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Advanced Locomotive Technology and Rail Infrastructure Optimization System (ALTRIOS)
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Storing Co 2 in Built Infrastructure: Co 2 Carbonation of Precast Concrete Products
The overall objective of the proposed study was to advance the technical understanding of CO 2 incorporation into novel cementitious materials for the development of high value products that provide a net reduction in carbon emissions. This project combined two primary phases of research that addressed technical barriers related to (i) optimizing CO 2 storage capability of cementitious materials, (ii) evaluating and enhancing physical properties of novel carbonated materials, and (iii) assessing the reductions in life cycle CO 2 emissions attributed to CO 2 carbonation of precast cementitious materials. Engineered cementitious composites (ECC) are a class of highly ductile concrete composites that have been shown to be very durable when used in the built environment. CO 2 carbonation of ECC was examined in this study and it was found that precast ECC specimens could sequester up to 35% CO 2 by cement mass after 24 hours of curing at a CO 2 pressure of 0.5 MPa and 23°C and had a strain capacity of 3%. Carbonation conditions were optimized at the bench-scale and then utilized to create full-scale CO 2 -cured ECC railroad ties that were field tested on a train track. Rail ties were selected for this initial assessment of CO 2 storage in precast concrete materials due to the large market for concrete ties in the railroad industry. Although the full-scale rail ties passed all of the required American Railway Engineering and Maintenance-of-Way Association qualifying mechanical tests, on-track testing of the CO 2 -cured ECC rail ties was unsuccessful due to fiber alignment in the ECC the during the rail tie casting process which prevented the material from achieving the expected level of strain capacity. This result highlights the challenge in scaling up bench-scale processes to full-scale product manufacturing and requires additional investigation into the casting process of large-scale infrastructure elements using ECC combined with carbonation curing. Life cycle assessment of a CO 2 -cured ECC rail tie versus a traditional concrete rail tie indicates that the ECC tie can have lifecycle carbon savings of between 11% and 51% depending on how much longer its useful lifetime is compared to traditional concrete rail ties. Both carbon and cost savings are driven by a reduction in the need to replace broken rail ties, so the key factor is the extent to which a CO 2 -cured ECC rail tie will have increased lifetime durability compared to alternative rail ties.
System Analysis Modeling and Intermodal Transportation for Commercial Spent Nuclear Fuel
The United States Department of Energy (DOE) has long term goals to develop solutions for managing the nation’s spent nuclear fuel (SNF) and high-level waste (HLW) inventory. The Integrated Waste Management (IWM) program under the DOE office of Nuclear Energy (DOE-NE) is employing system-level engineering and analysis principles to inform potential future waste management system architectures. Managing the spent nuclear waste requires the use of system-level analysis software that takes various aspects of the fuel cycle into account like waste generation, on-site/centralized storage, transportation infrastructure, and long-term disposal. The Next Generation System Analysis Model (NGSAM) is an agent-based model that was developed to simulate the transportation and storage of SNF and HLW. As an agent-based model, NGSAM has the capability to detail the interaction and movement of individual components and groups, such as rail cars and casks. The SNF inventory from commercial nuclear reactors is currently in temporary storage at multiple locations spread across the United States. Shipping of SNF from these locations relies on one of three transportation modes: rail, heavy-haul truck, or barge. Out of the three modes identified, rail is generally the most preferred due to the size of the canisters and casks the SNF would be shipped in. However, under some scenarios, a direct rail route might not be readily available to a reactor site or improving the rail infrastructure at shutdown sites might be too cost-prohibitive for utilities to opt for a direct rail transfer. Under such scenarios, using a barge or heavy haul truck to de-inventory the site and transfer the SNF to a nearby intermodal transfer site with adequate rail infrastructure where the payload could be transferred to a rail car might prove to be an attractive option. This work initially presents the various intermodal transportation options that could be used to transfer SNF from reactor sites to rail cars. This is followed by exploring the operational steps in each of these modes to move the SNF from a reactor site and transfer it to a rail car. This work also presents the procedure of implementing the intermodal transfer methodology in NGSAM using various Java methods. Finally, the process times for accomplishing each of the individual steps are furnished. The implementation ideology, assumptions, and future steps are presented in this work.
