Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “continuous improvement”

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 1,387 records · Page 77

Mitigating Satellite-Based Fire Sampling Limitations in Deriving Biomass Burning Emission Rates: Application to WRF-Chem Model over the Northern sub-Saharan African Region

Largely used in several independent estimates of fire emissions, fire products based on MODIS sensors aboard the Terra and Aqua polar-orbiting satellites have a number of inherent limitations, including (a) inability to detect fires below clouds, (b) significant decrease of detection sensitivity at the edge of scan where pixel sizes are much larger than at nadir, and (c) gaps between adjacent swaths in tropical regions. To remedy these limitations, an empirical method is developed here and applied to correct fire emission estimates based on MODIS pixel level fire radiative power measurements and emission coefficients from the Fire Energetics and Emissions Research (FEER) biomass burning emission inventory. The analysis was performed for January 2010 over the northern sub-Saharan African region. Simulations from WRF-Chem model using original and adjusted emissions are compared with the aerosol optical depth (AOD) products from MODIS and AERONET as well as aerosol vertical profile from CALIOP data. The comparison confirmed an 30-50% improvement in the model simulation performance (in terms of correlation, bias, and spatial pattern of AOD with respect to observations) by the adjusted emissions that not only increases the original emission amount by a factor of two but also results in the spatially continuous estimates of instantaneous fire emissions at daily time scales. Such improvement cannot be achieved by simply scaling the original emission across the study domain. Even with this improvement, a factor of two underestimations still exists in the modeled AOD, which is within the current global fire emissions uncertainty envelope. Plain Language Summary Polar-orbiting satellites sensors, such as MODIS, have limitations in detecting fires under clouds or when viewing angles are large or in the gaps among satellites' different ground swaths. Here we developed an empirical method to mitigate the effect of these limitations in fire emission estimate. The method is applied to a fire emission inventory (FEER) based on MODIS. We show that, with our method, the adjusted emission inventory improves WRF-Chem simulation of smoke transport and distribution.

emissions properties↗

Concept, Design, and Prototyping of XSAS: A High Power Extendable Solar Array for CubeSat Applications

CubeSats have proven themselves as a reliable and cost-effective method to perform experiments in space, but they are highly constrained by their specifications and size. One such constraint is the average continuous power, about 5 W, which is available to the typical CubeSat. To improve this constraint, we have developed the eXtendable Solar Array System (XSAS), a deployable solar array prototype in a CubeSat package, which can provide an average 23 W of continuous power. The prototype served as a technology demonstrator for the high risk mechanisms needed to release, deploy, and control the solar array. Aside from this drastic power increase, it is in the integration of each mechanism, their application within the small CubeSat form-factor, and the inherent passive control benefit of the deployed geometry that make XSAS a novel design. In this paper, we discuss the requirements and design process for the XSAS system and mechanical prototype, and provide qualitative and quantitative results from numerical simulations and prototype tests. We also discuss future work, including an upcoming NASA zero-gravity flight campaign, to further improve on XSAS and prepare it for future launch opportunities.

Senatore, Patrick↗

Improved performance in NASTRAN (R)

Three areas of improvement in COSMIC/NASTRAN, 1989 release, were incorporated recently that make the analysis program run faster on large problems. Actual log files and actual timings on a few test samples that were run on IBM, CDC, VAX, and CRAY computers were compiled. The speed improvement is proportional to the problem size and number of continuation cards. Vectorizing certain operations in BANDIT, makes BANDIT run twice as fast in some large problems using structural elements with many node points. BANDIT is a built-in NASTRAN processor that optimizes the structural matrix bandwidth. The VAX matrix packing routine BLDPK was modified so that it is now packing a column of a matrix 3 to 9 times faster. The denser and bigger the matrix, the greater is the speed improvement. This improvement makes a host of routines and modules that involve matrix operation run significantly faster, and saves disc space for dense matrices. A UNIX version, converted from 1988 COSMIC/NASTRAN, was tested successfully on a Silicon Graphics computer using the UNIX V Operating System, with Berkeley 4.3 Extensions. The Utility Modules INPUTT5 and OUTPUT5 were expanded to handle table data, as well as matrices. Both INPUTT5 and OUTPUT5 are general input/output modules that read and write FORTRAN files with or without format. More user informative messages are echoed from PARAMR, PARAMD, and SCALAR modules to ensure proper data values and data types being handled. Two new Utility Modules, GINOFILE and DATABASE, were written for the 1989 release. Seven rigid elements are added to COSMIC/NASTRAN. They are: CRROD, CRBAR, CRTRPLT, CRBE1, CRBE2, CRBE3, and CRSPLINE.

