SEARCH · Engineering Papers

Results for “balance function”

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.

SourceResearch connectionFrom yearThrough year

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

At least 1,405 records · Page 78

All sources NASA NTRS DOE OSTI

DOE OSTI2021

Surrogate approximation of the Grad–Shafranov free boundary problem via stochastic collocation on sparse grids

In magnetic confinement fusion devices, the equilibrium configuration of a plasma is determined by the balance between the hydrostatic pressure in the fluid and the magnetic forces generated by an array of external coils and the plasma itself. The location of the plasma is not known a priori and must be obtained as the solution to a free boundary problem. The partial differential equation that determines the behavior of the combined magnetic field depends on a set of physical parameters (location of the coils, intensity of the electric currents going through them, magnetic permeability, etc.) that are subject to uncertainty and variability. The confinement region is in turn a function of these stochastic parameters as well. In this work, we consider variations on the current intensities running through the external coils as the dominant source of uncertainty. This leads to a parameter space of dimension equal to the number of coils in the reactor. With the aid of a surrogate function built on a sparse grid in parameter space, a Monte Carlo strategy is used to explore the effect that stochasticity in the parameters has on important features of the plasma boundary such as the location of the x-point, the strike points, and shaping attributes such as triangularity and elongation. Furthermore, the use of the surrogate function reduces the time required for the Monte Carlo simulations by factors that range between 7 and over 30.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

NASA NTRS1988

Environmental effects of large impacts on the earth; relation to extinction mechanisms

Since Alvarez et al., discovered a worldwide approx. cm-thick layer of fine sediments laden with platinum group elements in approximately chondritic proportions exactly at the Cretaceous-Tertiary (C-T) boundary, and proposed bolide-impact as triggering mass extinctions, many have studied this hypothesis and the layer itself with its associated spherules and shocked quartz. At issue is whether the mass extinctions, and this horizon has an impact versus volcanic origin. A critical feature of the Alvarez hypothesis is the suggestion that the bolide or possibly a shower of objects delivered to the earth approx. 0.6 x 10 to the 18th power g of material which resulted in aerosol-sized ejecta such that global insolation was drastically reduced for significant periods. Such an event would lower temperatures on continents and halt photosynthesis in the upper 200 m of th eocean. The latter would strangle the marine food chain and thus produce the major marine faunal extinctions which mark the C-T boundary. Crucial issues examined include: What are the dynamics of atmospheric flow occurring upon impact of a large bolide with the earth; What is the size distributions of the very fine impact ejecta and how do these compare to the models of ejecta which are used to model the earth's radiative thermal balance. The flow field due to passage of a 10 km diameter bolide through an exponential atmosphere and the interaction of the gas flow and bolide with the solid ear was calculated. The CO2 released upon impact onto shallow marine carbonate sections was modeled and found that the mass of CO2 released exceeds the present 10 to the 18th power g CO2 budget of the earth's atmosphere by several times. Using the calculations of Kasting and Toon it was found that to compute the temperature rise of the earth's surface as a function of CO2 content, it was found that sudden and prolonged global increases are induced from impact of 20 to 50 km radius projectiles and propose that sudden terrestrial greenhouse-induced heating, not cooling, produced the highly variable extinctions seen at the C-T boundary.

Okeefe, John D.↗

NASA NTRS1990

Measuring and modeling near-surface reflected and emitted radiation fluxes at the FIFE site

Information is presented pertaining to the measurement and estimation of reflected and emitted components of the radiation balance. Information is included about reflectance and transmittance of solar radiation from and through the leaves of some grass and forb prairie species, bidirectional reflectance from a prairie canopy is discussed and measured and estimated fluxes are described of incoming and outgoing longwave and shortwave radiation. Results of the study showed only very small differences in reflectances and transmittances for the adaxial and abaxial surfaces of grass species in the visible and infrared wavebands, but some differences in the infrared wavebands were noted for the forbs. Reflectance from the prairie canopy changed as a function of solar and view zenith angles in the solar principal plane with definite asymmetry about nadir. The surface temperature of prairie canopies was found to vary by as much as 5 C depending on view zenith and azimuth position and on the solar azimuth. Aerodynamic temperature calculated from measured sensible heat fluxes ranged from 0 to 3 C higher than nadir-viewed temperatures. Models were developed to estimate incoming and reflected shortwave radiation from data collected with a Barnes Modular Multiband Radiometer. Several algorithms for estimating incoming longwave radiation were evaluated and compared to actual measures of that parameter. Net radiation was calculated using the estimated components of the shortwave radiation streams, determined from the algorithms developed, and from the longwave radiation streams provided by the Brunt, modified Deacon, and the Stefan-Boltzmann models. Estimates of net radiation were compared to measured values and found to be within the measurement error of the net radiometers used in the study.

