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DOE OSTI2022

A buckling-sheet ring oscillator for electronics-free, multimodal locomotion

Locomotion of soft robots typically relies on control of multiple inflatable actuators by electronic computers and hard valves. Soft pneumatic oscillators can reduce the demand on controllers by generating complex movements required for locomotion from a single, constant input pressure, but either have been constrained to low rates of flow of air or have required complex fabrication processes. Here, we describe a pneumatic oscillator fabricated from flexible, but inextensible, sheets that provides high rates of airflow for practical locomotion by combining three instabilities: out-of-plane buckling of the sheets, kinking of tubing attached to the sheets, and a system-level instability resulting from connection of an odd number of pneumatic inverters made from these sheets in a loop. This device, which we call a “buckling-sheet ring oscillator” (BRO), directly generates movement from its own interaction with its surroundings and consists only of readily available materials assembled in a simple process—specifically, stacking acetate sheets, nylon film, and double-sided tape, and attaching an elastomeric tube. A device incorporating a BRO is capable of both translational and rotational motion over varied terrain (even without a tether) and can climb upward against gravity and downward against the buoyant force encountered under water.

Robotics↗

NASA NTRS1993

Compatibility of information and mode of control: The case for natural control systems

The operation of control systems has been determined largely by mechanical constraints. Compatibility with the characteristics of the operator is a secondary consideration, with the result that control may never be optimal, control workload may interfere with performance of secondary tasks, and learning may be more difficult and protracted than necessary. With the introduction of a computer in the control loop, the mode of operation can be adapted to the operator, rather than vice versa. The concept of natural control is introduced to describe a system that supports control of the information used by the operator in achieving an intended goal. As an example, control of speed during simulated approach to a pad by helicopter pilots is used to contrast path-speed control with direct control of global optical flow-pattern information. Differences are evidenced in the performance domains of control activity, speed, and global optical flow velocity.

Owen, Dean H.↗

NASA NTRS2024

Influence of SMAP Soil Moisture Retrieval Assimilation on Runoff Estimation Across South Asia

This study was designed to characterize and quantify the influence of surface soil moisture assimilation on estimated runoff (surface flow and baseflow) and hydraulically-routed streamflow across three large river basins in South Asia that are at risk of impending water stress. Soil Moisture Active Passive (SMAP) surface soil moisture retrievals were assimilated into the Noah-MP land surface model. The gridded runoff was hydraulically routed to obtain volumetric streamflow values for a river network using a runoff routing module (Hydrological Modeling and Analysis Platform, HyMAP). The open loop (OL, model-only) and data assimilated (DA, includes soil moisture retrieval assimilation) Noah-MP runoff estimates highlighted the improvements in estimated total runoff across irrigated areas. Soil moisture assimilation impacted baseflow more relative to surface runoff. The HyMAP-based OL and DA streamflow generally underestimated the streamflow at upstream stations and overestimated the streamflow at downstream stations within the Indus basin due to missing physics related to reservoir operations. For stations located in the Ganges–Brahmaputra basins, the OL and DA estimation performance varied. The OL and DA results showed that the assimilation of soil moisture retrievals improves gridded runoff and volumetric streamflow across irrigated areas. Considerable relative change in streamflow (>70% increase in magnitude relative to OL) is noted after assimilation across the highly irrigated lower Indus basin and high precipitation regions in Bangladesh. Improving the modeling system’s representativeness of ground conditions via inclusion of water management information could improve large-scale streamflow modeling across South Asia.

soil moisture↗

DOE OSTI2023

Real-time process monitoring for direct ink write additive manufacturing

Direct ink write (DIW) printing of reactive resins presents a unique challenge due to the time-dependent nature of the rheological and chemical properties of the ink. As a result, careful print optimization or process control is important to obtain consistent, high quality prints. The present invention uses a flow-through characterization cell for in situ chemical monitoring of a resin ink during DIW printing. Additionally, in-line extrusion force monitoring can be combined with off-line post inspection using machine vision. By combining in-line spectroscopy and force monitoring, it is possible to follow reaction kinetics (for example, curing of a reactive resin) and viscosity changes during printing, which can be used for a closed-loop process control. Additionally, the capability of machine vision to automatically identify and quantify print artifacts can be incorporated on the printing line to enable real-time, AI-assisted quality control of the printed products. Together, these techniques can form the building blocks of an optimized process control strategy when complex reactive ink must be used to produce printed hardware.

