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Investigating the Impact of Power-Take-Off System Parameters and Control Law on a Rotational Wave Energy Converter’s Peak-to-Average Power Ratio Reduction
Due to the irregular nature of real waves, the power captured in a wave energy converter (WEC) system is highly variable. This is an important barrier to the effective use of WECs. To address this challenge, this study focuses on a rotational WEC power-take-off system in which high-speed and high-efficiency generators along with a torque/power smoothing inertia element can be effectively utilized. In the first phase of this study, the U.S. Department of Energy’s reference model 3 (WEC-Sim RM3; two-body point absorber), along with a slider-crank WEC, were integrated for linear to rotational conversion. Relative motion between the float and spar in RM3 was the driving force for this slider-crank WEC, which is connected to a motor/generator set through a gearbox. RM3 geometry was scaled down by 25 times to work within the limits of the physical motor/generator set used in the experimentation. Once the integration in a hardware-in-the-loop simulation environment was successfully completed, data on the peak-to-average power ratio was collected for various wave conditions including regular and irregular waves. The control algorithm designed to keep the system in resonance with waves was able to maintain relatively high speed depending on the specific gear ratio and wave period. Initial results with hardware-in-the-loop simulations reveal that gear ratio and crank radius have a strong impact on the peak-to-average power ratio. In addition, it was found that output power from the generator was maximized at a larger gear ratio, as the crank radius was increased.
Liquid Salt Combined-Cycle Pilot Plant Design
The work described in this report is responsive to the Office of Fossil Energy program ‘Energy Storage for Fossil Power Generation.’ This Phase I report has been prepared by Pintail Power LLC, with support from Nexant ECA, Electric Power Research Institute (EPRI) and Southern Company Services as a deliverable for the U.S. Department of Energy for NETL Award DE-FE-00320016. The Liquid Salt Combined Cycle™ (LSCC™) technology provides large-scale energy storage integrated with Fossil Electric Generating Units (FEGUs) to meet critical needs in the energy transition by providing: • the lowest cost large-scale storage for time-shifting of renewable energy, • superior fuel efficiency to reduce GHGs from dispatchable resources, • flexible capacity and ramping to balance variability of wind and solar resources, • essential grid stability services to assure reliability of a low-carbon grid. The LSCC approach: • employs equipment that has already been proven in utility service, • uses safe, non-toxic, non-degrading, perpetual-life storage medium, • leverages and repurposes existing FEGU assets, • expands the value stack of energy storage to reduce market, financing, and commodity risks. Pintail Power has developed the LSCC technology to meet the need for reliable, efficient, and cost-effective integration of Variable Renewable Energy (VRE) into a low-carbon electric grid by coupling proven thermal energy storage with proven gas turbines, steam turbines, and heat transfer equipment. This novel approach is intended to address the key issues facing the grid and operators of renewable and fossil generating units including: • Overgeneration and curtailment of renewables, • Need for fast ramping dispatchable resources, • Improved efficiency and flexibility of fossil units, • Additional peaking capacity to support electrification of transportation and heating, • Provision of reliability services to support high penetration of VRE, especially synchronous inertia and fast frequency response. A Technology Readiness assessment by EPRI confirmed that LSCC technology consists of commercially proven hardware used in industrial and utility applications. Although the novel LSCC approach has not yet been demonstrated as a complete system, interfaces between major components have been conservatively specified. A Phase III pilot is planned to demonstrate equipment integration and operation. The patented innovation is removal of the evaporator section from the exhaust heat recovery system, with the evaporation performed by stored energy in a separate steam generator. This arrangement couples renewable and fossil power generation via long-duration energy storage to deliver cost, performance, and operational synergies, including superior charging and discharging flexibility, reduced fuel consumption and lower CO 2 emissions compared to conventional Combined Cycle Power Plants, and low-cost, large-scale energy storage. The LSCC technology is composed of proven equipment integrated with gas turbine exhaust heat in a novel system. During charging, electric heaters raise the salt temperature as it flows from the Cold Salt Tank to the Hot Salt Tank. During discharging, hot salt produces steam from feedwater that is heated with gas turbine exhaust, which also superheats steam to drive a steam turbine. LSCC technology can be added to any combustion-turbine to integrate renewable energy, provide needed grid services, and increase the value of fossil electric generating units based on the technology’s following attributes: • Long-duration storage enables time-shifting of VRE to avoid curtailment and impairment of renewable assets. • Long storage duration combined with fast-charging capability increases arbitrage opportunities by storing more energy when