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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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At least 19 records

A Scoping Study to Determine the Location-Specific WEC Threshold Size for Wave-Powered AUV Recharging

The aim of this study is to determine the threshold wave energy converter (WEC) type and size to charge a fleet of U.S. Navy autonomous underwater vehicles (AUVs) in various geographic locations of interest. The U.S. Navy deploys AUVs in locations around the world that must be charged manually, decreasing their operational endurance and creating operational limitations. Ocean waves are a potential power source that can be converted into electricity using a WEC and stored using a battery. It would be beneficial to develop a WEC that could autonomously charge AUVs offshore. Numerous locations were analyzed to determine the minimum size of a WEC capable of providing sufficient charging power and offering a strategic advantage. By predicting the WEC efficiency (based on empirical equations) and wave resource (based on available data), electrical power generation across numerous WEC types and locations was compared in MATLAB. The generalized process developed here could be used to determine the required size and type of WECs to charge a fleet of AUVs in different locations around the world.

16 TIDAL AND WAVE POWER↗

Path Finding for Maximum Value of Information in Multi-Modal Underwater Wireless Sensor Networks

Here, we consider underwater multi-modal wireless sensor networks (UWSNs) suitable for applications on submarine surveillance and monitoring, where nodes offload data to a mobile autonomous underwater vehicle (AUV) via optical technology, and coordinate using acoustic communication. Sensed data are associated with a value, decaying in time. In this scenario, we address the problem of finding the path of the AUV so that the Value of Information (VoI) of the data delivered to a sink on the surface is maximized. We define a Greedy and Adaptive AUV Path-finding (GAAP) heuristic that drives the AUV to collect data from nodes depending on the VoI of their data. For benchmarking the performance of AUV path-finding heuristics, we define an integer linear programming (ILP) formulation that accurately models the considered scenario, deriving a path that drives the AUV to collect and deliver data with the maximum VoI. In our experiments GAAP consistently delivers more than 80 percent of the theoretical maximum VoI determined by the ILP model. We also compare the performance of GAAP with that of other strategies for driving the AUV among sensing nodes, namely, random paths, TSP-based paths and a “lawn mower”-like strategy. Our results show that GAAP always outperforms every other heuristic in terms of delivered VoI, also obtaining higher energy efficiency.

47 OTHER INSTRUMENTATION↗

Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging - Software and Data

Software and testing data from the OH Hinsdale Wave lab for DOE-funded project on Co-Design of Marine Energy Converters for Autonomous Underwater Vehicle Docking and Recharging. This project will perform foundational research and testing to accelerate the sector-wide development and deployment of marine energy converters to provide Power-At-Sea. Specifically, we seek to overcome known challenges and knowledge gaps for the successful co-design of coupled Wave Energy Converter (WEC)-Autonomous Underwater Vehicles (AUV) systems; systems designed and tested for WEC array system health and environmental monitoring applications. This project brings together an experienced, multi-institution, and multi-disciplinary team to focus on the co-design of marine energy (ME) technologies and AUV docking systems, including multi-body hydrodynamic modeling, active control, autonomy, and hardware interfaces necessary to enable new WEC-focused understanding, and allow for robust and ubiquitous AUV docking and recharging in real-world conditions.

