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Energy-Efficient Driving in Connected Corridors via Minimum Principle Control: Vehicle-in-the-Loop Experimental Verification in Mixed Fleets
Connected and automated vehicles (CAVs) can plan and actuate control that explicitly considers performance, system safety, and actuation constraints in a manner more efficient than their human-driven counterparts. In particular, eco-driving is enabled through connected exchange of information from signalized corridors that share their upcoming signal phase and timing (SPaT). This is accomplished in the proposed control approach, which follows first principles to plan a free-flow acceleration-optimal trajectory through green traffic light intervals by Pontryagin's Minimum Principle in a feedback manner. Urban conditions are then imposed from exogeneous traffic comprised of a mixture of human-driven vehicles (HVs) - as well as other CAVs. As such, safe disturbance compensation is achieved by implementing a model predictive controller (MPC) to anticipate and avoid collisions by issuing braking commands as necessary. The control strategy is experimentally vetted through vehicle-in-the-loop (VIL) of a prototype CAV that is embedded into a virtual traffic corridor realized through microsimulation. Up to 36% fuel savings are measured with the proposed control approach over a human-modelled driver, and it was found connectivity in the automation approach improved fuel economy by up to 26% over automation without. Additionally, the passive energy benefits realizable for human drivers when driving behind downstream CAVs are measured, showing up to 22% fuel savings in a HV when driving behind a small penetration of connectivity-enabled automated vehicles.
Boosting Energy Efficiency of Heterogeneous Connected Automated Vehicle (CAV) Fleets via Anticipative and Cooperative Vehicle Guidance
In 2017, the Department of Energy funded a team at Clemson University and Argonne National Laboratory to develop collaborative perception and anticipative/predictive vehicle guidance schemes for Connected and Automated Vehicles (CAVs) and to quantify the energy saving potential of this technology in large scale traffic microsimulations at different levels of technology penetration and also experimentally. The project goal was demonstrating up to a 10% energy saving potential from different aspects of the implementation with a focus on reducing unnecessary braking events by anticipatory speed and lane selection. This project introduced novel anticipative car following and lane selection schemes for Connected and Automated Vehicles (CAVs). Our control schemes benefited from prediction of human driver behavior, information exchange between CAVs, and sometimes from collaboration to save energy, reduce braking events, and harmonize traffic. The energy savings was first demonstrated by traffic micro-simulations and then via a novel Vehicle-In-the-Loop (VIL) experimental testbed.
Defense Waste Processing Facility Nitric-Glycolic Flowsheet Chemical Process Cell Chemistry: Part 2
The conversions of nitrite to nitrate, the destruction of glycolate, and the conversion of glycolate to formate and oxalate were modeled for the Nitric-Glycolic flowsheet using data from Chemical Process Cell (CPC) simulant runs conducted by Savannah River National Laboratory (SRNL) from 2011 to 2016. The goal of this work was to develop empirical correlation models to predict these values from measurable variables from the chemical process so that these quantities could be predicted a-priori from the sludge or simulant composition and measurable processing variables. The need for these predictions arises from the need to predict the REDuction/OXidation (REDOX) state of the glass from the Defense Waste Processing Facility (DWPF) melter. This report summarizes the work on these correlations based on the aforementioned data. Previous work on these correlations was documented in a technical report covering data from 2011-2015. This current report supersedes this previous report. Further refinement of the models as additional data are collected is recommended. The glass REDOX depends on the concentrations of nitrate and manganese (oxidants), and of glycolate, formate, oxalate, carbon, and antifoam (reductants) in the melter feed. The waste sludge contains nitrite, nitrate, manganese (Mn), and oxalate. Virtually all of the nitrite is converted to nitrate or NO+NO 2 +N 2 O gases in the CPC. The portion of the nitrite converted to nitrate increases the amount of nitrate in the sludge. The amount of glycolate in the final melter feed depends on the amount of the glycolic acid feed that is destroyed. Similarly, the amounts of formate and oxalate formed during the decomposition of glycolic acid are required. The material balance on carbon was found to not close in most cases. Generally, there was less carbon at the end of testing compared to the inputs. The most uncertain product variable was glycolate, so material balances were performed where the glycolate concentration was adjusted, usually upward, to close the balance. Correlation versus the original, as-measured, data was generally poor, but correlation against the material balance adjusted values was greatly improved. It was also shown that the correlation of the measured REDOX versus the predicted REDOX was much better when the material balance adjusted glycolate values were used. Three data series were primarily used