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All sources NASA NTRS DOE OSTI

DOE OSTI2022

2020 Component Innovation Awardee: Windurance LLC

Currently, there is no wind system power-conversion component available to wind turbine OEMs that is certified to applicable standards for use in the U.S. distributed wind energy market. Off-the-shelf industrial drives have features that are not needed by distributed wind OEMs and lack other features that would be valuable for the operation and control of wind turbine generating systems. In addition to adding costs for OEMs, these industrial drives increase uncertainty and risk for project developers and prospective owners. All of this presents barriers and increases costs for the development of distributed wind in the United States. With funding from CIP, Windurance plans to develop an industry-specific power-conversion component that will offer application-specific features at lower cost for distributed wind OEMs.

CIP↗

DOE OSTI2024

Factors Influencing Gas Evolution from High‐Nickel Layered Oxide Cathodes in Lithium‐Based Batteries

Abstract Gas evolution from high‐nickel layered oxide cathodes (>90% Ni) remains a major issue for their practical application. Gaseous species, such as CO 2 , O 2 , and CO, that are evolved at high states of charge (SOC) worsen the overall safety of batteries, as pressure build‐up within the cell may lead to cell rupture. Since these gasses are produced during cathode degradation, tracking the formation of gasses is also important in diagnosing cathode failure. Online electrochemical mass spectrometry (OEMS) is a powerful in situ technique to study gas evolution from the cathode during high‐voltage charge. However, the differences in the OEMS experimental setups between different groups make it challenging to compare results between groups. In this perspective, the various factors that influence gas evolution based on the OEMS results collected in this group are presented. The focus is on the conditions that lead to gas release, with a particular emphasis on reactive oxygen formation and subsequent chemical reactions with the electrolyte. Promising strategies, such as electrolytes, compositional tuning, and surface coatings that are effective at suppressing gas evolution from the cathode are highlighted. Critical insights into mitigating cathode degradation and gas evolution are provided to guide the development of safer, high‐energy batteries.

Chemistry↗

DOE OSTI2022

Establishing substitution rules of functional groups for high-capacity organic anode materials in Na-ion batteries

Tailoring molecular structures of organic electrode materials (OEMs) can enhance their performance in Na-ion batteries, however, the substitution rules and the consequent effect on the specific capacity and working potential remain elusive. Herein, by examining three sodium carboxylates with selective N substitution or extended conjugation structure, we exploited the correlation between structure and performance to establish substitution rules for high-capacity OEMs. Our results show that substitution position and types of functional groups are essential to create active centers for uptake/removal of Na+ and thermodynamically stabilize organic structures. Furthermore, rational host design and electrolytes modulation were performed to extend the cycle life to 500 cycles. A full cell based on the optimal 2,2’-bipyridine-4,4’-dicarboxylic acid disodium salt anode and the polyaniline cathode is demonstrated to confirm the feasibility of achieving all-organic batteries. Lastly, this work provides a valuable guideline for the design principle of high-capacity and stable OEMs for sustainable energy storage.

25 ENERGY STORAGE↗

DOE OSTI2024

ER-associated VAP27-1 and VAP27-3 proteins functionally link the lipid-binding ORP2A at the ER-chloroplast contact sites

Abstract The plant endoplasmic reticulum (ER) contacts heterotypic membranes at membrane contact sites (MCSs) through largely undefined mechanisms. For instance, despite the well-established and essential role of the plant ER-chloroplast interactions for lipid biosynthesis, and the reported existence of physical contacts between these organelles, almost nothing is known about the ER-chloroplast MCS identity. Here we show that the Arabidopsis ER membrane-associated VAP27 proteins and the lipid-binding protein ORP2A define a functional complex at the ER-chloroplast MCSs. Specifically, through in vivo and in vitro association assays, we found that VAP27 proteins interact with the outer envelope membrane (OEM) of chloroplasts, where they bind to ORP2A. Through lipidomic analyses, we established that VAP27 proteins and ORP2A directly interact with the chloroplast OEM monogalactosyldiacylglycerol (MGDG), and we demonstrated that the loss of the VAP27-ORP2A complex is accompanied by subtle changes in the acyl composition of MGDG and PG. We also found that ORP2A interacts with phytosterols and established that the loss of the VAP27-ORP2A complex alters sterol levels in chloroplasts. We propose that, by interacting directly with OEM lipids, the VAP27-ORP2A complex defines plant-unique MCSs that bridge ER and chloroplasts and are involved in chloroplast lipid homeostasis.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2025

