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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 19 records

Active Cancellation of Servo-Induced Noise on Stabilized Lasers via Feedforward

Many precision laser applications require active frequency stabilization. However, such stabilization loops operate by pushing noise to frequencies outside their bandwidth, leading to large “servo bumps” that can have deleterious effects for certain applications. The prevailing approach to filtering this noise is to pass the laser through a high-finesse optical cavity, which places constraints on the system design. Here, we propose and demonstrate a different approach where a frequency error signal is derived from a beat note between the laser and the light that passes through the reference cavity. The phase noise derived from this beat note is fed forward to an electro-optic modulator after the laser, carefully accounting for relative delay, for real-time frequency correction. With a hertz-line-width laser, we show ≳20 dB noise suppression at the peak of the servo bump (approximately 250 kHz) and a noise-suppression bandwidth of approximately 5 MHz—well beyond the servo bump. By simulating the Rabi dynamics of a two-level atom with our measured data, we demonstrate substantial improvements to the pulse fidelity over a wide range of Rabi frequencies. Here, our approach offers a simple and versatile method for obtaining a clean spectrum of a narrow-line-width laser, as required in many emerging applications of cold atoms, and is readily compatible with commercial systems that may even include wavelength conversion.

47 OTHER INSTRUMENTATION↗

Aero‐servo‐elastic co‐optimization of large wind turbine blades with distributed aerodynamic control devices

Abstract This work introduces automated wind turbine optimization techniques based on full aero‐servo‐elastic models and investigates the potential of trailing edge flaps to reduce the levelized cost of energy (LCOE) of wind turbines. The Wind Energy with Integrated Servo‐control (WEIS) framework is improved to conduct the presented research. Novel methods for the generic implementation and tuning of trailing edge flap devices and their controller are also introduced. Primary flap and controller parameters are optimized to demonstrate potential maximum blade tip deflection reductions of 21 % . Concurrent design optimization (i.e., co‐design) of a novel segmented wind turbine blade with trailing edge flaps and its controller is then conducted to demonstrate blade cost savings of 5 % . Additionally, rotor diameter co‐design optimization is demonstrated to reduce the LCOE by 1.3 % without significant load increases to the tower. These results demonstrate the efficacy of control co‐design optimization using trailing edge flaps, and the entirety of this work provides a foundation for numerous control co‐design‐oriented studies for distributed aerodynamic control devices.

17 WIND ENERGY↗

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

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

Giffen, Nickolas [Northern Illinois U.]↗

Early therapeutic effects of adaptive servo-ventilation on cardiac sympathetic nervous function in patients with heart failure evaluated using a combination of {sup 11}C-HED PET and {sup 123}I-MIBG SPECT

Rationale: Adaptive servo-ventilation (ASV), a novel respiratory support therapy for sleep disorders, may improve cardiac function in heart failure (HF). However, the reasons that ASV improves cardiac function have not been fully studied especially in sympathetic nervous function (SNF). The purpose of the present study was to investigate the effects of ASV therapy on cardiac SNF in patients with HF. Methods: We evaluated ASV therapeutic effects before and 6 months after ASV therapy in 9 HF patients [57.3 ± 17.3 years old, left ventricular ejection fraction (LVEF) 36.1 ± 16.7%]. We performed echocardiography, polysomnography, biomarkers, {sup 11}C-hydroxyephedrine (HED) PET as a presynaptic function marker and planar {sup 123}I-metaiodobenzylguanidine (MIBG) to evaluate washout rate. Results: ASV therapy reduced apnea-hypopnea index (AHI) and improved plasma brain natriuretic peptide (BNP) concentration. In {sup 123}I-MIBG imaging, the early heart/mediastinum (H/M) ratio increased after ASV therapy (2.19 ± 0.58 to 2.40 ± 0.67; P = 0.045). Washout rate did not change (23.8 ± 7.3% to 23.8 ± 8.8%; P = 0.122). Global {sup 11}C-HED retention index (RI) improved from 0.068 ± 0.033/s to 0.075 ± 0.034/s (P = 0.029). Conclusions: ASV reduced AHI and improved BNP. ASV might initially improve presynaptic cardiac sympathetic nervous function in HF patients after 6 months of treatment.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

A semi-coupled aero-servo-hydro numerical model for floating vertical axis wind turbines operating on TLPs

