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DOE OSTI2025

Immersive Digital Twin Laboratory for Engineering Education (CRADA Final Report)

This project aimed to create an immersive digital twin laboratory that incorporates advanced tracking and visualization capabilities. In collaboration with Fort Lewis College, NREL designed a state-of-the-art physical visualization laboratory, developed a software platform to enable interaction with tracked physical objects in the laboratory, and provided proof-of-concept curricula that included manipulating these tracked objects. The project was initiated to address the growing need for innovative educational tools in engineering education. As renewable energy systems, particularly solar installations, become more complex, there is a pressing need to bridge the gap between theoretical knowledge and practical application. Traditional methods of teaching solar engineering concepts often fall short of providing students with a comprehensive, hands-on understanding. This immersive digital twin laboratory was conceived to fill that gap by creating a safe, non-energized setting where students can interact with augmented solar installation objects, gaining valuable insights into system performance, design, and maintenance. The project utilized extended reality (XR) technologies, including head-mounted displays (HMDs) and a whole-room optical motion tracking system, to connect physical objects with their digital twins in real time. The laboratory was equipped with MagicLeap 2 HMDs, supported by a Vicon Vero 2.2 Optical Tracking System, which provided precise 6-degrees-of-freedom (6-DOF) tracking. We developed a software platform to manage the interaction between the tracked physical objects and their virtual counterparts, enabling real-time data synchronization, object recognition, and virtual overlays. We designed the system to be flexible and extendable, allowing for future integration of additional objects and curriculum. This research advances the field of engineering education by demonstrating the potential of immersive digital twin environments. The laboratory provides a dynamic learning space where students can experiment, collaborate, and learn without the risks associated with live experimentation. The ability to simulate and manipulate solar installation objects under various conditions has broad implications for workforce development, particularly in renewable energy. The project also highlights the economic feasibility of using XR technologies in educational settings, offering a cost-effective solution for institutions looking to enhance their curriculum. By fostering a deeper understanding of solar energy systems, this work contributes to the broader goal of supporting the global energy transition and preparing the next generation of engineers and technicians.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2020

Umbilical Fatigue Analysis for a Wave Energy Converter

Unique umbilical designs for wave energy converters (WECs), including the ability to handle significantly larger motions and loads over long deployments, are often required when conventional marine umbilical designs for offshore oil and gas and offshore wind may not meet the design and cost needs of wave energy technologies. This study details a fatigue analysis of a dynamic power umbilical attached to a two-body floating point absorber WEC system, using the sea states provided for the PacWave testing facilities. The 6 degrees of freedom motion time history for the WEC was simulated, and the motions of the attachment point for the umbilical on the WEC and respective sea states were used to analyze the dynamic motions and fatigue of the connected power umbilical to predict the fatigue life. The results show that the fatigue damage observed is more significant in shallow water, and extensive fatigue damage may occur because of the larger curvature response of the umbilical. The umbilical configurations departing at 90 deg off incoming waves were found to have the highest fatigue life attributed to less extension or compression of the umbilical. However, additional bend stiffener/limiter features may need to be incorporated into the buoyancy section and touchdown regions to minimize curvature-induced fatigue.

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

DOE OSTI2025

Hydrodynamic characterization of the coastal pioneer array ocean observing system

Ocean observation buoys require relatively small amounts of power, yet traditionally necessitate costly resupply trips for battery replacement. With the offshore location of the buoys and small power requirements, wave energy may be an effective solution for providing consistent and reliable power to support the buoy instrumentation. The US National Science Foundation Ocean Observatories Initiative (OOI) includes arrays of point absorber-like buoy systems used for ocean observation that have been deployed at multiple locations including the Southern Mid-Atlantic Bight. A study is currently underway to design a pitch resonator wave energy converter to supplement existing renewable energy generation for powering observation instrumentation. This paper details field measurements from surface moorings of the OOI Coastal Pioneer Array, which informs the subsequent development of a numerical model for the moored observation system. The model is developed in Wave Energy Converter Simulator (WEC-Sim), which leverages the Simscape multibody solver within the MATLAB/Simulink framework and linear potential flow theory to simulate the hydrodynamic interactions and multibody dynamics in 6 degrees of freedom. Multiple tuning variables are considered to produce a model for the system that matches well with empirical data (about 8% error). In conclusion, the WEC-Sim model will serve as a platform for integrating the pitch resonator wave energy converter concept and deployment preparation (detailed design including power take-off and control systems, response evaluation, etc.).

