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CFD Vision 2030 Roadmap Update 2022
CFD Vision 2030 Roadmap Update 2022
CFD Vision 2030 Roadmap Update 2022
1 Introduction
This document is intended to highlight advancement toward the CFD Vision 2030[1] that occurred or was published
during 2022. This is part of an ongoing campaign by the AIAA CFD Vision 2030 Integration Committee to encourage
continued progress toward reaching the Vision. As part of this activity, key events and publications in each of the
Domains are identified and the progress toward the Roadmap milestones are assessed using a TRL scale to assist in
identifying progress.
The AIAA High Lift Prediction Workshop 4 (HLPW4) was one of the key events in 2022 that demonstrated ad-
vancements toward the objectives of the CFD Vision 2030. Held in January, this workshop demonstrated consistency
in grid-converged RANS results among multiple codes/organizations through the use of mesh adaptation. Beyond
this, it also highlighted a significant increase in the number of scale resolving simulations with over 15 contributions
compared to 2 during High Lift Prediction Workshop 3 in 2017. These results appeared to have much better corre-
lation with the experimental CL,max results than RANS simulations, including good agreement with other metrics
such as pitching moment and pressure distributions. The workshop, delayed from June 2021, also featured the use
of “Technology Focus Groups” (TFGs) that had been holding regular meetings for almost 18 months to increase the
learning that could be extracted from the workshop. The TFGs for HLPW4 included geometry and meshing, RANS,
mesh-adaptation, wall model LES, hybrid RANS/LES, and higher-order methods. Collaboration in each of these
TFGs helped to further advance the objectives of CFD Vision 2030.
Another significant advancement benefiting the Vision was the increase in supercomputing capability toward
exascale as reflected by the May 2022 demonstration of 1.1 exaflops by the Frontier supercomputer at Oak Ridge
National Laboratory. This achievement has significant implications for CFD in both the scale and quantity of results
that it will enable. This work is expected to have strong ramifications in Domains including machine learning for
turbulence models, uncertainty quantification, knowledge extraction, and multi-disciplinary analysis and optimiza-
tion. These implications are described in more detail in the following summaries of progress in the different Roadmap
Domains.
2 Roadmap Domains
Progress during 2022 in each of the six Domains identified in the CFD Vision 2030 Roadmap are described below.
In contrast to previous years, this summary has attempted to focus on approximately a single page of highlights.
This condensation has likely led to omission of significant publications, but is intended to provide a more concise
summary for future researchers and program managers to use as a starting point in identifying research needs and
progress.
∗ The Roadmap Subcommittee authors are Andrew Cary (The Boeing Company), John Chawner (Cadence Design Systems), Earl
Duque (Intelligent Light), Bill Grop (University of Illinois), Eric Nielsen (NASA), Brian Smith (Lockheed Martin Corporation), and
Nathan Wukie (Air Force Research Laboratory).
For more information on this document, including past year summaries, please see www.cfd2030.com/roadmap. Comments and feedback
about the value of this document are desired at aiaacfd2030@gmail.com. Please cite this document as: CFD Vision 2030 IC Roadmap
Subcommittee. “CFD Vision 2030 Roadmap Update 2022.” www.cfd2030.com/roadmap. March 2024.
Copyright © 2024 United States Government as represented by the Administrator of the National Aeronautics and Space Administration;
Lockheed Martin Corporation; The Boeing Company; Intelligent Light; Cadence Design Systems, and The Board of Trustees of the
University of Illinois. All Rights Reserved.
1
2.1 High Performance Computing
The HPC community reached a significant milestone in 2022, as a large team of industry and government researchers
demonstrated FP64 performance exceeding one exaflop for the first time. It was announced in May (2022) that the
new HPE/AMD GPU-based Frontier system located at Oak Ridge National Laboratory had successfully achieved
1.1 exaflops on the well-known High-Performance Linpack benchmark[2]. Equally as impressive, the system drew
just 21 megawatts of power to accomplish the milestone [3] – remarkable energy efficiency that would have been
unheard of 10-15 years ago when the community began to chart an initial course to exascale. Frontier is expected to
host general production jobs beginning in 2023. It is also worth noting that the long-awaited HPE/Intel GPU-based
Aurora system hosted by Argonne National Laboratory is currently being assembled and is targeting two exaflops of
FP64 performance.
