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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 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

High-Power Oak Ridge Converter (ORC) for Extreme Fast Charging Applications

This project report presents a novel power converter system called Oak Ridge Converter (ORC), a patented technology developed by the Oak Ridge National Laboratory (ORNL) for XFC wireless EV charging systems. ORC integrates the grid interface converter (also known as the active front-end rectifier with power factor correction) with the high-frequency inverter stage, promoting size and cost-effective charging technology with reduced infrastructure costs. The integration of the front-end rectifier with the high-frequency inverter truly eliminates one power conversion stage and achieves more than 33% size, weight, volume, and cost reduction on the wireless charging systems. Furthermore, ORC eliminates the primary side direct current (DC) bus bulk capacitors that are usually aluminum electrolytic capacitors and replaces them with very small, cost-effective, highly reliable, and high-temperature operation-capable alternate current (AC) film capacitors. ORC is also applicable to both single-phase and poly-phase couplers. When used with polyphase couplers, ORC further improves the power density of the overall system with higher power density power electronics. Moreover, ORC is inherently bidirectional and allows the system to provide power back to the grid for grid ancillary or grid support services. The ORC, based on a patented ORNL technology, is an excellent approach to resolving the high-power charging problems as described above, which directly converts the 60 hertz (Hz) line frequency into high frequency (i.e., 85 kilohertz (kHz)) to use with a high-frequency isolation transformer or wireless charging coils while eliminating the primary side number of power conversion stages from two to one. The result of the project is a prototype and reference design for a high-power wireless charging system—including power electronics, magnetics, and thermal—serving as a baseline for product development. The proposed system results are demonstrated for 270 kW of output power, with the system's overall efficiency of 92% from the AC grid, achieving less than 3% current total harmonic distortion (THD) and around 0.99 power factor (PF).

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2024

Technical Bulletin 005: NTP Monitoring

The Center for Alternative Synchronization and Timing (CAST) views Precision Time Protocol (PTP) and Network Time Protocol (NTP) as critical elements of the grid, from generation to the grid edge. This tech bulletin discusses the operation of NTP. The document shows not only commercial but also open-source applications. In some cases, the commercial applications may already have existing feature sets to secure and monitor NTP streams. From a security standpoint, using subscription NTP is risky unless the open bidirectional ports on local firewalls and routers are properly monitored and controlled.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2025

Experiments to validate Thermodynamics and Transport models of Strongly Coupled Dusty Plasma Matter (Final Technical Report for DE-SC0023416)

The goal of this two-year grant is to provide access to the PI to dusty plasma experimental facilities at the DOE-funded Collaborative Research Facility Magnetized Plasma Research Laboratory, Auburn University to become a user of that facility, to obtain experimental data to support another ongoing grant DE-SC0021146 (an Early Career Award to the PI that is focused on modeling of dusty plasma thermodynamics and transport processes), to generate experimental data for funding proposals, and to provide exposure to University of Memphis students to advanced experimental techniques. The following technical accomplishments were made: 1. Development of a novel Bidirectional Electrode Control Arms Assembly (BECAA) for producing perfect 2D grain layers for complex plasma experimentation. BECAA uses movable electrode arms to tilt or move the electrode in a RF discharge from outside the chamber, allowing for the manipulation of grain clouds without needing to change the plasma parameters or gas pressure. This work addresses a longstanding gap in the literature for a method to produce clusters of selectable number of grains and that are perfectly two dimensional as opposed to being only quasi-2D. 2. Experimental investigation of the structural properties of finite-N clusters with N=2 to 50. Individual particle behavior in clusters could vary from grain to grain and this study measured systematically produced clusters for two different grain sizes. Analysis (funded by another grant DE-SC0021146) is currently underway to quantify the differences between grains that are found on the surface vs. the interior of clusters, the shell structure, and the decay of correlations in position, velocity, and kinetic energy. 3. An experimental method to measure the structural entropy of clusters was developed by observing the self-induced structural transitions between various possible arrangements. In a series of heating and cooling cycles, the number of times each possible arrangement was attained was experimentally observed and used to compute the probability of existence of that arrangement, and subsequently the configurational entropy of the cluster. Analysis (funded by another grant DE-SC0021146) is currently underway to produce the entropy of clusters as a function of the number of grains and use the same to compute thermodynamic state variables for 2D complex plasma/grain clusters. 4. A preliminary experimental study of multibody collisions between N grains (N=2 – 10) was conducted. The clusters were produced using the BECAA technique and velocities were imparted to the grains using manipulation laser pulses. Analysis (funded by another grant DE-SC0021146) is currently underway to develop a theoretical framework to describe multibody collisions analogous to classical two-body interactions.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2023

