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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.

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At least 199 records · Page 11

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DOE OSTI2022

Control Design for a Marine Hydrokinetic Cycloturbine Vehicle

Abstract Marine Hydrokinetic (MHK) cycloturbines generate sustainable power by exploiting tidal currents. By powering the turbines and using pitching foils for control, a vehicle comprised of MHK cycloturbines also has the ability to station keep and maneuver. The vehicle consists of four counter-rotating cycloturbines, with hydrofoils oriented perpendicular to the flow in a paddlewheel configuration. Lift and drag generated from these foils sum together to produce thrust. An experimentally tuned simulation model that solves the six-degrees-of-freedom rigid body equations of motion for the MHK vehicle subject to hydrodynamic, hydrostatic, and propulsive forces is used to aid the design of vehicle controllers. Global feedback controllers are initially designed by applying classical control methods to an approximate linear model of the system dynamics. A higher performing nonlinear controller is designed using the nonlinear dynamic inversion (NDI) method. NDI accounts for the nonlinearities of the MHK system and therefore is suitable for a wide range of operating conditions. The response of the classical and NDI controllers to speed, depth, roll, pitch, and yaw commands are evaluated and compared in simulation. The classical controller outperforms the NDI controller for small amplitude maneuvers, although the degradation with NDI is minor. However, in the nonlinear operating regime the NDI controller outperforms the classical controller and the classical controller exhibits instability.

Automation & Control Systems↗

DOE OSTI2018

Hybrid-Electric Turbocharger and High-Speed SiC Variable-Frequency Drive Using Sensorless Control Algorithm

Electrically assisted engine boosting systems lend themselves to better throttle response, wider effective operating ranges, and can provide the ability to extract excess energy during deceleration and high-load events (and store it in a vehicle's onboard batteries). This can lead to better overall vehicle performance, emissions, and efficiency while allowing for further engine downsizing and increased power density. In this research effort, a hybrid-electric turbocharger, variable-frequency drive (VFD), and novel sensorless control algorithm were developed. An 11 kW permanent-magnet (PM) machine was coupled to a commercial turbocharger via an in-line, bolt-on housing attached to the compressor inlet. A high-efficiency, high-temperature VFD, consisting of custom control and power electronics, was also developed. The VFD uses SiC MOSFETS to achieve high-switching frequency and can be cooled using an existing engine coolant loop operating at up to 105 °C at an efficiency greater than 98%. A digital sliding mode-observer sensorless speed control algorithm was created to command and regulate speed and achieved ramp rates of over 68,000 rpm/s. A two-machine benchtop motor/generator test stand was constructed for initial testing and tuning of the VFD and sensorless control algorithm. A gas blow-down test stand was constructed to test the mechanical operation of the hybrid-electric turbocharger and speed control using the VFD. In addition, a liquid-pump cart was assembled for high-temperature testing of the VFD. Initial on-engine testing is planned for later this year. This paper intends to present a design overview of the in-line, hybrid-electric device, VFD, and performance characterization of the electronics and sensorless control algorithm.

Engineering↗

DOE OSTI2015

Development, Field Testing, and Evaluation of LIDAR-Assisted Controls

Typical wind turbines utilize feedback controllers which have a delayed response to wind speed disturbances. A nacelle mounted LIght Detection and Ranging (LIDAR) system measures a preview wind signal in front of the turbine. This can be included in a feed-forward control system, improving turbine pitch command for incoming variations in wind speed. The overall aim is reduced blade and tower fatigue, and potentially improved annual energy production. To be successful, the LIDAR must yield accurate wind speed measurements. Therefore, a LIDAR was characterized against a nearby met tower and turbine wind speed estimator. Results indicate good correlation between measurements.

feedback controllers, LIDAR-assisted, feed-forward↗

DOE OSTI2024

Frequency Response Improvement in a Standalone Small Hydropower Plant Using Battery Storage

This paper proposes a control architecture for frequency, current, and voltage control that facilitates using battery storage to improve the response of standalone small hydropower plants. The frequency controller uses rate-of-change of frequency and frequency-Watt-based generations to produce active power commands. The distinctive feature of the controller design is that it nicely integrates response to frequency change with constraints on frequency and state of battery to enable power injections. The current and voltage control scheme allows incorporating the frequency controller. The distinctive feature of this controller is that it incorporates a bounded integral control strategy that guarantees stability. Results on the stability of the hydropower plant with proposed scheme are presented and robust ways to choose the controller gains are investigated via root locus analysis. In conclusion, simulations performed show that: the hydropower plant response is significantly improved with battery storage using the proposed scheme; the load carrying capability of the hydropower plant is significantly improved with battery storage; the proposed scheme has the capability to recharge the battery; and the proposed control scheme gives improved performance.

