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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 541 records · Page 30
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DOE OSTI2025

On optimal control of hybrid dynamical systems using complementarity constraints

Optimal control for switch-based dynamical systems is a challenging problem in the process control literature. In this study, we model these systems as hybrid dynamical systems with finite number of unknown switching points and reformulate them using non-smooth and non-convex complementarity constraints as a mathematical program with complementarity constraints (MPCC). We utilize a moving finite element based strategy to discretize the differential equation system to accurately locate the unknown switching points at the finite element boundary and achieve high-order accuracy at intermediate non-collocation points. We propose a globalization approach to solve the discretized MPCC problem using a mixed NLP/MILP-based strategy to converge to a non-spurious first-order optimal solution. The method is tested on three dynamic optimization examples, including a gas–liquid tank model and an optimal control problem with a sliding mode solution.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

FEM Analysis of Hybrid LTS/HTS Cos-Theta Dipole Magnet With Heterogeneous Cable Model

The Lawrence Berkeley National Laboratory (LBNL) and the National High Magnetic Field Laboratory (NHMFL) have published results on Bi-2212 superconductive magnets realized and tested in the canted cosine-theta and solenoid designs, respectively. Fermilab is now preparing for the assembly of the first Bi-2212 stress-managed cosine-theta insert magnet. The insert will be part of the first hybrid cosine-theta magnet made of Nb$_3$Sn outer layers within the US-MDP effort to reach a 20 T bore field. This paper presents the analytical analysis of the cosine-theta Nb$_3$Sn/Bi-2212 hybrid magnet. We report the parameters, logic, and implementation method of the 2D electromagnetic and mechanical FEM analysis of the LTS/HTS hybrid magnet. Results from a detailed heterogeneous model are compared to the homogeneous model implemented in the past. A Python code has been developed to simulate the current degradation due to stresses in the detail-modeled conductor areas. The current degradation has been introduced in the simulation dynamics for the HTS conductor as an iteration process, updating the input load of Lorentz forces of the energization at each step. The magnetic and mechanical analysis results of the 2D cosine-theta LTS/HTS dipole magnet have been described and analyzed.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2026

Enhanced climate reproducibility testing with false discovery rate correction

Simulating the Earth's climate is an important and complex problem, thus climate models are similarly complex, comprised of millions of lines of code. In order to appropriately utilize the latest computational and software infrastructure advancements in Earth system models running on modern hybrid computing architectures to improve their performance, precision, accuracy, or all three; it is important to ensure that model simulations are repeatable and robust. This introduces the need for establishing statistical or non-bit-for-bit reproducibility, since bit-for-bit reproducibility may not always be achievable. Here, we propose a short-simulation ensemble-based test for an atmosphere model to evaluate the null hypothesis that modified model results are statistically equivalent to that of the original model. We implement this test in version 2 of the US Department of Energy's Energy Exascale Earth System Model (E3SM). The test evaluates a standard set of output variables across the two simulation ensembles and uses a false discovery rate correction to account for multiple testing. The false positive rates of the test are examined using re-sampling techniques on large simulation ensembles and are found to be lower than the currently implemented bootstrapping-based testing approach in E3SM. We also evaluate the statistical power of the test using perturbed simulation ensemble suites, each with a progressively larger magnitude of change to a tuning parameter. The new test is generally found to exhibit more statistical power than the current approach, being able to detect smaller changes in parameter values with higher confidence.

Kelleher, Michael E. [Oak Ridge National Laborator↗
DOE OSTI2026

EXERGETIC: De-Risking Next-Generation Resilient Geothermal Hybrids via At-Scale Evaluation Using Virtual Emulation Digital Twin Environment for Efficient Operation

