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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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All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Testing the DAE LLRF system with a PIP-II SSR2 Cavity

The PIP-II linac is an international collaboration project with in kind contributions of key subsystems from multiple countries including India (DAE). In the research and development phase of the project, the LLRF and resonance control systems were jointly developed by BARC and Fermilab and were delivered to Fermilab for testing and validation. Initial testing of the LLRF system was carried out using Fermilabs analog cavity emulator. Following successful emulator testing, the LLRF system was deployed at STC on a PIP-II 325 MHz SSR2 cavity. The cavity was operated in both SEL and GDR modes at a gradient of 5 MV/m. The results of the testing are presented here.

Nasery, Radhika [Bhabha Atomic Res. Ctr.]↗
DOE OSTI2025

Implementation and Demonstration of the Digital Twin Certification System Remote Operations Framework

Microreactors are one promising advanced-reactor concept being pursued by the nuclear industry. They are distinguished by a relatively low power output of 20 MWth or less. These microreactors are intended for deployment in applications where conventional small-capacity power solutions, such as diesel generators, are either economically unfeasible or logistically challenging. Such applications include providing electric power and/or heat for remote communities, mining sites, defense installations, and humanitarian and disaster-relief missions. An important feature for the successful deployment of microreactors is their capability to be operated remotely. This capability can significantly reduce staffing costs by eliminating the need for licensed operators to be physically present at each reactor site. Instead, operators can be centralized in a single remote operations center placed in an economically advantageous location, thereby optimizing resources by consolidating expertise and enhancing operational efficiency. However, the implementation of a remote operation system for nuclear reactors raises new concerns regarding the security, reliability, and resilience of such a system. One way in which remote operations can be supported in a manner that maintains system security, reliability, and resilience is through the use of digital twins in a novel framework designed to verify and validate sensor data and commands communicated between the remote operations center and reactor. This framework, known as the Digital Twin Certification System (DTCS), has previously been proposed as an operations architecture that can bring security and resiliency levels of remote nuclear-reactor operations to a level acceptable for commercial deployment. This paper moves the proposed DTCS architecture from concept to reality by presenting the implementation and testing of the system. The rationale and implementation of the DTCS using tools such as DeepLynx and Apache Airflow, is covered in-depth. This is followed by a demonstration of the DTCS by applying the implemented system architecture to the Single Primary Heat Extraction and Removal Emulator, a small-scale non-nuclear test bed that emulates thermal behavior of a microreactor. The demonstration includes both normal and abnormal operating scenarios to highlight how the DTCS can increase the security, reliability, and resilience of a remote operations system.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2025

Implementation and Demonstration of the Digital Twin Certification System Remote Operations Framework

Microreactors are one promising advanced-reactor concept being pursued by the nuclear industry. They are distinguished by a relatively low power output of 20 MWth or less. These microreactors are intended for deployment in applications where conventional small-capacity power solutions, such as diesel generators, are either economically unfeasible or logistically challenging. Such applications include providing electric power and/or heat for remote communities, mining sites, defense installations, and humanitarian and disaster-relief missions. An important feature for the successful deployment of microreactors is their capability to be operated remotely. This capability can significantly reduce staffing costs by eliminating the need for licensed operators to be physically present at each reactor site. Instead, operators can be centralized in a single remote operations center placed in an economically advantageous location, thereby optimizing resources by consolidating expertise and enhancing operational efficiency. However, the implementation of a remote operation system for nuclear reactors raises new concerns regarding the security, reliability, and resilience of such a system. One way in which remote operations can be supported in a manner that maintains system security, reliability, and resilience is through the use of digital twins in a novel framework designed to verify and validate sensor data and commands communicated between the remote operations center and reactor. This framework, known as the Digital Twin Certification System (DTCS), has previously been proposed as an operations architecture that can bring security and resiliency levels of remote nuclear-reactor operations to a level acceptable for commercial deployment. This paper moves the proposed DTCS architecture from concept to reality by presenting the implementation and testing of the system. The rationale and implementation of the DTCS using tools such as DeepLynx and Apache Airflow, is covered in-depth. This is followed by a demonstration of the DTCS by applying the implemented system architecture to the Single Primary Heat Extraction and Removal Emulator, a small-scale non-nuclear test bed that emulates thermal behavior of a microreactor. The demonstration includes both normal and abnormal operating scenarios to highlight how the DTCS can increase the security, reliability, and resilience of a remote operations system.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2024

