Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “model physics”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,297 records · Page 72
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Implementation of a Model Predictive Control Strategy to Regulate Temperature Inside Plug-Flow Solar Reactor With Countercurrent Flow

Abstract Solar-driven thermochemical energy storage systems are proven to be promising energy carriers (solar fuels) to utilize solar energy by using reactive solid-state pellets. However, the production of solar fuel requires a quasi-steady-state process temperature, which represents the main challenge due to the transient nature of solar power. In this work, an adaptive model predictive controller (MPC) is presented to regulate the temperature inside a tubular solar reactor to produce solid-state solar fuel for long-term thermal storage systems. The solar reactor system consists of a vertical tube heated circumferentially over a segment of its length by concentrated solar power, and the reactive pellets (MgMn2O4) are fed from the top end and flow downwards through the heated tube. A countercurrent flowing gas supplied from the lower end interacts with flowing pellets to reduce it thermochemically at a temperature range of 1000—1500 °C. A low-order physical model was developed to simulate the dynamics of the solar reactor including the reaction kinetics, and the proposed model was validated numerically by using a 7-kW electric furnace. The numerical model then was utilized to design the MPC controller, where the control system consists of an MPC code linked to an adaptive system identification code that updates system parameters online to ensure system robustness against external disturbances (sudden change in the flow inside the reactor), model mismatches, and uncertainty. The MPC controller parameters are tuned to enhance the system performance with minimum steady-state error and overshoot. The controller is tested to track different temperature ranges between 500 °C and 1400 °C with different particles/gas mass flowrates and ramping temperature profiles. Results show that the MPC controller successfully regulated the reactor temperature within ± 1 °C of its setpoint and maintained robust performance with minimum input effort when subjected to sudden changes in the amount of flowing media and the presence of chemical reaction.

Engineering↗
NASA NTRS2021

Groundwater Recharge Estimated by Land Surface Models: An Evaluation in the Conterminous U.S.

Estimating diffuse recharge of precipitation is fundamental to assessing groundwater sustainability. Diffuse recharge is also the process through which climate and climate change directly affect groundwater. In this study, we evaluated diffuse recharge over the conterminous U.S. simulated by a suite of land surface models (LSMs) that were forced using a common set of meteorological input data. Simulated annual recharge exhibited spatial patterns that were similar among the LSMs, with the highest values in the eastern U.S. and Pacific Northwest. However, the magnitudes of annual recharge varied significantly among the models and were associated with differences in simulated ET, runoff and snow. Evaluation against two independent datasets did not answer the question of whether the ensemble mean performs the best, due to inconsistency between those datasets. The amplitude and timing of seasonal maximum recharge differed among the models, influenced strongly by model physics governing deep soil moisture drainage rates and, in cold regions, snowmelt. Evaluation using in situ soil moisture observations suggested that true recharge peaks 1-3 months later than simulated recharge, indicating systematic biases in simulating deep soil moisture. However, recharge from lateral flows and through preferential flows cannot be inferred from soil moisture data, and the seasonal cycle of simulated groundwater storage actually compared well with in situ groundwater observations. Long-term trends in recharge were not consistently correlated with either precipitation trends or temperature trends. This study highlights the need to employ dynamic flow models in LSMs, among other improvements, to enable more accurate simulation of recharge.

snowmelt↗
NASA NTRS2016

Convection from Hemispherical and Conical Model Ice Roughness Elements in Stagnation Region Flows

To improve ice accretion prediction codes, more data regarding ice roughness and its effects on convective heat transfer are required. The Vertical Icing Studies Tunnel (VIST) at NASA Glenn Research was used to model realistic ice roughness in the stagnation region of a NACA 0012 airfoil. In the VIST, a test plate representing the leading 2% chord of the airfoil was subjected to flows of 7.62 m/s (25 ft/s), 12.19 m/s (40 ft/s), and 16.76 m/s (55 ft/s). The test plate was fitted with multiple surfaces or sets of roughness panels, each with a different representation of ice roughness. The sets of roughness panels were constructed using two element distribution patterns that were created based on a laser scan of an iced airfoil acquired in the Icing Research Tunnel at NASA Glenn. For both roughness patterns, surfaces were constructed using plastic hemispherical elements, plastic conical elements, and aluminum conical elements. Infrared surface thermometry data from tests run in the VIST were used to calculate area averaged heat transfer coefficient values. The values from the roughness surfaces were compared to the smooth control surface, showing convective enhancement as high as 400% in some cases. The data gathered during this study will ultimately be used to improve the physical modeling in LEWICE or other ice accretion codes and produce predictions of in-flight ice accretion on aircraft surfaces with greater confidence.

