WAVES: Build Systems for Computational Science and Engineering
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Numerical Modeling & Optimization of the iProTech Pitching Inertial Pump (PIP) Wave Energy Converter (WEC) (CRADA Final Report)
This project represents a continuation of the collaboration between iProTech and NLR to simulate, optimize and design the iProTech Pitching Inertial Pump (PIP) device. The objectives of this TEAMER project are twofold: 1. Refining the physical characteristics of the existing iProTech PIP WEC-Sim model to enhance the model’s fidelity and include controllable components. Key model enhancements target the inclusion of Coulomb friction, the introduction of a controllable bypass valve, and the replacement of traditional check valves with advanced motorized ones. 2. Exploring traditional and advanced control algorithms. From traditional methods like latching control to cutting-edge reinforcement learning (RL) algorithms, the goal is to ensure the PIP device's adaptability and optimal performance across a range of ocean conditions. NLR is tasked with augmenting the WEC-Sim model and implementing the control algorithms, culminating in performance comparison analyses. iProTech will update their existing 3D models, advise on model improvements, and determine crucial system metrics. WEC-Sim, developed in MATLAB/SIMULINK with Simscape Multibody, is the main piece of software that will be used in this project. Coupled with the MATLAB RL Toolbox, it offers a robust platform for in-depth simulation and optimization of the iProTech PIP device. Building on previous work to explore the PIP design space and optimize its geometry, mass distribution, center of gravity and other key parameters, this project aims to refine iProTech’s existing numerical models and develop effective control algorithms that can seamlessly integrate into their future hardware testing campaigns.
16 TIDAL AND WAVE POWER↗
Energy Analysis of Combi Heat Pump System Configurations for Space Conditioning and Domestic Hot Water Heating in Residential Buildings
Combi heat pump systems, also referred to multifunctional variable refrigerant flow heat recovery (MF-VRFHR) systems, are specifically designed for residential applications to manage both space conditioning and domestic hot water (DHW). They have attracted attention due to their potential for energy conservation through heat recovery. The incorporation of a hot water tank introduces various system configurations, each characterized by distinct pros and cons related to energy efficiency, system stability, and maintenance. Despite this, a critical gap exists as the specific energy performance remains unquantified under diverse operational modes (e.g., heating mode and heat recovery mode). This paper aims to bridge this gap by conducting a comprehensive comparative analysis of two prevalent system configurations while considering feasible proposed control logics. Configuration 1 integrates a separate hot water tank and a refrigerant-to-water heat exchanger (HEX), also known as a Hydro Kit while Configuration 2 incorporates a refrigerant-wrapped hot water tank. To facilitate this analysis, we developed high-fidelity system models for both configurations in Modelica, capturing system dynamics and detailed control sequences effectively. These system models were built upon the TIL library for HVAC equipment components and the Buildings library for residential building thermal load calculations. The validation of the simulation testbed utilized data from experiments conducted in the PNNL lab home for Configuration 1. To establish the simulation testbed for Configuration 2, we extended the modeling setup derived from Configuration 1. This extension specifically involved substituting the separate hot water tank and Hydro Kit with a refrigerant-wrapped hot water tank of similar sizing sourced from an actual product. The simulation analysis of heating-only and heat recovery modes reveals that Configuration 2 not only saves energy and maintains warmer tank temperatures but also demonstrates faster water heating capabilities. This is attributed to decreased energy loss and improved heat transfer. The study encompasses a wide range of scenarios, considering diverse thermal loads and water usage patterns across heating and heat recovery modes. Overall, the comprehensive results indicate that Configuration 2 achieves energy savings ranging from 3.5% to 12.2% compared to Configuration 1, depending on factors such as water usage patterns, thermal loads, and operational modes.
