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NASA NTRS2015

Inductive Position Sensor

An inductive position sensor uses three parallel inductors, each of which has an axial core that is an independent magnetic structure. A first support couples first and second inductors and separate them by a fixed distance. A second support coupled to a third inductor disposed between the first and second inductors. The first support and second support are configured for relative movement as distance changes from the third inductor to each of the first and second inductors. An oscillating current is supplied to the first and second inductors. A device measures a phase component of a source voltage generating the oscillating current and a phase component of voltage induced in the third inductor when the oscillating current is supplied to the first and second inductors such that the phase component of the voltage induced overlaps the phase component of the source voltage.

Youngquist, Robert C.↗

NASA NTRS2015

In Flight Calibration of the Magnetospheric Multiscale Mission Fast Plasma Investigation

The Fast Plasma Investigation (FPI) on the Magnetospheric Multiscale mission (MMS) combines data from eight spectrometers, each with four deflection states, into a single map of the sky. Any systematic discontinuity, artifact, noise source, etc. present in this map may be incorrectly interpreted as legitimate data and incorrect conclusions reached. For this reason it is desirable to have all spectrometers return the same output for a given input, and for this output to be low in noise sources or other errors. While many missions use statistical analyses of data to calibrate instruments in flight, this process is insufficient with FPI for two reasons: 1. Only a small fraction of high resolution data is downloaded to the ground due to bandwidth limitations and 2: The data that is downloaded is, by definition, scientifically interesting and therefore not ideal for calibration. FPI uses a suite of new tools to calibrate in flight. A new method for detection system ground calibration has been developed involving sweeping the detection threshold to fully define the pulse height distribution. This method has now been extended for use in flight as a means to calibrate MCP voltage and threshold (together forming the operating point) of the Dual Electron Spectrometers (DES) and Dual Ion Spectrometers (DIS). A method of comparing higher energy data (which has low fractional voltage error) to lower energy data (which has a higher fractional voltage error) will be used to calibrate the high voltage outputs. Finally, a comparison of pitch angle distributions will be used to find remaining discrepancies among sensors.

Heliophysics↗

NASA NTRS2016

Evaluation of 10V Chip Polymer Tantalum Capacitors for Space Applications

Due to low ESR and safe failure mode, new technology chip polymer tantalum capacitors (CPTC) have gained popularity in the electronics design community, first in commercial applications, and now in hi-rel and space systems. The major drawbacks of these parts are high leakage currents, degradation under environmental stresses, and a relatively narrow temperature range of operating and storage conditions. Several studies have shown that a certain amount of moisture in polymer cathodes is necessary for a normal operation of the parts. This might limit applications of CPTCs in space systems and requires analysis of long-term exposure to deep vacuum conditions on their performance and reliability. High leakage currents and limited maximum operational temperature complicate accelerated testing that is necessary to assess long-term reliability and require new screening and qualification procedures for quality assurance. A better understanding of behavior of CPTCs as compared to traditional, MnO2, capacitors is necessary to develop adequate approaches for QA system for space applications. A specific of CPTCs is that different materials and processes might be used for low-voltage (10 V and less) and high-voltage (above 10 V) capacitors, so performance and degradation processes in these groups require separate analysis. In this work, that is a part of the NASA Electronic Parts and Packaging (NEPP) program, degradation of AC and DC characteristics under environmental stresses at different temperatures and voltages have been studied in nine lots of commercial and automotive grade capacitors rated to 10 V. Results of analysis of leakage currents, high temperature storage (HTS) up to 5000 hrs in vacuum and air at different temperatures, and Highly Accelerated Life Testing (HALT) in the range from 85 C to 145 C are presented. Temperature and voltage acceleration factors were calculated based on approximation of distributions of degradation rates with a general log-linear Weibull model. Mechanisms of degradation and failures, and requirements for screening and qualification testing are discussed.

Tantalum Capacitors↗

NASA NTRS2016

Method and Apparatus for In-Situ Health Monitoring of Solar Cells in Space

Embodiments of the present invention describe an apparatus including an oscillator, a ramp generator, and an inverter. The oscillator is configured to generate a waveform comprising a low time and a high time. The inverter is configured to receive the waveform generated by the oscillator, and invert the waveform. The ramp generator is configured to increase a gate control voltage of a transistor connected to a solar cell, and rapidly decrease the gate control voltage of the transistor. During the low time, a measurement of a current and a voltage of the solar cell is performed. During the high time, a measurement of a current of a shorted cell and a voltage reference is performed.

