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At least 1,765 records · Page 98

A Toolkit for Active Object-Oriented Databases with Application to Interoperability

In our original proposal we stated that our research would 'develop a novel technology that provides a foundation for collaborative information processing.' The essential ingredient of this technology is the notion of 'deltas,' which are first-class values representing collections of proposed updates to a database. The Heraclitus framework provides a variety of algebraic operators for building up, combining, inspecting, and comparing deltas. Deltas can be directly applied to the database to yield a new state, or used 'hypothetically' in queries against the state that would arise if the delta were applied. The central point here is that the step of elevating deltas to 'first-class' citizens in database programming languages will yield tremendous leverage on the problem of supporting updates in collaborative information processing. In short, our original intention was to develop the theoretical and practical foundation for a technology based on deltas in an object-oriented database context, develop a toolkit for active object-oriented databases, and apply this toward collaborative information processing.

King, Roger↗

A Toolkit for Active Object-Oriented Databases with Application to Interoperability

In our original proposal we stated that our research would 'develop a novel technology that provides a foundation for collaborative information processing.' The essential ingredient of this technology is the notion of 'deltas,' which are first-class values representing collections of proposed updates to a database. The Heraclitus framework provides a variety of algebraic operators for building up, combining, inspecting, and comparing deltas. Deltas can be directly applied to the database to yield a new state, or used 'hypothetically' in queries against the state that would arise if the delta were applied. The central point here is that the step of elevating deltas to 'first-class' citizens in database programming languages will yield tremendous leverage on the problem of supporting updates in collaborative information processing. In short, our original intention was to develop the theoretical and practical foundation for a technology based on deltas in an object- oriented database context, develop a toolkit for active object-oriented databases, and apply this toward collaborative information processing.

King, Roger↗

Evolution of the Space Shuttle Primary Avionics Software and Avionics for Shuttle Derived Launch Vehicles

As a result of recommendation from the Augustine Panel, the direction for Human Space Flight has been altered from the original plan referred to as Constellation. NASA s Human Exploration Framework Team (HEFT) proposes the use of a Shuttle Derived Heavy Lift Launch Vehicle (SDLV) and an Orion derived spacecraft (salvaged from Constellation) to support a new flexible direction for space exploration. The SDLV must be developed within an environment of a constrained budget and a preferred fast development schedule. Thus, it has been proposed to utilize existing assets from the Shuttle Program to speed development at a lower cost. These existing assets should not only include structures such as external tanks or solid rockets, but also the Flight Software which has traditionally been a "long pole" in new development efforts. The avionics and software for the Space Shuttle was primarily developed in the 70 s and considered state of the art for that time. As one may argue that the existing avionics and flight software may be too outdated to support the new SDLV effort, this is a fallacy if they can be evolved over time into a "modern avionics" platform. The technology may be outdated, but the avionics concepts and flight software algorithms are not. The reuse of existing avionics and software also allows for the reuse of development, verification, and operations facilities. The keyword is evolve in that these assets can support the fast development of such a vehicle, but then be gradually evolved over time towards more modern platforms as budget and schedule permits. The "gold" of the flight software is the "control loop" algorithms of the vehicle. This is the Guidance, Navigation, and Control (GNC) software algorithms. This software is typically the most expensive to develop, test, and verify. Thus, the approach is to preserve the GNC flight software, while first evolving the supporting software (such as Command and Data Handling, Caution and Warning, Telemetry, etc.). This can be accomplished by gradually removing the "support software" from the legacy flight software leaving only the GNC algorithms. The "support software" could be re-developed for modern platforms, while leaving the GNC algorithms to execute on technology compatible with the legacy system. It is also possible to package the GNC algorithms into an emulated version of the original computer (via Field Programmable Gate Arrays or FPGAs), thus becoming a "GNC on a Chip" solution where it could live forever to be embedded in modern avionics platforms.

