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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.

The development of a collision severity model can serve as an important tool in understanding the requirements for devising countermeasures to improve occupant safety and traffic safety. Collision type, weather conditions, and driver intoxication are some of the factors that may influence motor vehicle collisions. The objective of this study is to use artificial neural networks (ANNs) to identify the major determinants or contributors to fatal collisions based on various driver, vehicle, and environment characteristics obtained from collision data from Transport Canada. The developed model will have the capability to predict similar collision outcomes based on the variables analyzed in this study. A multilayer perceptron (MLP) neural network model with feed-forward back-propagation architecture is used to develop a generalized model for predicting collision severity. The model output, collision severity, is divided into three categories - fatal, injury, and property damage only.

As a first step toward better understanding of the effects of flame stretch on combustion rate in SI engines, the burning velocity of a premixed, spherical, laminar methane-air flame propagating freely at standard temperature and pressure was investigated. The underlying un-stretched burning velocity was computed using CHEMKIN 3.7 with GRI mechanism, while the Lewis number and subsequently the Markstein length were deduced theoretically. The burning velocity of the freely growing flame ball was calculated from the un-stretched burning velocity with curvature and stretch effects accounted via the theoretically deduced Markstein length. For the positive Markstein length methane-air flame, flame stretching reduces the burning velocity. Therefore, the burning velocity of a spark-ignited flame starts with a value lower than, and increases asymptotically to, the underlying un-stretched burning velocity as the flame grows.

Industrial robotic arms and manipulators are systems that offer technological advances in automation, production, and logistical processes. Therefore, it is vital to understand and analyze the reachability and dexterity of such manipulators. This paper presents a reconfigurable algorithm for evaluation and 3D visual representation of the total workspace and singularity space of two and three degrees of freedom open-ended kinematic chains. A manipulator's performance is greatly depreciated at or near singular regions which may occur as subset(s) in its complete workspace. It is therefore crucial to understand the functional workspace of a manipulator for an enhanced performance in an industrial setting. The implementation of this algorithm requires two inputs namely; the joint type(s), rotational (R) or translational (T), and the Denavit-Hartenberg (D-H) parameters of the manipulator.

Thermal comfort in automotive seating has been studied and discussed for a long time. The available research, because it is focused on the components, has not produced a model that provides insight into the human-seat system interaction. This work, which represents the beginning of an extensive research program, aims to establish the foundation for such a model. This paper will discuss the key physiological, psychological, and biomechanical factors related to perceptions of thermal comfort in automotive seats. The methodology to establish perceived thermal comfort requirements will also be presented and discussed.

A semi-empirical turbulent flame growth model has been developed based on thermodynamic equilibrium calculations and experiments in a 125-mm cubical combustion chamber. It covers the main flame growth period from spark kernel formation until flame wall contact, including the effects of laminar flame speed, root mean square turbulence intensity, turbulent eddy size, and flame size. As expected, the combustion rate increases with increasing laminar flame speed and/or turbulence intensity. The effect of turbulent eddy scale is less obvious. For a given turbulence intensity, smaller scales produce higher instantaneous flame speed. However, turbulence of a smaller scale also decays more rapidly. Thus, for a given laminar flame speed and turbulence intensity at the time of ignition, there is an optimum turbulent eddy size which leads to the fastest combustion rate over the period considered.

The ever-growing demand to meet the stringent exhaust emission regulations have driven the development of modern gasoline engines towards lean combustion strategies and downsizing to achieve the reduction of exhaust emission and fuel consumption. Currently, the inductive ignition system is still the dominant ignition system applied in Spark Ignited (SI) engines. It is popular due to its simple design, low cost and robust performance. The new development in spark ignition engines demands higher spark energy to be delivered by the inductive ignition system to overcome the unfavorable ignition conditions caused by the increased and diluted in-cylinder charge. To meet this challenge, better understanding of the inductive ignition system is required. The development of a first principle model for simulation can help in understanding the working mechanism of the system in a better way.

