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The AutoDrive Challenge competition sponsored by General Motors and SAE gives undergraduate and graduate students an opportunity to get hands-on experience with autonomous vehicle technology and development as they work towards their degree. Michigan Technological University has participated in the AutoDrive Challenge since its inception in 2017 with students participating through MTU’s Robotic System Enterprise. The MathWorks Simulation Challenge has been a component of the competition since its second year, tasking students with the development of perception, control and testing algorithms using MathWorks software products. This paper presents the pedagogical approach graduate student mentors used to enable students to build their understanding of autonomous vehicle concepts using familiar tools. This approach gives undergraduate students a productive experience with these systems that they may not have encountered in coursework within their academic program.

The study of spray-wall interaction is of great importance to understand the dynamics during fuel-surface impingement process in modern internal combustion engines. The identification of droplet post-impingement pattern (contact, transition, non-contact) and droplet characteristics can quantitatively provide an estimation of energy transfer for spray-wall interaction, thus further influencing air-fuel mixing and emissions under combusting conditions. Theoretical criteria of single droplet post-impingement pattern on a dry wall have been experimentally and numerically studied by many researchers to quantify the hydrodynamic droplet behaviors. However, apart from model fidelity, another issue is the scalability. A theoretical criterion developed from one case might not be well suited to another scenario. In this paper, a data-driven approach for single droplet-dry wall post-impingement pattern utilizing arithmetical machine learning classification methods is proposed and demonstrated.

Off road navigation demands ground robots to traverse complex and often changing terrain. Classification and assessment of terrain can improve path planning strategies by reducing travel time and energy consumption. In this paper we introduce a terrain classification and assessment framework that relies on both exteroceptive and proprioceptive sensor modalities. The robot captures an image of the terrain it is about to traverse and records corresponding vibration data during traversal. These images are manually labelled and used to train a support vector machine (SVM) in an offline training phase. Images have been captured under different lighting conditions and across multiple locations to achieve diversity and robustness to the model. Acceleration data is used to calculate statistical features that capture the roughness of the terrain whereas angular velocities are used to calculate roll and pitch angles experienced by the robot.

Battery temperature variations have a strong effect on both battery aging and battery performance. Significant temperature variations will lead to different battery behaviors. This influences the performance of the Hybrid Electric Vehicle (HEV) energy management strategies. This paper investigates how variations in battery temperature will affect Lithium-ion battery aging and fuel economy of a HEV. The investigated energy management strategy used in this paper is the Equivalent Consumption Minimization Strategy (ECMS) which is a well-known energy management strategy for HEVs. The studied vehicle is a Honda Civic Hybrid and the studied battery, a BLS LiFePO4 3.2Volts 100Ah Electric Vehicle battery cell. Vehicle simulations were done with a validated vehicle model using multiple combinations of highway and city drive cycles. The battery temperature variation is studied with regards to outside air temperature.

The Real Driving Emission (RDE) procedure will measure the pollutants, such as NOx, emitted by cars while driven on the road. RDE will not replace laboratory tests, such as the current WLTP but it will be added to them. RDE is complementary to the laboratory-based procedure to check the pollutant emissions level of a light-duty vehicle in real driving conditions. This means that the car will be driven on a real road according to random acceleration and deceleration patterns conditioned by traffic flow. So, the procedure will ensure that cars deliver real emissions over on-road and so the currently observed differences between emissions measured in the laboratory and those measured on road under real-world conditions, will be reduced. However, the identification of a path on the road to check the test conditions of RDE is not easy and hardly repeatable.

Battery State of Charge (SOC) constraints are used to prevent the battery in Hybrid Electric Vehicles (HEVs) from over-charging or over-discharging. These constraints strongly influence the power-split of the HEV. This paper presents results on how Battery State of Charge (SOC) constraints effects Lithium ion battery aging and fuel economy when using the Equivalent Consumption Minimization Strategy (ECMS). The vehicle studied is the Honda Civic Hybrid. The battery used is A123 Systems’ ANR26650 battery cell. Vehicle simulation uses multiple combinations of highway and city drive cycles. For each combination of drive cycles, nine SOC constraints ranges are used. Battery aging is evaluated using a semi-empirical model combined with the accumulated Ah-throughput method which uses, as an input, the battery SOC trajectory from the vehicle simulations. The simulation results provide insight into how SOC constraints effect fuel economy as well as battery aging.

In the context of a transport sustainability, some solutions could be proposed from the integration of many disciplines, architects, environmentalists, policy makers, and consequently it may be addressed with different approaches. These solutions would be applied at different geographical levels, i.e. national, regional or urban scale. Moreover, the assessment of cars emissions in real use plays a fundamental role for their reductions. This is also the direction of the new harmonized test procedures (WLTP). Furthermore, it is fundamental to keep in mind that the new WLTC cycle will reproduce a situation closer to the reality comparing to the EUDC/NEDC driving cycle. In this paper, we will be focused on vehicle kinematic evaluation aimed at valuation of traffic situation and emissions.