Blad, Blaine L.↗

NASA NTRS1999

Low Sonic Boom Design Activities at Boeing

Low sonic boom studies have continued during the last year with the goal of exploring the ability of practical airplane designs to achieve significantly reduced sonic boom-loudness with reasonable performance penalties. At the 1993 Sonic Boom Workshop, improvements to the low-boom design methods were described and early results of two low-boom configurations -935 and -936) were presented. Now that the low boom design methods are reasonably mature, recent design activities have broadened somewhat to explore refinements to the -935 and -936 designs. In this paper the results are reported of a detailed systems study and performance sizing of the -935 (Hybrid sonic boom waveform) and the -936 (Flat-top waveform). This analysis included a second design cycle for reduced cruise drag and balance considerations. Another design study was of a small-wing version of the -935. Finally, some preliminary results of the recent LARC UPWT test of the -935 configuration are given, along with a proposed alternative method for extrapolating wind tunnel pressure signatures to the ground. The various configurations studied is also summarized. The topics covered by this paper are as follows: Systems study results of the Baseline -939 and low boom configurations -935 and -936, Small wing derivative of the -935, Wind tunnel test results of the -935, Test-derived F-function and propagation to the ground, and Future considerations (boom-softened baseline, overwater issues, and operations).

Haglund, George T.↗

NASA NTRS2006

Laboratory Measurements of Optical and Physical Properties of Individual Lunar Dust Grains

The lunar surface is covered with a thick layer of sub-micron/micron size dust grains formed by meteoritic impact over billions of years. The fine dust grains are levitated and transported on the lunar surface, and transient dust clouds over the lunar horizon were observed by experiments during the Apollo 17 mission. Theoretical models suggest that the dust grains on the lunar surface are charged by the solar UV radiation as well as the solar wind. Even without any physical activity, the dust grains are levitated by electrostatic fields and transported away from the surface in the near vacuum environment of the Moon. The current dust charging and levitation models, however, do not fully explain the observed phenomena. Since the abundance of dust on the Moon's surface with its observed adhesive characteristics has the potential of severe impact on human habitat and operations and lifetime of a variety of equipment, it is necessary to investigate the charging properties and the lunar dust phenomena in order to develop appropriate mitigating strategies. Photoelectric emission induced by the solar UV radiation with photon energies higher than the work function of the grain materials is recognized to be the dominant process for charging of the lunar dust, and requires measurements of the photoelectric yields to determine the charging and equilibrium potentials of individual dust grains. In this paper, we present the first laboratory measurements of the photoelectric yields of individual sub-micron/micron size dust grains selected from sample returns of Apollo 17, and Luna 24 missions, as well as similar size dust grains from the JSC-1 simulants. The experimental results were obtained on a laboratory facility based on an electrodynamic balance that permits a variety of experiments to be conducted on individual sub-micron/micron size dust grains in simulated space environments. The photoelectric emission measurements indicate grain size dependence with the yield increasing by an order of magnitude for grains of radii sub-micron size to several micron radii, at which it reaches asymptotic values. The yield for large size grains is found to be more than an order of magnitude higher than the bulk measurements on lunar fines reported in the literature.

