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SMART Mobility. Connected and Automated Vehicles Capstone Report

The U.S. Department of Energy’s Systems and Modeling for Accelerated Research in Transportation (SMART) Mobility Consortium is a multiyear, multi-laboratory collaborative, managed by the Energy Efficient Mobility Systems Program of the Office of Energy Efficiency and Renewable Energy, Vehicle Technologies Office, dedicated to further understanding the energy implications and opportunities of advanced mobility technologies and services. The first three-year research phase of SMART Mobility occurred from 2017 through 2019 and included five research pillars: Connected and Automated Vehicles, Mobility Decision Science, Multi-Modal Freight, Urban Science, and Advanced Fueling Infrastructure. A sixth research thrust integrated aspects of all five pillars to develop a SMART Mobility Modeling Workflow to evaluate new transportation technologies and services at scale. This report summarizes the work of the Connected and Automated Vehicles (CAVs) Pillar. This Pillar investigated the energy, technology, and usage implications of vehicle connectivity and automation and identified efficient CAV solutions. For information about the other Pillars and about the SMART Mobility Modeling Workflow, please refer to the relevant Pillar’s Capstone Report.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Assessing High-Intensity Radiated Fields (HIRF) from High-Power Antennas for Air Vehicle Safety

Advanced Air Mobility (AAM), including Urban Air Mobility (UAM), vehicles may be required to meet stringent High-Intensity Radiated Fields (HIRF) certification requirements. HIRF can cause interference and even damage to vehicle systems. A recently proposed map-based avoidance approach can help reduce HIRF protection costs compared to the standard approach. However, it necessitates knowing the locations, frequencies, and transmit powers of high-power antennas within the operating area. This study aims to provide the necessary transmitter data by utilizing regulatory license databases. Using New York City as a representative urban area, fixed transmitter data are presented for AM, FM, TV, satellite uplink, land-mobile radio, microwave link, weather radars, and others. The maximum effective isotropic radiated powers of the antenna are reported. The associated electric field envelopes at 100 feet (30.48 m) distance are compared against the current rotorcraft HIRF standard. The results show that the current standards for protecting vehicles are inadequate. Maps of regions with high HIRF are illustrated. Data for several other cities are also being considered.

HIRF↗

Assessing High-Intensity Radiated Fields (HIRF) from High-Power Antennas for Air Vehicle Safety

Advanced Air Mobility (AAM), including Urban Air Mobility (UAM), vehicles may be required to meet stringent High-Intensity Radiated Fields (HIRF) certification requirements. HIRF can cause interference and even damage to vehicle systems. A recently proposed map-based avoidance approach can help reduce HIRF protection costs compared to the standard approach. However, it necessitates knowing the locations, frequencies, and transmit powers of high-power antennas within the operating area. This study aims to provide the necessary transmitter data by utilizing regulatory license databases. Using New York City as a representative urban area, fixed transmitter data are presented for AM, FM, TV, satellite uplink, land-mobile radio, microwave link, weather radars, and others. The maximum effective isotropic radiated powers of the antenna are reported. The associated electric field envelopes at 100 feet (30.48 m) distance are compared against the current rotorcraft HIRF standard. The results show that the current standards for protecting vehicles are inadequate. Maps of regions with high HIRF are illustrated. Data for several other cities are also being considered.

