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At least 343 records · Page 19

Analysis of High-Speed Aerodynamics of a Swept Wing with Seamless Flaps

Computational fluid dynamics (CFD) analysis was conducted to evaluate the high-speed aerodynamics of a Gulfstream GIII airplane (Gulfstream Aerospace Corporation, Savannah, Georgia) swept wing modified with an experimental seamless, compliant flap called the Adaptive Compliant Trailing Edge (ACTE) flap for airworthiness. The high-speed aerodynamics of the modified ACTE wing were analyzed at Mach 0.85, 40,000 ft. A polyhedral finite-volume unstructured Reynolds-averaged Navier-Stokes CFD code was used with a two-equation turbulence model.

wing design↗

Microspine Gripping Mechanism for Asteroid Capture

This paper details the development and early testing of a compliant suspension for a microspine gripper device for asteroid capture or zero-gravity percussive drilling. The microspine gripper architecture is reviewed, and a proposed microspine suspension design is presented and discussed. Prototyping methods are discussed, as well as testing methods and results. A path forward is identified from the results of the testing completed thus far. Key findings include: the microspine concept has been established as a valid architecture and the compliant suspension exhibits the desired stiffness characteristics for good gripping behavior. These developments will aid in developing the capability to grasp irregularly shaped boulders in microgravity.

Merriam, Ezekiel G.↗

Flexible Modem Interface (FMI) in Space - Extending Standardized Commercial Satellite Communications Services to Space Users

Recent innovations are producing a multitude of advanced commercial satellite communications (COMSATCOM) systems that could deliver massive amounts of SATCOM capacity at a fraction of current cost while also offering reliability and availability that is critical to achieving mission success for orbiting assets. Recognizing the alignment of commercial capabilities with the National Aeronautics and Space Administration's (NASA) diverse mission requirements, the agency is proactively engaging industry to formulate strategies leading towards a NASA communications architecture that includes advanced commercial capabilities. To fully leverage the expanded space resources, NASA must also address the integration of commercial waveforms into its space terminals. In pursuit of similar goals, the United States Department of Defense (DoD) is leading the standardization of the flexible modem interface (FMI) to address service integration for their tactical terminals in pursuit of a DoD Wideband SATCOM Enterprise.This paper describes how NASA is adapting this FMI standard to work with the Space Telecommunications Radio System (STRS) software-defined radio (SDR) framework to address the challenging size, weight, and power resource requirements for terminals in space. A full adaptation would include waveform compatibility with modular baseband processing, frequency compatibility with a wideband front end, and radiated beam control with an electronically steerable antenna to enable multi-provider commercial service capability in a feasible package for space terminals. Security is also a key aspect to be addressed for this integration since data will flow through commercial networks, commercial service providers have their own security mechanisms, and space terminals must be able to securely load proprietary software and firmware needed to access the commercial networks on demand. Success of this effort means commercial partners will be able to allow network-compliant implementations to be hosted on STRS-compliant SDRs in space for reliable and capable network access.

COMSATCOM↗

Interpretation and Formalization of the Right-of-Way Rules

This paper presents an interpretation and mathematical definition of the right-of-way rules as stated in USA, Title 14 of the Code of Federal Regulations, Part 91, Section 91.113 (14 CFR 91.113). In an encounter between two aircraft, the right-of-way rules in 14 CFR 91.113 defines which aircraft, if any, has the right-of-way and which aircraft must maneuver to stay well clear of the other aircraft. The objective of the work presented in this paper is to give an unambiguous interpretation of the rules. From the interpretation, a precise mathematical formulation is created that can be used for analysis and proof of properties. The mathematical formulation has been defined in the Prototype Verification System (PVS) and properties of well formedness and core properties of the formalization have been mechanically proved. Additional objectives are to use the mathematical formulation to code a rule compliant virtual pilot that can be used in simulation experiments and to possibly use the rule compliant virtual pilot in autonomous operations.

right-of-way↗

Development of Advanced Conformal and Soft Pica for Future Nasa Missions and Commercial Space

