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At least 1,207 records · Page 67

Instructional Design Briefing A Brief Overview in Relation to the China COE

This introduction provides a roadmap and guidance for the work that will be done by SMEs to prepare NDA course material to be transitioned from LANL to the China COE. It will cover the definition of instructional design; why instructional design is important; role of instructional designer vs an instructor and how they work together; and how this relates to our work in the China COE project.

99 GENERAL AND MISCELLANEOUS↗

DR Argillite Disposal R&D at LBNL

Within the Natural Barrier System (NBS) group of the Used Fuel Disposition (UFD) Campaign at the Department of Energy’s (DOE) Office of Nuclear Energy, LBNL’s research activities have focused on understanding and modeling EDZ evolution and the associated coupled processes and impacts of high temperature on parameters and processes relevant to performance of a clay repository to establish the technical base for the maximum allowable temperature. This report documents results from some of these activities. These activities address key Features, Events, and Processes (FEPs), which have been ranked in importance from medium to high, as listed in Table 7 of the Used Fuel Disposition Campaign Disposal Research and Development Roadmap (FCR&D-USED-2011-000065 REV0) (Nutt, 2011). Specifically, they address FEP 2.2.01, Excavation Disturbed Zone, for clay/shale, by investigating how coupled processes affect EDZ evolution; FEP 2.2.05, Flow and Transport Pathways; and FEP 2.2.08, Hydrologic Processes, and FEP 2.2.07, Mechanical Processes, and FEP 2.2.09, Chemical Process—Transport, by studying near-field coupled THMC processes in clay/shale repositories. The activities documented in this report also address a number of research topics identified in Research & Development (R&D) Plan for Used Fuel Disposition Campaign (UFDC) Natural System Evaluation and Tool Development (Wang 2011), including Topics S3, Disposal system modeling – Natural System; P1, Development of discrete fracture network (DFN) model; P14, Technical basis for thermal loading limits; and P15 Modeling of disturbed rock zone (DRZ) evolution (clay repository).

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DESALINATION AND WATER TREATMENT RESEARCH AT SANDIA NATIONAL LABORATORIES.

Water is the backbone of our economy - safe and adequate supplies of water are vital for agriculture, industry, recreation, and human consumption. While our supply of water today is largely safe and adequate, we as a nation face increasing water supply challenges in the form of extended droughts, demand growth due to population increase, more stringent health-based regulation, and competing demands from a variety of users. To meet these challenges in the coming decades, water treatment technologies, including desalination, will contribute substantially to ensuring a safe, sustainable, affordable, and adequate water supply for the United States. This overview documents Sandia National Laboratories' (SNL, or Sandia) Water Treatment Program which focused on the development and demonstration of advanced water purification technologies as part of the larger Sandia Water Initiative. Projects under the Water Treatment Program include: (1) the development of desalination research roadmaps (2) our efforts to accelerate the commercialization of new desalination and water treatment technologies (known as the 'Jump-Start Program),' (3) long range (high risk, early stage) desalination research (known as the 'Long Range Research Program'), (4) treatment research projects under the Joint Water Reuse & Desalination Task Force, (5) the Arsenic Water Technology Partnership Program, (6) water treatment projects funded under the New Mexico Small Business Administration, (7) water treatment projects for the National Energy Technology Laboratory (NETL) and the National Renewable Energy Laboratory (NREL), (8) Sandia- developed contaminant-selective treatment technologies, and finally (9) current Laboratory Directed Research and Development (LDRD) funded desalination projects.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Reaction System Design for NO 2 Oxidation of Used Nuclear Fuel for the FY17 Hot Test

