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NASA NTRS1989

The Goddard Space Flight Center (GSFC) robotics technology testbed

Much of the technology planned for use in NASA's Flight Telerobotic Servicer (FTS) and the Demonstration Test Flight (DTF) is relatively new and untested. To provide the answers needed to design safe, reliable, and fully functional robotics for flight, NASA/GSFC is developing a robotics technology testbed for research of issues such as zero-g robot control, dual arm teleoperation, simulations, and hierarchical control using a high level programming language. The testbed will be used to investigate these high risk technologies required for the FTS and DTF projects. The robotics technology testbed is centered around the dual arm teleoperation of a pair of 7 degree-of-freedom (DOF) manipulators, each with their own 6-DOF mini-master hand controllers. Several levels of safety are implemented using the control processor, a separate watchdog computer, and other low level features. High speed input/output ports allow the control processor to interface to a simulation workstation: all or part of the testbed hardware can be used in real time dynamic simulation of the testbed operations, allowing a quick and safe means for testing new control strategies. The NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) hierarchical control scheme, is being used as the reference standard for system design. All software developed for the testbed, excluding some of simulation workstation software, is being developed in Ada. The testbed is being developed in phases. The first phase, which is nearing completion, and highlights future developments is described.

Schnurr, Rick↗

NASA NTRS2015

SSI-ARC Flight Test 3 Data Review

The "Unmanned Aircraft System (UAS) Integration into the National Airspace System (NAS)" Project conducted flight test program, referred to as Flight Test 3, at Armstrong Flight Research Center from June - August 2015. Four flight test days were dedicated to the NASA Ames-developed Detect and Avoid (DAA) System referred to as Autoresolver. The encounter scenarios, which involved NASA's Ikhana UAS and a manned intruder aircraft, were designed to collect data on DAA system performance in real-world conditions and uncertainties with four different surveillance sensor systems. Resulting flight test data and analysis results will be used to evaluate the DAA system performance (e.g., trajectory prediction accuracy, threat detection) and to add fidelity to simulation models used to inform Minimum Operating Performance Standards (MOPS) for integrating UAS into routine NAS operations.

detect and avoid↗

DOE OSTI2025

SPARC - Plans for a New Critical Experiment Facility with a Horizontal Split Table

Several critical experiment facilities, sometimes referred to as zero power reactor facilities, have provided crucial data to aid understanding and validate nuclear-physics models since the beginning of nuclear technology. Indeed, the first man-made reactor, Chicago Pile-1, was essentially this type of reactor. However, there was a downturn in nuclear technology development toward the turn of the millennium, and the need for these specialized research facilities waned. Now there are few of these experimental facilities operational in the world and those that remain have relatively small critical assembly machines. The need for criticality safety benchmark experiments at intermediate neutron energy levels and the modern resurgence of interest in advanced reactors designs, many of which do not have historical precedents in terms of nuclear fuel composition, moderator, and coolant combinations, all combine to create a substantial need for a critical experiment facility with a large horizontal split-table (HST) machine. A HST machine is used to arrange two separate and subcritical parts of a core assembly, bring them together in a precise manner to achieve criticality using remote controls, and separate them to achieve a subcritical configuration again. A new effort was recently performed to develop user needs for a HST, assess candidate locations at the Idaho National Laboratory (INL), and develop a plan for deployment. This project is referred to as the System Physics Advanced Reactor Critical facility (SPARC). A few months after this assessment began, and shortly after as a viable pathway was emerging, a series of important presidential executive orders were issued to revitalize nuclear energy in the United States (U.S.). The relevance of SPARC to these executive orders was immediately apparent. The far-reaching potential of SPARC to these executive orders will reside in its ability to produce data which facilitates licensing of advanced nuclear reactor designs while reducing uncertainties to help increase energy production alongside new criticality safety data to enable more efficient nuclear fuel manufacture, transport, and storage.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2017

