Search NASA⌕ Search

SEARCH · Search NASA

Results for “Air vertical motion”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 19 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

On the Estimation of In-Cloud Vertical Air Motion Using Radar Doppler Spectra

Measurements of in-cloud vertical air motion are key to quantitatively describe cloud dynamics and their role in cloud microphysics. Here, a retrieval technique for estimating the in-cloud vertical air motion using the upward edge of the radar Doppler spectrum is presented. An additional broadening correction factor that depends on the signal-to-noise ratio (SNR) is introduced. A variety of independent measurements are used to assess the performance of the new technique. The vertical air motion is unbiased with an uncertainty of 0.2 m s –1 for SNR <30. Here, the properties of in-cloud vertical air motion are investigated from 1 year of ground-based observations of warm marine boundary layer clouds. Clouds with higher LWP are characterized by stronger vertical air motions compared to those having lower LWP values.

42 ENGINEERING↗
DOE OSTI2023

Arctic Mixed-Phase Cloud Base Ice Precipitation Properties During the M-PACE Field Campaign

Cloud-climate feedbacks are still the greatest source of uncertainty in current climate projections. Arctic clouds, which are predominantly stratiform and supercooled, often long-lived, and nearly-continuously precipitate ice particles, contribute roughly 10% of the uncertainty attributed to the global cloud feedback. This Arctic cloud uncertainty is driven by incomplete observational and theoretical knowledge required to estimate and explain the state and active processes occurring in those clouds. A focus on ice precipitation properties at Arctic cloud base rather than the surface deconfounds the product of cloud condensate sink processes from the influence of the atmospheric thermodynamic state below cloud base, rendering cloud-base properties a more appealing target for inference and evaluation of model simulations. This dataset provides a set of 25 samples from the M-PACE field campaign, all of which were retrieved using the synthesis of ARM radar and lidar measurements. The retrieved ice precipitation variables in this dataset include, among others, the ice number concentration, water content, PSD parameters, precipitation rate, mass-weighted fall velocity, vertical air motion, and effective radius, all of which are highly valuable for model evaluation and a general understanding of polar cloud sink processes. Each variable sample includes its mean value and associated uncertainty. Additional variables based on ARM measurements (liquid layer statistics, etc.) are included in this dataset as well. The retrieval algorithm and analysis of this dataset are described in Silber (JGR, 2023, https://doi.org/10.1029/2022JD038202).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Arctic Mixed-Phase Cloud Base Ice Precipitation Properties Over the NSA Site

Cloud-climate feedbacks are still the greatest source of uncertainty in current climate projections. Arctic clouds, which are predominantly stratiform and supercooled, often long-lived, and nearly continuously precipitate ice particles, contribute roughly 10% of the uncertainty attributed to the global cloud feedback. This arctic cloud uncertainty is driven by incomplete observational and theoretical knowledge required to estimate and explain the state and active processes occurring in those clouds. A focus on ice precipitation properties at arctic cloud base rather than the surface deconfounds the product of cloud condensate sink processes from the influence of the atmospheric thermodynamic state below cloud base, rendering cloud-base properties a more appealing target for inference and evaluation of model simulations. This data set provides more than 1800 samples of cloud-base ice precipitation properties over Utqiagvik, North Slope of Alaska, all of which were retrieved using the synthesis of ARM radar and lidar measurements. The retrieved ice precipitation variables in this data set include, among others, the ice number concentration, water content, PSD parameters, precipitation rate, mass-weighted fall velocity, vertical air motion, and effective radius, all of which are highly valuable for model evaluation and a general understanding of polar cloud sink processes. Each variable sample includes its mean value and associated uncertainty. Additional variables based on ARM measurements (liquid layer statistics, etc.) are included in this data set. The retrieval algorithm and analysis of this data set are described in Silber (JGR, 2023, https://doi.org/10.1029/2022JD038202).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

Towards retrieving cloud top entrainment velocities from MISR cloud motion vectors