A dry pretreatment process based on the oxidation of used nuclear fuel to convert it to a fine powder is being studied for the removal and capture of tritium and iodine before subsequent processing. The process converts oxide fuel into a fine powder at low temperature using NO 2 /O 2 mixtures. The form of the powder product can be selected to be U 3 O 8 , UO 3 , or a nitrate by adjusting the processing conditions. All the fundamental tenets of the process have been successfully demonstrated as a proof of principle, and many aspects have been corroborated multiple times at laboratory scale. The present thrust is to develop the process to a technology-readiness level sufficient to evaluate and estimate the cost of an engineering-scale implementation. A previous roadmap analysis of the implementation determined that the most desirable approach would be based on kilogram-scale experiments using real fuel in parallel with multi-kg testing of prototype systems using surrogate material. Following the planned approach, kilogram-scale experiments will be conducted in FY 2017. This report describes the primary reaction system designs and the equipment that has been fabricated. Details related to instrumentation, data acquisition, and controls have been previously reported.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Resilience Design Patterns - A Structured Approach to Resilience at Extreme Scale (version 1.0)

Reliability is a serious concern for future extreme-scale high-performance computing (HPC) systems. Projections based on the current generation of HPC systems and technology roadmaps suggest that very high fault rates in future systems. The errors resulting from these faults will propagate and generate various kinds of failures, which may result in outcomes ranging from result corruptions to catastrophic application crashes. Practical limits on power consumption in HPC systems will require future systems to embrace innovative architectures, increasing the levels of hardware and software complexities. The resilience challenge for extreme-scale HPC systems requires management of various hardware and software technologies that are capable of handling a broad set of fault models at accelerated fault rates. These techniques must seek to improve resilience at reasonable overheads to power consumption and performance. While the HPC community has developed various solutions, application-level as well as system-based solutions, the solution space of HPC resilience techniques remains fragmented. There are no formal methods and metrics to investigate and evaluate resilience holistically in HPC systems that consider impact scope, handling coverage, and performance & power eciency across the system stack. Additionally, few of the current approaches are portable to newer architectures and software ecosystems, which are expected to be deployed on future systems. In this document, we develop a structured approach to the management of HPC resilience based on the concept of resilience-based design patterns. A design pattern is a general repeatable solution to a commonly occurring problem. We identify the commonly occurring problems and solutions used to deal with faults, errors and failures in HPC systems. The catalog of resilience design patterns provides designers with reusable design elements. We define a design framework that enhances our understanding of the important constraints and opportunities for solutions deployed at various layers of the system stack. The framework may be used to establish mechanisms and interfaces to coordinate flexible fault management across hardware and software components. The framework also enables optimization of the cost-benefit trade-os among performance, resilience, and power consumption. The overall goal of this work is to enable a systematic methodology for the design and evaluation of resilience technologies in extreme-scale HPC systems that keep scientific applications running to a correct solution in a timely and cost-ecient manner in spite of frequent faults, errors, and failures of various types.

97 MATHEMATICS AND COMPUTING↗

Seamless Digital Environment – Plan for Data Analytics Use Case Study

The U.S Department of Energy Light Water Reactor Sustainability (LWRS) Program initiated research in to what is needed in order to provide a roadmap or model for Nuclear Power Plants to reference when building an architecture that can support the growing data supply and demand flowing through their networks. The Digital Architecture project published report Digital Architecture Planning Model (Oxstrand et. al, 2016) discusses things to consider when building an architecture to support the increasing needs and demands of data throughout the plant. Once the plant is able to support the data demands it still needs to be able to provide the data in an easy, quick and reliable method. A common method is to create a “one stop shop” application that a user can go to get all the data they need. The creation of this leads to the need of creating a Seamless Digital Environment (SDE) to integrate all the “siloed” data. An SDE is the desired perception that should be presented to users by gathering the data from any data source (e.g., legacy applications and work management systems) without effort by the user. The goal for FY16 was to complete a feasibility study for data mining and analytics for employing information from computer-based procedures enabled technologies for use in developing improved business analytics. The research team collaborated with multiple organizations to identify use cases or scenarios, which could be beneficial to investigate in a feasibility study. Many interesting potential use cases were identified throughout the FY16 activity. Unfortunately, due to factors out of the research team’s control, none of the studies were initiated this year. However, the insights gained and the relationships built with both PVNGS and NextAxiom will be valuable when moving forward with future research. During the 2016 annual Nuclear Information Technology Strategic Leadership (NITSL) group meeting it was identified would be very beneficial to the industry to support a research effort focused on data analytics. It was suggested that the effort would develop and evaluate use cases for data mining and analytics for employing information from plant sensors and database for use in developing improved business analytics.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