Ferguson, Roscoe C.↗

Development of Plant Reload Optimization Framework Capabilities for Core Design and Fuel Performance Analysis

The United States (U.S.) nuclear industry faces a challenge in maintaining required levels of safety while ensuring economic competitiveness to stay in business. Safety remains a key parameter for all aspects of light water reactor (LWR) nuclear power plant (NPP) operations. Safety can become more economical by using a risk-informed ecosystem, such as the one being developed by the Risk-Informed Systems Analysis (RISA) Pathway under the U.S. Department of Energy (DOE) Light Water Reactor Sustainability (LWRS) Program. The LWRS Program promotes a wide range of research and development activities with the goal of maximizing both the safety and economic efficiency of NPPs through improved scientific understanding, especially given many plants are now considering second license renewals. The RISA Pathway has two main goals: (1) deploy methodologies and technologies that better represent safety margins and cost and safety factors and (2) develop advanced applications that enable cost-effective plant operation. The Plant Reload Optimization Platform development project aims to build a reactor core design tool that includes reactor safety and fuel performance analyses, and also uses artificial intelligence to support optimization of core design solutions. This report summarizes Fiscal Year 2022 (FY-22) activity in platform capability developments in RAVEN. This platform performs simulations using industry codes for core design (i.e., PARCS) and fuel performance (i.e., TRANSURANUS) which will allow expansion of the capabilities to include advanced fuel designs such as accident-tolerant fuel (ATF)s with high burnup.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Promoting the regulatory acceptance of combined ion and neutron irradiation for material degradation in nuclear reactors

The Advanced Materials and Manufacturing Technologies (AMMT) program within the Department of Energy (DOE) Office of Nuclear Energy has developed its current recommendation for promoting the use of combined ion irradiation and neutron irradiation for the accelerated qualification of materials to be deployed in nuclear reactors. This plan is intended to provide a collaborative path forward that can be adopted by academia, national laboratories, and industry, and has been developed with input from the regulatory research arm of the U.S. Nuclear Regulatory Commission (NRC). To deploy new materials or materials manufactured with new technologies, such as additive manufacturing, materials must be evaluated for reactor-induced degradation from the combination of harsh temperatures, corrosive environments, and radiation fields. However, rapid deployment of materials necessitates accelerated testing methods rather than relying on years of neutron irradiation in a material test reactor. Ion irradiation has demonstrated success in reproducing material microstructure and select property evolution resulting from neutron irradiation with three to four orders of magnitude reduction in time and cost, making it an ideal candidate for accelerated irradiation testing. This presentation provides context governing both the scientific and regulatory aspects of the proposed goal. The discussion is aimed at a broad audience including researchers from industry, national laboratories, and academia. The recommended path forward is presented as a conceptual framework of specific steps. In brief, the strategy entails developing an integrated ion and neutron irradiation test plan for the material property of interest based on the fundamental tenet of the linkage of microstructure and properties in materials. Physics-based modeling interprets ion irradiation data and predicts neutron irradiation microstructure and properties with uncertainty bounds. The first round of testing is sufficient for an initial licensing application using a risk-informed approach, while a minimum required neutron irradiation test plan reduces cost and time requirements. A surveillance program with witness specimens in-reactor provides additional data over time to improve model predictions to higher damage levels and further reduce uncertainty bounds, which can be used for license extensions or longer lifetimes in new license applications.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Multi-track displaced vertices at $B$-factories

We propose a program at B-factories of inclusive, multi-track displaced vertex searches, which are expected to be low background and give excellent sensitivity to non-minimal hidden sectors. Multi-particle hidden sectors often include long-lived particles (LLPs) which result from approximate symmetries, and we classify the possible decays of GeV-scale LLPs in an effective field theory framework. Considering several LLP production modes, including dark photons and dark Higgs bosons, we study the sensitivity of LLP searches with different number of displaced vertices per event and track requirements per displaced vertex, showing that inclusive searches can have sensitivity to a large range of hidden sector models that are otherwise unconstrained by current or planned searches.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

SBND Analysis using ML Reconstruction Chain

As part of the Short Baseline Neutrino (SBN) Program at Fermilab, the Short Baseline Near Detector (SBND) is positioned in the Booster Neutrino Beam (BNB) and explores neutrino-argon interactions with unprecedented statistics. SBND is a Liquid Argon Time Projection Chamber (LArTPC). Electrons produced through ionization drift toward three wire planes, providing signals that form 2D images of particle trajectories. I introduce the Scalable Particle Imaging using Neural Embeddings (SPINE) framework, which employs a Machine Learning (ML)-based 3D reconstruction using a series of neural networks. Here, we present SPINE’s reconstruction chain, analysis approaches, and results from our latest simulation samples.