Headlined by Frontier, the semi-annual Top500 rankings saw three new systems appear in the top ten over the
past year, with each of the top five systems now capable of well over 100 petaflops of performance[4]. GPU-based
paradigms play a key role, with seven of the top ten systems powered by AMD or NVIDIA GPUs. An overview of
the impact of GPU technologies at NASA and across the broader US aerospace community for both capacity- and
capability-class CFD applications was recently presented in Big Compute 22[5].
The aerospace CFD community continues to embrace the challenge of porting key CFD applications to GPU-
based architectures and bringing them to bear on complex applications. Some recent use-cases include applications
to the CREATE-AV Helios toolset [6, 7], scale-resolving simulations [8, 9, 10, 11, 12, 13, 14, 15, 16], multidisciplinary
applications [17, 18, 19], and design optimization [20]. Other examples are described in [21, 22, 23, 24, 25, 26].
The past year also saw a diverse range of leadership-class computing efforts covered in the literature. In [27],
Larsson describes large-eddy simulations of shock/boundary-layer interactions computed using as many as 65,000
CPU cores of the Theta system located at the Argonne Leadership Computing Facility. De Bruyn Kops and colleagues
performed high-resolution DNS simulations of turbulence using as many as three trillion grid points at the Oak Ridge
Leadership Computing Facility (OLCF) [28, 29]. A team of collaborators studying retropropulsion flows for human-
scale Mars Lander concepts performed finite-rate chemistry simulations using 16,000 GPUs on the Summit system
at OLCF [30]. Researchers also leveraged 145,000 CPU cores on the Japanese Fugaku system to study high-lift flows
using as many as 11 billion degrees of freedom [31, 32]. Homogeneous isotropic turbulence was evaluated using up to
1,024 GPUs in [33] on the OLCF Summit system and the Lassen facility at Lawrence Livermore National Laboratory.
Finally, Priebe and co-workers also used the OLCF Summit system to evaluate open-rotor concepts [34].
2
Both HRLES[37] and WMLES[38] methods gave more accurate predictions at the max-lift condition than RANS.
However, they were less accurate in the linear region of the CL − α curve. This presents a significant challenge for
scale-resolving mesh methods. Until this is resolved, application engineers must determine a priori which approach
is appropriate for a given set of flow conditions to obtain the most accurate prediction. For these wind-tunnel
simulations, computational requirements for HRLES are 10-15 times greater than for a steady state RANS simulation,
while WMLES simulations are reported as 5-10 times more computationally intensive; flight-scale Reynolds numbers
have not been assessed. The computational requirement presents a significant challenge for generating large datasets
for aerodynamic design and S&C development[39]. Both HRLES and WMLES results are highly sensitive to mesh
density, and WMLES is sensitive to cell shape and aspect ratio. Meshes suitable for RANS applications were found
to be not suitable for scale-resolving methods. The sensitivity of these methods to mesh resolution and substandard
accuracy for low angle-of-attack flows are critical considerations in assessing their maturity.
The NASA symposium was important in that it brought leaders in the traditional turbulence modeling and
machine learning communities together[40]. This interaction helped the machine learning community to under-
stand the requirements of their methods for CFD application and the modeling constraints that could be extremely
helpful in the development of their approaches. These interactions also give the turbulence modeling community
an appreciation for the potential and limitations for machine learning in physical modeling. A highlight of the
turbulence-modeling-focused portion of the program is the clear description of fundamental requirements for a valid
and effective turbulence model[41]. Establishing these requirements is helpful for both traditional and machine-
learning-based model development.
For the machine-learning section of the symposium, participants were invited to apply their methods to four
cases: (1) Fully-developed channel flow, (2) Axisymmetric subsonic jet, (3) Wall mounted hump separated flow, and
(4) an airfoil. “The ‘Collaborative Testing Challenge’ was conceived as an integral part of this symposium, with the
idea of getting a group of experts to try to achieve data-driven turbulence models that work well across a fairly wide
range of simple test cases.”[40] Results from seven contributors were presented at the symposium. To be valid, the
same modeling approach had to be applied to all four test cases. The challenge proved difficult for the participants.
