Formalized control logic fault definition with ontological reasoning for air handling units
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The anomalous magnetic moment of the muon, $a_\mu = \frac{g-2}{2}$ is the fractional deviation of the muon $g$-factor from the value of 2. It emerges as the cumulative effect of the virtual particles participating in the muon interaction with a magnetic field via quantum loop corrections. Its value encodes all the possible interactions between the virtual particles and, for this reason, represents an important test of the Standard Model (SM). In particular, any deviation from the SM theoretical evaluation could be due to new physics contributions. The new Muon $g-2$ (E989) Experiment at Fermilab is currently operating to repeat and improve the previous E821 experiment at Brookhaven National Laboratory (BNL), aiming to reduce the experimental error by a factor of 4 to the final accuracy of 140 parts per billion (ppb). On April 7th, 2021, the E989 collaboration published the first result based on the first year of data taking (Run-1), measuring $a_\mu = 0.001~165~920~40(54)$ with a precision of 460 ppb. The measured value is consistent with the BNL measurement and strengthens the long-standing tension with the data-driven SM prediction to a combined discrepancy of 4.2$\sigma$. On the theory side, however, new efforts involving lattice-QCD techniques are starting to question the current consensus on the theoretical prediction, demanding new improvements on both the experimental and theoretical sides. The E989 collaboration is now finalizing the analysis of Run-2 and Run-3 data and a new publication is expected in the first half of 2023 with a combined statistical uncertainty of 200 ppb. The anomalous magnetic moment $a_\mu$ is measured as the ratio between the muon spin anomalous precession frequency, $\omega_a$, and the average magnetic field experienced by the muons as they circulate in the storage ring. This thesis presents a precession frequency analysis of the Run-1 data and an evaluation of the related systematic uncertainties. A new positron reconstruction developed for the analysis of the subsequent data-taking periods, aiming to reduce some of the major systematic uncertainties of the $\omega_a$ measurement, is presented. The author's involvement in the production of the Run-2/5 data and in the precise calibration of the detectors is discussed. Finally, the complete Run-1 $a_\mu$ result is presented.
In this work, a zero-dimensional model for the development of turbulent mixing layers driven by Rayleigh–Taylor (RT) or Richtmyer–Meshkov (RM) instabilities is presented, for application in Reynolds-Averaged Navier–Stokes (RANS) simulations. The model approximates the behavior of the turbulent mixing layer at a passively advected tracer particle that sits on the material interface of interest in the simulation, and is used to provide initial conditions for the RANS model once the mixing layer width has developed to a size that may be resolved on the computational mesh. The model relies on approximations to the Besnard–Harlow–Rauenzahn (BHR) RANS closure equations and is thus consistent the turbulent development of the mixing layer, unlike previous models of this type which have focused on the early-time laminar development of RT or RM instabilities. These instabilities will often grow through an initially laminar state before developing into turbulence, and criteria for switching from an existing laminar model to the proposed turbulent model are considered. The proposed model reproduces the mixing layer development of RT and RM instabilities seen in mixed width resolving BHR RANS simulations to a reasonable degree of accuracy, and relaxes the need for the RANS simulation to resolve the mixed width as soon as the mixing layer becomes turbulent, which may be impractical in cases where the mixing layer grows through a wide range of scales.
