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High Injection Pressure Dme Ignition And Combustion Processes: Experiment And Simulation, Xiucheng Zhu Jan 2019

High Injection Pressure Dme Ignition And Combustion Processes: Experiment And Simulation, Xiucheng Zhu

Dissertations, Master's Theses and Master's Reports

With nearly smokeless combustion, Dimethyl Ether (DME) can be pressurized and used as a liquid fuel for compression-ignition (CI) combustion. However, due to its lower heating value and liquid density compared with diesel fuel, DME has a smaller energy content per unit volume. To obtain an equivalent energy content of diesel, approximately 1.86 times more quantity of DME is required. This can be addressed by a larger nozzle size or higher injection pressure. However, the effect of high injection pressure on DME spray combustion characteristics have not yet been well understood. In order to fill this gap, spray and combustion …


Optimization And Comparison Of Over-Expanded And Other High Efficiency Four-Stroke Spark-Ignited Boosted Engines, Zhuyong Yang Jan 2019

Optimization And Comparison Of Over-Expanded And Other High Efficiency Four-Stroke Spark-Ignited Boosted Engines, Zhuyong Yang

Dissertations, Master's Theses and Master's Reports

Recent fuel economy and emission regulations are the major concern of the research and development of modern internal combustion engine. Such technologies include variable valve timing (VVT), direct injection (DI), turbocharging, downsizing, and over-expanded cycle are used by many manufacturers to improve engine fuel economy or increase power density.

Current Atkinson cycle technology in the production engine is mainly realized by an advanced valvetrain system to reduce the effective compression ratio while maintaining the same expansion ratio. Another approach to realize over-expanded cycle engine is to utilize a multi-link cranktrain mechanism. Although the Atkinson cycle was originally patented in the …


3d Printing In Low Resource Healthcare Settings: Analysis Of Potential Implementations, Alenna Beroza Jan 2019

3d Printing In Low Resource Healthcare Settings: Analysis Of Potential Implementations, Alenna Beroza

Dissertations, Master's Theses and Master's Reports

3D printing has gained significant momentum in the past ten years, and its unique advantages make it especially ideal for use in low resource healthcare settings, where many designs have already been successfully implemented. Yet, little has been studied on how 3D printing can be sustainably and functionally implemented in low resource healthcare systems as a manufacturing practice. In this report, three business models are proposed for this implementation: In-House Operator, Independent Operator, and Print Farm. These models were then tested over four months in Kisumu county, Kenya, at two workshops and seven public hospitals. I worked with local medical …


Multi-Scale, Capillary Assisted Copper Surfaces For Enhanced Pool Boiling Heat Transfer Processes, Chetan Agarwal Jan 2019

Multi-Scale, Capillary Assisted Copper Surfaces For Enhanced Pool Boiling Heat Transfer Processes, Chetan Agarwal

Dissertations, Master's Theses and Master's Reports

Phase-change heat transfer through pool boiling process offers a promising thermal management solution in applications wherein conventional air or single-phase liquid-based cooling methods prove inefficient such as for high-power electronics. Pool boiling process, which utilizes the latent heat of evaporation, provides a robust and efficient way to efficiently dissipate the excessive heat generated in a small footprint area in particular as seen in CPUs (Central Processing Units), GPUs (Graphics Processing Units), LEDs (Light Emitting Diodes), radars, and other demanding computing, sensing and surveillance electronics. Although boiling process has been studied for over five decades, it has not been yet adapted …


Estimation Of Multi-Directional Ankle Impedance As A Function Of Lower Extremity Muscle Activation, Lauren Knop Jan 2019

Estimation Of Multi-Directional Ankle Impedance As A Function Of Lower Extremity Muscle Activation, Lauren Knop

Dissertations, Master's Theses and Master's Reports

The purpose of this research is to investigate the relationship between the mechanical impedance of the human ankle and the corresponding lower extremity muscle activity. Three experimental studies were performed to measure the ankle impedance about multiple degrees of freedom (DOF), while the ankle was subjected to different loading conditions and different levels of muscle activity. The first study determined the non-loaded ankle impedance in the sagittal, frontal, and transverse anatomical planes while the ankle was suspended above the ground. The subjects actively co-contracted their agonist and antagonistic muscles to various levels, measured using electromyography (EMG). An Artificial Neural Network …


