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At least 1,675 records · Page 93

Robotics Verification and Validation Strategies for Perseverance Rover Sampling and Caching

The Mars 2020 Sampling and Caching Subsystem(SCS) is the most complex robotic system ever fielded on a MarsRover. It includes a 5 degree-of-freedom Robotic Arm, coringdrill, gas Dust Removal Tool, interfaces for two turret-mountedinstruments, and an Adaptive Caching Assembly (ACA). TheACA is itself a complex robotic system, containing hardware tosupport docking and bit exchange, a 3 degree-of-freedomSample Handling Assembly for manipulating sample tubes,storage for several drill bits and sample tubes, and mechanismsto support observing and sealing samples collected by the drill.To successfully verify and validate the SCS hardware andsoftware and its integration with the Mars 2020 flight systemseveral key strategies were employed.The SCS Verification and Validation (V&V) program utilizedmultiple test venues with tiered levels of fidelity. These includedsimulation and visualization software environments, low fidelitydevelopment testbeds, testbeds with high fidelity SCS hardwareand commercial off-the shelf avionics, integrated systemtestbeds with flight-like avionics, and environmental testbedscapable of simulating Martian surface temperature andpressure. Multiple units of each SCS hardware componentmoved fluidly between test venues to accomplish myriadstandalone and coordinated test objectives. Test preparationand executions were performed by a diverse team of engineerswith training and technical ownership tailored for individualexperience and role. Despite significant differences between testvenues, the SCS V&V team established efficient and consistentprocesses and tools for procedure development, test execution,and data review that enabled personnel, as well as technicalproducts such as sequences and parameter configurations, toflow between venues effectively. A series of benchmark testsprovided evidence of performance consistency as elements weretransferred between venues and as system capability evolved.This paper provides an overview of the SCS V&V program andexplores several overarching strategies that enabled successfuloperation in the face of unprecedented complexity. Keyoutcomes of the SCS validation effort are summarized, alongwith lessons learned and beneficial integrations of validationtool and process innovations into Mars surface operations.

Brooks, Sawyer↗

Interpretation of the electric fields measured in an ionospheric critical ionization velocity experiment

The quasi-dc electric fields measured in the CRIT I ionospheric release experiment are studied. In the experiment, two identical barium shaped charges were fired toward a main payload, and three-dimensional measurements of the electric field inside the streams were made. The relevance of proposed mechanisms for electron heating in the critical ionization velocity (CIV) mechanism is addressed. It is concluded that both the 'homogeneous' and the 'ionizing front' models probably are valid, but in different parts of the streams. It is also possible that electrons are directly accelerated by a magnetic field-aligned component of the electric field. The coupling between the ambient ionosphere and the ionized barium stream is more complicated that is usually assumed in CIV theories, with strong magnetic-field-aligned electric fields and probably current limitation as important processes.

Brenning, N.↗

Recent Progress on Numerical Modeling for Microgravity Electric Field Flames: Preprint

This paper presents the recent progress on the NASA Physical Science Informatics (PSI) project PeleLM CFD of Ion Driven Winds from Diffusion Flames in simulating the E-FIELD Flames microgravity results. The focus of this project is to comprehensively simulate the behavior of a small diffusion flame under the influence of an externally applied electric field in zero-gravity. To date, the capability of accurately simulating electric field flames has eluded researchers because the system exhibits dramatic ranges of coupled temporal and spatial scales. Moreover, in earth gravity the hot combustion products are subject to buoyancy effects that are difficult to isolate from those generated by the electric field. This work is an implementation in an existing powerful simulation framework (PeleLM) for this problem using PeleLMeX in order to validate the model and investigate the complex coupled system. The current effort includes establishing the domain of a diffusion coflow burner, examining the boundary conditions, flame geometry and ignition with gravitational forces and also with an electric field applied. A detailed model is used that includes the chemistry of charged ions and chemiluminescent flame intermediates to capture any feedback between ion-driven convection and combustion behavior, and to allow quantitative comparisons with experimental measurements.

