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All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Substitution or Shared Utilization? Intrahousehold Vehicle Use in Mixed-Powertrain Households

While previous research has focused heavily on understanding the factors deriving alternative fuel vehicle adoption rates, there remains a significant gap in understanding how households distribute mileage across different powertrains. This study utilizes data from the 2022 Next Generation National Household Travel Survey to investigate vehicle miles traveled within a sample of 150 plug-in electric vehicle (PEV)-owning households (in which at least one battery electric vehicle is present), characterizing how different powertrains are integrated into daily mobility. Leveraging a Seemingly Unrelated Regression (SUR) framework the study jointly models the utilization of PEVs, hybrid electric vehicles (HEV), and internal combustion engine vehicles (ICEVs) while accounting for household-level substitution effects. The results provide evidence of an asymmetric substitution effect. In households with mixed-powertrain configurations, the ICEV captures a substantially higher share of household miles (compared with the PEV), acting as a utility sponge. Conversely, the model identifies specific socioeconomic and geographic cohorts that prioritize PEV as the primary household workhorse, indicating a systematic sorting effect. Although the sample size limits broader generalizability, these findings suggest that PEVs are used for frequent, specific routine-intensive roles, whereas the ICEV remains a specialized utility vehicle. These insights highlight distinct intrahousehold vehicle use behaviors that are often obscured by aggregate fleetwide statistics.

25 ENERGY STORAGE↗
DOE OSTI2023

Demand-Side Grid (dsgrid) TEMPO Light-Duty Vehicle Charging Profiles v2022

Simulated hourly electric vehicle charging profiles for light-duty household passenger vehicles in the contiguous United States, 2018-2050. Profiles are differentiated by scenario, county, household and vehicle types, and charging type. Data was produced in 2022 using the Transportation Energy & Mobility Pathway Options (TEMPO) model and published in demand-side grid (dsgrid) toolkit format. Data are available for three adoption scenarios: "AEO Reference Case", which is aligned with the U.S. EIA Annual Energy Outlook 2018 (linked below), "EFS High Electrification", which is aligned with the High Electrification scenario of the Electrification Futures Study (linked below), and "All EV Sales by 2035", which assumes that average passenger light-duty EV sales reach 50% in 2030 and 100% in 2035. The charging shapes are derived from two key assumptions of which data users should be aware: "ubiquitous charger access", meaning that drivers of vehicles are assumed to have access to a charger whenever a trip is not in progress, and "immediate charging", meaning that immediately after trip completion, vehicles are plugged in and charge until they are either fully recharged or taken on another trip. These assumptions result in a bounding case in which vehicles' state of charge is maximized at all times. This bounding case would minimize range anxiety, but is unrealistic from the point of view of both electric vehicle service equipment (EVSE) (i.e., charger) access, and plug-in behavior as it can result in dozens of charging sessions per week for battery electric vehicles (BEVs) that in reality are often only plugged in a few times per week.

Array↗
DOE OSTI2021

Energy and Emission Prediction for Mixed-Vehicle Transit Fleets Using Multi-task and Inductive Transfer Learning

Public transit agencies are focused on making their fixed-line bus systems more energy efficient by introducing electric (EV) and hybrid (HV) vehicles to their fleets. However, because of the high upfront cost of these vehicles, most agencies are tasked with managing a mixed-fleet of internal combustion vehicles (ICEVs), EVs, and HVs. In managing mixed-fleets, agencies require accurate predictions of energy use for optimizing the assignment of vehicles to transit routes, scheduling charging, and ensuring that emission standards are met. The current state-of-the-art is to develop separate neural network models to predict energy consumption for each vehicle class. Although different vehicle classes’ energy consumption depends on a varied set of covariates, we hypothesize that there are broader generalizable patterns that govern energy consumption and emissions. In this paper, we seek to extract these patterns to aid learning to address two problems faced by transit agencies. First, in the case of a transit agency which operates many ICEVs, HVs, and EVs, we use multi-task learning (MTL) to improve accuracy of forecasting energy consumption. Second, in the case where there is a significant variation in vehicles in each category, we use inductive transfer learning (ITL) to improve predictive accuracy for vehicle class models with insufficient data. As this work is to be deployed by our partner agency, we also provide an online pipeline for joining the various sensor streams for fixed-line transit energy prediction. Here, we find that our approach outperforms vehicle-specific baselines in both the MTL and ITL settings.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2020

