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Results for “time-varying delay”

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All sources NASA NTRS DOE OSTI

DOE OSTI2021

Fault isolation and fault-tolerant control for Takagi-Sugeno fuzzy time-varying delay stochastic distribution systems

A fault isolation, estimation, and fault-tolerant control (FTC) scheme for nonlinear time-varying delay stochastic distribution control systems was presented in this paper. The Takagi-Sugeno fuzzy model was adopted to approach the nonlinear dynamics of time-varying delay systems. According to the output equivalence principle and Laplace transformation, an augmented state vector was given to solve the time-varying delay problem. When multiple actuator faults and interference occur simultaneously, fault detection, isolation and fault estimation was designed to obtained the fault information. To decouple faults and obtain the value and location information of the fault, the system was separated into two parts through the designed multiple conversion matrices, in which one subsystem was only affected by one actuator fault. This has simplified the design of fault isolation and estimation. A adaptive observer for fault estimation was given. Then, fault information such as the time, location, and size was determined. The observer gain matrices were calculated using linear matrix inequality (LMI). When a fault was detected and diagnosed, a FTC algorithm was devised using the proportional-integral control scheme to compensate the fault as much as possible. It has been shown that even if multiple faults actuator occurred simultaneously, the FTC controller still ensured the output probability density function of the system traced the desired probability density function when a fault occurred. Finally, the expected results were obtained through the simulation example, which confirmed the effectiveness of the method.

42 ENGINEERING↗

DOE OSTI2020

A Passivity-Shortage Based Control Design for Teleoperation With Time-Varying Delays

This letter investigates the effect of time-varying delays in bilateral teleoperation, with respect to stability and performance, using the properties of passivity-shortage. Until recently, the desired stability and performance characteristics were achieved using the concept of passivity. However, passivity is limited to systems of relative degree zero or one, while passivity-shortage includes systems of higher relative degrees and possibly of non-minimum phase. Passivity-shortage also arises naturally when data transmission is subject to delays, either constant or time-varying. In this letter, the properties of passivity-shortage are employed to design a simple negative feedback controller. We show that the proposed method provides a faster responding solution and improved performance compared to the existing approaches. The performance improvements include improved steady-state error convergence, and robustness against environmental disturbances, even in the presence of varying delays.

42 ENGINEERING↗

DOE OSTI2025

Time-Varying Output Delay Compensation-A Model-Free Approach and its Application on Cooperative On-Ramp Merging

This paper presents a model-free approach to compensate for time-varying output delay in networked control systems. The proposed architecture combines a model-free observer and the Smith predictor. The model-free observer estimates the current state while handling modeling errors and uncertainties of the system. The Smith predictor moves the effect of time delay outside the control closed-loop using the estimated delayed output and the actual output of the plant. The proposed method is applied to a cooperative on-ramp merging problem. First, an ultra-local model predictive control is implemented to provide a computationally efficient online speed planner agnostic to the vehicle dynamics. After that, a model-free observer is designed to estimate the current state. Finally, the proposed architecture is tested against a time-varying output delay with an upper bound of 200 milliseconds. The results demonstrate the effectiveness of the proposed method with improved tracking of intervehicle distance.

Waleed khan, Muhammad [The University of Texas at ↗

DOE OSTI2026

An adaptive model-free robotic force control strategy for hydrodynamic real-time hybrid simulation of floating offshore wind turbines