The paper reports an innovative method of analysis based on an advanced statistical techniques applied to images captured by a high-speed camera that allows highlighting phenomena and anomalies hardly detectable by conventional optical diagnostic techniques. The images, previously elaborated by neural network tools in order for clearly identifying the contours, have been analyzed in their time evolution as pseudo-chaotic variables that may have internal periodic components. In addition to the Fourier analysis, tools as Lyapunov and Hurst exponents and average Kω permitted to detect the chaos level of the signals. The use of this technique has permitted to distinguish periodic oscillations from chaotic variations and to detect those parameters that actually determine the spray behavior.

Advanced numerical techniques, such as fuzzy logic and neural networks have been applied in this work to digital images acquired on a mono-component fuel spray (iso-octane), in order to define, in a stochastic way, the gas-liquid interface evolution. The image is a numerical matrix and so it is possible to characterize geometrical parameters and the time evolution of the jet by using deterministic, statistical stochastic and other several kinds of approach. The algorithm used works with the fuzzy logic concept to binarize the shades gray of the pixel, depending them, by using the schlieren technique, on the gas density. Starting from a primary fixed threshold, the applied technique, can select the ‘gas’ pixel from the ‘liquid’ pixel and so it is possible define the first most probably boundary lines of the spray.

Based on RADAR and LiDAR measurements of deer with RADAR and LiDAR in the Spring and Fall of 2014 [1], we report the best fit statistical models. The statistical models are each based on time-constrained measurement windows, termed test-points. Details of the collection method were presented at the SAE World Congress in 2015. Evaluation of the fitness of various statistical models to the measured data show that the LiDAR intensity of reflections from deer are best estimated by the extreme value distribution, while the RCS is best estimated by the log-normal distribution. The value of the normalized intensity of the LiDAR ranges from 0.3 to 1.0, with an expected value near 0.7. The radar cross-section (RCS) varies from -40 to +10 dBsm, with an expected value near -14 dBsm.

In this paper, a high performance V12 spark-ignition engine is experimentally investigated at test-bench in order to fully characterize its behavior in terms of both average parameters, cycle-by-cycle variations and knock tendency, for different operating conditions. In particular, for each considered operating point, a spark advance sweep is actuated, starting from a knock-free calibration, up to intense knock operation. Sequences of 300 consecutive pressure cycles are measured for each cylinder, together with the main overall engine performance, including fuel flow, torque, and fuel consumption. Acquired data are statistically analyzed to derive the distributions of main indicated parameters, in order to find proper correlations with ensemble-averaged quantities. In particular, the Coefficient of Variation (CoV) of IMEP and of the in-cylinder peak pressure (pmax) are correlated to the average combustion phasing and duration (MFB50 and Δθb), with a good coefficient of determination.

The easiest way to identify knock conditions during the operation of a SI engine is represented by the knowledge of the in-cylinder pressure. Traditional techniques like MAPO (Maximum Amplitude Pressure Oscillation) based method rely on the frequency domain processing of the pressure data. This technique may present uncertainties due to the correct specification of some model parameters, like the band-pass frequency range and the crank angle window of interest. In this paper two innovative techniques for knock detection, which make use of the in-cylinder pressure, are explained in detail, and the results are compared with those coming from the MAPO method. The first procedure is based on the use of statistical analysis by applying an Auto Regressive (AR) technique, while the second technique makes use of the Discrete Wavelet Transform (DWT). The data useful for the analysis have been acquired on a high compression ratio four cylinder, spark ignition engine.

In the present paper, two different methodologies are adopted and critically integrated to analyze the knock behavior of a last generation small size spark ignition (SI) turbocharged VVA engine. Particularly, two full load operating points are selected, exhibiting relevant differences in terms of knock proximity. On one side, a knock investigation is carried out by means of an Auto-Regressive technique (AR model) to process experimental in-cylinder pressure signals. This mathematical procedure is used to estimate the statistical distribution of knocking cycles and provide a validation of the following 1D-3D knock investigations. On the other side, an integrated numerical approach is set up, based on the synergic use of 1D and 3D simulation tools. The 1D engine model is developed within the commercial software GT-Power™. It is used to provide time-varying boundary conditions (BCs) for the 3D code, Star-CD™.

