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At least 1,261 records · Page 70

Experimental Semiautonomous Vehicle

Semiautonomous rover vehicle serves as testbed for evaluation of navigation and obstacle-avoidance techniques. Designed to traverse variety of terrains. Concepts developed applicable to robots for service in dangerous environments as well as to robots for exploration of remote planets. Called Robby, vehicle 4 m long and 2 m wide, with six 1-m-diameter wheels. Mass of 1,200 kg and surmounts obstacles as large as 1 1/2 m. Optimized for development of machine-vision-based strategies and equipped with complement of vision and direction sensors and image-processing computers. Front and rear cabs steer and roll with respect to centerline of vehicle. Vehicle also pivots about central axle, so wheels comply with almost any terrain.

Wilcox, Brian H.↗

Evaluation of Spray and Combustion Models for Simulating Dilute Combustion in a Direct-Injection Spark-Ignition Engine

Dilute combustion in spark-ignition engines has the potential to improve thermal efficiency by mitigating knock and by reducing throttling and wall heat losses. However, ignition and combustion processes can become unstable for dilute operation due to a lowered laminar flame speed, resulting in excessive cycle-to-cycle variability (CCV) of the combustion process. To compensate for the slower combustion in less reactive mixtures, a modified intake port geometry can be employed to generate a strong tumble flow in the cylinder and elevate turbulence levels around the spark plug, thereby promoting a faster transition to turbulent deflagration. Consequently, optimizing combustion chamber geometry and operating strategy is crucial to maximizing the benefits of using dilute combustion with enhanced in-cylinder turbulence across a wide range of operating conditions. Computational fluid dynamics (CFD) simulations can be utilized for virtual engine optimization tasks, but this would require the models to be truly predictive regarding the impact of changes to the engine design and operational parameters.In this study, multicycle large-eddy simulations (LES) are performed for a direct-injection spark-ignition engine to investigate the model performance in predicting engine combustion characteristics with respect to changes in the intake configuration. A tumble plate that blocks the lower part of the intake port inlet is used to vary the tumble. A set of CFD models that have been recently developed are employed, which takes into account the drag of nonspherical droplets, flash-boiling behavior of liquid sprays, spray-wall interaction, surrogate formulation of a research-grade E10 gasoline, and fast chemical kinetic solvers. Simulation results are compared to experimental engine data in terms of cylinder pressure, apparent heat release rate, mass fraction burned timing, and flame images. It is found that LES employing the state-of-the-art CFD models are capable of properly predicting the spray processes and reproducing the measured mean cylinder pressure for the case with the tumble plate. On the other hand, the LES over-predicts the combustion rate during the early combustion stage and under-estimates the CCV, and these discrepancies become larger when the tumble plate is removed.

computational fluid dynamics simulation↗

Computationally Guided and Experimentally Validated Design of Custom Chelators for Critical Mineral Recovery

Selective, high throughput separation of target critical metals from complex environments such as fly ash leachates and mining process streams presents a significant challenge for economical production. Custom chelators and sorbents are an attractive technology for selective metal extraction, however it can be difficult to predict their performance, and significant experimental efforts are often required to develop chelating technologies. Here, we present a computational strategy focused on modelling chelator-metal binding interactions and benchmark these results versus experimental data. A computational pipeline combining forcefield, semiempirical, and meta-GGA methods with a thermodynamic framework optimized for error cancellation has been developed to predict binding energies of chelator complexes towards critical mineral recovery applications. This approach, originally validated on [2.2.2] cryptates binding mono- and divalent cations, demonstrated robust predictive capabilities with an R2 of 0.850 against experimental aqueous binding energies. The workflow includes metadynamics for exploring high-dimensional potential energy surfaces and a cluster-continuum model for accurate yet computationally efficient solvation modeling. Error cancellation between solvation energies of free and chelator-coordinated ions enables faster convergence, even with finite cluster sizes. Initial studies on the cryptates revealed consistent metal-ligand coordination patterns, with systematic variations influenced by ion size and charge, highlighting key structural features linked to binding selectivity. Further studies of a proprietary chelator have resulted in identification of previously unreported selectivity towards economically significant metals, which in-house experiments have confirmed, demonstrating the feasibility of this approach. By applying this methodology to new chelators targeting critical minerals such as lithium, cobalt, nickel and other strategic metals, we aim to accelerate the discovery of next-generation chelators for efficient recovery, recycling, and separation processes. This computational framework serves as the backbone of a high-throughput design pipeline tailored for sustainable resource utilization and may be applied to a wide range of systems to meet experimental needs.

