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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 OSTI2023

Adaptive Path-Following Control for Ground Vehicles Using a Switching Non-Quadratic Lyapunov Function

The application of adaptive control techniques in the development of control systems for intelligent vehicles, especially for ground vehicle path-following controllers, has gained popularity due to their ability to handle large-scale parametric uncertainties. However, the use of a standard quadratic Lyapunov function in existing adaptive control-based path-following controllers can lead to poor transient performance, such as slow convergence and/or large overshoot. To address this limitation, this study proposes the use of a switching non-quadratic Lyapunov function to design a model reference adaptive path-following controller that aims to provide superior transient performance. The stability and signal convergence of the closed-loop system are demonstrated through a Lyapunov-like analysis. Through dSPACE ASM simulation, the effectiveness of the proposed controller is illustrated, which confirms improved tracking performance over a baseline solution.

Zhou, Xingyu↗
DOE OSTI2020

Ca 2 MnO 4 structural path: Following the negative thermal expansion at the local scale

The oxygen octahedral rotations in Ca 2 MnO 4 , the first member of the CaO(CaMnO 3 )n Ruddlesden-Popper family, is probed through a set of complementary techniques, including temperature-dependent neutron and x-ray diffraction, combined with local probe studies and ab initio calculations. Here we demonstrate the enhancement of the uniaxial negative thermal expansion coefficient from -1.26 ± 0.25 to -21 ± 1.8 ppm/K at the second order I4 1 /acd to I4/mmm structural phase transition, providing direct evidence for the corkscrew atomic mechanism. We establish, also, that the predicted I4/mmm high symmetry is attained around 1050 K. At lower temperatures, within the 10–1000 K temperature range, our first-principles calculations and detailed analysis of the Ca local environment reveals that the reported Aba2 structural phase, coexisting with the I4 1 /acd one, cannot describe correctly this compound. On the other hand, our data allow for the coexistence of the locally identical I4 1 /acd and Acam structural phases.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
DOE OSTI2024

Human-Machine Shared Control for Path Following Considering Driver Fatigue Characteristics

Fatigue driving has been regarded as one of the most important factors that cause traffic accidents. This paper proposes a robust human-machine shared control strategy to improve the vehicle performance for different driver fatigue states. Firstly, the time-varying driver steering model is proposed to address the model mismatch caused by fatigue driving. And the driver fatigue evaluation system is established based on facial features to quantify driver fatigue levels. Based on the quantified fatigue levels, a novel strategy for allocating authorities of the driver and controller is developed for building the driver-vehicle interaction system. Then, to weaken the influence of parameter perturbations caused by the time-varying driver states, we design a fatigue-based shared controller through state feedback. The actuator saturation and system constraints are considered in the controller design through the robust set-invariance property to improve vehicle safety and driving comfort. The driver-in-the-loop platform is conducted to validate the effectiveness of the proposed shared steering controller. In conclusion, the experimental results show that the proposed strategy can adaptively optimize the human-machine authorities according to fatigue states and comprehensively improve vehicle performance.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2020

A new phenomenological model to describe root-soil interactions based on percolation theory

In his paper on net primary productivity of terrestrial communities predicted from climatological data, Rosenzweig (1968) argued that variability in productivity is well accounted for by (evapo)-transpiration, and that water from transpiration is, on global scales, the most variable component in the photosynthesis reaction. The goal of this paper is to investigate whether variability in plant growth on local scales and within species is primarily related to transpiration under several scenarios including different terrain curvature, slope aspect, soil characteristics, and climate ranges. Here, we test the hypothesis that this relationship exists because root growth into the surface soil layers (0–2 m) tends to follow paths with minima in resistance, which in turn maximizes water flow and nutrient delivery rates that regulate growth. The set of all connected paths with individual pore-to-pore flow resistances less than a critical, percolating, value forms a cluster with mass fractal dimensionality, d f . We propose that roots follow paths through the 2D percolation cluster, defining the set of all optimal flow paths, making the 2D value of d f from percolation relevant to root fractal dimensionality. The tortuosity of such optimal paths as defined in percolation theory should then relate root length to root radial extent, linking the parameters of root tortuosity and plant productivity. Our analysis of large data sets across species implies that root radial extent and tree height are both proportional to cumulative transpiration until trees approached maximum height, and their growth rates are proportional to the transpiration rate, not to the moisture content. Local variations in tree height as functions of the variables investigated appear generally consistent with deduced variations in transpiration. Here this correlation is investigated more closely in the context of studies addressing individual tree species.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Formation and reconfiguration of tight multi-lane platoons

