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The paper describes a methodology to co-simulate, with high fidelity, simultaneously and in one computational framework, all of the main vehicle subsystems for improved engineering design. The co-simulation based approach integrates in MATLAB/Simulink a physics-based tire model with high fidelity vehicle dynamics model and an accurate powertrain model allowing insights into 1) how the dynamics of a vehicle affect fuel consumption, quality of emission and vehicle control strategies and 2) how the choice of powertrain systems influence the dynamics of the vehicle; for instance how the variations in drive shaft torque affects vehicle handling, the maximum achievable acceleration of the vehicle, etc. The goal of developing this co-simulation framework is to capture the interaction between powertrain and rest of the vehicle in order to better predict, through simulation, the overall dynamics of the vehicle.

A procedure has been developed to build system level predictive models that incorporate physical laws as well as information derived from experimental data. In particular a soot model was developed, trained and tested using experimental data. It was seen that the model could fit available experimental data given sufficient training time. Future accuracy on data points not encountered during training was estimated and seen to be good. The approach relies on the physical phenomena predicted by an existing system level phenomenological soot model coupled with ‘weights’ which use experimental data to adjust the predicted physical sub-model parameters to fit the data. This approach has developed from attempts at incorporating physical phenomena into neural networks for predicting emissions. Model training uses neural network training concepts.

The objective of this study was to investigate the effects of fuel viscosity and the effects of nozzle inlet configuration on the characteristics of high injection pressure sprays. Three different viscosity fuels were used to reveal the effects of viscosity on the spray characteristics. The effects of nozzle inlet configuration on spray characteristics were studied using two mini-sac six-hole nozzles with different inlet configurations. A common rail injection system was used to introduce the spray at 90 MPa injection pressure into a constant volume chamber pressurized with argon gas. The information on high pressure transient sprays was captured by a high speed movie camera synchronized with a pulsed copper vapor laser. The images were analyzed to obtain the spray characteristics which include spray tip penetration, spray cone angle at two different regions, and overall spray Sauter Mean Diameter (SMD).

This paper presents some experimental results of air velocity measurements near high pressure diesel sprays. The measurements were made using a moderately high pressure (90 MPa) common rail injector in a pressurized spray chamber. The chamber was operated at ambient temperature (25°C) and was pressurized with Argon to produce a chamber gas density of about 27 kg/m3, similar to densities found in a large turbocharged diesel near TDC. The gas phase was tagged using water droplets doped with Stilbene 420, with an estimated droplet size of 18 μm. The atomized water-Stilbene droplets were illuminated with the third harmonic of a pair of Nd:YAG lasers which caused the Stilbene to fluoresce at about 420 nm. To reduce the competing fluorescence from the injected fuel, the injector was fueled with Jet-A fuel. Using the two lasers, double exposures of the small droplets were recorded on film. The laser pulse lengths were about 6 ns, and typical times between pulses were 100 μs.

Airflow characteristics surrounding evaporating transient diesel sprays inside a constant volume chamber under temperatures around 1100 K were investigated using a 6-hole injector and a single-hole injector. Particle Image Velocimetry (PIV) was used to measure the gas velocities surrounding a spray plume as a function of space and time. A conical control surface surrounding the spray plume was chosen as a representative side entrainment surface. The normal velocities crossing the control surface toward the spray plume for single-hole injection sprays were higher than those of 6-hole injection sprays. The velocities tangential to the control surface toward the injector tip for the single-hole injection sprays were lower than those of 6-hole injection sprays. An abrupt increase in tangential velocities near the chamber wall suggests that the recirculation of surrounding gas was accelerated by the spray wall impingement, both for non-evaporating and evaporating sprays.

In-cylinder thermal barrier coatings (TBCs) have the capability to reduce fuel consumption by reducing wall heat transfer and to increase exhaust enthalpy. Low thermal conductivity, low volumetric heat capacity thermal barrier coatings tend to reduce the gas-wall temperature difference, the driving potential for heat transfer from the gas to the combustion chamber surfaces. This paper presents a coupling between an analytical methodology for multi-layer coated wall surface temperature prediction with a fully calibrated production model in a commercial system-level simulation software package (GT-Power). The wall surface temperature at each time step was calculated efficiently by convolving the engine wall response function with the time-varying surface boundary condition, i. e., in-cylinder heat flux and coolant temperature. This tool allows the wall to be treated either as spatially uniform with one set of properties, or with independent head/piston/liner components.

We present an approach in which an open-source software infrastructure is used for testing the behavior of autonomous vehicles through computer simulation. This software infrastructure is called CAVE, from Connected Autonomous Vehicle Emulator. As a software platform that allows rapid, low-cost and risk-free testing of novel designs, methods and software components, CAVE accelerates and democratizes research and development activities in the field of autonomous navigation.

