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Real-time fuzzy inference based robot path planning
This project addresses the problem of adaptive trajectory generation for a robot arm. Conventional trajectory generation involves computing a path in real time to minimize a performance measure such as expended energy. This method can be computationally intensive, and it may yield poor results if the trajectory is weakly constrained. Typically some implicit constraints are known, but cannot be encoded analytically. The alternative approach used here is to formulate domain-specific knowledge, including implicit and ill-defined constraints, in terms of fuzzy rules. These rules utilize linguistic terms to relate input variables to output variables. Since the fuzzy rulebase is determined off-line, only high-level, computationally light processing is required in real time. Potential applications for adaptive trajectory generation include missile guidance and various sophisticated robot control tasks, such as automotive assembly, high speed electrical parts insertion, stepper alignment, and motion control for high speed parcel transfer systems.
Quadratic Programming for Allocating Control Effort
A computer program calculates an optimal allocation of control effort in a system that includes redundant control actuators. The program implements an iterative (but otherwise single-stage) algorithm of the quadratic-programming type. In general, in the quadratic-programming problem, one seeks the values of a set of variables that minimize a quadratic cost function, subject to a set of linear equality and inequality constraints. In this program, the cost function combines control effort (typically quantified in terms of energy or fuel consumed) and control residuals (differences between commanded and sensed values of variables to be controlled). In comparison with prior control-allocation software, this program offers approximately equal accuracy but much greater computational efficiency. In addition, this program offers flexibility, robustness to actuation failures, and a capability for selective enforcement of control requirements. The computational efficiency of this program makes it suitable for such complex, real-time applications as controlling redundant aircraft actuators or redundant spacecraft thrusters. The program is written in the C language for execution in a UNIX operating system.
STS-1 operational flight profile. Volume 5: Descent, cycle 3
The trajectory data presented are to be used for orbiter systems and subsystems evalation, flight and mission control center software verification, flight techniques and timeline development, crew training, and evaluation of operational mission suitability. The entry profile is very similar to cycle 2, however, elevon and body flap temperature margins have increased and the elevon schedule was changed. The terminal area energy management (TAEM) profile was completely reshaped to conform with new angle of attack constraints and left hand turn around the heading alignment cylinder. Also, the entry/TAEM interface was adjusted to minimize guidance induced angle of attack transients across the interface. The approach and landing phase was reshaped for a 20 deg glideslope and reduced velocity at touchdown. The definition of the runway threshold was standardized for all landing sites. This results in a shift at Edwards Air Force Base in aim points and touchdown relative to the threshold of 1000 feet. The rollout remains essentially unchanged with the exception of the speedbrake, which is now deployed to 50 percent at touchdown.
Earth Orbit Raise Design for the ARTEMIS Mission
ARTEMIS is a mission to send two spacecraft from Earth orbit to libration orbits around the Moon Lagrange points and then into lunar orbit. Lunar flybys were used early in the mission to send the spacecraft into low-energy lunar transfers which were designed libration orbits for minimal deltaV. ARTEMIS began by raising the Earth orbits of each spacecraft to achieve the planned lunar flybys. Spacecraft conguration and operation constraints made the Earth orbit raise phase of the mission a signicant mission design challenge by itself. This paper describes the process used to and trajectories that achieved mission goals and the resulting series of Earth orbits that culminated in successful lunar flybys.