Precise Motion Control of Hybrid Hydraulic Electric Architecture (HHEA)
Off-highway heavy-duty vehicles have been long-standing users of hydraulic systems for power transmission and control. However, traditional hydraulic systems suffer from significant energy losses which lead to increased operating costs and a larger carbon footprint due to higher CO2 emissions. Improving the efficiency of these mobile machines is crucial not only for reducing their environmental impact but also for saving billions of dollars in operating costs. Currently, the state-of-the-art Load Sensing Architecture uses throttling valves for control, which significantly reduces its efficiency and does not recuperate energy from over-running loads. Researchers have developed several architectures such as Common Pressure Rail systems, Displacement Control, STEAM, and Electrohydraulic Architecture to improve the efficiency of off-road mobile machines. However, each of these architectures has its drawbacks. To increase system efficiency and take advantage of electrification benefits, our research group has developed a novel Hybrid Hydraulic-Electric Architecture (HHEA). The HHEA can significantly improve efficiency, decrease the size of electrical components, and maintain control performance. This new architecture has the potential to revolutionize the off-highway mobile machine industry and lead to a more sustainable future. The HHEA uses a set of common pressure rails to provide the majority of power to the actuators via power-dense hydraulics and uses electric motors for precise control and power modulation. In the context of off-road mobile machines, energy savings are undoubtedly important but it is equally important to consider the machines’ ability to perform tasks with precision and accuracy according to given commands. Therefore, precise motion control is of utmost importance to maintain the utility of Hybrid Hydraulic-Electric Architecture (HHEA). The HHEA presents a unique challenge to motion control due to the discrete pressure changes that occur when the system switches between selected pressure rails. These changes are made to minimize system inefficiencies or to keep the system within the torque capability of the electric motor. Hence, it is important to solve the motion control challenges for HHEA. This thesis aims at developing an effective motion control strategy for HHEA. The dissertation presents a two-tiered control strategy for HHEA, comprising a high-level and a low-level controller. The primary responsibility of the high- level controller is to optimize energy efficiency by making informed pressure rail selections. On the other hand, the low-level controller is focused on achieving precise motion control of the HHEA, which is crucial for realizing the desired reference trajectories. To achieve this, the low-level controller utilizes a passivity-based backstepping integral controller as the nominal control, which handles the motion control between two pressure rail switches. Additionally, a separate least norm controller is utilized as a transition controller to manage motion control during pressure rail transitions. The effectiveness of the combined control strategy is demonstrated through experiments conducted on two hardware-in-the-loop testbeds. Furthermore, the HHEA is installed on the boom and stick actuators of a backhoe arm to build a Human-in-the-Loop system that a human operator can control. A real-time rail switching algorithm is developed to determine pressure rail switching based on present duty cycle information from the operator. Modifications have been made to the human-machine interface to achieve more intuitive control. Modifications include performing control in the task-oriented coordinates, incorporating pressure feedback to enhance control with physical interaction, and using velocity field control to simplify multi-degree-of-freedom tasks and to enable novice operators to perform them with reduced risk, improved efficiency, and productivity. The research in this dissertation makes significant contributions to the field of off-road mobile machine control, providing a novel and effective control strategy for the HHEA, and demonstrating the potential for simplified machine operation.
Electric and Hydraulic Propel Torque Modulation for a Compact Track Loader With the Hybrid Hydraulic Electric Architecture (HHEA)
Abstract The Hybrid Hydraulic Electric Architecture (HHEA) has previously been proposed for off-highway vehicles to reap the efficiency and controllability benefits of electrification without needing very large electric motors. This is achieved with the use of a set of selectable common pressure rails to transmit the majority of power and small electric motors to modulate that power. Previous work has shown significant energy savings for the work circuits of a variety of machines. In this paper, the energy saving potential of HHEA for the propel circuit of a compact track loader is studied. The ports of the track hydraulic motors are selectably connected to the common pressure rails, and instead of using the electric assist motors to buck/boost pressure, as in HHEA for linear actuators, small electric assist motors are used to add/subtract torque directly. The interplay between the torque limits of the electric motors and the ability of the hydraulic motor to vary displacements is studied, along with the effect these factors have on energy saving potential. It is found that the ability to vary the displacement of the hydraulic motor allows for: more efficient electric motor operating conditions, reduced electric torque requirement, and reduced pressure rail switching events. All three of these advantages can be achieved at once using variable displacements; but trade-offs exist between these advantages (i.e. improved efficiency can be achieved at the expense of a larger electric torque requirement). Overall, the HHEA can reduce energy consumption by ∼ 36% compared to the stock machine, depending on the hydraulic motor’s ability to vary displacements, and assuming the electric motor torque is limited to 20% of that required in a direct electrification scheme.
