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NASA NTRS2010

Solar Array Disturbances to Spacecraft Pointing During the Lunar Reconnaissance Orbiter (LRO) Mission

The Lunar Reconnaissance Orbiter (LRO), the first spacecraft to support NASA s return to the Moon, launched on June 18, 2009 from the Cape Canaveral Air Force Station aboard an Atlas V launch vehicle. It was initially inserted into a direct trans-lunar trajectory to the Moon. After a five day transit to the Moon, LRO was inserted into the Lunar orbit and successfully lowered to a low altitude elliptical polar orbit for spacecraft commissioning. Successful commissioning was completed in October 2009 when LRO was placed in its near circular mission orbit with an approximate altitude of 50km. LRO will spend at least one year orbiting the Moon, collecting lunar environment science and mapping data, utilizing a suite of seven instruments to enable future human exploration. The objective is to provide key science data necessary to facilitate human return to the Moon as well as identification of opportunities for future science missions. LRO's instrument suite will provide the high resolution imaging data with sub-meter accuracy, highly accurate lunar cartographic maps, mineralogy mapping, amongst other science data of interest. LRO employs a 3-axis stabilized attitude control system (ACS) whose primary control mode, the "Observing Mode", provides Lunar nadir, off-nadir, and inertial fine pointing for the science data collection and instrument calibration. This controller combines the capability of fine pointing with on-demand large angle full-sky attitude reorientation. It provides simplicity of spacecraft operation as well as additional flexibility for science data collection. A conventional suite of ACS components is employed in the Observing Mode to meet the pointing and control objectives. Actuation is provided by a set of four reaction wheels developed in-house at NASA Goddard Space Flight Center (GSFC). Attitude feedback is provided by a six state Kalman filter which utilizes two SELEX Galileo Star Trackers for attitude updates, and a single Honeywell Miniature Inertial Measurement Unit (MIMU) to provide body rates for attitude propagation. Rate is computed by differentiating accumulated angle provided by the MIMU. The Observing Mode controller is required to maintain fine pointing while a large fully-articulated solar array (SA) maintains its panel normal to the solar incidence. This paper describes the disturbances to the attitude control resulting from the SA articulation. Observing Mode performance in the presence of this disturbance was assessed while the spacecraft was in an initial elliptical low altitude orbit during the commissioning phase, which started about two weeks after launch and lasted for 90 days. LRO demonstrated excellent pointing performance during Observing Mode nadir and inertial attitude target operations during this phase. Transient LRO attitude errors observed during commissioning resulted primarily from three sources, Diviner instrument calibrations, RW zero crossings, and SA articulation. Even during times of considerable disturbance from SA articulation, the attitude errors were maintained below the statistical attitude error requirement level of 15 arc-sec (3 sigma).

Calhoun, Philip↗

DOE OSTI2024

A hierarchical framework for aggregating grid-interactive buildings with thermal and battery energy storage

The behind-the-meter (BTM) thermal and battery energy storage can help improve energy efficiency, reduce energy costs, and enhance energy resilience, particularly in rural areas and for disadvantaged communities. Aggregating numerous BTM energy storage systems can act as a price influencer with a significant source of load shifting and peak demand reduction. An integrated and scalable control mechanism is required to effectively utilize energy storage systems and flexible building loads to maximize the economic benefits, considering various distribution system constraints. Here, this paper presents an innovative hierarchical coordination framework for energy storage and flexible load in buildings, considering various factors such as electricity prices, thermal comfort, and distribution system modeling and constraints. At the upper level, a distribution system operator optimizes the power flow to minimize its power procurement costs from the electricity wholesale market, while at the lower level, aggregators determine the optimal dispatch of battery and thermal energy storage systems in multiple buildings on behalf of end-users to minimize operating costs according to the power prices. These problems are solved using a game-theoretic approach through negotiations between the distribution system operator and aggregators as a bi-level decision model. Simulation case studies have been performed for a test distribution network with a number of building end-users using energy storage systems to quantify the performance of aggregators. The results demonstrate that the proposed strategy can reduce peak load for a reliable electricity distribution network while saving electricity bills for customers.

