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Advanced Solar Electric Propulsion for Planetary Defense
Once the current survey to identify all near-Earth objects larger than 140-m diameter is complete, the major hazard from asteroid impacts may be from asteroids in the 50- to 100-m diameter size range. High-power solar electric propulsion systems employed in “slow-push” techniques may be the best way to deflect asteroids in this size range if deflection is warranted. The relative performance of three slow-push techniques—gravity tractor (GT), enhanced gravity tractor (EGT), and ion beam deflection (IBD)—are compared, assuming solar electric propulsion vehicles derived from NASA’s Asteroid Redirect Robotic Mission concept vehicle. Both the enhanced gravity tractor and ion beam deflection concepts are shown to be significantly better than the standard gravity tractor concept. The Hall-thruster based enhanced gravity tractor systems and ion beam deflection systems (based on the use of high-power gridded ion thrusters) are shown to provide comparable performance, i.e., similar deflection times and propellant required. Enhanced gravity tractor systems require the acquisition of material from the surface of the hazardous object in order to achieve the required “enhancement” of the gravitational coupling force. This makes EGT systems sensitive to the rotational state and surface properties of the unknown object, and potentially severely limits its applicability. Ion beam deflection is completely independent of the characteristics of the threat object. In fact, it is the only asteroid deflection technique, slow-push or otherwise, that can make this claim, thus potentially greatly increasing its applicability relative to other deflection techniques. Finally, high-power IBD systems are shown to be capable of deflecting the fictitious asteroid 2015 PDC used in the hypothetical asteroid impact exercise conducted at the 2015 Planetary Defense Conference.
An investigation to determine the producibility of a 3-D braider and bias direction weaving loom
The development of prototype machines for the production of generalized braid patterns is described. Mechanical operating principles and control strategies are presented for two prototype machines which were fabricated and evaluated. Both machines represent advances over current techniques for forming composite material preforms by enabling near ideal control of fiber orientation. Furthermore, they overcome both the lack of general control of produced fiber architectures and the complexity of other weaving processes that were produced for the same purpose. One prototype, the modified Farley braider, consists of an array of turntables which can be rotated 90 degrees and returned; hence, they can form tracks in the x and y axis. Yarn ends are transported about the surface formed by the turntables using motorized tractors. These tractors are controlled using an optical link with a control circuit and host computer. The tractors are powered through electrical contact with the turntables. The necessary relative motions are produced by a series of linear tractor moves combined with a sequence of turntable rotations. The movement of the tractors about the surface causes the yarns to produce the desired braiding pattern. The second device, the shuttle plate braider, consists of a braiding surface formed by an array of square elements, each separated from its neighbor by a gap. Beneath this surface lies a shuttle plate, which reciprocates first in one axis and then in the other. As this movement takes place, yarn carrying shuttles engage and disengage the plate by means of solenoid activated pins. By selective engagement and disengagement, the shuttles can move the yarn ends in any desired pattern, forming the desired braid. Control power, and control signals, are transmitted from the electronic interface circuit and host computer, via the braiding surface through electrical contact with the shuttles. Motive power is proved to the shuttles by motion of the shuttle plate, which is passively driven using pneumatic rams. Each shuttle is a simple device that uses only a solenoid to engage the plate and is a simple device that uses only a solenoid to engage the plate and is independently controllable. When compared with each other, the modified Farley braider has the advantage of speed, and the shuttle plate braider the advantage of mechanical control and simplicity.
Implement-Only Implementation of a Multi Pressure Rail System to an Agricultural Planter
Tightening emissions regulations and rising fuel costs have driven a desire across many industries for more efficient actuation systems. This is particularly true of the agricultural sector. An extremely common arrangement in this sector is the tractor and implement pairing, in which actuators on an implement are powered by a hydraulic supply system on the towing tractor. This arrangement complicates the development of energy efficient hydraulic systems, as many new system designs require modification of both machines to reap efficiency benefits. Past work by the authors’ team has demonstrated great potentials for Multi-Pressure-Rail (MPR) technology involving both the tractor and implement subsystems. However, applicability of this MPR technology in a more realistic scenario where only one vehicle is equipped with such technology was not addressed. This work proposes an implementation of the MPR technology to an agricultural planter that allows significant savings, while only modifying the implement machine. This is done by manipulating the load sense network of a stock tractor to set system pressures to those required by the MPR system. This greatly reduces the barrier to implementation of MPR technology in agriculture. The work begins by outlining the reference machine for the system, then reviews the MPR system working principle. After this, the proposed expansion to the MPR concept is laid out, and applied to the reference system. Finally, experimental validation is carried out, demonstrating on average 37% reduction in system power consumption.