Real-time hybrid simulation (RTHS) - a cyber-physical testing approach - promises to enhance the simulation fidelity of the model-scale experiments used to prototype floating offshore wind turbines (FOWTs). In hydrodynamic RTHS (hydro-RTHS), actuators emulate aerodynamic forces on model-scale FOWT specimens subjected to physical waves in a hydrodynamic laboratory. Robotic arms are promising candidates for actuation in hydro-RTHS due to their compact multi-degree-of-freedom (DOF) capabilities. Unlike classical RTHS for seismic applications, which typically relies on displacement control, hydro-RTHS requires 6-DOF force control on newly designed floating prototypes in a model-scale setting, which presents significant challenges, including modeling uncertainties, directional asymmetry, configuration drift, bandwidth limitations, and time-varying delays. To mitigate these constraints without extensive pre-test calibration, this study proposes an adaptive model-free robotic force control strategy that combines task-space explicit force control with a secondary joint-space pose-keeping task. The Adaptive Feedforward Compensator (AFC) is integrated into the force control loop to compensate for time-varying delay. Experimental testing was conducted using a Franka Emika Panda robotic arm with a 1:50 scale FOWT specimen under operational wind and wave conditions. Results demonstrate stable and consistent 6-DOF force tracking. Effective delay compensation was observed, with low-frequency delay reductions ranging from 71.4% to 91.8% and improvements in low-frequency surge force tracking of 25.0% to 52.1%. This study enhances robotic actuation performance in hydro-RTHS and introduces a force control strategy that supports reliable robotic operation in uncertain floating environments. Future work will explore disturbance-observer mechanisms to further enhance wave rejection capabilities under extreme wind and wave conditions.

17 WIND ENERGY↗

DOE OSTI2020

Accurate Consensus-based Distributed Averaging with Variable Time Delay in Support of Distributed Secondary Control Algorithms

We report that distributed secondary control has been widely used in hierarchical control structures, where multiple distributed generators (DGs) need to coordinate to regulate system voltage and frequency. In these systems, consensus algorithms determine the average of a group of dynamic states (e.g. voltages measured by a group of DGs). To be useful, consensus algorithms must be computationally efficient, stable and accurate. In practice, numerous practical implementation challenges significantly affect the consensus equilibrium. In this paper, we quantify the accuracy deviations of the distributed average observer algorithms proposed in the literature to demonstrate the problems with the state-of-the-art distributed averaging techniques. A novel approach is proposed that achieves accurate average tracking in the presence of time-varying communication delays among agents. In our implementation, time synchronization of all distributed controllers is enabled by a novel software platform, called Resilient Information Architecture Platform for the Smart Grid (RIAPS). The proposed distributed average observer is implemented on hardware controllers and its effectiveness is validated in a controller hardware-in-the-loop testbed.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2025

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.

Accounting↗

DOE OSTI2021

Proof-of-concept of a reinforcement learning framework for wind farm energy capture maximization in time-varying wind

Here, we present a proof-of-concept distributed reinforcement learning framework for wind farm energy capture maximization. The algorithm we propose uses Q-Learning in a wake-delayed wind farm environment and considers time-varying, though not yet fully turbulent, wind inflow conditions. These algorithm modifications are used to create the Gradient Approximation with Reinforcement Learning and Incremental Comparison (GARLIC) framework for optimizing wind farm energy capture in time-varying conditions, which is then compared to the FLOw Redirection and Induction in Steady State (FLORIS) static lookup table wind farm controller baseline.

17 WIND ENERGY↗

DOE OSTI2026

Delivery Ring Spill Characterization and Impulse Study

High-intensity particle physics experiments require uniform beam extraction to prevent instantaneous rate spikes from overwhelming detector systems. By analyzing accelerator parameters and extracted beam dynamics, we directly inform spill regulation systems that make real-time adjustments to minimize non-uniformity. This Department of Energy Visiting Faculty Program project transitioned from characterizing Main Injector half-integer slow extraction for SpinQuest to Delivery Ring third-integer slow extraction for Mu2e. Working alongside the Fast Adaptive Neural Control (FANC) group, we developed an automated pipeline that aligns asynchronous instrument channels, embeds quality metrics, and isolates clean spill populations. Analyzing baseline spills alongside a dedicated quadrupole impulse study allowed us to quantify noise structures while mapping time-varying beam response and transit-delay dynamics. These empirical measurements directly ground digital twin models, supporting FANC’s deployment of real-time, FPGA-based neural network controllers in the Mu2e Spill Regulation System.

