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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

Simulation of shell pellet injection strategies for ITER-scale tokamaks

Dispersive shell pellet (DSP) injection is considered as an alternative to shattered pellet injection as a disruption mitigation system for ITER, and strategies for penetration of a shell pellet into ITER are modeled with the 3D MHD code NIMROD. Because the high plasma temperatures lead to rapid ablation of the shell, delivery of the dispersive payload to the core of ITER will be very challenging. Two strategies to increase payload delivery depth are modeled: first, multiple staggered pellets are simulated in DIII-D, to assess the ability for one DSP to "piggy-back" on another to reach deeper into the core; second, DSP injection after pre-dilution-cooling with deuterium is simulated in ITER, in order to reduce the plasma temperature before shell pellet arrival. The DIII-D simulations show that a second, slower pellet can penetrate much deeper once the release of the first payload strongly cools the mid-radius region. When the pellets are staggered, deeper penetration of the second pellet leads to higher radiation fraction and larger runaway electron loss fraction, consistent with single pellet results. However, simultaneously released pellets at mid-radius that do not trigger a large n=1 mode produce an even higher radiation fraction. The ITER simulations show that an inside-out TQ can be produced with a payload release just inside of the q=2 surface, which is achieved at a speed of 800 m/s after pre-dilution cooling. Although stochastization of the core leads to a complete thermal quench, the edge flux surfaces are surprisingly robust in the ITER simulations, regardless of payload release location. As a result, runaway electron losses would not be expected.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2026

Proliferated Resilient Economical Half-Meter Aperture Space Telescopes (PREEMPT)

The PREEMPT LDRD was motivated by a major national need for better space-based imaging systems that are both high performing and affordable for the US Government. Current optical payloads for intelligence, surveillance and reconnaissance (ISR) and space domain awareness (SDA) missions can cost hundreds of millions of dollars and take years to develop, which makes it difficult to build the large constellations required for persistent, world-wide coverage. To address this, the team aimed to advance a different kind of large-aperture (>25 cm) telescope, called a monolithic telescope, in which key optical surfaces are built into a single piece of fused silica. This design greatly reduces payload and spacecraft complexity, the need for precision focus actuators, improves mechanical and thermal robustness, and lowers cost when compared with traditional Cassegrain telescopes that rely on many precisely aligned components. The project focused on five primary thrusts. The first thrust was to advance the concept of a V10, 25 cm, monolithic telescope forward from optical design to flight-ready stage. This was accomplished in partnership with Optimax, who delivered the first test unit in the early stages of the LDRD. The team developed several technologies necessary for this optic to be integrated into a flight demonstration. These include carbon fiber housings, highly detailed structural and thermal models and stress-reducing elastic averaging Hirth groove designs. These technologies resulted in a successful maturation of the optic, which is now slated to fly in late 2026/early 2027 for a demonstration mission. The second thrust was to advance the manufacturability of these optics. In collaboration with NIF’s optical manufacturing shop, we reduced polishing time from 480 hours to 65 hours through the implementation of optimized processes and new tools. The NIF team utilized a conceptual V8 (18 cm) optic to demonstrate this optimization, though it can be applied to the rest of the monolithic optic portfolio. Third, the team developed the first conceptual V20 (50 cm) payload, which is slated to be the next generation of LLNL optical payload systems. A set of structural, dynamic and thermal simulations were performed to identify potential challenges in the future development of this payload. Early-stage simulations suggest the payload is feasible, though thermal management will be the key focus area to maintain optimal performance. Fourth, a non-linear model of Viton was developed, to further enhance the reliability of our structural and dynamic models for future payloads. Viton acts as the primary interface material between the optic and its housing. Lastly, the team focused on successfully displaying the feasibility of using additively manufactured metal composites for optical space payloads. The team successfully demonstrated layer by layer deposition of Al-SiC composites, which have highly tunable structural and coefficient of thermal expansion (CTE) properties. These are crucial for optical payloads because CTE mismatch is one of the causes for degraded optical performance for telescopes in orbit. Overall, the work showed that monolithic telescopes could become a practical, lower-cost path to high-resolution space imaging for both national security and scientific missions.

