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At least 1,261 records · Page 70

Assessments of data centers for provision of frequency regulation

There are numerous opportunities for data centers to participate in demand response programs considering their large energy capacities, flexible working environments and workloads, redundant design and operation, etc. As a type of demand response, frequency regulation requires fast response, and its potential is not fully explored by data centers yet. This paper proposes a synergistic control strategy for data center frequency regulation which uses both IT and cooling systems. It combines power management techniques at the server level with control of the chilled water supply temperature to track the regulation signal from the electrical market. A frequency regulation flexibility factor is also proposed to increase the IT capacity for frequency regulation. The performance of the control strategy is studied through numerical simulations using an equation based object-oriented Modelica platform designed for data centers. Simulation results show that with well-tuned control parameters, data centers can provide frequency regulation service in both regulation up and down. The performance of data centers in providing frequency regulation service is largely influenced by the regulation capacity bid, frequency regulation flexibility factor, workload condition, and cooling mode of the cooling system, and not significantly influenced by the time constant of chillers. In addition, compared with a server-only control strategy, the proposed synergistic control strategy can provide an extra regulation capacity of 3% of the design power when chillers are activated. Here, when chillers are deactivated, both strategies have a similar regulation capacity.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

Multimodal Nondestructive Dry Cask Basket Structure and Spent Fuel Evaluation

This NEUP-IRP assembled a team from diverse institutions and a diverse set of expertise to examine the problem of assessing the structural health of dry nuclear fuel storage casks, specifically the TN-32 design. With no physical access designed into these storage casks and the high cost and risk associated with opening casks for direct inspection, the technical difficulty of structural assessment of the basket structure and fuel assemblies is high. In response to this challenge, this IRP brought together experts in both traditional and novel NDE methodologies: active acoustics (University of Mississippi), emissions tomography (University of Florida), muon tomography (Oregon State University), and passive-active ultrasonics (University of South Carolina). Further, our industry partners in the Electric Power Research Institute (EPRI) and AREVA provided invaluable insight into technical design details for the cask, practical knowledge of operating parameters at a storage facility, and key relationships that enabled activities unforeseen at the time of the proposed work but were critical in guiding the path of the research. The team decided early in the project that we had a collective goal of laying the technical ground work for practical solutions that could be implemented in the field with reasonable cost, time, and reliability. A fortunate opportunity arose early in this IRP project to obtain access to a new TN-32 cask at Columbiana High Tech. Both acoustics teams were given access for testing concepts in the first year of the project. This ended up providing critical guidance in the design of subsequent laboratory experiments. Specifically, it became clear that the only reliable acoustic pathways to the interior were through the trunnions, base plate, and top ring of the cask. Based on these field tests and discussions about what would be of practical interest, the team as a whole decided a realistic goal was to detect catastrophic failure of a single fuel assembly, or one that was missing. It is clear from this work that the active acoustics / resonance and muon tomography methodologies would be capable of detecting interior structural integrity problems at this level. The other two areas of investigation (emissions tomography and passive/active ultrasonics) would need more testing to determine a successful implementation, but each may also have other applications such as long term monitoring and monitoring during transportation. This IRP project resulted in technical advances with applications that extend beyond the problem at hand, supported the training of 10 graduate students + 1 post doc, 21 publications, and 13 conference presentations. The remainder of this summary highlights significant activities and achievements in each of the methodologies and a brief discussion on how they can be combined to leverage strengths. Active Acoustics The active acoustics team at UM used both linear and non-linear structural resonance methods to infer information about the internal structure of a cask. Significant activities were a set of four field test measurements on a full scale TN-32 cask at the Columbiana Hi Tech facility in Greensboro, NC and the design and fabrication of a 1/6th scale model TN-32 cask for laboratory measurements. A significant set of acoustic data has been acquired on both the full scale and laboratory scale casks. It was determined early in the project that mechanical resonance techniques were not going to be sensitive to small scale (centimeter) cracks and structural defects in the basket structure or fuel assemblies. We were able to ascertain that both the energy and complexity of the resonance spectra were sensitive to “bulk state” of the fuel assemblies – an intact assembly versus a severely degraded assembly. By developing a novel combination of metrics, we are able to measure a statistically significant shift due to one out of the 32 fuel assemblies being either missing or degraded to a point of complete loss of structural coherence (i.e. “rubble”). We believe this combination of resonance metrics is new to the field and will have applications beyond the fuel storage problem. Emissions Tomography The Emissions Tomography team at the University