Although important, direct retrievals of entrainment rates in cloud-topped planetary boundary layer (PBL) remain elusive. Here we present a novel technique for retrieving cloud-top entrainment velocities using only Multi-angle Imaging Spectro-Radiometer (MISR) stereoscopic retrievals of cloud-motion vectors (CMVs) and cloud-top heights (CTHs). Mesoscale vertical air velocity at CTH is diagnosed from the continuity equation and then used to derive entrainment velocities from the PBL mass-budget equation. The algorithm is demonstrated through a case of marine stratocumulus deck off the California coast, with comparisons made against data from the European Centre for Medium-range Weather Forecasts (ECMWF) reanalysis (ERA5) and the data from other satellites. MISR low-cloud CTH for this case were lower than the ERA5 reported PBL depth by 189 ± 87 m. These differences in cloud top heights partly modulate the differences in the ERA5 and MISR horizontal winds, with larger differences in meridional over zonal wind components. Average difference between ERA5 and MISR derived mesoscale vertical air motion at cloud top was 0.14 ± 0.73 cm s −1 , while the same for entrainment rate was −0.09 ± 0.46 cm s −1 . The uncertainties in the utilized CTHs and CMVs are propagated to derive systematic and random retrieval uncertainties. Fractional uncertainty is lower than 25 % when the retrieved mesoscale vertical air motion is stronger than ±0.04 cm s −1 and entrainment velocities are stronger than ±0.03 cm s −1 . These results showcase the ability to derive mesoscale vertical air motion and entrainment rates from MISR observations and motivate its extension to generate a global climatology leveraging its full 23-year record (2000–2022). Nonetheless comprehensive validation of the retrievals is warranted through comparisons with estimates from an independent dataset across diverse weather conditions.

Mitra, Arka [Argonne National Laboratory (ANL), Ar↗
DOE OSTI2022

Rain Drop Size Distributions Estimated from NOAA Snow-Level Radar Data

Using NOAA’s S-band High-Power Snow-Level Radar (HPSLR), a technique for estimating the rain drop size distribution (DSD) above the radar is presented. This technique assumes the DSD can be described by a four parameter, generalized gamma distribution (GGD). Using the radar’s measured average Doppler velocity spectrum and a value (assumed, measured, or estimated) of the vertical air motion w, an estimate of the GGD is obtained. Four different methods can be used to obtain w. One method that estimates a mean mass-weighted raindrop diameter D m from the measured reflectivity Z produces realistic DSDs compared to prior literature examples. These estimated DSDs provide evidence that the radar can retrieve the smaller drop sizes constituting the “drizzle” mode part of the DSD. Here, this estimation technique was applied to 19 h of observations from Hankins, North Carolina. Results support the concept that DSDs can be modeled using GGDs with a limited range of parameters. Further work is needed to validate the described technique for estimating DSDs in more varied precipitation types and to verify the vertical air motion estimates.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

rwpvertvel

The 915-Mhz Radar Wind Profiler (RWP) has been configured to point vertically and operate in precipitation mode so as to measure Doppler velocity in the vertical direction, tracking the motion of hydrometeors as they fall, and enabling the calculation of vertical air motion within clouds.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Turbulence in The Marine Boundary Layer and Air Motions Below Stratocumulus Clouds at the ARM Eastern North Atlantic Site

Marine stratocumulus clouds are intimately coupled to the turbulence in the boundary layer and drizzle is known to be ubiquitous within them. Six years of data collected at the Atmospheric Radiation Measurement (ARM)’s Eastern North Atlantic site are utilized to characterize turbulence in the marine boundary layer and air motions below stratocumulus clouds. Profiles of variance of vertical velocity binned by wind direction (wdir) yielded that the boundary layer measurements are affected by the island when the wdir is between 90° and 310° (measured clockwise from North where air is coming from). Data collected during the marine conditions (wdir<90 or wdir>310) showed that the variance of vertical velocity was higher during the winter months than during the summer months due to higher cloudiness, wind speeds, and surface fluxes. Furthermore, during marine conditions the variance of vertical velocity and cloud fraction exhibited a distinct diurnal cycle with higher values during the nighttime than during the daytime. Detailed analysis of 32 cases of drizzling marine stratocumulus clouds showed that for a similar amount of radiative cooling at the cloud top, within the sub-cloud layer 1) drizzle increasingly falls within downdrafts with increasing rain rates, 2) the strength of the downdrafts increases with increasing rain rates, and 3) the correlation between vertical air motion and rain rate is highest in the middle of the sub-cloud layer. The results presented herein have implications for climatological and model evaluation studies conducted at the ENA site, along with efforts of accurately representing drizzle-turbulence interactions in a range of atmospheric models.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

First EarthCARE CPR Observations of Dynamics–Microphysics Coupling in Marine Cold‐Air Outbreak Clouds

