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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 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Chemical separation of 146 Sm for half-life determination

Here, although methods for the chemical separation of samarium from a rock matrix are well established, chemical separation of samarium from non-natural isotopic impurities for the purpose of 146 Sm half-life measurement requires modifications to these procedures, as well as additional checks for effective separation. This work describes the chemical purification procedures associated with the 146 Sm source and the results from gamma spectroscopy. The purification procedure allowed for the quantitative determination of the number of 146Sm atoms using a modified isotope dilution technique. Alpha-decay counting of the sample will be applied in the future to determine the half-life of 146 Sm.

146Sm↗
DOE OSTI2020

Capabilities of multivariate Bayesian inference toward seismic hazard assessment

Multivariate Bayesian analysis can bring significant benefits to seismic hazard analysis: Its multivariate feature enables computing scalar and vector hazard without making any approximations; Correlations between intensity measures are implicitly modeled, permitting direct simulation of ground motion selection tools such as the conditional mean spectrum and the generalized conditioning intensity measure; and Its updating feature enables a seamless integration of new ground motion data into the hazard results. Here, we first develop a multivariate Bayesian ground motion model through the NGA-West2 database. The model functional form considers fault-type, magnitude, and distance dependencies, and also the linear and the rock intensity dependent site response. We use a hybrid Markov Chain Monte Carlo sampling to perform Bayesian inference consisting of Gibbs step and a multilevel Metropolis-Hastings step. We then perform several checks on the model and note that its performance is satisfactory. Finally, we illustrate the merits of this multivariate Bayesian analysis, which include: ground motion model updating with ground motion data recorded in the last four years not part of the NGA-West2 database; computation of scalar and vector seismic hazard using the un-updated and updated ground motion models for Los Angeles, CA; and simulation of the conditional mean spectrum under scalar and vector IM conditioning while accounting for different sources of aleatoric and epistemic uncertainties.

58 GEOSCIENCES↗
DOE OSTI2022

Formal verification and validation of run-to-completion style state charts using Event-B

State chart notations with ‘run to completion’ semantics are popular with engineers for designing controllers that react to environment events with a sequence of state transitions but lack formal refinement and rigorous verification methods. State chart models are typically used to design complex control systems that respond to environmental triggers with a sequential process. The model is usually constructed at a concrete level and verified and validated using animation techniques relying on human judgement. Event-B, on the other hand, is based on refinement from an initial abstraction and is designed to make formal verification by automatic theorem provers feasible. Abstraction and formal verification provide greater assurance that critical (e.g. safety or security) properties are not violated by the control system. In this paper, we introduce a notion of refinement into a ‘run to completion’ state chart modelling notation and leverage Event-B’s tool support for theorem proving. We describe the difficulties in translating ‘run to completion’ semantics into Event-B refinements and suggest a solution. We illustrate our approach and show how models can be validated at different refinement levels using our scenario checker animation tools. We show how critical invariant properties can be verified by proof despite the reactive nature of the system and how behavioural aspects of the system can be verified by testing the expected reactions using a temporal logic, model checking approach. To verify liveness, we outline a proof that the run to completion is deadlock-free and converges to complete the run.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2021

Enabling modern data discovery for atmospheric measurements

The Atmospheric Radiation Measurement (ARM) user facility is a US Department of Energy Office of Science user facility that is managed and operated through a collaborative effort led by nine US Department of Energy national laboratories. The ARM Data Center, located at Oak Ridge National Laboratory, is responsible for the timely collection, processing, and delivery of data products to the scientific community. The ARM Data Center holds more than 11,000 data products, including metadata collected from field campaigns, instruments, value-added products, and principal investigator–contributed data. These data sets are checked for successful transfer (for most data, this transfer is carried out automatically via the network; however, some of the largest data sets and some of the most remote sites require manual shipping of hard disks) and both the data and metadata are processed to a standard format, which is an ARM-standardized structure, via the Network Common Data Form. The Network Common Data Form is a self-describing binary format with many compatible software tools. Once processed, the data are cataloged, stored in the ARM Data Archive, and made discoverable through association with an array of metadata-characterizing information, such as location and measurement classification. These metadata enable powerful search capabilities through the ARM Data Center Data Discovery interface. This paper discusses the workflow of how the new discovery system has been redesigned from user requirements and how the data are distributed to the scientific community.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2022