Cook, Adam W.↗

DOE OSTI2023

Voltage regulation in distribution grids: A survey

Environmental and sustainability concerns have caused a recent surge in the penetration of distributed energy resources into the power grid. This may lead to voltage violations in the distribution systems making voltage regulation more relevant than ever. Owing to this and rapid advancements in sensing, communication, and computation technologies, the literature on voltage control techniques is growing at a rapid pace in distribution networks. In particular, there is a paradigm shift from traditional offline centralized approaches to distributed ones leveraging increased and varied types of actuators, real-time sensing, fast and efficient computations, and an overall distributed situational awareness. This paper reviews state-of-the-art voltage control algorithms, summarizes the underlying methods, and classifies their coordination mechanisms into local, centralized, distributed, and decentralized. The underlying solution methodologies are further classified into two categories, open-loop and feedback-based. Two specific example workflows are provided to illustrate these solutions for voltage regulation.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2019

Optimal Submodule Capacitor Sizing for Modular Multilevel Converters with Common Mode Voltage Injection and Circulating Current Control

Abstract - Modular multilevel converters (MMCs), with the filterless and transformer-less features, are considered as a promising topology for high-efficiency medium voltage (MV) high voltage (HV) drive systems. However, at low frequencies (< 30 Hz), a large current ripple flowing through the capacitors of each submodule will cause significant capacitor voltage fluctuation. This paper proposes an optimal submodule capacitor selection based on the common mode voltage injection. The proposed sizing model includes two functions: a) accurately estimating the capacitor voltage ripple based on the drive system parameters; and b) identifying the minimum capacitance of the submodule capacitors based on the allowed maximum capacitor voltage fluctuations. Simulation and hardware-in-the-loop (HIL) test results show that the error between the actual and estimated values of the voltage fluctuation is within 3% using the proposed model.

Capacitor Sizing↗

NASA NTRS2002

Inducer Hydrodynamic Load Measurement Devices

Marshall Space Flight Center (MSFC) has demonstrated two measurement devices for sensing and resolving the hydrodynamic loads on fluid machinery. The first - a derivative of the six component wind tunnel balance - senses the forces and moments on the rotating device through a weakened shaft section instrumented with a series of strain gauges. This "rotating balance" was designed to directly measure the steady and unsteady hydrodynamic loads on an inducer, thereby defining both the amplitude and frequency content associated with operating in various cavitation modes. The second device - a high frequency response pressure transducer surface mounted on a rotating component - was merely an extension of existing technology for application in water. MSFC has recently completed experimental evaluations of both the rotating balance and surface-mount transducers in a water test loop. The measurement bandwidth of the rotating balance was severely limited by the relative flexibility of the device itself, resulting in an unexpectedly low structural bending mode and invalidating the higher frequency response data. Despite these limitations, measurements confirmed that the integrated loads on the four-bladed inducer respond to both cavitation intensity and cavitation phenomena. Likewise, the surface-mount pressure transducers were subjected to a range of temperatures and flow conditions in a non-rotating environment to record bias shifts and transfer functions between the transducers and a reference device. The pressure transducer static performance was within manufacturer's specifications and dynamic response accurately followed that of the reference.

Skelley, Stephen E.↗

NASA NTRS2012

Development and Analysis of Cold Trap for Use in Fission Surface Power-Primary Test Circuit

The design and analysis of a cold trap proposed for use in the purification of circulated eutectic sodium potassium (NaK-78) loops is presented. The cold trap is designed to be incorporated into the Fission Surface Power-Primary Test Circuit (FSP-PTC), which incorporates a pumped NaK loop to simulate in-space nuclear reactor-based technology using non-nuclear test methodology as developed by the Early Flight Fission-Test Facility. The FSP-PTC provides a test circuit for the development of fission surface power technology. This system operates at temperatures that would be similar to those found in a reactor (500-800 K). By dropping the operating temperature of a specified percentage of NaK flow through a bypass containing a forced circulation cold trap, the NaK purity level can be increased by precipitating oxides from the NaK and capturing them within the cold trap. This would prevent recirculation of these oxides back through the system, which may help prevent corrosion.