Efficiency droop contributors in InGaN green light emitting diodes

Here, efficiency droop contributors (i.e., inherent Auger–Meitner recombination, polarization-induced effects, thermal effects, and light extraction) in InGaN green light emitting diodes (LEDs) are decoupled and quantified. First, a modified ABC model is developed, and external quantum efficiency measurements are taken under constant and pulsed currents (⁠ EQE Constant and EQE Pulsed ⁠, respectively). The LED internal quantum efficiency with and without thermal effects (⁠ IQE$^{ABC}_{Constant}$ and IQE$^{ABC}_{Pulsed}$⁠, respectively) is extracted using the modified model. Then, using Raman spectroscopy, the LED junction temperature is extracted. Finally, using the optical-electrical model (OEM), the polarization- and temperature-independent LED internal quantum efficiency (⁠ IQE OEM ) is calculated from the modified ABC model and the extracted junction temperature. By comparing external (⁠ EQE Constant ⁠) and the three internal quantum efficiencies (⁠ IQE$^{ABC}_{Constant}$, IQE$^{ABC}_{Pulsed}$⁠, and IQE OEM ), the impacts of inherent Auger–Meitner recombination, polarization-induced effects, thermal effects, and light extraction on the efficiency droop are decoupled and quantified. It is found that inherent Auger–Meitner recombination-induced droop is approximately 49% of the total efficiency droop in commercial green LEDs, while polarization-induced effects contribute about 35%, and thermal droop accounts for nearly 16%. Lastly, these findings suggest, to quash the green gap, it is critical to search for materials and device designs with low inherent Auger–Meitner coefficients and polarization fields, respectively.

42 ENGINEERING↗

DOE OSTI2012

Fuel Economy and Emissions of a Vehicle Equipped with an Aftermarket Flexible-Fuel Conversion Kit

The U.S. Environmental Protection Agency (EPA) grants Certificates of Conformity for alternative fuel conversion systems and also offers other forms of premarket registration of conversion kits for use in vehicles more than two model years old. Use of alternative fuels such as ethanol, natural gas, and propane are encouraged by the Energy Policy Act of 1992. Several original equipment manufacturers (OEMs) produce emissions-certified vehicles capable of using alternative fuels, and several alternative fuel conversion system manufacturers produce EPA-approved conversion systems for a variety of alternative fuels and vehicle types. To date, only one manufacturer (Flex Fuel U.S.) has received EPA certifications for ethanol fuel (E85) conversion kits. This report details an independent evaluation of a vehicle with a legal installation of a Flex Fuel U.S. conversion kit. A 2006 Dodge Charger was baseline tested with ethanol-free certification gasoline (E0) and E20 (gasoline with 20 vol % ethanol), converted to flex-fuel operation via installation of a Flex Box Smart Kit from Flex Fuel U.S., and retested with E0, E20, E50, and E81. Test cycles included the Federal Test Procedure (FTP or city cycle), the highway fuel economy test (HFET), and the US06 test (aggressive driving test). Averaged test results show that the vehicle was emissions compliant on E0 in the OEM condition (before conversion) and compliant on all test fuels after conversion. Average nitrogen oxide (NO X ) emissions exceeded the Tier 2/Bin 5 intermediate life NO X standard with E20 fuel in the OEM condition due to two of three test results exceeding this standard [note that E20 is not a legal fuel for non-flexible-fuel vehicles (non-FFVs)]. In addition, one E0 test result before conversion and one E20 test result after conversion exceeded the NO X standard, although the average result in these two cases was below the standard. Emissions of ethanol and acetaldehyde increased with increasing ethanol, while nonmethane organic gas and CO emissions remained relatively unchanged for all fuels and cycles. Higher fraction ethanol blends appeared to decrease NO X emissions on the FTP and HFET (after conversion). As expected, fuel economy (miles per gallon) decreased with increasing ethanol content in all cases.

02 PETROLEUM↗

NASA NTRS1975

Instruction manual, optical effects module electronic controller and processor, model OEMCP

The OEM-1 electronic module is discussed; it is comprised of four subsystems: the signal processing and display; the stepper motor controls; the chopper controls; and the dc-dc invertor. The OEM-1 module controls the sample wheel so that the relative transmittance of the samples can be compared to the clear aperture position. The 3-1/2 digit digital voltmeter displays the clear aperture signal level as well as the ratio of the remaining sample positions relative to the clear aperture position. The sample wheel position is decoded so that the signals and ratios can be correlated to the data. The OEM is automatically reset to the I sub o on initial turn-on and can be reset to the '0' position by actuating a front panel switch. The sample wheel can be interrupted to change samples or induce a longer integration time if desired by a front panel command. Integration times from 1 - 50 seconds are provided at the front panel, and BCD data for external interfacing is provided.

