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Strategy support to determine the best approach to deploy solar technologies and commercially viable heat pump projects across their existing Rural Energy Partners solar project development support channel.
This report is a framework to help the United States Park Police in selecting and deploying various e-mobility options that are currently available in the market. In the process of creating this framework, we developed the Mobility Optimization and Deployment Engine (MODE) tool whose use could go beyond the scope of this work and mobility options.
Abstract not provided.
Abstract not provided.
Various embodiments include an actuated projectile launcher, including: a base structure; a projectile support, and a holding area from which a projectile launches; propulsion wheels selectively driven to rotate; and support arms, each supporting at a first end thereof a separate one of the propulsion wheels and being supported at an opposed second end thereof by the base structure. The support arms are configured to move the propulsion wheels between an expanded position and a contracted position, in which the propulsion wheels are closer to one another in the contracted position as compared to the expanded position. The movement of the propulsion wheels toward the contracted position brings the propulsion wheels into engagement with the projectile and drives the projectile from the holding area.
Off-road vehicles, such as wheel loaders, excavators, and harvesters, are extensively utilized across a wide range of industries, including construction, agriculture, and mining. These machines have become indispensable in supporting the day-to-day operational needs of a nation, playing a critical role in various sectors' infrastructure and productivity. However, despite their utility, off-road vehicles are significant consumers of fossil fuels, resulting in substantial emissions that contribute to environmental degradation. This highlights the pressing need for research and technological advancements aimed at improving their energy efficiency and reducing their carbon footprint. There are, however, two primary challenges that must be addressed to achieve these goals. First, off-road vehicles typically perform both driving and working tasks simultaneously, which introduces a high level of complexity into their overall dynamic systems. Analysis the interactions between these functions is challenging. Second, research into off-road vehicles is inherently interdisciplinary, demanding expertise across several domains such as fluid power systems, vehicle dynamics, control theory, optimization techniques, and real-world implementation. Recognizing these challenges, we proposed the project titled "Optimization and Evaluation of Energy Savings for Connected and Autonomous Off-Road Vehicles" as a comprehensive solution to enhance fuel efficiency while simultaneously improving productivity. This project specifically focuses on autonomous off-road vehicles, with particular attention to wheel loaders, and seeks to develop novel methods to optimize energy consumption without sacrificing operational performance. The project integrates real-time control algorithms, vehicle dynamics modeling, and co-optimization of powertrain system and vehicle system to achieve these goals. Our optimization strategy dynamically co-optimizes critical parameters at both the powertrain and vehicle levels, including vehicle speed, working tool movements, powertrain dynamics, and engine operations in real-time. To streamline this optimization process, we developed a vehicle model that captures the key dynamics while significantly enhancing computational efficiency. This allows the system to intelligently minimize fuel consumption, all while maintaining or even improving productivity through real-time calculations during various off-road operations. To validate the effectiveness of this energy optimization method, we introduced a state-of-the-art Hardware-in-the-Loop (HIL) testbed. This reconfigurable testbed seamlessly integrates the actual engine with virtual models of the wheel loader's subsystems, allowing for accurate emulation of real-world operational loads and environments. By simulating these conditions, the HIL testbed enables us to evaluate the wheel loader’s performance under diverse working scenarios, ensuring the developed solution is applicable in real-world operations. This testbed proved to be instrumental in validating the optimization algorithms and demonstrating the system's practical effectiveness. During the evaluation and testing phase, we employed the HIL testbed to rigorously assess the energy savings and productivity improvements generated by the optimized system. The results were highly encouraging, revealing that the automated wheel loader achieved over 30% fuel savings compared to traditional, human-operated cycles, with comparable or even enhanced levels of productivity. The insights gained from this HIL-based testing provided critical validation of our approach and highlighted the potential for deploying these optimized autonomous technologies in real-world off-road vehicles.