Wolfe, T. M.↗

NASA NTRS2023

Harnessing the Digital Transformation for Development of Electrified Aircraft Propulsion Control Systems

Hybrid electric aircraft propulsion is an emerging technology that presents a variety of potential benefits along with technical integration challenges. Developing these new propulsion architectures with their complex control systems, and ultimately proving their benefit, is a multistep process. This process includes concept development and analysis, dynamic simulation, hardware-in-the-loop testing, full-scale testing, and so on. This effort is being revolutionized and indeed enabled by new digital tools that support increasing the technology readiness level throughout the maturation process. As part of this Digital Transformation, NASA has developed a suite of publicly available digital tools that facilitate the path from concept to implementation. This paper describes the NASA-developed tools and puts them in the context of control system development for hybrid electric aircraft propulsion. The three MATLAB®-based software packages are the Toolbox for the Modeling and Analysis of Thermodynamic Systems (T-MATS), the Electrical Modeling and Thermal Analysis Toolbox (EMTAT), and the Thermal Systems Analysis Toolbox (TSAT). These tools are interactive, complementary, and compatible with each other. T-MATS is a modular thermodynamic modeling framework designed for creating custom component level models of jet engines. EMTAT is a modeling framework used to simulate a variety of power electronic devices, using both physics-based and power flow calculations. TSAT is a framework for modeling and analysis of dynamic heat transfer. These packages all consist of graphical, drag-and-drop, parameterizable building blocks representing various components of the system to be modeled, e.g., compressors, turbines, motors, energy storage devices, etc. They are designed to enable the user to model and simulate the end-to-end dynamic operation of a hybrid electric gas turbine engine powertrain at the timescale of the turbomachinery, capturing mechanical, electrical, and thermal interactions. This paper demonstrates through multiple examples how these tools have been used successfully in a variety of applications, including several of the early stages of hybrid electric gas turbine engine propulsion system development, from the initial system modeling to real-time interactive pilot-in-the-loop simulation to physical hardware-in-the-loop testing, each step bringing the technology closer to fruition.

hybrid electric propulsion↗

DOE OSTI2014

Convergence of Feynman integrals in Coulomb gauge QCD

At 2-loop order, Feynman integrals in the Coulomb gauge are divergent over the internal energy variables. Nevertheless, it is known how to calculate the effective action, provided that the external gluon fields are all transverse. We show that, for the two-gluon Greens function as an example, the method can be extended to include longitudinal external fields. The longitudinal Greens functions appear in the BRST identities. As an intermediate step, we use a flow gauge, which interpolates between the Feynman and Coulomb gauges.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