Using Frequency Based Substructuring To Optimize Multi-Axis Resonant Plate Shock Tests, Erica M. Jacobson Jan 2019

Using Frequency Based Substructuring To Optimize Multi-Axis Resonant Plate Shock Tests, Erica M. Jacobson

Dissertations, Master's Theses and Master's Reports

Resonant plate pyroshock tests only offer to test one component axis at a time, while the qualification pyroshock tests often have three single-axis specifications to meet. There is an interest in creating a multi-axis test environment from the single-axis resonant plate parts to save testing time, create a more realistic test environment, and monitor the possibility of an overtest. To investigate this, LaGrange-multiplier frequency based substructuring was implemented to virtually arrange the single-axis resonant plate subsystems into different assembly configurations and mathematically calculate the new assembly dynamics. A shock response spectrum was calculated from the new assembly dynamics through an …


Online Learning Of The Spatial-Temporal Channel Variation In Underwater Acoustic Communication Networks, Wensheng Sun Jan 2019

Online Learning Of The Spatial-Temporal Channel Variation In Underwater Acoustic Communication Networks, Wensheng Sun

Dissertations, Master's Theses and Master's Reports

Influenced by environmental conditions, underwater acoustic (UWA) communication channels exhibit spatial and temporal variations, posing significant challenges for UWA networking and applications. This dissertation develops statistical signal processing approaches to model and predict variations of the channel and relevant environmental factors. Firstly, extensive field experiments are conducted in the Great Lakes region. Three types of the freshwater river/lake acoustic channels are characterized in the aspects of statistical channel variations and sound propagation loss, including stationary, mobile and under-ice acoustic channels. Statistical data analysis shows that relative to oceanic channels, freshwater river/lake channels have larger temporal coherence, higher correlation among densely …


Experimental And Numerical Simulation Of Split Hopkinson Pressure Bar Test On Borosilicate Glass, Mayank K. Bagaria Jan 2019

Experimental And Numerical Simulation Of Split Hopkinson Pressure Bar Test On Borosilicate Glass, Mayank K. Bagaria

Dissertations, Master's Theses and Master's Reports

This study is an extension to the design of ceramic materials component exposed to bullet impact. Owing to the brittle nature of ceramics upon bullet impact, shattered pieces behave as pellets flying with different velocities and directions, damaging surrounding components. Testing to study the behavior of ceramics under ballistic impact can be cumbersome and expensive. Modeling the set-up through Finite Element Analysis (FEA) makes it economical and easy to optimize. However, appropriately incorporating the material in modeling makes laboratory testing essential. Previous efforts have concentrated on simulating crack pattern developed during 0.22 caliber pellet impact on Borosilicate glass. A major …


Automotive Driveline Backlash State And Size Estimator Design For Anti-Jerk Control, Kaushal Kumar Darokar Jan 2019

Automotive Driveline Backlash State And Size Estimator Design For Anti-Jerk Control, Kaushal Kumar Darokar

Dissertations, Master's Theses and Master's Reports

Vehicle drivability is an important factor which more and more customers have started assessing before buying a vehicle. Customers carry out this assessment based on both vehicle reviews/ratings and based on the test drives. One of common maneuver which a customers perform during the test drive is sudden accelerator pedal tip-in or tip-out to accelerate or coast the vehicle. Clunk and shuffle are the phenomena that usually occur during this scenario causing driver discomfort. The clunk and shuffle are caused by the backlash and compliance physical properties of the driveline. Consequently, control strategy needs to be developed which can provide …


A Hybrid-Powered Wireless System For Multiple Biopotential Monitoring, Shawn Li Jan 2019

A Hybrid-Powered Wireless System For Multiple Biopotential Monitoring, Shawn Li

Dissertations, Master's Theses and Master's Reports

Chronic diseases are the top cause of human death in the United States and worldwide. A huge amount of healthcare costs is spent on chronic diseases every year. The high medical cost on these chronic diseases facilitates the transformation from in-hospital to out-of-hospital healthcare. The out-of-hospital scenarios require comfortability and mobility along with quality healthcare. Wearable electronics for well-being management provide good solutions for out-of-hospital healthcare. Long-term health monitoring is a practical and effective way in healthcare to prevent and diagnose chronic diseases. Wearable devices for long-term biopotential monitoring are impressive trends for out-of-hospital health monitoring. The biopotential signals in …