Abbas, M. M.↗

DOE OSTI2024

Optimizing Nonaqueous Sodium–Polysulfide Redox-Flow Batteries: The Role of Solvation Effects with Glyme Solvents

Nonaqueous redox-flow batteries (NARFBs) that use economical alkali metals and the corresponding metal polysulfides are highly attractive for grid-scale energy storage. Although sodium–sulfur systems have been recognized as promising candidates and have been the focus of many studies due to their high earth abundance and energy density, an understanding of the role of the solvation chemistry of commonly used glyme solvents is missing. Herein, we report a systematic investigation into the solvation effects of glyme-based Na-S electrolytes through comprehensive physiochemical experiments and Density Functional Theory (DFT) simulations. Our findings revealed, on one hand, that an optimal coordination strength between glymes and Na + could maintain a relatively smooth Na + diffusion. On the other hand, glyme solvents with extended chain lengths shift the reduction potential of S 8 2– negatively to elevate the formation barrier of undesirable short-chain polysulfides (S n 2– , n ≤ 4) that have high membrane permeability. This solvation phenomenon not only mitigates capacity fading but also extends the operational longevity of the Na-S NARFBs. In conclusion, the results underscore the critical roles of balanced solvent–cation interactions and controlled redox potentials in improving the stability and efficiency of Na-S NARFB systems, marking a significant advancement in the development of sustainable energy storage solutions.

25 ENERGY STORAGE↗

DOE OSTI2023

Assessing Impacts of Environmental Perturbations on Urban Biogenic Carbon Exchange in the Chicago Region

Carbon dioxide (CO 2 ) quantification is critical for assessing city-level carbon emissions and sustainable urban development. While urban vegetation has the potential to provide environmental benefits, such as heat and carbon mitigation, the CO 2 exchange from biogenic sectors and its impact from the environmental perturbations are often overlooked. It is also challenging to simulate the plant functions in the complex urban terrain. This study presents a processed-based modeling approach to assess the biogenic carbon fluxes from the vegetated areas over the Chicago Metropolitan Area (CMA) using the Weather Research and Forecast—Urban Biogenic Carbon exchange model. We investigate the change of CO 2 sink power in CMA under heatwaves and irrigation. The results indicate that the vegetation plays a significant role in the city's carbon portfolio and the landscaping management has the potential to reduce carbon emissions significantly. Furthermore, based on the competing mechanisms in the biogenic carbon balance identified in this study, we develop a novel Environmental Benefit Score metrics framework to identify the vulnerability and mitigation measures associated with nature-based solutions (NbS) within CMA. By using the generalized portable framework and our science-policy confluence analysis presented in this study, global cities can maximize the effectiveness of NbS and accelerate carbon neutrality.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1989

Space Station CMIF extended duration metabolic control test

The Space Station Extended Duration Metabolic Control Test (EMCT) was conducted at the MSFC Core Module Integration Facility. The primary objective of the EMCT was to gather performance data from a partially-closed regenerative Environmental Control and Life Support (ECLS) system functioning under steady-state conditions. Included is a description of the EMCT configuration, a summary of events, a discussion of anomalies that occurred during the test, and detailed results and analysis from individual measurements of water and gas samples taken during the test. A comparison of the physical, chemical, and microbiological methods used in the post test laboratory analyses of the water samples is included. The preprototype ECLS hardware used in the test, providing an overall process description and theory of operation for each hardware item. Analytical results pertaining to a system level mass balance and selected system power estimates are also included.

Schunk, Richard G.↗

NASA NTRS1999

Dust Optical Properties derived from Sun/Sky Measurements and Satellite Data

We derive the optical properties of dust originating from the Sahara and nearby regions using a combination of ground based and satellite measurements. The AErosol ROBotic NETwork (AERONET) sun/sky radiances from Cap Verde and Sede Boker are used together with Landsat TM data over Senegal and the Atlantic Ocean. The data introduce a cascade of increasing complexity of dust optical properties: The sky aureole radiance is sensitive mainly to the dust size distribution; the TM data over the ocean at 150 deg scattering angle are also sensitive to the spectral refractive index from 470 to 2,210 nm. The TM data over the land measure the balance between the dust scattering and absorption of light reflected by the bright surface, thus very sensitive to dust spectral absorption. Sky radiance at scattering angle of 120 deg, add sensitivity to the dust nonsphericity. Preliminary results, indicative of the ambient dust in the entire atmospheric column, show that dust is less absorbing and with smaller nonspherical properties than anticipated from in situ measurements. Dust is dominated by particles with effective radius of 2 to 2.5 micron, refractive index for wavelengths less then 1 micron of 1.53-0.001i and nonsphericity that increases the phase function at 120 deg above that of spheres by 1.8 and 1.7 at 673 nm down to 1.2 and 1.3 for 1020 nm for Cap Verde and Sede Boker respectively. No significant nonsphericity effect is noticed for scattering angle of 150 deg. This agrees with a mixture of 30% and 45% respectively of Mishchenko et al (JGR, 102, 1997: plate 5 on page 16,841) "polydisperse equiprobable shape mixture of prolate and oblate spheroids with aspect ratios ranging from 1.4 to 2.21, with the rest being spherical particles.