On the Path to SunShot - Advancing Concentrating Solar Power Technology, Performance, and Dispatchability

Energy storage will help enable CSP compete by adding flexibility value to a high-variable-generation (solar plus wind) power system (see Mehos et al. 2016). Compared with PV, CSP systems are more complex to develop, design, construct, and operate, and they require a much larger minimum effective scale—typically at least 50 MW, compared with PV systems that can be as small as a few kilowatts. In recent years, PV’s greater modularity and lower LCOE have made it more attractive to many solar project developers, and some large projects that were originally planned for CSP have switched to PV. However, the ability of CSP to use thermal energy storage—and thus provide continuous power for long periods when the sun is not shining—could give CSP a vital role in evolving electricity systems. Because CSP with storage can store energy when net demand is low and release that energy when demand is high, it increases the electricity system’s ability to balance supply and demand over multiple time scales. Such flexibility becomes increasingly important as more variable-generation renewable energy is added to the system. For example, one analysis suggests that, under a 40% renewable portfolio standard in California, CSP with storage could provide more than twice as much value to the electricity system as variable-generation PV. For this reason, enhanced thermal energy storage is a critical component of the SunShot Initiative’s 2020 CSP technology-improvement roadmap.

14 SOLAR ENERGY↗

On the Path to SunShot - The Role of Advancements in Solar Photovoltaic Efficiency, Reliability, and Costs

Although tremendous progress has been made in reducing the cost of PV systems, additional LCOE reductions of 40%–50% between 2015 and 2020 will be required to reach the SunShot Initiative’s targets (see Woodhouse et al. 2016). Understanding the tradeoffs between installed prices and other PV system characteristics—such as module efficiency, module degradation rate, and system lifetime—are vital. For example, with 29%-efficient modules and high reliability (a 50-year lifetime and a 0.2%/year module degradation rate), a residential PV system could achieve the SunShot LCOE goal with modules priced at almost $1.20/W. But change the lifetime to 10 years and the degradation rate to 2%/year, and the system would need those very high-efficiency modules at zero cost to achieve the same LCOE. Although these examples are extreme, they serve to illustrate the wide range of technological combinations that could help drive PV toward the LCOE goals. SunShot’s PV roadmaps illustrate specific potential pathways to the target cost reductions.

14 SOLAR ENERGY↗

Resilience Design Patterns - A Structured Approach to Resilience at Extreme Scale (version 1.1)

Reliability is a serious concern for future extreme-scale high-performance computing (HPC) systems. Projections based on the current generation of HPC systems and technology roadmaps suggest the prevalence of very high fault rates in future systems. The errors resulting from these faults will propagate and generate various kinds of failures, which may result in outcomes ranging from result corruptions to catastrophic application crashes. Therefore the resilience challenge for extreme-scale HPC systems requires management of various hardware and software technologies that are capable of handling a broad set of fault models at accelerated fault rates. Also, due to practical limits on power consumption in HPC systems future systems are likely to embrace innovative architectures, increasing the levels of hardware and software complexities. As a result the techniques that seek to improve resilience must navigate the complex trade-off space between resilience and the overheads to power consumption and performance. While the HPC community has developed various resilience solutions, application-level techniques as well as system-based solutions, the solution space of HPC resilience techniques remains fragmented. There are no formal methods and metrics to investigate and evaluate resilience holistically in HPC systems that consider impact scope, handling coverage, and performance & power efficiency across the system stack. Additionally, few of the current approaches are portable to newer architectures and software environments that will be deployed on future systems. In this document, we develop a structured approach to the management of HPC resilience using the concept of resilience-based design patterns. A design pattern is a general repeatable solution to a commonly occurring problem. We identify the commonly occurring problems and solutions used to deal with faults, errors and failures in HPC systems. Each established solution is described in the form of a pattern that addresses concrete problems in the design of resilient systems. The complete catalog of resilience design patterns provides designers with reusable design elements. We also define a framework that enhances a designer's understanding of the important constraints and opportunities for the design patterns to be implemented and deployed at various layers of the system stack. This design framework may be used to establish mechanisms and interfaces to coordinate flexible fault management across hardware and software components. The framework also supports optimization of the cost-benefit trade-offs among performance, resilience, and power consumption. The overall goal of this work is to enable a systematic methodology for the design and evaluation of resilience technologies in extreme-scale HPC systems that keep scientific applications running to a correct solution in a timely and cost-efficient manner in spite of frequent faults, errors, and failures of various types.