Chan, Gordon C.↗

Infinite possibilities: Computational structures technology

Computational Fluid Dynamics (or CFD) methods are very familiar to the research community. Even the general public has had some exposure to CFD images, primarily through the news media. However, very little attention has been paid to CST--Computational Structures Technology. Yet, no important design can be completed without it. During the first half of this century, researchers only dreamed of designing and building structures on a computer. Today their dreams have become practical realities as computational methods are used in all phases of design, fabrication and testing of engineering systems. Increasingly complex structures can now be built in even shorter periods of time. Over the past four decades, computer technology has been developing, and early finite element methods have grown from small in-house programs to numerous commercial software programs. When coupled with advanced computing systems, they help engineers make dramatic leaps in designing and testing concepts. The goals of CST include: predicting how a structure will behave under actual operating conditions; designing and complementing other experiments conducted on a structure; investigating microstructural damage or chaotic, unpredictable behavior; helping material developers in improving material systems; and being a useful tool in design systems optimization and sensitivity techniques. Applying CST to a structure problem requires five steps: (1) observe the specific problem; (2) develop a computational model for numerical simulation; (3) develop and assemble software and hardware for running the codes; (4) post-process and interpret the results; and (5) use the model to analyze and design the actual structure. Researchers in both industry and academia continue to make significant contributions to advance this technology with improvements in software, collaborative computing environments and supercomputing systems. As these environments and systems evolve, computational structures technology will evolve. By using CST in the design and operation of future structures systems, engineers will have a better understanding of how a system responds and lasts, more cost-effective methods of designing and testing models, and improved productivity. For informational and educational purposes, a videotape is being produced using both static and dynamic images from research institutions, software and hardware companies, private individuals, and historical photographs and drawings. The extensive number of CST resources indicates its widespread use. Applications run the gamut from simpler university-simulated problems to those requiring solutions on supercomputers. In some cases, an image or an animation will be mapped onto the actual structure to show the relevance of the computer model to the structure. Transferring the digital files to videotape presents a number of problems related to maintaining the quality of the original image, while still producing a broadcast quality videotape. Since researchers normally do not create a computer image using traditional composition theories or video production requirements, often the image loses some of its original digital quality and impact when transferred to videotape. Although many CST images are currently available, those that are edited into the final project must meet two important criteria: they must complement the narration, and they must be broadcast quality when recorded on videotape.

Beam, Sherilee F.↗

Technology Transfer Challenges: A Case Study of User-Centered Design in NASA's Systems Engineering Culture

The Upper Stage (US) section of the National Aeronautics and Space Administration's (NASA) Ares I rocket will require internal access platforms for maintenance tasks performed by humans inside the vehicle. Tasks will occur during expensive critical path operations at Kennedy Space Center (KSC) including vehicle stacking and launch preparation activities. Platforms must be translated through a small human access hatch, installed in an enclosed worksite environment, support the weight of ground operators and be removed before flight - and their design must minimize additional vehicle mass at attachment points. This paper describes the application of a user-centered conceptual design process and the unique challenges encountered within NASA's systems engineering culture focused on requirements and "heritage hardware". The NASA design team at Marshall Space Flight Center (MSFC) initiated the user-centered design process by studying heritage internal access kits and proposing new design concepts during brainstorming sessions. Simultaneously, they partnered with the Technology Transfer/Innovative Partnerships Program to research inflatable structures and dynamic scaffolding solutions that could enable ground operator access. While this creative, technology-oriented exploration was encouraged by upper management, some design stakeholders consistently opposed ideas utilizing novel, untested equipment. Subsequent collaboration with an engineering consulting firm improved the technical credibility of several options, however, there was continued resistance from team members focused on meeting system requirements with pre-certified hardware. After a six-month idea-generating phase, an intensive six-week effort produced viable design concepts that justified additional vehicle mass while optimizing the human factors of platform installation and use. Although these selected final concepts closely resemble heritage internal access platforms, challenges from the application of the user-centered process provided valuable lessons for improving future collaborative conceptual design efforts.