DOE OSTI2012

CO{sub 2} Capture by Sub-ambient Membrane Operation

The main objective of the project was to develop a CO{sub 2} capture process based on sub-ambient temperature operation of a hollow fiber membrane. The program aims to reach the eventual DOE program goal of > 90% CO{sub 2} capture from existing PC fired power plants with < 35% increase in the cost of electricity. The project involves closed-loop testing of commercial fiber bundles under simulated process conditions to test the mechanical integrity and operability of membrane module structural component under sub ambient temperature. A commercial MEDAL 12” bundle exhibited excellent mechanical integrity for 2 months. However, selectivity was ~25% lower than expected at sub-ambient conditions. This could be attributed to a small feed to permeate leak or bundle non-ideality. To investigate further, and due to compressor flow limitations, the 12” bundle was replaced with a 6” bundle to conduct tests with lower permeate/feed ratios, as originally planned. The commercial 6” bundle was used for both parametric testing as well as long-term stability testing at sub-ambient conditions. Parametric studies were carried out both near the start and end of the long-term test. The parametric studies characterized membrane performance over a broad range of feed conditions: temperature (-25°C to -45°C), pressure (160 psig to 200 psig), and CO{sub 2} feed concentration (18% to 12%). Performance of the membrane bundle was markedly better at lower temperature (-45ºC), higher pressure (200 psig) and higher CO{sub 2} feed concentration (18%). The long-term test was conducted at these experimentally determined “optimum” feed conditions. Membrane performance was stable over 8 months at sub-ambient temperature operation. The experimentally measured high performance of the membrane bundle at sub-ambient operating conditions provides justification for interest in sub-ambient membrane processing of flue gas. In a parallel activity, the impact of contaminants (100 ppm SOx and NOx) on membrane performance was tested in the laboratory with membrane minipermeators. NO permeance is intermediate between CO{sub 2} and N{sub 2}; while both SO{sub 2} and NO{sub 2} are more permeable than CO{sub 2} at cold condition. This implies that SO{sub 2} and NO{sub 2} will be efficiently removed with CO{sub 2} into the membrane permeate in the proposed cold membrane process. Calculations were performed by Air Liquide Engineering (ALE) to estimate capture costs based on the proposed sub-ambient temperature membrane process for 90% CO{sub 2} capture from an air- fired coal power plant delivering 550 MW net electricity. Membrane performance in the process simulation was defined by the final parametric test results. This analysis involved refining the process simulation model, obtaining relevant capital cost estimates and using these to estimate a 20-year levelized cost of electricity (LCOE). A sensitivity analysis shows CO{sub 2} capture specific energy requirements of 216-242 kwh/T CO{sub 2} captured. The LCOE estimating methodology followed DOE/NETL study 2010/1397. This analysis indicates increases in LCOE between 48% and 53%. For most equipment, the budgetary capital cost estimates are expected to be valid within ± 20%. The most significant capital costs are due to the (i) feed compression and associated gas pretreatment and (ii) membrane system. For both items, there is a realistic chance for cost reductions in the immediate future (0-5 years) as well as long term reductions. The process continues to hold promise with anticipated cost reductions in compression and membrane operations. In particular, membrane costs could be reduced significantly by increased production volume (economy of scale) as well as optimization of bundle size and configuration for this application. PFD definition for a potential field test has been completed through (i) simulation work at DRTC, (ii) discussions with compressor manufacturers and (iii) a field visit to t e NCCC, Wilsonville, AL. The PC4 facility at the NCCC is a suitable site for a 0.1 MW scale test.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2022

FY22 Status Report on the ART-GCR CMVB and CNWG International Collaborations

This work presents the numerical model for the high temperature test reactor (HTTR) loss of forced cooling (LOFC) experiment with the INL codes Griffin, BISON, and RELAP-7, based on the Multiphysics Object-Oriented Simulation Environment (MOOSE) framework. Promising results were obtained, with the overall behavior of the reactor successfully captured. Changes in the heat transfer coupling, as compared to the fiscal year (FY)-21 model, enabled drastic improvement of the steady-state solution, both in terms of computational time and global energy discrepancies. The former was reduced by a factor of roughly 60, whereas the latter decreased from 11% to less than 2%. Furthermore, the discrepancy in the steady-state multiplication factor was improved from +2,300 and +2,900 pcm (for the 30 and 9 MW cases) to -700 and +1,200 pcm, respectively, and now falls well within the large measurement uncertainties stemming from graphite impurities. Validation of the Monte Carlo model used to generate cross sections was also performed against available measurements. Though significant, the discrepancies remain acceptable overall in light of the large uncertainty. Numerous improvements are still needed to better compare with the experiment involving the 9 MW case and to instill greater confidence in the model’s ability to accurately predict the 30 MW behavior. Specifically, the power levels predicted by the 9 MW transient simulation following re-criticality remain low, pointing to an underestimation of the passive cooling of the core. A key aspect of future work will be to better understand the flow pattern during the LOFC event, particularly to determine if natural or forced convection is occurring inside the reactor pressure vessel (RPV). More generally, additional validation data would be immensely useful for further enhancing the numerical model and better matching the experiments. In addition, a more sophisticated thermal-hydraulics model that simulates all the channels as a single system model should be considered to take into account the rest of the primary loop. Finally, even if the results are in better agreement with the experiments, sensitivity analysis and uncertainty quantification will be necessary to evaluate the model uncertainty.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