coflow flames↗

Nonlinear dynamics of drops and bubbles and chaotic phenomena

Nonlinear phenomena associated with the dynamics of free drops and bubbles are investigated analytically, numerically and experimentally. Although newly developed levitation and measurement techniques have been implemented, the full experimental validation of theoretical predictions has been hindered by interfering artifacts associated with levitation in the Earth gravitational field. The low gravity environment of orbital space flight has been shown to provide a more quiescent environment which can be utilized to better match the idealized theoretical conditions. The research effort described in this paper is a closely coupled collaboration between predictive and guiding theoretical activities and a unique experimental program involving the ultrasonic and electrostatic levitation of single droplets and bubbles. The goal is to develop and to validate methods based on nonlinear dynamics for the understanding of the large amplitude oscillatory response of single drops and bubbles to both isotropic and asymmetric pressure stimuli. The first specific area on interest has been the resonant coupling between volume and shape oscillatory modes isolated gas or vapor bubbles in a liquid host. The result of multiple time-scale asymptotic treatment, combined with domain perturbation and bifurcation methods, has been the prediction of resonant and near-resonant coupling between volume and shape modes leading to stable as well as chaotic oscillations. Experimental investigations of the large amplitude shape oscillation modes of centimeter-size single bubbles trapped in water at 1 G and under reduced hydrostatic pressure, have suggested the possibility of a low gravity experiment to study the direct coupling between these low frequency shape modes and the volume pulsation, sound-radiating mode. The second subject of interest has involved numerical modeling, using the boundary integral method, of the large amplitude shape oscillations of charged and uncharged drops in the presence of a static or time-varying electric field. Theoretically predicted non linearity in the resonant frequency of the fundamental quadrupole mode has been verified by the accompanying experimental studies. Additional phenomena such as hysteresis in the frequency response of ultrasoncially levitated droplets in the presence of a time varying electric field, and mode coupling in the oscillations of ultrasonically modulated droplets, have also been uncovered. One of the results of this ground-based research has been the identification and characterization of phenomena strictly associated with the influence of the gravitational field. This has also allowed us to identify the specific requirements for potential microgravity investigations yielding new information not obtainable on Earth.

Trinh, Eugene H.↗

Experience with Aero- and Fluid-Dynamic Testing for Engineering and CFD Validation

Ever since computations have been used to simulate aerodynamics the need to ensure that the computations adequately represent real life has followed. Many experiments have been performed specifically for validation and as computational methods have improved, so have the validation experiments. Validation is also a moving target because computational methods improve requiring validation for the new aspect of flow physics that the computations aim to capture. Concurrently, new measurement techniques are being developed that can help capture more detailed flow features pressure sensitive paint (PSP) and particle image velocimetry (PIV) come to mind. This paper will present various wind-tunnel tests the author has been involved with and how they were used for validation of various kinds of CFD. A particular focus is the application of advanced measurement techniques to flow fields (and geometries) that had proven to be difficult to predict computationally. Many of these difficult flow problems arose from engineering and development problems that needed to be solved for a particular vehicle or research program. In some cases the experiments required to solve the engineering problems were refined to provide valuable CFD validation data in addition to the primary engineering data. All of these experiments have provided physical insight and validation data for a wide range of aerodynamic and acoustic phenomena for vehicles ranging from tractor-trailers to crewed spacecraft.

experiment↗

Extension and Validation of the Pendulum Model for Longitudinal Solar Prominence Oscillations

Context. Longitudinal oscillations in prominences are common phenomena on the Sun. These oscillations can be used to infer the geometry and intensity of the filament magnetic field. Previous theoretical studies of longitudinal oscillations made two simplifying assumptions: uniform gravity and semicircular dips on the supporting flux tubes. However, the gravity is not uniform and realistic dips are not semicircular. Aims. Our aim is to understand the effects of including the nonuniform solar gravity on longitudinal oscillations and explore the validity of the pendulum model with different flux-tube geometries. Methods. We first derived the equation describing the motion of the plasma along the flux tube including the effects of nonuniform gravity, yielding corrections to the original pendulum model. We also computed the full numerical solutions for the normal modes and compared them with the new pendulum approximation. Results. We find that the nonuniform gravity introduces a significant modification in the pendulum model. We also found a cut-off period; i.e., the longitudinal oscillations cannot have a period longer than 167 min. In addition, considering different tube geometries, the period depends almost exclusively on the radius of curvature at the bottom of the dip. Conclusions. We conclude that nonuniform gravity significantly modifies the pendulum model. These corrections are important for prominence seismology, because the inferred values of the radius of curvature and minimum magnetic-field strength differ substantially from those of the old model. However, we find that the corrected pendulum model is quite robust and is still valid for noncircular dips.