Biomass Quality Responses to Selection for Increased Biomass Yield in Perennial Energy Grasses

Perennial grasses are candidates for biomass cropping systems that are focused on providing a wide range of ecosystem services in addition to sustainable bioenergy production. Switchgrass (Panicum virgatum L.) and big bluestem (Andropogon gerardii Vitman) are two of the dominant grasses of the tallgrass prairie and both are candidates for development of multifunctional diverse production systems. Breeding programs for both species are aimed at increasing biomass yield as a mechanism of improving economic sustainability without increasing production costs. The objective of this study was to determine if long-term selection for increased biomass yield in these two species has had any adverse impacts on biomass quality, or the ability to convert biomass into bioenergy. Check cultivars and improved breeding populations of both species were evaluated for a wide range of biomass quality traits at 13 locations in the North Central and Northeastern USA, and a subset of these populations were also subjected to more intensive and detailed fermentation analyses. In general, lignin and ferulates either remained constant or decreased following selection for increased biomass yield in the various genetic pedigrees. These changes resulted in some increases in predicted ethanol production and in vitro digestibility. Here, the prediction of increased digestibility was confirmed by higher glucose release by pretreatment and deconstruction of an advanced lowland population. However, bioreactor fermentations with two different biofuel-producing microbes showed no differences in ethanol production. Overall, these studies indicated that the improved switchgrass and big bluestem populations had greater biomass yields without significantly reducing biomass quality or conversion efficiency into ethanol, suggesting that selection can achieve increases in biomass productivity while maintaining consistent biomass quality.

09 BIOMASS FUELS↗
DOE OSTI2021

Dynamic Strength of Copper at High Pressures Using Pressure Shear Plate Experiments

Measurement of strength at high pressures is critical to understanding the behavior of materials subjected to extreme loading conditions. Recent developments have extended the pressure shear plate impact (PSPI) technique to the high-pressure regime. Such experiments provide a unique opportunity to extract the complete stress-strain behavior of materials at relatively high pressures. The modified technique includes a new fiber-optic heterodyne transverse velocity interferometer system and new analysis methods to account for the inelastic response of the anvil plates. In this study, PSPI experiments are conducted on oxygen-free high conductivity (OFHC) copper at pressures ranging from 10 to 43 GPa and at strain rates of ~10 5 s -1 . Complete stress-strain curves of copper are obtained using a hybrid methodology that relies on numerical simulations and particle velocity records gathered in these experiments. Experiments are conducted at similar pressures and strain rates using two types of anvils that undergo different levels of plastic strains: tool steel and tungsten carbide, to check the robustness of the hybrid method. The behavior of copper at these high pressures and strain rates is compared with previous literature data, and the effect of pressure and strain rate on the strength behavior of copper are discussed. Here, it was observed that the rate of change in yield strength change in pressure was 2.5 times the rate of change of shear modulus with pressure. The strength models that predict the response of copper at these extreme conditions are also examined and validated.

36 MATERIALS SCIENCE↗
DOE OSTI2021

Methods for a blind analysis of isobar data collected by the STAR collaboration

In 2018, the STAR collaboration collected data from $_{44}^{96}{\mathrm{Ru}}+_{44}^{96}{\mathrm{Ru}}$ and $_{40}^{96}{\mathrm{Zr}}+_{40}^{96}{\mathrm{Zr}}$ at $\sqrt{s_\text {NN}}=200$ GeV to search for the presence of the chiral magnetic effect in collisions of nuclei. The isobar collision species alternated frequently between $_{44}^{96}{\mathrm{Ru}}+_{44}^{96}{\mathrm{Ru}}$ and $_{40}^{96}{\mathrm{Zr}}+_{40}^{96}{\mathrm{Zr}}$ . In order to conduct blind analyses of studies related to the chiral magnetic effect in these isobar data, STAR developed a three-step blind analysis procedure. Analysts are initially provided a “reference sample” of data, comprised of a mix of events from the two species, the order of which respects time-dependent changes in run conditions. After tuning analysis codes and performing time-dependent quality assurance on the reference sample, analysts are provided a species-blind sample suitable for calculating efficiencies and corrections for individual $\approx 30$-min data-taking runs. For this sample, species-specific information is disguised, but individual output files contain data from a single isobar species. Only run-by-run corrections and code alteration subsequent to these corrections are allowed at this stage. Following these modifications, the “frozen” code is passed over the fully un-blind data, completing the blind analysis. As a check of the feasibility of the blind analysis procedure, analysts completed a “mock data challenge,” analyzing data from Au + Au collisions at $\sqrt{s_\text {NN}}=27$ GeV, collected in 2018. The Au + Au data were prepared in the same manner intended for the isobar blind data. Finally, the details of the blind analysis procedure and results from the mock data challenge are presented.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2025