of Florida explored the concept of using scattering of radiation emissions from the stored fuel as method of evaluating the internal structural health of the cask. Due to the need for emissive fuel assemblies and the difficulties of gaining access to storage facilities, this team primarily relied on simulations to inform feasibility. A key question was the flux estimates of neutrons with a small enough number of scattering events to retain spatial information. Some key conclusions from the transmission component of this work are that the number of scattering events falls rapidly with energy – setting a 11MeV threshold, the average number of scattering events is 8∓4. Rough estimates of scanning times using an ideal detector array would be 1 week. The team also explored the case of significant structural failure resulting in a shift of the source material (fuel). The result is that a +/- 2% mass shift results in a detectable (5.13%) shift in the correlated 2 neutron emission counts and thus may be a candidate as an initial survey. Finally, simulations for predicting the azimuthal dependence of the flux based on specific loading patterns were conducted. Due to self-shielding effects of the assemblies, a periodic pattern results and could potentially be used to identify missing or severely degraded assemblies. This work forms a basis for proper detector placement with the goal of optimizing sensitivity. Muon Tomography Muon tomography (MT) is a relatively novel method of interrogating interior structure on a large scale. One of the advantages of this technique is that the exciting energy source (cosmic muons) is ubiquitous and relatively stable in time. Challenging aspects are relatively low flux rates and appropriate detector technologies. The efforts of the muon group at Oregon State University focused on two areas: (1) simulation of various combinations of muon scattering events and detection schemes to assess sensitivities and time scales for image construction and (2) building a prototype muon detection system applicable to the dry storage cask problem as well as many other similar systems. Significant accomplishments in this area are: (1) demonstration that MT is a viable method for detecting missing or severely degraded rod assemblies, (2) a scintillation based detector with 4 panels and 32 channels of position data each were constructed, tested, and calibrated. Testing of the panels using natural muon background and no scattering objects yielded largely expected results – a straight line path for the muon through the four panels. However some anomalies (paths deviating from a line) were also detected. A redesign of the board improved the signal which greatly improved the muon tracking through the panels. Testing with lead bricks as scattering bodies showed a reduction in the coincidence rate with increasing bricks indicating increased scattering events. A refinement of the scintillator detector design resulted in a spatial image resolution of around 2 cm based on lead brick spacing tests lasting 24 hours. Passive/Active Ultrasonics This team at the University of South Carolina investigated the feasibility of combining passive ultrasonics, in which an elastic pulse is generated by a degradation process (such as a crack extending), and active ultrasonics, in which a known excitation is introduced into the structure and detected by an array of transducers. Significant accomplishments in this area include the development of elastic wave propagation simulation in relevant materials, development of diagnostic algorithms, and laboratory testing and validation using laser doppler vibrometry. This group demonstrated the applicability of various non-contact vibration detection methodologies such as air-coupled ultrasonic transducers and scanning laser doppler vibrometry. While passive acoustic emissions monitoring will likely have a role during the transportation of a fuel storage cask, the level of detailed information about the defect generating the event which can be ascertained from the detections in a complex structure remains for future work. Thermography The EPRI team contributed early in the project a series of thermography measurements in which various levels of water pooled in a mock-up canister were analyzed using commercially available infrared imaging technologies. While large levels of water (100 L, ~10 cm deep) were observable in the thermograms, more realistic levels of pooled water (1 L) were not detectable whether localized or distributed.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Development of techniques for measuring pilot workload

An objective method of assessing information workload based on physiological measurements was developed. Information workload, or reserve capacity, was measured using a visual discrimination secondary task and subjective rating of task difficulty. The primary task was two axis (pitch and roll) tracking, and the independent variables in this study were aircraft pitch dynamics and wind gust disturbances. The study was structured to provide: (1) a sensitive, nonloading measure of reserve capacity, and (2) an unencumbering reliable measurement of the psychophysiological state. From these, a measured workload index (MWI) and physiological workload index (PWI) were extracted. An important measure of the success of this study was the degree to which the MWI and PWI agreed across the 243 randomly-presented, four-minute trials (9 subjects X 9 tasks X 3 replications). The electrophysiological data collected included vectorcardiogaram, respiration, electromyogram, skin impedance, and electroencephalogram. Special computer programs were created for the analysis of each physiological variable. The digital data base then consisted of 82 physiological features for each of the 243 trials. A prediction of workload based on physiological observations was formulated as a simultaneous least-squares prediction problem. A best subset of 10 features was chosen to predict the three measures of reserve capacity. The cannonical correlation coefficient was .754 with a chi squared value of 91.3 which allows rejection of the null hypothesis with p of .995.