This paper presents the design, modeling, and control of a hardware-in-the-loop (HIL) testbed for off-road vehicles. The proposed HIL testbed employs a transient hydrostatic dynamometer to load a diesel engine to emulate any loading cycles of a wheel loader, which is a representative off-road vehicle. A fully validated wheel loader model is used to calculate the engine load, including both the drive and work functions. Besides, iterative learning control (ILC) has been designed for the loading torque tracking of the hydrostatic dynamometer to ensure accurate emulation of real-world operation scenarios. The developed HIL testbed is used to demonstrate more than 26% energy benefits of automated wheel loaders through systematic optimization compared with human-operated wheel loaders. As a result, this HIL testbed serves as a robust platform for advancing research and development across various off-road vehicles, including excavators, tractors, and harvesters.
A robotic vehicle can include a plurality of motors coupled to a plurality of gearboxes, each gearbox of the plurality of gearboxes configured to be rotated, a plurality of nested driveshafts coupled to the plurality of gearboxes and including at least a first driveshaft and a second driveshaft, and a plurality of appendages operably coupled to the plurality of gearboxes. A particular appendage of the plurality of appendages can be configured to be rotated in response to a rotational motion of the first driveshaft. The robotic vehicle can include a plurality of wheels coupled to the plurality of appendages and configured to rotate about a plurality of wheel axles. Each wheel of the plurality of wheels can be configured to cause the robotic vehicle to be transported across a contacting surface in response to the rotational motion of the second driveshaft.
Hydrogen fuel cell-powered off-road vehicles can replace hydrocarbon-powered off-road vehicles to reduce carbon dioxide and criteria pollutant emissions in the agriculture, construction, and mining industries. Vehicle manufacturers and customers recognize health and environmental benefits of emissions reductions but are ultimately compelled by the total cost of ownership of their vehicles. In this study, we conduct a technoeconomic evaluation for three hallmark off-road vehicles, tractors, wheel loaders, and excavators, comparing vehicles with hydrogen fuel cell + battery hybrid powertrains to traditional diesel powertrains. Stakeholder-valued performance metrics include fuel cell engine power, engine durability, hydrogen consumption rate, hydrogen storage system volume, and energy-regenerative drivetrain efficiency. The total cost of ownership includes capital, operating and maintenance, fuel, and fuel storage costs. State-of-the-art fuel cell powered wheel loaders and excavators are currently cost competitive with diesel platforms. If targeted improvements to cost, performance, and durability improvements of fuel cell stacks and storage systems are achieved, fuel cell systems would be cost competitive for tractors and significantly lower total cost of ownership options for wheel loaders and excavators.
In this study, the control of a desiccant-wheel-based evaporative cooling system with a double-layer dew-point cooler system is emphasized. There are two dew-point evaporative coolers in the system and the air taken inside is subjected to pre- and post-cooling processes. The dehumidification process of the air taken in is carried out by the desiccant wheel after the pre-cooling process. A proportional-based control strategy has been developed to adjust the temperature and relative humidity of the room quickly and robustly with different operation modes for actuators to bring comfort with less energy consumption. In addition, an automatic Stop/Run mode has been added to the control strategy to save extra energy. With the developed control strategy, enabling the actuators to switch between the operation modes, more energy savings are achieved compared to both traditional ON/OFF and proportional controls. The accuracy and applicability of the developed control strategy were analyzed and it was observed that the room comfort reached the desired levels successfully under all disruptive effects. The control inputs and the energies consumed by all the actuators were investigated and it was determined that 21.19% more energy savings are provided by adding the automatic Stop/Run feature. With the multi-mode control strategy, a total of 40.90% less energy consumption is achieved compared to the classical ON/OFF control technique. Thus, it is seen that the controller developed for the desiccant-wheel-based evaporative cooler is a viable method to provide fast and robust comfort conditions with less energy.