42 ENGINEERING↗
DOE OSTI2024

Operational Analytics Studies for ATLAS Distributed Computing: Data Popularity Forecast and Utilization of the WLCG Centers

Operational analytics is the direction of research related to the analysis of the current state of computing processes and the prediction of future states in order to anticipate imbalances and take timely measures to stabilize a complex system. There are two relevant areas in ATLAS Distributed Computing that are currently the focus of studies: user physics analysis including the forecast of popularity of data samples among users, and evaluating WLCG centers for their readiness to process user analysis payloads. Studying these areas is challenging due to the complexity involved, as it requires a comprehensive understanding of numerous boundary conditions typically found in large-scale distributed computing infrastructures. Forecasts of data popularity are problematic without the categorization of user tasks by their types (data transformation or physics analysis), which do not always appear on the surface but may induce noise, which introduces significant distortions for predictive analysis. Evaluating the WLCG resources by their analysis workloads is also a challenging task as it is necessary to find a balance between the workload of the resource, its performance, the waiting time for jobs on it, as well as the volume of jobs that it processes. This is especially difficult in a heterogeneous computing environment, where legacy resources are used along with modern high-performance machines. We will look at these areas of research in detail and discuss what tools and methods are used in our work, demonstrating results already obtained.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2025

Structural Characterization of Linker Shielding in ADC Site-Specific Conjugates

Background/Objectives: Antibody–Drug Conjugates (ADCs) have rapidly evolved from early, rudimentary conjugates to highly targeted and precisely engineered molecules. Despite notable clinical successes, ADCs continue to face significant challenges, including aggregation and high hydrophobicity driven by high drug-to-antibody ratios (DARs), premature payload release, dose-limiting toxicities, and suboptimal pharmacokinetics. While site-specific linker–payload conjugation has improved ADC homogeneity and stability, the structural basis of antibody–linker interactions at specific sites remains underexplored. Methods: In this work, we present the crystal structures of trastuzumab Fab and Fc domains site-specifically conjugated with a cleavable linker–payload. Results: Our findings suggest that pockets within both Fab and Fc regions may interact with and shield the linker portion of the conjugate. Conclusions: These insights highlight the previously underappreciated potential of structure-based design to drive the optimization of ADC linker chemistry and facilitate the co-design of bespoke linker–payloads tailored to individual antibody conjugation sites.

Jaime-Garza, Maru [Discovery Chemistry, Merck & Co↗
DOE OSTI2020

Robotic Assisted Non-Destructive Testing (NDT)

Mission Statement: Concrete wall characterization for structural integrity evaluation of H-Canyon exhaust tunnel using a remote controlled robotic arm with a NDT Concrete Instrument. Challenges: Rough and Curved Surfaces, Remote location. The UR5 is a collaborative robotic arm capable of: Payload: 11 lbs (5 kg), Reach: 33.5 in (850 mm), Footprint: 5.87 in (149 mm) diameter, Weight: 45.4 Ibs (20.6 kg). The force torque sensor reacts to a set value inputted by the user that can be utilized for sensitive products. This allows the UR5 to react to surfaces using the built-in function to search for a wall and orient itself normal to that plane. The Proceq Pundit 250 array is a nondestructive device that the user applies against a concrete wall and scans using ultrasonic transducers. The back wall and other defects can be show through the touchscreen. A fixture to hold the Proceq Pundit 250 array onto the UR5 robotic arm was designed and 3D printed. It includes openings for easy access to the buttons from the Pundit array as well as a reinforced structural design. The scan from the Pundit array can show the back-wall, rebars, and other defects to assist in determining the structural integrity. In order to scan, a program was made to search for the wall first. 1. The UR5 robotic arm will go to the desired location away from the wall. 2. It will then search for the wall by moving towards it slowly. 3. After contact, the force applied will slowly but steadily increase to a preset value inputted by the user. 4. The force torque sensor will use those values and communicate with the UR5 by adjusting the arm to become normal to the wall. 5. The arm will then apply force to push back the transducers on the Pundit array to avoid gaps. 6. It will then prompt the user to collect data and wait until finished. The UR5 teach pendant allows the user to program the robot to perform automated and repeatable tasks. It includes a free drive mode which allows the user to move the arm to a desired position by hand. The user can also apply restricted planes which include either stopped or slower motion to ensure safety. The concrete sample being tested includes rebars and different grades of surface roughness to understand the readings from the Proceq Pundit 250 array. Desired concrete samples are currently being fabricated that will simulate the terrain being tested.