Advances in vehicular communication technologies are expected to facilitate cooperative driving in the future. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge and future plans. In this paper, an architecture for autonomous navigation of tight multi-lane platoons traveling on public roads is presented. Using the proposed approach, CAVs are able to form single or multi-lane platoons of various geometrical configurations. They are able to reshape and adjust their configurations according to changes in the environment. The proposed architecture consists of two main components: an offline motion planner system and an online hierarchical control system. The motion planner uses an optimization-based approach for cooperative formation and reconfiguration in tight spaces. A constrained optimization scheme is used to plan smooth, dynamically feasible and collision-free trajectories for all the vehicles within the platoon. The paper addresses online computation limitations by employing a family of maneuvers precomputed offline and stored on a look-up table on the vehicles. The online hierarchical control system is composed of three levels: a traffic operation system (TOS), a decision-maker, and a path-follower. The TOS determines the desired platoon reconfiguration. The decision-maker checks the feasibility of the reconfiguration plan based on real-time information about the surrounding traffic. The reconfiguration maneuver is executed by a low-level path-following feedback controller in real-time. The effectiveness of the approach is demonstrated through simulations of three case studies: (1) formation reconfiguration (2) obstacle avoidance, and (3) benchmarking against behavior-based planning in which the desired formation is achieved using a sequence of motion primitives.

42 ENGINEERING↗
DOE OSTI2020

Accessing a P-27 Data Acquisition Computer from an Off-Site Computer Not Owned by LANL

The steps to access a LANL owned P-27 data acquisition (DAQ) computer from off site using a non-LANL computer are documented here. Two connection paths should be possible. The first uses an HTML5 connection directly from portal.lanl.gov, and the steps for this path follow some preliminaries. The second connection path again uses an HTML5 from connection to portal.lan.gov to a virtual Windows desktop to then access our DAQ computers. Instructions for this will be added later.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2022

An Open-Source Framework for PV in the Circular Economy Evaluation

This open-source tool follows the dynamic Material and flows for each component and material in a PV system, from mining to end of life to evaluate the material and energy impacts of different paths. Following circularity principles, virgin material inputs can be offset by recovered materials to reduce impacts due to mining and extraction. Unlike consumer products, renewable energy technologies generate power over their useful life to quickly offset energy required for manufacturing. The model provides unique baselines of PV evolution, and allows us to evaluate the material and soon energy return on investment of decisions such as field repair, off-site refurbishment, reuse, or recycling. Energy layer and cost, as well as visual dashboard under development.

circular economy modeling↗
DOE OSTI2020

The effect of loading direction on the fracture behaviors of cortical bone at a dynamic loading rate