Krasowski, Michael J.↗

NASA NTRS2016

Unexpected Nonlinear Effects in Superconducting Transition-Edge Sensors

When a normal metal transitions into the superconducting state the DC resistance drops from a finite value to zero over some finite transition width in temperature, current, and magnetic field. Superconducting transition-edge sensors (TESs) operate within this transition region and uses resistive changes to measure deposited thermal energy. This resistive transition is not perfectly smooth and a wide range of TES designs and materials show sub-structure in the resistive transition (as seen in smooth nonmonotonic behavior, jump discontinuities, and hysteresis in the devices current-voltage relation and derivatives of the resistance with respect to temperature, bias current, and magnetic field). TES technology has advanced to the point where for many applications this structure is the limiting factor in performance and optimization consists of finding operating points away from these structures. For example, operating at or near this structure can lead to nonlinearity in the detectors response and gain scale, limit the spectral range of the detector by limiting the usable resistive range, and degrade energy resolution. The origin of much of this substructure is unknown. This presentation investigates a number of possible sources in turn. First we model the TES as a superconducting weak-link and solve for the characteristic differential equations current and voltage time dependence. We find:(1) measured DC biased current-voltage relationship is the time-average of a much higher frequency limit cycle solution.(2) We calculate the fundamental frequency and estimate the power radiated from the TES treating the bias leads as an antennae.(3) The solution for a set of circuit parameters becomes multivalued leading to current transitions between levels.(4)The circuit parameters can change the measure resistance and mask the true critical current. As a consequence the TES resistance surface is not just a function of temperature, current, and magnetic field but is also a function of the circuit elements (such as shunt resistor, SQUID inductance, and capacitor values). In other words, same device measured in different electrical circuits will have a different resistive surface in temperature, current, and magnetic field. Next we consider that at the transition temperature of a superconductor both the magnetic penetration depth and coherence length are divergent. As a consequence these important characteristic length scales are changing with operating point. We present measurements on devices showing commensurate behavior between these characteristic lengths and the length scale of added normal metal structures. Reordering of proximity vortices leads to discontinuities and irreversibility of the current-voltage curves. Last we consider a weak-link TES including both thermal activated resistance effects and the effect of the magnetic penetration depth being a function of temperature and magnetic field. We derive its impact on the resistive transition surface and the important device parameters a and b.

Superconducting Detectors↗

NASA NTRS2016

Vibration Control via Stiffness Switching of Magnetostrictive Transducers

This paper presents a computational study of structural vibration control that is realized by switching a magnetostrictive transducer between high and low stiffness states. Switching is accomplished by either changing the applied magnetic field with a voltage excitation or changing the shunt impedance on the transducer's coil (i.e., the magnetostrictive material's magnetic boundary condition). Switched-stiffness vibration control is simulated using a lumped mass supported by a damper and the magnetostrictive transducer (mount), which is represented by a nonlinear, electromechanical model. Free vibration of the mass is calculated while varying the mount's stiffness according to a reference switched-stiffness vibration control law. The results reveal that switching the magnetic field produces the desired change in stiffness, but also an undesired actuation force that can significantly degrade the vibration control. Hence, a modified switched-stiffness control law that accounts for the actuation force is proposed and implemented for voltage-controlled stiffness switching. The influence of the magnetomechanical bias condition is also discussed. Voltage-controlled stiffness switching is found to introduce damping equivalent to a viscous damping factor up to about 0.25; this is shown to primarily result from active vibration reduction caused by the actuation force. The merit of magnetostrictive switched-stiffness vibration control is then quantified by comparing the results of voltage- and shunt-controlled stiffness switching to the performance of optimal magnetostrictive shunt damping.

stiffness tuning↗

NASA NTRS2017

Advanced Stirling Convertor Control Unit Testing at NASA Glenn Research Center in the Radioisotope Power Systems System Integration Laboratory