The DOE-GTO-funded project, award number 5.1.2.12, entitled "EXERGETIC - De-risking Next Generation Resilient Geothermal Hybrids via at-Scale Evaluation Using a Virtual Emulation Digital Twin Environment for Efficient Operation," advances the solution to these challenges by developing and validating a geothermal co-emulation environment implemented at the National Laboratory of the Rockies (NLR)'s Advanced Research on Integrated Energy Systems (ARIES) platform. This framework enables the de-risking of next-generation geothermal and geothermal hybrid systems through high-fidelity modeling, real-time digital emulation, advanced control strategies, and techno-economic assessment. The project focused on geothermal hybrid configurations that integrate geothermal power plants with concentrated solar power and underground thermal energy storage, enabling enhanced efficiency, flexibility, and grid support capabilities. The main goal of this project was the development of a geothermal digital co-emulation environment to demonstrate the technical and economic value of geothermal hybrid systems and their contribution to grid stability and flexibility. The EXERGETIC framework combined physics-based models, controls, and real assets at ARIES, including digital real-time simulators (DRTS), a 20-MW-scale controllable grid interface (CGI), and a 2-MW conventional generator. Detailed transient models were developed for the key subsystems of a hybrid geothermal plant, including parabolic trough solar collectors, reservoir thermal energy storage (RTES), and a binary Organic Rankine Cycle (ORC) power plant. The ORC model explicitly captured thermal inertia and off-design operation and integrated control strategies to dynamically respond to electric load profiles. The models were validated against published experimental and numerical studies, demonstrating strong agreement and confirming the accuracy and robustness of the modeling approach. The resulting digital twin represents geothermal-solar-storage systems at multiple scales (1 MW to 100 MW) and enables realistic emulation of grid-connected operation. The control architecture allows the geothermal resource to provide stable baseload generation, while solar and stored thermal energy supply flexible, dispatchable support during periods of high demand or variable grid conditions. A key contribution of the EXERGETIC project is the demonstration that geothermal hybrid systems can be designed to be active grid assets rather than passive baseload generators. Using the ARIES platform, the digital twin was evaluated under multiple grid scenarios, including load following, voltage support at the distribution level, and frequency response at the transmission level. Results show that hybrid geothermal systems can respond effectively to dynamic grid conditions, providing inertia-like behavior, primary frequency support, and voltage regulation through coordinated control. In addition to the performance and grid services capability analysis of geothermal and hybrid geothermal systems, the EXERGETIC project also focused on scalability and techno-economic analysis of geothermal hybrid plants. In particular, for the scalability analysis, machine-learning (ML)-based surrogate models were trained using data generated from the geothermal digital twin under different grid-connected scenarios and plant capacities. These ML models demonstrated strong interpolation and extrapolation capabilities across plant sizes, accurately reproducing both steady-state and transient responses with very low errors. Regarding the techno-economic analysis, plant performance results were integrated with cost models for hybrid geothermal systems, and the levelized cost of electricity (LCOE) was used as the main economic metric to evaluate system performance across a range of system capacities, solar shares, solar multiples, and storage durations. Results indicate that economies of scale significantly reduce geothermal LCOE as plant capacity increases, with large-scale systems (25-100 MW) achieving substantially lower costs than small plants. Hybridization with solar thermal energy and storage further improves economic performance by increasing capacity utilization and enabling flexible dispatch. In addition, thermal storage plays a critical role in reducing LCOE by maximizing geothermal, solar, and stored energy resources. In summary, the results from this project demonstrate that geothermal hybrid systems represent a promising alternative for increasing the energy conversion efficiency of geothermal technologies, contributing to the preservation of geothermal resources, and supporting the transition of geothermal plants from traditional baseload resources into flexible, resilient, and cost-competitive energy conversion technologies.

15 GEOTHERMAL ENERGY↗
DOE OSTI2025

Analysis of pumped thermal energy storage using particle media integrated with concentrating solar power

Pumped Thermal Energy Storage (PTES) is an electricity storage system that converts electricity into thermal energy which is stored and later transformed back into electricity. Previous work has illustrated that particles have low capital costs and can be operated over a wide range of temperatures. PTES with particle storage achieves higher round-trip efficiency and specific power output than when molten salt thermal energy storage is used. This article explores hybrid systems that combine PTES with Concentrating Solar Power (CSP). Hybrid systems share the majority of components thereby reducing costs compared to two stand-alone devices. In addition, hybrid systems can provide multiple services (such as renewable power generation and electricity storage services). Using particle thermal storage in these hybrid concepts provides freedom in choosing the design conditions, since a wide range of operating temperatures is allowable, therefore making it possible to identify hybrid system designs that have good performance. In this article, two concepts for hybrid PTES-CSP are introduced. Thermodynamic models are developed and these are used to evaluate the performance of two hybrid systems. These models account for turbomachinery efficiency, and approach temperature and pressure loss in heat exchangers, as well as other sources of inefficiency, such as motor-generator losses, and air fan power. The “Solar Top-Up” Concept uses CSP to increase the temperature delivered by the charging heat pump. The discharging system uses a topping gas cycle and a bottoming steam cycle to fully exploit the available energy. Using solar heat to increase the maximum temperature from 750 K to 1100 K increases the round-trip efficiency from 41 % to 62 % and the specific work output from 88 kJ/kg to 301 kJ/kg. The second concept is a “Dual-Mode” device which provides both electricity storage and solar electricity generation with the same set of components. The PTES-mode and CSP-mode performance are optimized at different design values but careful parameter selection leads to good performance of both modes: one design produces PTES round-trip efficiency > 60 %, CSP heat engine efficiency > 40 %, and specific work outputs > 150 kJ/kg (for both cycles), when the particle receiver temperature is > 1200 K and maximum heat pump temperature is 1100 K.

