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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 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Teleoperation of Construction Robots Using Human Interaction: Case Study Examples: Preprint

The integration of advanced teleoperation methods in construction robotics has the potential to enhance productivity and safety in demanding environments. Among different methods, hand gestures have emerged as an intuitive approach, enabling seamless communication between human operators and robotic systems. This study demonstrates the use of hand gestures for controlling a model robotic excavator and a virtual robotic arm in construction applications. Two case study examples are presented. In the first case study, a series of hand gestures are performed to control a model robotic excavator's bucket and arm movements. The second case study focuses on using hand gestures to control a virtual robotic arm to perform a material handling task in a simulated environment. In both cases, the performed hand gestures are all successfully captured and interpreted by the gesture-based teleoperation method to conduct the corresponding tasks, which demonstrates the application of the gesture-based control method for various types of construction robots. Also, the limitations of the gesture-based teleoperation method (e.g., recognition delay, sensitivity to motion outliers) are discussed. Future work will focus on developing a digital twin system to support gesture-based teleoperation for a wider range of construction robots.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2021

Magnetic patch system

A magnetic patch system includes a sealing member configured for attachment to a pipeline proximate to a breach in a wall of the pipeline. A magnet is positioned at least partially within a housing arrangement. The magnet may be oriented to generate a force toward the wall of the pipeline to attach the housing arrangement to the wall of the pipeline and capture the sealing member between the housing arrangement and the wall of the pipeline. The system may be installed inside a pipeline using a remotely controlled robotic system.

Symington, Alex↗
DOE OSTI2021

Kinematics of a Cable-Driven Robotic Platform for Large-Scale Additive Manufacturing

Concrete additive manufacturing (AM) is a growing field of research. However, on-site, large-scale concrete additive manufacturing requires motion platforms that are difficult to implement with conventional rigid-link robotic systems. This article presents a new kinematic arrangement for a deployable cable-driven robot intended for on-site AM. The kinematics of this robot are examined to determine if they meet the requirements for this application, the wrench feasible workspace (WFW) is examined, and the physical implementation of a prototype is also presented. Data collected from the physical implementation of the proposed system are analyzed, and the results support its suitability for the intended application. The success of this system demonstrates that this kinematic arrangement is promising for future deployable AM systems.

36 MATERIALS SCIENCE↗
DOE OSTI2026

Autonomous elemental characterization enabled by a low cost robotic platform built upon a generalized software architecture

Despite the rapidly growing applications of robots in industry, the use of robots to automate tasks in scientific laboratories is less prolific due to the lack of generalized methodologies and the high cost of hardware. This paper focuses on the automation of characterization tasks necessary for reducing cost while maintaining generalization and proposes a software architecture for building robotic systems in scientific laboratory environments. A dual-layer (Socket.IO and ROS) action server design is the basic building block, which facilitates the implementation of a web-based front end for user-friendly operation and the use of ROS Behavior Trees for convenient task planning and execution. A robotic platform for automating mineral and material sample characterization is built upon the architecture, with an open-source, low-cost three-axis computer numerical control gantry system serving as the main robot. A handheld laser induced breakdown spectroscopy (LIBS) analyzer is integrated with a 3D printed adapter, enabling (1) automated 2D chemical mapping and (2) autonomous sample measurement (with the support of an RGB-Depth camera). We demonstrate the utility of automated chemical mapping by scanning the surface of a spodumene-bearing pegmatite core sample with a 1071-point dense hyperspectral map acquired at a rate of 1520 bits per second. Furthermore, we showcase the autonomy of the platform in terms of perception, dynamic decision-making, and execution, through a case study of LIBS measurement of multiple mineral samples. The platform enables controlled and autonomous chemical quantification in the laboratory that complements field-based measurements acquired with the same handheld device, linking resource exploration and processing steps in the supply chain for lithium-based battery materials.