Source record↗

NASA NTRS2006

Engine Development Design Margins Briefing Charts

New engines experience durability problems after entering service. The most prevalent and costly is the hot section, particularly the high-pressure turbine. The origin of durability problems can be traced back to: 1) the basic aero-mechanical design systems, assumptions, and design margins used by the engine designers, 2) the available materials systems, and 3) to a large extent, aggressive marketing in a highly competitive environment that pushes engine components beyond the demonstrated capability of the basic technology available for the hardware designs. Unfortunately the user must operate the engine in the service environment in order to learn the actual thrust loading and the time at max effort take-off conditions used in service are needed to determine the hot section life. Several hundred thousand hours of operational service will be required before the demonstrated reliability of a fleet of engines or the design deficiencies of the engine hot section parts can be determined. Also, it may take three to four engine shop visits for heavy maintenance on the gas path hardware to establish cost effective build standards. Spare parts drive the oerator's engine maintenance costs but spare parts also makes lots of money for the engine manufacturer during the service life of an engine. Unless competition prevails for follow-on engine buys, there is really no motivation for an OEM to spend internal money to improve parts durability and reduce earnings derived from a lucrative spare parts business. If the hot section life is below design goals or promised values, the OEM migh argue that the engine is being operated beyond its basic design intent. On the other hand, the airframer and the operator will continue to remind the OEM that his engine was selected based on a lot of promises to deliver spec thrust with little impact on engine service life if higher thrust is used intermittently. In the end, a standoff prevails and nothing gets fixed. This briefing will propose ways to hold competing engine manufacturers more accountable for engine hot section design margins during the entire Engine Development process as well as provide tools to assess the design temperature margins in the hot section parts of Service Engines.

Bentz, Chuck↗

NASA NTRS2010

DEM Solutions Develops Answers to Modeling Lunar Dust and Regolith

With the proposed return to the Moon, scientists like NASA-KSC's Dr. Calle are concerned for a number of reasons. We will be staying longer on the planet's surface, future missions may include dust-raising activities, such as excavation and handling of lunar soil and rock, and we will be sending robotic instruments to do much of the work for us. Understanding more about the chemical and physical properties of lunar dust, how dust particles interact with each other and with equipment surfaces and the role of static electricity build-up on dust particles in the low-humidity lunar environment is imperative to the development of technologies for removing and preventing dust accumulation, and successfully handling lunar regolith. Dr. Calle is currently working on the problems of the electrostatic phenomena of granular and bulk materials as they apply to planetary surfaces, particularly to those of Mars and the Moon, and is heavily involved in developing instrumentation for future planetary missions. With this end in view, the NASA Kennedy Space Center's Innovative Partnerships Program Office partnered with OEM Solutions, Inc. OEM Solutions is a global leader in particle dynamics simulation software, providing custom solutions for use in tackling tough design and process problems related to bulk solids handling. Customers in industries such as pharmaceutical, chemical, mineral, and materials processing as well as oil and gas production, agricultural and construction, and geo-technical engineering use OEM Solutions' EDEM(TradeMark) software to improve the design and operation of their equipment while reducing development costs, time-to-market and operational risk. EDEM is the world's first general-purpose computer-aided engineering (CAE) tool to use state-of-the-art discrete element modeling technology for the simulation and analysis of particle handling and manufacturing operations. With EDEM you'can quickly and easily create a parameterized model of your granular solids system. Computer-aided design (CAD) models of real particles can be imported to obtain an accurate representation of their shape. EDEM(TradeMark) uses particle-scale behavior models to simulate bulk solids behavior. In addition to particle size and shape, the models can account for physical properties of particles along with interaction between particles and with equipment surfaces and surrounding media, as needed to define the physics of a particular process.