14 SOLAR ENERGY↗
DOE OSTI2024

Performance evaluation of underground thermal storage integrated dual-source heat pump systems

The increasing demand for electricity stresses the existing electric grids. Buildings consume 73% of all U.S. electricity and are responsible for 30% of U.S. greenhouse gas emissions. Integrating thermal energy storage (TES) in building heating/cooling systems, which consume considerable electricity, can mitigate the challenges to electric grids. Here, this study reports on a novel thermal energy storage device integrated heat pump system to reshape the building electricity demand profile while maintaining thermal comfort. The annual performance of the proposed system has been evaluated through a dynamic system simulation with high fidelity in the Modelica platform. The dynamic model of the novel hybrid component named ‘dual purpose underground thermal battery’ was developed and validated. It was then incorporated into the system model. Given a time-of-use tariff, a rule-based control strategy was designed to shift the electric demand and switch the heat pump source for a typical single-family house in different climate zones of the United States. The system performance of the new TES-integrated dual-source heat pump was compared with that of a conventional air-source heat pump system. The results indicate that the proposed system can reduce the annual HVAC electricity cost by up to 52% while saving 45.2% on electricity consumption. In the Northern areas, the annual peak load of the HVAC system can be reduced by 64.9%. However, this reduction is less in the Southern areas as the system’s higher efficiency in winter dominates the overall energy-saving potential.

25 ENERGY STORAGE↗
DOE OSTI2021

Realistic inflation in no-scale U(1) R symmetric flipped SU(5)

We have realized non-minimal Higgs inflation and standard hybrid inflation in the supersymmetric flipped SU(5) model with U(1) R symmetry using the no-scale form of the Kähler potential. In non-minimal Higgs inflation the waterfall Higgs field plays the role of inflaton, and in standard hybrid inflation the gauge singlet field S is employed as an inflaton. The predictions of both models are in good agreement with the Planck 2018 data. For numerical calculations we have fixed the gauge symmetry breaking scale, M, around 2 × 10 16 GeV. In both models the inflaton field values are constrained below m P . The tensor to scalar ratio r in non-minimal inflation is of the order of 10 -3 and for standard hybrid inflation r is tiny, of order 10 -15 –10 -4 . The scalar spectral index in both cases lie within the Planck 1-σ bounds, and the running of the scalar spectral index lies in the range, -dn s /d ln k ~ 6 × 10 -4 for non-minimal model and 10 -9 –10 -3 for the standard hybrid model. A realistic scenario of reheating and non-thermal leptogenesis is employed with reheat temperature T r ~ 10 9 GeV for non-minimal model and 10 6 –10 10 GeV for standard hybrid model. The R-symmetry plays a vital role in forbidding rapid proton decay, but at the same time it also suppresses terms responsible for generating right handed neutrino masses. A realistic scenario of right handed neutrino masses is obtained by considering effective R symmetry breaking at the nonrenormalizable level with adequate suppression of rapid proton decay.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2024

Improving River Routing Using a Differentiable Muskingum‐Cunge Model and Physics‐Informed Machine Learning

Recently, rainfall-runoff simulations in small headwater basins have been improved by methodological advances such as deep neural networks (NNs) and hybrid physics-NN models—particularly, a genre called differentiable modeling that intermingles NNs with physics to learn relationships between variables. However, hydrologic routing simulations, necessary for simulating floods in stem rivers downstream of large heterogeneous basins, had not yet benefited from these advances and it was unclear if the routing process could be improved via coupled NNs. We present a novel differentiable routing method (δMC-Juniata-hydroDL2) that mimics the classical Muskingum-Cunge routing model over a river network but embeds an NN to infer parameterizations for Manning's roughness (n) and channel geometries from raw reach-scale attributes like catchment areas and sinuosity. The NN was trained solely on downstream hydrographs. Synthetic experiments show that while the channel geometry parameter was unidentifiable, n can be identified with moderate precision. With real-world data, the trained differentiable routing model produced more accurate long-term routing results for both the training gage and untrained inner gages for larger subbasins (>2,000 km2) than either a machine learning model assuming homogeneity, or simply using the sum of runoff from subbasins. The n parameterization trained on short periods gave high performance in other periods, despite significant errors in runoff inputs. The learned n pattern was consistent with literature expectations, demonstrating the framework's potential for knowledge discovery, but the absolute values can vary depending on training periods. The trained n parameterization can be coupled with traditional models to improve national-scale hydrologic flood simulations.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Streamflow simulation in data-scarce basins using Bayesian and physics-informed machine learning models

