Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “data conditioning”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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

At least 1,693 records · Page 94

Assessing the Risk of Crew Injury Due to Dynamic Loads During Spaceflight

Spaceflight requires tremendous amounts of energy to achieve Earth orbit and to attain escape velocity for interplanetary missions. Although the majority of the energy is managed in such a way as to limit the accelerations on the crew, several mission phases may result in crew exposure to dynamic loads. In the automotive industry, risk of serious injury can be tolerated because the probability of a crash is remote each time a person enters a vehicle, resulting in a low total risk of injury. For spaceflight, the level of acceptable injury risk must be lower to achieve a low total risk of injury because the dynamic loads are expected on each flight. To mitigate the risk of injury due to dynamic loads, the NASA Human Research Program has developed a research plan to inform the knowledge gaps and develop relevant tools for assessing injury risk. The risk of injury due to dynamic loads can be further subdivided into extrinsic and intrinsic risk factors. Extrinsic risk factors include the vehicle dynamic profile, seat and restraint design, and spacesuit design. Human tolerance to loads varies considerably depending on the direction, amplitude, and rise-time of acceleration therefore the orientation of the body to the dynamic vector is critical to determining crew risk of injury. Although a particular vehicle dynamic profile may be safe for a particular design, the seat, restraint, and suit designs can affect the risk of injury due to localized effects. In addition, characteristics intrinsic to the crewmember may also contribute to the risk of injury, such as crewmember sex, age, anthropometry, and deconditioning due to spaceflight, and each astronaut may have a different risk profile because of these factors. The purpose of the research plan is to address any knowledge gaps in the risk factors to mitigate injury risk. Methods for assessing injury risk have been well documented in other analogous industries and include human volunteer testing, human exposure to dynamic environments, post-mortem human subject (PMHS) testing, animal testing, anthropomorphic test devices (ATD), dynamic models of the human, numerical models of ATDs, and numerical models of the human. Each has inherent strengths and limitations. For example, human volunteer testing is advantageous because a population can be selected that is similar to the astronaut corps; however, because of the inherent ethical limitations, only sub-injurious conditions can be tested. PMHSs can be tested in a variety of conditions including injurious levels, but the responses are not completely analogous to living human subjects. In addition, it is exceedingly difficult to select a PMHS population that is similar to the astronaut corps. ATDs are currently widely used in the automotive industry and military because they are highly repeatable and durable. Unfortunately, because they are mechanical models of the human body, the biofidelity of the responses are limited to dynamic conditions used to validate the ATD. Numerical models of the ATD, in addition to the strengths and limitations for ATDs, are easy to use for a variety of designs before a design is fabricated, but also have additional limitations for ATDs, are easy to use for a variety of designs before a design is fabricated, but also have additional uncertainty. Dynamic models are simple and easy to use, but do not account for localized effects of the seat and suit. Finally, numerical models of the human have the potential to have the most advantages; however, the current models are not validated for the conditions expected during spaceflight. To properly assess spaceflight conditions with numerical human models, human data would be needed to optimize the model responses for those conditions. Using the appropriate assessment method with the knowledge gained for each risk factor, an appropriate approach for mitigating the risk of injury due to dynamic loads can be developed ensuring crew safety in future NASA vehicles.

Somers, J. T.↗

The Effect of Altitude Conditions on the Particle Emissions of a J85-GE-5L Turbojet Engine

Particles from a J85-GE-5L turbojet engine were measured over a range of engine speeds at simulated altitude conditions ranging from near sea level to 45,000 ft and at flight Mach numbers of 0.5 and 0.8. Samples were collected from the engine by using a specially designed probe positioned several inches behind the exhaust nozzle. A differential mobility particle sizing system was used to determine particle size. Particle data measured at near sea-level conditions were compared with Navy Aircraft Environmental Support Office (AESO) particle data taken from a GE-J85-4A engine at a sea-level static condition. Particle data from the J85 engine were also compared with particle data from a J85 combustor at three different simulated altitudes.