computational materials↗

Evaluation of Force Fields for Molecular Dynamics Simulations of Platinum in Bulk and Nanoparticle Forms

Here, understanding the size- and shape-dependent properties of platinum nanoparticles is critical for enabling the design of nanoparticle-based applications with optimal and potentially tunable functionality. Toward this goal, we evaluated nine different empirical potentials with the purpose of accurately modeling faceted platinum nanoparticles using molecular dynamics simulation. First, the potentials were evaluated by computing bulk and surface properties - surface energy, lattice constant, stiffness constants, and the equation of state - and comparing these to prior experimental measurements and quantum mechanics calculations. Then, the potentials were assessed in terms of the stability of cubic and icosahedral nanoparticles with faces in the {100} and {111} planes, respectively. Although none of the force fields predicts all the evaluated properties with perfect accuracy, one potential - the embedded atom method formalism with a specific parameter set - was identified as best able to model platinum in both bulk and nanoparticle forms.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

New high-throughput endstation to accelerate the experimental optimization pipeline for synchrotron X-ray footprinting

Synchrotron X-ray footprinting (XF) is a growing structural biology technique that leverages radiation-induced chemical modifications via X-ray radiolysis of water to produce hydroxyl radicals that probe changes in macromolecular structure and dynamics in solution states of interest. The X-ray Footprinting of Biological Materials (XFP) beamline at the National Synchrotron Light Source II provides the structural biology community with access to instrumentation and expert support in the XF method, and is also a platform for development of new technological capabilities in this field. Hee, the design and implementation of a new high-throughput endstation device based around use of a 96-well PCR plate form factor and supporting diagnostic instrumentation for synchrotron XF is described. This development enables a pipeline for rapid comprehensive screening of the influence of sample chemistry on hydroxyl radical dose using a convenient fluorescent assay, illustrated here with a study of 26 organic compounds. The new high-throughput endstation device and sample evaluation pipeline now available at the XFP beamline provide the worldwide structural biology community with a robust resource for carrying out well optimized synchrotron XF studies of challenging biological systems with complex sample compositions.

38 RADIATION CHEMISTRY, RADIOCHEMISTRY, AND NUCLEA↗

Design concept for a second interaction region for the Electron-Ion Collider

In addition to the day-one primary Interaction Region (IR), the design of the Electron Ion Collider (EIC) must support operation of a 2nd IR potentially added later. The 2nd IR is envisioned in an existing experimental hall at RHIC IP8, compatible with the same beam energy combinations as the 1st IR over the full center of mass energy range of ~20 GeV to ~140 GeV. The 2nd IR is designed to be complementary to the 1st IR. In particular, a secondary focus is added in the forward ion direction of the 2nd IR hadron beamline to optimize its capability in detecting particles with magnetic rigidities close to those of the ion beam. We provide the current design status of the 2nd IR in terms of parameters, magnet layout and beam dynamics.

Gamage, B. R.↗

A Novel Steam Condenser with Loop Thermosyphons and Film-Forming Agents for Improved Heat Transfer Efficiency and Durability

In this DOE/NETL BAA program, Advanced Cooling Technologies, Inc. (ACT), with Suez Water Technologies & Solutions (Suez), developed film-forming amine coatings applied to condenser surfaces that incorporated loop thermosyphons to enhance steam surface condenser performance and efficiency for coal-fired power plants. The condensation phenomenon resulting from these coatings promotes efficient dropwise condensation without additional thermal resistance through the use of film-forming amines (FFA). The loop thermosyphon technology was being developed to supplant current pumped cooling water systems to reduce operations and maintenance issues, reduce energy use, and promote high thermal performance. Both of ACT’s advanced coating and loop thermosyphon technologies were developed for application to wet cooling and indirect dry cooling systems. Internal steam condensation and subsequent heat dissipation complete the thermodynamic power cycle used by power plant cooling systems. The successful 3-year project period delved into understanding the experimental performance gain using film-forming amines applied to flat and tubular condenser surfaces under realistic operating conditions. The performance gain was used to create a technoeconomic analysis to more clearly understand the market value for power plants using FFA coatings to achieve dropwise condensation on condenser surfaces. A tall (50 ft.) loop thermosyphon was designed, fabricated, and tested to optimize the performance characteristics by tuning the working fluid charge and determining the temperature drop across the loop at different heat loads. Commercialization opportunities were explored to transition the loop thermosyphon work into the building HVAC market.