Phenolic Impregnated Carbon Ablator (PICA) is a low-density ablator that has been used as the planetary entry heatshield for several NASA missions since the late 90’s. Its low density and efficient performance characteristics have proven effective for use from Discovery to Flag-ship class missions, from Sample Return missions such as Stardust, OSIRIS-REx to large Mars Lander missions such as MSL and Mars 2020. Continued development of a more mass efficient and compliant versions of PICA that use a carbon felt as the substrate will be presented. The felt based versions of PICA known as Conformal PICA (C-PICA) and Soft PICA (S-PICA), are very comparable in terms of peak heat-flux capabilities compared to standard PICA. The lower density and of C-PICA and S-PICA further show a much higher thermal protection efficiency and hence more mass savings. The compliant nature of these materials allows for use on a wide variety of substrates and therefore makes it very attractive for commercial low earth orbit missions as well as NASA’s aerocapture missions to Ice Giants. NASA is currently working with several commercial partners (Varda and Inversion Space) to Technology Transfer C/S-PICA variants for commercial LEO missions. Thermal, mechanical, and representative environment arc-jet tests have been conducted comparing the performance of Conformal and Soft-PICA materials.

Matthew J Gasch↗

Development of Advanced Ablative Carbon Phenolic TPS for Future NASA Missions and Commercial Space

Phenolic Impregnated Carbon Ablator (PICA) is a low-density carbon phenolic ablator that has been used as the planetary entry heatshield for several NASA missions since the late 90’s. Its low density and efficient performance characteristics have proven effective for use from Discovery to Flagship class missions, from Sample Return missions such as Stardust, OSIRIS-REx to large Mars lander missions such as MSL and Mars 2020. Continued development of a mass efficient, compliant version of PICA that use a carbon felt as the substrate will be presented. The felt based versions of PICA known as Conformal PICA (C-PICA) is comparable in terms of peak heat-flux capabilities compared to standard PICA. Additionally, a novel all felt PICA-Flex offers further reductions in density, with higher thermal protection efficiency resulting in additional mass savings beyond C-PICA. Furthermore, the compliant nature of these materials allows for application without Strain Isolation Pad to a wide variety of substrates, making attractive for commercial low earth orbit missions as well as NASA’s aerocapture missions to Ice Giants. NASA is currently working with several commercial partners (Varda and Inversion Space) to Technology Transfer C/S-PICA variants for commercial LEO missions. Preliminary thermal and mechanical tests have been conducted comparing the performance of Conformal and Soft-PICA and PICA-Flex materials.

Flexible Ablative TPS↗

Data Integrity Challenges in NASA Giovanni

The Geospatial Interactive Online Visualization ANd aNalysis Infrastructure (Giovanni) is an online tool developed by the NASA Goddard Earth Sciences (GES) Data and Information Services Center (DISC), one of 12 NASA Science Mission Directorate Data Centers (DAACs) to analyze and visualize NASA remote sensing and model data without downloading data and software. As of this writing, over 2000 Earth satellite and model variables are available in Giovanni, including several well-known NASA satellite missions (e.g., TRMM, GPM) and projects (e.g., MERRA-2, GPCP). There are twenty-two plots provided by Giovanni that can be used to analyze, compare, and explore Earth data across disciplines. Results can be shared with colleagues and downloaded for further analysis. Giovanni has helped publish over 3000 referral papers over the years. As open science policies roll in, data integrity has become a major challenge for Giovanni and other tools. For integrity, both data and workflows must be transparent. FAIR-compliant data, including input, intermediate, and result products, as well as their associated statistics, metadata, and information, are needed. The NASA Data Product Development Guide for Data Producers provides a key resource on how to develop FAIR-compliant data products. Data quality information is also needed from data producers and analysis services like Giovanni. The workflow part is quite challenging and requires workflow management improvements, such as recording workflows and making them available to users. In this presentation, we will discuss the data integrity challenges in Giovanni.

data analysis, visualization↗

Fluid-Thermal-Structural Interactions Induced by an Asymmetric Shock-Wave/Boundary-Layer Interaction in a Mach-6 Compression Corner