Floating vertical axis wind turbines (VAWTs) have many advantages over floating horizontal axis wind turbines (HAWTs) at large scales in deep water; however, there are several key challenges to overcome as well. One of the challenges is accurate prediction of the dynamic motion and loads performance of a floating VAWT. Here, a new semi-coupled aero-servo-hydro method is developed to assess dynamic responses of a floating VAWT by modeling the system as a 7-degree-of-freedom (7-DOF) model: the supporting platform is considered as a 6-DOF rigid body; the rotation of the rotor is considered as the 7th DOF. Aerodynamic, hydrodynamic, and mooring loads and control of the rotor speed are fully considered. This model can predict performance of floating VAWTs with reasonable fidelity according to validation with OrcaFlex through static and dynamic responses of a floating VAWT with Darrieus rotor operating on a new tension-leg platform (TLP). Being a reduced complexity model, the 7-DOF model can be efficiently applied to assess performance of the newly designed floating VAWT. This model is used to examine the relative contributions of aerodynamic and wave loads imparted to the floating system and the benefits of a three-bladed VAWT over a two-bladed VAWT through dynamic and fatigue analysis.

17 WIND ENERGY↗

Servo-aero-gravo-elastic (SAGE) scaling and its application to a 13-MW downwind turbine

Reduced scale wind turbines can be extremely cost-effective to test new rotor concepts since prototype costs are heavily dependent on the rotor diameter. Ideally, the scaled model would have the same non-dimensional deflections, dynamics, and control behavior as the full-scale model. This would provide a high-fidelity demonstration of the full-scale performance, which is ideal if the full-scale turbine has significant aeroelastic interactions. To this end, servo-aero-gravo-elastic (SAGE) scaling is developed and applied to a 13-MW turbine that is scaled to a 20% scale model. The scaling preserves the tip-speed ratio, the rotor speed normalized by the flapping frequency, and the tip deflections normalized by the blade length. In addition, the controller employs the same control structure (gain-scheduled pitch control and variable speed torque control) and is scaled dynamically (e.g., matching non-dimensional time constant of the pitch angle, etc.). Furthermore, the thrust, gravity, and centrifugal moments are scaled such that the load angles are preserved as a function of a non-dimensional wind speed. However, the environmental scaling must consider differences in Reynolds number (since this parameter cannot be held constant) and subsequent changes in the axial induction factor. While the presented results showcase these differences during operational conditions, the non-dimensional tip deflections remain comparable through all wind speed ranges, indicating the viability of the SAGE scaling method in matching full-scale aeroelastic responses.

Kaminski, Meghan (ORCID:0000000322334784)↗

More Uniform Motion of Positional Servo Drive in a Jig-Boring Machine

Conditions corresponding to more uniform motion of the linear and angular coordinates of a precision jig-boring machine with digital positional servo drives are outlined. Uniform coordinate motion, especially at low supply speeds, is extremely important for high-precision measuring operations and also in finishing. The effectiveness of the proposals is demonstrated in simulation.

42 ENGINEERING↗

Visual Servoing System for the Removal of the Elements of a Prefilter in a NPP - 18429

The maintenance of the prefilters of the condensate demineralizers in a BWR reactor nuclear plant, could represents a real problem given the substances (radioactive particles) captured by the filtering elements (called 'candles'). This trapped material can produce high doses on the personnel participating in this maintenance work. Thus, it is desirable to automate the maintenance activities required to remove the used filtering elements. Then we designed a robotic manipulator capable of detaching, one by one, the filtering elements from their fastening structure. The manipulator deposits the 'candles' into a container as they are detached, and at the end, it is automatically transported, to a storage area. The work here presented, proposes the application of the 'visual servoing control' technique to automate the operation of the robotic arm. This would minimize the intervention of human operators, reducing maintenance times and radiation dose to the personnel. The methodology is based on techniques of artificial vision and uses, in addition to a video camera, a device capable of generating a laser line, which when projected onto 3D space, creates what is known as a laser plane. This plane upon striking the candles will generate circumferential arcs in the video camera images, and these figures will be used to detect the 3D point that will guide the manipulator to take the filtering element. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

A Comparative Study of Two BAM Designs for Friction Sensitivity Testing of Explosives