HIRF↗

Conceptual Design of a Tiltduct Reference Vehicle for Urban Air Mobility

NASA is establishing a fleet of conceptual air vehicle designs to support research and development for Urban Air Mobility (UAM). This fleet of vehicles will enable examination of the sensitivity of UAM vehicle designs to technology assumptions, identify key research and development needs for UAM aircraft, and provide the UAM community with reference vehicles that are publicly available and based upon known assumptions. To date, five six-passenger UAM reference vehicles have been published: a single-main-rotor helicopter, a side-by-side helicopter, a quadrotor, a lift-plus-cruise, and a tiltwing. To increase the breadth of vehicle technologies encapsulated in the fleet of NASA UAM reference vehicles, this paper establishes a tiltduct vehicle as an addition to the fleet. The fleet will continue to evolve as future analyses and trade studies are performed. The tiltduct UAM reference vehicle has six tilting ducted proprotors. This paper describes the initial configuration downselection; discusses ducted proprotor design rules of thumb as they applied to the conceptual design of the reference vehicle; describes the vehicle sizing, trade studies, and tuning of models performed; and finally, compares the resulting tiltduct vehicle against the other six-passenger NASA UAM reference vehicles. The high-level analyses performed for this study did not indicate significant differences in performance between the tiltduct and tiltwing reference vehicles, and so vehicle performance alone may not be a key driver in the selection of a tiltduct vehicle over a tiltwing vehicle. However, if ducts are found to have significant acoustical benefits, then acoustical priorities may provide a compelling reason to incorporate ducted proprotors. One significant limitation of the design presented in this paper is that the ducted proprotor performance was tuned based upon performance characteristics observed during historical tests with disk loadings (defined as thrust divided by proprotor disk area) of 125-250 lb/ft$^2$. The tiltduct vehicle designed in this study has a disk loading of 30 lb/ft$^2$, to be more representative of UAM vehicles; further studies to understand performance of ducted proprotors at representative disk loadings are warranted.

Tiltduct↗

Conceptual Design of a Tiltduct Reference Vehicle for Urban Air Mobility

NASA is establishing a fleet of conceptual air vehicle designs to support research and development for Urban Air Mobility (UAM). This fleet of vehicles will enable examination of the sensitivity of UAM vehicle designs to technology assumptions, identify key research and development needs for UAM aircraft, and provide the UAM community with reference vehicles that are publicly available and based upon known assumptions. To date, five six-passenger reference vehicles have been published: a quadrotor, a side-by-side, a lift-plus-cruise, a single-main-rotor helicopter, and a tiltwing. To increase the breadth of vehicle technologies encapsulated in the fleet of NASA UAM reference vehicles, this paper establishes a tiltduct vehicle as an addition to the fleet. The fleet will continue to evolve as future analyses and trade studies are performed. The tiltduct reference vehicle has six tilting ducted proprotors. This paper describes the initial configuration downselection; discusses ducted proprotor design rules of thumb as they applied to the conceptual design of the reference vehicle; describes the vehicle sizing, trade studies, and tuning of models performed; and finally, compares the resulting tiltduct vehicle against the other six-passenger NASA UAM reference vehicles. The high-level analyses performed for this study did not indicate significant differences in performance between the tiltduct and tiltwing reference vehicles, and so vehicle performance alone may not be a key driver in the selection of a tiltduct vehicle over a tiltwing vehicle. However, if ducts are found to have significant acoustical benefits, then acoustical priorities may provide a compelling reason to incorporate ducted proprotors. One significant limitation of the design presented in this paper is that the ducted proprotor performance was tuned based upon performance characteristics observed during historical tests with disk loadings (defined as thrust divided by proprotor disk area) of 125-250 lb/ft^2. The tiltduct vehicle designed in this study has a disk loading of 30 lb/ft^2, to be more representative of UAM vehicles; further studies to understand performance of ducted proprotors at representative disk loadings are warranted.

Tiltduct↗

Design of a Tiltwing Concept Vehicle for Urban Air Mobility

NASA is establishing a fleet of conceptual air vehicle designs to support research and development for Urban Air Mobility (UAM). This fleet of vehicles will enable examination of the sensitivity of UAM vehicle designs to technology assumptions, identify key research and development needs for UAM aircraft, and provide the UAM community with reference vehicles that are publicly available and based upon known assumptions. To date, four six-passenger reference vehicles have been established: a quadrotor, a side-by-side, a lift-plus-cruise, and a quiet single main rotor helicopter; this paper adds a tiltwing vehicle to the fleet. This paper details the design process that was followed in order to establish the tiltwing vehicle in the fleet, including early conceptual design decisions, sizing and configuration trades, structural analyses, proprotor design and aeroacoustic predictions, and aerodynamic analyses. The resulting tiltwing vehicle uses a turboelectric propulsion system to power six proprotors positioned on a tilting main wing and two tilting proprotors positioned on the horizontal tail. This paper also compares the resulting tiltwing vehicle with the other six-passenger reference vehicles, including an updated lift-plus-cruise vehicle, and then proposes future studies. The fleet of UAM reference vehicles will continue to evolve; subsequent versions of the reference vehicles will be based upon the results of future trade studies and technology developments.