In this work, we present characterization of surface oxidation and crystallization behavior of Metal Amorphous Nanocomposite (MANC) (Fe 70 Ni 30 ) 80 Nb 4 Si 2 B 14 alloys via complementary x-ray diffraction, electron microscopy, and x-ray photoelectron spectroscopy techniques. An adherent amorphous oxide of roughly 15–20 nm in thickness is observed on the wheel side of the ribbon, enriched in Fe relative to Ni and with significant content of Si and Nb as would be expected based upon a comparison of the Gibbs free energy of formation of the stable oxide phases. The amorphous character of the oxide is likely to result from the significant Si-content coupled with the amorphous and nanocrystalline character of the underlying metallic layer. Higher density of FeNi-enriched nanocrystals is also observed within ~100 nm of the wheel-side surface, presumably due to reduction in local glass former concentration. A rough, crystalline copper oxide layer is also present and forms through contact between the copper wheel and the solidifying melt during the rapid solidification process. On the air side of the ribbon, a crystalline oxide layer of ~15–20 nm is formed as well as intergranular oxidation that penetrates along the grain boundaries between highly textured surface crystallites of ~50–100 nm in size. The crystalline nature of the oxide on these surfaces is asserted to result from the lack of significant Si-content and the pre-existing surface crystallites that form during the rapid solidification process which promote a crystalline oxide surface layer. Furthermore, these results shed new insights into the details of surface oxidation and can help to inform processing and alloy composition adjustments which seek to tailor surface properties.
The design and development of a prototype unmanned mobile floating platform, equipped with a custom low-flow marine current turbine for autonomously seeking and harnessing tidal/coastal currents is described. The platform is an unmanned surface vehicle in the form of a catamaran with two electric outboard motors and capabilities for autonomous navigation. An undershot water wheel, aided by a custom flow concentrator, has been selected as the basic design for the marine current turbine, which is mounted on the stern of the unmanned surface vehicle platform. The concept of operation is that the platform would navigate to a designated marine current resource, autonomously anchor at the location, align itself in the current and deploy the current turbine using a custom cable-lift deployment mechanism. As the turbine harnesses the local current, an onboard power-take-off device converts the harnessed mechanical energy to electricity which is stored in onboard batteries. Considerations of deployment in tidal and coastal waters required obtaining the necessary environmental permits for conducting in-water testing; developing required mitigation measures in protecting local wildlife and their habitats; and identifying potential in-water test sites and surveying them for their suitability in terms of the current resource, bottom type, water depth, and local boat traffic. The design and development of the turbine and the results of initial in-water testing are discussed. The potential for scaling up the system for extended capacity is presented.
A photodiode sensor device and systems. The photodiode sensor device includes a housing portion. The housing portion includes a cylindrical enclosure. A window is disposed at a first end of the housing portion. A filter wheel is within the housing portion. A motor positioned within the housing is adjacent the filter wheel opposite the window. The motor is attached to the filter wheel. A photodiode sensor within the housing portion intermediate the first photodiode sensor and the window. The first photodiode sensor receives filtered light incident on the window and transmit a signal associated with sensed parameters of the filtered light. Also, a hemispherical dome for diffusing the light to a collimating lens has a grating, a focusing lens, and a linear detector array. An exit port transmits light to the collimating lens. The sensor array is opposite the grating for sensing the diffused light.
