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At least 685 records · Page 38

Ball transfer mechanism with polycrystalline diamond bearing support

A ball transfer mechanism for a harmonic drive and linear piston motor is disclosed. The ball transfer mechanism includes a spherical ball and a cylindrical seat portion. The seat portion defines a hemispherical shaped recess with a contour for receiving the ball. The ball transfer mechanism is in an exterior wall of a housing for converting rotary motion to linear motion, driving a linear piston motor. The harmonic drive drives a rotor of the linear piston motor. The harmonic drive includes a hollow cylindrical coupler portion engaging a rotor portion for transferring torque to the rotor portion. Transfer mechanisms disposed along a housing wall of the linear piston motor engage the coupler portion. The coupler portion includes harmonic cam grooves for receiving spherical balls in the ball transfer mechanism that drives rotational motion in the rotor in response to axially linear movement of the piston assembly.

Raymond, David W.↗

Control of energy storage to reduce electric power system off-nominal frequency deviations

A hybrid power generation system is formed by the combination of an energy storage system (ESS) and a rotating synchronous power generator (SPG). Energy is stored in or released from the ESS in response to measurements of the at least one angle parameter, selected from rotor, torque, or power angle of the SPG, to provide active frequency damping of electrical power output. The control of ESS energy exchange increases the stabilizing impact of the SPG inertia on the frequency of electricity in an electrical network or power grid. The hybrid power generation system can have an effective equal area criterion for stability limit that is greater than that of the SPG operating without the ESS. The hybrid power generation system can enable the electrical network to have a greater proportion of variable or distributed energy resource (DER) power generation systems without otherwise exceeding stability limits.

Vartanian, Charles K.↗

Systems and methods for approximating musculoskeletal dynamics

An approximation method and system are provided for more quickly controlling a prosthetic or other device by reducing computational processing time in a muscle model that can be used to control the prosthetic. For a given muscle, the approximation method can quickly compute polynomial structures for a muscle length and for each associated moment arms, which may be used to generate a torque for a joint position of a physics model. The physics model, in turn, produces a next joint position and velocity data for driving a prosthetic. The approximation method expands the polynomial structures as long as expansion is possible and sufficiently beneficial. The computations can be performed quickly by expanding the polynomial structures in a way that constrains the muscle length polynomial to the moment arm polynomial structures, and vice versa.

Sobinov, Anton↗

Conceptos Basicos Sobre los Vehiculos Electricos

Los vehiculos electricos (EV, por su sigla en ingles) usan la electricidad como combustible principal o para mejorar la eficiencia de los disenos de vehiculos convencionales. Los EV incluyen vehiculos todo electrico, tambien denominados vehiculos electricos de bateria (BEV, por su sigla en ingles), y vehiculos electricos hibridos enchufables (PHEV, por su sigla en ingles). Coloquialmente, a estos vehiculos se les conoce como autos electricos, o simplemente EV, aunque algunos de estos vehiculos todavia utilizan combustibles liquidos junto con la electricidad. Los EV son conocidos por brindar una aceleracion (torque, en ingles) rapida y una experiencia silenciosa al conducir. See DOE/GO-102023-6050 for the English translation of this fact sheet (https://www.nrel.gov/docs/fy23osti/87125.pdf).

ADVANCED PROPULSION SYSTEMS↗

"Traffic Control via Connected and Automated Vehicles: An Open-Road Field Experiment with 100 CAVs"