Dunn, Carol Anne↗

NASA NTRS2019

Design of P-3 Nadir Port

This project details the design and analysis of a structure to replace the interface of the P-3B nadir port with an optimized interface for science installations. A new nadir port plug has been designed to replace the OEM (Original Equipment Manufacturer) plug (Lockheed PN 910169) currently used in Nadir ports 1 and 2 on the NASA P-3B aircraft. The plug consists of a milled frame that can be outfitted with customizable flat plates to meet a broad range of science needs. The frame slides into place using the existing P-3B rail system using a lever and tie-rod assembly. The seal interface will contact the Fuselage skin of the aircraft and consists of a bulb E-seal that is riveted around the perimeter of the frame. The flat plate (20 inches x 31 inches) provides a large profile that can be outfitted based on science mission goals and requirements to attach multiple instruments. This is a significant increase to the aircraft capability. Previously, the OEM plug had to be modified to hold very small plates, windows, or instruments limiting the use of the ports.There were several challenges for this project that included a constrained schedule, lack of historical references, and reverse engineering. The unusually tight schedule for design, manufacture, and install limited potential approaches. In addition, design of a new interface to replace the existing plug, on an aircraft designed in the 1960's by Lockheed for the Navy with little to no documentation, required substantial reverse engineering. In order to accomplish this, a suitable method to determine interface requirements with the aircraft had to be solved. After several iterations, the solution was to implement laser scanning techniques to scan the aircraft and the OEM plug and generate a 3D model to capture the design envelope. The structure is designed to maintain a positive margin of safety when subjected to the inertial, pressure, and aerodynamic load requirements for an external installation on the P-3B, as described in the Wallops' P-3B Design Requirements 548-RQMT-0001 Rev. A . A finite element model is created in FEMAP (Finite Element Modeling And Postprocessing) and is run through NX Nastran solver to analyze the structure. After several iterations of analysis, the structure was enveloped to hold 115 pounds evenly distributed on the plate.

Chance, Monica↗

NASA NTRS2020

Ellicott City Disasters II: Enhancing a Statistical Flood Risk Model to Continue Improving Early Warning Systems and Public Safety in Ellicott City, Maryland

As flooding events in the United States grow in frequency and intensity, the use of technological advancements and applied science are increasingly necessary for effective flood monitoring and warning systems. The NASA DEVELOP Ellicott City Disasters II project investigated the use of machine learning for applications in flood risk detection to support the improvement of early warning systems. To strengthen the efforts of the Howard County Office of Emergency Management (OEM) in building a more robust flood monitoring system, the project improved the original statistical flood risk model, FLuME (Flood Learning Model Environment), programmed by the first DEVELOP term. The enhancements incorporated an additional six years of precipitation and soil moisture data from the North American Land Data Assimilation System (NLDAS), modeled using Aqua Advanced Microwave Scanning Radiometer for EOS and Tropical Rainfall Measuring Mission (TRMM) Microwave Imager. These Earth observations were supplemented by stream gauge data from the OEM and the US Geological Survey. The resultant flood risk model FLASH (Flood Learning Environment and Severity Assessment Hub) was trained to evaluate input variables and predict stage height in Ellicott City in real time. The addition of an advanced deep learning framework known as long short-term memory improved the model’s ability to capture relationships between variables. To assess the effectiveness of the new model, FLASH produced a model efficiency metric of 0.99, a significant improvement over the 0.85 value produced by the previous model. The project assisted the OEM in pursuing the integration of open data and NASA Earth observations into a threat matrix capable of informing near real-time decision making.

Disasters↗

NASA NTRS2020

Ellicott City Disasters II: Enhancing a Statistical Flood Risk Model to Continue Improving Early Warning Systems and Public Safety in Ellicott City, Maryland

As flooding events in the United States grow in frequency and intensity, the use of technological advancements and applied science are increasingly necessary for effective flood monitoring and warning systems. The NASA DEVELOP Ellicott City Disasters II project investigated the use of machine learning for applications in flood risk detection to support the improvement of early warning systems. To strengthen the efforts of the Howard County Office of Emergency Management (OEM) in building a more robust flood monitoring system, the project improved the original statistical flood risk model, FLuME (Flood Learning Model Environment), programmed by the first DEVELOP term The enhancements incorporated an additional six years of precipitation and soil moisture data from the North American Land Data Assimilation System (NLDAS), modeled using Aqua Advanced Microwave Scanning Radiometer for EOS and Tropical Rainfall Measuring Mission TRMM Microwave Imager. These Earth observations were supplemented by stream gauge data from the OEM and the US Geological Survey. The resultant flood risk model FLASH (Flood Learning Environment and Severity Assessment Hub) was trained to evaluate input variables and predict stage height in Ellicott City in real time. The addition of an advanced deep learning framework known as long short-term memory improved the model’s ability to capture relationships between variables. To assess the effectiveness of the new model, FLASH produced a model efficiency metric of 0.99, a significant improvement over the 0.85 value produced by the previous model. The project assisted the OEM in pursuing the integration of open data and NASA Earth observations into a threat matrix capable of informing near real-time decision making.