An experimental study is conducted of the fluid-thermal-structural interaction of a clamped compliant panel exposed to a three dimensional shock-wave/boundary-layer interaction (SWBLI) induced by a Mach-6 compression ramp with a spanwise nonuniform incoming boundary layer. The nonuniform boundary layer was produced by placing trips on one side of the upstream flat plate, resulting in largely turbulent flow on the tripped side and transitional flow on the untripped side. Measurements of the flowfield confirmed that the tripped boundary layer contained elevated levels of unsteadiness, and the SWBLI was observed to vary from attached to fully separated as the ramp angle was increased from 10◦ to 38◦; the separation region on the tripped side of the panel was noticeably smaller, showing the elevated turbulence levels of the tripped-side flow to remain relatively localized rather than diffusing across the whole model. Full-field, time-resolved panel deformations were measured using high-speed photogrammetry and the vibrational response at each compression angle was characterized. Although the measured modes conformed largely to those from classical clamped-plate theory, some skewing of the mode shapes was observed. IR thermography highlighted regions of the compliant region where elevated temperatures were likely to promote thermal softening effects to the transient panel response. The quasi-static deformation and stress field was used to characterize the internal stress factor of each mode and showed a meaningful relationship between transient panel response and stress contained within each mode: modes with antinodes lying in high-stress areas of the plate tended to exhibit increases in vibrational frequency and decreases in vibrational power, whereas the opposite was true for modes with antinodes in low-stress areas.

Spectral Proper Orthogonal Decomposition↗

Developing an Energy Service Interface Specification

Developing an Energy Service Interface (ESI) specification requires engaging a community of stakeholders including grid operators, Information and Communication Technology implementors, integrators, and finally standards bodies who will define an interface that respects and boundaries of ownership and roles of responsibility in order to activate millions of Distributed Energy Resource for the provision of grid services. By applying Interoperability Maturity Model Criteria and ESI principles to common grid-DER service use cases, the Grid Modernization Lab Consortium team will engage subject matter experts to develop a specification, with an eventual goal of informing development of ESI compliant profiles or standards. The ESI Specification is intended to specify the characteristics, attributes, or qualities that need to be addressed in ESI compliant standards or profiles. This includes addressing interoperability criteria and the service-performance style of the interface.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Analysis of Exposure during Transportation of Waste to the Nevada National Security Site (NNSS) - 20445

Safety is a priority for the U.S. Department of Energy (DOE) Environmental Management (EM) Nevada Program. This commitment to safety is integrated into requirements and work procedures at DOE sites across the U.S. that generate low-level radioactive waste, mixed low-level radioactive waste, and classified waste that is transported to the Nevada National Security Site (NNSS) for permanent disposal. Generators of this waste are responsible for ensuring it is packaged and transported in a safe and compliant manner. These generators and their contracted commercial carriers must comply with U.S. Department of Transportation (DOT) regulations; the Nevada National Security Site Waste Acceptance Criteria (NNSSWAC); and other applicable federal, state, and local regulations and requirements. This includes packaging and shipping the waste to meet DOT regulatory radiation dose limits to ensure public safety during transportation. NNSS waste generators have a solid safety record for complying with these stringent regulations as demonstrated by the fact that no shipments exceeding DOT dose rate limits were received at the NNSS Area 5 Radioactive Waste Management Complex (RWMC) during FY 2014 through FY 2018. A 2005 study conducted by the Desert Research Institute validated shipments to the NNSS comply with DOT radiation dose limits. In response to recent Nevada stakeholder requests for an updated study, an analysis was conducted to verify and provide evidence that the public continues to be safe from exposure to radioactive waste shipment to the NNSS. Radiation exposure from radioactive waste shipments in transit to the NNSS was evaluated. Three studies were performed: 1. Confirm compliance of waste shipments to the DOT radiation limits using dose rate surveys taken at the generator site and at the disposal site. 2. Estimate the dose to the public from waste shipments using the dosimetry results for disposal site personnel by comparing time of exposure for various individuals/scenarios. 3. Estimate the truck driver dose using the receipt dose rate surveys and time of exposure, and from dosimetry results. Study 1 confirmed compliance with the DOT dose rate limits for a sample of waste shipments (123 of 1,038) received during fiscal year (FY) 2017. Study 2 showed that the average annual radiation equivalent dose for disposal site personnel during FY 2017 was approximately 6.7% [0.415 mSv (41.5 millirem)] of the annual average dose that a person living in the U.S. receives from all sources [6.2 mSv (620 mrem)]. Maximum dose to a member of the public, a person resting/sleeping in an adjacent truck at a rest area to a waste shipment, was 0.0166 mSv (1.66 mrem), which is less than the dose received from a person taking a round trip from the east coast to the west coast of the continental U.S. on an airplane [0.07 mSv (7 mrem) per round trip]. Study 3 showed that the truck driver who made the most shipments of radioactive waste to the NNSS, who drove the most hours (estimated time of exposure 2,520 hours), during FY 2017 had a total dose of 0.15 mSv (15 mrem), which was obtained from their personal dosimeter. The annual dose recorded for disposal site personnel, the dose estimates for the public, and the truck driver dose were all a small percentage of the average radiation dose a person receives from all sources (e.g., background and medical radiation). At these levels, risk should only be described qualitatively. Radiation exposure from radioactive waste shipments to the NNSS were shown to be compliant with the DOT dose rate limits, safe, and very low (i.e., within background levels). (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Packaging and Transportation Regulatory Inconsistencies and Challenges - 20485

