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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
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Dynamic Modeling, Trajectory Optimization, and Linear Control of Cable-Driven Parallel Robots for Automated Panelized Building Retrofits

The construction industry faces a growing need for automation to reduce costs, improve accuracy and productivity, and address labor shortages. One area that stands to benefit significantly from automation is panelized prefabricated building envelope retrofits, which can improve a building’s energy efficiency in heating and cooling interior spaces. In this paper, we propose using cable-driven parallel robots (CDPRs), which can effectively lift and handle large objects, to install these panels. However, implementing CDPRs presents significant challenges because of their nonlinear dynamics, complex trajectory planning, and precise control requirements. To tackle these challenges, this work focuses on a new application of established control and trajectory optimization theories in a CDPR simulation of a building envelope retrofit under real-world conditions. We first model the dynamics of CDPRs, highlighting the critical role of damping in system behavior. Building on this dynamic model, we formulate a trajectory optimization problem to generate feasible and efficient motion plans for the robot under operational and environmental constraints. Given the high precision required in the construction industry, accurately tracking the optimized trajectory is essential. However, challenges such as partial observability and external vibrations complicate this task. To address these issues, a Linear Quadratic Gaussian control framework is applied, enabling the robot to track the optimized trajectories with precision. Simulation results show that the proposed controller enables precise end effector positioning with errors under 4 mm, even in the presence of external wind disturbances. Through comprehensive simulations, our approach allows for an in-depth exploration of the system’s nonlinear dynamics, trajectory optimization, and control strategies under controlled yet highly realistic conditions. The results demonstrate the feasibility of CDPRs for automating panel installation and provide insights into their practical deployment.

CDPR↗
DOE OSTI2025

Measuring and unbiasing the BAO shift in the Ly α forest with AbacusSummit

ABSTRACT The Dark Energy Spectroscopic Instrument (DESI) places sub- per cent constraints on measurements of the Baryon Acoustic Oscillation (BAO) scaling parameters from the Ly $\alpha$ forest. However, no systematic error budget stemming from non-linearities in the three-dimensional clustering of the Ly $\alpha$ forest is included in the DESI-Ly $\alpha$ analysis. In this work, we measure the size of the shift of the BAO peak using large Ly $\alpha$ forest mocks produced on the N-body simulation suite AbacusSummit, which adopt the Fluctuating–Gunn–Peterson Approximation (FGPA). Specifically, we measure the Ly $\alpha$ autocorrelation and the Ly $\alpha$-quasar cross-correlation functions. To mitigate the noise, we adopt a linear control variates technique, reducing the error bars by a factor of up to $\sim \sqrt{50}$ on large scales. From the autocorrelation, we detect a small positive shift in radial direction of $\Delta \alpha _{\parallel }= 0.35~{{\ \rm per\ cent}}$ at the 3$\sigma$ level and virtually no shift in the transverse direction, $\alpha _\perp$. From the cross-correlation, we see a similar shift to $\Delta \alpha _\parallel$, albeit with larger error bars, and a small negative shift, $\Delta \alpha _{\perp }=\sim$0.25 per cent, at the 2$\sigma$ level. We also make a connection with the Ly $\alpha$ forest effective field theory (EFT) framework and find that the one-loop EFT power spectrum yields unbiased measurements of the BAO shift parameters in radial and transverse direction for Ly $\alpha$ auto- and the Ly $\alpha$-quasar cross-correlation measurements. When using the one-loop EFT framework, we find that we can recover the BAO parameters without a shift, which has important implications for future Ly $\alpha$ forest analyses based on EFT. This work paves the way for novel full-shape analyses of the currently observing DESI and future surveys such as the PFS, WEAVE-QSO, and 4MOST.