Marine cold-air outbreak (MCAO) clouds begin as shallow cloud streets near the ice edge and evolve into broken open-cell convection downstream. Their rapid transitions in cloud structure and microphysics are closely linked to vertical motions, but this interplay has not previously been observed from space. The EarthCARE satellite, carrying the first spaceborne Doppler radar (Cloud Profiling Radar, CPR), now measures hydrometeor sedimentation velocity and vertical air motion. Using CPR observations over the Norwegian and Barents Seas (December 2024–May 2025), we analyze MCAO and non-MCAO clouds. We find that strong updrafts in MCAO clouds coincide with larger supercooled liquid water (SLW) path (LWP). These conditions are accompanied by increases in sedimentation velocity and its vertical gradient, reflecting rapid riming-driven ice growth. In contrast, non-MCAO clouds show lower riming efficiency at similar LWP due to relatively weaker dynamical support. This emphasizes the importance of dynamics in shaping polar cloud structure and microphysics.

Kim, Jiseob [McGill Univ., Montreal, QC (Canada)] ↗
DOE OSTI2023

Surface-based observations of cold-air outbreak clouds during the COMBLE field campaign

Abstract. Cold-air outbreaks (CAOs) are characterized by extreme air–sea energy exchanges and low-level convective clouds over large areas in the high-latitude oceans. As such, CAOs are an important component of the Earth's climate system. The CAOs in the Marine Boundary Layer Experiment (COMBLE) deployment of the US Department of Energy Atmospheric Radiation Measurement (ARM) Mobile Facility (AMF) provided the first comprehensive view of CAOs using a suite of ground-based observations at the northern coast of Norway. Here, cloud and precipitation observations from 13 CAO cases during COMBLE are analyzed. A vertical air motion retrieval technique is applied to the Ka-band ARM Zenith-pointing Radar (KAZR) observations. The CAO cumulus clouds are characterized by strong updrafts with magnitudes between 2–8 m s−1, vertical extents of 1–3 km, and horizontal scales of 0.25–3 km. A strong relationship between our vertical air velocity retrievals and liquid water path (LWP) measurements is found. The LWP measurements exceed 1 kg m−2 in strong updraft areas, and the vertical extent of the updraft correlates well with the LWP values. The CAO cumulus clouds exhibit eddy dissipation rate values between 10−3 and 10−2 m2 s−3 in the lowest 10 km of the atmosphere, and using a radar Doppler spectra technique, evidence of secondary ice production is found during one of the cases.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Supercooled Liquid Water Detection Capabilities from Ka-Band Doppler Profiling Radars: Moment-Based Algorithm Formulation and Assessment

The occurrence of supercooled liquid water in mixed-phase cloud (MPC) affects their cloud microphysical and radiative properties. The prevalence of MPCs in the mid- and high latitudes translates these effects to significant contributions to Earth’s radiative balance and hydrological cycle. The current study develops and assesses a radar-only, moment-based phase partition technique for the demarcation of supercooled liquid water volumes in arctic, MPC conditions. The study utilizes observations from the Ka band profiling radar, the collocated high spectral resolution lidar, and ambient temperature profiles from radio sounding deployments following a statistical analysis of 5.5 years of data (January 2014–May 2019) from the Atmospheric Radiation Measurement observatory at the North Slope of Alaska. The ice/liquid phase partition occurs via a per-pixel, neighborhood-dependent algorithm based on the premise that the partitioning can be deduced by examining the mean values of locally sampled probability distributions of radar-based observables and then compare those against the means of climatologically derived, per-phase probability distributions. Analyzed radar observables include linear depolarization ratio (LDR), spectral width, and vertical gradients of reflectivity factor and radial velocity corrected for vertical air motion. Results highlight that the optimal supercooled liquid water detection skill levels are realized for the radar variable combination of spectral width and reflectivity vertical gradient, suggesting that radar-based polarimetry, in the absence of full LDR spectra, is not as critical as Doppler capabilities. The cloud phase masking technique is proven particularly reliable when applied to cloud tops with an Equitable Threat Score (ETS) of 65%; the detection of embedded supercooled layers remains much more uncertain (ETS = 27%).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

New Particle Formation Events Over the Southeast Atlantic Coincide With the African Biomass Burning Season

