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At least 1,693 records · Page 94

Cyber Threat Screening Using a Queuing-Based Game-Theoretic Approach

Dynamic and uncertain security environments, such as cyber systems, often involve strategic interactions among multiple decision-making agents. In this paper, we consider a cybersecurity setting where a system administrator (defender) has to screen malicious service requests of an attacker who seeks to exhaust available cyber resources and inconvenience users with normal requests. We propose a novel cyber-threat inspection model, based on Stackelberg games, that unies aspects of Threat Security Games with the Erlang-B queuing framework to provide equilibrium strategies for both the attacker and defender. In our proposed model, the defender seeks to determine the optimal number of inspection nodes required to maximize detection probability of malicious requests, while the attacker maximizes the probability of legitimate requests dropping out of the system. We derive analytical expressions of the equilibrium solutions of the proposed Stackelberg game under realistic assumptions on system observability and payoff structure of the players. A numerical case study is presented, and steps for further research are identified.

Cybersecurity, Stackelberg game, Erlang-B loss sys↗

Numerical Model Development of a Variable-Geometry Attenuator Wave Energy Converter: Preprint

Because the wave energy industry is still in its infancy, an optimal design for wave energy converters (WECs) has yet to be established; more work is needed to explore various cost reduction pathways. The primary cost-reduction pathway considered for this work is the optimization of the geometric profile on an attenuator WEC to maximize power production while, at the same time, minimizing capital expenditures through the use of variable-geometry modules. In this investigation, the variable geometry modules consist of inflatable bags placed on either side of a base central steel cylinder that would be inflated in low moderate sea states to maximize power capture and then deflated in moderate-extreme sea states to minimize wave loading. The numerical model and simulation of the attenuator WEC were developed and completed using WEC-Sim, which is an open-source code that is appropriate for use in evaluating the dynamic response of the different WEC models in operational seas. The power production estimates were obtained from the Wave Energy Prize (WEP) sea states, which are representative of U. S. deployment sites, to calculate the average climate capture width that is used in the WEP ACE calculation. Preliminary capital expenditure costs were obtained assuming the base central steel cylinder mass was equal to the fluid displaced mass, minus the mass of the variable-geometry bags. The additional weight required to offset the additional buoyancy from the variable-geometry bags was assumed to come from the addition of seawater ballast. The variable-geometry attenuator model was found to have a similar power capture efficiency as a fixed-body model, but is expected to have a lower characteristic capital expenditure given its more streamlined profile, which demonstrates that variable-geometry modules may provide a realistic cost-reduction pathway to help design a more cost-competitive WEC.

50 EE - Wind and Water Power Program - Water (EE-4↗

Vertex Reordering for Real-world Graphs and Applications: An Empirical Evaluation

Vertex reordering is a way to improve locality in graph computations. Given an input (or ``natural'') order, reordering aims to compute an alternate permutation of the vertices that is aimed at maximizing a locality-based objective. Given decades of research on this topic, there are tens of graph reordering schemes, and there are also several linear arrangement ``gap'' measures for treatment as objectives. However, a comprehensive empirical analysis of the efficacy of the ordering schemes against the different gap measures, and against real-world applications is currently lacking. In this study, we present an extensive empirical evaluation of up to 11 ordering schemes, taken from different classes of approaches, on a set of 34 real-world graphs emerging from different application domains. Our study is presented in two parts: a) a thorough comparative evaluation of the different ordering schemes on their effectiveness to optimize different linear arrangement gap measures, relevant to preserving locality; and b) extensive evaluation of the impact of the ordering schemes on two real-world, parallel graph applications, namely, community detection and influence maximization. Our studies show a significant divergence among the ordering schemes (up to $40\times$ between the best and the poor) in their effectiveness to reduce the gap measures; and a wide ranging impact of the ordering schemes on various aspects including application runtime (up to $4\times$), memory and cache use, load balancing, and parallel work and efficiency. The comparative study also help reveal the nuances of a parallel environment (compared to serial) on the ordering schemes and their role in optimizing applications.