the price is low and discharging more hours when the price is high. • Long storage duration allows resource adequacy to be supplied across multiple days to increase reliability and reduce risk. • The stored energy reduces fuel heat rate and GHG emissions, and increases merit, so the LSCC dispatches earlier and longer to increase the plant’s capacity factor and asset value. • The stored energy enables pre-heating and startup of the steam cycle, without operating the gas turbine, to enable fast startup and ramping when dispatched for discharge. • The steam turbine can operate without the gas turbine so it can provide valuable synchronous inertia during charging without consuming fuel. • Fast frequency response and regulation services can be provided during charging using solid-state heater and pump controls to vary the charge power input in response to grid signals. • The LSCC system can be configured for resilience including black start, islanded/micro-grid operation, and even self-recharging of storage using either gas turbine power or gas turbine exhaust heat. The commercialization plan is to add LSCC technology to existing simple cycle gas turbine power plants with the 50MW GE LM6000 aero-derivative gas turbine as the reference design basis. A Techno-economic assessment of the reference design evaluated the benefits (Levelized Avoided Cost of Energy) and costs (Levelized Cost of Energy). The plant definition included all major systems and budgetary vendor quotes. Pintail Power and NexantECA developed the overall cost estimate for the LSCC plant up to the total plant cost level, following the DOE-NETL cost estimate guidelines at AACE Class 3 (-20%/+30%). This includes the equipment cost, bulk material, direct and indirect labor costs to arrive at the bare erected cost. Engineering costs are factored from the BEC and added to it to arrive at the EPC cost. Process and project contingencies were then factored from the EPC cost and rolled-up to yield the total plant cost of $\$$184 million for 1746 MWh of discharge electricity. • At $\$$105/kWh, the reference plant costs less than any of the Energy Storage Systems evaluated by PNNL in 2020 for the Energy Storage Grand Challenge. Operations and Maintenance cost estimates were scaled from combined cycle practice, assuming that the LSCC unit was co-located with and sharing some labor expense with other units, to arrive at $\$$2.2 million per year. Plant economics were evaluated using prices from the ERCOT Day-Ahead Market for calendar year 2019 (excluding the market disruptions from the COVID pandemic and the February 2020 deep freeze event). Assuming economic dispatch in the ERCOT Day-Ahead market, the reference plant capacity factor would have discharged for 2777 hours at 91.9 MW, a 31.66% capacity factor, with a marginal cost of $\$$25.59/MWh, and a LACE of $\$$82.41/MWh. Fixed charges were calculated according to EIA guidelines to arrive at an LCOE of $\$$83.48. The benefit-to-cost ratio of 0.99 suggests that the reference plant would have been cost-effective and competitive in the market. EPRI interviewed selected utilities to gauge the need for, applicability of and interest in the LSCC system. Several utilities are currently managing increased load growth along with the inclusion of increasing levels of renewable generation, putting pressure on conventional generation by requiring increased turndown requirements and ultimately lower capacity factors. All of the utilities interviewed have CO 2 reduction targets in the 2030-2050 timeframe that will severely limit the participation of fossil generation and require better utilization of carbon free generation. While there is limited opportunity for storage in the current markets, the utilities interviewed stated that there will be a substantial need for long duration energy storage in the future given the expected trends. Utilizing an energy storage system will generally be preferred over new gas capacity in some cases, with the capabilities of the LSCC system being a potential option for retrofit to existing simple cycle gas turbine units, allowing them to deliver greater participation in the market with lower carbon intensity. A technology gap assessment and technology maturation plan identified a pilot-scale demonstration as the final step before commercialization. Key gaps to be addressed during the Phase II FEED (Front-End Engineering Design) are component selection and design, commissioning procedures, and operational procedures and the control system for LSCC charging and discharging. The project team has been expanded to include Wood Group PLC as EPC. The proposed Phase II work leads to a pilot-scale engineering demonstration (TRL 6) to be conducted at Southern Company’s Plant Rowan, where the prototype system will perform “all the functions that will be required of the operational system.” The proposed pilot will facilitate commercialization (TRL-9) by scale-up to utility-scale systems integrated with peaking GTs or directly to facility scale systems using industrial GTs. The conceptual design for the pilot plant focuses on the novel integration aspects of LSCC technology. A slipstream of gas turbine exhaust will feed a waste heat recovery unit coupled to a molten salt steam generator heated by stored energy. The pilot is intended to demonstrate all key operating modes of the LSCC technology during charging, discharging and standby. The pilot equipment will be approximately one-seventh scale of the LM6000 commercial target and is expected to have commercial off-ramp potential for facility-scale applications.