Quick-Fit Trailer Coupling For A Grader
Ripper attachment on grading tractor adapted to lift tongue of trailer tow bar hydraulically. Unnecessary for tractor operator to use jack or fork, lift to raise tongue. Enables tractor operator, acting alone, to hitch trailer to tractor, without expense and complication of dedicated hydraulic lifting mechanism for trailer hitch.
Linear Covariance Analysis For Proximity Operations Around Asteroid 2008 EV5
The NASA initiative to collect an asteroid the Asteroid Robotic Redirect Mission (ARRM) is currently investigating the option of retrieving a boulder off an asteroid, demonstrating planetary defense with an enhanced gravity tractor technique and returning it to a lunar orbit. Techniques for accomplishing this are being investigated by the Satellite Servicing Capabilities Office (SSOO) and NASA GSFC in colloboration with JPL, NASA, JSC, LaRC, and Draper Laboratories Inc. Two critical phases of the mission are the descent to the boulder and the Enhanced Gravity Tractor-enhanced gravity tractor demonstration. A linear covariance analysis was done for these phases to assess the feasibility of these concepts with the proposed design of the sensor and actuaor suite of the Asteroid Redirect Vehicle (ARV). The sensor suite for this analysis will include a wide field of view camera, Lidar, and a MMU. The proposed asteroid of interest is currently the C-type asteroid 2008 EV5, a carbonaceous chondrite that is of high interest to the scientific community. This paper will present an overview of the analysis discuss sensor and actuator models and address the feasibility of descending to the boulder within the requirements as the feasibility of maintaining the halo orbit in order to demonstrate the Enhanced Gravity Tractor-enhanced gravity tractory technique.
Installation and imaging of thousands of minirhizotrons to phenotype root systems of field-grown plants
Roots are vital to plant performance because they acquire resources from the soil and provide anchorage. However, it remains difficult to assess root system size and distribution because roots are inaccessible in the soil. Existing methods to phenotype entire root systems range from slow, often destructive, methods applied to relatively small numbers of plants in the field to rapid methods that can be applied to large numbers of plants in controlled environment conditions. Much has been learned recently by extensive sampling of the root crown portion of field-grown plants. But, information on large-scale genetic and environmental variation in the size and distribution of root systems in the field remains a key knowledge gap. Minirhizotrons are the only established, non-destructive technology that can address this need in a standard field trial. Prior experiments have used only modest numbers of minirhizotrons, which has limited testing to small numbers of genotypes or environmental conditions. This study addressed the need for methods to install and collect images from thousands of minirhizotrons and thereby help break the phenotyping bottleneck in the field. Over three growing seasons, methods were developed and refined to install and collect images from up to 3038 minirhizotrons per experiment. Modifications were made to four tractors and hydraulic soil corers mounted to them. High quality installation was achieved at an average rate of up to 84.4 minirhizotron tubes per tractor per day. A set of four commercially available minirhizotron camera systems were each transported by wheelbarrow to allow collection of images of mature maize root systems at an average rate of up to 65.3 tubes per day per camera. This resulted in over 300,000 images being collected in as little as 11 days for a single experiment. The scale of minirhizotron installation was increased by two orders of magnitude by simultaneously using four tractor-mounted, hydraulic soil corers with modifications to ensure high quality, rapid operation. Image collection can be achieved at the corresponding scale using commercially available minirhizotron camera systems. Along with recent advances in image analysis, these advances will allow use of minirhizotrons at unprecedented scale to address key knowledge gaps regarding genetic and environmental effects on root system size and distribution in the field.
FleetREDI Insight: Beverage Delivery in New York City
Capturing real-world data is critical to improving efficiency and supporting technology advancements in commercial vehicles. FleetREDI’s insights provide detailed duty cycle information and highlight unique aspects of the given dataset. Each insight delivers a quick look at the collected data by summarizing the operation and identifying key findings of the initial analysis. This FleetREDI insight explores beverage delivery tractors operating in New York City. Last-mile beverage delivery supports local bars and restaurants throughout Manhattan and the broader New York City area. Manhattan Beer Distributors is a beverage delivery company operating in Manhattan and the Bronx. Logging devices were installed in 17 vehicles, and operational data were collected between August and October 2022. Two types of vehicles were included in data collection: 7 tractors and 10 bay trucks. Using NLR’s FleetREDI data platform, this dataset provides a summary of daily operation to help understand duty cycle characteristics. This includes daily distance, fuel use, and estimated engine-produced energy consumption for 17 bay trucks and tractors that operated more than 7,500 miles in slow-speed urban operation. 
