Simulation of an Autonomous Surface Vehicle With Colocated Tidal Turbine
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Results for “Matlab”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Cooperative On-Ramp Merging with Time-Varying Vehicle-to-Vehicle Communication Delay Compensation via a Model-Free Approach
Cooperative merging strategies enabled by vehicle-to-vehicle (V2V) communication have shown promise in addressing congestion, fuel inefficiency, and collision risks. However, their performance can be severely degraded by time-varying and uncertain communication delays-an issue often overlooked in existing research, which primarily focuses on merging sequence determination and trajectory planning. Furthermore, practical considerations such as heterogeneous vehicle dynamics, varying road conditions, and real-time implementation complexities are frequently neglected. This paper presents a model-free, online planning framework for cooperative on-ramp merging of connected and automated vehicles (CAVs), explicitly accounting for time-varying V2V communication delays. Without relying on detailed vehicle dynamics, the proposed method introduces a data-driven delay compensation scheme. A co-simulation platform integrating high-fidelity vehicle dynamics, traffic simulation (SUMO), and V2V communication within MATLAB/Simulink is developed to evaluate the proposed method. Simulation results demonstrate that unaddressed V2V communication delays significantly impair merging performance. In contrast, the proposed framework enhances intervehicle distance tracking and maintains low CO2 emissions and fuel consumption, under communication delay across different communication frequencies. In conclusion, its lightweight design also facilitates real-time implementation, making it well-suited for deployment in practical CAV systems.
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Utah FORGE: Phase 3 InSAR Study Results
Ground movement is evaluated through analysis of Interferometric Synthetic Aperture Radar (InSAR) interferograms. Results indicate there has been no detectable ground movement at millimeter scale. The zipped file in this submission contains a report, maps, and results from the InSAR Phase 3 study done to determine ground crustal deformation, if any, in the Utah FORGE area. The data used to facilitate this study included synthetic aperture radar data acquired by the TerraSAR-X and TanDEM-X satellite missions operated by the German Space Agency (DLR). It is accompanied by a README.txt file which further describes each included dataset.
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Processed Lab Data for Neural Network-Based Shear Stress Level Prediction
Machine learning can be used to predict fault properties such as shear stress, friction, and time to failure using continuous records of fault zone acoustic emissions. The files are extracted features and labels from lab data (experiment p4679). The features are extracted with a non-overlapping window from the original acoustic data. The first column is the time of the window. The second and third columns are the mean and the variance of the acoustic data in this window, respectively. The 4th-11th column is the the power spectrum density ranging from low to high frequency. And the last column is the corresponding label (shear stress level). The name of the file means which driving velocity the sequence is generated from. Data were generated from laboratory friction experiments conducted with a biaxial shear apparatus. Experiments were conducted in the double direct shear configuration in which two fault zones are sheared between three rigid forcing blocks. Our samples consisted of two 5-mm-thick layers of simulated fault gouge with a nominal contact area of 10 by 10 cm^2. Gouge material consisted of soda-lime glass beads with initial particle size between 105 and 149 micrometers. Prior to shearing, we impose a constant fault normal stress of 2 MPa using a servo-controlled load-feedback mechanism and allow the sample to compact. Once the sample has reached a constant layer thickness, the central block is driven down at constant rate of 10 micrometers per second. In tandem, we collect an AE signal continuously at 4 MHz from a piezoceramic sensor embedded in a steel forcing block about 22 mm from the gouge layer The data from this experiment can be used with the deep learning algorithm to train it for future fault property prediction.
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Utah FORGE: Fault Reactivation Through Fluid Injection Induced Seismicity Laboratory Experiments
Included are results from shear reactivation experiments on laboratory faults pre-loaded close to failure and reactivated by the injection of fluid into the fault. The sample comprises a single-inclined-fracture (SIF) transecting a cylindrical sample of Westerly granite. All experiments are conducted at ambient temperature and follow a similar protocol: (i) application of confining stresses (3MPa) on the fault fully saturated with DI water, (ii) shear-mobilization through the increase of axial loading at a constant displacement rate until a post-peak steady-state condition is reached, (iii) reduction of axial loading and related shear stress to a prescribed fraction of the peak steady-state frictional strength (typically 60% to 90%, representing intermediate to high magnitudes) and (iv), fault reactivation triggered by a stepwise increase of pore pressure on the fault in 0.1 MPa increments held constant for 1-5 minutes. Mechanical data from three ISCO pumps connected to a Temco pressure vessel measure axial, confining, and fault-related parameters, including fluid pressure (kPa), fluid flow rate (mL/min), and axial displacement (mm). See included code for initial data analysis and visualization for select experiments. Resource names represent experiment numbers found in the "Read Me" file, which describes each experimental setup and parameters.