25 ENERGY STORAGE↗

DOE OSTI2024

Advanced co-simulation framework for assessing the interplay between occupant behaviors and demand flexibility in commercial buildings

With buildings contributing significantly to electricity usage, enabling demand flexibility becomes a challenge, especially when accounting for occupant comfort. This study introduces an innovative co-simulation framework integrating multiple models: heating, ventilation, and air conditioning (HVAC) system, building zone load, indoor airflow, supervisory control, and occupant comfort and behavior. Uniquely, this framework allows for a comprehensive and dynamic analysis of building systems and occupant interactions in demand response events. Using this framework, we conducted a case study using a typical small office building model. Specifically, we focused on three areas: (1) the impact of indoor airflow modeling on energy use, occupant comfort, and behaviors forecasting, (2) the impact of occupant behaviors on demand flexibility, and (3) occupant comfort and behaviors under demand response events. Key performance indicators such as energy use, flexibility factor, durations of occupant discomfort and occupant behaviors were analyzed. Our findings indicated variations in energy usage and occupant comfort within demand flexibility events, marked by uncertainty boundaries, with variability in demand shedding up to 57.9%. Here, we concluded that this framework is suitable for analyzing typical commercial buildings and their HVAC systems in terms of demand flexibility potential under the impact of occupant behaviors.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2024

Object-Oriented Controllable High-Resolution Residential Energy (OCHRE) (TM) Model

This presentation describes the OCHRE model as part of NREL's Powered By webinar series. OCHRE is a building energy modeling tool designed to model flexible loads in residential buildings. OCHRE includes detailed models and controls for flexible devices including HVAC equipment, water heaters, electric vehicles, solar PV, and batteries. It is designed to run in co-simulation with custom controllers, aggregators, and grid models.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2024

Hardware-in-the-loop Laboratory Performance Verification of Flexible Building Equipment in a Typical Commercial Building

This project aims to develop high-resolution equipment performance and occupant data that quantifies demand flexibility in typical commercial buildings. The dataset documented in this report includes comprehensive time-series measurements from hardware-in-the-loop (HIL) experiments conducted across multiple testbeds designed to simulate realistic operational environments for HVAC systems. Specifically, it captures minute-by-minute high-resolution data on the performance of various typical HVAC systems, including a variable-air-volume (VAV) air handling unit (AHU) system with chillers and an ice tank in the Intelligent Building Agents Laboratory (IBAL) at the National Institute of Standards and Technology (NIST), a two-stage air-source heat pump (ASHP) at the NIST, and a water-source heat pump (WSHP) at Texas A&M University (TAMU). The data were generated under a range of controlled conditions reflecting different grid scenarios and climatic influences, as well as various control strategies, building types, occupancy patterns, and occupant behaviors. This dataset provides DE-EE0009153 Final Report 5 detailed insights into the demand flexibility of these systems, including their response to grid signals, occupant behaviors, energy consumption patterns, and operational efficiency under different conditions.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS2009

Compact, Low-Overhead, MIL-STD-1553B Controller

A compact and flexible controller has been developed to provide MIL-STD- 1553B Remote Terminal (RT) communications and supporting and related functions with minimal demand on the resources of the system in which the controller is to be installed. (MIL-STD-1553B is a military standard that encompasses a method of communication and electrical-interface requirements for digital electronic subsystems connected to a data bus. MIL-STD-1553B is commonly used in defense and space applications.) Many other MIL-STD-1553B RT controllers are complicated, and to enable them to function, it is necessary to provide software and to use such ancillary separate hardware devices as microprocessors and dual-port memories. The present controller functions without need for software and any ancillary hardware. In addition, it contains a flexible system interface and extensive support hardware while including on-chip error-checking and diagnostic support circuitry. This controller is implemented within part of a modern field-programmable gate array.