DEVELOPMENT AND DEMONSTRATION TESTBED FOR THE REMOTE OPERATIONS AND MONITORING OF MICROREACTORS

The nuclear industry is rapidly developing many advanced-reactor concepts for near-term deployment in both traditional and non-traditional nuclear-powered applications. One such category of advanced reactor is the microreactor, a class of reactor with less than 20MWth power output, intended for applications where the economics or logistics of traditional power sources are difficult. This includes applications such as remote communities, mining sites, defense installations, or humanitarian and disaster-relief missions. One key enabling feature for the successful deployment of microreactors is a remote operations capability. Remote operations provide monitoring and control capabilities which can significantly reduce staffing costs by eliminating the need for licensed operators at each reactor facility and improve the economic viability for microreactor deployment. A remote concept of operations is not currently an established capability in the nuclear industry. In addition, no demonstration microreactor is expected to complete construction or go critical until at least 2026. This leaves two major capability gaps: the successful demonstration of a remote concept of operations for microreactors and a test bed suitable for said demonstration. Both gaps must be addressed in order to advance the remote concepts of nuclear operation and, more broadly, microreactors themselves from paper to reality. This paper aims to fill these gaps and describes a test bed that would support development and deployment of a remote concept of nuclear operations, initial experimental results from that test bed, and the application of the test bed and experimental results for a digital-twin-based remote concept of operations underdevelopment at Idaho National Laboratory (INL). The platform chosen as a remote concept of nuclear operations test bed is the Single Primary Heat Extraction and Removal Emulator, known as SPHERE, located at INL. SPHERE is a small-scale non-nuclear test bed that emulates thermal behavior of a microreactor. The small-scale and non-nuclear nature of SHPERE limit safety concerns associated with remote operations while still providing the physical response representative of a microreactor. A network connection was added to SPHERE that enables remote-monitoring capability. This allows for real-time data streaming to networked workstations, data historians, and human-machine interfaces (HMIs). These are all critical components in a remote concept of operations, thus providing a robust development and demonstration platform. An initial experiment was performed using the SPHERE remote operations testbed. This included running a comprehensively instrumented SPHERE through a series of steady-state and transient operating scenarios in both normal and abnormal operating conditions, all while streaming live test data to a remote HMI and data warehouse. This initial experiment served three purposes: (1) characterizing the response of SPHERE, (2) demonstrating the remote connection to SPHERE, and (3) providing a baseline data set for development of a digital-twin-based remote concept of operations that is under development at INL.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2026

Throughput Estimation of Data Transport Networks From Digital Twin Measurements

Digital twins of networked infrastructures, known as Virtual Infrastructure Twins (VITs), are increasingly used for software development, pre-deployment testing, and design space exploration. While VITs avoid the costs and potential disruptions associated with experiments on operational networks, their throughput measurements are typically not sufficiently accurate for performance profiling of wide-area networks that they emulate. Here, machine learning (ML) methods are developed to transform these inaccurate VIT network throughput measurements to closely match in peak and overall profile of those from a physical testbed or production network. First, a micro kernel network reflecting a physical network is utilized to collect one-time measurements on a host to support this ML transformation. Then, a generic multi-modal ML method is developed to learn a map that transforms measurements from subsequent VITs on the same host to match past, current and follow-on testbed and cloud networks. ML generalization equations are derived to establish its correctness and probabilistically guarantee its generalization accuracy. Experimental results are presented for a variety of VIT hosts with target testbed and cloud networks; they include a case study of a four-site science ecosystem wherein inaccurate convex VIT measurement profiles are transformed into accurate concave profiles of target networks.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

Advanced Research on Integrated Energy Systems Cyber Range

As digital technologies expand to meet the needs of a more autonomous, interconnected, and advanced power system, new cybersecurity complexities and vulnerabilities arise. The ARIES Cyber Range enables the energy sector to evaluate these evolutions and validate cybersecurity solutions without impacting live systems. Combining power grid-scale hardware with emulation and simulation approaches, the ARIES Cyber Range can faithfully replicate modern energy systems - from grid physics to communication networks, and everything in between - with real-world fidelity. At NLR, researchers and partners are answering complex power system cybersecurity questions, examining emerging threats to the electric sector, and de risking new security technologies, all at a mission-relevant speed that keeps pace with rapidly evolving systems and hazards.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2024

