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All sources NASA NTRS DOE OSTI

DOE OSTI2023

Development of A Hardware-In-the-Loop (HIL) Testbed for Cyber-Physical Security in Smart Buildings

As smart buildings move towards open communication technologies, providing access to the Building Automation System (BAS) through the building's intranet, or even remotely through the Internet, has become a common practice. However, BAS was historically developed as a closed environment and designed with limited cyber-security considerations. Thus, smart buildings are vulnerable to cyber-attacks with the increased accessibility. This study introduces the development and capability of a Hardware-in-the-Loop (HIT) testbed for testing and evaluating the cyber-physical security of typical BASs in smart buildings. The testbed consists of three subsystems: (1) a real-time HIL emulator simulating the behavior of a virtual building as well as the Heating, Ventilation, and Air Conditioning (HVAC) equipment via a dynamic simulation in Modelica; (2) a set of real HVAC controllers monitoring the virtual building operation and providing local control signals to control HVAC equipment in the HIL emulator; and (3) a BAS server along with a web-based service for users to fully access the schedule, setpoints, trends, alarms, and other control functions of the HVAC controllers remotely through the BACnet network. The server generates rule-based setpoints to local HVAC controllers. Based on these three subsystems, the HIL testbed supports attack/fault-free and attack/fault-injection experiments at various levels of the building system. The resulting test data can be used to inform the building community and support the cyber-physical security technology transfer to the building industry.

Li, Guowen↗

DOE OSTI2025

Deep reinforcement learning control for co-optimizing energy consumption, thermal comfort, and indoor air quality in an office building

With the recent demand for decarbonization and energy efficiency, advanced HVAC control using Deep Reinforcement Learning (DRL) becomes a promising solution. Due to its flexible structures, DRL has been successful in energy reduction for many HVAC systems. However, only a few researches applied DRL agents to manage the entire central HVAC system and control multiple components in both the water loop and the air loop, owing to its complex system structures. Moreover, those researches have not extended their applications by incorporating the indoor air quality, especially both CO2 and PM2.5concentrations, on top of energy saving and thermal comfort, as achieving those objectives simultaneously can cause multiple control conflicts. What's more, DRL agents are usually trained on the simulation environment before deployment, so another challenge is to develop an accurate but relatively simple simulator. Therefore, we propose a DRL algorithm for a central HVAC system to co-optimize energy consumption, thermal comfort, indoor CO2 level, and indoor PM2.5 level in an office building. To train the controller, we also developed a hybrid simulator that decoupled the complex system into multiple simulation models, which are calibrated separately using laboratory test data. The hybrid simulator combined the dynamics of the HVAC system, the building envelope, as well as moisture, CO2, and particulate matter transfer. Three control algorithms (rule-based, MPC, and DRL) are developed, and their performances are evaluated on the hybrid simulator environment with a realistic scenario (i.e., with stochastic noises). The test results showed that, the DRL controller can save 21.4 % of energy compared to a rule-based controller, and has improved thermal comfort, reduced indoor CO2 concentration. The MPC controller showed an 18.6 % energy saving compared to the DRL controller, mainly due to savings from comfort and indoor air quality boundary violations caused by unmeasured disturbances, and it also highlights computational challenges in real-time control due to non-linear optimization. Finally, we provide the practical considerations for designing and implementing the DRL and MPC controllers based on their respective pros and cons.

Guo, Fangzhou↗

DOE OSTI2026

EPICS for small-scale laboratories with Python soft IOCs

While the Experimental Physics and Industrial Control System (EPICS) is widely used at large laboratories for slow controls and instrumentation, the deployment of a full EPICS installation can be difficult, with a steep learning curve to new users. Taking advantage of the pythonSoftIOC module, we developed an EPICS slow controls implementation for Jefferson Lab's Hall B cryotarget written entirely in Python and based on software IOCs that communicate with instruments over Ethernet. Here, this system ran successfully, interfacing with Jefferson Lab's full EPICS network, and we offer it as an example of the capabilities of pythonSoftIOC to build lightweight, yet robust and flexible instrumentation platforms that would be easily adapted for use at a small-scale laboratory. University groups can use these examples to build complete slow controls systems, from device communication to data archiving and display, using open-source, mature EPICS tools and student-friendly Python as an alternative to expensive and proprietary systems such as LabVIEW.