During the last years, a number of techniques aimed at the experimental identification of the knocking onset in Spark-Ignition (SI) Internal Combustion Engines have been proposed. Besides the traditional procedures based on the processing of in-cylinder pressure data in the frequency domain, in the present paper two innovative methods are developed and compared. The first one is based on the use of statistical analysis by applying an Auto Regressive Moving Average (ARMA) technique, coupled to a prediction algorithm. It is shown that such parametric model, applied to the instantaneous in-cylinder pressure measurements, is highly sensitive to knock occurrence and is able to identify soft or heavy knock presence in different engine operating conditions. An alternative, more expensive procedure is developed and compared to the previous one.

An experimental campaign was carried out to evaluate the influence of CNG and gasoline on the exhaust emissions and fuel consumption of a bi-fuel passenger car over on-road tests performed in the city of Naples. The chosen route is very traffic congested during the daytime of experimental measurements. An on-board analyzer was used to measure CO, CO2, NOx tailpipe concentrations and the exhaust flow rate. Throughout a carbon balance on the exhaust pollutants, the fuel consumption was estimated. The exact spatial position was acquired by a GPS which allowed to calculate vehicle speed and the traffic condition was monitored by a video camera. Whole trip realized by the vehicle was subdivided in succession of kinematic sequences and the vehicle emissions and fuel consumption were analyzed and presented as value on each kinematic sequence. Moreover, throughout a multivariate statistical analysis of sequences, the driving cycles characterizing the use of vehicle were identified.

This study aims at building efficient and robust artificial neural networks (ANN) able to reconstruct the in-cylinder pressure of Diesel engines and to identify engine conditions starting from the signal of a low-cost accelerometer placed on the engine block. The accelerometer is a perfect non-intrusive replacement for expensive probes and is prospectively suitable for production vehicles. In this view, the artificial neural network is meant to be efficient in terms of response time, i.e. fast enough for on-line use. In addition, robustness is sought in order to provide flexibility in terms of operation parameters. Here we consider a feed-forward neural network based on radial basis functions (RBF) for signal reconstruction, and a feed-forward multi-layer perceptron network with tan-sigmoid transfer function for signal classification. The networks are trained using measurements from a three-cylinder real engine for various operating conditions.

The paper describes an experimental activity on the spatial and temporal liquid- and vapor-phase distributions of diesel fuel at engine-like conditions. The influence of the k-factor (0 and 1.5) of a single-hole axial-disposed injector (0.100 mm diameter and 10 L/d ratio) has been studied by spraying fuel in an optically-accessible constant-volume combustion vessel. A high-speed imaging system, capable of acquiring Mie-scattering and Schlieren images in a near simultaneous fashion mode along the same line of sight, has been developed at the Michigan Technological University using a high-speed camera and a pulsed-wave LED system. The time resolved pair of schlieren and Mie-scattering images identifies the instantaneous position of both the vapor and liquid phases of the fuel spray, respectively. The studies have been performed at three injection pressures (70, 120 and 180 MPa), 23.9 kg/m3 ambient gas density and 900 K gas temperature in the vessel.

In this paper some results relative to tests performed on road with a Fiat Panda Bipower, (CNG and gasoline powered), and a New Panda Twin Air with auto Start & Stop system, are presented. Gaseous emissions are measured with Portable Emission Measurement Systems (PEMS) on two different urban routes, in terms of traffic and slope characteristics during in use experiments. PEMS testing offers an easy and efficient way to evaluate the vehicle emissions over a huge variety of conditions and provides us a direct way to study the in-use emissions of combustion engines, when you want to verify the effect of the traffic and of a particular device on fuel economy and emissions reduction. Moreover now PEMS performances are very comparable to those obtained by standard laboratory instrumentation systems.

This study aims at building an efficient and robust radial basis function (RBF) artificial neural network (ANN), to reconstruct the in-cylinder pressure of a diesel engine starting from the signal of a low-cost accelerometer placed on the engine block. The accelerometer is a perfect non-intrusive replacement for expensive probes and is prospectively suitable for production vehicles. The RBF network is trained using measurements from different engine operating conditions. Training data are composed of time series from the accelerometer and corresponding measured in-cylinder pressure signals. The RBF network is then validated using data not included in training and the results show good correspondence between measured and reconstructed pressure signal. Various network parameters are used to optimize the network quality.

Michigan Technological University has established a broad-based university-wide research initiative, termed Wood-to-Wheels (W2W), to develop and evaluate improved technologies for growing, harvesting, converting, and using woody biomass in renewable transportation fuel applications. The W2W program bridges the entire biomass development-production-consumption life cycle with research in areas including forest resources, bioprocessing, engine/vehicle systems, and sustainable decisions. The W2W chain establishes a closed cycle of carbon between the atmosphere, woody biomass, fuels, and vehicular systems that can reduce the accumulation of CO2 in the atmosphere. This paper will summarize the activities associated with the Wood-to-Wheels initiative and describe challenges and the potential benefits that are achievable.