Icing Physics↗
DOE OSTI2025

FM4NPP: A Scaling Foundation Model for Nuclear and Particle Physics

Large language models have revolutionized artificial intelligence by enabling large, generalizable models trained through self-supervision. This paradigm has inspired the development of scientific foundation models (FMs). However, applying this capability to experimental particle physics is challenging due to the sparse, spatially distributed nature of detector data, which differs dramatically from natural language. This work addresses if an FM for particle physics can scale and generalize across diverse tasks. We introduce a new dataset with more than 11 million particle collision events and a suite of downstream tasks and labeled data for evaluation. We propose a novel self-supervised training method for detector data and demonstrate its neural scalability with models that feature up to 188 million parameters. With frozen weights and task-specific adapters, this FM consistently outperforms baseline models across all downstream tasks. The performance also exhibits robust data-efficient adaptation. Further analysis reveals that the representations extracted by the FM are task-agnostic but can be specialized via a single linear mapping for different downstream tasks.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2025

Cross-scale modeling and experimental integration for advancing cathode electrolyte interphase studies in high energy density lithium-ion batteries

Electrochemical interfaces are critical to the performance and durability of lithium-ion batteries (LIBs). The solid electrode-electrolyte interphase (SEI and CEI) structures that form during cycling can passivate reactive surfaces, ensuring safe operation, but also may contribute to performance degradation. Understanding the microscopic factors influencing interphase formation, growth, and evolution is essential for balanced battery design. While significant research has focused on the anode-electrolyte interphase (SEI), the cathode-electrolyte interphase (CEI) remains less explored, despite its importance in high-voltage and advanced battery technologies. Challenges in conducting in-situ or operando experiments arise from the occluded nature of these interfaces and the long timescales involved, often leading to biased interpretations. A validated multi-scale, multi-physics modeling approach, integrated with advanced characterization techniques, can effectively elucidate the intrinsic stability of electrolyte and cathode surfaces, the impact of chemical heterogeneity, and the role of microstructural features on CEI performance. In conclusion, this article reviews current modeling and simulation strategies for studying CEI in advanced LIBs and highlights opportunities for future methodological advancements and experimental integration.

Cathode-electrolyte interphase↗
DOE OSTI2024

A multi-model assessment of the early last deglaciation (PMIP4 LDv1): a meltwater perspective

Abstract. The last deglaciation (∼20–11 ka BP) is a period of a major, long-term climate transition from a glacial to interglacial state that features multiple centennial- to decadal-scale abrupt climate variations whose root cause is still not fully understood. To better understand this time period, the Paleoclimate Modelling Intercomparison Project (PMIP) has provided a framework for an internationally coordinated endeavour in simulating the last deglaciation whilst encompassing a broad range of models. Here, we present a multi-model intercomparison of 17 transient simulations of the early part of the last deglaciation (∼20–15 ka BP) from nine different climate models spanning a range of model complexities and uncertain boundary conditions and forcings. The numerous simulations available provide the opportunity to better understand the chain of events and mechanisms of climate changes between 20 and 15 ka BP and our collective ability to simulate them. We conclude that the amount of freshwater forcing and whether it follows the ice sheet reconstruction or induces an inferred Atlantic meridional overturning circulation (AMOC) history, heavily impacts the deglacial climate evolution for each simulation rather than differences in the model physics. The course of the deglaciation is consistent between simulations except when the freshwater forcing is above 0.1 Sv – at least 70 % of the simulations agree that there is warming by 15 ka BP in most places excluding the location of meltwater input. For simulations with freshwater forcings that exceed 0.1 Sv from 18 ka BP, warming is delayed in the North Atlantic and surface air temperature correlations with AMOC strength are much higher. However, we find that the state of the AMOC coming out of the Last Glacial Maximum (LGM) also plays a key role in the AMOC sensitivity to model forcings. In addition, we show that the response of each model to the chosen meltwater scenario depends largely on the sensitivity of the model to the freshwater forcing and other aspects of the experimental design (e.g. CO2 forcing or ice sheet reconstruction). The results provide insight into the ability of our models to simulate the first part of the deglaciation and how choices between uncertain boundary conditions and forcings, with a focus on freshwater fluxes, can impact model outputs. We can use these findings as helpful insight in the design of future simulations of this time period.