NASA NTRS1980

Flare models

The current status of solar flare modeling is reviewed. Primary and secondary observational features that a proposed flare model should be capable of explaining are discussed, including energy storage and release, particle acceleration, mass ejection, heating of the temperature minimum region, X-ray, EUV, UV, visible and radio emission and mass flow. Consideration is then given to the twisted flux tube paramagnetic recombination model of Gold and Hoyle (1960), the current model of Alfven and Carlqvist (1967), closed current-sheet models such as those of Syrovatskii (1966, 1969, 1977) and Uchida and Sakurai (1977), open-field models such as those of Carmichael (1964) and Barnes and Sturrock (1972), the emerging flux model of Heyvaerts and Priest (1974, 1977, 1978) and the loop-flare models of Spicer (1977) and Colgate (1978). It is noted that no one model can yet account for all the observational features, and that there may turn out to be several types of flare, each requiring its own explanation.

Sturrock, P. A.↗

NASA NTRS2002

Inducer Hydrodynamic Load Measurement Devices

Marshall Space Flight Center (MSFC) has demonstrated two measurement devices for sensing and resolving the hydrodynamic loads on fluid machinery. The first - a derivative of the six-component wind tunnel balance - senses the forces and moments on the rotating device through a weakened shaft section instrumented with a series of strain gauges. This rotating balance was designed to directly measure the steady and unsteady hydrodynamic loads on an inducer, thereby defining both the amplitude and frequency content associated with operating in various cavitation modes. The second device - a high frequency response pressure transducer surface mounted on a rotating component - was merely an extension of existing technology for application in water. MSFC has recently completed experimental evaluations of both the rotating balance and surface-mount transducers in a water test loop. The measurement bandwidth of the rotating balance was severely limited by the relative flexibility of the device itself, resulting in an unexpectedly low structural bending mode and invalidating the higher-frequency response data. Despite these limitations, measurements confirmed that the integrated loads on the four-bladed inducer respond to both cavitation intensity and cavitation phenomena. Likewise, the surface-mount pressure transducers were subjected to a range of temperatures and flow conditions in a non-rotating environment to record bias shifts and transfer functions between the transducers and a reference device. The pressure transducer static performance was within manufacturer's specifications and dynamic response accurately followed that of the reference.

Skelley, Stephen E.↗

NASA NTRS2008

Investigation of Condensing Ice Heat Exchangers for MTSA Technology Development

Metabolic heat regenerated Temperature Swing Adsorption (MTSA) technology is being developed for thermal, carbon dioxide (CO2) and humidity control for a Portable Life Support Subsystem (PLSS). Metabolically-produced CO2 present in the ventilation gas of a PLSS is collected using a CO2selective adsorbent via temperature swing adsorption. The temperature swing is initiated through cooling to well below metabolic temperatures. Cooling is achieved with a sublimation heat exchanger using water or liquid carbon dioxide (LCO2) expanded below sublimation temperature when exposed to low pressure or vacuum. Subsequent super heated vapor, as well as additional coolant, is used to further cool the astronaut. The temperature swing on the adsorbent is then completed by warming the adsorbent with a separate condensing ice heat exchanger (CIHX) using metabolic heat from moist ventilation gas. The condensed humidity in the ventilation gas is recycled at the habitat. The water condensation from the ventilation gas is a significant heat transfer mechanism for the warming of the adsorbent bed because it represents as much as half of the energy potential in the moist ventilation gas. Designing a heat exchanger to efficiently transfer this energy to the adsorbent bed and allow the collection of the water is a challenge since the CIHX will operate in a temperature range from 210K to 280K. The ventilation gas moisture will first freeze and then thaw, sometimes existing in three phases simultaneously. A NASA Small Business Innovative Research (SBIR) Phase 1 contract was performed to investigate condensing and icing as applied to MTSA to enable higher fidelity modeling and assess the impact of geometry variables on CIHX performance for future CIHX design optimization. Specifically, a design tool was created using analytical relations to explore the complex, interdependent design space of a condensing ice heat exchanger. Numerous variables were identified as having nontrivial contributions to performance such as hydraulic diameter, heat exchanger effectiveness, ventilation gas mass flow rate and surface roughness. Using this tool, four test articles were designed and manufactured to map to a full MTSA subassembly (the adsorbent bed, the sublimation heat exchanger for cooling and the condensing ice heat exchanger for warming). The design mapping considered impacts due to CIHX geometry as well as subassembly impacts such as thermal mass and thermal resistance through the adsorbent bed. The test articles were tested at simulated PLSS ventilation loop temperature, moisture content and subambient pressure. Ice accumulation and melting were observed. Data and test observations were analyzed to identify drivers of the condensing ice heat exchanger performance. This paper will discuss the analytical models, the test article designs, and testing procedures. Testing issues will be discussed to better describe data and share lessons learned. Data analysis and subsequent conclusions will be presented.

