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When performing trajectory planning for robotic applications, there are many aspects to consider, such as the reach conditions, joint and end-effector velocities, accelerations and jerk conditions, etc. The reach conditions are dependent on the end-effector orientations and the robot kinematic structure. The reach condition feasibility is the first consideration to be addressed prior to optimizing a solution. The ‘functional’ work space or work window represents a region of feasible reach conditions, and is a sub-set of the work envelope. It is not intuitive to define. Consequently, 2D solution approaches are proposed. The 3D travel paths are decomposed to a 2D representation via radial projections. Forward kinematic representations are employed to define a 2D boundary curve for each desired end effector orientation.

Successful manufacture of Carbon Fibre Reinforced Polymers (CFRP) by Long-Fibre Reinforced Thermoplastic (LFT) processes requires knowledge of the effect of numerous processing parameters such as temperature set-points, rotational machinery speeds, and matrix melt flow rates on the resulting material properties after the final compression moulding of the charge is complete. The degree to which the mechanical properties of the resulting material depend on these processing parameters is integral to the design of materials by any process, but the case study presented here highlights the manufacture of CFRP by LFT as a specific example. The material processing trials are part of the research performed by the International Composites Research Centre (ICRC) at the Fraunhofer Project Centre (FPC) located at the University of Western Ontario in London, Ontario, Canada.

Carbon fiber sheet molding compound (SMC) is an attractive material for automotive lightweighting applications, but several issues present themselves when adapting a process developed for glass fiber composites to instead use carbon fibers. SMC is a discontinuous fiber material, so individual carbon fiber tows must be chopped into uniform rovings before being compounded with the resin matrix. Rotary chopping is one such method for producing rovings, but high wear rates are seen when cutting carbon fibers. Experiments were performed to investigate the wear progression of cutting blades during rotary carbon fiber chopping. A small rotary chopper with a polyurethane (PU) backing and thin, hardened steel blades was used to perform extended wear tests (120,000 chops, or until failure to reliably chop tows) to simulate the lifespan of blades during composite material production.

Autonomous vehicles are currently a subject of great interest and there is heavy research on creating and improving algorithms for detecting objects in their vicinity. A ROS-based deep learning approach has been developed to detect objects using point cloud data. With encoded raw light detection and ranging (LiDAR) and camera data, several basic statistics such as elevation and density are generated. The system leverages a simple and fast convolutional neural network (CNN) solution for object identification and localization classification and generation of a bounding box to detect vehicles, pedestrians and cyclists was developed. The system is implemented on an Nvidia Jetson TX2 embedded computing platform, the classification and location of the objects are determined by the neural network. Coordinates and other properties of the object are published on to various ROS topics which are then serviced by visualization and data handling routines.

Electric vehicle is increasingly becoming popular and an alternative choice for the consumers because of its environment-friendly operation. Permanent magnet synchronous machines are widely and commonly used as traction motors since they provide higher torque and power density. High torque and power density mean higher current which eventually causes higher temperature rise in the motor. Higher temperature rise directly affects the motor output. Standard tests for UDDS (Urban Dynamometer Driving Schedule) and HWFET (Highway Fuel Economy Driving Schedule) drive cycles are used to determine performance of traction motors in terms of torque, power, efficiency and thermal health. Traction motors require high torque at low speed for starting and climbing; high power at high speed for cruising; wide speed range; a fast torque response; high efficiency over wide torque and speed ranges and high reliability.

The paper describes a ‘virtual motorsports’ event developed by the University of Windsor Vehicle Dynamics and Control Research Group. The event was a competitive project-based component of a Vehicle Dynamics course offered by the University's Department of Mechanical, Automotive, & Materials Engineering. The simulated race was developed to provide fourth year automotive engineering students with design and race experience, similar to that found in Formula SAE®or SAE Baja®, but within the confines of a single academic semester. The project, named ‘Formula463’, was conducted entirely within a virtual environment, and encompassed design, testing, and racing of hi-fidelity virtual vehicle models. The efficacy of the Formula463 program to provide students with a design experience using model based simulation tools and methods has been shown over the past two years. All of the software has been released under a General Public License and is freely available on the authors website.

We are witnessing a rapid and ongoing expansion of nanoscience, driven by potential applications in advanced materials and nanotechnology. There is a race to develop techniques that may allow controlling the size, shape of nanostructures that can allow the tuning of their optical and electronic properties. Plasmonics is a field that encompasses and profits from the optical enhancement in nanostructures that support plasmon excitations. One of these new techniques is surface-enhanced Raman scattering (SERS), commonly used for nanostructure characterization. In the present report, we present a theoretical model for plasmon excitation and electric field enhancement that help to provide an explanation for the special features observed in experimental SERS. Two sets of experimental results are discussed illustrating the make out of the signature of the plasmonics producing the optical enhancement.