Medium- and Heavy-Duty Vehicle Electrification: An Assessment of Technology and Knowledge Gaps

The objective of this assessment was to leverage current medium- and heavy-duty vehicle (MHDV) data and information to evaluate the state of commercial vehicle electrification technologies, including the following: 1. Assessment and inventory of current MHDV electrification architectures; 2. Identification and assessment of MHDV component technologies; 3. Assessment of potential performance and cost drivers; and, 4. Identification of R&D gaps where appropriate R&D and technology would accelerate commercial vehicle electrification. These gaps include shortfalls in technology, gaps in data, and inadequate knowledge and understanding. To inform this study, the National Renewable Energy Laboratory–Oak Ridge National Laboratory team examined the open literature; conducted workshops; assessed and analyzed data on more than 175 electrified MHDVs, including vehicle and powertrain specifications; and conducted one-on-one meetings with industry representatives. This systems-level information was concatenated and parsed with respect to key characteristics such as battery energy, power, and range compared across vehicle classes. Operational data of many conventional vehicles were also examined to help determine the requirements on electrified vehicle attributes such as range. Previous studies on the total cost of ownership of electrified MHDVs were reviewed to determine where improvements in technologies (efficiency, cost, maintenance) were needed to accelerate adoption. The team also assessed the state of the art in electric drivetrains for component specifications and challenges for the commercial vehicle sector, including electric machines, power electronics, and off-board high-power charging systems (extreme fast charging and beyond). The goal of this analysis was to identify the barriers to widespread adoption of commercial vehicle electrification technologies and prioritize the research and development gaps that need to be overcome to accelerate significant market penetration of these technologies.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2020

Evaluating Energy Efficiency Opportunities from Connected and Automated Vehicle Deployments Coupled with Shared Mobility in California

