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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Fully Automated Profile-based Calibration Strategy for Airborne and Terrestrial Mobile LiDAR Systems with Spinning Multi-beam Laser Units

LiDAR-based mobile mapping systems (MMS) are rapidly gaining popularity for a multitude of applications due to their ability to provide complete and accurate 3D point clouds for any and every scene of interest. However, an accurate calibration technique for such systems is needed in order to unleash their full potential. In this paper, we propose a fully automated profile-based strategy for the calibration of LiDAR-based MMS. The proposed technique is validated by comparing its accuracy against the expected point positioning accuracy for the point cloud based on the used sensors’ specifications. The proposed strategy was seen to reduce the misalignment between different tracks from approximately 2 to 3 m before calibration down to less than 2 cm after calibration for airborne as well as terrestrial mobile LiDAR mapping systems. In other words, the proposed calibration strategy can converge to correct estimates of mounting parameters, even in cases where the initial estimates are significantly different from the true values. Furthermore, the results from the proposed strategy are also verified by comparing them to those from an existing manually-assisted feature-based calibration strategy. The major contribution of the proposed strategy is its ability to conduct the calibration of airborne and wheel-based mobile systems without any requirement for specially designed targets or features in the surrounding environment. The above claims are validated using experimental results conducted for three different MMS – two airborne and one terrestrial – with one or more LiDAR unit.

47 OTHER INSTRUMENTATION↗
DOE OSTI2022

Optimization of particle tracking methods for stochastic media

Random media emerge in several applications involving particle transport, encompassing e.g. photon propagation through Rayleigh-Taylor instabilities in fuel pellets for inertial confinement fusion, or neutron multiplication problems related to the assessment of re-criticality risk following severe accidents with fuel degradation. Reference calculations in such material configurations by means of Monte Carlo transport codes are particularly challenging, since high-density stochastic media might involve several hundreds of thousands of volumes and thus make particle tracking routines extremely cumbersome. In order to cope with these issues, two distinct strategies have been proposed so far: the use of neighbor maps, or the use of delta tracking. In this work we will compare these methods and illustrate their specific merits and drawbacks, as taken both alone and in combination with each other. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2023

Human-in-the-Loop Motion Control of a Two-DOF Hydraulic Backhoe Powered by the Hybrid Hydraulic Electric Architecture (HHEA)

Abstract The Hybrid Hydraulic-Electric Architecture (HHEA) combines the respective power density and control advantages of hydraulic and electric actuation to save energy for off-road vehicles. It uses a set of selectable common pressure rails to transmit the majority of power and electric actuation to modulate that power. As it is critical that off-road vehicles can perform tasks dexterously and exactly as commanded by the operator, the switchings between discrete pressure rails pose a potential challenge for smooth and precise motion. A control strategy consisting of a backstepping nominal control and least norm transition control has previously been developed to address this issue. It has been tested on 1 degree of freedom (DOF) testbeds where known trajectories were able to be tracked precisely. This paper presents the implementation of the HHEA motion control strategy on a 2-DOF backhoe operated by a human operator via a 2-DOF joystick. Unlike previous studies, the duty cycle is unknown beforehand and the decision to change pressure rails is taken in real-time. The efficacy of the motion control strategy has been validated experimentally. Several strategies to improve the user interface: control in workspace coordinates, pressure feedback, and velocity field-based task specification, have also been implemented and demonstrated to make operating the multiple DOF, HHEA actuated machine more intuitive to novice operators.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2022

AI-assisted optimization of the ECCE tracking system at the Electron Ion Collider

The Electron-Ion Collider (EIC) is a cutting-edge accelerator facility that will study the nature of the “glue” that binds the building blocks of the visible matter in the universe. The proposed experiment will be realized at Brookhaven National Laboratory in approximately 10 years from now, with detector design and R&D currently ongoing. Notably, EIC is one of the first large-scale facilities to leverage Artificial Intelligence (AI) already starting from the design and R&D phases. The EIC Comprehensive Chromodynamics Experiment (ECCE) is a consortium that proposed a detector design based on a 1.5 T solenoid. The EIC detector proposal review concluded that the ECCE design will serve as the reference design for an EIC detector. Herein we describe a comprehensive optimization of the ECCE tracker using AI. The work required a complex parametrization of the simulated detector system. Herein our approach dealt with an optimization problem in a multidimensional design space driven by multiple objectives that encode the detector performance, while satisfying several mechanical constraints. We describe our strategy and show results obtained for the ECCE tracking system. The AI-assisted design is agnostic to the simulation framework and can be extended to other sub-detectors or to a system of sub-detectors to further optimize the performance of the EIC detector.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