The CIRCLES project aims to reduce instabilities in traffic flow, which are naturally occurring phenomena due to human driving behavior. These "phantom jams" or "stop-and-go waves,"are a significant source of wasted energy. Toward this goal, the CIRCLES project designed a control system referred to as the MegaController by the CIRCLES team, that could be deployed in real traffic. Our field experiment leveraged a heterogeneous fleet of 100 longitudinally-controlled vehicles as Lagrangian traffic actuators, each of which ran a controller with the architecture described in this paper. The MegaController is a hierarchical control architecture, which consists of two main layers. The upper layer is called Speed Planner, and is a centralized optimal control algorithm. It assigns speed targets to the vehicles, conveyed through the LTE cellular network. The lower layer is a control layer, running on each vehicle. It performs local actuation by overriding the stock adaptive cruise controller, using the stock on-board sensors. The Speed Planner ingests live data feeds provided by third parties, as well as data from our own control vehicles, and uses both to perform the speed assignment. The architecture of the speed planner allows for modular use of standard control techniques, such as optimal control, model predictive control, kernel methods and others, including Deep RL, model predictive control and explicit controllers. Depending on the vehicle architecture, all onboard sensing data can be accessed by the local controllers, or only some. Control inputs vary across different automakers, with inputs ranging from torque or acceleration requests for some cars, and electronic selection of ACC set points in others. The proposed architecture allows for the combination of all possible settings proposed above. Most configurations were tested throughout the ramp up to the MegaVandertest.

Lee, Jonathan↗

Precise Motion Control of Hybrid Hydraulic Electric Architecture (HHEA)

Off-highway heavy-duty vehicles have been long-standing users of hydraulic systems for power transmission and control. However, traditional hydraulic systems suffer from significant energy losses which lead to increased operating costs and a larger carbon footprint due to higher CO2 emissions. Improving the efficiency of these mobile machines is crucial not only for reducing their environmental impact but also for saving billions of dollars in operating costs. Currently, the state-of-the-art Load Sensing Architecture uses throttling valves for control, which significantly reduces its efficiency and does not recuperate energy from over-running loads. Researchers have developed several architectures such as Common Pressure Rail systems, Displacement Control, STEAM, and Electrohydraulic Architecture to improve the efficiency of off-road mobile machines. However, each of these architectures has its drawbacks. To increase system efficiency and take advantage of electrification benefits, our research group has developed a novel Hybrid Hydraulic-Electric Architecture (HHEA). The HHEA can significantly improve efficiency, decrease the size of electrical components, and maintain control performance. This new architecture has the potential to revolutionize the off-highway mobile machine industry and lead to a more sustainable future. The HHEA uses a set of common pressure rails to provide the majority of power to the actuators via power-dense hydraulics and uses electric motors for precise control and power modulation. In the context of off-road mobile machines, energy savings are undoubtedly important but it is equally important to consider the machines’ ability to perform tasks with precision and accuracy according to given commands. Therefore, precise motion control is of utmost importance to maintain the utility of Hybrid Hydraulic-Electric Architecture (HHEA). The HHEA presents a unique challenge to motion control due to the discrete pressure changes that occur when the system switches between selected pressure rails. These changes are made to minimize system inefficiencies or to keep the system within the torque capability of the electric motor. Hence, it is important to solve the motion control challenges for HHEA. This thesis aims at developing an effective motion control strategy for HHEA. The dissertation presents a two-tiered control strategy for HHEA, comprising a high-level and a low-level controller. The primary responsibility of the high- level controller is to optimize energy efficiency by making informed pressure rail selections. On the other hand, the low-level controller is focused on achieving precise motion control of the HHEA, which is crucial for realizing the desired reference trajectories. To achieve this, the low-level controller utilizes a passivity-based backstepping integral controller as the nominal control, which handles the motion control between two pressure rail switches. Additionally, a separate least norm controller is utilized as a transition controller to manage motion control during pressure rail transitions. The effectiveness of the combined control strategy is demonstrated through experiments conducted on two hardware-in-the-loop testbeds. Furthermore, the HHEA is installed on the boom and stick actuators of a backhoe arm to build a Human-in-the-Loop system that a human operator can control. A real-time rail switching algorithm is developed to determine pressure rail switching based on present duty cycle information from the operator. Modifications have been made to the human-machine interface to achieve more intuitive control. Modifications include performing control in the task-oriented coordinates, incorporating pressure feedback to enhance control with physical interaction, and using velocity field control to simplify multi-degree-of-freedom tasks and to enable novice operators to perform them with reduced risk, improved efficiency, and productivity. The research in this dissertation makes significant contributions to the field of off-road mobile machine control, providing a novel and effective control strategy for the HHEA, and demonstrating the potential for simplified machine operation.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Investigation of powertrain system decarbonization using electrically assisted turbocharging and hybridization in off-road vehicles