Quick, Jason↗

Efficiency Improvements to the Displacement Based Multilevel Structural Optimization Algorithm

Multilevel Structural Optimization (MSO) continues to be an area of research interest in engineering optimization. In the present project, the weight optimization of beams and trusses using Displacement based Multilevel Structural Optimization (DMSO), a member of the MSO set of methodologies, is investigated. In the DMSO approach, the optimization task is subdivided into a single system and multiple subsystems level optimizations. The system level optimization minimizes the load unbalance resulting from the use of displacement functions to approximate the structural displacements. The function coefficients are then the design variables. Alternately, the system level optimization can be solved using the displacements themselves as design variables, as was shown in previous research. Both approaches ensure that the calculated loads match the applied loads. In the subsystems level, the weight of the structure is minimized using the element dimensions as design variables. The approach is expected to be very efficient for large structures, since parallel computing can be utilized in the different levels of the problem. In this paper, the method is applied to a one-dimensional beam and a large three-dimensional truss. The beam was tested to study possible simplifications to the system level optimization. In previous research, polynomials were used to approximate the global nodal displacements. The number of coefficients of the polynomials equally matched the number of degrees of freedom of the problem. Here it was desired to see if it is possible to only match a subset of the degrees of freedom in the system level. This would lead to a simplification of the system level, with a resulting increase in overall efficiency. However, the methods tested for this type of system level simplification did not yield positive results. The large truss was utilized to test further improvements in the efficiency of DMSO. In previous work, parallel processing was applied to the subsystems level, where the derivative verification feature of the optimizer NPSOL had been utilized in the optimizations. This resulted in large runtimes. In this paper, the optimizations were repeated without using the derivative verification, and the results are compared to those from the previous work. Also, the optimizations were run on both, a network of SUN workstations using the MPICH implementation of the Message Passing Interface (MPI) and on the faster Beowulf cluster at ICASE, NASA Langley Research Center, using the LAM implementation of UP]. The results on both systems were consistent and showed that it is not necessary to verify the derivatives and that this gives a large increase in efficiency of the DMSO algorithm.

Plunkett, C. L.↗

Solar Radiometer Instrumentation Evaluation: Cooperative Research and Development (Final Report, CRADA Number CRD-16-00619)

The purpose and intent of this agreement is to evaluate newly manufactured thermopile pyranometers and spectroradiometers. The purpose also extends to provide a framework for Participant to conduct research to improve and develop new radiometric devices and application in the future. The overall objective is to provide more accurate, site-specific, long-term, continuous measurements of the solar resources needed by industry to increase the deployment and improve the operations of photovoltaic and concentrating solar power plants. This CRADA addresses the needs for proven solar irradiance measurement to validate resource assessment models and generate high quality data used for site selection, energy system design, deployment, maintenance, and operation. This work will be conducted at NREL and Participant facilities. This project will place instrumentation at the NREL Solar Radiation Research Laboratory (SRRL) in cooperation with EKO Instruments, USA. Participant instruments will be deployed for the purpose of evaluation under controlled conditions. The scope of the project will be a 3 years-long segmented comparison of the instruments vs. other NREL baseline instruments with a well-characterized history. These evaluations will include planned improvements to instruments as well as extensions of future instrument applications. The final evaluation will be a written report similar to the work done by Wilcox and Myers (see http://www.nrel.gov/docs/fy09osti/44627.pdf).

14 SOLAR ENERGY↗

Multiple Coulomb scattering for muon energy reconstruction in SBND Monte Carlo simulations

The Short Baseline Near Detector (SBND) is a liquid argon time projection chamber (LArTPC) located 110 meters downstream of the Booster Neutrino Beam target at Fermilab \cite{SBN}. The LArTPC is a detector technology with unprecedented position and calorimetric resolution for precise neutrino studies. The most dominant neutrino interaction topology in SBND is charged-current quasi-elastic muon neutrino-argon interactions, where the final state consists of a muon and a proton. Here, muons often travel long distances, sometimes exiting the detector before stopping. This loss of information creates a challenge for accurate energy estimation. There have been efforts in the MicroBooNE and ICARUS collaborations to improve energy estimation using a phenomenon known as Multiple Coulomb Scattering (MCS), which describes the jagged path taken by muons through a detector due to continuous Coulomb interactions with argon atoms. Building on these efforts, my project aims to improve an MCS-based approach to estimating the energies of exiting muons in SBND.