Spyker, D. A.↗

Automatic control of a mobile Viking lander on the surface of Mars

A mobile lander system is being considered for use in a possible follow-on mission to the Viking '75 landings on Mars. A mobile Viking lander, which could be launched as early as the 1979 opportunity, would be capable of traversing 100 m to 1 km per day on a commanded heading while sensing hazards and performing avoidance maneuvers. The degree of autonomous control, and consequently the daily traverse range, is still under study. The mobility concept requires the addition of: (1) track-laying or wheel units in place of the Viking Lander footpads, (2) a set of hazard and navigation sensors, and (3) a mobility control computer capability. The technology required to develop these three subsystems is available today. The principal objective of current design studies, as described in this paper, is to define a mobile lander system that will demonstrate high reliability and fail-safe hazard avoidance while achieving range- and terrain-handling capabilities which satisfy the Mars exploration science requirements.

Moore, J.↗

FIESTA: An operational decision aid for space network fault isolation

The Fault Tolerance Expert System for Tracking and Data Relay Satellite System (TDRSS) Applications (FIESTA) is a fault detection and fault diagnosis expert system being developed as a decision aid to support operations in the Network Control Center (NCC) for NASA's Space Network. The operational objectives which influenced FIESTA development are presented and an overview of the architecture used to achieve these goals are provided. The approach to the knowledge engineering effort and the methodology employed are also presented and illustrated with examples drawn from the FIESTA domain.

Lowe, Dawn↗

Precise Orbit Determination for GEOSAT Follow-On Using Satellite Laser Ranging Data and Intermission Altimeter Crossovers

The U.S. Navy's GEOSAT Follow-On Spacecraft was launched on February 10, 1998 and the primary objective of the mission was to map the oceans using a radar altimeter. Following an extensive set of calibration campaigns in 1999 and 2000, the US Navy formally accepted delivery of the satellite on November 29, 2000. The spacecraft is tracked by satellite laser ranging (SLR) and Doppler (Tranet-style) beacons. Although a limited amount of GPS data were obtained, the primary mode of tracking remains satellite laser ranging. In this paper, we report on progress in orbit determination for GFO using GFO/GFO and TOPEX/GFO altimeter crossovers. We have tuned the nonconservative force model for GFO and the gravity model using SLR, Doppler and altimeter crossover data spanning over one year. Preliminary results show that the predicted radial orbit error from the gravity field covariance to 70x70 on GEOSAT was reduced from 2.6 cm in EGM96 to 1.9 cm with the addition of only five months of the GFO SLR and GFO/GFO crossover data. Further progress is possible with the addition of more data, particularly the TOPEX/GFO crossovers. We will evaluate the tuned GFO gravity model (a derivative of EGM96) using altimeter data from the GEOSAT mission. In January 2000, a limited quantity of GPS data were obtained. We will use these GPS data in conjunction with the SLR and altimeter crossover data obtained over the same time span to compute quasi-reduced dynamic orbits which will also aid in the evaluation of the tuned GFO geopotential model.

Lemoine, F. G.↗

Recent Developments and Future Directions in CCSDS Flight Dynamics Standards

Progress by the Consultative Committee for Space Data Standards (CCSDS) Navigation Working Group in developing international standards for use in space flight dynamics operations has been regularly presented at the ISSFD. Since the last update in 2012, the status of several standards has changed relative to previous reports: the Conjunction Data Message has been published and is widely used, the Pointing Request Message is in final prototyping, the Navigation Hardware Message may be cancelled, the Spacecraft Maneuver Message has been discontinued, a new Re-Entry Data Message standard has been started, the Events Message is about to start, and the "first generation" standards (Orbit Data Messages, Attitude Data Messages, Tracking Data Message, NDM/XML Specification) are being revised. Future directions have primarily arisen in the context of "second generation" standards that supplement first generation standards. The need to duplicate common data structures (e.g., an orbit state) commonly arises. Two important objectives of CCSDS international standards are interoperability and cross-support, which makes consistency essential. Still, maintaining consistency from one standard to another is challenging. The related concepts of duplication and consistency have led to the still evolving notion of a "universal, modular message". Recent discussion suggests this concept may be the way forward.