A new commercial design of BAM friction tester that utilizes a programmable servo motor was tested in comparison to the traditional cam-driven model. Displacement and velocity profiles were analyzed for both designs; significant differences were found between the two designs, most notable of which is that the traditional cam-driven unit has plate velocities that can be 50–75 % greater than those seen on the servo-driven model. Five energetic materials were also tested on each machine, including PETN, RDX, HMX, CL-20, and HNAB. Finally, results from the servo-driven model generally showed slightly less sensitivity when compared to the cam driven model, though the magnitude of the difference is not significant enough to require modification of safe handling procedures for the materials tested.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗

New Insertion Device Control System for the APS Upgrade

New Hybrid Permanent Magnet Undulators (HPMUs) have been designed and manufactured using servo motors for precise and reliable gap motion control for the Advanced Photon Source Upgrade (APS-U) project. Meanwhile, existing HPMUs equipped with legacy stepper motors are systematically replaced with servo motors. In parallel with mechanical modifications of the undulators, a comprehensive upgrade has been implemented for the control of the devices. This upgrade includes integration of standardized industrial components for replacement of motor controllers and motor drives using the Kollmorgen Programmable Controller Multi-axis Master (PCMM) controllers and the AKD2G series servo drives. Soft Input Output Controllers (IOCs) are developed and deployed to replace the legacy VME-based IOCs for both single-period undulators and Revolver undulators. In this paper, we will present the architecture of the new insertion device control system, including control mechanisms, interlock protocols, and tools for diagnostics and troubleshooting.

Li, W.↗

Functional Requirements for the WEIS Toolset to Enable Controls Co-Design of Floating Offshore Wind Turbines

The goal of the new Wind Energy with Integrated Servo-control (WEIS) toolset under development is to provide the offshore wind industry and research communities with an open-source, user-friendly, flexible tool to enable true controls co-design (CCD) of the physical design of a floating offshore wind turbine together with the controller. WEIS will use a multifidelity library of models built on the foundations of WISDEM® and OpenFAST formerly known as FAST). This paper presents the WEIS development plan, including the functional requirements of WEIS (including improvements to WISDEM and OpenFAST) together with associated rationale for their establishment and a qualitative description of the modeling approaches that will be implemented to address these functional requirements. The development of WEIS is a project under the Aerodynamic Turbines Lighter and Afloat with Nautical Technologies and Integrated Servo-control program funded by the U.S. Department of Energy Advanced Research Projects Agency – Energy.

27 ARPA - Advanced Research Projects Agency-Energy↗

WEIS and FAST.Farm Advancements Beyond Wind Turbine Aeroelasticity

Presentation at the 7th Wind Energy Systems Engineering workshop from NREL principal engineer Jason Jonkman, Ph.D., on NREL's numerical tools Wind Energy with Integrated Servo-control (WEIS), which focuses on the integrated design of floating wind turbines, and FAST.Farm, a simulation tool for multi-turbine wind farms based on popular aero-servo-hydro-elastic solver OpenFAST. The presentation discusses recent advancements beyond wind turbine aero-elasticity.

17 WIND ENERGY↗

SMC Reinforced by Recycled or Textile Carbon Fiber

There is a significant need to expand material options for SMC that has traditionally used glass fibers for decades. There are several integral issues related to chopping and conveying a range of materials including glass, carbon, basalt, thermoplastic tapes, and recycled fibers. These are in a variety of forms including continuous tows, discontinuous agglomerates such as pyrolyzed carbon fibers that could be used to produce a range of SMC intermediates. Standard/conventional SMC processing is limited to cutting rotors specifically for glass and compounding with thermoset polyesters and some epoxies. The multi-material, multi-format line developed in this project is flexible to enable custom conveying and uses an interchangeable rotor dedicated for specific material types. The overall tasks undertaken in this project included: evaluation of the fiber feed mechanism, effect of textile grade carbon, evaluating servo motor controlling of conveyor, evaluate doctor box resin feed, evaluate compaction unit, evaluation of different formulations, and develop automation such as PLC programming. The new multi-material SMC line Version 2 (SCM-V2) incorporated servo motors over induction motors which gave the overall cutter system precision control and made it quiet. The addition of a 14-roll compaction unit at the end of the line in SMC-V2 enabled higher material wet out which was a limitation in the SMC Version 1 (SMC-V1). The cutters were further updated to reduce the cantilever overhang of the fiber which enabled more uniform cut lengths for glass, carbon, and basalt fibers. The overall instrumentation and system control including a remote control operation was enabled in the SMC-V2. The line speed is capable of 10-20 ft/minute. The cutting modules were designed and engineered for cutting glass, basalt and textile grade carbon in 300k and 450-600k format widths. The cutting trials were established for a range of fiber types. The study also demonstrated the utility of the line to cut and produce basalt fiber SMC. Initial trials were conducted on the properties from recycled carbon fiber (rCF) mats in epoxy resin. Overall, the Covid19 situation constrained the team from accessing the SMC line for over 18 months. Despite this challenge major advancements were made.