Abstract We investigated the occurrence and evolution of new particle formation (NPF) events over the southeast Atlantic. The studied region is under the influence of the long‐range transport of aerosols and gases during the southern African biomass burning season, from June to October every year. Interestingly, NPF was observed to coincide with the African biomass burning season, although wet removal of pre‐existing aerosols is needed during these NPF events. Surface and airborne measurements show that these NPF events likely occurred in the upper region of the marine boundary layer, and the newly formed aerosols were further transported to the surface via vertical air motions. Using a box model, we predicted that a large fraction of these particles could grow to sizes related to cloud condensation nuclei. Our study shows that NPF can occur over the southeast Atlantic, and the African biomass‐burning plume likely contributed to the NPF occurrence.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2022

Going mobile to address emerging climate equity needs in the heterogeneous urban environment

We report the Brookhaven National Laboratory Center for Multiscale Applied Sensing (CMAS) aims to address environmental equity needs in the context of a changing climate. As a first step towards this goal, the center developed a one-of-a-kind observatory tailored to the study of highly heterogeneous urban environments. This article describes the features of the mobile observatory that enable its rapid deployment either on or off the power grid, as well as its instrument payload. Beyond its unique design, the observatory optimizes data collection within the obstacle-laden urban environment using a new smart sampling paradigm. This setup facilitated the collection of previously poorly documented environmental properties including wind profiles throughout the atmospheric column. The mobile observatory captured unique observations during its first few intensive observation periods (IOPs).. Vertical air motion and infrared temperature measurements collected along the faces of the supertall One Vanderbilt skyscraper in Manhattan, NY reveal how solar and anthropogenic heating affect wind flow and thus the venting of heat, pollution, and contaminants in urban street canyons. Also, air temperature measurements collected during travel along a 150-km transect between Upton and Manhattan, NY offer a high-resolution view of the urban heat island and reveal that temperature disparities also exist within the city across different neighborhoods. Ultimately, the datasets collected by CMAS are poised to help guide equitable urban planning by highlighting existing disparities and characterizing the impact of urban features on the urban microclimate with the goal of improving human comfort.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Lifecycle of updrafts and mass flux in isolated deep convection over the Amazon rainforest: insights from cell tracking

Long-term observations of deep convective cloud (DCC) vertical velocity and mass flux were collected during the Observations and Modelling of the Green Ocean Amazon (GoAmazon2014/5) experiment. Precipitation echoes from a surveillance weather radar near Manaus, Brazil, are tracked to identify and evaluate the isolated DCC lifecycle evolution during the dry and wet seasons. A radar wind profiler (RWP) provides precipitation and air motion profiles to estimate the vertical velocity, mass flux, and mass transport rates within overpassing DCC cores as a function of the tracked cell lifecycle stage. The average radar reflectivity factor (Z), DCC area (A), and surface rainfall rate (R) increased with DCC lifetime as convective cells were developing, reached a peak as the cells matured, and decreased thereafter as cells dissipated. As the convective cells mature, cumulative DCC properties exhibit stronger updraft behaviors with higher upward mass flux and transport rates above the melting layer (compared with initial and later lifecycle stages). In comparison, developing DCCs have the lowest Z associated with weak updrafts, as well as negative mass flux and transport rates above the melting layer. Over the DCC lifetime, the height of the maximum downward mass flux decreased, whereas the height of the maximum net mass flux increased. During the dry season, the tracked DCCs had higher Z, propagation speed, and DCC area, and were more isolated spatially compared with the wet season. Dry season DCCs exhibit higher Z, mass flux, and mass transport rate while developing, whereas wet season DCCs exhibit higher Z, mass flux, and mass transport rates at later stages.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Impacts of projected changes in sea surface temperature on ozone pollution in China toward carbon neutrality

The global sea surface temperatures (SSTs) are expected to change diversely in the future under different climate scenarios, which will affect the near-surface ozone (O 3 ) distribution and concentration by influencing meteorological states and large-scale atmospheric circulation. Many countries have planned to reach carbon neutrality by the mid-21st century. Here in this study, the impacts of global and regional SST changes on near-surface O 3 concentrations in China in the middle of the 21st century under the carbon-neutral scenario (Shared Socioeconomic Pathway 1-1.9), compared with the high-emission scenario (Shared Socioeconomic Pathway 5-8.5), and possible physical and chemical mechanisms are investigated using the Community Earth System Model version 1 (CESM1). Under future climate change, the changes in SSTs in the carbon-neutral scenario relative to the high-emission scenario lead to a dipole change in near-surface O 3 concentrations in eastern and western China, with a significant decrease of 0.79 ppbv in the eastern China and a significant increase of 1.05 ppbv in the western China. The cooling of North Pacific Ocean under the carbon-neutral scenario causes a decrease in near-surface O 3 concentrations by 0.48 ppbv in eastern China due to the weakened chemical production and an increase by 0.74 ppbv in western China attributed to the enhanced O 3 transport from Eurasia. Cooling of Southern Hemisphere oceans leads to anomalous upward air motions over eastern China, which weaken the vertical transport of high-altitude O 3 to the surface. Our results suggest that future changes in SSTs in the carbon-neutral scenario will positively benefit O 3 air quality improvement in the polluted eastern China, with the North Pacific and Southern Hemisphere oceans playing important roles.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Characterizing Mesoscale Cellular Convection in Marine Cold Air Outbreaks With a Machine Learning Approach