97 MATHEMATICS AND COMPUTING↗

Watchdog Project

The Watchdog Project completed 100% of the project Statement of Project Objective (SOPO). The Watchdog project was a very aggressive project looking to accomplish commercialization of technology that had never been commercialized, as a result it took six years to complete not the original three that were planned. No additional federal funds were requested from the original proposal and SEL contributed the additional cost share required to complete the project. The result of the Watchdog Project is the world’s first industrial rated Software Defined Network (SDN) switch commercially available. This technology achieved the SOPOO and DOE Roadmap goals to have strong network access control, improve reliability and network performance, and give the asset owner the ability to minimize attack surface before and during an attack. The Watchdog project is an alliance between CenterPoint Energy Houston Electric, Pacific Northwest National Laboratories (PNNL), and Schweitzer Engineering Laboratories, Inc. (SEL). SEL is the world’s leader in microprocessor-based electronic equipment for protecting electric power systems. PNNL performs basic and applied research to deliver energy, environmental, and national security for our nation. CenterPoint Energy is the third largest publicly traded natural gas delivery company in the U.S and third largest combined electricity and natural gas delivery company. The Watchdog Project efforts were combined with the SDN Project efforts to produce the entire SDN system solution for the critical infrastructure. The Watchdog project addresses Topic Area of Interest 5: Secure Communications, for the DEFOA- 0000359 by protecting the control system local area network itself and the communications coming from and going to the electronic devices on the local network. Local area networks usually are not routed and have little or no filtering capabilities. Combine this with the fact control system protocols are designed with inherent trust the control system owners have very little choice on how to protect communications on the local network. The Watchdog project reduces security risks in electric sector control system local area networks (LANs) by providing: Network access control (NAC) Multi-Layer firewall (physical through transport layer) Containment of malware or unauthorized traffic spreading across the network White list protocols and application message types filtering Configurable, proactive traffic engineering The Watchdog project achieved all of the above by developing an SDN switch.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Material Recover and Waste Form Development--2016 Accomplishments

The Material Recovery and Waste Form Development (MRWFD) Campaign under the U.S. Department of Energy (DOE) Fuel Cycle Technologies (FCT) Program is responsible for developing advanced separation and waste form technologies to support the various fuel cycle options defined in the DOE Nuclear Energy Research and Development Roadmap, Report to Congress (April 2010). This MRWFD accomplishments report summarizes the results of the research and development (R&D) efforts performed within MRWFD in Fiscal Year (FY) 2016. Each section of the report contains an overview of the activities, results, technical point of contact, applicable references, and documents produced during the FY. This report briefly outlines campaign management and integration activities but primarily focuses on the many technical accomplishments of FY 2016. The campaign continued to use an engineering-driven, science-based approach to maintain relevance and focus.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