36 MATERIALS SCIENCE↗

Development of a Dynamic Model and Control System for Load-Following Studies of Supercritical Pulverized Coal Power Plants

Traditional energy production plants are increasingly forced to cycle their load and operate under low-load conditions in response to growth in intermittent renewable generation. A plant-wide dynamic model of a supercritical pulverized coal (SCPC) power plant has been developed in the Aspen Plus Dynamics® (APD) software environment and the impact of advanced control strategies on the transient responses of the key variables to load-following operation and disturbances can be studied. Models of various key unit operations, such as the steam turbine, are developed in Aspen Custom Modeler® (ACM) and integrated in the APD environment. A coordinated control system (CCS) is developed above the regulatory control layer. Three control configurations are evaluated for the control of the main steam; the reheat steam temperature is also controlled. For studying servo control performance of the CCS, the load is decreased from 100% to 40% at a ramp rate of 3% load per min. The impact of a disturbance due to a change in the coal feed composition is also studied. The CCS is found to yield satisfactory performance for both servo control and disturbance rejection.

20 FOSSIL-FUELED POWER PLANTS↗

Functional Requirements for the WEIS Toolset to Enable Controls Co-Design of Floating Offshore Wind Turbines: Preprint

The goal of the new Wind Energy with Integrated Servo-control (WEIS) toolset under development is to provide the offshore wind industry and research communities with an open-source, user-friendly, and flexible tool to enable true Controls Co-Design (CCD) of the physical design of a floating offshore wind turbine (FOWT) together with the controller. WEIS will utilize a multifidelity library of models built upon the foundations of WISDEM and OpenFAST (formerly known as FAST). This paper presents the WEIS development plan, including the functional requirements of WEIS (including improvements to WISDEM and OpenFAST) together with associated rationale for their establishment, and a qualitative description of the modeling approaches that will be implemented to address these functional requirements. The development of WEIS is a project under the Aerodynamic Turbines, Lighter and Afloat, with Nautical Technologies and Integrated Servo-control (ATLANTIS) program funded by the U.S. Department of Energy (DOE) Advanced Research Projects Agency - Energy (ARPA-E).

27 ARPA - Advanced Research Projects Agency-Energy↗

R and DE Robotic Sensor Intern Team: Sensor Suite Mock Up Testing

Assess sensor suite performance: - Mounted on crawler typical to what would be used in tunnel; - In test bed simulating the tunnel environment. The SuperDroid fiber tethered LT-F crawler is a general-purpose surveillance robot that our team has refurbished as a testing platform for the sensor suite. This crawler was selected because its dimensions are similar to the actual crawler that will be deployed in the field. Crawler preparation included: - Communicating with vendor to resolve software and platform issues; - Configuring a laptop with the crawler control software; - Reconfiguration of communication protocol between computer and crawler; - Resolution of control board checksum errors; - Installation of a mounting fixture on the base; - In progress: addition of lighting needed for total darkness. A solution for hosting the selected sensors onto a single unit that could function standalone or be mounted on the crawler was needed. Sensor mount requirements included: - Host Lidar, panospheric cameras and IMU sensors; - Cable management for rotating Lidar; - House on-board crawler computer; - Method for affixing to crawler; - Robust and vibration proof. The Lidar sensor required a sturdy mount that ensured the axis of rotation be centered with the LiDAR's desired laser path and included a slender profile in order to not block the scanning FOV. The mounting plate holds two 180-degree cameras on either side and the servo on the center. The servo mount is located so the axis of rotation is in the center of the plate. The mount features a set of guides that hold the wires and ensure they wrap around the spool area properly. The sensor box design features thick walls for added strength, holes for mounting the sensor suite to the crawler, notches on the bottom for the different components and holes for cable routing and management. The sensor mounts were designed using CREO and printed in the R and DE Additive Manufacturing Lab. To test the performance of the sensor suite for our application it was desired to design and build a test bed simulating the H-Canyon tunnel environment. Requirements included: - Dimensions similar to the tunnel; - Wall surfaces simulating the eroded tunnel walls; - Complete darkness; - Even and uneven crawler path; - Ability to change the tunnel width to simulate erosion. The HCAEX tunnel changes in height and includes several bends ranging from approximately 30 to 80 degrees, for that reason a test bed capable of easily being changed was needed. The final design includes two sections that can be connected to provide a 16' tunnel or placed at an angle to create a tunnel bend. The test bed features caster wheels for easy movement and has a sliding inner wall that enables tunnel width to be controlled. In order to simulate the tunnel walls without adding a lot of weight to the test bed, sheets of faux stone are to be used on the inner walls. To create a completely dark tunnel, 100% black-out film will be draped over the tunnel structure. Carpet remnants in the lab will enable folds to be introduced in the floor to generate uneven surface data.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