Dolen, James William [Purdue U., West Lafayette] (↗

DOE OSTI2020

Supernova Hydrodynamics: A Lab-scale Study of the Blast-driven Instability Using High-speed Diagnostics

A novel experimental approach to study the blast-driven instability at a nondiffuse, gaseous interface with a density gradient is presented. Under Euler similarity, this approach enables study of dissipative-scale hydrodynamics relevant to many astrophysical and laboratory high energy density phenomena in a well-resolved manner. The instability is initiated by passing a Taylor–Sedov blast wave originating from a controlled detonation through a perturbed and stably stratified interface between two gases. The facility and driving blast wave are characterized to obtain repeatable conditions and capture large ensembles of time-resolved Mie scattering imaging that show consistent hydrodynamic development. We analyze the instability evolution between different gas pairs to demonstrate the wide range of development and turbulent behavior that may occur between different supernova layers. The mean evolution of the hydrodynamic instability is compared to a buoyancy–drag model that is frequently used to estimate perturbation growth in supernova mixing research. We propose a time delay to this model in order to reproduce the measured instability behavior and demonstrate model robustness in handling flows driven by a time-varying acceleration.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2023

Network-Wide Traffic Signal Control Using Bilinear System Modeling and Adaptive Optimization

This study proposes a new multi-input multi-output optimal bilinear signal control method in which a bilinear dynamic model approximation is used to capture the nonlinear dynamics of the urban traffic networks. With signal green time splits as the control input and traffic delay changes as the output for each intersections in the network, a bilinear system model was developed, which, on the basis of linear system modeling, takes interactions among traffic delays and signal timing splits into consideration. Based on the bilinear system modeling framework, we conducted two steps in each time interval to derive traffic control strategies: (1) we used the normalized least-squared algorithm to estimate system parameters; and (2) we solved an online optimization problem to obtain the updated traffic control inputs for the signal timing that minimizes future traffic delays. We evaluated the proposed method in a microscopic traffic simulation environment (VISSIM) with a 35-intersection network of Bellevue city in Washington. Two different traffic demand patterns: (1) normal traffic demands; and (2) time-varying traffic demands were simulated to compare the performance of different control strategies. Experimental results show that (1) the proposed bilinear system model can better describe traffic system dynamics than linear-model based methods, such as our previously developed linear-quadratic regulator control; and (2) the proposed method outperforms the state-of-the-art signal control strategies, namely the max-pressure and the self-organizing traffic light control methods. We have also shown that the proposed method is applicable to all other possible network layouts and signal controller phasing structures.

42 ENGINEERING↗

DOE OSTI2020

A geospatial model for the analysis of time-dependent land subsidence induced by reservoir depletion

Land subsidence due to fluid depletion is an outcome of physical processes operating across a wide range of time and length scales. Although geomechanical models are crucial to simulate reservoir compaction and predict its long-term fate, their use across large regions often bears prohibitive computational costs. To overcome this obstacle, this paper proposes a simplified modelling framework consisting of (i) a near-field numerical solver simulating the coupling between fluid flow and rock deformation with reference to a simplified one-dimensional geometry and (ii) a far-field geospatial algorithm mapping ground settlements across a region through the superposition of poroelastic computations at multiple wells. The model computes the delay between depletion history and reservoir compaction in proximity of a producing well by assuming basal depletion of a fluid-saturated deformable disk, while the Geertsma solution of nucleus of strain is used to extrapolate the impact of such time-varying reservoir compaction around the well. This approach has been used to back-analyze the spatio-temporal progression of subsidence at the Groningen gas field. The results are compared against measurements collected over 50 year of production at 25 benchmark locations scattered over an area of 900 km 2 . It is shown that coupled simulations based on average values of rock compressibility and permeability lead to nonlinear trends of subsidence evolution in good agreement with field measurements, while uncoupled analyses overpredict settlements by more than 70%. Lastly, synthetic forecasts based on different rates of depletion were provided. The results suggest that slower depletion rates lead to lower subsidence at a given time, and that residual subsidence may continue to develop for several decades after interruption of production activities.