16 TIDAL AND WAVE POWER↗

Effects of EMF Emissions from Cables and Junction Boxes on Marine Species

Studies have shown that diverse aquatic species are electrosensitive. Many fishes, and marine mammals, can either detect, navigate by, or are affected by electromagnetic fields (EMF) with various sensitivities, and their behavior may be impacted by unnatural EMF emissions in the water column. Sharks, rays and skates are known to have the highest sensitivity to electric fields. Electric field emissions in the range 0.5–100 micro volt/m appear to attract them, and emissions over 100 micro volt/m to repulse them. A marine hydrokinetic MHK device will have multiple components and associated multiple submarine cables on the seafloor and running through the water column and would potentially increase the level of EMF emissions to which the marine species at the site may be exposed to. There are therefore concerns amongst stakeholders that EMF emissions associated with MHK devices and their components may act as barriers to species migration, cause disorientation, change community compositions and ecosystems, and that they may attract sharks, leading to a local increase in the risk of shark attacks. However, field data to validate and model potential relationships between observed responses and the EMF emissions in situ are sparse. A program of experimental field surveys were conducted off the coast of South Florida, USA to characterize the electromagnetic field (EMF) emissions in the water column from a submarine cable, and to monitor for responses of local aquatic species. The field surveys were conducted at the South Florida Ocean Measurement Facility (SFOMF) off Fort Lauderdale, which is a cabled offshore in-water navy range. It consists of multiple active submarine power cables and a number of junction boxes, with the capability to transmit AC/DC power at a range of strength and frequencies. The site includes significant marine life activities and community structure, including highly mobile species, such as sharks, stingrays, mammals and turtles. SFOMF therefore typifies a setting representative of an offshore location where a MHK device may be sited. Background electromagnetic field (EMF) levels and EMF emissions due to submarine cables were measured using a custom E-field sensor and a commercial magnetometer deployed from an autonomous underwater vehicle (AUV) at various fixed altitudes above the seafloor. EMF signatures detected from power cables and junction boxes are contrasted against ambient background levels and other EMF sources. The potential responses of local marine species were observed at selected representative locations using divers on SCUBA, complemented with fixed cameras on the sea bottom and by a set of video cameras mounted on the AUV. The objectives of the study were: 1) to characterize the EMF emission levels associated with submarine cables 2) to monitor potential responses of aquatic animals to the emissions and 3) to develop an associated database of field observations. As control, observations of EMF levels and in situ marine species were conducted with power in the cable turned off. Good quality measurements of EMF emissions were obtained using the mobile AUV platform and the data from the surveys were used to develop contour maps of the EMF levels in the water column above the live cable as well as to provide information about how the field decays away from the cable. The measurements show good agreement with theoretical models of the how EMF levels decay away from the cable in deep and shallow water environment. Electric fields in excess of 200µV/m were measured in the vicinity of the cable during the power on state. Quarterly surveys by SCUBA divers were conducted, using point and transect count methods, over a period of one year at three locations, one at a shallow site where the water depth is approximately 5m, and the other at the Barracuda Reef where the water depth is approximately 10m. The sampling results were analyzed to determine if the presence of an SFOMF generated EMF alters: (1) abundance, species richness, and assemblage structure of coral reef fishes, (2) the behavior of fishes including elasmobranchs, and (3) the distribution of marine turtles and mammals. Diver observations were also used in attempt to discern if there were any noticeable organismal responses during the transitional period between ambient OFF to energized AC or DC power states, and video footage was intended to augment the in-situ visual survey data and aid in interpretation of the results. Comparisons are provided between observation datasets between the three sites and between the point and transect count methods. Presence of several individual elasmobranch species, including sharks and stingrays, were recorded during the surveys. No apparent effect on richness could be discerned between the power on and off states. No apparent sudden animal movements were observed during transitions between power states.

16 TIDAL AND WAVE POWER↗

Advanced Laboratory and Field Arrays: Technical Report for Autonomous Monitoring & Intervention (Task 2)

The goal for this task was to develop software for an autonomous underwater vehicle (AUV) capable of performing inspection, monitoring, and intervention operations in marine renewable energy arrays, employing motion planning and probabilistic navigation methods. Inspection and manipulation tasks were chosen to be applicable to multiple device types without requiring expensive components. Minimal human intervention reduces costs and also improves efficiency. Using AUVs for inspection and monitoring with limited human intervention and low-cost infrastructure is viewed as critical to the strategy for bringing down O&M costs. The final deliverable for this task was to enable a decrease in the time for maintenance and intervention in marine renewable energy arrays by up to 30% versus using tele-operated ROVs.

13 HYDRO ENERGY↗

Domain-aware Control-oriented Neural Models for Autonomous Underwater Vehicles

Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, require a large number of observations and lack operational guarantees for safety-critical systems. Data-driven models leveraging available partially characterized dynamics have potential to provide reliable systems models in a typical data-limited scenario for high value complex systems, thereby avoiding months of expensive expert modeling time. In this work we explore this middle-ground between expert-modeled and pure data-driven modeling. We present control-oriented parametric models with varying levels of domain-awareness that exploit known system structure and prior physics knowledge to create constrained deep neural dynamical system models. We employ universal differential equations to construct data-driven blackbox and graybox representations of the AUV dynamics. In addition, we explore a hybrid formulation that explicitly models the residual error related to imperfect graybox models. We compare the prediction performance of the learned models for different distributions of initial conditions and control inputs to assess their suitability for control.