3D PRINTING↗
DOE OSTI2021

A High-Assay Low-Enriched Uranium Fuel Transportation Concept

The uranium 235U enrichment commonly used in fuel production for U.S. light water nuclear reactors typically does not exceed 5 wt%. In contrast, many of the currently investigated advanced reactor concepts demand fuel with higher enrichments. This includes high-assay low-enriched uranium (HALEU), characterized by a 235U enrichment of 5 to 20 wt%. The necessity of HALEU transportation in the fuel production cycle leads to new challenges caused by various technical and regulatory hurdles. Current U.S. Nuclear Regulatory Commission–approved transportation package designs for UF6 with enrichments above 5 wt% provide relatively small payloads [=116 kg (250 lb)]. Furthermore, in accordance with 10 CFR 71.55, package design activities for fissile material enriched above 5 wt% need to consider water infiltration in the containment as part of the criticality safety evaluations. This study presents a transportation package concept for HALEU advanced nuclear reactor fuel with a significantly higher payload of up to 376 kg (830 lb) of fissile material per package and up to 1881 kg (4149 lb) of HALEU per legal weight truck. The anticipated chemical form of the transported material is UO2 downblended from available highly enriched uranium. The concept utilizes a combination of existing transportation packaging, 18 inner canisters, and a novel basket design that includes a borated aluminum flux trap. Criticality and shielding evaluations; fundamental structural, confinement, and thermal assessments; and studies on package operations are presented. The results of this study build significant confidence in the technical feasibility of a high-capacity HALEU transportation package concept while demonstrating the concept’s potential to meet U.S. regulatory requirements.

Eidelpes, Elmar↗
DOE OSTI2021

The Modeling of Synfuel Production Process: ASPEN Model of FT production with electricity demand provided at LWR scale

Synfuels, or electro-fuels (e-fuels) have the unique potential to significantly reduce greenhouse gas (GHG) emissions across the transportation sector. This is especially true for applications with substantial payloads and daily miles traveled, such as long-haul heavy-duty vehicles, rail locomotives, marine vessels and aviation aircrafts that are challenging to directly electrify via battery or fuel cell powertrain technologies. Synfuels, or electro-diesel/electro-jet fuels, have similar properties with the incumbent petroleum fuels, compatible with current infrastructure but have much lower GHG emissions relative to the petroleum counterpart, because they utilize waste carbon dioxide (CO2) streams and green hydrogen (H2) sourced from electrolysis. To achieve substantial reductions in GHG emissions, electricity sources must be zero carbon or near-zero carbon, which is the case with solar, wind, hydro and nuclear power. Compared to the intermittency of solar, wind and hydro, nuclear energy provides a steady energy source. In addition, it’s advantageous for nuclear power to produce synfuels because it provides not only near-zero carbon electricity to displace grid electricity, but also near-zero carbon steam to displace carbon-intensive natural gas combustion for steam generation. The availability of electricity and steam also enables more efficient green hydrogen production by using high-temperature electrolysis. In this work, Argonne National Laboratory (ANL) models a synfuel production process via the Fischer- Tropsch (FT) reaction by using nuclear power to provide electricity and steam. In 2021, using ASPEN Plus software, ANL established a detailed process model of a stand-alone FT production facility, assuming feedstocks of pure CO2 and H2. This stand-alone model can be expanded to integrate H2 production from nuclear power via low-temperature and high-temperature electrolysis at light-water reactor (LWR) scale. This report summarizes the stand-alone ASPEN Plus model results with a detailed mass and energy analysis. Our modeled facility produces 351 MT/day (130,000 gal/day) of FT fuel (a mixture of naphtha, jet fuel, and diesel) by converting 223 MT/day of H2 and 2,387 MT/day of CO2. The FT fuel production energy efficiency is 58% and the carbon conversion efficiency (from CO2 to FT fuel) is 46%. The production of green hydrogen requires 390–470 MWe of electricity, which is compared with the capacity of an LWR plant. For the stand-alone FT process, the detailed energy demand (electricity and heat) is summarized in the table below. Based on the energy supply source and the required temperature, potential insertion points of nuclear energy are identified. Based on the potential nuclear energy utilization, this report discusses potential modification options for expanding the system boundary to integrate nuclear power use, for example on-site hydrogen production via water electrolysis. Modeling of the integrated system is conducted by closely working with ANL and Idaho National Laboratory (INL) collaborators to harmonize design parameters of nuclear plants and the FT production process.