Puig, Xilonem Angeles [Mt. Holyoke Coll.; Fermilab↗

Probing Electrode Transformation under Dynamic Operation for Alkaline Water Electrolysis

Alkaline water electrolyzers (AWEs) play a pivotal role in the realm of large-scale hydrogen production. However, AWEs face significant challenges in electrode degradation particularly under dynamic operating conditions, induced by reverse current phenomenon during frequent startup/shutdown. Herein, this study aims to rationalize the degradation mechanisms of AWEs under these conditions. A three-electrode membrane electrode assembly (MEA) setup is first utilized to decouple polarization behaviors of anode and cathode in AWEs. Following a proposed accelerated stress testing protocol, the setup allows for tracking individual electrode performance transformations during frequent reverse current operation. Integrating operando cell studies with in situ and post-mortem characterizations, it is showed that continuous formation of highly active species, nickel (oxy)hydroxides, improves the anode performance for oxygen evolution reaction. On the contrary, irreversible oxidation of nickel to β-nickel hydroxide results in a severe degradation of cathode, leading to material dissolution, poor electrical conductivity and loss of catalytic activity for hydrogen evolution reaction. These results provide insights in nickel-based electrode transformation mechanisms for alkaline water electrolysis and indicate that cathode with higher redox reversibility can potentially improve durability of AWEs under dynamic conditions.

08 HYDROGEN↗

Volcanic electrification: recent advances and future perspectives

Abstract The electrification of volcanic plumes has been described intermittently since at least the time of Pliny the Younger and the 79 AD eruption of Vesuvius. Although sometimes disregarded in the past as secondary effects, recent work suggests that the electrical properties of volcanic plumes reveal intrinsic and otherwise inaccessible parameters of explosive eruptions. An increasing number of volcanic lightning studies across the last decade have shown that electrification is ubiquitous in volcanic plumes. Technological advances in engineering and numerical modelling, paired with close observation of recent eruptions and dedicated laboratory studies (shock-tube and current impulse experiments), show that charge generation and electrical activity are related to the physical, chemical, and dynamic processes underpinning the eruption itself. Refining our understanding of volcanic plume electrification will continue advancing the fundamental understanding of eruptive processes to improve volcano monitoring. Realizing this goal, however, requires an interdisciplinary approach at the intersection of volcanology, atmospheric science, atmospheric electricity, and engineering. Our paper summarizes the rapid and steady progress achieved in recent volcanic lightning research and provides a vision for future developments in this growing field.

58 GEOSCIENCES↗

Enhanced work hardening from oxygen-stabilized ω precipitates in an aged metastable β Ti-Nb alloy

High levels of oxygen in solid solution in Ti alloys are considered detrimental to mechanical properties because of embrittlement concerns. In metastable β titanium alloys, the formation of isothermal ω precipitates is also known to cause severe embrittlement and ductility reduction. However, oxygen has been shown to partition to the ω phase during ageing, and this partitioning behavior may potentially impact ω’s mechanical contribution. Using micropillar compression, we compared the deformation behavior of Ti-20Nb (at. %) with oxygen-stabilized ω precipitates to the behavior of oxygen-free specimens. The oxygen-stabilized microstructures showed increased compressive yield strength and enhanced work hardening behavior compared to oxygen-free specimens. In the absence of oxygen, the compressed pillars showed slip band formation and catastrophic failure, and transmission electron microscopy imaging revealed that ω precipitates were sheared within the continuous deformation channels resulting in slip localization. In contrast, oxygen-stabilized ω precipitates were harder to shear and the formation of continuous deformation channels was suppressed during compression, leading to improved work hardening behavior up to 15% strain. Furthermore, this counter-intuitive role of oxygen may offer design strategies to address the significant embrittlement and loss of ductility observed for ω-strengthened β Ti alloys without oxygen and avenues to expand the use of β Ti alloys.