Sun: corona↗

Progress of a Cross-Correlation Based Optical Strain Measurement Technique for Detecting Radial Growth on a Rotating Disk

The Aeronautical Sciences Project under NASA's Fundamental Aeronautics Program is interested in the development of novel measurement technologies, such as optical surface measurements for the in situ health monitoring of critical constituents of the internal flow path. In situ health monitoring has the potential to detect flaws, i.e. cracks in key components, such as engine turbine disks, before the flaws lead to catastrophic failure. The present study, aims to further validate and develop an optical strain measurement technique to measure the radial growth and strain field of an already cracked disk, mimicking the geometry of a sub-scale turbine engine disk, under loaded conditions in the NASA Glenn Research Center's High Precision Rotordynamics Laboratory. The technique offers potential fault detection by imaging an applied high-contrast random speckle pattern under unloaded and loaded conditions with a CCD camera. Spinning the cracked disk at high speeds (loaded conditions) induces an external load, resulting in a radial growth of the disk of approximately 50.0-μm in the flawed region and hence, a localized strain field. When imaging the cracked disk under static conditions, the disk will be undistorted; however, during rotation the cracked region will grow radially, thus causing the applied particle pattern to be 'shifted'. The resulting particle displacements between the two images is measured using the two-dimensional cross-correlation algorithms implemented in standard Particle Image Velocimetry (PIV) software to track the disk growth, which facilitates calculation of the localized strain field. A random particle distribution is adhered onto the surface of the cracked disk and two bench top experiments are carried out to evaluate the technique's ability to measure the induced particle displacements. The disk is shifted manually using a translation stage equipped with a fine micrometer and a hotplate is used to induce thermal growth of the disk, causing the particles to become shifted. For both experiments, reference and test images are acquired before and after the induced shifts, respectively, and then processed using PIV software. The controlled manual translation of the disk resulted in detection of the particle displacements accurate to ~1.75% of full scale and the thermal expansion experiment resulted in successful detection of the disk's thermal growth as compared to the calculated thermal expansion results. After validation of the technique through the induced shift experiments, the technique is implemented in the Rotordynamics Lab for preliminary assessment in a simulated engine environment. The discussion of the findings and plans for future work to improve upon the results are addressed in the paper.

rotordynamics↗

Human-in-the-Loop Motion Control of a Two-DOF Hydraulic Backhoe Powered by the Hybrid Hydraulic Electric Architecture (HHEA)

Abstract The Hybrid Hydraulic-Electric Architecture (HHEA) combines the respective power density and control advantages of hydraulic and electric actuation to save energy for off-road vehicles. It uses a set of selectable common pressure rails to transmit the majority of power and electric actuation to modulate that power. As it is critical that off-road vehicles can perform tasks dexterously and exactly as commanded by the operator, the switchings between discrete pressure rails pose a potential challenge for smooth and precise motion. A control strategy consisting of a backstepping nominal control and least norm transition control has previously been developed to address this issue. It has been tested on 1 degree of freedom (DOF) testbeds where known trajectories were able to be tracked precisely. This paper presents the implementation of the HHEA motion control strategy on a 2-DOF backhoe operated by a human operator via a 2-DOF joystick. Unlike previous studies, the duty cycle is unknown beforehand and the decision to change pressure rails is taken in real-time. The efficacy of the motion control strategy has been validated experimentally. Several strategies to improve the user interface: control in workspace coordinates, pressure feedback, and velocity field-based task specification, have also been implemented and demonstrated to make operating the multiple DOF, HHEA actuated machine more intuitive to novice operators.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Beyond Taylor’s hypothesis: a novel volumetric reconstruction of velocity and density fields for variable‑density and shear flows