Connected and Automated Vehicles (CAVs) can be considered to be a disruptive transportation technology, with the potential to significantly improve overall transportation system efficiency; however, CAVs may increase induce vehicle miles traveled (VMT) and bring on greater energy consumption. Further, shared mobility is another disruptive transportation event that is reshaping our travel patterns. The primary goal of this project was to extensively collect data from vehicles and associated infrastructure equipped with CAV technologies from both real-world experiments and simulation studies mainly deployed in California, and develop a comprehensive framework for evaluating energy efficiency opportunities from large-scale (e.g., statewide) introduction of CAVs and a wide deployment of shared mobility systems in a variety of scenarios. To quantify the combined impact of CAV and shared mobility on travel behavior, traffic performance, and energy efficiency, a unique mesoscopic simulation-based model was developed for mobility and energy efficiency evaluation considering these disruptive transportation technologies. As a complement to existing studies on nationwide evaluation of CAVs’ energy impacts, this project was focused on data collection efforts and CAV applications under congested traffic environments that are frequently experienced on a massive scale across the major metropolitan areas in California. Extensive real-world data collection supplemented with simulation studies were conducted to cover a variety of CAV and shared mobility scenarios, particularly on scenarios less-explored in the existing research. Another key component of this project was to consider the interaction between different CAV technologies and shared mobility models, and the compound effect on energy efficiency. A comprehensive modeling suite was developed to quantify the impact of new mobility technologies on travel behavior and traffic performance. The developed modeling framework includes an energy intensity module, mode choice module and activity generation module that are integrated into an agent-based BEAM simulation platform to perform impact analysis based on a variety of scenarios. In addition, the RouteE model has been upgraded to incorporate the impact of CAVs on traffic flow, VMT and energy intensity, using micro-simulation data collected from both freeways and urban arterials. A novel fundamental influencing factor (FIF) mode choice model was developed to link CAV and shared mobility components with travel behaviors, and adapted into the BEAM-centered model framework. A statewide energy inventory was constructed under various CAV technology deployment scenarios by incorporating datasets and models for predicting vehicle market share and vehicle usage, which are tightly associated with the penetration of shared mobility systems. Based applying this modeling suite to a calibrated network in Riverside California, it was found that cooperative automated driving in general will improve mobility, but automated vehicles, even when deployed in a shared autonomous fleet, will likely bring an increase of VMT (up to 36%) due to mode shifts and deadheading. Ride-hailing vehicles typically have better energy efficiency and a higher share of electric vehicles, which helps offset the negative impact from VMT increases when estimating the system-level energy consumption. In general, simulation results show a 6% increase in energy consumption for the scenarios with an increasing shift to ride-hailing modes. The statewide analysis based on the National Household Travel Survey (NHTS) sample data is consistent with the findings from the Riverside network and validate the developed clustering-prediction modeling methodology. The outcomes from this project will help close the knowledge gap on recognizing the potential performance and energy impacts of a broad deployment of CAV and shared mobility technologies across a wide range of roadway infrastructure with varying levels of congestion. Results from this project: 1) will support policymakers in steering CAV development and deployment towards an energy favorable direction; 2) reduce uncertainties in estimating energy saving opportunities from new mobility technologies and services; 3) increase the confidence of CAV technology investors both on the infrastructure side (i.e., transportation agencies) and on the vehicle side (i.e., OEMs); and 4) expedite the deployment of energy-efficient CAV and shared mobility applications.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2022

Assessment of Light-Duty Plug-in Electric Vehicles in the United States, 2010 – 2021

The number of plug-in electric vehicles (PEVs) sold in the United States has consistently grown since 2010, reaching 4% of the light-duty vehicle market in 2021. This report examines how the characteristics for these PEVs has changed over this decade, evaluating range, energy efficiency, costs, and performance. Given the vehicle characteristics, this report estimates miles driven, electricity consumption, petroleum reduction, and greenhouse gas emissions attributable to electric vehicles. This report also explores vehicle manufacturing and battery production, considering supply chains from battery cells to assembly. Over 2.1 million PEVs have been sold in the United States through December 2021, with 1.3 million of these all fully-electric battery electric vehicles (BEV), and 800,000 plug-in hybrid electric vehicles (PHEV) which have the capability of using gasoline. The sales-weighted average range for BEVs reached 290 miles in 2021 and 28 miles for PHEVs. We estimate that electric vehicles have driven 68 billion miles on electricity since 2010, thereby reducing national gasoline consumption by 0.54% in 2021 and 2.5 billion gallons cumulatively through 2021. In 2021, PEVs used 6.1 terawatt-hours of electricity to drive 19.1 billion miles, offsetting 700 million gallons of gasoline. We find that this fuel switching reduced consumer fuel costs by $1.3 billion in 2021. Since 2010, 65% of PEVs sold in the United States have been assembled domestically, and over 110 gigawatt-hours of lithium-ion batteries have been installed in vehicles to date.

25 ENERGY STORAGE↗
DOE OSTI2024

Adoption of Plug-in Electric Vehicles: Local Fuel Use and Greenhouse Gas Emissions Reductions Across the U.S.