While reasonable results were generated for each case, there was a lot of variation in prediction accuracy. In addition,
approaches that gave good predictions on one case often gave inferior predictions on other cases. The results from
this symposium make it clear that the machine-learning methods for turbulence modeling are immature. None of the
models were presented with sufficient clarity and documentation to allow a researcher to implement the model and
duplicate the results. It is not clear at this time whether or not machine-learning methods will provide a significant
advance to RANS modeling. Given the large number of efforts in this area, both from challenge contributors and
from others, it is likely that the usefulness of machine learning for physical modeling will be determined in the next
few years. The significant interest in the workshop indicates that there continues to be a need for RANS models in
industry.
2.3 Algorithms
The Algorithms Domain is divided into two timelines focusing on improving the robustness and efficiency of the
simulation and on developing methods to understand the accuracy and variations in the results.
3
Beyond generating the fluid flow solution itself, efficiently obtaining and applying sensitivities for different ap-
plications from output-based mesh adaptation to uncertainty quantification and shape optimization is important.
Adjoint methods have been increasingly available for this purpose in multiple flow solvers, but convergence robust-
ness and accuracy remain challenging for many of these problems. Padway and Mavriplis[46] elaborate on a one-shot
strategy for both primal and adjoint solution that is efficient and robust for integration.
4
The ISO WG12 T1 Geometry and Topology Group is in the process of developing a hybrid geometric modeling
capability for the next edition of ISO 10303 (STEP) AP 242 (ed 4). Hybrid modeling is the utilization of various forms
of geometric data with a single underlying BREP topological model. Commercially this is referred to as “Convergent
Modeling” by Siemens in their Parasolid, NX, and Solid Edge products[71, 72, 73, 74], “Mixed Modeling” by PTC
in onshape[75, 76] (as an implementation of Convergent Modeling through Siemens’ Parasolid kernel), and “CGM
Polyhedra” by Dassault Systèmes in CGM Modeler, CATIA, Spatial products, etc.[77, 78]
2.5.1 Integrated Databases - Invited Panel on Physics Based Model Improvement and Uncertainty
Quantification for the Digital Engineering Transformation
In 2018, the Department of Defense (DoD) published its Digital Engineering Strategy which laid out the path how
Physics-Based models (i.e. Computational Fluid Dynamics, Computational Structural Dynamics, Finite Element
Methods) would be used in the design and acquisition of new vehicles, machines, and components[80]. One definition
of Digital Engineering can be found at the Defense Acquisition University:
Digital Engineering: An integrated digital approach that uses authoritative sources of systems’ data and
models as a continuum across disciplines to support lifecycle activities from concept through disposal [81].
The use of Digital Engineering practices will be put to task via the recent announcement by the Army of the
Future Long-Range Assault Aircraft (FLRAA) contract. The objective of this program is to replace the “Blackhawk”
UH-60 helicopter which was developed in the early 1970’s and has been in service since 1979. Major General Robert
Barrie from the the Army’s Program Executive Officer for Aviation was quoted as saying that Bell Flight, the
winner of the competition, will deliver their preliminary design of the aircraft as “virtual prototypes of a potentially
model-based system.”[82]
The DoD strategy promotes the use of digital representations of systems and components and the use of digital
artifacts to design and sustain national defense systems. The DoD identified five Goals and Focus Areas[80]. Of
these goals, Goal 3, “Incorporate Technological Innovation to Improve the Engineering Practice,” identified many of
the Technology Innovations that were highlighted in the CFD 2030 Vision Report. To achieve these goals, the DoD
formed Focus Areas where for Goal 3 these focus areas are to “Establish an end-to-end digital engineering enterprise”
and to “Use technological innovations to improve the digital engineering practice.” The benefits of Physics-Based
Models and Digital Engineering practices to an acquisition program was highlighted by the successful deployment of
multi-fidelity models applied to the Engine Gas Re-ingestion problem of the CH-53K program.[83]
The DoD strategy and the CFD 2030 Vision intersect in the areas of Physics-Based Models, Computing Technol-
ogy, Data Visualization, Artificial Intelligence, and Big Data Analytics. The CFD 2030 Vision Report specifically
identified research and development needs and associated roadmaps that address the DoD Digital Engineering Goals
5
by enabling the AIAA community to “derive useful information from the simulations,” and to perform “smart knowl-
edge extraction from large-scale databases and simulations, automate the process of sifting through large amounts
of information, often at a number of different geographic locations, and extracting patterns and actionable design
decisions.”