We present a lattice quantum chromodynamics calculation of the 𝑥-dependent isovector quark helicity parton distribution function (PDF) of the proton in the large momentum effective theory (LaMET) framework. Through operator product expansion (OPE) we also extract the $\tilde{d}$ 2 moment of the twist-3 PDF 𝑔 𝑇 (𝑥) for the first time in the $\overline{MS}$ scheme, which is proportional to the average color Lorentz force experienced by the quark in the proton. This calculation is performed on a lattice of spacing 𝑎 =0.076 fm at physical quark masses. The quasi-PDF matrix elements are measured in proton states boosted to momenta 𝑃 𝑧 ={0,0.25,1.02,1.53} GeV. We first extract the lowest few helicity PDF moments from the renormalization-group (RG) invariant ratios of the matrix elements with OPE. Combined with the matrix elements relevant for 𝑔 𝑇 (𝑥), we obtain $\tilde{d}$$^{u-d}_2$(2 GeV) =0.0024(46) at next-to-leading order in $\overline{MS}$. Then, the helicity quasi-PDF matrix elements are renormalized in the hybrid scheme with linear renormalon resummation and Fourier transformed to the 𝑥-space after an asymptotic extrapolation. The quasi-PDF is perturbatively matched to the $\overline{MS}$ PDF with RG and threshold resummations at next-to-leading power and next-to-next-to-leading logarithmic accuracies. After resummations, we determine the PDF in the region 𝑥 ∈[0.25,0.75]. The end-point regions are then parametrized, combined with the LaMET prediction at moderate 𝑥, and fitted to the short-distance matrix elements in coordinate space.
This paper investigates the accuracy of deriving the composite optical constants of binary mixtures from only the complex indices of refraction of the neat materials. These optical constants enable the reflectance spectra of the binary mixtures to be modeled for multiple scenarios (e.g., different substrates, thicknesses, volume ratios), which is important for contact and standoff chemical detection. Using volume fractions, each mixture's complex index of refraction was approximated via three different mixing rules. To explore the impact of intermolecular interactions, these predictions are tested by experimental measurements for two representative sets of binary mixtures: (1) tributyl phosphate combined with n-dodecane, a non-polar medium, to represent mixtures which primarily interact via dispersion forces and (2) tributyl phosphate and 1-butanol to represent mixtures with polar functional groups that can also interact via dipole–dipole interactions, including hydrogen bonding. The residuals and the root-mean-square error between the experimental and calculated index values are computed and demonstrate that for miscible liquids in which the average geometry of the cross-interactions can be considered isotropic (e.g., dispersion), the refractive indices of the mixtures can be modeled using composite n and k values derived from volume fractions of the neat liquids. Conversely, in spectral regions where the geometry of the cross-interactions is more restricted and anisotropic (e.g., hydrogen bonding), the calculated n and k values vary from the measured values. The impact of these interactions on the reflectance spectra are then compared by modeling a thin film of the binary mixtures on an aluminum substrate using both the measured and the mathematically computed indices of refraction.
We present a review, demonstration and simulation of phonon transport for the purposes of predicting materials performance at the mesoscale. We focus primarily on the development and implementation of a unified methodology to enable predictive heat transport. We report on the current state of the art as it pertains to deterministic phonon transport methodologies, discussing various topics concerning phonons. In application, we focus on the Self-Adjoint Angular Flux (SAAF) formulation of the Boltzmann transport equation for phonons, and develop the spatial, angular, and material property discretization required to accurately simulate the predictive physics of heat transport in dielectrics. We discuss thermal interfacial resistance and present our formulation of the diffuse mismatch model for simulating phonon interactions at internal boundaries. We have recently developed a deterministic, spectral phonon transport method for predicting effective thermal conductivity ($\kappa_{\textrm{eff}}$), using Bose-Einstein source terms coupled through an average material temperature. In this method, we introduce a closure term to the phonon transport system which acts as a redistribution function for the total energy of the system, and serves as a guide for the amount of non-equilibrium behavior occurring in the system. This method predicts thermal conductivity and equilibrium temperature distributions in homogeneous and heterogeneous materials using data generated by ab initio density functional theory methods. We employ polarization, density of states and full dispersion spectra to resolve thermal conductivity with numerous angular and spatial discretizations. Our implementation utilizes a Richardson iteration on a modified version of the phonon scattering source. The equations associated with this method are solved via a modification of traditional source iteration. We compare the performance of source iteration applied to an existing uncoupled, traditional SAAF method to our new method and comment on the iterative performance of each. We observe ballistic and diffusive phonon scattering as acoustic thickness of the domain changes, and are able to make comparisons between the accuracy and efficiency of both methods.