Cao, Xuan [Lawrence Berkeley National Laboratory (↗
DOE OSTI2022

Autonomous Aerial Power Plant Inspection in GPS-denied Environments

Inspection of coal-fired power plants is frequently dangerous, includes difficult places to reach, and can turn expensive due to the downtimes and cost of inspection crew. Robotic systems have shown capabilities to address some of these issues, but most of the current robotic inspection technology in power plants is designed for specific components. Conversely, recent advances in machine vision have empowered aerial platforms for long-range, remotely-controlled, GPS-based inspections of industrial plants. This capability has led to wide spread utilization of aerial robots (commonly termed Drones, UVS or UAS) platforms for inspection in less challenging environments where both collision avoidance, and GPS reception are not significant issues. The challenge in adapting airborne technology for power plant inspection lies in internal structures and the complex network of piping, and distribution systems, which impose significant risks for collision and can hinder the reception and transmission of GPS signals. The current state of the art in aerial inspection technology within the energy sector is controlled via radio control, and utilizes GPS-based navigation, for inspection of large-scale plants such as offshore platforms and wind turbine parks. Nevertheless, close-range and autonomous inspection in the GPS-denied environments of power plants has not yet been achieved, as it requires precise guidance and navigation with real-time situational awareness and obstacle avoidance capabilities. This endeavor introduced the use of rotary wing flying robots, due to their station keeping and vertical take-off capabilities for power plant components inspection. To enable close quarter inspection two methods were used. One method uses the 3D CAD (Three-dimensional Computer-Aided Design) model of the asset to inspect to generate the UAV’s inspection path. To acquire, analyze and process the 3D model, first, the STL file is produced to obtain surface points and vectors normal to the surface. Later, by introducing other variables such as wall offset and a controlled trajectory between each outline and each subsequent layer, the flight path is generated. The proposed framework will generate a path that will pass as close as desired from the surface and navigate in intricate environments. A second method, use advanced manufacturing techniques such as CNC (Computer Numerical Control) and additive manufacturing. Once the inspection flight path is obtained, vision-based navigation systems are employed to have the UAV autonomously tracking the provided trajectory. Finally, Artificial Intelligence-enabled developments are in charge of detecting cracks and corrosion in structural components of power plants. The proposed methods are validated in simulations, laboratory and industrial setups, where it is shown that the developed systems acting together enable close-quarter autonomous aerial inspection and mapping in power plant assets. The system can be further improved by adding more sensors to navigate in different GPS-denied environments, with non-homogeneous lighting conditions, dust and in general situations where vision-based systems may fail.

01 COAL, LIGNITE, AND PEAT↗
DOE OSTI2022

IACMI Project 4.10: Blade Finishing Automation (Final Report)

IACMI Project 4.10, the Innovative Wind Turbine Blade Finishing with Advanced Automated Technology project, performed research addressing the challenges and opportunities associated with automating wind turbine blade finishing operations, including blade trimming and grinding. These activities, developed and conducted in close cooperation with wind industry partners, included: • The development of new automation technology and systems; • The integration of automation technology and components; • The improvements of sensor technology and their deployment in automation systems • The elimination of extensive manual programing for the automation of wind blade finishing; • The rethinking of the approach to specific work tasks for automation systems; • The demonstration at scale of innovative wind turbine blade finishing automations systems. The IACMI Wind TA team worked with GE Renewable Energy and LM Wind Power to establish the metrics of the automated blade finishing system developed in the project. In addition, the project team helped to integrate the advanced automated systems into wind turbine blade production facilities. This project was divided into two phases. Phase I provided project management, preliminary techno-economic model development, early US wind turbine industry outreach, and early research into robotic solutions for automated wind blade finishing. This second phase continued with project management, as well as final techno-economic model development, advanced research into robotic solutions for automated wind blade finishing, as well as specifications and procurement of a robotic system for automated wind blade finishing. The 4.10 project leveraged the capabilities and facilities established through the Institute for Advanced Composites Manufacturing Innovation (IACMI), the Colorado Office of Economic Development and International Trade (OEDIT) and the National Renewable Energy Laboratory (NREL). The IACMI Wind Technology Area (TA) designed and prepared for deployment a robotic automated wind turbine blade finishing system at the NREL/IACMI Composites Manufacturing Education and Technology (CoMET) facility. The results of this project led to follow-on funding to build upon and expand research in automated wind turbine blade finishing.

17 WIND ENERGY↗
DOE OSTI2024

Mechanical systems and kinematics

Kinematics is the study of how motion is achieved without reference to the forces that create the motion. This includes the basic structures of all robotic systems, such as links and joints, as well as their mathematical representations. This chapter will provide a brief overview of the types of motion used in additive manufacturing (AM) systems, as well as the mathematical equations that govern them. Rotations are explained using both Euler rotations and quaternions. Combined rotation and translations are shown using homogeneous transform matrices. The robot Jacobian, which relates joint velocities to the end effector translational velocities, is explained with an example calculation. This section will give the reader the basic mathematical foundation in kinematics that is necessary to understand the mechanical underpinnings of path planning for AM systems.