43 PARTICLE ACCELERATORS↗

Microgrid Hardening Design Toolkit: Puerto Rico Use Case

This document provides a comprehensive example of the microgrid hardening framework and the Sandia developed Microgrid Hardening Design Toolkit v0.27 using a census tract in a coastal area of southern Puerto Rico as a case study. The census tract (72123953100) is located in the municipality of Salinas. Currently, the La Margarita neighborhood within this census tract is part of the Department of Energy’s Cohort 5 of the Energy Technology Innovation and Partnership Program (ETIPP). The neighborhood’s local energy cooperative, Abeyno Coop, has been operating several residential solar photovoltaic (PV) and battery energy storage system (BESS) installations (with around 30 rooftop solar systems as of 2026). As part of the ETIPP project, Abeyno Coop is planning to integrate a larger microgrid into the existing distribution feeder in the area, including solar PV and BESS to supply energy for homes and critical loads such as the medical facilities and the community center that provides emergency shelter and backup power during outages.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Assessing the cumulative effects of nearshore habitat restoration actions for multiple populations of juvenile salmon in Whidbey Basin, Washington: foundation and approach for synthesis and evaluation

Ecosystem restoration is a common tool for re-establishing ecosystem processes, structures, and functions to improve biodiversity and services in coastal and estuarine ecosystems. In the Salish Sea, salmon habitats have been fragmented, reduced in size, and diminished in quality, and the ecosystem processes that form and sustain these habitats have been degraded and disrupted as well. This loss is especially prevalent in estuaries, where up to 90% of former salmon habitat has been lost or compromised. Salmon species are integral to the identities and cultures of people in the Pacific Northwest, yet salmon abundances remain at historic lows, especially in urbanized areas. Recent investments in restoration are creating rearing habitat and repairing lost ecosystem function. However, restoration efforts in this region have largely proceeded at the site scale, with less attention to big-picture thinking regarding how restoration will effectively recover degraded or lost habitats for target species. As a result, no landscape-scale evaluation program exists, and the cumulative benefits of multiple interventions are unknown. We describe innovative methods for science synthesis related to the evaluation of cumulative effects of ecosystem restoration for Pacific salmon, using years of existing, but disparate data. Building from previous work on cumulative effects evaluation and incorporating a hierarchy of hypotheses approach, we propose using causal inference across numerous hypotheses in a framework to assess the cumulative benefits to Pacific salmon from multiple estuarine restoration projects. We present the framework as a method that can be used to address many complex questions and provide examples from the Salish Sea where the approach is being implemented. The framework draws on science synthesis from numerous fields and uses a hierarchy of hypotheses, causal analysis at multiple scales, and a new hierarchy of synthesis for assessing multiple lines of evidence documenting restoration effects on Pacific salmon. We propose causal inference to synthesize dissimilar data streams, in our case, to identify various manifestations of cumulative effects of restoration and benefits to salmon, and to further inform restoration and recovery planning. A unifying framework would allow for the detection of thresholds at which restoration provides measurable improvement and would greatly advance understanding of the effects of restoration on ecosystems.

59 BASIC BIOLOGICAL SCIENCES↗

A spatial operator algebra for manipulator modeling and control

A recently developed spatial operator algebra, useful for modeling, control, and trajectory design of manipulators is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics. Furthermore, implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection. Thus, the transition from an abstract problem formulation and solution to the detailed mechanizaton of specific algorithms is greatly simplified. The analytical formulation of the operator algebra, as well as its implementation in the Ada programming language are discussed.

