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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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27 records · Page 2
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Dynamic Analysis of a Six-Cable Parallel Robot for Automated Panelized Building Retrofits

Cable-Driven Parallel Robots (CDPRs) are highly suitable for automated panelized building retrofits, thanks to their compact footprint and high payload-to-weight ratio. A common CDPR configuration featuring eight cables, where the anchors form a rectangular prism in front of the building facade, offers a large wrench feasible workspace and good control versatility. However, installing upper anchor points requires additional support structures, such as towers or beams, increasing setup complexity and posing logistical challenges in construction settings. To mitigate these challenges, we propose a six-cable CDPR model specifically designed for automated panelized building retrofits. Although the feasible workspace is limited, our analysis shows that the proposed CDPR adequately covers the critical areas required for panel installation. To validate that the six-cable system can effectively transport the end effector to the desired installation pose, we calculated optimal trajectories based on a constrained dynamic model. The simulation results of the six-cable CDPR demonstrate promising potential for automated panelized building retrofits, effectively balancing simplicity, cost-effectiveness, and functionality.

Liu, Yifang [ORNL] (ORCID:0000000190817417)↗
DOE OSTI2025

A Behavioral Robotics Approach to Radiation Mapping Using Adaptive Sampling

Radiation mapping is a desirable task to automate because of the inherent risks involved and its tedious nature. A novel system was designed to address this by combining various existing technologies, utilizing behavior-based robotics and Bayesian optimization. The system uses a quadruped robot equipped with a manipulator and gamma detector to take measurements at locations that are selected based on the uncertainty of a surrogate model used to estimate the true radiation field. The robot uses input from the world with depth cameras to avoid collisions with the robot’s body, and unreachable points for the end effector are addressed by both allowing for a soft collision with the environment to occur, prompting the system to abandon that point, and varying the exploration tendency of the optimization based on consecutive collisions. This approach provides unique traversability and adaptability over other strategies in the literature. Experiments were performed by placing a Cesium-137 source on the ground and varying geometric setups and an optimization parameter demonstrating the adaptability to diverse environments and the increased robustness resulting from the designed behavior. The results additionally demonstrate that dynamically adjusting the optimization algorithm’s exploration tendency based on the arm’s collision history improves the system’s ability to navigate cluttered environments and construct accurate radiation maps without getting stuck in unreachable areas.

Adams, Joel↗
DOE OSTI2025

Dynamic Modeling, Trajectory Optimization, and Linear Control of Cable-Driven Parallel Robots for Automated Panelized Building Retrofits

The construction industry faces a growing need for automation to reduce costs, improve accuracy and productivity, and address labor shortages. One area that stands to benefit significantly from automation is panelized prefabricated building envelope retrofits, which can improve a building’s energy efficiency in heating and cooling interior spaces. In this paper, we propose using cable-driven parallel robots (CDPRs), which can effectively lift and handle large objects, to install these panels. However, implementing CDPRs presents significant challenges because of their nonlinear dynamics, complex trajectory planning, and precise control requirements. To tackle these challenges, this work focuses on a new application of established control and trajectory optimization theories in a CDPR simulation of a building envelope retrofit under real-world conditions. We first model the dynamics of CDPRs, highlighting the critical role of damping in system behavior. Building on this dynamic model, we formulate a trajectory optimization problem to generate feasible and efficient motion plans for the robot under operational and environmental constraints. Given the high precision required in the construction industry, accurately tracking the optimized trajectory is essential. However, challenges such as partial observability and external vibrations complicate this task. To address these issues, a Linear Quadratic Gaussian control framework is applied, enabling the robot to track the optimized trajectories with precision. Simulation results show that the proposed controller enables precise end effector positioning with errors under 4 mm, even in the presence of external wind disturbances. Through comprehensive simulations, our approach allows for an in-depth exploration of the system’s nonlinear dynamics, trajectory optimization, and control strategies under controlled yet highly realistic conditions. The results demonstrate the feasibility of CDPRs for automating panel installation and provide insights into their practical deployment.

