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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 91 records · Page 5

All sources NASA NTRS DOE OSTI

DOE OSTI2022

Vehicle-to-manufacturing (V2M) system: A novel approach to improve energy demand flexibility for demand response towards sustainable manufacturing

The U.S. manufacturing sector accounts for 77% of the industrial energy consumption, but its participation in demand response (DR) programs is largely lagged behind. The limited flexibility in production scheduling under high capacity utilization and the lack of DR schemes that incorporate energy demand flexibility measures are deemed as major barriers. In this study, a framework of the interactive vehicles-to-manufacturing (V2M) energy sharing system is proposed to improve the energy demand flexibility of the aggregated system and enhance the DR effectiveness for manufacturers. The V2M-based DR scheme aims to reduce the energy cost by load shifting through joint production and energy sharing control, which can eventually promote manufacturing DR implementation even under high capacity utilization requirements and dynamic real-time electricity prices. The V2M system is modeled based on a discrete-Markov chain considering the complex interconnections among various manufacturing resources and multi-directional energy flows among manufacturing facilities, electric vehicles, and the power grid. Based on the system model, a mixed-integer nonlinear programming (MINLP) problem is formulated to identify the optimal DR scheme. The effectiveness of the proposed approach is validated through comparisons with traditional manufacturing DR schemes. Finally, the results show that a 2.1 to 6.5 times energy demand flexibility improvement and an additional 4.7% to 6.9% energy cost reduction can be achieved by the proposed approach.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2023

A meta-evaluation of the quality of reporting and execution in ecological meta-analyses

Quantitatively summarizing results from a collection of primary studies with meta-analysis can help answer ecological questions and identify knowledge gaps. The accuracy of the answers depends on the quality of the meta-analysis. We reviewed the literature assessing the quality of ecological meta-analyses to evaluate current practices and highlight areas that need improvement. From each of the 18 review papers that evaluated the quality of meta-analyses, we calculated the percentage of meta-analyses that met criteria related to specific steps taken in the meta-analysis process (i.e., execution) and the clarity with which those steps were articulated (i.e., reporting). We also re-evaluated all the meta-analyses available from Pappalardo et al. to extract new information on ten additional criteria and to assess how the meta-analyses recognized and addressed non-independence. In general, we observed better performance for criteria related to reporting than for criteria related to execution; however, there was a wide variation among criteria and meta-analyses. Meta-analyses had low compliance with regard to correcting for phylogenetic non-independence, exploring temporal trends in effect sizes, and conducting a multifactorial analysis of moderators (i.e., explanatory variables). In addition, although most meta-analyses included multiple effect sizes per study, only 66% acknowledged some type of non-independence. The types of non-independence reported were most often related to the design of the original experiment (e.g., the use of a shared control) than to other sources (e.g., phylogeny). We suggest that providing specific training and encouraging authors to follow the PRISMA EcoEvo checklist recently developed by O’Dea et al. can improve the quality of ecological meta-analyses.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2025

High-Power Electric Vehicle Charging Hub Integration Platform (eCHIP): Site Energy Management System Platform Development

A site energy management system is a critical component of future high-power EV charging hubs. It monitors and supervises all inter-hub operations, coordinates grid interactions, and implements energy management strategies and load-sharing controls at various levels and time scales. This report provides a comprehensive high-level overview and guidelines on the essential elements of such energy management systems. These elements primarily focus on the core functions, architecture, and monitoring aspects of site energy management. The core functions define the grid services and operational objectives that a charging hub is expected to provide and achieve. The architectural section investigates the coordination between hub assets, different control schemes, and their potential benefits and drawbacks. Lastly, the report discusses the needs, types, and functionalities of a monitoring and visualization system.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS1973

Performance improvement in remote manipulation with time delay by means of a learning system.

A teleoperating system is presented that involves shared control between a human operator and a general-purpose computer-based learning machine. This setup features a trainable control network termed the autonomous control subsystem (ACS) which is able to observe the operator's control actions, learn the task at hand, and take appropriate control actions. A working ACS system is described that has been put in operation for the purpose of exploring the uses of a remote intelligence of this type. The expansion of the present system into a multifunctional learning machine capable of a greater degree of autonomy is also discussed.