In Hot Water! The Challenges and Barriers of Decarbonizing Water Heating in Multifamily Buildings: Preprint
Domestic hot water heating is responsible for 32% of the total energy consumption in multifamily buildings and offers a significant decarbonization opportunity. An extensive market assessment was conducted to understand and document key technical and economic barriers to electrification of domestic water heating in multifamily buildings throughout the U.S. Through the program, 77 interviews were conducted to understand key market drivers and technical challenges associated with electrification of water heating systems in both retrofit and new construction scenarios. Interviewees encompassed a wide range of stakeholders in the ecosystem surrounding water heating systems, including suppliers, manufacturers, designers, owners, utilities, and developers. This paper documents key interview takeaways, including an extensive list of market barriers, technical challenges, and sought-after technology attributes that can inform pertinent design criteria for electric water heating research, development, and deployment efforts. Among economics and energy efficiency features, interviewees overwhelmingly alluded to space constraints, cold air exhaust, and lack of clear guidance regarding distributed versus centralized design selections as key challenges associated with mass adoption of electric water heating. Owners and developers seek systems with minimal footprint, which maximize rentable space and profits. Moreover, distributed heat pump solutions should balance ducting costs that mitigate cold exhaust entrainment into conditioned zones. Lastly, the market needs clear guidance regarding the selection of distributed versus central electric hot water systems.
ATLAS Run 2 searches for electroweak production of supersymmetric particles interpreted within the pMSSM
A summary of the constraints from searches performed by the ATLAS collaboration for the electroweak production of charginos and neutralinos is presented. Results from eight separate ATLAS searches are considered, each using 140 fb −1 of proton-proton data at a centre-of-mass energy of $\sqrt{s}$ = 13 TeV collected at the Large Hadron Collider during its second data-taking run. The results are interpreted in the context of the 19-parameter phenomenological minimal supersymmetric standard model, where R-parity conservation is assumed and the lightest supersymmetric particle is assumed to be the lightest neutralino. Constraints from previous electroweak, flavour and dark matter related measurements are also considered. The results are presented in terms of constraints on supersymmetric particle masses and are compared with limits from simplified models. Also shown is the impact of ATLAS searches on parameters such as the dark matter relic density and the spin-dependent and spin-independent scattering cross-sections targeted by direct dark matter detection experiments. The Higgs boson and Z boson ‘funnel regions’, where a low-mass neutralino would not oversaturate the dark matter relic abundance, are almost completely excluded by the considered constraints. Example spectra for non-excluded supersymmetric models with light charginos and neutralinos are also presented.
Altair Lunar Lander Consumables Management
The Altair lunar lander is scheduled to return humans to the moon in the year 2020. Keeping the crew of 4 and the vehicle functioning at their best while minimizing lander mass requires careful budgeting and management of consumables and cooperation with other constellation elements. Consumables discussed here include fluids, gasses, and energy. This paper presents the lander's missions and constraints as they relate to consumables and the design solutions that have been employed in recent Altair conceptual designs.
Privacy-Preserving Control of Partitioned Energy Resources
Distributed energy resources are an increasingly important part of the electric grid. We examine the problem of partitioning a distributed energy resource among many users while providing privacy to them. In this model, clients can send requests to a server, the server can verify that the requests are valid and aggregate them, but it cannot see the actual values in the requests. Without privacy, each user is forced to reveal their daily schedule or energy use. Energy resources add a novel challenge that prior systems do not address: they require verifying limits on private power (a rate over time) and energy (a sum) values. Furthermore, the cryptographic mechanisms must run on embedded energy control systems. We describe Weft, a novel cryptographic system that verifies both power (rate) and energy (integral) constraints on private client values and aggregates them. The key insight behind the approach is to rely on additively homomorphic secret shares, which allows servers to compute sums from rates. We present 3 cryptographic proof systems with different system trade-off for embedded systems: bit-splitting proofs minimize memory use, sorting proofs minimize computation, and commitment proofs minimize network communication. Using bit-splitting proofs, it takes an IoT client using a CortexM microcontroller 4 minutes of compute time to privately control its share of an energy resource for a day at 20s granularity.