Wang, Peter↗
DOE OSTI2022

Autonomous aerial flight path inspection using advanced manufacturing techniques

Robotic systems have shown capabilities to perform inspection tasks in dangerous and difficult-to-access environments, such as those found in different components of power plants. However, most of the current robotic inspection technology is designed for specific components. Aerial robots, commonly termed as Drones, have raised an option to inspect a wider range of structural components. Nevertheless, current aerial inspecting technology still relies on a human pilot with limited line of sight, field of view and a reduced perception as the drone flies away, which prevents performing close-quarter inspection in intricate, structurally complex and GPS-denied environments. This work introduces offline inspection path generation methods based on robotics-integrated to manufacturing techniques. One method uses computer-aided manufacturing (CAM) techniques and the other an additive manufacturing (AM) approach to generate the flight path. That is to say, the drone would fly along the path described by a 3D (Three Dimensional) printer’s extruder or a CNC (Computer Numerical Control) machining tool, enabling to fly very close the structure even in physical structures with a complex geometry. Once the trajectories are generated, they are introduced for its validation in the Gazebo robotics simulator. Simulation results demonstrate the proper performance of the method and confirm that this approach can be used for close inspection of structural components.

42 ENGINEERING↗
DOE OSTI2025

Field-Driven Out-of-Equilibrium Collective Patterns for Swarm Micro-Robotics

Soft robotics has been rapidly advancing, offering significant improvements over traditional rigid robotic systems through the use of compliant materials that enhance adaptability and interaction with the environment. However, current approaches face critical challenges, including the reliance on complex “top-down” fabrication techniques and the difficulty of wireless powering and control at the microscale. Swarm robotics introduces a paradigm shift, leveraging collective dynamics to achieve cooperative and adaptable behaviors among multiple robotic units. Inspired by nature, this “bottom-up” approach enables swarm robots to execute task-specific reconfigurations, enhancing flexibility and robustness. Field-driven active colloids emerge as a promising platform for swarm microrobotics, capable of self-propulsion and self-organization into dynamic collective patterns under external field excitation and manipulation. These systems mimic biologically inspired swarm behaviors, such as flocking and vortex formation, providing a versatile foundation for designing innovative swarm microrobots. Here, this review discusses the principles of electric and magnetic field-driven collective self-organization, focusing on the particle dynamics, the emergence of collective swarm patterns, and illustrative examples of functional swarm microrobots. It concludes with future perspectives on harnessing these systems for adaptive, scalable, and multifunctional microrobotic applications.

77 NANOSCIENCE AND NANOTECHNOLOGY↗
DOE OSTI2026

Robotic automation of maintenance work in nuclear power plants a cross-sector survey and roadmap

Nuclear power plants face increasing cost pressures, workforce constraints (aging workforce and skilled labor shortages), and safety requirements that are accelerating interest in robotic systems for inspection and maintenance. We conducted semi-structured interviews with personnel from seven U.S. nuclear utilities and compared deployment models, operational use cases, and integration practices with those reported by participants in the oil, gas, and petrochemical sector. In nuclear plants, robotic use remains concentrated in inspection—particularly indoor unmanned aerial vehicles and submersible remotely operated vehicles—with limited application to physical maintenance tasks. Reported near-term value includes reduced radiological and industrial risk, reduced outage labor, and improved data for planning and condition assessment. Key barriers include integration and data-interoperability constraints, operator qualification requirements, cybersecurity review burden, and difficulty demonstrating reliability in plant-representative environments. Cross-sector benchmarking highlights organizational and deployment practices that may help nuclear plants scale from pilots to routine use. We propose a deployment-oriented roadmap emphasizing modular payload strategies, representative qualification pathways and testing environments, and improved data governance to support safe and economically justified expansion of robotics in operating nuclear power plants.

11 - NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2024

Motility-induced phase separation and frustration in active matter swarmalators

Here we introduce a two dimensional system of active matter swarmalators composed of elastically interacting run-and-tumble active disks with an internal parameter Φ i . The disks experience an additional attractive or repulsive force with neighboring disks depending upon their relative difference in Φ i , making them similar to swarmalators used in robotic systems. In the absence of the internal parameter, the system forms a motility-induced phase separated (MIPS) state, but when the swarmalator interactions are present, a wide variety of other active phases appear depending upon whether the interaction is attractive or repulsive and whether the particles act to synchronize or ant-synchronize their internal parameter values. These phases include a gas-free gel regime, arrested clusters, a labyrinthine state, a regular MIPS state, a frustrated MIPS state for attractive antisynchronization, and a superlattice MIPS state for attractive synchronization.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2020