Berry, David S.↗

Keys to the House: Unlocking Residential Savings With Program Models for Home Energy Upgrades

After more than 40 years of effort, energy efficiency program administrators and associated contractors still find it challenging to penetrate the home retrofit market, especially at levels commensurate with state and federal goals for energy savings and emissions reductions. Residential retrofit programs further have not coalesced around a reliably successful model. They still vary in design, implementation and performance, and they remain among the more difficult and costly options for acquiring savings in the residential sector. If programs are to contribute fully to meeting resource and policy objectives, administrators need to understand what program elements are key to acquiring residential savings as cost effectively as possible. To that end, the U.S. Department of Energy (DOE) sponsored a comprehensive review and analysis of home energy upgrade programs with proven track records, focusing on those with robustly verified savings and constituting good examples for replication. The study team reviewed evaluations for the period 2010 to 2014 for 134 programs that are funded by customers of investor-owned utilities. All are programs that promote multi-measure retrofits or major system upgrades. We paid particular attention to useful design and implementation features, costs, and savings for nearly 30 programs with rigorous evaluations of performance. This meta-analysis describes program models and implementation strategies for (1) direct install retrofits; (2) heating, ventilating and air-conditioning (HVAC) replacement and early retirement; and (3) comprehensive, whole-home retrofits. We analyze costs and impacts of these program models, in terms of both energy savings and emissions avoided. These program models can be useful guides as states consider expanding their strategies for acquiring energy savings as a resource and for emissions reductions. We also discuss the challenges of using evaluations to create program models that can be confidently applied in multiple jurisdictions.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Techno-Economic Analysis of an LGFCS MWe-Class SOFC System (Final Report)

The objective of this project is to perform a range of technical, cost and economic analyses of a MW-scale natural gas fired Solid Oxide Fuel Cell (SOFC) distributed power generation system design. The information generated will provide evidence of the tracking of technology and manufacturing readiness supportive of Technology Readiness Level 7 (TRL7) system testing in the 2022 timeframe that meets the Department of Energy’s (DOE) targets for cost (<$6000/kW) and durability (<0.5% power degradation/1000 hours).

01 COAL, LIGNITE, AND PEAT↗

Standard Operating Procedure for Optimal Deployment of Meteorological Instrumentation Within the Solar Radiation Research Laboratory (BMS and RMS SOP)

The objective of the National Renewable Energy Laboratory's (NREL's) Solar Radiation Research Laboratory (SRRL) is to collect and use high-quality solar radiation data sets for research leading to the widespread adoption of solar technologies. To appropriately populate and track the diverse array of instruments at the NREL-SRRL, NREL has established a Standard Operating Procedure (SOP) for optimal instrument deployment within the SRRL for both the Baseline Measurement System (BMS) and the Research Measurement System (RMS). Using best practices methodologies, the NREL-SRRL maintains a varied and extensive array of solar monitoring equipment to test, evaluate, and characterize the solar sensors used by federal and international agencies as well as the solar industry to determine the solar resource. The SOP provides the industry with guidance for solar resource assessment and is used for procedures in the long-term continuous monitoring of legacy instruments alongside state-of-the-art instruments. Based on the SOP, instruments are annually evaluated for continued deployment. Instruments that do not meet the SOP criteria are decommissioned, and new instruments that meet the criteria are deployed. Streamlining and optimizing the use of this facility ensures that the lab continues to be a world-leading solar calibration and measurement facility.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Standard Operating Procedure for Optimal Deployment of Meteorological Instrumentation Within the Solar Radiation Research Laboratory: 2024 Edition