Abstract This work presents a novel numerical procedure for reconstructing volumetric density and velocity fields from planar laser-induced fluorescence (PLIF) and stereoscopic particle image velocimetry (SPIV) data. This new method is theoretically and practically demonstrated to provide more accurate 3D vortical structures and density fields in high shear flows than reconstruction methods based on the mean convective velocity. While Taylor’s hypothesis of frozen turbulence is commonly applied by using the local mean streamwise velocity, the proposed algorithm uses the measured local instantaneous velocity for data convection. It consists of a step-by-step reconstruction based on a mixed Lagrangian–Eulerian solver that includes the 3D interpolation of scattered flow data and that relaxes the Taylor’s hypothesis by iterative enforcement of the incompressibility constraint on the velocity field. This methodology provides 3D fields with temporal resolution, spatial resolution, and accuracy comparable to that of real 3D snapshots, thus providing a practical alternative to tomographic measurements. The procedure is validated using numerical data of the constant-density channel flow available on the Johns Hopkins University Turbulence Database (JHTDB), showing the accurate reconstruction of the 3D velocity field. The algorithm is applied to an experimental dataset of PLIF and SPIV measurements of a variable-density jet flow, demonstrating its capability to provide 3D velocity and density fields that are more consistent with the Navier–Stokes equations compared to the mean flow convective method. Graphic abstract

42 ENGINEERING↗

High-resolution particle-in-cell simulations of two-dimensional Bernstein–Greene–Kruskal modes

We present two-dimensional (2D) particle-in-cell (PIC) simulations of 2D Bernstein–Greene–Kruskal modes, which are exact nonlinear steady-state solutions of the Vlasov–Poisson equations, on a 2D plane perpendicular to a background magnetic field, with a cylindrically symmetric electric potential localized on the plane. PIC simulations are initialized using analytic electron distributions and electric potentials from the theory. We confirm the validity of such solutions using high-resolutions up to a 20482 grid. We show that the solutions are dynamically stable for a stronger background magnetic field, while keeping other parameters of the model fixed, but become unstable when the field strength is weaker than a certain value. When a mode becomes unstable, we observe that the instability begins with the excitation of azimuthal electrostatic waves that ends with a spiral pattern.

Physics↗

Validation of the Porous Medium Approximation for Hydrodynamics Analysis in Compact Heat Exchangers

Compact heat exchangers (HXs) have gained attention in recent years in various fields such as solar and nuclear power generation, oil and gas, and refrigeration due to their low cost, high power density, and robustness in high-pressure and/or high-temperature environments. However, the large difference between a compact HX's overall dimensions (~m) and the much smaller scale of its channels (~mm) makes it challenging to model the entire HX at once, due to computational limitations. In this work, we treat the channeled region of a compact HX as a porous medium (PM) to circumvent the need to model/mesh each individual channel. This allows us to simulate the entire HX, including both the header and channeled regions while maintaining the computational cost at a practical level. Although the porous medium approach has been used to model heat exchangers, its validity is still questionable because (1) the resistance coefficients are heavily data-based and thus difficult to be applied to new heat exchangers and (2) the validation has been focused on matching the overall pressure drop in the channel region, which does not address whether such model can predict detailed pressure and velocity field. For the first time, this work addresses under what circumstances and with what uncertainty does the PM approach work for hydrodynamics modeling in compact HXs. By answering these questions, we introduce the PM approach as a powerful tool for HX hydrodynamics modeling that can predict not only the overall pressure drop but also the detailed pressure and velocity distributions.

Engineering↗

Experiments to study strain gage load calibrations on a wing structure at elevated temperatures

Laboratory experiments were performed to study changes in strain-gage bridge load calibrations on a wing structure heated to temperatures of 200 F, 400 F, and 600 F. Data were also obtained to define the experimental repeatability of strain-gage bridge outputs. Experiments were conducted to establish the validity of the superposition of bridge outputs due to thermal and mechanical loads during a heating simulation of Mach 3 flight. The strain-gage bridge outputs due to load cycle at each of the above temperature levels were very repeatable. A number of bridge calibrations were found to change significantly as a function of temperature. The sum of strain-gage bridge outputs due to individually applied thermal and mechanical loads compared well with that due to combined or superimposed loads. The validity of superposition was, therefore, established.