Human-in-the-Loop Motion Control of a Two-DOF Hydraulic Backhoe Powered by the Hybrid Hydraulic Electric Architecture (HHEA)
Abstract The Hybrid Hydraulic-Electric Architecture (HHEA) combines the respective power density and control advantages of hydraulic and electric actuation to save energy for off-road vehicles. It uses a set of selectable common pressure rails to transmit the majority of power and electric actuation to modulate that power. As it is critical that off-road vehicles can perform tasks dexterously and exactly as commanded by the operator, the switchings between discrete pressure rails pose a potential challenge for smooth and precise motion. A control strategy consisting of a backstepping nominal control and least norm transition control has previously been developed to address this issue. It has been tested on 1 degree of freedom (DOF) testbeds where known trajectories were able to be tracked precisely. This paper presents the implementation of the HHEA motion control strategy on a 2-DOF backhoe operated by a human operator via a 2-DOF joystick. Unlike previous studies, the duty cycle is unknown beforehand and the decision to change pressure rails is taken in real-time. The efficacy of the motion control strategy has been validated experimentally. Several strategies to improve the user interface: control in workspace coordinates, pressure feedback, and velocity field-based task specification, have also been implemented and demonstrated to make operating the multiple DOF, HHEA actuated machine more intuitive to novice operators.
Energy-based break-even transportation distance of biomass feedstocks
The distance a solid biomass feedstock could be used to transport the feedstock when used as biobased fuel is critical information for transportation analysis. However, this information is not available. The break-even transportation distance (BTD) of various fuels from biomass feedstocks and fossil sources was analyzed for truck, rail, and ship transport modes based on bulk density, moisture content, and specific energy. Fourteen different biomass feedstocks, such as crop residues (e.g., corn stover), woody biomass (e.g., wood chips), including thermally pretreated (torrefied) and densified forms (pellets), cattle feedlot compost, and three standard fossil fuels, namely, coal, lignite, and diesel, were considered for BTD analysis and comparison. The BTD values were derived by comparing the energy content of biomass feedstocks with the energy expended in transporting the fuels through selected transportation modes. For ready reference, an alternative derivation of BTD equations and example calculations were also presented. Among the biomass feedstocks, torrefied pellets had the highest BTD (4.16 × 10 4 , 12.47 × 10 4 , and 54.14 × 10 4 km), and cattle feedlot compost had the lowest BTD (1.29 × 10 4 , 3.88 × 10 4 , and 9.23 × 10 4 km), respectively, for truck, rail, and ship. Higher bulk density and higher specific energy of the biomass feedstocks increased the BTD for all modes of transport. Transport is most efficient when mass-limited. Biomass feedstock bulk densities where transportation becomes mass-limited are 223, 1,480, and 656 kg/m 3 for truck, rail, and ship, respectively. Truck transport is typically mass-limited (payload limit restriction; increased BTD), whereas rail transport is entirely volume-limited (cargo space restriction; decreased BTD), and ship transport is mostly volume-limited for biomass feedstocks and mass-limited for densified biomass feedstocks. Ship transport is the most efficient, followed by rail and truck; on average for the materials (17) studied, rail is 3.1 times and ship is 9.2 times the truck's BTD. Based on the bulk density and higher specific energy of the biomass feedstocks, regardless of the refinery location, interstate truck transport of these feedstocks is not a limiting factor in the bio-refining process., with the studied biomass feedstock BTD per truckload representing between 0.89 and 2.88 times the US perimeter.
Linear delta systems, hexapod systems, and related methods
A linear delta system includes a support frame, rails mounted to the support frame, linear actuators, each linear actuator configured to translate along a longitudinal length of a respective rail, pairs of parallel rods each coupled to the linear actuators, a platform coupled to a longitudinal end of each of the pairs of parallel rods opposite the respective linear actuator, and an object coupled to the platform. Longitudinal axes of the rails are oriented parallel to each other and lie within a common plane or an uncommon plane. A method of forming a linear delta system includes mounting rails to a support frame, the rails having longitudinal axes that are parallel to each other and lying within a common plane, coupling a linear actuator to each of the rails, coupling a pair of parallel rods to each linear actuator, and coupling a platform to the pairs of parallel rods.
Vertical high-pressure rinse machine
A high-pressured rinsing system comprises a base including a liquid reservoir, a rotation motor housing including a rotation motor adapted to rotate a spray wand attached, and extending vertically upward from, the rotation motor housing and base, a linear rail support frame attached the base and including a vertical motor and associated linear rail attached thereto, a cavity mounting plate attached to the linear rail, wherein vertical movement of the linear rail causes vertical movement of the cavity mounting plate over the base; and at least one door and a plurality of side panels mounting to an enclosure support frame, wherein the enclosure support frame is mounted and secured to the linear rail support frame and base to create an enclosure around the spray wand and linear rail.