13 HYDRO ENERGY↗

DOE OSTI2015

SU-E-J-12: An Image-Guided Soft Robotic Patient Positioning System for Maskless Head-And-Neck Cancer Radiotherapy: A Proof-Of-Concept Study

Purpose: We propose a surface-image-guided soft robotic patient positioning system for maskless head-and-neck radiotherapy. The ultimate goal of this project is to utilize a soft robot to realize non-rigid patient positioning and real-time motion compensation. In this proof-of-concept study, we design a position-based visual servoing control system for an air-bladder-based soft robot and investigate its performance in controlling the flexion/extension cranial motion on a mannequin head phantom. Methods: The current system consists of Microsoft Kinect depth camera, an inflatable air bladder (IAB), pressured air source, pneumatic valve actuators, custom-built current regulators, and a National Instruments myRIO microcontroller. The performance of the designed system was evaluated on a mannequin head, with a ball joint fixed below its neck to simulate torso-induced head motion along flexion/extension direction. The IAB is placed beneath the mannequin head. The Kinect camera captures images of the mannequin head, extracts the face, and measures the position of the head relative to the camera. This distance is sent to the myRIO, which runs control algorithms and sends actuation commands to the valves, inflating and deflating the IAB to induce head motion. Results: For a step input, i.e. regulation of the head to a constant displacement, the maximum error was a 6% overshoot, which the system then reduces to 0% steady-state error. In this initial investigation, the settling time to reach the regulated position was approximately 8 seconds, with 2 seconds of delay between the command start of motion due to capacitance of the pneumatics, for a total of 10 seconds to regulate the error. Conclusion: The surface image-guided soft robotic patient positioning system can achieve accurate mannequin head flexion/extension motion. Given this promising initial Result, the extension of the current one-dimensional soft robot control to multiple IABs for non-rigid positioning control will be pursued.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2013

ARM Airborne Continuous carbon dioxide measurements

The heart of the AOS CO2 Airborne Rack Mounted Analyzer System is the AOS Manifold. The AOS Manifold is a nickel coated aluminum analyzer and gas processor designed around two identical nickel-plated gas cells, one for reference gas and one for sample gas. The sample and reference cells are uniquely designed to provide optimal flushing efficiency. These cells are situated between a black-body radiation source and a photo-diode detection system. The AOS manifold also houses flow meters, pressure sensors and control valves. The exhaust from the analyzer flows into a buffer volume which allows for precise pressure control of the analyzer. The final piece of the analyzer is the demodulator board which is used to convert the DC signal generated by the analyzer into an AC response. The resulting output from the demodulator board is an averaged count of CO2 over a specified hertz cycle reported in volts and a corresponding temperature reading. The system computer is responsible for the input of commands and therefore works to control the unit functions such as flow rate, pressure, and valve control.The remainder of the system consists of compressors, reference gases, air drier, electrical cables, and the necessary connecting plumbing to provide a dry sample air stream and reference air streams to the AOS manifold.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2013

ARM Airborne Continuous carbon dioxide measurements

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

Control architecture for predictive and optimal vehicle operations in a single vehicle environment

There is disclosed a cloud computing control system for vehicle speed control and also for control of a vehicle in a platoon. The cloud computing control system determines a speed trajectory and neutral coasting command for a first vehicle of the platoon and a vehicle controller determines a reference speed for the first vehicle in response to the speed trajectory and the neutral coasting command, and is response to one or more vehicle specific factors associated with the first vehicle.

