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2019

Theses/Dissertations

Dissertations, Master's Theses and Master's Reports

Articles 31 - 60 of 64

Full-Text Articles in Engineering

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 …


Characterization Of Hydraulic Interactions Between Torque Converter And Transmission During Transient Events, Mark Woodland Jan 2019

Characterization Of Hydraulic Interactions Between Torque Converter And Transmission During Transient Events, Mark Woodland

Dissertations, Master's Theses and Master's Reports

A torque converter was instrumented with 29 pressure transducers to measure the torus, clutch plate, and torque converter cavities using telemetry to transfer the data. The torque converter was placed in a six-speed front wheel drive transmission and a test cell was built to drive and load the transmission to mimic in-vehicle performance.

Steady state tests were completed to establish a baseline for pressure performance of the torque converter. The transient events tested include back drive and gear shifting. Back drive showed how the pressure fluctuates across the speed ratios above 1 as well as identifying the stator speed. Gear …


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 …


Effects Of Variable Valve Actuation On Exhaust Enthalpy And Engine Out Emissions, Zakarie Parker Jan 2019

Effects Of Variable Valve Actuation On Exhaust Enthalpy And Engine Out Emissions, Zakarie Parker

Dissertations, Master's Theses and Master's Reports

Vehicle emissions standards are becoming increasingly more strict as time progresses. Once all of the emissions devices are in their operational stage, these standards can be met with reasonable effort in powertrain design and calibration. However, the core of this system, the three-way catalyst, is non-operational until it has reached 200-350⁰C. Because of this, cold-start catalyst heating is extremely important in new vehicles. The objective of this project was to improve catalyst heating without increasing engine-out emissions. It was decided that the sensible heat portion of the exhaust enthalpy would be the best metric to judge differences between the different …


Magnetic Domain Structures In Fe-Ga Alloys, Matthew N. Tianen Jan 2019

Magnetic Domain Structures In Fe-Ga Alloys, Matthew N. Tianen

Dissertations, Master's Theses and Master's Reports

Fe-Ga alloys, also referred to as Galfenol, have attracted great attention as new giant magnetostrictive materials for over fifteen years. They exhibit large magnetostriction, small hysteresis, good machinability, and high tensile strength, providing many advantages over other functional materials like magnetostrictive Terfenol-D, piezoelectric PZT, and magnetic shape memory Ni-Mn-Ga. In spite of the intense interest in Fe-Ga alloys, the domain phenomena that underlie their properties and functionalities are less known. Using the Bitter method, a systematic study of magnetic domain structures in Fe-Ga single crystals of different compositions and heat treatments has been performed. Our domain observation experiments reveal numerous …


Flood Inundation Mapping For Huron Creek, Houghton County, Michigan, Sarah Washko Jan 2019

Flood Inundation Mapping For Huron Creek, Houghton County, Michigan, Sarah Washko

Dissertations, Master's Theses and Master's Reports

The 2018 Father’s Day Flood rattled the Houghton County, MI community. Thousands of dollars in damage to public and private property were incurred due to slope failure, scour and stagnant water. Though the flood was billed as a once-in-a-lifetime event, hazard mitigation planning has become essential, as extreme weather events are expected to become more frequent with a changing climate. While Federal Emergency Management Agency funding will provide detailed flood hazard maps in the future, mapping is expected to be several years out. To aid the City of Houghton community with immediate flood hazard mitigation planning, a hydraulic-based flood depth …


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 …


Effect Of Development Of Scandium Trialuminide Precipitates On Corrosion And Mechanical Behavior In Aluminum-Magnesium Alloys, Carson Williams Jan 2019

Effect Of Development Of Scandium Trialuminide Precipitates On Corrosion And Mechanical Behavior In Aluminum-Magnesium Alloys, Carson Williams

Dissertations, Master's Theses and Master's Reports

Development of aluminum alloys has seen an increase in attention in recent years. The 5xxx series of Al-Mg alloys has the potential to provide strong, lightweight materials in various industry applications, however issues with strain formability and corrosion hinder the development of these alloys. The addition of Sc for developing Al3Sc precipitates provides considerable precipitation strengthening as well as grain refinement characteristics that can help mitigate these issues. Alloys with varied Mg content were analyzed for heat treatment aging responses and precipitate formation, changes in mechanical behavior related to the Portevin-le Chatelier effect, and effects on intergranular corrosion …


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 …


Technology For Integrated Groyne-Vetiver Erosion Reduction (Tiger): Case Study In A West African River, Chase M. West Jan 2019

Technology For Integrated Groyne-Vetiver Erosion Reduction (Tiger): Case Study In A West African River, Chase M. West

Dissertations, Master's Theses and Master's Reports

River erosion is a problem all over the world. The effects of river erosion are especially hard for farmers in developing countries, where the river is an important part of their farming practices and daily lives. A case study was done in the small village of Fode Binea in Senegal, West Africa to reduce this stream erosion. A new hybrid approach, Technology for Integrated Groyne-Vetiver Erosion Reduction (TIGER) method, was developed. The method includes combining groynes at the toe of the riverbank to reduce toe erosion in the channel and planting a buffer strip with vetiver grass to reduce erosion …


Investigating Microalloying Elements To Accelerate Zirconium Trialuminide Precipitation In Aluminum Alloys, Philip D. Staublin Jan 2019