Reduced truck fuel consumption through aerodynamic design
Full-scale fuel consumption and drag tests were performed on a conventional cab-over-engine tractor-trailer combination and a version of the same vehicle with significant forebody modifications. The modified configuration had greatly increased radii on all front corners and edges of the tractor and a smooth fairing of the modified tractor top and sides extending to the trailer. Concurrent highway testing of the two configurations showed that the modified design used 20% to 24% less fuel than the baseline configuration at 88.5 km/hr (55 mph) with near-calm wind conditions. Coastdown test results showed that the modified configuration reduced the drag coefficient by 0.43 from the baseline value of 1.17 at 88.5 km/hr (55 mph) in calm wind conditions.
Development of generalized 3-D braiding machines for composite preforms
The development of prototype braiding machines for the production of generalized braid patterns is described. Mechanical operating principles and control strategies are presented for two prototype machines which have been fabricated and evaluated. Both machines represent advances over current fabrication techniques for composite materials by enabling nearly ideal control of fiber orientations within preform structures. They permit optimum design of parts that might be subjected to complex loads or that have complex forms. Further, they overcome both the lack of general control of produced fiber architectures and the complexity of other weaving processes that have been proposed for the same purpose. One prototype, the Farley braider, consists of an array of turntables that can be made to oscillate in 90 degree steps. Yarn ends are transported about the surface formed by the turntables by motorized tractors which are controlled through an optical link with the turntables and powered through electrical contact with the turntables. The necessary relative motions are produced by a series of linear tractor moves combined with a series of turntable rotations. As the tractors move about, they weave the yarn ends into the desired pattern. The second device, the shuttle plate braider, consists of a braiding surface formed by an array of stationary square sections, each separated from its neighbors by a gap. A plate beneath this surface is caused to reciprocate in two perpendicular directions, first in one direction and then in the other. This movement is made possibly by openings in the plate that clear short columns supporting the surface segments. Yarn ends are moved about the surface and interwoven by shuttles which engage the reciprocating plate as needed to yield the desired movements. Power and control signals are transmitted to the shuttles through electrical contact with the braiding surface. The shuttle plate is a passively driven prime mover that supplies the power to move all shuttles and the shuttles are simple devices that employ only a solenoid to engage the shuttle plate on command. Each shuttle is assigned a unique identity and is controlled independently. When compared to each other, the Farley braider is felt to have the advantage of speed and the shuttle plate braider, the advantage of simplicity.
Linear Covariance Analysis For Proximity Operations Around Asteroid 2008 EV5
The NASA initiative to collect an asteroid, the Asteroid Robotic Redirect Mission (ARRM), is currently investigating the option of retrieving a boulder from an asteroid, demonstrating planetary defense with an enhanced gravity tractor technique, and returning it to a lunar orbit. Techniques for accomplishing this are being investigated by the Satellite Servicing Capabilities Office (SSCO) at NASA GSFC in collaboration with JPL, NASA JSC, LaRC, and Draper Laboratory, Inc. Two critical phases of the mission are the descent to the boulder and the Enhanced Gravity Tractor demonstration. A linear covariance analysis is done for these phases to assess the feasibility of these concepts with the proposed design of the sensor and actuator suite of the Asteroid Redirect Vehicle (ARV). The sensor suite for this analysis includes a wide field of view camera, LiDAR, and an IMU. The proposed asteroid of interest is currently the C-type asteroid 2008 EV5, a carbonaceous chondrite that is of high interest to the scientific community. This paper presents an overview of the linear covariance analysis techniques and simulation tool, provides sensor and actuator models, and addresses the feasibility of descending to the surface of the asteroid within allocated requirements as well as the possibility of maintaining a halo orbit to demonstrate the Enhanced Gravity Tractor technique.
