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At least 19 records

IROS 2023 Workshop Report: Draft Guidelines on Manufacturing Procedures, Test Methods and Reporting for Soft Robotics

Soft roboticists are facing challenges with reproducibility, which prevents researchers from making holistic comparisons to prior work, impedes full understanding of results, and forces the need to “reinvent the wheel,” delaying fundamental advances. Reproducibility of results is key to advancing science as well as achieving technology transfer from research laboratories to industrial applications. Recently, a discussion-based workshop dedicated to the topic, “Developing Standard Testing and Reporting Guidelines for Soft Robotics,” was held at IROS 2023 in Detroit, MI. The purpose of this document is to record a set of recommendations and voluntary draft guidelines for soft roboticists concerning fabrication/manufacturing, test procedures, and reporting, which were collectively developed at the workshop. Together as a community, we hope to improve the reporting standards of soft robotics and drive the field as a whole toward more rigorous research practices.

43 PARTICLE ACCELERATORS↗

DC Fast Charging Test Procedures

This report has been drafted as an initial effort to develop a standardized test procedure for DCFC for LD EVs. The proposed test procedures are designed to be time-efficient, aligned with EV discharge tests, and practical to implement, thereby minimizing the testing and computational efforts required by OEMs and testing authorities.

33 ADVANCED PROPULSION SYSTEMS↗

Deriving Simulation Parameters for Storage-Type Water Heaters Using Ratings Data Produced from the Uniform Energy Factor Test Procedure: Preprint

Building energy modeling (BEM) is commonly used to estimate the energy usage of residential buildings. Uses for BEM include calculating home energy ratings, demonstrating compliance with performance-based energy codes, and establishing whether designs meet voluntary program requirements, such as ENERGY STAR® qualified homes. BEM requires simulating subsystems within the building, including storage-type water heaters. To properly simulate the in-situ performance of residential storage water heaters, it is necessary to determine key water heater parameters, including the overall heat loss coefficient (UA) and conversion efficiency (?c) of the water heater, based on the rated efficiency of the water heater. The testing procedure and rating standard for residential water heaters have recently changed: the new rating standard provides a Uniform Energy Factor (UEF) rather than the Energy Factor (EF) used previously. This paper discusses how to derive the necessary model parameters from the ratings data produced from the latest test procedure.

30 DIRECT ENERGY CONVERSION↗

Influence of Fuel Properties on Gasoline Direct Injection Particulate Matter Emissions Over First 200 s of World-Harmonized Light-Duty Test Procedure Using an Engine Dynamometer and Novel “Virtual Drivetrain” Software

Abstract The influence of fuel properties on particulate matter (PM) emissions from a catalytic gasoline particulate filter (GPF) equipped gasoline direct injection (GDI) engine was investigated using novel “virtual drivetrain” software and an engine mated to an engine dynamometer. The virtual drivetrain software was developed in labview to operate the engine on an engine dynamometer as if it were in a vehicle undergoing a driving cycle. The software uses a physics-based approach to determine vehicle acceleration and speed based on engine load and a programed “shift” schedule to control engine speed. The software uses a control algorithm to modulate engine load and braking to match a calculated vehicle speed with the prescribed speed trace of the driving cycle of choice. The first 200 s of the World-harmonized Light-duty Test Procedure (WLTP) driving cycle was tested using six different fuel formulations of varying volatility, aromaticity, and ethanol concentration. The first 200 s of the WLTP was chosen as the test condition because it is the most problematic section of the driving cycle for controlling PM emissions due to the cold start and cold drive off. It was found that there was a strong correlation between aromaticity of the fuel and the engine-out PM emissions, with the highest emitting fuel producing more than double the mass emissions of the low PM production fuel. However, the post-GPF PM emissions depended greatly on the soot loading state of the GPF. The fuel with the highest engine-out PM emissions produced comparable post-GPF emissions to the lowest PM producing fuel over the driving cycle when the GPF was loaded over three cycles with the respective fuels. These results demonstrate the importance of GPF loading state when aftertreatment systems are used for PM reduction. It also shows that GPF control may be more important than fuel properties, and that regulatory compliance for PM can be achieved with proper GPF control calibration irrespective of fuel type.