hydrodynamic modeling↗

DOE OSTI2023

Stability and Performance of an Undersea Kite Operating in a Turbulent Flow Field

In this paper, we examine the effects of flow disturbances resulting from turbulence on the dynamic behavior of an underwater energy-harvesting kite system that executes periodic figure-8 flight. Due to the periodic nature of the kite’s operation, we begin by assessing orbital stability using the Floquet analysis and stroboscopic intersection analysis of a Poincaré section, with the former analysis performed on a simplified “unifoil” model and the latter performed on a six-degree-of-freedom (6-DOF)/flexible tether model. With periodic stability established, a frequency-domain analysis based on a linearization about the kite’s path is used to predict the quality of flight path tracking as a function of the turbulence frequency. To validate the accuracy of these simulation-based predictions under flow disturbances, we compare the predictions of the kite’s behavior against the results of small-scale tow testing experiments performed in a controlled pool environment.

13 HYDRO ENERGY↗

DOE OSTI2022

Material Plasma Exposure eXperiment (MPEX) High Heat Flux Bellows for Component Alignment in High Microwave Environment

The Material Plasma Exposure eXperiment (MPEX) device is a linear plasma device developed to perform plasma material interaction experiments under the conditions prototypic of a fusion reactor divertor. MPEX has multiple systems that must be precisely aligned to the plasma axis, including an electron cyclotron heating system that emits up to 400 kW of microwave power into the vacuum vessel. Five distinct systems require precise alignment on the MPEX device, thus requiring four bellows, all of which are adjacent to the plasma at a relatively high heat flux of approximately 47 kW/m2 and microwave power regions. The MPEX high heat flux bellows (HHFB) is designed to deliver 6 degrees of freedom positioning. The HHFB includes titanium–zirconium–molybdenum (TZM) inserts that are brazed into a Glidcop AL-15 body using a high-temperature braze alloy, thus blocking direct line of sight to an edge-welded bellows from the plasma and microwave screen to block microwaves from the bellows. Further, a custom ConFlat knife edge is machined into the Glidcop AL-15, so the vacuum flanges do not need a braze or weld joint on the vacuum interface. Fingerstock or copper mesh is used to restrict microwave power from entering the interstitial space between the water-cooled Glidcop AL-15 body and edge-welded bellows. Glidcop AL-15 was selected as the material of choice for the water-cooled body because it can maintain mechanical integrity at elevated temperatures, and it also allows for a high-temperature braze. TZM was selected for its machinability and compatibility with vacuum and plasma requirements. A test article is also being considered for a similarly shaped component, the MPEX limiter, that will demonstrate the integrity of the braze joint under high thermal load. Results from this testing will be extrapolated to deduce the lifetime and integrity of the HHFB design.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2021

Cyclic bend over sheave performance of a steel tension member belt for wave energy conversion