Three-Dimensional Modeling of Fracture Clusters in Geothermal Reservoirs

The objective of this is to develop a 3-D numerical model for simulating mode I, II, and III (tensile, shear, and out-of-plane) propagation of multiple fractures and fracture clusters to accurately predict geothermal reservoir stimulation using the virtual multi-dimensional internal bond (VMIB). Effective development of enhanced geothermal systems can significantly benefit from improved modeling of hydraulic fracturing. In geothermal reservoirs, where the temperature can reach or exceed 350oC, thermal and poro-mechanical processes play an important role in fracture initiation and propagation. In this project hydraulic fracturing of hot subsurface rock mass will be numerically modeled by extending the virtual multiple internal bond theory and implementing it in a finite element code, WARP3D, a three-dimensional finite element code for solid mechanics. The new constitutive model along with the poro-thermoelastic computational algorithms will allow modeling the initiation and propagation of clusters of fractures, and extension of pre-existing fractures. The work will enable the industry to realistically model stimulation of geothermal reservoirs. The project addresses the Geothermal Technologies Office objective of accurately predicting geothermal reservoir stimulation (GTO technology priority item). The project goal will be attained by: (i) development of the VMIB method for application to 3D analysis of fracture clusters; (ii) development of poro- and thermoelastic material sub-routines for use in 3D finite element code WARP3D; (iii) implementation of VMIB and the new material routines in WARP3D to enable simulation of clusters of fractures while accounting for the effects of the pore pressure, thermal stress and inelastic deformation; (iv) simulation of 3D fracture propagation and coalescence and formation of clusters, and comparison with laboratory compression tests; and (v) application of the model to interpretation of injection experiments (planned by our industrial partner) with reference to the impact of the variations in injection rate and temperature, rock properties, and in-situ stress.

15 GEOTHERMAL ENERGY↗

NASA NTRS2000

Neural-Thyroid Interaction on Skeletal Isomyosin in Zero Gravity

The primary goal of the project was to develop a ground based model to first study the role of the nerve and of thyroid hormone (T3) in the regulation of body growth and skeletal muscle growth and differentiation in rodents. A primary objective was to test the hypothesis that normal weight bearing activity is essential for the development of antigravity, slow twitch skeletal muscle and the corresponding slow myosin heavy chain (MHC) gene; whereas, T3 was obligatory for general body and muscle growth and the establishment of fast MHC phenotype in typically fast locomoter muscles. These ground based experiments would provide both the efficacy and background for a spaceflight experiment (referred to as the Neurolab Mission) jointly sponsored by the NIH and NASA.

Baldwin, Kenneth M.↗

DOE OSTI2016

A Comparison Study of Offshore Wind Support Structures with Monopiles and Jackets for U.S. Waters: Preprint

U.S. experience in offshore wind is limited, and high costs are expected unless innovations are introduced in one or multiple aspects of the project, from the installed technology to the balance of system (BOS). The substructure is the main single component responsible for the BOS capital expenditure (CapEx) and thus one that, if improved, could yield significant levelized cost of energy (LCOE) savings. For projects in U.S. waters, multimember, lattice structures (also known as jackets) can render required stiffness for transitional water depths at potentially lower costs than monopiles (MPs). In this study, we used a systems engineering approach to evaluate the LCOE of prototypical wind power plants at six locations along the eastern seaboard and the Gulf of Mexico for both types of support structures. Using a reference wind turbine and actual metocean conditions for the selected sites, we calculated loads for a parked and an operational situation, and we optimized the MP- and jacket-based support structures to minimize their overall mass. Using a suite of cost models, we then computed their associated LCOE. For all water depths, the MP-based configurations were heavier than their jacket counterparts, but the overall costs for the MPs were less than they were for jackets up to depths of slightly less than 30 m. When the associated manufacturing and installation costs were included, jackets resulted in lower LCOE for depths greater than 40 m. These results can be used by U.S. stakeholders to understand the potential for different technologies at different sites, but the methodology illustrated in this study can be further employed to analyze the effects of innovations and design choices throughout wind power plant systems.