Monaghan, R. C.↗

Airborne Shaped Sonic Boom Demonstration Pressure Measurements with Computational Fluid Dynamics Comparisons

The Shaped Sonic Boom Demonstration project showed for the first time that by careful design of aircraft contour the resultant sonic boom can maintain a tailored shape, propagating through a real atmosphere down to ground level. In order to assess the propagation characteristics of the shaped sonic boom and to validate computational fluid dynamics codes, airborne measurements were taken of the pressure signatures in the near field by probing with an instrumented F-15B aircraft, and in the far field by overflying an instrumented L-23 sailplane. This paper describes each aircraft and their instrumentation systems, the airdata calibration, analysis of the near- and far-field airborne data, and shows the good to excellent agreement between computational fluid dynamics solutions and flight data. The flights of the Shaped Sonic Boom Demonstration aircraft occurred in two phases. Instrumentation problems were encountered during the first phase, and corrections and improvements were made to the instrumentation system for the second phase, which are documented in the paper. Piloting technique and observations are also given. These airborne measurements of the Shaped Sonic Boom Demonstration aircraft are a unique and important database that will be used to validate design tools for a new generation of quiet supersonic aircraft.

Haering, Edward A., Jr.↗

Two dimensional nonlinear analysis of sound transmission through a near-sonic throat flow

A two-dimensional nonlinear theory of sound transmission through a nonuniform duct carrying a near-sonic throat flow is described. The mean flow in the duct is treated according to a generalized quasi-one dimensional model, and the analysis of the unsteady perturbations is carried out using the Method of Matched Asymptotic Expansions. The linearized acoustic field in the subsonic regions of the duct is approximated by a Wave Envelope model which is matched asymptotically with a nonlinear inner solution valid in the near-sonic throat region. Numerical results are presented to illustrate the predictions of the theory. It is found that, in general, shock waves develop in the acoustic field during transmission through the near-sonic flow. Unlike previous one-dimensional theories, the current study shows that dispersion can play a major role in the propagation process.

Myers, M. K.↗

Hardware-in-the-Loop Testing of Wide-Area Damping Controller for Field Implementation in Large-scale Power Grid

In our previous work, an adaptive measurement-driven wide-area damping controller (WADC) for suppressing inter-area oscillations has been proposed and a hardware prototype was developed and validated through hardware-in-the-loop tests. As a continuation of the work, this paper introduces a WADC software prototype to handle the realistic challenges for field implementation in the control room of the power grid. The WADC software is developed and operated as an openPDC adapter with a graphical user interface (GUI) to monitor the WADC inputs and output, the communication delays and other variables. The software prototype has been fully tested through an enhanced hardware-in-the-loop (HIL) test setup. Its performance is verified under various realistic communication uncertainties, such as random time delays and data losses, with different communication protocols. The experiment results have proven the WADC software can deliver sufficient damping to suppress the targeted oscillation mode in handling various communication uncertainties for future field deployment.

Jia, Xinlan↗

The numerical simulation of steady transonic rotational flow using a dual potential formulation

A finite-difference method is presented that simulates steady transonic rotational flow of an inviscid fluid by representing the velocity field as the sum of scalar and vector potentials. This dual potential velocity decomposition extends the validity of the scalar (full) velocity potential to include vorticity. The inclusion of a vector potential also permits an alternate treatment of lift that does not require a circulation wake cut. This is accomplished by specifying the vector potential as a constant on the airfoil surface in order to satisfy a Kutta condition. The governing equations are solved as iteratively decoupled scalar equations using approximate factorization techniques, and the overall efficiency approaches that of the full potential equation. The governing equations are able to convect entropy and vorticity throughout the flow field and are equivalent to the Euler equations in continuous flow domains, however at shocks the Rankine-Hugoniot entropy jump must be supplied. An entropy correction method is presented and verified with transonic airfoil solutions of the Euler equations.