Fast Photoactuation Driven by Supramolecular Polymers Integrated into Covalent Networks

Abstract The design of robotic soft matter capable of emulating the complex movements of living organisms such as mechanical actuation, shape transformation, and autonomous translation remains a grand challenge in soft materials science. Functionalized hydrogels are excellent candidates for such materials since they can operate in water and are highly responsive to their environment, but their response times can be slow. This work investigates fast photoactuation of hybrid bonding hydrogels composed of peptide amphiphile (PA) supramolecular nanofibers bonded covalently to merocyanine‐based (MCH + ) photoresponsive networks. By incorporating ionizable acrylic acid (AA) co‐monomers in these networks, photoactuation at nearly neutral pH is observed, which in turn enables a new mechanism to accelerate the response by triggering the bundling of supramolecular nanofibers by rapid proton exchange reactions. Furthermore, this rapid response and its consequent large shape transformations lead to hydrogels capable of spontaneously tracking external light sources inspired by pedicellariae, defensive organs present in echinoderms like the starfish and the sea urchin. This work suggests that hybrid bonding polymers (HBPs), which leverage the interplay between supramolecular assemblies and covalent networks, offer novel strategies to design rapidly actuating soft robotic materials.

Cezan, S. Doruk↗
DOE OSTI2024

Optical Control of Adaptive Nanoscale Domain Networks

Adaptive networks can sense and adjust to dynamic environments to optimize their performance. Understanding their nanoscale responses to external stimuli is essential for applications in nanodevices and neuromorphic computing. However, it is challenging to image such responses on the nanoscale with crystallographic sensitivity. Here, the evolution of nanodomain networks in (PbTiO 3 ) n /(SrTiO 3 ) n superlattices (SLs) is directly visualized in real space as the system adapts to ultrafast repetitive optical excitations that emulate controlled neural inputs. The adaptive response allows the system to explore a wealth of metastable states that are previously inaccessible. Their reconfiguration and competition are quantitatively measured by scanning x-ray nanodiffraction as a function of the number of applied pulses, in which crystallographic characteristics are quantitatively assessed by assorted diffraction patterns using unsupervised machine-learning methods. The corresponding domain boundaries and their connectivity are drastically altered by light, holding promise for light-programable nanocircuits in analogy to neuroplasticity. Phase-field simulations elucidate that the reconfiguration of the domain networks is a result of the interplay between photocarriers and transient lattice temperature. The demonstrated optical control scheme and the uncovered nanoscopic insights open opportunities for the remote control of adaptive nanoscale domain networks.

36 MATERIALS SCIENCE↗
DOE OSTI2025

Towards a real-time computation of timelike hadronic vacuum polarization and light-by-light scattering: Schwinger Model tests

Hadronic vacuum polarization (HVP) and light-by-light scattering (HLBL) are crucial for evaluating the Standard Model predictions concerning the muon’s anomalous magnetic moment. However, direct first-principle lattice gauge theory-based calculations of these observables in the timelike region remain challenging. Discrepancies persist between lattice quantum chromodynamics (QCD) calculations in the spacelike region and dispersive approaches relying on experimental data parametrization from the timelike region. Here, we introduce a methodology employing 1+1-dimensional quantum electrodynamics (QED), i.e. the Schwinger Model, to investigate the HVP and HLBL. To that end, we use both tensor network techniques, specifically matrix product states, and classical emulators of digital quantum computers. Demonstrating feasibility in a simplified model, our approach sets the stage for future endeavors leveraging digital quantum computers.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2026

Robust calibration of non-perturbative models with history matching

We apply, for the first time, Bayes Linear Emulation and History Matching to the calibration of non-perturbative models in Monte Carlo event generators. In contrast to the usual approach of "Monte Carlo tuning", History Matching does not result in best-fit plus ellipsoidal parameter uncertainty estimates but instead identifies all parameter space regions that are consistent with data. This approach leads to a systematic and robust quantification of parametric uncertainties in the models, especially in those challenging cases where different, possibly disjoint, regions of parameter space deliver similar results, which are usually not properly treated with current methodology. We highlight the power of this method with the hadronisation models available through Sherpa : the built-in cluster fragmentation Ahadic and string fragmentation through an interface to Pythia .

