Automated driving and autonomous functions on road vehicles

In recent years, road vehicle automation has become an important and popular topic for research and development in both academic and industrial spheres. New developments received extensive coverage in the popular press, and it may be said that the topic has captured the public imagination. Indeed, the topic has generated interest across a wide range of academic, industry and governmental communities, well beyond vehicle engineering; these include computer science, transportation, urban planning, legal, social science and psychology. While this follows a similar surge of interest – and subsequent hiatus – of Automated Highway Systems in the 1990’s, the current level of interest is substantially greater, and current expectations are high. It is common to frame the new technologies under the banner of “self-driving cars” – robotic systems potentially taking over the entire role of the human driver, a capability that does not fully exist at present. However, this single vision leads one to ignore the existing range of automated systems that are both feasible and useful. Recent developments are underpinned by substantial and long-term trends in “computerisation” of the automobile, with developments in sensors, actuators and control technologies to spur the new developments in both industry and academia. In this paper we review the evolution of the intelligent vehicle and the supporting technologies with a focus on the progress and key challenges for vehicle system dynamics. A number of relevant themes around driving automation are explored in this article, with special focus on those most relevant to the underlying vehicle system dynamics. One conclusion is that increased precision is needed in sensing and controlling vehicle motions, a trend that can mimic that of the aerospace industry, and similarly benefit from increased use of redundant by-wire actuators

DUKSUP: A Computer Program for High Thrust Launch Vehicle Trajectory Design and Optimization

From the late 1960's through 1997, the leadership of NASA's Intermediate and Large class unmanned expendable launch vehicle projects resided at the NASA Lewis (now Glenn) Research Center (LeRC). One of LeRC's primary responsibilities --- trajectory design and performance analysis --- was accomplished by an internally-developed analytic three dimensional computer program called DUKSUP. Because of its Calculus of Variations-based optimization routine, this code was generally more capable of finding optimal solutions than its contemporaries. A derivation of optimal control using the Calculus of Variations is summarized including transversality, intermediate, and final conditions. The two point boundary value problem is explained. A brief summary of the code's operation is provided, including iteration via the Newton-Raphson scheme and integration of variational and motion equations via a 4th order Runge-Kutta scheme. Main subroutines are discussed. The history of the LeRC trajectory design efforts in the early 1960's is explained within the context of supporting the Centaur upper stage program. How the code was constructed based on the operation of the Atlas/Centaur launch vehicle, the limits of the computers of that era, the limits of the computer programming languages, and the missions it supported are discussed. The vehicles DUKSUP supported (Atlas/Centaur, Titan/Centaur, and Shuttle/Centaur) are briefly described. The types of missions, including Earth orbital and interplanetary, are described. The roles of flight constraints and their impact on launch operations are detailed (such as jettisoning hardware on heating, Range Safety, ground station tracking, and elliptical parking orbits). The computer main frames on which the code was hosted are described. The applications of the code are detailed, including independent check of contractor analysis, benchmarking, leading edge analysis, and vehicle performance improvement assessments. Several of DUKSUP's many major impacts on launches are discussed including Intelsat, Voyager, Pioneer Venus, HEAO, Galileo, and Cassini

Proceedings of the Seventh Annual Summer Conference. NASA/USRA: University Advanced Design Program

The Advanced Design Program (ADP) is a unique program that brings together students and faculty from U.S. engineering schools with engineers from the NASA centers through integration of current and future NASA space and aeronautics projects into university engineering design curriculum. The Advanced Space Design Program study topics cover a broad range of projects that could be undertaken during a 20-30 year period beginning with the deployment of the Space Station Freedom. The Advanced Aeronautics Design Program study topics typically focus on nearer-term projects of interest to NASA, covering from small, slow-speed vehicles through large, supersonic passenger transports and on through hypersonic research vehicles. Student work accomplished during the 1990-91 academic year and reported at the 7th Annual Summer Conference is presented

DUKSUP: A Computer Program for High Thrust Launch Vehicle Trajectory Design and Optimization

From the late 1960s through 1997, the leadership of NASAs Intermediate and Large class unmanned expendable launch vehicle projects resided at the NASA Lewis (now Glenn) Research Center (LeRC). One of LeRCs primary responsibilities --- trajectory design and performance analysis --- was accomplished by an internally-developed analytic three dimensional computer program called DUKSUP. Because of its Calculus of Variations-based optimization routine, this code was generally more capable of finding optimal solutions than its contemporaries. A derivation of optimal control using the Calculus of Variations is summarized including transversality, intermediate, and final conditions. The two point boundary value problem is explained. A brief summary of the codes operation is provided, including iteration via the Newton-Raphson scheme and integration of variational and motion equations via a 4th order Runge-Kutta scheme. Main subroutines are discussed. The history of the LeRC trajectory design efforts in the early 1960s is explained within the context of supporting the Centaur upper stage program. How the code was constructed based on the operation of the AtlasCentaur launch vehicle, the limits of the computers of that era, the limits of the computer programming languages, and the missions it supported are discussed. The vehicles DUKSUP supported (AtlasCentaur, TitanCentaur, and ShuttleCentaur) are briefly described. The types of missions, including Earth orbital and interplanetary, are described. The roles of flight constraints and their impact on launch operations are detailed (such as jettisoning hardware on heating, Range Safety, ground station tracking, and elliptical parking orbits). The computer main frames on which the code was hosted are described. The applications of the code are detailed, including independent check of contractor analysis, benchmarking, leading edge analysis, and vehicle performance improvement assessments. Several of DUKSUPs many major impacts on launches are discussed including Intelsat, Voyager, Pioneer Venus, HEAO, Galileo, and Cassini

