Engineering Commons^™

Hybrid Feedback Control For Autonomous Robot Navigation With Obstacle Avoidance, Mayur Sanjay Sawant

Electronic Thesis and Dissertation Repository

This thesis provides some hybrid feedback based autonomous navigation algorithms. First, the problem of autonomous robot navigation in planar environments with arbitrarily-shaped convex obstacles is considered. The proposed navigation approach guarantees safe and global convergence to the target location through an appropriately designed switching strategy between two different modes, namely, the move-to-target mode and the obstacle-avoidance mode. A procedure for the implementation of the proposed hybrid feedback controller in a priori unknown environments is provided.

Subsequently, the problem of autonomous navigation in planar environments with non-convex obstacles is considered. An instrumental transformation that modifies (virtually) the non-convex obstacles, in a …

A Comprehensive Review Of Fischer-Tropsch Synthesis Processes To Produce Sustainable Diesel And Aviation Fuel, Joseph C. Steinagel

Honors College Theses

The greatest threat known to humankind today is global warming. It affects every nation on the planet and the natural order of all living things. Consequently, this ongoing crisis necessitates action to scientifically revolutionize important areas of society, including researching modern adaptations of the transportation industry. In that regard, it has been determined that an effective short-term answer to eliminating carbon emissions is to produce sustainable fuels that run cooperatively with the well-established machines of today. Sustainable aviation fuel (SAF) is one such topic of interest, and the Fischer-Tropsch synthesis process is an effective way of producing SAF. To that …

Dynamic Impact Testing And Numerical Analysis Of Non-Proprietary Astm F2656-20 M50 Anti-Ram Barrier Components, Weston Kelley

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

In a post-9/11 world, hostile actors are using vehicles as weapons to inflict civilian casualties. Pedestrians, vulnerable road users, military personnel, and police may be targeted using a vehicle as a weapon. The United States Department of Defense (DoD) also utilizes Entry Control Facilities (ECFs) which are carefully designed transportation corridors to manage how threat vehicles are able to access military facilities. In 2004, DoD started to upgrade all ECFs using both passive and active barriers. Many anti-ram vehicle barriers were evaluated according to the criteria established in ASTM F2656, but to date few options are available which are (1) …

Application Of Lean Six Sigma For Improving Quality Laboratory Process, Sarmad Al Hilli

Masters Theses & Specialist Projects

Oftentimes, manufacturing companies concentrate on improving the production processes and neglecting other processes like purchasing, IT, quality control, etc. Just like production processes, uncontrolled and non-optimized of any of these processes could be main reasons of product defects, late deliveries, and high costs. Recently, an automotive OEM (Original Equipment Manufacturer) in the southeastern United States faces difficulties in performing quality control operations in a way that matches the production pace. This inadequacy has increased due to changes in customer requirements and launches a new assembly line for a new customer. Therefore, the purpose of this study was to apply Lean …

Real-Time Degradation Abatement Framework For Energy Storage System In Automotive Application Using Data-Driven Approaches, Laxman Timilsina

All Dissertations

The increasing popularity of electric vehicles (EVs) is driven by their compatibility with sustainable energy goals. However, the decline in the performance of energy storage systems, such as batteries, due to their degradation puts EVs and hybrid electric vehicles (HEVs) at a disadvantage compared to traditional internal combustion engine (ICE) vehicles. The batteries used in these vehicles have limited life. The degradation of the battery is accelerated by the operating conditions of the vehicle, which further reduces its life and increases the reliability and economic concerns for the vehicle’s operation. The aging mechanism inside a battery cannot be eliminated but …

Reinforcement Learning-Based Energy Management For Electric Vehicle Application, Yiming Ye

All Dissertations

The increasing concerns about transportation pollution and fossil fuel depletion motivate many studies on vehicle electrification and advanced energy-saving propulsion systems. When Comparing with traditional internal combustion engine vehicles, electrified vehicles, such as battery and supercapacitor electric vehicles, are equipped with more than one power source in the hybrid propulsion system, which can save more energy through efficient power combinations. Lithium-ion batteries are the preferred choice for energy storage in electric vehicles due to their superior energy density and cost-effectiveness. Nevertheless, matching the required power input and output leads to in an unwanted growth in the size of the battery, …

