ARC Collaborative Research Seminar Series
ARC seminars are free and open to the general public. Center members can download the presentation files on our password-access online portal iARC. Non-ARC attendees please email firstname.lastname@example.org with your requests.
Parking & directions inquires: Contact email@example.com) by 2:00 p.m. the day before the seminar
Remote attendance via tele/video conference: Contact William Lim (firstname.lastname@example.org)
Refreshments will be served 9:15-9:30am. The talks will begin at 9:30 a.m. sharp.
Event venue alternates between University of Michigan (Ann Arbor) and U.S. Army TARDEC (Warren)
September16, Friday (9:30a.m. - 11a.m.)
University of Michigan, UM North Campus, Phoenix Memorial Lab. 2000A
1. Army-Automotive Needs/Focus Areas & What the National Automotive Center Can Do For You
Mr. Paul Decker, Director, National Automotive Center (NAC), U.S. Army TARDEC
2. Trust-Based Control, Decision-Making, and Scheduling for Human-Robot Collaboration Systems
Dr. Yue “Sophie” Wang, Warren H. Owen – Duke Energy Assistant Professor of Engineering, Clemson University
Thrust Area 4: Advanced and Hybrid Powertrains
Internal Combustion Engine & Fuels
1. Fuel Surrogates Studies and their Relation to Advanced Engine and Vehicle Development
Dr. André Boehman, Professor of Mechanical Engineering, University of Michigan
October 28, Friday (9:30a.m. - 11a.m.)
University of Michigan, UM North Campus, Duderstadt Center, room 1180
Thrust Area 4: Advanced and Hybrid Powertrains
1. A Smart Thermal Bus for Ground Vehicle Cooling Applications (project link)
Dr. John Wagner, Professor of Mechanical Engineering, Clemson University
Dr. Richard Miller, Associate Professor of Mechanical Engineering, Clemson University
Designing an efficient cooling system with low power consumption is of high interest in the automotive engineering community. Heat generated due to the propulsion system and the on-board electronics in ground vehicles must be dissipated to avoid exceeding component temperature limits. In addition, proper thermal management will offer improved system durability and efficiency while providing a flexible, modular, and reduced weight structure. Traditional cooling systems are effective but they typically require high energy consumption which provides motivation for a paradigm shift. This presentation will examine the integration of passive heat rejection pathways in ground vehicle cooling systems using a “thermal bus.” Potential solutions include heat pipes and low-weight advanced materials with high thermal energy transfer rates to move heat from the source to ambient surroundings. An initial case study focuses on the integration of heat pipes into both a “cradle” (thermal connector between heat load and bus) and the thermal bus to transfer heat from the thermal load (e.g., internal combustion engine, electric motor, battery pack, power electronic, etc.) to the heat exchanger. A bench-top experimental component is being constructed to facilitate model validations.
This talk describes our ongoing efforts to study battery thermal management in electric or hybrid powertrain systems, with a particular focus on the thermal behavior in a relatively large pack. An experimental platform was developed by combining dummy and real prismatic cells so that controlled tests can be performed in a battery pack consisting of 16 or more cells, and corresponding instrumentation developed to monitor fundamental thermal and fluid properties of the pack. Results have shown the effectiveness of this platform to study key aspects of cooling in a large pack, including both fundamental aspects such as model development/validation and applied aspects such as the design of active monitoring and control algorithms. A control strategy based on the model developed based on this platform was demonstrated to significantly reduce the parasitic power consumption of the cooling system.
December 2, Friday (9:30a.m. - 11a.m.)
Gerald R. Ford Presidential Library Classroom at the University of Michigan North Campus
1000 Beal Ave., Ann Arbor, MI 48109
Thrust Area 2: Human Centered Modeling and Simulation
1. Teleoperation with Semi-Autonomous Behaviors and Latency (project link)
Mr. Justin Storms, Ph.D. Student, University of Michigan
Dr. Dawn Tilbury, Professor of Mechanical Engineering, University of Michigan
Teleoperation of unmanned ground vehicles (UGVs) in distant environments is plagued with difficulties including communication delay and poor perception of the UGV’s environment. This project has explored the impact of delay on teleoperation performance, as well as methods for automating portions of the UGV operation. We have considered navigation for tasks involving path following and less structured exploration of environments. Operation modes ranging from pure teleoperation to semi-autonomous control have been tested with human subjects. One key finding has been that while semi-autonomy can improve teleoperation performance, the improvement is highly dependent on operation conditions. For example, semi-autonomy offers little improvement over teleoperation at low delay, however there are significant improvements at high delay.
2. Quantifying the Benefits of Haptic Shared Control for Remotely Controlled and Semi- Automated Ground Vehicles (project link)
Dr. Amirhossein Ghasemi, Research Fellow, Mechanical Engineering, University of Michigan
Dr. Brent Gillespie, Associate Professor of Mechanical Engineering, University of Michigan
Haptic shared control promises to improve performance in remote control of unmanned ground vehicles by combining the best attributes of human and automatic control. In this framework, the driver remains bodily in the loop, monitoring the automation’s behavior with a minimum of conscious attention. While a fluid definition of authority can ensure smooth transitions between automatic and human control, a risk arises when rules are not imposed to ensure that only one agent functions as leader at any given time. When rules involving role adoption are not imposed, the human and automation may attempt to impose differing control actions simultaneously that may cancel each other out. In this talk we present results from a series of experiments designed to investigate and resolve the question of role and authority negotiation in a haptic shared control task. In particular, we consider situations in which the negotiation over control authority is essential to avoid misinterpretation between the two collaborating partners. We manipulate leader/follower roles and investigate the effect on obstacle avoidance and lane following performance.