Computing↗

DOE OSTI2020

Integrated Dynamic Facade Control with an Agent-based Architecture for Commercial Buildings

Dynamic façades have significant technical potential to minimize heating, cooling, and lighting energy use and peak electric demand in the perimeter zone of commercial buildings, but the performance of these systems is reliant on being able to balance complex trade-offs between solar control, daylight admission, comfort, and view over the life of the installation. As the context for controllable energy-efficiency technologies grows more complex with the increased use of intermittent renewable energy resources on the grid, it has become increasingly important to look ahead towards more advanced approaches to integrated systems control in order to achieve optimum life-cycle performance at a lower cost. This study examines the feasibility of a model predictive control system for low-cost autonomous dynamic façades. A system architecture designed around lightweight, simple agents is proposed. The architecture accommodates whole building and grid level demands through its modular, hierarchical approach. Automatically-generated models for computing window heat gains, daylight illuminance, and discomfort glare are described. The open source Modelica and JModelica software tools were used to determine the optimum state of control given inputs of window heat gains and lighting loads for a 24-hour optimization horizon. Penalty functions for glare and view/ daylight quality were implemented as constraints. The control system was tested on a low-power controller (1.4 GHz single core with 2 GB of RAM) to evaluate feasibility. The target platform is a low-cost ($35/unit) embedded controller with 1.2 GHz dual-core cpu and 1 GB of RAM. Configuration and commissioning of the curtainwall unit was designed to be largely plug and play with minimal inputs required by the manufacturer through a web-based user interface. An example application was used to demonstrate optimal control of a three-zone electrochromic window for a south-facing zone. The overall approach was deemed to be promising. Further engineering is required to enable scalable, turnkey solutions.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS2011

Low-Latency Lunar Surface Telerobotics from Earth-Moon Libration Points

Concepts for a long-duration habitat at Earth-Moon LI or L2 have been advanced for a number of purposes. We propose here that such a facility could also have an important role for low-latency telerobotic control of lunar surface equipment, both for lunar science and development. With distances of about 60,000 km from the lunar surface, such sites offer light-time limited two-way control latencies of order 400 ms, making telerobotic control for those sites close to real time as perceived by a human operator. We point out that even for transcontinental teleoperated surgical procedures, which require operational precision and highly dexterous manipulation, control latencies of this order are considered adequate. Terrestrial telerobots that are used routinely for mining and manufacturing also involve control latencies of order several hundred milliseconds. For this reason, an Earth-Moon LI or L2 control node could build on the technology and experience base of commercially proven terrestrial ventures. A lunar libration-point telerobotic node could demonstrate exploration strategies that would eventually be used on Mars, and many other less hospitable destinations in the solar system. Libration-point telepresence for the Moon contrasts with lunar telerobotic control from the Earth, for which two-way control latencies are at least six times longer. For control latencies that long, telerobotic control efforts are of the "move-and-wait" variety, which is cognitively inferior to near real-time control.

Lester, Daniel↗

DOE OSTI2021

Power allocation by load aggregator with heterogeneous loads using weighted projection

With the recently increasing adoption of transactive energy markets, the role of a load aggregator is becoming increasingly important. Among the many tasks of an aggregator, the task of managing the electricity consumption among a group of grid-interactive efficient buildings according to the demand on the grid is taken up. Specifically, here, the task of allocating a certain amount of power among the participating customers while respecting their preferences and comfort is considered. Modeling this as an aggregate flexibility, the virtual battery conditions that are employed to verify the feasibility of a candidate power profile are derived. A feasible power profile, when allocated, satisfies specified comfort bands. To determine the ideal power requirement of the loads, the model-free control method is employed. The feasible power profile is allocated by embedding the customers’ preferences through weights, posing the power constraint as a hyperplane, and employing a weighted projection from the ideal power requirements onto the constraint plane to solve the considered task. The proposed method is computationally efficient and scalable to any number of heterogeneous thermostatically controlled loads in buildings.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS2004

