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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

High-temperature brushless DC motor controller

A motor control system for deployment in high temperature environments includes a controller; a first half-bridge circuit that includes a first high-side switching element and a first low-side switching element; a second half-bridge circuit that includes a second high-side switching element and a second low-side switching element; and a third half-bridge circuit that includes a third high-side switching element and a third; low-side switching element. The motor controller is arranged to apply a pulse width modulation (PWM) scheme to switch the first half-bridge circuit, second half-bridge circuit, and third half-bridge circuit to power a motor.

24 POWER TRANSMISSION AND DISTRIBUTION↗

A New Approach to Robot Motor Control

This poster details the motor control improvements to Fermilab's Remote Viewing Robot (RVR). It is a robot tasked with remotely investigating issues within the accelerator tunnels at Fermilab. Initially controlled by a single Raspberry Pi that housed all the robot s operations, the RVR will now use a Raspberry Pi Pico W for its motor control. This was achieved using Pulse Width Modulation (PWM) to allow for precise speed and torque control for the robot. This enhances the robot s reliability. By addressing the challenge of navigating high radiation environments, the upgrade helps assist the RVR s goal of decreasing the need for human intervention in accelerator tunnels.

Lopez, Jacob↗

A New Approach to Robot Motor Control

This essay details the motor control improvements to Fermilab's Remote Viewing Robot (RVR). It is a robot tasked with remotely investigating issues within the accelerator tunnels at Fermilab. Initially controlled by a single Raspberry Pi that housed all the robot s operations, the RVR will now use a Raspberry Pi Pico W for its motor control. This was achieved using Pulse Width Modulation (PWM) to allow for precise speed and torque control for the robot. This enhances the robot s reliability. By addressing the challenge of navigating high radiation environments, the upgrade helps assist the RVR s goal of decreasing the need for human intervention in accelerator tunnels.

Lopez, Jacob↗

Motor Control Center Design

This poster contains information dealing with the design of a Motor Control Center that drives an exhaust, heating and lighting system inside a deep well house.

24 POWER TRANSMISSION AND DISTRIBUTION↗

STEPPER MOTOR CONTROL, PLC VS VME

Traditionally, EPICS-based accelerator control systems have used VME-based motion control modules to interface with stepper motors. For systems that include some Programmable Logic Controllers (PLC), there is an option for using PLC-based stepper motor interface modules. As with all control system choices, there are trade-offs. This paper will delineate some of the pros and cons of both methods of interfacing with stepper motors.

Strong, William Herb↗

Evaluation of High Rotor Pole Switched Reluctance Motors to Control Condenser Fans in a Commercial Refrigeration System

A high rotor pole switched reluctance motor (HRSRM) designed by Software Motor Corporation was evaluated for use as a condenser fan motor due to its reported high motor efficiency over a broad range of speeds and added advanced control potential. The project was split into two phases; the first of which was to determine the direct energy savings due to the increased motor efficiency, the second was to leverage the additional benefits of the energy efficiency measure (EEM) to create additional energy savings. This report only discusses results from the first phase of the project. Nine 1.5hp HRSRMs were installed parallel to the same number of legacy induction motors of a supermarket commercial refrigeration system located in Lakeside, Colorado. At this site, the 1.5 hp legacy motors had historically adjusted condenser fan speed from 200-870 rpm based on outdoor air temperature and compressor discharge pressure. This type of control is known as variable head pressure control (VHPC). These nine new motors were given a signal from the legacy variable frequency drive (VFD) to match the motor speed of the legacy motors. Determination of the energy savings of the EEM was performed over a two-month period, at which time a correlation between legacy and EEM power consumption was developed based on motor speed. Annual data that had been collected from 2016-2017 (before the two-month test period) was then leveraged to predict the annual energy savings of the EEM for a complete retrofit using both VHPC and constant fan speed control. Table 1 displays the quantitative results. The EEM saved 27% of total energy consumption of the condenser fan motors for constant fan speed control, while the energy savings increased to 32% when using VHPC. This was due to the improved motor efficiency of the HRSR motor at low speeds. While the constant speed fan control kept the motors running at 870 rpm, VHPC adjusted fan speed between 200-870rpm based on the outdoor air temperature and the compressor discharge pressure. These savings are assuming a direct replacement with no additional controls. Retrofitting a constant speed fan control system with HRSRMs and switching to VHPC would provide significant energy savings looking at the condenser alone. Additional considerations of the EEM were noted during the project as well. The HRSRM system made it possible to identify and remotely shutdown an individual motor when a piece of foam locked the fan and thereby the motor. With the traditional system, a locked rotor could have caused motor damage unless a breaker or fuse was activated. Furthermore, due to vibration complaints from the installation technicians, the ramp-up time of the HRSRM had to be increased to a minute. After implementing this change no complaints for excessive vibration were recorded.