Snoll, Brooke (ORCID:0000000230914394)↗
DOE OSTI2022

Adaptive Generation of Training Data for ML Reduced Model Creation

Machine learning proxy models are often used to speed up or completely replace complex computational models. The greatly reduced and deterministic computational costs enable new use cases such as digital twin control systems and global optimization. The challenge of building these proxy models is generating the training data. A naive uniform sampling of the input space can result in a non-uniform sampling of the output space of a model. This can cause gaps in the training data coverage that can miss finer scale details resulting in poor accuracy. While larger and larger data sets could eventually fill in these gaps, the computational burden of full-scale simulation codes can make this prohibitive. In this paper, we present an adaptive data generation method that utilizes uncertainty estimation to identify regions where training data should be augmented. By targeting data generation to areas of need, representative data sets can be generated efficiently. The effectiveness of this method will be demonstrated on a simple one-dimensional function and a complex multidimensional physics model.

Cianciosa, Mark↗
DOE OSTI2020

Fast and Universal Kohn-Sham Density Functional Theory Algorithm for Warm Dense Matter to Hot Dense Plasma

Understanding many processes, e.g., fusion experiments, planetary interiors, and dwarf stars, depends strongly on microscopic physics modeling of warm dense matter and hot dense plasma. This complex state of matter consists of a transient mixture of degenerate and nearly free electrons, molecules, and ions. This regime challenges both experiment and analytical modeling, necessitating predictive ab initio atomistic computation, typically based on quantum mechanical Kohn-Sham density functional theory (KS-DFT). However, cubic computational scaling with temperature and system size prohibits the use of DFT through much of the warm dense matter regime. A recently developed stochastic approach to KS-DFT can be used at high temperatures, with the exact same accuracy as the deterministic approach, but the stochastic error can converge slowly and it remains expensive for intermediate temperatures (< 50 eV). Here we have developed a universal mixed stochastic-deterministic algorithm for DFT at any temperature. This approach leverages the physics of KS-DFT to seamlessly integrate the best aspects of these different approaches. We demonstrate that this method significantly accelerated self-consistent field calculations for temperatures from 3 to 50 eV, while producing stable molecular dynamics and accurate diffusion coefficients.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2020

Towards the spatial resolution of metalloprotein charge states by detailed modeling of XFEL crystallographic diffraction

Oxidation states of individual metal atoms within a metalloprotein can be assigned by examining X-ray absorption edges, which shift to higher energy for progressively more positive valence numbers. Indeed, X-ray crystallography is well suited for such a measurement, owing to its ability to spatially resolve the scattering contributions of individual metal atoms that have distinct electronic environments contributing to protein function. However, as the magnitude of the shift is quite small, about +2 eV per valence state for iron, it has only been possible to measure the effect when performed with monochromated X-ray sources at synchrotron facilities with energy resolutions in the range 2–3 × 10 −4 (Δ E / E ). This paper tests whether X-ray free-electron laser (XFEL) pulses, which have a broader bandpass (Δ E / E = 3 × 10 −3 ) when used without a monochromator, might also be useful for such studies. The program nanoBragg is used to simulate serial femtosecond crystallography (SFX) diffraction images with sufficient granularity to model the XFEL spectrum, the crystal mosaicity and the wavelength-dependent anomalous scattering factors contributed by two differently charged iron centers in the 110-amino-acid protein, ferredoxin. Bayesian methods are then used to deduce, from the simulated data, the most likely X-ray absorption curves for each metal atom in the protein, which agree well with the curves chosen for the simulation. The data analysis relies critically on the ability to measure the incident spectrum for each pulse, and also on the nanoBragg simulator to predict the size, shape and intensity profile of Bragg spots based on an underlying physical model that includes the absorption curves, which are then modified to produce the best agreement with the simulated data. This inference methodology potentially enables the use of SFX diffraction for the study of metalloenzyme mechanisms and, in general, offers a more detailed approach to Bragg spot data reduction.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2024