Airflow characteristics surrounding non-evaporating transient diesel sprays were investigated using a 6-hole injector. Particle Image Velocimetry (PIV) was used to measure the gas velocities surrounding a spray plume as a function of space and time. A hydraulically actuated, electronically controlled unit injector (HEUI) system was used to supply the fuel into a pressurized constant volume chamber at room temperature. The chamber gas densities in this study were 10 kg/m3, 20 kg/m3 and 30 kg/m3. The injection pressure was 96.5 MPa. Two frequency doubled (532 nm) Nd:YAG lasers were used to create coincident laser sheets to illuminate the test section at two instances after start of injection (ASI). The double exposed images of sprays and Al2O3 seed particles were developed and velocity vectors of the gas surrounding the transient diesel sprays were obtained using a numerical autocorrelation PIV method.

A previously developed CFD-based optimization tool is utilized to find optimal engine operating conditions with respect to fuel consumption and emissions. The optimization algorithm employed is based on the steepest descent method where an adaptive cost function is minimized along each line search using an effective backtracking strategy. The adaptive cost function is based on the penalty method, where the penalty coefficient is increased after every line search. The parameter space is normalized and, thus, the optimization occurs over the unit cube in higher-dimensional space. The application of this optimization tool is demonstrated for the Sulzer S20, a central-injection, non-road DI diesel engine. The optimization parameters are the start of injection of the two pulses of a split injection system, the duration of each pulse, the exhaust gas recirculation rate, the boost pressure and the compression ratio.

The ASTROCULTURE™ (ASC) middeck flight experiment series was developed to test and integrate subsystems required to grow plants in reduced gravity, with the goal of developing a plant growth unit suitable for conducting quality biological research in microgravity. Flights on the Space Shuttle have demonstrated control of water movement through a particulate rooting material, growth chamber temperature and humidity control, LED lighting systems and control, recycling of recovered condensate, ethylene scrubbing, and carbon dioxide control. A complete plant growth unit was tested on STS-63 in February 1995, the first ASC flight in which plant biology experiments were conducted in microgravity. The methods and objectives used for control of environmental conditions in the ASC unit are described in this paper.

The adaptation to changes in human operator dynamics and changes in working environment dynamics can be an important issue in designing high performance telerobotic systems. This paper describes an approach to force control in telerobotic hand systems in which model reference adaptive control techniques are used to adapt to changes in human operator and working environment dynamics. The techniques have been applied to force-reflective control of a single degree-of-freedom telerobotic gripper system at Wisconsin Center for Space Automation and Robotics (WCSAR). This adaptive gripping system is described in the paper along with results of experiments with human subjects in which the performance of the adaptive system was analysed and compared to the performance of a conventional non-adaptive system. These experiments emphasized adaptation to changes in compliance of gripped objects and adaptation to the on-set of human operator fatigue.

The University of Wisconsin - Madison FutureTruck Team has designed and built a four-wheel drive, charge sustaining, parallel hybrid-electric sport utility vehicle for entry into the FutureTruck 2002 competition. This is a two-year project with tiered goals; the base vehicle for both years is a 2002 Ford Explorer. Wisconsin's FutureTruck, nicknamed the ‘Moolander’, weighs approximately 2050 kg. The vehicle uses a high efficiency, 2.5 liter, turbo-charged, compression ignition common rail, direct-injection engine supplying approximately 100 kW of peak power and a AC induction motor that provides an additional 33 kW of peak power. This hybrid drivetrain is an attractive alternative to the large displacement V6 drivetrain, as it provides comparable performance with similar emissions and drastically reduced fuel consumption.

The University of Wisconsin - Madison FutureTruck Team has designed and built a four-wheel drive, charge sustaining, parallel hybrid-electric sport utility vehicle for entry into the FutureTruck 2001 competition. The base vehicle is a 2000 Chevrolet Suburban. Our FutureTruck is nicknamed the “Moollennium” and weighs approximately 2427 kg. The vehicle uses a high efficiency, 2.5 liter, turbo-charged, compression ignition common rail, direct-injection engine supplying approximately 104 kW of peak power and a three phase AC induction motor that provides an additional 68.5 kW of peak power. This hybrid drivetrain is an attractive alternative to the large displacement V8 drivetrain, as it provides comparable performance with lower emissions and fuel consumption. The PNGV Systems Analysis Toolkit (PSAT) model predicts a Federal Testing Procedure (FTP) urban driving cycle fuel economy of 11.24 km/L (26.43 mpg) with California Ultra Low Emission Vehicle (ULEV) emissions levels.

The University of Wisconsin - Madison Hybrid Vehicle Team has designed, fabricated, tested and optimized a four-wheel drive, charge sustaining, split-parallel hybrid-electric crossover vehicle for entry into the 2006 Challenge X competition. This multi-year project is based on a 2005 Chevrolet Equinox platform. Trade-offs in fuel economy, greenhouse gas impact (GHGI), acceleration, component packaging and consumer acceptability were weighed to establish Wisconsin's Vehicle Technical Specifications (VTS). Wisconsin's Equinox, nicknamed the Moovada, utilizes a General Motors (GM) 110 kW 1.9 L CIDI engine coupled to GM's 6-speed F40 transmission. The rear axle is powered by a 65 kW Ballard induction motor/gearbox powered from a 44-module (317 volts nominal) Johnson Controls Inc., nickel-metal hydride hybrid battery pack. It includes a newly developed proprietary battery management algorithm which broadcasts the battery's state of charge onto the CAN network.