Urban Air Mobility↗

Mobile Launch Platform Vehicle Assembly Building Area (SWMU 056) Hot Spot 3 Bioremediation Interim Measures Work Plan, Kennedy Space Center, Florida

This Interim Measures Work Plan (IMWP) presents an approach and design for the remediation of chlorinated volatile organic compound (CVOC) groundwater impacts using bioremediation (biostimulation and bioaugmentation) in Hot Spot 3, which is defined by the area where CVOC (trichloroethene [TCE], cis-1,2-dichloroethene [cDCE], and vinyl chloride [VC]) concentrations are greater than 10 times their respective Florida Department of Environmental Protection (FDEP) Natural Attenuation Default Concentration (NADC) [10xNADC] near the western Mobile Launch Platform (MLP) structure. The IM treatment area is the Hot Spot 3 area, which is approximately 0.07 acres and extends from approximately 6 to 22 and 41 to 55 feet below land surface (ft BLS). Within Hot Spot 3, a source zone (SZ; area with TCE concentrations greater than 1% solubility [11,000 micrograms per liter (micrograms/L)]) was delineated and is approximately 0.02 acres and extends from approximately 6 to 16 and 41 to 50 ft BLS.

MLPV↗

Design of a Six-Tiltrotor Concept Vehicle for Urban Air Mobility

NASA has developed a series of aircraft concepts known as reference vehicles for urban air mobility operations to facilitate research and development, enabling system-level comparisons between design candidates. In this study, new six-tiltrotor reference vehicles with full-electric and turboelectric propulsion systems were developed using the NASA Design and Analysis of Rotorcraft (NDARC) tool. The sizing results and performance metrics of these new vehicles are presented, along with comparisons to existing reference vehicles. The turboelectric six-tiltrotor is shown to be the fastest among the turboelectric reference vehicles. Although the full-electric six-tiltrotor is not as fast as the turboelectric version, it still offers considerable speed along with increased safety compared to the tiltrotor reference vehicle.

Six-Tiltrotor↗

Energy Augmentation for Vehicle Electric Systems (EAVES)

This preliminary study evaluated eight concepts for augmenting the energy state of electric Vertical Take-Off and Landing vehicles. Advanced Air Mobility electric vehicles could need additional charge due to depleted batteries (e.g., strong winds along the way) while approaching their destination. There are five direct charging and three indirect charging concepts presented in this paper. The concepts are in the preliminary research stage and are being refined. Considering the concepts are for the year 2045 timeframe, there is sufficient time to evolve them, along with the designs of these electric air vehicles. This Technical Memorandum describes more detail and provides a discussion on the desirability, viability, feasibility, and wickedness of these energy augmentation concepts. A discussion of barriers and initial investigation approach for the concepts is presented as well. One intent for the presentation of this Technical Memorandum is to capture the work done from March through September 2022 within NASA’s Convergent Aeronautics Solutions (CAS) Project, in the Transformative Aeronautics Concepts Program. At the end of the effort, it was decided that only one concept would be further investigated. The rest of the concepts for energy augmentation would be described in this document and could be picked up later if NASA chose to further investigate them. This document is a collection of input from the authors regarding the concepts they worked on. It is not intended to be a conference or journal publication, but a record of research conducted on the concepts considered by the Energy Augmentation for Vehicle Electric Systems (EAVES) team consisting of the authors. Mr. Todd Stinchfield was the Principal Investigator.