Barik, Reet↗

GOOML: Geothermal Operational Optimization with Machine Learning

Geothermal Operational Optimization with Machine Learning (GOOML) is a project focused on maximizing increased availability and capacity from existing industrial-scale geothermal generation assets. The GOOML project will develop a suite of machine learning-based algorithms that analyze historical production datasets and provide predictive setpoints for geothermal field operations. Historical datasets from New Zealand and the US will provide the input to develop digital geothermal system twins which allow prediction of market conditions, maintenance operations and steamfield optimization. The algorithms will identify key parameters within fields and suggest setpoints for components of the system to maintain optimal generation. Set-points can be instructed to follow mass flow restrictions, generation maximization and optimal field/reservoir balance and give field operators a guide by which generation can be optimized. The datasets that will be used to develop GOOML are sourced from operating geothermal fields in New Zealand and the United States with varying degrees of complexity. This will ensure that most geothermal systems can utilize the GOOML tool to assist in optimizing operations. GOOML aims to achieve a step-change in geothermal operations by developing state-of-the-art machine learning algorithms, comprehensive data analytics, and a first-of-its-kind automated, intelligent geothermal system model.

algorithms↗

Optimal Efficiency and Operational Cost Savings: A Framework for Automated Rooftop PV Placement

Residential energy consumers are charged based on a utility rate structure, such as net metering or feed-in tariff. To lower consumers' electricity bills, expensive batteries are deployed to reduce the electricity fed from the grid during peak hours. However, strategic photovoltaic (PV) panel placement enables the reduction of operational energy cost while considering the spatial feasibility and efficiency for hosting rooftop PV. In this paper, we present a framework to automatically identify the optimal location of rooftop PV panels on residential buildings. Our framework integrates multiple workflows, including energy and environmental simulation, parametric modeling, and optimization to identify the ideal location of PV panels to balance the demand and supply at a building and community scale. These workflows are linked using the Grasshopper plug-in for Rhinoceros CAD software. The framework includes two different workflows, each satisfying a target for optimal PV placement: (a) maximizing PV panel efficiency, where users aim to maximize energy generation, and (b) minimizing operational energy cost, where "best'' panels are selected considering utility rates for operational energy cost. Our framework is demonstrated in a residential community in Fort Collins, Colorado, to generate the optimal PV placement for each of the two aforementioned targets. Results from the two workflows are compared to illustrate the effect of PV location and orientation on solar energy production efficiency and operational energy cost. The developed workflows are introduced as tools within the Grasshopper plug-in to investigate the solar potential of rooftop PV panels while taking into account factors such as contextual shading, utility rate structures, and buildings' energy demand profiles.

30 DIRECT ENERGY CONVERSION↗

National Emission Standards for Hazardous Air Pollutants – Radionuclide Emissions Calendar Year 2020

The U.S. Department of Energy (DOE), National Nuclear Security Administration Nevada Field Office (NNSA/NFO) operates the Nevada National Security Site (NNSS) and the North Las Vegas Facility (NLVF). From 1951 through 1992, the NNSS was the continental testing location for U.S. nuclear weapons. Radionuclides in air from NNSS activities have been monitored since the initiation of atmospheric testing. After 1962, testing was limited to underground detonations, which greatly reduced radiation exposure to the public. Since the end of nuclear testing in 1992, radiation monitoring has focused on detecting airborne radionuclides from historically contaminated soils because this sources dominates the potential offsite dose. These radionuclides are derived from re-suspension of soil (primarily by wind) and emission of tritium-contaminated soil moisture through evapotranspiration. Low amounts of legacy-related tritium are also emitted to air at the NLVF, an NNSS support complex in North Las Vegas. To protect the public from harmful levels of manmade radiation, the Clean Air Act, National Emission Standards for Hazardous Air Pollutants (NESHAP), specifically the National Emission Standards for Emissions of Radionuclides Other Than Radon From Department of Energy Facilities (40 CFR 61, Subpart H, 2020) limits the release of radioactivity from a DOE facility to that which would cause 10 millirem per year (mrem/y) effective dose equivalent (EDE) to any member of the public. This limit does not include radiation unrelated to NNSS activities. Unrelated doses could come from naturally occurring radioactive elements, from sources such as medically or commercially used radionuclides, or from sources outside of the United States, such as Japan’s Fukushima nuclear power plant, which was damaged in 2011. NNSA/NFO demonstrates compliance with the NESHAP limit by reporting environmental measurements of radionuclide air concentrations at critical receptor locations on the NNSS. This alternative was proposed and formerly submitted to the U.S. Environmental Protection Agency (EPA) in 2001 (EPA 2001a) and has been the method used to demonstrate compliance with the 40 CFR 61.92 dose standard since 2005. Six locations on the NNSS have been established to act as critical receptor locations to demonstrate compliance with the NESHAP limit. These locations are closer to radionuclide releases than where the public resides so they act as protective substitutes for public receptor locations. Compliance is demonstrated if the measured annual average concentration is less than the NESHAP Concentration Level (CL) for Environmental Compliance listed in Table 2 of 40 CFR 61, Appendix E. For multiple radionuclides, compliance is demonstrated when the sum of the fractions (determined by dividing each radionuclide’s concentration by its CL and then adding the fractions together) is less than 1.0. The EPAapproved air transport model, called the Clean Air Package 1988 (CAP88-PC) is also used to calculate the effective dose equivalent to the maximally exposed individual from NNSS air emissions. CAP88-PC was also used to calculate the population dose, or the collective EDE (expressed as person-rem [roentgen equivalent man] per year [person-rem/y]) for all individuals combined who reside within 80 kilometers (km) of NNSS emission sources. In 2020, the potential dose from radiological emissions to air from both current and past NNSS activities was well below the 10 mrem/y dose limit. This is demonstrated by both the air sampling data collected at critical receptor air monitoring stations and CAP88-PC modeling. The average concentrations of radioactivity at air critical receptor stations ranged from 0.2% to a maximum of 4.2% of the allowed NESHAP limit. CAP88-PC modeling of all 2020 NNSS radionuclide emissions showed the maximally exposed individual to be in Amargosa Valley and this individual received a potential dose of 0.063 mrem/y. The collective dose was calculated to be 0.29 person-rem/year for the 521,300 people who lived within 80 km of NNSS emission sources.