Shaw Cortez, Wenceslao E.↗

TEAMER: MADWEC Techno-Economic Analysis

The objective of this project was for the facility to conduct a techno-economic assessment (TEA) of the Maximal Asymmetric Drag Wave Energy Converter (MADWEC), developed by the University of Massachusetts Dartmouth (UMass Dartmouth). MADWEC is used for powering remote monitoring and Autonomous Underwater Vehicle (AUV) charging systems compared to other existing power supply options. The assessment estimates capital expenditures (CapEx), operational expenditures (OpEx), and power performance for 18 scenarios with the purpose of identifying key cost drivers, comparing total system cost, and comparing the power performance of the power supply options in terms of required installed capacity and estimated theoretical annual energy performance. The 18 assessed scenarios include two end-uses: 1) AUV charging and 2) offshore remote monitoring); three power sources: 1) MADWEC), 2) photovoltaic (PV) solar buoy, 3) and traditional battery swapping); and three locations; 1) nearshore, 2) far-offshore, and 3) high-latitude). In addition, other project goals included developing high level installation, operation, and maintenance plans for each scenario. The techno-economic model, created in Microsoft Excel, estimates CapEx, OpEx, and the power performance of each power supply source. The model has a dynamic format that allows custom inputs to accommodate future changes to the systems being assessed. This is a TEA for the MADWEC project, TEAMER RFTS 7 (request for technical support) program.

16 TIDAL AND WAVE POWER↗

Reactor Power for Large Displacement Autonomous Underwater Vehicles

This is a PentaChart on reactor power for large displacement autonomous underwater vehicles. Currently AUVs use batteries or combinations of batteries and fuel cells for power. Battery/fuel cell technology is limited by duration. Batteries and cell fuels are a good match for some missions, but other missions could benefit greatly by a longer duration. The goal is the following: to design nuclear systems to power an AUV and meet design constraints including non-proliferation issues, power level, size constraints, and power conversion limitations. The action plan is to continue development of a range of systems for terrestrial systems and focus on a system for Titan Moon as alternative to Pu-238 for NASA.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

Powering the Blue Economy - Ocean Observing Use Cases Report

The "Powering the Blue Economy" (PBE) Report identified ocean observing and autonomous underwater vehicle (AUV) recharge as near-term markets with significant potential for marine energy integration when specified qualitative and quantitative assessment criteria were used. The ocean observing market (including AUVs) scored high relative to other markets analyzed in the PBE Report with respect to market size, marine renewable energy (MRE) compatibility with functional requirements, competitive positioning (i.e., MRE versus other power sources), path to market, and alignment to the Department of Energy Water Power Technologies Office (WPTO) and other agencies' objectives. Based on this scoring, Pacific Northwest National Laboratory (PNNL) and the National Renewable Energy Laboratory (NREL) pursued the development of five use cases that represent a spectrum of ocean observation platforms, fixed and mobile, to explore the present and future power needs that might be satisfied by marine energy. The use cases were described and analyzed for this potential by examining current missions and future needs, evaluating the mix of renewable energy sources that might satisfy those needs at sea, and understanding the overall cost drivers that might enable this application.

14 SOLAR ENERGY↗

Integrated Monitoring of Macroalgae Farms Using Acoustics and UUV Sensing

The vision of this project was to develop an integrated system for autonomous underwater vehicle (AUV) monitoring of offshore kelp farms using acoustic, environmental, and optical sensors. This project supports the overall MARINER goals of developing an offshore kelp aquaculture industry to produce low-carbon or carbon-neutral biofuels. The project commenced in the spring of 2018 and used laboratory experiments to test the efficacy of acoustic sensors for monitoring kelp farm lines and growing kelp biomass. Sensors were then integrated onto two AUVs as well as an autonomous surface vehicle in order to establish the optimal type, price point, and vehicle to most efficiently monitor kelp farm structures, kelp biomass, and the surrounding environment. Multiple field deployments of these vehicles and sensors in Massachusetts, New Hampshire, and Maine confirmed that farm lines and kelp could be visualized and that monitoring the spatial patterns of environmental variables was possible. The COVID-19 pandemic severely limited fieldwork activities and laboratory testing, with deployments around kelp farms not occurring again until January 2021. Time spent away from the field focused on data visualization and the development of a low-cost, vessel-based sensor system. Unfortunately, the low-cost system experienced a disk failure during its first deployment and due to multiple resignations from the project team further engineering and development was not possible. Additionally, final results from acoustic sensor testing in 2021 were also not able to be completed due to the resignation of the postdoc leading the analysis. Despite these setbacks, multiple avenues for further development of optical imagery processing from the 360-degree Kelpcam camera and testing of the low-cost sensor system may be possible.