DOE's PV Lifetime project was initiated in 2016 with the goal of accurately characterizing the early-life evolution of photovoltaic (PV) field performance. Different PV cell and module technologies result in different initial degradation rates due to effects like light-induced degradation (LID) and light and elevated temperature-induced degradation (LeTID). To accurately characterize the initial field degradation of maximum power (Pmp) requires the use of high-accuracy indoor IV curve measurements at standard test conditions. Therefore, PV modules involved in this study are removed from the field once or twice per year and brought indoors for measurement under constant temperature and irradiance conditions. Overall annual degradation rates are as follows: our first modules to be deployed (Jinko, Trina, QCells) have annual median degradation rate between -0.4%/yr and -0.5%/yr mainly concentrated in the first year. Mission Solar, LG and Panasonic modules are all displaying modest degradation, better than -0.3% / year. Indeed, Mission Solar fielded modules degraded less than their control modules which remain indoors and un-exposed. This is also true for the LONGi monofacial modules, which had some field degradation, but not as much as the degradation of the indoor control modules. The LONGi bifacial modules on the other hand have degraded more in the field than their monofacial counterparts, although still a modest amount (-0.4 %/yr). Of the four newest module types in the study, only one has had better than average degradation. REC360NP2 (N-type TOPCon) had a slight performance increase over the first year and a half of field deployment. For the other three new module types (plus one older module type), degradation was more rapid. In our study of 16 module types, four have demonstrated degradation faster than -1%/yr: two N-type Heterojunction, one PERC bifacial and one PERC shingled module. The two heterojunction modules in our study are degrading the most rapidly. Sunpreme n-HIT bifacial modules are showing a loss rate around -1.5%/yr, for over -10% total to date. This is largely attributed to loss in front-side Isc. This is distinct from the REC 405AA-Pure modules which have degraded -6.8% in only a year and a half, for an annualized decline of -3.9 %/yr. For this module type, the decline is roughly half in Voc, with the remaining split between FF and Isc. Of the remaining two module types, Prism Solar PERC bifacial has declined -5% total since 2019, although this loss appears to have stabilized in the most recent measurement. The Solaria PowerX-400R Shingled module type has also lost around -3.2% in the first 1.5 years of field deployment. It remains to be seen if these losses will continue with time.
Here we present a Lindblad master equation that approximates the Redfield equation, a well known master equation derived from first principles, without significantly compromising the range of applicability of the Redfield equation. Instead of full-scale coarse-graining, this approximation only truncates terms in the Redfield equation that average out over a time-scale typical of the quantum system. The first step in this approximation is to properly renormalize the system Hamiltonian, to symmetrize the gains and losses of the state due to the environmental coupling. In the second step, we swap out an arithmetic mean of the spectral density with a geometric one, in these gains and losses, thereby restoring complete positivity. This completely positive approximation, GAME (geometric-arithmetic master equation), is adaptable between its time-independent, time-dependent, and Floquet form. In the exactly solvable, three-level, Jaynes-Cummings model, we find that the error of the approximate state is almost an order of magnitude lower than that obtained by solving the coarse-grained stochastic master equation. As a test-bed, we use a ferromagnetic Heisenberg spin-chain with long-range dipole-dipole coupling between up to 25-spins, and study the differences between various master equations. We find that GAME has the highest accuracy per computational resource.