99 GENERAL AND MISCELLANEOUS↗

A Robust Approach to Sequential Information Theoretic Planning

In many sequential planning applications a natural approach to generating high quality plans is to maximize an information reward such as mutual information (MI). Unfortunately, MI lacks a closed form in all but trivial models, and so must be estimated. In applications where the cost of plan execution is expensive, one desires planning estimates which admit theoretical guarantees. Through the use of robust M-estimators we obtain bounds on absolute deviation of estimated MI. Moreover, we propose a sequential algorithm which integrates inference and planning by maximally reusing particles in each stage. We validate the utility of using robust estimators in the sequential approach on a Gaussian Markov Random Field wherein information measures have a closed form. Lastly, we demonstrate the benefits of our integrated approach in the context of sequential experiment design for inferring causal regulatory networks from gene expression levels. Here, our method shows improvements over a recent method which selects intervention experiments based on the same MI objective.

Zheng, Sue↗

Coupled Microbial-Conversion and Computational-Fluid-Dynamics (CFD) Models for Butanediol Production in Micro-Aerated Reactors

Microbial conversion of substrates to macromolecules has been widely used in the synthesis of value-added products in pharmaceutical and biotechnology industries. These bioreactions are also being investigated in the production of low-value commodities such as biofuels [1]. Gas-liquid mass-transfer and transport-reaction coupling are important challenges when designing and scaling up these reactor systems. Experiments in wellmixed small-scale reactors have enabled characterization of microbial reactivity, while their coupling with macroscale transport remains relatively unexplored. In this work, we use a coupled metabolic-CFD model to study the action of a genetically engineered microbe Zymomonas mobilis [2] on sugars to produce 2,3-Butanediol (BDO). BDO is an important hydrocarbon intermediate that can be catalytically upgraded to several fuels and chemicals [3]. An important aspect to this particular microbial conversion is the need for micro-aerated environments as opposed to traditional aerobic fermentation. Slight variations in oxygen concentration can result in competing reaction pathways that disable BDO production. Hence, gas-liquid mass transfer and transport need to be optimized in large-scale reactors to maximize BDO production, for which CFD is a valuable tool. The aerobic-fermentation CFD model previously developed by the authors [5] for simulating bubble-column and airlift reactors at scale was used in this study. The Reynolds-averaged mass, momentum and energy transport equations for interpenetrating gas and liquid phase are solved in this model along with the transport and interphase mass transfer of oxygen. Our previous work used a phenomenological model for microbial oxygen uptake that neglected microbial growth and other reaction pathways. In this work, a detailed metabolic model enabled prediction of product formation and inhibition pathways. In order to manage computational cost, we used a subcycling technique [6] that takes advantage of the clear separation in transport (~ 200 sec) and reaction (~ 2-3 hours) timescales. The CFD model is first solved to steady state, after which the metabolic model is advanced at every cell in the computational domain using the local oxygen concentration. The CFD model is then run to achieve a new steady state that provides a new oxygen distribution for the metabolic model. This process, where reaction and fluid updates are interleaved together, is iterated until reactants are completely exhausted. This work will examine the performance of different reactor designs such as bubble