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At least 109 records · Page 6

Modeling and Power-Hardware-in-the-Loop Validation of Synchronous Wind: An Inverterless Grid-Forming Wind Power Plant: Preprint

Grid-forming (GFM) control of Type-3 and Type-4 wind turbine generators has attracted substantial attention in power systems research; however, the limited over-current capability of power electronics converters continues to deteriorate the grid strength of the evolving power systems. Synchronous wind, also known as Type-5 wind turbine generator (WTG), offers a unique GFM solution to address grid integration and grid strength issues by keeping the grid largely synchronous at very high penetration levels of renewable generation. A Type-5 WTG interfaces to the electric grid via a synchronous generator (SG) driven by a variable-speed hydraulic torque converter; hence, the wind rotor operates in variable-speed mode for maximum power generation and the generator shaft remains synchronous to the grid. This paper developed and tested a high-fidelity model of Type-5 WTG under power-hardware-in-the-loop (PHIL) testing environment. The PHIL demonstration showed that a Type-5 WTGs inherently behaves as a GFM unit and can obtain similar performance in terms of power responses, wind rotor dynamics, and efficiency compared to Type-3 WTG in high wind conditions. The developed model also provides further insight on how Type-5 WTGs can benefit the smooth transition to power systems with high integration level of inverter-based resources.

grid strength↗

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗

High-bandwidth Dynamic Load Emulation of Mechanical Systems using Electric Drives

Machine drives are versatile systems that can be programmed to emulate a variety of mechanical loads. In this paper, we walk through the modeling and control framework of a shaft-coupled dual-motor drive system that is programmed to emulate a fictitious mechanical system. We quantitatively evaluate the control performance of such a system and derive a theoretical limit that explains its inaccuracy at high operating frequencies. To overcome this problem, we propose an alternate control structure that achieves the same control objective at high frequencies as well. After suitable adjustments are made to the controller, we validate its performance using simulation results.

machine drives ,load emulation, speed-torque chara↗

Resistive contributions to the stability of DIII-D ITER baseline demonstration discharges

Here, measurements of the plasma response to applied n = 1 perturbations from DIII-D ITER baseline scenario (IBS) demonstration discharges exhibit increasing amplitude prior to disruption inducing mode locking events. Simulations reveal that changes in ideal and resistive stability impact the response in the DIII-D IBS regime, well below the pressure limit of the external kink mode. The dependencies of the response measurements on the plasma normalized internal inductance ℓ i and beta β N are qualitatively consistent with ideal MHD, although in most cases the amplitude of the measurements exceeds predictions, indicating that the experimental discharges are less stable than expected. Resistive MHD simulations of the response show improved compatibility with the measurements, and the closest agreement is obtained by including the experimental plasma rotation in the simulations. Although the input neutral beam torque is near zero, the simulations show that the corresponding level of rotation can lead to nearly complete screening of the pitch-resonant field component at the q = 2 surface. However, the simulation results exhibit a significant weakening of this screening effect at the lowest rotation levels in the data set, concurrent with predictions of elevated response amplitudes that are consistent with measurements. These comparisons with DIII-D data provide a qualitative validation of a linear, resistive MHD response model.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Microhole drilling technology utilizing a golden section search algorithm

A fundamental issue in microhole drilling is that delivering high weight-on-bit (WOB), high torque rotational horsepower to a conventional drill bit does not scale down to the hole sizes necessary to realize the envisioned cost savings An optimization algorithm called a golden section search (GSS) was used to systematically identify the preferred WOB for a given set of conditions. This research focused on implementing and evaluating two low WOB drilling technologies for microhole drilling: - Laser-assisted mechanical drill, which was tested in the laboratory - Lightly modified commercial off-the-shelf (COTS) percussive hammer, which was tested in a limited field test. Data were collected for microhole GSS using WOB optimization via simulation as well as at the Blue Canyon Dome Site in Socorro, NM. Information on the attached files and folders are as follows: - the .tdms files are LabView data files, which can be opened within Excel using a .tdms add-in or using a Matlab .tdms converter - the .tdms_index files are part of the .tdms file structure - sampling rate, column headers, and length data within the .tdms files follow SOP when utilizing Excel and/or Matlab as described above