The objective of the National Renewable Energy Laboratory's (NREL's) Solar Radiation Research Laboratory (SRRL) is to collect and use high-quality solar radiation data sets for research leading to the widespread adoption of solar technologies. To appropriately populate and track the diverse array of instruments at the NREL-SRRL, NREL has established a Standard Operating Procedure (SOP) for optimal instrument deployment within the SRRL for both the Baseline Measurement System (BMS) and the Research Measurement System (RMS). Using best practices methodologies, the NREL-SRRL maintains a varied and extensive array of solar monitoring equipment to test, evaluate, and characterize the solar sensors used by federal and international agencies as well as the solar industry to determine the solar resource. The SOP provides the industry with guidance for solar resource assessment and is used for procedures in the long-term continuous monitoring of legacy instruments alongside state-of-the-art instruments. Based on the SOP, instruments are annually evaluated for continued deployment. Instruments that do not meet the SOP criteria are decommissioned, and new instruments that meet the criteria are deployed. Streamlining and optimizing the use of this facility ensures that the lab continues to be a world-leading solar calibration and measurement facility. This 2024 edition includes updates to the appendices to reflect the instrument changes from one year to another.

14 SOLAR ENERGY↗

Standard Operating Procedure for Optimal Deployment of Meteorological Instrumentation Within the Solar Radiation Research Laboratory: 2025 Edition

The objective of the National Renewable Energy Laboratory's (NREL's) Solar Radiation Research Laboratory (SRRL) is to collect and use high-quality solar radiation data sets for research leading to the widespread adoption of solar technologies. To appropriately populate and track the diverse array of instruments at the NREL-SRRL, NREL has established a Standard Operating Procedure (SOP) for optimal instrument deployment within the SRRL for both the Baseline Measurement System (BMS) and the Research Measurement System (RMS). Using best practices methodologies, the NREL-SRRL maintains a varied and extensive array of solar monitoring equipment to test, evaluate, and characterize the solar sensors used by federal and international agencies as well as the solar industry to determine the solar resource. The SOP provides the industry with guidance for solar resource assessment and is used for procedures in the long-term continuous monitoring of legacy instruments alongside state-of-the-art instruments. Based on the SOP, instruments are annually evaluated for continued deployment. Instruments that do not meet the SOP criteria are decommissioned, and new instruments that meet the criteria are deployed. Streamlining and optimizing the use of this facility ensures that the lab continues to be a world-leading solar calibration and measurement facility. This 2025 edition includes updates to the appendices to describe the current instrumentation of the NREL-SRRL.

14 SOLAR ENERGY↗

Component pose reconstruction using a single robotic total station for panelized building envelopes

The construction industry can benefit greatly from increased automation in construction processes in terms of precision, time, and labor costs. This is especially true for prefabricated construction for either new buildings or envelope retrofits. Here, prefabricated components are manufactured offsite according to design specifications and installed onsite. Accurate information on the component’s position and orientation (pose) is needed to achieve this. A tool named “Real-Time Evaluator” (RTE), designed to autonomously track prefabricated components as they are being installed and provide real-time installation instructions, is currently under development using a single robotic total station. This is challenging since at least three points are needed to determine the pose of an object in space. To achieve this goal with a single robotic total station, two key algorithms were developed: the “resection” algorithm aligns the digital twin with the physical twin regardless of the location of the total station, and the “transformation” algorithm gives instructions of translations and rotations to installers to achieve the desired installation pose. The algorithms were evaluated experimentally on a lab-scale demonstration. Results show that the resection algorithm achieved an average error of < 3.1 mm, while the transformation algorithm predicted the rotation angle along a single axis with an error of < 0.5◦.

Tang, Mengjia↗

Analyzing the Validity of Brazilian Testing Using Digital Image Correlation and Numerical Simulation Techniques