Future NASA missions could include establishing Lunar or Martian base camps, exploring Jupiters moons and travelling beyond where generating power from sunlight may be limited. Radioisotope Power Systems (RPS) provide a dependable power source for missions where inadequate sunlight or operational requirements make other power systems impractical. Over the past decade, NASA Glenn Research Center (GRC) has been supporting the development of RPSs. The Advanced Stirling Radioisotope Generator (ASRG) utilized a pair of Advanced Stirling Convertors (ASC). While flight development of the ASRG has been cancelled, much of the technology and hardware continued development and testing to guide future activities. Specifically, a controller for the convertor(s) is an integral part of a Stirling-based RPS. For the ASRG design, the controller maintains stable operation of the convertors, regulates the alternating current produced by the linear alternator of the convertor, provides a specified direct current output voltage for the spacecraft, synchronizes the piston motion of the two convertors in order to minimize vibration as well as manage and maintain operation with a stable piston amplitude and hot end temperature. It not only provides power to the spacecraft but also must regulate convertor operation to avoid damage to internal components and maintain safe thermal conditions after fueling. Lockheed Martin Coherent Technologies has designed, developed and tested an Engineering Development Unit (EDU) Advanced Stirling Convertor Control Unit (ACU) to support this effort. GRC used the ACU EDU as part of its non-nuclear representation of a RPS which also consists of a pair of Dual Advanced Stirling Convertor Simulator (DASCS), and associated support equipment to perform a test in the Radioisotope Power Systems System Integration Laboratory (RSIL). The RSIL was designed and built to evaluate hardware utilizing RPS technology. The RSIL provides insight into the electrical interactions between as many as 3 radioisotope power generators, associated control strategies, and typical electric system loads. The first phase of testing included a DASCS which was developed by Johns Hopkins UniversityApplied Physics Laboratory and simulates the operation and electrical behavior of a pair of ASCs in real time via a combination of hardware and software. Testing included the following spacecraft electrical energy storage configurations: capacitive, battery, and supercapacitor. Testing of the DASCS and ACU in each energy storage configuration included simulation of a typical mission profile, and transient voltage and current data during load turn-on/turn-off. Testing for these devices also included the initiation of several system faults such as short circuits, electrical bus over-voltage, under-voltage and a dead bus recovery to restore normal power operations. The goal of this testing was to verify operation of the ACU(s) when connected to a spacecraft electrical bus.

Dugala, Gina M.↗

NASA NTRS2017

Flowing Plasma Interaction with an Electric Sail Tether Element

Electric sails are a relatively new concept for providing high speed propellant-less propulsion. Employing multiple tethers biased to high positive voltage levels (kV), electric sails are designed to gain momentum from the solar wind by repelling solar wind protons. To maximize the area of the sail that interacts with the solar wind, electric sails rely on the formation of a large plasma sheath around each small diameter tether. Motivated by interest in advancing the development of electric sails, a set of laboratory tests has been conducted to study the interaction of a drifting plasma with a sheath formed around a small diameter tether element biased at positive voltages. The laboratory test setup was created with Debye length scaling in mind to offer a path to extrapolate (via modeling) to full scale electric sail missions. Using an instrument known as a Differential Ion Flux Probe (DIFP) the interaction between a positively biased tether element and a drifting plasma has been measured for several scenarios. Clear evidence of the tether element sheath deflecting ions has been obtained. Maps of the flow angle downstream from the tether element have been made and they show the influence of the plasma sheath. Finally, electron current collection measurements have been made for a wide range of plasma conditions and tether element bias voltages. The electron collection data will have an impact on electric sail power requirements, as high voltage power supplies and electron guns will have to be sized to accommodate the electron currents collected by each tether.

Schneider, Todd↗

NASA NTRS2017

Linear Transformer Drivers for Z-pinch Based Propulsion

The MSFC/UAH team has been developing of a novel power management and distribution system called a Linear Transformer Driver (LTD). LTD's hold the promise of dramatically reducing the required mass to drive a z-pinch by replacing the capacitor banks which constitute half the mass of the entire system. The MSFC?UAH tea, is developing this technology in hope of integrating it with the Pulsed Fission Fusion (PuFF) propulsion concept. High-Voltage pulsed power systems used for Z-Pinch experimentation have in the past largely been based on Marx Generators. Marx generators deliver the voltage and current required for the Z-Pinch, but suffer from two significant drawbacks when applied to a flight system: they are very massive, consisting of high-voltage capacitor banks insulated in oil-filled tanks and they do not lend themselves to rapid pulsing. The overall goal of Phase 2 is to demonstrate the construction of a higher voltage stack from a number of cavities each of the design proven in Phase 1 and to characterize and understand the techniques for designing the stack. The overall goal of Phase 3 is to demonstrate the feasibility of constructing a higher energy cavity from a number of smaller LTD stacks, to characterize and understand the way in which the constituent stacks combine, and to extend this demonstration LTD to serve as the basis for a 64 kJ pulse generator for Z-Pinch experiments.