Multi-Port Autonomous Reconfigurable Solar Power Plant
As the penetration level of power electronics increases and remote photovoltaic (PV) generation is integrated into the alternating current (ac) grid, the short-circuit ratio (SCR) at the point of interconnection of a hybrid PV–energy storage system (ESS) plant may be low. Additionally, the inertia of the alternating current (ac) grid may be low. The low SCRs and inertias can lead to reliability challenges in the power grid. These operating conditions require additional reinforcements, such as synchronous condensers, static var compensators, static synchronous compensators, and high-voltage direct current (HVdc) links/grids. HVdc links or grids may also provide the additional capability of connecting the plant to asynchronous grids and/or connecting asynchronous grids, among others. This scenario leads to discrete development of solar inverters, energy storage inverters, HVdc converters, and several transformers. Some of the problems associated with this discrete development and inverter-based generation include increased cost, lower reliability, and reduced efficiency associated with duplication of power electronics (PEs); competing controls of several individual discrete inverter-based generators due to the presence of multiple PEs, which leads to derating of the system; and transient stability problems arising from inverter-based generation, such as voltage/frequency events leading inverter shutdowns, voltage instability and control interactions in the formed weak grid, and harmonics caused by resonances of multiple inverters.
Technology Strategy Assessment: Findings from Storage Innovations 2030 Thermal Energy Storage
The concept of thermal energy storage (TES) can be traced back to early 19th century, with the invention of the ice box to prevent butter from melting. Modern TES development began with building heating and cooling and concentrated solar thermal technologies for power generation in the early 1900s and late 1970s, respectively. TES systems provide many advantages compared with other long-duration energy storage (LDES) technologies, which include low costs, long operational lives, high energy density, synchronous power generation capability with inertia that inherently stabilizes the grid, and the ability to output both heat and electricity. TES Use Cases TES technologies can couple with most renewable energy systems, including wind, photovoltaic, and concentrated solar thermal energy, and can be used for heat-to-heat, heat-to-electricity, electricity-to-heat, and electricity-to-electricity (bidirectional electricity) applications. The three types of TES that have heat as an input or output are grouped together for the purposes of this report. Retrofitting retired thermal power plants can be a potential cost-effective option for TES with electricity output because they both use a similar thermal-to-electricity type of conversion. Additionally, TES can directly serve heat demand for buildings and industrial processes, displacing fossil fuels to achieve broad decarbonization. Bidirectional Electricity Figure 1 shows a bidirectional electricity TES (ETES) architecture that is emerging as a prime technology for LDES at a grid scale. The ETES technology can utilize existing TES technology infrastructures, has no geological limitations (such as mountains and water for pumped storage hydro, underground natural caverns for compressed-air energy storage, etc.), and is capable of deployment anywhere in the United States and the world for broad uses. Particularly, ETES technology can be placed at retired fossil-fueled thermal power plants to reuse decommissioned assets, protect job security in associated communities, and provide resilient and high-inertia (i.e., spinning) power to the grid. Heat Input and Output There also are many ways to integrate TES within heat-to-electricity, heat-to-heat, and electricity-to-heat applications, such as those used in concentrating solar power (CSP), buildings, district heating, and industry process heat applications. These categories can be further classified for low- and high-temperature applications. High-temperature thermal energy storage (HTTES) heat-to-electricity TES applications are currently associated with CSP deployments for power generation. TES with CSP has been deployed in the Southwestern United States with rich solar resources and has proved its value to the electric grid. Electricity-to-heat and heat-to-heat HTTES applications present great potential for decarbonizing energy-intensive industrial process heat applications [8, 9], such as iron ore processing, iron smelting, cement production, glass manufacturing, mineral processing, and