15 GEOTHERMAL ENERGY↗

Moore Machine Motion Controls Refurbishment Statement of Work and Specification

Diamond Turning Machines known as “Moore” machines are used in the production of Potassium diHydrogen Phosphate (KDP) optics required for the National Ignition Facility (NIF). These machines are owned by the Department of Energy, as provided by Lawrence Livermore National Security LLC (LLNS). Moore Machines 1 and 2 are located at the Gooch & Housego (G&H) facility in Highland Heights, OH. The existing Aerotech motion controllers, motor drivers/amplifiers, input/output (I/O) hardware, control computer, software user interface, human machine interface (HMI), cabling, and encoders are beyond service life and require replacement. This Statement of Work (SoW) defines the motion control system refurbishment requirements for the Moore diamond turning machines designated Moore 1 and Moore 2. The motion controls system design shall include a motion control computer, control software, motor drive amplifiers and controllers, linear scale encoders, rotary encoders, HMI, power distribution, emergency stop (E-Stop) and interlocks, cabling, switches, solenoids, transducers, sensors, actuators, ancillary system interfaces, and related components necessary for a complete machine tool control system. The Subcontractor shall include effort to standardize systems between the two machines if reasonably possible.

42 ENGINEERING↗

Primary Frequency Control Using Motor Drives for Short Term Grid Disturbances

Industrial motor systems make up a quarter of all electric sales in the United States. Variable speed drives (VSDs) can provide energy efficiency savings to the customer by regulating motor speed based on specific and varying needs. In addition to the benefits provided to the customer, VSDs can provide support to the grid through ancillary services. The Center for Ultra-Wide-Area Resilient Electric Energy Transmission Networks (CURENT) developed a power electronics converter-based grid emulator to allow testing of various power system architectures and demonstration of key technologies in monitoring, control, actuation, and visualization. This paper proposes using an active front-end VSD's connected motor load to provide frequency regulation to a large scale power grid. Each part of the emulator is described including motor and power electronics model and control. The proposed frequency regulation is implemented in VSDs and modeled in both a transmission system in EMTDC/PSCAD and verified on CURENT's hardware testbed.

24 POWER TRANSMISSION AND DISTRIBUTION↗

A new development on measurement and control software of SANS BATAN spectrometer (SMARTer) in Serpong, Indonesia

In 2005, the main computer for data acquisition and control system of Small-angle Neutron Scattering (SANS) BATAN Spectrometer (SMARTer) was replaced since it halted to operate the spectrometer. According to this replacement, the new software for data acquisition and control system has been developed in-house. Visual Basic programming language is used in developing the software. In the last two years, many developments have been made both in the hardware and also the software to conduct the experiment is more effective and efficient. Lately, the previous motor controller card (ISA Card) was replaced with the programmable motor controller card (PCI Card) for driving one motor of position sensitive detector (PSD), eight motors of four collimators, and six motors of six pinhole discs. This new control system software makes all motors can be moved simultaneously, then it reduces significantly the consuming time of setting up the instrument before running the experiment. Along with that development, the new data acquisition software under MS Windows operating system is also developed to drive a beam stopper in X-Y directions as well as to read the equipment status such as position of the collimators and PSD, to acquire neutron counts on monitor and PSD detectors, and also to manage 12 samples position automatically. A timer object which is set in one second to read the equipment status via serial port of the computer (RS232C), and general purpose interface board (GPIB) for reading the total counts of each pixel of the PSD from histogram memory was used in this new software. The experiment result displayed in real time on the main window, and the data is saved in the special format for further data reduction and analysis. The new software has been implemented and performed for experiment using a preset count or preset time mode for absolute scattering intensity method.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Robotic real-time translational and rotational head motion correction during frameless stereotactic radiosurgery