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Wave Tank Testing Report for Controls Validation of a Heaving Point Absorber
The core objectives of this project is to improve the power capture of three different wave energy conversion (WEC) devices by more than 50% using an advanced control system and validate the attained improvements using wave tank and full scale testing. In parallel, we will bring along the development of a wave prediction system that is required to enable effective control and test it at full scale. The purposes of this report are to: 1. Plan and document the 1/25th scale device testing at the wave-tank facility; 2. Document the test article, setup and methodology, sensor and instrumentation, mooring, electronics, wiring, and data flow and quality assurance; 3. Communicate the testing results between the associated members; 4. Facilitate reviews that will help to ensure all aspects (risk, safety, testing procedures, etc.); 5. Provide a systematic guide to setting up, executing and decommissioning the experiment.
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ADCP Acoustic Interference Survey Data, Sequim Bay Inlet, WA
Raw ADCP (Acoustic Doppler Current Profiler) datasets from acoustic interference surveys with a TRDI Workhorse 300, a Nortek Signature500 and two Signature1000 instruments from August 2020. One Signature 1000 ADCP was deployed for 13 days on a bottom lander in Sequim Bay Inlet, WA. Data from the other three instruments were taken from a survey vessel running transects above the deployed lander.
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Small Scale WEC Performance Modeling Data
Small Scale WEC Performance Modeling Data is performance data from downscaled models of common WEC devices and their calculated performance outputs. This data is used by the Small WEC interactive modeling tool hosted by PRIMRE. The devices include a point absorber, a two-body point absorber (RM3), an oscillating surge device (OSWEC), and an attenuator type device (McCabe Wave Pump). One of the primary use cases for this work is to give an easy way to compare power output for a variety of WECs and model sizes.
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Millinocket Stream, Maine Velocity and Bathymetry Measurements 2021
ORPC staff collected site characterization data on Millinocket Stream, downstream of the hydropower station at the former Great Northern Paper Mill site in Millinocket, Maine. Bathymetry was collected with a SonTek M9 using HydroSurveyor software package and velocity was collected using the SonTek M9 RiverSurveyor software package. Bathymetry only was collected on 9/30/21. Bathymetry and velocity were collected on 10/21/21.
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Timeseries Data from the Experimental Testing of the OPI's Prototype Hydraulic Drivetrain.
Timeseries data from the experimental testing of the OPI's prototype hydraulic drivetrain. The data is provided in .mat file format. The units for the data can be found in the ReadMe included in the submission resources.
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Additional Degree of Freedom for WEC Model
'Additional Degree of Freedom for WEC' - WEC-Sim numerical model from RFTS 1 TEAMER project. An increase in wave energy converter (WEC) efficiency requires not only consideration of the nonlinear effects in the WEC dynamics and the power take-off (PTO) mechanisms, but also more integrated treatment of the whole system, i.e., the buoy dynamics, the PTO system, and the control strategy. It results in an optimization formulation that has a nonquadratic and nonstandard cost functional. This model presents the application of real-time nonlinear model predictive controller (NMPC) to two degrees of freedom point absorber type WEC with highly nonlinear PTO characteristics. The nonlinear effects, such as the fluid viscous drag, are also included in the plant dynamics. The controller may be implemented on a real-time target machine, and the WEC device is emulated in real-time using the WECSIM toolbox. Please see the ‘ReadMe’ within the root directory for an explanation of how to set-up and run the model. An article covering the development of this model is attached as "Real-Time Nonlinear Model Predictive Controller for Multiple Degrees of Freedom Wave Energy Converters with Non-Ideal Power Take-Off"
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Pacific Marine Energy Center Laser Doppler Velocimetry Commissioning
First commissioning data for the new laser doppler velocimetry (LDV) system that will be used at the Tyler Flume at the University of Washington. The LDV system can measure three components of velocity at a point. For this dataset the three components were operated in non-coincident mode and data were acquired at the center of the empty facility. Comparisons of freestream turbulence were made with a Vectrino slightly upstream of the LDV measurement location.
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Acoustic Doppler Velocimeter (ADV) data from the University of New Hampshire Atlantic Marine Energy Center (UNH-AMEC ) Tidal Energy Test Site during a Perigean Spring Tide
The ADV measurements contained in this submission were taken on the floating turbine deployment platform (TDP) located at the Memorial Bridge in Portsmouth, NH. The measurements were conducted 11/4/2021-11/9/2021 with the fastest currents occurring on 11/7/2021. Along with the submission of ADV data, a .ppt and text document further explaining the ADV deployment location is included.
