SEARCH · Engineering Papers

Results for “distributed”

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 1,585 records · Page 88

All sources NASA NTRS DOE OSTI

NASA NTRS2012

Spatially Resolved Temperature and Water Vapor Concentration Distributions in Supersonic Combustion Facilities by TDLAT

Detailed knowledge of the internal structure of high-enthalpy flows can provide valuable insight to the performance of scramjet combustors. Tunable Diode Laser Absorption Spectroscopy (TDLAS) is often employed to measure temperature and species concentration. However, TDLAS is a path-integrated line-of-sight (LOS) measurement, and thus does not produce spatially resolved distributions. Tunable Diode Laser Absorption Tomography (TDLAT) is a non-intrusive measurement technique for determining two-dimensional spatially resolved distributions of temperature and species concentration in high enthalpy flows. TDLAT combines TDLAS with tomographic image reconstruction. More than 2500 separate line-of-sight TDLAS measurements are analyzed in order to produce highly resolved temperature and species concentration distributions. Measurements have been collected at the University of Virginia's Supersonic Combustion Facility (UVaSCF) as well as at the NASA Langley Direct-Connect Supersonic Combustion Test Facility (DCSCTF). Due to the UVaSCF s unique electrical heating and ability for vitiate addition, measurements collected at the UVaSCF are presented as a calibration of the technique. Measurements collected at the DCSCTF required significant modifications to system hardware and software designs due to its larger measurement area and shorter test duration. Tomographic temperature and water vapor concentration distributions are presented from experimentation on the UVaSCF operating at a high temperature non-reacting case for water vitiation level of 12%. Initial LOS measurements from the NASA Langley DCSCTF operating at an equivalence ratio of 0.5 are also presented. Results show the capability of TDLAT to adapt to several experimental setups and test parameters.

Busa, K. M.↗

NASA NTRS2013

Analysis of the Effects of Streamwise Lift Distribution on Sonic Boom Signature

Investigation of sonic boom has been one of the major areas of study in aeronautics due to the benefits a low-boom aircraft has in both civilian and military applications. This work conducts a numerical analysis of the effects of streamwise lift distribution on the shock coalescence characteristics. A simple wing-canard-stabilator body model is used in the numerical simulation. The streamwise lift distribution is varied by fixing the canard at a deflection angle while trimming the aircraft with the wing and the stabilator at the desired lift coefficient. The lift and the pitching moment coefficients are computed using the Missile DATCOM v. 707. The flow field around the wing-canard- stabilator body model is resolved using the OVERFLOW-2 flow solver. Overset/ chimera grid topology is used to simplify the grid generation of various configurations representing different streamwise lift distributions. The numerical simulations are performed without viscosity unless it is required for numerical stability. All configurations are simulated at Mach 1.4, angle-of-attack of 1.50, lift coefficient of 0.05, and pitching moment coefficient of approximately 0. Four streamwise lift distribution configurations were tested.

Yoo, Paul↗

NASA NTRS2011

Improving Distributed Diagnosis Through Structural Model Decomposition

Complex engineering systems require efficient fault diagnosis methodologies, but centralized approaches do not scale well, and this motivates the development of distributed solutions. This work presents an event-based approach for distributed diagnosis of abrupt parametric faults in continuous systems, by using the structural model decomposition capabilities provided by Possible Conflicts. We develop a distributed diagnosis algorithm that uses residuals computed by extending Possible Conflicts to build local event-based diagnosers based on global diagnosability analysis. The proposed approach is applied to a multitank system, and results demonstrate an improvement in the design of local diagnosers. Since local diagnosers use only a subset of the residuals, and use subsystem models to compute residuals (instead of the global system model), the local diagnosers are more efficient than previously developed distributed approaches.

