system is designed to satisfy several special requirements to ensure the proper operation of the ADR. These requirements are to (1) maintain the salt pill at a specified position within the cylindrical bore of an electromagnet; (2) prevent vibrations, which would cause dissipation of heat in the salt pill; and (3) minimize the conduction of heat from the electromagnet bore and other neighboring objects to the salt pill; all while (4) protecting the salt pill (which is fragile) against all tensile and bending loads other than those attributable to its own weight. In addition, the system is required to consist of two subsystems -- one for the top end and one for the bottom end of the salt pill -- that can be assembled and tensioned separately from each other and from the salt pill, then later attached to the salt pill.

Voellmer, George M.↗
DOE OSTI2022

Nanoporous Titanium (Oxy)nitride Films as Broadband Solar Absorbers

Broadband absorption of solar light is a key aspect in many applications that involve an efficient conversion of solar energy to heat. Titanium nitride (TiN)-based materials, in the form of periodic arrays of nanostructures or multilayers, can promote significant heat generation upon illumination thanks to their efficient light absorption and refractory character. In this work, pulsed laser deposition was chosen as a synthesis technique to shift metallic bulk-like TiN to nanoparticle-assembled hierarchical oxynitride (TiO x N y ) films by increasing the background gas deposition pressure. The nanoporous hierarchical films exhibit a tree-like morphology, a strong broadband solar absorption (~90% from the UV to the near-infrared range), and could generate temperatures of ~475 °C under moderate light concentration (17 Suns). The high heat generation achieved by treelike films is ascribed to their porous morphology, nanocrystalline structure, and oxynitride composition, which overall contribute to a superior light trapping and dissipation to heat. These properties pave the way for the implementation of such films as solar absorber structures.

14 SOLAR ENERGY↗
DOE OSTI2020

Self‐Assembled NiO Nanocrystal Arrays as Memristive Elements

Abstract Memristive switching, a nonlinear current–voltage ( I – V ) characteristic, has seen a tremendous surge in interest as an approach to achieve implementation of synaptic functions. The memristive switching behavior of self‐assembled NiO nanocrystals is investigated via scanning probe microscopy, based on first‐order reversal curve current–voltage spectroscopy. Synaptic switching is clearly observed as a direct consequence of filament growth (i.e., gradually increased conductance) in the nanocrystals. A spatial dependency of the conduction in the nanocrystals suggests that there is a localization of the switching filament. The current understanding of this localization ignores features related to local lateral variation current, which can generate an excessive local heat and temperature such as electrical dissipation. The observation of low electrical dissipation at the edge of the nanocrystals shows that less energy is wasted as heat such that the bias applied can be utilized more efficiently to assist the nucleation of the filament and thus reduces the power consumption. Electrical power dissipation is also found to scale with nanocrystal height and has spatial dependence within the nanocrystals. The combination of synaptic switching and high density of the nanocrystals demonstrate that it is feasible to exploit them to create a basic architecture for neuromorphic memory devices.