Experimental and numerical studies have been completed on the deformation behaviour of round AA6061-T6 aluminum extrusions during an axial cutting deformation mode employing both curved and straight deflectors to control the bending deformation of petalled side walls. Round extrusions of length 200 mm with a nominal wall thickness of 3.175 mm and an external diameter of 50.8 mm were considered. A heat treated 4140 steel alloy cutter and deflectors, both straight and curved, were designed and manufactured for the testing considered. The four blades of the cutter had an approximate average thickness of 1.00 mm which were designed to penetrate through the round AA6061-T6 extrusions. Experimental observations illustrated high crush force efficiencies of 0.82 for the extrusions which experienced the cutting deformation mode with the deflectors. Total energy absorption during the cutting process was approximately 5.48 kJ.

Fatigue analysis incorporating explicit finite element simulation was conducted on a forged magnesium wheel model where a rotating bend moment was applied to the hub to simulate rotary fatigue testing. Based on wheel fatigue design criteria and a developed fatigue post-processor, the safety factor of fatigue failure was calculated for each finite element. Fatigue failure was verified through experimental testing. Design modifications were proposed by increasing the spoke thickness. Further numerical and experimental testing indicated that the modified design passed the rotary fatigue test.

Carburized parts often see use in powertrain components for the automotive industry. These parts are commonly quenched and tempered after the carburizing process. The present study compared the austempering heat treatment to the traditional quench-and-temper process for carburized parts. Samples were produced from SAE 8620, 4320, and 8822 steels and heat treated across a range of conditions for austempering and for quench-and-tempering. Distortion was examined through the use of Navy C-Ring samples. Microstructure, hardness, and Charpy toughness were also examined. X-ray diffraction was used to compare the residual stress found in the case of the components after the quench-and-temper and the austempering heat treatments. Austempering samples showed less distortion and higher compressive residual stresses, while maintaining comparable hardness values in both case and core. Toughness measurements were also comparable between both processes.

Gray cast iron brake rotor experiences substantial wear during braking and contributes largely to the wear debris emissions. Surface coating on the gray cast iron rotor represents a trending approach dealing with the problems. In this research, a new plasma electrolytic aluminating (PEA) process was used for preparing an alumina-based ceramic coating with metallurgical bonding to the gray cast iron. Three different types of brake pads (ceramic, semi-metallic and non asbestos organic (NAO)) were used for tribotests. Performances of PEA coatings vs. different brake pad materials were comparatively investigated with respect to their coefficients of friction (COFs) and wear. The PEA-coated brake rotor has a dimple-like surface which promotes the formation of a thin transferred film to protect the rotor from wear. The transferred film materials come from the wear debris of the pads. The secondary plateaus are regenerated on the brake pads through compacting wear debris of the pads.

Light-weighting fiber composite materials introduced to reduce vehicle mass and known as innovative materials research activities since they provide high specific stiffness and strength compared to contemporary engineering materials. Nonetheless, there are issues related automation strategies and handling methods. Material handling of flexible textile/fiber components is a process bottleneck and it is currently being performed by setting up multi-stage manual operations for hand layups. Consequently, the long-term research objective is to develop semi-automated pick and place processes for flexible materials utilizing collaborative robots within the process. The immediate research is to experimentally validate innovatively designed grippers for efficient material pick and place tasks.

Environmental concerns and rising fuel costs are driving Ontario's municipalities and fleet operators to consider alternative vehicle technologies. Elevated fuel consumption and air emissions are attributed to the unique operations of fleet vehicles and in particular, during idling. While drivers of passenger vehicles may have the option of simply not idling, fleet and emergency vehicle operators, may need to keep the vehicle operating to supply power to critical onboard equipment. These demands may be exacerbated during seasonal, temperature extremes. However, prolonged idling can impose significant environmental and economic burdens. Hybrid vehicles have yet to be utilized widely by Ontario's fleets, but there are other approaches to reduce emissions, including alternative “green” technologies to operate in-vehicle equipment and maintain fleet vehicle capabilities instead of idling.