Purpose: To develop a control system to correct both translational and rotational head motion deviations in real-time during frameless stereotactic radiosurgery (SRS). Methods: A novel feedback control with a feed-forward algorithm was utilized to correct for the coupling of translation and rotation present in serial kinematic robotic systems. Input parameters for the algorithm include the real-time 6DOF target position, the frame pitch pivot point to target distance constant, and the translational and angular Linac beam off (gating) tolerance constants for patient safety. Testing of the algorithm was done using a 4D (XY Z + pitch) robotic stage, an infrared head position sensing unit and a control computer. The measured head position signal was processed and a resulting command was sent to the interface of a four-axis motor controller, through which four stepper motors were driven to perform motion compensation. Results: The control of the translation of a brain target was decoupled with the control of the rotation. For a phantom study, the corrected position was within a translational displacement of 0.35 mm and a pitch displacement of 0.15° 100% of the time. For a volunteer study, the corrected position was within displacements of 0.4 mm and 0.2° over 98.5% of the time, while it was 10.7% without correction. Conclusions: The authors report a control design approach for both translational and rotational head motion correction. The experiments demonstrated that control performance of the 4D robotic stage meets the submillimeter and subdegree accuracy required by SRS.

60 APPLIED LIFE SCIENCES↗

New principles of self‐organization created through the interplay of DNA condensates, microtubules, and motors

Bioinspired design—which holds great promise for a new generation of materials that are robust to defects, scalable under green manufacture, environmentally responsive, and programmably reconfigurable—requires mastery over molecular self-organization. Yet, from its specific mechanisms to most general architectures, the principles governing self-organization remain poorly understood and not even fully enumerated. For living systems, one obvious architectural principle is the modular reuse of a few simple molecular components in myriad combinations to achieve more complex phenomena. For example, the mechanical tasks of a cell are driven by the nonequilibrium dynamics of cytoskeletal filaments and molecular motors—the same filaments and motors, reprogrammed by a variety of modulators, perform tasks ranging from cell movement to division. Similarly, many compartmentalization tasks are performed by liquid-like condensates of simple components, which act as membraneless organelles to localize particular molecules in space and time (e.g. for gene regulation or RNA processing). In a few cases, condensates combine and interact with the cytoskeleton to create still more complex phenomena, e.g. the nucleation of microtubule asters from the centrosome (a protein condensate) to form the mitotic spindle during cell division. Very little is known about the fundamental mechanisms of such filament-plus-condensate phenomena. Despite few examples, the landscape of behaviors that can be achieved through the combination of condensates, filaments, and motors appears vast. However, exploration has been hindered by a lack of systems that have sufficiently programmable and dynamically tunable interactions between component condensates, filaments, and motors. We proposed to combine programmable DNA condensates, filamentous microtubules, and light-controlled motors into self-organizing systems whose principles go beyond those that have been observed in nature. In one limit, our systems will use microtubules and motors to create the molecular analog of a network of roads, which will organize droplets of DNA condensates capable of carrying molecular cargo. DNA condensates coupled to motors will flow from one microtubule aster hub to another, with their direction and timing controlled by DNA circuits. In another limit, microtubules will swim through bulk DNA condensates and exhibit strong interactions with boundaries between different types of condensates. Microtubule swimmers will reflect, get trapped, or refract at boundaries, under a mechanical analog of the classical optical index of refraction. DNA condensates having different mechanical indexes of refraction will be used to construct the analog of optical lenses, so that microtubule swimmers can be manipulated like light—collimated, diffracted, focused, and sorted based on properties analogous to wavelength. These two limits define two new architectures, within which multiple new mechanistic principles for self-organization will be discovered and explored. To explore these architectures, the motor-based coupling between DNA condensates and filaments will be controlled in time and space through the use of opto-proteins that create reversible links between DNA condensates and motors upon illumination. For each principle of interest, patterns of light will create virtual experiments by defining patterns of activity where DNA condensates walk along filaments, or filaments swim through condensates, and patterns of inactivity which will serve either as controls, or as boundary conditions vital to create the desired phenomena. This research serves the goals of Basic Energy Sciences Biomolecular Material Program by elucidating the principles by which the emergent, nonequilibrium behavior of collections of DNA condensates, motors, and microtubules can be programmed by environmental light patterns to create complex motion and materials transport. Because DNA condensates can be readily coupled to virtually any high performance nanomaterial, from carbon nanotubes, to metal nanoparticles, to light harvesting systems, this work provides a path to the construction, self-maintenance and reconfiguration of materials relevant to the Department of Energy.