Design Considerations for Phase Change Material-Incorporated Heat Exchangers in Water Heating
In recent years, the buildings sector has seen major pushes towards decarbonization through innovations that promote deep electrification. 20% of an average household's energy use comes from water heating, and in the US, over half of all households still use gas water heaters. Of those that use electricity for water heating, the majority use resistive elements rather than heat pump water heaters (HPWHs), the latter of which use 60-70% less energy than the former. However, HPWHs tend to have larger dimensions, preventing current 50-80-gallon tanks on the market from fitting into smaller utility closets sized for 30-40 gallons, such as those found in manufactured housing. Additionally, these smaller HPWHs tend to underperform relative to their larger counterparts. One solution that addresses both space and performance concerns is thermal energy storage, and in particular, phase change materials (PCMs). This study outlines the design process used to produce novel PCM heat exchangers for use in small-volume HPWH tanks, including the identification of design constraints and performance targets relevant to real-world applications. To ensure optimal PCM utilization and tank storage capacity, this works seeks to co-maximize surface area and PCM volume; therefore, this research targets triply periodic minimal surface (TPMS) lattices, which boast enhanced heat transfer capabilities compared to traditional heat exchanger geometries. Starting with a suite of TPMS lattices, we demonstrate a systematic approach for narrowing down feasible designs that comply with identified constraints while meeting PCM performance objectives. Our current results indicate that tuning lattice properties can effectively produce geometries that provide enough energy storage to achieve a 50-gallon capacity out of a 40-gallon HPWH, even when placing the PCM heat exchanger inside the tank. Additionally, we demonstrate successful fabrication of lattices with these tuned properties.
Cosmological constraints from a joint DESI DR1 Full-Shape and DR2 BAO
We present a cosmological analysis combining full-shape (FS) clustering measurements from the Dark Energy Spectroscopic Instrument (DESI) DR1 with baryon acoustic oscillation (BAO) measurements from DESI DR2. To achieve a robust combination that accounts for the correlation between the two data releases, we employ the ShapeFit compression method and estimate the joint covariance using EZmocks. This compressed approach inherently mitigates the prior volume effects that have previously dominated Bayesian constraints from DESI data with minimal external priors. Consequently, we obtain — for the first time within a Bayesian framework — reliable DESI-only constraints on extensions to ΛCDM using only a Big Bang Nucleosynthesis prior on the baryon density and a wide prior on the spectral index. In flat ΛCDM, we find Ω m = 0.3035 ± 0.0085, h = 0.6876 ± 0.0059, and σ 8 = 0.822 ± 0.034. For the w 0 w a CDM dynamical dark energy model, we measure w 0 = -0.49 ± 0.25 and w a = -1.52 ± 0.77, improving constraints by ∼ 30% relative to the analogous DR1 measurement and reducing the discrepancy with ΛCDM to 1.4σ when compared to BAO only analyses. We also report competitive limits on the sum of neutrino masses and spatial curvature. This work demonstrates that the ShapeFit compression provides a prior-robust and computationally efficient pathway to constrain beyond-ΛCDM physics with large-scale structure.
Grid-generated isotropic homogeneous turbulence at high Reynolds numbers
Consideration is given to an empirical formula for the longitudinal correlation function for grid-generated incompressible fluid turbulence at Reynolds numbers above 12,800. The formula, which relates the longitudinal correlation function to the inverse cube of a dimensionless geometrical ratio, is shown to minimize the global correlation integrals into which the two-point velocity correlation tensor has been substituted subject to a global constraint on the Sobolev concomitent of the longitudinal correlation function. Furthermore, the energy spectrum function associated with the empirical formula is shown to satisfy a tertiary Helmholtz-type linear condition throughout the initial period of decay.
