Effect of number of wheels on high speed UGV traversability: Online terrain assessment approach

This paper addresses the problem of determining the maximum allowable speed (V _max ) of Unmanned Ground Vehicles (UGVs) traversing off-road heterogeneous rough/complex terrain. The maximum speed is calculated based on online terrain assessment and the vehicle’s characteristics; this speed achieves the high speed navigation without exceeding a predefined allowable range of transmitted force and moments (i.e., moments in the roll and pitch directions) to the vehicle’s frame. The proposed system enables UGV’s to change their speed autonomously and transit between terrains with different characteristics (e.g., pavement, rocky) safely. This paper proposes a computationally inexpensive approach to process acquired data and assess the terrain roughness. The proposed Roughness Index (RI) is used to represent the terrain roughness on a scale from 0.0 (highly rough to be traversed by a particular vehicle) to 1.0 (perfectly flat/smooth surface). A general vehicle model (workable for any vehicle size and wheel configuration) is presented in this paper. A closed form expression of the maximum allowable vehicle speed is developed. Simulation results obtained on real vehicles (e.g., military tank LEOPARD I) show the effect of increasing the number of wheels to improve the capability of a ground vehicle to traverse rough terrains at high speeds. In addition, the proposed terrain assessment system is a key module in UGVs navigation systems enabling them to be truly autonomous by providing the navigation system with the necessary information for path and speed planning.     

Experimental evaluation of a vehicle steering assist controller using a driving simulator

Human-in-the-loop driving simulator experiments are conducted to evaluate a proposed robust steering assist controller that is designed on the basis of driver uncertainty modelling. A nominal controller (NC) that is designed without consideration of driver model uncertainty is also tested for comparison. Two types of experiments are proposed: a long driving task with nominal configurations and a short driving task with initially large lateral position error. The data are analysed using both time domain and frequency domain metrics. In the time domain, the standard deviation of lateral position error and percentage of road departure are used. In the frequency domain, the stability margins and crossover frequency are used. The driving simulator results indicate that statistically, the designed robust controller shows improvements in the short driving experiments. The improvements in the long driving experiments are less evident because of driver adaptation. The non-robust NC suffers from high gain and should be avoided. The benefits of considering driver model uncertainty in the design of vehicle steering assist controllers are, therefore, justified.     

Simulation of an airbag deployment in out-of-position situations

The commonly used 'uniform pressure method' (UP) is a well-tried method to simulate an airbag deployment in accident cases. Nevertheless, this method indicates rather heavy inadequacies at the examination of the airbag deployment in the first milliseconds. A solution is the airbag deployment calculation by using computational fluid dynamics (CFD) methods, wherein the calculated gas flow pressure may be applied 'correctly' to the airbag shell elements.

This CFD simulation is integrated in LS-Dyna with the so-called Arbitrary Lagrangian Eulerian (ALE) method and in this review the result's accuracy will be discussed. According to the FMVSS 208, an OoP model will be built-on and comparisons with simulations and tests are done. Another important detail in this labour is the airbag cover examination and the tear seam modelling, as a trivial FE modelling cannot be done due to the very fine mesh. So two possible solutions for tear seam modelling are introduced and discussed. Furthermore considerations concerning the gas generator combustion will also be revealed and an analysis about the impossibility of the direct comparison between gas generator tank test and airbag deployment will be done. At least some parameters, which take effects in the simulation, are researched and evaluated, so finally an optimised simulation model can be made available for further examinations.     

Experimental investigation and comparison of nanoparticle emission characteristics in light-duty vehicles for two different fuels

In recent years, particle number emissions rather than particulate mass emissions in automotive engines have become the subject with controversial discussions. Recent results from studies of health effects imply that it is possible that particulate mass does not properly correlate with the variety of health effects attributed to engine exhaust. The concern is now focusing on nano-sized particles emitted from I. C. engines. In this study, particulate mass and particle number concentration emitted from light-duty vehicles were investigated for a better understanding of the characteristics of the engine PM from different types of fuels, such as gasoline and diesel fuel. Engine nano-particle mass and size distributions of four test vehicles were measured by a condensation particle counter system, which is recommended by the particle measurement program in Europe (PMP), at the end of a dilution tunnel along a NEDC test mode on a chassis dynamometer. We found that particle number concentrations of diesel passenger vehicles with DPF system are lower than gasoline passenger vehicles, but PM mass has some similar values. However, in diesel vehicles with DPF system, PM mass and particle number concentrations were greatly influenced by PM regeneration. Particle emissions in light-duty vehicles emitted about 90% at the ECE15 cycle in NEDC test mode, regardless of vehicle fuel type. Particle emissions at the early cold condition of engine were highly emitted in the test mode.     

Hybrid three-dimensional mesh generation from quad-dominant surface meshes

A hybrid mesh generation algorithm using a modified plastering method for three-dimensional objects with variable thickness is presented. The method starts with a quad-dominant surface mesh and generates layered elements with variable thickness by using adaptive offsetting, resulting in hex-tet dominant mesh generation. Hexahedral and prismatic meshes are generated by the inward offsetting of the initial boundary mesh. In order to generate a conforming mesh, pyramid elements are constructed on top of hexahedral elements, and tetrahedral elements are generated for the remaining domain by using an advancing front method. This method is applied to several different geometries, and the effectiveness of the proposed algorithm is demonstrated.     

