Results for “Real Time Performance” — Page 14

DOE OSTI2026

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗

DOE OSTI2025

A neural-network-enhanced parameter-varying framework for multi-objective model predictive control applied to buildings

Management of the electrical grid is becoming more complex due to the increased penetration of alternative energy generation technologies and a broadening diversity of electric loads. This complexity creates challenges in balancing demand and generation that can increase the potential for grid instabilities. One effective way to address this issue is to leverage previously unexploited demand flexibility through advanced control strategies. In this work, we propose an advanced control method, called adaptive neural parameter-varying model predictive control (ANPV-MPC), to control the temperature and energy consumption of a building via its Heating, Ventilation, and Air Conditioning system. ANPV-MPC combines key ideas in parameter-varying control, adaptive control, and online learning strategies to bridge the gap between computationally efficient linear model predictive control and more accurate nonlinear model predictive control. The novelty in ANPV-MPC is the use of a physics-inspired Bayesian neural network to estimate the coefficients of the parameter-varying linear control model. The Bayesian neural network additionally provides uncertainty estimates, triggering online training to capture evolving building system conditions. We show that ANPV-MPC can approximate the building system dynamics with a 28.39% higher accuracy than traditional linear model predictive control, resulting in 36.23% better control performance without increasing complexity of the optimal control problem. ANPV-MPC also adapts in real time to previously unseen conditions using online learning, further improving its performance.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2022

Nonlinear multiobjective and dynamic real-time predictive optimization for optimal operation of baseload power plants under variable renewable energy

Considering the increase of disruptive variable renewable energy penetration into the power grid, this article focuses on the investigation of a multiobjective and dynamic real-time optimization framework to address the cycling of large-scale power plants under renewable penetration. In this framework, a parallelized particle swarm optimization step is first performed to generate feasible initial points. Then, a multiobjective and dynamic real-time optimization formulation generates optimal trajectories. Further, the benefit of predictive capability is investigated for the dynamic component, which introduces the novel nonlinear multiobjective and dynamic real-time predictive optimization approach. Two multiobjective formulations to obtain Pareto front optimal in real time are explored: the modified Tchebycheff-based weighted metric and ϵ-constraint methods. Economic and environmental objectives are considered in this study. A novel topical discussion on the intersection of dynamic real-time optimization with model predictive control is also presented. The developed framework is successfully applied to a baseload coal-fired power plant with postcombustion CO 2 capture. Results indicate that the approach can be deployed for a large-scale system if automatic differentiation, model reduction, and parallelization are adopted to improve computational tractability, with computational improvement up to 120-folds after performing these steps. Finally, market and carbon policies showed an impact on the optimal compromise between the objectives with an additional 63 ton of CO 2 captured under favorable market conditions.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2023

Situational Awareness of Grid Anomalies (SAGA) for Visual Analytics—Near-Real-Time Cyber-Physical Resiliency Through Machine Learning

The Situational Awareness of Grid Anomalies (SAGA) project built upon foundational power system tools developed at the National Renewable Energy Laboratory (NREL) integrated with an ever-increasing set of Gridmetrics data extracted from the cable television (CATV) broadband network infrastructure while assimilating other time-series geospatial data and information, such as weather and cyber-physical phenomena, to demonstrate a disruptive technology for power system data analytics relying on existing infrastructure. Three research thrusts supported (1) visual analytics, (2) cyber-physical power system simulation, and (3) anomaly detection. SAGA created technology that leverages, couples, and fortifies two vastly different realms - power and broadband - to increase the resiliency of the power grid in the face of increasing cyberattacks and operational challenges related to integrating DERs. The exploration of potential synergies of broadband-enabled grids resulted in identifying a mutually beneficial symbiosis that can increase the resiliency of both power and broadband services. Broadband networks perform better with reliable power and are good at providing real-time measurements that identify where the grid is under attack, is failing, or is weak. Likewise, sensor-starved distribution grids perform better and can be more reliable when their operation is buttressed with observations of broadband-detected anomalies. Future research can explore broadband's contribution to continuing to improve grid resiliency, reliability, and cost-effective operation.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2022

QRF4P-NRT: Probabilistic Post-Processing of Near-Real-Time Satellite Precipitation Estimates Using Quantile Regression Forests