Energy Efficient Thermoplastic Composite Manufacturing

The objective of the project was to establish an effective and affordable method to lay-up and consolidate/join large thermoplastic composite aerospace structure with cycle times measured in minutes rather than hours. Composite airplane designs have proven efficient and effective however future potential product production rates are challenging what the current systems can efficiently produce due to material lay-down constraints and extended thermal cycle times. The ability to lay-up then rapidly heat, consolidate, and cool large complex composite structures plus very accurately tool them (i.e. matching CTE of composite materials) along with very precise thermal control is a difficult challenge. Current systems such as autoclave processing of thermoset materials require long cycle times due to method of heating and the large associated thermal masses. These extended cycle times inhibit the ability to meet higher rate production scenarios due to the need for multiple sets of equipment and tools. Thermoplastic composite materials were used to facilitate more rapid cycle times via the elimination of a need for a cure dwell at temperature. Also, utilized induction heating along with smart susceptors to enable the quick cycle times needed while providing precise intrinsic thermal control. The intrinsic control of the induction heating process via the smart susceptors along with the use of laser assisted fiber placement were the key innovations areas developed. The ability to rapidly heat and then precisely control the temperature of the consolidation component was paramount to the success of this project. It is this unique processing attribute coupled with the thermoplastic material characteristics along with rapid lay-up methods that are novel and advantageous. While many requirements and influencing factors decide the materials and processes utilized for future airplane construction, the forecast of accelerated production rates and the recent performance successes of composites in airplane construction provide an opportunity for this processing technology to have significant influence. During the course of this project a number of key accomplishments were completed. They are as follows: The needed laser assisted fiber placement capabilities have been developed and validated on a component of meaningful scale and complexity. Subsequently, a thermoplastic preform of the part scale-up part design was laser assisted fiber placed and made availalbe for consolidation. An induction consolidation system was sized, designed, and fabricated resulting in the full capability to consolidate the scale-up component. The tool for induction consolidating of the scale-up component was designed and fabricated. An aluminum pressure bladder was welded and formed for use as the pressurization membrane to perform the needed application of pressure on the part at temperature to achieve consolidation. The induction consolidation system consisting of the restraint, induction power supply, induction tool with integrated induction coils and smart susceptor liners, along with the aluminum bladder were successfully used to consolidate a large thermoplastic skin. The capability of accomplishing rapid heat-up rates and cool down rates for consolidation of large thermoplastic skins with precise thermal control and even pressure application at the consolidation temperature was validated. The general conclusion is that the use of induction consolidation with smart susceptors is an effective method to rapidly and efficiently consolidate large thermoplastic composite components and enable affordable high rate manufacturing of composites. More specific conclusions generated by this project are as follows: A restraint type induction consolidation system provides an affordable option over the standard press when using the induction consolidation processing method. Aluminum bladders can be formed to the complex shapes needed and supply uniform pressure for consolidation and co-consolidation of thermoplastic composite materials. Straightforward modifications can be made to existing fiber placement robotic systems to enable their use for thermoplastic lay-up applications.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2024

Autonomous phototaxis of hydrogel swimmers

The design of synthetic soft matter capable of emulating the complex behaviors of living organisms, such as sensing and adapting to their environment, remains an important challenge in developing biomimetic materials. Functionalized hydrogels are ideal candidates for such materials since they are highly responsive to their environment and can be operated in water. In this work, we investigate a hybrid bonding hydrogel composed of peptide amphiphile supramolecular nanofibers covalently attached to a photoresponsive network, in which high-aspect-ratio ferromagnetic nanowires are aligned along the length of the sample, designed to swim under oscillating magnetic fields. This hybrid hydrogel swimmer can autonomously swim toward a light source by utilizing photoinduced interactions between supramolecular and covalent networks reminiscent of phototactic swimming in living systems. Using a combination of experimental techniques and a continuum model incorporating photochemistry, magnetoelasticity, and hydrodynamics, we explain the swimming mechanism and predict phototactic behavior. Our work highlights the potential role of hybrid bonding polymers, which leverage the interplay between supramolecular assemblies and covalent networks. We demonstrate how these polymers can be tailored to react dynamically to their environment, paving the way for developing intelligent and autonomous robotic systems.

Science & Technology - Other Topics↗
DOE OSTI2020

Hanging droplets from liquid surfaces

Natural and man-made robotic systems use the interfacial tension between two fluids to support dense objects on liquid surfaces. Here, we show that coacervate-encased droplets of an aqueous polymer solution can be hung from the surface of a less dense aqueous polymer solution using surface tension. The forces acting on and the shapes of the hanging droplets can be controlled. Sacs with homogeneous and heterogeneous surfaces are hung from the surface and, by capillary forces, form well-ordered arrays. Locomotion and rotation can be achieved by embedding magnetic microparticles within the assemblies. Direct contact of the droplet with air enables in situ manipulation and compartmentalized cascading chemical reactions with selective transport. Applications including functional microreactors, motors, and biomimetic robots are evident.