20 FOSSIL-FUELED POWER PLANTS↗

Heat and Mass Transfer in Hygroscopic Hydrogels

Hygroscopic hydrogels have emerged as a scalable material capable of high-performance vapor sorption for atmospheric water harvesting, dehumidification, and passive cooling due to their fast kinetics and high water uptake. Despite extensive research interest, there is a lack of understanding of the governing energy and mass transport mechanisms within the hydrogels, which hinders their optimization. Here we present a model that explains sorption and desorption in hygroscopic hydrogels for the first time. Our model couples vapor transport in the hydrogel micropores, liquid transport in the polymer nanopores, and heat transport in the porous hydro-gel to accurately capture experimentally observed sorption and desorption data. The knowledge obtained from this model can therefore guide the design of hygroscopic hydrogels and enable improved performance in multi-ple sorption-based applications.

36 MATERIALS SCIENCE↗

Low-speed aerodynamic characteristics of an airfoil optimized for maximum lift coefficient

An investigation has been conducted in the Langley low-turbulence pressure tunnel to determine the two-dimensional characteristics of an airfoil optimized for maximum lift coefficient. The design maximum lift coefficient was 2.1 at a Reynolds number of 9.7 million. The airfoil with a smooth surface and with surface roughness was tested at angles of attack from 6 deg to 26 deg, Reynolds numbers (based on airfoil chord) from 2.0 million to 12.9 million, and Mach numbers from 0.10 to 0.35. The experimental results are compared with values predicted by theory. The experimental pressure distributions observed at angles of attack up to at least 12 deg were similar to the theoretical values except for a slight increase in the experimental upper-surface pressure coefficients forward of 26 percent chord and a more severe gradient just behind the minimum-pressure-coefficient location. The maximum lift coefficients were measured with the model surface smooth and, depending on test conditions, varied from 1.5 to 1.6 whereas the design value was 2.1.

Bingham, G. J.↗

PRIME: A bottom-up approach to probabilistic rule development

PRIME is a system to be used by an intelligent machine to allow it to operate in an abstract but uncertain (or stochastic) environment. It maintains a model of the effects of the machine's actions in the form of a rule base, which is induced from experience. This bottom-up approach to rule development allows the model to adapt to changes in the environment. Each rule consists of a condition under which the rule is active, an action, the effect of the action on the environment, and an estimate of the probability of this effect occurring. The effect probabilities are used to model the uncertainty in the environment, permitting multiple possible effects for a single action under a particular set of conditions. The objective of the intelligent machine is to satisfy user-specified goals with maximum probability of success. PRIME fulfills this requirement in two ways: it continuously updates the rule base with the most recent information, to ensure the validity of the model; and it generates plans which have the maximum probability of achieving the goals, based on the probability estimates in the rule base. PRIME is composed of three main processes: exploration, generalization, and planning. In exploration, the machine executes various randomly chosen actions, observes the effects on the environment, and updates the rule base accordingly. This process is used to develop the rule base in simulation, as well as to supplement the current knowledge during normal operation. Generalization is the procedure used to induce general rules from experience, which is encoded in the form of specific rules. These general rules extend the machine's knowledge to situations which have not been encountered yet, thereby increasing the capability of the machine to plan effectively. Planning is the process of constructing an optimal sequence of actions to satisfy a goal, using the rule base to predict the effects of these actions and to determine the probability of success of the plan. The rule representation and many other data structures were specifically chosen to maximize the efficiency of these processes. A simulated environment was designed to test the performance of PRIME. The results of experimentation were largely negative. The main problem was that the domain coverage of the rules was inadequate for the number of rules stored in the rule base, due to redundancies in general rules and numerous rules covering ineffective actions. It was determined that a more efficient generalization, and some form of goal-directed exploration, are necessary in order to solve most of the current deficiencies in PRIME.