Zang, Guiyan↗
DOE OSTI2026

A Prodrug Strategy to Conditionally Trap Therapeutic Payloads for Improved Tumor Retention

Altered extracellular proteolysis has been exploited to selectively activate therapeutics in diseases such as cancer; however, once activated, extracellular drugs can diffuse away, limiting efficacy. We address this challenge by coupling proteolytic activation with membrane tethering to retain drugs within diseased tissue. To accomplish this, we developed “restricted interaction peptides” (RIPs), a delivery platform that leverages elevated proteolytic activity to activate membrane-interacting peptides, localizing cargos near the site of proteolysis. We demonstrate that RIPs can deliver diverse therapeutic cargos, including cytotoxins and radioisotopes. As proof of concept, we engineered “FRIP,” a RIP designed for cleavage by fibroblast activation protein (FAP), an endoprotease upregulated in solid tumors and fibrosis. Efficient P4–P4’ substrate sequences were identified and incorporated into FRIPs. Cell-based studies showed that, upon activation, the peptide adhered to membranes rapidly internalized and successfully delivered therapeutic cargos. Consistent with this, FRIPs delivering MMAE inhibited proliferation in an FAP-dependent manner. Imaging studies confirmed tumor targeting with minimal uptake in normal tissues. Finally, FRIPs delivering MMAE or Cu-67 exhibited potent antitumor effects. These findings establish membrane tethering as a strategy to enhance drug retention.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2022

CRISPR–Cas9-mediated nuclear transport and genomic integration of nanostructured genes in human primary cells

DNA nanostructures are a promising tool to deliver molecular payloads to cells. DNA origami structures, where long single-stranded DNA is folded into a compact nanostructure, present an attractive approach to package genes; however, effective delivery of genetic material into cell nuclei has remained a critical challenge. Here, we describe the use of DNA nanostructures encoding an intact human gene and a fluorescent protein encoding gene as compact templates for gene integration by CRISPR-mediated homology-directed repair (HDR). Our design includes CRISPR–Cas9 ribonucleoprotein binding sites on DNA nanostructures to increase shuttling into the nucleus. We demonstrate efficient shuttling and genomic integration of DNA nanostructures using transfection and electroporation. These nanostructured templates display lower toxicity and higher insertion efficiency compared to unstructured double-stranded DNA templates in human primary cells. Furthermore, our study validates virus-like particles as an efficient method of DNA nanostructure delivery, opening the possibility of delivering nanostructures in vivo to specific cell types. Together, these results provide new approaches to gene delivery with DNA nanostructures and establish their use as HDR templates, exploiting both their design features and their ability to encode genetic information. This work also opens a door to translate other DNA nanodevice functions, such as biosensing, into cell nuclei.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2020

HBU R and D Cask Transportation Options - 20436

The TN-32B HBU Demonstration Cask was successfully loaded in November 2017 with 32 high burnup (HBU) fuel assemblies at Dominion's North Anna Nuclear Plant and is collecting thermal data as intended. The first two phases of this very successful project sponsored by DOE and EPRI was designed to collect thermal data of HBU fuel to support extended storage. The next phase of the project requires the cask be licensed for transportation so the cask can be relocated to a site (to be determined by DOE) to facilitate long term monitoring and additional research on the fuel. This is a unique challenge given the constraints that exist for this particular bolted metal cask. The TN-32B cask is a 234,288 lb. (storage configuration) dry storage system that was selected for this project and it was modified to provide thermal data and the ability to collect gas samples after loading. Several major issues must be addressed to obtain the transport license including protecting the seven lid penetrations that were made to allow for the insertion of the thermocouples into the selected fuel assemblies after the cask was loaded. In order to protect the integrity of the research, the payload must remain as is. Therefore, the cask system must be placed into the transportation configuration without rewetting the fuel, replacing the lid and without removing the thermocouple instrumentation that is currently installed. A critical portion of the design and engineering that was performed in the first two phases of the project was to ensure that future transportation of the cask was integrated into the approach. Efforts were made to accommodate requirements such as containment boundary leakage testing, installation of impact limiter brackets and lid bolts suitable for transportation. Due to the science requirements of the project, the fuel selected was intended to yield the highest payload temperatures permitted to provide the greatest value for the researchers. This resulted in higher than usual external dose rates and surface temperatures that warranted performing as much preparatory work prior to cask loading to ensure ALARA and personnel safety to the greatest extent practical rather than working on a loaded cask. In addition to the work performed prior to cask load, there are remaining challenges such as protecting the modified lid, design and fabrication of impact limiters that accommodate the modified cask lid and preserving the thermocouple connections for continued monitoring. The project team is currently performing the necessary calculations, engineering, and design to support the licensing as required by the US NRC. Pre-application meetings have been held to inform the regulator of the planned technical approach to ensure compliance with the applicable regulations. The current plan is to obtain the transportation C of C by the end of 2021. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2026