Borhan, Hoseinali↗

DOE OSTI2014

Precision control of multiple quantum cascade lasers for calibration systems

We present a precision, 1-A, digitally interfaced current controller for quantum cascade lasers, with demonstrated temperature coefficients for continuous and 40-kHz full-depth square-wave modulated operation, of 1–2 ppm/ °C and 15 ppm/ °C, respectively. High precision digital to analog converters (DACs) together with an ultra-precision voltage reference produce highly stable, precision voltages, which are selected by a multiplexer (MUX) chip to set output currents via a linear current regulator. The controller is operated in conjunction with a power multiplexing unit, allowing one of three lasers to be driven by the controller, while ensuring protection of controller and all lasers during operation, standby, and switching. Simple ASCII commands sent over a USB connection to a microprocessor located in the current controller operate both the controller (via the DACs and MUX chip) and the power multiplexer.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2018

Optimal Regulation of Virtual Power Plants

This paper develops a real-time algorithmic framework for aggregations of distributed energy resources (DERs) in distribution networks to provide regulation services in response to transmission-level requests. Leveraging online primal-dual-type methods for time-varying optimization problems and suitable linearizations of the nonlinear AC power-flow equations, we believe this work establishes the system-theoretic foundation to realize the vision of distribution-level virtual power plants. The optimization framework controls the output powers of dispatchable DERs such that, in aggregate, they respond to automatic-generation-control and/or regulation-services commands. This is achieved while concurrently regulating voltages within the feeder and maximizing customers' and utility's performance objectives. Convergence and tracking capabilities are analytically established under suitable modeling assumptions. Simulations are provided to validate the proposed approach.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2015

Development, Field Testing, and Evaluation of LIDAR Assisted Controls

Typical wind turbines utilize feedback controllers which have a delayed response to winds peed disturbances. A nacelle mounted LIght Detection and Ranging(LIDAR) system measures a preview wind signal in front of the turbine. This can be included in a feed-forward control system, improving turbine pitch command for incoming variations in wind speed. The overall aim is reduced blade and tower fatigue, and potentially improved annual energy production. To be successful, the LIDAR must yield accurate wind speed measurements. Therefore, a LIDAR was characterized against a nearby met tower and turbine wind speed estimator. Results indicate good correlation between measurements.

17 WIND ENERGY↗

DOE OSTI2016

Contact Control, Version 1

The contact control code is a generalized force control scheme meant to interface with a robotic arm being controlled using the Robot Operating System (ROS). The code allows the user to specify a control scheme for each control dimension in a way that many different control task controllers could be built from the same generalized controller. The input to the code includes maximum velocity, maximum force, maximum displacement, and a control law assigned to each direction and the output is a 6 degree of freedom velocity command that is sent to the robot controller.

von Sternberg, Alex↗

DOE OSTI2016

Contact Control, Version 1

von Sternberg, Alex↗

DOE OSTI2018

Teaching Computational Reproducibility for Neuroimaging

We describe a project-based introduction to reproducible and collaborative neuroimaging analysis. Traditional teaching on neuroimaging usually consists of a series of lectures that emphasize the big picture rather than the foundations on which the techniques are based. The lectures are often paired with practical workshops in which students run imaging analyses using the graphical interface of specific neuroimaging software packages. Our experience suggests that this combination leaves the student with a superficial understanding of the underlying ideas, and an informal, inefficient, and inaccurate approach to analysis. To address these problems, we based our course around a substantial open-ended group project. This allowed us to teach: (a) computational tools to ensure computationally reproducible work, such as the Unix command line, structured code, version control, automated testing, and code review and (b) a clear understanding of the statistical techniques used for a basic analysis of a single run in an MR scanner. The emphasis we put on the group project showed the importance of standard computational tools for accuracy, efficiency, and collaboration. The projects were broadly successful in engaging students in working reproducibly on real scientific questions. We propose that a course on this model should be the foundation for future programs in neuroimaging. We believe it will also serve as a model for teaching efficient and reproducible research in other fields of computational science.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2023

Creating a Simulation Platform for Research and Development of Advanced Control Methods