Chaderjian, N. M.↗

Establishing Consensus Turbulence Statistics for Hot Subsonic Jets

Many tasks in fluids engineering require knowledge of the turbulence in jets. There is a strong, although fragmented, literature base for low order statistics, such as jet spread and other meanvelocity field characteristics. Some sources, particularly for low speed cold jets, also provide turbulence intensities that are required for validating Reynolds-averaged Navier-Stokes (RANS) Computational Fluid Dynamics (CFD) codes. There are far fewer sources for jet spectra and for space-time correlations of turbulent velocity required for aeroacoustics applications, although there have been many singular publications with various unique statistics, such as Proper Orthogonal Decomposition, designed to uncover an underlying low-order dynamical description of turbulent jet flow. As the complexity of the statistic increases, the number of flows for which the data has been categorized and assembled decreases, making it difficult to systematically validate prediction codes that require high-level statistics over a broad range of jet flow conditions. For several years, researchers at NASA have worked on developing and validating jet noise prediction codes. One such class of codes, loosely called CFD-based or statistical methods, uses RANS CFD to predict jet mean and turbulent intensities in velocity and temperature. These flow quantities serve as the input to the acoustic source models and flow-sound interaction calculations that yield predictions of far-field jet noise. To develop this capability, a catalog of turbulent jet flows has been created with statistics ranging from mean velocity to space-time correlations of Reynolds stresses. The present document aims to document this catalog and to assess the accuracies of the data, e.g. establish uncertainties for the data. This paper covers the following five tasks: Document acquisition and processing procedures used to create the particle image velocimetry (PIV) datasets. Compare PIV data with hotwire and laser Doppler velocimetry (LDV) data published in the open literature. Compare different datasets acquired at roughly the same flow conditions to establish uncertainties. Create a consensus dataset for a range of hot jet flows, including uncertainty bands. Analyze this consensus dataset for self-consistency and compare jet characteristics to those of the open literature. One final objective fulfilled by this work was the demonstration of a universal scaling for the jet flow fields, at least within the region of interest to aeroacoustics. The potential core length and the spread rate of the half-velocity radius were used to collapse of the mean and turbulent velocity fields over the first 20 jet diameters in a highly satisfying manner.

Bridges, James↗

Considerations regarding the Use of Computer Vision Machine Learning in Safety-Related or Risk-Significant Applications in Nuclear Power Plants

With the advancements made to date in the field of artificial intelligence (AI), significant potential exists to utilize AI capabilities for nuclear power plant (NPP) applications. AI can replicate human decision making and it is usually faster and more accurate than humans. For implementations that impact critical NPP applications (e.g., safety-related or non-safety systems that potentially affect overall plant risk), a deeper safety analysis of the AI methods is necessary. AI applied to NPP operations could resemble the use of digital I&C (DI&C) because such applications involve digital computer hardware and custom-designed software that input plant data, execute complex software algorithms, and output the results to a system or licensed human operator to potentially provoke an action. For AI methods to be compliant with current safety requirements for DI&C, AI compatibility must be evaluated, and AI-related gaps may exist that prevent the prompt deployment of AI in NPPs. This effort aims to evaluate how example AI technologies align with the DI&C safety framework, and discusses how they could be analyzed, modeled, tested, and validated in a manner similar to typical DI&C technologies. Because AI is a broad field that encompasses areas such as machine learning (ML), natural language processing, and computer vision, this research focused on a subset of methods categorized as the computer vision ML (CVML) methods. This report explores two CVML use cases, gauge reading and fire watch, considered relevant to the DI&C standards, as they could play a safety-critical role. For the gauge reading use case, a CVML-enabled technology that can read gauges at oblique angles is utilized. For the fire watch use case, a CVML-enabled technology is utilized that migrates fire watch from a manual (human) approach to automated fire detection. These use cases are mainly intended to give context to the CVML system discussion. This effort assumes the worst-case scenario, with the CVML system being used to replace a safety-related or risk-significant system, thus requiring evaluation. Evaluating CVML against most of the relevant safety requirements for DI&C yielded several CVML-specific considerations due to the uniqueness of its characteristics in comparison with typical DI&C systems. For example, CVML models often employ commonly used (open-source) datasets, and it is not always possible to determine the level of overlap among open-source datasets. Therefore, the independence of the developed CVML models when demonstrating diversity is questionable, therefore creating vulnerability to common cause failure (CCF). The design verification process is also impacted since the data overlap could result in overestimation of the software validation and verification (V&V) performance results. Section 2 of this report evaluates a list of the identified CVML-specific characteristics and discusses the resulting considerations and potential solutions in the context of each referenced requirement. A summation is provided in Section 3. This report is not to be used as a guideline. It was developed to identify and consider issues in the implementation of ML technologies used to augment activities that may have a bearing on plant operation. The report draws parallels to the use of DI&C technologies, for which many standards are available to guide their use in nuclear plant operation. It considers the technologies and some of the potential implications of their use in safety-related applications but is not intended to address regulatory or licensing related issues.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