Identification of $^{3}$He–$^{3}$H clusters in the $^{6}$Li+$^{89}$Y experiment using particle-$\gamma$ coincidence measurement

The 6 Li+ 89 Y experiment was performed to explore the reaction mechanism induced by a weakly bound nucleus 6 Li and its cluster configuration. Here, the particle-$\gamma$ coincidence method was used to identify the different reaction channels. The $\gamma$-rays coincident with 3 He/ 3 H indicate that the 3 H/ 3 He stripping reaction plays a significant role in the formation of Zr/Nb isotopes. The obtained results support the existence of a 3 He- 3 H cluster in 6 Li. Direct and sequential transfer reactions are adequately discussed, and the FRESCO code is used to perform precise finite-range cyclic redundancy check calculations. In the microscopic calculation, direct cluster transfer is more predominant than sequential transfer in 3 H transfer. However, the direct cluster transfer is of comparable magnitude to the sequential transfer in the 3 He transfer.

CRC calculations↗
DOE OSTI2025

Part distortion monitoring in additive manufacturing using machining

In additive manufacturing, accumulation of residual stresses can result in severe part distortion from the desired preform shape. Current methods for in-situ part distortion monitoring in additive manufacturing typically require expensive sensors, or capital equipment, and require time-consuming post-processing to understand the shape deviation. This paper presents an in-situ method, in the context of hybrid manufacturing, for part distortion detection using machining of additively manufactured parts. As a surrogate, three test artifacts were used to represent different distorted geometries. The tool axis positions from the machine tool controller and the cutting power were monitored during a facing operation. Cutting power data was used to detect the tool entry and exit in the workpiece using a novel approach with power standard deviation metric. The workpiece geometry and distorted configuration was subsequently predicted for positional and rotational deviations to within 2 mm accuracy using synchronized tool position data with cutting power. The proposed method can be used in a hybrid (additive and subtractive) machine tool to periodically check part distortion in the additive build. The method is applicable for any additive process and is low-cost and computationally inexpensive.

36 MATERIALS SCIENCE↗
DOE OSTI2021

Energy balance in the DSSAT-CSM-CROPGRO model

One potential way to improve crop growth models is for the models to predict energy balance and evapotranspiration (ET) from first principles, thus serving as a check on “engineered” ET methodology. In this paper, we present new implementations and the results of an energy balance model (EBL) developed by Jagtap and Jones (1989) and then implemented in DSSAT’s CROPGRO (CG-EBL) model by Pickering et al. (1995) as a linked energy balance-photosynthesis model that has not been field-tested until now. The energy balance code computes evapotranspiration and other energy balance components, as well as a canopy air temperature, based on three sources (sunlit leaves, shaded leaves, soil surface). Model performance was evaluated with measured biomass and energy fluxes from two sites in Nebraska, namely, the US-Ne2 irrigated maize-soybean rotation field and the US-Ne3 rainfed maize-soybean rotation field, which are part of the Ameriflux eddy covariance network (htt ps://ameriflux.lbl.gov/sites). After implementing new aerodynamic resistances and the stomatal conductance model of the Ball–Berry–Leuning, crop growth, evapotranspiration and soil temperature were simulated well by the EBL model. The EBL improved ET predictions slightly over the often-used FAO56 method [Penman–Monteith (Allen et al., 1998)] for 4 of the 5 years evaluated for both irrigated and rainfed conditions. Further, a significant improvement was achieved using EBL for the simulation of soil temperature at the various depths compared to STEMP, the original subroutine in DSSAT for simulating soil temperature. Compared to the other available DSSAT methods, the EBL explicitly simulates the impacts of crop morphology, physiology and management on the crop’s environment and energy and mass exchange, which in turn directly affect the water use and irrigation requirements, phenology, photosynthesis, growth, sterility, and yield of the crop.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Better practices for inferring ecosystem water use strategy from eddy covariance data