17 WIND ENERGY↗

DOE OSTI2019

Assessment of Long Term Creep Using Strain Rate Matching From the Stepped Isostress Method

Creep testing is an ongoing need, particularly with the development of new candidate alloy systems for advanced energy systems. The conventional creep test (CT) is regarded as a proven method to gather creep data however, the test is impractical due to being real-time: lasting up to 105 hours to characterize the service of long-lived turbomachinery components. Accelerated methods to gather the long-term creep properties of materials are needed to reduce the time to qualification of new materials. The time-temperature-stress-superposition principle (TTSSP) and the derivative time-temperature superposition principle (TTSP), time-stress superposition principle (TSSP), stepped isothermal method (SIM), and stepped isostress method (SSM) are accelerated creep tests (ACT) commonly used to predict the long-term creep behaviors of polymers and composites. The TTSP and TSSP tests require multiple specimen tested at various temperatures/stresses whereas the SIM and SSM tests employ a single specimen where temperature/stress are periodically step increased until rupture. The stepped creep deformation curve can then be time and strain shifted to produce a master creep curve. While these ACTs are useful tools to predict long-term creep, the drawback is the lack of mathematical laws to determine the virtual start time and time shift factors, especially for different materials. In this paper, a new self-calibration approach is developed and compared to existing SSM data for Kevlar 49. This new approach focuses on matching the creep strain rates between stress steps and fitting the data to a master curve using a modified theta projection model. This is performed using a MATLAB code consisting of five subroutines. The first subroutine takes the stress, time, and creep strain from SSM/SIM tests, and segregates the data intro arrays corresponding to each stress level. The second subroutine finds the constants for the modified theta projection model for each stress level. The third subroutine performs a time shift adjustment using creep strain rate matching. The fourth subroutine calculates the accelerated time of rupture. The last subroutine generates accelerated creep versus time plots. Kevlar 49 SSM data is gathered from literature and run through the MATLAB code. The master curves generated from the MATLAB are compared to the conventional creep curve of Kevlar 49 as well as the master curve gathered from literature in order to validate the feasibility of this new approach. The goal of this project is to vet if the self-calibration approach can produce results similar to the reference calibration approach.

36 MATERIALS SCIENCE↗

DOE OSTI2013

Modeling Adjustable Speed Pumped Storage Hydro Units Employing Doubly-Fed Induction Machines

This report is a part of a series of documents to be issued in the course of a U.S. Department of Energy (DOE) project titled “Modeling and Analysis of Value of Advanced Pumped Storage Hydropower in the U.S.” The purpose of this report is to propose a model structure for an adjustable speed pumped storage hydro (PSH) unit employing a doubly-fed induction machine (DFIM). The use of a DFIM with its rotor windings controlled by a power converter is the present state-of-the-art design for adjustable speed hydro pumped storage units. Although the theoretical basis for the analysis of DFIMs was developed at least 70 years ago (a paper by Charles Concordia et al. in 1942 describes the mathematical modeling and dynamic response of DFIM and refers to even earlier publications), it seems appropriate to provide the fundamental equations governing their dynamic behavior so that the following discussions on modeling these devices for stability studies are more meaningful.

Koritarov, Vladimir↗

DOE OSTI2014

Design of Experiments, Model Calibration and Data Assimilation

This presentation provides an overview of emulation, calibration and experiment design for computer experiments. Emulation refers to building a statistical surrogate from a carefully selected and limited set of model runs to predict unsampled outputs. The standard kriging approach to emulation of complex computer models is presented. Calibration refers to the process of probabilistically constraining uncertain physics/engineering model inputs to be consistent with observed experimental data. An initial probability distribution for these parameters is updated using the experimental information. Markov chain Monte Carlo (MCMC) algorithms are often used to sample the calibrated parameter distribution. Several MCMC algorithms commonly employed in practice are presented, along with a popular diagnostic for evaluating chain behavior. Space-filling approaches to experiment design for selecting model runs to build effective emulators are discussed, including Latin Hypercube Design and extensions based on orthogonal array skeleton designs and imposed symmetry requirements. Optimization criteria that further enforce space-filling, possibly in projections of the input space, are mentioned. Designs to screen for important input variations are summarized and used for variable selection in a nuclear fuels performance application. This is followed by illustration of sequential experiment design strategies for optimization, global prediction, and rare event inference.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