The University of Wisconsin - Madison hybrid vehicle team has designed and constructed a four-wheel drive, charge sustaining, parallel hybrid-electric sport utility vehicle for entry into the FutureTruck 2003 competition. This is a multi-year project utilizing a 2002 4.0 liter Ford Explorer as the base vehicle. Wisconsin's FutureTruck, nicknamed the ‘Moolander’, weighs 2000 kg and includes a prototype aluminum frame. The Moolander uses a high efficiency, 1.8 liter, common rail, turbo-charged, compression ignition direct injection (CIDI) engine supplying 85 kW of peak power and an AC induction motor that provides an additional 60 kW of peak power. The 145 kW hybrid drivetrain will out-accelerate the stock V6 powertrain while producing similar emissions and drastically reducing fuel consumption. The PNGV Systems Analysis Toolkit (PSAT) model predicts a Federal Testing Procedure (FTP) combined driving cycle fuel economy of 16.05 km/L (37.8 mpg).

Students, as members of Team Paradigm, at the University of Wisconsin-Madison have designed a charge regulating, parallel hybrid electric Dodge Intrepid for the 1997 FutureCar Challenge (FCC97). The goals for the Wisconsin “FutureCow” are to achieve an equivalent fuel consumption of 26 km/L (62 mpg) and Tier 2 Federal Emissions levels while maintaining the full passenger/cargo room, appearance, and feel of a stock Intrepid. These goals are realized through drivetrain simulations, a refined vehicle control strategy, decreased engine emissions, and aggressive weight reduction. The vehicle development has been coupled with 8,000 km of reliability and performance testing to ensure Wisconsin will be a strong competitor at the FCC97.

An investigation of several diesel injector nozzles that produced different engine emissions performance was performed. The nozzle styles used were two VCO type nozzles that were manufactured using two different techniques, and two mini-sac nozzles that provided comparison. Fired experiments were conducted on a Detroit Diesel Series 50 engine. Optical access was obtained by substituting a sapphire window for one exhaust valve. Under high speed, high load, retarded injection timing conditions, it was discovered that each nozzle produced different specific soot and NOx emissions. High-speed film images were obtained. It was discovered that the temperature and KL factor results from the 2-color optical pyrometry showed significant differences between the nozzles. The authors propose the possibility that differences in air entrainment, caused by potential differences in CD due to surface finish, may contribute to the variance in emissions performance.

Combustion under stratified operating conditions in a direct-injection spark-ignition engine was investigated using simultaneous planar laser-induced fluorescence imaging of the fuel distribution (via 3-pentanone doped into the fuel) and the combustion products (via OH, which occurs naturally). The simultaneous images allow direct determination of the flame front location under highly stratified conditions where the flame, or product, location is not uniquely identified by the absence of fuel. The 3-pentanone images were quantified, and an edge detection algorithm was developed and applied to the OH data to identify the flame front position. The result was the compilation of local flame-front equivalence ratio probability density functions (PDFs) for engine operating conditions at 600 and 1200 rpm and engine loads varying from equivalence ratios of 0.89 to 0.32 with an unthrottled intake. Homogeneous conditions were used to verify the integrity of the method.

Micro-machined planar orifice nozzles have been developed and used with commercially produced diesel injection systems. Such a system may have the capability to improve the spray characteristics in DI diesel engines. The availability of a MEMS (Micro-Electro-Mechanical-Systems) processing sequence supported the construction of micro-planar orifice nozzles, and micro-systems technology was also employed in our macro-instrumentation. To demonstrate this process, fourteen MEMS nozzles were fabricated with deep X-ray lithography and electroplating technology. The circular orifice diameters were varied from 40 to 260 microns and the number of orifices varied from one to 169. Three plates with non-circular orifices were also fabricated to examine the effect of orifice shape on spray characteristics. These nozzles were then attached to commercial injectors and the associated injection systems were used for the spray experiments.

We have developed and used micro-machined injector nozzles with commercially produced diesel injection systems that have the capability to improve the spray characteristics in DI diesel engines. The availability of a MEMS (Micro-Electro-Mechanical-Systems) processing sequence supported the construction of micro-diesel injector nozzles, and micro-systems technology was also employed in our macro-instrumentation. Fourteen different circular plates (nickel-iron alloy) were fabricated with deep X-ray lithography and electroplating technology. Five plates that have a single orifice were fabricated to investigate the effect of orifice diameter on spray characteristics; i.e., 40 to 260 microns. The spacing between multiple orifices was also varied; e.g., two plates that each had 41 orifices and 169 orifices, respectively, with a diameter of 40 microns. Finally, three plates with non-circular orifices were also made to examine the effect of orifice shape on spray characteristics.