Engineering Multifunctional Silicon Nanostructures From Biorenewable Cellulose Nanocrystals, Nancy Chen

All Dissertations

The imperative search for alternative materials to address the pressing demand for advance energy storage is underscored by the escalating environmental predicaments. Lithium-ion batteries (LIBs) with graphite anodes have become the benchmark in energy storage; however, they are approaching a saturation point in terms of energy density. Silicon emerges as a promising contender to supplant graphite, owing to its profuse availability, cost-effectiveness, and impressive specific capacity of 4200 mAh g^-1. By integrating silicon anodes, LIBs stand to undergo a radical transformation, markedly diminishing in weight and size, thus heralding a novel wave of compact, lightweight energy storage systems. …

Multi-Scale Modeling Of Selective Laser Sintering: From Manufacturing Process And Microstructure To Mechanical Performance In Semi-Crystalline Thermoplastics, Cameron Zadeh

All Dissertations

Selective laser sintering is an additive manufacturing process that opens many design possibilities but is limited in its reliability and reproducibility. Numerical simulations validated by experimental data yield insights into the process and resulting part properties, allowing users to make more informed decisions. In this dissertation, a model for the process and microstructure is developed and validated, followed by a coupling to mechanical models to predict part performance. Further developments include a new addition of a reaction kinetics model to the process model to describe the interplay between thermal degradation and melt pool properties, and an exploration of the parameter …

Aerodynamic Design And Analysis Of A Modified 2006 Mazda Miata, William N. Recher

Honors College Theses

Aerodynamic forces developed by automobiles have destabilizing effects at high speed. These forces tend to skew toward a vehicle’s rear which can present safety concerns, especially for rear-wheel-drive automobiles like the Mazda Miata. To address oversteer and high-speed instability, a vehicle’s design can be tailored to bring about aerodynamic balance and improve traction. LiDAR was used to bring the physical automobile into the digital space. Then, a splitter and diffuser were added to reduce the magnitude of the destabilizing forces. Next, the size and shape of the rear-wing required to balance the vehicle was calculated using a combination of parameters …

Exploration Of Characteristic Curve In Fox Float 3 Shock Dampers To Expedite Shock Damp Tuning., Joshua R. Moore

Honors College Theses

The shock absorber is an integral part of a vehicle suspension system and has a strong influence on its performance, especially in the case of motorsports. It is important to study the force versus velocity relationship, commonly known as the characteristic curve of the shock absorber both during compression and rebound. Vendor-supplied characteristics often reflect the behavior of the shock absorber in a particular setting. However, during the installation, the settings inside the shock absorber are adjusted to increase the human comfort level and performance of the vehicle. This may change the characteristic curve of the shock. The available data …

Modeling The Impact Of Connected And Automated Vehicles On Driving Behaviors And Safety: A Driving Simulator Study, Abdalziz Alruwaili

Civil & Environmental Engineering Theses & Dissertations

Connected vehicles (CVs), equipped with advanced sensors, can communicate safety messages to drivers. Automated vehicles (AVs), designed with the ability to automate safety critical control functions, will redefine the traditional role of drivers. This dissertation aims to investigate the impact of connected and automated vehicles (CAVs) on driving behaviors and safety outcomes using data from driving simulator experiments. More specifically, the research objectives include:

1. Modeling the impacts of CVs on driving aggressiveness and situational awareness in highway crash scenarios.

2. Modeling the impacts of CV technologies on driving behaviors and safety outcomes in highway crash scenarios under diverse weather …

Autonomous Roadside Mower Testing And Evaluation In Digital Twin Environments, Michael Mardikes, Ethan Brown, Timothy Wiegman, Nathan Sprague, Shreyas Supe, J. T. Evans

Graduate Industrial Research Symposium

Modern day roadside mowing operations in Indiana are performed by contractors operating tractors that pull flex-wing mowers. These mowing operations span over 11,000 miles of road across the state and create serious risk for human operators. Autonomous mowers can provide a safer alternative, but a replacement system must demonstrate an acceptable level of trust before large-scale deployment. A high-fidelity digital-twin environment can facilitate the capability to rapidly test and evaluate platforms in their desired application, while enabling zero real-world risk, a wide range of test variables, and repeatability of a test setup. The simulation environment must be at a level …