Configuration, Comparison, Multi-functional, Resid↗
Virtual Refrigerant Charge Sensing Method for Next-Generation Refrigerant in Residential Heat Pumps
The charge level of refrigerant in heat pump systems significantly affects their operational performance. Virtual refrigerant charge (VRC) sensing technology has been well-established for traditional refrigerants (HFCs and HCFCs) for its low cost compared to physical sensors. However, other than traditional refrigerants, HFOs are increasingly used in next-generation heat pumps; whether these conventional VRC sensing methods remain applicable for heat pump systems utilizing next-generation refrigerants requires further investigation. To address these issues, this study develops a low-cost VRC sensing method for next-generation refrigerant heat pumps used in residential buildings. The developed algorithm is evaluated by using simulation models to evaluate the accuracy, considering an R454B heat pump with a nominal heating capacity of 51K Btu/hr (14.95 kW) as an example, and compared with those of the two reference VRC sensing algorithms. Though the developed VRC sensing algorithm and the two reference methods can accurately predict the charge level for the R454B heat pump system (with mean absolute percentage error for various cooling and heating conditions less than 7%), the developed VRC sensing algorithm uses fewer sensors and improves the overall accuracy for heating conditions by 7.1%, and the accuracy for undercharge cooling conditions 14.2%, compared with a mainstream algorithm. This technology will complement physical leakage detectors, and promote the adoption of next-generation heat pump systems, along with reducing wasted energy and maintenance costs.
Liang, Chenjiyu↗
Control structural interaction testbed: A model for multiple flexible body verification
Conventional end-to-end ground tests for verification of control system performance become increasingly complicated with the development of large, multiple flexible body spacecraft structures. The expense of accurately reproducing the on-orbit dynamic environment and the attendant difficulties in reducing and accounting for ground test effects limits the value of these tests. TRW has developed a building block approach whereby a combination of analysis, simulation, and test has replaced end-to-end performance verification by ground test. Tests are performed at the component, subsystem, and system level on engineering testbeds. These tests are aimed at authenticating models to be used in end-to-end performance verification simulations: component and subassembly engineering tests and analyses establish models and critical parameters, unit level engineering and acceptance tests refine models, and subsystem level tests confirm the models' overall behavior. The Precision Control of Agile Spacecraft (PCAS) project has developed a control structural interaction testbed with a multibody flexible structure to investigate new methods of precision control. This testbed is a model for TRW's approach to verifying control system performance. This approach has several advantages: (1) no allocation for test measurement errors is required, increasing flight hardware design allocations; (2) the approach permits greater latitude in investigating off-nominal conditions and parametric sensitivities; and (3) the simulation approach is cost effective, because the investment is in understanding the root behavior of the flight hardware and not in the ground test equipment and environment.
Chory, M. A.↗
Following the Water: the Evolution of Ice-forming Regions in the Early Solar Nebula
The abundances of water-vapor and water-ice during the first ten million years of the protoplanetary solar nebula are simulated using a new condensation/sublimation model. This study builds on a "snow line" model reported in ApJ 627 L153 (2005); it uses a simple phenomenological model where water vapor molecules evolve from solar atomic abundance and eventually condenses to ice at colder points in the nebula once the water-vapor partial pressure exceeds a value determined by the phase diagram for water. The synthesis of water vapor from elementary species is modeled with a chemical network consisting of about 400 species and 4000 reactions. The evolution of the icy zone (and its relative abundance of solid ice) is traced from a limited region in the early hotter disk to its final state at the time when the gas is expelled and a planetary system begins to form. Possible effects of this dynamic motion on disk chemistry and organic molecule formation are also described.
Davis, Sanford S.↗
Session 6: Dynamic Modeling and Systems Analysis
These presentations cover some of the ongoing work in dynamic modeling and dynamic systems analysis. The first presentation discusses dynamic systems analysis and how to integrate dynamic performance information into the systems analysis. The ability to evaluate the dynamic performance of an engine design may allow tradeoffs between the dynamic performance and operability of a design resulting in a more efficient engine design. The second presentation discusses the Toolbox for Modeling and Analysis of Thermodynamic Systems (T-MATS). T-MATS is a Simulation system with a library containing the basic building blocks that can be used to create dynamic Thermodynamic Systems. Some of the key features include Turbo machinery components, such as turbines, compressors, etc., and basic control system blocks. T-MAT is written in the Matlab-Simulink environment and is open source software. The third presentation focuses on getting additional performance from the engine by allowing the limit regulators only to be active when a limit is danger of being violated. Typical aircraft engine control architecture is based on MINMAX scheme, which is designed to keep engine operating within prescribed mechanical/operational safety limits. Using a conditionally active min-max limit regulator scheme, additional performance can be gained by disabling non-relevant limit regulators
control↗
Iterative-Transform Phase Diversity: An Object and Wavefront Recovery Algorithm
Presented is a solution for recovering the wavefront and an extended object. It builds upon the VSM architecture and deconvolution algorithms. Simulations are shown for recovering the wavefront and extended object from noisy data.