In recent years, the causes, effects, and existential threat of a global anthropogenic climate shift have drawn significant attention and stimulated mitigation efforts from all genres of scientific, political, and industrial bodies. The greenhouse effect and the detrimental environmental impact of excess greenhouse gas (GHG) emissions, like carbon dioxide, is well studied and targeted as the primary culprit for aversive action. However, some fields exist where reducing GHG emissions is met by considerable challenges. One such field is the production and operations of off-road vehicles. Applications of these vehicles are highly diverse and are often characterized by rugged, especially transient, and power intensive duty cycles that make one-fits-all vehicle configuration solutions impractical. This research surveys existing literature to identify the modern technologies packages and challenges that face development and configuration of powertrain systems which currently navigate the regulated emissions and unique duty cycle requirements of this market space. A novel powertrain concept is proposed and evaluated with respect to the pinnacle objectives of load performance improvement, criteria pollutant reduction, and reducing the life cycle GHG intensity of its operation. A sure-fire path to vehicular GHG reduction is through improving the fuel efficiency of internal combustion engines (ICEs), an entrenched component of the off-road vehicle sector. Unfortunately, this is more easily said than done. An approach that has proven successful in this endeavor is engine downsizing and turbocharging, where a larger engine is replaced with a smaller one with added air system boosting via turbocharger to reduce frictional and pumping losses while also enabling access to additional fuel energy. However, practical realization of these potential benefits is often impeded by the transient response capability of the smaller engine across the operating space. For this reason, downsized ICE powertrains have turned to electrified forced induction systems (EFISs) for a decoupling of exhaust energy and engine speed from boost capability. Platformed on 48V hybrid technology, these systems introduce the need for more sophisticated controls around the engine gas-exchange process for the management of boost performance and exhaust gas emissions. On this account, simulation studies utilizing a GT-POWER model of a turbocharged 4.5 L engine outfit with an EFIS using an electrically driven compressor (eBooster®) are conducted to provide insight into the performance of this air handling architecture on an off-road engine. The results show that improvement in transient torque response time in sync with reduction in engine-out soot and NOx emissions are possible with an engine recalibration that leverages the transient air-fuel ratio authority of the eBooster®. Benefits are further demonstrated when duty cycle simulations of the 48V mild-hybrid engine concept are exercised, showing an acute decrease in cumulative fuel usage and soot production. Powertrain hybridization is another technological pathway achieving pronounced GHG reduction successes in modern on-road vehicle applications through integration of Li-ion battery technology. In the off-road vehicle segment, a review of available literature concludes that hybridized architectures are present but generally lack the depth of technologies that have both high specific energy and power capabilities, and thus are limited in their inclusion of Li-ion batteries for ICE assistance and enhanced energy storage capability. Therefore, building on the mild-hybrid engine results, the downsized and eBoosted engine concept was integrated into a larger high-voltage battery-hybrid series-electric powertrain system. Hybrid powertrain parameter sensitivity studies were carried out in a numerical charge-sustaining framework, providing novel insights into power flows between the battery and the engine and how their respective capabilities and operation contribute to GHG and criteria pollutant emissions of diverse duty cycles. Application of supervisory power management introduced robustness into the power sourcing and battery SOC control process and showed that optimum specification of battery properties can yield synergies between GHG emissions and battery energy capacity. Furthermore, examination of recent literature on Li-ion batteries has shown that pack manufacturing is a highly energy intensive process, thereby producing considerable quantities of GHGs that scale with energy storage capacity. Also scaling with a battery’s energy storage capacity is its investment cost. In consideration of these factors, an inclusive technoeconomic and GHG life cycle analysis is conducted. This analysis systematically compares the carbon footprint and total cost of ownership associated with the proposed hybrid powertrain concept to reference and alternative powertrain configurations, facilitating a thorough evaluation of the decarbonization effectiveness and economic viability.