NASA NTRS2016

Technical Reference Suite Addressing Challenges of Providing Assurance for Fault Management Architectural Design

Research into complexities of software systems Fault Management (FM) and how architectural design decisions affect safety, preservation of assets, and maintenance of desired system functionality has coalesced into a technical reference (TR) suite that advances the provision of safety and mission assurance. The NASA Independent Verification and Validation (IVV) Program, with Software Assurance Research Program support, extracted FM architectures across the IVV portfolio to evaluate robustness, assess visibility for validation and test, and define software assurance methods applied to the architectures and designs. This investigation spanned IVV projects with seven different primary developers, a wide range of sizes and complexities, and encompassed Deep Space Robotic, Human Spaceflight, and Earth Orbiter mission FM architectures. The initiative continues with an expansion of the TR suite to include Launch Vehicles, adding the benefit of investigating differences intrinsic to model-based FM architectures and insight into complexities of FM within an Agile software development environment, in order to improve awareness of how nontraditional processes affect FM architectural design and system health management.

Fitz, Rhonda↗

DOE OSTI2014

The updated billion-ton resource assessment

This paper summarizes the results of an update to a resource assessment, published in 2005, commonly referred to as the billion-ton study (BTS). The updated results are consistent with the 2005 BTS in terms of overall magnitude. However, in looking at the major categories of feedstocks the forest residue biomass potential was determined to be less owing to tighter restrictions on forest residue supply including restrictions due to limited projected increase in traditional harvest for pulpwood and sawlogs. The crop residue potential was also determined to be less because of the consideration of soil carbon and not allowing residue removal from conventionally tilled corn acres. The energy crop potential was estimated to be much greater largely because of land availability and modeling of competition among various competing uses of the land. Generally, the scenario assumptions in the updated assessment are much more plausible to show a billion-ton resource, which would be sufficient to displace 30% or more of the country s present petroleum consumption.

09 BIOMASS FUELS↗

DOE OSTI2016

Northwest National Marine Renewable Energy Center

In 2008, the US Department of Energy’s (DOE) Wind and Water Power Program issued a funding opportunity announcement to establish university-led National Marine Renewable Energy Centers. Oregon State University and the University of Washington combined their capabilities in wave and tidal energy to establish the Northwest National Marine Renewable Energy Center, or NNMREC. NNMREC’s scope included research and testing in the following topic areas: • Advanced Wave Forecasting Technologies; • Device and Array Optimization; • Integrated and Standardized Test Facility Development; • Investigate the Compatibility of Marine Energy Technologies with Environment, Fisheries and other Marine Resources; • Increased Reliability and Survivability of Marine Energy Systems; • Collaboration/Optimization with Marine Renewable and Other Renewable Energy Resources. To support the last topic, the National Renewable Energy Laboratory (NREL) was brought onto the team, particularly to assist with testing protocols, grid integration, and testing instrumentation. NNMREC’s mission is to facilitate the development of marine energy technology, to inform regulatory and policy decisions, and to close key gaps in scientific understanding with a focus on workforce development. In this, NNMREC achieves DOE’s goals and objectives and remains aligned with the research and educational mission of universities. In 2012, DOE provided NNMREC an opportunity to propose an additional effort to begin work on a utility scale, grid connected wave energy test facility. That project, initially referred to as the Pacific Marine Energy Center, is now referred to as the Pacific Marine Energy Center South Energy Test Site (PMEC-SETS) and involves work directly toward establishing the facility, which will be in Newport Oregon, as well as supporting instrumentation for wave energy converter testing. This report contains a breakdown per subtask of the funded project. Under each subtask, the following are presented and discussed where appropriate: the initial objective or hypothesis; an overview of accomplishments and approaches used; any problems encountered or departures from planned methodology over the life of the project; impacts of the problems or rescoping of the project; how accomplishments compared with original project goals; and deliverables under the subtasks. Products and models developed under the award are also included.