Finite Element Analysis Of Thermal-Mechanical Instabilities In Nonmetallic Friction Composite Material, Joseph-Shaahu Shaahu

Electronic Theses and Dissertations

Thermal-mechanical instability (TMI) has been a research topic of interest as it focuses a lot on transportation systems. Thermal-mechanical instability was first noticed in railway and experimentally studied with a pin-to-pin or pin-to-surface setup of sliding contact. The topic has been extended into brakes and clutches which are two of the most common sliding systems most susceptible to thermal buckling and thermoelastic instability (TEI), where thermal buckling and thermoelastic instability are two sub-categories of thermal-mechanical instability. Thermal-mechanical instability is an ongoing research to better understand the phenomenon and the limits at which such instability occurs. This work delved into the …

Electric Vehicles Contribute To China's Energy Security And Carbon Peaking And Carbon Neutrality, Jianfeng Guo, Xuemei Zhang, Qi Cao, Fu Gu

Bulletin of Chinese Academy of Sciences (Chinese Version)

The current international situation is complicated and unstable, and China is in the midst of an important economic transition as it deals with the twin concerns of energy security and carbon peaking and carbon neutrality (referred to as dual carbon goals). Although the dual carbon goals aim a strong emphasis on energy security, certain emission reduction strategies will place restrictions on energy security that is directly connected, such as energy supply and grid load, making it challenging to simultaneously fulfill the optimization goal. China now has the task of figuring out how to rationalize and optimize the coordinated promotion of …

Investigating The Effects Of Alcohol Consumption On Manual And Automated Driving: A Systematic Review, Miaomiao Dong, Yuni Lee, Jackie Cha, Gaojian Huang

Mineta Transportation Institute

There are direct correlations between drunk driving and car-related injuries, disabilities, and death. Autonomous vehicles (AVs) may provide useful driver support systems to prevent or reduce road accidents. However, AVs are not yet fully automated and require human drivers to take over the vehicle at times. Therefore, understanding how alcohol affects driving performance in both manual and automated driving is important because manual drives may offer insights into the takeover process in AVs. A systematic review of 53 articles from eight databases was conducted. Findings were categorized based on the human information processing model, which can be extended to the …

Enhancing Bridge Resilience And Overheight Vehicle Mitigation Through Innovative Sacrificial Cushion Systems, Aly Mousaad Aly, Marc Hoffmann

Faculty Publications

Transportation departments have made significant strides in addressing the challenges posed by the increasing weights of trucks on bridges. While there is a growing awareness of overheight vehicle collisions with bridges, implementing effective countermeasures remains limited. The susceptibility of bridges to damage from such collisions is on the rise, further exacerbated by unpredictable lateral impact forces. This study employs nonlinear impact analysis to assess the response of an unprotected vehicle-girder model, yielding realistic deformation outcomes comparable to observed impacts on the US-61 bridge. Predictions for a truck traveling at 112.65 km/h indicate deformations of 0.229 m, 0.161 m, and 0.271 …

Investigation Of Operational Parameter Differences Between The Standard Ron Test Method And Knock-Limited Modern Spark-Ignition Engine Operation, Alexander Hoth

Dissertations, Master's Theses and Master's Reports

Octane numbers (ONs) are used worldwide to rate the knock propensity of gasoline-like fuels for spark-ignition engines, making ONs the leading indicator of fuel quality for commercial distribution. The ONs were established 90 years ago and have only received minor changes compared to significant advancements in modern engine operation and fuel composition. This has resulted in discrepancies between knock-limited modern engine operation and standard ON ratings. This dissertation used a standard CFR octane rating engine at Argonne National Laboratory that was instrumented with modern combustion research tools to investigate key differences between the Research Octane Number (RON) rating conditions and …

Development And Evaluation Of Blind Spot Detection Safety System Based On 2d-Lidar Technology As An Optimization For Adas Systems, Timothy J. Sutton