The PIP-II Reference Design Report

The Proton Improvement Plan-II (PIP-II) is a high-intensity proton facility being developed to support a world-leading neutrino program over the next two decades at Fermilab. PIP-II is an integral part of the U.S. Intensity Frontier Roadmap as described in the Particle Physics Project Prioritization Panel (P5) report of May 2014 [1]. As an immediate goal PIP-II is focused on upgrades to the Fermilab accelerator complex capable of providing a beam power in excess of 1 MW on target at the initiation of LBNF [1,2] operations. PIP-II is a part of a longer-term concept for a sustained campaign of upgrades and improvements to achieve multi-MW capabilities at Fermilab. PIP-II is based on three major thrusts. They are (1) the recently completed upgrades to the Recycler and Main Injector (MI) for the NOvA experiment, (2) the Proton Improvement Plan [3] currently underway, and (3) the Project X Reference Design [4]. Note that: The Proton Improvement Plan (PIP) consolidates a set of improvements to the existing Linac, Booster, and Main Injector (MI) aimed at supporting 15 Hz Booster beam operation. In combination, the NOvA upgrades and PIP create a capability of delivering 700 kW beam power from the Main Injector at 120 GeV; The scope of the Project X Reference Design Report was aimed well beyond PIP. It described a complete concept for a multi-MW proton facility that could support a broad particle physics program based on neutrino, kaon, muon, and nucleon experiments [5,6]. The Project X conceptual design has evolved over a number of years, incorporating continuous input on physics research goals and advances in the underlying technology development programs [7,8,9]. PIP-II, to high degree, inherits these goals as the goals for future developments and upgrades. This document (PIP-II Reference Design Report) describes an initial step in the development of the Fermilab accelerating complex. The plan described in this Report balances the far-term goals of the Laboratory's long baseline neutrino mission with the near- and mid-term goals identified at the Snowmass workshop [10] and endorsed by the P5 report [1].

43 PARTICLE ACCELERATORS↗

Recommended Research Directions for Improving the Validation of Complex Systems Models.

Improved validation for models of complex systems has been a primary focus over the past year for the Resilience in Complex Systems Research Challenge. This document describes a set of research directions that are the result of distilling those ideas into three categories of research -- epistemic uncertainty, strong tests, and value of information. The content of this document can be used to transmit valuable information to future research activities, update the Resilience in Complex Systems Research Challenge's roadmap, inform the upcoming FY18 Laboratory Directed Research and Development (LDRD) call and research proposals, and facilitate collaborations between Sandia and external organizations. The recommended research directions can provide topics for collaborative research, development of proposals, workshops, and other opportunities.

99 GENERAL AND MISCELLANEOUS↗

Argillite And Crystalline Disposal Research: Accomplishments And Path-Forward.

The intention of this document is to provide a path-forward for research and development (R&D) for two host rock media-specific (argillite and crystalline) disposal research work packages within the Used Fuel Disposition Campaign (UFDC). The two work packages, Argillite Disposal R&D and Crystalline Disposal R&D, support the achievement of the overarching mission and objectives of the Department of Energy Office of Nuclear Energy Fuel Cycle Technologies Program. These two work packages cover many of the fundamental technical issues that will have multiple implications to other disposal research work packages by bridging knowledge gaps to support the development of the safety case. The path-forward begins with the assumption of target dates that are set out in the January 2013 DOE Strategy for the Management and Disposal of Used Nuclear Fuel and High-Level Radioactive Waste (http://energy.gov/downloads/strategy-management-and-disposal-used-nuclear-fuel-and-high-levelradioactive- waste). The path-forward will be maintained as a living document and will be updated as needed in response to available funding and the progress of multiple R&D tasks in the Used Fuel Disposition Campaign and the Fuel Cycle Technologies Program. This path forward is developed based on the report of “Used Fuel Disposition Campaign Disposal Research and Development Roadmap (FCR&D-USED- 2011-000065 REV0)” (DOE, 2011). This document delineates the goals and objectives of the UFDC R&D program, needs for generic disposal concept design, and summarizes the prioritization of R&D issues.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