Katz, Richard↗

DOE OSTI2026

EXERGETIC: De-Risking Next-Generation Resilient Geothermal Hybrids via At-Scale Evaluation Using Virtual Emulation Digital Twin Environment for Efficient Operation

The DOE-GTO-funded project, award number 5.1.2.12, entitled "EXERGETIC - De-risking Next Generation Resilient Geothermal Hybrids via at-Scale Evaluation Using a Virtual Emulation Digital Twin Environment for Efficient Operation," advances the solution to these challenges by developing and validating a geothermal co-emulation environment implemented at the National Laboratory of the Rockies (NLR)'s Advanced Research on Integrated Energy Systems (ARIES) platform. This framework enables the de-risking of next-generation geothermal and geothermal hybrid systems through high-fidelity modeling, real-time digital emulation, advanced control strategies, and techno-economic assessment. The project focused on geothermal hybrid configurations that integrate geothermal power plants with concentrated solar power and underground thermal energy storage, enabling enhanced efficiency, flexibility, and grid support capabilities. The main goal of this project was the development of a geothermal digital co-emulation environment to demonstrate the technical and economic value of geothermal hybrid systems and their contribution to grid stability and flexibility. The EXERGETIC framework combined physics-based models, controls, and real assets at ARIES, including digital real-time simulators (DRTS), a 20-MW-scale controllable grid interface (CGI), and a 2-MW conventional generator. Detailed transient models were developed for the key subsystems of a hybrid geothermal plant, including parabolic trough solar collectors, reservoir thermal energy storage (RTES), and a binary Organic Rankine Cycle (ORC) power plant. The ORC model explicitly captured thermal inertia and off-design operation and integrated control strategies to dynamically respond to electric load profiles. The models were validated against published experimental and numerical studies, demonstrating strong agreement and confirming the accuracy and robustness of the modeling approach. The resulting digital twin represents geothermal-solar-storage systems at multiple scales (1 MW to 100 MW) and enables realistic emulation of grid-connected operation. The control architecture allows the geothermal resource to provide stable baseload generation, while solar and stored thermal energy supply flexible, dispatchable support during periods of high demand or variable grid conditions. A key contribution of the EXERGETIC project is the demonstration that geothermal hybrid systems can be designed to be active grid assets rather than passive baseload generators. Using the ARIES platform, the digital twin was evaluated under multiple grid scenarios, including load following, voltage support at the distribution level, and frequency response at the transmission level. Results show that hybrid geothermal systems can respond effectively to dynamic grid conditions, providing inertia-like behavior, primary frequency support, and voltage regulation through coordinated control. In addition to the performance and grid services capability analysis of geothermal and hybrid geothermal systems, the EXERGETIC project also focused on scalability and techno-economic analysis of geothermal hybrid plants. In particular, for the scalability analysis, machine-learning (ML)-based surrogate models were trained using data generated from the geothermal digital twin under different grid-connected scenarios and plant capacities. These ML models demonstrated strong interpolation and extrapolation capabilities across plant sizes, accurately reproducing both steady-state and transient responses with very low errors. Regarding the techno-economic analysis, plant performance results were integrated with cost models for hybrid geothermal systems, and the levelized cost of electricity (LCOE) was used as the main economic metric to evaluate system performance across a range of system capacities, solar shares, solar multiples, and storage durations. Results indicate that economies of scale significantly reduce geothermal LCOE as plant capacity increases, with large-scale systems (25-100 MW) achieving substantially lower costs than small plants. Hybridization with solar thermal energy and storage further improves economic performance by increasing capacity utilization and enabling flexible dispatch. In addition, thermal storage plays a critical role in reducing LCOE by maximizing geothermal, solar, and stored energy resources. In summary, the results from this project demonstrate that geothermal hybrid systems represent a promising alternative for increasing the energy conversion efficiency of geothermal technologies, contributing to the preservation of geothermal resources, and supporting the transition of geothermal plants from traditional baseload resources into flexible, resilient, and cost-competitive energy conversion technologies.

