Episode II
The Original Series
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The Next Generation
Episode V
Deep Space 9
Episode VI
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"Ex Post Facto" - the Numiri have regenerative shields. Voyager does not.
In "Maneuvers," we learn that Kazon shielding, apparently active during the fight, cannot prevent transporters from beaming off the Kazon commander. (A specially designed dampening field can, however.)
The Mokra of "Resistance" have metaphasic shielding; this is, through some work, vulnerable to transporters.
After one hit by the phased ion cannon, Voyager's shields are at 60%; after three more hits, 23%. As shields were at 90%, this indicates either that the modulations of Voyager's shields succeeded in making Voyager less vulnerable, that the ion cannon are an anti-shield weapon, or that Voyager's shields are regenerative.
"Flashback" - metaphasic shielding is, in Voyager's time, taken for granted.
"The Q and the Grey" - at a bit under 10 billion kilometers, Voyager observes a supernova.
After that, things get strange.
"Coda" shows a shuttle's hull heated to 4000 degrees.
"Rise" shows a shuttle surviving impact. Last reported speed was mach 2.1 before thrusters cut out; it survives perfectly structurally, although "all primary systems" are down.
"Revulsion" - a 5 petawatt plasma conduit is not harmful to Seven's Borg exoskeleton.
"Scientific Method" - Voyager flies through a binary pulsar. Survives, albeit barely.
Chroniton based weapons penetrate Voyager's shields effortlessly during the "Year of Hell." However, with Seven's aid, they develop temporal shielding.
"Hunters" - the Hirogen have monotanium armor, which is apparently good.
"Prey" - Hirogen personal body is claimed to endure moving around within a neutron star. This seems excessive.
"The Omega Directive" - Paris is ordered to modify a shuttle to withstand hull temperatures of up to 12,000 kelvins.
"Drone" - a rapidly expanding "proto-nebula" is hazardous enough that "a ship wouldn't last ten seconds in there. Not even a Borg cube."
"Extreme Risk" - the Delta Flyer is designed to go 10,000 km into a gas giant into a layer of liquid methane, and in "Once Upon a Time" demonstrates its crash survivability by landing on a planet in a thirty second timeframe, burying itself (intact) under 50,000 tons of rock. It can also dive to the core of a 600 kilometer radius free-floating ocean in "Thirty Days.""
"Timeless" - Voyager cannot survive ramming into a planet at full impulse, although structural damage seems limited to compacting six decks into one.
"Relativity" - Voyager has 15 decks and a mass of 700,000 metric tons.
"Equinox" - by taking shields offline and recharging them for forty-five seconds, the U.S.S. Equinox's shields would be back to full.
Voyager could extend its shields around the Equinox.
"Fair Haven" - the "neutronic gradient" goes from 30 million terajoules to 90 million. Voyager diverts all power to shields in order to survive.
"Tsunkatse" - a multiphasic force field blocks transport while at full power. Once power is lowered somewhat, they can beam through.
"Memorial" - fixed shield generator installations are a feature of the Nakan conflict.
"Child's Play" - a photon torpedo, detonated inside a Borg sphere, damages it heavily - enough to let Voyager escape.
"Live Fast and Prosper" - Voyager's shields are apparently "multi-spectrum," according to con men who downloaded Voyager's specifications.
Two blasts from an antiquated D7 bring port shields to 50% in "Prophecy."