Abstract During marine cold‐air outbreaks (MCAOs), when cold polar air moves over warmer ocean, a well‐recognized cloud pattern develops, with open or closed mesoscale cellular convection (MCC) at larger fetch over open water. The Cold‐Air Outbreaks in the Marine Boundary Layer Experiment provided a comprehensive set of ground‐based in situ and remote sensing observations of MCAOs at a coastal location in northern Norway. MCAO periods that unambiguously exhibit open or closed MCC are determined. Individual cells observed with a profiling Ka‐band radar are identified using a watershed segmentation method. Using self‐organizing maps (SOMs), these cells are then objectively classified based on the variability in their vertical structure. The SOM nodes contain some information about the location of the cell transect relative to the center of the MCC. This adds classification noise, requiring numerous cell transects to isolate cell dynamical information. The SOM‐based classification shows that comparatively intense convection occurs only in open MCC. This convection undergoes an apparent lifecycle. Developing cells are associated with stronger updrafts, large spectrum width, larger amounts of liquid water, lower surface precipitation rates, and lower cloud tops than mature and weakening cells. The weakening of these cells is associated with the development of precipitation‐induced cold pools. The SOM classification also reveals less intense convection, with a similar lifecycle. More stratiform vertical cloud structures with weak vertical motions are common during closed MCC periods and are separated into precipitating and non‐precipitating stratiform cores. Convection is observed only occasionally in the closed MCC environment.

Meteorology & Atmospheric Sciences↗
DOE OSTI2025

Spectral distortions to momentum and scalar exchanges by non-turbulent motion and patchy landscape variability

Modifications to the spectra of turbulent velocity and scalars and co-spectra of vertical fluxes of momentum and scalars due to patchy landscape heterogeneity and non-stationarity are explored for a Mediterranean ecosystem. About 9 months of high frequency measurements of the three velocity components, water vapor concentration, carbon dioxide concentration, and air temperature were analyzed for different seasons (spring/summer) and prevalent wind directions (southeast/northwest). The two wind directions sampled a contrast of clumped and patchy landscape comprised of olive trees (southeast) and wall bounded flow disturbed by the presence of few upwind trees (northwest). The measured spectra and co-spectra were also compared to theoretical scaling forms from stationary, planar homogeneous flow, in the absence of subsidence as derived from the Kansas experiment. To assess the role of low frequency non-turbulent motion on the spectral and co-spectral content, a 5-min Fourier cutoff was introduced and the analysis was limited to near-neutral conditions where the boundary layer depth is shallow compared to its unstable counterpart. It was shown that the velocity statistics were not appreciably impacted by the low-frequency motion causing non-stationarity. Moreover, the turbulent scalar fluxes were also shown not to be significantly impacted by such low frequency motion. The scalar variances were impacted, especially the water vapor variance and its concomitant spectral shape. When the non-turbulent motion was filtered, the scalar spectra at low wavenumbers followed expectations from the so-called attached eddy hypothesis (i.e. exhibited a $k^{-1}_x$ scaling with $k_x$ defining the longitudinal wavenumber) applicable for near-neutral conditions. For momentum co-spectra, the canonical shapes from the Kansas experiment appear to describe well the measurements here and in both dominant directions and seasons with some adjustment to the integral time scales based on wind direction. For the scalar co-spectra, deviations from the Kansas experiment were prevalent. The most noticeable and surprising deviations were their slow decay with increased sampling frequency at inertial subrange scales. This slow decay was shown not to contribute appreciably to the overall scalar fluxes. At those fine scales, predictions from local isotropy were expected to hold. The scalar co-spectral deviations from local isotropy were then discussed using a simplified co-spectral budget model where scalar–scalar co-spectra naturally emerged and the interplay between landscape heterogeneity and a scale-dependent pressure-scalar de-correlation time was postulated. It is also envisaged that the findings here offer a preliminary template for analyzing eddy-covariance data in situations that deviate from ideal conditions, especially regarding low-frequency modulations of scalar spectra and vertical scalar flux co-spectra.