60 APPLIED LIFE SCIENCES↗

Closed-Loop Control of Active Nematic Flows

Stabilizing and shaping autonomous flows of active fluids is a fundamental challenge and a prerequisite for applications. We embed a light-responsive microtubule-based nematic in a proportional-integral control loop that adjusts the applied light intensity in response to real-time measurements of the spatially averaged flow speed. The self-regulating hardware-software-wetware system maintains a target flow speed against external or internal perturbations, including protein aging and aggregation, sample-to-sample variability, and temperature variation. Varying the controller’s gains reveals antagonistic roles between feedback and intrinsic processes, leading to nontrivial dynamics observed in fluctuation spectra. In particular, oscillations emerge from the interplay between the controller, motor binding kinetics, and active hydrodynamic relaxation. Accounting for the underlying binding timescale, our coarse-grained model and nematohydrodynamics simulations corroborate these observations. This work provides insight into the coupled dynamics of controlled active matter, laying the foundation for spatiotemporal patterning of active stress to generate and stabilize new dynamical configurations.

Active nematics↗

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↗

Addressing embedded digital devices in safety-related systems of nuclear power plants - 307

The purpose of this paper is to provide an overview of the development of the approach to addressing embedded digital devices (EDD) in safety-related systems of nuclear power plants in the U.S. and around the world. In April, 2016, the U.S. Nuclear Regulatory Commission (US NRC) issued RIS 2016-05 to heighten awareness that EDDs might exist in procured equipment used in safety-related systems without the devices having been explicitly identified in procurement documentation. Inadequate consideration of these devices in digital technology system upgrades, component replacements, and new equipment applications could lead to an adverse safety consequence. The US NRC request was for addressees to implement early efforts to identify these devices. An area where this is being addressed is in regard to the performance of Diversity and Defense-In-Depth (D3) analyses, as addressed in US NRC Branch Technical Position 7-19. Nuclear facilities have increased their use and reliance on digital technology in systems and equipment (e.g., I and C, electrical systems, and fluid systems). In addition to digital instrumentation and control (I and C) systems, examples of safety-related equipment that may use digital technology include emergency diesel generators, pumps, valve actuators, motor control centers, breakers, priority logic modules, time-delay relays, and uninterruptible power sources. In the U.S. and around the world, engineering and licensing activities in standards and guidance have been, and are being developed to address this important consideration in protecting safety-related systems. This paper addresses development of an extended approach to evaluating common-cause failure vulnerability and mitigation in regard to equipment with an EDD. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Closed-loop control of active nematic flows

Stabilizing and shaping autonomous flows of active fluids is a fundamental challenge and a prerequisite for applications. We embed a light-responsive microtubule-based nematic in a proportional-integral control loop that adjusts the applied light intensity in response to real-time measurements of the spatially averaged flow speed. The self-regulating hardware/software/wetware system maintains a target flow speed against external or internal perturbations, including protein aging and aggregation, sample-to-sample variability, and temperature variation. Varying the controller’s gains reveals antagonistic roles between feedback and intrinsic processes, leading to nontrivial dynamics observed in fluctuation spectra. In particular, oscillations emerge from the interplay between the controller, motor binding kinetics, and active hydrodynamic relaxation. Accounting for the underlying binding timescale, our coarse-grained model and nematohydrodynamics simulations corroborate these observations. This work provides insight into the coupled dynamics of controlled active matter, laying the foundation for spatiotemporal patterning of active stress to generate and stabilize new dynamical configurations.