Rickey, June Elizabeth↗

Modeling of the Ablation of Fibrous Materials in the Knudsen Regime

During atmospheric entry of planetary probes, the thermal protection system (TPS) of the probe is exposed to high temperatures under low pressures. In these conditions, carbonous TPS materials undergo gasification in the Knudsen regime leading to mass loss and wall recession called ablation. This work aims to improve the understanding of materiaVenvironment interactions through a study of the coupling between carbon dioxide transport in the Knudsen regime, heterogeneous oxidation of carbon, and sutface recession. A 3D Monte-Carlo simulation tool is used for this study. The fibrous architecture of the materiils, consisting of high porosity random array of carbon fibers, is numerically reproduced on a 3D Cartesian grid. Mass transport in the Knudsen regime from the boundary layer to the surface, and inside this porous material is simulated by random walk. A reaction probability is used to simulate the heterogeneous oxidation reaction. The surface recession is followed by front tracking using a simplified marching cube approach. The output data of the simulations are ablation velocity and dynamic evolution of the material porosity. A parametric study is carried out to analyze the material behavior as a function of Knudsen number for the porous media (length of the mean free path compared to the mean pore diameter) and the intrinsic reactivity of the carbon fibers. The results enable extrapolation of laboratory experimental data to actual entry conditions.

Lachaud, J.↗

System and Method for Monitoring Distributed Asset Data

A computer-based monitoring system and monitoring method implemented in computer software for detecting, estimating, and reporting the condition states, their changes, and anomalies for many assets. The assets are of same type, are operated over a period of time, and outfitted with data collection systems. The proposed monitoring method accounts for variability of working conditions for each asset by using regression model that characterizes asset performance. The assets are of the same type but not identical. The proposed monitoring method accounts for asset-to-asset variability; it also accounts for drifts and trends in the asset condition and data. The proposed monitoring system can perform distributed processing of massive amounts of historical data without discarding any useful information where moving all the asset data into one central computing system might be infeasible. The overall processing is includes distributed preprocessing data records from each asset to produce compressed data.

Gorinevsky, Dimitry↗

Study of Critical Heat Flux and Two-Phase Pressure Drop Under Reduced Gravity

The design of the two-phase flow systems which are anticipated to be utilized in future spacecraft thermal management systems requires a knowledge of two-phase flow and heat transfer phenomena in reduced gravities. This program was funded by NASA headquarters in response to NRA-91-OSSA-17 and was managed by Lewis Research Center. The main objective of this program was to design and construct a two-phase test loop, and perform a series of normal gravity and aircraft trajectory experiments to study the effect of gravity on the Critical Heat Flux (CHF) and onset of instability. The test loop was packaged on two aircraft racks and was also instrumented to generate data for two-phase pressure drop. The normal gravity tests were performed with vertical up and downflow configurations to bound the effect of gravity on the test parameters. One set of aircraft trajectory tests was performed aboard the NASA DC-9 aircraft. These tests were mainly intended to evaluate the test loop and its operational performance under actual reduced gravity conditions, and to produce preliminary data for the test parameters. The test results were used to demonstrate the applicability of the normal gravity models for prediction of the two-phase friction pressure drop. It was shown that the two-phase friction multipliers for vertical upflow and reduced gravity conditions can be successfully predicted by the appropriate normal gravity models. Limited critical heat flux data showed that the measured CHF under reduced gravities are of the same order of magnitude as the test results with vertical upflow configuration. A simplified correlation was only successful in predicting the measured CHF for low flow rates. Instability tests with vertical upflow showed that flow becomes unstable and critical heat flux occurs at smaller powers when a parallel flow path exists. However, downflow tests and a single reduced gravity instability experiment indicated that the system actually became more stable with a parallel single-phase flow path. Several design modifications have been identified which will improve the system performance for generating reduced gravity data. The modified test loop can provide two-phase flow data for a range of operating conditions and can serve as a test bed for component evaluation.

Abdollahian, Davood↗

Laboratory evaluation and application of microwave absorption properties under simulated conditions for planetary atmospheres

Radio absorptivity data for the Venus middle atmosphere (1 to 6 atm, temperatures from 500 to 575K) obtained from spacecraft radio occultation experiments (at 3.6 to 13.4 cm wavelengths) and earth-based radio astronomical observations (1 to 3 cm wavelength range) are compared to laboratory observations at the latter wavelength range under simulated Venus conditions to infer abundances of microwave-absorbing atmospheric constituents, i.e. H2SO4 in a CO2 atmosphere.