Smith, J. Scott↗
WAVES: Build Systems for Computational Science and Engineering
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42 ENGINEERING↗
Grid Value Analysis of Geothermal Systems for End-Use Applications
Fuel based end-uses for residential, commercial, and industrial consumers require a technology change to achieve economy-wide decarbonization. Space heating accounts for 42% of residential and 32% of commercial energy demand, much of which is currently met through carbon emitting fuels. Industrial energy use is heavily fuel based with electricity currently representing 13% of energy demand. Geothermal heat pumps (GHPs) and geothermal direct use can eliminate the need for CO2 emitting and simultaneously allow for more efficient electrification of end uses. Past work has assessed the impact on total energy costs and generation investments but did not identify specific grid services benefited. Energy usage in residential and commercial structures was assessed by leveraging data from ComStock and ResStock models. These models utilize housing attributes, occupancy patterns, weather data, and sophisticated energy simulations to generate hourly load profiles for individual buildings identified by unique IDs associated with their locations. Industrial sector energy use was evaluated using information from the Manufacturing Energy Consumption Survey (MECS) as well as plant utilization data from the US Census to estimate hourly plant operations. The change in end-use demand for electricity, natural gas, and other fuels was calculated for different technologies that could meet this need. Using the ReEDS capacity expansion model, we produce regional price profiles that capture the grid benefit associated with the amount and timing of energy shifts in the power system from the adoption of geothermal systems relative to other technologies that could meet space heating, space cooling, and process heat requirements. We find that geothermal systems for meeting end-use demand add value to the energy system. In buildings where geothermal systems increase grid costs, these values are offset by reduced fuel costs and benefits to externalities, including emissions and health impacts.
decarbonization↗
Analyzing the Impact of Future Weather Data on Energy Consumption in Weatherization Assistant
This study supports the mission of the U.S. Department of Energy’s Weatherization Assistance Program (WAP), which aims to increase the energy efficiency of dwellings and reduce their total residential expenditures. Specifically, we examine how projected future climate conditions may affect residential building energy performance by integrating future weather data into the National Energy Audit Tool (NEAT). Since WAP evaluates the cost-effectiveness of retrofit measures over lifespans of up to 30 years, accounting for evolving climate conditions is increasingly important. To reflect future household energy demands, this study replaces historically based Typical Meteorological Year (TMY3) weather inputs with Future Typical Meteorological Year (fTMY) datasets derived from global climate model (GCM) projections. A simulation-based framework was established to enable NEAT analysis under future weather conditions. This workflow involves converting EPW-format weather files into JSON inputs compatible with NEAT and generating degree-hour metrics needed for load calculations. The fTMY dataset used in this study was developed by Oak Ridge National Laboratory through downscaling of six GCMs under different emission scenarios and covers the period from 2020 to 2100. In contrast, the TMY3 dataset is based on historical weather data from 1961 to 1990. Simulations were conducted for benchmark single-family prototype buildings across ASHRAE climate zones 1–7, which cover all regions of the U.S. except the subarctic Zone 8 in northern Alaska, evaluating both heating and cooling loads under TMY3 and fTMY conditions. Four foundation types were tested, while heating systems were standardized, as NEAT does not differentiate thermal energy load by HVAC system type in its load calculations. Results show that fTMY weather input consistently yield lower heating loads and higher cooling loads across most locations, aligning with expected climate warming trends. Notably, colder regions such as zones 6A, 6B, and 7 experience marked reductions in heating load, while warmer and transitional zones, such as 2A (Lufkin, TX) and 3C (San Francisco, CA), have substantial increases in cooling loads. Although this study does not directly assess the performance of retrofit measures under future climate conditions, it provides a critical foundation for doing so. By quantifying shifts in baseline (i.e., pre-retrofit case) energy loads between historical and future weather files, the study highlights the importance of integrating climate-responsive data into audit tools. These findings will inform future efforts to evaluate the long-term effectiveness and cost-effectiveness of weatherization measures under changing climate conditions.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
Simulating Humans as Integral Parts of Spacecraft Missions
The Collaborative-Virtual Environment Simulation Tool (C-VEST) software was developed for use in a NASA project entitled "3-D Interactive Digital Virtual Human." The project is oriented toward the use of a comprehensive suite of advanced software tools in computational simulations for the purposes of human-centered design of spacecraft missions and of the spacecraft, space suits, and other equipment to be used on the missions. The C-VEST software affords an unprecedented suite of capabilities for three-dimensional virtual-environment simulations with plug-in interfaces for physiological data, haptic interfaces, plug-and-play software, realtime control, and/or playback control. Mathematical models of the mechanics of the human body and of the aforementioned equipment are implemented in software and integrated to simulate forces exerted on and by astronauts as they work. The computational results can then support the iterative processes of design, building, and testing in applied systems engineering and integration. The results of the simulations provide guidance for devising measures to counteract effects of microgravity on the human body and for the rapid development of virtual (that is, simulated) prototypes of advanced space suits, cockpits, and robots to enhance the productivity, comfort, and safety of astronauts. The unique ability to implement human-in-the-loop immersion also makes the C-VEST software potentially valuable for use in commercial and academic settings beyond the original space-mission setting.