${\tt Warm}$SPy: a numerical study of cosmological perturbations in warm inflation

We present ${\tt Warm}$SPy, a numerical code in Python designed to solve for the perturbations' equations in warm inflation models and compute the corresponding scalar power spectrum at CMB horizon crossing. In models of warm inflation, a radiation bath of temperature T during inflation induces a dissipation (friction) rate of strength Q ∝ T c /Φ m in the equation of motion for the inflaton field Φ. While for a temperature-independent dissipation rate (c = 0) an analytic expression for the scalar power spectrum exists, in the case of a non-zero value for c the set of equations can only be solved numerically. For c > 0 (c < 0), the coupling between the perturbations in the inflaton field and radiation induces a growing (decaying) mode in the scalar perturbations, generally parameterized by a multiplicative function G(Q) which we refer to as the scalar dissipation function. Using ${\tt Warm}$SPy, we provide an analytic fit for G(Q) for the cases of c = {3,1,-1}, corresponding to three cases that have been realized in physical models. Compared to previous literature results, our fits are more robust and valid over a broader range of dissipation strengths Q ϵ [10 -7 ,10 4 ]. Additionally, for the first time, we numerically assess the stability of the scalar dissipation function against various model parameters, inflationary histories as well as the effects of metric perturbations. As a whole, the results do not depend appreciably on most of the parameters in the analysis, except for the dissipation index c, providing evidence for the universal behaviour of the scalar dissipation function G(Q).

79 ASTRONOMY AND ASTROPHYSICS↗
NASA NTRS2002

A Comparative Study of Three Methodologies for Modeling Dynamic Stall

During the past two decades, there has been an increased reliance on the use of computational fluid dynamics methods for modeling rotors in high speed forward flight. Computational methods are being developed for modeling the shock induced loads on the advancing side, first-principles based modeling of the trailing wake evolution, and for retreating blade stall. The retreating blade dynamic stall problem has received particular attention, because the large variations in lift and pitching moments encountered in dynamic stall can lead to blade vibrations and pitch link fatigue. Restricting to aerodynamics, the numerical prediction of dynamic stall is still a complex and challenging CFD problem, that, even in two dimensions at low speed, gathers the major difficulties of aerodynamics, such as the grid resolution requirements for the viscous phenomena at leading-edge bubbles or in mixing-layers, the bias of the numerical viscosity, and the major difficulties of the physical modeling, such as the turbulence models, the transition models, whose both determinant influences, already present in static maximal-lift or stall computations, are emphasized by the dynamic aspect of the phenomena.

Sankar, L.↗
DOE OSTI2021

Design and physics basis for the upcoming DIII-D SAS-VW campaign to quantify tungsten leakage and transport in a new slot divertor geometry

A set of experiments are planned to exploit the high SOL collisionality enabled by a tightly baffled slot divertor geometry to suppress tungsten leakage in DIII-D. A toroidal row of graphite tiles from the Small Angle Slot (SAS) divertor is being coated with 10–15 μ m of tungsten. New spectroscopic viewing chords with in-vacuo optics will measure the W gross erosion source from the divertor surface with high spatial and temporal resolution. In parallel, the bottom of the SAS divertor is changed from a flat to a ‘V’ shape. New SOLPS-ITER/DIVIMP simulations conducted with drifts using the planned ‘V’ shape predict a substantial reduction in W sourcing and SOL accumulation in either B × ∇B direction relative to either the old SAS divertor shape or the open, lower divertor. Dedicated studies are planned to carefully characterize the level of W sourcing, leakage, and scrape-off-layer (SOL) accumulation in DIII-D over a wide range of plasma scenarios. Various actuators will be assessed for their efficacy in further reducing high-Z impurity sources and leakage from the slot divertor geometry. Finally, this coupled code-experiment validation effort will be used to stress-test physics models and build confidence in extrapolations to advanced, high-Z divertor geometries for next-step devices.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2024