Rotary power take-offs (PTOs) promise many benefits for commercial wave energy converters (WECs), including longer power strokes/reduced end-stop concerns, deployment advantages, and controllability. However, these winch-type PTOs can impose millions of bending cycles on the belt or rope element every year, which may lead to a failure mode known as Cyclic Bend Over Sheave, or “CBOS”. Synthetic rope, though attractive due to its high strength, low elongation, and durability, suffers from comparatively poor CBOS performance and struggles to reach a million load cycles without failing. Using belts instead of ropes for winching elements should improve CBOS performance due to having a smaller thickness that undergoes bending. Unfortunately, belts have their own host of problems. Maintaining even tension across the width of a belt subject to twist or fleet angles is a challenge, especially for WECs which can move in all 6 degrees of freedom in the ocean. This study sought to quantify the CBOS performance of a belt constructed of steel tension members in a polyurethane matrix containing longitudinal profiles. Belt samples were tested to failure or up to two million bend-unbend cycles and subject to a range of fleet angles. This paper summarizes the utilized testing methodology and the resulting belt performance.

16 TIDAL AND WAVE POWER↗

DOE OSTI2024

A Methodology for determining optimal milling parameters for low-taper microtensile sample production

Femtosecond lasers are beginning to see an increase in interest for industrial and high throughput microsample milling applications. Despite this, much of the literature regarding removal rate studies for ultrashort pulse laser milling continues to focus on single-pulse or similar experiments that have a very small time on target. The material volume removal rates of femtosecond milling can vary wildly depending on parameters like laser scan speed, hatch spacing, z-axis step size, and pulses on the material. Currently, there is no established methodology for determining the optimal values of these parameters for micromilling applications. This methodology was developed in this study. The methodology consists of a pulse study, a repeat study, and a z-step study that will return the milling parameters that resulted in the largest volume removal rate for the laser used for this research. The methodology was created for the laser system used in this study, and was tested on 316 Stainless Steel, but was developed in such a way that it may be adapted to any material, and with some tweaking of variables might be used in other laser systems. The laser system used in this study utilizes a novel positioning stage that introduces 6 degrees of freedom to the translation of laser samples, being able to tilt and move in all three axes. Using both the developed methodology and the unique capabilities of the laser microtensile samples were produced with taper angles of <1° in 316 Stainless Steel.

Barker, Zachary Wayne↗

DOE OSTI2022

Warm Unit Stand Analysis for Proton Improvement Project II

The Proton Improvement Project II, commonly referred to as PIP II, is a linear accelerator overhaul at Fermilab to eventually double the output of its existing proton beam to continue to be the leading force in high energy physics. The proton beam is created through a series of high frequency cryomodules that must be connected utilizing a combination of magnets and vacuum pumps to ensure the beam is properly aligned. A housing mechanism for the magnets and vacuum pumps (Warm Units) will be placed between the cryomodules for realignment and require multiple stages of 6 degree-of-freedom adjustment options, to ensure that the beam alignment can fit all realistic requirements. Extensive testing and design modifications on the Warm Unit stand was completed to confirm not only the strength of the unit in nominal configuration, but also at each possible adjustment orientation for each 6 degree-of-freedom option. Structural analysis was also completed for various unique loading conditions i ncluding transportation loading and confirming the unit satisfies international building code. Simultaneously, testing and design modifications were done to confirm that the frequency modes of the system resided outside of concern ranges, which is determined by Fermilab safety codes and is set to exceed 15 Hz. Design changes that simultaneously stiffen the system to raise the lowest frequency modes while expanding access for technicians and allow for easier fabrication were developed and implemented into the Warm Unit stand. Various relationships between the design changes and the overall vibrational patterns were also developed for future use and study as the rest of PIP II matures.

43 PARTICLE ACCELERATORS↗

DOE OSTI2022

Dynamic responses of submerged components in advanced reactors: experimental and numerical studies

