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Shorter development times in the automotive industry are leading to the increased use of computer simulation in the vehicle design cycle to pre-optimize vehicle concepts. The focus of the work presented in this study is vehicle dynamic performance in different driving maneuvers. More specifically this paper presents a methodology for simulation-based parameter design of vehicles for excellent performance in multiple maneuvers. The model used in the study consists of eight degrees-of-freedom and has been validated previously. The vehicle data used is for a commercially available vehicle. A number of different driving scenarios (maneuvers) based on ISO standards for transient dynamic behavior are implemented and performance indices are calculated for each individual maneuver considered. Vehicle performance is assessed based on the performance indices.

With recent advances in electric vehicles, there is a plethora of powertrain topologies and components available in the market. Thus, the performance of electric vehicles is highly sensitive to the choice of various powertrain components. This paper presents a multi-objective optimization model that can optimally select component sizes for batteries, supercapacitors, and motors in regular passenger battery-electric vehicles (BEVs). The BEV topology presented here is a hybrid BEV which consists of both a battery pack and a supercapacitor bank. Focus is placed on optimal selection of the battery pack, motor, and supercapacitor combination, from a set of commercially available options, that minimizes the capital cost of the selected power components, the fuel cost over the vehicle lifespan, and the 0-60 mph acceleration time. Available batteries, supercapacitors, and motors are from a market survey.

The emphasis on vehicle fuel economy and tailpipe emissions, coupled with a trend toward greater system functionally, has prompted automotive engineers to develop on-board control systems with increased requirements and complexity. Mainstream engine controllers regulate fuel, spark, and other subsystems using custom solutions that incorporate off-the-shelf hardware components. Although the digital processor core and the peripheral electronics may be similar, these controllers are targeted to fixed engine architectures which limit their flexibility across vehicle platforms. Moreover, additional software needs are emerging as electronics continue to permeate the ground transportation sector. Thus, automotive controllers will be required to assume increased responsibility while effectively communicating with distributed hardware modules.

Vehicular control systems are characterized with numerous complex interactions with a steady rise of autonomous functions, which makes it more challenging for designers and safety engineers to identify unexpected failures. These systems tend to be highly integrated and exhibit features like concurrency for which traditional verification and validation techniques (i.e. testing and simulation) are insufficient to provide rigorous and complete assessment. Model Checking, a well-known formal verification technique, can be used to rigorously prove the correctness of such systems according to design Requirements. In particular, Model Checking is a method for formally verifying finite-state concurrent systems. Specifications about the system are expressed as temporal logic formulas, and efficient symbolic algorithms are used to traverse the model defined by the system and check if the specification holds or not.

Automatic thermal control (ATC) was investigated for implementation into a spacesuit to provide thermal neutrality to the astronaut through a range of activity levels. Two different control concepts were evaluated and compared for their ability to maintain subject thermal comfort. Six test subjects, who were involved in a series of three tests, walked on a treadmill following specific metabolic profiles while wearing the Mark III spacesuit in ambient environmental conditions. Results show that individual subject comfort was effectively provided by both algorithms over a broad range of metabolic activity. ATC appears to be highly effective in providing efficient, “hands-off” thermal regulation requiring minimal instrumentation. Final selection of an algorithm to be implemented in an advanced spacesuit system will require testing in dynamic thermal environments and consideration of technology for advancement in instrumentation and controller performance.

1 The efficiency of internal combustion engines remains a research challenge given the mechanical friction and thermodynamic losses. Although incremental engine design changes continue to emerge, the harvesting of waste heat represents an immediate opportunity to address improved energy utilization. An external mobile thermal recovery system for gasoline and diesel engines is proposed for use in parking lots based on phase change material cartridges. Heat is extracted via a retrofitted conduction plate beneath the engine block after engine shutoff. An autonomous robot attaches the cartridge to the plate and transfers the heat from the block to the Phase Change Material (PCM) and returns later to retrieve the packet. These reusable cartridges are then driven to a Heat Extraction and Recycling Tower (HEART) facility where a heat exchanger harvests the thermal energy stored in the cartridges.

Simultaneous Localization and Mapping (SLAM) algorithms are extensively utilized within the field of autonomous navigation. In particular, numerous open-source Robot Operating System (ROS) based SLAM solutions, such as Gmapping, Hector, Cartographer etc., have simplified deployments in application. However, establishing the accuracy and precision of these ‘out-of-the-box’ SLAM algorithms is necessary for improving the accuracy and precision of further applications such as planning, navigation, controls. Existing benchmarking literature largely focused on validating SLAM algorithms based upon the quality of the generated maps. In this paper, however, we focus on examining the localization accuracy of existing 2-dimensional LiDAR based indoor SLAM algorithms. The fidelity of these implementations is compared against the OptiTrack motion capture system which is capable of tracking moving objects at sub-millimeter level precision.