Kaufman, Yoram J.↗

NASA NTRS2007

Lunar Dust Charging by Photoelectric Emissions

The lunar surface is covered with a thick layer of sub-micron/micron size dust grains formed by meteoritic impact over billions of years. The fine dust grains are levitated and transported on the lunar surface, as indicated by the transient dust clouds observed over the lunar horizon during the Apollo 17 mission. Theoretical models suggest that the dust grains on the lunar surface are charged by the solar UV radiation as well as the solar wind. Even without any physical activity, the dust grains are levitated by electrostatic fields and transported away from the surface in the near vacuum environment of the Moon. The current dust charging and levitation models, however, do not fully explain the observed phenomena. Since the abundance of dust on the Moon s surface with its observed adhesive characteristics has the potential of severe impact on human habitat and operations and lifetime of a variety of equipment, it is necessary to investigate the charging properties and the lunar dust phenomena in order to develop appropriate mitigating strategies. Photoelectric emission induced by the solar UV radiation with photon energies higher than the work function of the grain materials is recognized to be the dominant process for charging of the lunar dust, and requires measurements of the photoelectric yields to determine the charging and equilibrium potentials of individual dust grains. In this paper, we present the first laboratory measurements of the photoelectric efficiencies and yields of individual sub-micron/micron size dust grains selected from sample returns of Apollo 17, and Luna 24 missions, as well as similar size dust grains from the JSC-1 simulants. The measurements were made on a laboratory facility based on an electrodynamic balance that permits a variety of experiments to be conducted on individual sub-micron/micron size dust grains in simulated space environments. The photoelectric emission measurements indicate grain size dependence with the yield increasing by an order of magnitude for grains of sub-micron to several micron size radii, at which it reaches asymptotic values. The yield for large size grains is found to be more than an order of magnitude higher than the bulk measurements on lunar fines reported in the literature.

Abbas, M. M.↗

NASA NTRS2011

Overview of Experimental Investigations for Ares I Launch Vehicle Development

Another concern for the vehicle during its design trajectory was the separation of the first stage solid rocket booster from the upper stage component after it had depleted its solid fuel propellant. There has been some concern about the interstage of the first stage from clearing the nozzle of the J2-X engine. A detailed separation aerodynamic wind tunnel investigation was conducted in the AEDC VKF Tunnel A to help to investigate the interaction aerodynamic effects5. A comparison of the separation plane details between the Ares I architecture and the Ares I-X demonstration flight architecture is shown in figure 12. The Ares I design requires a more complex separation sequence and requires better control in order to avoid contact with the nozzle of the upper stage engine. The interstage, which houses the J2-X engine for the Ares I vehicle, must be able to separate cleanly to avoid contact of the J2-X engine. There is only about approximately 18 inches of buffer inside the interstage on each size of the nozzle so this is a challenging controlled separation event. This complex experimental investigation required two separate Ares I models (upper stage and first stage with interstage attached) with independent strain gauge balances installed in each model. It also required the Captive Trajectory System (CTS) that was needed to precisely locate the components in space relative to each other to fill out the planned test matrix. The model setup in the AEDC VKF Tunnel A is shown in figure 13. The CTS remotely positioned the first stage at the required x, y, and z positions and was able to provide interactions within 0.2" of the upper stage. A sample of the axial force on the first stage booster is shown in figure 14. These results, as a function of separation distance between the two stages, are compared to pre-test CFD results. Since this is a very challenging, highly unsteady flow field for CFD to correctly model, the experimental results have been utilized by GN&C discipline to more accurately represent the interaction aerodynamics. In addition to the integrated forces and moments obtained from the test, flow visualization data was obtained from this test in the form of Schlieren photographs, as shown in figure 15, which show the shock structure and interaction effects after the two stages separate during flight. This separation test was crucial in the successful flight test of the Ares I-X vehicle and provided the GN&C discipline with the unpowered proximity aerodynamic effect for a separation of the Ares I vehicle.