Adams, Robert↗

NASA NTRS2017

The Impact of Harness Impedance on Hall Thruster Discharge Oscillations

Hall thrusters exhibit characteristic discharge voltage and current oscillations during steady-state operation. The lower frequency breathing-mode current oscillations are inherent to each thruster and could impact thruster operation and power processing unit (PPU) design. The design of the discharge output filter, in particular, the output capacitor is important because it supplies the high peak current oscillations that the thruster demands. However, space-rated, high-voltage capacitors are not readily available and can have significant mass and volume. So, it is important for a PPU designer to know what is the minimum amount of capacitance required to operate a thruster. Through Simulation Program with Integrated Circuit Emphasis modeling and electrical measurements on the Hall Effect Rocket with Magnetic Shielding thruster, it was shown that the harness impedance between the power supply and the thruster is the main contributor towards generating voltage ripple at the thruster. Also, increasing the size of the discharge filter capacitor, as previously implemented during thruster tests, does not reduce the voltage oscillations. The electrical characteristics of the electrical harness between the discharge supply and the thruster is crucial to system performance and could have a negative impact on performance, life and operation.

hollow cathodes↗

NASA NTRS2011

Failure Modes in Capacitors When Tested Under a Time-Varying Stress

Steady step surge testing (SSST) is widely applied to screen out potential power-on failures in solid tantalum capacitors. The test simulates the power supply's on and off characteristics. Power-on failure has been the prevalent failure mechanism for solid tantalum capacitors for decoupling applications. On the other hand, the SSST can also be reviewed as an electrically destructive test under a time-varying stress. It consists of rapidly charging the capacitor with incremental voltage increases, through a low resistance in series, until the capacitor under test is electrically shorted. Highly accelerated life testing (HALT) is usually a time-efficient method for determining the failure mechanism in capacitors; however, a destructive test under a time-varying stress like SSST is even more effective. It normally takes days to complete a HALT test, but it only takes minutes for a time-varying stress test to produce failures. The advantage of incorporating specific time-varying stress into a statistical model is significant in providing an alternative life test method for quickly revealing the failure modes in capacitors. In this paper, a time-varying stress has been incorporated into the Weibull model to characterize the failure modes. The SSST circuit and transient conditions to correctly test the capacitors is discussed. Finally, the SSST was applied for testing polymer aluminum capacitors (PA capacitors), Ta capacitors, and multi-layer ceramic capacitors with both precious metal electrode (PME) and base-metal-electrodes (BME). It appears that testing results are directly associated to the dielectric layer breakdown in PA and Ta capacitors and are independent on the capacitor values, the way the capacitors being built, and the manufactures. The testing results also reveal that ceramic capacitors exhibit breakdown voltages more than 20 times the rated voltage, and the breakdown voltages are inverse proportional to the dielectric layer thickness. The possibility of ceramic capacitors in front-end decoupling applications to block the surge noise from a power supply is also discussed.