Kapil Sheth↗

Vehicle antenna development for mobile satellite applications

The paper summarizes results of a vehicle antenna program at JPL in support of a developing U.S. mobile satellite services (MSS) designed to provide telephone and data services for the continental United States. Two classes of circularly polarized vehicle antennas have been considered for the MSS: medium-gain, satellite-tracking antennas with 10-12-dBic gain; and low-gain, azimuthally omnidirectional antennas with 3-5-dBic gain. The design and performance of these antennas are described, and the two antennas are shown to have peculiar advantages and disadvantages.

Woo, K.↗

Reference Command Optimization for the Transition Flight Mode of a Lift plus Cruise Vehicle

Advanced air mobility mainly utilizes vehicles that are capable of vertical takeoff and landing (VTOL) for the simplicity of operation and large-scale deployment. However, VTOL vehicles need specialized trajectory and command design for the transition phase, where the vehicles transition between rotor-borne flight and wing-borne flight. Since VTOL vehicles are commonly designed as over-actuated systems for redundancy, one challenge that arises is actuator ambiguity, where it is unclear how to uniquely command actuators for the VTOL vehicle to track a given trajectory. We propose a method to design optimal reference commands for the transition mode. By formulating an 𝑙 1 -norm cost function on the rotor thrusts of the vehicle, we can achieve economical operation of the rotors such that they only operate when necessary and efficiently utilize the aerodynamics to save energy from reduced rotor actuation. We validate our approach in simulations and show its benefit compared to the commonly used differential flatness-based method.

John L Bullock↗

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↗

The Automated Mobility District Implementation Catalog, 2nd Edition: Safe and Efficient Automated Vehicle Fleet Operations for Public Mobility

This second volume of the Automated Mobility District (AMD) Implementation Catalog series has been prepared in three parts to assist readers in their review and understanding of the technical information herein. The material may be more easily ingested if each of the three parts is read and then contemplated for its ramifications to the specific interest of the reader before continuing to the next part. Further, each part has been prepared with the intent that it could be read independently from the others. Part 1 is Progress of Automated Vehicle R&D for Deployments in Passenger Service; Part 2 is 10 Early Deployment Sites as Prototypes of AMD Implementation; Part 3 is Five Cardinal Principles for AMD Implementation.

33 ADVANCED PROPULSION SYSTEMS↗

Evaluate the System-Level Impact of Connected and Automated Vehicles Coupled with Shared Mobility: An Agent-based Simulation Approach

With the rapid growth of information and communication technologies, Connected and Automated Vehicles (CAVs) are deemed to be disruptive with the potential to significantly improve overall transportation system efficiency, however, may bring Vehicle Miles Traveled (VMT) increase or other issues. Further, shared mobility systems are another disruptive force that is reshaping our travel patterns. To quantify the combined impact of CAV and shared mobility on travel behavior, traffic performance and energy efficiency, we develop a mesoscopic simulation-based framework for mobility and energy efficiency evaluation considering the disruptive transportation technologies. Under this framework, we develop novel models for energy intensity and modal activity, and evaluated a variety of energy scenarios for different combinations of CAV applications, various levels of automation, roadway characteristics, and traffic conditions, while also varying different vehicle types and fuel/powertrain technologies. Based applying this modeling suite to a calibrated BEAM simulation 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.

42 ENGINEERING↗

High-Fidelity Simulations of a Tiltwing Vehicle for Urban Air Mobility

NASA is playing an important role in the development of the urban air mobility ecosystem by identifying key research areas and establishing a fleet of conceptual reference vehicles for urban air mobility applications. This paper delves deeper into the study of NASA’s six-passenger tiltwing air taxi aerodynamics using high-fidelity computational fluid dynamics simulations. NASA’s OVERFLOW flow solver has been loosely-coupled with the rotorcraft comprehensive analysis code CAMRAD II. Dual-time stepping, high-order accurate schemes, and the delayed detached-eddy simulation are employed. The tiltwing configuration is analyzed in airplane and helicopter mode, with flight conditions representative of an air taxi mission. Airloads, wake geometry, and performance are studied to identify the unique flow features of this configuration. NASA’s tiltwing vehicle is one of the conceptual designs intended to focus and guide NASA’s research activities in support of aircraft development for vertical take-off and landing air taxi operations.

RVLT↗