A System Level Comparative Study of SecondarySide Rectifiers for UAV Wireless Power Transfer in High-Altitude Airborne Energy Platforms

Wireless power transfer (WPT) systems for unmanned aerial vehicles (UAVs) must satisfy stringent design requirements to ensure reliable operation under constraints related to efficiency, thermal performance, altitude, weight, and reliability, particularly in airborne and high-altitude environments. Thermal management becomes increasingly challenging at higher altitudes due to reduced air density, while reliability is strongly affected by the number and complexity of active components. The weight and compactness of secondary-side rectifiers directly impact UAV flight endurance and system integration, influencing energy consumption and payload allocation. These factors collectively define the practical feasibility of UAV WPT systems and guide rectifier topology selection. This paper presents a comparative and experimentally validated evaluation framework for secondary-side rectifiers under UAV-specific constraints. Three representative rectifier architectures are analyzed using component-based assessment of weight, thermal behavior, and reliability, together with experimental efficiency measurements obtained from a 1 kW WPT prototype. The results show that the single-switch active rectifier achieves the highest peak efficiency of approximately 93.2% and an overall efficiency of 91%, while also offering advantages in weight and reliability. The findings demonstrate how constraint-oriented analysis, combined with experimental validation, enables informed selection of secondary-side rectifiers for UAV wireless power transfer applications, including emerging airborne and high-altitude platforms.

Asa, Erdem [ORNL] (ORCID:0000000190884812)↗
DOE OSTI2021

Leveraging In-Network Computing and Programmable Switches for Streaming Analysis of Scientific Data

With the emergence of programmable network devices that match the performance of fixed function devices, several recent projects have explored in-network computing, where the processing that is traditionally done outside the network is offloaded to the network devices. In-network computing has typically been applied to network functions (e.g., load balancing, NAT, and DNS), caching, data reduction/aggregation, and coordination/consensus functions. In some cases it has been used to accelerate stream-processing tasks that involve small payloads and simple operations. In this work we focus on leveraging in-network computing for stream processing of scientific datasets with large payloads that require complex operations such as floating-point computations and logarithmic functions. We demonstrate in-network computing for a real-world scientific application performing streaming normalization of a 2-D image from a light source experiment. We discuss the challenges we encountered and potential approaches to address them.

Sankaran, Ganesh↗
DOE OSTI2023

Commercial Vehicle Electrification Evaluation Toolkit (CVEET)

The CVEET can identify and characterize charging and battery capacity challenges for class 3-8 commercial vehicle electrification, including battery electric and plug in hybrid vehicles for various trucks, vans and buses, over a wide range of vehicle operation. The tool can help build the understanding of the impact of commercial vehicle electrification on energy consumption, payload penalty, and GHG (i.e., CO2) emissions. The tool employs a quantitative approach to estimate electric vehicle energy consumption, characterize component performance and determine appropriate charging assumptions to conduct a comprehensive priority analysis of MD/HD vehicle electrification using public domain data.