Bruins, Anthony C.↗
CCSDS Advanced Orbiting Systems Virtual Channel Access Service for QoS MACHETE Model
To support various communications requirements imposed by different missions, interplanetary communication protocols need to be designed, validated, and evaluated carefully. Multimission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE), described in "Simulator of Space Communication Networks" (NPO-41373), NASA Tech Briefs, Vol. 29, No. 8 (August 2005), p. 44, combines various tools for simulation and performance analysis of space networks. The MACHETE environment supports orbital analysis, link budget analysis, communications network simulations, and hardware-in-the-loop testing. By building abstract behavioral models of network protocols, one can validate performance after identifying the appropriate metrics of interest. The innovators have extended the MACHETE model library to include a generic link-layer Virtual Channel (VC) model supporting quality-of-service (QoS) controls based on IP streams. The main purpose of this generic Virtual Channel model addition was to interface fine-grain flow-based QoS (quality of service) between the network and MAC layers of the QualNet simulator, a commercial component of MACHETE. This software model adds the capability of mapping IP streams, based on header fields, to virtual channel numbers, allowing extended QoS handling at link layer. This feature further refines the QoS v existing at the network layer. QoS at the network layer (e.g. diffserv) supports few QoS classes, so data from one class will be aggregated together; differentiating between flows internal to a class/priority is not supported. By adding QoS classification capability between network and MAC layers through VC, one maps multiple VCs onto the same physical link. Users then specify different VC weights, and different queuing and scheduling policies at the link layer. This VC model supports system performance analysis of various virtual channel link-layer QoS queuing schemes independent of the network-layer QoS systems.
Jennings, Esther H.↗
Design of Controller Hardware-In-the-Loop Model of Microgrid with Modular Building Blocks and Automated Design Script
The scalability of controller hardware-in-the-loop (CHIL) simulation is critical for validating control coordination and energy management in microgrids with distributed energy resources, especially as these modern systems become more complex and decentralized. This paper presents a CHIL modeling methodology that combines modular building blocks with an automated design script to streamline the development of high-fidelity microgrid models. Standardized subsystem templates for resources, converters, and buses are integrated with a Python-based script that compiles structured JSON configuration files into simulation-ready initialization code. The proposed approach reduces development time, improves model consistency, and enhances simulation fidelity. The methodology is validated on a Typhoon HIL604 platform and is broadly applicable to real-time simulation of complex, networked microgrid systems. This framework establishes a foundation for automated, scalable CHIL validation and accelerates the design of next-generation distributed energy systems.