Hydrologic predictions at rural watersheds are important but also challenging due to data shortage. Long short-term memory (LSTM) networks are a promising machine learning approach and have demonstrated good performance in streamflow predictions. However, due to its data-hungry nature, most LSTM applications focus on well-monitored catchments with abundant and high-quality observations. In this work, we investigate predictive capabilities of LSTM in poorly monitored watersheds with short observation records. To address three main challenges of LSTM applications in data-scarce locations, i.e., overfitting, uncertainty quantification (UQ), and out-of-distribution prediction, we evaluate different regularization techniques to prevent overfitting, apply a Bayesian LSTM for UQ, and introduce a physics-informed hybrid LSTM to enhance out-of-distribution prediction. Through case studies in two diverse sets of catchments with and without snow influence, we demonstrate that 1) when hydrologic variability in the prediction period is similar to the calibration period, LSTM models can reasonably predict daily streamflow with Nash–Sutcliffe efficiency above 0.8, even with only 2 years of calibration data; 2) when the hydrologic variability in the prediction and calibration periods is dramatically different, LSTM alone does not predict well, but the hybrid model can improve the out-of-distribution prediction with acceptable generalization accuracy; 3) L2 norm penalty and dropout can mitigate overfitting, and Bayesian and hybrid LSTM have no overfitting; and 4) Bayesian LSTM provides useful uncertainty information to improve prediction understanding and credibility. In conclusion, these insights have vital implications for streamflow simulation in watersheds where data quality and availability are a critical issue.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Time-domain modelling and thermometry of the CH 4 v 1 Q-branch using hybrid femtosecond/picosecond coherent anti-Stokes Raman scattering

Here, we present time-domain measurements and modelling of the CH 4 v 1 vibrational Q-branch, as well as simultaneous temperature acquisition from the CH 4 and N 2 vibrational Q-branches using broadband hybrid femtosecond/picosecond coherent anti-Stokes Raman scattering (fs/ps CARS). Accurate measurements with fs/ps CARS require knowledge of the time-domain response of the probed molecule at different temperatures and pressures. In this work, a fs/ps CARS model was developed for theCH 4 v 1 Q-branch and validated using time-resolved probe delay scans at pressures between 70 and 600 Torr and temperatures between 295 and 1000 K. A simplified modified exponential energy gap model was used to determine the linewidths of the Raman transitions within the Q-branch. Total Q-branch linewidths for the entire explored parameter space were also determined from the probe delay scans. This enabled quantitative measurements of CH 4 with fs/ps CARS as well as the temperature through the hot bands of the CH 4 v 1 Q-branch. With a broadband fs laser pulse in a two-beam phase matching scheme, the N 2 Q-branch and CH 4 v 1 Q-branch were simultaneously measured in a heated cell, and the temperatures from each molecule's spectra was evaluated. Here, the fitted temperatures corresponded well with differences ranging from 4 to 17%. It was also shown that exchanging 90% of CH 4 for N 2 or Ar at 295 K and 500 Torr did not significantly impact the normalized time-domain signal prior to a 100 picosecond probe delay. Spatially resolved one-dimensional (1-D) thermometry using the CH 4 Q-branch was also demonstrated with an imaged spatial resolution of 40 µm. With the developed model, 1-D quantitative measurements of CH 4 concentration and temperature can be measured with time resolution of tens of picoseconds.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2021

Spin Quantization in Heavy Ion Collision

We analyzed recent experimental data on the disassembly of 28Si into 7α in terms of a hybrid α-cluster model. We calculated the probability of breaking into several α-like fragments for high l-spin values for identical and non-identical spin zero nuclei. Resonant energies were found for each l-value and compared to the data and other theoretical models. Toroidal-like structures were revealed in coordinate and momentum space when averaging over many events at high l. The transition from quantum to classical mechanics is highlighted.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2023