Rodriguez, G.↗

Extending NASA Research Results to Benefit Society: Rapid Prototyping for Coastal Applications

The mission of the NASA Applied Sciences Program is to expand and accelerate the use of NASA research results to benefit society in 12 application areas of national priority. ONe of the program's major challenges is to perform a quick, efficient, and detailed review (i.e., prototyping) of the large number of combinations of NASA observations and results from Earth system models that may be used by a wide range of decision support tools. A Rapid Prototyping Capacity (RPC) is being developed to accelerate the use of NASA research results. Here, we present the conceptual framework of the Rapid Prototyping Capacity within the context of quickly assessing the efficacy of NASA research results and technologies to support the Coastal Management application. An initial RPC project designed to quickly evaluate the utility of moderate-resolution MODIS products for calibrating/validating coastal sediment transport models is also presented.

Glorioso, Mark V.↗

Ares I Crew Launch Vehicle Project: Forward Plan to Preliminary Design Review

The Exploration Launch Projects Office, located at NASA's Marshall Space Flight Center, conducted the Ares I Crew Launch Vehicle System Requirements Review (SRR) at the end of 2006, a mere year after the project team was assembled. In Ares' first year, extensive trade studies and evaluations were conducted to refine the design initially recommended by the Exploration Systems Architecture Study, conceptual designs were analyzed for fitness, and the contractual framework was assembled to enable a development effort unparalleled in American space flight since the Space Shuttle. Now, the project turns its focus to the Preliminary Design Review (PDR), scheduled for 2008. Taking into consideration the findings of the SRR, the design of the Ares I is being tightened and refined to meet the operability, reliability, and affordability goals outlined by the Constellation Program. As directed in NASA Procedure and Regulation (NPR) 7123, NASA Systems Engineering Procedural Requirements, the Ares I SRR examined "the functional and performance requirements defined for the system and the preliminary program or project plan and ensures that the requirements and the selected concept will satisfy the mission." The SRR was conducted to ensure the system- and element-level design and interface requirements are defined prior to proceeding into the project's design phase. The Exploration Launch Projects Control Board convened on December 19,2006, and accepted the findings of the SRR and the go-forward plan proceeding to PDR. Based upon these findings, the Ares project believes that operability must drive the vehicle's design, and that a number of design challenges, including system mass and reliability, must be addressed as part of the progress to PDR.

Dumbacher, Daniel L.↗

Multi-Mission Automated Task Invocation Subsystem

Multi-Mission Automated Task Invocation Subsystem (MATIS) is software that establishes a distributed data-processing framework for automated generation of instrument data products from a spacecraft mission. Each mission may set up a set of MATIS servers for processing its data products. MATIS embodies lessons learned in experience with prior instrument- data-product-generation software. MATIS is an event-driven workflow manager that interprets project-specific, user-defined rules for managing processes. It executes programs in response to specific events under specific conditions according to the rules. Because requirements of different missions are too diverse to be satisfied by one program, MATIS accommodates plug-in programs. MATIS is flexible in that users can control such processing parameters as how many pipelines to run and on which computing machines to run them. MATIS has a fail-safe capability. At each step, MATIS captures and retains pertinent information needed to complete the step and start the next step. In the event of a restart, this information is retrieved so that processing can be resumed appropriately. At this writing, it is planned to develop a graphical user interface (GUI) for monitoring and controlling a product generation engine in MATIS. The GUI would enable users to schedule multiple processes and manage the data products produced in the processes. Although MATIS was initially designed for instrument data product generation,

Cheng, Cecilia S.↗

A Concept for Run-Time Support of the Chapel Language

A document presents a concept for run-time implementation of other concepts embodied in the Chapel programming language. (Now undergoing development, Chapel is intended to become a standard language for parallel computing that would surpass older such languages in both computational performance in the efficiency with which pre-existing code can be reused and new code written.) The aforementioned other concepts are those of distributions, domains, allocations, and access, as defined in a separate document called "A Semantic Framework for Domains and Distributions in Chapel" and linked to a language specification defined in another separate document called "Chapel Specification 0.3." The concept presented in the instant report is recognition that a data domain that was invented for Chapel offers a novel approach to distributing and processing data in a massively parallel environment. The concept is offered as a starting point for development of working descriptions of functions and data structures that would be necessary to implement interfaces to a compiler for transforming the aforementioned other concepts from their representations in Chapel source code to their run-time implementations.