Thermal Conductivity of a Novel Salt-Hydrogel Complex as a Phase Change Material for Building Thermal Management

Use of electricity for space heating, ventilation and air conditioning in buildings may be better managed through temporary energy storage. Compared with electrochemical storage, the levelized cost of thermal energy storage systems can be lower depending on geographical location and thermophysical properties [1]. In any phase change material (PCM), the rate of absorption and release of thermal energy increases with higher thermal conductivity [2]. However, leading PCMs like paraffin waxes have thermal conductivities on the order of 0.1 W/mK. Glauber’s salt, a salt hydrate, possesses a relatively high thermal conductivity but suffers from supercooling and phase segregation. Research has shown that polymer-based composites with salt hydrates can prevent phase segregation and limit supercooling over hundreds of cycles [3] though the thermal conductivity of the composite may be reduced leading to low energy storage rates. Here, we report thermal conductivity measurements on polymer hydrogels which are stable in solutions of Glauber’s salt. To measure thermal conductivity of soft gels, we use a 3-omega method [4] where heat flows bidirectionally through a substrate below and through a gel placed on top. This suits measurements of both gels and liquids unlike transient plane heat source or transient hot wire methods. We report measurements of thermal conductivity of salt-hydrogel complexes as a function of temperature, cross-linking and salt concentration. In addition, we present modeling of thermal conductivity of sodium sulfate solutions with available theories. We finally employ polarized optical microscopy to observe inside the transparent hydrogel networks, showing that precipitating crystals may influence thermal conductivity measurements for high salt concentrations. Our thermal conductivity results combined with enthalpy of phase change, mass density and specific heat are essential to accurately design thermal storage systems for energy-efficient buildings.

composite, thermal conductivity↗
DOE OSTI2025

CalTestBed - Lucent Optics (CRADA Final Report)

The CRADA partner was developing a window film aimed at improving the control of the solar radiation that arrives at a building’s windows, ultimately reducing cooling loads and improving the distribution of daylight. The efforts under this CRADA were aimed at better understanding the performance of one or more prototypes of this film, with the aim of helping to narrow down the film design parameters to values more likely to achieve better performance. The technical means of achieving this project’s goals used LBNL’s world-class test facilities and expertise. These technical means included: (a) measurements of the bidirectional scattering distribution function (BSDF) of film samples, and (b) full-scale measurement of the energy (HVAC, lighting) and comfort (visual, thermal) impacts of at least one film prototype, for two solar angle “seasons” (“high” and “low” solar angle).

