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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.

How will a mechanic troubleshoot the heavy duty vehicle of the future? Will he or she have to be both retriever and integrator of data collected from multiple black boxes on the vehicle? How many tools will it take? Is there a definition of a vehicle system “diagnostic environment” that needs to be developed in order to create a solution to this problem? This paper will attempt to create the system focus for vehicle diagnostics that is required if this industry is to successfully produce the integrated electronic vehicle of the future. Both the on-board and off-board requirements of the diagnostic environment will be examined.

Caterpillar Fuel Systems is developing a family of next generation electronic unit injectors that provide the fundamental injection characteristics necessary for emissions and performance improvements for future direct-injection diesel engines. This paper describes the development and design of the mechanically actuated version of Caterpillar's advanced electronic unit injector fuel system to meet the engine customer driven requirements for enhanced injection characteristics with reliability and durability improvements.

The effects of an oxidation catalytic converter (OCC), an emulsified fuel, and their combined effects on particle number and volume concentrations compared to those obtained when using a basefuel were studied. Particle size and particulate emission measurements were conducted at three operating conditions; idle (850 rpm, 35 Nm), Mode 11 (1900 rpm, 277 Nm) and Mode 9 (1900 rpm, 831 Nm) of the EPA 13 mode cycle. The individual effects of the emulsified fuel and the OCC as well as their combined effects on particle number and volume concentrations were studied at two different particle size ranges; the nuclei (less than or equal to 50 nm) and accumulation (greater than 50 nm) modes. An OCC loaded with 10 g/ft3 platinum metal (OCC1) and a 20% emulsified fuel were used for this study and a notable influence on the particle size with respect to number and volume distributions was observed.

A study was conducted to assess the effects of a water-diesel fuel emulsion with and without an oxidation catalytic converter (OCC) on steady-state heavy-duty diesel engine emissions. Two OCCs with different metal loading levels were used in this study. A 1988 Cummins L10-300 heavy-duty diesel engine was operated at the rated speed of 1900 rpm and at 75% and 25% load conditions (EPA modes 9 and 11 respectively) of the 13 mode steady-state test as well as at idle. Raw exhaust emissions' measurements included total hydrocarbons (HC), oxides of nitrogen (NOx) and nitric oxide (NO). Diluted exhaust measurements included total particulate matter (TPM) and its primary constituents, the soluble organic (SOF), sulfate (SO42-) and the carbonaceous solids (SOL) fractions. Vapor phase organic compounds (XOC) were also analyzed. The SOF and XOC samples were analyzed for selected polynuclear aromatic hydrocarbons (PAHs).

The increased availability of natural gas (NG) in the United States (US) and its relatively low cost versus diesel fuel has increased interest in the conversion of medium duty (MD) and heavy duty (HD) engines to NG fueled combustion systems. The aim for development for these NG engines is to realize fuel cost savings and increase operating range while reduce harmful emissions and maintaining durability. Traditionally, port-fuel injection (PFI) or premixed NG spark-ignited (SI) combustion systems have been used for light duty LD, and MD engines with widespread use in the US and Europe [1]. However, this technology exhibits poor thermal efficiency and is load limited due to knock phenomenon that has prohibited its use for HD engines. Spark Ignited Direct Injection (SIDI) can be used to create a partially stratified combustion (PSC) mixture of NG and air during the compression stroke.

Caterpillar's inboard brake and final drive axle responds to customers needs for a lifetime service brake removed from the often hostile environment encountered by exposed shoe-drum or caliper-disc brakes. A multi-disciplined team was assembled to select the single most appropriate axle configuration. That team was composed of members of the three worldwide facilities which would manufacture the axles. After selection of the configuration, the team approach was continued from development thru production. Concurrent product and process design was felt to be the most efficient way to provide the customer with an enclosed brake and to modernize our plants manufacturing operations. This paper will identify the methods used to develop a cost effective manufacturable axle. Working the product design and manufacturing process together provided for a more manufacturable axle, in a shorter time frame, with less start-up problems compared to the traditional approach.

In today's business climate rapid access to, and implementation of, new technology is essential to enhance competitive advantage. In the past, universities have been used for research contracts, but to fully utilize the intellectual resources of education institutions, it is essential to approach these relationships from a new basis: alliance. Alliances permit both parties to become active participants and achieve mutually beneficial goals. This paper will examine the drivers and challenges for industrial -- university alliances from both the industrial and academic perspectives.

This paper describes the results of experiments that were performed using a Ground Research Vehicle (GRV) at the National Aeronautics and Space Administration's (NASA) Dryden Flight Research Center in Edwards, CA and a comparison with computational results. The GRV is a modified 1984 General Motors (GMC) van and measures 40 feet long and 9 feet high, with a base area of 83 by 83, and it weighs 10260 lbs and holds a crew of up to three. Air data is measured from a nose-boom, 2 global positioning (GPS) units, and an absolute Honeywell Pressure Transducer with 4 Electronic Signal Processor (ESP) scanners and 64 surface pressure ports. This allows for detailed measurements of the surface pressure profiles around the vehicle. The total vehicle drag is estimated from coast-down tests, while the pressure component of the drag force may be calculated by integrating the pressure profiles on the front and base of the vehicle.