Here, the dynamic cracking processes in porcine cortical bone were visualized in real-time using the high-speed synchrotron X-ray phase-contrast imaging (PCI) technique in three osteon orientations: in-plane transverse, out-of-plane transverse and in-plane longitudinal. The dynamic flexural loading applied on the pre-notched bone specimens was introduced by a modified Kolsky compression bar. High-speed X-ray images of the entire loading events were documented with a high-speed camera. Three-dimensional X-ray micro-computed tomography was conducted to examine the intact microstructures and obtain the basic material properties of the bone material used for mechanical characterizations. The onset location, where crack initiated, and the subsequent direction, along which the incipient crack propagated, were measured quantitatively using the high-speed X-ray images and the latter was found dependent on the osteon direction significantly. The crack propagation velocities were dependent on crack extension over the entire crack path significantly for all the three directions while the initial velocity for in-plane longitudinal direction was lower than the other two directions. Straight-through crack paths were observed for in-plane longitudinal specimens while the cracks were deflected and twisted in the in-plane transverse direction. For out-of-plane transverse direction, the cracks follow paths with tortuosity fall in between the other two directions, showing a mixed mode of fractures of the former two extreme cases. The toughening mechanisms, visualized by the high-speed X-ray images, and the corresponding fracture toughness, evaluated in terms of fracture initiation toughness and crack growth resistance curve (R-curve), were also found significantly different among the three osteon directions, suggesting an overall transition from brittle to ductile-like fracture behaviors at the dynamic displacement rate (5.4 m/s) as the osteon orientation varies from in-plane longitudinal to out-of-plane transverse, and to in-plane transverse eventually.

42 ENGINEERING↗
DOE OSTI2024

From anti-Arrhenius to Arrhenius behavior in a dislocation-obstacle bypass: Atomistic simulations and theoretical investigation

Dislocations are the primary carriers of plasticity in metallic materials. Understanding the basic mechanisms for dislocation movement is paramount to predicting the material mechanical response. Relying on atomistic simulations, we observe a transition from non-Arrhenius to Arrhenius behavior in the rate of an edge dislocation overcoming the long-range elastic interaction with a prismatic loop in tungsten. Close to the critical resolved shear stress, the process shows a non-Arrhenius behavior at low temperatures. However, as the temperature increases, the activation entropy starts to dominate, leading to a traditional Arrhenius-like behavior. Here, we have computed the activation entropy analytically along the minimum energy path following Schoeck’s method, which captures the cross-over between anti-Arrhenius and Arrhenius domains. Also, the Projected Average Force Integrator (PAFI), another simulation method to compute free energies along an initial transition path, exhibits considerable concurrence with Schoeck’s formalism. We conclude that entropic effects need to be considered to understand processes involving dislocations bypassing elastic barriers close to the critical resolved shear stress. More work needs to be performed to fully understand the discrepancies between Schoeck’s and PAFI compared to molecular dynamics.

36 MATERIALS SCIENCE↗
DOE OSTI2022

Design and Closed‐Loop Motion Planning of an Untethered Swimming Soft Robot Using 2D Discrete Elastic Rods Simulations

Despite tremendous progress in the development of untethered soft robots in recent years, existing systems lack the mobility, model‐based control, and motion planning capabilities of their piecewise rigid counterparts. As in conventional robotic systems, the development of versatile locomotion of soft robots is aided by the integration of hardware design and control with modeling tools that account for their unique mechanics and environmental interactions. Here, a framework for physics‐based modeling, motion planning, and control of a fully untethered swimming soft robot is introduced. This framework enables offline co‐design in the simulation of robot parameters and gaits to produce effective open‐loop behaviors and enables closed‐loop planning over motion primitives for feedback control of a frog‐inspired soft robot testbed. This pipeline uses a discrete elastic rods (DERs) physics engine that discretizes the soft robot as many stretchable and bendable rods. On hardware, an untethered aquatic soft robot that performs frog‐like rowing behaviors is engineered. Hardware validation verifies that the simulation has sufficient accuracy to find the best candidates for sets of parameters offline. The simulator is then used to generate a trajectory library of the robot's motion in simulation that is used in real‐time closed‐loop path following experiments on hardware.