Hadzhiyska, Boryana↗
DOE OSTI2024

Continuous automatic polarization channel stabilization from heterodyne detection of coexisting dim reference signals

Quantum networking continues to encode information in polarization states due to ease and precision. The variable environmental polarization transformations induced by deployed fiber need correction for deployed quantum networking. Here, we present a method for automatic polarization compensation (APC) and demonstrate its performance on a metropolitan quantum network. Designing an APC involves many design decisions as indicated by the diversity of previous solutions in the literature. Our design leverages heterodyne detection of wavelength-multiplexed dim classical references for continuous high-bandwidth polarization measurements used by newly developed multi-axis (non-)linear control algorithm(s) for complete polarization channel stabilization with no downtime. This enables continuous relatively high-bandwidth correction without significant added noise from classical reference signals. We demonstrate the performance of our APC using a variety of classical and quantum characterizations. Finally, we use C-band and L-band APC versions to demonstrate continuous high-fidelity entanglement distribution on a metropolitan quantum network with an average relative fidelity of 0.94 ± 0.03 for over 30 hrs.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2024

Connected Traffic Signal Coordination Optimization Framework through Network-Wide Adaptive Linear Quadratic Regulator–Based Control Strategy

Traffic congestion in metropolitan areas causes several significant challenges, such as longer travel times, decreased productivity, increased fuel consumption and vehicle emissions, and even severe injuries during crashes. Traffic signal control is a management approach to reduce traffic congestion and allocate the appropriate right of way for safety and mobility efficiency, both in temporal and spatial domains. Here, this study proposes a network-wide adaptive signal control coordination optimization framework based on the linear quadratic regulator algorithm. The traffic flow conditions driven by signal control inputs are formulated based on their network-wide state-space representation. After modeling traffic control regulation constraints, an adaptive linear quadratic regulator algorithm is designed to maximize the network-wide total throughput under the current conditions. Optimal signal control split time durations for multiple intersections in the network are derived by solving the algebraic Riccati equation. Furthermore, the recursive least square parameter estimation method is employed to quantify dynamic traffic condition changes. To verify the effectiveness of this proposed signal control framework, both simulation and real-world experimental tests are conducted for multiple intersections in downtown Chattanooga, Tennessee, United States. In preparation for real-world experimental tests, pipelines for real-time data processing implementation and historical traffic flow data analysis are conducted. The test results demonstrate that the proposed control framework achieves a decrease in travel time by up to 19.4%, total time spent (TTS) by up to 11.9%, and relative queue balance (RQB) by up to 15.6%. The research findings indicate that the proposed signal control framework can be generalized to handle large scale signal control optimization network-wide.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2025

A neural-network-enhanced parameter-varying framework for multi-objective model predictive control applied to buildings

Management of the electrical grid is becoming more complex due to the increased penetration of alternative energy generation technologies and a broadening diversity of electric loads. This complexity creates challenges in balancing demand and generation that can increase the potential for grid instabilities. One effective way to address this issue is to leverage previously unexploited demand flexibility through advanced control strategies. In this work, we propose an advanced control method, called adaptive neural parameter-varying model predictive control (ANPV-MPC), to control the temperature and energy consumption of a building via its Heating, Ventilation, and Air Conditioning system. ANPV-MPC combines key ideas in parameter-varying control, adaptive control, and online learning strategies to bridge the gap between computationally efficient linear model predictive control and more accurate nonlinear model predictive control. The novelty in ANPV-MPC is the use of a physics-inspired Bayesian neural network to estimate the coefficients of the parameter-varying linear control model. The Bayesian neural network additionally provides uncertainty estimates, triggering online training to capture evolving building system conditions. We show that ANPV-MPC can approximate the building system dynamics with a 28.39% higher accuracy than traditional linear model predictive control, resulting in 36.23% better control performance without increasing complexity of the optimal control problem. ANPV-MPC also adapts in real time to previously unseen conditions using online learning, further improving its performance.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2026

Free-Piston Expander for Hydrogen Cooling

This final report details work done by GTI Energy, in partnership with University of Texas at Austin – Center for Electromechanics (UTCEM), Argonne National Laboratory (ANL), and Quantum Fuel Solutions (Quantum) to successfully design, fabricate, and test a linear free-piston hydrogen expander controlled by linear motors which also generates electrical power during the process.