chemical production. Some industrial processes require process heat at temperatures > 1,400°C, so HTTES can be utilized to reduce fuel consumption in those processes through fuel, oxidizer, and process material pre-heating. Thermal energy storage for augmenting existing industrial process heat applications makes a much more attractive economic case because the energy penalty due to thermal-to-electric conversion is eliminated. Co-located applications of power production and heat also can add to the value stacking of integrating utility-scale TES; however, these scenarios are very case specific and not practically possible in many cases. These constraints are primarily attributed to the existing infrastructure being designed, developed, and constructed for many decades around the most economically feasible technologies, such as electricity and a selection of fossil fuels for heat input. Low-temperature TES can be utilized for building and district heating and cooling, as well as some process heat applications in electricity-to-heat and heat-to-heat configurations. Lower temperature TES (LTTES) can be added to heat pump equipment (electric input), either directly interacting with the refrigerant in the condenser or evaporator, or through a secondary heat transfer fluid. It also can be integrated in the building envelope or within the ducts of the heating, ventilation, and air conditioning (HVAC) system. Cost-effective integration of TES into buildings adds significant cost, and it is one of the key barriers preventing the commercialization and deployment of TES. The optimal strategy for integrating TES with buildings has yet to be determined for various applications of TES. Nevertheless, thermal storage materials are far less costly per unit of energy stored than electricity storage materials. This means that thermal storage has the potential to reduce the cost to society of energy storage.
Additive Manufacturing Case Study Test Report
Sandia National Labs collaborated with Oak Ridge National Laboratory on a case study examining additive manufacturing opportunities for Geothermal applications. The study focused on designing components with improved performance characteristics that cannot be fabricated conventionally. A rotor for a downhole motor was chosen based on the potential for improving its rotational dynamics. Topology optimization was used as a design method to reduce the rotational inertia of the part while preserving sufficient rotational stiffness to transmit the torque required for the drilling application. The optimization resulted in a nearly 50% reduction in polar moment of inertia while maintaining other desired performance characteristics. The design developed using the topology optimization approach was fabricated using additive manufacturing and cannot be fabricated conventionally.
UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence E - Raw Data
Sequence E: Yaw Releases (P) This test sequence used a downwind, rigid turbine with a 3.4° cone angle. The wind speeds ranged from 7 m/s to 17 m/s. Initial yaw angles of ±90° were achieved. The blade tip pitch was 3°. The rotor rotated at 72 RPM. Blade and probe pressure measurements were collected. The teeter dampers were replaced with rigid links, and these two channels were flagged as not applicable by setting the measured values in the data file to –99999.99 Nm. The teeter link load cell was pre-tensioned to 40,000 N. The turbine was positioned at each specified yaw angle. A 30- second data set was collected with the yaw brake engaged. These points used a letter for the last digit beginning with A and proceeding through the alphabet as repeat points were needed. These points were plotted and compared to ascertain the functionality of the instrumentation. The files ending in numbers beginning with 0 and increasing with each repetition represent yaw release points. Once the fixed-position yaw test was complete, the yaw drive was engaged to hold the turbine. The yaw brake was released, and the yaw drive was disabled allowing the turbine to yaw freely. The yaw drive was disabled about 5 seconds into the campaign, and the turbine was allowed to yaw freely for the rest of the 30-second duration. When the yaw drive is disabled, no torque is applied to the motor, and the inertia and yawing force of the nacelle and rotor overcomes the friction and inertia of the yaw gear and motor. The yaw releases were repeated five times at each condition. Four additional campaigns were collected to determine the turbine’s natural yaw error by releasing the brake at 0° yaw error. These file names use the E designation, followed by two digits for wind speed, followed by XXXX, followed by the repetition digit.