Freedy, A.↗

NASA NTRS1986

Design for a goal-oriented telerobotic system

Robotic systems will play an increasingly important role in space operations. This paper describes the objective and design of a proposed goal-oriented telerobotic system for space operations. This design effort encompasses the elements of the system executive and user interface, and the distribution and general structure of the knowledge bases, the displays, and the task sequencing. The objective of the design effort is to provide an evolutionary structure for a telerobotic system, i.e., one that can progress from strictly teleoperated through phases of serving as an assistant, a colleague, and an expert, to eventually serve as a truly autonomous unit, requiring only minimal supervision. A preliminary design for such a system involving 'mixed initiative', or the flexible shared control between the human operator and the software system, is complete and described in this paper.

Will, R. W.↗

NASA NTRS1990

The telerobot testbed: An architecture for remote servicing

The NASA/OAST Telerobot Testbed will reach its next increment in development by the end of FY-89. The testbed will have the capability for: force reflection in teleoperation, shared control, traded control, operator designate and relative update. These five capabilities will be shown in a module release and exchange operation using mockups of Orbital Replacement Units (ORU). This development of the testbed shows examples of the technologies needed for remote servicing, particularly under conditions of delay in transmissions to the servicing site. Here, the following topics are presented: the system architecture of the testbed which incorporates these telerobotic technologies for servicing, the implementation of the five capabilities and the operation of the ORU mockups.

Matijevic, J. R.↗

NASA NTRS1989

Performance evaluation of a 6 axis high fidelity generalized force reflecting teleoperator

A few of the results of a major study of over 100 hours of experimental teleoperation are presented. Force and torque data recorded from the robot wrist is a rich source of information on the performance of tasks. Performance measures can be computed for whole tasks, or for specific task segments. As a general principle, the performance increases as manipulation capability is increased although the effects may depend on task and performance measure. This study has laid the groundwork for much future work. Further reports will detail additional results which could not be presented here due to lack of space as well as follow-on experiments investigating manipulation under time delay and shared control conditions.

Hannaford, Blake↗

NASA NTRS1991

Active Compliance And Damping In Telemanipulator Control

Experimental telemanipulator system of force-reflecting-hand-controller type provides for active compliance and damping in remote, robotic manipulator hand. Distributed-computing and -control system for research in various combinations of force-reflecting and active-compliance control regimes. Shared compliance control implemented by low-pass-filtered force/torque feedback. Variable simulated springs and shock absorbers soften collisions and increase dexterity.

Kim, Won S.↗

NASA NTRS1990

Teleautonomous guidance for mobile robots

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

Borenstein, J.↗

NASA NTRS1992

Evaluation Of Performance Of A Telerobot

Paper presents evaluation of performance of six-axis telerobot system with shared control and advanced modes of force feedback. Various tasks performed with and without force feedback. Study found force feedback reduces average time required to complete task by about 30 percent. Also reduces sum of squared forces by factor of 7 and errors by 63 percent.

Hannaford, Blake↗

NASA NTRS1991

JPL space station telerobotic engineering prototype development FY 91 status/achievements

The topics covered are presented in view graph form and include: (1) streamlining intravehicular activity (IVA) teleoperation activities on the Space Station Freedom (SSF); (2) enhancing SSF utilization during the man-tended phase; (3) telerobotic ground remote operations (TGRO); and (4) advanced telerobotics system technology (shared control).

Zimmerman, Wayne↗

NASA NTRS1992

Teleoperation to robotics at Langley Research Center

Experience of NASA Langley Research Center in teleoperation, telerobotics, and robotics in applications related to possible space tasks is reviewed. Shared control based on manual and sensor blending in a rate command control system made it possible to simultaneously control two or more manipulators executing a telerobotic task from a single hand controller. It is concluded that telerobotics combines the best features of teleoperation and robotics and is sufficiently mature for simple space tasks. Robotics is considered to be feasible but less mature and must be highly reliable.