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2025

EVSE Characterization: V2G EVSE Comparison

As part of the U.S. Department of Energy EVs@Scale consortium Next-Generation Profiles project, results and analysis from the characterization of high-power conductive and wireless charging infrastructure are presented. This characterization is conducted over a wide range of direct current (DC) current and DC voltage operation for nominal test conditions and off-nominal test conditions. Test plans and procedures were developed to define the test configurations and requirements, measurement parameters, and test procedures used throughout testing. Results from a 2024 study conducted on electric vehicle supply equipment (EVSE) characterization by the Idaho National Laboratory (INL) include two bi-directional vehicle-to-grid (V2G) capable EVSEs. These EVSE are referred to as V2G-EVSE9 and V2G-EVSE10. Laboratory testing is conducted at nominal test conditions to characterize the power transfer capabilities, efficiency, power factor, and other power quality metrics of the two DC EVSEs capable of V2G bi-directional power transfer. Results from testing show the performance is consistent for V2G-EVSE9 and V2G-EVSE10 when comparing charging to discharging performance, except for V2G-EVSE10 for power transfer when operating above 70% of the rated DC current. V2G-EVSE10 efficiency is >98% while charging and <91% while discharging at the same operating conditions, near maximum-rated current, at 300VDC. In contrast, V2G-EVSE9 results are consistent for charging and discharging. This EVSE is nearly 96% efficient while charging or discharging when operating over 50% of rated AC power. V2G EVSE performance is also characterized during off-nominal AC grid conditions involving AC voltage deviation (426 VAC to 518 VAC), AC frequency deviation of +2% (58.8 Hz to 61.2 Hz), and AC voltage harmonics injection. Many test conditions have little-to-no impact on performance characteristics of the two EVSEs; however, there are a few notable findings with significant power transfer capability impacts. AC voltage harmonics injection resulted in negative impacts on power quality attributes for both EVSEs, but with no impact on power transfer capability. Off-nominal AC voltage and frequency conditions resulted in unstable or lack of power transfer capability for both EVSEs. V2G-EVSE9 is unable to transfer power when AC voltage is >300V L-N. V2G-EVSE10 is unable to transfer power when AC frequency deviation exceeds +0.8%. V2G energy management system transient response and latency are quantified during laboratory testing. V2G-EVSE9 and V2G-EVSE10 utilize cloud-based V2G energy management systems that command the power transfer level between the EVSE and EV. The latency and response characteristics of the entire systems (web-based user interface, V2G energy management system, cellular communications, and EVSE response) are quantified through laboratory testing for V2G-EVSE9 and V2G-EVSE10. V2G-EVSE9 latency ranges from 0.8 to 1.8 seconds, whereas V2G-EVSE10 latency ranges from 3.4 to 8.8 seconds. The ramp rate to a change in power transfer request also differs between the two EVSEs. V2G-EVSE10 ramp rate ranges from 50% to -250% of rated AC power per second, whereas V2G-EVSE9 rate ranges from 95% to -95% of rated AC power per second. At the highest rate of change in power transfer, V2G-EVSE10 can change from full charge power to full discharge power in less than one second. The V2G EVSE characterization presented in this report provides valuable insights and results for use by numerous entities. This includes modeling and simulation organizations, decision makers, fleet planning, industry stakeholders, and many others involved with the development and deployment of electrified transportation technologies. Additional high-power DC chargers, bidirectional chargers, and inductive power transfer EVSE characterization results are anticipated from additional EVSE brands and models, which will be detailed in future publications in support of the U.S. Department of Energy EVs@Scale consortium Next-Gen Profiles project.

25 ENERGY STORAGE↗
DOE OSTI2023

Wide Bandgap Solid State Circuit Breakers for AC and DC Microgrids

The objective of the project is to develop a new class of ultrafast, self-powered, programmable, autonomously operated, bidirectional solid state circuit breakers (SSCBs) using wide band gap (WBG) semiconductors with 1000X reduction in response time and 5X reduction in cost in comparison to commercial mechanical circuit breakers. In particular, we have developed two SSCB prototypes of 380VDC/220VAC/20A and 1000VDC/10A using GaN power switches for common distribution-level AC and DC voltages.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

Automating the Analysis of Large Language Models Responses through Zero-Shot Question Answering

Recent advancements in Large Language Models (LLMs) have shown significant potential in various applications, yet their evaluation, particularly in zero-shot question answering scenarios, remains a challenging task. In this study, our objective was to explore precision metrics for Large Language Models (LLM) and design and implement a software pipeline to automatically evaluate LLMs' outputs under zero-shot question answering. Zero-shot question answering involves a model providing answers to questions about topics it hasn't seen during training. It leverages the principles of zero-shot learning by relying on semantic understanding and generalization from related knowledge. The data used was metadata from medical databases on congenital heart disease. We explored eleven LLM metrics and selected three for our evaluation: BLEU, BERTScore, and MoverScore. BLEU calculates a score based on the overlap of n-grams (contiguous sequences of n items, typically words) between the machine-generated translation and the reference translations. Higher BLEU scores indicate better correspondence between the machine-generated and human-generated translations. BERTScore is a metric used to evaluate the quality of machine-generated text by measuring the similarity of token embeddings produced by BERT (Bidirectional Encoder Representations from Transformers) between the generated text and reference text. MoverScore is a metric that quantifies the dissimilarity between the distributions of word embeddings from machine-generated text and reference text, emphasizing semantic similarity over exact token overlap. We also introduced HBKI, a composite metric summarizing these approaches. We tested five models —GPT-3, Llama-2, Gemini 1.5 Pro, Solar 10.7B, and Mixtral-8x7b. Our software pipeline, designed and implemented using Object-Oriented Programming principles, allows users to customize the selection and extraction of features for topics of interest in their own research. Our results show that MoverScore delivered the most precise evaluation of the LLM's outputs, while Mixtral-8x7b achieved the best overall performance in extracting metadata from the databases.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