Advanced nuclear reactors are essential to meet the changing energy requirements throughout both the United States and the rest of world. In addition to other features, they are designed to enable deployment in remote locations and operate in a fully (or near-fully) autonomous manner, which will require a new control paradigm. To realize autonomously operating reactors, the U.S. Department of Energy’s Nuclear Energy Enabling Technologies Advanced Sensors and Instrumentation (NEET ASI) program conducts research and development into the enabling technologies and methods needed, including digital twins, machine learning, and risk modeling, in addition to various types of control methods. These technologies and methods are the key foundations needed to achieve fully autonomous systems. To develop and evaluate the technologies and methods necessary for achieving autonomous operations, it is critical to identify a software tool capable of integrating all the required elements. In surveying the available solutions, no software platforms were identified that could accomplish what was needed without introducing drawbacks. This challenge was the motivation for the current effort: to develop a software platform that can seamlessly integrate autonomouscontrol-enabling technologies and methods, allowing for accelerated research and development and transfer of ideas. The resulting platform, known as the Control and Optimization Modular Modeling Application for Nuclear Deployment (COMMAND), is Python-based, and leverages open-source tools to provide flexibility and facilitate building upon prior research. It is designed to enable advanced reactor developers to deploy and test advanced control technologies and methods coupled with their own models, solutions, and hardware. Given the substantial undertaking of developing such a platform, the current effort focused on laying down scalable, flexible software foundations and infrastructure, then demonstrating the platform via a use case. These foundations included developing generic modules, which contain the base variable and system blocks (the information and functional building blocks, respectively, that can be used to design a simulation) and the data handling and storage blocks needed to exchange information between the various blocks; as well as enablingtechnology-specific modules. This platform was evaluated via a use case, which was to simulate and control a process for the Microreactor Automated Control System (MACS) test bed. While MACS is not currently directly coupled to any specific microreactor physics, it was initially developed in concert with the Microreactor Applications Research Validation and Evaluation (MARVEL) microreactor, and so the MARVEL physics are used here. As part of this use case, several enabling-technology-specific blocks within COMMAND were integrated, including a proportional integral derivative (PID) control block, a Reactor Excursion and Leak Analysis Program (RELAP5-3D) block, and an anomaly detection block. The COMMAND software platform was successfully demonstrated to achieve the scalability and flexibility objectives of this effort and will be leveraged by the program’s research efforts to advance state of the art control methodologies towards autonomous operations of advanced reactors. As new use cases are created and implemented, it is anticipated that COMMAND will continue to grow and evolve to meet new requirements.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2018

Electrified vehicle DC power conversion with distributed control

An electrified vehicle has a battery pack comprising series-connected battery units providing a main voltage. To supply a lower voltage bus equally from all battery units, a plurality of DC/DC converters are powered by respective units and have their outputs in parallel. A central module has an outer loop controller generating a target current to regulate the bus voltage to a predetermined voltage and has an allocator distributing the target current into a plurality of allocated current commands according to respective states of charge of the battery units. A plurality of local controllers each adjusts a current of a respective DC/DC converter. Each local controller receives a respective allocated current command as a respective feedforward control variable. Each local controller uses an error between the bus voltage and the predetermined voltage to be integrated as a respective feedback control variable only when the error is above a threshold.

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2014

Mathematical model of unmanned aerial vehicle used for endurance autonomous monitoring

The paper purpose is to present some aspects regarding the control system of unmanned aerial vehicle - UAV, used to local observations, surveillance and monitoring interest area. The calculus methodology allows a numerical simulation of UAV evolution in bad atmospheric conditions by using nonlinear model, as well as a linear one for obtaining guidance command. The UAV model which will be presented has six DOF (degrees of freedom), and autonomous control system. This theoretical development allows us to build stability matrix, command matrix and control matrix and finally to analyse the stability of autonomous UAV flight. A robust guidance system, based on uncoupled state will be evaluated for different fly conditions and the results will be presented. The flight parameters and guidance will be analysed.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2019

Extra Robotic Legs for Bearing Equipment Loads During Emergency Response - 19532

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator that consists of two articulated robot legs that help bear a heavy backpack payload and the operator's own weight. The design was driven by a need to increase the effectiveness of Department of Energy hazardous material emergency response personnel who are encumbered by their Personal Protective Equipment. A prototype was fabricated utilizing insights gained from force analyses and human-robot interaction safety requirements. A seamless hybrid control architecture was developed to allow the operator command over the pace of the stand-to-squat transition. Initial tests of balance control while performing squatting transitions indicate the feasibility of the XRL System. The legs will ultimately walk, climb stairs, crouch down, and crawl with the operator while eliminating all equipment loads on the operator. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