A high-fidelity model for coupling flow and mechanical deformation of the porous paper web - a key to improved understanding of dewatering and rewet at the press section in paper making

The U.S. pulp and paper industry is the third-largest manufacturing user of energy, with an energy demand of 2,540 trillion Btu in 2010. Within the papermaking process, drying consumes over 400 trillion Btu annually which makes it one of the largest energy saving opportunities. In the 2014 Forest Products Industry Technology Roadmap, it is concluded that increasing the paper web solid content entering the dryer section from the current 45- 55 percent to approaching 65 percent, which would save 1.0 MMBtu per ton or 20 percent of the energy used in drying, is one of the most needed technology breakthroughs to achieve a more sustainable approach for manufacturing pulp and paper products. Achieving such significant energy savings highly depends on understanding the fundamental dynamics of the wet press process and then developing optimized solutions for design of more energy-efficient press processes and equipment. The objective of this project is to develop reliable computational capabilities to accurately simulate the flow of water from/to the porous pulp medium (dewatering/rewetting) during the pressing process in paper making.

42 ENGINEERING↗

National Plug-In Electric Vehicle Infrastructure Analysis

This document describes a study conducted by the National Renewable Energy Laboratory quantifying the charging station infrastructure required to serve the growing U.S. fleet of plug-in electric vehicles (PEVs). PEV sales, which include plug-in hybrid electric vehicles (PHEVs) and battery electric vehicles (BEVs), have surged recently. Most PEV charging occurs at home, but widespread PEV adoption will require the development of a national network of non-residential charging stations. Installation of these stations strategically would maximize the economic viability of early stations while enabling efficient network growth as the PEV market matures. This document describes what effective co-evolution of the PEV fleet and charging infrastructure might look like under a range of scenarios. To develop the roadmap, NREL analyzed PEV charging requirements along interstate corridors and within urban and rural communities. The results suggest that a few hundred corridor fast-charging stations could enable long-distance BEV travel between U.S. cities. Compared to interstate corridors, urban and rural communities are expected to have significantly larger charging infrastructure requirements. About 8,000 fast-charging stations would be required to provide a minimum level of coverage nationwide. In an expanding PEV market, the total number of non-residential charging outlets or 'plugs' required to meet demand ranges from around 100,000 to more than 1.2 million. Understanding what drives this large range in capacity requirements is critical. For example, whether consumers prefer long-range or short-range PEVs has a larger effect on plug requirements than does the total number of PEVs on the road. The relative success of PHEVs versus BEVs also has a major impact, as does the number of PHEVs that charge away from home. This study shows how important it is to understand consumer preferences and driving behaviors when planning charging networks.

33 ADVANCED PROPULSION SYSTEMS↗

A new class of tandems: Optically coupled III-V/silicon module with outdoor efficiency exceeding 30%