Disasters↗

NASA NTRSDate not supplied

Building a Real-Time Predictive Flood Model for Improving Early Warning Systems in Ellicott City, Maryland

As flood events in the United States grow in frequency and intensity, the use of applied remote sensing analyses is increasingly necessary for effective flood monitoring and warning systems. The NASA DEVELOP National Program partnered with the Howard County government in Maryland to investigate the use of machine learning for advanced flood risk detection, and to test the feasibility of integrating this approach into the county’s flood early warning system. To strengthen the efforts of the Howard County Office of Emergency Management (OEM), the project developed a prediction model capable of hindcasting the two severe flash flood events that devastated Ellicott City, and transitioned to an Long Short-Term Memory (LSTM) based sequence-to-sequence deep learning model with 8-hour forecast capability. The team combined data inputs from public sources including river and precipitation gauges, NASA and NOAA Earth observations, and numerical weather model products using scripts written in the Google Colaboratory Python scripting environment. In addition to designing the deep learning architecture, the team trained and tested the model, and evaluated its performance using the Nash-Sutcliffe Efficiency (NSE). The final product, called the Sequentially Trained Real-time EstimAted Model (STREAM), predicts stage height for the Hudson Branch gauge in Ellicott City using data products available in near real-time, including the High-Resolution Rapid Refresh (HRRR) model’s accumulated precipitation forecasts supplemented by stream gauge data from the OEM and the U.S. Geological Survey. STREAM was incorporated into an online dashboard in a user-friendly interface capable of triggering the alarms that initiate the OEM’s emergency response protocols up to 8 hours in advance of a predicted severe flood event. The project demonstrated the potential for the integration of open data and Earth observations into a flood risk forecasting tool capable of informing near real-time decision making.

Ryan Hammock↗

DOE OSTI2022

A Fast‐Charging and High‐Temperature All‐Organic Rechargeable Potassium Battery

Abstract Developing fast‐charging, high‐temperature, and sustainable batteries is critical for the large‐scale deployment of energy storage devices in electric vehicles, grid‐scale electrical energy storage, and high temperature regions. Here, a transition metal‐free all‐organic rechargeable potassium battery (RPB) based on abundant and sustainable organic electrode materials (OEMs) and potassium resources for fast‐charging and high‐temperature applications is demonstrated. N‐doped graphene and a 2.8 m potassium hexafluorophosphate (KPF 6 ) in diethylene glycol dimethyl ether (DEGDME) electrolyte are employed to mitigate the dissolution of OEMs, enhance the electrode conductivity, accommodate large volume change, and form stable solid electrolyte interphase in the all‐organic RPB. At room temperature, the RPB delivers a high specific capacity of 188.1 mAh g −1 at 50 mA g −1 and superior cycle life of 6000 and 50000 cycles at 1 and 5 A g −1 , respectively, demonstrating an ultra‐stable and fast‐charging all‐organic battery. The impressive performance at room temperature is extended to high temperatures, where the high‐mass‐loading (6.5 mg cm −2 ) all‐organic RPB exhibits high‐rate capability up to 2 A g −1 and a long lifetime of 500 cycles at 70–100 °C, demonstrating a superb fast‐charging and high‐temperature battery. The cell configuration demonstrated in this work shows great promise for practical applications of sustainable batteries at extreme conditions.