The Port of Los Angeles Zero- and Near-Zero-Emission Freight Facilities Shore to Store Project
The City of Los Angeles Harbor Department (Harbor Department, Port of Los Angeles) partnered with Equilon Enterprises LLC (d/b/a Shell Oil Products US) (Shell), Toyota Motor North America (Toyota), and Kenworth Truck Company (Kenworth) partnered with the Port of Hueneme, United Parcel Service, Total Transportation Services Inc., Southern Counties Express, Toyota Logistics Services, Air Liquide, National Renewable Energy Laboratory, Coalition For A Safe Environment, and the South Coast Air Quality Management District to introduce hydrogen fuel into the Southern California drayage truck market by demonstrating near-commercial heavy-duty hydrogen fuel cell electric trucks at and between freight facilities throughout the region, while continuing to lay the groundwork for battery-electric operations. The Shore to Store project built on project team experience to help realize our vision of zero-emission freight operations in the future. Ten Kenworth zero-emission Class 8 fuel cell electric trucks, integrated with Toyota’s fuel cell drive technology, were operated by United Parcel Service, Total Transportation Services Inc., Southern Counties Express, and Toyota Logistics Services in commercial service. The demonstration fleet fueled at the Shore to Store hydrogen fueling stations that were built in Ontario, California, and Wilmington, California. An additional station at the Port of Long Beach (Portal Station) was available for fueling the fleet. Portal Station was supported by grants from the California Energy Commission and South Coast Air Quality Management District and used as match funding for the Shore to Store project. The Port of Hueneme demonstrated two battery-electric yard tractors, and Toyota Logistics Services demonstrated two zero-emission forklifts at their warehouse facility, showcasing elements of the entire supply chain operating with zero emissions. This project showcased a snapshot of the zero-emission supply chain of the future, providing a model by which freight facilities can support zero-emission operations. The Shore to Store project: Demonstrated the technical feasibility of zero-emission hydrogen fueled Class 8 heavy-duty trucks and electric cargo handling equipment in rigorous goods movement operation throughout the Southern California region. Cumulatively completed 59,212 miles of zero-emission operation, with 21,650 miles driven in-service with the fleets, using hydrogen fuel cell electric Class 8 heavy-duty trucks. Operated zero-emission yard tractors for a total of 2,749.6 hours. Created direct localized emission reductions in designated disadvantaged communities, including those in zip codes 90220, 90247, 90248, 90731, 90744, 90802, and 91761. For the 59,212 miles of zero-emission operation, reduced emissions by an estimated total of 15.5 kg NOX (0.163 g/km), 1.01 kg SOX (0.0106 g/km), and 304.8 metric tonnes of CO2e (3.2 kg/km) compared to diesel baseline vehicles including both tailpipe emissions and the emissions from producing the fuel sources.
Performance and cost of fuel cells for off-road heavy-duty vehicles
Hydrogen fuel cell-powered off-road vehicles can replace hydrocarbon-powered off-road vehicles to reduce carbon dioxide and criteria pollutant emissions in the agriculture, construction, and mining industries. Vehicle manufacturers and customers recognize health and environmental benefits of emissions reductions but are ultimately compelled by the total cost of ownership of their vehicles. In this study, we conduct a technoeconomic evaluation for three hallmark off-road vehicles, tractors, wheel loaders, and excavators, comparing vehicles with hydrogen fuel cell + battery hybrid powertrains to traditional diesel powertrains. Stakeholder-valued performance metrics include fuel cell engine power, engine durability, hydrogen consumption rate, hydrogen storage system volume, and energy-regenerative drivetrain efficiency. The total cost of ownership includes capital, operating and maintenance, fuel, and fuel storage costs. State-of-the-art fuel cell powered wheel loaders and excavators are currently cost competitive with diesel platforms. If targeted improvements to cost, performance, and durability improvements of fuel cell stacks and storage systems are achieved, fuel cell systems would be cost competitive for tractors and significantly lower total cost of ownership options for wheel loaders and excavators.