03 NATURAL GAS↗
DOE OSTI2025

Compensating for Amplifier Non-Linearity in a SEL Controller

The Self-Excited Loop (SEL) architecture, used in some continuous-wave (CW) superconducting linacs, relies on a positive feedback mechanism that requires carefully defined operating limits to ensure stable operation. These limits are typically derived from amplifier calibration, which characterizes the relationship between forward power and DAC drive. However, amplifier non-linearity often prevents a simple linear fit of this characteristic, introducing errors that can compromise stability. To address this, we present a modified calibration procedure that incorporates amplifier non-linearity into the SEL framework. The approach is validated with test data from a 32 kW solid-state amplifier (SSA) and a cavity emulator developed for the Fermilab PIP-II linac.

Raman, S. [Fermilab] (ORCID:0009000735937206)↗
DOE OSTI2025

Compensating for Amplifier Non-Linearity in a SEL Controller

The SEL architecture used commonly in CW superconducting linacs is a positive feedback system that requires determining the correct limits for the operating conditions to ensure stable operation. These limits are determined from the results of the amplifier calibration which characterizes the dac drive(forward power) against the cavity field. When the amplifier non-linearity precludes a simple linear fit for this characteristic, its modification to account for the amplifiers non-linearity is essential to operate the system in the SEL architecture. This process is described with test data from a 32kW SSA for the PIP-II linac.

Sankar Raman, Shrividhyaa [Fermilab]↗
DOE OSTI2025

Equation-Free Coarse Control of Distributed Parameter Systems via Local Neural Operators

The control of high-dimensional distributed parameter systems (DPS) remains a challenge when explicit coarse-grained equations are unavailable. Classical equation-free (EF) approaches rely on fine-scale simulators treated as black-box timesteppers. However, repeated simulations for steady-state computation, linearization, and control design are often computationally prohibitive, or the microscopic timestepper may not even be available, leaving us with data as the only resource. We propose a data-driven alternative that uses local neural operators, trained on spatiotemporal microscopic/mesoscopic data, to obtain efficient short-time solution operators. These surrogates are employed within Krylov subspace methods to compute coarse steady and unsteady-states, while also providing Jacobian information in a matrix-free manner. Krylov-Arnoldi iterations then approximate the dominant eigenspectrum, yielding reduced models that capture the open-loop slow dynamics without explicit Jacobian assembly. Both discrete-time Linear Quadratic Regulator (dLQR) and pole-placement (PP) controllers are based on this reduced system and lifted back to the full nonlinear dynamics, thereby closing the feedback loop.

93B52, 93C20, 47N70, 65J15, 65M32, 68T07, 68T20, 6↗
DOE OSTI2025

Efficient BiVO 4 /CoFeO x H y photoanodes using controlled annealing and conformal linear-sweep electrocatalyst photodeposition

Although monoclinic bismuth vanadate (BiVO 4 ) is a promising photoanode for solar water splitting, its practical use is hindered by imperfect photocurrent generation/collection, low photovoltage compared to the bandgap, and corrosion side reactions that limit durability. Here, we introduce a controlled-annealing sol–gel process for BiVO 4 thin-film photoanodes along with an optimized linear-sweep-voltammetry photodeposition of CoFeO x H y cocatalysts. The resulting BiVO 4 films annealed at 550 °C exhibited a photocurrent density of 4.1 mA/cm 2 at 1.23 V RHE under 1 sun AM 1.5G solar simulation and a low onset potential of 0.26 V RHE due to high majority carrier conductivity, a crystalline bulk with reduced defects as evidenced by x-ray photoelectron spectroscopy and photoluminescence lifetime analysis, and thus enhanced photocarrier collection. However, significant degradation in performance was found due to interfacial photocorrosion. To protect the surface and speed the oxygen-evolution reaction CoFeO x H y cocatalyst layers were deposited. By varying the number of consecutive sweeps and adjusting the applied bias range, an ultra-thin (~15 nm) CoFeO x H y cocatalyst layer was uniformly grown deposited over 30 cycles on the BiVO 4 surface. The resulting BiVO 4 /CoFeO x H y yielded 4.03 mA/cm 2 at 1.23 V RHE and onset potential of 0.24 V RHE , with stable operation (~15 % loss in photocurrent at 1.23 V RHE relative to ~60 % loss in the uncatalyzed control sample). These conformal CoFeO x H y catalytic layers function simultaneously to selectively collect photoexcited holes from the BiVO 4 , catalyze the water-oxidation reaction, and protect the BiVO 4 from photodegradation.