Abstract Under spatially coherent light, a diffractive optical network composed of structured surfaces can be designed to perform any arbitrary complex-valued linear transformation between its input and output fields-of-view (FOVs) if the total number ( N ) of optimizable phase-only diffractive features is ≥~2 N i N o , where N i and N o refer to the number of useful pixels at the input and the output FOVs, respectively. Here we report the design of a spatially incoherent diffractive optical processor that can approximate any arbitrary linear transformation in time-averaged intensity between its input and output FOVs. Under spatially incoherent monochromatic light, the spatially varying intensity point spread function ( H ) of a diffractive network, corresponding to a given, arbitrarily-selected linear intensity transformation, can be written as H ( m , n ; m ′, n ′) = | h ( m , n ; m ′, n ′)| 2 , where h is the spatially coherent point spread function of the same diffractive network, and ( m , n ) and ( m ′, n ′) define the coordinates of the output and input FOVs, respectively. Using numerical simulations and deep learning, supervised through examples of input-output profiles, we demonstrate that a spatially incoherent diffractive network can be trained to all-optically perform any arbitrary linear intensity transformation between its input and output if N ≥ ~2 N i N o . We also report the design of spatially incoherent diffractive networks for linear processing of intensity information at multiple illumination wavelengths, operating simultaneously. Finally, we numerically demonstrate a diffractive network design that performs all-optical classification of handwritten digits under spatially incoherent illumination, achieving a test accuracy of >95%. Spatially incoherent diffractive networks will be broadly useful for designing all-optical visual processors that can work under natural light.
This work focuses on the parameter development and microstructural characterization of Nb-based alloy C103 for thin wall structures produced via laser powder – directed energy deposition (LP – DED). Laser power and scanning speeds were varied as part of a design of experiments to identify adequate print parameters. Combinations were evaluated for relative density, porosity, and geometrical accuracy. A combination of a laser power of 1420 W and scanning speed of 14 mm/s resulted in a relative density >99%, exhibited a consistent weld bead profile and was used for further microstructural evaluation. A mix of optical and scanning electron microscopy (SEM) revealed small, slightly elongated grains along the edges and large epitaxial grains in the central region along the Build – Transverse view. Scanning electron microscopy (SEM) and energy dispersive spectroscopy (EDS) analysis revealed Hf rich columnar cells in the center that transition into an evenly spaced cellular structure towards the edges of the built sample. Electron backscatter diffraction (EBSD) scans show a sharp [001] texture when looking at the cross section of the sample along the build direction. The Build – Scan view revealed a zig – zag pattern that follows the back – and – forth deposition strategy that was used. Finally, microhardness measurements were taken in the as – built (AB) and stress relieved (SR) conditions to baseline preliminary mechanical properties. The AB condition exhibited a large amount of scatter in the data and averages up to 11% larger than the SR condition. The reduction in scatter upon applying the SR cycle are indicative of a large concertation of dislocations present in the AB condition.
Retrieval-augmented generation (RAG) has emerged as a promising paradigm for improving factual accuracy in large language models (LLMs). We introduce a benchmark designed to evaluate RAG pipelines as a whole, evaluating a pipelines ability to ingest several modalities of information. We present (1) a curated dataset of 93 questions designed to evaluate a pipeline's ability to ingest textual data, tables, images, multimodal data, and cross-document multimodal data; (2) a phrase-level recall metric for correctness; (3) a nearest-neighbor embedding classifier in an attempt to classify pipeline hallucinations; (4) a comparative evaluation of 2 pipelines built with open-source retrieval mechanisms and 4 closed-source foundational models; and (5) a third-party human evaluation of the alignment of our correctness and hallucination metrics. We find that closed-source pipelines significantly outperform open-source pipelines in both the correctness and halucination metrics, with a wider performance gap in questions relying on multimodal and cross-document information. We also find after a human evaluation of our correctness and hallucination metric compared with our questions and pipeline responses, average agreement was 4.62 for correctness 4.53 for hallucination detection on a 1-5 Likert scale with 5 being strongly agree with our determination.