Iskauskas, Andrew [Durham U. (main)] (ORCID:000000↗
DOE OSTI2025

Smaller and faster: a review of conventional and nanocalorimetry techniques for determining thermophysical properties of nuclear materials

Thermal analysis of nuclear materials is critical for the advancement of nuclear technology. The heat effects associated with heat capacity, phase transformation, and radiation damage can be measured with conventional calorimeters. However, conventional calorimetric techniques are often restricted in terms of heating rate and sample mass, especially when studying the limited amounts of materials subject to extreme conditions. In this review, we summarize conventional calorimetric studies of critical thermophysical and thermochemical properties of pure actinide metals (U, Np, Am, Pu), fast reactor metallic fuel alloy systems (U–Zr, U–Pu–Zr, Pu–U, Pu–Zr), and actinide oxides that are primary constituents or transmutation products in light water reactor fuel rods (U–O, Np–O, Am–O, Pu–O, Pu–U–O). Adiabatic and drop calorimetry have been the primary techniques used for these studies, however the development of fast scanning calorimetry using micro-electro-mechanical-based systems allows determination of thermodynamic properties from smaller sample masses. We report recent investigations that leverage the fast heating rates of nanocalorimetry by itself or combined with other characterization techniques. Furthermore, we then discuss opportunities for nanocalorimetry to provide solutions to some of the technical challenges inherent in thermal analysis of nuclear materials, namely a reduction in sample activity, emulating heating transients, investigation of phase evolution in irradiated samples, and characterization of radiation damage evolution. Nanocalorimetry has the potential to significantly advance the understanding of thermophysical properties in nuclear materials and thus accelerate the development of nuclear technology.

11 - NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2026

Mixed-precision numerics in scientific applications: survey and perspectives

The explosive demand for artificial intelligence (AI) workloads has led to a significant increase in silicon area dedicated to lower-precision computations on recent high-performance computing hardware designs. However, mixed-precision capabilities, which can achieve performance improvements of up to 8x compared to double-precision in extreme compute-intensive workloads, remain largely untapped in most scientific applications. A growing number of efforts have shown that mixed-precision algorithmic innovations can deliver superior performance without sacrificing accuracy. These developments should prompt computational scientists to seriously consider whether their scientific modeling and simulation applications could benefit from the acceleration offered by new hardware and mixed-precision algorithms. In this survey, we (1) review progress across diverse scientific domains—fluid dynamics, weather and climate, quantum chemistry, and computational genomics—that have begun adopting mixed-precision strategies; (2) examine state-of-the-art algorithmic techniques such as iterative refinement, splitting and emulation schemes, and adaptive precision solvers; (3) assess their implications for accuracy, performance, and resource utilization; and (4) survey the emerging software ecosystem that enables mixed-precision methods at scale. We conclude with perspectives and recommendations on cross-cutting opportunities, domain-specific challenges, and the role of co-design between application scientists, numerical analysts, and computer scientists. Collectively, this survey underscores that mixed-precision numerics can reshape computational science by aligning algorithms with the evolving landscape of hardware capabilities.

Graphics processing units↗
DOE OSTI2025

A digital twin platform for building performance monitoring and optimization: Performance simulation and case studies

Advancements in sensor technology, data analytics, affordable compute, and communication infrastructure have paved the way for Digital Twin technology in optimizing building operations and controls. This study presents the development of an open and interoperable web-based Digital Twin platform for integrating diverse data streams and facilitating effective user interactions. The platform utilizes modern technologies for the web framework and time-series data management, ensuring scalability and responsiveness. The backend supports seamless integration of diverse data sources and emulators, incorporating data from building sensors and meters, external weather Application Programming Interfaces, and advanced EnergyPlus simulation models of the building and its energy systems including the Distributed Energy Resources that are formulated in Functional Mockup Units. A simulation case study was conducted with FlexLab, a test facility on Lawrence Berkeley National Laboratory campus. The case study includes normal operations, Distributed Energy Resource integration, and power outage scenarios, to illustrate the Digital Twin’s ability to provide critical insights into energy performance and thermal resilience. The results demonstrated the platform’s potential as a decision-support tool for optimizing building energy performance and enhancing resilience against extreme weather events. Future work will focus on deploying the Digital Twin platform to a real building for field validation, extending its capabilities to cover more scenarios such as bidirectional Electric Vehicle interactions, and enhancing user engagement.