Improved Temperature Dynamic Model of Turbine Subcomponents for Facilitation of Generalized Tip Clearance Control

This paper describes efforts conducted to improve dynamic temperature estimations of a turbine tip clearance system to facilitate design of a generalized tip clearance controller. This work builds upon research previously conducted and presented in and focuses primarily on improving dynamic temperature estimations of the primary components affecting tip clearance (i.e. the rotor, blades, and casing/shroud). The temperature profiles estimated by the previous model iteration, specifically for the rotor and blades, were found to be inaccurate and, more importantly, insufficient to facilitate controller design. Some assumptions made to facilitate the previous results were not valid, and thus improvements are presented here to better match the physical reality. As will be shown, the improved temperature sub- models, match a commercially validated model and are sufficiently simplified to aid in controller design.

Kypuros, Javier A.↗

DOE OSTI2025

A digital twin platform for building performance monitoring and optimization: Performance simulation and case studies

Advancements in sensor technology, data analytics, affordable compute, and communication infrastructure have paved the way for Digital Twin technology in optimizing building operations and controls. This study presents the development of an open and interoperable web-based Digital Twin platform for integrating diverse data streams and facilitating effective user interactions. The platform utilizes modern technologies for the web framework and time-series data management, ensuring scalability and responsiveness. The backend supports seamless integration of diverse data sources and emulators, incorporating data from building sensors and meters, external weather Application Programming Interfaces, and advanced EnergyPlus simulation models of the building and its energy systems including the Distributed Energy Resources that are formulated in Functional Mockup Units. A simulation case study was conducted with FlexLab, a test facility on Lawrence Berkeley National Laboratory campus. The case study includes normal operations, Distributed Energy Resource integration, and power outage scenarios, to illustrate the Digital Twin’s ability to provide critical insights into energy performance and thermal resilience. The results demonstrated the platform’s potential as a decision-support tool for optimizing building energy performance and enhancing resilience against extreme weather events. Future work will focus on deploying the Digital Twin platform to a real building for field validation, extending its capabilities to cover more scenarios such as bidirectional Electric Vehicle interactions, and enhancing user engagement.

EnergyPlus↗

NASA NTRS2008

Electronic Escape Trails for Firefighters

A proposed wireless-communication and data-processing system would exploit recent advances in radio-frequency identification devices (RFIDs) and software to establish information lifelines between firefighters in a burning building and a fire chief at a control station near but outside the building. The system would enable identification of trails that firefighters and others could follow to escape from the building, including identification of new trails should previously established trails become blocked. The system would include a transceiver unit and a computer at the control station, portable transceiver units carried by the firefighters in the building, and RFID tags that the firefighters would place at multiple locations as they move into and through the building (see figure). Each RFID tag, having a size of the order of a few centimeters, would include at least standard RFID circuitry and possibly sensors for measuring such other relevant environmental parameters as temperature, levels of light and sound, concentration of oxygen, concentrations of hazardous chemicals in smoke, and/or levels of nuclear radiation. The RFID tags would be activated and interrogated by the firefighters and control-station transceivers. Preferably, RFID tags would be configured to communicate with each other and with the firefighters units and the control station in an ordered sequence, with built-in redundancy. In a typical scenario, as firefighters moved through a building, they would scatter many RFID tags into smoke-obscured areas by use of a compressed-air gun. Alternatively or in addition, they would mark escape trails by dropping RFID tags at such points of interest as mantraps, hot spots, and trail waypoints. The RFID tags could be of different types, operating at different frequencies to identify their functions, and possibly responding by emitting audible beeps when activated by signals transmitted by transceiver units carried by nearby firefighters.