Controllable Multi-Functional Heat Exchanger for Space Applications
Team Spacering will design SpaceRing, a cooling and waste heat recycling system that addresses NASA’s interest for a cooling and power-generating unit in its prototype deep space habitat[1]. The merits of this system are as follows: - Controllable cooling is critical in maintaining a habitable environment and in the functionality of life support systems, powering electronics and other devices in a spacecraft. - Power is expensive to produce in a space environment. Converting wasted thermal energy into electricity will save energy and money for the space station. Space habitation is a highly complex endeavor. Consequently, the SpaceRing must adhere to additional constraints, which include: - Lack of natural fluid or gas convection due to micro-gravity environment - Limited range for heat source and cold sink temperature - Subject to high fluctuations of incoming thermal energy - Minimal weight due to the high cost of transporting items into space After consulting with NASA and experts in thermal studies, several design objectives were identified and are listed below in order of importance: - High cooling capacity - Reliable safety control and alert system - Maximization of energy generation from wasted heat - Optimization of cooling capability and power generation - Long operational life and minimization of maintenance In space, conventional cooling systems utilize passive heat pipe systems for small-scale heat rejection and pumped pipes with heat exchangers for large-scale heat rejection. Thermal power generation in space is mainly achieved by using thermoelectric material that produces electric energy from temperature differentials. We propose a design that combines cooling and thermoelectric power generation. Using a hot pipe connected to a heat source, a cold pipe connected to a radiator, a heat exchanger in contact with both pipes, and a pump in each pipe to move the fluid, we make an active cooling system. The thermoelectric material is inserted in the heat exchanger between the hot and cold pipes to extract energy from the maximum temperature difference coming from the two pipes. It also provides controllable cooling capacity through the use of the thermoelectric material as cooling modules. We have tested our system under target heat source and sink conditions and measured the temperatures and flow rates. Our preliminary results are promising, demonstrating the output of 25 Watts of power on average. We are in the process of running control tests to compare the heat transfer performance without the thermoelectric generators, which is vital in determining whether or not the generators introduce an unacceptable amount of thermal resistance. While some control tests have been run already, the results have been noisy. We have modified our testing environment and data acquisition methods to allow for simple comparison between the control test results and thermoelectric performance results. Lastly, we have modified the heat exchanger design slightly to include acrylic baffles. This will allow the heat to flow through the heat exchanger more efficiently. We have presented our preliminary results to NASA and will deliver the final product by the end of May 2014.
Energy Flexibility-Environmental Outcomes Tradeoffs Workshop Report and Research Roadmap
The U.S. Department of Energy (DOE) and Norway’s Royal Ministry of Petroleum and Energy signed an Annex to a previously signed memorandum of understanding (MOU) in February 2020 to collaborate on hydropower research and development (R&D). This MOU Annex has brought together the DOE’s Office of Energy Efficiency and Renewable Energy Water Power Technology Office and the Norwegian Research Center for Hydropower Technology (HydroCen) to plan and coordinate hydropower R&D activities to increase our understanding of hydropower’s role in the future energy grid and how to minimize and mitigate the subsequent environmental impacts. As part of this MOU Annex, hydropower researchers from the U.S. and Norway have come together to conduct collaborative research on hydropower markets and value, hydropower plant capabilities and constraints, monitoring and control technologies, environmental design solutions, environmental impacts and tradeoffs, flexible operation and planning, and technology innovations. This report presents background information on hydropower environmental regulation in the U.S. and Norway and summarizes content and conclusions from this series of two, three-hour workshops on hydropower generation flexibility and environmental outcomes, that included structured discussions used to identify research priorities and collaborative research opportunities.
Beyond Single-Reference Fixed-Node Approximation in Ab Initio Diffusion Monte Carlo Using Antisymmetrized Geminal Power Applied to Systems with Hundreds of Electrons
Diffusion Monte Carlo (DMC) is an exact technique to project out the ground state (GS) of a Hamiltonian. Since the GS is always bosonic, in Fermionic systems, the projection needs to be carried out while imposing antisymmetric constraints, which is a nondeterministic polynomial hard problem. In practice, therefore, the application of DMC on electronic structure problems is made by employing the fixed-node (FN) approximation, consisting of performing DMC with the constraint of having a fixed, predefined nodal surface. How do we get the nodal surface? The typical approach, applied in systems having up to hundreds or even thousands of electrons, is to obtain the nodal surface from a preliminary mean-field approach (typically, a density functional theory calculation) used to obtain a single Slater determinant. This is known as single reference. In this paper, we propose a new approach, applicable to systems as large as the C 60 fullerene, which improves the nodes by going beyond the single reference. In practice, we employ an implicitly multireference ansatz (antisymmetrized geminal power wave function constraint with molecular orbitals), initialized on the preliminary mean-field approach, which is relaxed by optimizing a few parameters of the wave function determining the nodal surface by minimizing the FN-DMC energy. We highlight the improvements of the proposed approach over the standard single-reference method on several examples and, where feasible, the computational gain over the standard multireference ansatz, which makes the methods applicable to large systems. We also show that physical properties relying on relative energies, such as binding energies, are affordable and reliable within the proposed scheme.