Kim, Namwon [ORNL] (ORCID:0000000200438489)↗
Optimizing Control for Efficient Load Shifting with Thermal Energy Storage in Existing HVAC Systems
This project developed the integration of a direct-contact heat exchanger (DCHX) based thermal energy storage (TES) system with a chiller–air handling unit (AHU) plant to evaluate its potential for reducing building energy costs. Detailed physical models of the TES unit, building envelope, and HVAC components were developed alongside simplified control-oriented models to support both high-fidelity simulation and real-time optimization. Two control strategies were implemented and compared: a rule-based control (RBC) aligned with utility time-of-use (ToU) rates, and a model predictive control (MPC) framework leveraging forecasts of building load, weather, and internal gains. Simulation results show that the RBC strategy reduced daily electricity costs by around 30% by shifting cooling production from on-peak to off-peak hours. In contrast, the MPC strategy achieved significantly greater performance, reducing daily operating costs by up to 44% and peak-hour costs by more than 60%. Both strategies maintained indoor thermal comfort within acceptable limits, with MPC further improving load distribution and reducing equipment cycling. The outcomes confirm that TES integration, particularly when coordinated with advanced predictive control, can provide substantial cost savings and on-peak demand reduction. . These findings directly support the U.S. Department of Energy’s goals for grid-interactive efficient buildings and demonstrate the potential of TES-enabled HVAC systems for scalable deployment across the commercial building.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
Dynamic simulation of compressor and gas turbine performance
Dynamic simulation of compressor and gas turbine performance is useful in a variety of design, analysis, and test applications. Mathematical models employing estimated or experimentally-derived component characteristics have been widely used, especially for near-design-point studies of acceleration and deceleration transients and control strategies. With recent progress in simulation methods and computational power, it has become possible to build models with detail at the stage level, and with fundamental fluid mechanics input. Such models are more useful because of the ability to study the details of inter-component flow property behavior during machine transients, even including stall and surge. Dynamic performance simulation models are discussed with emphasis on the fundamental principles of the models and the methods used to represent component and stage flow characteristics. Results of several simulations of the dynamic behavior of multistage compressors are shown with comparisons to experimental data. Possibilities for advanced computational techniques for near-real-time simulations of compressors and gas turbines are reviewed.
Walter F O'Brien↗
ATTRACTOR: Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability
Autonomous systems (AS) are crucial to realizing the vision of new, complex transportation modes, such as advanced air mobility (AAM) and urban air mobility (UAM). A chief barrier to induction of AS into aviation is insufficient understanding of AS reliability in time-critical and safety-critical environments—an obstacle to certification. ATTRACTOR is aimed at building a basis for certification of classes of autonomous cyber-physical-human systems (CPHS) via establishing metrics and models of trustworthiness and trust in multi-agent team interactions, analyzable trajectories, explainability of computational algorithms (explainable artificial intelligence, or XAI), and persistent modeling and simulation, in the context of missions planning and operation. By “building a basis for certification,” we mean acquiring an understanding of when a system is trustworthy and developing computable means to estimate trustworthiness and trust in order to eventually inform functional requirements that contribute to certification. The outcomes are applicable not just to aviation but to all domains that rely on autonomous systems.
Autonomy↗
Telerobotic Excavator Designed to Compete in NASA's Lunabotics Mining Competition
The second annual NASA Lunabotics Mining competition is to be held in May 23-28, 2011. The goal of the competition is for teams of university level students to design, build, test and compete with a fully integrated lunar excavator on a simulated lunar surface. Our team, named Lunar Solutions I, will be representing Temple University's College of Engineering in the competition. The team's main goal was to build a robot which is able to compete with other teams, and ultimately win the competition. The main challenge of the competition was to build a wireless robot that can excavate and collect a minimum of 10 kilograms of the regolith material within 15 minutes. The robot must also be designed to operate in conditions similar to those found on the lunar surface. The design of the lunar excavator is constrained by a set of requirements determined by NASA and detailed in the competition's rulebook. The excavator must have the ability to communicate with the "main base" wirelessly, and over a Wi-Fi network. Human operators are located at a remote site approximately 60 meters away from the simulated lunar surface upon which the robot must excavate the lunar regolith surface. During the competition, the robot will operate in a separate area from the control room in an area referred to as the "Lunarena." From the control room, the operators will have to control the robot using visual feedback from cameras placed both within the arena and on the robot. Using this visual feedback the human operators control the robots movement using both keyboard and joystick commands. In order to place in the competition, a minimum of 10 kg of regolith material has to be excavated, collected, and dumped into a specific location. For that reason, the robot must be provided with an effective and powerful excavation system. Our excavator uses tracks for the drive system. After performing extensive research and trade studies, we concluded that tracks would be the most effective method for transporting the excavator. When designing the excavation system, we analyzed several design options from the previous year's competition. We decided to use a front loader to collect the material, rather than a conveyer belt system or auger. Many of the designs from last year's competition used a conveyer belt mechanism to mine regolith and dump it into a temporary storage bin place on the robot. Using the front end loader approach allowed us to combine the scooping system and storage unit, which meant that the excavation system required less space.
Nash, Rodney↗