Pilot Development Progress to Demonstrate Electric Thermal Energy Storage (ETES) Using Low-Cost Particles

The rapid growth of future energy demand increases the need to economically store electrical energy over durations up to several days in long-duration energy storage (LDES) applications. LDES can reduce the grid stress for improving the resilience of the grid. The integration of renewable power and storage has several significant and positive impacts including expanding the renewable energy portion of electricity generation, meeting peak-load demand, and coordinating supply and demand. Several energy storage approaches including mechanical, chemical and electrochemical methods are currently deployed or under development. However, LDES requirements pose unique challenges for scalability, energy capacity, and cost. Thermal energy storage (TES) has the ability to store a large capacity of energy with improved site flexibility compared to incumbent LDES technologies (i.e., pumped hydro) and has attracted significant interest. Our development in TES technology using solid particles as the storage medium has shown feasibility and potential in serving LDES purposes. Particle TES has various advantages over commercialized molten nitrate salt TES and has emerged as a promising storage technology originating from Generation 3 concentrating solar power (CSP) development. Stable, inexpensive silica sand produced in the Midwestern U.S. was identified as a suitable storage medium and has been validated through lab heating and cycling tests. We have successfully developed particle TES for bidirectional electric energy storage to broaden the applications for TES beyond CSP technologies and into standalone electric-thermal energy storage (ETES) systems. Key component designs and performance were verified with prototype testing and model simulations. The ETES system uses high-temperature, low-cost particle thermal energy storage coupled with a unique pressurized fluidized bed heat exchanger that supports a high-efficiency, air-Brayton combined power cycle. At times of low energy demand or high renewable production, an electric particle heater heats large quantities of solid particles to high temperatures in excess of 1100 degrees C. The particles are stored in internally insulated silos. At times of high electricity demand, the hot particles are gravity-fed through the heat exchanger where stored thermal energy is transferred to the power cycle working fluid to drive the gas turbine power generation system, thereby converting the thermal energy back into electricity for the grid. The cold particles leaving the heat exchanger are returned to the storage silos by a well-insulated particle conveyor. This ETES technology using particle TES can be sited anywhere and is predicted to be economic and efficient. Moreover, this ETES technology could be co-located with a retired coal or gas plant to leverage existing power generation and grid infrastructure. Our work has focused on the development of each of the key components (e.g., the electric particle heater, particle storage silos, and the particle-to-gas pressurized fluidized bed heat exchanger) through conceptual designs, prototype testing, and computational modeling. These developments demonstrate technological feasibility and are an important step towards the next phase of development of this promising LDES technology. This presentation will show the progress in developing a pilot demonstration of the ETES system on a commercially relevant scale.

25 ENERGY STORAGE↗
DOE OSTI2026

Communications Reliability for Vehicle Grid Integration

Electric Vehicles (EVs) adoption rate has been steadily increasing in the US leading to a growing number of charging stations including faster DC (Direct Current) chargers and slower Level 1 and Level 2 AC (Alternating Current) chargers. This increase in demand for electricity is further exacerbated by recent developments in Artificial Intelligence (AI) technology, advanced manufacturing, and digitization. These factors will require electric utilities to upgrade their infrastructure to keep up with the increasing electrical demand (especially during peak hours). An easy way to counteract the need for these upgrades is to shift a major chunk of active charge sessions (durations where there is energy transfer from charger to EV's propulsion battery) to off-peak hours thereby flattening the load curve and making the infrastructure more resilient. This concept is known as Smart Charge Management (SCM). EV owners also benefit from SCM since it lowers their charging costs and consequently their transportation costs by prioritizing charging during off-peak hours. SCM takes advantage of EV's capability to act as a controllable load or DER (Distributed Energy Resource). This report summarizes the reliability analysis performed on the communication required for two of these SCM use-cases. This analysis only focuses on SCM strategies for unidirectional charging (energy transfer from EVSE to EV or V1G) and not bidirectional charging.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2025