Robots and robotic systems that are designed for inspection, environmental study, and health and safety aid are becoming an increasing necessity. However, there is a number of challenges that accompany robots that are designed for these specific applications. These challenges include: navigating compact, enclosed spaces, travelling over multiple terrains and large obstacles, using the proper sensing and detection methods to assess an environment, and the use of lightweight and durable materials. The robotic platforms currently in development look at all of these challenges and attempt to overcome them. These designs specific use of hybrid robotic platforms, or platform that utilizes soft and rigid materials, allows for a more flexible platform and makes environments more navigable. To further improve the navigation of the platforms and environmental assessment, a novel infrared detection system is housed in the platforms to create a robot that can be used for the applications listed above and more. Objectives: Further develop two types of robotic platforms that utilize additive manufacturing, soft materials, and rigid materials. Continue the development of an intelligent and inhibitory infrared detection system based on an artificial intelligence (AI) algorithm. Continued study and fabrication of active soft materials designed for both sensing and actuation in hybrid robotic systems. Improve additive manufacturing fabrication to design rigid and semi-rigid components for hybrid robotic platforms. Transformable Wheel Robotic Platform: The chassis, wheels, tires and inspection system housing use different additive manufacturing techniques for fabrication. Continued work with additive manufacturing has lead to studies in metal-based printing and modular design and manufacturing. The new platform design with integrated electrical component printed. This will allow integration of the sensor housing onto the platform. Electrical components are being tested for battery life and performance. To improve this performance, such as integration of Lithium Polymer (LiPo) batteries. Snake Robotic Platform: The main focus of the development has centered around liquid-based soft actuators. That act on the principles of electrostatic and hydraulic actuation. A liquid dielectric sits between two compliant electrodes, contained by a flexible polymer shell. The electrodes and film gradually collapse toward each other from one corner of the electrode to the other. When the electrodes and film close together, a majority of the fluid is pushed into the area not covered by an electrode. A thin layer of the liquid dielectric remains between the electrode. The actuators will be stacked to cause large displacement, and move the linkages. The chassis of this platform uses purely additively manufactured linkages. Intelligent, Preventive IR Inspection System: Development of the AI for the system has lead to using a Scikit-Learn which assists in creating predictive models based on Regression, clustering, classification etc. To improve the infrared thermometry for low emissivity sources, work on the fabrication of a tandem photoconductive infrared thermometer was a main focus. Distance-Voltage-Temperature response data has been collected in the range of 7 cm - 100 cm and 200-400 deg. C. Modifications were made to the existing test bench to have a better control over the data. Automated data collection was realized using a Python code and an Arduino controlled stepper motor to increase the sample rate. A protective enclosure has been built around the setup to minimize the effect of the environment on the measurements. To better predict temperature, different AI models are being optimized. The regression model, LARS showed a high accuracy but had convergence issues and only works for the current test set-up. Results: The Transformable Wheel Robot has developed into a more flexible and modular platform. With the improvements to the current work, effort on the tire or soft gripper design been a large focus. The soft grippers will be interchange able to allow for increased performance in identified terrain types. The development of the liquid-based actuators allows the snake robotic platform to achieve the goals of being flexible and able to navigate confined spaces. However, there is room for improvement. Optimization work is currently being done in COMSOL Multiphysics. With the current IR system set-up the LARS model perfectly predicts the data; however, considering the mobility aspect of the project other models will allow for an optimized system. Testing of other model types is currently being done.
The desiccant wheel is a promising technology for energy-efficient humidity control. However, its overall efficiency—hindered by the desiccant materials’ properties—remains low because traditional desiccants (e.g., silica gels) have a single isotherm regardless of their adsorption temperature. Thermo-responsive materials have been proposed to break this fixed affinity to water vapor, with drastically different adsorption isotherms depending on temperature. Its potential for improving dehumidification efficiency, however, has not been addressed. In this paper, we model the potential of a thermo-responsive interpenetrating polymer network (IPN) desiccant with temperature-dependent adsorption isotherms for energy-efficient dehumidification via a validated transient desiccant wheel model for humidity control of buildings. Thermo-responsive desiccants can improve the dehumidification performance due to their thermo-responsive switchable hydrophilicity below/above the lower critical solution temperature. Our analysis shows that thermo-responsive IPN desiccants can potentially reduce energy consumption by up to 30% compared to silica gels. Finally, the savings depend strongly on the critical temperature of the thermo-responsive desiccant and should be higher when the inlet temperatures are expected to be higher.
Abstract Carbon molecular sieve (CMS) membranes are attractive candidates to meet requirements for challenging gas separations. The added ability to maintain such intrinsic properties in an asymmetric morphology with a structure that we term a “Pseudo Wheel+Hub & Spoke” asymmetric form offers new opportunities. For CMS membrane, specifically, the structure provides both selective layer support and low flow resistance even for high feed pressures and fluxes in CO 2 removal from natural gas. This capability is unavailable to even rigid glassy polymers due to the much higher modulus of CMS materials. Combining precursor asymmetric hollow fiber formation and optimized pyrolysis creates a defect free CMS proof‐of‐concept membrane for this application. Facile formation of the sheath‐core spun precursor with a 6FDA‐DAM sheath and Matrimid® core also avoids the need to seal defects before or after the carbonization of the precursors. The composite CMS membrane shows CO 2 /CH 4 (50 : 50) mixed gas feed with an attractive CO 2 /CH 4 selectivity of 64.3 and CO 2 permeance of 232 GPU at 35 °C. A key additional benefit of the approach is reduction in use of the more costly high performance 6FDA‐DAM in a composite sheath‐core CMS membrane with the “Pseudo Wheel+Hub & Spoke” structure.