42 ENGINEERING↗
DOE OSTI2025

A compact low-level RF control system for advanced concept compact electron linear accelerator

A compact low-level RF (LLRF) control system based on RF system-on-chip (RFSoC) technology has been designed for the Advanced Concept Compact Electron Linear-accelerator (ACCEL) program, which has challenging requirements in both RF performance and size, weight, and power consumption (SWaP). The compact LLRF solution employs the direct RF sampling technique of RFSoC, which samples the RF signals directly without any analog upconversion and downconversion. Compared with the conventional heterodyne based architecture used for the LLRF system of a linear accelerator (LINAC), the elimination of analog mixers can significantly reduce the size and weight of the system, especially with LINAC requiring a larger number of RF channels. Based on the requirements of ACCEL, a prototype LLRF platform has been developed, and the control schemes have been proposed. The prototype LLRF system demonstrated magnitude and phase fluctuation levels below 1% and 1° on the flattop of a 2 μs RF pulse. The LLRF control schemes proposed for ACCEL are implemented with a prototype hardware platform. In conclusion, this paper will introduce the new compact LLRF solution and summarize a selection of experimental test results of the prototype itself and with the accelerating structure cavities designed for ACCEL.

Liu, C. [SLAC National Accelerator Laboratory (SLA↗
DOE OSTI2026

Adaptive Control for Load-Following of Boiling Water Reactors Part I: Linear Systems and Fully-Observable Dynamics

Automation control is a key strategy to improve the economic competitiveness of nuclear power plants. Not only does it help reduce operational costs, but it also extends the value proposition of these plants to nontraditional markets, including unattended operations in remote villages and space. However, the dynamics of the operating environments of nuclear reactors are subject to changes over time, and there are no widely adopted methods to ensure that the automation strategy will remain effective over the extended durations required for these applications. Adaptive control is a discipline that offers the possibility to accommodate such changes online. However, it relies on mathematical assumptions that must be respected to ensure robustness and reliability. In this work, we derive an adaptive control formulation for linear systems in which all states are observable and apply it to an instance of load-follow operation for Boiling Water Reactors. We assumed uncertainty in two factors: the temperature coefficient and the control rod worth, both of which are affected over time by the evolution of the nuclear reactor core environment. With an arbitrary penalty factor of 5, we found that the mean absolute and integral time absolute errors can be reduced by more than 90%, underscoring the strength of adaptive control. To extend the application to more challenges, different uncertainties and load-follow trajectories, as well as new formulations that include non-linearity and partial observability, are currently being developed.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2024

Third-integer Resonant Extraction Regulation System for Mu2e

A third-integer resonant slow extraction system is being developed for Fermilab's Delivery Ring to deliver protons to the upcoming Mu2e experiment. The timescale of the extraction (or spill) duration is 43 milliseconds, which is extremely short and unprecedented. Additionally, the experiment's strict and challenging requirements on the quality of the spill at this time scale has led to the development of a new Spill Regulation System (SRS) design. The SRS primarily consists of three components - slow regulation, fast regulation, and harmonic content suppressor. Contributions to the first two components of the SRS, i.e., Slow Regulation and Fast Regulation subsystems, will be presented in which new adaptive learning algorithm schemes for the slow regulation of the spill -- validated using particle tracking simulations -- shall be described. In addition to these novel methods for the enhancement of the spill regulation system, results of employing Machine Learning in enhancing the performance of the resonant extraction are also presented. At the forefront of applying ML techniques to solve non-linear accelerator control problems, this work includes optimizing the PID gains as well as the replacement of the traditional PID controller using Recurrent Neural Networks and Gated Recurrent Unit (GRU) ML models to achieve efficiencies greater than a PID controller. Cutting-edge on-going Reinforcement Learning efforts, including an actor-critic family of learning algorithms, to regulate the spill rate will be reviewed, as well as present analytical calculations pertaining the transit time of particles in a third-integer resonant extraction. Detailed numerical investigations and validations of such calculations, the model of which could be exported and reliably used in future analytical modeling of any resonant extraction, are discussed.