Closed Loop Energy Maximizing Control Of A Wave Energy Converter Using An Estimated Linear Model That Approximates The Nonlinear Froude-Krylov Force, Yaqzan Mohd Yaqzan Jan 2019

Closed Loop Energy Maximizing Control Of A Wave Energy Converter Using An Estimated Linear Model That Approximates The Nonlinear Froude-Krylov Force, Yaqzan Mohd Yaqzan

Dissertations, Master's Theses and Master's Reports

Wave energy converters (WECs) exploit ocean wave energy and convert it into useful forms such as electricity. But for WECs to be successful on a large scale, two primary conditions need to be satisfied. The energy generated must satisfy the network requirements, and second, energy flow from waves to the grid needs to be maximized. In this dissertation, we address the second problem. Most control techniques for WECs today use the Cummins' linear model to simulate WEC hydrodynamics. However, it has been shown that under the application of a control force, where WEC motions are amplified, the linear model diverges …


Influence Of Micro-Nucleate Boiling On Annular Flow Regime Heat Transfer Coefficient Values And Flow Parameters – For High Heat-Flux Flow Boiling Of Water, Soroush Sepahyar Jan 2019

Influence Of Micro-Nucleate Boiling On Annular Flow Regime Heat Transfer Coefficient Values And Flow Parameters – For High Heat-Flux Flow Boiling Of Water, Soroush Sepahyar

Dissertations, Master's Theses and Master's Reports

Analysis of results from steady and steady-in-the-mean high heat-flux (15 - 70 W/cm2, with water as working fluid) shear driven annular flow-boiling experiments presented here - and low heat-flux (0.1- 1 W/cm2, with FC-72 as working fluid) experiments presented elsewhere – together lead to a key conclusion. The conclusion is that heat carrying nucleation rates go often undetected by the typically used visualization approaches for flow boiling – as such flows often involve µm- to sub- µm scale bubble diameters in millimeter-scale ducts. These nucleation rates play a significant role in most of the so-called convective …


Optimal Power Flow Control Of Networked Dc Microgrids, Eddy H. Trinklein Jan 2019

Optimal Power Flow Control Of Networked Dc Microgrids, Eddy H. Trinklein

Dissertations, Master's Theses and Master's Reports

The US military is moving toward the electrification of many weapon systems and platforms. Advanced weapon systems such as high energy radar, electro-magnetic kinetic weapons and directed energy pose significant integration challenges due to their pulsed power electrical load profile. Additionally, the weapons platforms, including ships, aircraft, and vehicles can be studied as a mobile microgrids with multiple generation sources, loads, and energy storage. There is also a desire to extend the mission profile and capabilities of these systems. Common goals are to increase fuel efficiency, maintaining system stability, and reduce energy storage size as typically required to enable pulsed …


Experimental Characterization Of Hydraulic System Sound, Ben Kolb Jan 2019

Experimental Characterization Of Hydraulic System Sound, Ben Kolb

Dissertations, Master's Theses and Master's Reports

The purpose of this research was to establish test methods for characterizing the interaction between the hydraulic fluid and hydraulic hose at clipping points in mobile heavy equipment hydraulic systems. A simple hydraulic circuit test bench was developed and the laboratory axial piston pump was characterized using ISO 10767-1. A direct relationship between the fluidborne noise and structureborne noise present at each hose clip location was observed for a specific operating condition using operating deflection shapes and structureborne noise measurements. This result shows that optimal hose clip placement can be a viable solution to structureborne noise reduction. Additionally, a modal …


Estimation And Prediction Of The Human Gait Dynamics For The Control Of An Ankle-Foot Prosthesis, Guilherme Aramizo Ribeiro Jan 2019

Estimation And Prediction Of The Human Gait Dynamics For The Control Of An Ankle-Foot Prosthesis, Guilherme Aramizo Ribeiro

Dissertations, Master's Theses and Master's Reports

With the growing population of amputees, powered prostheses can be a solution to improve the quality of life for many people. Powered ankle-foot prostheses can be made to behave similar to the lost limb via controllers that emulate the mechanical impedance of the human ankle. Therefore, the understanding of human ankle dynamics is of major significance. First, this work reports the modulation of the mechanical impedance via two mechanisms: the co-contraction of the calf muscles and a change of mean ankle torque and angle. Then, the mechanical impedance of the ankle was determined, for the first time, as a multivariable …