column and airlift reactors at scale (250-500 m3). Oxygen mass-transfer coefficient and distribution are critically analyzed among reactors, and optimization studies pertaining to aeration is presented. Furthermore, it has been observed in experiments that high BDO production may be achieved by manipulating the aerobic environment over the course of reaction, such that oxygen concentration is high during the growth phase, and very low as sugar is depleted. This characteristic will be addressed by our simulations for which a timedependent scheduling strategy for aeration is presented that maximizes BDO production. [1] Humbird, D., Davis, R., and McMillan, J., Aeration costs in stirred-tank and bubble column bioreactors, Biochemical Engineering Journal, 127, 161—166, 2017 [2] Yang, S., Mohagheghi, A., Franden, M. A., Chou, Y.-C., Chen, X., Dowe, N., Himmel, M. E., and Zhang, M., Metabolic engineering of zymomonas mobilis for 2, 3-butanediol production from lignocellulosic biomass sugars. Biotechnology for biofuels, 9(1):189, 2016 [3] Kim, S. J., Sim, H. J., Kim, J. W., Lee, Y. G., Park, Y. C., and Seo, J. H., Enhanced production of 2,3-butanediol from xylose by combinatorial engineering of xylose metabolic pathway and cofactor regeneration in pyruvate decarboxylase-deficient Saccharomyces cerevisiae. Bioresource Technology, 245:1551–1557, 2017 [4] Weller, H., Tabor, G., Jasak, H. and Fureby, C., A tensorial approach to computational continuum mechanics using object-oriented techniques, Computers in physics, 12, 6, 620--631, 1998

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

Opportunities and Challenges for Nuclear-Renewable Hybrid Energy Systems

Nuclear-renewable hybrid energy systems (also known as integrated nuclear-renewable systems) are conceptual systems that have two or more energy inputs and produce two or more products. They maximize profitability, and usually equipment utilization, by adjusting between the products depending upon the availability of resources and market value. For example a nuclear-renewable hybrid energy system that produces electricity and hydrogen would maximize sales of electricity when its price is high and shift to hydrogen production when the electricity price is low. This presentation summarizes the results of several economic analyses of nuclear-renewable hybrid energy systems and they key overall conclusions from those analyses.

ENERGY PLANNING, POLICY, AND ECONOMY,ENVIRONMENTAL↗

Opportunities and Challenges for Nuclear-Renewable Hybrid Energy Systems

Nuclear-renewable hybrid energy systems (also known as integrated nuclear-renewable systems) are conceptual systems that have two or more energy inputs and produce two or more products. They maximize profitability, and usually equipment utilization, by adjusting between the products depending upon the availability of resources and market value. For example a nuclear-renewable hybrid energy system that produces electricity and hydrogen would maximize sales of electricity when its price is high and shift to hydrogen production when the electricity price is low. This presentation summarizes the results of several economic analyses of nuclear-renewable hybrid energy systems and they key overall conclusions from those analyses.

economic analysis↗

Regional Hybrid Energy Systems Technoeconomic Analysis

The National Renewable Energy Laboratory (NREL) has been working with the Idaho National Laboratory (INL) and Argonne National Laboratory (ANL) to analyze the potential that hybridizing Xcel Energy's two nuclear power plants in Minnesota might have. The hybrid nuclear power plants would maximize sales of electricity when its price is high and reduce electricity sales to maximize hydrogen production when the price of electricity is low. This presentation summarizes the project's approach and status and communicates future direction.