Model Predictive Voltage Control of Large-Scale PV or Hybrid PV-BESS Plants

Increased penetration level of inverter-based resources (IBRs) and renewable energy in the power grid has called for more requirements from the control of IBRs. In this paper, the voltage-reactive power control of a photovoltaic (PV) power plant or hybrid PV-battery energy storage system (BESS) plant connected to a bulk power grid, whilst meeting the grid requirements, is studied. In this paper, a continuous-set model predictive control (MPC) formulation is proposed for voltage-reactive power control. For the same, an aggregated dynamic PV plant model is developed based on the recursive system equivalencing method. The formulation is then implemented in PSCAD simulation on a 125 MW PV plant or hybrid PV-BESS plant. The MPC implementation achieves 10.13% voltage improvement based on PSCAD simulation results in a balanced fault case study. Simulation results further demonstrate that MPC provides improved voltage support over the conventional proportional-integral (PI) controller post-fault occurrence.

Abu rub, Omar↗
DOE OSTI2023

Quantum machine learning with differential privacy

Abstract Quantum machine learning (QML) can complement the growing trend of using learned models for a myriad of classification tasks, from image recognition to natural speech processing. There exists the potential for a quantum advantage due to the intractability of quantum operations on a classical computer. Many datasets used in machine learning are crowd sourced or contain some private information, but to the best of our knowledge, no current QML models are equipped with privacy-preserving features. This raises concerns as it is paramount that models do not expose sensitive information. Thus, privacy-preserving algorithms need to be implemented with QML. One solution is to make the machine learning algorithm differentially private, meaning the effect of a single data point on the training dataset is minimized. Differentially private machine learning models have been investigated, but differential privacy has not been thoroughly studied in the context of QML. In this study, we develop a hybrid quantum-classical model that is trained to preserve privacy using differentially private optimization algorithm. This marks the first proof-of-principle demonstration of privacy-preserving QML. The experiments demonstrate that differentially private QML can protect user-sensitive information without signficiantly diminishing model accuracy. Although the quantum model is simulated and tested on a classical computer, it demonstrates potential to be efficiently implemented on near-term quantum devices [noisy intermediate-scale quantum (NISQ)]. The approach’s success is illustrated via the classification of spatially classed two-dimensional datasets and a binary MNIST classification. This implementation of privacy-preserving QML will ensure confidentiality and accurate learning on NISQ technology.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2025

Modeling MTS pyrolysis and SiC deposition kinetics using principal component analysis and neural networks

Accurate chemical kinetics modeling is crucial for improving the efficiency of chemical processing and synthesis of ceramic matrix composites. Detailed kinetic models are computationally expensive due to the large number of transported chemical species, while the simplified physics-based models, such as single-step global mechanisms, are efficient but often overlook key chemical intermediates and pathways. Recent deep learning approaches promise accurate and cost-effective models. Yet, they require additional closures for the transported nonlinear latent variables, complicating integration with existing solvers. In this work, we develop a hybrid linear—nonlinear reduced model for silicon carbide deposition from methyltrichlorosilane precursor by combining principal component analysis (PCA) and autoencoder (AE) neural network (NN) approaches. PCA is used to identify a smaller set of linear transport variables, enabling direct reuse of conventional transport solvers. NNs then reconstruct the full chemical state from these reduced variables. We demonstrate the method on a chemical vapor deposition reactor—comprising a gas-phase pyrolysis plug flow reactor and a heterogeneous surface reactor—over a wide range of temperatures, pressures, and residence times. Our PCA–AE model achieves high accuracy with only five transported scalars, achieving an eightfold cost reduction compared to detailed mechanisms, in both a priori (using data from the test set only) and a posteriori (coupled with a differential equation solver). In conclusion, notable errors arise primarily near training domain boundaries and for long residence times, indicating the need for domain shift indicators and better long-horizon predictions in future reduced chemistry model development.

autoencoder neural networks↗
DOE OSTI2023

Guiding Principles for the Rational Design of Hybrid Materials: Use of DFT Methodology for Evaluating Non‐Covalent Interactions in a Uranyl Tetrahalide Model System