This paper presents regulatory inconsistencies within and between various regulatory agencies. These inconsistencies relate to the packaging and transportation of radioactive materials typically encountered during decommissioning including mixed wastes that are required to be compliant with more than one regulatory agency during shipment. At least one possible solution is presented for consideration. The following four examples are presented: - Packaging discrepancies for radioactive material meeting the DOT definition of Radioactive LSA-I that also contain lead may be compliant when shipped unpackaged per Department of Transportation (DOT) rules in 173.427 paragraph C. However, since they contain lead, they are required to be shipped in a package per the Environmental Protection Agency (EPA) Hazardous Waste Manifest (HWM) instructions. - The difference between the units of measure used in 49 CFR Part 172.101 Appendix A and 40 CFR, Part 355, Appendices A and B. - The requirement for outer packaging for radioactive gauges meeting all other requirements of 49 CFR 173.424 and 173.425. - E-Manifesting EPA system difficult for waste materials containing both radioactive class 7 and PCBs. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

MAGNETICALLY SUSPENDED CANNED ROTOR PUMPS FOR THE INTEGRAL MOLTEN SALT REACTOR

This project developed a molten salt pump design for small modular reactors, concentrated solar, and Gen IV nuclear reactors with a magnetically levitated rotor that can operate at temperatures of up to 700 °C. This eliminates the need for rotating seals and roller element bearings which require maintenance and are prone to failure. The pump design is also more compact than existing molten salt pump designs which require long shafts to thermally isolate the electric motor. The aims of the project are to: 1) design and test the molten salt pump, 2) develop and test a high temperature position sensor needed for magnetic bearing control, and 3) develop and test high temperature coil fabrication methods for electric motor and magnetic bearing fabrication. To develop the high temperature coils, conductor materials were analyzed for oxidation, diffusion, cladding, and resistivity. Of the candidate conductor materials that met the requirements, silver was chosen. The long-term impact of radiation on silver resistivity was analyzed by developing a model of a generic molten salt fast reactor to model the conductor irradiation in worst case scenarios. The analysis showed that increased resistivity due to transmutation of silver decreases exponentially with the reactor reflector thickness. Different electrical insulation materials were tested and the final high temperature coils developed were able to withstand conductor to ground voltages up to 1800 V before insulation breakdown. Magnetic bearings require high-precision high-speed measurements of the rotor position to operate. Current commercial position sensors can only operate up to 550 °C so a novel position sensor was developed that can operate up to 800 °C. These sensors were also designed to measure the position of the metallic rotor through a thin metallic corrosion barrier that protects that coils, insulation, and magnetic cores so that the salt containment barrier does not have any penetrations. The high-temperature sensor was tested and had comparable performance to commercially available inductive position sensors. The sensor design and signal processing has led to several invention disclosures. The magnetically levitated molten salt pump design was completed and analyzed. The chloride salt test loop at Oak Ridge National Laboratory was chosen to test the pump and the pump hydraulics and power were designed for the test loop flow and pressure requirements. Classes of motor designs that do not utilize permanent magnetic were considered for the high-temperature motor. After extensive analysis of their performance, a synchronous reluctance motor was chosen for the pump. The design was refined and analyzed to optimize performance. The magnetic bearings were designed to meet the force and frequency requirements necessary to levitate the rotor and reject disturbances from rotor imbalance, motor forces, and hydraulic forces. Compliant mounts for the position sensors were designed that would not damage the ceramic sensor components and maintain sensor alignment over a wide temperature range. A thermal hydraulic analysis of the molten salt coolant flow used to cool the rotor and stator was performed to ensure that the maximum temperature in the rotor and stator will not exceed 725 °C. The corrosion barrier and casing were designed to maintain the salt fluid boundary by using compliant features to absorb large expansion mismatches due to different coefficients of thermal expansion (CTE). Finally, the salt drain and fill systems were designed along with the pump support structure, integration with the test loop, and thermal insulation and heating. Corrosion barrier fabrication experiments were performed to assess using laser cladding to apply a sub-millimeter corrosion barrier to the surface of a Fe-Co-V magnetic core material. The cladding method showed minimal mixing between materials at their interface and withstood temperature cycling without damage to the cladding. The technology commercialization is focused on the high-temperature position sensors and there has been significant interest from the nuclear industry in utilizing these sensors along with some interest from the aerospace industry. The project also led to a research collaboration with a fusion energy industrial partner to study barriers to scaling the pump design from the kW size to the MW size. This research collaboration will also study methods to create high-temperature coils that have conductor to ground breakdown voltages above 5 kV. The successful development of high-temperature electromagnetic coils and high-temperature position sensors greatly increases the temperature limits for electromagnetic devices that don’t rely on permanent magnets. This includes electric motors, magnetic bearings, linear actuators, rotary position and velocity sensing, actuated valves, and generators to name a few. This will fill a current need in molten salt reactors, concentrated solar, and fusion energy for these critical peripheral devices needed for practical reactor designs that do not currently have commercial solutions.