15 GEOTHERMAL ENERGY↗

NASA NTRS2007

Observing Mode Attitude Controller for the Lunar Reconnaissance Orbiter

The Lunar Reconnaissance Orbiter (LRO) mission is the first of a series of lunar robotic spacecraft scheduled for launch in Fall 2008. LRO will spend at least one year in a low altitude polar orbit around the Moon, collecting lunar environment science and mapping data to enable future human exploration. The LRO employs a 3-axis stabilized attitude control system (ACS) whose primary control mode, the "Observing mode", provides Lunar Nadir, off-Nadir, and Inertial fine pointing for the science data collection and instrument calibration. The controller combines the capability of fine pointing with that of on-demand large angle full-sky attitude reorientation into a single ACS mode, providing simplicity of spacecraft operation as well as maximum flexibility for science data collection. A conventional suite of ACS components is employed in this mode to meet the pointing and control objectives. This paper describes the design and analysis of the primary LRO fine pointing and attitude re-orientation controller function, known as the "Observing mode" of the ACS subsystem. The control design utilizes quaternion feedback, augmented with a unique algorithm that ensures accurate Nadir tracking during large angle yaw maneuvers in the presence of high system momentum and/or maneuver rates. Results of system stability analysis and Monte Carlo simulations demonstrate that the observing mode controller can meet fine pointing and maneuver performance requirements.

Calhourn, Philip C.↗

NASA NTRS2007

Observing Mode Attitude Controller for the Lunar Reconnaissance Orbiter

Calhoun, Philip C.↗

DOE OSTI2025

On-Demand Selection of the Latent Domain Orientation in Spray-Deposited Block Copolymer Thin Films

With their ability to self-assemble spontaneously into well-defined nanoscale morphologies, block copolymer (BCP) thin films are a versatile platform to fabricate functional nanomaterials. An important challenge to wider deployment of BCPs in nanofabrication is combining precise control over the nanoscale domain orientation in BCP assemblies with scalable deposition techniques that are applicable to large-area, curved, and flexible substrates. Here, in this study, we show that spray-deposited smooth films of a nominally disordered BCP exhibit latent orientations, which can be prescriptively selected by controlling solvent evaporation during spray casting. Subsequent solvent vapor annealing triggers assembly toward highly ordered cylindrical morphologies along the pathway determined by solvent evaporation in the prior spray deposition stage. Faster evaporation promotes assembly of vertically oriented cylinders spanning the entire film thickness (100–300 nm). In comparison, slow solvent evaporation permits intermicellar aggregation and incipient cylinder formation in solution, which induces horizontal cylinder assembly upon annealing. The evaporatively controlled latent orientation mechanism presented herein elucidates how nonequilibrium phenomena during casting govern successive self-assembly pathways and facilitates a versatile method to dictate the domain orientation of BCP thin films on demand on flexible and highly curved substrates or in distinct pattern areas on the same substrate.

36 MATERIALS SCIENCE↗

DOE OSTI2025

CityLearn v2: energy-flexible, resilient, occupant-centric, and carbon-aware management of grid-interactive communities

As more distributed energy resources become part of the demand-side infrastructure, quantifying their energy flexibility on a community scale is crucial. CityLearn v1 provided an environment for benchmarking control algorithms. However, there is no standardized environment utilizing realistic building-stock datasets for distributed energy resource control benchmarking without co-simulation or third-party frameworks. CityLearn v2 extends CityLearn v1 by providing a stand-alone simulation environment that leverages the End-Use Load Profiles for the U.S. Building Stock dataset to create grid-interactive communities for resilient, multi-agent, and objective control of distributed energy resources with dynamic occupant feedback. While the v1 environment used pre-simulated building thermal loads, the v2 environment uses data-driven thermal dynamics and eliminates the need for co-simulation with building energy performance software. This work details the v2 environment and provides application examples that use reinforcement learning control to manage battery energy storage system, vehicle-to-grid control, and thermal comfort during heat pump power modulation.