Eddy covariance data are critical for inferring ecosystem water use strategies. Yet, such inferences are sensitive to a range of assumptions applied across studies, hindering our understanding of water use strategies within and across eddy covariance sites. A recent analysis across 151 FLUXNET2015 and AmeriFlux-FLUXNET datasets found that poor model performance was the key driver of non-robust inferences of ecosystem water use strategies. Here, we leverage this previous analysis to (i) identify the specific assumptions that improve inference model performance across most sites, (ii) explain the mechanisms behind the performance improvements, and (iii) check whether better performance improves water use inference. We find that the common practice of fitting a model to canopy conductance (G c ) derived from the evapotranspiration (ET) observations, rather than to observed ET itself, artificially amplifies data errors and degrades the model performance. Next, accounting for vegetation dynamics by applying a growing season filter or incorporating satellite LAI data improves performance, but the former practice may remove soil water stress periods. Lastly, using the leaf-to-air vapor pressure deficit (VPD l ) derived from ET observations as a model input may artificially inflate performance. Based on these results, we recommend selecting observed ET (rather than derived G c ) as the response variable, carefully accounting for vegetation dynamics, and avoiding derived VPD l as a model input; these best practices improve model performance by c. 20% and robustness by c. 80% across all eddy covariance sites. Nevertheless, the performance improvements do not always correspond to more robust inference of water use strategies, as model parameter selection and surface energy budget closure corrections still strongly influence the ecosystem water use parameter estimation in a site-specific manner.

AmeriFlux↗
DOE OSTI2021

Daily grass reference evapotranspiration with Meteosat Second Generation shortwave radiation and reference ET products

Here we assess the accuracy of estimating daily grass reference evapotranspiration (PM-ET o ) using daily shortwave radiation (R s ) and reference evapotranspiration (ET REF ) products provided by the Meteosat Second Generation (MSG) geostationary satellite delivered by the Satellite Applications Facility on Land Surface Analysis (LSA-SAF) framework. The accuracy of using reanalysis ERA5 shortwave radiation data (R s ERA5 ) provided by the European Center for Medium-Range Weather Forecasts (ECMWF) is also evaluated. The assessments were performed using observed weather variables at 37 weather stations distributed across continental Portugal, where climate conditions range from semi-arid to humid, and 12 weather stations located in Azores islands, characterized by humid, windy and often cloudy conditions. This study&#x27;s use of data from a variety of climate conditions contributed to a unique and innovative assessment of the usability of LSA-SAF and ERA5 products for ET o estimation. The first assessment focused on comparing LSA-SAF estimates of R s (R s LSA-SAF ) against ground stations (R s ground ). The results showed a good matching between the two R s data sets for continental Portugal but a tendency for R s LSA-SAF to under-estimate R s ground in the cloudy islands of Azores. ET o values computed using R s LSA-SAF data and observed temperature, humidity and wind speed (ET o LSA-SAF ) were then compared with PM-ET o estimates with ground-based data, which were used as benchmark; input data of temperature and humidity needed for PM-ET o were quality checked for surface aridity effects. It was observed that ET o LSA-SAF is strongly correlated with PM-ET o (R 2 > 0.97) for most locations in continental Portugal, with regression coefficient of a linear regression forced to the origin ranging between 0.95 and 1.05, mean root mean square error (RMSE) of 0.13 mm d –1 , and Nash and Sutcliff efficiency of modeling (EF) above 0.95. For most Azores locations, ET o LSA-SAF over-estimated PM-ET o . This is likely a consequence of the high spatio-temporal heterogeneity of weather conditions that occur in these oceanic islands together with the different footprints of satellite (averaged over the pixel) and station observations. Reanalysis ERA5 shortwave radiation data presented similar behavior to the LSA-SAF products, however with slightly lower accuracy. The daily LSA-SAF ET REF product (ET REF LSA-SAF ) was assessed and results have shown a good accuracy of this product, with acceptable RMSE and high EF values, for continental Portugal but a low accuracy for the Azores islands. A simplified bias correction approach was shown to improve both ET o derived from the LSA-SAF products, namely for Azores stations, which seem to be representative of smaller areas. The use of the FAO-PM temperature approach (PMT) was also assessed using the R s LSA-SAF and R s ERA5 data, which showed a superiority of the LSA-SAF product for ET o estimations (ET o PMT LSA-SAF ). No significant differences (p < 0.05) were observed in terms of the median value of the RMSE when adopting ET o PMT and ET REF LSA-SAF . Differently, results showed that using the R s LSA-SAF in the PMT approach (ET o PMT LSA-SAF ) produces significantly better RMSE results than ET o PMT and ET REF LSA-SAF . Overall, the performed assessment allows concluding that the use of R s LSA-SAF, and to a lesser extent the use of the R s ERA5 , highly improves the accuracy of computation of ET o when R s observations are not available, including when only temperature data are accessible. The use of the ET REF LSA-SAF product is a good alternative when observed weather data are not available.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Explainable discrepancy checker and diagnosis for digital Twin-based supervisory control system