The clumping index (CI) quantifies the spatial distribution of foliage elements and is essential for accurately estimating the plant area index (PAI), canopy radiative transfer, and photosynthesis. Traditionally, the finite-length averaging method (LX), the gap size distribution method (CC), and a combined approach of CC and LX (CLX) have been applied to instruments like TRAC and digital hemispherical photography to estimate CI. However, a comprehensive evaluation of these methods in row crops remains limited, especially regarding the influence of segment size on CI. Meanwhile, digital cameras offer a cost-effective and user-friendly solution for canopy measurements in row crops, yet their application in this context remains underexplored. In this study, we employed a new approach using a 30°-tilted digital camera to estimate CI in corn and soybean fields, applying the LX, CC, and CLX methods. We systematically assessed the performance of these three methods by combining field measurements in real-world fields with simulations using the LESS 3D radiative transfer model. Our results showed that CLX applied to the whole image and 45° segment offered accurate estimation of CI (bias within ±0.1, RMSE < 0.2) and PAI (bias within ±0.4, RMSE < 1) in real-world fields and LESS simulations. The accuracy of the LX method was highly sensitive to segment size, with the best performance observed at the 15° segment (PAI bias within ±0.4). In contrast, the CC method remained stable across different segment sizes, and its performance was generally comparable to that of LX, except at the 15° segment. Across view zenith angles, CI derived from CC generally showed a continuous increase, while those from LX and CLX followed a rising trend at small zenith angles but began to decline at 68°, likely due to an increasing proportion of no-gap segments. Seasonally, LX tended to show decreasing CI during early growth stages but increased as the canopy matured, whereas CC and CLX showed gradually increasing CI before plateauing at peak PAI. The 30°-tilted camera effectively captured CI variations across different angles and growth stages, making it a practical and robust instrument for row crop canopy structure analysis. Furthermore, applying these CI methods to digital cameras offers a low-cost and accessible CI estimation alternative, improving canopy structure monitoring accuracy in row crops.
Model Predictive Control (MPC) is the best controls framework available to wave energy today. It allows for the maximization of energy yield from a WEC system while respecting various constraints and losses in the system. This type of constrained optimization is a critical capability for the techno-economic optimization of WEC devices and is difficult to do effectively with causal controls frameworks. MPC requires a future prediction of wave excitation forces, requiring wave prediction on a future time horizon of up to 30 seconds. The future horizon required is highly dependent on the WEC and PTO type available. To our knowledge no-one has been able to implement MPC on a WEC device at sea, due to the fact that phase-resolved wave-prediction is not a capability that has been sufficiently developed to date. The key objectives of this project are focused on developing “industry-ready” wave prediction technology building blocks that can be applied to a wide range of different wave energy conversion topologies. Our collaborative work with device developers has demonstrated that the level of improvement attainable for any particular device is heavily dependent on the device and PTO topology chosen. The range of annual average power capture improvements is on the order of 10% to over 100%. However, the important aspect is that we can get within about 10% of theoretical upper limits even when considering errors in the wave prediction and more importantly, we can optimize performance while respecting various constraints such as motion amplitude or peak structural loads. The combination of improved performance while limiting structural loads has a net effect of reducing the levelized cost of energy from these emerging technologies and allows us to design control laws that meet an economic optimum. Efforts under a previous project on controls has focused on developing a set of wave-prediction algorithms that work by leveraging a network of wave sensing measurement buoys that are equipped with real-time telemetry. The present work is focusing primarily on using X-band radar to measure the wave-field around the WEC to predict the future excitation forces on the structure and combining the measurements of these different sources to create improvements in the wave-prediction accuracy.
The increasing availability of advanced metering infrastructure (AMI) data has led to significant improvements in load modeling accuracy. However, since many AMI devices were installed to facilitate billing practices, few utilities record or store reactive power demand measurements from their AMI. When reactive power measurements are unavailable, simplifying assumptions are often applied for load modeling purposes, such as applying constant power factors to the loads. The objective of this work is to quantify the impact that reactive power load modeling practices can have on distribution system analysis, with a particular focus on evaluating the behaviors of distributed photovoltaic (PV) systems with advanced inverter capabilities. Quasi-static time-series simulations were conducted after applying a variety of reactive power load modeling approaches, and the results were compared to a baseline scenario in which real and reactive power measurements were available at all customer locations on the circuit. Overall, it was observed that applying constant power factors to loads can lead to significant errors when evaluating customer voltage profiles, but that performing per-phase time-series reactive power allocation can be utilized to reduce these errors by about 6x, on average, resulting in more accurate evaluations of advanced inverter functions.