Steffes, P. G.↗

Electrodynamic Balance for Studies of Cosmic Dust Particles

Knowledge of the formation and distribution of interstellar, interplanetary, and planetary dust grains, and their physical, chemical and optical characteristics provide valuable information about many issues dealing with the origin and formation of the solar system bodies, interplanetary and interstellar environments as well as various industrial processes. Understanding the microphysics of individual grains and their interaction with the surrounding, environment is key to properly model various conditions and interpret existing data. The theory and models of individual dust grains are well developed for environments that vary from dense planetary atmospheres to dusty plasmas to diffuse environments such as interplanetary space. However, experimental investigations of individual dust grains in equilibrium are less common, perhaps due to the difficulty of these experiments. Laboratory measurements of dust grains have primarily measured ensemble properties or transient properties of single grains. A technique developed in the 1950's for ion spectroscopy, generally referred to as a quadrupole trap has recently been employed as an electrodynamic balance to investigate single micron-sized dust grains and for atmospheric aerosol research. A description of the theoretical basis and the experimental setup of the electrodynamic balance being developed in our laboratory are given. This laboratory technique lends itself to many applications that relate to planetary atmospheres, heliospheric environments, pre-stellar and pre-planetary conditions, and industrial settings. We present results from some recent experiments carried out to investigate the equilibrium potential of dust grains exposed to far ultraviolet light or to an electron beam. Some future experiments using an electrodynamic balance to investigate the optical characteristics, and condensation process involving dust grains in various astrophysical environments are discussed.

Spann, J. F.↗

Fault-tolerant controller for modular multi-level converters

Various examples are provided related to fault-tolerant controller architectures for multi-level converters. In one example, a multi-level converter includes an array of power modules. The power modules can include a controller communicatively coupled to controllers of adjacent power modules in the array of power modules. Circuitry of the controllers can receive operational data from the adjacent power modules; identify a fault condition in an adjacent power module using the operational data; and initiate reconfiguration of the array of power modules in response to an indication of the fault condition, where the reconfiguration bypasses the adjacent power module. In another example, a method includes identifying a fault condition in an adjacent power module in an array of power modules based upon operational data from one or more adjacent power modules of the array; and initiating reconfiguration of the array of power modules in response to an indication of the fault condition.

42 ENGINEERING↗

Comparison of viscous-shock-layer heating analysis with Shuttle flight data in slip flow regime

Comparison of STS-2 Shuttle flight heating data along the windward centerline has been made with two-dimensional nonequilibrium viscous shock-layer solutions obtained with shock and wall-slip conditions at an altitude range of 90 to 110 km. The shock slip condition used is the modified Rankine-Hugoniot relations of Cheng as used by Davis, and the wall-slip conditions are based on the first order consideration derived from kinetic theory as given by Scott and Hendricks. The results indicate that the calculated heating distributions with slip boundary conditions agree better with the flight data than those without slip conditions. The agreement improves when the accommodation coefficient or freestream density is decreased to one-half, suggesting the possibility of less than full accommodation for the tile surface and (or) an overestimate of freestream density using the Jacchia-Roberts model. Heating reduction due to the slip effect becomes very pronounced as the flow becomes more rarefied, and the effect is more significant for the stagnation region than the aft region of the vehicle.

Shinn, J. L.↗

Thermal Performance Testing of Cryogenic Insulation Systems

Efficient methods for characterizing thermal performance of materials under cryogenic and vacuum conditions have been developed. These methods provide thermal conductivity data on materials under actual-use conditions and are complementary to established methods. The actual-use environment of full temperature difference in combination with vacuum-pressure is essential for understanding insulation system performance. Test articles include solids, foams, powders, layered blankets, composite panels, and other materials. Test methodology and apparatus design for several insulation test cryostats are discussed. The measurement principle is liquid nitrogen boil-off calorimetry. Heat flux capability ranges from approximately 0.5 to 500 watts per square meter; corresponding apparent thermal conductivity values range from below 0.01 up to about 60 mW/m- K. Example data for different insulation materials are also presented. Upon further standardization work, these patented insulation test cryostats can be available to industry for a wide range of practical applications.