By virtually representing a physical object and process, a digital twin (DT) enables optimal autonomous operations by combining classical and novel frameworks in sensors, state predictions, and multi-input/multi-output systems. A DT’s values depend on how well models estimate quantities of interest and on how uncertainty is handled. Moreover, DTs often combine physics-based and data-driven models with mixed fidelities, where classical uncertainty quantification (UQ) struggles with many sources of uncertainty and real-time constraints. Here, this work presents a UQ-based discrepancy checking and diagnosis tool for a DT-based supervisory control system. The tool is developed using metadata from an automated DT development process to learn correlations between sources of uncertainties and outcomes. During operation, it compares predictions with measurements, attributes discrepancies to dominant sources, and recommends parameter and configuration updates. We verify the workflow on a synthetic temperature-control problem and deploy it on a virtual Thermal Energy Delivery System, reducing mismatch and improving control robustness.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2021

Complexity and near extremal charged black branes

Highlights: • Trying to explore a remedy to overcome the puzzle in holographic complexity by assuming a cutoff behind the horizon and the corresponding boundary term. • Holographic complexity growth obtained by the WDW patch on shell action is insensitive to the UV cutoff at the late time. Therefore one may conclude that either on shell action does not compute complexity, or the late time is not given by the physical charges, or in our computations we have missed something! • We find that one needs to carefully compute on shell action taking into account the behind the horizon and the corresponding boundary term. Doing so, one arrives at a consistent picture. • We check this consistency by evaluating the late time complexity growth for near horizon limit of the near extremal black hole using two different methods. We would have obtained non-consistent picture, if we had not considered the behind the horizon cutoff as well as the corresponding boundary term. We compute holographic complexity of charged black brane solutions in arbitrary dimensions for the near horizon limit of near extremal case using two different methods. The corresponding complexity may be obtained either by taking the limit from the complexity of the charged black brane, or by computing the complexity for near horizon limit of near extremal solution. One observes that these results coincide if one assumes to have a cutoff behind horizon whose value is fixed by UV cutoff and also taking into account a proper counterterm evaluated on this cutoff. We also consider the situation for Vaidya charged black branes too.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2021

Gravity effects on Hawking radiation from charged black strings in Rastall theory

Highlights: • Introductory review of charged black strings in Rastall theory. • Detailed description of Hawking temperature. • Graphically Analysis of Hawking temperature. • Discuss the stability of charged black strings. The Rastall theory of gravity is the generalized form of the Einstein theory which describes the conservation law of energy and momentum tensor. In our work, we compute the charged black strings solution in the background of Rastall theory by applying the Newman–Janis approach. After computing the charged black strings solution in the background of Rastall theory, we study the thermodynamical property (i.e., Hawking temperature) for the charged black strings. Furthermore, we investigate the graphical representation of Hawking temperature via event horizon to check the stability conditions of charged black strings under the influence of Rastall theory. Moreover, we examine the modified Hawking temperature for charged black strings in Rastall theory by taking into account the quantum gravity effects. We also discuss the physical state of charged black strings under the effects of quantum gravity and spin parameter (appears due to Rastall theory in charged black strings solution).