99 GENERAL AND MISCELLANEOUS↗

A New Approach to Robot Motor Control

This essay details the motor control improvements to Fermilab's Remote Viewing Robot (RVR). It is a robot tasked with remotely investigating issues within the accelerator tunnels at Fermilab. Initially controlled by a single Raspberry Pi that housed all the robot s operations, the RVR will now use a Raspberry Pi Pico W for its motor control. This was achieved using Pulse Width Modulation (PWM) to allow for precise speed and torque control for the robot. This enhances the robot s reliability. By addressing the challenge of navigating high radiation environments, the upgrade helps assist the RVR s goal of decreasing the need for human intervention in accelerator tunnels.

Lopez, Jacob↗

Localized Flow Modification to Increase Power Capture of a Small-Scale Floating Undershot Waterwheel

The goal of the work described in this thesis is to design a flow augmentation device to increase the power capture and efficiency of a small-scale floating Under-Shot Water Wheel (USWW) currently being developed by Florida Atlantic University research funded by the U.S Department of Energy. The flow concentrator subsystem is intended to maximize the kinetic energy extracted by the marine hydrokinetic (MHK) energy collection device through modification of the local flow field across the capture plane. The primary objective is to increase the velocity and/or rate of mass inflow through the turbine through inserting a streamlined body in the region of interest. By utilizing the resulting flow field to increase hydraulic forcing on the waterwheel blades, the torque and/or RPM of the USWW can be increased. Based on experimental testing in the FAU wave tank at 1:5 prototype scale (280 mm wheel diameter) the flow concentrator was shown to produce an increase in device power coefficient of 17-55% measured over a velocity range of 0.16-0.45 m/s.

Hess, Sullivan↗

Modeling and Power-Hardware-in-the-Loop Validation of Synchronous Wind: An Inverterless Grid-Forming Wind Power Plant: Preprint

Grid-forming (GFM) control of Type-3 and Type-4 wind turbine generators has attracted substantial attention in power systems research; however, the limited over-current capability of power electronics converters continues to deteriorate the grid strength of the evolving power systems. Synchronous wind, also known as Type-5 wind turbine generator (WTG), offers a unique GFM solution to address grid integration and grid strength issues by keeping the grid largely synchronous at very high penetration levels of renewable generation. A Type-5 WTG interfaces to the electric grid via a synchronous generator (SG) driven by a variable-speed hydraulic torque converter; hence, the wind rotor operates in variable-speed mode for maximum power generation and the generator shaft remains synchronous to the grid. This paper developed and tested a high-fidelity model of Type-5 WTG under power-hardware-in-the-loop (PHIL) testing environment. The PHIL demonstration showed that a Type-5 WTGs inherently behaves as a GFM unit and can obtain similar performance in terms of power responses, wind rotor dynamics, and efficiency compared to Type-3 WTG in high wind conditions. The developed model also provides further insight on how Type-5 WTGs can benefit the smooth transition to power systems with high integration level of inverter-based resources.

grid strength↗

Electric Vehicle Basics (French Translation)

Electric vehicles (EVs) use electricity as their primary fuel or to improve the efficiency of conventional vehicle designs. EVs include all-electric vehicles, also referred to as battery electric vehicles (BEVs), and plug-in hybrid electric vehicles (PHEVs). In colloquial references, these vehicles are called electric cars, or simply EVs, even though some of these vehicles still use liquid fuels in conjunction with electricity. EVs are known for providing instant torque and a quiet driver experience. Other types of electric-drive vehicles not covered here include hybrid electric vehicles, which are powered by a conventional engine and an electric motor that uses energy stored in a battery that is charged by regenerative braking, not by plugging in, and fuel cell electric vehicles, which use a propulsion system similar to electric vehicles, where energy stored as hydrogen is converted to electricity by the fuel cell. This is the French translation of NREL/FS-5400-87125.