15 GEOTHERMAL ENERGY↗

Using system identification in modeling the yaw response of tail fins for small wind turbines with bearing friction

Here, we describe three main developments of our previous study of the nonlinear yaw dynamics of the tail fins for small wind turbines [Khedr et al., J. Renewable Sustainable Energy 16, 053305 (2024)]. First, the model constants derived from archived computational and experimental studies are adjusted by employing system identification (SI) to maximize the model's agreement with wind tunnel tests. This adjustment was done for high wind speeds, where yaw bearing friction can be ignored. When starting a turbine at low wind speed, however, friction can become important. Our second development is to implement a model for the frictional resistive torque and use SI to maximize its accuracy. These developments used wind tunnel experiments on generic delta, elliptical, and rectangular planforms that were described by Khedr et al. [J. Renewable Sustainable Energy 16, 053305 (2024)]. Since the aerodynamic and friction models employ a large number of constants, we describe ways to constrain the values using linearized solutions of the response equations for small and large yaw angles. Third, we test the generality of the aerodynamic and friction modeling using the complex planform from a commercial small turbine, for which limited theoretical and computational guidance is available in selecting the model constants. The model implemented with SI is shown to provide an accurate description of the yaw response of the complex planform. Guidelines are given for the use of wind tunnel tests to determine the model constants for tail fins of any planform.

17 WIND ENERGY↗

Non-Synchronous Rotation on Europa Driven by Ocean Currents

It has been suggested that the ice shell of Jupiter's moon Europa may drift non-synchronously due to tidal torques. Here we argue that torques applied by the underlying ocean are also important and can result in non-synchronous rotation. The resulting spin rate can be slightly slower than the synchronous angular rate that would have kept the same point of the ice shell facing Jupiter. We develop an ice shell rotation model, driven by ocean stress calculated using a high-resolution state-of-the-art ocean general circulation model, and take into account the viscoelastic deformation of the ice shell. We use the ice shell model results together with observed limits on the ice shell drift speed to constrain ice shell parameters such as effective viscosity, which is currently uncertain by at least four orders of magnitude. Our results suggest, at best, sluggish ice shell convection. Depending on the relaxation time scale of the ice shell and on the ocean currents, the ice shell may exhibit negligible drift, constant drift, or oscillatory drift superimposed on random fluctuations. The expected rotation rate exceeds ~30 m/yr; future spacecraft observations can be used to test these predictions and yield insight into the properties of the ice shell and underlying ocean.

15 GEOTHERMAL ENERGY↗

A Vertical GaN-Based Neutral-Pointless Three-Level Inverter for High-Performance Automotive Traction Applications

Silicon Carbide (SiC) MOSFETs have emerged as a dominant solution for electric vehicle traction inverters because of their superior power density and efficiency compared to Silicon (Si) counterparts. However, SiC devices possess inherent switching speed limitations that constrain the maximum switching frequency and hinder further power density and efficiency improvements. To address these limitations, this paper proposes a vertical Gallium Nitride (vGaN) based X-type Neutral-Pointless (NPL.X) three-level (3L) inverter for an 800V, 200 kW traction system. Integrating 700V vGaN technology within the NPL.X 3L topology enables improved drive efficiency and higher switching frequencies, resulting in enhanced power density and output power quality. To evaluate the performance benefits, this work conducts a comprehensive loss characterization of the vGaN￾based NPL.X topology, providing a direct comparison with a SiC￾based two level (2L) inverter. The results show that the proposed vGaN-based inverter achieves superior efficiency, particularly within the low-torque regions that dominate standard automotive drive cycles. The proposed vGaN-based inverter represents a critical advancement toward high-power-density and high efficiency traction drives

Halawa, Ali [Purdue Univ., West Lafayette, IN (Uni↗

Constrained power reference control for wind turbines

The cost of wind energy can be reduced by controlling the power reference of a turbine to increase energy capture, while maintaining load and generator speed constraints. We apply standard torque and pitch controllers to the direct inputs of the turbine and use their set points to change the power output and reduce generator speed and blade load transients. A power reference controller increases the power output when conditions are safe and decreases it when problematic transient events are expected. Transient generator speeds and blade loads are estimated using a gust measure derived from a wind speed estimate. A hybrid controller decreases the power rating from a maximum allowable power. Compared to a baseline controller, with a constant power reference, the proposed controller results in generator speeds and blade loads that do not exceed the original limits, increases tower fore-aft damage equivalent loads by 1%, and increases the annual energy production by 5%.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