09 BIOMASS FUELS↗

MADWEC Techno-Economic Analysis: Cooperative Research and Development Final Report

The objective of this project was for the facility to conduct a techno-economic assessment of the Maximal Asymmetric Drag Wave Energy Converter (MADWEC), developed by the University of Massachusetts Dartmouth (UMass Dartmouth), used for powering remote monitoring and AUV charging systems compared to other existing power supply options. The assessment estimates capital expenditures (CapEx), operational expenditures (OpEx), and power performance for 18 scenarios with the purpose of identifying key cost drivers, comparing total system cost, and comparing the power performance of the power supply options in terms of required installed capacity and estimated theoretical annual energy performance. The scenarios include two end-uses: (1) AUV charging and (2) offshore remote monitoring); three power sources: (1) MADWEC), (2) photovoltaic (PV) solar buoy, (3) and traditional battery swapping); and three locations; (1) nearshore, (2) far-offshore, and (3) high-latitude). In addition, other project goals included developing high level installation, operation, and maintenance plans for each scenario.

16 TIDAL AND WAVE POWER↗

2.2.5.401 - Ocean Observing Prize

The Powering the Blue Economy: Ocean Observing Prize is a $2.4M contest that challenges innovators to develop solutions that integrate marine renewable energy with ocean observation platforms to revolutionize our ability to monitor, manage, and understand the ocean. Competitors are challenged to design, build, and test novel, wave-powered, self-charging autonomous underwater vehicle (AUV) systems that could be suitable for a 6-month deployment in the Atlantic Ocean to monitor hurricane formation. Through engagement with the end user ocean observing community, the team identified challenges in a lack of data on storm intensity, endangering coastal communities. This challenge could be addressed by collecting data before, during, and after a hurricane develops and strengthens at sea. Amassing this data, however, requires an ocean observing system that can be deployed at sea for long periods, waiting for approaching storms. To help solve this problem, competitors are working to integrate wave energy capture with AUV systems to collect this data, helping to better protect coastal communities from oncoming storms. Solutions developed through this prize aim to enable long-term collection of data before, during, and after a hurricane that will help better forecast storm intensity. The prize mechanism provides an environment to accelerate technology development for innovators and helps to improve awareness of marine energy and its ability to provide power to blue economy applications.

coastal communities↗

Integrated path planning and control through proximal policy optimization for a marine current turbine

This paper presents an integrated path planning and tracking control framework for a marine current turbine (MCT), where the MCT is treated as an energy-harvesting autonomous underwater vehicle (AUV). Considering the ocean (space of action) is continuous, the proposed framework employs two modules to address path planning and path tracking enabled by the proximal policy optimization (PPO) algorithm, which is a policy gradient deep reinforcement learning (RL) method. Further, to enable fully autonomous operation in a stochastic oceanic environment, the proposed path planning seeks a primary objective of maximizing the harvested energy; then, the path tracking module is designed to minimize the tracking error and avoid collisions with static and dynamic obstacles. Using field-collected acoustic Doppler current profiler (ADCP) data, the performance of the proposed framework is evaluated. Comparative studies with baseline algorithms in three different scenarios of path planning, path tracking without an obstacle, and path tracking with collision avoidance verify the effectiveness of our proposed approach.

16 TIDAL AND WAVE POWER↗

Editorial: Deep-sea observation equipment and exploration technology

The increasing interest in deep-sea exploration is a crucial catalyst for driving advancements in deep-sea observation technology research. Numerous sophisticated sensors have been developed to facilitate comprehensive studies in deep-sea physics, chemistry, and geology. For example, cutting-edge small and compact seabed samplers are now employed on various platforms, such as Autonomous Underwater Vehicles (AUVs), Remotely Operated Vehicles (ROVs), and Human-Operated Vehicles (HOVs), enabling observation of the hadal zone. Additionally, Micro-electromechanical systems (MEMS) sensors are routinely utilized for ocean wave observation. This Research Topic aims to foster new insights into ocean exploration and observation technology, including ocean sensor technology, ocean observation platforms, and ocean observation reliability technology.

47 OTHER INSTRUMENTATION↗

Survivability design for a hybrid underwater vehicle

A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Materials Data on VAu by Materials Project

AuV crystallizes in the trigonal R-3m space group. The structure is three-dimensional. V is bonded to six equivalent Au atoms to form a mixture of distorted edge and corner-sharing VAu6 cuboctahedra. All V–Au bond lengths are 2.82 Å. Au is bonded to six equivalent V atoms to form a mixture of distorted edge and corner-sharing AuV6 cuboctahedra.

36 MATERIALS SCIENCE↗