The CFD 2030 Integration Committee recognized the intersection between the DoD Digital Engineering Strategy
and the CFD 2030 Vision and hosted an invited panel session at the AIAA AVIATION 2022 conference that addressed
“How can we use Physics-Based Simulations to create models that enable decision makers to make confident informed
choices in diverse engineering disciplines such as aerodynamics, structures, stability, guidance, and control during a
vehicle design cycle?” The session convened the AIAA community with a panel of leading experts from government,
academia, and industry in the areas of High Fidelity Physics-Based Simulations, Reduced Order/Surrogate Models,
Machine Learning/Artificial Intelligence, Uncertainty Quantification, and Data Extraction and Management. The
presentations and discussions that ensued highlighted the areas of Digital Engineering, surrogate modeling, AI/ML,
UQ, and effective co-processing with data management. It showed that the community requires collaboration across
industry, government labs, and individual companies to achieve the desired Digital Engineering and CFD 2030 goals.
The panel is summarized by Duque et al.[84]
The panel identified several gaps in Knowledge Extraction technology whereby actionable information can be
easily gained from large databases via co-processing and traditional visualization methods. These gaps overlap with
the Databases and Visualization swimlanes. In particular, as HPC systems enable ever larger databases, extracting
knowledge, capturing and managing that information remains a problem. The large systems are making it easier to
create data than to consume it for useful information. Furthermore, cybersecurity concerns need to be addressed
particularly as cloud/remote access further complicates securing data. As has been the case for a long time, solver
codes are not changing fast enough to assist knowledge capture. Most solver codes still rely upon traditional writing
of large data files which is not optimal for the endpoint engineering consumer. Even though co-processing technology
exists, its adoption has been slow. Some may consider data compression as a way out, however its utility is limited.
As databases grow to 1000’s of unsteady CFD simulations plus test data, data provenance and associated metadata
needs to be captured as part of the co-processing so that one can find the data - ”So many files, so much knowledge. . .
where is it?” In addition, traditional visualization techniques will become less useful because classical images and
animations will put too much burden on subjective visual interpretation by a human. This gap provides opportunities
for new innovation in comparative and ML-assisted visualization.
2.6 MDAO
Milestones in the Multidisciplinary Design Analysis and Optimization domain can be broadly categorized under mul-
tidisciplinary coupling, transient and chaotic design sensitivities, full-vehicle MDAO, and uncertainly quantification
in MDAO. The following sections detail recent progress in those areas.
6
Figure 1: Wall-modeled large-eddy simulation of turbulent flow around full aircraft configuration
with high-lift and landing devices at flight Reynolds number Rec ≈ 4.0 × 107 using fully automated
Cartesian-grid-based compressible flow solver FFVHC-ACE. Isosurfaces of the Q-criterion colored by
streamwise velocity. [86]
Halim et al.[92] demonstrated high-fidelity aerothermoelastic design optimization of stiffened thin-walled structures
using FUNtoFEM. In the work of Thelen et at.[89] FUNtoFEM was utilized to facilitate the high-fidelity aeroelastic
model in their multi-fidelity aeroelastic design optimization study. Rumpfkeil and Beran[93] also used FUNtoFEM
in their studies on optimization of an efficient supersonic air vehicle configuration. An additional development in the
area of MDAO frameworks was detailed by Backhaus et al.[94] who developed a gradient-based, high-fidelity static
aeroelastic MDO infrastructure based on the integration of their FlowSimulator capability with OpenMDAO.
7
of constructing a well-behaved parameterization and associated scaling for optimization. Recovery of rapid quasi-
Newton convergence was demonstrated in contrast to the reference design variable set and scaling. Lupp et al.[100]
developed an approach for coupled optimization of vehicle mission and shape parameters for a HALE aircraft subject
to transient power and thermal constraints. They used the recently developed Dymos package to solve the transient
trajectory and control optimization. While the physical models driving aerodynamics and subsystem responses
were low-fidelity, this effort demonstrates the feasibility of coupling mission, shape, and subsystem parameters for
conceptual and preliminary design activities.