James, Mark↗

Automating Test Procedures Using Robot Software

This paper will discuss the project I was assigned during the 2018 Spring semester NIFS internship, what the project does for NASA, and what I contributed to the project. It will begin with a broad analysis of the types of software I worked on and how they were used to complete the project. Then, it will narrow in scope to concentrate on the group and parts of NASA assigned the project. Next, it will pay attention to the project itself and how it worked. After that, it will focus on my direct contributions to the project. Lastly, a few personal experiences I encountered to make my internship relatable. The initial points discussed will be an introduction to the basics of automated testing and the types of software used. Next, I will briefly discuss why these tools were chosen and whether or not they can be improved. Then, a look at where my group fits into the hierarchy of NASA, what the group working on my project did for NASA, and who were the entities working together for this project. Afterwards, a review of my involvement in the program, my development as an individual, and my new skills and abilities. Finally, a sense of involvement with the community through personal development will be demonstrated using unique experiences only available to me through this internship..

SikuliX↗

OTIS 3.2 Software Released

Trajectory, mission, and vehicle engineers concern themselves with finding the best way for an object to get from one place to another. These engineers rely upon special software to assist them in this. For a number of years, many engineers have used the OTIS program for this assistance. With OTIS, an engineer can fully optimize trajectories for airplanes, launch vehicles like the space shuttle, interplanetary spacecraft, and orbital transfer vehicles. OTIS provides four modes of operation, with each mode providing successively stronger optimization capability. The most powerful mode uses a mathematical method called implicit integration to solve what engineers and mathematicians call the optimal control problem. OTIS 3.2, which was developed at the NASA Glenn Research Center, is the latest release of this industry workhorse and features new capabilities for parameter optimization and mission design. OTIS stands for Optimal Control by Implicit Simulation, and it is implicit integration that makes OTIS so powerful at solving trajectory optimization problems. Why is this so important? The optimization process not only determines how to get from point A to point B, but it can also determine how to do this with the least amount of propellant, with the lightest starting weight, or in the fastest time possible while avoiding certain obstacles along the way. There are numerous conditions that engineers can use to define optimal, or best. OTIS provides a framework for defining the starting and ending points of the trajectory (point A and point B), the constraints on the trajectory (requirements like "avoid these regions where obstacles occur"), and what is being optimized (e.g., minimize propellant). The implicit integration method can find solutions to very complicated problems when there is not a lot of information available about what the optimal trajectory might be. The method was first developed for solving two-point boundary value problems and was adapted for use in OTIS. Implicit integration usually allows OTIS to find solutions to problems much faster than programs that use explicit integration and parametric methods. Consequently, OTIS is best suited to solving very complicated and highly constrained problems.

Riehl, John P.↗

Groundwater Monitoring Report, U.S. Department of Energy Y-12 National Security Complex, Oak Ridge, Tennessee