Nweye, Kingsley↗

DOE OSTI2025

Deep reinforcement learning control for co-optimizing energy consumption, thermal comfort, and indoor air quality in an office building

With the recent demand for decarbonization and energy efficiency, advanced HVAC control using Deep Reinforcement Learning (DRL) becomes a promising solution. Due to its flexible structures, DRL has been successful in energy reduction for many HVAC systems. However, only a few researches applied DRL agents to manage the entire central HVAC system and control multiple components in both the water loop and the air loop, owing to its complex system structures. Moreover, those researches have not extended their applications by incorporating the indoor air quality, especially both CO2 and PM2.5concentrations, on top of energy saving and thermal comfort, as achieving those objectives simultaneously can cause multiple control conflicts. What's more, DRL agents are usually trained on the simulation environment before deployment, so another challenge is to develop an accurate but relatively simple simulator. Therefore, we propose a DRL algorithm for a central HVAC system to co-optimize energy consumption, thermal comfort, indoor CO2 level, and indoor PM2.5 level in an office building. To train the controller, we also developed a hybrid simulator that decoupled the complex system into multiple simulation models, which are calibrated separately using laboratory test data. The hybrid simulator combined the dynamics of the HVAC system, the building envelope, as well as moisture, CO2, and particulate matter transfer. Three control algorithms (rule-based, MPC, and DRL) are developed, and their performances are evaluated on the hybrid simulator environment with a realistic scenario (i.e., with stochastic noises). The test results showed that, the DRL controller can save 21.4 % of energy compared to a rule-based controller, and has improved thermal comfort, reduced indoor CO2 concentration. The MPC controller showed an 18.6 % energy saving compared to the DRL controller, mainly due to savings from comfort and indoor air quality boundary violations caused by unmeasured disturbances, and it also highlights computational challenges in real-time control due to non-linear optimization. Finally, we provide the practical considerations for designing and implementing the DRL and MPC controllers based on their respective pros and cons.

Guo, Fangzhou↗

DOE OSTI2024

Design And Control of Thermal Storage for Ventilative Cooling in Multifamily Buildings (Final Report)

The concept of natural ventilation is to provide a heat sink for cooling the building during the occupancy periods at night and improve indoor thermal comfort during the daytime without or with minimal need for mechanical cooling. Commonly, natural ventilation through the window or mechanical circulation of the air through the ventilation ducts are two key methods used to achieve night ventilation. Due to the increasing electric need for space heating and cooling, renewable energies combined with energy storage systems are receiving attention worldwide nowadays. When designed and controlled properly, this strategy can reduce energy use for cooling, reduce the size of mechanical cooling equipment, reduce peak electrical demand for cooling, and better enable demand flexibility for mechanical cooling equipment. In some cases, ventilative cooling can eliminate the need for mechanical cooling altogether. For these reasons, California’s Building Energy Efficiency Standards have recently added prescriptive requirements that all new single-family residences (in most California climates) must include ventilative cooling systems (aka: “whole house fans”). However, the current standards do not address multifamily buildings because market-available ventilative cooling products are designed for single-family residences and are physically incompatible with many multifamily building archetypes. The results from the study show that the combination of thermal energy storage on building walls along with nighttime ventilation cooling assisted with nighttime ventilation can save total building energy usage by up to 9% and peak load by 16% in moderate climate zones. The controlled nighttime ventilation cooling (activate ventilation only when outdoor conditions are favorable) can also provide total electricity savings of up to 5% and 7% in hot and cold climates, respectively. In the case of moderate climates, kitchen exhaust-assisted nighttime ventilation cooling can eliminate the need for cooling during overnight hours. This can also significantly assist in reducing carbon emissions.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS2010