The hardware and software for a prototype computer controlled cooling system for a diesel powered truck has been designed and tested. The basic requirements for this system have been defined and the control functions, previously investigated in a study using the computer simulation model, were incorporated into the software. Engine dynamometer tests on the MACK-676 engine, comparing the conventional cooling system and the computer controlled system, showed the following advantages of the computer controlled system: 1. The temperature level to which the engine warms up to at low ambient temperature, was increased. 2. The faster shutter response reduced the temperature peaks and decreased total fan activity time. 3. The faster fan response reduces fan engagement time which should improve truck fuel economy.

A mathematical model was developed to analyze an instability problem in a developmental motorgrader blade circuit. This dynamic computer model was verified when simulation results compared well to measured data. Solutions to the problem were found with the model. The best solution was verified with a vehicle test. This circuit included a variable pump, an implement valve, a lock valve, and a cylinder.

IMPLEMENTATION OF A SECOND GENERATION SOUND POWER TEST FOR PRODUCTION TESTING OF EARTHMOVING EQUIPMENT Caterpillar has developed an automated sound power measurement system that measures construction equipment sound levels before they leave the assembly plant. This paper describes the test system and gives the results of verification tests conducted at various manufacturing plants around the world. It was concluded that the new system allows Caterpillar to quickly and accurately acquire the data necessary to assure that their product meets its noise requirements.

Caterpillar has introduced a new concept that shatters previous ripping limitations. The D9L Impact Ripper has extended the ripping capacity and productivity of the standard ripper tractor in heavy construcion, mining, and quarry applications. This paper describes the design objectives, development program, component selection, and the demonstrated productivity of the D9L Impact Ripper.

Covers the approach used by Caterpillar Inc. in working with Auxiliary Equipment Manufacturers to increase the versatility of backhoe loaders.

The Challenger 65 agricultural tractor combines the best features of current four wheel drive machines; speed, on-road mobility, and operator comfort with the well recognized advantages of track-type machines; tractive efficiency and reduced soil compaction.

In 1998, light trucks accounted for over 48% of new vehicle sales in the U.S. and well over half the new Light Duty vehicle fuel consumption. The Light Truck Clean Diesel (LTCD) program seeks to introduce large numbers of advanced technology diesel engines in light-duty trucks that would improve their fuel economy (mpg) by at least 50% and reduce our nation's dependence on foreign oil. Incorporating diesel engines in this application represents a high-risk technical and economic challenge.

Several very different order tracking and analysis techniques for rotating equipment have been developed recently that are available in commercial noise and vibrations software packages. Each of these order tracking methods has distinct trade-offs for many common applications and very specific advantages for special applications in sound quality or noise and vibrations troubleshooting. The Kalman, Vold-Kalman, Computed Order Tracking, and the Time Variant Discrete Fourier Transform as well as common FFT based order analysis methods will all be presented. The strengths and weaknesses of each of the methods will be presented as well as the highlights of their mathematical properties. This paper is intended to be an overview of currently available technology with all methods presented in a common format that allows easy comparison of their properties. Several analytical examples will be presented to thoroughly document each methods' behavior with different types of data.

The increased availability of natural gas (NG) in the United States (US) and its relatively low cost compared to diesel fuel has heightened interest in the conversion of medium duty (MD) and heavy duty (HD) engines to NG fueled combustion systems. The aim for development for these NG engines is to realize fuel cost savings and reduce harmful emissions while maintaining durability. Transforming part of the vehicle fleet to NG is a path to reduce dependence on crude oil. Traditionally, port-fuel injection (PFI) or premixed NG spark-ignited (SI) combustion systems have been used for MD and HD engines with widespread use in the US and Europe. But this technology exhibits poor cycle efficiency and is load limited due to knock phenomenon. Direct Injection of NG during the compression stroke promises to deliver improved thermal efficiency by avoiding excessive premixing and extending the lean limits which helps to extend the knock limit.

The increased availability of natural gas (NG) in the United States (US), and its relatively low cost compared to diesel fuel has heightened interest in the conversion of medium duty (MD) and heavy duty (HD) engines to NG fueled combustion systems. The aim is to realize fuel cost savings and reduce harmful emissions, while maintaining durability. This is a potential path to help the US reduce dependence on crude oil. Traditionally, port-fuel injection (PFI) or premixed NG spark-ignited (SI) combustion systems have been used for MD and HD engines with widespread use in the US and Europe; however, this technology exhibits poor cycle efficiency and is load limited due to knock phenomenon. Direct Injection of NG during the compression stroke promises to deliver improved thermal efficiency by avoiding excessive premixing and extending the lean limits which helps to extend the knock limit.

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.