This paper proposes and evaluates the use of a robust variable torque distribution (VTD) yaw moment control for an all wheel drive (AWD) hybrid vehicle prototype currently under development. The proposed VTD controller was used to improve the linearity of vehicle response to driver input through the modulation of front-to-rear torque distribution and a corrective torque differential between the left and right rear wheels. The development of a non-linear vehicle model and a reference model tracking sliding mode based control are discussed. The efficacy of the proposed control system was demonstrated through the use of numerical simulations using the developed non-linear vehicle model. The simulation results presented indicate the effectiveness of the proposed system and the potential restrictions to such a system including tire saturation and drivetrain component limitations.

A vehicle undergoing longitudinal or lateral accelerations experiences load transfer, dynamically changing the normal load carried by each tire. Conventional braking systems are designed only to work adequately over a large range of conditions, but often ignore the dynamic state of the tire's normal load. Fortunately, new developments in braking system hardware give designers more control over the application of braking pressures. By identifying the tires that carry increased normal load, and biasing the braking system toward those tires, total braking force can be increased. The purpose of this research is to investigate advantages of open-loop load transfer based active brake pressure distribution. By estimating the tractive ability of the tires as a function of measurable vehicle conditions, brake pressure can be applied in proportions appropriate for the current dynamic state of the vehicle, referred to as Active Brake Proportioning (ABP).

Empirical work has been conducted with an EGR fuel reformer configured in a flow reversal and central fueling embedment to improve the fuel dispersion quality and the reforming energy efficiency. Comprehensive comparison analyses are made between the unidirectional flow and the periodic reversal flow embodiments of similar substrate size and properties; and between the inlet and central heating schemes. With a unidirectional EGR reformer, a large amount of supplemental heating is commonly required prior to reforming. The central-fueling and flow-reversal embedment in this study is shown to significantly reduce the supplemental heating energy. The EGR cooler loading for the two strategies is also analyzed. One-dimensional modeling analyses are conducted to evaluate the fuel delivery strategies and temperature profiles of the reformer at various reforming gas flow rates and engine-out exhaust temperatures and compositions.

Rollover crash is one of the most serious safety problems for light weight vehicles. In the USA, rollover crashes account for almost one-third of all occupant fatalities in light weight vehicles. Similar statistics are found for other countries. Thus, rollover crashes have received significant attention in recent years. In the USA and Canada, automotive manufacturers are required to comply with the roof strength requirement of “1.5 times the unloaded vehicle weight” to ensure safety in rollover. NHTSA is currently considering a set of countermeasures to improve the rollover safety, where one of the proposals is to increase the roof strength limit to “2.5 times the unloaded vehicle weight”. This increased roof strength limit seemingly has been motivated based on the benchmark study of current vehicle fleet.

Heavy traffic volume makes tailgating a common picture on the road today. Wake interference, particularly in the scenario when a relatively small sedan drives into the wake of a large truck, may raise some serious highway safety concerns. In this paper, the characteristics of the separation bubble of model trucks with various degrees of details are studied. The objective is to find out the impact of truck model details on the characteristics of the wake bubble. Our wind tunnel results revealed that the degree of model detail has a significant effect on the wake bubble; the bubble length increases with model details.

This research focuses on the further development of a child finite element model whereby implementation of pediatric cadaver testing observations considering the biomechanical response of the neck of children under tensile and bending loading has occurred. Prior to this investigation, the biomechanical neck response was based upon scaled adult cadaver behaviour. Alterations to the material properties associated with ligaments, intervertebral discs and facet joints of the pediatric cervical spine were considered. No alteration to the geometry of the child neck finite element model was considered. An energy based approach was utilized to provide indication on the appropriate changes to local neck biomechanical characteristics. Prior to this study, the biomechanical response of the neck of the child finite element model deviated significantly from the tensile and bending cadaver tests completed by Ouyang et al.

Sliding wear of magnesium (Mg) engine cylinder bore surfaces and corrosion of Mg engine coolant channels are the two unsolved critical issues that automakers have to deal with in development of magnesium-intensive engines. In this paper, Plasma Electrolytic Oxidation (PEO) process was used to produce oxide coatings on AJ62 Mg alloy to provide wear and corrosion protection. In order to optimize the PEO process, orthogonal experiments were conducted to investigate the effect of PEO process parameters on the wear properties of PEO coatings. The PEO coatings showed a much better wear resistance, as well as a smaller friction coefficient, than the AJ62 substrate. The galvanic corrosion property of AJ62 Mg coupled with stainless steel and aluminum (Al) was investigated via immersion corrosion test in an engine coolant. Applying PEO coating on Mg can effectively prevent the galvanic corrosion attack to Mg.