Tomek, William G.↗

NASA NTRS2014

Multi-shock Shield Performance at 16.5 MJ for Catalogued Debris

While orbital debris of ten centimeters or more are tracked and catalogued, the difficulty of finding and accurately accounting for forces acting on the objects near the ten centimeter threshold results in both uncertainty of their presence and location. These challenges result in difficult decisions for operators balancing potential costly operational approaches with system loss risk. In this paper, numerical simulations and an experiment using the multi‐shock shield system is described for a cylindrical projectile composed of Nylon, aluminum and void that is approximately 8 cm in diameter and 10 cm in length weighing 670 g impacting the multi‐shock shield normal to the surface with approximately 16.5 MJ of kinetic energy. The multi‐shock shield system has been optimized to facilitate the fragmentation, spread and deceleration of the projectile remnants using hydrodynamic simulations of the impact event. The characteristics and function of each of the layers of the multi‐shock system will be discussed along with considerations for deployment and improvement.

Miller, J. E.↗

NASA NTRS1975

Thermomechanical coupling in fatigue fracture of viscoelastic materials

Subcritical crack growth in a linear viscoelastic material subjected to cyclic loading is investigated starting with the thermodynamic power balance. Physically, it is supposed that the subcritical slow crack growth is due to local weakening of the material in the neighborhood of the crack tip. Under fatigue loading it is assumed that all energy dissipation goes into heat and that this heat build-up is the dominant irreversible process governing crack growth. The cycle averaged temperature distribution around the crack tip is obtained from local application of the first law of thermodynamics (i.e., conservation of energy). The analysis leads to the solution of a nonlinear integro-differential equation for crack length as a function of time which is coupled with the local energy equation. A regular perturbation technique is used to obtain an analytical solution which compares very well with experimental results.

Hufferd, W. L.↗

NASA NTRS1981

An analysis of the effect of hemispheric land-ocean areal distribution upon earth's emitted longwave radiation

Energy balance climate models are used to approximate the global climate based on a zonally-defined land and water area grid. A comparison is made between linear earth-atmosphere-emitted longwave radiation parameterization and a satellite data representation of the same radiation budget available. The satellite data indicate sharp differences between monthly averaged profiles of emitted LW radiation over land and water surfaces in low latitudes, which range from 40 watts/sq m in January, to 9 watts/sq m in May. It is concluded that the linear representation over land and water surfaces which are primarily functions of surface temperature do not characterize the differences in the land/water profiles shown to exist in the Nimbus 6 ERB data.

Stephenson-Graves, D.↗

NASA NTRS1992

Flap-lag damping in hover and forward flight with a three-dimensional wake

Prediction of lag damping is difficult owing to the delicate balance of drag, induced drag and Coriolis forces in the in-plane direction. Moreover, induced drag is sensitive to dynamic wake, both shed and trailing components, and thus its prediction requires adequate unsteady-wake representation. Accordingly, rigid-blade flap-lag equations are coupled with a three-dimensional finite-state wake model; three isolated rotor configurations with three, four and five blades are treated over a range of thrust levels, Lock numbers, lag frequencies and advance ratios. The investigation includes convergence characteristics of damping with respect to the number of shape functions and harmonics of the wake model for multiblade modes of low frequency (less than 1/rev.) to high frequency (greater than l/rev.). Predicted flap and lag damping levels are then compared with similar predictions with (1) rigid wake (no unsteady induced flow), (2) Loewy lift deficiency, and (3) dynamic inflow.

Manjunath, A. R.↗

NASA NTRS2003

Transonic Unsteady Aerodynamics of the F/A-18E at Conditions Promoting Abrupt Wing Stall