Accurate and reliable near-real-time satellite precipitation estimation is of great importance for operational large-scale flood forecasting and drought monitoring. The state-of-the-art precipitation post-processing model is based on a deterministic approach to construct relationships between satellites estimates and ground observations. We propose a probabilistic postprocessor, the Probabilistic Post-Processing of Near-Real-Time Satellite Precipitation Estimates using Quantile Regression Forests (QRF4P-NRT), based on quantile modeling, yielding both deterministic and probabilistic predictions. The experimental design incorporates different solutions of near-real-time predictors to further improve the model performance. Using the Integrated Multi-satellitE Retrievals Early Run for Global Precipitation Measurement Mission (IMERG-E) product as an example, we illustrate that the proposed method significantly improves the overall quality of the raw IMERG-E and is also superior to the bias-corrected product (IMERG Final Run, IMERG-F) at daily scale in a complex mountain basin. Evaluations of the corrected IMERG-E, raw IMERG-E, and IMERG-F using ground observation show that the corrected IMERG-E improves correlation coefficients (0.7), mean error (-0.14 mm/day) and root mean square error (3.3 mm/day) relative to the raw IMERG-E (0.31, -0.72 and 5.5 mm/day) and IMERG-F (0.34, -0.09 and 6.0 mm/day). The error decomposition further confirms that the QRF4P-NRT improves on the various deficiencies of the raw IMERG-E product. The ensemble assessment also demonstrates that the quantile outputs provide reliable prediction spread and sharp prediction intervals. The promising results indicate the great potential of the proposed method for probabilistic post-processing for near-real-time satellite precipitation estimates, and for further applications such as hydrological ensemble forecasting.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2025

Use of Rig Parameter Data in Bit Constraint Models for Improved Drilling Performance at The Geysers

Surface parameter measurements are routinely used during deep well construction to monitor and guide drilling conditions for improved performance and reduced costs. However, these measurements are of reduced value without a standard to aid in evaluation and decision making. A method is demonstrated whereby drill bit constraint models are used to interpret drilling response parameters. Drill rig parameter data for well GDC-36 at the Geysers Geothermal Field Power were acquired by Geysers Power Company and drilling contractor Kenai Drilling using Pason US DataHub and evaluated. Drilling parameters are evaluated using laboratory-validated rock reduction models for predicting the phenomenological response of drag bits (Detournay and Defourny, 1992) along with other model constraints in computational algorithms. The method is used to evaluate overall bit performance, monitor bit integrity, and detect the presence of drillstring vibrations and other conditions contributing to bit failure; comparisons are made to observations of bit wear and damage. The method will be applied in real-time to improve decision-making on subsequent wells and has applicability to development of advanced analytics on future geothermal wells using real-time electronic drilling recorder (EDR) data for improved performance and reduced drilling costs.

15 GEOTHERMAL ENERGY↗

DOE OSTI2021

Simple and Scalable Streaming: The GRETA Data Pipeline

The Gamma Ray Energy Tracking Array (GRETA) is a state of the art gamma-ray spectrometer being built at Lawrence Berkeley National Laboratory to be first sited at the Facility for Rare Isotope Beams (FRIB) at Michigan State University. A key design requirement for the spectrometer is to perform gamma-ray tracking in near real time. To meet this requirement we have used an inline, streaming approach to signal processing in the GRETA data acquisition system, using a GPU-equipped computing cluster. The data stream will reach 480 thousand events per second at an aggregate data rate of 4 gigabytes per second at full design capacity. We have been able to simplify the architecture of the streaming system greatly by interfacing the FPGA-based detector electronics with the computing cluster using standard network technology. A set of highperformance software components to implement queuing, flow control, event processing and event building have been developed, all in a streaming environment which matches detector performance. Prototypes of all high-performance components have been completed and meet design specifications.

Cromaz, Mario↗

DOE OSTI2024

Analysis of Rig Parameter Data Using Drilling Process Modeling Constraints, Volume 5: Utah FORGE Well 16B(78)-32

Drill rig parameter measurements are routinely used during deep well construction to monitor and guide drilling conditions for improved performance and reduced costs. While insightful into the drilling process, these measurements are of reduced value without a standard to aid in data evaluation and decision making. In the main body of this work (Volume 1), a method is demonstrated whereby rock reduction model constraints are used to interpret drilling response parameters; the method could be applied in real-time to improve decision-making in the field and to further discern technology performance during post-drilling evaluations. Drilling parameters are evaluated using laboratory-validated rock reduction models for predicting the phenomenological response of drag bits (Detournay and Defourny, 1992) in computational algorithms. The method presented has applicability to development of advanced analytics on future geothermal wells using real-time electronic data recording for improved performance and reduced drilling costs. A drilling cost model is also used to show the tradeoff between rate of penetration and bit life and the influence on interval drilling costs. Details of the bit specifications and performance are cataloged in an independent volume, documented under separate cover, for each of the four wells, and include Volume 2: Utah FORGE 16A(78)-32; Volume 3: Utah FORGE 56-32; Volume 4: Utah FORGE 78B-32 and Volume 5: Utah FORGE 16B(78)-32.