3 Overall Observations
The authors of this summary, representing technical leaders from across aerospace industry and government, ac-
knowledge that there may be inadvertent omissions from this summary that is largely focused on achievements
documented within AIAA. CFD progress is being made in other industries, but the present effort focuses on the
solutions and capabilities that are being applied in aerospace analysis. Based on this review, we have documented
progress on each of the milestones identified in the Roadmap and see advances that have occurred in integrated mod-
eling of turbulence transition, machine learning for complex flow simulations, simulations of complex unsteady high
Reynolds number flows, and computations of coupled analytic sensitivities for chaotic systems. As noted in the 2021
summary, the significance of other advancements may not yet be recognized because they have not had the time to
prove themselves. The authors welcome additional comments and can be reached through aiaacfd2030@gmail.com.
Among the most significant accomplishments identified in 2022 were High Lift Prediction Workshop 4 and its
associated activities covering multiple facets of CFD, as well as the NASA Symposium on Turbulence Modeling:
Roadblocks, and the Potential for Machine Learning. These events brought the community together across multiple
skill sets and promoted significant discussion leading to advancements. The imminent potential of increased HPC
capacity as demonstrated by the progress in leadership class computing on Frontier and Aurora supercomputers is
also a significant step forward for CFD because of the additional capabilities that it enables.
As the year 2030 approaches, there are a number of the Domains that are not seeing sufficient progress to meet
the Vision objectives. There are several underlying issues that the authors have suggested may be contributing to
this lack of advancement, focused around aerospace work force challenges and HPC. While advances in computing
capability are enabling changes in CFD, they are also making changes across engineering. Some of these fields are
enticing leading engineers and researchers out of Aerospace as other fields, including AI/ML, are providing additional
exciting and lucrative alternatives. With the many new challenges associated with privatization of space travel and
urban air mobility, as well as the many unresolved challenges in traditional aerospace vehicles, it is important to
maintain interest in CFD and highlight the meaningful challenges that still remain to be solved. To reach the potential
of CFD Vision 2030, we must continue to engage the highest quality of talent in the aerospace field. Furthermore,
this talent needs to be armed with adequate computing capability to meet the needs for both research and practice.
Leadership class computing is vital to demonstrate breakthroughs, but it must be supplemented by the large amount
of production computing to perform detailed engineering. There is presently a gap in the availability of this class
of computing for the aerospace industry and growth in adjacent domains like AI/ML is providing competition for
available compute resources. Despite the increased computing at leadership facilities, computing resource shortages
may slow the progress toward the Vision. Reflecting the significance and potential of CFD, private companies
8
are increasingly pushing a larger proportion of major CFD advances. This development represents a shift from
traditional CFD practices as more of these advances are held as proprietary. It remains to be seen how this will
impact industry-wide growth in CFD. Efforts should be made to encourage leading-edge development and open
research from disparate sources to benefit from a diversity of opinions and accelerate the development toward the
Vision.
Acknowledgments
The AIAA CFD Vision 2030 Roadmap subcommittee compiled this report with primary authors Andrew Cary, John
Chawner, Earl Duque, Bill Gropp, Eric Nielsen, Brian Smith, and Nathan Wukie. This team leveraged a much wider
network for inputs, including:
• MDAO contributors: Bret Stanford, Sean Wakayama, Geojoe Kuruvila, Daniel L. Clark
The section on MDAO has been cleared for public release under case number AFRL-2023-4770.