Canopy turbulence↗
DOE OSTI2022

Convective and Turbulent Motions in Nonprecipitating Cu. Part II: LES Simulated Cloud Represented by a Starting Plume

The dynamic structure of a small trade wind cumulus (Cu) is analyzed using a novel approach. Cu developing in a shear-free environment is simulated by 10-m-resolution LES model with spectral bin microphysics. The aim is to clarify the dynamical nature of cloud updraft zone (CUZ) including entrainment and mixing in growing Cu. The validity of concept stating that a cloud at developing state can be represented by a parcel or a jet is tested. To investigate dynamical entrainment in CUZ performed by motions with scales larger than the turbulence scales, the modeled fields of air velocity were filtered by wavelet filter that separated convective motions from turbulent ones. Two types of objects in developing cloud were investigated: small volume ascending at maximal velocity (point parcel) and CUZ. It was found that the point parcel representing the upper part of cloud core is adiabatic. The motion of the air in this parcel ascending from cloud base determines cloud-top height. The top-hat (i.e., averaged) values of updraft velocity and adiabatic fraction in CUZ are substantially lower than those in the point parcel. Evaluation of the terms in the dynamical equation typically used in 1D cloud parcel models show that this equation can be applied for calculation of vertical velocities at the developing stage of small Cu, at least up to the heights of the inversion layer. Dynamically, the CUZ of developing cloud resembles the starting plume with the tail of nonstationary jet. Both the top-hat vertical velocity and buoyancy acceleration linearly increase with the height, at least up to the inversion layer. An important finding is that lateral entrainment of convective (nonturbulent) nature has a little effect on the top-hat CUZ velocity and cannot explain the vertical changes of conservative variables qt and θl. In contrast, entrained air lifting inside CUZ substantially decreases top-hat liquid water content and its adiabatic fraction. Possible reasons of these effects are discussed.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

Autonomous Hydrogen Fueling Station

This project “Autonomous Hydrogen Fueling Station” covered the autonomous refueling with both gaseous hydrogen and liquid hydrogen. The part on gaseous hydrogen focused on the development of an autonomous robotic fueling arm that would couple to a fuel cell engine for hydrogen refueling without guidance from the forklift operator and budget period. Research was also covered for the robotic fueling with a commercial vehicle. The second phase of the project created the baseline for an autonomous liquid hydrogen transfer system that would minimize boil off losses by operating at thermodynamically efficient state points. For the development of the robotic fueling arm, testing was conducted to establish a baseline measurement of the accuracy and repeatability of a human operator positioning a lift truck in front of a dispenser. The goal was to establish the range of motion required for an autonomous fueling mechanism to mate a hydrogen nozzle with a receptacle on a fuel cell system installed in a forklift. The final design comprised a selective compliance articulated robot arm (SCARA)-type mechanism with two arms for horizontal motion and a ball screw for vertical movement and color and LIDAR cameras were used for marker identification and proximity awareness to guide the robotic arm to its target receptacle. Initial tests resulted in 199 out of 200 successful attempts at autonomous coupling of the dispensing coupler and a fuel cell engine, without hydrogen. The dispenser prototype was modified to include tubing for both hydrogen fuel and air purge lines, but subsequent tests were confounded by the shoulder motor over current errors which limited the robot from getting to the fully inserted position to achieve a positive latch. Robotic hydrogen refueling was successfully demonstrated over 1.5 hours of testing, Plug completed 29 successful latches with an average number of 4 sequential latches before failure. However, a robot capable of placing the nozzle with more force is required for higher reliability. For budget period two, a small scale (10 kg / transfer) automated control system was designed that would operate valves to control pressure and flow of liquid nitrogen between a source and receiving tank with an aim to minimize boil off losses by operating at the most thermodynamically efficient state points. Control system logic flow and a P&ID were developed prior to system safety characterization via HAZOP. A control narrative and system state points were defined. Delays in approval for a change of project objective and procurement issues precluded the construction and test of the final prototype system.

08 HYDROGEN↗