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2021

Extended convex hull-based distributed optimal energy flow of integrated electricity-gas systems

Integrated electricity and gas systems are constructed to facilitate the gas-fired generation, and the distributed operation of these integrated systems have received much attention due to the increased emphasis on data security and privacy between different agencies. This paper proposes an extended convex hull based method to address optimal energy flow problems for the integrated electricity and gas systems in a distributed manner. First, a multi-block electricity-gas system model is constructed by dividing the whole system into N blocks considering both physical and regional differences. This multi-block model is then convexified by replacing the nonconvex gas transmission equation with the extended convex hull-based constraints. The Jacobi-Proximal alternating direction method of multipliers algorithm is adopted to solve the convexified model and minimize its operation cost. Finally, the feasibility of the optimal solution for the convexified model is checked, and a sufficient condition is developed. If the sufficient condition is satisfied, the optimal solution for the original nonconvex problem can be recovered from that for the convexified problem. Simulation results demonstrate that the proposed method is tractable and effective in obtaining feasible optimal solutions for multi-block optimal energy flow problems.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2023

Study of cosmogenic activation above ground for the DarkSide-20k experiment

The activation of materials due to exposure to cosmic rays may become an important background source for experiments investigating rare event phenomena. DarkSide-20k, currently under construction at the Laboratori Nazionali del Gran Sasso, is a direct detection experiment for galactic dark matter particles, using a two-phase liquid-argon Time Projection Chamber (TPC) filled with 49.7 tonnes (active mass) of Underground Argon (UAr) depleted in 39 Ar. Despite the outstanding capability of discriminating γ / β background in argon TPCs, this background must be considered because of induced dead time or accidental coincidences mimicking dark-matter signals and it is relevant for low-threshold electron-counting measurements. Here, the cosmogenic activity of relevant long-lived radioisotopes induced in the experiment has been estimated to set requirements and procedures during preparation of the experiment and to check that it is not dominant over primordial radioactivity; particular attention has been paid to the activation of the 120 t of UAr used in DarkSide-20k. Expected exposures above ground and production rates, either measured or calculated, have been considered in detail. From the simulated counting rates in the detector due to cosmogenic isotopes, it is concluded that activation in copper and stainless steel is not problematic. The activity of 39 Ar induced during extraction, purification and transport on surface is evaluated to be 2.8% of the activity measured in UAr by DarkSide-50 experiment, which used the same underground source, and thus considered acceptable. Other isotopes in the UAr such as 37 Ar and 3 H are shown not to be relevant due to short half-life and assumed purification methods.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2026

Dynamic analysis of fully constrained Cable-Driven Parallel Robots for automated prefabricated component installation

This paper presents a dynamic analysis and validation framework to assess a fully constrained six-anchor Cable-Driven Parallel Robot (CDPR) for automated installation of prefabricated facade components. Compared with conventional eight-anchor systems, the six-anchor configuration simplifies setup and reduces cost, but it also reduces control authority, shrinks the wrench-feasible workspace, and tightens orientation limits. Consequently, it is unclear a priori whether dynamically feasible trajectories exist to move the end effector from pickup to the facade. A constrained trajectory optimization is formulated to enforce the system dynamics, cable-tension bounds, and pose/velocity limits, and the framework is evaluated in simulation at three levels: (i) an idealized reference model, (ii) a lab-scale prototype model incorporating measured anchor misalignments and identified damping, and (iii) a full-scale three-story building model with load decomposition for structural feasibility checks. Across these scenarios, the analysis shows that optimal, constraint-satisfying trajectories exist that move the end effector from pickup to installation while maintaining a near-plumb, level orientation at the final pose. Collectively, this multi-scale dynamic analysis and validation framework supports the deployment readiness of the six-anchor CDPR and provides a prototype-based sensitivity case study of how measured anchor placement deviations affect feasibility.

CDPR↗