COHORT: Coordination of Heterogeneous Thermostatically Controlled Loads for Demand Flexibility

Demand flexibility is increasingly important for power grids. Careful coordination of thermostatically controlled loads (TCLs) can modulate energy demand, decrease operating costs, and increase grid resiliency. We propose a novel distributed control framework for the Coordination Of HeterOgeneous Residential Thermostatically controlled loads (COHORT). COHORT is a practical, scalable, and versatile solution that coordinates a population of TCLs to jointly optimize a grid-level objective, while satisfying each TCL’s end-use requirements and operational constraints. To achieve that, we decompose the grid-scale problem into subproblems and coordi- nate their solutions to find the global optimum using the alternating direction method of multipliers (ADMM). The TCLs’ local problems are distributed to and computed in parallel at each TCL, making COHORT highly scalable and privacy-preserving. While each TCL poses combinatorial and non-convex constraints, we characterize these constraints as a convex set through relaxation, thereby making COHORT computationally viable over long planning horizons. After coordination, each TCL is responsible for its own control and tracks the agreed-upon power trajectory with its preferred strategy. In this work, we translate continuous power back to discrete on/off actuation, using pulse width modulation. COHORT is generalizable to a wide range of grid objectives, which we demonstrate through three distinct use cases: generation following, minimizing ramping, and peak load curtailment. In a notable experiment, we validated our approach through a hardware-in-the-loop simulation, including a real-world air conditioner (AC) controlled via a smart thermostat, and simulated instances of ACs modeled after real-world data traces. During the 15-day experimental period, COHORT reduced daily peak loads by an average of 12.5% and maintained comfortable temperatures.

demand response↗
DOE OSTI2024

A Simulation and Optimization Framework for Managing Wind-Driven Loading on PV Systems

As PV modules continue to trend toward larger, thinner, and more flexible forms they grow more susceptible to damage from dynamic wind loading. As a result, understanding the impact of wind on PV systems, particularly when mounted on solar-tracking hardware, and identifying robust, stable array layouts and stow strategies is becoming increasingly important for the PV community. We are developing an open-source software package, PVade (PV aerodynamic design engineering), to simulate the cascading fluid-structure interaction that occurs within solar-tracking arrays to enable researchers to test hardware, layout, and tracker control changes, leading to enhanced stability and a reduction in wind-driven damage. We will give an overview of the PVade software and present the latest outcomes from our ongoing validation campaign in which we compare statistical structural responses with field data. From there, we will present simulated results from a larger, multi-row array and highlight the effect of varying tracker angles on stability as measured by both acceleration and deformation, focusing on the stability differences between positive and negative tilt angles.

fluid structure interaction↗
DOE OSTI2024

Simulating Wind-Driven Loading on PV Systems

As PV modules continue to trend toward larger, thinner, and more flexible forms they grow more susceptible to damage from dynamic wind loading. As a result, understanding the impact of wind on PV systems, particularly when mounted on compliant solar-tracking hardware, and identifying robust, stable array layouts and stow strategies is becoming increasingly important for the PV community. We are developing an open-source software package, PVade (PV aerodynamic design engineering), to simulate the cascading fluid-structure interaction that occurs within single-axis, solar-tracking arrays to enable researchers to test hardware, layout, and tracker control changes, leading to enhanced stability and a reduction in wind-driven damage. We will give an overview of the PVade software and present the latest outcomes from our ongoing validation campaign in which we compare time series and statistical structural responses with field data. From there, we will present simulated results from a larger, multi-row array and highlight the effect of varying tracker angles on stability and the differences between positive and negative tilt angles.

fluid↗
DOE OSTI2021

Dynamic Building Load Control to Facilitate High Penetration of Solar Photovoltaic Generation (Final Technical Report)