Miller, Scott A.↗

Megawatt Electromagnetic Plasma Propulsion

The NASA Glenn Research Center program in megawatt level electric propulsion is centered on electromagnetic acceleration of quasi-neutral plasmas. Specific concepts currently being examined are the Magnetoplasmadynamic (MPD) thruster and the Pulsed Inductive Thruster (PIT). In the case of the MPD thruster, a multifaceted approach of experiments, computational modeling, and systems-level models of self field MPD thrusters is underway. The MPD thruster experimental research consists of a 1-10 MWe, 2 ms pulse-forming-network, a vacuum chamber with two 32 diffusion pumps, and voltage, current, mass flow rate, and thrust stand diagnostics. Current focus is on obtaining repeatable thrust measurements of a Princeton Benchmark type self field thruster operating at 0.5-1 gls of argon. Operation with hydrogen is the ultimate goal to realize the increased efficiency anticipated using the lighter gas. Computational modeling is done using the MACH2 MHD code, which can include real gas effects for propellants of interest to MPD operation. The MACH2 code has been benchmarked against other MPD thruster data, and has been used to create a point design for a 3000 second specific impulse (Isp) MPD thruster. This design is awaiting testing in the experimental facility. For the PIT, a computational investigation using MACH2 has been initiated, with experiments awaiting further funding. Although the calculated results have been found to be sensitive to the initial ionization assumptions, recent results have agreed well with experimental data. Finally, a systems level self-field MPD thruster model has been developed that allows for a mission planner or system designer to input Isp and power level into the model equations and obtain values for efficiency, mass flow rate, and input current and voltage. This model emphasizes algebraic simplicity to allow its incorporation into larger trajectory or system optimization codes. The systems level approach will be extended to the pulsed inductive thruster and other electrodeless thrusters at a future date.

Gilland, James↗

Study of a Plug Nozzle for Supersonic Aircraft Concepts

A plug nozzle with a cylindrical cowl is studied. The geometry is adopted following commercial supersonic aircraft concepts considered in an ongoing NASA program. For the given cowl, the plug geometry is varied that includes shapes developed by a numerical optimization study as well as porous plugs. Experimental data on noise and flow field are discussed with an eye for minimum noise at low nozzle pressure ratios (NPR2) representing landing and takeoff (LTO) conditions. NPR up to about 4.7 is covered in the experiments. Limited thrust data with accompanying numerical simulation results are also presented. Results show that a plug designed for optimum thrust at cruise is noisier while a plug designed for optimum thrust at LTO has less noise, throughout the NPR range covered. The results also show that a plug nozzle can generate transonic tones and excess broadband noise (EBBN) at lower NPR, apart from well-known screech tones and broadband shock associated noise (BBSN) at higher NPR. A long porous plug is found to effectively suppress all these aberrant noise components while suffering less than 1% loss in thrust coefficient.

Jets↗

Study of a Plug Nozzle for Supersonic Aircraft Concepts

A plug nozzle with a cylindrical cowl is studied. The geometry is adopted following commercial supersonic aircraft concepts considered in an ongoing NASA program. For the given cowl, the plug geometry is varied that includes shapes developed by a numerical optimization study as well as porous plugs. Experimental data on noise and flow field are discussed with an eye for minimum noise at low nozzle pressure ratios (NPR2) representing landing and takeoff (LTO) conditions. NPR up to about 4.7 is covered in the experiments. Limited thrust data with accompanying numerical simulation results are also presented. Results show that a plug designed for optimum thrust at cruise is noisier while a plug designed for optimum thrust at LTO has less noise, throughout the NPR range covered. The results also show that a plug nozzle can generate transonic tones and excess broadband noise (EBBN) at lower NPR, apart from well-known screech tones and broadband shock associated noise (BBSN) at higher NPR. A long porous plug is found to effectively suppress all these aberrant noise components while suffering less than 1% loss in thrust coefficient.