CDPR↗
DOE OSTI2022

Local Thermomechanical Processing for Improving Formability of High Strength Aluminum Sheets

Limited room temperature formability hinders the wide-spread use of high strength aluminum alloys in structural body-in-white parts. Stamping or extrusion at warm temperatures or from softer tempers are the current solutions. In this work, our approach is to start with age-hardened sheets from 7xxx and 6xxx family of alloys and improve their formability using local thermomechanical processing only in the regions demanding highest ductility in the forming processes. We achieved local formability improvements with friction stir processing and introduce another process named roller-bending as a concept and showed its feasibility through finite element simulations. Initial results from FSP indicated significant deformation in the processed zones with minimal sheet distortion. FSP also resulted in dynamically recrystallized, fine grained (d < 5 µm) microstructures in the processed regions with textures significantly different from the base material. This resulted in formability improvements of > 30% in 7085-T76 and > 50% in 6111-T6 alloys as measured by minimum bend radius (r/t) ratios established with V-bending tests performed at 90° and 180° bend angles. Based on the encouraging initial results, we envision applicability of these processes in both pre- and post-stamping stages through integration of the process tools as end-effectors to robotic arms.

Nasim, Wahaz↗
DOE OSTI2021

Large-scale continuous carbon/glass fiber additive-compression molded composites

Additive Manufacturing (AM) or 3-D printing has advanced from small-scale desktop printers to large-scale printers. Most of the present large-scale printers utilize feedstock materials in the form of pellets to create composite structures. To create structurally robust composite parts, reinforcements in the form of short fibers (carbon or glass) are often used to impart mechanical properties to the printed parts. However, poor mechanical properties in Z-direction and high porosity of pellets-based printed composites compared to composite manufactured using traditional methods are serious concerns. The authors report a combined approach in the present work, where fiber reinforced composites are printed with a high-throughput continuous fiber deposition method followed by a secondary compression molding process. A specially designed end-effector mounted on a robotic arm is used to print composite preforms. Continuous comingled fibers (Thermofiber 12K CF-PA12, Thermofiber 12K S2-PA12, and Hybrid Thermofiber 12K CF-PA12+PEEK PA6) embedded in the thermoplastic nylon matrix are printed to create composite preform plaques. The printed preforms were further compression molded (CM) using a hydraulic hot-press to create highly consolidated composite parts. The mechanical properties of the continuous fiber composites produced by this combined approach are improved significantly due to the highly aligned continuous fibers and reduced porosity. Flexural strength, flexural modulus, and tensile modulus of AM-CM Thermofiber 12K CF-PA12 UD sample were 615.37 MPa, 75.65 GPa, and 122.23 GPa, respectively.

Kumar, Vipin↗
DOE OSTI2022

Linear differential

Apparatuses and methods of operating a linear differential (100, 600) are described herein. The linear differential (100, 600) contains a slide portion (102) with parallel right-hand and left-hand threaded rods (112, 114). Threaded onto the right-hand and left-hand threaded rods (112, 114) and attached to the slide portion (102) are right-hand and left-hand gears (116, 118). Meshed between the right-hand and left-hand gears (116, 118) and also attached to the slide portion (102) is a driven gear (200). An end effector (104) is attached to the driven gear (200) and is configured to translate along a translation axis (110) and rotate around a rotation axis (120).

Crawford, Anthony↗
DOE OSTI2024

Structure of a tripartite protein complex that targets toxins to the type VII secretion system