9
Milestone
2020 2021 2022
year
HPC
CFD on massively parallel systems
Demonstrate implementation of CFD algorithms for extreme parallelism in CFD codes (e.g.,
2019 6 6 6
FUN3D) TRL key:
Demonstrate efficiently scaled CFD simulation capability on an exascale system 2024 0 0 0 0
30 exaFLOPS, unsteady, maneuvering flight, full engine simulation (with combustion) 2030 0 0 0 1
CFD on Revolutionary Systems (Quantum, Bio, etc.) 2
Demonstrate solution of a representative model problem 2023 2 2 2 3
Demonstrate solution of a representative model problem 2027 0 0 0 4
Physical Modeling 5
RANS 6
Improved RST models in CFD codes 2016 7 7 7 7
Integrated transition prediction (Tollmein-Schlichting modeling) 2017 6 6 6 8
Integrated transition prediction (non-TS) 2027 3 3 4 9
Highly accurate RST models for flow separation 2025 2 2 2
Demonstration of machine learning to simulation of complex flow regime 2025 1 3 4
Hybrid RANS/LES
Integrated transition prediction 2025 2 2 2
Unsteady, complex geometry, separated flow at flight Reynolds number (e.g., high lift) 2023 4 4 5
LES
Integrated transition prediction 2025 2 2 2
WMLES/WRLES for complex 3D flows at appropriate Re 2023 5 5 5
Unsteady, 3D geometry, separated flow (e.g., rotating turbomachinery with reactions) 2027 3 3 3
Combustion
Chemical kinetics calculation speedup 2017 3 3 3
Chemical kinetics in LES 2021 4 4 4
Multiregime turbulence-chemistry interaction model 2025 3 3 3
Unsteady, 3D geometry, separated flow (e.g., rotating turbomachinery with reactions) 2027 3 3 3
10
Milestone
2020 2021 2022
year
Algorithms
Convergence/Robustness
Automated robust solvers 2022 7 7 7 TRL key:
Unsteady, complex geometry, separated flow at flight Reynolds number (e.g., high lift) 2023 7 7 8 0
Scalable optimal solvers 2021 6 6 6 1
Improved discretizations for scale-resolving methods (low-dissipation, HO,…) 2024 5 5 6 2
Accurate and robust methods for long time integration 2026 2 2 2 3
Production scalable entropy-stable solvers 2029 3 3 3 4
Uncertainty Quantification (UQ) 5
Characterization of UQ in aerospace 2023 4 4 4 6
Reliable error estimates in CFD codes 2025 5 5 5 7
Uncertainty propagation capabilities in CFD 2022 4 4 4 8
Identification of tail events/probabilities from CFD codes 2027 3 3 3 9
Large scale stochastic capabilities in CFD 2030 0 0 0
Geometry Modeling and Mesh Generation
Geometry Modeling
Quantified, reversible data transfer demonstrated between opaque and open geometry model
2023 5 5 5
representations.
Associative equivalence demonstrated for OML manipulation schemes. 2025 0 3 3
Distributed, open geometry representation platform established 2027 0 2 2
Robust, quantifiable multidisciplinary data exchange supported by open data standard. 2029 0 2 2
HPC Meshing
Large-scale parallel mesh generation 2020 5 5 5
Generate a 100 billion cell, fit-for-purpose volume mesh. 2025 1 1 1
Generate a 1 trillion cell, fit-for-purpose volume mesh. 2030 1 1 1
Fixed Meshing
Tighter CAD coupling 2015 9 9 9
CAD coupling available in commercial grid generation 2023 5 5 5
Automatic generation of suitable mesh on complex geometry on 1st attempt. 2021 4 4 4
Automatic generation of a family of meshes about a complex configuration. 2023 4 4 4
Adaptive Grid
Production AMR in CFD codes 2016 5 5 5
Adaptive meshing techniques will accept typical assembly tolerance levels and unfavorable B-
2023 0 4 4
Rep topologies to accept a pragmatic interpretation of geometry.
Adaptive curved meshing to support higher-order solvers will be available from multiple
2026 0 3 3
implementations.
Accurate CFD solutions are verified by asymptotic convergence rate demonstration or low
2028 0 3 3
variation between independent implementations.
Adaptive mesh computations displace fixed meshes as the default and practitioners will rarely
2030 0 2 2
visualize the mesh directly.
Knowledge Extraction
Integrated Databases
Simplified data representation 2017 3 3 3
Accepted data fusion techniques 2026 3 3 3
Creation of real-time multifidelity database: 1000 unsteady CFD simulations plus test data with
2025 2 3 3
complete UQ of all data sources
Visualization
On demand analysis/visualization of a 10B point unsteady CFD simulation 2022 4 4 4
On demand analysis/visualization of a 100B point unsteady CFD simulation 2025 2 2 2
MDAO
Define standard for coupling to other disciplines 2016 4 4 4
High fidelity coupling techniques/frameworks 2017 4 4 4
Robust CFD for complex MDAs 2019 4 4 4
Incorporation of UQ for MDAO 2025 2 2 2
MDAO simulation of an entire aircraft (e.g., aeroacoustics) 2027 3 3 3
UQ-enabled MDAO 2030 1 1 1
Full vehicle coupled analytic sensitivities, including geometric and subsystems 2025 4 4 4
Full Vehicle coupled analytic sensitivites for chaotic systems 2030 0 0 1
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