EnergyPlus↗
DOE OSTI2024

Data-Driven Surrogate Modeling with Microstructure-Sensitivity of Viscoplastic Creep in Grade 91 Steel

Abstract To support the development of advanced steel alloys tailored to withstand extreme conditions, it is imperative to account for the mechanical performance of components, while considering the influence of local microstructure on the macroscopic response. To this end, this study focuses on the development of microstructure-sensitive constitutive models for the mechanical response of Grade 91 steel exposed to extreme thermo-mechanical environments. Polynomial chaos expansion (PCE) surrogates are used to emulate high-fidelity polycrystal simulations of the viscoplastic response of Grade 91 steel as a function of the microstructure fingerprint (e.g., dislocations and precipitates). To cover a wide temperature–stress domain, two separate PCE surrogates—one that captures softening and the other that captures hardening behavior—are combined using another (sparse) Gaussian process regression model. The resulting constitutive creep surrogate model is integrated within the MOOSE finite element framework to simulate the intricate effects of microstructure, in particular MX-phase precipitates, on a component with a graded microstructure. Surrogate sensitivity analysis is applied to quantify the relevant impact of spatially varying microstructure on the creep response in a test-case involving a Grade 91 alloy with a prototypical weld.

36 MATERIALS SCIENCE↗
DOE OSTI2025

Emerging Tools to Support DILI Assessment in Clinical Trials with Abnormal Baseline Serum Liver Tests or Pre-existing Liver Diseases

Abstract Based on the late Dr. Hyman Zimmerman’s observation that hepatocellular drug-induced liver injury (DILI) leading to jaundice carries a ≥ 10% fatality risk (coined as Hy’s law by others), evaluation of Drug-Induced Serious Hepatotoxicity (eDISH) continues to play a central role in the assessment of a study drug’s liability for acute hepatocellular DILI. The eDISH identifies drugs in clinical trials with DILI fatality (death or transplant) risk that may be unacceptable in a post-market setting. As a two-dimensional graph that plots peak total bilirubin (TB) versus peak serum aminotransferase levels for each patient during study drug or comparator treatment, eDISH identifies potential cases of acute, modest, and serious hepatocellular DILI for in-depth analysis of liver tests (LT) and clinical course so that the likelihood of causal association with the study drug can be determined. Unfortunately, the generalizable utility of this tool only pertains to trials enrolling patients with normal or near normal (NNN) baseline (BL) serum LTs. The eDISH does not necessarily apply to trials of patients with abnormal baseline (ABN-BL) LTs that often coincide with underlying liver disorders. Because drug development programs being reviewed by the FDA increasingly target liver disorders, we are often challenged to evaluate DILI risk in trials of patients with ABN-BL LTs. Also, the high background prevalence of metabolic dysfunction associated steatotic liver disease (MASLD) means patients with LTs above NNN may need to be enrolled in trials treating non-liver disorders to reflect the target population. Such study populations create challenges for industry and regulators because eDISH may not reliably categorize or identify potential cases of DILI for further analysis, as it so efficiently does in NNN-BL trials. We describe the main functionalities of eDISH in NNN-BL trials to understand what should be emulated by new tools or eDISH modifications. We then discuss non-eDISH–based plots that may be useful in ABN-BL trials.