Jets↗

Optimization Algorithm for Criticality Experiment Design Using Whisper

Many criticality experiments performed to aid in nuclear data evaluation are designed to maximize the sensitivity of the system’s effective neutron multiplication factor to a certain nuclide reaction pair over an energy region of interest. This is typically done by evaluating possible designs in a transport code such as MCNP and selecting the one with the highest desired sensitivity. A designer has many tools to try to maximize this sensitivity such as different moderators, reflectors, fuels, and geometries. This balancing act of identifying a critical and maximally sensitive system become very computationally expensive as more variables are added and higher precisions are desired. In order to identify these optimal configurations more efficiently a Particle Swarm Optimization (PSO) algorithm coupled with MCNP has been developed by Los Alamos National Laboratory (LANL). This algorithm has been used to design two upcoming criticality experiments that will be performed at the National Criticality Experiments Research Center (NCERC), located at the Nevada National Security Site, and operated by LANL, the only general-purpose critical experiments laboratory in the United States. PSO uses a population (swarm) of candidate solutions (particles) on a search space of dimensions such as moderator and reflector thicknesses or enrichments and concentrations. These particles move around the search space from generation to generation according to simple rules. Eventually, the swarm converges on the configuration that is both critical and maximally sensitive to a piece of nuclear data. PSO is well suited for criticality experiments as the algorithm is agnostic to the underlying physics, meaning it is effective on many different experimental setups. This algorithm has been modified to maximize the nuclear data similarity coefficient between an application case and an experiment aimed at replicating the application case using WHISPER, a nuclear criticality safety analysis tool. This allows for the efficient design of critical experiments informed by nuclear data sensitives.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Anti-Phase Vortex Reduction Control for Rotor Noise Suppression

An investigation is conducted in 2019 under the NASA Ames Center Innovation Funds (CIF) project entitled “Anti-Phase Vortex Reduction Control for Rotor Noise Suppression“ to experimentally validate an anti-phase rotor noise suppression concept. The first objective of the investigation is to conduct computational fluid dynamics (CFD) simulations to investigate the noise characteristics of several anti-phase rotor designs. The second objective is to conduct a series of acoustic tests of anti-phase rotors in an anechoic chamber at Pennsylvania State University (PSU) to evaluate the merit of the anti-phase rotor concept. The CFD investigation seeks to optimize the anti-phase alternating trailing edge patterns for rotor noise suppression. The design objective is to maximize the noise reduction while maintaining the aerodynamic thrust. The investigation is performed using a three-dimensional (3D) Unsteady Reynolds-Averaged Navier-Stokes (URANS) commercial solver STAR-CCM+ together with the Ffowcs-Williams and Hawkings (FW-H) formula to obtain the aerodynamic thrust and far-field noise level. An acoustic study is conducted for 13 anti-phase design candidates based on a proprietary rotor design. The CAD geometry of the rotor is furnished by PSU. These design candidates include different alternating trailing edge (TE) waveforms, TE segment lengths, TE deflection amplitudes, and transition characteristics. The best design candidate among those explored is an anti-phase rotor that has a four-period TE waveform which results in a reduction in far-field noise level of 2.1 dB in the hover condition and a reduction of 1.1 dB in the forward flight condition at 9.7 m/s. A further acoustic study is conducted for a different rotor manufactured by APC. Five APC rotor design candidates are simulated. The best anti-phase design candidate for the APC rotor results in a reduction in far-field noise level of 4.0 dB in the hover condition. An in-phase design candidate is also studied. This in-phase design provides a noise reduction of 2.5 dB. A series of acoustic experiments in the PSU anechoic chamber have been conducted in July 2019 and October 2019. Both anti-phase and in-phase rotors fabricated for the left-hand and right-hand rotations are tested. In the hover condition, all the rotors do not provide sufficient evidence of improved acoustic performance. However, the experimental data in the hover condition are deemed to be inconclusive due to the flow recirculation in the anechoic chamber caused by the rotor downwash. In the forward flight condition at 9.7 m/s, the anti-phase right-hand rotor produces a noise reduction by as much as 6.5 dB in the frequency range of 2000-4000 Hz, while the in-phase right-hand rotor produces a noise reduction by as much as 5 dB in the same frequency range. Both the anti-phase and in-phase left hand rotors offer no evidence of noise reduction. The difference in the acoustic performance of the left-hand and right-hand rotors could be explained by the location of the microphone array which is placed to the left side of the rotors. This microphone array location could create a bias in the sound pressure level in favor of the right-hand rotor. Using the average noise reduction values, the anti-phase 4H rotor could offer a noise reduction by as much as 3.25 dB while the in-phase 4I rotor could produce up to a 2.5 dB noise reduction. Both the computational and experimental results have provided sufficient evidence to support the noise suppression capability of the proposed anti-phase rotor concepts.