Abstract Together with the synthesis and experimental characterization of 14 hybrid materials containing [UO 2 X 4 ] 2− (X=Cl − and Br − ) and organic cations, we report on novel methods for determining correlation trends in their formation enthalpy (ΔH f ) and observed vibrational signatures. Δ H f values were analyzed through isothermal acid calorimetry and a Density Functional Theory+Thermodynamics (DFT+T) approach with results showing good agreement between theory and experiment. Three factors (packing efficiency, cation protonation enthalpy, and hydrogen bonding energy [ ]) were assessed as descriptors for trends in Δ H f . Results demonstrated a strong correlation between and Δ H f , highlighting the importance of hydrogen bonding networks in determining the relative stability of solid‐state hybrid materials. Lastly, we investigate how hydrogen bonding networks affect the vibrational characteristics of uranyl solid‐state materials using experimental Raman and IR spectroscopy and theoretical bond orders and find that hydrogen bonding can red‐shift U≡O stretching modes. Overall, the tightly integrated experimental and theoretical studies presented here bridge the trends in macroscopic thermodynamic energies and spectroscopic features with molecular‐level details of the geometry and electronic structure. This modeling framework forms a basis for exploring 3D hydrogen bonding as a tunable design feature in the pursuit of supramolecular materials by rational design.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2023

Guiding Principles for the Rational Design of Hybrid Materials: Use of DFT Methodology for Evaluating Non‐Covalent Interactions in a Uranyl Tetrahalide Model System

Abstract Together with the synthesis and experimental characterization of 14 hybrid materials containing [UO 2 X 4 ] 2− (X=Cl − and Br − ) and organic cations, we report on novel methods for determining correlation trends in their formation enthalpy (ΔH f ) and observed vibrational signatures. Δ H f values were analyzed through isothermal acid calorimetry and a Density Functional Theory+Thermodynamics (DFT+T) approach with results showing good agreement between theory and experiment. Three factors (packing efficiency, cation protonation enthalpy, and hydrogen bonding energy [ ]) were assessed as descriptors for trends in Δ H f . Results demonstrated a strong correlation between and Δ H f , highlighting the importance of hydrogen bonding networks in determining the relative stability of solid‐state hybrid materials. Lastly, we investigate how hydrogen bonding networks affect the vibrational characteristics of uranyl solid‐state materials using experimental Raman and IR spectroscopy and theoretical bond orders and find that hydrogen bonding can red‐shift U≡O stretching modes. Overall, the tightly integrated experimental and theoretical studies presented here bridge the trends in macroscopic thermodynamic energies and spectroscopic features with molecular‐level details of the geometry and electronic structure. This modeling framework forms a basis for exploring 3D hydrogen bonding as a tunable design feature in the pursuit of supramolecular materials by rational design.

36 MATERIALS SCIENCE↗
DOE OSTI2026

An adaptive model-free robotic force control strategy for hydrodynamic real-time hybrid simulation of floating offshore wind turbines

Real-time hybrid simulation (RTHS) - a cyber-physical testing approach - promises to enhance the simulation fidelity of the model-scale experiments used to prototype floating offshore wind turbines (FOWTs). In hydrodynamic RTHS (hydro-RTHS), actuators emulate aerodynamic forces on model-scale FOWT specimens subjected to physical waves in a hydrodynamic laboratory. Robotic arms are promising candidates for actuation in hydro-RTHS due to their compact multi-degree-of-freedom (DOF) capabilities. Unlike classical RTHS for seismic applications, which typically relies on displacement control, hydro-RTHS requires 6-DOF force control on newly designed floating prototypes in a model-scale setting, which presents significant challenges, including modeling uncertainties, directional asymmetry, configuration drift, bandwidth limitations, and time-varying delays. To mitigate these constraints without extensive pre-test calibration, this study proposes an adaptive model-free robotic force control strategy that combines task-space explicit force control with a secondary joint-space pose-keeping task. The Adaptive Feedforward Compensator (AFC) is integrated into the force control loop to compensate for time-varying delay. Experimental testing was conducted using a Franka Emika Panda robotic arm with a 1:50 scale FOWT specimen under operational wind and wave conditions. Results demonstrate stable and consistent 6-DOF force tracking. Effective delay compensation was observed, with low-frequency delay reductions ranging from 71.4% to 91.8% and improvements in low-frequency surge force tracking of 25.0% to 52.1%. This study enhances robotic actuation performance in hydro-RTHS and introduces a force control strategy that supports reliable robotic operation in uncertain floating environments. Future work will explore disturbance-observer mechanisms to further enhance wave rejection capabilities under extreme wind and wave conditions.

17 WIND ENERGY↗