Bregon, Anibal↗

NASA NTRS2013

Distributed Prognostics and Health Management with a Wireless Network Architecture

A heterogeneous set of system components monitored by a varied suite of sensors and a particle-filtering (PF) framework, with the power and the flexibility to adapt to the different diagnostic and prognostic needs, has been developed. Both the diagnostic and prognostic tasks are formulated as a particle-filtering problem in order to explicitly represent and manage uncertainties in state estimation and remaining life estimation. Current state-of-the-art prognostic health management (PHM) systems are mostly centralized in nature, where all the processing is reliant on a single processor. This can lead to a loss in functionality in case of a crash of the central processor or monitor. Furthermore, with increases in the volume of sensor data as well as the complexity of algorithms, traditional centralized systems become for a number of reasons somewhat ungainly for successful deployment, and efficient distributed architectures can be more beneficial. The distributed health management architecture is comprised of a network of smart sensor devices. These devices monitor the health of various subsystems or modules. They perform diagnostics operations and trigger prognostics operations based on user-defined thresholds and rules. The sensor devices, called computing elements (CEs), consist of a sensor, or set of sensors, and a communication device (i.e., a wireless transceiver beside an embedded processing element). The CE runs in either a diagnostic or prognostic operating mode. The diagnostic mode is the default mode where a CE monitors a given subsystem or component through a low-weight diagnostic algorithm. If a CE detects a critical condition during monitoring, it raises a flag. Depending on availability of resources, a networked local cluster of CEs is formed that then carries out prognostics and fault mitigation by efficient distribution of the tasks. It should be noted that the CEs are expected not to suspend their previous tasks in the prognostic mode. When the prognostics task is over, and after appropriate actions have been taken, all CEs return to their original default configuration. Wireless technology-based implementation would ensure more flexibility in terms of sensor placement. It would also allow more sensors to be deployed because the overhead related to weights of wired systems is not present. Distributed architectures are furthermore generally robust with regard to recovery from node failures.

Goebel, Kai↗

NASA NTRS2012

The Distribution of Snow Black Carbon observed in the Arctic and Compared to the GISS-PUCCINI Model

In this study, we evaluate the ability of the latest NASA GISS composition-climate model, GISS-E2- PUCCINI, to simulate the spatial distribution of snow BC (sBC) in the Arctic relative to present-day observations. Radiative forcing due to BC deposition onto Arctic snow and sea ice is also estimated. Two sets of model simulations are analyzed, where meteorology is linearly relaxed towards National Centers for Environmental Prediction (NCEP) and towards NASA Modern Era Reanalysis for Research and Applications (MERRA) reanalyses. Results indicate that the modeled concentrations of sBC are comparable with presentday observations in and around the Arctic Ocean, except for apparent underestimation at a few sites in the Russian Arctic. That said, the model has some biases in its simulated spatial distribution of BC deposition to the Arctic. The simulations from the two model runs are roughly equal, indicating that discrepancies between model and observations come from other sources. Underestimation of biomass burning emissions in Northern Eurasia may be the main cause of the low biases in the Russian Arctic. Comparisons of modeled aerosol BC (aBC) with long-term surface observations at Barrow, Alert, Zeppelin and Nord stations show significant underestimation in winter and spring concentrations in the Arctic (most significant in Alaska), although the simulated seasonality of aBC has been greatly improved relative to earlier model versions. This is consistent with simulated biases in vertical profiles of aBC, with underestimation in the lower and middle troposphere but overestimation in the upper troposphere and lower stratosphere, suggesting that the wet removal processes in the current model may be too weak or that vertical transport is too rapid, although the simulated BC lifetime seems reasonable. The combination of observations and modeling provides a comprehensive distribution of sBC over the Arctic. On the basis of this distribution, we estimate the decrease in snow and sea ice albedo and the resulting radiative forcing. We suggest that the albedo reduction due to BC deposition presents significant space-time variations, with highest mean reductions of 1.25% in the Russian Arctic, which are much larger than those in other Arctic regions (0.39% to 0.64 %). The averaged value over the Arctic north of 66degN is 0.4-0.6% during spring, leading to regional surface radiative forcings of 0.7, 1.1 and 1.0Wm(exp−2) in spring 2007, 2008 and 2009, respectively.