Jorgensen, Charles↗

NASA NTRS1994

Using generic tool kits to build intelligent systems

The Intelligent Systems and Robots Center at Sandia National Laboratories is developing technologies for the automation of processes associated with environmental remediation and information-driven manufacturing. These technologies, which focus on automated planning and programming and sensor-based and model-based control, are used to build intelligent systems which are able to generate plans of action, program the necessary devices, and use sensors to react to changes in the environment. By automating tasks through the use of programmable devices tied to computer models which are augmented by sensing, requirements for faster, safer, and cheaper systems are being satisfied. However, because of the need for rapid cost-effect prototyping and multi-laboratory teaming, it is also necessary to define a consistent approach to the construction of controllers for such systems. As a result, the Generic Intelligent System Controller (GISC) concept has been developed. This concept promotes the philosophy of producing generic tool kits which can be used and reused to build intelligent control systems.

Miller, David J.↗

NASA NTRS1989

Hierarchical Ada robot programming system (HARPS)- A complete and working telerobot control system based on the NASREM model

HARPS is a telerobot control system that can perform some simple but useful tasks. This capability is demonstrated by performing the ORU exchange demonstration. HARPS is based on NASREM (NASA Standard Reference Model). All software is developed in Ada, and the project incorporates a number of different CASE (computer-aided software engineering) tools. NASREM was found to be a valid and useful model for building a telerobot control system. Its hierarchical and distributed structure creates a natural and logical flow for implementing large complex robust control systems. The ability of Ada to create and enforce abstraction enhanced the implementation of such control systems.

Leake, Stephen↗

DOE OSTI2023

Pathways to Carbon Neutrality 2050 in Malaysia and Kuala Lumpur

Malaysia has recently set an ambitious target of achieving carbon neutrality as early as 2050. To accomplish this, the country will need to strategically reduce its emissions across all sectors. In 2020, Malaysia emitted approximately 368 MtCO2e, with the largest sources of emissions including electricity (36% of total emissions), transportation (17%), and industry (15%)1. We find that the greatest reductions in emissions can therefore come from decarbonizing power generation and electrifying end-use sectors. Digitalization, smart technologies, and improved energy efficiency will significantly reduce economy-wide energy consumption. By leveraging efficient technologies, both Malaysia and Kuala Lumpur can address the challenges posed by rapid urbanization and climate change. Digitalization is a broad category that includes a variety of measures; for example, the wide adoption of high-efficiency appliances and lighting or improved building energy codes in the buildings sector. Similarly, technological improvements can advance industrial energy efficiency, and for transportation, smart technologies cover a shift from private to public transportation and the greater use of electric vehicles. While renewable energy (RE) will play a crucial role in decarbonization, achieving carbon neutrality in certain sectors will be difficult without emerging technologies like carbon capture and storage (CCS) and innovative fuel sources such as hydrogen. In order for Malaysia to rely on CCS as a mitigation option, early investment and incentives to the private sector will be critical. This holds for the use of hydrogen as well: investing in the necessary technology, infrastructure, and human capital will allow Malaysia to position itself as an innovator in the region and leverage these advanced technologies as a key part of its climate strategy. Another possible carbon removal option other than CCS would be a land-use sink; however, given that Malaysia is still developing and may deforest in the near-term, this report does not focus on the mitigation potential of land-use change. With its innovative and bold climate plans, Kuala Lumpur is primed to be a leader in regional climate change efforts. Kuala Lumpur is also engaged in several international collaborations to ensure sustainable city development such as the C40 network and the ASEAN Smart Cities Partnership. As such, the city will play a critical role in contributing to Malaysia’s overall climate goals and as a policy trendsetter through ambitious, scalable plans. One key factor in these emissions reductions is that Kuala Lumpur has full control over its building guidelines, allowing for ambitious policies resulting in significant emissions reductions. However, in other sectors, Kuala Lumpur has less direct control over regulations; for example, power generation and integration of RE are largely in the hands of the Malaysian government. With limited and primarily light industry, Kuala Lumpur’s contributions to emissions reductions here are curbed. And, while Kuala Lumpur has control over local transportation policies like increasing access to and quality of public transportation, broad shifts in transportation will stem from national-level policies. As such, multi-level governance is an integral component of Malaysia’s climate strategy and coordination between local and national governments will be essential in reducing emissions and achieving other climate goals. This report addresses these and other key challenges and opportunities Malaysia faces on the road to carbon neutrality.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2024