A transonic wind tunnel test of an 8% F/A-18E model was conducted in the NASA Langley Research Center (LaRC) 16-Foot Transonic Tunnel (16-Ft TT) to investigate the Abrupt Wing Stall (AWS) characteristics of this aircraft. During this test, both steady and unsteady measurements of balance loads, wing surface pressures, wing root bending moments, and outer wing accelerations were performed. The test was conducted with a wide range of model configurations and test conditions in an attempt to reproduce behavior indicative of the AWS phenomenon experienced on full-scale aircraft during flight tests. This paper focuses on the analysis of the unsteady data acquired during this test. Though the test apparatus was designed to be effectively rigid. model motions due to sting and balance flexibility were observed during the testing, particularly when the model was operating in the AWS flight regime. Correlation between observed aerodynamic frequencies and model structural frequencies are analyzed and presented. Significant shock motion and separated flow is observed as the aircraft pitches through the AWS region. A shock tracking strategy has been formulated to observe this phenomenon. Using this technique, the range of shock motion is readily determined as the aircraft encounters AWS conditions. Spectral analysis of the shock motion shows the frequencies at which the shock oscillates in the AWS region, and probability density function analysis of the shock location shows the propensity of the shock to take on a bi-stable and even tri-stable character in the AWS flight regime.

Schuster, David M.↗

NASA NTRS2007

Lunar Dust Charging by Photoelectric Emissions

The lunar surface is covered with a thick layer of sub-micron/micron size dust grains formed by meteoritic impact over billions of years. The fine dust grains are levitated and transported on the lunar surface, as indicated by the transient dust clouds observed over the lunar horizon during the Apollo 17 mission. Theoretical models suggest that the dust grains on the lunar surface are charged by the solar ultraviolet (UV) radiation as well as the solar wind. Even without any physical activity, the dust grains are levitated by electrostatic fields and transported away from the surface in the near vacuum environment of the Moon. The current dust charging and levitation models, however, do not fully explain the observed phenomena. Since the abundance of dust on the Moon's surface with its observed adhesive characteristics has the potential of severe impact on human habitat and operations and lifetime of a variety of equipment, it is necessary to investigate the charging properties and the lunar dust phenomena in order to develop appropriate mitigating strategies. Photoelectric emission induced by the solar UV radiation with photon energies higher than the work function (WF) of the grain materials is recognized to be the dominant process for charging of the lunar dust, and requires measurements of the photoelectric yields to determine the charging and equilibrium potentials of individual dust grains. In this paper, we present the first laboratory measurements of the photoelectric efficiencies and yields of individual sub-micron/micron size dust grains selected from sample returns of Apollo 17 and Luna-24 missions as well as similar size dust grains from the JSC-1 simulants. The measurements were made on a laboratory facility based on an electrodynamic balance that permits a variety of experiments to be conducted on individual sub-micron/micron size dust grains in simulated space environments. The photoelectric emission measurements indicate grain size dependence with the yield increasing by an order of magnitude for grains of sub-micron to several micron size radii, at which it reaches asymptotic values. The yield for large size grains is found to be more than an order of magnitude higher than the bulk measurements on lunar fines reported in the literature.

Abbas, M. M.↗

NASA NTRSDate not supplied

Design of a Thruster Vector Servo-Elastic Filter

This presents a method to improve the thruster vector servo elasticity (TVSE) stability. TVSE is the coupling between the TVC system engine dynamics and the vehicle flexible modes. It can lead to instability of the flexible modes due to the energy injection from the thrust. For large boosters with heavy TVC engine, TVSE is more likely to cause instability. This instability is part of the plant dynamics and is not detected by the flight control. In this paper, the TVSE is treated as a disturbance rejection problem with the inertial force of the flexible motion viewed as an external disturbance to the TVC actuator control system. By effectively rejecting this disturbance, the engine can be decoupled from the flexible dynamics thus improving TVSE stability. The actuator disturbance transfer function is modified by inserting a TVSE filter into the control system. The filter aims to reduce the magnitude and introduce phase lead of the disturbance transfer function over the TVSE sensitive frequency range while maintaining adequate stability margins of the actuator control system. A prefilter is also designed for good command tracking. The filter and prefilter resulting from this method are usually of low order and can be included to the existing actuator controller if the controller is programmable. This method was demonstrated for a hydraulic Simplex actuator model. Its applications to SLS B1 and B2 TVC actuator are also described. B2 actuator controller is modified based on this method. The tradeoff between TVSE stability and the control system stability can be balanced by adjusting the amount of phase lead introduced by the TVSE filter. This method provides a useful way to solve the TVSE instability issue without costly and time-consuming a TVC system redesign. This method is based on the basic control principles of loop shaping and disturbance rejection and has been proven to be effective under proper circum-stances.

Thrust vector control↗