Dou, T.↗

NASA NTRS2013

Hydrometeor Size Distribution Measurements by Imaging the Attenuation of a Laser Spot

The optical extinction of a laser due to scattering of particles is a well-known phenomenon. In a laboratory environment, this physical principle is known as the Beer-Lambert law, and is often used to measure the concentration of scattering particles in a fluid or gas. This method has been experimentally shown to be a usable means to measure the dust density from a rocket plume interaction with the lunar surface. Using the same principles and experimental arrangement, this technique can be applied to hydrometeor size distributions, and for launch-pad operations, specifically as a passive hail detection and measurement system. Calibration of a hail monitoring system is a difficult process. In the past, it has required comparison to another means of measuring hydrometeor size and density. Using a technique recently developed for estimating the density of surface dust dispersed during a rocket landing, measuring the extinction of a laser passing through hail (or dust in the rocket case) yields an estimate of the second moment of the particle cloud, and hydrometeor size distribution in the terrestrial meteorological case. With the exception of disdrometers, instruments that measure rain and hail fall make indirect measurements of the drop-size distribution. Instruments that scatter microwaves off of hydrometeors, such as the WSR-88D (Weather Surveillance Radar 88 Doppler), vertical wind profilers, and microwave disdrometers, measure the sixth moment of the drop size distribution (DSD). By projecting a laser onto a target, changes in brightness of the laser spot against the target background during rain and hail yield a measurement of the DSD's second moment by way of the Beer-Lambert law. In order to detect the laser attenuation within the 8-bit resolution of most camera image arrays, a minimum path length is required. Depending on the intensity of the hail fall rate for moderate to heavy rainfall, a laser path length of 100 m is sufficient to measure variations in optical extinction using a digital camera. For hail fall only, the laser path may be shorter because of greater scattering due to the properties of hailstones versus raindrops. A photodetector may replace the camera in automated installations. Laser-based rain and hail measurement systems are available, but they are based on measuring the interruption of a thin laser beam, thus counting individual hydrometeors. These systems are true disdrometers since they also measure size and velocity. The method reported here is a simple method, requiring far less processing, but it is not a disdrometer.

Lane, John↗

NASA NTRS2013

Incorporating Skew into RMS Surface Roughness Probability Distribution

The standard treatment of RMS surface roughness data is the application of a Gaussian probability distribution. This handling of surface roughness ignores the skew present in the surface and overestimates the most probable RMS of the surface, the mode. Using experimental data we confirm the Gaussian distribution overestimates the mode and application of an asymmetric distribution provides a better fit. Implementing the proposed asymmetric distribution into the optical manufacturing process would reduce the polishing time required to meet surface roughness specifications.

Stahl, Mark T.↗

NASA NTRS2014

Distributed Prognostics based on Structural Model Decomposition

Within systems health management, prognostics focuses on predicting the remaining useful life of a system. In the model-based prognostics paradigm, physics-based models are constructed that describe the operation of a system and how it fails. Such approaches consist of an estimation phase, in which the health state of the system is first identified, and a prediction phase, in which the health state is projected forward in time to determine the end of life. Centralized solutions to these problems are often computationally expensive, do not scale well as the size of the system grows, and introduce a single point of failure. In this paper, we propose a novel distributed model-based prognostics scheme that formally describes how to decompose both the estimation and prediction problems into independent local subproblems whose solutions may be easily composed into a global solution. The decomposition of the prognostics problem is achieved through structural decomposition of the underlying models. The decomposition algorithm creates from the global system model a set of local submodels suitable for prognostics. Independent local estimation and prediction problems are formed based on these local submodels, resulting in a scalable distributed prognostics approach that allows the local subproblems to be solved in parallel, thus offering increases in computational efficiency. Using a centrifugal pump as a case study, we perform a number of simulation-based experiments to demonstrate the distributed approach, compare the performance with a centralized approach, and establish its scalability. Index Terms-model-based prognostics, distributed prognostics, structural model decomposition ABBREVIATIONS

centrifugal pump↗

NASA NTRS2014

Plasma Distribution in Mercury's Magnetosphere Derived from MESSENGER Magnetometer and Fast Imaging Plasma Spectrometer Observations