Is a Generator the Only Solution When the Grid Fails? Optimizing Systems for Resiliency and Carbon Reduction: Preprint

Traditionally, buildings are dependent on utility infrastructure, and when a grid failure happens, end users rely on the closest source of energy storage to sustain operation until power is restored. For buildings, that typically means using an electric generator. This electric generator either uses on-site energy storage such as fossil fuels in a tank or a gas connection which is, in turn, tied to gas wells—also a form of energy storage. Generators are popular for their ease of implementation and low capital costs; however, they have limited value outside of disruptions, and they are a source of scope 1 emissions, or direct greenhouse gas emissions from sources controlled by the building owner. In contrast, some power generation and storage systems, such as photovoltaic (PV) panels and battery energy storage systems (BESS), can serve the same purpose during grid disruptions while presenting advantages outside of power failure. This paper explores methods for storing and converting energy on-site to increase building resiliency, focusing on solutions that minimize scope 1 emissions. We analyze the cost and carbon impacts of energy efficiency measures, PV arrays, and BESS, with and without generators, in a simulation test case. We find significant benefits can be achieved both during and outside of power failure events when designing systems that integrate the on-demand capability of generators, the low carbon energy supplied by PV, and the storage capabilities of BESS. Specifically, adding even minimal BESS and PV can result in downsizing the generator, increasing generator efficiency and requiring less fuel.

ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION↗

DOE OSTI2024

Brick Schema Standardized Plug Load Control Strategies for Load Reduction: Preprint

Plug loads comprise a significant percentage of commercial building energy consumption. Applying intelligent controls to turn off plug loads when unused can provide dynamic load reduction and flexibility, which are key traits of grid-interactive efficient buildings. This capability is important for equitable decarbonization as it can enable disadvantaged communities to electrify buildings without costly upgrades to electrical infrastructure. In this work, we present the effectiveness of various control strategies along with the operational lessons that informed their design. During a three-year period, we operated over 600 smart outlets in 12 university office buildings. The attached plug loads consisted primarily of printers, TVs, water dispensers, and copiers. After recording baseline power measurements for one year, we designed plug load control (PLC) strategies for each plug load type, use, and for different risk tolerance levels because PLC can potentially be disruptive to daily work. We used the Brick Schema to facilitate the management of plug load locations and other metadata. For advanced controls, we integrated the smart plugs with heating, ventilation, and air conditioning (HVAC) systems through the campus building automation system. We found static schedules to be the least disruptive and most predictable for occupants, resulting in 38% and 66% energy savings in two studies. For printers, print server-triggered PLC produced 86% savings, the highest of all strategies with minimal occupant impact. Scheduling of water dispensers and digital signage TVs produced 49% and 70% savings respectively with opportunities to improve performance with the use of HVAC occupancy data.

ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION↗

DOE OSTI2026

lumicap v0.1

Automated HDR luminance imaging system designed for daylighting research and building science. It controls a fisheye-lens camera to capture time-lapse bracket sequences, merges them into calibrated HDR images, and runs a full post-processing pipeline — all unattended. Features: - Scheduled LDR bracket capture via gphoto2 - HDR merging with vignetting, ND filter, and fisheye projection corrections - Illuminance and luminance meter integration (Konica Minolta T-10A, LS-100/150) - Daylight glare probability (DGP) and solar position computation - Automated false-color rendering, JPEG thumbnails, and daily time-lapse video - CSV data logging per timestep Uses: - Long-term monitoring of daylight conditions in buildings - Glare analysis for occupant comfort research - Solar irradiance and sky luminance studies Advantages: - End-to-end automation — capture, calibration, analysis, and archiving run without manual intervention - Built on the proven Radiance toolchain, ensuring photometrically accurate HDR output - Hardware-agnostic meter support via serial auto-detection - Lightweight — no GUI overhead, deployable on a headless Raspberry Pi or similar embedded system