36 MATERIALS SCIENCE↗
DOE OSTI2023

GAHLS: an optimized graph analytics based high level synthesis framework

The urgent need for low latency, high-compute and low power on-board intelligence in autonomous systems, cyber-physical systems, robotics, edge computing, evolvable computing, and complex data science calls for determining the optimal amount and type of specialized hardware together with reconfigurability capabilities. With these goals in mind, we propose a novel comprehensive graph analytics based high level synthesis (GAHLS) framework that efficiently analyzes complex high level programs through a combined compiler-based approach and graph theoretic optimization and synthesizes them into message passing domain-specific accelerators. This GAHLS framework first constructs a compiler-assisted dependency graph (CaDG) from low level virtual machine (LLVM) intermediate representation (IR) of high level programs and converts it into a hardware friendly description representation. Next, the GAHLS framework performs a memory design space exploration while account for the identified computational properties from the CaDG and optimizing the system performance for higher bandwidth. The GAHLS framework also performs a robust optimization to identify the CaDG subgraphs with similar computational structures and aggregate them into intelligent processing clusters in order to optimize the usage of underlying hardware resources. Finally, the GAHLS framework synthesizes this compressed specialized CaDG into processing elements while optimizing the system performance and area metrics. Evaluations of the GAHLS framework on several real-life applications (e.g., deep learning, brain machine interfaces) demonstrate that it provides 14.27× performance improvements compared to state-of-the-art approaches such as LegUp 6.2.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2025

IEEE SusTech 2025 Presentation

This paper evaluates the capability of a fully electric pickup truck, using the Ford F-150 Lightning as an example, to provide power to the circuit of a multi-robot system. The case study was conducted on a simulated INL Autonomous Pit Exploration System (APES) designed for the inspection of nuclear waste tank pits. Through a series of controlled tests, the vehicle’s power delivery consistency, load-handling capability, and battery performance were assessed under various conditions. First of all, the load test demonstrated that the vehicle provided stable power with low distortion and no unexpected interruptions. Second, during the operational limit test, the 240V system sustained loads up to 7.4 kW before tripping, providing insights into its operational limits. Last but not least, during a simulated full-scale APES operation, the vehicle’s battery depleted by only 6\% over an hour, indicating sufficient capacity for extended use while retaining reserve power for transportation needs. This study highlights the potential of electric vehicles as reliable power sources for field operations, contributing to the advancement of sustainable technologies by reducing reliance on traditional fossil fuel generators and promoting the integration of clean energy solutions in remote and challenging environments.

42 - ENGINEERING↗
DOE OSTI2022

PlasmidMaker is a versatile, automated, and high throughput end-to-end platform for plasmid construction

Abstract Plasmids are used extensively in basic and applied biology. However, design and construction of plasmids, specifically the ones carrying complex genetic information, remains one of the most time-consuming, labor-intensive, and rate-limiting steps in performing sophisticated biological experiments. Here, we report the development of a versatile, robust, automated end-to-end platform named PlasmidMaker that allows error-free construction of plasmids with virtually any sequences in a high throughput manner. This platform consists of a most versatile DNA assembly method using Pyrococcus furiosus Argonaute ( Pf Ago)-based artificial restriction enzymes, a user-friendly frontend for plasmid design, and a backend that streamlines the workflow and integration with a robotic system. As a proof of concept, we used this platform to generate 101 plasmids from six different species ranging from 5 to 18 kb in size from up to 11 DNA fragments. PlasmidMaker should greatly expand the potential of synthetic biology.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2024

Self-driving laboratories to autonomously navigate the protein fitness landscape

Abstract Protein engineering has nearly limitless applications across chemistry, energy and medicine, but creating new proteins with improved or novel functions remains slow, labor-intensive and inefficient. Here we present the Self-driving Autonomous Machines for Protein Landscape Exploration (SAMPLE) platform for fully autonomous protein engineering. SAMPLE is driven by an intelligent agent that learns protein sequence–function relationships, designs new proteins and sends designs to a fully automated robotic system that experimentally tests the designed proteins and provides feedback to improve the agent’s understanding of the system. We deploy four SAMPLE agents with the goal of engineering glycoside hydrolase enzymes with enhanced thermal tolerance. Despite showing individual differences in their search behavior, all four agents quickly converge on thermostable enzymes. Self-driving laboratories automate and accelerate the scientific discovery process and hold great potential for the fields of protein engineering and synthetic biology.

Rapp, Jacob T. (ORCID:0000000226835204)↗