Modeling And Control Of Maximum Pressure Rise Rate In Rcci Engines, Aditya Basina Jan 2019

Modeling And Control Of Maximum Pressure Rise Rate In Rcci Engines, Aditya Basina

Dissertations, Master's Theses and Master's Reports

Low Temperature Combustion (LTC) is a combustion strategy that burns fuel at lower temperatures and leaner mixtures in order to achieve high efficiency and near zero NOx emissions. Since the combustion happens at lower temperatures it inhibits the formation of NOx and soot emissions. One such strategy is Reactivity Controlled Compression Ignition (RCCI). One characteristic of RCCI combustion and LTC com- bustion in general is short burn durations which leads to high Pressure Rise Rates (PRR). This limits the operation of these engines to lower loads as at high loads, the Maximum Pressure Rise Rate (MPRR) hinders the use of …


Modeling Of Thermal Dynamics In Chevrolet Volt Gen Ii Hybrid Electric Vehicle For Integrated Powertrain And Hvac Optimal Operation Through Connectivity, Nehal Doshi Jan 2019

Modeling Of Thermal Dynamics In Chevrolet Volt Gen Ii Hybrid Electric Vehicle For Integrated Powertrain And Hvac Optimal Operation Through Connectivity, Nehal Doshi

Dissertations, Master's Theses and Master's Reports

Integrated thermal energy management across system level components in electric vehicles (EVs) and hybrid electric vehicles (HEVs) is currently an under explored space. The proliferation of connected vehicles and accompanying infrastructure in recent years provides additional motivation to explore opportunities in optimizing thermal energy management in EVs and HEVs with the help of this newly available connected vehicle data. This thesis aims to examine and analyze the potential to mitigate vehicle energy consumption and extend usable driving range through optimal control strategies which exploit physical system dynamics via controls integration of vehicle subsystems.

In this study, data-driven and physics-based models …


Development Of A 2d Scr Catalyst On A Diesel Particulate Filter Model For Design And Control Applications To A Ultra Low Nox Aftertreatment System, Venkata Chundru Jan 2019

Development Of A 2d Scr Catalyst On A Diesel Particulate Filter Model For Design And Control Applications To A Ultra Low Nox Aftertreatment System, Venkata Chundru

Dissertations, Master's Theses and Master's Reports

This research focuses on modeling and control of PM and NOx in diesel engine exhaust using an SCR catalyst on a Diesel Particulate Filter (SCR-F). A 2D SCR-F model was developed that is capable of predicting internal states: 2D temperature, PM and NH3storage distributions and filtration efficiency, pressure drop, PM mass retained in the PM cake and substrate wall and outlet NO, NO2and NH3concentrations. The SCR-F model was used to simulate a DOC + SCR-F + DOC + SCR ultra-low NOx system that can achieve > 99.5% NOx conversion efficiency.

The model was calibrated …


Networked Microgrid Optimization And Energy Management, Robert S. Jane Jan 2019

Networked Microgrid Optimization And Energy Management, Robert S. Jane

Dissertations, Master's Theses and Master's Reports

Military vehicles possess attributes consistent with a microgrid, containing electrical energy generation, storage, government furnished equipment (GFE), and the ability to share these capabilities via interconnection. Many military vehicles have significant energy storage capacity to satisfy silent watch requirements, making them particularly well-suited to share their energy storage capabilities with stationary microgrids for more efficient energy management. Further, the energy generation capacity and the fuel consumption rate of the vehicles are comparable to standard diesel generators, for certain scenarios, the use of the vehicles could result in more efficient operation. Energy management of a microgrid is an open area of …


Acoustic Localization Techniques For Application In Near-Shore Arctic Environments, Miles B. Penhale Jan 2019

Acoustic Localization Techniques For Application In Near-Shore Arctic Environments, Miles B. Penhale

Dissertations, Master's Theses and Master's Reports

The Arctic environment has undergone significant change in recent years. Multi-year ice is no longer prevalent in the Arctic. Instead, Arctic ice melts during summer months and re-freezes each winter. First-year ice, in comparison to multi-year ice, is different in terms of its acoustic properties. Therefore, acoustic propagation models of the Arctic may no longer be valid. The open water in the Arctic for longer time periods during the year invites anthropogenic traffic such as civilian tourism, industrial shipping, natural resource exploration, and military exercises. It is important to understand sound propagation in the first-year ice environment, especially in near-shore …