The seismic design of an advanced nuclear reactor must consider the interaction of vessel internal components with the surrounding coolant: fluid–structure interaction (FSI). Available analytical solutions for FSI of submerged components do not accommodate multiple-component, intense seismic inputs and complex reactor and internal geometries. Physical testing of reactor vessels and internals to inform seismic design is impractical and cost-prohibitive, leaving the use of verified and validated, robust numerical models as the only plausible option for analysis and design. Physical data that could be used for validating such numerical models for multi-component shaking are not available. This article describes an experimental program performed on a 6-degree-of-freedom earthquake simulator to generate data that could support validation of seismic FSI numerical models for submerged components in commercial finite element codes. A scaled model of a base-supported reactor vessel with simplified representations of submerged internals was tested to generate submerged-component response histories for a range of seismic inputs. The generated data were used to validate numerical models in the finite element code LS-DYNA. Numerical models were validated for calculation of hydrodynamic pressure responses on internals, in-water frequencies of internals, and acceleration responses of internals. The generated data and the analysis recommendations could aid engineering analysts designing submerged components and systems for seismic effects.

Engineering↗

DOE OSTI2022

Critical role of magnetic moments in heavy-fermion materials: Revisiting mysteries of SmB 6

Heavy-fermion family exhibits fascinating and often puzzling properties due to the presence of open-shell f ions and the complexity of the associated charge, orbital, and spin degrees of freedom. SmB 6 is a prototypical heavy-fermion compound that is electrically insulating but yet it displays quantum oscillations, which are a telltale signature of the metallic state. Adding to the enigma is the possibility that SmB 6 is a topological Kondo insulator. Here, by treating the spin degree of freedom on an equal footing with other degrees of freedom using the parameter-free strongly-constrained and appropriately-normed (SCAN) density functional, we explore the ground-state electronic structure of SmB6. A number of competing magnetic phases lying very closely in energy are found, indicating the key role of spin fluctuations in the material. The computed band structure, crystal-field splittings in the f-electron complex, the heavy effective electron mass at the Fermi energy, and the large specific heat are all in good agreement with the corresponding experimental results. In particular, our predicted FS explains the experimentally observed bulk quantum oscillations as well as the low electrical conductivity of SmB 6 . The topological Kondo state of SmB6 is shown to be robust regardless of its magnetic configuration. The excellent performance of SCAN in heavy-fermion systems is explained in terms of its ability to treat self-interaction errors and symmetry breaking within the framework of the density functional theory. Our study provides a new approach for modeling heavy-fermion materials

36 MATERIALS SCIENCE↗

DOE OSTI2020

Experimental and numerical studies of seismic fluid-structure interaction in a base-supported cylindrical vessel

Seismic design and qualification of advanced reactors will rely heavily on the use of verified and validated numerical models capable of capturing the interaction of the vessel, its contained fluid, and the internal equipment: fluid-structure interaction (FSI) analysis. Analytical solutions can be used for preliminary sizing and design of such vessels but their application is limited to simple geometries and boundary conditions, and small amplitude, translational (and rotational) inputs. To validate numerical models for seismic FSI analysis in finite element codes, a comprehensive set of experiments was performed on a liquid-filled cylindrical vessel, using a 6 degree-of-freedom earthquake simulator. Results in terms of sloshing frequency, damping ratio in sloshing modes, and hydrodynamic responses (wave height, hydrodynamic pressure, base shear, and base moment) for multi-directional earthquake simulator inputs are reported and compared with analytical solutions for liquid-filled vessels. The impact of seismic (base) isolation on hydrodynamic responses was studied using earthquake simulator inputs generated using a virtual isolation system. Data from the experiments are used to validate a numerical model of the fluid-filled vessel using the Arbitrary Lagrangian Eulerian (ALE) solver in the commercial finite element program LS-DYNA. Validation studies are presented for multi-directional seismic inputs, including rocking motions. Lagrangian modeling approaches using an elastic material formulation for the fluid are also investigated and their limitations and possible applications are identified. Here, the results are broadly applicable to the seismic response of base supported, liquid-filled vessels.