Transient Safety Filter Design for Grid-Forming Inverters
Unlike conventional generators, inverter-based generation are fundamentally incapable of providing rotational inertia. While grid-forming inverters alleviate some of that problem by synthesizing small inertia via feedback control, additional control mechanisms are needed to ensure safety and security during transients. In this paper, we propose novel real-time safety-constrained feedback controllers (``safety filters'') for droop-based (grid-forming) inverters to ensure transient security of the grid. The safety filter acts as a buffer between the network operational layer and the inverter-control layer, and only lets those dispatch control signals pass to the inverter droop-controller, which are guaranteed to not violate the safety specifications (frequency, voltage, current limits). Using a distributed barrier certificates method, we construct sector-like conditions on the control policies, which guarantee the satisfaction of transient safety specifications. Sum-of-square programming is used to synthesize the safety filters. Numerical simulation results are provided to illustrate the performance of the proposed filter on inverter-based microgrids.
Novel Rotated Virtual Synchronous Generator Control for Power-Sharing in Microgrids with Complex Line Impedance
Virtual synchronous generator (VSG) control is based on the fact that the line impedance in a microgrid is highly inductive. This assumption was made due to the emulation of the stator winding of an electrical machine. This concept can affect the controllability of a microgrid with complex line impedance, generating deviations in the chosen operation point. To overcome this issue, additional techniques must be implemented. This paper describes a novel mathematical approach that uses the power line characteristics in a microgrid to rotate the power control reference frame and proposes a new control method called a “Rotated Virtual Synchronous Generator” (RVSG). This RVSG control approach integrates the effect of complex impedance on the microgrid’s operation and adjusts the reference frame accordingly to improve the system’s stability and performance. The use of this proposed mathematical approach in microgrids allows the further emulation of virtual inertia in microgrids that lack inertia. Finally, a comparison between RVSG control and the classical virtual synchronous generator method is carried out to show that it allows the improvement of the transient power response, power quality, stability, and performance, mainly in microgrids with complex line impedance.
Stability Analysis of Power Systems with High Penetration of State-of-the-Art Inverter Technologies
With the increasing level of inverter-based resources (IBRs) in modern power systems, this paper presents a small-signal stability analysis for power systems comprising synchronous generators (SGs) and IBRs. Four types of inverter controls are considered: two grid-following (GFL) controls, with or without grid support functions; droop-based grid-forming (GFM) controls; and virtual oscillator control-based GFM. We also analyze the impact of STATCOM and synchronous condensers on system stability to assess their role in the energy mix transition. With the small-signal dynamic behavior of the major technologies modeled, this paper provides stringent stability assessments using the IEEE 39-bus benchmark system modified to simulate future power systems. The exhaustive test cases allow for (a) assessing the impacts of different types and controls of generation and supplementary grid assets, as well as system inertia and line impedance on grid stability, and (b) elucidating pathways for the stabilization of IBR-dominated power systems. The analysis also indicates that future power systems can be stabilized with only a fraction of the total generation as voltage sources without SGs or significant system inertia if they are well distributed. This study provides insights into future power system operations with a high level of IBRs that can also be used for planning and operation studies.
Disk-integrated Thermal Properties of Ceres Measured at Millimeter Wavelengths
We observed Ceres at three epochs in 2015 November and 2017 September and October with Atacama Large Millimeter/submillimeter Array (ALMA) 12 m array and in 2017 October with the ALMA Compact Array (ACA), all at ∼265 GHz continuum (wavelengths of ∼1.1 mm) to map the temperatures of Ceres over a full rotation at each epoch. We also used 2017 October ACA observations to search for HCN. The disk-averaged brightness temperature of Ceres is measured to be between 170 and 180 K during our 2017 observations. The rotational light curve of Ceres shows a double-peaked shape with an amplitude of about 4%. Our HCN search returns a negative result with an upper limit production rate of ∼2 × 10{sup 24} molecules s{sup −1}, assuming globally uniform production and a Haser model. A thermophysical model suggests that Ceres’s top layer has higher dielectric absorption than lunar-like materials at a wavelength of 1 mm. However, previous observations showed that the dielectric absorption of Ceres decreases toward longer wavelengths. Such distinct dielectric properties might be related to the hydrated phyllosilicate composition of Ceres and possibly abundant micrometer-sized grains on its surface. The thermal inertia of Ceres is constrained by our modeling as likely being between 40 and 160 thermal inertia units, much higher than previous measurements at infrared wavelengths. Modeling also suggests that Ceres’s light curve is likely dominated by spatial variations in its physical or compositional properties that cause changes in Ceres’s observed thermal properties and dielectric absorption as it rotates.