Hines, J Wesley↗

SUBTASK 1.6 – BASIN ELECTRIC CARBON STORAGE RESEARCH PROJECT: NOVEL MONITORING TECHNIQUES

The Energy & Environmental Research Center (EERC) conducted baseline activities associated with an applied research project at Basin Electric Power Cooperative’s (Basin’s) carbon capture and storage (CCS) site in Beulah, North Dakota, to establish novel carbon storage-monitoring techniques as commercial methods under Cooperative Agreement No. DE-FE0024233, Subtask 1.6. The following report summarizes the baseline activities performed and briefly describes the subsequent (operational monitoring) activities that have been proposed to the U.S. Department of Energy (DOE) as part of the overall project to develop and demonstrate novel monitoring techniques at North America’s largest permitted CCS operation. Dakota Gasification Company (DGC), a wholly owned subsidiary of Basin, owns and operates the Great Plains Synfuels Plant (GPSP) approximately 5 miles northwest of the town of Beulah, North Dakota (Figure 1). In 2023, DGC received approval from the North Dakota Industrial Commission (NDIC) to develop a storage facility on-site for injecting a stream of carbon dioxide (CO2) captured from GPSP. DGC will transport the captured CO2 stream with approximately 6.8 miles of transmission lines that extend north of GPSP and inject >1 million tonnes (MMt) of CO2 annually (>1 MMt/yr) over a 12-year period with up to six underground injection control (UIC) Class VI-compliant injection wells completed in the Broom Creek Formation, a predominantly sandstone reservoir and saline aquifer underlying GPSP. The Broom Creek Formation lies approximately 5900 feet (ft) below ground surface (bgs) at GPSP. The commercial scale (i.e., >1 MMt/yr) of DGC’s permitted carbon storage project is ideal for developing and testing the novel monitoring techniques included within Subtask 1.6. The goals of this project are to demonstrate 1) the cost-effectiveness of novel monitoring technologies included as part of this research, 2) technology capability for tracking the CO2 plume and/or associated pressure response in the subsurface and monitoring out-of-zone migration, and 3) compliance with UIC Class VI program requirements. The research activities proposed for the overall project include 1) design of an automated, integrated, modular (AIM) monitoring station; 2) time-lapse electromagnetic (EM) field surveys; 3) drone-based surveillance studies; 4) time-lapse monitoring with seismic methods; 5) advanced wellbore-monitoring methods; 6) deployment of an AIM monitoring network; 7) EM monitoring of CO2 with real-time data processing; 8) continued seasonal drone-based surveillance studies; 9) seismic monitoring with passive and active surveys; and 10) wellbore monitoring with nuclear magnetic resonance (NMR) for near-surface characterization. Completion of Activities 1.0–5.0 (baseline activities) are described in this report. Upon authorization of funding by DOE, the EERC will initiate Activities 6.0– 10.0 (operational monitoring activities). Current state-of-the-art (SOA) carbon storage-monitoring techniques require countless labor hours dedicated to the acquisition of data. Once data are gathered, these SOA techniques often rely on commercial facilities to process raw data from the field. However, it is anticipated that next-generation monitoring techniques, such as those being demonstrated, will lower acquisition footprints, be less operationally intensive, and improve