The aim of this project was to introduce a new class of technology—that of high-efficiency silicon-based tandem photovoltaic (PV) modules—that, with follow-on development, has a clear path to reduced levelized cost of electricity (LCOE) for utility-scale power generation. In particular, the objective of the project was to demonstrate the first 30%-efficient III-V/silicon module in outdoor conditions using a tandem geometry in which the sub-cells are detached physically but coupled optically. In present PV power plants installed in the US, the module makes up only approximately one-third of the cost; area-dependent balance-of-systems (BOS) costs such as installation materials, labor, land, and site prep made up an additional third, and area-independent BOS costs round out the final third. With this pricing structure, (annually averaged) module efficiency is a clear market driver: increase the annual energy output per module and the effective costs translated into $/W of both the module and the area-dependent BOS—two-thirds of the total cost—decrease proportionately. However, the dominant PV technology—flat-plate silicon modules—is reaching its theoretical efficiency limit, and thus a tandem technology in which silicon is coupled with a wider-bandgap cell is a promising route to remain responsive to market forces. As it is not trivial to couple silicon with other cells in conventional two-terminal geometries due to, e.g., lattice mismatch, this project introduced a new, four-terminal configuration using a “PVMirror.” A PVMirror utilizes PV cells as a three-in-one technology—they act as a concentrating mirror, spectrum splitter, and high-efficiency light-to-electricity converter. Light is incident upon a full-aperture dichroic mirror that reflects visible light and transmits infrared light. The transmitted light is absorbed in silicon PV cells that are placed behind the dichroic mirror and that convert IR photons to electricity with high efficiency. The dichroic mirror and silicon PV cells are affixed to a curved glass trough that tracks the sun about a single, North-South axis such that the reflected VIS light is concentrated at a common line focus, at which is placed a second, wider-bandgap GaAs PV cell having high efficiency at shorter wavelengths. The innovation of PVMirrors lies in their design, which maximizes annual energy output and minimizes the constraints placed on the sub-cells. In particular, the cells are free of lattice- and current-matching restrictions, neither cell requires a transparent rear electrode, and either sub-cell can be placed at the focus depending on their relative costs. Furthermore, the greatest benefit of PVMirrors is that they make use of a portion of the diffuse light whereas concentrator tandems cannot. This results in a benefit in energy yield and extends PVMirrors’ competitive range. Over the course of this one-year project, a silicon PVMirror and GaAs receiver were fabricated, characterized, and placed outdoors on a sun tracker, where the efficiency of the tandem “module” was measured for three days. Notable results include the first demonstration of this flexible tandem configuration, a maximum tandem efficiency of 29.6% (just shy of the 30% overall project goal), successful conversion of diffuse light into electricity, a thorough loss analysis indicating a path to over 31% efficiency, and a roadmap to cost-competitive PVMirror tandems using a wide-bandgap polycrystalline PVMirror and a silicon receiver. Development of a >18%-efficient wide-bandgap polycrystalline cell—the key enabler of this envisioned tandem—should be a future research focus. This project has laid the groundwork for a PV technology that, with continued development, has the potential to reach LCOEs as low as $0.03/kWh according to our calculations. Such a system would provide the public with inexpensive, clean solar power.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Sampling-Based Motion Planning Algorithms for Replanning and Spatial Load Balancing

The common theme of this dissertation is sampling-based motion planning with the two key contributions being in the area of replanning and spatial load balancing for robotic systems. Here, we begin by recalling two sampling-based motion planners: the asymptotically optimal rapidly-exploring random tree (RRT*), and the asymptotically optimal probabilistic roadmap (PRM*). We also provide a brief background on collision cones and the Distributed Reactive Collision Avoidance (DRCA) algorithm. The next four chapters detail novel contributions for motion replanning in environments with unexpected static obstacles, for multi-agent collision avoidance, and spatial load balancing. First, we show improved performance of the RRT* when using the proposed Grandparent-Connection (GP) or Focused-Refinement (FR) algorithms. Next, the Goal Tree algorithm for replanning with unexpected static obstacles is detailed and proven to be asymptotically optimal. A multi-agent collision avoidance problem in obstacle environments is approached via the RRT*, leading to the novel Sampling-Based Collision Avoidance (SBCA) algorithm. The SBCA algorithm is proven to guarantee collision free trajectories for all of the agents, even when subject to uncertainties in the knowledge of the other agents’ positions and velocities. Given that a solution exists, we prove that livelocks and deadlock will lead to the cost to the goal being decreased. We introduce a new deconfliction maneuver that decreases the cost-to-come at each step. This new maneuver removes the possibility of livelocks and allows a result to be formed that proves convergence to the goal configurations. Finally, we present a limited range Graph-based Spatial Load Balancing (GSLB) algorithm which fairly divides a non-convex space among multiple agents that are subject to differential constraints and have a limited travel distance. The GSLB is proven to converge to a solution when maximizing the area covered by the agents. The analysis for each of the above mentioned algorithms is confirmed in simulations.

97 MATHEMATICS AND COMPUTING↗