15 GEOTHERMAL ENERGY↗

DOE OSTI2024

Analysis of Rig Parameter Data Using Drilling Process Modeling Constraints, Volume 4: Utah FORGE Well 78B-32

Drill rig parameter measurements are routinely used during deep well construction to monitor and guide drilling conditions for improved performance and reduced costs. While insightful into the drilling process, these measurements are of reduced value without a standard to aid in data evaluation and decision making. In the main body of this work (Volume 1), a method is demonstrated whereby rock reduction model constraints are used to interpret drilling response parameters; the method could be applied in real-time to improve decision-making in the field and to further discern technology performance during post-drilling evaluations. Drilling parameters are evaluated using laboratory-validated rock reduction models for predicting the phenomenological response of drag bits (Detournay and Defourny, 1992) in computational algorithms. The method presented has applicability to development of advanced analytics on future geothermal wells using real-time electronic data recording for improved performance and reduced drilling costs. A drilling cost model is also used to show the tradeoff between rate of penetration and bit life and the influence on interval drilling costs. Details of the bit specifications and performance are cataloged in an independent volume, documented under separate cover, for each of the four wells, and include Volume 2: Utah FORGE 16A(78)-32; Volume 3: Utah FORGE 56-32; Volume 4: Utah FORGE 78B-32 and Volume 5: Utah FORGE 16B(78)-32.

15 GEOTHERMAL ENERGY↗

DOE OSTI2024

Analysis of Rig Parameter Data Using Drilling Process Modeling Constraints, Volume 3: Utah FORGE Well 56-32

Drill rig parameter measurements are routinely used during deep well construction to monitor and guide drilling conditions for improved performance and reduced costs. While insightful into the drilling process, these measurements are of reduced value without a standard to aid in data evaluation and decision making. In the main body of this work (Volume 1), a method is demonstrated whereby rock reduction model constraints are used to interpret drilling response parameters; the method could be applied in real-time to improve decision-making in the field and to further discern technology performance during post-drilling evaluations. Drilling parameters are evaluated using laboratory-validated rock reduction models for predicting the phenomenological response of drag bits (Detournay and Defourny, 1992) in computational algorithms. The method presented has applicability to development of advanced analytics on future geothermal wells using real-time electronic data recording for improved performance and reduced drilling costs. A drilling cost model is also used to show the tradeoff between rate of penetration and bit life and the influence on interval drilling costs. Details of the bit specifications and performance are cataloged in an independent volume, documented under separate cover, for each of the four wells, and include Volume 2: Utah FORGE 16A(78)-32; Volume 3: Utah FORGE 56-32; Volume 4: Utah FORGE 78B-32 and Volume 5: Utah FORGE 16B(78)-32.

15 GEOTHERMAL ENERGY↗

DOE OSTI2024

Analysis of Rig Parameter Data Using Drilling Process Modeling Constraints, Volume 1: Summary of Utah FORGE Wells 16A(78)-32, 56-32, 78B-32 and 16B(78)-32

Drill rig parameter measurements are routinely used during deep well construction to monitor and guide drilling conditions for improved performance and reduced costs. While insightful into the drilling process, these measurements are of reduced value without a standard to aid in data evaluation and decision making. In the main body of this work (Volume 1), a method is demonstrated whereby rock reduction model constraints are used to interpret drilling response parameters; the method could be applied in real-time to improve decision-making in the field and to further discern technology performance during post-drilling evaluations. Drilling parameters are evaluated using laboratory-validated rock reduction models for predicting the phenomenological response of drag bits (Detournay and Defourny, 1992) in computational algorithms. The method presented has applicability to development of advanced analytics on future geothermal wells using real-time electronic data recording for improved performance and reduced drilling costs. A drilling cost model is also used to show the tradeoff between rate of penetration and bit life and the influence on interval drilling costs. Details of the bit specifications and performance are cataloged in an independent volume, documented under separate cover, for each of the four wells, and include Volume 2: Utah FORGE 16A(78)-32; Volume 3: Utah FORGE 56-32; Volume 4: Utah FORGE 78B-32 and Volume 5: Utah FORGE 16B(78)-32.