ADVANCED PROPULSION SYSTEMS,DIRECT ENERGY CONVERSI↗

Emergent properties of magnons coupled to microwave photons (Final Technical Report)

Studying the emergent properties of hybrid quantum material platforms holds great promise for advancing quantum technologies and transforming our ability to control quantum mechanical interactions. A key development in recent years is the recognition that magnons – the elementary quanta of spin waves – can serve as fundamental building blocks in quantum systems. Understanding the mechanisms behind the generation and control of hybrid quasiparticles based on magnons could pave the way for engineering new materials for quantum coherent processing and quantum computing. This research project focused on the precise control of light-matter interactions in magnetic hybrid systems and nanostructures, where light is carried by microwave photons and matter by magnons in engineered magnetic metamaterials. Furthermore, we investigated hybridized magnon interactions in magnetic nanostructures and devices. To this end, the project has developed new measurement techniques and systematically studied novel material systems for efficient magnon-photon coupling. A key focus was uncovering the fundamental mechanisms governing magnon-photon and magnon-phonon interactions – critical for utilizing magnons as coherent information transducers between carriers. Specifically, this research addressed: 1. Investigate the dispersion and collective properties of magnon hybrid systems in new material systems. 2. Develop magnonic hybrids with non-zero wavevectors and achieve effective control of magnon-polariton properties through engineered magnonic behaviors. 3. Determine how spin-orbit torques interact with electromagnetic fields in the strong coupling regime. This work generated new insights into the physics of magnonic hybrid systems and their emergent properties by broadening the range of material platforms and measurement techniques used to study magnon-photon and magnon-magnon coupling. The findings deepen our understanding of magnon-polaritons and lay the groundwork for novel spintronic devices with potential applications in quantum information science.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

Fleet Hydrogen Basics

Hydrogen is one transportation fuel option public and private heavy-duty vehicle fleets can consider. Heavy-duty hydrogen fuel cell electric vehicles provide the performance benefits of electric drivetrains (e.g., high instantaneous torque for heavy loads and performance improvements at high altitudes and on steep grades) and can contribute to air quality improvements in high-traffic areas. For some regions and duty cycles, hydrogen could be a better fit for heavy-duty fleets than current battery-electric options because of the increased range and faster fueling times.

30 DIRECT ENERGY CONVERSION↗

Dark Energy Survey Year 6 Results: Cosmological Constraints from Cosmic Shear

We present legacy cosmic shear measurements and cosmological constraints using six years of Dark Energy Survey imaging data. From these data, we study ~140 million galaxies (8.29 galaxies/arcmin$^2$) that are 50% complete at i=24.0 and extend beyond z=1.2. We divide the galaxies into four redshift bins, and obtain cosmic shear measurement with a signal-to-noise of 83, a factor of 2 higher than the Year 3 analysis. We model the uncertainties due to shear and redshift calibrations, and discard measurements on small angular scales to mitigate baryon feedback and other small-scale uncertainties. We consider two fiducial models to account for the intrinsic alignment (IA) of the galaxies. We conduct a blind analysis in the context of the $Λ$CDM model and find $S_8 \equiv σ_8(Ω_m/0.3)^{0.5}=0.798^{+0.014}_{-0.015}$ (marginalized mean with 68% CL) when using the non-linear alignment model (NLA) and $S_{8} = 0.783^{+0.019}_{-0.015}$ with the tidal alignment and tidal torque model (TATT), providing 1.8% and 2.5% uncertainty on $S_8$. Compared to constraints from the cosmic microwave background from Planck 2018, ACT DR6 and SPT-3G DR1, we find consistency in the full parameter space at 1.1$σ$ (1.7$σ$) and in $S_8$ at 2.0$σ$ (2.3$σ$) for NLA (TATT). The result using the NLA model is preferred according to the Bayesian evidence. We find that the model choice for IA and baryon feedback can impact the value of our $S_8$ constraint up to $1σ$. For our fiducial model choices, the resultant uncertainties in $S_8$ are primarily degraded by the removal of scales, as well as the marginalization over the IA parameters. We demonstrate that our result is internally consistent and robust to different choices in calibrating the data, owing to methodological improvements in shear and redshift measurement, laying the foundation for next-generation cosmic shear programs.