Fesmire, James E.↗

Integrated Medical Model (IMM) 4.0 Enhanced Functionalities

The Integrated Medical Model is a probabilistic simulation model that uses input data on 100 medical conditions to simulate expected medical events, the resources required to treat, and the resulting impact to the mission for specific crew and mission characteristics. The newest development version of IMM, IMM v4.0, adds capabilities that remove some of the conservative assumptions that underlie the current operational version, IMM v3. While IMM v3 provides the framework to simulate whether a medical event occurred, IMMv4 also simulates when the event occurred during a mission timeline. This allows for more accurate estimation of mission time lost and resource utilization. In addition to the mission timeline, IMMv4.0 features two enhancements that address IMM v3 assumptions regarding medical event treatment. Medical events in IMMv3 are assigned the untreated outcome if any resource required to treat the event was unavailable. IMMv4 allows for partially treated outcomes that are proportional to the amount of required resources available, thus removing the dichotomous treatment assumption. An additional capability IMMv4 is to use an alternative medical resource when the primary resource assigned to the condition is depleted, more accurately reflecting the real-world system. The additional capabilities defining IMM v4.0the mission timeline, partial treatment, and alternate drug result in more realistic predicted mission outcomes. The primary model outcomes of IMM v4.0 for the ISS6 mission, including mission time lost, probability of evacuation, and probability of loss of crew life, are be compared to those produced by the current operational version of IMM to showcase enhanced prediction capabilities.

Spae Adaptation Syndrome↗

Dusty Plasma Experiments Using an Electrodynamic Balance

Knowledge of the formation, distribution, physical, chemical and optical characteristics of interstellar, interplanetary, and planetary dust grains provide valuable information about many issues dealing with the origin and formation of the solar system bodies, interplanetary and interstellar environments as well as various industrial processes. Understanding the microphysics of individual grains and their interaction with the surrounding environment is key to properly model various conditions and interpret existing data. The theory and models of individual dust grains are well developed for environments that vary from dense planetary atmospheres to dusty plasmas to diffuse environments such is interplanetary space. However, experimental investigations of individual dust grains in equilibrium are less common, perhaps due to the difficult of these experiments. Laboratory measurements of dust grains have primarily measured ensemble properties or transient properties of single grains. A technique developed in the 1950's for ion spectroscopy, known as a quadrupole trap or 'Paul Trap', has recently been used to investigate single micron-sized dust grains. This scaled ion trap called an electrodynamic balance has been used for atmospheric aerosol research. A description of this technique is provided. Recent results from experiments to investigate the equilibrium potential of dust grains exposed to far ultraviolet light or to -,in electron or ion beam are presented. This laboratory technique ]ends itself to many applications that relate to planetary atmospheres, heliospheric environments, pre-stellar and pre-planetary conditions, and industrial settings. Several planned experimental approaches are presented. Potential experiments to investigate the interaction of multiple dust grains using an electrodynamic balance are proposed.

Spann, J. F.↗

Reliability of Copper Inverse Opal Surfaces for Extreme-Heat-Flux Micro-Coolers in Low-Global-Warming-Potential Refrigerant R-1233zd Pool Boiling Experiments

This presentation provides a brief snapshot of the InterPACK paper InterPACK2023-113781. The paper explores copper inverse opal (CIO) surface reliability in pool boiling experiments in water and a new, low-global-warming-potential (GWP = 1) hydrofluoroolefin (HFO) refrigerant R-1233zd. The CIO-based structure is intended to develop enhanced two-phase heat transfer surfaces for extreme-heat-flux (approximately 1 kW/cm2) micro-coolers. In this study, a limited number of pool boiling experiments were performed using water and HFO-1233zd fluid, and the reliability of the CIO-based surfaces was evaluated. Critical heat flux (CHF) values in HFO-1233zd at 40 Degrees Celsius to 45 Degrees Celsius saturation temperatures and the corresponding saturation pressures were also measured. The CHF values with the refrigerant are significantly lower compared to those with water, but the refrigerant allows for a wider usable temperature range in the end application of the micro-coolers and is not limited to data centers with controlled ambient conditions. Reliability experiments with CIO surface samples - involving pool boiling with water on the CIO surfaces for approximately 48 hours and with HFO-1233zd for 144 hours - showed no structural degradation of the enhanced surface or any significant performance drop in heat transfer coefficients. The CIO surface samples in water were oxidized, most likely due to the presence of air in water and in the experimental vessel.