Carbon molecular sieve (CMS) membranes are attractive candidates to meet requirements for challenging gas separations. The added ability to maintain such intrinsic properties in an asymmetric morphology with a structure that we term a “Pseudo Wheel+Hub & Spoke” asymmetric form offers new opportunities. For CMS membrane, specifically, the structure provides both selective layer support and low flow resistance even for high feed pressures and fluxes in CO 2 removal from natural gas. Further, this capability is unavailable to even rigid glassy polymers due to the much higher modulus of CMS materials. Combining precursor asymmetric hollow fiber formation and optimized pyrolysis creates a defect free CMS proof-of-concept membrane for this application. Facile formation of the sheath-core spun precursor with a 6FDA-DAM sheath and Matrimid® core also avoids the need to seal defects before or after the carbonization of the precursors. The composite CMS membrane shows CO 2 /CH 4 (50 : 50) mixed gas feed with an attractive CO 2 /CH 4 selectivity of 64.3 and CO 2 permeance of 232 GPU at 35 °C. A key additional benefit of the approach is reduction in use of the more costly high performance 6FDA-DAM in a composite sheath-core CMS membrane with the “Pseudo Wheel+Hub & Spoke” structure.
One of the reasons for the high efficiency and selectivity of biological catalysts arise from their ability to control the pathways of substrates and products using protein channels, and by modulating the transport in the channels using the interaction with the protein residues and the water/hydrogen-bonding network. Here, this process is clearly demonstrated in Photosystem II (PS II), where its light-driven water oxidation reaction catalyzed by the Mn 4 CaO 5 cluster occurs deep inside the protein complex and thus requires the transport of two water molecules to and four protons from the metal center to the bulk water. Based on the recent advances in structural studies of PS II from X-ray crystallography and cryo-electron microscopy, in this review we compare the channels that have been proposed to facilitate this mass transport in cyanobacteria, red and green algae, diatoms, and higher plants. The three major channels (O1, O4, and Cl1 channels) are present in all species investigated; however, some differences exist in the reported structures that arise from the different composition and arrangement of membrane extrinsic subunits between the species. Among the three channels, the Cl1 channel, including the proton gate, is the most conserved among all photosynthetic species. We also found at least one branch for the O1 channel in all organisms, extending all the way from Ca/O1 via the ‘water wheel’ to the lumen. However, the extending path after the water wheel varies between most species. The O4 channel is, like the Cl1 channel, highly conserved among all species while having different orientations at the end of the path near the bulk. The comparison suggests that the previously proposed functionality of the channels in T. vestitus (Ibrahim et al., Proc Natl Acad Sci USA 117:12624–12635, 2020; Hussein et al., Nat Commun 12:6531, 2021) is conserved through the species, i.e. the O1-like channel is used for substrate water intake, and the tighter Cl1 and O4 channels for proton release. The comparison does not eliminate the potential role of O4 channel as a water intake channel. However, the highly ordered hydrogen-bonded water wire connected to the Mn 4 CaO 5 cluster via the O4 may strongly suggest that it functions in proton release, especially during the S 0 → S 1 transition (Saito et al., Nat Commun 6:8488, 2015; Kern et al., Nature 563:421–425, 2018; Ibrahim et al., Proc Natl Acad Sci USA 117:12624–12635, 2020; Sakashita et al., Phys Chem Chem Phys 22:15831–15841, 2020; Hussein et al., Nat Commun 12:6531, 2021).