Energy & Fuels↗

Advanced Zonal Infiltration Measurement Method for Multifamily Buildings: A Novel Test Procedure to Determine Air Leakage Through External and Internal Surfaces

Measuring air infiltration through the external building envelope as well as between adjacent zones within a building is important since air leakage is related to increased energy use and poor indoor air quality (IAQ). State of the art methods can determine both leakages, however it can be both time consuming and labor intensive as it requires running both guarded and compartmentalization tests. This paper presents our work on developing a simplified testing procedure to determine power law flow equation leakage parameters of both external and internal boundaries of tested zones. The proposed Zonal Multipoint Pressure Test (ZMPT) method modulates airflow in the zone using a variable airflow measurement panel (mounted in either a window or the door), and solving the mass balance equations for the leakage parameters. ZMPT results were compared to conventional test results and found to correlate to within +/-7%.

Jayarathne, Tharanga↗

Development Of Thermodynamic and Kinetic Simulation Tools and Testing Procedures for Enhanced Durability of Concrete Containing Industrial By-Products

This project developed screening tools that enable evaluation of alternative cementitious binders that create concretes to significantly reduce energy and emissions while remaining cost competitive on both initial and long-term costs. The team began with the viewpoint that acceptance of new cementitious binder products has a substantially greater chance of successful implementation when capital investment is not excessive and the end product has customers that have experience and resources to use this. As such, a binder system that is based on portland cement with blended using industrial by-products (alternative cementitious materials) has the potential for dramatic and meaningful impact. The team has focused on developing implementable solutions in specifications and current practice. This however requires three main factors: 1) ability to screen byproducts and alternative materials for success, 2) ability to ‘treat’ materials chemically to enhance kinetics, and 3) ability to provide predictions of performance of both binders and concrete from first principles. The project developed/refined a state of the art and scientifically based screening test for SCM called the pozzolanic reactivity test. The team developed kinetic models to simulate these materials as well as experimental approaches to alter selected reactions. Simulation tools were developed that enable the performance of concrete to be predicted based on the chemistry and reactivity of the cement and alternative SCM. Specifically, this project: • enhanced the kinetic reactivity models for use in multi-scale computational programs that use thermodynamics to predict reaction products. 2 • developed scaling models to extend thermodynamic modeling to link these models with pore structure. This enables strength, transport property, and coupled transport prediction. • developed tools to predict performance of cementitious materials using the pozzolanic reactivity test and chemical composition. The predicted properties are consistent with AASHTO R101 and the CEB-FIP model code and can be measured using associated test procedures. • demonstrated mechanical and fracture based modeling tools that thermodynamic predictions and inputs to predict concrete service life. These results have been used to demonstrate the value of enabling specifications to include ASTM C 595 cement as well ASTM C150 cement. In addition, these products are being used to expedite the evaluation of alternative SCM to aide in determining which materials have potential value and what ‘compositions’ of blended cements merit further investment.

42 ENGINEERING↗

A Step-Down Test Procedure for Wavelet Shrinkage Using Bootstrapping

Wavelet thresholding (or shrinkage) attempts to remove the noises existing in the signals while preserving inherent pattern characteristics in the reconstruction of true signals. For data-denoising purpose, we present a new wavelet thresholding procedure which employs the step-down testing idea of identifying active contrasts in unreplicated fractional factorial experiments. The proposed method employs bootstrapping methods to a step-down test for thresholding wavelet coefficients. By introducing the concept of a false discovery error rate in testing wavelet coefficients, we shrink the wavelet coefficients with p -values higher than the error rate. The error rate controls the expected proportion of wrongly accepted coefficients among chosen wavelet coefficients. Bootstrap samples are used to approximate the p -value for computational efficiency. We also present some guidelines for selecting the values of hyper-parameters which affect the performance in the step-down thresholding procedure. Based on some common testing signals and an air-conditioner sounds example, the comparison of our proposed procedure with other thresholding methods in the literature is performed. The analytical results show that the proposed procedure has a potential in data-denoising and data-reduction in a variety of signal reconstruction applications.