R and DE Robotic Sensor Intern Team: Remote 3D Mapping Sensor Suite

The primary goal of the sensor suite is to provide an internal 3D map of the HCAEX tunnel. When looking for a sensor that would provide XYZ point cloud data for mapping the decision was between a stereo camera, a 3D Lidar, or a 2D Lidar that would need to be spun around. The issues with the stereo camera were that it does not have a large field-of-view and that its depth information was not nearly as accurate as even the baseline Lidars. The selection between Lidars is detailed. The Hokuyo UTM-30LX-EW shown provides a 270 deg. FOV with high accuracy and resolution while the largest FOV on a 3D Lidar is 40 deg.. This was the reason a 2D Lidar was chosen over the 3D Lidar. Even though the 2D Lidar requires additional components and software to generate a 3D map, its FOV advantage is too great given that the HCAEX tunnel is a relatively confined space. The rotating planar scan from the 2D Lidar can be stitched into a 3D scan as shown in the graphic below. Along with XYZ data, the Lidar provides return intensity data in color which can be used to distinguish between different materials within the tunnel. To provide visual feedback a camera system needed to be identified. The common solution for this is a high resolution camera with a small FOV mounted on a pan-tilt system. But, given the critical nature of the visual feedback we looked into solutions without the need for moving parts. Two panospheric cameras give a FOV large enough to get a full 360 deg. view.. Camera color data (RGB) can also be combined with the 3D mapping data from the Lidar and overlaid on the map to give the user the ability to see inside the entire length of the tunnel as if they were inside. Situational awareness is required for the crawler in the tunnel in order for it to be able to register the 3D scans to create a final map. For this we procured a Microstrain 3DM-GX5-25 Inertial Measurement Unit (IMU). To perform the Lidar rotation we have two servos driving the pan and tilt. The servo controls and most data processing will be performed via an onboard computer. The sensor components are to be packaged together using 3D printed mounts into a standalone unit.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Validation of Numerical Models of the Offshore Wind Turbine From the Alpha Ventus Wind Farm Against Full-Scale Measurements Within OC5 Phase III

The main objective of the Offshore Code Comparison Collaboration Continuation, with Correlation (OC5) project is validation of aero-hydro-servo-elastic simulation tools for offshore wind turbines (OWTs) through comparison of simulated results to the response data of physical systems. Phase III of the OC5 project validates OWT models against the measurements recorded on a Senvion 5M wind turbine supported by the OWEC Quattropod from the alpha ventus offshore wind farm. The following operating conditions of the wind turbine were chosen for the validation: (1) idling below the cut-in wind speed, (2) rotor-nacelle assembly (RNA) rotation maneuver below the cut-in wind speed, (3) power production below and above the rated wind speed, and (4) shutdown. A number of validation load cases were defined based on these operating conditions. The following measurements were used for validation: (1) strains and accelerations recorded on the support structure and (2) pitch, yaw, and azimuth angles, generator speed, and electrical power recorded from the RNA. Strains were not directly available from the majority of the OWT simulation tools; therefore, strains were calculated based on out-of-plane bending moments, axial forces, and cross-sectional properties of the structural members. The simulation results and measurements were compared in terms of time series, discrete Fourier transforms, power spectral densities, and probability density functions of strains and accelerometers. A good match was achieved between the measurements and models setup by OC5 Phase III participants.

17 WIND ENERGY↗