The dependence on gasoline-powered light-duty automobiles has made U.S. households vulnerable to the burden of fuel costs. Tailpipe emissions from these vehicles constitute 58% of greenhouse gas (GHG) emissions in the U.S., which are damaging to the environment (EPA, 2023). The adoption of plug-in electric vehicles (PEVs) has been shown to effectively reduce fuel costs and GHG emissions. However, local effects on these benefits are not well understood by American consumers, potentially limiting adoption and therefore the realization of PEV benefits at scale (MacInnis & Krosnick, 2020; EY Americas, 2023). To fill this research gap, this study estimates the fuel cost savings and GHG emission reductions at the state and ZIP code levels by considering local fuel prices, vehicle class preference, average vehicle model year, fuel efficiencies, and driving intensities. The study's findings reveal that the adoption of PEVs can yield substantial benefits in terms of fuel cost savings and GHG emission reductions nationwide. Specifically, driving a battery electric vehicle (BEV) is estimated to result in annual savings of up to $\$2,200$, while driving a plug-in hybrid electric vehicle (PHEV) can lead to savings up to $\$1,500$, when compared to an internal combustion engine vehicle (ICEV) of equivalent size. Moreover, using population-weighted averages by ZIP code, BEVs and PHEVs show the potential to save 400 and 200 grams of carbon dioxide equivalent per mile, respectively, compared to a representative ICEV of the same class. The magnitude of fuel cost savings and emissions reduction vary by region due to various factors. Generally, regions with high gasoline prices, low electricity prices, preferences for larger vehicles, and high driving intensities tend to see relatively large fuel savings. The emissions reductions are more pronounced in areas with clean grids where consumer preferences lie with large vehicles. This regional variability underscores the importance of considering local contextual factors when assessing the potential benefits of PEV adoption. In more than 99% of U.S. ZIP codes, PEVs result in overall savings in fuel use (and subsequent costs) and GHG emissions. While not a central focus of this analysis, reductions in GHG tailpipe emissions from PEV adoption would also come with reductions in criteria pollutant emissions, contributing to improved local air quality depending on the PEV penetration, population density, and electricity generation infrastructure in the locality.

33 ADVANCED PROPULSION SYSTEMS↗
NASA NTRS1980

Vehicle systems design optimization study

The optimum vehicle configuration and component locations are determined for an electric drive vehicle based on using the basic structure of a current production subcompact vehicle. The optimization of an electric vehicle layout requires a weight distribution in the range of 53/47 to 62/38 in order to assure dynamic handling characteristics comparable to current internal combustion engine vehicles. Necessary modification of the base vehicle can be accomplished without major modification of the structure or running gear. As long as batteries are as heavy and require as much space as they currently do, they must be divided into two packages, one at front under the hood and a second at the rear under the cargo area, in order to achieve the desired weight distribution. The weight distribution criteria requires the placement of batteries at the front of the vehicle even when the central tunnel is used for the location of some batteries. The optimum layout has a front motor and front wheel drive. This configuration provides the optimum vehicle dynamic handling characteristics and the maximum passenger and cargo space for a given size vehicle.

Gilmour, J. L.↗
NASA NTRS1985

Advanced vehicle systems assessment. Volume 3: Systems assessment

The systems analyses integrate the advanced component and vehicle characteristics into conceptual vehicles with identical performance (for a given application) and evaluates the vehicles in typical use patterns. Initial and life-cycle costs are estimated and compared to conventional reference vehicles with comparable technological advances, assuming the vehicles will be in competition in the early 1990s. Electric vans, commuter vehicles, and full-size vehicles, in addition to electric/heat-engine hybrid and fuel-cell powered vehicles, are addressed in terms of performance and economics. System and subsystem recommendations for vans and two-passenger commuter vehicles are based on the economic analyses in this volume.