Huang, Xiaonan↗
DOE OSTI2020

Fully Arbitrary Control of Frequency-Bin Qubits

Accurate control of two-level systems is a longstanding problem in quantum mechanics. One such quantum system is the frequency-bin qubit: a single photon existing in superposition of two discrete frequency modes. In this Letter, we demonstrate fully arbitrary control of frequency-bin qubits in a quantum frequency processor for the first time. Furthermore, we numerically establish optimal settings for multiple configurations of electro-optic phase modulators and pulse shapers, experimentally confirming near-unity mode-transformation fidelity for all fundamental rotations. Performance at the single-photon level is validated through the rotation of a single frequency-bin qubit to 41 points spread over the entire Bloch sphere, as well as tracking of the state path followed by the output of a tunable frequency beam splitter, with Bayesian tomography confirming state fidelities Fρ>0.98 for all cases. Overall, such high-fidelity transformations expand the practical potential of frequency encoding in quantum communications, offering exceptional precision and low noise in general qubit manipulation.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2020

Framework for Analysis and Quantification of Wide-Area Control Resilience for Power Systems

Wide-area control helps damp the inter-area oscillations in modern power systems. However, compared to traditional local control, it is more vulnerable to cyber attacks due to its dependence on remote real-time-communicated measurements. In this paper, a formal mathematical framework for analyzing resilience of various wide-area controllers under adversarial scenarios is proposed. A novel resilience index based on the $\H_2$ norm of the post-attack closed-loop system is defined. Computation of such an index is, in general, challenging due to the combinatorial nature of the attack profiles and the bilinear nature of the problem. To address these difficulties, a gradient-based path-following-like solution is developed in this paper to solve a relaxed version of the original non-convex problem. Case studies on IEEE 39-bus system are performed to demonstrate the usage of the proposed framework.

Marinovici, Laurentiu D.↗
DOE OSTI2022

Physical Modeling of Coupled Thermohydraulic Behavior of Compacted MX80 Bentonite during Heating

Abstract This paper describes a tank-scale test setup and experimental methodology used to investigate coupled heat transfer and water flow processes during heating of compacted MX80 bentonite to high temperatures. Specifically, a temperature of 200°C was maintained by a cylindrical heating element at the center of a compacted bentonite layer containing an array of temperature, dielectric, and relative humidity sensors. In addition to providing an evaluation of the spatiotemporal variations in temperature, relative humidity, degree of saturation, and global volume, the coupled thermohydraulic properties of the bentonite were assessed. A wetting front was initially observed to move away from the central heater, followed by a drying process until reaching thermohydraulic equilibrium. The soil–water retention curve (SWRC) of the bentonite followed a wetting scanning path before following the primary drying path exhibiting a shift in water retention with elevated temperature. Results from the tank-scale test can be used for validation of numerical simulations of drying processes in the engineered barrier system of a high-level radioactive waste geological disposal repository and confirm that a temperature-dependent hysteretic SWRC with scanning paths is required to accurately capture the bentonite response.

Engineering↗
DOE OSTI2024

Measuring Black Hole Light Echoes with Very Long Baseline Interferometry

Light passing near a black hole can follow multiple paths from an emission source to an observer due to strong gravitational lensing. Photons following different paths take different amounts of time to reach the observer, which produces an echo signature in the image. The characteristic echo delay is determined primarily by the mass of the black hole, but it is also influenced by the black hole spin and inclination to the observer. In the Kerr geometry, echo images are demagnified, rotated, and sheared copies of the direct image and lie within a restricted region of the image. Echo images have exponentially suppressed flux, and temporal correlations within the flow make it challenging to directly detect light echoes from the total light curve. In this Letter, we propose a novel method to search for light echoes by correlating the total light curve with the interferometric signal at high spatial frequencies, which is a proxy for indirect emission. We explore the viability of our method using numerical general relativistic magnetohydrodynamic simulations of a near-face-on accretion system scaled to M87-like parameters. We demonstrate that our method can be used to directly infer the echo delay period in simulated data. An echo detection would be clear evidence that we have captured photons that have circled the black hole, and a high-fidelity echo measurement would provide an independent measure of fundamental black hole parameters. Our results suggest that detecting echoes may be achievable through interferometric observations with a modest space-based very long baseline interferometry mission.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2020