Collaborative robots are more and more used in smart manufacturing because of their capability to work beside and collaborate with human workers. With the deployment of these robots, manufacturing tasks are more inclined to be accomplished by multiple humans and multiple robots (MH-MR) through teaming effort. In such MH-MR collaboration scenarios, the task distribution among the multiple humans and multiple robots is very critical to efficiency. It is also more challenging due to the heterogeneity of different agents. Existing approaches in task distribution among multiple agents mostly consider humans with assumed or known capabilities. However human capabilities are always changing due to various factors, which may lead to suboptimal efficiency. Although some researches have studied several human factors in manufacturing and applied them to adjust the robot task and behaviors.

The Shuttle Orbiter humidity control and carbon dioxide removal system for extended duration missions presently uses a solid amine called HS-C. This August, on board STS-62, a new solid amine called HS-C+ will be used. HS-C+ uses the same amine and the substrate material, but a different preparation process. Forty-seven breakthrough tests have been conducted to characterize the performance of HS-C+. CO2 partial pressure, bed temperature, and H2O partial pressure were varied. Eleven HS-C breakthrough tests were also run to provide a direct comparison. Under all conditions tested, HS-C+ outperformed HS-C. Both materials adsorb all CO2 and H2O available at the start of a test when the beds are fully desorbed. As the bed becomes partially loaded, the CO2 and H2O adsorption rates decrease rapidly. HS-C+ continues adsorbing all CO2 and H2O available for a longer time. Greater surface area on HS-C+ may cause the improved performance.

Humidity condensate collected and processed in-flight is an important component of a space station drinking water supply. Water recovery systems in general are designed to handle finite concentrations of specific chemical components. Previous analyses of condensate derived from spacecraft and ground sources showed considerable variation in composition. Consequently, an investigation was conducted to collect condensate on the Shuttle while the vehicle was docked to Mir, and return the condensate to Earth for testing. This scenario emulates an early ISS configuration during a Shuttle docking, because the atmospheres intermix during docking and the condensate composition should reflect that. During the STS-89 and STS-91 flights, a total volume of 50 liters of condensate was collected and returned. Inorganic and organic chemical analyses were performed on aliquots of the fluid.

Twenty-nine recycled water, eight stored (ground-supplied) water, and twenty-eight humidity condensate samples were collected on board the Mir Space Station during the Phase One Program (1995-1998). These samples were analyzed to determine potability of the recycled and ground-supplied water, to support the development of water quality monitoring procedures and standards, and to assist in the development of water reclamation hardware. This paper describes and summarizes the results of these analyses and lists the lessons learned from this project. Results show that the recycled water and stored water on board Mir, in general, met NASA, Russian Space Agency (RSA), and U.S. Environmental Protection Agency (EPA) standards.

Approximately 50% of the water consumed by International Space Station crewmembers is water recovered from cabin humidity condensate. Condensing heat exchangers in the Russian Service Module (SM) and the United States On-Orbit Segment (USOS) are used to control cabin humidity levels. In the SM, humidity condensate flows directly from the heat exchanger to a water recovery system. In the USOS, a metal bellows tank located in the US Laboratory Module (LAB) collects and stores condensate, which is periodically off-loaded in about 20-liter batches to Contingency Water Containers (CWCs). The CWCs can then be transferred to the SM and connected to a Condensate Feed Unit that pumps the condensate from the CWCs into the water recovery system for processing. Samples of the condensate in the tank are collected during the off-loads and returned to Earth for analyses.

Integrated modeling of vehicle, tire and terrain is a fundamental challenge to be addressed for off-road autonomous navigation. The complexities arise due to lack of tools and techniques to predict the continuously varying terrain and environmental conditions and the resultant non-linearities. The solution to this challenge can now be found in the plethora of data driven modeling and control techniques that have gained traction in the last decade. Data driven modeling and control techniques rely on the system’s repeated interaction with the environment to generate a lot of data and then use a function approximator to fit a model for the physical system with the data. Getting good quality and quantity of data may involve extensive experimentation with the physical system impacting developer’s resource. The process is computationally expensive, and the overhead time required is high.