Exploring CO 2 reduction and crossover in membrane electrode assemblies

Electrochemical CO 2 reduction (CO 2 R) using renewable electricity is a key pathway toward synthesizing fuels and chemicals. In this study, multi-physics modeling is used to interpret experimental data obtained for CO 2 R to CO using Ag catalysts in a membrane electrode assembly. The one-dimensional model is validated using measured CO 2 crossover and product formation rates. The kinetics of CO formation are described by Marcus–Hush–Chidsey kinetics, which enables accurate prediction of the experimental data by accounting for the reorganization of the solvent during CO 2 R. Further, the results show how the performance is dictated by competing phenomena including ion formation and transport, CO 2 solubility, and water management. The model shows that increasing the ion-exchange capacity of the membrane and surface area of the catalyst increases CO formation rates by >100 mA cm –2 without negatively impacting CO 2 utilization. Here we provide insights into how to manage the trade-off between productivity and CO 2 utilization in CO 2 electrolyzers.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRSDate not supplied

Validation of Cryogenic Propellant Tank Self-Pressurization

NASA’s near-future long-term space missions necessitate advancements in cryogenic fluid management (CFM), which includes safe and reliable long-term propellant storage. Consequently, NASA STMD (Space Technology Mission Directorate) has established the CFM Portfolio Project to improve CFM technologies for upcoming missions. As a part of CFM Modeling Portfolio, NASA Marshall Space Flight Center’s (MSFC) Fluid Dynamics branch within the Propulsion Systems Department is tasked with assessing and improving computational tools used to support flight projects such as Human Lander System and Commercial Lunar Payload Services. One of the challenging modeling problems is that of self-pressurization of propellant tank due to heat leakage over long time periods. Reduced order and nodal tools find it extremely difficult to accurately predict self-pressurization under transient conditions or where complex flow patterns or thermal gradients exist, and application of 3-D CFD (computational fluid dynamics) simulations is necessary to characterize these problems. Until recently, CFD simulations for these long-term processes (order of hours or days) have been too impractical to conduct due to prohibitive wall time and computational resource requirements. The requisite CFD tool need to be efficient, computationally scalable, modular with ability to incorporate various physics models, and robust enough to not accumulate conservation errors over several hours of simulated time. NASA MSFC’s Loci-Stream CFD tool along with the VOF module is a great candidate to fit this mold. In this paper, we validate Loci-Stream for predicting self-pressurization of a flight scale propellant tank so it can serve as a reliable design and analysis tool for NASA’s CFM application needs. Liquid hydrogen tank pressurization tests carried out at the K-site testing facility provide a reliable data set for this purpose. These tests were simulated using Loci-Stream solver with VOF module as well as a hybrid approach which uses a lumped model for the ullage gas domain and CFD simulation of the liquid propellant. Both are shown to have very good predictive capabilities over multiple K-site experiments.

Hong Q. Yang↗
NASA NTRSDate not supplied

Validation of Cryogenic Propellant Tank Self-Pressurization

NASA's near-future long-term space missions necessitate advancements in cryogenic fluid management (CFM), which includes safe and reliable long-term propellant storage. Consequently, NASA STMD (Space Technology Mission Directorate) has established the CFM Portfolio Project to improve CFM technologies for upcoming missions. As a part of CFM Modeling Portfolio, NASA Marshall Space Flight Center's (MSFC) Fluid Dynamics branch within the Propulsion Systems Department is tasked with assessing and improving computational tools used to support flight projects such as Human Lander System and Commercial Lunar Payload Services. One of the challenging modeling problems is that of self-pressurization of propellant tank due to heat leakage over long time periods. Reduced order and nodal tools find it extremely difficult to accurately predict self-pressurization under transient conditions or where complex flow patterns or thermal gradients exist, and application of 3-D CFD (computational fluid dynamics) simulations is necessary to characterize these problems. Until recently, CFD simulations for these long-term processes (order of hours or days) have been too impractical to conduct due to prohibitive wall time and computational resource requirements. The requisite CFD tool need to be efficient, computationally scalable, modular with ability to incorporate various physics models, and robust enough to not accumulate conservation errors over several hours of simulated time. NASA MSFC's Loci-Stream CFD tool along with the VOF module is a great candidate to fit this mold. In this paper, we validate Loci-Stream for predicting self-pressurization of a flight scale propellant tank so it can serve as a reliable design and analysis tool for NASA's CFM application needs. Liquid hydrogen tank pressurization tests carried out at the K-site testing facility provide a reliable data set for this purpose. These tests were simulated using Loci-Stream solver with VOF module as well as a hybrid approach which uses a lumped model for the ullage gas domain and CFD simulation of the liquid propellant. Both are shown to have very good predictive capabilities over multiple K-site experiments.