Wang, Taoning [Lawrence Berkeley National Laborato↗

DOE OSTI2022

Controls Optimization Final Report, Controls Algorithms Report, Control Optimization - SPA II: Heaving Buoy Test Results [Three reports]

The over-arching project objective is to fully develop and validate optimal controls frameworks that can subsequently be applied widely to different WEC devices and concepts. Optimal controls of WEC devices represent a fundamental building block for WEC designers that must be considered as an integral part of every stage of device development. Using a building-blocks approach to optimal controls development, this effort will result in the full development of a feed-forward and feed-back control approach and a wave prediction system. Phase I focused primarily on numerical offline optimization and validation using wave tank testing of three industry partners’ WEC devices, including; CalWave, Ocean Energy, and Resolute Marine Energy. These industry partnerships allowed us to identify optimal control strategies for these different WEC topologies at different maturity levels. Phase II focused on demonstrating an integrated control system on an at-sea prototype that is to be custom-built and maturing the HW and SW required to successfully run our advanced controls code frameworks on at-sea systems. A secondary focus during phase II is to adapt our systems identification, controls and wave-prediction frameworks to become more robust and comprehensive in respect to RT capability, robustness, and reliability.

16 TIDAL AND WAVE POWER↗

DOE OSTI2021

Prevalence of typical operational problems and energy savings opportunities in U.S. commercial buildings

In the United States, as much as 30% of the 19 EJ that commercial buildings consume is considered excess. Much of the excess energy is due to the inability to manage building operations efficiently. Because almost 20% of the total primary energy consumption is associated with commercial buildings, significant energy reductions in this sector are needed to mitigate climate change. Therefore, many cities and states are mandating periodic “tune-ups” of these buildings to eliminate excess energy consumption. Although the benefits of tune-ups and retro-commissioning are clear, focusing these mandates to look for specific opportunities has been a challenge because of the lack of studies that document the prevalence of opportunities. Therefore, we analyzed building automation system data from 151 buildings across the United States to document common operational problems and opportunities to improve building operations. This analysis showed that opportunities to improve building operations exist in almost every building. These opportunities were not strongly correlated with building vintage or size, but were reflective of how the buildings are operated. The prevalence of the top 20 opportunities ranged between 74% and 23%, with 40% of these associated with air-handling units. The rest of the opportunities are associated with schedules, chilled and hot-water distribution, and zone controls. Of the 151 buildings, 69 of them implemented corrective actions of some or all opportunities that were identified. Implementation varied across the Re-tuning categories, with 60% for schedule opportunities, 50% for zone opportunities, over 40% for the air-handling unit and hot-water opportunities, and 35% of the chilled-water opportunities. There was wide variation in whole building energy savings, ranging from 0 to 50% and 0 to 18 $/m2 with median percent annual whole building savings of 12% and median normalized annual cost savings of $1.75/m2. In addition to documenting these key findings, the paper provides a list of opportunities that can be automatically and continuously identified and corrected and offers a list of those opportunities that should be the focus of the mandates.

Katipamula, Srinivas↗

DOE OSTI2025

DFAT: A web-based toolkit for estimating demand flexibility in building-to-grid integration

Demand Flexibility Assessment Tool (DFAT) is an open source web-based tool that estimates the demand flexibility potential of common control strategies in commercial buildings. The toolkit features a demand flexibility estimation tool that contains two calculators, basic and advanced, based on the level of input of customer data. The basic version calculates demand shed metrics for the control strategy “global temperature adjustment” and “cycle on/off compressors” using customer building information, local weather data, and electrical meter data. The advanced version, which uses detailed HVAC equipment data, calculates demand flexibility metrics for control strategies such as static pressure reset, global temperature adjustment, and cycle on/off compressors. In addition to the demand flexibility estimation tool, this toolkit offers a benchmarking tool that helps facility operators, aggregators, and utility resource managers assess demand flexibility opportunities, quantify/verify performance, and compare their performance against that of their peers.

Leong, Michael↗