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HERO WEC V1.0 - WEC-Sim Model
This zip file contains the files that are needed to simulate NREL's HERO WEC (hydraulic and electric reverse osmosis wave energy converter). This requires the user to have already installed WEC-Sim. In addition to the standard toolboxes that are required to run WEC-Sim the user will also need the Simscape Fluids and Simscape Driveline packages. In the zip file you will find the following: - HEROV1_HPTO.slx: Simulink-based WEC Sim model of the first gen (V1.0) Hydraulic PTO (power take-off) that was designed for the HERO WEC - wecSimInputFile.m: Input file needed to run the model - userDefinedFunctionsMCR.m: MCR (multi condition run) script that is needed if a use wants to simulate multiple wave conditions. - geometry (folder): Includes the geometry file that is needed for visualization - hydroData (folder): Includes the required WAMIT data to run WEC-Sim
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TEAMER: FOSWEC Mooring Modeling and Analysis, Post Access Report and Data
Floating oscillating surge wave energy converters (FOSWECs) offer several advantages over bottom-hinged oscillating surge wave energy converters, including large wave potential at deep-water sites with fewer permitting and environmental concerns outside territorial waters. As a team, Stevens Institute of Technology, Virginia Tech and Resolute Marine Energy are designing a 100 kW FOSWEC with DOE support (2020-2021) for the PacWave test site "PacWave". The proposed FOSWEC consists of a floating platform, two pivoting flaps, and an innovative power-take-off (PTO). The distance between the two flaps is around half the typical wavelength, resulting in out-of-phase motion and a reduction in motion of the frame and mooring loads. The overall goal of the project is to design, build, deploy and analyze a 1:2 scale (100-kW annual averaged electrical power output) device with reduced levelized cost of energy (LCOE) and peak-to-average power ratio, through the co-design and control of the PTO, WEC, and floating platform. This submission includes a Post Access Report and data for the project of Mooring Modeling and Analysis for Floating Oscillating Surge Wave Energy Converter that Powers Marine Aquaculture of RFTS2 (request for technical support). The data are used to generate all figures in the Post Access Report. Project was a collaboration between Virginia Tech and the National Renewable Energy Lab, with funding from TEAMER.
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TEAMER - AquaHarmonics High Fidelity WEC Sim PTO and Control Model Validation, Sim Model
Collaborative effort between AquaHarmonics, Sandia National Laboratories (SNL), and the National Renewable Energy Laboratory (NREL) to revise and validate Aquaharmonics' full wave to wire model, allowing for reduced uncertainty and increased understanding of design requirements of a utility scale wave energy converter (WEC). SNL and NREL in collaboration with AquaHarmonics, will set up and run WEC Simulator (WEC-Sim) models of the AquaHarmonics WEC, building off past model developments for inclusion of custom PTO (power take-off) dynamics. The intent is to review, update, and verify or validate a new WEC-Sim model against wave tank experimental data. Furthermore, the WEC-Sim model will be coupled to an energy storage system model to better understand the wave-to-wire functionality. Project is part of the TEAMER (Testing & Expertise for Marine Energy) RFTS (request for technical support) system of WEC research projects. Testing data can be found in the associated MHKDR link below.
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Optimization of Marine Energy Conversion Systems Through Modeling, Optimization, and CHIL Validation
The work aims to achieve optimal tidal energy conversion through a comprehensive approach of modeling, optimization, and control hardware-in-the-loop (CHIL) validation. By developing accurate models and employing optimization techniques, it seeks to identify efficient system configurations and control strategies. HIL validation will ensure the performance and reliability of the optimized tidal energy conversion system. The preparation of the present manual has been supported by the U.S. Department of Energy.
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TEAMER: Electrically Engaged Undulation System for Unmanned Underwater Vehicles
This TEAMER RFTS 1 (Request for Technical Support) project supported the flume tank testing of a long range, high endurance unmanned underwater vehicle (UUV) to monitor maritime space. Today, battery-powered remotely operated vehicles (ROVs) lack the duration to make persistent, wide-area data collection possible.The proposed solution, an Electrically Engaged UnduLation (EEL) drone, can sustain missions for longer duration through hydrodynamic energy harvesting. Power is provisioned via the piezoelectric effect, a material-led phenomenon that converts applied stress into electricity. The EEL subsystems include power, propulsion, navigation, ballast, telemetry, and instrumentation. By mimicking the gait of aquatic eels, EEL can counter currents during maneuvering and level-flight. The identified opportunity is in the future capability of extreme endurance UUVs in swarms. The specific goal for the EEL development is to expand the spatio-temporal coverage of the existing ocean observation mission by overcoming significant challenges of autonomous robotics. Some of the challenges presented include novel compliant mechanism for robust actuation, bio-inspired design to emulate efficient locomotion, smart material-based energy harvesting for sustained power, and swarming architecture through enabled autonomy.
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