cryogenic fluid management↗
DOE OSTI2021

Observation and Control of Unidirectional Ballistic Dynamics of Nanoparticles at a Liquid–Gas Interface by 4D Electron Microscopy

Understanding and controlling the dynamics of active Brownian objects far from equilibrium are fundamentally important for emerging technologies such as artificial micro/nanomotors for drug deliveries and noninvasive microsurgery. However, direct observation and control of unidirectional propulsion of individual nanoscale objects are technically challenging due to the required spatiotemporal resolution. Here, we report in situ visualization and manipulation of unidirectional superfast ballistic dynamics of a single-photon-activated gold nanoparticle (NP) along the liquid–gas interface by four-dimensional electron microscopy (4D EM) at nanometer and nanosecond scales. We observed that, upon repetitive femtosecond laser excitation, the NP at the liquid–gas interface exhibits a continuously superfast unidirectional translation with a linear dependence of its root mean squared velocity (νrms) on either the laser fluence or repetition rate. Under a single femtosecond pulse excitation, the NP exhibits a superfast ballistic translation at the nanosecond time scale. Combined experiment and physical modeling reveals that the superfast unidirectional, ballistic translation is driven by unidirectional random impulsive forces arising from the nanobubbles (NBs) induced by enhanced laser heating as a result of plasmonic excitation, which is controllable by tuning the laser characteristics. Furthermore, this directional plasmonic NB-propulsion mechanism sheds light on the design of light-controllable artificially intelligent micro/nanomotor systems.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
NASA NTRS1985

Comprehensive modeling of a liquid rocket combustion chamber

An analytical model for the simulation of detailed three-phase combustion flows inside a liquid rocket combustion chamber is presented. The three phases involved are: a multispecies gaseous phase, an incompressible liquid phase, and a particulate droplet phase. The gas and liquid phases are continuum described in an Eulerian fashion. A two-phase solution capability for these continuum media is obtained through a marriage of the Implicit Continuous Eulerian (ICE) technique and the fractional Volume of Fluid (VOF) free surface description method. On the other hand, the particulate phase is given a discrete treatment and described in a Lagrangian fashion. All three phases are hence treated rigorously. Semi-empirical physical models are used to describe all interphase coupling terms as well as the chemistry among gaseous components. Sample calculations using the model are given. The results show promising application to truly comprehensive modeling of complex liquid-fueled engine systems.

Liang, P.-Y.↗
NASA NTRS1987

Dynamics of long period comets

The appearance of Halley's Comet in 1985 to 1986 and the related emphasis on research on physical models of cometary nuclei, led to a more moderate pace for the dynamical studies of the Oort cloud and the motion of long-period comets this year. Specific areas studied included the dynamical evolution of cometary showers as a result of stars passages through the inner Oort cloud and the possible relationship to observed stepwise mass extinctions at geological boundaries, revised estimates for the total mass of comets in the Oort cloud as a result of lessons learned from the spacecraft encounters with Halley's Comet, and study of the possible dynamical sources for the short-period comets in the solar system as part of a wider study of physical processing of cometary nuclei prior to their becoming visible comets. The work on cometary showers used a Monte Carlo simulation of the evolution of cometary orbits under a combination of planetary, nongravitational, and stellar perturbations, and with physical removal by disruption, sublimation of all volatiles, and collision.

Weissman, Paul R.↗