58 GEOSCIENCES↗

DOE OSTI2026

A Modular Accelerator Robotics Framework for AD Robotics

Accelerator tunnels, such as the ones at Fermilab, remain highly radioactive after beam shutoff due to induced radiation from the beam. This residual radiation creates a hazardous environment for manual inspection and repair of beamline components. To minimize worker radiation dose and reduce beam downtime, the AD Robotics Initiative previously built a fleet of low-cost custom mobile robots. However, the custom Python sockets server-client architecture lacked standardization, causing development delays and complicating the integration of new sensors and actuators. Here, we developed a modular system using ROS2 and Docker to standardize the teleoperation and control interfaces. This system was validated by implementing a teleoperation controller with real-time, low-latency, and high-definition video feedback. The aim of this framework is for a new feature or even a robot to be integrated into the system simply by documenting the hardware configuration. Current integration of LiDAR, Odometry, and Depth Cameras provides the foundation for Simultaneous Localization and Mapping (SLAM) tasks. Finally, future work involves integration into the accelerator control system and the attachment of a 6 degree-of-freedom robotic arm for telemanipulation.

Rayyan Khan, M. [Fermilab; Rensselaer Poly.; Unlis↗

DOE OSTI2026

Modular Accelerator Robotics Framework Implementation For Accelerator Inspection

Rayyan Khana, M. [Unlisted, US, IL] (ORCID:0009000↗

DOE OSTI2024

Superhorizon isocurvature fluctuations relax tensions

Here, we present a new class of models that have potential to alleviate tensions present in the cosmological data today. We postulate about variation in the sound horizon scale on superhorizon scales, i.e., on scales that are larger than that of the present observable low-redshift Universe (≳ 1Gpc) while at the same time smaller than the largest scales probed by the cosmic microwave background (CMB) (≲ 10Gpc). In this scenario, CMB peaks are naturally smoothed as preferred by the Planck data, while at the same time the low-redshift baryon acoustic oscillation calibration is partially decoupled from the CMB. Taking superhorizon variations in baryon fraction as an example and using approximate modeling, we find improvement in the best fit Planck power spectrum model Δχ 2 ~ 6 for 1 extra degree of freedom with the relevant extension parameter 10 3 σ b = 2.10 ± 0.60, implying about 10% variations in baryon fraction across the Universe. At the same time, S 8 drops by about 1 sigma, easing tension with weak lensing surveys. We find that the combination of Planck 2018 data, eBOSS BAO data, and Riess et al. distance ladder Hubble parameter determination produce a satisfactory fit in our model if we allow for a phantom dark energy equation of state.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2023

11-th order of accuracy for numerical solution of 3-D Poisson equation with irregular interfaces on unfitted Cartesian meshes

For the first time the optimal local truncation error method (OLTEM) with 125-point stencils and unfitted Cartesian meshes has been developed in the general 3-D case for the Poisson equation for heterogeneous materials with smooth irregular interfaces. The 125-point stencils equations that are similar to those for quadratic finite elements are used for OLTEM. The interface conditions for OLTEM are imposed as constraints at a small number of interface points and do not require the introduction of additional unknowns, i.e., the sparse structure of global discrete equations of OLTEM is the same for homogeneous and heterogeneous materials. The stencils coefficients of OLTEM are calculated by the minimization of the local truncation error of the stencil equations. These derivations include the use of the Poisson equation for the relationship between the different spatial derivatives. Such a procedure provides the maximum possible accuracy of the discrete equations of OLTEM. In contrast to known numerical techniques with quadratic elements and third order of accuracy on conforming and unfitted meshes, OLTEM with the 125-point stencils provides 11-th order of accuracy, i.e., an extremely large increase in accuracy by 8 orders for similar stencils. The numerical results show that OLTEM yields much more accurate results than high-order finite elements with much wider stencils. The increased numerical accuracy of OLTEM leads to an extremely large increase in computational efficiency. Additionally, a new post-processing procedure with the 125-point stencil has been developed for the calculation of the spatial derivatives of the primary function. The post-processing procedure includes the minimization of the local truncation error and the use of the Poisson equation. It is demonstrated that the use of the partial differential equation (PDE) for the 125-point stencils improves the accuracy of the spatial derivatives by 6 orders compared to post-processing without the use of PDE as in existing numerical techniques. At an accuracy of 0.1% for the spatial derivatives, OLTEM reduces the number of degrees of freedom by 900 - 4∙10 6 times compared to quadratic finite elements. The developed post-processing procedure can be easily extended to unstructured meshes and can be independently used with existing post-processing techniques (e.g., with finite elements).