16 TIDAL AND WAVE POWER↗

DOE OSTI2016

NorthernStar Zero Energy Ready Homes

This is a repository for all NorthernSTAR Zero Energy Ready certified homes. Amaris Homes Model Home - St. Paul, MN 55110 Description: Model home completed September 2013 The DOE Zero Energy Ready Home Case Study looks to study and eventually design zero net energy homes in cold weather climates. These zero net energy homes are referred to as challenge homes. For this challenge home, Amaris Homes is working with the DOE in St. Paul, Minnesota. The household located at MN 55110 acts as the Amaris Challenge Home Test. The resources include technical drawings including siding, roofing and Windows. Christian Builders Challenge Home - House Count: 1 - Otsego, MN 55374 Need pictures from builder; This home actually narrowly missed certification under DOE Net Zero Energy Ready Homes. Need building plans and project summary from builder. DESIGN AND STRUCTURE - Amaris Homes - House Count: 7 Stillwater, MN 55082; Vadnais Heights, MN 55127; Bloomington, MN 55437; Apple Valley, MN 55124; White Bear Lake, MN 55110; Mounds View, MN 55112; Midland, MI 48642; DOE Zero Energy Ready Homes

Array↗

NASA NTRS1983

GADB: A database facility for modelling naturally occurring geophysical fields

In certain kinds of geophysical surveys, the fields are continua, but measured at discrete points referenced by their position or time of measurement. Systems of this kind are better modelled by databases built from basic data structures attuned to representing traverses across continua that are not of pre-defined fixed length. The general Array DataBase is built on arrays (ordered sequencies of data) with each array holding data elements of one type. The arrays each occupy their own physical data set, in turn inter-related by a hierarchy to other arrays over the same space/time reference points. The GADB illustrates the principle that a data facility should reflect the fundamental properties of its data, and support retrieval based on the application's view. The GADB is being tested by its use in NASA's project MAGSAT.

Dampney, C. N. G.↗

NASA NTRS1996

An Intelligent Crop Planning Tool for Controlled Ecological Life Support Systems

This paper describes a crop planning tool developed for the Controlled Ecological Life Support Systems (CELSS) project which is in the research phases at various NASA facilities. The Crop Planning Tool was developed to assist in the understanding of the long term applications of a CELSS environment. The tool consists of a crop schedule generator as well as a crop schedule simulator. The importance of crop planning tools such as the one developed is discussed. The simulator is outlined in detail while the schedule generator is touched upon briefly. The simulator consists of data inputs, plant and human models, and various other CELSS activity models such as food consumption and waste regeneration. The program inputs such as crew data and crop states are discussed. References are included for all nominal parameters used. Activities including harvesting, planting, plant respiration, and human respiration are discussed using mathematical models. Plans provided to the simulator by the plan generator are evaluated for their 'fitness' to the CELSS environment with an objective function based upon daily reservoir levels. Sample runs of the Crop Planning Tool and future needs for the tool are detailed.