36 MATERIALS SCIENCE↗

Photovoltaic device innovation for a solar future

Photovoltaics (PV), also known as solar cells, are now found everywhere - in utility plants; on roofs of homes and commercial buildings; on platforms at sea; in agricultural fields; on vehicles, buildings, drones, and backpacks; and, in their longest running application, providing power in space. Continuous device innovation has led to increased efficiency and improved reliability for multiple PV technologies. Confronted with an urgent need to deploy PV at multiterawatt (TW) scale over the next two decades to mitigate greenhouse gas emissions, PV device innovation takes on new urgency and impact. This perspective reviews recent progress in device design and performance for PV technologies that are currently in commercial production at greater than 1 GW/year or enabling significant space-based power generation - Si, CdTe, CIGS, and multijunction III-V - and looks ahead to the next 5 years. In conclusion, we also identify device-related topics requiring cross-cutting research and innovation.

14 SOLAR ENERGY↗

Performance of discontinuity-free components produced by additive turning computer aided manufacturing strategy

Computer aided manufacturing (CAM) techniques for directed energy deposition (DED) affect the material properties of the manufactured component based on the scan strategy used. In this study, we investigate the material characteristics of turning-style toolpath strategies to generate axisymmetric components with additive manufacturing (AM), referred to in this research as additive turning. This novel approach leverages existing CAM technology for turning, where the component rotates around a stationary cutting tool, to generate toolpath trajectories for DED with varying wall-thicknesses and controlled deposition angles. This strategy allows for entire components to be deposited in one continuous deposition, resulting in reduced cycle-time and improved material usage efficiency compared to conventional AM strategies where the beam is switched off at the end of every layer. Results from this study show that the use of additive turning can produce over 99 % dense components with less variation and anisotropy in texture and hardness, as well as a lower variation in elongation to failure when compared to conventional strategies. This research highlights that various CAM strategies could be deployed for AM to improve process efficiency or enable localized control over part performance.

36 MATERIALS SCIENCE↗

Gaining Perspective on Unconventional Well Design Choices through Play-level Application of Machine Learning Modeling

The recent development of unconventional oil and gas (O&G) reservoirs has led to an abundant hydrocarbon supply, both domestically and globally. However, there is a continued push to develop new and innovative approaches to improve exploration and extraction efficiencies and overall well productivity moving forward. Substantial improvements in unconventional O&G development are expected through optimized well completion and stimulation strategies aimed at maximizing well productivity. Optimizing well designs will require tailoring to the distinctive geologic conditions present for any newly placed well. To better evaluate the impact of well design attributes and their associated interactions on productivity in a major unconventional play, multivariate machine learning-based models that use empirical datasets were developed. A gradient boosted regression tree (GBRT) algorithm was applied. GBRT has been narrowly investigated for O&G applications but enables straightforward parametric importance and influence evaluation, as well as assessment of parameter interaction effects. Models were trained on well design and locational parameters that serve as a proxy for variable geologic conditions to estimate two types of productivity indicator response variables strongly correlated to estimated ultimate recovery (EUR). The dataset utilized consists of over 7,000 well observations that cover the majority of the productive region of the Marcellus Shale. Model performance was evaluated and algorithm parameters tuned by analyzing the goodness-of-fit for simulated results against observed data in a cross-validation approach. Models were found capable of 73–79 percent prediction accuracy on held out testing data of gas equivalent production and can be used to inform future well design and placement decisions for increasing EUR per well and improving overall field-level recovery. Study results indicate that Marcellus well performance improves most with upscaling perforated interval lengths and water and proppant volumes per foot; but relative productivity improvements are spatially dependent across the play. Finally, optimal combinations of water and proppant on well performance were found to vary depending on well location, emphasizing the utility of data-driven models capable of broad application across a play of interest for informing tailored well design approaches prior to their field deployment.