Solar photovoltaic (PV) resources are the most common form of distributed generation in residential and commercial customer premises within electric distribution networks. A higher penetration of PV generation in distribution circuits will impose challenges on maintaining service voltages within the range of industry standards, power quality, and power flow. Buildings consume 74% of the electricity produced in the United States, and a significant portion of the building load is dispatchable, making them responsive to electrical grid needs. Oak Ridge National Laboratory—in collaboration with Southern Company; the University of Tennessee, Knoxville; and the Georgia Institute of Technology—is examining the PV integration issues in distribution-level electrical grids and developing integrated demand-side control and communication systems to enable responsive loads. The proposed responsive loads mechanism performs renewable generation following to increase the penetration of solar PV within each feeder. The specific objectives of this project are to (1) examine distribution-level PV integration scenarios to understand requirements, (2) undertake an end-to-end simulation-based design of a distributed control strategy of loads geographically near the PV generation asset to minimize the effect on the distribution feeder, (3) deploy and demonstrate the control technology developed in partnership with utilities, and (4) perform a scalability analysis at the utility scale. This 3-year integrated project aims to develop, demonstrate, and validate demand-side control technology to enable increased the penetration of renewables while mitigating challenges that arise due to their intermittency. Activities in Budget Period (BP) 1 focused on a literature review and the formal design of a control system for integrating local distribution with generation and loads. The team used modeling and simulation to evaluate the impact of varying buildings loads, variable PV generation, and power flow dynamics on the distribution circuit. The dynamic models developed in BP 1 were used in BP 2 to develop a model-based control design and a test bed. The test bed has enabled the simulation-based testing and comparison of different control designs and formulations applied to different configurations of the distribution grid, PVs, and building loads. The control approaches developed in BP 2 were implemented in BP 3 in the form of hardware deployed at the Central Baptist Church (CBC) in Knoxville, Tennessee, for testing and evaluation. The outcome of this project was the development and demonstration of open-source, low-cost, low-touch sensing and control retrofits to distributed PV generation and building loads that, in a coordinated fashion, provide the load-shaping response needed to integrate high levels of renewable penetration. This research addresses the target metrics by dynamically controlling a load with solar generation variability to minimize the extent of two-way power flow, enhance reliability, facilitate high PV penetration (>100% of peak load in a line segment), and generate scalable software and hardware solutions adaptable to any penetration levels. The research and development activities are focused and designed to be impactful within the relevant 2020 targets time frame.An accurate open-source integration simulation framework for end-to-end control design was developed and deployed at the CBC facility for testing and evaluation. This final report provides a detailed review of the technical results achieved during this 3-year integrated project. A novel spectral analysis of PV data is demonstrated to derive the requirements of the control design. A detailed simulation-based analysis of PV integration at increasing penetration levels is presented using 1 year of PV data to demonstrate the impact on the distribution circuits. Two different control strategies were developed and demonstrated via simulation to track variable PV generation with adaptive load dispatch. The report concludes with a summary of accomplishments and recommendations for a path forward.

14 SOLAR ENERGY↗
DOE OSTI2025

Searching for Neutrino Tridents in the NOvA Near Detector

This dissertation presents a search for neutrino trident production in the NOvA near detector through the coherent ``dimuon" channel: $\nu_\mu +\hspace{1pt}\text{X} \rightarrow \nu_\mu + \mu^- + \mu^+ +\hspace{1pt}\text{X}$. Trident production is a rare, purely electroweak process with sensitivity to physics beyond the Standard Model. The theoretical background, motivation for studying the process, and previous experimental measurements are reviewed. The analysis uses data collected by the NOvA near detector (ND) from Fermilab's Neutrinos at the Main Injector (NuMI) beam between November 2014 and February 2024, corresponding to an exposure of $25.5\times 10^{20}$ protons on target. The ND is a segmented tracking calorimeter located 800~m from the beam target, receiving neutrinos with a mean energy of 2~GeV. A multi-pass background reduction strategy is implemented, including the development of a novel dimuon-specific tracking technique. Trident candidates are identified using a boost ed decision tree classifier trained on simulated signal and background events. Limited background Monte Carlo statistics necessitate the use of functional fits to sideband data, which are extrapolated to estimate backgrounds in the signal region. The unblinded data contain 9 trident-like events, with an estimated background of 5.66 $\pm$ 5.15 events. This yields a best fit estimate of 3.34 tridents compared to the Standard Model prediction of 4.66. A profiled Feldman-Cousins method is used to determine a 90\% confidence interval of [0,9.1] on the number of signal events, corresponding to an upper limit of 1.95$\times$ the Standard Model prediction. This result represents the lowest energy search for trident events to date, and the first experimental contribution to the process in 27 years.