Paddle Mixer-Extrusion Reactor For Torrefaction And Pyrolysis, Stas Zinchik Jan 2019

Paddle Mixer-Extrusion Reactor For Torrefaction And Pyrolysis, Stas Zinchik

Dissertations, Master's Theses and Master's Reports

This work is focused on the fundamental understanding and the development of paddle mixer reactors (or modified screw augers). This work will contribute to the effort of the thermal conversion of biomass and wastes. We developed and studied two paddle systems (i) 25-mm lab-scale (up to 1 kg/hr) and (ii) 101-mm pilot-scale (up to 100 kg/hr). Thermal behavior of the two systems was studied and it was estimated that the lab-scale system has a high heating rate of up to 530 °C/s. Residence times were thoroughly measured and were determined as a function of rotation frequency and volume fraction. We …


Development Of A Fused Deposition 3d Printed Buoy And Method For Quantifying Wave Tank Reflections, Samantha G. Swartzmiller Jan 2019

Development Of A Fused Deposition 3d Printed Buoy And Method For Quantifying Wave Tank Reflections, Samantha G. Swartzmiller

Dissertations, Master's Theses and Master's Reports

Testing model scale prototypes is integral to the development of wave energy converter (WEC) technology. Model scale WECs are tested in wave tanks where they are subjected to repeatable wave fields. Their presence in water creates radiated waves that eventually reflect off tank walls disrupting the intended wave field. Fabrication of model scale WECs is another developing aspect of tank testing. Often model WECs are built of foam. Additive manufacturing is a promising alternative although the most common method, fused deposition modeling (FDM) 3D printing, does not typically produce waterproof parts. The goals of this work were 1) develop a …


Design And Development Of Personal Protective Equipment Products To Reduce The Impacts Of Machete Injuries For Indigenous Ngäbe Subsistence Farmers In Bocas Del Toro, Panama, Micah Koller Jan 2019

Design And Development Of Personal Protective Equipment Products To Reduce The Impacts Of Machete Injuries For Indigenous Ngäbe Subsistence Farmers In Bocas Del Toro, Panama, Micah Koller

Dissertations, Master's Theses and Master's Reports

Design and development of personal protective equipment products for workers using machetes (MPPE) is considered in the specific context of indigenous Ngäbe subsistence farmers in a small, rural community in Bocas del Toro, Panama where the author spent two years as a Peace Corps volunteer from 2017-2019. People in this community regularly suffer significant health and economic impacts due to accidents with machetes, which are essential tools in their farm work and daily lives. The history, criticisms, and recent frameworks related to product design and development in resource-poor markets is examined, and specific details of the problem of machete injuries …


Optimization And Control Of Arrays Of Wave Energy Converters, Jianyang Lyu Jan 2019

Optimization And Control Of Arrays Of Wave Energy Converters, Jianyang Lyu

Dissertations, Master's Theses and Master's Reports

Wave Energy Converter Array is a practical approach to harvest ocean wave energy. To leverage the potential of the WEC array in terms of energy extraction, it is essential to have a properly designed array configuration and control system. This thesis explores the optimal configuration of Wave Energy Converters (WECs) arrays and their optimal control. The optimization of the WEC array allows both dimensions of individual WECs as well as the array layout to varying. In the first optimization problem, cylindrical buoys are assumed in the array where their radii and drafts are optimization parameters. Genetic Algorithms are used for …


Crack Pattern Simulation Of Pressurized Borosilicate Glass Tube Under Pellet Impact Using Ale Method, Omkar Bhumkar Jan 2019

Crack Pattern Simulation Of Pressurized Borosilicate Glass Tube Under Pellet Impact Using Ale Method, Omkar Bhumkar

Dissertations, Master's Theses and Master's Reports

Transformer bushings are a common target for sniper attacks to cause power failure in large areas. Given the size, internal pressure and brittle nature of transformer bushing, pellet impact causes damage to surrounding components due to broken bushing pieces. To mitigate this, a project was initiated by United States Burau of Reclaimation to develop a safety mechanism. Finite Element Analysis is proposed to optimize and reduce cost of the design.