Liu, David (Donhang)↗

NASA NTRS2010

Physical and Electrical Characterization of Aluminum Polymer Capacitors

Conductive polymer aluminum capacitor (PA capacitor) is an evolution of traditional wet electrolyte aluminum capacitors by replacing liquid electrolyte with a solid, highly conductive polymer. On the other hand, the cathode construction in polymer aluminum capacitors with coating of carbon and silver epoxy for terminal connection is more like a combination of the technique that solid tantalum capacitor utilizes. This evolution and combination result in the development of several competing capacitor construction technologies in manufacturing polymer aluminum capacitors. The driving force of this research on characterization of polymer aluminum capacitors is the rapid progress in IC technology. With the microprocessor speeds exceeding a gigahertz and CPU current demands of 80 amps and more, the demand for capacitors with higher peak current and faster repetition rates bring conducting polymer capacitors to the center o( focus. This is because this type of capacitors has been known for its ultra-low ESR and high capacitance. Polymer aluminum capacitors from several manufacturers with various combinations of capacitance, rated voltage, and ESR values were obtained and tested. The construction analysis of the capacitors revealed three different constructions: conventional rolled foil, the multilayer stacking V-shape, and a dual-layer sandwich structure. The capacitor structure and its impact on the electrical characteristics has been revealed and evaluated. A destructive test with massive current over stress to fail the polymer aluminum capacitors reveals that all polymer aluminum capacitors failed in a benign mode without ignition, combustion, or any other catastrophic failures. The extraordinary low ESR (as low as 3 mOMEGA), superior frequency independence reported for polymer aluminum capacitors have been confirmed. For the applications of polymer aluminum capacitors in space programs, a thermal vacuum cycle test was performed. The results, as expected, show no impact on the electrical characteristics of the capacitors. The breakdown voltage of polymer capacitors has been evaluated using a steady step surge test. Initial results show the uniform distribution in the breakdown voltage for polymer aluminum capacitors. Polymer aluminum capacitors with a combination of very high capacitance, extraordinary low ESR, excellent frequency stability, and non-ignite benign failure mode make it a niche fit in space applications for both today and future. Polymer capacitors are apparently also the best substitutes of the currently used MnO2-based tantalum capacitors in the low voltage range. However, some critical aspects are still to be addressed in the next phase of the investigation for PA capacitors. These include the long term reliability test of 125 C dry life and 85 C/85%RH humidity, the failure mechanism and de-rating, the radiation tolerance, and the high temperature performance. All of the above requires the continuous NEPP funding and support.

Liu, David (Donghang)↗

NASA NTRS2017

The Impact of Harness Impedance on Hall Thruster Discharge Oscillations

ion engines↗

NASA NTRS2017

The Impact of Harness Impedance on Hall Thruster Discharge Oscillations

Hall thrusters exhibit characteristic discharge voltage and current oscillations during steady-state operation. The lower frequency breathing-mode current oscillations are inherent to each thruster and could impact thruster operation and PPU design. The design of the discharge output filter, in particular, the output capacitor is important because it supplies the high peak current oscillations that the thruster demands. However, space-rated, high-voltage capacitors are not readily available and can have significant mass and volume. So, it is important for a PPU designer to know what is the minimum amount of capacitance required to operate a thruster. Through SPICE modeling and electrical measurements on the Hall Effect Rocket with Magnetic Shielding (HERMeS) thruster, it was shown that the harness impedance between the power supply and the thruster is the main contributor towards generating voltage ripple at the thruster. Also, increasing the size of the discharge filter capacitor, as previously implemented during thruster tests, does not reduce the voltage oscillations. The electrical characteristics of the electrical harness between the discharge supply and the thruster is crucial to system performance and could have a negative impact on performance, life and operation.

Pinero, Luis R.↗

NASA NTRS2018

Anomalous Transients in Chip Polymer Tantalum Capacitors

Contrary to MnO2 tantalum capacitors, transient processes in polymer tantalum capacitors after voltage application might result in anomalously high, ampere-level currents when a capacitor might appear as a short circuit for a time that is much greater than a transient time in MnO2 capacitors. In this work, conditions that cause anomalous transients in different types of polymer tantalum capacitors have been analyzed. Related phenomena that included increasing of capacitance and dissipation factors with voltage, parametric surge current test failures without damage to capacitors, and increasing leakage currents at low temperatures are described. It has been shown that anomalous transients increased substantially with applied voltage and with reduction of moisture content in capacitors caused by storage or operation at high temperatures and/or in vacuum. Different types of capacitors exhibited different level of transients and modification of conductive polymers or process of their application might decrease transient leakage currents substantially. For space applications, the risk of failures related to anomalous transients can be mitigated by special testing procedures to select parts with an acceptable level of transients and by voltage derating.