Kurnia, Fran↗
NASA NTRSDate not supplied

Quantifying Leak Rates and Vacuum Impact on Granular Soil Column Pneumatic Seal

Introduction: All In-Situ Resource Utilization (ISRU) regolith reactor systems that aim to extract gases or vapors must maintain a seal along the flow path of the regolith from the inlet hopper to where extracted gases or vapors are generated. Using a column of regolith at the inlet has been proposed as an alternative to systems using series of mechanical valves to reduce mass and complexity. Preliminary investigations into the use of regolith itself as a barrier to escaping fluids have been conducted, which this research seeks to expand upon. Different vertical regolith simulant plug diameters and heights were tested under vacuum with dry nitrogen to observe leak rates and approximate steady state pressure gradient equilibria. The effect of absolute ambient pressure was also studied by repeating tests at incremental pressures ranging from 10e-5 Torr up to 1 atm to corroborate ambient bench tests from previous work. The impact of regolith dynamics was addressed to emulate continuous-feed regolith reaction processes by measuring leak rates through continuously draining simulant columns. OB-1 lunar highlands regolith simulant was used. Experimental Setup: Regolith simulant columns were constructed using a motorized butterfly valve separating upper acrylic tubes of various diameters from a larger, lower aluminum pipe plenum (See Figure 1). The butterfly valve was cracked open such that gas could freely pass through whereas regolith would bridge and stay suspended as a cohesive plug above in the acrylic portion. These assemblies were loaded into a vacuum chamber, and a compressed dry nitrogen line was routed into the lower plenum. Pressure transducers measured the absolute pressure of the lower plenum, which was compared to absolute chamber pressure to monitor the pressure gradient across the regolith simulant. A precision mass flow controller enabled fine control of plenum pressure. The plenum pressure was quasi-statically increased to set points informed by previous work [1] before shutting off the gas supply to allow the now pressurized gas volume to dissipate through the simulant into the chamber in what was referred to as a ‘leak test.’ In a separate set of tests, the pressure was allowed to quasi-statically build until visual disturbances in the soil were observed via remote camera feeds. Initial leak rate tests were repeated on the disturbed soil to observe changes in leak rates between initial as-poured and post-bubbling soil conditions. This test schedule was applied to simulant columns of three different diameters (approximately 2, 4, and 6 inches) as well as two different heights (around 8 and 16 inches) and was repeated at least three times for each configuration. Plenums were also pressurized while the butterfly valves were opened slightly further to facilitate slow, controlled, constant flowrate draining of the simulant to observe the impact that continuous-feed systems might have on leak rate through the regolith column. Finally, the regolith columns were reset and refilled and static leak rate tests were repeated approximately every decade in ambient pressure from 10e-5 Torr up to ambient conditions to observe the impact of transitioning out of the molecular flow regime on regolith column seal performance. Analysis: Trends with respect to each factor examined were constructed and reported alongside commentary on the most likely responsible physical phenomena. Confidence intervals were applied to the predictive findings of the data by quantifying instrumentation error and accounting for probabilistic impacts of curve fitting the generic exponential function onto pressure decay data. The leak rate is assumed directly proportional to the exponential term coefficient, while the steady-state static pressure gradient is assumed to be the asymptotic limit of each curve fit. Finally, a generic model developed by Ogino et al. [2] and later tuned for ambient testing was re-tuned using vacuum data to estimate leak rates on the lunar surface. Results: Pressure decay rates decreased up to 27-fold under vacuum when compared to ambient pressure, as shown in Figure 2. Simulant column diameter was found to exponentially correlate to both regolith column leak rate and steady-state equilibrium pressure delta. Height was found to be linearly related to leak rate –doubling the regolith column height consistently yielded around a 40% reduction in leak rate. Dynamic regolith draining was found to slightly increase leak rate, although to a lower degree than expected. Conclusion: Because of the transition into molecular gas flow through regolith, vacuum testing is required to properly estimate performance. Regolith columns should be designed as narrow as possible to avoid bridging and minimize leak rate, and as tall as is feasible to both further reduce leak rate and to help prevent bubbling, which has been shown to degrade the quality of the regolith seal. Disrupted soil was found to exhibit higher leak rates than pristine, as-poured soil, indicating the need to consider the impact of recovery from depressurization events. Regolith columns appear equally feasible for both dosed and continuous-feed reactors.

ISRU↗
NASA NTRS1996

Experimental Validation of an Integrated Controls-Structures Design Methodology

The first experimental validation of an integrated controls-structures design methodology for a class of large order, flexible space structures is described. Integrated redesign of the controls-structures-interaction evolutionary model, a laboratory testbed at NASA Langley, was described earlier. The redesigned structure was fabricated, assembled in the laboratory, and experimentally tested against the original structure. Experimental results indicate that the structure redesigned using the integrated design methodology requires significantly less average control power than the nominal structure with control-optimized designs, while maintaining the required line-of-sight pointing performance. Thus, the superiority of the integrated design methodology over the conventional design approach is experimentally demonstrated. Furthermore, amenability of the integrated design structure to other control strategies is evaluated, both analytically and experimentally. Using Linear-Quadratic-Guassian optimal dissipative controllers, it is observed that the redesigned structure leads to significantly improved performance with alternate controllers as well.

Maghami, Peiman G.↗