Whitaker, Laura O.↗

DOE OSTI2016

Northwest National Marine Renewable Energy Center

16 TIDAL AND WAVE POWER↗

DOE OSTI2019

Quantifying Rates of Erosion Using Historical Aerial Photos - 19478

Erosion can play an important role in the fate and transport of waste at sites where disposal of long-lived waste is anticipated. The statistical characterization of key processes related to erosion is essential to the understanding of site stability through time. In this work multi-temporal historical aerial images are analyzed in conjunction with orthophotography and Lidar data to develop probability distributions for variables representing important erosion processes. Scans of photographic negatives were obtained for multiple photographs and several negatives were scanned with a calibrated photogrammetric scanner by Geomni (formerly Blue Skies Consulting) in Belen, New Mexico. Other negatives were provided by USDA or scanned on a high-resolution, large format media scanner in the United States National Archives Cartographic Research Room, College Park, Maryland (1939). An additional set of aerial photographs was obtained from the USGS EROS Data Center web site. For other years, photographic prints were available for aerial photography. Several prints were scanned with a large-format media scanner at 1200 dpi. Ground control points for selected digital images used in the stereoscopic analyses were identified in ArcMap. Ground control points were collected by matching features which could be identified in the aerial photography as well as the orthophotography or shaded relief imagery from the Lidar dataset. Such features included fence line intersections, road intersections, railroad bridges, and structures, depending on the age of the photography. Many old fence lines and abandoned roads remained visible in the shaded relief imagery while they were completely obscured by tree canopy in modern photography. Ground control elevations were sampled from the Lidar-based DEM or directly from point clouds. The image coordinates and matching three-dimensional projected coordinates of the ground control points were exported to IDL where parameters for a three-dimensional direct linear transformation (DLT) were obtained. Built-in singular value decomposition routines were used to solve an overdetermined set of equations for the eleven parameters of the DLT for a particular historical photograph. A solution to the DLT parameters was obtained for each historical aerial photograph in which features of interest were identified using the stereoscope. Ultimately, this process resulted in the identification of locations for features like gully heads using both the Lidar dataset and projection of the estimated location from the historical aerial photo under consideration back to the Lidar dataset. The distance between the estimate of the location from the historical image and that of the Lidar dataset was the estimated distance the feature has moved. This distance was then divided by the number of years between the Lidar dataset and the year of the historical aerial image of interest to get a rate of movement through time. This was done for several dozen points on each historical aerial image. There was inevitable uncertainty associated with the estimation of points from the historical aerial imagery. This includes estimation of changes in locations of features like gully heads through time. In this work a method to estimate the uncertainty associated with measurements of locations of features using the stereoscopic analysis is developed and applied. For features with locations in space that do not change (e.g., road intersections, etc.) the difference in measurements of locations from the Lidar dataset and that of the estimate from the historical aerial image provides an observation of the measurement error. These points used to estimate the measurement error are referred to as control points. For each of the historical aerial images, a different measurement error distribution is estimated using control points. These measurement errors are combined with the estimated distances from the stereoscopic analyses to produce distributions of gully retreat rates and hillslope erosion rates used along with output from Erosion Working Group (EWG) Landscape Evolution Models (LEMs) to provide statistical probability distributions for input into the PPA Model. Specifically, gully head retreat rate and gully widening rate were characterized using statistical probability distributions. The central limit theorem was then applied to develop rates that represent long-term averages that are used to inform a PPA Model built in GoldSim. The importance of these rates with respect to characterization of future risk can then assessed using sensitivity analyses. This provides an approach to determine if subsequent reduction of the uncertainty associated with the probability distributions of erosion rates will correspond to meaningful reduction in the estimation of future risk from the site. Ultimately this is a general method that utilizes historical aerial imagery to estimate rates of erosion with uncertainty. This information can be used to inform PPA models to project future risks from a given site. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2024

Building Performance Standards and Energy Code Alignment: Technical Brief

Building energy codes focus on building design, construction and renovation and have significantly increased building efficiency since the first national energy code was published in 1975. Most jurisdictions have energy codes based on ANSI/ASHRAE/IES Standard 90.1 (hereto referred to as Standard 90.1) and the International Energy Conservation Code (IECC). Compliance options available in these model energy codes include a prescriptive path, whole building performance paths – including IECC Total Building Performance (TBP), Standard 90.1 Energy Cost Budget (ECB) method and Performance Rating Method (PRM) – and system performance paths for envelope and heating, ventilation, and air-conditioning systems. Building performance standard (BPS) policies are an emerging policy tool used by jurisdictions to reduce the operational energy use or greenhouse gas (GHG) emissions of the existing commercial building stock. BPS policies vary widely between jurisdictions and are tailored to each location’s climate and energy goals. Intuitively, projects that met a recent edition of the energy code should comply with the BPS targets.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