Padilla, Sebastian↗

NASA NTRS2010

Effect of Dynamic Sector Boundary Changes on Air Traffic Controllers

The effect of dynamic sector boundary changes on air traffic controller workload was investigated with data from a human-in-the-loop simulation. Multiple boundary changes were made during simulated operations, and controller rating of workload was recorded. Analysis of these data showed an increase of 16.9% in controller workload due to boundary changes. This increased workload was correlated with the number of aircraft handoffs and change in sector volume. There was also a 12.7% increase in average workload due to the changed sector design after boundary changes. This increase was correlated to traffic flow crossing points getting closer to sector boundaries and an increase in the number of flights with short dwell time in a sector. This study has identified some of the factors that affect controller workload when sector boundaries are changed, but more research is needed to better understand their relationships.

Jung, Jaewoo↗

DOE OSTI2022

Valuation of Novel Waste Heat Sources and a Path Towards Adoption: Preprint

It is recognized that beneficial electrification of most space heating will be necessary to avert the worst consequences of climate change. Fifth generation district heating and cooling (5GDHC) networks operate at near-ambient temperatures and thus facilitate heating electrification, as well as the use of waste heat sources at a wide range of temperatures. In this paper, we analyze the potential of waste heat to supply the required heat to these networks and describe the business models that could expand the use of these waste heat sources. Showcase single family and commercial districts in the US are discussed to demonstrate emerging technologies, district infrastructure approaches, and third-party thermal utility funding models for these leading 5GDHC networks. As part of this work, heat flow and temperature profiles from five different types of waste heat sources are analyzed. An example district is used to examine the integration potential and to quantify the potential reduction in energy consumption. The results indicate that 5GDHC networks are highly suitable systems for utilizing low to moderate temperature waste heat sources. In the studied district, waste heat can cover a share of up to 66% of the heat supplied to the ambient loop and reduce the overall electricity consumption for heating by up to 51%, depending on the characteristics of the specific power, temperature, and type of waste heat source. Through their moderate operating temperatures and use of waste heat sources combined with third party financed infrastructure, 5GDHC districts have significant potential to reduce carbon emissions associated with space conditioning.

district energy↗

DOE OSTI2018

Simplifications for hydronic system models in modelica

Building systems and their heating, ventilation and air conditioning flow networks, are becoming increasingly complex. Some building energy simulation tools simulate these flow networks using pressure drop equations. These flow network models typically generate coupled algebraic nonlinear systems of equations, which become increasingly more difficult to solve as their sizes increase. This leads to longer computation times and can cause the solver to fail. These problems also arise when using the equation-based modelling language Modelica and Annex 60-based libraries. This may limit the applicability of the library to relatively small problems unless problems are restructured. This paper discusses two algebraic loop types and presents an approach that decouples algebraic loops into smaller parts, or removes them completely. The approach is applied to a case study model where an algebraic loop of 86 iteration variables is decoupled into smaller parts with a maximum of five iteration variables.

42 ENGINEERING↗

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