Bowles, Reed Scott [Indiana U.]↗
DOE OSTI2024

Predicting Instability and the Effect of Wind Loading on Single-Axis Trackers

As PV modules continue to trend toward larger, thinner, and more flexible forms they grow more susceptible to damage from dynamic wind loading. As a result, understanding the impact of wind on PV systems, particularly when mounted on solar-tracking hardware, and identifying robust, stable array layouts and stow strategies is becoming increasingly important for the PV community. In our ongoing DuraMAT project, we are developing an open-source software package, PVade (PV aerodynamic design engineering), to simulate the cascading fluid-structure interaction that occurs within solar-tracking arrays to enable researchers to test hardware, layout, and tracker control changes, leading to enhanced stability and a reduction in wind-driven damage. We will give an overview of the PVade software, highlighting recent user-interface and algorithm developments, before presenting the latest outcomes from our ongoing validation campaign in which we analyze and compare with experimental data obtained from a DuraMAT 1 project. From there, we will present simulated results from a larger, multi-row array and highlight relationships between varying tracker angles and stability as measured by different experimentally validated metrics.

fluid structure interaction↗
DOE OSTI2021

Adaptive Control for Residential HVAC Systems to Support Grid Services

In this paper, we propose an adaptive control strategy for residential buildings' heating ventilation and air conditioning (HVAC) systems to support grid services. The proposed control strategy captures the time-varying characteristics of the building and weather environments. It assigns to each building a local controller to maintain the indoor temperature within a desired comfort level, while the load aggregator allocates the assigned reference power provided by the distribution system operator to support a specific grid service, such as demand peak reduction, balancing supply and demand, and consuming the solar photovoltaic (PV) power locally. Simulation results are presented to verify the performance of the proposed control strategy in terms of maintaining the indoor temperatures of several buildings within the desired comfort bands while tracking the reference power profile. Also, a comparison with a recently developed model-free control strategy is presented.

Wu, Tumin↗
DOE OSTI2024

IMAGINE BioSecurity: Mesocosm-Based Methods to Evaluate Biocontainment Strategies and Impact of Industrial Microbes Upon Native Ecosystems

Project Goals: The Integrative Modeling and Genome-scale Engineering for Biosystems Security (IMAGINE BioSecurity) SFA project seeks to establish an understanding of the behavior of engineered microbes in controlled versus environmental conditions to predictively devise new strategies for responding to biological escape. To this end, the IMAGINE Team has established a plant-soil mesocosm platform to track and quantify the fate of industrial microbes in environmental systems and assess the efficacy of biocontainment constraints upon genetically engineered microbe escape frequency and the impact of industrial microbes upon native ecological microbiomes. Abstract Text: Genetically modified industrial production microbes and their associated bioproducts have emerged as an integral component of a sustainable bioeconomy. However, the rapid development of these innovative technologies raises biosecurity concerns, namely, the risk of environmental escape. Thus, the realization of a bioeconomy hinges not only on the development and deployment of microbial production hosts, but also on the development of secure biosystems and biocontainment designs. Current laboratory-based biocontainment testing systems do not accurately reflect complexities found in natural environments, necessitating an environmentally relevant analysis pipeline that allows for the detection of rare escapees, the effect of associated bio-products, and the impact on native ecologies. To this end, we have developed an approach that utilizes soil mesocosms and integrated systems analyses to evaluate the efficacy of novel biocontainment strategies and to assess the impact of production systems upon terrestrial microbiome dynamics. We demonstrate the utility of this approach by modeling a contamination with industrial microbial chasses versus their biocontained counterparts. Here we demonstrate the broad utility of this system by highlighting findings from both strains of Saccharomyces cerevisiae that are contained with an inducible toxin anti-toxin system, and stains of Escherichia coli that are contained via genomic recoding. The resultant data demonstrate that this system has broad utility across diverse microbial chassis and biocontainment strategies, enables us to track the fate of our contaminating microbe with high sensitivity in the soil, as well as monitor broader impacts of the perturbation on the underlying soil system. The findings presented here support the use of this mesocosm-based approach to assess the environmental impact of industrial microbes and to validate biocontainment strategies.