ENERGY PLANNING, POLICY, AND ECONOMY,HYDROGEN↗

A Hybrid Reinforcement Learning-MPC Approach for Distribution System Critical Load Restoration: Preprint

This paper proposes a hybrid control approach for distribution system critical load restoration, combining deep reinforcement learning (RL) and model predictive control (MPC) aiming at maximizing total restored load following an extreme event. RL determines a policy for quantifying operating reserve requirements, thereby hedging against uncertainty, while MPC models grid operations incorporating RL policy actions, i.e., the reserve requirement, renewable (wind and solar) power predictions, and load demand forecasts. We formulate the reserve requirement determination problem as a sequential decision making problem based on the Markov Decision Process (MDP) and design an RL learning environment based on the OpenAI Gym framework and MPC. The RL agent reward and MPC objective function aim to maximize and monotonically increase total restored load and minimize load shedding and renewable power curtailment. The RL algorithm is trained off-line using historical forecast of renewable generation and load demand. The method is tested using a modified IEEE 13-bus distribution test feeder containing wind turbine, photovoltaic, microturbine and battery. Case studies demonstrated that the proposed method outperforms other operating reserve determination methods.

distribution system↗

Real-time Ridesharing for Transportation Hubs with Demand and Supply Uncertainty

Transportation hubs in major cities generate a significant amount of trips by taxis and for-hail vehicles (FHV), with many of the trips sharing similar destinations. This suggests promising opportunities to leverage the collective travel needs with dedicated ridesharing solutions to reduce the externalities of excessive traffic at transportation hubs. In this study, we develop a novel dynamic ridesharing approach to serve trips from the transportation hub by considering (1) demand (new passengers) and supply (newly available vehicles) in the near future and (2) the uncertainty of future predictions. Our approach consists of two stages. In the first stage, we develop a data structure called hub mobility tree to generate potential combinations of shareable trips as candidate schedules efficiently. Then the generated schedules are used in the second stage to formulate the stochastic hub-based ridesharing problem (SHRP), which is a stochastic integer programming problem with the objective to maximize the total expected ridesharing profit over time. Due to the prohibitive number of shareable trips, we then approximately solve SHRP by the sample average approximate method (SAA), and a dual Lagrangian technique is implemented to further improve the scalability of the solution approach. We demonstrate the performances of the proposed method by simulating the ridesharing service at JFK airport using NYC taxi and FHV data. The results indicate that the proposed method outperforms the myopic ridesharing (maximize profit for a single time step) and the rolling horizon method with point estimation of future demand and supply.

dynamic ridesharing↗

Single-Axis Tracker Control Optimization Potential for the Contiguous United States: Preprint

Conventional tracker control algorithms maximize collection of direct irradiance with no regard for collection of diffuse irradiance. Therefore, a tracker control algorithm that optimizes for maximal total irradiance, not just direct, might realize improved insolation collection. Using weather data gridded at 0.25° by 0.25° latitude/longitude spacing covering the contiguous United States, we evaluate the insolation gain of two alternative control algorithms optimized for improved total irradiance collection in monofacial arrays and present annual and monthly geographic heatmaps showing the gains across the contiguous United States. Certain locations show potential annual insolation gains approaching 1.0%, but most locations with recently-built tracker systems show annual gains between 0.1% and 0.4%. We also demonstrate a relationship between a climate's annualized diffuse insolation fraction and its potential tracker optimization insolation gain.

diffuse↗

A Hybrid Reinforcement Learning-MPC Approach for Distribution System Critical Load Restoration

This paper proposes a hybrid control approach for distribution system critical load restoration, combining deep reinforcement learning (RL) and model predictive control (MPC) aiming at maximizing total restored load following an extreme event. RL determines a policy for quantifying operating reserve requirements, thereby hedging against uncertainty, while MPC models grid operations incorporating RL policy actions (i.e., reserve requirements), renewable (wind and solar) power predictions, and load demand forecasts. We formulate the reserve requirement determination problem as a sequential decision-making problem based on the Markov Decision Process (MDP) and design an RL learning environment based on the OpenAI Gym framework and MPC simulation. The RL agent reward and MPC objective function aim to maximize and monotonically increase total restored load and minimize load shedding and renewable power curtailment. The RL algorithm is trained offline using a historical forecast of renewable generation and load demand. The method is tested using a modified IEEE 13-bus distribution test feeder containing wind turbine, photovoltaic, microturbine, and battery. Case studies demonstrated that the proposed method outperforms other policies with static operating reserves.