Investigating Microalloying Elements To Accelerate Zirconium Trialuminide Precipitation In Aluminum Alloys, Philip D. Staublin

Dissertations, Master's Theses and Master's Reports

Precipitation of the L12-structured coherent Al3Zr trialuminide phase in aluminum-zirconium alloys increases the alloy strength. Precipitation of a more refined dispersion of Al3Zr can further increase the strength of these alloys. The addition of microalloying elements which bind to zirconium may accelerate the precipitation kinetics, allowing for nucleation of a greater number of precipitates and faster precipitate growth. Zirconium binding energies are computed for a wide range of elements, based on which the elements tin, antimony, and tellurium were selected for investigation. Ternary Al-Zr-X alloys (X = Sn, Sb, Te) were cast and heat …


Hydrologic Impacts And Trade-Offs Associated With Forest-Based Bioenergy Development Across The Americas, Azad Heidari Jan 2019

Hydrologic Impacts And Trade-Offs Associated With Forest-Based Bioenergy Development Across The Americas, Azad Heidari

Dissertations, Master's Theses and Master's Reports

A simulation-based framework for studying hydrologic impacts and associated tradeoffs for existing and proposed biofuel projects in the US (poplar), Argentina (eucalyptus) and Mexico (oil palm) is developed. For each case study, a representative watershed is selected and a SWAT model is set up and calibrated for an improved simulation of hydrologic processes and plant growth cycles. Potential bioenergy scenarios are developed that represent various planting densities, harvest cycles, fertilization and irrigation rates, land cover types being converted, slope, and locations across the watershed.

Simulations indicate that growth and biomass production are significantly dependent on nitrogen availability, making fertilization a …


Lithium-Ion Battery Degradation Evaluation Through Bayesian Network Method For Residential Energy Storage Systems, Khalid Khan Jan 2019

Lithium-Ion Battery Degradation Evaluation Through Bayesian Network Method For Residential Energy Storage Systems, Khalid Khan

Dissertations, Master's Theses and Master's Reports

Batteries continue to infiltrate in innovative applications with the technological advancements led by Li-ion chemistry in the past decade. Residential energy storage is one such example, made possible by increasing efficiency and decreasing the cost of solar PV. Residential energy storage, charged by rooftop solar PV is tied to the grid, provides household loads. This multi-operation role has a significant effect on battery degradation. These contributing factors especially solar irradiation and weather conditions are highly variable and can only be explained with probabilistic analysis. However, the effect of such external factors on battery degradation is approached in recent literature with …


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 …


Urban Evapotranspiration In Water Scarce Regions Estimates For The Middle Rio Grande Basin, United States And Mexico, Jessica Alger Jan 2019

Urban Evapotranspiration In Water Scarce Regions Estimates For The Middle Rio Grande Basin, United States And Mexico, Jessica Alger

Dissertations, Master's Theses and Master's Reports

Urban evapotranspiration (ET) in semi-arid and arid regions is an important component of the urban water cycle, especially in regions that have limited freshwater supplies. Understanding urban evapotranspiration in these regions is necessary for assessing and managing water resources and ensuring that conservation strategies are effective and sustainable. The objective of this study is to estimate urban ET in the Middle Rio Grande Basin to provide an understanding of evaporative water losses in semi-arid to arid urban environments for future water management decisions. The focus of this study is on the cities of El Paso, TX, US; Las Cruces, NM, …


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 …


Exploring The Role And Impact Of Microscale Phenomena On Electrode, Microdevice, And Cellular Function, Sanaz Habibi Jan 2019

Exploring The Role And Impact Of Microscale Phenomena On Electrode, Microdevice, And Cellular Function, Sanaz Habibi

Dissertations, Master's Theses and Master's Reports

Microfluidic technologies enable the development of portable devices to perform multiple high-resolution unit operations with small sample and reagent volumes, low fabrication cost, facile operation, and quick response times. Microfluidic platforms are expected to effectively interpret both wanted and unwanted phenomena; however, a comprehensive evaluation of the unwanted phenomena has not been appropriately investigated in the literature. This work explored an attenuative evaluation of unwanted phenomena, also called here as secondary phenomena, in a unique approach.

Upon electric field utilization within microfluidic devices, electrode miniaturization improves device sensitivity. However, electrodes in contact with medium solution can yield byproducts that can …


A Smart Implantable Bone Fixation Plate Providing Actuation And Load Monitoring For Orthopedic Fracture Healing, Brad Nelson Jan 2019

A Smart Implantable Bone Fixation Plate Providing Actuation And Load Monitoring For Orthopedic Fracture Healing, Brad Nelson

Dissertations, Master's Theses and Master's Reports

Fracture non-union occurs in roughly 5-10% of all fracture cases, and current interventions are both time-consuming and costly. There is therefore significant incentive to develop new tools to improve fracture healing outcomes. Several studies have shown that low-magnitude, high-frequency (LMHF) mechanical loading can promote faster healing and reduce the risk of refracture in critical-size long bone fractures. This is typically done using whole-body vibration, which may result in undesirable systemic effects on the rest of the body. This work discusses an implantable piezoelectric fixation plate that can both apply LMHF loading directly to the fracture site using flexible scheduling and …


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 …


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 …