Advanced combustion engines, as power sources, dominate all aspects of the transportation sector. Stringent emission and fuel efficiency standards have promoted the research interest in advanced combustion strategies and alternative fuels. Owing to the comparable energy density to the existing fossil fuels and renewable production, alcohol and ether fuels may be a suitable replacement, or an additive to the gasoline/diesel fuels to meet the future emission standards with minimal modification to current engine geometry. Furthermore, lean and diluted combustion are well-researched pathways for efficiency improvement and reduction of engine-out emissions of modern engines. However, lean-burn or EGR dilution can introduce combustion inefficiencies in the form of excessive hydrocarbon, carbonyl species and carbon monoxide emissions.

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).

In this work, engine tests were performed to realize EGR-enabled LTC on a single-cylinder common-rail diesel engine with three different compression ratios (17.5, 15 and 13:1). The engine performance was first investigated at 17.5:1 compression ratio to provide baseline results, against which all further testing was referenced. The intake boost and injection pressure were progressively increased to ascertain the limiting load conditions for the compression ratio. To extend the engine load range, the compression ratio was then lowered and EGR sweep tests were again carried out. The strength and homogeneity of the cylinder charge were enhanced by using intake boost up to 3 bar absolute and injection pressure up to 180 MPa. The combustion phasing was locked in a narrow crank angle window (5~10° ATDC), during all the tests.

Low temperature combustion (LTC), though effective to reduce soot and oxides of nitrogen (NOx) simultaneously from diesel engines, operates in narrowly close to unstable regions. Adaptive control strategies are developed to expand the stable operations and to improve the fuel efficiency that was commonly compromised by LTC. Engine cycle simulations were performed to better design the combustion control models. The research platform consists of an advanced common-rail diesel engine modified for the intensified single cylinder research and a set of embedded real-time (RT) controllers, field programmable gate array (FPGA) devices, and a synchronized personal computer (PC) control and measurement system.

Extensive empirical work indicates that the exhaust emission and fuel efficiency of modern common-rail diesel engines characterise strong resilience to biodiesel fuels when the engines are operating in conventional high temperature combustion cycles. However, as the engine cycles approach the low temperature combustion (LTC) mode, which could be implemented by the heavy use of exhaust gas recirculation (EGR) or the homogeneous charge compression ignition (HCCI) type of combustion, the engine performance start to differ between the use of conventional and biodiesel fuels. Therefore, a set of fuel injection strategies were compared empirically under independently controlled EGR, intake boost, and exhaust backpressure in order to improve the neat biodiesel engine cycles.

In the recent decades, the emission and fuel efficiency regulations put forth by the emission regulation agencies have become increasingly stringent and this trend is expected to continue in future. The advanced spark ignition (SI) engines can operate under lean conditions to improve efficiency and reduce emissions. Under such lean conditions, the ignition and complete combustion of the charge mixture is a challenge because of the reduced charge reactivity. Enhancement of the in-cylinder charge motion and turbulence to increase the flame velocity, and consequently reduce the combustion duration is one possible way to improve lean combustion. The role of air motion in better air-fuel mixing and increasing the flame velocity, by enhancing turbulence has been researched extensively. However, during the ignition process, the charge motion can influence the initial spark discharge, resulting flame kernel formation, and flame propagation.

Spark ignition systems with the capability of providing spark event with either higher current level or longer discharge duration has been developed in recent years to help IC engines towards clean combustion with higher efficiency under lean/diluted intake charge. In this research, a boosted current spark strategy was proposed to investigate the effect of spark discharge current level and discharge duration on the combustion process. Firstly, the discharge characteristics of a boosted current spark system were tested with a traditional spark plug under crossflow conditions, and results showed that the spark channel was more stable, and was stretched much longer when the discharge current was boosted. Then the boosted current strategy was used in a spark ignition engine operating under lean conditions. Boosted current was added to the spark channel with different timing, duration, and current levels.