The Sensitivity of PBX 9502 to Drilling Operations

Polymer-bonded explosive (PBX) 9502 (95% TATB, 5% Kel-F 800 by weight) is dry-drilled on a CNC milling machine and its thermomechanical response to varying feed rates, drilling speeds, and peck depths with 4 mm and 5 mm diameter drill bits is investigated. The tested samples are affixed to a force sensor that enables recording temporally resolved cutting forces and torques, and a drill-embedded thermocouple yields local temperature data. From the data, an empirical relationship between temperature changes and feed per revolution is developed, which reveals reduced temperatures in higher feed per revolution regimes for PBX 9502. The observed relationship allows extrapolating to temperatures for other hole diameters, indicating increased temperature for smaller diameter drilling across the board. Additional testing was performed with PBX 9501 (95% HMX, 2.5% Estane®, 2.5% BDNPA/BDNPF by weight), albeit over a reduced parameter space, which revealed the opposite behavior for the feed per revolution temperature dependence. It is concluded that both PBX 9502 and PBX 9501 can be dry-drilled efficiently beyond the limits of presently applicable US-DOE standards, where cutting interface temperatures remain far below material critical temperatures. Finally, data reveals that coolant usage in the drilling process for these materials provides a wide safety margin.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Simulations of Interacting Binary Systems—Pathways to Radio-bright Gamma-Ray Burst Progenitors

Although the association of gamma-ray bursts (GRBs) with massive stellar death is on firm footing, the nature of the progenitor system and the key ingredients required for a massive star to produce a GRB remain open questions. Here, we investigate the evolution of a 15–25M ⊙ massive star with a 10–15M ⊙ black hole (BH) using Modules for Experiments in Stellar Astrophysics. We quantify companion-influenced angular-momentum evolution over a stellar lifetime for orbital periods where tides are significant, varying stellar and BH masses, initial stellar spin, and accretion and dynamo prescriptions while tracking mass loss and angular momentum. The final spin is set by tidal torques versus stellar winds. For binaries that initially avoid Roche-lobe overflow, tides can spin up the star, but a late-stage expansion can drive tidal stripping; associated mass and angular-momentum loss can suppress spin-up. We find that massive-star BH binaries at comparable mass ratios may be potential GRB progenitors for short orbital periods (∼20–5 × 10 2 days) and long orbital periods (∼2 × 10 3 –4 × 10 3 days), where our suite of lifetime simulations reveals a favored parameter space with negligible mass loss and enough spin angular momentum to power a GRB jet. For initially nonrotating stars, this provides a lower limit on the final spin above a threshold estimate consistent with forming a postcollapse BH mass of 5–10M ⊙ with a spin parameter ≥ 0.5. For initially rapidly rotating stars, tidal interactions may sustain high spin when mass loss is negligible because the binary is not tidally synchronized.

Hernandez, Angel [Univ. of Colorado, Boulder, CO (↗

On the enhancement of boundary layer skin friction by turbulence: an angular momentum approach

Turbulence enhances the wall shear stress in boundary layers, significantly increasing the drag on streamlined bodies. Other flow features such as free stream pressure gradients and streamwise boundary layer growth also strongly influence the local skin friction. In this paper, an angular momentum integral (AMI) equation is introduced to quantify these effects by representing them as torques that alter the shape of the mean velocity profile. This approach uniquely isolates the skin friction of a Blasius boundary layer in a single term that depends only on the Reynolds number most relevant to the flow's engineering context, so that other torques are interpreted as augmentations relative to the laminar case having the same Reynolds number. The AMI equation for external flows shares this key property with the so-called FIK relation for internal flows (Fukagata et al. , Phys. Fluids , vol. 14, 2002, pp. L73–L76). Without a geometrically imposed boundary layer thickness, the length scale in the Reynolds number for the AMI equation may be chosen freely. After a brief demonstration using Falkner–Skan boundary layers, the AMI equation is applied as a diagnostic tool on four transitional and turbulent boundary layer direct numerical simulation datasets. Regions of negative wall-normal velocity are shown to play a key role in limiting the peak skin friction during the late stages of transition, and the relative strengths of terms in the AMI equation become independent of the transition mechanism a very short distance into the fully turbulent regime. The AMI equation establishes an intuitive, extensible framework for interpreting the impact of turbulence and flow control strategies on boundary layer skin friction.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Deconvolving the roles of E × B shear and pedestal structure in the energy confinement quality of super H-mode experiements