data acquisition efficiencies. These new techniques are more conducive to the application of machine learning, artificial intelligence, and automation, thus providing a pathway for integration into active control systems, informing site operability, and improving the integration of data for future CCS projects across the United States. Additionally, reclaimed and active mining lands are present within the project site, creating a unique opportunity to demonstrate the effectiveness of remote sensing and surface-based geophysics monitoring techniques at similar project sites that may include disturbed, unconsolidated, or actively excavated near-surface environments. The efforts included in the overall project will produce necessary designs, learnings, and data acquired during the baseline and operational monitoring periods that are necessary for time-lapse demonstration and validation of the described monitoring techniques. In addition, it is anticipated that the monitoring technologies included in this study will be compliant with UIC Class VI requirements to enable the potential for implementation at other CCS sites across the United States.

42 ENGINEERING↗

Evaluation of a Reduced-Order Model for IBR Fault Response Representation via OEM Blackbox Models: Preprint

Driven by the need to capture the electromagnetic transients of transmission lines, inverter switching behavior, and detailed control systems, electromagnetic transient (EMT) studies have become increasingly important in industry, such as IBR interconnection study and fault study. However, original equipment manufacturer (OEM) inverter models typically include extensive parameters and proprietary settings that are unavailable to protection engineers. This paper introduces a data-driven, reduced-order model (ROM) developed as a PSCAD library component for use in EMT-based fault studies. The ROM replicates key OEM model behaviors without requiring detailed knowledge of control design or parameterization. The accompanying Python automation scripts streamline data generation, parameter fitting, and validation. The ROM's performance is demonstrated through comparison with both IEEE 2800-compliant and non-compliant OEM models in a real-world power system. Relay responses show nearly identical results, while simulation runtime is reduced by an average of 32.8\%, highlighting the ROM's practicality for protection engineers.

14 SOLAR ENERGY↗

Utah FORGE 3-2417: Fiber-Optic Geophysical Monitoring of Reservoir Evolution - Workshop Presentation

This is a presentation on the Fiber-Optic Geophysical Monitoring of Reservoir Evolution at the Utah FORGE Milford Site project by Rice University, presented by Prof. Jonathan Ajo-Franklin. The project's objective was to develop an end-to-end fiber-optic sensing approach for EGS to track the initial zone of fracture creation, zones of connected mechanically compliant fractures, and zones of flowing fractures linking the injection/production well pair. This approach would also be used to integrate data into an improved thermo-hydro-mechanical model (THM). This presentation was featured in the Utah FORGE R&D Annual Workshop on September 8, 2023. The workshop provided a valuable opportunity to explore the progress made in each of the 17 Research and Development projects funded under Solicitation 2020-1 which aim to enhance our understanding of the crucial factors influencing the development of Enhanced Geothermal Systems (EGS) reservoirs and resources.