during the regressions of the data; these series were 1) Sludge Batch 9 NG flowsheet simulant runs NG51-62 (SB9-NG); 2) Scaled Runs + Bounding Hydrogen Runs (SR+BH); and 3) Runs GN43-50 and 57 (43-50,57). The glycolate destruction was found to correlate with acid stoichiometry (AS), percent reducing acid (PRA), and for some data series, headspace to simulant volume ratio (HSV), mercury (Hg), and nitrate. Although glycolate destruction for pairs of data series (e.g., [SB9-NG] and [SR+BH]) were found to depend on HSV, the combination of all three data series was not found to have significant dependence on this variable. The best model for glycolate destruction depended on AS, nitrate, and Hg. This model predicted the product glycolate compositions of the data to within 92-106%. The conversion of glycolate to formate was high when noble metals and Hg were not present, with values up to 100%. When noble metals and Hg were present, this conversion ranged from zero to 7%, and was dependent on AS. Lower AS gave higher conversions to formate. The conversion to oxalate was found to depend on the AS and the initial concentration of nitrite. An alternative fit versus AS and the form of ruthenium (Ru) used is a possible alternative. This fit was somewhat less statistically significant. This second model predicts that more oxalate is formed when Ru-nitrosyl nitrate is used rather than Ru chloride. The conversion of glycolate to oxalate ranged from zero to 6%. The conversion of nitrite to nitrate depended primarily on AS and PRA, with HSV and Hg being significant when these variables were varied. For multiple series of data, nitrite was also needed to SRNL-STI-2017-00172 5HYLVLRQ viL distinguish between data series, and the effect of HSV became insignificant. The best model for nitrite to nitrate conversion depended on AS, PRA, nitrite, and Hg. The 95% confidence intervals on the predicted values of glycolate destruction, glycolate to oxalate conversion, and nitrite to nitrate conversion were used to determine the uncertainty in the predicted REDOX when starting with only the composition of the sludge, AS, and PRA. Using the 95% confidences on an individual value (that is the confidence in getting a particular value for one single test as opposed to what the mean would be for multiple tests), the uncertainty in the predicted REDOX was calculated. The uncertainty in the actual product composition glycolate, oxalate, formate, and nitrate concentrations translated to an uncertainty in the REDOX value of ±0.1,which is approximately the uncertainty claimed in the REDOX model itself.
Adapte Agrivoltayik Pou Mini-Rezo Sole Ann Ayiti
Ak mwens pase 2% nan popilasyon riral la ki gen akse a elektrisite ak preske mwatye popilasyon an ap fe fas ak grangou egi, Ayiti fe fas a defi entekonekte nan povrete eneji ak ensekirite alimante. Yon solisyon pou ede abode povrete eneji ann Ayiti se devlopman mini-griy sole distribiye, sitou sole. Sepandan, souvan te ki pi byen adapte pou deplwaye jenerasyon sole se tou pi byen adapte pou agrikilti pa ti femye yo, kidonk kreye yon tansyon potansyelman konplike ant akse eneji ak sekirite manje. Pou adrese tansyon sa a, devlope sole yo, espesyalis agrikol yo ak cheche yo ap egzamine ansanm yon nouvo solisyon ki rele "agrivoltayik". Agrivoltaics se yon solisyon pataje te-itilize ki rapidman elaji nan mache sole etabli tankou Etazini, Ewop, ak Azi ki pe sole ak agrikilti, pwodwi elektrisite ak bay espas pou rekot ak bet patiraj anba ak ant panno. Nan kad Patenarya Akse Eneji pou Ayiti a ak Ajans Ameriken pou Devlopman Entenasyonal (USAID), Laboratwa Nasyonal Eneji Renouvlab (NREL) te fe yon premye analiz posibilite ak pwoje angajman pati konsene yo pou evalye potansyel agrivoltayik nan konteks mini-gri an Ayiti. Analiz la te konsidere mini-grid tipik 100-kW ak pi gwo 1-MW nan vil atrave Ayiti epi li te devlope de egzanp arketip agrivoltaik ki baze sou kontribisyon lokal kle yo, ki gen ladan irradians sole, done pwodiksyon ki soti nan resansman agrikol la, pri sou mache a, entevyou ak moun ki gen entere yo, ak ki egziste deja, rechech agrivoltayik. See NREL/TP-7A40-88444 for the English translation of this document.
Modifying Network Guided Vehicle for Repeatable EcoCAR ACC Energy Testing
The newest iteration of the Department of Energy (DOE) Advanced Vehicle Technology Competitions is the EcoCAR Mobility Challenge. In this paper, ANL and HORIBA MIRA collaborate to propose and pilot a test method that enables controlled, repeatable track-based energy consumption testing of semi-autonomous features. The testing was performed at MIRA’s proving ground facility in Nuneaton, UK, using their Network Guided Vehicle (NGV) connectivity and automation test platform. The NGV served as a repeatable lead vehicle following prescribed drive traces around two different track circuits while the host vehicle under test, a Honda Civic with full speed range Adaptive Cruise Control, followed behind. Over the course of a two day test, multiple iterations of certification and custom EPA drive traces were performed on track, demonstrating the viability of a two vehicle energy test. Results were analyzed to assess NGV lead vehicle performance in following the prescribed cycle using SAE J2951 standard calculations in an effort to quantify how repeatably and accurately the lead vehicle followed the trace. Host vehicle energy consumption was assessed using both vehicle CAN bus monitoring and an on-board fuel flow meter.