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2026

On the role of symmetry in quenching OH tunneling in 2,6-dimethylphenol

Here, we model the spectroscopy of the two methyl torsional degrees of freedom coupled to the OH torsional motion in 2,6-dimethylphenol. Recent gas-phase rotational transitions [Welsh et al ., J. Phys. Chem. Lett. 17 , 3749–3758 (2026)] have been interpreted to be the result of certain symmetry states of the methyl groups leading to the quenching of the OH torsional motion. Both a three-dimensional model and an adiabatic model, in which the OH torsion is treated as the slow mode, are developed to test these conjectures. Good agreement is found between the exact and approximate adiabatic models. The adiabatic model is developed to interpret and elucidate the key couplings leading to the quenching of the tunneling splitting.

Sibert, III, Edwin L. [Univ. of Wisconsin, Madison↗

DOE OSTI2025

Expanding Configurational Complexity through Dipole Dilution in Pseudohalide Argyrodite Ion Conductors

The advantageous properties of (pseudo)halide argyrodite ion conductors of the formula Li 6 PS 5 X (X = Cl – , Br – , I – , CN – ) have motivated extensive studies of their structure-transport relationships, particularly as they pertain to the role of atomic site disorder. The argyrodite structure can accommodate additional configurational complexity to promote ion transport via extended three-anion site mixing and the potential for orientational disorder of molecular anions. In this work, we explore a ternary anion system including the cyanide anion, expanding site disorder and introducing dipolar orientations as an additional degree of freedom. We prepared the series Li 6 PS 5 (CN) 1–x Br x , in which the dipolar cyanide anions are systematically diluted with bromide. We find that anion disorder, as determined by synchrotron and neutron diffraction and quantified by configurational entropy (S config ), is correlated with lowered activation barriers and increased lithium ion conductivity. We propose that S config describes the electrostatic heterogeneity of the Li environments, flattening the energetic landscape for ion transport. While anion substitution strongly impacts the activation barrier for transport, the temperature-independent Arrhenius prefactor does not follow the same trend. Through heat-capacity measurements of attempt frequency and deconvolution of terms within the prefactor, we rationalize the apparent decoupling of activation energy and prefactor to strong cyanide-lithium interactions that increase the entropy of migration. Together, these results expand the structure–property relationships in the argyrodite family to encompass multiple facets of disorder and the subsequent impact on lithium ion transport.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2025

Dynamic signatures of spin-lattice coupling in the layered ferrimagnet Mn 3 Si 2 Te 6

Magnetic van der Waals (vdW) materials exhibit a profound interconnectedness between their various degrees of freedom, pointing to a wealth of potential applications in low-power and high-speed spintronic devices. Recently, light-matter interactions have been leveraged as robust, dynamic pathways to gain control over the properties of vdW magnets through the use of ultrafast pulses of light. Here, we utilize ultrafast photoexcitation to drive coherent lattice oscillations in the layered ferrimagnetic crystal Mn 3 Si 2 Te 6 , which significantly stiffen below the magnetic ordering temperature. We suggest that this is due to an exchange-mediated contraction of the lattice, stemming from strong magneto-structural coupling in this material. Furthermore, simulations of the transient incoherent response uncover the critical role of the spin-mediated electronic relaxation pathways. These results underscore the importance of spin-lattice coupling in vdW magnets and demonstrate a promising strategy for their dynamic optical control via their entangled degrees of freedom.

36 MATERIALS SCIENCE↗