58 GEOSCIENCES↗

DOE OSTI2022

Deep reinforcement learning based optimization for a tightly coupled nuclear renewable integrated energy system

New ways to integrate energy systems to maximize efficiency are being sought to meet carbon emissions goals. Nuclear-renewable integrated energy system (NR-IES) concepts are a leading solution that couples a nuclear power plant with renewable energy, hydrogen generation plants, and energy storage systems, such that thermal and electrical power are dispatchable to fulfill grid-flexibility requirements while also producing hydrogen and maximizing revenue. Here, this paper introduces a deep reinforcement learning (DRL)-based framework to address the complex decision-making tasks for NR-IES. The objective is to maximize revenue by generating and selling hydrogen and electricity simultaneously according to their time-varying prices while keeping the energy flow in the subsystems in balance. A Python-based simulator for a NR-IES concept has been developed to integrate with OpenAI Gym and Ray/RLlib to enable an efficient and flexible computational framework for DRL research and development. Three state-of-the-art DRL algorithms have been investigated, including two-delayed deep deterministic policy gradient (TD3), soft-actor critic (SAC), proximal policy optimization (PPO), to illustrate DRL’s superiority for controlling NR-IES by comparing it with a conventional control approach, particle swarm optimization (PSO). In this effort, PPO has shown more-stable performance and also better generalization capability than SAC and TD3. Comparisons with PSO have demonstrated that, on average, PPO can achieve 13.9% more mean episode returns from the training process and 29.4% more mean episode returns from the testing process when different hydrogen-production targets are applied.

08 HYDROGEN↗

DOE OSTI2024

Ecosystem Science with NISAR: Final Preparations in The Pre-Launch Period

The NISAR mission which in its most recent round of launch preparations was set to launch in the spring of 2024, and now delayed until later in the fall or early spring of 2025, will serve as an unprecedented resource for the Remote Sensing of Ecosystems Science community. The two frequency, L- and S-band will full-polarimetric capability over a 250 km wide swath using the SweepSAR technique [1] will collect reliable set of observations (60 per year; 30 each for ascending and descending passes) on a continuing basis that will allow for the modeling and observation of time-varying processes that are prevalent in the living environment broadly described as Ecosystems. Among the prime science goals of the NISAR Ecosystems disciplines are in the characterization of agriculture, disturbance, biomass, forest structure and water dynamics seen in the world’s rivers, coasts, and permafrost regions. In this paper we provide an overview of the Ecosystem science that will be enabled by the NISAR mission and give a status of the basic algorithms that are being used to provide a basic set of tools to the community to make use of the data that NISAR will provide.

Siqueira, Paul↗

DOE OSTI2021

Mitigating Phase Unbalance for Distribution Systems with High Penetrations of Solar PV (Final Technical Report)

Distribution system operators have traditionally limited unbalance among phases by maintaining similar loadings on each phase. High penetrations of distributed solar PV continually change the net loading on each phase, resulting in time-varying phase unbalances that can damage three-phase devices such as three-phase motors, violate grid codes, and increase technical losses. This project has developed several control strategies for the reactive power outputs of solar PV inverters in order to mitigate power quality issues related to phase unbalance. These control strategies include a decentralized approach that is solely based on local measurements, distributed and grouped approaches that consider subsets of loads and PV generators, and a centralized approach that leverages measurements from a variety of locations in order to compute optimal reactive power setpoints for each inverter. Variants of the controllers handle challenges relevant to practical implementations, including noisy measurements, delayed communications, and reactive power limits. Moreover, the project developed theory that provides convergence guarantees for systems with multiple interacting controllers as well as “balanceability” certificates that ensure satisfaction of phase unbalance requirements with variable loading. The controllers were integrated with NRECA’s Open Modeling Framework (omf.coop) and evaluated using actual distribution system models obtained from several NRECA member utilities. Application of the controllers results in significant improvements to phase unbalance in these test cases with decreases from base case levels of over 3% to under 0.5%, which is within the 2% IEC phase unbalance standard.