We assess the statistical spatial distribution of plasma in Mercury's magnetosphere from observations of magnetic pressure deficits and plasma characteristics by the MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) spacecraft. The statistical distributions of proton flux and pressure were derived from 10months of Fast Imaging Plasma Spectrometer (FIPS) observations obtained during the orbital phase of the MESSENGER mission. The Magnetometer-derived pressure distributions compare favorably with those deduced from the FIPS observations at locations where depressions in the magnetic field associated with the presence of enhanced plasma pressures are discernible in the Magnetometer data. The magnitudes of the magnetic pressure deficit and the plasma pressure agree on average, although the two measures of plasma pressure may deviate for individual events by as much as a factor of approximately 3. The FIPS distributions provide better statistics in regions where the plasma is more tenuous and reveal an enhanced plasma population near the magnetopause flanks resulting from direct entry of magnetosheath plasma into the low-latitude boundary layer of the magnetosphere. The plasma observations also exhibit a pronounced north-south asymmetry on the nightside, with markedly lower fluxes at low altitudes in the northern hemisphere than at higher altitudes in the south on the same field line. This asymmetry is consistent with particle loss to the southern hemisphere surface during bounce motion in Mercury's offset dipole magnetic field.

magnetic↗

NASA NTRS2016

Coupled CFD-PBE Predictions of Renal Stone Size Distributions in the Nephron in Microgravity

In this paper, a deterministic model is developed to assess the risk of critical renal stone formation for astronauts during space travel. A Population Balance Equation (PBE) model is used to compute the size distribution of a population of nucleating, growing and agglomerating renal calculi as they are transported through different sections of the nephron. The PBE model is coupled to a Computational Fluid Dynamics (CFD) model that solves for steady state flow of urine and transport of renal calculi along with the concentrations of ionic species, calcium and oxalate, in the nephron using an Eulerian two-phase mathematical framework. Parametric simulation are performed to study stone size enhancement and steady state volume fraction distributions in the four main sections of the nephron under weightlessness conditions. Contribution of agglomeration to the stone size distribution and effect of wall friction on the stone volume fraction distributions are carefully examined. Case studies using measured astronaut urinary calcium and oxalate concentrations in microgravity as input indicate that under nominal conditions the largest stone sizes developed in Space will be still considerably below the critical range for problematic stone development. However, results also indicate that the highest stone volume fraction occurs next to the tubule and duct walls. This suggests that there is an increased potential for wall adhesion with the possibility of evolution towards critical stone sizes.

Microgravity↗

NASA NTRS2017

Boulder Distributions at Legacy Landing Sites: Assessing Regolith Production Rates and Landing Site Hazards

Understanding how the distribution of boulders on the lunar surface changes over time is key to understanding small-scale erosion processes and the rate at which rocks become regolith. Boulders degrade over time, primarily as a result of micrometeorite bombardment so their residence time at the surface can inform the rate at which rocks become regolith or become buried within regolith. Because of the gradual degradation of exposed boulders, we expect that the boulder population around an impact crater will decrease as crater age increases. Boulder distributions around craters of varying ages are needed to understand regolith production rates, and Lunar Reconnaissance Orbiter Camera (LROC) Narrow Angle Camera (NAC) images provide one of the best tools for conducting these studies. Using NAC images to assess how the distribution of boulders varies as a function of crater age provides key constraints for boulder erosion processes. Boulders also represent a potential hazard that must be addressed in the planning of future lunar landings. A boulder under a landing leg can contribute to deck tilt, and boulders can damage spacecraft during landing. Using orbital data to characterize boulder populations at locations where landers have safely touched down (Apollo, Luna, Surveyor, Chang'e-3) provides validation for landed mission hazard avoidance planning. Additionally, counting boulders at legacy landing sites is useful because: 1) LROC has extensive coverage of these sites at high resolutions (approximately 0.5 meters per pixel). 2) Returned samples from craters at these sites have been radiometrically dated, allowing assessment of how boulder distributions vary as a function of crater age. 3) Surface photos at these sites can be used to correlate with remote sensing measurements.

Watkins, R. N.↗

NASA NTRS2016

Coupled CFD-PBE Predictions of Renal Stone Size Distributions in the Nephron in Microgravity

Crystal Growth↗

NASA NTRS2017

Physical Processes Controlling the Spatial Distributions of Relative Humidity in the Tropical Tropopause Layer over the Pacific