critical heat flux↗

Ground-based sensors for the SR-71 sonic boom propagation experiment

This paper describes ground-level measurements of sonic boom signatures made as part of the SR-71 sonic boom propagation experiment recently completed at NASA Dryden Flight Research Center, Edwards, California. Ground level measurements were the final stage of this experiment which also included airborne measurements at near and intermediate distances from an SR-71 research aircraft. Three types of sensors were deployed to three station locations near the aircraft ground track. Pressure data were collected for flight conditions from Mach 1.25 to Mach 1.60 at altitudes from 30,000 to 48,000 ft. Ground-level measurement techniques, comparisons of data sets from different ground sensors, and sensor system strengths and weaknesses are discussed. The well-known N-wave structure dominated the sonic boom signatures generated by the SR-71 aircraft at most of these conditions. Variations in boom shape caused by atmospheric turbulence, focusing effects, or both were observed for several flights. Peak pressure and boom event duration showed some dependence on aircraft gross weight. The sonic boom signatures collected in this experiment are being compiled in a data base for distribution in support of the High Speed Research Program.

Norris, Stephen R.↗

Fluid Shifts: Otoacoustical Emission Changes in Response to Posture and Lower Body Negative Pressure

INTRODUCTION: The purpose of the NASA Fluid Shifts Study is to characterize fluid distribution and compartmentalization associated with long-duration spaceflight and to correlate these findings with vision changes and other elements of the visual impairment and intracranial pressure (VIIP) syndrome. VIIP signs and symptoms, as well as postflight lumbar puncture data, suggest that elevated intracranial pressure (ICP) may be associated with spaceflight-induced cephalad fluid shifts, but this hypothesis has not been tested. Due to the invasive nature of direct measures of ICP, a noninvasive technique of monitoring ICP is desired for use during spaceflight. The phase angle and amplitude of otoacoustic emissions (OAEs) have been shown to be sensitive to posture change and ICP (1, 2), therefore use of OAEs is an attractive option. OAEs are low-level sounds produced by the sensory cells of the cochlea in response to auditory stimulation. These sounds travel peripherally from the cochlea, through the oval window, to the ear canal where they can be recorded. OAE transmission is sensitive to changes in the stiffness of the oval window, occurring as a result of changes in cochlear pressure. Increased stiffness of the oval window largely affects the transmission of sound from the cochlea at frequencies between 800 Hz and 1600 Hz. OAEs can be self-recorded in the laboratory or on the ISS using a handheld device. Our primary objectives regarding OAE measures in this experiment were to 1) validate this method during preflight testing of each crewmember (while sitting, supine and in head-down tilt position), and 2) determine if OAE measures (and presumably ICP) are responsive to lower body negative pressure and to spaceflight. METHODS: Distortion-product otoacoustic emissions (DPOAEs) and transient evoked otoacoustic emissions (TEOAEs) were recorded preflight using the Otoport Advance OAE system (Otodynamics Ltd., Hatfield, UK). Data were collected in four conditions (seated, supine, 15 degrees head down tilt (HDT), and 15 degrees HDT with lower body negative pressure (LBNP)) to produce a range of ICP in each subject and test the susceptibility of OAEs to LBNP. LBNP was induced using the Russian Chibis suit to produce the same fit and pressures that would be experienced inflight during Chibis LBNP trials. Similar trials have occurred inflight on the ISS. A comparative analysis of preflight and inflight phase measurements and magnitudes was completed in both broad and narrow band frequency ranges. RESULTS: TEOAE data demonstrated notable phase shifts from 859-1640 Hz when the seated baseline condition is compared to supine, HDT, and HDT plus Chibis conditions. Changes were particularly pronounced at low frequencies and were consistent with the expected ICP changes. Preflight DPOAE magnitude data revealed changes consistent with increased ICP in two conditions at 1414 Hz, where a magnitude change (relative to the seated condition) was seen in the HDT position and in HDT plus Chibis. DISCUSSION: OAEs revealed systematic changes in phase and magnitude throughout all test conditions (including use of Chibis LBNP) that were consistent with ICP changes. Results indicate that OAEs may provide a rapid noninvasive means of monitoring ICP changes. The first two subjects are projected to complete inflight testing on the ISS in early 2016, with the full complement of 10 subjects scheduled to be complete in 2018.