Analysis of “super H-mode” experiments on DIII-D has put forward that high plasma toroidal rotation, not high pedestal, plays the essential role in achieving energy confinement quality H 98y2 >>1. Recently, super H-mode experiments with variable input torque have confirmed that high rotation shear discharges have very high levels of H 98y2 (>1.5), independent of the pedestal height, and that high pedestal discharges with low rotation shear have levels of H 98y2 only slightly above 1 (≤1.2). Although some increase in stored energy with higher pedestal occurs, the energy confinement quality mainly depends on the toroidal rotation shear, which varies according to different levels of injected neutral beam torque per particle. Here, quasi-linear gyrofluid modeling achieves a good match of the experiment when including the E×B shear; without including plasma rotation, the modeling predicts a confinement quality consistent with the empirical observation of H 98y2 ~1.2 at low rotation. Nonlinear gyrokinetic transport modeling shows that the effect of E×B turbulence stabilization is far larger than other mechanisms, such as the so-called hot-ion stabilization (T i /T e ) effect. Consistent with these experimental and modeling results are previous simulations of the ITER Baseline Scenario using a super H-mode pedestal solution, which showed the potential to exceed the Q=10 target if the pedestal density could be increased above the Greenwald limit. A close look at these simulations reveals that the predicted energy confinement quality is below 1 even at the highest pedestal pressure. The improvement in Q at higher pedestal density is due to the improved fusion power generation at the higher core density associated with higher pedestal density, not to an improved energy confinement quality.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Thermal stability and magnetization switching of composite free layer with perpendicular magnetic anisotropy

We present a micromagnetic study of a ferromagnetically exchange-coupled composite free layer design for perpendicular magnetic tunnel junctions. The thermal stability factor and critical switching current density depend on the exchange coupling strength and effective anisotropy ratio between the sublayers of the composite free layer. The energy barrier increases with an increase of the exchange coupling strength until it reaches a plateau in the strong-coupling limit. An optimal exchange coupling strength exists that leads to the minimal critical switching current and a significant improvement of the figure of merit defined as the ratio between the energy barrier and critical switching current. This behavior is obtained for smaller device sizes with uniform reversal and larger sizes with domain wall reversal.

36 MATERIALS SCIENCE↗

Investigation of powertrain system decarbonization using electrically assisted turbocharging and hybridization in off-road vehicles