This paper outlines a real-time hierarchical control allocation algorithm for multi-axle land vehicles with independent hub motor wheel drives. At the top level, the driver’s input such as pedal position or steering wheel position are interpreted into desired global state responses based on a reference model. Then, a locally linearized rigid body model is used to design a linear quadratic regulator that generates the desired global control efforts, i.e., the total tire forces and moments required track the desired state responses. At the lower level, an optimal control allocation algorithm coordinates the motor torques in such a manner that the forces generated at tire-road contacts produce the desired global control efforts under some physical constraints of the actuation and the tire/wheel dynamics. The performance of the proposed control system design is verified via simulation analysis of a 3-axle heavy vehicle with independent hub-motor drives.

Hybrid vehicle embedded systems and payloads require progressively more accurate and versatile thermal control mechanisms and strategies capable of withstanding harsh environments and increasing power density. The division of the cargo and passenger compartments into convective thermal zones which are independently managed can lead to a manageable temperature control problem. This study investigates the performance of a Peltier-effect thermoelectric zone cooling system to regulate the temperature of target objects (e.g., electronic controllers, auxiliary computer equipment, etc) within ground vehicles. Multiple thermoelectric cooling modules (TEC) are integrated with convective cooling fans to provide chilled air for convective heat transfer from a robust, compact, and solid state device. A series of control strategies have been designed and evaluated to track a prescribed time-varying temperature profile while minimizing power consumption.

The automotive thermal management system is responsible for maintaining engine and passenger compartment temperatures, which promote normal combustion events and passenger comfort. This system traditionally circulates a water ethylene glycol mixture through the engine block using a belt-driven water pump, wax pellet thermostat valve, radiator with electric fan, and heater core. Although vehicle cooling system performance has been reliable and acceptable for many decades, advances in mechatronics have permitted upgrades to powertrain and chassis components. In a similar spirit, the introduction of a variable speed electric water pump and servo-motor thermostat valve allows ECU-based thermal control. This paper examines the integration of an electric water pump and intelligent thermostat valve to satisfy the engine's basic cooling requirements, minimize combustion chamber fluctuations due to engine speed changes, and permit quick heating of a cold block.

Tradespace analysis is used to define the characteristics of the solution space for a vehicle design problem enabling decision-makers (DMs) to evaluate the risk-benefit posture of a vehicle design program. The tradespace itself is defined by a set of functional objectives defined by vehicle simulations and evaluating the performance of individual design solutions that are modeled by a set of input variables. Of special interest are efficient design solutions because their perfomance is Pareto meaning that none of their functional objective values can be improved without decaying the value of another objective. The functional objectives are derived from a combination of simulations to determine vehicle performance metrics and direct calculations using vehicle characteristics. The vehicle characteristics represent vendor specifications of vehicle subsystems representing various technologies.

This paper describes the development of a membrane-based dehumidification process for space-based applications, such as spacecraft cabins and extra-vehicular-activity (EVA) space suits. Results presented are from 1) screening tests conducted to determine the efficacy of various membranes to separate water vapor from air, and 2) parametric and long-term tests of membranes operated at conditions that simulate the range of environmental conditions (e.g., temperature and relative humidity [RH]) expected in the planned space station. Also included in this paper is a discussion of preliminary designs of membrane-based dehumidification processes for the space station and EVA space suits. These designs result in compact and energy-efficient systems that offer significant advantages over conventional dehumidification processes.

A phase change material (PCM) heat sink using super cooled ice as a non-toxic, non-flammable PCM is being developed for use in a portable life support system (PLSS). The latent heat of fusion for water is approximately 70% larger than most paraffin waxes, which can provide significant mass savings. Further mass reduction is accomplished by super cooling the ice significantly below its freezing temperature for additional sensible heat storage. Expansion and contraction of the water as it freezes and melts is accommodated with the use of flexible bag and foam materials. A demonstrator unit has been designed, built, and tested to demonstrate proof of concept. Both testing and modeling results are presented.

The Space Shuttle humidity separator prefilter was developed to remove debris from the air/water stream that flows from the cabin condensing heat exchanger to the humidity separator. Debris in this flow stream has caused humidity separator pitot tube clogging and subsequent water carryover on several Shuttle flights. The first design concept of the prefilter was flown on STS-40 in June, 1991. The prefilter was installed on-orbit. Video footage of its operation revealed that the prefilter did not pass water at a constant rate, resulting in a tendency to slug the humidity separator. The results from this flight test have resulted in a complete redesign of the prefilter. In this paper the first prefilter design is described, the flight results from STS-40 are examined, and the on-orbit performance of the prefilter is explained. The redesigned prefilter is described with emphasis on the features that should allow successful reduced gravity operation.