Increasingly stringent emission standards have promoted the interest in alternate fuel sources. Because of the comparable energy density to the existing fossil fuels and renewable production, alcohol fuels may be a suitable replacement, or an additive to the gasoline/diesel fuels to meet the future emission standards with minimal modification to current engine geometry. In this research, the combustion characteristics of neat n-butanol are analyzed under spark ignition operation using a single cylinder SI engine. The fuel is injected into the intake manifold using a port-fuel injector. Two modes of charge dilution were used in this investigation to test the limits of stable engine operation, namely lean burn using excess fresh air and exhaust gas recirculation (EGR). The in-cylinder pressure measurement and subsequently, heat release analysis are used to investigate the combustion characteristics of the fuel under low load SI engine operation.

The increased availability of natural gas (NG) in the U.S. has renewed interest in the application to heavy-duty (HD) diesel engines in order to realize fuel cost savings and reduce pollutant emissions, while increasing fuel economy. Reactivity controlled compression ignition (RCCI) combustion employs two fuels with a large difference in auto-ignition properties to generate a spatial gradient of fuel-air mixtures and reactivity. Typically, a high octane fuel is premixed by means of port-injection, followed by direct injection of a high cetane fuel late in the compression stroke. Previous work by the authors has shown that NG and diesel RCCI offers improved fuel efficiency and lower oxides of nitrogen (NOx) and soot emissions when compared to conventional diesel diffusion combustion. The work concluded that NG and diesel RCCI engines are load limited by high rates of pressure rise (RoPR) (>15 bar/deg) and high peak cylinder pressure (PCP) (>200 bar).

For spark ignition (SI) engines, further improvement of engine efficiency has become the major development trend, and lean burn/EGR technologies, as well as intensified in-cylinder flow, need to be adapted to reach that target. Stronger ignition sources become more favorable under extreme lean/EGR conditions. Among the ignition technologies developed, multiple ignition sites technology has been proved to be an effective way to help with the initial flame kernel development. In this paper, a spark ignited 4-cylinder turbo-charged production engine is employed to investigate the impact of multiple ignition sites technology on engine performance under lean burn conditions. Four in-house designed 3-core sparkplugs are installed on the cylinders to replace traditional stock sparkplugs, in order to generate multiple ignition sites in the cylinders.

Reactivity controlled compression ignition (RCCI) combustion employs two fuels with a large difference in auto-ignition properties that are injected at different times to generate a spatial gradient of fuel-air mixtures and reactivity. Researchers have shown that RCCI offers improved fuel efficiency and lower NOx and Soot exhaust emissions when compared to conventional diesel diffusion combustion. The majority of previous research work has been focused on premixed gasoline or ethanol for the low reactivity fuel and diesel for the high reactivity fuel. The increased availability of natural gas (NG) in the U.S. has renewed interest in the application of compressed natural gas (CNG) to heavy-duty (HD) diesel engines in order to realize fuel cost savings and reduce pollutant emissions, while increasing fuel economy. Thus, RCCI using CNG and diesel fuel warrants consideration.

The paper describes a closed-loop vehicle simulation environment developed to support a virtual vehicle design and testing methodology, proposed for the University of Windsor Formula SAE team. Virtual prototyping and testing were achieved through co-simulation of Matlab/Simulink® and Carsim®. The development of the required hybrid-control driver and vehicle models are described. The proposed models were validated with in vehicle test data. The proposed methods have shown to be effective and robust in predicting driver response, while controlling the vehicle within the developed simulation environment.

Lean burn or EGR diluted combustion with enhanced charge motion is effective in improving the efficiency of spark ignition engines. However, the ignition process under these conditions is getting more challenging due to higher ignition energy required by the lean or diluted mixture, as well as the interactions of the gas flow on the flame kernel. Enhanced spark discharge energy is essential to initiate the combustion under these conditions. Moreover, the discharge process should be more carefully controlled to improve the effectiveness of the spark. In this study, spark ignition systems with boosted discharge energy are used to ignite diluted air-fuel mixture under forced flow conditions. The impacts of the discharge current level, the discharge duration and the discharge current profile on the ignition are investigated in detail using optical diagnosis.