25 ENERGY STORAGE↗

DOE OSTI2013

Depth of manual dismantling analysis: A cost–benefit approach

Highlights: ► A mathematical modeling tool for OEMs. ► The tool can be used by OEMs, recyclers of electr(on)ic equipment or WEEE management systems’ regulators. ► The tool makes use of cost–benefit analysis in order to determine the optimal depth of product disassembly. ► The reusable materials and the quantity of metals and plastics recycled can be quantified in an easy-to-comprehend manner. - Abstract: This paper presents a decision support tool for manufacturers and recyclers towards end-of-life strategies for waste electrical and electronic equipment. A mathematical formulation based on the cost benefit analysis concept is herein analytically described in order to determine the parts and/or components of an obsolete product that should be either non-destructively recovered for reuse or be recycled. The framework optimally determines the depth of disassembly for a given product, taking into account economic considerations. On this basis, it embeds all relevant cost elements to be included in the decision-making process, such as recovered materials and (depreciated) parts/components, labor costs, energy consumption, equipment depreciation, quality control and warehousing. This tool can be part of the strategic decision-making process in order to maximize profitability or minimize end-of-life management costs. A case study to demonstrate the models’ applicability is presented for a typical electronic product in terms of structure and material composition. Taking into account the market values of the pilot product’s components, the manual disassembly is proven profitable with the marginal revenues from recovered reusable materials to be estimated at 2.93–23.06 €, depending on the level of disassembly.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2023

Mixed-Polarity Copolymers Based on Ethylene Oxide and Cyclic Carbonate: Insights into Li-Ion Solvation and Conductivity

Here, this study investigates the relationship between polarity and ionic conductivity in random and block copolymer electrolytes comprising highly flexible oligo(ethylene oxide) methyl ether methacrylate (OEM) and highly polar but glassy glycerol carbonate methacrylate (GCMA) monomers, blended with either lithium bis(trifluoromethanesulfonyl)imide (LiTFSI) or lithium triflate. Interestingly, the high polarity of GCMA did not significantly enhance ionic dissociation, and the random copolymers (POEM-r-PGCMA) showed similar or lower ionic conductivities than the POEM homopolymer. Further analysis revealed that Li + only interacts with OEM and its counterion, not with GCMA. The less-intermixed and weakly phase-separated block copolymer (POEM-b-PGCMA) exhibited even lower conductivities than the random copolymer. Our results suggest that Li + solvation occurs only in the POEM-rich phase and that the larger PGCMA regions, depleted of Li + , disrupt long-range ion transport. These findings provide valuable insights into the design of polymer electrolytes and how segmental mobility and functional groups with contrasting polarities affect ion transport.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2019

Towards a CAN IDS Based on a Neural Network Data Field Predictor

Modern vehicles contain a few controller area networks (CANs), which allow scores of on-board electronic control units (ECUs) to communicate messages critical to vehicle functions and driver safety. CAN provides a lightweight and reliable broadcast protocol but is bereft of security features. As evidenced by many recent research works, CAN exploits are possible both remotely and with direct access, fueling a growing CAN intrusion detection system (IDS) body of research. A challenge for pioneering vehicle-agnostic IDSs is that passenger vehicles' CAN message encodings are proprietary, defined and held secret by original equipment manufacturers (OEMs). Targeting detection of next-generation attacks, in which messages are sent from the expected ECU at the expected time but with malicious content, researchers are now seeking to leverage "CAN data models'', which predict future CAN messages and use prediction error to identify anomalous, hopefully malicious CAN messages. Yet, current works model CAN signals post-translation, i.e., after applying OEM-donated or reverse-engineered translations from raw data. We present initial IDS results testing deep neural networks used to predict CAN data at the bit level, targeting IDS capabilities that avoiding reverse engineering proprietary encodings. Our results suggest the method is promising for data with signals exhibiting dependence on previous or concurrent inputs.

Pawelec, Krzysztof↗

DOE OSTI2023

Middleware for a Heterogeneous CAV Fleet

This paper introduces CAN to ROS, a model-based code generation tool used in development, testing, and deployment of a heterogeneous fleet of vehicles with robotic sensing in ROS. Code generation supports two main features: (1) self-configuration for deployment in a heterogeneous vehicle fleet, and (2) quick iteration for testing and development of reading vehicle sensors and robotic control. This tool features the ability to detect the vehicle it is in and regenerate and rebuild itself at runtime to provide the proper two-way bridge between ROS and the sensed on-board vehicle sensor network. Code generation relies on a per-model defined JSON to map a CAN database (DBC) to the desired ROS topic names and message types. The live ROS publishing of CAN messages allows for instant feedback, and the code regeneration allows for adjustments in DBC or vehicle JSON to iteratively hone in on new vehicle signals. Generated ROS nodes are written in C++ for runtime use in lightweight embedded computers. This has been tested in vehicles from three different Original Equipment Manufacturers (OEMs), and can be extended to support a wide array of vehicles. By using a unifying ROS specification, a heterogeneous set of vehicles can be unified into a fleet with abstracted model-specific details; this opens the door for developing cross-model software applications for vehicle control, connected vehicle applications, or fleet monitoring systems.

42 ENGINEERING↗