15 GEOTHERMAL ENERGY↗

Utah FORGE 3-2417: Fiber-Optic Geophysical Monitoring of Reservoir Evolution - 2024 Annual Workshop Presentation

This is a presentation on the Fiber-Optic Geophysical Monitoring of Reservoir Evolution by Rice University, presented by Jonathan Ajo-Franklin. This video slide presentation discusses the development of an end-to-end fiber-optic sensing approach for EGS to track the (1) initial zone of fracture creation, (2) zones of connected mechanically compliant fractures, (3) zones of flowing fractures, and (4) the integration of the data into an improved THM model. This presentation was featured in the Utah FORGE R&D Annual Workshop on August 13, 2024.

15 GEOTHERMAL ENERGY↗

Cable Decoupling and Cable-Based Stiffening of Continuum Robots

Cable-driven continuum robots, which are robots with a continuously flexible backbone and no identifiable joints that are actuated by cables, have shown great potential for many applications in unstructured, uncertain environments. However, the standard design for a cable-driven continuum robot segment, which bends a continuous backbone along a circular arc, has many compliant modes of deformation which are uncontrolled, and which may result in buckling or other undesirable behaviors if not ameliorated. In this paper, we detail an approach for using additional cables to selectively stiffen planar cable-driven robots with-out substantial coupling to the actuating cables. A mechanics-based model based on the planar Cosserat equations is used to find the design conditions under which additional cables can be routed without coupling of the cable lengths for small deformations. Simulations show that even for relatively large deformations, coupling remains small. A prototype is evaluated, and it is demonstrated that the compliance of the robot is substantially modified relative to the same robot without stiffening cables. Additional stiffening cables are shown to increase the end-effector output stiffness by a factor of approximately 10 over a typical design with actuating cables.

Tendon/wire mechanism↗

High Temperature Anode Recycle Blower for Solid Oxide Fuel Cell, Phase II (Final Report)

Broad commercialization of solid oxide fuel cells (SOFCs) requires anode offgas recycle blowers (ARCB) that are specifically designed for handling the challenging operating conditions presented by the SOFC process gases. Otherwise, they can be susceptible to frequent maintenance, low reliability, and short life. This report presents details of a DOE-funded Phase II effort conducted by Mohawk Innovative Technology, Inc. (MiTi®) for the development and testing of an oil-free, low cost, high-temperature centrifugal ARCB based on compliant foil bearing (CFB) technology for support of a 100 kW solid oxide fuel cell power plant. This Phase II builds on the results of a successful Phase I development project that resulted in the demonstration of a low TRL-6 prototype, shown in Figure 1. This Phase II final report presents design improvements over the Phase I prototype, presents the assembled test ARCBs, and discusses the advantages of this novel technology, particularly its long life and maintenance-free operation, which are derived from the use of CFBs. Also included are preliminary techno-economic analysis considerations for cost-effective deployment of the technology. The specific objectives of this project, as stated in the statement of program objectives (SOPO) were 1) to follow the methodology of design for manufacturing (or manufacturability) and assembly for implementing improvements identified as part of the Phase I effort with the purpose of reducing cost, enabling mass production, and facilitating the commercialization of a revised ARCB design, and 2) to fabricate four complete ARCB units based on the revised design and demonstrating their performance in both a laboratory setting and in an actual SOFC power plant. Execution of this SOPO would be supported by a number of technical tasks resulting in the fabrication and testing of the prototypes. To this end, MiTi continued the teaming relationship started during Phase I of the program with subcontracting partner FuelCell Energy, Inc. (FCE), which integrated (under a parallel effort funded by DOE Award DE-FE0026199) a modular 200 kWe SOFC power plant. MiTi and FCE coordinated to ultimately incorporate one of MiTi’s ARCB prototypes into one of the 100 kWe SOFC Modular Power Blocks (MPB) that constitute the core of FCE’s SOFC power plant for in-situ long-duration testing. Additionally, MiTi would explore the scalability and extendibility of the technology to other applications, as well as conduct a basic techno-economic analysis.

03 NATURAL GAS↗