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.
High-speed pulse camera
Miniaturized, 16 mm high speed pulse camera takes spectral photometric photographs upon instantaneous command. The design includes a low-friction, low-inertia film transport, a very thin beryllium shutter driven by a low-inertia stepper motor for minimum actuation time after a pulse command, and a binary encoder.
Results of intravehicular manned cargo-transfer studies in simulated weightlessness
A parametric investigation was conducted in a water immersion simulator to determine the effect of package mass, moment of inertia, and size on the ability of man to transfer cargo in simulated weightlessness. Results from this study indicate that packages with masses of at least 744 kg and moments of inertia of at least 386 kg-m2 can be manually handled and transferred satisfactorily under intravehicular conditions using either one- or two-rail motion aids. Data leading to the conclusions and discussions of test procedures and equipment are presented.
Elastic wave propagation in a joined cylindrical-conical-cylindrical shell.
The problem of longitudinal impact of a thin finite joined shell, consisting of a cylinder-truncated cone-cylinder, is analyzed both experimentally and analytically. The model analyzed is a 1/100 scale replica of a portion of the Apollo/Saturn V vehicle. Experimental results were obtained from a drop-test system. Longitudinal and circumferential strain pulses were monitored on each section of the joined shell. The velocity of the impacter ring prior to impact was measured and used as a boundary condition in the solution of the governing partial differential equations. A bending theory, including transverse shear, radial inertia, and rotary inertia effects, was used to analyze the finite joined shell. Good agreement between analytical and experimental strain profiles was obtained.
Mechanics of wheel-soil interaction
An approximate theory for wheel-soil interaction is presented which forms the basis for a practical solution to the problem. It is shown that two fundamental observations render the problem determinate: (1) The line of action of the resultant of radial stresses acting at the wheel soil interface approximately bisects the wheel-soil contact angle for all values of slip. (2) A shear stress surface can be hypothesized. The influence of soil inertia forces is also evaluated. A concept of equivalent cohesion is introduced which allows a convenient experimental comparison for both cohesive and frictional soils. This theory compares favorably with previous analyses and experimental data, and shows that soil inertia forces influencing the motion of a rolling wheel can be significant.
Optimal detumbling of a large manned spacecraft using an internal moving mass
The use of a movable mass control system to stabilize an arbitrarily tumbling asymmetric vehicle about the maximum inertia axis is considered. A first-order gradient optimization technique is used to minimize angular velocity components along the intermediate and minimum inertia axes. This method permits a wide range of initial guesses for mass position history. Motion of the control mass is along a linear track fixed in the vehicle. The control variable is taken as mass acceleration with respect to body coordinates. Motion is limited to defined quantities and a penalty function is used to insure a given range of positions. Numerical solutions of the optimization equations verify that minimum time detumbling is achieved with the largest permissible movable mass, length of linear track, and positions of the mass on the two coordinates perpendicular to the linear motion.
Preliminary report on infrared radiometric measurements from Mariner 9
The results of the preliminary analysis of the Mariner 9 radiometer data are: (1) Gross thermal characteristics of Mars agreed qualitatively with those observed in 1969: (2) a dust storm changed the thermal picture of Mars radically with average dayside temperatures lower by about 20K than without the dust storm; (3) over large-scale physiographic visual features, no univocal correlation between albedo and thermal inertia seems to exist, and (4) surface particle sizes derived from observed thermal inertias vary between 0.006 cm and 0.5 cm.