SCORE (Synthesis of COnsists as Rolling Energy microgrids) (Final Technical Report)
The SCORE toolset is an open source, web-based application to assess the impact of new powering technologies on railroad performance, specifically technologies capable of both putting power into the rail (motive force) and taking power from the rail (regeneration). SCORE’s primary goal is generate trade studies to analyze different powering and train make-up options to minimize energy usage and greenhouse gas generation. At the core of generating these trade spaces is calculating the optimal powering policy for the train given the makeup of the train, the route, and time constraints. This paper presents details on the algorithms used in SCORE to compute this powering policies that is fast and accurate, discusses its implementation in an Energy-Longitudinal Train Dynamics (E-LTD) model, compares it to naïve approaches, and demonstrates its use across a variety of train/route pairs.
Connected and Learning Based Optimal Freight Management for Efficiency
The management of the future heterogenous fleet is a complex decision-making problem. The heterogenous fleet is emerging as decarbonization technologies are deployed by fleets toward lowering the freight operation emissions in Medium and Heavy-duty vehicles. Traditionally, in fleets characterized by a homogeneous Diesel Internal Combustion Engine (ICE) powertrain, the process of fleet planning and operational optimization unfolds sequentially without the necessity to account for powertrain and vehicle-specific characteristics during dispatch decisions. Fleets with trucks less than 5 years old tend to maintain stable vehicle efficiency with minimal operational reliability risks for fleet managers. However, the landscape changes with the incorporation of emerging powertrain technologies, which lack extensive operational data and service experiences. This includes technologies like hybrid, Electric, Fuel Cell, or alternative fuel ICE. Operational decisions for fleets featuring heterogeneous powertrain technologies and facing limited access to alternative fueling and charging stations become intricate, requiring careful consideration and optimization at each dispatch. The difference in efficiency characteristics of emerging technologies, their range limitations, and the restricted availability of charging/alternative fueling infrastructure, coupled with sensitivity to driving conditions (e.g., EV range reduction in low temperatures) and their impact on component aging (such as batteries), become pivotal factors influencing the reliable and efficient freight transportation. To make the path toward low emission freight transportation efficient and reliable, an AI-assisted fleet management software is developed in this project to help fleet managers in optimizing both adoption of emerging powertrain decarbonization, connected and automated technologies and also operating the fleet after such technologies are deployed as schematically. Freight transportation requirements are different depending on the cargos to be shipped, customer requirements and regions of operations. This further highlights the need for software and digital solutions to tailor deployment and operation of emerging powertrain, connectivity, and automation technologies toward the specific fleet operation requirements. The fleet management optimizer was also integrated with a model of the fleet to simulate the operation of the fleet over 1 year of the baseline fleet operation (250,000+ shipments) indicating the significance of day-to-day variations on emissions and energy consumption of a freight transportation fleet. The results demonstrate ≥20% improvement in freight efficiency in terms of WTW CO2 per ton-mile of cargo shipments while all fleet operation constraints are enforced, and the cost (CapEx and OpEx) is minimized.
Optimizing design and dispatch of a renewable energy system with combined heat and power
We embellish a mixed-integer program that prescribes a set of renewable energy, conventional generation, and storage technologies to procure, along with a corresponding dispatch strategy. Specifically, we add combined heat and power to this set. The model minimizes fixed and operational costs less incentives for the use of various technologies, subject to a series of component interoperability and system-wide constraints. The resulting mixed-integer linear program contains hundreds of thousands of variables and constraints. We demonstrate how to efficiently formulate and solve the corresponding instances such that we produce near-optimal solutions in minutes. A previous rendition of the model required hours of solution time for the same instances.