Abbott, T. M.C. [Cerro-Tololo InterAmerican Obs.]↗

Autonomous Coupler Alignment Using Position-Based Visual Servoing in a ROS 2 Framework

As robotic arms are becoming increasingly common alongside humans as collaborative robots, their high precision in motion enables tasks to be performed at significantly higher speeds with reduced disruption in the environment. The Fermi National Accelerator Laboratory is exploring this application by incorporating a UR16e from Universal Robots in a cleanroom setting during assembly of couplers to superconducting radio frequency cavities as part of the PIP-II project. The goal of the robotic assembly process is to precisely position the UR16e robot so that the coupler flange, mounted on the robot’s end-effector, is accurately aligned with and pressed against the cavity flange, requiring only final fastening by a lab technician. This thesis builds upon an initial system in which the robotic process was limited to the alignment phase using position-based visual servoing with an eye-in-hand camera to only align the coupler to the cavity with an offset distance. The objective of this thesis is to further advance autonomous robotic assembly by extending the process. To this end, the entire software framework was reconstructed, as the previous development environment posed significant challenges in modifying the software and adapting to hardware changes. The main contributions of this thesis are as follows: (i) a modular and scalable software framework based on ROS~2 was developed to facilitate performance expansion and interchangeability of software and hardware components; (ii) the desired alignment position for position-based visual servoing was parameterized to enable flexible configuration; and (iii) a methodology was developed to close the offset distance between the coupler and cavity utilizing the internal force-torque sensing capability of the UR16e, as visual feedback is not available during the offset-closing phase. The proposed autonomous robotic assembly reduces assembly time and technician involvement, thereby minimizing the risk of airborne particulate contamination, which is essential in the cleanroom setting. Moreover, the ROS~2-based framework provides a foundation for further expansion and continued advancement of robotic automation in Fermilab.

Giffen, Nickolas [Northern Illinois U.]↗

High-Fidelity Modeling of a Type-5 Wind Turbine Gearbox

Type-5 wind turbines are characterized by their use of a hydraulic torque converter and permanent synchronous generator. This combination promotes steady and grid-ready energy without the use of a power converter. Thus, researchers were prompted to study the potential impact on grid reliability, stability, and resilience using a Real Time Digital Simulator (RTDS) model of the type-5 turbine, including a high-fidelity model of its gear box.

13 - HYDRO ENERGY↗

Optimized Gear Selection to Maximize Energy Savings in Electric Traction Drives for Medium and Heavy Duty Vehicles

Multi‑gear transmission systems are commonly used in electric traction drives for medium and heavy‑duty vehicles, while most passenger‑vehicle electric drivetrains rely on a single fixed ratio to reduce cost, weight, and complexity. Using multiple gear ratios can enable downsizing of the motor and inverter while still meeting performance requirements. Additionally, appropriately chosen ratios allow the motor to operate more frequently in high‑efficiency regions, improving overall energy usage and reducing operating costs over the drive cycle. This paper presents a systematic approach for selecting optimal gear ratios for electric drive systems. A neural‑network model is first developed to represent motor losses across the full torque–speed range using data generated from finite element analysis. This model enables fast, accurate evaluation of motor efficiency under varying operating conditions. A genetic‑algorithm‑based optimization framework is then applied to identify gear ratios that maximize energy cost savings over the drive cycle, with the resulting optimal ratios stored for real‑time implementation.

Gadiyar, Nishanth [ORNL] (ORCID:0000000348267524)↗

Brushless Excitation for Wound-field Synchronous Machines using Multi-harmonic Windings

Wound-field synchronous machines (WFSM) are promising alternatives to electric machines with permanent magnets (PM). The ability to control the rotor field in these machines makes them well-suited to safety critical applications, while the absence of rare-earth permanent magnets makes these machines sustainable. The WFSM rotor excitation schemes have traditionally used carbon brushes, which significantly reduces the reliability of these machines, limiting their widespread adoption. To overcome this limitation and improve the reliability of WFSMs, several brushless rotor excitation schemes have been developed. However, most of these systems require additional windings or dedicated power electronics, making them expensive and limiting achievable power-density. In this paper a new brushless excitation scheme is proposed. In this scheme, a multiphase, multi-harmonic stator winding is designed. This winding can independently control two spatial harmonics in the airgap of the machine; the first to create torque and the second to wirelessly transfer power to the rotor to excite it.

Gadiyar, Nishanth [ORNL] (ORCID:0000000348267524)↗