Melgoza, R.↗

Lightning swept-stroke attachment patterns and flight conditions for storm hazards 1981

As part of the NASA Langley Research Center Storm Hazards Program, 111 thunderstorm penetrations were made in 1981 with an F-106B airplane in order to record direct-strike lightning data and the associated flight conditions. Ground-based weather radar measurements in conjunction with these penetrations were made by NOAA National Severe Storms Laboratory in Oklahoma and by NASA Wallops Flight Facility in Virginia. In 1981, the airplane received 10 direct lightning strikes; in addition, lightning transient data were recorded from 22 nearby flashes. Following each flight, the airplane was thoroughly inspected for evidence of lightning attachment, and the individual lightning attachment points were plotted on isometric projections of the airplane to identify swept-flash patterns. This report shows the strike attachment patterns that were found, and tabulates the flight conditions at the time of each lightning event. Finally, this paper contains a table in which the data in this report are cross-referenced with the previously published electromagnetic waveform data recorded onboard the airplane.

Fisher, B. D.↗

Enriched Background Isotope Study (EBIS): Analysis of 14C-Enriched Carbon Cycle in Soils and Litter at Forested Oak Ridge and AmeriFlux Sites, 2001-2011

These data provide a record of the multi-year, multi-institutional Enriched Background Isotope Studies (EBIS) projects that ran from 2000 through 2011. Elevated levels of 14C enriched CO2 in the air and soil atmosphere as well as leaf, stem, and root tissues were observed on the Oak Ridge Reservations (ORR) during the summer of 1999, and were attributed to local incinerator activities on and/or near the ORR (Trumbore et al. 2002). The isolated enrichment of the background levels of 14C in local forest ecosystem represented a unique opportunity to study unresolved carbon cycling processes such as the contribution of leaf versus root litter contributions to soil carbon accumulation, the rate of vertical transport of carbon into deep soil storage pools, and the differential contribution of physicochemical versus faunal driven processes to soil carbon cycling and sequestration. Leaf litter from the local enriched forest was transplanted to selected sites on the ORR and to selected AmeriFlux study sites to study soil C cycling across a range of soils and climates. The EBIS research projects provide data on C flux from litter sources to mineral soil sinks for United States eastern hardwood forests necessary for testing process hypotheses and judging efficacy of soil C cycling models. Experimental results from this study are being used to parameterize and refine existing carbon dynamics models, the quantification of the long-term fate of ecosystem carbon inputs and as a means to judge the potential for ecosystem carbon sequestration via enhance litter inputs to soil. EBIS observations support conclusions that intra- and inter-annual soil carbon cycling in hardwood forest soils should be characterized as a least a two-compartment system where surface leaf-litter and belowground root turnover represent primary carbon sources for organic-layer and mineral-soil carbon cycles, respectively. EBIS experiments were conducted to complete enriched litterfall maniplations in upland forests on Ultisol and Inceptisol soils of the Oak Ridge Reservation, Oak Ridge, Tennessee. We also collected additional14C-enriched materials for new experimental applications, and applied those materials to multiple AmeriFlux sites over a range of climatic, edaphic and biological conditions. The research provided data for addressing DOE's goal of understanding mechanisms controlling C flux, and for the improvement of models to be applied to policy discussions regarding the safe levels of greenhouse gases for the earth's system. There are 5 data files provided in comma separated (*.csv) format for vegetation, field litter, soil and air [C] and C isotope data from the EBIS studies and associated environmental data.

54 ENVIRONMENTAL SCIENCES↗

Optimum radars and filters for the passive sphere system

Studies have been conducted to determine the influence of the tracking radar and data reduction technique on the accuracy of the meteorological measurements made in the 30 to 100 kilometer altitude region by the ROBIN passive falling sphere. A survey of accuracy requirements was made of agencies interested in data from this region of the atmosphere. In light of these requirements, various types of radars were evaluated to determine the tracking system most applicable to the ROBIN, and methods were developed to compute the errors in wind and density that arise from noise errors in the radar supplied data. The effects of launch conditions on the measurements were also examined. Conclusions and recommendations have been made concerning the optimum tracking and data reduction techniques for the ROBIN falling sphere system.

Luers, J. K.↗