The spatial distribution of relative humidity with respect to ice (RHI) in the boreal wintertime tropical tropopause layer (TTL, is asymptotically Equal to 14-18 km) over the Pacific is examined with the measurements provided by the NASA Airborne Tropical TRopopause EXperiment. We also compare the measured RHI distributions with results from a transport and microphysical model driven by meteorological analysis fields. Notable features in the distribution of RHI versus temperature and longitude include (1) the common occurrence of RHI values near ice saturation over the western Pacific in the lower to middle TTL; (2) low RHI values in the lower TTL over the central and eastern Pacific; (3) common occurrence of RHI values following a constant mixing ratio in the middle to upper TTL (temperatures between 190 and 200 K); (4) RHI values typically near ice saturation in the coldest airmasses sampled; and (5) RHI values typically near 100% across the TTL temperature range in air parcels with ozone mixing ratios less than 50 ppbv. We suggest that the typically saturated air in the lower TTL over the western Pacific is likely driven by a combination of the frequent occurrence of deep convection and the predominance of rising motion in this region. The nearly constant water vapor mixing ratios in the middle to upper TTL likely result from the combination of slow ascent (resulting in long residence times) and wave-driven temperature variability. The numerical simulations generally reproduce the observed RHI distribution features, and sensitivity tests further emphasize the strong influence of convective input and vertical motions on TTL relative humidity.

Jensen, Eric J.↗

NASA NTRS2017

Ion Velocity Distributions in Dipolarization Events: Beams in the Vicinity of the Plasma Sheet Boundary

Using combined MHD/test particle simulations, we further explore characteristic ion velocity distributions in relation to magnetotail reconnection and dipolarization events, focusing on distributions at and near the plasma sheet boundary layer (PSBL). Simulated distributions right at the boundary are characterized by a single earthward beam, as discussed earlier. However, farther inside, the distributions consist of multiple beams parallel and antiparallel to the magnetic field, remarkably similar to recent Magnetospheric Multiscale observations. The simulations provide insight into the mechanisms: the lowest earthward beam results from direct acceleration at an earthward propagating dipolarization front (DF), with a return beam at somewhat higher energy. A higher-energy earthward beam results from dual acceleration, first near the reconnection site and then at the DF, again with a corresponding return beam resulting from mirroring closer to Earth. Multiple acceleration at the X line or the propagating DF with intermediate bounces may produce even higher-energy beams. Particles contributing to the lower energy beams are found to originate from the PSBL with thermal source energies, increasing with increasing beam energy. In contrast, the highest-energy beams consist mostly of particles that have entered the acceleration region via cross-tail drift with source energies in the suprathermal range.

Birn, J.↗

NASA NTRS2018

A Review of Distributed Electric Propulsion Concepts for Air Vehicle Technology

The emergence of distributed electric propulsion (DEP) concepts for aircraft systems has enabled new capabilities in the overall efficiency, capabilities, and robustness of future air vehicles. Distributed electric propulsion systems feature the novel approach of utilizing electrically-driven propulsors which are only connected electrically to energy sources or power-generating devices. As a result, propulsors can be placed, sized, and operated with greater flexibility to leverage the synergistic benefits of aero-propulsive coupling and provide improved performance over more traditional designs. A number of conventional aircraft concepts that utilize distributed electric propulsion have been developed, along with various short and vertical takeoff and landing platforms. Careful integration of electrically-driven propulsors for boundary-layer ingestion can allow for improved propulsive efficiency and wake-filling benefits. The placement and configuration of propulsors can also be used to mitigate the trailing vortex system of a lifting surface or leverage increases in dynamic pressure across blown surfaces for increased lift performance. Additionally, the thrust stream of distributed electric propulsors can be utilized to enable new capabilities in vehicle control, including reducing requirements for traditional control surfaces and increasing tolerance of the vehicle control system to engine-out or propulsor-out scenarios. If one or more turboelectric generators and multiple electric fans are used, the increased effective bypass ratio of the whole propulsion system can also enable lower community noise during takeoff and landing segments of flight and higher propulsive efficiency at all conditions. Furthermore, the small propulsors of a DEP system can be installed to leverage an acoustic shielding effect by the airframe, which can further reduce noise signatures. The rapid growth in flight-weight electrical systems and power architectures has provided new enabling technologies for future DEP concepts, which provide flexible operational capabilities far beyond those of current systems. While a number of integration challenges exist, DEP is a disruptive concept that can lead to unprecedented improvements in future aircraft designs.

electric propulsion↗

NASA NTRS2019

Assessing Uncertainties of a Geophysical Approach to Estimate Surface Fine Particulate Matter Distributions from Satellite-Observed Aerosol Optical Depth