We present a new method to infer emissions and lifetimes of nitrogen oxides (NO x ) based on tropospheric nitrogen dioxide (NO 2 ) observations together with reanalysis wind fields for cities located in polluted backgrounds. Since the accuracy of the method is difficult to assess due to lack of “true values” that can be used as a benchmark, we apply the method to synthetic NO 2 observations derived from the NASA-Unified Weather Research and Forecasting (NU-WRF) model at a high horizontal spatial resolution of 4 km × 4 km for cities over the continental United States. We compare the inferred emissions and lifetimes with the values given by the NU-WRF model to evaluate the method. The method is applicable to 26 US cities. The derived results are generally in good agreement with the values given by the model, with the relative differences of 2 % ± 17 % (mean ± standard deviation) and 15 % ± 25 % for lifetimes and emissions, respectively. Our investigation suggests that the use of wind data prior to the satellite overpass time improves the performance of the method. The correlation coefficients between inferred and NU-WRF lifetimes increase from 0.56 to 0.79 and for emissions increase from 0.88 to 0.96 when comparing results based on wind fields sampled simultaneously with satellite observations and averaged over 9 h data prior to satellite observations, respectively. We estimate that uncertainties in NO x lifetime and emissions arising from the method are approximately 15 % and 20 %, respectively, for typical (US) cities. The total uncertainties reach up to 43% (lifetimes) and 45% (emissions) by considering the additional uncertainties associated with satellite NO 2 observations and wind data. We expect this new method to be applicable to NO 2 observations from the TROPOspheric Monitoring Instrument (TROPOMI) and geostationary satellites, such as Geostationary Environment Monitoring Spectrometer (GEMS) or the Tropospheric Emissions: Monitoring Pollution (TEMPO) instrument, to estimate urban NO x emissions and lifetimes globally.
An assessment done under the auspices of the Organization for Economic Co-operation and Developement Nuclear Energy Agency (OECD-NEA) in 2007 suggested that the β decays of many abundantly produced fission products in nuclear reactors may be incomplete. In this assessment, the fission product 98 Nb was assigned the highest priority for study by total absorption spectroscopy due to its large cumulative fission branching fraction and because the β-decay data from several experiments are discrepant. To obtain the complete β-decay feeding pattern of 98 Nb and determine the impact on the average γ energy per 98 Nb β decay and v¯e emission calculations. The complete 98 Nb β-decay feeding pattern includes ground-state to ground-state β feeding and direct β feeding to the 0 + first-excited state (both have no associated γ rays), and the ground-state to excited-state β transitions followed by γ transitions to the ground state of the daughter nucleus, 98 Mo. The complete β-decay intensities of 98 Nb were measured with the Modular Total Absorption Spectrometer at Oak Ridge National Laboratory (ORNL). Here, the 98 Nb was produced by the β decay of mass 98 fission fragments at ORNL's On-Line Test Facility (OLTF) using proton-induced fission of 238 U. We find that changes to the current ENSDF assessment of 98 Nb β-decay intensity are required. We report improved uncertainties for the β-decay feeding values and report new β feedings to high-energy levels in 98 Mo. A more complete 98 Nb β-feeding pattern with improved accuracy and precision is offered. The impacts of the measured changes to the 98 Nb β-feeding pattern on both reactor decay heat calculations and predicted detection rates of reactor v¯e are presented. The Modular Total Absorption Spectrometer measurements of 98 Nb demonstrate the importance of reexamining and remeasuring complex β-decaying fission products with total absorption spectroscopy, including nuclei very near β stability.