15 GEOTHERMAL ENERGY↗

DOE OSTI2025

Developing affordable and efficient heating devices for enhanced live cell imaging in confocal microscopy

Temperature control is crucial for live cell imaging, particularly in studies involving plant responses to high ambient temperatures and thermal stress. This study presents the design, development, and testing of two cost-effective heating devices tailored for confocal microscopy applications: an aluminum heat plate and a wireless mini-heater. The aluminum heat plate, engineered to integrate seamlessly with the standard 160 mm × 110 mm microscope stage, supports temperatures up to 36°C, suitable for studies in the range of non-stressful warm temperatures (e.g., 25-27°C forArabidopsis thaliana) and moderate heat stress (e.g., 30-36°C forA. thaliana). We also developed a wireless mini-heater that offers rapid, precise heating directly at the sample slide, with a temperature increase rate over 30 times faster than the heat plate. The wireless heater effectively maintained target temperatures up to 50°C, ideal for investigating severe heat stress and heat shock responses in plants. Both devices performed well in controlled studies, including the real-time analysis of heat shock protein accumulation and stress granule formation inA. thaliana. Our designs are effective and affordable, with total construction costs lower than $300. This accessibility makes them particularly valuable for small laboratories with limited funding. Future improvements could include enhanced heat uniformity, humidity control to mitigate evaporation, and more robust thermal management to minimize focus drift during extended imaging sessions. These modifications would further solidify the utility of our heating devices in live cell imaging, offering researchers reliable, budget-friendly tools for exploring plant thermal biology.

Plant Sciences↗

DOE OSTI2026

Overview of the KSTAR experiments and future plan

The Korea Superconducting Tokamak Advanced Research (KSTAR) device has recently entered a new phase of operation following the installation of a tungsten mono-block divertor, providing a unique platform to investigate high-performance, long-pulse plasma scenarios for future reactors. The 2023–2024 experimental campaigns demonstrated significant progress in commissioning the tungsten divertor, developing plasma operation scenarios, and achieving real-time control. Comparative studies revealed increased core radiation losses and associated performance degradation relative to the carbon divertor environment. Alleviation strategies, such as optimized neutral beam injection timing, boron powder seeding, and impurity control through gas puffing, were shown to reduce tungsten accumulation and extend high-performance phases, including record H-mode operation exceeding 100 s. International collaboration enabled the first demonstration of high poloidal beta scenarios with an internal transport barrier on KSTAR. Advances in control included upgraded real-time resonant magnetic perturbation schemes and disruption forecasting. Furthermore, divertor detachment control using a new surrogate-model-based approach with real-time radiation imaging demonstrated active impurity and heat flux management. Supported by enhanced heating, current drive, and diagnostic systems, these achievements offer valuable insights into tungsten impurity behavior, transport physics, and control strategies for future reactors including ITER. Planned upgrades toward a full-tungsten wall and ITER-aligned real-time plasma control will further establish KSTAR as a leading experimental platform for developing operational scenarios required to achieve steady-state, burning plasma conditions.

KSTAR↗

DOE OSTI2021

Field Experiments and Model Validation: The EGS Collab Project

Implementing enhanced geothermal systems (EGS) will require improvements in understanding stimulation of crystalline rock to create appropriate flow pathways, and the ability to effectively simulate both the stimulation and the flow and transport processes in the resulting fracture network. The US Department of Energy (DOE) is addressing these and other challenges at multiple scales. The EGS Collab project, addressed here, is performing tests and modeling at the 10 m scale. The FORGE project is performing tests at the full reservoir scale. The EGS Collab team created an underground testbed at the Sanford Underground Research Facility (SURF) in Lead, South Dakota, at a depth of approximately 1.5 km to examine hydraulic fracturing (Experiment 1). We are currently building a second testbed at SURF at a depth of about 1.25 km aimed at investigating shear stimulation (Experiment 2). In Experiment 1, we drilled eight boreholes in a well-characterized phyllite and installed geophysical sensors in six of them to create a well-instrumented testbed to allow careful monitoring of stimulation events and flow tests. Numerical simulation was used to answer key experimental design questions, to forecast fracture propagation trajectories and extents, and to analyze and evaluate results both in near-real-time and in detailed process studies. Stimulations performed in this testbed allowed quantification of processes occurring during stimulation and the examination of dynamic flow occurrences. Long-term ambient temperature and chilled water flow tests were performed in addition to many tracer tests to examine system behavior. Our second testbed, targeted at shear stimulation, is currently being built at the SURF Facility at a depth of about 1.25 km in amphibolite under a different set of stress and fracture conditions than Experiment 1.