A simplified Finite Element model is created which consists of 0.22 caliber lead pellet impacting Pyrex 7740 borosilicate glass tube. Previous studies on the effect of the mesh pattern, size …


Modeling Chevy Volt Gen Ii Supervisory Controller In Charge Sustaining Operation, Saurabh Bhasme Jan 2019

Modeling Chevy Volt Gen Ii Supervisory Controller In Charge Sustaining Operation, Saurabh Bhasme

Dissertations, Master's Theses and Master's Reports

This report is focused on the development of Chevy Volt Gen II powertrain supervisory controller modeling for charge sustaining operation of the vehicle. The modeling process incorporated vehicle parameters and maps provided. The overall powertrain model along with the supervisory controller is developed in MAT- LAB/SIMULINK programming platform. The powertrain model includes all components which are the IC engine, two electric motors & associated TPIM, Battery, transmission auxiliary pump and spin-losses. The supervisory controller includes the vehicle drive mode selection model, the torque blending logic for charge sustaining along with friction brake modeling. The model has been developed to perform …


Improved Low-Frequency Impact Insulation Class Measurements Based On Comparison Techniques, Sunit Girdhar Jan 2019

Improved Low-Frequency Impact Insulation Class Measurements Based On Comparison Techniques, Sunit Girdhar

Dissertations, Master's Theses and Master's Reports

In today’s world, noise pollution is growing as a major concern and it is becoming more and more difficult to find quiet places. But when the problem escalates to the extent that people are annoyed with loud noises even in their apartments, it becomes an alarming issue for engineers. Around the world, cities have defined some basic performance requirements for buildings, and isolation of residents from noise is one of the cardinal performance requirements. In the United States, building codes use the Impact Insulation Class (IIC) rating to characterize the performance of floor/ceiling assemblies. This method uses the response measured …


Comparative Study And Design Of Economical Sound Intensity Probe, Karan Gundre Jan 2019

Comparative Study And Design Of Economical Sound Intensity Probe, Karan Gundre

Dissertations, Master's Theses and Master's Reports

The theory of sound intensity measurement using the two-microphone method was first developed in the late 1970s. Even though the measurements were limited by the technology of the time, the theory was straight-forward and considerable attention was given to improving precision during testing or post-processing. With the development of modern equipment, however, the focus shifted to the apparatus. The commercial intensity probes available today have microphones that are already phase-matched. This eliminates the need for correction during or post-testing as a majority of the errors are minimized before any data is even collected. Although such intensity probes facilitate taking precise …


Towards Sustainable Production Of Chemicals And Fuels From The Fast Pyrolysis Of Waste Polyolefin Plastics, Ulises Gracida Alvarez Jan 2019

Towards Sustainable Production Of Chemicals And Fuels From The Fast Pyrolysis Of Waste Polyolefin Plastics, Ulises Gracida Alvarez

Dissertations, Master's Theses and Master's Reports

The increasing amount of plastic waste (PW) generation has become an important concern due to the leveled-off recycling rates. Therefore, governmental agencies around the world, including state governments in the United States, have proposed initiatives to minimize the amount of PW that is landfilled and encourage recycling or energy recovery. Circular economy is a strategy that attempts on reusing PW to produce new polymers while avoiding its disposal and the use of virgin material. Chemical recycling raises an interesting technology prospect due to the potential reduction of pollutant emissions and the establishment of a circular economy through the production of …


Mpc-Based Autonomous Driving Control With Localized Path Planning For Obstacle Avoidance And Navigating Signalized Intersections, Sai Rajeev Devaragudi Jan 2019

Mpc-Based Autonomous Driving Control With Localized Path Planning For Obstacle Avoidance And Navigating Signalized Intersections, Sai Rajeev Devaragudi

Dissertations, Master's Theses and Master's Reports

Connected and autonomous vehicles are becoming the major focus of research for the industry and academia in the automotive field. Many companies and research groups have demonstrated the advantages and the requirement of such technology to improve the energy efficiency of vehicles, decrease the number of crash and road accidents, and control emissions.

This research delves into improving the autonomy of self-driving vehicles by implementing localized path planning algorithms to introduce motion control for obstacle avoidance during uncertainties. Lateral path planning is implemented using the A* algorithm combined with piecewise Bezier curve generation which provides an optimum trajectory reference to …