Masked Symbol Modeling for Demodulation of Oversampled Baseband Communication Signals in Impulsive Noise-Dominated Channels

Recent breakthroughs in natural language processing show that attention mech- anism in Transformer networks, trained via masked-token prediction, enables models to capture the semantic context of the tokens and internalize the grammar of language. While the application of Transformers to communication systems is a burgeoning field, the notion of context within physical waveforms remains under-explored. This paper addresses that gap by re-examining inter-symbol con- tribution (ISC) caused by pulse-shaping overlap. Rather than treating ISC as a nuisance, we view it as a deterministic source of contextual information embedded in oversampled complex baseband signals. We propose Masked Symbol Model- ing (MSM), a framework for the physical (PHY) layer inspired by Bidirectional Encoder Representations from Transformers methodology. In MSM, a subset of symbol-aligned samples is randomly masked, and a Transformer predicts the missing symbol identifiers using the surrounding “in-between” samples. Through this objective, the model learns the latent syntax of complex baseband waveforms. We illustrate MSM’s potential by applying it to the task of demodulating sig- nals corrupted by impulsive noise, where the model infers corrupted segments by leveraging the learned context. Our results suggest a path toward receivers that interpret, rather than merely detect communication signals, opening new avenues for context-aware PHY layer design.

Bedir, Oguz↗
DOE OSTI2026

Quench Propagation On Rare-Earth Barium Copper Oxide (REBCO) Tape

Rare-earth barium copper oxide (REBCO) high-temperature superconductors can carry high currents with zero electrical resistance, enabling applications in high-field magnets, energy systems, and fusion devices. However, localized losses of superconductivity, known as quenches, pose a severe risk due to REBCO’s mechanical brittleness and slow quench propagation, complicating early detection. This work investigates quench propagation and thermal response through controlled experiments. A segmented REBCO tape soldered onto a printed circuit board (PCB) with multiple voltage taps and temperature sensors was submerged in liquid nitrogen at 77 K. In the first test, current ramping produced a quench near 360 A, consistent with theoretical current limits, but resulted in local burnout. In the second test, a heater-induced quench at 300 A propagated bidirectionally with velocities ranging from 164–226 mm/s. These results provide critical parameters for improving REBCO quench detection and protection system design while accounting for REBCO’s limited bendability.

Ju, Han [Northern Illinois U.]↗
DOE OSTI2026

Evaluation of Commercially Available Proprietary Vehicle-to-Home Systems: A V2X Connect Project Report

Bidirectional charging and Vehicle-to-Home (V2H) technologies enable the energy stored in a plug-in hybrid electric vehicle’s (PHEV) or battery electric vehicle’s (BEV) onboard battery to supply residential loads during grid outages and support broader energy management objectives. Conventional backup solutions, such as Uninterruptible Power Supplies (UPS) and standalone inverter systems, are limited in capacity and scalability, whereas PHEV/BEV-based storage offers substantially greater energy reserves that can sustain household loads for extended periods.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2026

Quench Propagation on Rare-Earth Barium Copper Oxide (REBCO) Tape

Rare-earth barium copper oxide (REBCO) high-temperature superconductors can carry high currents with zero electrical resistance, enabling applications in high-field magnets, energy systems, and fusion devices. However, the localized losses of superconductivity called a quench pose a severe risk due to REBCO’s mechanical brittleness and slow quench propagation, hence complicating early detection. This work investigates quench propagation and thermal response through controlled experiments. A segmented REBCO tape soldered on a PCB with multiple voltage taps and temperature sensors was submerged in liquid nitrogen at 77 K. In the first test, current ramping produced a quench near 360 A, consistent with theoretical current limits but resulted in a local burn. In the second test, a heater-induced quench at 300 A propagated bidirectionally with measured velocities ranging from 164–226 mm/s. These measurements provide critical parameters for improving REBCO quench detection and protection system design with accounts for REBCO's limited bendability.