Characterizing the mechanical behavior of rocks plays a crucial role to optimize the fracturing process in unconventional reservoirs. However, due to the intrinsic anisotropy and heterogeneity in unconventional resources, fracture process prediction remains the most significant challenge for sustainable and economic hydrocarbon production. During the deformation tracking under compression, deploying conventional methods (strain gauge, extensometer, etc.) is insufficient to measure the deformation since the physical attachment of the device is restricted to the size of the sample, monitoring limited point-wise deformation, producing difficulties in data retrieval, and a tendency to lose track in failure points, etc. Where conventional methods are limited, the application of digital image correlation (DIC) provides detailed and additional information of strain evolution and fracture patterns under loading. DIC is an image-based optical method that records an object with a camera and monitors the random contrast speckle pattern painted on the facing surface of the specimen. To overcome the existing limitations, this paper presents numerical modeling of Brazilian disc tests under quasi-static conditions to understand the full-field deformation behaviors and finally, it is validated by DIC. As the direct tensile test has limitations in sample preparation and test execution, the Brazilian testing principle is commonly used to evaluate indirectly the tensile strength of rocks. The two-dimensional numerical model was built to predict the stress distribution and full-field deformation on Brazilian disc under compression based on the assumptions of a homogenous, isotropic and linear elastic material. The uniaxial compression test was conducted using the DIC technique to determine the elastic properties of Spider Berea sandstone, which were used as inputs for the simulation model. The model was verified by the analytical solution and compared with the digital image correlation. The numerical simulation results showed that the solutions matched reasonably with the analytical solutions where the maximum deviation of stress distribution was obtained as 14.59%. The strain evolution (normal and shear strains) and displacements along the central horizontal and vertical planes were investigated in three distinguishable percentages of peak loads (20%, 40%, and 90%) to understand the deformation behaviors in rock. The simulation results demonstrated that the strain evolution contours consistently matched with DIC generated contours with a reasonable agreement. The changes in displacement along the central horizontal and vertical planes showed that numerical simulation and DIC generated experimental results were repeatable and matched closely. In terms of validation, Brazilian testing to measure the indirect tensile strength of rocks is still an issue of debate. The numerical model of fracture propagation supported by digital image correlation from this study can be used to explain the fracturing process in the homogeneous material and can be extended to non-homogeneous cases by incorporating heterogeneity, which is essential for rock mechanics field applications.

58 GEOSCIENCES↗

Investigation of the use of an electronic multifunction display and an electromechanical horizontal situation indicator for guidance and control of powered-lift short-haul aircraft

The use which pilots make of a moving map display from en route through the terminal area and including the approach and go-around flight phases was investigated. The content and function of each of three primary STOLAND displays are reviewed from an operational point of view. The primary displays are the electronic attitude director indicator (EADI), the horizontal situation indicator (HSI), and the multifunction display (MFD). Manually controlled flight with both flight director guidance and raw situation data is examined in detail in a simulated flight experiment with emphasis on tracking reference flight plans and maintaining geographic orientation after missed approaches. Eye-point-of-regard and workload measurements, coupled with task performance measurements, pilot opinion ratings, and pilot comments are presented. The experimental program was designed to offer a systematic objective and subjective comparison of pilots' use of the moving map MFD in conjunction with the other displays.

Clement, W. F.↗

Manufacturing process applications team (MATeam)

The objectives and activities of an aerospace technology transfer group are outlined and programs in various stages of progress are described including the orbital tube flaring device, infrared proximity sensor for robot positioning, laser stripping magnet wire, infrared imaging as welding process tracking system, carbide coating of cutting tools, nondestructive fracture toughness testing of titanium welds, portable solar system for agricultural applications, and an anerobic methane gas generator.

Bangs, E. R.↗

Exposure history of shergottites

The cosmogenic nuclides Cl-36, Al-26, Be-10, and Mn-53 were analyzed in Shergotty, ALHA 77005, and EETA 79001 shergottites by means of accelerator mass spectrometry and neutron activation. The cosmogenic radionuclide data were combined with noble gas data and cosmic ray track data to obtain the exposure ages, terrestrial ages, preatmospheric radii, and ablation depths for the three shergottites. The results indicate that none of the three meteorites was irradiated measurably by cosmic rays on its parent body, and that all three objects were ejected from greater than a 3-m depth in their parent bodies. The EETA 79001 meteorite was ejected in an event distinct from that of ALHA 77005 and Shergotty. All three shergottites show a very small amount of ablation, suggesting low velocities on entry into the earth's atmosphere.

Nishizumi, K.↗

Spacecraft 2000

The objective of the Workshop was to focus on the key technology area for 21st century spacecraft and the programs needed to facilitate technology development and validation. Topics addressed include: spacecraft systems; system development; structures and materials; thermal control; electrical power; telemetry, tracking, and control; data management; propulsion; and attitude control.

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