HIL Testbed and Motion Control Strategy for the Hybrid Hydraulic-Electric Architecture (HHEA)
The Hybrid Hydraulic-Electric Architecture (HHEA) was proposed in recent years to increase system efficiency of high power mobile machines and to reap the benefits of electrification without the need for large electric machines. It uses a set of common pressure rails to provide the majority of power hydraulically and small electric motors to modulate that power for precise control. This paper presents the development of a Hardware-in-the-loop (HIL) test-bed for testing motion control strategies for the HHEA. Precise motion control is important for off-road vehicles whose utility requires the machine being dexterous and performing tasks exactly as commanded. Motion control for the HHEA is challenging due to its intrinsic use of discrete pressure rail switches to minimize system efficiency or to keep the system within the torque capabilities of the electric motor. The motion control strategy utilizes two different controllers: a nominal passivity based back-stepping controller used in between pressure rail switches and a transition controller used to handle the event of a pressure rail switch. In this paper, the performance of the nominal control under various nominal and rail switching scenarios is experimentally evaluated on the HIL testbed.
Development of a High-Pressure Fuel Injection System for Use with Propane-DME
Paper details the design approach and performance of a high-pressure common rail fuel injection system used with Propane-DME mixtures targeting high injection pressures on a light duty 2.2L inline-4 compression ignition engine. The study estimates the bulk modulus of elasticity based on the hardware geometry and operating pressures to assess the compressibility of Propane and DME across a range of pressures typical of the LD engine application. The compressibility factor ranges from 500 to 3000 bar, significantly lower than the theoretical values for the conditions tested. The high-pressure pump performance is optimized via the implementation of an inlet metering valve operated on a crank-angle open/close sequence to control pressure at the common rail. The application of a model-based controller and the use of high-speed sampling of rail pressure indicate that pressure at the rail can be attained with the pump metering valve, and without use of the pressure relieve valve present in the rail. Results show a significant reduction on pumping work parasitics and of fuel heating, on the order of 40°C, at typical working conditions with the proposed approach. Injector rates of injection with Propane-DME are very similar to those of Diesel. Paper compares bench data of rates of injection versus simulation predictions across operating pressures of 200 to 1000bar and from injection commands spanning 0.20 to 2.0ms. Furthermore, the accuracy of the model predictions are attributed in part by to the updated fuel compressibility modulus descriptions attained during the testing.
Accumulator Sizing for the Hybrid Hydraulic Electric Architecture (HHEA) Using Dynamic Programming
Abstract The Hybrid Hydraulic Electric Architecture (HHEA) is an approach to electrifying and improving that does not require very large electric machines. The majority power is provided hydraulically via a set of common pressure rails while small electric machines are used to modulate that power to meet exact demand. Each common pressure rail has an accumulator, which keeps the pressure of each rail near constant as long as the volume in the accumulator does not change much. A main pump adds or removes fluid from each accumulator as needed to reduce volume changes in the accumulators. It is the operation of this main pump which is investigated here. In previous analysis it was assumed that the size of the accumulators was large enough to account for any difference in fluid volume without significantly changing the pressure. In this paper, the required accumulator sizes are studied using a dynamic programming approach. At each time step the inlet and outlet of the main pump could be connected to any of the common pressure rails. These decisions for the main pump were optimized to minimize the required accumulator size. Case studies are conducted using drive cycles from a 22-ton excavator, a 20-ton wheel loader and a 5-ton excavator. The machines could be operated with total accumulator sizes of less than 20, 10, and 5 liters respectively. Required accumulator size was found to vary with pump flow rate, the frequency at which the pump/motor was able to change operating conditions, the tolerance level of pressure deviation and the accumulator’s polytropic index.
Strategies for Constructing and Operating DNA Origami Linear Actuators
Abstract Linear actuators are ubiquitous components at all scales of engineering. DNA nanotechnology offers a unique opportunity for bottom‐up assembly at the molecular scale, providing nanoscale precision with multiple methods for constructing and operating devices. In this paper, DNA origami linear actuators with up to 200 nm travel, based on a rail threading a topologically locked slider, are demonstrated. Two strategies, one‐ and two‐pot assembly, are demonstrated whereby the two components are folded from one or two DNA scaffold strands, respectively. In order to control the position of the slider on the rail, the rail and the inside of the slider are decorated with single‐stranded oligonucleotides with distinct sequences. Two positioning strategies, based on diffusion and capture of signaling strands, are used to link the slider reversibly to determined positions on the rail with high yield and precision. These machine components provide a basis for applications in molecular machinery and nanoscale manufacture including programmed chemical synthesis.