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DOE OSTI2026

HITMAN

HITMAN (Hermite Interpolation of Trajectories and Measurement Synthesis for Analysis of Navigators) interpolates—or estimates the unknown values between known values—flight trajectories and generates synthetic inertial measurement unit (IMU) data using Hermite splines. This Python library provides modeling and simulation capabilities to synthesize inertial measurements from discrete trajectory points, enabling researchers to create exemplar datasets for evaluating navigation algorithms in various applications, including consumer devices like smartphones and vehicles. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.

Walker II, Michael [Sandia National Lab. (SNL-CA),↗

DOE OSTI2026

Lab-Scale Cable-Driven Parallel Robot Prototype for Automated Prefabricated Component Manipulation

This paper presents the design and evaluation of a lab-scale cable-driven parallel robot (CDPR) developed as a flexible platform for automated installation of prefabricated components onto exterior building envelopes. Traditional manual installation methods for prefabricated components, which depend on scaffolding, cranes, cherry pickers, and verbal coordination, are not only labor-intensive and error-prone but also face significant limitations in dense urban environments due to site access constraints. To address these challenges, we developed a lab-scale CDPR platform capable of autonomously transporting building envelope components from a designated pickup zone to their target installation location, minimizing the need for human intervention. This study describes the system’s mechanical design, actuation architecture, real-time feedback system, and control strategy of the CDPR, and evaluates its performance in a laboratory environment. The robot’s actuation system uses torque control for end-effector manipulation. The robot’s real-time pose feedback comes from a construction-grade total station and a wireless inertial measurement unit (IMU), which together support precise end-effector control. Experimental results demonstrate the successful integration of the hardware, sensing, state estimation, and control subsystems. Preliminary tests showed that our lab-scale prototype can position the end effector with an error of less than 3 mm, which is a level of precision not previously achieved by existing CDPRs in construction applications. The key findings are twofold: (1) torque-only control is necessary but not sufficient for minimizing final pose error, and (2) incorporating real-time pose feedback can achieve the desired placement accuracy.

Liu, Yifang [Oak Ridge National Laboratory (ORNL),↗

DOE OSTI2026

radkit base v1.6

The radkit (base) software suite (python) consists of three primary libraries: stark, trajan, and curie. The trajan library provides the tools to analyze and manipulate data from lidar and inertial measurement unit (IMU) devices, cameras, as well as trajectories from algorithms such as simultaneous localization and mapping (SLAM). These components allow reading and writing standard data formats, performing rigid affine transformations, discretizing three-dimensional space, and visualizing data products. The curie library comprises a standard set of object-oriented tools for radiation data and analysis in the following modules: (1) listmode and binmode data classes with methods for manipulation, plotting, slicing and file IO; (2) radiological/nuclear source detection/identification analysis results; (3) source encounters of correlated analyses and (4) energy-dependent angular detector response functions. The stark package provides low-level tools that are leveraged by both curie and trajan. The tools are flexible for offline analysis as well as performant for real-time integrations.

Salathe, Marco [Lawrence Berkeley National Laborat↗

DOE OSTI2025

Harvesting Subsea Water Motion to Provide Clean Electrical Power

This TEAMER project had three main objectives related to characterizing the performance of a vortex-induced vibration (VIV) marine energy harvesting device called the Whatever Input To Torsion (WITT). The first was to characterize the motion of the WITT device as it vibrates on top of a pipe in a natural tidal flow. The second was to measure how much electricity the WITT device generates when it is deployed on top of a pipe that is secured to the seabed with a lander. The third objective was to measure how much electricity the WITT device generates in the same configuration but with a longer pipe. This TEAMER project succeeded in satisfying the first objective by measuring the motion of the WITT device with an inertial measurement unit (IMU) mounted in the WITT housing. The motion was described by examining changes in the acceleration, pitch, roll, and yaw, and displacement. The frequency of the motion was characterized using spectral analysis. The TEAMER project succeeded in reaching the second objective by measuring the power produced by the WITT. It is reported here as the average and maximum power in hourly intervals. WITT Energy decided to not have us pursue the third objective of testing a longer pipe because the first test was unexpectedly successful at having the system vibrate at the target frequency. A longer pipe would have resulted in a decreased frequency and therefore not have been a useful test. Based on these findings, the decision was made to keep the same pipe length for both tests and improve on other aspects of the test structure that had failed during the first test. The key finding of this TEAMER project is that the WITT is capable of generating electricity in moderate flow speeds when it is in a housing that is attached to a 2.5 m pipe and secured to the seabed by a lander. This report contains the first power values for a VIV instrument that generates electricity from a pendulum swinging at the top of a long pipe. The experiment demonstrated that the vibration frequency of the device varied with the tidal current speed, which changed throughout a given tidal cycle. This meant that the desired peak frequency was not sustained for more than one hour. The success of this TEAMER test provides evidence that continued research in the area of electricity generation from VIV holds promise as a source of marine energy for offshore applications. Future tests should focus on refining the pipe length equations and improving the power take off system of the WITT power electronics. In addition, experiments aimed at expanded testing and evaluation (e.g. longer than one month) are needed to measure the power production at higher tidal current speeds and test the system's durability.

Branch, Ruth A. (ORCID:0000000202356719)↗