Nishiyama, Katsu [Brandeis Univ., Waltham, MA (Uni↗

NeoN: Neuromorphic Control for Autonomous Robotic Navigation

In this paper we describe the use of a new neuromorphic computing framework to implement the navigation system for a roaming, obstacle avoidance robot. Using a Dynamic Adaptive Neural Network Array (DANNA) structure, our TENNLab (Laboratory of Tennesseans Exploring Neural Networks) hardware/software co-design framework and evolutionary optimization (EO) as the training algorithm, we create, train, implement, and test a spiking neural network autonomous robot control system using an array of neuromorphic computing elements built on an FPGA. The simplicity and flexibility of the DANNA neuromorphic computing elements allow for sufficient scale and connectivity on a Xilinx Kintex-7 FPGA to support sensory input and motor control for a mobile robot to navigate a dynamically changing environment. We further describe how more complex capabilities can be added using the same platform, e.g. object identification and tracking.

Mitchell, J. Parker↗

OPERATING EXPERIENCE AND ITS RELATIONSHIP TO EMBEDDED DIGITAL DEVICES IN SAFETY SYSTEMS

Interest in embedded digital devices (EDDs) for monitoring and providing control of components is increasing and the added functionality digital brings such as diagnostics, displays, control functions is welcomed in both the nuclear and other industries. As a result, pure analog-based components continue to disappear from the industrial I&C marketplace. Equipment with EDDs, also known by related terms such as smart devices, intelligent devices, and digital devices of limited functionality, can include sensors, breakers, priority logic modules, time delay relays, pumps, valve actuators, motor control centers, and uninterruptible power supplies. Not only is equipment consisting of analog and older digital technology being replaced with commercial grade products containing EDDs, but EDDs can also be retrofitted to work with existing components. EDDs may be installed physically within a component, such as in a relay. There are also external devices that some would not consider an EDD, but that operate in almost all technical ways identically to one internal to a component such as in a valve controller. In fact, the digital portions may be located hundreds of feet from the actual component.Due to the potential of being used in an identical manner and without alteration from their application in other industries, operating experience (OpE) for EDDs may be much more applicable than in the case of other more system level devices. Clear separation and independence of functionality provided with EDDs may also allow greater applicability of existing OpE from industry for changes that can be shown not to affect its safety function. However, OpE also demonstrates issues with different conditions between other industries and nuclear power plants, such as issues with undeclared changes or undeclared digital devices and the new failure modes they may introduce, issues with the reporting of OpE in industry, and a lack of transparency into OpE for EDDs.Understanding and addressing these issues will be key in the future use of EDDs in nuclear power plants, but failure rate data is difficult to obtain for EDDs, and lessons learned from the use of EDDs are difficult to collect and identify.Key words: embedded digital device, smart device, operating experience, failure modes

Muhlheim, Michael↗

Transverse Beam Halo Measurements at High Intensity Neutrino Source (HINS) using Vibrating Wire Monitor

The measurement and control of beam halos will be critical for the applications of future high-intensity hadron linacs. In particular, beam profile monitors require a very high dynamic range when used for the transverse beam halo measurements. In this study, the Vibrating Wire Monitor (VWM) with aperture 60 mm was installed at the High Intensity Neutrino Source (HINS) front-end to measure the transverse beam halo. A vibrating wire is excited at its resonance frequency with the help of a magnetic feedback loop, and the vibrating and sensitive wires are connected through a balanced arm. The sensitive wire is moved into the beam halo region by a stepper motor controlled translational stage. We study the feasibility of the vibrating wire for the transverse beam halo measurements in the low-energy front-end of the proton linac.

43 PARTICLE ACCELERATORS↗