NASA Historical Data Book

In 1973, NASA published the first volume of the NASA Historical Data Book, a hefty tome containing mostly tabular data on the resources of the space agency between 1958 and 1968. There, broken into detailed tables, were the facts and figures associated with the budget, facilities, procurement, installations, and personnel of NASA during that formative decade. In 1988, NASA reissued that first volume of the data book and added two additional volumes on the agency's programs and projects, one each for 1958-1968 and 1969-1978. NASA published a fourth volume in 1994 that addressed NASA resources for the period between 1969 and 1978. This fifth volume of the NASA Historical Data Book is a continuation of those earlier efforts. This fundamental reference tool presents information, much of it statistical, documenting the development of four critical areas of NASA responsibility for the period between 1979 and 1988. This volume includes detailed information on the development and operation of launch systems, space transportation, human spaceflight, and space science during this era. As such, it contains in-depth statistical information about the early Space Shuttle program through the return to flight in 1988, the early efforts to build a space station, the development of new launch systems, and the launching of seventeen space science missions. A companion volume will appear late in 1999, documenting the space applications, support operations, aeronautics, and resources aspects of NASA during the period between 1979 and 1988. NASA began its operations as the nation's civilian space agency in 1958 following the passage of the National Aeronautics and Space Act. It succeeded the National Advisory Committee for Aeronautics (NACA). The new organization was charged with preserving the role of the United States "as a leader in aeronautical and space science and technology" and in its application, with expanding our knowledge of the Earth's atmosphere and space, and with exploring flight both within and outside the atmosphere. By the 1980s, NASA had established itself as an agency with considerable achievements on record. The decade was marked by the inauguration of the Space Shuttle flights and haunted by the 1986 Challenger accident that temporarily halted the program. The agency also enjoyed the strong support of President Ronald Reagan, who enthusiastically announced the start of both the Space Station program and the National Aerospace Plane program

Proceedings of the 6th Annual Summer Conference: NASA/USRA University Advanced Design Program

The NASA/USRA University Advanced Design Program is a unique program that brings together NASA engineers, students, and faculty from United States engineering schools by integrating current and future NASA space/aeronautics engineering design projects into the university curriculum. The Program was conceived in the fall of 1984 as a pilot project to foster engineering design education in the universities and to supplement NASA's in-house efforts in advanced planning for space and aeronautics design. Nine universities and five NASA centers participated in the first year of the pilot project. The study topics cover a broad range of potential space and aeronautics projects that could be undertaken during a 20 to 30 year period beginning with the deployment of the Space Station Freedom scheduled for the mid-1990s. Both manned and unmanned endeavors are embraced, and the systems approach to the design problem is emphasized

Pioneer Venus

Venus before Pioneer, the Pioneer Venus mission, Pioneer Venus spacecraft, scientific investigation, mission to Venus scientific results, and results of Soviet studies of Venus are addressed. A chronology of exploration of Venus from Earth before the Pioneer Venus mission and Venus nomenclature and mythology are provided

The Second Conference on Lunar Bases and Space Activities of the 21st Century, volume 2

These 92 papers comprise a peer-reviewed selection of presentations by authors from NASA, the Lunar and Planetary Institute (LPI), industry, and academia at the Second Conference on Lunar Bases and Space Activities of the 21st Century. These papers go into more technical depth than did those published from the first NASA-sponsored symposium on the topic, held in 1984. Session topics included the following: (1) design and operation of transportation systems to, in orbit around, and on the Moon; (2) lunar base site selection; (3) design, architecture, construction, and operation of lunar bases and human habitats; (4) lunar-based scientific research and experimentation in astronomy, exobiology, and lunar geology; (5) recovery and use of lunar resources; (6) environmental and human factors of and life support technology for human presence on the Moon; and (7) program management of human exploration of the Moon and space

The 1994 Silver Anniversary of APOLLO 11: From the Moon to the Stars

This report summarizes the technology transfer, advanced studies, and research and technology efforts in progress at Marshall Space Flight Center (MSFC) in 1994

Brake Steer Torque Optimized Corner Braking of Motorcycles

This thesis deals with the Brake Steer Torque (BST) induced stand-up tendency of Powered Two Wheelers (PTW) and measures to lower the associated risk for running wide on curve accidents with sudden, unforeseen braking. Focus is set on the BST Avoidance Mechanism (BSTAM), a chassis design that eliminates the BST through lateral inclination of the kinematic steering axis. A simple mathematical model is used to identify its main influences on the driving behavior and derive an optimized system layout. Its theoretical potential is evaluated against the standard chassis using different cornering adaptive brake force distributions and riding styles. For the first time ever, a motorcycle with state-of-the-art brake system (Honda CBR 600 RR, C-ABS) is equipped with a BSTAM and tested in corner braking experiments. Compared to the baseline, it is significantly reducing BST related disturbances and improving directional control. The gained insights can be stepping stones to enhance PTW safety by enabling future assistance systems with autonomous corner braking