This report contains the groundwater and surface water monitoring data obtained during calendar year (CY) 2019 at the U.S. Department of Energy (DOE) Y-12 National Security Complex (Y-12) on the DOE Oak Ridge Reservation (ORR) in Oak Ridge, Tennessee. The monitoring data were obtained from wells, springs, and surface water sampling locations in three hydrogeologic regimes at Y-12. The Bear Creek Hydrogeologic Regime (Bear Creek Regime) encompasses a section of Bear Creek Valley (BCV) between the west end of Y-12 and the west end of the Bear Creek Watershed (directions are in reference to the Y-12 grid system, shown as Plant North. The Upper East Fork Poplar Creek Hydrogeologic Regime (East Fork Regime) encompasses the Y-12 industrial facilities and support structures in BCV. The Chestnut Ridge Hydrogeologic Regime (Chestnut Ridge Regime) encompasses a section of Chestnut Ridge directly south of Y-12. Background information in Section 2 of this report outlines the hydrogeologic framework for groundwater and surface water quality monitoring at Y-12 and includes an overview of the groundwater contamination in each hydrogeologic regime. Section 3 provides details regarding the groundwater and surface water sampling and analysis activities implemented under the Y-12 GWPP, including sampling locations and frequency, sample collection and handling, field measurements and laboratory analytes, quality assurance (QA)/quality control (QC) sampling, data management, and data quality assessment (DQA). However, the equivalent QA/QC or DQA information for the groundwater and surface water data associated with the monitoring programs implemented by UCOR are not included in this report and instead are deferred to referenced programmatic plans and reports issued by OREM and UCOR. Section 4 of this report presents a summary evaluation of the CY 2019 monitoring data with regard to the respective objectives of surveillance monitoring and exit pathway/perimeter monitoring. The evaluation is based primarily on the analytical results for the following principal groundwater contaminants at Y-12: nitrate, uranium, gross alpha activity, gross beta activity, and volatile organic compounds (VOCs). Section 5 summarizes the most significant findings with respect to the principal contaminants along with recommendations for any proposed changes to the ongoing groundwater and surface water quality monitoring performed under the Y-12 GWPP. Technical reports and plans cited in the narrative sections of the report are listed in Section 6. Narrative sections of this report reference several appendices. Figures (maps and diagrams) and data tables (excluding data summary tables incorporated in the narrative sections) are in Appendix A and Appendix B, respectively. Appendix C contains construction details for each well sampled during CY 2019 by either the Y-12 GWPP or UCOR, along with schematic diagrams for wells equipped with Westbay™ multiport sampling equipment or Barcad® pump systems. Appendix D supports the background summary discussion in Section 2 and provides more detailed information about the hydrogeologic framework for groundwater and surface water monitoring at Y-12, including the primary sources of groundwater contamination in each hydrogeologic regime. Results for all field measurements and laboratory analyses obtained by the Y-12 GWPP and UCOR are presented in Appendix E, which also includes the sample numbers for the QA/QC samples associated with groundwater and surface water monitoring performed by the Y-12 GWPP.

54 ENVIRONMENTAL SCIENCES↗

An investigation of fighter aircraft agility

This report attempts to unify in a single document the results of a series of studies on fighter aircraft agility funded by the NASA Ames Research Center, Dryden Flight Research Facility and conducted at the University of Kansas Flight Research Laboratory during the period January 1989 through December 1993. New metrics proposed by pilots and the research community to assess fighter aircraft agility are collected and analyzed. The report develops a framework for understanding the context into which the various proposed fighter agility metrics fit in terms of application and testing. Since new metrics continue to be proposed, this report does not claim to contain every proposed fighter agility metric. Flight test procedures, test constraints, and related criteria are developed. Instrumentation required to quantify agility via flight test is considered, as is the sensitivity of the candidate metrics to deviations from nominal pilot command inputs, which is studied in detail. Instead of supplying specific, detailed conclusions about the relevance or utility of one candidate metric versus another, the authors have attempted to provide sufficient data and analyses for readers to formulate their own conclusions. Readers are therefore ultimately responsible for judging exactly which metrics are 'best' for their particular needs. Additionally, it is not the intent of the authors to suggest combat tactics or other actual operational uses of the results and data in this report. This has been left up to the user community. Twenty of the candidate agility metrics were selected for evaluation with high fidelity, nonlinear, non real-time flight simulation computer programs of the F-5A Freedom Fighter, F-16A Fighting Falcon, F-18A Hornet, and X-29A. The information and data presented on the 20 candidate metrics which were evaluated will assist interested readers in conducting their own extensive investigations. The report provides a definition and analysis of each metric; details of how to test and measure the metric, including any special data reduction requirements; typical values for the metric obtained using one or more aircraft types; and a sensitivity analysis if applicable. The report is organized as follows. The first chapter in the report presents a historical review of air combat trends which demonstrate the need for agility metrics in assessing the combat performance of fighter aircraft in a modern, all-aspect missile environment. The second chapter presents a framework for classifying each candidate metric according to time scale (transient, functional, instantaneous), further subdivided by axis (pitch, lateral, axial). The report is then broadly divided into two parts, with the transient agility metrics (pitch lateral, axial) covered in chapters three, four, and five, and the functional agility metrics covered in chapter six. Conclusions, recommendations, and an extensive reference list and biography are also included. Five appendices contain a comprehensive list of the definitions of all the candidate metrics; a description of the aircraft models and flight simulation programs used for testing the metrics; several relations and concepts which are fundamental to the study of lateral agility; an in-depth analysis of the axial agility metrics; and a derivation of the relations for the instantaneous agility and their approximations.

Valasek, John↗