Hardy, K.↗
NASA NTRS1985

Design optimization for a space based, reusable orbit transfer vehicle

Future NASA and DOD missions will benefit from high performance, reusable orbit transfer vehicles. With the advent of a space station, advanced engine technology, and various new vehicle concepts, reusable orbit transfer vehicles that provide significant economic benefits and mission capability improvements will be realized. Engine and vehicle design criteria previously have lacked definition with regard to issues such as space basing and servicing, man-rating and reliability, performance, mission flexibility, and life cycle cost for a reusable vehicle. The design study described here has resulted in the definition of a reusable orbit transfer vehicle concept and subsequent recommendations for the design criteria of an advanced LO2/LH2 engine. These design criteria include number of engines per vehicle, nozzle design, etc. The major characteristics of the vehicle preliminary design include low lift to drag aerocapture capability, a main propulsion system failure criteria of fail operational/fail safe, and either two main engines with a high performance attitude control system for back-up or three main engines with which to meet this failure criteria. In addition, a maintenance approach has been established for the advanced vehicle concept.

Redd, L.↗
NASA NTRS1989

Prediction of forces and moments for flight vehicle control effectors: Workplan

Two research activities directed at hypersonic vehicle configurations are currently underway. The first involves the validation of a number of classical local surface inclination methods commonly employed in preliminary design studies of hypersonic flight vehicles. Unlike studies aimed at validating such methods for predicting overall vehicle aerodynamics, this effort emphasizes validating the prediction of forces and moments for flight control studies. Specifically, several vehicle configurations for which experimental or flight-test data are available are being examined. By comparing the theoretical predictions with these data, the strengths and weaknesses of the local surface inclination methods can be ascertained and possible improvements suggested. The second research effort, of significance to control during take-off and landing of most proposed hypersonic vehicle configurations, is aimed at determining the change due to ground effect in control effectiveness of highly swept delta planforms. Central to this research is the development of a vortex-lattice computer program which incorporates an unforced trailing vortex sheet and an image ground plane. With this program, the change in pitching moment of the basic vehicle due to ground proximity, and whether or not there is sufficient control power available to trim, can be determined. In addition to the current work, two different research directions are suggested for future study. The first is aimed at developing an interactive computer program to assist the flight controls engineer in determining the forces and moments generated by different types of control effectors that might be used on hypersonic vehicles. The first phase of this work would deal in the subsonic portion of the flight envelope, while later efforts would explore the supersonic/hypersonic flight regimes. The second proposed research direction would explore methods for determining the aerodynamic trim drag of a generic hypersonic flight vehicle and ways in which it can be minimized through vehicle design and trajectory optimization.

Maughmer, Mark D.↗
NASA NTRS1988

Design of a fast crew transfer vehicle to Mars

A final report is made on the trajectory and vehicle requirements for a fast crew transfer vehicle to Mars which will complete an Earth to Mars (and Mars to Earth) transfer in 150 days and will have a stay time at Mars of 40 days. This vehicle will maximize the crew's effectiveness on Mars by minimizing detrimental physiological effects such as bone demineralization and loss of muscle tone caused by long period exposure to zero gravity and radiation from cosmic rays and solar flares. The crew transfer vehicle discussed will complete the second half of a Split Mission to Mars. In the Split Mission, a slow, unmanned cargo vehicle, nicknamed the Barge, is sent to Mars ahead of the crew vehicle. Once the Barge is in orbit around Mars, the fast crew vehicle will be launched to rendezvous with the Barge in Mars orbit. The vehicle presented is designed to carry six astronauts for a mission duration of one year. The vehicle uses a chemical propulsion system and a nuclear power system. Four crew modules, similar to the proposed Space Station Common Modules, are used to house the crew and support equipment during the mission. The final design also includes a command module that is shielded to protect the crew during radiation events.