distribution system↗

Verification of Upcoming MCNP Features For Estimating Nuclear Data Sensitivities in Fixed Source Simulations [Abstract]

Predictive simulation codes, like the Monte Carlo N-Particle (MCNP) transport code, are used throughout the nuclear community. These simulations are based on nuclear data. Maximizing the accuracy and precision of nuclear data maximizes the accuracy and precision of the overall simulation. This is imperative to applications that rely on simulations. For example, improving nuclear data for special nuclear material improves simulation accuracy in stockpile stewardship applications, which results in larger safety margins and decreased operational costs. The improvement and validation of nuclear data is completed through integral benchmark experiments. Past benchmarks have primarily been limited to focus on the effective multiplication factor ($\kappa$ eff ); broadening the purview of benchmarks beyond $\kappa$ eff -dependent nuclear data addresses nuclear data deficiencies. Different response types depend on different areas of nuclear data. This dependence is quantified as nuclear data sensitivity: the change in response due to perturbation of a contributing parameter. The larger the nuclear data sensitivity of a response, the more the experiment is influenced by the uncertainties of the nuclear data. The optimization of nuclear data sensitivities in future benchmarks would result in more detailed validation of lesser studied areas of nuclear data. Currently, direct sensitivity capabilities are not easily found for all experiment types and parameters. An MCNP tool to directly estimate the cross section sensitivities of tallied values is under development. Additionally, updates have been made to the perturbation feature of MCNP, which can be used in a less direct approach to estimating sensitivities. This work verifies these features to estimate nuclear data sensitivities in fixed source simulations of a 4.5-kg sphere of alpha- phase weapons-grade plutonium surrounded by differing amounts of copper and polyethylene. Integrated estimates made using MCNP’s tools were found to statistically agree with integrated estimates made from manual perturbation of nuclear data proving the validity of the MCNP tools.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

INVESTIGATION AND OPTIMIZATION OF A NEW COMPACT SUPERCONDUCTING CAVITY FOR DEFLECTING AND CRABBING APPLICATIONS

Deflecting and crabbing structures have many applications in current accelera?tor systems. The primary use of a deflecting cavity is to separate a single beam into multiple beams. A crabbing cavity enables the head-on collision at the inter?action point in particle colliders in order to increase the luminosity. The early uses of the deflecting structures have been in the early 1960s; these structures were disk loaded structures operating at room temperature. The crabbing structure which was installed at the KEK electron-positron collider was the first and only operational superconducting cavity of that kind. The most common design of superconduct?ing deflecting and crabbing cavities is a squashed-elliptical geometry operating in a TM110-like mode; at low frequencies these structures become challenging due to the large geometrical shapes. Recently, compact deflecting and crabbing structures have been studied for numerous accelerator applications not limited to deflecting or crabbing of beams, but also for beam diagnostics, emittance exchange etc. The rf?dipole design, which is presented here, has evolved from the parallel-bar design and is a new compact deflecting and crabbing design with attractive properties at low frequencies and is operating in a TE11-like mode. The parallel-bar design has been optimized into the rf-dipole design primarily to maximize the net deflection with low and balanced peak surface fields and also to maximize the shunt impedance. The geometries have also been modified to increase the separation between the higher or?der modes, suppress multipacting conditions and reduce multipole components. The design geometries have been improved for mechanical stability in order to withstand thermal and pressure fluctuations under operating conditions. Two superconducting rf-dipole deflecting and crabbing cavities have been designed and optimized at 499 MHz for the Jefferson Lab 12 GeV Upgrade and at 400 MHz for a crabbing cavity for the LHC Luminosity Upgrade. The design optimization, fabrication, and test results of the first prototypes of both designs are presented in detail.

De Silva, Subashini Uddika↗

Self-tuning wave energy converter (WEC) controller for changing sea states

Systems and methods for a WEC controller that uses a self-tuning proportional-integral control law prescribing motor torques to maximize electrical power generation and automatically tune the controller to maximize power absorption. In an embodiment, the controller may be part of any resonant WEC system. The control law relies upon an identified model of device intrinsic impedance to generate a frequency-domain estimate of the wave-induced excitation force and measurements of device velocities. The control law was tested in irregular sea-states that evolved over hours (a rapid, but realistic time-scale) and that changed instantly (an unrealistic scenario to evaluate controller response).

Bacelli, Giorgio↗