Design and Development of a Two-Axis Thruster Gimbal with Xenon Propellant Lines

A Two-Axis Thruster Gimbal was developed for a two degree-of-freedom tip-tilt gimbal application. This light weight gimbal mechanism is equipped with flexible xenon propellant lines and features numerous thermal control features for all its critical components. Unique thermal profiles and operating environments have been the key design drivers for this mechanism which is fully tolerant of extreme space environmental conditions. Providing thermal controls that are compatible with flexible components and are also capable of surviving launch vibration within this gimbal mechanism has proven to be especially demanding, requiring creativity and significant development effort. Some of these features, design drivers, and lessons learned will be examined herein.

Asadurian, Armond↗

DOE OSTI2025

Nuclear—thermal energy storage configurations for industrial combined heat and power supply—conceptual and thermodynamic study with high temperature gas-cooled reactor

Nuclear systems are promising candidates for delivering resilient heat and power for future energy security and independence. Traditionally, nuclear plants have been used for baseload electricity production and cogeneration of heat has seen relatively limited application utilizing typically only small portion of a reactor's thermal output. This paradigm may shift due to the increasing penetration of intermittent renewables and need for resource flexibility, various decarbonization efforts aimed at both electricity and heat demands, along with the perspective of small modular nuclear reactor applications, which can be sized based on local industrial needs. Here, this study provides a comprehensive guide for the nuclear and industrial sectors, emphasizing controllability in the combined heat and power configuration options for high temperature gas-cooled reactor and process steam supply. It investigates the integration of thermal energy storage to improve nuclear energy's responsiveness to varying industrial demands. The study emphasizes placing thermal energy storage between the nuclear primary loop and steam cycle to achieve greater efficiency and flexibility in power and heat output, surpassing traditional combined heat and power systems and avoiding efficiency losses seen in other thermal energy storage integration approaches.

combined heat and power (CHP)↗

DOE OSTI2026

OCHRE

OCHRE™ uses a variety of input data sources to run time-series simulations. Building models can be taken from the ResStock™ database or generated using the Building Energy Optimization Tool (BEopt™) or other OpenStudio-HPXML workflows. EV charging profiles can be taken from datasets used in NLR's 2030 National Charging Network project. Weather data can be taken from the National Solar Radiation Database or EnergyPlus® weather files. There are no public datasets with OCHRE outputs at this time. However, a recent project dataset on water heater and EV demand flexibility can be requested. OCHRE is a Python-based energy modeling tool designed to model flexible loads in residential buildings. OCHRE includes detailed models and controls for flexible devices including HVAC equipment, water heaters, EVs, solar PV, and batteries. It is designed to run in co-simulation with custom controllers, aggregators, and grid models.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2024

Environmental Validation of Materials and Design Concepts to Enable Operational Flexibility of Existing Coal Power Plants

Increasingly, coal-fired power plants are required to balance power grids by compensating for the variable electricity supply from renewable energy sources. Fossil-fueled power plants, originally designed to be base loaded, will increasingly need to operate on a load following or cyclic basis. This demanding requirement for operational flexibility will need to be evaluated for resilience to frequent start-ups, meeting major and rapid load changes, and providing frequency control duties. Our research objective was to evaluate and improve flexibility of existing power plants by improving and redesigning components and deﬁning new operational strategies, with acceptable impacts on component life, efficiency and emissions.

20 FOSSIL-FUELED POWER PLANTS↗

NASA NTRS1992

Numerical analysis of right-half plane zeros for a single-link manipulator

The purpose of this research is to further develop an understanding of how nonminimum phase zero location is affected by structural link design. As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links become more of an issue in controls problems. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. The research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixes, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to inverse dynamic algorithms currently under development at Georgia Tech.

Girvin, Douglas Lynn↗