Ju, Han [NIU, DeKalb]↗
DOE OSTI2026

PLC Integration for the Horn A Magnetic Field Mapping Device

This presentation summarizes the integration of a programmable logic controller (PLC) into the Horn A magnetic field mapping device for the Long-Baseline Neutrino Facility (LBNF). The device is used to position magnetic field probes along the centerline of the Horn A inner conductor to verify that the magnetic field within this region is approximately zero. The presentation covers the PLC hardware and electrical integration, stepper motor and encoder control, ladder logic development, mechanical integration, and system testing. Results include successful bidirectional motion and encoder feedback for the translation and rotation axes, as well as characterization of translational motion for repeatable probe positioning.

Bitakis, Kayla [Unlisted, US, IL]↗
DOE OSTI2024

Multidimensional perspectives of geo-epidemiology: from interdisciplinary learning and research to cost–benefit oriented decision-making

Research typically promotes two types of outcomes (inventions and discoveries), which induce a virtuous cycle: something suspected or desired (not previously demonstrated) may become known or feasible once a new tool or procedure is invented and, later, the use of this invention may discover new knowledge. Research also promotes the opposite sequence—from new knowledge to new inventions. This bidirectional process is observed in geo-referenced epidemiology—a field that relates to but may also differ from spatial epidemiology. Geo-epidemiology encompasses several theories and technologies that promote inter/transdisciplinary knowledge integration, education, and research in population health. Based on visual examples derived from geo-referenced studies on epidemics and epizootics, this report demonstrates that this field may extract more (geographically related) information than simple spatial analyses, which then supports more effective and/or less costly interventions. Actual (not simulated) bio-geo-temporal interactions (never captured before the emergence of technologies that analyze geo-referenced data, such as geographical information systems) can now address research questions that relate to several fields, such as Network Theory. Thus, a new opportunity arises before us, which exceeds research: it also demands knowledge integration across disciplines as well as novel educational programs which, to be biomedically and socially justified, should demonstrate cost-effectiveness. Grounded on many bio-temporal-georeferenced examples, this report reviews the literature that supports this hypothesis: novel educational programs that focus on geo-referenced epidemic data may help generate cost-effective policies that prevent or control disease dissemination.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2021

Adaptive Cognitive Mechanisms to Maintain Calibrated Trust and Reliance in Automation

Trust calibration for a human–machine team is the process by which a human adjusts their expectations of the automation’s reliability and trustworthiness; adaptive support for trust calibration is needed to engender appropriate reliance on automation. Herein, we leverage an instance-based learning ACT-R cognitive model of decisions to obtain and rely on an automated assistant for visual search in a UAV interface. This cognitive model matches well with the human predictive power statistics measuring reliance decisions; we obtain from the model an internal estimate of automation reliability that mirrors human subjective ratings. The model is able to predict the effect of various potential disruptions, such as environmental changes or particular classes of adversarial intrusions on human trust in automation. Finally, we consider the use of model predictions to improve automation transparency that account for human cognitive biases in order to optimize the bidirectional interaction between human and machine through supporting trust calibration. The implications of our findings for the design of reliable and trustworthy automation are discussed.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2022

In-Situ Sensing and Dynamics Predictions for Electrothermally-Actuated Soft Robot Limbs

Untethered soft robots that locomote using electrothermally-responsive materials like shape memory alloy (SMA) face challenging design constraints for sensing actuator states. At the same time, modeling of actuator behaviors faces steep challenges, even with available sensor data, due to complex electrical-thermal-mechanical interactions and hysteresis. This article proposes a framework for in-situ sensing and dynamics modeling of actuator states, particularly temperature of SMA wires, which is used to predict robot motions. A planar soft limb is developed, actuated by a pair of SMA coils, that includes compact and robust sensors for temperature and angular deflection. Data from these sensors are used to train a neural network-based on the long short-term memory (LSTM) architecture to model both unidirectional (single SMA) and bidirectional (both SMAs) motion. Predictions from the model demonstrate that data from the temperature sensor, combined with control inputs, allow for dynamics predictions over extraordinarily long open-loop timescales (10 min) with little drift. Prediction errors are on the order of the soft deflection sensor’s accuracy. This architecture allows for compact designs of electrothermally-actuated soft robots that include sensing sufficient for motion predictions, helping to bring these robots into practical application.

Sabelhaus, Andrew P.↗