In recent years, the causes, effects, and existential threat of a global anthropogenic climate shift have drawn significant attention and stimulated mitigation efforts from all genres of scientific, political, and industrial bodies. The greenhouse effect and the detrimental environmental impact of excess greenhouse gas (GHG) emissions, like carbon dioxide, is well studied and targeted as the primary culprit for aversive action. However, some fields exist where reducing GHG emissions is met by considerable challenges. One such field is the production and operations of off-road vehicles. Applications of these vehicles are highly diverse and are often characterized by rugged, especially transient, and power intensive duty cycles that make one-fits-all vehicle configuration solutions impractical. This research surveys existing literature to identify the modern technologies packages and challenges that face development and configuration of powertrain systems which currently navigate the regulated emissions and unique duty cycle requirements of this market space. A novel powertrain concept is proposed and evaluated with respect to the pinnacle objectives of load performance improvement, criteria pollutant reduction, and reducing the life cycle GHG intensity of its operation. A sure-fire path to vehicular GHG reduction is through improving the fuel efficiency of internal combustion engines (ICEs), an entrenched component of the off-road vehicle sector. Unfortunately, this is more easily said than done. An approach that has proven successful in this endeavor is engine downsizing and turbocharging, where a larger engine is replaced with a smaller one with added air system boosting via turbocharger to reduce frictional and pumping losses while also enabling access to additional fuel energy. However, practical realization of these potential benefits is often impeded by the transient response capability of the smaller engine across the operating space. For this reason, downsized ICE powertrains have turned to electrified forced induction systems (EFISs) for a decoupling of exhaust energy and engine speed from boost capability. Platformed on 48V hybrid technology, these systems introduce the need for more sophisticated controls around the engine gas-exchange process for the management of boost performance and exhaust gas emissions. On this account, simulation studies utilizing a GT-POWER model of a turbocharged 4.5 L engine outfit with an EFIS using an electrically driven compressor (eBooster®) are conducted to provide insight into the performance of this air handling architecture on an off-road engine. The results show that improvement in transient torque response time in sync with reduction in engine-out soot and NOx emissions are possible with an engine recalibration that leverages the transient air-fuel ratio authority of the eBooster®. Benefits are further demonstrated when duty cycle simulations of the 48V mild-hybrid engine concept are exercised, showing an acute decrease in cumulative fuel usage and soot production. Powertrain hybridization is another technological pathway achieving pronounced GHG reduction successes in modern on-road vehicle applications through integration of Li-ion battery technology. In the off-road vehicle segment, a review of available literature concludes that hybridized architectures are present but generally lack the depth of technologies that have both high specific energy and power capabilities, and thus are limited in their inclusion of Li-ion batteries for ICE assistance and enhanced energy storage capability. Therefore, building on the mild-hybrid engine results, the downsized and eBoosted engine concept was integrated into a larger high-voltage battery-hybrid series-electric powertrain system. Hybrid powertrain parameter sensitivity studies were carried out in a numerical charge-sustaining framework, providing novel insights into power flows between the battery and the engine and how their respective capabilities and operation contribute to GHG and criteria pollutant emissions of diverse duty cycles. Application of supervisory power management introduced robustness into the power sourcing and battery SOC control process and showed that optimum specification of battery properties can yield synergies between GHG emissions and battery energy capacity. Furthermore, examination of recent literature on Li-ion batteries has shown that pack manufacturing is a highly energy intensive process, thereby producing considerable quantities of GHGs that scale with energy storage capacity. Also scaling with a battery’s energy storage capacity is its investment cost. In consideration of these factors, an inclusive technoeconomic and GHG life cycle analysis is conducted. This analysis systematically compares the carbon footprint and total cost of ownership associated with the proposed hybrid powertrain concept to reference and alternative powertrain configurations, facilitating a thorough evaluation of the decarbonization effectiveness and economic viability.

99 GENERAL AND MISCELLANEOUS↗

Microscopic origin of tunable assembly forces in chiral active environments

Across a variety of spatial scales, from nanoscale biological systems to micron-scale colloidal systems, equilibrium self-assembly is entirely dictated by—and therefore limited by—the thermodynamic properties of the constituent materials. In contrast, nonequilibrium materials, such as self-propelled active matter, expand the possibilities for driving the assemblies that are inaccessible in equilibrium conditions. Recently, a number of works have suggested that active matter drives or accelerates self-organization, but the emergent interactions that arise between solutes immersed in actively driven environments are complex and poorly understood. Here, we analyze and resolve two crucial questions concerning actively driven self-assembly: (i) how, mechanistically, do active environments drive self-assembly of passive solutes? (ii) Under which conditions is this assembly robust? We employ the framework of odd hydrodynamics to theoretically explain numerical and experimental observations that chiral active matter, i.e., particles driven with a directional torque, produces robust and long-ranged assembly forces. Overall, these developments constitute an important step towards a comprehensive theoretical framework for controlling self-assembly in nonequilibrium environments.