Low temperature premixed combustion within a small bore high speed direct injection (HSDI) optically accessible diesel engine using a retarded single injection

An optically accessible single-cylinder high speed direct-injection (HSDI) Diesel engine equipped with a Bosch common rail injection system was used to study low temperature Modulated Kinetics (MK) combustion with a retarded single main injection. High-speed liquid fuel Mie-scattering was employed to investigate the liquid distribution and evolution. By carefully setting up the optics, three-dimensional images of fuel spray were obtained from both the bottom of the piston and the side window. The NOx emissions were measured in the exhaust pipe. The influence of injection pressure and injection timing on liquid fuel evolution and combustion characteristics was studied under similar fuel quantities. Interesting spray development was seen from the side window images. Liquid impingement was found for all of the cases due to the small diameter of the piston bowl. The liquid fuel tip hits the bowl wall obliquely and spreads as a wall jet in the radial direction of the spray. Due to the bowl geometry, the fuel film moves back into the central part of the bowl, which enhances the air-fuel mixing process and prepares a more homogeneous air-fuel mixture. Stronger impingement was seen for high injection pressures. Injection timing had little effect on fuel impingement. No liquid fuel was seen before ignition, indicating premixed combustion for all the cases. High-speed combustion video was taken using the same frame rate. Ignition was seen to occur on or near the bowl wall in the vicinity of the spray tip, with the ignition delay being noticeably longer for lower injection pressure and later injection timing. The majority of the flame was confined to the bowl region throughout the combustion event. A more homogeneous and weaker flame was observed for higher injection pressures and later injection timing. The combustion structure also proves the mixing enhancement effect of the liquid fuel impingement. The results show that ultra-low sooting combustion is feasible in an HSDI diesel engine with a higher injection pressure, a higher EGR rate, or later injection timing, with little penalty on power output. It was also found that injection timing has more influence on HCCI-like combustion using a single main injection than the other two factors studied. Compared with the base cases, simultaneous reductions of soot and NOx were obtained by increasing EGR rate and retarding injection timing. By increasing injection pressure, NOx emissions were increased due to leaner and faster combustion with better air-fuel mixing. However, smoke emissions were significantly reduced with increased injection pressure.     

Development of the brake system design program for a vehicle

It is quite challenging to estimate the braking performance of a vehicle because the brake system is comprised of many parts, including a booster, master cylinder, and caliper. Calculation of characteristics such as braking force through vehicle tests requires much time and money. Therefore, the development of a method to estimate the braking performance of a vehicle using qualitative methods is beneficial. In this study, a program that can analyze the braking capabilities of a vehicle such as pressure, efficiency, and pedal travel is presented. The increase in disc temperature during braking as well as the properties of various boosters can be calculated using the proposed program. Dynamic characteristics of a vehicle equipped with a Load Sensing Proportional Valve (LSPV) were computed more precisely by obtaining the change in valve pressure according to the displacement of a suspension system. Since all input and output files are composed in the Microsoft Excel format, both design data management and database construction can easily completed.     

Experimental investigation of abrasive flow machining effects on injector nozzle geometries,engine performance,and emissions in a di diesel engine

The effects of the Abrasive Flow Machining (AFM) process on a direct injection (DI) Diesel engine fuel injector nozzle are studied. Geometry characterization techniques were developed to measure the microscopic variations inside the nozzle before and after the process. This paper also provides empirically-based correlations of the nozzle geometry changes due to the AFM process. The resulting impact of the process on the engine performance and emissions are also assessed with a DI Diesel engine test setup. This study shows that properly AFM-processed injectors can enhance engine performance and improve emissions due to the improved quality of the nozzle characteristics. However, an extended process can also cause enlargement of the nozzle hole as a side effect, which can adversely affect emissions. Emission measurements show the trade-off for the minimum levels as the process proceeds. Since the enlargement of the hole during the AFM process is not avoidable and must be minimized, strict control over the process is required. This control can be enforced by either limiting the AFM processing period, or by properly preparing the initial hole diameter so as to accommodate the inevitable changes in the nozzle geometry.     

Investigation of the impact of locomotive creep control on wear under changing contact conditions

This paper presents the locomotive traction controller performance with respect to the track wear under different operation conditions. In particular, an investigation into the dynamic response of a locomotive under changing wheel–rail friction conditions is performed with an aim to determine the effect of controller setting on track wear. Simulation using a full-scale longitudinal–vertical locomotive dynamic model shows that the appropriately designed creep threshold, controller, settings can effectively maintain a high tractive effort while avoiding excessive rail damage due to wear, especially during acceleration under low speed.     

An economic assessment of the impacts of the MOSE barriers on Venice port activities

To protect Venice from flooding, a number of protective measures have been adopted, including a system of mobile barriers known as MOSE. These separate the lagoon from the surges in the Adriatic Sea but interfere with shipping and on port activities. We estimate direct costs on ship traffic resulting from the use of MOSE, i.e., the additional costs of longer waiting time when passing through the Venice Lagoon. Our estimate uses inputs from a hydrodynamic model applied to the ship traffic between 2000 and 2002 and indicate that these costs range from €347,943 to €1.3 million a year, depending on the hypotheses adopted.