Rotor noise↗

A Design Method for Low-Pressure Venturi Nozzles

The purpose of this work is to provide empirical design models for low-pressure, subsonic Venturi nozzles. Experimentally validated simulations were used to determine the effect of nozzle geometry and operating conditions on the suction ratio (ratio of suction mass flow rate to motive mass flow rate) of low-pressure, subsonic Venturi nozzles, over a wide range of geometries and operating conditions, through a parametric study. The results of the parametric study were used to develop seven empirical models, each with a different range of applicability or calculating a different indicator of nozzle performance (i.e., suction ratio, momentum ratio, or dynamic pressure ratio), of the Venturi nozzles using a constrained multi-variable global optimization method. Of the seven empirical models, the best models were found to be those for low- (less than one) and high-suction ratios (greater than one), with mean absolute percentage errors of 5% and 18%, respectively. These empirical models provide a design tool for subsonic, low-pressure Venturi nozzles that is more than an order of magnitude more accurate than a governing equation approach or conventional flow head calculations. These newly-developed empirical models can be applied for initial nozzle design when precise suction ratios are required.

O’Hern, Hannah↗

The influence of leading-edge load alleviation on supersonic wing design

A theoretical and experimental program to assess the effect of leading-edge load constraints on wing design and performance was conducted. For a planform characterized by a highly swept leading edge on the inboard region, linear theory was used to design camber surfaces which produced minimum drag-due-to-lift at the design lift coefficient of 0.08 and a design Mach number of 2.4. In an effort to delay the formation of leading edge vortices which often occur on highly swept wings, two approaches were used in the design criteria to limit the loadings on the leading edge. One wing was constrained to have the normal Mach number less than one everywhere along the leading edge and the second wing was constrained to have a pressure coefficient of zero on the leading edge. Force tests were run on the two constrained wings, on a flat reference wing and on an optimized wing with no leading edge constraints. All wings had identical planforms and thicknesses and were tested over a range of Mach numbers from 1.8 to 2.8 and a range in angles of attack from -5 deg to 8 deg. A comparison of the experimental performance of these four models is shown. Correlations of these results with theoretical predictions and flow visualization photographs are also included.

Darden, C. M.↗

Impact of Footprint Diameter and Off-Nadir Pointing on the Precision of Canopy Height Estimates from Spaceborne Lidar

A spaceborne lidar mission could serve multiple scientific purposes including remote sensing of ecosystem structure, carbon storage, terrestrial topography and ice sheet monitoring. The measurement requirements of these different goals will require compromises in sensor design. Footprint diameters that would be larger than optimal for vegetation studies have been proposed. Some spaceborne lidar mission designs include the possibility that a lidar sensor would share a platform with another sensor, which might require off-nadir pointing at angles of up to 16 . To resolve multiple mission goals and sensor requirements, detailed knowledge of the sensitivity of sensor performance to these aspects of mission design is required. This research used a radiative transfer model to investigate the sensitivity of forest height estimates to footprint diameter, off-nadir pointing and their interaction over a range of forest canopy properties. An individual-based forest model was used to simulate stands of mixed conifer forest in the Tahoe National Forest (Northern California, USA) and stands of deciduous forests in the Bartlett Experimental Forest (New Hampshire, USA). Waveforms were simulated for stands generated by a forest succession model using footprint diameters of 20 m to 70 m. Off-nadir angles of 0 to 16 were considered for a 25 m diameter footprint diameter. Footprint diameters in the range of 25 m to 30 m were optimal for estimates of maximum forest height (R(sup 2) of 0.95 and RMSE of 3 m). As expected, the contribution of vegetation height to the vertical extent of the waveform decreased with larger footprints, while the contribution of terrain slope increased. Precision of estimates decreased with an increasing off-nadir pointing angle, but off-nadir pointing had less impact on height estimates in deciduous forests than in coniferous forests. When pointing off-nadir, the decrease in precision was dependent on local incidence angle (the angle between the off-nadir beam and a line normal to the terrain surface) which is dependent on the off-nadir pointing angle, terrain slope, and the difference between the laser pointing azimuth and terrain aspect; the effect was larger when the sensor was aligned with the terrain azimuth but when aspect and azimuth are opposed, there was virtually no effect on R2 or RMSE. A second effect of off-nadir pointing is that the laser beam will intersect individual crowns and the canopy as a whole from a different angle which had a distinct effect on the precision of lidar estimates of height, decreasing R2 and increasing RMSE, although the effect was most pronounced for coniferous crowns.

Pang, Yong↗