Autonomous Navigation and Control of UGVs' in Nuclear Power Plants - 20381

The purpose of the husky A200 ground robot is to autonomously navigate through the places where it is very hazardous for human beings to reach and operate, like nuclear power plants, chemical industries. The aim is to navigate the ground robot autonomously with an Arm mounted on the robot along with the different sensors as camera, and Lidar. The autonomous motion of the robot is controlled by the controller which uses path planner for trajectory generation of the robot. The mission planner uses the current position of the husky A200, given the way points of the initial and the destination it would extract a best possible route based on the current events provided using GMapping. The global reference frame is used for planning the way points. Creating the appropriate path and the actions required to follow the path are given by the motion planner. The motion planner depends on the active sensor data such as obstacles, lanes, based on the sensor data feasible path is generated. Feasibility of the path is determined by the dynamics of the husky and a series of points generated with certain velocity and acceleration profile. The controller adjusts the lateral, longitudinal and yaw motion of the husky to command the behaviors. The kinematic model is developed for kinematic motion of the husky and the dynamic model is developed for transient and steady state characteristics. The images and other type of data captured by the camera are processed through the computational framework used to build machine learning models. TensorFlow will be used for deep learning and to identify and classify different objects around the husky. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2021

An Upgrade Path for the Fermilab Accelerator Complex

The completion of the PIP-II project and its superconducting linear accelerator will provide up to 1.2 MW of beam power to the LBNF/DUNE facility for neutrino physics. It will also be able to produce high-power beams directly from the linac that can be used for lower-energy particle physics experiments as well, such as directing beam toward the Muon Campus at Fermilab for example. Any further significant upgrade of the beam power to DUNE, however, will be impeded by the limitations of the present Booster synchrotron at the facility. To increase the power to DUNE by a factor of two would require a new accelerator arrangement to feed the Main Injector that does not include the Booster. In what follows, a path toward upgrading the Fermilab accelerator complex to bring the beam power for DUNE to 2.4 MW is presented, using a new rapid-cycling synchrotron plus an energy upgrade to the PIP-II linac. The path includes the ability to instigate a new lower-energy, very high-power beam delivery system for experiments that can address much of the science program presented by the Booster Replacement Science Working Group. It also allows for the future possibility to go beyond 2.4 MW up to roughly 4 MW from the Main Injector.

43 PARTICLE ACCELERATORS↗
DOE OSTI2025

Reactive Carbide‐Based Synthesis and Microstructure of NASICON Sodium Metal All Solid‐State Electrolyte

Reactive carbide precursor-based synthesis of NASICON-type NZSP (Na 1+x Zr 2 Si x P 3-x O 12 ) solid-state electrolyte (SSE) is demonstrated, in contrast to the established oxide-based approach. Exothermic decomposition of ZrC and SiC in air homogenizes microstructure, yielding 98% compact density after conventional sintering at 1200 °C. Quantitative stereology demonstrates that significant microstructural differences are present. Compacts of carbide-derived Carb-NZSP are 98% dense with a secondary zirconium oxide (ZrO 2 ) volume fraction of 0.2% ± 0.3%, versus 93% dense and 3% ± 1% for oxide-derived baseline. For Carb-NZSP, the secondary glassy phosphate phase is agglomerated, while for baseline, it is dispersed and percolated. Electrochemical testing combined with post-mortem analysis demonstrates how microstructural control of secondary phases is critical for dendrite suppression: Carb-NZSP critical current density (CCD) is 3.1 ± 0.8 mA cm −2 at 0.1 mAh cm −2 , versus 1.0 ± 0.7 mA cm −2 at 0.1 mAh cm −2 . Cryogenic focused ion beam (cryo-FIB) analysis demonstrates that in both materials, the porous 2D sheet-like sodium metal dendrites propagate around and subsume NZSP grains, likely following a path enriched with glassy phase and with porosity. Dendrites also flow around isolated zirconia particles. Phase field simulation reveals deflection of dendrites by mechanically tough zirconia, while brittle glassy phase accelerates dendrite growth, especially when finely distributed.

36 MATERIALS SCIENCE↗