Type VII secretion systems are membrane-embedded nanomachines used by Gram-positive bacteria to export effector proteins from the cytoplasm to the extracellular environment. Many of these effectors are polymorphic toxins comprised of an N-terminal Leu-x-Gly (LXG) domain of unknown function and a C-terminal toxin domain that inhibits the growth of bacterial competitors. In recent work, it was shown that LXG effectors require two cognate Lap proteins for T7SS-dependent export. Here, we present the 2.6 Å structure of the LXG domain of the TelA toxin from the opportunistic pathogen Streptococcus intermedius in complex with both of its cognate Lap targeting factors. The structure reveals an elongated α-helical bundle within which each Lap protein makes extensive hydrophobic contacts with either end of the LXG domain. Remarkably, despite low overall sequence identity, we identify striking structural similarity between our LXG complex and PE–PPE heterodimers exported by the distantly related ESX type VII secretion systems of Mycobacteria implying a conserved mechanism of effector export among diverse Gram-positive bacteria. Overall, our findings demonstrate that LXG domains, in conjunction with their cognate Lap targeting factors, represent a tripartite secretion signal for a widespread family of T7SS toxins.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2024

Single-molecule epitranscriptomic analysis of full-length HIV-1 RNAs reveals functional roles of site-specific m6As

Abstract Although the significance of chemical modifications on RNA is acknowledged, the evolutionary benefits and specific roles in human immunodeficiency virus (HIV-1) replication remain elusive. Most studies have provided only population-averaged values of modifications for fragmented RNAs at low resolution and have relied on indirect analyses of phenotypic effects by perturbing host effectors. Here we analysed chemical modifications on HIV-1 RNAs at the full-length, single RNA level and nucleotide resolution using direct RNA sequencing methods. Our data reveal an unexpectedly simple HIV-1 modification landscape, highlighting three predominant N 6 -methyladenosine (m 6 A) modifications near the 3′ end. More densely installed in spliced viral messenger RNAs than in genomic RNAs, these m 6 As play a crucial role in maintaining normal levels of HIV-1 RNA splicing and translation. HIV-1 generates diverse RNA subspecies with distinct m 6 A ensembles, and maintaining multiple of these m 6 As on its RNAs provides additional stability and resilience to HIV-1 replication, suggesting an unexplored viral RNA-level evolutionary strategy.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2024

Transcriptome analysis and immune gene expression of channel catfish ( Ictalurus punctatus ) fed diets with inclusion of frass from black soldier fly larvae

The larval waste, exoskeleton shedding, and leftover feed components of the black soldier fly and its larvae make up the by-product known as frass. In this study, we subjected channel catfish (Ictalurus punctatus) to a 10-week feeding trial to assess how different dietary amounts of frass inclusion would affect both systemic and mucosal tissue gene expression, especially in regard to growth and immune-related genes. Fish were divided in quadruplicate aquaria, and five experimental diets comprising 0, 50, 100, 200, and 300 g of frass per kilogram of feed were fed twice daily. At the end of the trial, liver, head kidney, gill, and intestine samples were collected for gene expression analyses. First, liver and intestine samples from fish fed with a no frass inclusion diet (control), low-frass (50 g/kg) inclusion diet, or a high-frass (300 g/kg) inclusion diet were subjected to Illumina RNA sequencing to determine global differential gene expression among diet groups. Differentially expressed genes (DEGs) included the upregulation of growth-related genes such as glucose-6-phosphatase and myostatin, as well as innate immune receptors and effector molecules such as toll-like receptor 5, apolipoprotein A1, C-type lectin, and lysozyme. Based on the initial screenings of low/high frass using RNA sequencing, a more thorough evaluation of immune gene expression of all tissues sampled, and all levels of frass inclusion, was further conducted. Using targeted quantitative PCR panels for both innate and adaptive immune genes from channel catfish, differential expression of genes was identified, which included innate receptors (TLR1, TLR5, TLR9, and TLR20A), proinflammatory cytokines (IL-1β type a, IL-1β type b, IL-17, IFN-γ, and TNFα), chemokines (CFC3 and CFD), and hepcidin in both systemic (liver and head kidney) and mucosal (gill and intestine) tissues. Overall, frass from black soldier fly larvae inclusion in formulated diets was found to alter global gene expression and activate innate and adaptive immunity in channel catfish, which has the potential to support disease resistance in this species in addition to demonstrated growth benefits.

59 BASIC BIOLOGICAL SCIENCES↗