BASIC BIOLOGICAL SCIENCES,INORGANIC, ORGANIC, PHYS↗
DOE OSTI2025

Phase II Field Demonstration at Lansing Smith Generating Plant, Southport, Florida (Final Report)

The Final Technical Report: Field Test Design and Pressure Management Strategies for Phase II Field Demonstration of Optimal Pressure Control, Plume Management, and Produced Water Strategies presents the culmination of multi-year efforts under the U.S. Department of Energy’s Brine Extraction and Storage Test (BEST) program, led by EPRI in partnership with Gulf Power at the Plant Smith site near Panama City, Florida. The project was designed to evaluate and demonstrate the technical feasibility of managing subsurface pressures and fluid movement associated with large-scale CO₂ injection, using low-salinity water as a proxy fluid. Through a combination of field injection testing, reservoir modeling, and optimization studies, the research team developed and refined active and passive brine extraction strategies aimed at controlling injection-induced pressure buildup, mitigating risks of fault activation, and managing plume migration. The field demonstration incorporated a new injection well (TIW-2), a new monitoring/extraction well (TEMW-A), and an existing well (TIW-1) repurposed for passive pressure relief. Complementary geophysical monitoring was designed to track plume development and evaluate the effectiveness of pressure management strategies. The report details the integrated workflow encompassing wellfield development, regulatory permitting, model calibration, and survey design. It includes a comprehensive electromagnetic (EM) modeling and inversion study used to develop a cost-effective, time-lapse geophysical monitoring plan capable of imaging the evolving low-salinity plume within the highly saline Lower Tuscaloosa formation. Reservoir simulation results guided the design of the 17-month injection program and the timing of active extraction to maintain formation pressures below a hypothetical fault reactivation threshold. Supporting analyses evaluated potential injectivity risks related to clay fines migration and geochemical incompatibility, identifying practical mitigation measures such as salinity and pH control. The final design recommends a series of crosswell EM surveys—conducted before, during, and after injection—as the most effective and economical approach for plume imaging, supplemented by continuous downhole pressure and flow monitoring. Collectively, the study provides a field-ready framework for cost-effective pressure management and monitoring in support of future CO₂ storage projects.

01 COAL, LIGNITE, AND PEAT↗
DOE OSTI2024

Energy Technology Commercialization and Entrepreneurship: Insights From the U.S. Department of Energy's Office of Technology Transitions 2024 Energy Technology University Prize Faculty Track

The Energy Technology University Prize (EnergyTech UP) was established in 2022 with the goal of challenging student teams to develop impactful business plans for energy technologies of their choosing. EnergyTech UP is part of the The American Made Challenges program portfolio, funded by the U.S. Department of Energy. EnergyTech UP is specifically funded by the Department of Energy's Office of Technology Transfer (OTT) and is administrated by staff at the National Renewable Energy Laboratory (NREL). Since its inception, the annual prize has attracted applications from approximately 1,948 students across nearly every U.S. state and territory, awarding over $1 million in funds to student teams. In 2024, the prize expanded to include a Faculty Track, which invited faculty members from degree-granting institutions across the U.S. to design entrepreneurship-based curricula or educational activities. This new track aims to foster innovation in energy entrepreneurship education by leveraging the expertise of faculty to create robust, practical, and inclusive learning experiences. This report summarizes the themes, strategies and impacts identified in proposals from EnergyTech UP's inaugural Faculty Track. Our primary data for organizing insights are the Faculty Track applications themselves. This evaluation of 2024 EnergyTech UP Faculty Track applications aims to support future EnergyTech UP Faculty Track applicants as well as others who are interested in promoting, developing, and/or implementing educational activities that focus on energy commercialization and entrepreneurship at their institutions. By presenting insights from 2024 entries to the Faculty Track, we hope to contribute to a growing inventory of open-source curriculum development resources and provide materials to facilitate the growth of similar programs at a variety of collegiate institutions.

adoption readiness level↗
DOE OSTI2022

Computer-Vision-Based Vibration Tracking Using a Digital Camera: A Sparse-Optical-Flow-Based Target Tracking Method