04 OIL SHALES AND TAR SANDS↗

Poplar lignin structural changes during extraction in γ-valerolactone (GVL)

In this paper, we describe an approach for producing both high quality and high quantity of lignin through studying the structural change of lignin during treatment of poplar wood in γ-valerolactone (GVL) for a range of temperatures (from 80 to 120 °C) and reaction time at temperature (from 1 to 24 h). Throughout the study, various techniques, including nuclear magnetic resonance (NMR) spectroscopies (solution- and gel-state 1 H –13 C 2D HSQC and 31 P) and gel-permeation chromatography (GPC) were applied to characterize the lignin structures. As the GVL-extracted lignin yield increases, the level of β-ether units decreases and the level of condensation products increases. The β-ether content, the aliphatic hydroxyl group content, and the molecular weight of the GVL-extracted lignin fractions were close to the poplar lignin from other preparation methods (e.g., enzyme lignin). A two-step hydrolytic process (120 °C, 2 × 15 min) gave a higher lignin yield (56.5% vs. 54.8%) with three times higher β-ether content (31.9% vs. 10.6%) than lignin extracted from a single-step process at 120 °C for 1 h. The results demonstrate that multiple-step cycling of cosolvent-assisted hydrolysis can help preserve more of the virgin ether-bond structures of GVL-extracted poplar lignin. Such a strategy can also be applied to a fully continuous-flow reactor system in future research to further improve both the productivity and quality of GVL-extracted lignin.

2D HSQC NMR↗

The IMG/M data management and analysis system v.7: content updates and new features

The Integrated Microbial Genomes & Microbiomes system at the Department of Energy (DOE) Joint Genome Institute (JGI) continues to provide support for users to perform comparative analysis of isolate and single cell genomes, metagenomes, and metatranscriptomes. In addition to datasets produced by the JGI, IMG v.7 also includes datasets imported from public sources such as NCBI Genbank, SRA, and the DOE National Microbiome Data Collaborative (NMDC), or submitted by external users. In the past couple years, we have continued our effort to help the user community by improving the annotation pipeline, upgrading the contents with new reference database versions, and adding new analysis functionalities such as advanced scaffold search, Average Nucleotide Identity (ANI) for high-quality metagenome bins, new cassette search, improved gene neighborhood display, and improvements to metatranscriptome data display and analysis. Here, we also extended the collaboration and integration efforts with other DOE-funded projects such as NMDC and DOE Biology Knowledgebase (KBase).

59 BASIC BIOLOGICAL SCIENCES↗

Denoising of imaginary time response functions with Hankel projections

Imaginary-time response functions of finite-temperature quantum systems are often obtained with methods that exhibit stochastic or systematic errors. Reducing these errors comes at a large computational cost—in quantum Monte Carlo simulations, the reduction of noise by a factor of two incurs a simulation cost of a factor of four. In this paper, we relate certain imaginary-time response functions to an inner product on the space of linear operators on Fock space. We then show that data with noise typically does not respect the positive definiteness of its associated Gramian. The Gramian has the structure of a Hankel matrix. As a method for denoising noisy data, we introduce an alternating projection algorithm that finds the closest positive definite Hankel matrix consistent with noisy data. We test our methodology at the example of fermion Green's functions for continuous-time quantum Monte Carlo data and show remarkable improvements of the error, reducing noise by a factor of up to 20 in practical examples. We argue that Hankel projections should be used whenever finite-temperature imaginary-time data of response functions with errors is analyzed, be it in the context of quantum Monte Carlo, quantum computing, or in approximate semianalytic methodologies. Published by the American Physical Society 2024

Yu, Yang (ORCID:0000000186178878)↗

Autonomy Loops for Monitoring, Operational Data Analytics, Feedback, and Response in HPC Operations

Many High Performance Computing (HPC) facilities have developed and deployed frameworks in support of continuous monitoring and operational data analytics (MODA) to help improve efficiency and throughput. Because of the complexity and scale of systems and workflows and the need for low-latency response to address dynamic circumstances, automated feedback and response have the potential to be more effective than current human-in-the-loop approaches which are laborious and error prone. Progress has been limited, however, by factors such as the lack of infrastructure and feedback hooks, and successful deployment is often site- and case-specific. In this position paper we report on the outcomes and plans from a recent Dagstuhl Seminar, seeking to carve a path for community progress in the development of autonomous feedback loops for MODA, based on the established formalism of similar (MAPE-K) loops in autonomous computing and self-adaptive systems. By defining and developing such loops for significant cases experienced across HPC sites, we seek to extract commonalities and develop conventions that will facilitate interoperability and interchangeability with system hardware, software, and applications across different sites, and will motivate vendors and others to provide telemetry interfaces and feedback hooks to enable community development and pervasive deployment of MODA autonomy loops.

autonomy loops↗