artificial intelligence↗

DOE OSTI2022

Expedited Real Time Processing for the NETL HYPER Cyber-Physical System (Final Report)

The primary objective of the proposed project was to provide the National Energy Technology Laboratory’s Hybrid Performance (Hyper) Facility the needed numerical methods algorithm(s), software development and implementation support to enact real time cyber-physical systems (CPSs) that simulate process dynamics on the order of five milliseconds or smaller. The proposed paths forward comprised three distinct approaches to hasten transient simulations. They fell under the numerical methods categorical options of: 1) optimizing key parameters within the facility’s pre-existing real time processing scheme; 2) introducing an “informed” processing approach wherein a priori computations expedite real time attempts; and 3) implementing alternatives to the employed explicit-implicit blended finite difference (spatio-temporal) approach. Each of these three classes were proposed independently as options for improvement, yet in some cases one class of approach could have complemented another.

20 FOSSIL-FUELED POWER PLANTS↗

DOE OSTI2024

Automated Calibration for Rapid Optical Spectroscopy Sensor Development for Online Monitoring

An automated platform has been developed to assist researchers in the rapid development of optical spectroscopy sensors to quantify species from spectral data. This platform performs calibration and validation measurements simultaneously. Real-time, in situ monitoring of complex systems through optical spectroscopy has been shown to be a useful tool; however, building calibration models requires development time, which can be a limiting factor in the case of radiological or otherwise hazardous systems. While calibration time can be reduced through optimized design of experiments, this study approached the challenge differently through automation. The ATLAS (Automated Transient Learning for Applied Sensors) platform used pneumatic control of stock solutions to cycle flow profiles through desired calibration concentrations for multivariate model construction. Additionally, the transients between desired concentrations based on flow calculations were used as validation measurements to understand model predictive capabilities. This automated approach yielded an incredible 76% reduction in model development time and a 60% reduction in sample volume versus estimated manual sample preparation and static measurements. The ATLAS system was demonstrated on two systems: a three-lanthanide system with Pr/Nd/Ho representing a use case with significant overlap or interference between analyte signatures and an alternate system containing Pr/Nd/Ni to demonstrate a use case in which broad-band corrosion species signatures interfered with more distinct lanthanide absorbance profiles. Both systems resulted in strong model prediction performance (RMSEP < 9%). Lastly, ATLAS was demonstrated as a tool to simulate process monitoring scenarios (e.g., column separation) in which models can be further optimized to account for day-to-day changes as necessary (e.g., baseline correction). Ultimately, ATLAS offers a vital tool to rapidly screen monitoring methods, investigate sensor fusion, and explore more complex systems (i.e., larger numbers of species).

47 OTHER INSTRUMENTATION↗

DOE OSTI2024

A Trade-Off Study Between the Primary and Transient Responses of Grid-Forming Inverters

The control parameters of the grid-forming (GFM) inverter-based resources (IBRs) directly impact power system dynamics. The primary control requires the GFM inverter to balance generation and load. It is also preferred that a GFM inverter maintain the terminal frequency after a power system fault. In this paper, we investigate the trade-off between the primary control objective and the transient response. To quantify the transient performance of the GFM inverter, we introduce a new real-time transient stability index (TSI). This index plays a crucial role in our investigation, as it allows us to compare the performance trade-offs of different sets of GFM control parameters.

Lin, Xuheng↗

DOE OSTI2024

QRCODE: Massively parallelized real-time time-dependent density functional theory for periodic systems

We present a new software module, QRCODE (Quantum Research for Calculating Optically Driven Excitations), for massively parallelized real-time time-dependent density functional theory (RT-TDDFT) calculations of periodic systems in the open-source Qbox software package. Our approach utilizes a custom implementation of a fast Fourier transformation scheme that significantly reduces inter-node message passing interface (MPI) communication of the major computational kernel and shows impressive scaling up to 16,344 CPU cores. In addition to improving computational performance, QRCODE contains a suite of various time propagators for accurate RT-TDDFT calculations. As benchmark applications of QRCODE, we calculate the current density and optical absorption spectra of hexagonal boron nitride (h-BN) and photo-driven reaction dynamics of the ozone-oxygen reaction. We also calculate the second and higher harmonic generation of monolayer and multi-layer boron nitride structures as examples of large material systems. Our optimized implementation of RT-TDDFT in QRCODE enables large-scale calculations of real-time electron dynamics of chemical and material systems with enhanced computational performance and impressive scaling across several thousand CPU cores.

97 MATHEMATICS AND COMPUTING↗