42 ENGINEERING↗

TRUST Testing Procedure Documentation

The TRUST testbed was designed and fabricated to conduct vibration testing and validate the behavior of hyper-elastic foams in a pre-loaded condition. The main goals of this testbed design were to ensure symmetry, proper instrumentation alignment and mounting, simplified geometry to make the data analysis validation process more straightforward, and to apply and monitor the applied pre-load. Based off of the test parameters, a shaker system was purchased. The baseplate was designed to mount directly to the bolt holes provided on the top of the shaker table. It was determined that the specimens will be cylindrical and vary in thickness from 2-10mm. The baseplate riser, center-mass, and testbed cap were designed to be cylindrical to make alignment about the center axis more straightforward. It was determined to fabricate the parts previously mentioned using Aluminum 6061-T6 due to its stiffness in order to reduce the likelihood of the stiff material impacting the data being collected for the foam specimens. The design concept used to apply the pre-load to the testbed was a through bolt/nut configuration. A through hole was included in each piece of the testbed, specimens, and instrumentation large enough to allow for 1/8” clearance between the through bolt and each of these pieces. This was imperative to avoid causing friction and complicating the validation model. A load cell was then purchased and used to measure the pre-load being applied to the testbed. It was also required to collect data for 3 axes at 3 different locations 120° apart on the center-mass. This configuration was required to be placed on the cylindrical face and toward the top and bottom of the center-mass. Slots were milled out in the middle of each sensor block with tight tolerances for mounting each of the accelerometers at 120° apart. This same approach was taken to mount 2 accelerometers on the baseplate at 180° apart. Holes were milled out of the corners of each accelerometer mounting slot to relieve the corner and allow for a flat edge at the back of each slot. Sensor blocks were mounted into the center-mass using 6-32 bolts at the required locations. This initial testbed design was fabricated at the TA53 machine shop.

42 ENGINEERING↗

Cell-level reliability testing procedures for CIGS photovoltaics

The reliability of photovoltaics is commonly studied at the module level. Many reliability problems originate from module attributes, such as metal interconnections to cells, junction boxes. However, significant work in reliability can also be done prior to module design. Testing for reliability earlier in the research cycle increases the probability of avoiding common module reliability problems before cell changes are implemented on a large scale. Cell-level reliability studies can thus lower the rates of module failures in the field and provide confidence to investors that new technologies will perform as advertised. This report summarizes how we investigated three reliability concerns in Cu(In,Ga)Se 2 (CIGS) photovoltaics at the cell level: metastability, shading-induced damage, and potential-induced degradation (PID). We find that examining these concerns required developing robust measurement protocols including the fabrication of novel testing structures. This information will allow readers to incorporate sound metrics for investigating reliability phenomena and aid their studies of cell and module reliability improvements.

14 SOLAR ENERGY↗

Module Testing Procedures and Results for the CMS Phase-2 Outer Tracker Upgrade at Fermilab

The High-Luminosity LHC (HL-LHC) will operate at significantly increased luminosities and is expected to deliver about 3000 $fb^{-1}$ of proton-proton collision data at $\sqrt{s}=14$ TeV over a decade of operation. To maintain efficient tracking and triggering performance under high pileup and radiation conditions, the CMS experiment is upgrading its tracking detector for Phase-2 operations. The upgraded Outer Tracker (OT) will consist of Pixel-Strip (PS) and Strip-Strip (2S) silicon modules capable of providing tracking information to the Level-1 trigger at 40 MHz. Production and qualification of OT modules have been ongoing for about one year across several assembly and testing centers in the US, Europe, India, and Pakistan, requiring extensive testing to ensure stable operation in the HL-LHC environment. Fermilab is responsible for the production and testing of a significant fraction of the OT modules. The testing activities include IV characterization of silicon sensors, noise and pedestal measurements, verification of communication between module components, and burn-in studies using cold-box systems operated under controlled thermal conditions. Results from module testing and qualification studies performed during production will be presented.

Baradia, Sweta [UC, Davis (main)]↗

Swab Tensile Testing and Procedures

This tensile test is to mimic the worst-case scenario of the swab being caught on an obstruction when being pulled out of the nasopharyngeal space. It is to determine how much tensile force the swab can withstand without breaking. A variety of different swabs (different materials and different geometries) were tested using the protocol outlined in Section 2 (Tensile Testing Procedure). Not all of the swabs were pre-treated using the Autoclave. For those swabs that were pre-treated using the Autoclave, the tensile tests were performed within 6 hours of completion of the Autoclave pre-treatment, unless otherwise noted. The FormLabs-USF and FormLabs-Northwell were printed at LLNL using FormLabs Surgical Grade V1 Resin on a Form 3B Printer. Results Summary: All FormLabs design and treatment variations (e.g. autoclaving and “aging”) had higher tensile strength compared commercial swabs. Autoclaving degraded the tensile strength. “Aging” after autoclaving improved the tensile strength. “Aging” without autoclaving degraded the tensile strength. No differences were observed in tensile strength with different autoclaving protocols. No significant differences were observed in tensile strength for different batches.

59 BASIC BIOLOGICAL SCIENCES↗

Swab Tensile Testing Results and Procedures

This tensile test is to mimic the worst-case scenario of the swab being caught on an obstruction when being pulled out of the nasopharyngeal space. It is to determine how much tensile force the swab can withstand without breaking. A variety of different swabs (different materials and different geometries) were tested using the protocol outlined in Section 2 (Tensile Testing Procedure). Not all of the swabs were pre-treated using the Autoclave. For those swabs that were pre-treated using the Autoclave, the tensile tests were performed within 6 hours of completion of the Autoclave pre-treatment, with the exception of the “Aged” swabs. For the “Aged” swabs, the tensile tests were performed 7 days after the Autoclave pre -treatment. All swabs were provided by HP.