36 MATERIALS SCIENCE↗

Gear Test Assembly - Experimental Testing and Analysis of Gears and Bearings - FY2026

The Gear Test Assembly (GTA) is an experimental test apparatus built and installed in the Mechanisms and Engineering Test Loop (METL) at Argonne National Laboratory (ANL). While designed to accommodate a variety of components intended for use in advanced compact in-vessel transfer machine, the focus of GTA been the testing of large radial spur gears. The performance of the components used in GTA motivates the choices made in the design, components, and material choices for the forthcoming METL test articles; the Gripper Test Assembly (GrTA), and the Bearing Test Assembly (BTA). To date, GTA has completed nine experimental testing campaigns and achieved over 21 million revolutions under prototypic sodium fast reactor loads and operating conditions. This report provides an overview and results for the two most recent experiments Campaign #8 and Campaign #9. `Campaign #8 was the first campaign to make use of a set of nickel alloy radial spur gears, made from Hastelloy C-22HS, and combined with heat-treated tapered roller bearings. The bearings and torque profile used allowed Campaign #8 to be directly compared with Campaign #1 where Inconel 718 gears were used instead. Campaign #8 attained 1,058,880 shaft revolutions within 23% of the 1,314,855 revolutions achieved in Campaign #1. These results demonstrate that the heat-treated tapered roller bearings show consistent increased lifetimes, approximately three times longer than for non heat-treated taper rollers, and that the particular material of the gear does not play a substantial role in performance. Similar to Campaign #7 where bearing failure resulted in fragmentation and transport of bearing material into the gear teeth led to tooth damage in the Inconel gears, a similar process led to the damage of the Hastelloy gears. Subsequent NDE analysis showed that the damage was only limited to the tooth surface and does not extend into the gear interiors. Based on the NDE reports, the Hastelloy gears can be reconditioned and put back into service for future campaigns as was done for the Inconel gears. Reconditioned Inconel 718 gears damaged in Campaign #7 were returned to service in Campaign #9 and paired with non heat-treated tapered roller bearings. In Campaign #9 a novel set of operating conditions were implemented whereby the gears and bearings were cycled between hot, submerged refueling conditions where fuel handling operations occurred and cold, dry, and inert conditions where the sodium was drained and the vessel was allowed to cool simulating long, ex-vessel storage of the fuel handling machine. A total of eight of these operating cycles were achieved before a bearing failure occurred after the accumulation of 475,692 shaft revolutions were achieved. During Campaign #9, one of the drive motors was damaged and over the course of a 240 day standby period, the entire GTA drive system was upgraded from a 480VAC system to a 240VAC system that provided the opportunity to consolidate wall-space in the METL facility and provide more space for additional test articles being installed in the coming year. The over 475,000 shaft revolutions achieved in Campaign #9 eclipses the previous record for lifetime of non heat-treated tapered roller bearings held by Campaign #3 of 392,000 shaft revolutions. Further analysis and future campaigns hope to shed light on the cause of this approximately 17% increase in lifetime.

42 ENGINEERING↗

Autonomous Coupler Alignment Using Position-Based Visual Servoing in a ROS 2 Framework

As robotic arms are becoming increasingly common alongside humans as collaborative robots, their high precision in motion enables tasks to be performed at significantly higher speeds with reduced disruption in the environment. The Fermi National Accelerator Laboratory is exploring this application by incorporating a UR16e from Universal Robots in a cleanroom setting during assembly of couplers to superconducting radio frequency cavities as part of the PIP-II project. The goal of the robotic assembly process is to precisely position the UR16e robot so that the coupler flange, mounted on the robot’s end-effector, is accurately aligned with and pressed against the cavity flange, requiring only final fastening by a lab technician. This thesis builds upon an initial system in which the robotic process was limited to the alignment phase using position-based visual servoing with an eye-in-hand camera to only align the coupler to the cavity with an offset distance. The objective of this thesis is to further advance autonomous robotic assembly by extending the process. To this end, the entire software framework was reconstructed, as the previous development environment posed significant challenges in modifying the software and adapting to hardware changes. The main contributions of this thesis are as follows: (i) a modular and scalable software framework based on ROS~2 was developed to facilitate performance expansion and interchangeability of software and hardware components; (ii) the desired alignment position for position-based visual servoing was parameterized to enable flexible configuration; and (iii) a methodology was developed to close the offset distance between the coupler and cavity utilizing the internal force-torque sensing capability of the UR16e, as visual feedback is not available during the offset-closing phase. The proposed autonomous robotic assembly reduces assembly time and technician involvement, thereby minimizing the risk of airborne particulate contamination, which is essential in the cleanroom setting. Moreover, the ROS~2-based framework provides a foundation for further expansion and continued advancement of robotic automation in Fermilab.

Giffen, Nickolas [Northern Illinois U.]↗