14 SOLAR ENERGY↗

DOE OSTI2026

Particle production by time-varying dark energy and the end of cosmic expansion

We consider various possible consequences of time-varying dark energy due to a quintessence scalar field whose energy density is partially converted to particles as the field evolves down its potential. This particle production acts as a source of thermal friction on the field that can make it difficult to distinguish whether dark energy is due to a radiating field rolling down a steep potential, a purely self-interacting field moving down a flatter potential, or a cosmological constant. By reducing the acceleration of the scalar field, thermal friction increases the amount of accelerated expansion and can cause a sizable bump in the quintessence equation of state. We take special interest in the case where a steep potential rapidly changes from positive to negative as the field evolves, resulting in the end of cosmic expansion and the beginning of contraction. Even in this case, we find that thermal friction lengthens the period of accelerated expansion and consequently delays the end of cosmic expansion, making it challenging to detect the impending transition to contraction using conventional cosmological tests. However, particle production can also provide alternative avenues for detection by generating a background of thermal dark radiation, partly comprised of neutrinos or other particles, whose energy density exceeds the remnant photon energy density.

cosmological neutrinos↗

DOE OSTI2025

Particle Production by Time-Varying Dark Energy and the End of Cosmic Expansion

Cosmology and Nongalactic Astrophysics (astro-ph.C↗

DOE OSTI2022

Getting lost tracking the carbon footprint of hydropower

In the transition to low-carbon electricity, well-quantified estimates of carbon dynamics are needed to ensure that emissions reduction targets are achieved. Here we review the state of the science on carbon accounting for hydropower reservoirs and identify limitations and future solutions. Nearly all research on reservoir greenhouse-gas (GHG) emissions has focused on individual reservoirs in isolation without considering their position in a freshwater network draining organic matter from upstream watersheds or the coordinated operation of reservoir cascades. Second, carbon inventories have extrapolated from a small, non-probabilistic sample of highly variable measurements of GHG emissions to unsampled reservoirs. A stronger statistical foundation is needed to estimate a global inventory and its uncertainty. Third, attribution to hydropower is based on ranks assigned to reservoir purpose. Instead, the physical influence of hydropower on carbon dynamics could be directly measured. Fourth, current carbon-accounting practices neglect time. A time-varying approach would quantify variation in emissions for electricity portfolios from changes in the fuel mix at different times and account for ancillary services, i.e., the ability to support the grid when variable renewables are not available without using natural gas. Reservoirs also sequester a significant portion of inflowing carbon in sediments and slow the carbon cycle by delaying the return of carbon to the atmosphere for decades to centuries. Together, these refinements would help to illuminate pathways toward meeting energy demand with the longest-possible delay in returning carbon to the atmosphere and without adding ancient sources to the pool of carbon cycling through aquatic ecosystems.

13 HYDRO ENERGY↗

DOE OSTI2021

Network Based Estimation of Wind Farm Power and Velocity Data Under Changing Wind Direction

This paper describes an estimation algorithm for velocity and power output signals in a wind farm under changing wind direction. A graph-theoretic definition describes the wind farm as a collection of nodes (turbines) and time-varying weighted edges (inter-turbine wake propagation) that change as a function of incoming wind direction. The velocity at each turbine is determined through a discrete input-output model. Changes in wind direction serve as the input and the output is defined in terms of a time-varying weighted adjacency matrix that depends on the time-delay of information propagation between turbines. These delays, which are defined in terms of the advection speed of the wind and the distance between the turbines, capture the delayed effect of wind direction changes on the inter-connectivity of the graph as the wind conditions at the farm inlet propagate through the turbine array. An event-based update framework is employed to capture time-dependent topology changes due to shifts in wind direction. Simulation results for dynamically changing wind inlet directions to a circular wind farm are compared to predictions from both the static and dynamic versions of the FLOw Redirection and Induction in Steady State (FLORIS) model. The approach is shown to enable real-time tracking of dynamic changes to wind farm power output within a framework that can be easily integrated into real-time, horizon-based, control strategies that typically do not account for wind direction changes.

distributed↗