36 MATERIALS SCIENCE↗

Swab Tensile Testing Results and Procedures

This tensile test is to mimic the worst-case scenario of the swab being caught on an obstruction when being pulled out of the nasopharyngeal space. It is to determine how much tensile force the swab can withstand without breaking. A variety of different swabs (different materials and different geometries) were tested using the protocol outlined in Section 2 (Tensile Testing Procedure). Not all of the swabs were pre-treated using the Autoclave. For those swabs that were pre-treated using the Autoclave, the tensile tests were performed within 6 hours of completion of the Autoclave pre-treatment, with the exception of the Injection Molded samples. For the Injection Molded samples, the tensile tests were performed within 24 hours of the completion of the Autoclave pre-treatment. The FormLabs-USF and FormLabs-Northwell were printed at LLNL using FormLabs Surgical Grade V1 Resin on a Form 3B Printer. All other samples were provided by HP.

36 MATERIALS SCIENCE↗

Review of supplementary cementitious materials with implications for age-dependent concrete properties affecting precast concrete

Here, this paper presents a comprehensive review of existing research examining the effects of supplementary cementitious materials on age-dependent concrete properties with the most profound implications for precast concrete production. The review covers the physical and chemical properties of selected types of supplementary cementitious materials, concrete mixture proportions, concrete curing methods, testing procedures, and test results related to the fresh properties and strengths of a range of concrete mixtures. Although the use of supplementary cementitious materials in precast concrete products is common, the detailed information provided in this paper may facilitate more widespread use of these materials to enhance concrete properties and comply with sustainability initiatives.

20 FOSSIL-FUELED POWER PLANTS↗

Guidelines for Broadband Seismometer Testing

The Comprehensive Nuclear-Test-Ban Treaty mandates the four verification technologies to be used by the International Monitoring System (IMS) to monitor compliance to the Treaty. These technologies are seismic, hydroacoustic, infrasound, and radionuclide. Operational manuals for each of these technologies specify the requirements that equipment installed at IMS stations must meet for data from said stations to be accepted by the International Data Center. Following a model in which a revised set of infrasound sensor specifications and accompanying test procedures were developed in an international collaboration overseen by the Comprehensive Nuclear-Test-Ban Treaty Organization, the same process was recently followed for seismometers potentially of use by the IMS. This document, a product of that collaboration, defines key concepts and recommends test procedures to be followed to characterize broadband seismometers in a consistent and standardized way. Results from these test procedures can be used to verify that a seismometer meets the manufacturers stated specifications and IMS requirements. ACKNOWLEDGEMENTS The writers of this document would like to acknowledge Charles R. Hutt, John R. Evans, Fred Followill, Robert L. Nigbor, and Erhard Wielandt, the authors of the 2009 Guidelines for Standardized Testing of Broadband Seismometers and Accelerometers funded by the U.S. Department of Interior, on which this document is based. Although this document is limited in scope to seismometers and much of the document has been updated, the structure remains essentially the same.

58 GEOSCIENCES↗

Plug-in electric vehicles in China and the USA: a technology and market comparison

As the top two plug-in electric vehicle (PEV) markets in the world, China and the United States of America (USA) have developed different market structures that are influenced by government policies, test procedures, customer acceptance, and vehicle performance. There are differences in PEV test procedures and vehicle class definitions as well. This paper quantifies such differences and compares PEV characteristics and markets in the two countries using actual data collected over several years. First, although China surpasses the USA in annual PEV production because of generous PEV policies and higher charging infrastructure availability, the USA has a higher PEV adoption rate per capita (2.3 versus 0.81 per 1000 people at the end of 2017). Second, the most popular vehicle classes are A00 battery electric vehicles (BEVs) in China but long-range mid-size BEVs in the USA. Moreover, China's electric and plug-in hybrid sport utility vehicle market is growing quickly. Third, the electricity consumption rated under Chinese test procedures is 20%-40% lower than that rated under US procedures. The sales-weighted electricity consumption of an average BEV in China is 23% lower than that in the USA because of larger proportions of small and micro BEVs in China. Fourth, PEV battery cost in the two countries is currently close to $210-$220 kWh. Finally, China has higher numbers of charging infrastructure, and the ratio of PEVs to public chargers is 9.0 in China versus 17.9 in the USA at the end of 2018.

China EV market↗