Honors College Theses

Distracted driving poses a significant safety hazard and will only exacerbate as the number of modern-day distractions increases. To mitigate this problem, Advanced Driver Assistance Systems (ADAS) features, such as blind spot detection, have been pivotal for the safer operation of vehicles. Towards the same objective, the goal of this research is to utilize 2D LiDAR sensors to create a blind spot detection system that will detect objects and surfaces that are outside of the driver’s field of view. A comparative analysis was conducted by developing a 2D LiDAR-based system utilizing NVIDIA Jetson Orion Nano and Python alongside an ultrasonic-based …

Extending Trailer, Alex Grove

Williams Honors College, Honors Research Projects

The goal of this research project is to revolutionize the convenience in towable transportation. This innovative design aims to enhance the versatility of pull-behind trailers by incorporating an extendable feature, allowing users to effortlessly adjust the length according to their specific needs. Whether navigating tight spaces or accommodating extra cargo, our trailer adapts to diverse situations, providing unmatched flexibility. In addition to its adjustable length, the trailer is engineered to be compactable, addressing the storage constraints often faced by users with limited space. The collapsible design ensures easy storage without compromising on functionality, making it an ideal solution for individuals …

Schaeffler E-Axle Value Engineering, Andrew Powers

Williams Honors College, Honors Research Projects

This project aims to design a manufacturable E-Axle end housing that improves system performance while reducing cost. The project is focused on utilizing Schaeffler's manufacturing competencies to achieve a simple assembly with a significant reduction in cost per part, while using existing machines or processes within the company. The design development process will follow the conceptual design stage through Finite Element Analysis and classical engineering calculations. Cross-functional design reviews will be conducted to ensure that agreement can be reached on the manufacturing feasibility of the design. Concepts will be entered in a decision analysis sheet to identify the best one …

Adjustable Load On Cvt Driven Project, Elijah Saxton, Colin Mcconnell, Trent Bolek, Caleb Malboeuf, Alexander Rawson

Williams Honors College, Honors Research Projects

SAE Baja, also known as Baja SAE (Society of Automotive Engineers Baja), is a series of collegiate design competitions organized by the Society of Automotive Engineers (SAE). These competitions challenge teams of students to design, build, and race off-road vehicles that can withstand rough terrain and perform in various dynamic events. The objective of this Senior Design Project is to design, manufacture, and test an adjustable driven Continuous Variable Transmission (CVT) pulley to adjust the preload on the spring. This will allow easier adjustment on the CVT preload at smaller increments. This design could be used for future Zips Baja …

Metal Organic Framework Modifications Of Structural Fibers, Marwan Al-Haik

Publications

A reinforced carbon composite can include a carbon sub­strate and a metal organic framework bonded to the carbon substrate. For example, a reinforced carbon composite can include a first layer, a second layer, and a resin adhered to the first layer and the second layer. The first layer can include a carbon substrate and a metal organic framework bonded to the carbon substrate. The second layer can include a carbon substrate and a metal organic framework bonded to the carbon substrate.

Traffic Light Detection And V2i Communications Of An Autonomous Vehicle With The Traffic Light For An Effective Intersection Navigation Using Mavs Simulation, Mahfuzur Rahman

Theses and Dissertations

Intersection Navigation plays a significant role in autonomous vehicle operation. This paper focuses on enhancing autonomous vehicle intersection navigation through advanced computer vision and Vehicle-to-Infrastructure (V2I) communication systems. The research unfolds in two phases. In the first phase, an approach utilizing YOLOv8s is proposed for precise traffic light detection and recognition, trained on the Small-Scale Traffic Light Dataset (S2TLD). The second phase establishes seamless connectivity between autonomous vehicles and traffic lights in a simulated Mississippi State University Autonomous Vehicle Simulation (MAVS) environment resembling a small city with multiple intersections. This V2I system enables the transmission of Signal Phase and Timing …

Comparison Of Methods For Estimating Instantaneous Turn Radius Of Ackermann Steering Vehicles, Kenneth Gennaro Stutts