Computer-vision-based target tracking is a technology applied to a wide range of research areas, including structural vibration monitoring. However, current target tracking methods suffer from noise in digital image processing. In this paper, a new target tracking method based on the sparse optical flow technique is introduced for improving the accuracy in tracking the target, especially when the target has a large displacement. The proposed method utilizes the Oriented FAST and Rotated BRIEF (ORB) technique which is based on FAST (Features from Accelerated Segment Test), a feature detector, and BRIEF (Binary Robust Independent Elementary Features), a binary descriptor. ORB maintains a variety of keypoints and combines the multi-level strategy with an optical flow algorithm to search the keypoints with a large motion vector for tracking. Then, an outlier removal method based on Hamming distance and interquartile range (IQR) score is introduced to minimize the error. The proposed target tracking method is verified through a lab experiment—a three-story shear building structure subjected to various harmonic excitations. It is compared with existing sparse-optical-flow-based target tracking methods and target tracking methods based on three other types of techniques, i.e., feature matching, dense optical flow, and template matching. The results show that the performance of target tracking is greatly improved through the use of a multi-level strategy and the proposed outlier removal method. The proposed sparse-optical-flow-based target tracking method achieves the best accuracy compared to other existing target tracking methods.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2020

A Priority-Based Control Strategy and Performance Bound for Aggregated HVAC-Based Load Shaping

Air conditioning systems have been recognized as a potential, cost-effective resource for shaping electrical load in a power system. This work presents a new priority-based control strategy that explicitly addresses three requirements for using a collection of air conditioning units in this capacity. These are 1) tracking a regulation signal, 2) maintaining the building temperature near its set point, and 3) satisfying a cycling constraint of the air conditioners. After introducing the control strategy, we derive a bound for the regulation signal within which tracking is guaranteed while also satisfying the temperature requirement. These results are illustrated with simulations.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2022

Deep learning-based spatio-temporal estimate of greenhouse gas emissions using satellite data

Accurate estimation of greenhouse gases (GHGs) emissions is very important for developing mitigation strategies to climate change by controlling and reducing GHG emissions. This project aims to develop multiple deep learning approaches to estimate anthropogenic greenhouse gas emissions using multiple types of satellite data. NO2 concentration is chosen as an example of GHGs to evaluate the proposed approach. Two sentinel satellites (sentinel-2 and sentinel-5P) provide multiscale observations of GHGs from 10-60m resolution (sentinel-2) to ~kilometer scale resolution (sentinel-5P). Among multiple deep learning (DL) architectures evaluated, two best DL models demonstrate that key features of spatio-temporal satellite data and additional information (e.g., observation times and/or coordinates of ground stations) can be extracted using convolutional neural networks and feed forward neural networks, respectively. In particular, irregular time series data from different NO 2 observation stations limit the flexibility of long short-term memory architecture, requiring zero-padding to fill in missing data. However, deep neural operator (DNO) architecture can stack time-series data as input, providing the flexibility of input structure without zero-padding. As a result, the DNO outperformed other deep learning architectures to account for time-varying features. Overall, temporal patterns with smooth seasonal variations were predicted very well, while frequent fluctuation patterns were not predicted well. In addition, uncertainty quantification using conformal inference method is performed to account for prediction ranges. Overall, this research will lead to a new groundwork for estimating greenhouse gas concentrations using multiple satellite data to enhance our capability of tracking the cause of climate change and developing mitigation strategies.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

A Human-Machine Shared Control Framework Considering Time-Varying Driver Characteristics

The uncertainties of driver's behavior seriously affect road safety and bring significant challenges to the human-machine cooperative control. Here, this paper proposes a human-machine shared control framework considering driver's time-varying characteristics to improve the co-driving cooperation performance. Firstly, the driving intention is introduced to describe the driver's involvement level through using Gauss-Bernoulli restricted Boltzmann machine method. And the index of driving ability is proposed to evaluate driver skills based on path-tracking errors. Then, a novel human-machine authority allocation strategy is designed by combining the two driving behavior characteristics and used to construct the driver-vehicle interaction system. Subsequently, a T-S fuzzy robust state-feedback shared control system is developed considering time-varying driver behaviors and vehicle states. Finally, the proposed shared steering system is validated by the driver-in-the-loop test bench. The results show that the proposed control method can reduce human-machine conflicts and has obvious superiority in improving performance of driving comfort, path tracking, and vehicle stability for the co-driving vehicles.

33 ADVANCED PROPULSION SYSTEMS↗