Pennington, Jack E.↗

NASA NTRS1994

Tele/Autonomous Robot For Nuclear Facilities

Fail-safe tele/autonomous robotic system makes it unnecessary for human technicians to enter nuclear-fuel-reprocessing facilities and other high-radiation or otherwise hazardous industrial environments. Used to carry out experiments as exchanging equipment modules, turning bolts, cleaning surfaces, and grappling turning objects by use of mixture of autonomous actions and teleoperation with either single arm or two cooperating arms. System capable of fully autonomous operation, teleoperation or shared control.

Backes, Paul G.↗

NASA NTRS2003

An Effective Division of Labor Between Human and Robotic Agents Performing a Cooperative Assembly Task

NASA's Human Space Flight program depends heavily on spacewalks performed by human astronauts. These so-called extra-vehicular activities (EVAs) are risky, expensive and complex. Work is underway to develop a robotic astronaut's assistant that can help reduce human EVA time and workload by delivering human-like dexterous manipulation capabilities to any EVA worksite. An experiment is conducted to evaluate human-robot teaming strategies in the context of a simplified EVA assembly task in which Robonaut, a collaborative effort with the Defense Advanced Research Projects Agency (DARPA), an anthropomorphic robot works side-by-side with a human subject. Team performance is studied in an effort to identify the strengths and weaknesses of each teaming configuration and to recommend an appropriate division of labor. A shared control approach is developed to take advantage of the complementary strengths of the human teleoperator and robot, even in the presence of significant time delay.

Rehnmark, Fredrik↗

NASA NTRS1989

Force-reflective teleoperated system with shared and compliant control capabilities

The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz.

Szakaly, Z.↗

NASA NTRS1992

Parallel fault-tolerant robot control

A shared memory multiprocessor architecture is used to develop a parallel fault-tolerant robot controller. Several versions of the robot controller are developed and compared. A robot simulation is also developed for control observation. Comparison of a serial version of the controller and a parallel version without fault tolerance showed the speedup possible with the coarse-grained parallelism currently employed. The performance degradation due to the addition of processor fault tolerance was demonstrated by comparison of these controllers with their fault-tolerant versions. Comparison of the more fault-tolerant controller with the lower-level fault-tolerant controller showed how varying the amount of redundant data affects performance. The results demonstrate the trade-off between speed performance and processor fault tolerance.

Hamilton, D. L.↗

DOE OSTI2023

Novel Rotated Virtual Synchronous Generator Control for Power-Sharing in Microgrids with Complex Line Impedance

Virtual synchronous generator (VSG) control is based on the fact that the line impedance in a microgrid is highly inductive. This assumption was made due to the emulation of the stator winding of an electrical machine. This concept can affect the controllability of a microgrid with complex line impedance, generating deviations in the chosen operation point. To overcome this issue, additional techniques must be implemented. This paper describes a novel mathematical approach that uses the power line characteristics in a microgrid to rotate the power control reference frame and proposes a new control method called a “Rotated Virtual Synchronous Generator” (RVSG). This RVSG control approach integrates the effect of complex impedance on the microgrid’s operation and adjusts the reference frame accordingly to improve the system’s stability and performance. The use of this proposed mathematical approach in microgrids allows the further emulation of virtual inertia in microgrids that lack inertia. Finally, a comparison between RVSG control and the classical virtual synchronous generator method is carried out to show that it allows the improvement of the transient power response, power quality, stability, and performance, mainly in microgrids with complex line impedance.

42 ENGINEERING↗

NASA NTRS1999

The Effects of Shared Information on Pilot-Controller Situation Awareness And Re-Route Negotiation

The effect of shared information is assessed in terms of pilot-controller negotiating behavior and shared situation awareness. Pilot goals and situation awareness requirements are developed and compared against those of air traffic controllers to identify areas of common and competing interest. An exploratory, part-task simulator experiment is described which evaluates the extent to which shared information may lead pilots and controllers to cooperate or compete when negotiating route amendments. Results are presented which indicate that shared information enhances situation awareness and can engender more collaborative interaction between pilots and air traffic controllers. Furthermore, the value of providing controllers with a good-quality weather overlay on their plan view displays is demonstrated. Observed improvements in situation awareness and separation assurance are discussed.

Farley, Todd C.↗