Source record↗
NASA NTRS1991

Next generation earth-to-orbit space transportation systems: Unmanned vehicles and liquid/hybrid boosters

The United States civil space effort when viewed from a launch vehicle perspective tends to categorize into pre-Shuttle and Shuttle eras. The pre-Shuttle era consisted of expendable launch vehicles where a broad set of capabilities were matured in a range of vehicles, followed by a clear reluctance to build on and utilize those systems. The Shuttle era marked the beginning of the U.S. venture into reusable space launch vehicles and the consolidation of launch systems used to this one vehicle. This led to a tremendous capability, but utilized men on a few missions where it was not essential and compromised launch capability resiliency in the long term. Launch vehicle failures, between the period of Aug. 1985 and May 1986, of the Titan 34D, Shuttle Challenger, and the Delta vehicles resulted in a reassessment of U.S. launch vehicle capability. The reassessment resulted in President Reagan issuing a new National Space Policy in 1988 calling for more coordination between Federal agencies, broadening the launch capabilities and preparing for manned flight beyond the Earth into the solar system. As a result, the Department of Defense (DoD) and NASA are jointly assessing the requirements and needs for this nations's future transportation system. Reliability/safety, balanced fleet, and resiliency are the cornerstone to the future. An insight is provided into the current thinking in establishing future unmanned earth-to-orbit (ETO) space transportation needs and capabilities. A background of previous launch capabilities, future needs, current and proposed near term systems, and system considerations to assure future mission need will be met, are presented. The focus is on propulsion options associated with unmanned cargo vehicles and liquid booster required to assure future mission needs will be met.

Hueter, Uwe↗
NASA NTRS1992

Mission and sizing analysis for the Beta 2 two-stage-to-orbit vehicle

NASA Lewis Research Center studied a horizontal takeoff and landing, fully reusable, two-stage-to-orbit (TSTO) vehicle capable of launching and returning a 10,000 pound payload to low Earth polar orbit using low-risk technology. The vehicle, called Beta 2, was derived from the USAF/Boeing Beta vehicle, a TSTO study vehicle capable of launching a 50,000 pound payload to low Earth polar orbit. Development of the Beta 2 from the USAF/Boeing Beta vehicle occurred in a series of iterations during which the size of the vehicle was decreased to accommodate the smaller payload, the staging Mach number was decreased from 8.0 to 6.5, and the rocket propulsion system was removed from the booster. The final Beta 2 vehicle consisted of a rocket powered orbiter and an all airbreathing booster. The gross takeoff weight of the Beta 2 vehicle was approximately 1.1 million pounds. In addition to its baseline mission, the Beta 2 was capable of delivering approximately 17,500 pounds to the Space Station with the same takeoff gross weight. The mission and sizing analysis performed to arrived at the Beta 2 vehicle is discussed.

Nadell, Shari-Beth↗
NASA NTRS1992

Mission and sizing analysis for the Beta II two-stage-to-orbit vehicle

NASA Lewis Research Center studied a horizontal takeoff and landing, fully reusable, two-stage-to-orbit (TSTO) vehicle capable of launching and returning a 10,000 pound payload to low earth orbit using low-risk technology. The vehicle, called Beta 2, was derived from the USAF/Boeing Beta vehicle, a TSTO study vehicle capable of launching a 50,000 pound payload to low earth orbit. Development of the Beta 2 from the USAF/Boeing Beta vehicle occurred in a series of iterations during which the size of the vehicle was decreased to accommodate the smaller payload, the staging Mach number was decreased from 8.0 to 6.5, and the rocket propulsion system was removed from the booster. The final Beta 2 vehicle consisted of a rocket powered orbiter and an all airbreathing booster. The gross takeoff weight of the Beta 2 vehicle was approximately 1.1 million pounds. In addition to its baseline mission, the Beta 2 was capable of delivering approximately 17,500 pounds to the Space Station with the same takeoff gross weight. The mission and sizing analysis performed to arrive at the Beta 2 vehicle is discussed.