Tantalum Capacitors↗

NASA NTRSDate not supplied

Lightning Instrumentation System

A new comprehensive lightning instrumentation system has been designed for the Mobile Launcher 1 (ML-1) at the Kennedy Space Center, Florida. This new instrumentation system includes the synchronized recording of three B-dot, 3-axis measurement stations, one D-dot sensor and eighteen vehicle measurement channels. Each vehicle measurement channel is comprised of two currents and one voltage measurements. The instrumentation system is composed of centralized transient recorders and digitizers, connected to the transient recorders via fiber optic cables. The transient recorders are triggered by the B-dot or D-dot sensors. When the Space Launch System (SLS) vehicle is present at the ML-1, the transient recorders record data on a dual sampling rate mode, continuous slow 5 kilo-samples per second (per channel) and event driven fast 100 mega-samples per second (per channel). Without the presence of the vehicle at the ML-1, the instrumentation system operates only as an event driven fast 100 mega-samples per second (per channel). In the absence of the vehicle, the only measurements recorded are the B-dot and D-dot stations. Additionally, a portable Lightning Monitoring System (LMS) is temporarily installed inside the Orion Crew Capsule module monitoring one portable B-dot, 3-axis measurement station, and 2 Crew Capsule BUS voltages. The portable LMS has a transient recorder independent of the ML-1 transient recorders, that is triggered by the portable B-dot sensor or transients on the vehicle BUS voltages. This portable instrumentation is removed while performing close out operations before the vehicle launch. For the ML-1 lightning instrumentation system, new custom B-dot and D-dot sensors were designed and prototypes were tested at the International Center for Lightning Research and Testing (ICLRT) at Camp Blanding, Florida. The Ground Special Power (GSP) vehicle measurement channels monitoring on the ML-1 is done via 1) Commercial off-the-shelf (COTS) current shunts and 2) custom Voltage Dividers. The new ML-1 lightning instrumentation system was designed, fabricated, deployed, and tested prior to the summer of 2019, in preparation for the first NASA's SLS mission to be launched from the Launch Complex 39B (LC-39B). The ML-1 lightning instrumentation was designed to complement the LC-39B lightning instrumentation system providing electromagnetic measurements closer to the vehicle, at different heights and inside the Crew capsule module.

Angel G Mata↗

NASA NTRS2019

Inclusion of Radiation Environment Variability for Reliability Estimates for SiC Power MOSFETs

Variability of the solar energetic particle environment is investigated for single-event-burnout reliability of silicon-carbide power metal-oxide-semiconductor field effect transistors. A probabilistic assessment of failure evaluates the benefits of de-rating voltage, shielding, and mission length. The Prediction of Solar particle Yields for Characterizing Integrating Circuits code is used to calculate a cumulative density function for the fluence of the environment. The lethal ion method is then used to determine what proportion of the environment will cause single-event-burnout. The operating voltage determines the lowest linear-energy-transfer particle that will cause single-event-burnout and that should be included in the environment distribution. The shielding and mission length also determine the final environment distribution of the mission fluence. Through calculating the reliability for different operating voltages, shielding, and mission length for a specific device, it is shown that shielding thickness and operating voltage have a large effect on reliability and can be traded off during the design.

Heavy ion↗

NASA NTRSDate not supplied

A Review of Unmanned Aerial Vehicle Technology in Power Line Inspection

The electric power industry is one of the heaviest adopters of Unmanned Aerial Vehicles (UAV) technology, utilizing their versatility to enhance power line maintenance programs. For reliable power grids, routine maintenance operations and rapid repair operations are required across substantial geographical distances. Both maintenance and repair decisions are driven by assessment operations, such as inspections of mechanical structures with visible-band sensors, inspections for the presence of high voltage coronas and hot spots with multispectral sensors, and surveying of equipment and adjacent features (particularly vegetation) with photogrammetric and Light Detection and Ranging (LiDAR) sensors. Assessment was historically accomplished with manned helicopter flights or foot patrols. Recently, this critical economic segment harnessed advances in Unmanned Aerial Systems (UAS)technology to accomplish assessment tasks with faster results, lower cost, and higher levels of safety than historical methods. Adoption of UAVs in high-voltage electric power transmission activities is well underway. Adoption of UAVs for low voltage distribution activities is still emerging, with the important exception of post-storm damage assessment following major hurricanes (Harvey and Maria in 2017 and Michael in 2018). This report reviews the broad UAS adoption in high-voltage electric power transmission operations and early attempts at adoption in distribution operations. The ability to fly beyond visual line of sight (BVLOS) may increase the advantages of UAV inspection over former options, and in the United States, regulators have approved two pilot projects to demonstrate BVLOS methods and their benefits in operating and maintaining the power grid.

UAV↗