Amirzadegan, Jasmine↗
DOE OSTI2024

A valuation framework for customers impacted by extreme temperature-related outages

Extreme temperature outages can lead to not just economic losses but also various non-energy impacts (NEI), such as increased mortality rates, property damage, and reduced productivity, due to significant degradation of indoor operating conditions caused by service disruptions. However, existing resilience assessment approaches lack specificity for extreme temperature conditions. They often overlook temperature-related mortality and neglect the customer characteristics and grid response in the calculation, despite the significant influence of these factors on NEI-related economic losses. This paper aims to address these gaps by introducing a comprehensive framework to estimate the impact of resilience enhancement not only on the direct economic losses incurred by customers but also on potential NEI, including mortality and the value of statistical life during extreme temperature-related outages. The proposed resilience valuation integrates customer characteristics and grid response variables based on a scalable grid simulation environment. This study adopts a holistic approach to quantify customer-oriented economic impacts, utilizing probabilistic loss scenarios that incorporate health-related factors and damage/loss models as a function of exposure for valuation. The proposed methodology is demonstrated through comparative resilient outage planning, using grid response models emulating a Texas weather zone during the 2021 winter storm Uri. The case study results show that enhanced outage planning with hardened infrastructure can improve the system resilience and thereby reduce the relative risk of mortality by 16% and save the total costs related to non-energy impacts by 74%. In conclusion, these findings underscore the efficacy of the framework by assessing the financial implications of each case, providing valuable insights for decision-makers and stakeholders involved in extreme-weather related resilience planning for risk management and mitigation strategies.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2025

From clutter to clarity: Emergent neural operators via questionnaire metrics

Real-world datasets in chemical engineering and bioengineering processes—such as those from catalytic reactors, multiphase flows, polymerization reactors, bioreactors, and clinical trials—can often be unlabeled or disorganized, rendering the training of existing supervised learning models ineffective at learning the underlying dynamics. To salvage these datasets for decision-making, we first seek to obtain clarity from the cluttered data. Here, we present a framework for developing “structural” generative models, discovering emergent equations, and constructing efficient emulators from scrambled datasets by integrating unsupervised organizational learning techniques (Questionnaires) with advanced deep learning architectures (Deep Hidden Physics Models and Deep Operator Networks). Our approach is demonstrated on two illustrative model systems: (a) a 1D advection–diffusion partial differential equation representing a winding underground pipe and (b) an ensemble of Stuart–Landau oscillators, an agent-based system of coupled ordinary differential equations. In both cases, we successfully reconstruct meaningful spatial, temporal, and parameter embeddings from scrambled data, enabling good predictions of system dynamics. As a result, we highlight the framework’s potential for broader applications, enabling data-driven system identification in fields with inherently disorganized or hidden parameter spaces.

42 ENGINEERING↗
DOE OSTI2026

An adaptive model-free robotic force control strategy for hydrodynamic real-time hybrid simulation of floating offshore wind turbines

Real-time hybrid simulation (RTHS) - a cyber-physical testing approach - promises to enhance the simulation fidelity of the model-scale experiments used to prototype floating offshore wind turbines (FOWTs). In hydrodynamic RTHS (hydro-RTHS), actuators emulate aerodynamic forces on model-scale FOWT specimens subjected to physical waves in a hydrodynamic laboratory. Robotic arms are promising candidates for actuation in hydro-RTHS due to their compact multi-degree-of-freedom (DOF) capabilities. Unlike classical RTHS for seismic applications, which typically relies on displacement control, hydro-RTHS requires 6-DOF force control on newly designed floating prototypes in a model-scale setting, which presents significant challenges, including modeling uncertainties, directional asymmetry, configuration drift, bandwidth limitations, and time-varying delays. To mitigate these constraints without extensive pre-test calibration, this study proposes an adaptive model-free robotic force control strategy that combines task-space explicit force control with a secondary joint-space pose-keeping task. The Adaptive Feedforward Compensator (AFC) is integrated into the force control loop to compensate for time-varying delay. Experimental testing was conducted using a Franka Emika Panda robotic arm with a 1:50 scale FOWT specimen under operational wind and wave conditions. Results demonstrate stable and consistent 6-DOF force tracking. Effective delay compensation was observed, with low-frequency delay reductions ranging from 71.4% to 91.8% and improvements in low-frequency surge force tracking of 25.0% to 52.1%. This study enhances robotic actuation performance in hydro-RTHS and introduces a force control strategy that supports reliable robotic operation in uncertain floating environments. Future work will explore disturbance-observer mechanisms to further enhance wave rejection capabilities under extreme wind and wave conditions.

17 WIND ENERGY↗