Nadell, Shari-Beth↗
NASA NTRS1993

A hypersonic vehicle approach to planetary exploration

An enhanced Mars network class mission using a lifting hypersonic entry vehicle is proposed. The basic vehicle, derived from a mature hypersonic flight system called SWERVE, offers several advantages over more conventional low L/D or ballistic entry systems. The proposed vehicle has greatly improved lateral and cross range capability (e.g., it is capable of reaching the polar regions during less than optimal mission opportunities), is not limited to surface target areas of low elevation, and is less susceptible to problems caused by Martian dust storms. Further, the integrated vehicle has attractive deployment features and allows for a much improved evolutionary path to larger vehicles with greater science capability. Analysis of the vehicle is aided by the development of a Mars Hypersonic Flight Simulator from which flight trajectories are obtained. Atmospheric entry performance of the baseline vehicle is improved by a deceleration skirt and transpiration cooling system which significantly reduce TPS (Thermal Protection System) and flight battery mass. The use of the vehicle is also attractive in that the maturity of the flight systems make it cost-competitive with the development of a conventional low L/D entry system. Finally, the potential application of similar vehicles to other planetary missions is discussed.

Murbach, Marcus S.↗
NASA NTRS1993

Advanced transportation system study: Manned launch vehicle concepts for two way transportation system payloads to LEO

The purpose of the Advanced Transportation System Study (ATSS) task area 1 study effort is to examine manned launch vehicle booster concepts and two-way cargo transfer and return vehicle concepts to determine which of the many proposed concepts best meets NASA's needs for two-way transportation to low earth orbit. The study identified specific configurations of the normally unmanned, expendable launch vehicles (such as the National Launch System family) necessary to fly manned payloads. These launch vehicle configurations were then analyzed to determine the integrated booster/spacecraft performance, operations, reliability, and cost characteristics for the payload delivery and return mission. Design impacts to the expendable launch vehicles which would be required to perform the manned payload delivery mission were also identified. These impacts included the implications of applying NASA's man-rating requirements, as well as any mission or payload unique impacts. The booster concepts evaluated included the National Launch System (NLS) family of expendable vehicles and several variations of the NLS reference configurations to deliver larger manned payload concepts (such as the crew logistics vehicle (CLV) proposed by NASA JSC). Advanced, clean sheet concepts such as an F-1A engine derived liquid rocket booster (LRB), the single stage to orbit rocket, and a NASP-derived aerospace plane were also included in the study effort. Existing expendable launch vehicles such as the Titan 4, Ariane 5, Energia, and Proton were also examined. Although several manned payload concepts were considered in the analyses, the reference manned payload was the NASA Langley Research Center's HL-20 version of the personnel launch system (PLS). A scaled up version of the PLS for combined crew/cargo delivery capability, the HL-42 configuration, was also included in the analyses of cargo transfer and return vehicle (CTRV) booster concepts. In addition to strictly manned payloads, two-way cargo transportation systems (CTRV's) were also examined. The study provided detailed design and analysis of the performance, reliability, and operations of these concepts. The study analyzed these concepts as unique systems and also analyzed several combined CTRV/booster configurations as integrated launch systems (such as for launch abort analyses). Included in the set of CTRV concepts analyzed were the medium CTRV, the integral CTRV (in both a pressurized and unpressurized configuration), the winged CTRV, and an attached cargo carrier for the PLS system known as the PLS caboose.

Duffy, James B.↗
NASA NTRS1994

Method for surmounting an obstacle by a robot vehicle

Surmounting obstacles in the path of a robot vehicle is accomplished by rotating the wheel forks of the vehicle about their transverse axes with respect to the vehicle body so as to shift most of the vehicle weight onto the rear wheels, and then driving the vehicle forward so as to drive the now lightly-loaded front wheels (only) over the obstacle. Then, after the front wheels have either surmounted or completely passed the obstacle (depending upon the length of the obstacle), the forks are again rotated about their transverse axes so as to shift most of the vehicle weight onto the front wheels. Then the vehicle is again driven forward so as to drive the now lightly-loaded rear wheels over the obstacle. Once the obstacle has been completely cleared and the vehicle is again on relatively level terrain, the forks are again rotated so as to uniformly distribute the vehicle weight between the front and rear wheels.

Wilcox, Brian H.↗