Health impact analyses are increasingly tapping the broad spatial coverage of satellite aerosol optical depth (AOD) products to estimate human exposure to fine particulate matter (PM2.5). We use a forward geophysical approach to derive ground-level PM2.5 distributions from satellite AOD at 1 km2(exp) resolution for 2011 over the northeastern US by applying relationships between surface PM2.5 and column AOD (calculated offline from speciated mass distributions) from a regional air quality model (CMAQ; 12×12 km2(exp) horizontal resolution). Seasonal average satellite-derived PM2.5 reveals more spatial detail and best captures observed surface PM2.5 levels during summer. At the daily scale, however, satellite-derived PM2.5 is not only subject to measurement uncertainties from satellite instruments, but more importantly to uncertainties in the relationship between surface PM2.5 and column AOD. Using 11 ground-based AOD measurements within 10 km of surface PM2.5 monitors, we show that uncertainties in modeled PM2.5∕AOD can explain more than 70 % of the spatial and temporal variance in the total uncertainty in daily satellite-derived PM2.5 evaluated at PM2.5 monitors. This finding implies that a successful geophysical approach to deriving daily PM2.5 from satellite AOD requires model skill at capturing day-to-day variations in PM2.5∕AOD relationships. Overall, we estimate that uncertainties in the modeled PM2.5∕AOD lead to an error of 11 µg m−3(exp) in daily satellite-derived PM2.5, and uncertainties in satellite AOD lead to an error of 8 µg m−3(exp). Using multi-platform ground, airborne, and radiosonde measurements, we show that uncertainties of modeled PM2.5∕AOD are mainly driven by model uncertainties in aerosol column mass and speciation, while model representation of relative humidity and aerosol vertical profile shape contributes some systematic biases. The parameterization of aerosol optical properties, which determines the mass extinction efficiency, also contributes to random uncertainty, with the size distribution being the largest source of uncertainty and hygroscopicity of inorganic salt the second largest. Future efforts to reduce uncertainty in geophysical approaches to derive surface PM2.5 from satellite AOD would thus benefit from improving model representation of aerosol vertical distribution and aerosol optical properties, to narrow uncertainty in satellite-derived PM2.5.

aerosol optical depth↗

NASA NTRS2018

Effect of the Reconnection Electric Field on Electron Distribution Functions in the Diffusion Region of Magnetotail Reconnection

Electron distribution functions in the electron diffusion region during symmetric magnetic reconnection are investigated by means of theory and fully kinetic simulations. Crescent‐like striations are formed in distribution functions in the velocity plane perpendicular to the magnetic field. Using an analytical current sheet, we solve the equation of motion for electrons, and derive the shape of a crescent distribution, as a function of the distance from the neutral line, field gradients, and the reconnection electric field. Each crescent is tilted in the velocity plane because of the acceleration by the reconnection electric field, and multiple stripes appear due to multiple meandering bounces. Applying the theory to distribution functions observed in Earth's magnetotail, we deduce the amplitude of the reconnection electric field.

Bessho, N.↗

NASA NTRS2017

Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments

This paper focuses on trajectory planning for spacecraft swarms in cluttered environments, like debris fields or the asteroid belt. Our objective is to reconfigure the spacecraft swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with obstacles. In our prior work we proposed a novel distributed guidance algorithm for spacecraft swarms in static environments. In this paper, we present the Multi-Agent Moving-Obstacles Spherical Expansion and Sequential Convex Programming (MAMO SE-SCP) algorithm that extends our prior work to include spatiotemporal constraints such as time-varying, moving obstacles and desired time-varying terminal positions. In the MAMO SE-SCP algorithm, each agent uses a spherical-expansion-based sampling algorithm to cooperatively explore the time-varying environment, a distributed assignment algorithm to agree on the terminal position for each agent, and a sequential-convex-programming-based optimization step to compute the locally-optimal trajectories from the current location to the assigned time-varying terminal position while avoiding collision with other agents and moving obstacles. Simulation results demonstrate that the proposed distributed algorithm can be used by a spacecraft swarm to achieve a time-varying, desired formation around an object of interest in a dynamic environment with many moving and tumbling obstacles.

Bandyopadhyay, Saptarshi↗