Gao, Zhiming↗
DOE OSTI2026

Admissible Powertrain Alternatives for Heavy-Duty Fleets: A Case Study on Resiliency and Efficiency

Heavy-duty vehicles dominate global freight movement and primarily rely on fossil-derived diesel fuel. However, fluctuations in crude oil prices and evolving emissions regulations have prompted interest in alternative powertrains to enhance fleet energy resiliency. This study paired real-world operational data from a large commercial fleet with high-fidelity vehicle models to evaluate the potential for replacing diesel internal combustion engine (ICE) trucks with alternative powertrain architectures. The baseline vehicle for this analysis is a diesel-powered ICE truck. Alternatives include ICE trucks fueled by bio- and renewable diesel, compressed natural gas (CNG) or hydrogen (H 2 ), as well as plug-in hybrid (PHEV), fuel cell electric (FCEV), and battery electric vehicles (BEV). While most alternative powertrains resulted in some payload capacity loss, the overall fleetwide impact was negligible due to underutilized payload capacity for the specific fleet considered in this study. For sleeper cab trucks, CNG-powered trucks achieved the highest replacement potential, covering 85% of the fleet. In contrast, H 2 and BEV architectures could replace fewer than 10% and 1% of trucks, respectively. Day cab trucks, with shorter daily routes, showed higher replacement potential: 98% for CNG, 78% for H 2 , and 34% for BEVs. However, achieving full fleet replacement would still require significant operational changes such as route reassignment and enroute refueling, along with considerable improvements to onboard energy storage capacity. Additionally, the higher total cost of ownership (TCO) for alternative powertrains remains a key challenge. This study also evaluated lifecycle impacts across various fuel sources, both fossil and bio-derived. Bio-derived synthetic diesel fuels emerged as a practical option for diesel displacement without disrupting operations. Conversely, H 2 and electrified powertrains provide limited lifecycle impacts under the current energy scenario. This analysis highlights the complexity of replacing diesel ICE trucks with admissible alternatives while balancing fleet resiliency, operational demands, and emissions goals. These results reflect a US-based fleet’s duty cycles, payloads, GVWR allowances, and an assumption of depot-only refueling/recharging. Applicability to other fleets and regions may differ based on differing routing practices or technical features such as battery swapping.

BEV↗
DOE OSTI2021

Fire-Induced Pressure Response and Failure Characterization of PCV/SCV/3013 Containers - Phase 3

Several Department of Energy (DOE) facilities have materials stored in robust, welded, stainless - steel containers with presumed fire - induced pressure response behaviors. Lack of test data related to fire exposure requires conservative safety analysis assumptions for container response at these facilities. This conservatism can in turn result in the implementation of challenging operational restrictions with costly nuclear safety controls. To help address this issue for sites that store DOE 3013 stainless - steel containers, a series of ten tests were undertaken at Sandia National Laboratories. The goal of this test series was to obtain the response behavior for various configurations of DOE 3013 containers with various payload compositions when exposed to one of two ASTM fire conditions. Key parameters measured in the test series included identification of failure - specific characteristics such as pressure, temperature, and whether or not a vessel was breached during a test . Numerous failure - specific characteristics were identified from the ten tests. This report describes the implementation and execution of the test series performed to identify these failure - specific characteristics. Discussions on the test configurations, payload compositions, thermal insults, and experimental setups are presented. Test results in terms of pressurization and vessel breach (or no - breach) are presented along with corresponding discussions for each test.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2025

Dynamic Analysis of a Six-Cable Parallel Robot for Automated Panelized Building Retrofits

Cable-Driven Parallel Robots (CDPRs) are highly suitable for automated panelized building retrofits, thanks to their compact footprint and high payload-to-weight ratio. A common CDPR configuration featuring eight cables, where the anchors form a rectangular prism in front of the building facade, offers a large wrench feasible workspace and good control versatility. However, installing upper anchor points requires additional support structures, such as towers or beams, increasing setup complexity and posing logistical challenges in construction settings. To mitigate these challenges, we propose a six-cable CDPR model specifically designed for automated panelized building retrofits. Although the feasible workspace is limited, our analysis shows that the proposed CDPR adequately covers the critical areas required for panel installation. To validate that the six-cable system can effectively transport the end effector to the desired installation pose, we calculated optimal trajectories based on a constrained dynamic model. The simulation results of the six-cable CDPR demonstrate promising potential for automated panelized building retrofits, effectively balancing simplicity, cost-effectiveness, and functionality.

Liu, Yifang [ORNL] (ORCID:0000000190817417)↗