Doctoral Dissertations and Master's Theses

The instantaneous turn radius of an Ackermann steering vehicle is the distance to a point in space about which the vehicle will travel in an arc during a turn. There are at least six ways to estimate instantaneous turn radius and each method uses different inputs and has distinct advantages and disadvantages. In this thesis, six different methods will be used to estimate the instantaneous turn radius of a vehicle traveling on a closed circuit. This testing will clarify similarities and differences between the methods. This thesis clarifies which method will be the most appropriate for a given set of …

Additive Manufacturing Of Magnetic Materials For Electric Motor And Generator Applications, Haobo Wang

Doctoral Dissertations

This work details the research into the 3D Printing, also known as Additive Manufacturing (AM), of both impermanent and permanent magnets. This work also details the research in enabling such AM magnets in electrical machine applications, primarily motors and generators. The AM processes of many types of magnets are described in detail. The material properties of such AM magnets are also described. The two main types of AM magnets that are discussed in detail are AM NdFeB, and AM Silicon Steel. The implementation of AM NdFeB as rotor magnets, and the implementation of AM Silicon Steel as rotor and stator …

Husker Motorsports Active Drag Reduction System, Creighton Hughes, Evan Killian, Micah Busboom, Aj Johnson, Jude Steffen

Honors Theses

Formula SAE is a multifaceted competition that involves student teams designing and competing with an open-wheel style race car. There are 5 different dynamic events included in the competition. Each event requires a unique aerodynamic setup to have the best performance possible. This design project focuses on a drag reduction system (DRS) that will improve aerodynamic performance, resulting in faster lap times and increased competitiveness. Key features include a direct electronic actuation mechanism that will allow the rear wing to be adjusted during a race. The benefits of the DRS system, include increased speed, improved handling, and greater fuel efficiency …

Building An Application Model For Efficient Ride Booking In Ride-Hailing Industry, Nikunjkumar Butani

Electronic Theses, Projects, and Dissertations

The purpose of this study is to develop an efficient ride booking application in the ride-hailing sector. The objective of the research is to provide users with an easy way to book rides at reasonable prices and convenient times. This project helps to promote the ride-hailing industry by providing guidance for the creation of real-time applications. This project answered three questions. 1. What are the technology and infrastructure requirements for developing a consolidated online application for centralized ride sharing? 2. What are other examples of application aggregators in other industries than transportation and how do they work? 3. What are …

Safe Navigation Of Quadruped Robots Using Density Functions, Andrew Zheng

All Theses

Safe navigation of mission-critical systems is of utmost importance in many modern autonomous applications. Over the past decades, the approach to the problem has consisted of using probabilistic methods, such as sample-based planners, to generate feasible, safe solutions to the navigation problem. However, these methods use iterative safety checks to guarantee the safety of the system, which can become quite complex. The navigation problem can also be solved in feedback form using potential field methods. Navigation function, a class of potential field methods, is an analytical control design to give almost everywhere convergence properties, but under certain topological constraints and …

Creation And Validation Of A Novel Bayesian Calibration Method With Griddy Gibbs Sampling, Hannah Stewart

All Theses

Computer models of physical systems are widely used in lieu of, or in tandem with, experimental testing. It is critical to verify the accuracy of computer models through the process of calibration. Typical calibration methods are often computationally expensive and therefore cannot be performed in real time. This thesis presents a novel Bayesian calibration method using a Griddy Gibbs sampling algorithm to improve calibration speeds. This method was verified in two applications: a location-dependent dataset in the heat transfer analysis of an engine piston, and time-dependent tire forces in a drum test. The proposed method was directly compared to a …

Experimental Investigation Of Low Thermal Inertia Thermal Barrier Coatings For Spark Ignition Engines, John Gandolfo

All Theses

The application of thermal barrier coatings (TBCs) in spark ignition (SI) engines has historically been avoided due to the knock penalty associated with higher surface temperatures induced by the ceramic layer. However, advances in low thermal inertia coatings (i.e., temperature swing coatings) that combine low thermal conductivity with low volumetric heat capacity can prevent excessively high surface temperatures during the intake stroke and reduce or avoid knock while improving performance and efficiency. This thesis experimentally evaluates the effectiveness of these low thermal inertia coatings in a single-cylinder research engine representative of modern SI engines.

First, four pistons coated with a …