43 PARTICLE ACCELERATORS↗
DOE OSTI2025

Linear Quantum Coupler for Clean Bosonic Control

Quantum computing with superconducting circuits relies on high-fidelity driven nonlinear processes. An ideal quantum nonlinearity would selectively activate desired coherent processes at high strength, without activating parasitic mixing products or introducing additional decoherence. The wide bandwidth of the Josephson nonlinearity makes this difficult, with undesired drive-induced transitions and decoherence limiting qubit readout, gates, couplers, and amplifiers. Significant strides have recently been made into building better “quantum mixers,” with promise being shown by Kerr-free three-wave mixers that suppress driven frequency shifts, and balanced quantum mixers that explicitly forbid a significant fraction of parasitic processes. We propose a novel mixer that combines both these strengths, with engineered selection rules that make it essentially linear (not just Kerr-free) when idle, and activate clean parametric processes even when driven at high strength. Furthermore, its ideal Hamiltonian is simple to analyze analytically, and we show that this ideal behavior is first-order insensitive to dominant experimental imperfections. We expect this mixer to allow significant advances in high-𝑄 control, readout, and amplification.

Quantum circuits↗
DOE OSTI2024

Simultaneous control of the electron temperature and safety factor profiles in DIII-D using model-based optimal control techniques

Future tokamak power plants will likely operate using a single, well-defined plasma scenario, either in steady state or for very long pulse lengths. In order to enhance the robustness of the scenario, feedback controllers for a variety of plasma properties will be necessary to counteract any disturbances and ensure safe operation. However, only a limited set of actuators will be available to control many different quantities. Because of this, it is necessary to develop controllers that are able to regulate multiple plasma properties using a limited set of actuators. To this end, a controller has been developed for the simultaneous regulation of both the electron temperature and safety factor profiles in DIII-D. This algorithm uses a linear quadratic integral control synthesis approach based on a linearized model of the dynamics of the two profiles. Two neural network surrogate models, NubeamNet and MMMnet, are included to improve the fidelity of the model. Furthermore, the controller has been tested in simulation using COTSIM, and has demonstrated the ability to simultaneously track changes in both the electron temperature and safety factor targets, including changes in both the magnitude and the shape of the profiles.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2024

Development of an Optimal Variable-Pitch Controller for Floating Axial-Flow Marine Hydrokinetic Turbines

This article discusses the development of an optimal variable-pitch controller for floating, axial-flow marine turbines. Recently, OpenFAST, an open-source wind turbine modeling tool, has been extended to model marine turbines. A controller is necessary to simulate marine turbines for different load cases using OpenFAST, which greatly impacts the performance of the energy system. Previous studies have designed controllers using a linearized model of the marine turbine, which can be time-consuming and require the expertise of a control engineer. In this study, we use an automated approach that uses generic models of the marine turbine to identify the controller gains, which can expedite the process of designing a controller. Using an optimizer to identify the control system parameters can additionally improve the controller's performance. The optimal controller tuned using such an approach results in a 20% reduction in the tower-base damage equivalent loading and better tracking of the rated generator speed and power.

axial flow↗
DOE OSTI2026

Regulation compliant AI for fusion: explainable image-based feedback control of divertor detachment in DIII-D tokamak

While artificial intelligence (AI) has been promising for fusion control, its inherent black-box nature will make compliant implementation in regulatory environments a challenge. This study implements and validates a real-time AI-enabled linear and interpretable control system for successful divertor detachment control with the DIII-D lower divertor camera. Using D 2 gas, we demonstrate successful feedback divertor detachment control with a mean absolute difference of 2% from the target for both detachment and reattachment. This automatic training and linear processing framework can be extended to any image-based diagnostic for future fusion reactors.

computer vision↗