DOE Order 458.1 requires that dose estimates consider contributions from all facilities. In the Y-12 Radiological Monitoring Plan (RMP), surface water is monitored at points that reflect individual facilities, as well as at points that reflect the combined contributions of all facilities. This monitoring plan does not consider other potential routes (i.e., airborne releases and food chains). Thus, a complete determination of total effective dose (TED) cannot be made based on this plan alone. The other routes from Y-12, and all routes from other DOE facilities on the Oak Ridge Reservation (e.g., Oak Ridge National Laboratory (ORNL) and The Heritage Center), must be considered in order to satisfy DOE Order 458.1 requirements. Determination of TED from all sites and pathways is done through the use of dose-assessment models and is documented in the Annual Site Environmental Report. This monitoring plan provides adequate monitoring goals for Y-12 surface water releases to provide input of sufficient sensitivity and accuracy to reliably determine the Y-12 surface water component of the TED. The routine radiological monitoring program is designed to monitor effluents at four types of locations: (1) treatment facilities, (2) other point and area source discharges, (3) instream locations, and (4) production building roof run-off. With this sampling and analysis program, data will be obtained on primary point sources as well as on locations that represent the composite of other potential sources. This plan will be reviewed periodically to determine necessary modifications to the sampling frequencies, parameters, and locations. Modifications, if any, will be based on the analysis of the previous data and its effectiveness in satisfying the objectives of this plan. Appendix A contains graphs of the sum of the DCS fractions for locations and frequencies contained in a previous version of this plan. The data was collected from January 2009 through December 2019. Each sample was analyzed, and each result was divided by the appropriate DCS to compute a DCS fraction. These fractions were summed for all isotopes. According to DOE –STD-1196-2011, the annual average of these sums should be below 1.
This project “Autonomous Hydrogen Fueling Station” covered the autonomous refueling with both gaseous hydrogen and liquid hydrogen. The part on gaseous hydrogen focused on the development of an autonomous robotic fueling arm that would couple to a fuel cell engine for hydrogen refueling without guidance from the forklift operator and budget period. Research was also covered for the robotic fueling with a commercial vehicle. The second phase of the project created the baseline for an autonomous liquid hydrogen transfer system that would minimize boil off losses by operating at thermodynamically efficient state points. For the development of the robotic fueling arm, testing was conducted to establish a baseline measurement of the accuracy and repeatability of a human operator positioning a lift truck in front of a dispenser. The goal was to establish the range of motion required for an autonomous fueling mechanism to mate a hydrogen nozzle with a receptacle on a fuel cell system installed in a forklift. The final design comprised a selective compliance articulated robot arm (SCARA)-type mechanism with two arms for horizontal motion and a ball screw for vertical movement and color and LIDAR cameras were used for marker identification and proximity awareness to guide the robotic arm to its target receptacle. Initial tests resulted in 199 out of 200 successful attempts at autonomous coupling of the dispensing coupler and a fuel cell engine, without hydrogen. The dispenser prototype was modified to include tubing for both hydrogen fuel and air purge lines, but subsequent tests were confounded by the shoulder motor over current errors which limited the robot from getting to the fully inserted position to achieve a positive latch. Robotic hydrogen refueling was successfully demonstrated over 1.5 hours of testing, Plug completed 29 successful latches with an average number of 4 sequential latches before failure. However, a robot capable of placing the nozzle with more force is required for higher reliability. For budget period two, a small scale (10 kg / transfer) automated control system was designed that would operate valves to control pressure and flow of liquid nitrogen between a source and receiving tank with an aim to minimize boil off losses by operating at the most thermodynamically efficient state points. Control system logic flow and a P&ID were developed prior to system safety characterization via HAZOP. A control narrative and system state points were defined. Delays in approval for a change of project objective and procurement issues precluded the construction and test of the final prototype system.