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Autonomous vehicle operation is dependent upon accurate position estimation and thus a major concern of implementing the autonomous navigation is obtaining robust and accurate data from sensors. This is especially true, in case of Inertial Measurement Unit (IMU) sensor data. The IMU consists of a 3-axis gyro, 3-axis accelerometer, and 3-axis magnetometer. The IMU provides vehicle orientation in 3D space in terms of yaw, roll and pitch. Out of which, yaw is a major parameter to control the ground vehicle’s lateral position during navigation. The accelerometer is responsible for attitude (roll-pitch) estimates and magnetometer is responsible for yaw estimates. However, the magnetometer is prone to environmental magnetic disturbances which induce errors in the measurement.

Fuel is a significant portion of the operating cost for an on-highway diesel engine and fuel economy is important to the economics of shipping most goods in North America. Cat® ACERT™ engine technology is no exception. Ball bearings have been applied to the series turbochargers for the Caterpillar heavy-duty, on-highway diesel truck engines in order to reduce mechanical loss for improved efficiency and lower fuel consumption. Over many years of turbocharger development, much effort has been put into improving the aerodynamic efficiency of the compressor and turbine stages. Over the same span of time, the mechanical bearing losses of a turbocharger have not experienced a significant reduction in power consumption. Most turbochargers continue to use conventional hydrodynamic radial and thrust bearings to support the rotor. While these conventional bearings provide a low cost solution, they do create significant mechanical loss.

Technical groups worldwide have been actively developing specifications and requirements for biodegradable hydraulic fluids for mobile applications. These groups have recognized that an industry-wide specification is necessary due to the increase in environmental awareness in the agriculture, construction, forestry, and mining industries, and to the increasing number of local regulations primarily throughout Europe. Caterpillar has responded to this need by publishing a requirement, Caterpillar BF-1, that may be used by Caterpillar dealers, customers, and industry to help select high-performance biodegradable hydraulic fluids. This requirement was written with the input of several organizations that are known to be involved with the development of similar types of specifications and requirements.

Today’s business climate and economy demand new, innovative strategies from the initial kickoff of research and development - to the mining of ore from the earth - to the final inspection of a finished product in a mid-western factory. From startup companies with two employees to the largest companies, the world faces new and challenging requirements every day. The demands from companies, customers, executives, and shareholders continue to drive for higher outputs with more efficient use of personnel and investments. Fortunately, the rate of technology continues to exponentially accelerate, which allows those at the cutting edge of technology to capitalize. Caterpillar has been a pioneer in advanced technology since its inception and has been developing the foundation for autonomy over the past four decades.

NVH is gaining importance in the quality perception of off-highway machine performance and operator comfort. Booming noise, a low frequency NVH phenomenon, can be a significant sound issue in an off-highway machine. In order to increase operator comfort by decreasing the noise levels and noise annoyance, a tuned mass damper (TMD) was added to the resonating panel to suppress the booming. Operational deflection shapes (ODS) and experimental modal analysis (EMA) were performed to identify the resonating panels, a damper was tuned in the lab and on the machine to the specific frequency, machine operational tests were carried out to verify the effectiveness of the damper to deal with booming noise.

The design of a pressure compensated hydraulic valve is optimized using CFD analysis. The valve is used in a hydraulic system to control implement movement. High flow rates through the valve resulted in unacceptably high pressure drops, leading to an effort to optimize the valve design. Redesign of the valve had to be achieved under the constraint of minimal manufacturing cost. The flow path of hydraulic oil through the valve, the spool design, and various components of the valve that caused the high pressure drops were targeted in this analysis. A commercially available CFD package was used for the 3D analysis. The hydraulic oil flow was assumed to be turbulent, isothermal and incompressible. The steady-state results were validated by comparison with experimental data.

A multi-year Power System R&D project was initiated with the objective of developing an off-road hybrid heavy-duty concept diesel engine with front end accessory drive-integrated energy storage. This off-road hybrid engine system is expected to deliver 15-20% reduction in fuel consumption over current Tier 4 Final-based diesel engines and consists of a downsized heavy-duty diesel engine containing advanced combustion technologies, capable of elevated peak cylinder pressures and thermal efficiencies, exhaust waste heat recovery via SuperTurbo™ turbocompounding, and hybrid energy recovery through both mechanical (high speed flywheel) and electrical systems. The first year of this project focused on the definition of the hybrid elements using extensive dynamic system simulation over transient work cycles, with hybrid supervisory controls development focusing on energy recovery and transient load assist, in Caterpillar’s DYNASTY™ software environment.

Flexibility and backlash of vehicle drivelines typically cause unwanted oscillations and noise, known as shuffle and clunk, during tip-in and tip-out events. Computationally efficient and accurate driveline models are necessary for the design and evaluation of torque shaping strategies to mitigate this shuffle and clunk. To accomplish these goals, this paper develops a full-order physics-based model and uses this model to develop a reduced-order model (ROM), which captures the main dynamics that influence the shuffle and clunk phenomena. The full-order model (FOM) comprises several components, including the engine as a torque generator, backlash elements as discontinuities, and propeller and axle shafts as compliant elements. This model is experimentally validated using the data collected from a Ford vehicle. The validation results indicate less than 1% error between the model and measured shuffle oscillation frequencies.

This paper details results of a numerical and experimental investigation into the relative performance of vaned and vaneless mixed flow turbines for application to medium and heavy-duty diesel engines utilizing pulse exhaust systems. Previous investigations into the impact of nozzle vanes on turbine performance considered only open turbine housings, whereas a majority of medium and heavy-duty diesel engine applications are six-cylinder engines using pulse exhaust systems with divided turbines. The two turbine stages for this investigation were carefully designed to meet the constraints of engines with pulse exhaust systems and to control confounding factors that would undermine the vaned vs vaneless performance comparison. Detailed CFD analysis and turbine dynamometer test results confirm a significant efficiency advantage for the vaned turbine stage under both full and partial admission conditions.