A Variable Pressure Multi-Pressure Rail System Design for Agricultural Applications
This paper presents a solution for reducing energy loss in the hydraulic control system of agricultural tractors and their implements. The solution is referred to as a multi-pressure rail (MPR) and provides power to the hydraulic functions following a pressure control logic, as opposed to the traditional flow control logic typical of hydraulic systems used in off-road vehicles. The proposed hydraulic control system allows for elimination of redundant flow control valves in the state-of-the-art system, which cause excessive throttling losses leading to poor overall energy efficiency. Related work on MPR technology targets construction vehicles, where the MPR solution can allow energy recovery during overrunning loads and better engine management. This paper alternatively addresses the case of agricultural applications where functions mostly operate under resistive load conditions with slow dynamics, which offers an opportunity to target throttle losses. For this purpose, the paper introduces a variable pressure control strategy to handle the instantaneous pressure at each rail. To develop both the controller and the hydraulic system architecture, a stationary test rig is conceived and used to validate a numerical simulation model of the MPR system and its control strategy. Particular focus is given to the dynamic behavior of the system during the switches of a function between different pressure rails, which needs to ensure reduced oscillations of the flow provided to each hydraulic function. Once validated, the simulation model is used to predict the energy savings of the MPR solution in an actual application: a 435 hp hydraulic tractor powering a 16-row planter, for which operating features during typical drive cycles were available to the authors. The results show up to 59% total power reduction at the pump shaft, corresponding to 89.8% system efficiency gain.
Airport Ground Support Equipment Analysis
Ground support equipment (GSE) plays a critical role in providing services to aircraft at arrival and departure gates, ensuring smooth and efficient airport operations. As the airline industry seeks to reduce costs and expand energy options, electric GSE (eGSE) is emerging as a promising solution. This project examines the integration of eGSE into airport operations, addressing key considerations such as vehicle deployment, charging infrastructure, and grid impacts. We developed a flexible, bottom-up modeling framework to evaluate energy demands and infrastructure requirements across more than 300 U.S. airports, providing actionable insights to support electrification planning and implementation. The study focuses on eight major types of GSE with commercially available electric counterparts: aircraft tractors, ground power units, baggage tractors, belt loaders, cargo loaders, catering trucks, lavatory trucks, and water trucks. Project results include annual charging load profiles, total energy consumption, and the charger and fleet requirements for each airport.
Comprehensive Total Cost of Ownership Quantification for Vehicles with Different Size Classes and Powertrains
In order to accurately compare the costs of two vehicles, the total cost of ownership (TCO) should consist of all costs related to both purchasing and operating the vehicle. This TCO analysis builds on previous work to provide a comprehensive perspective of all relevant vehicle costs of ownership. In this report, we present what we believe to be the most comprehensive explicit financial analysis of the costs that will be incurred by a vehicle owner. This study considers vehicle cost and depreciation, financing, fuel costs, insurance costs, maintenance and repair costs, taxes and fees, and other operational costs to formulate a holistic total cost of ownership and operation of multiple different vehicles. For each of these cost parameters that together constitute a comprehensive TCO, extensive literature review and data analysis were performed to find representative values in order to build a holistic TCO for vehicles of all size classes. The light- and heavy-duty vehicles selected for analysis in this report are representative of those that are on the road today and expected to be available in the future. Important additive analyses in this study include systematic analysis of vehicle depreciation, in-depth examination of insurance premium costs, comprehensive maintenance and repair estimates, analysis of all relevant taxes and fees, and considerations of specific costs applicable to commercial vehicles. We find that cars depreciate faster than light trucks and that older plug-in electric vehicles have a greater depreciation rate than newer electric vehicles. Light-duty vehicle (LDV) insurance costs show comparable costs for different powertrains, and lower costs for larger size classes. Medium- and heavy-duty vehicle (MHDV) insurance costs vary significantly by vocation. Electric and electrified powertrains have lower maintenance and repair costs than internal combustion engine (ICE) powertrains for all vehicle sizes, relative to vehicle price. MHDV maintenance and repair costs depend heavily on vocation and duty cycle. LDV taxes and fees are comparable across powertrain types and size classes, though marginally higher registration fees exist for alternative fuel vehicles. MHDV fees depend on the vocation, weight rating, and state. Many electric tractor trailers would be affected by additional battery weight, reducing the available payload capacity, and this cost can be substantial. Electric vehicle charging for commercial vehicles can be time-consuming; labor rates can cause this cost to dominate TCO. With improved knowledge of each of the cost components, we calculate a lifetime TCO for comparison across vehicles of different types and attributes. For a simulated small sport utility vehicle in 2025, modeled using Autonomie, the hybrid electric vehicle (HEV) has the lowest cost, followed by the conventional ICE vehicle. For MHDV, TCO can be drastically different depending on the vocation. Long-haul vehicles typically have the lowest per-mile costs. Excluding labor costs, the class 4 delivery has a comparable TCO to the day cab. Vocational trucks, refuse trucks, and transit buses have a high per-mile cost of ownership due to maintenance and insurance. For all of these vehicles, the cost of operating the vehicle is heavily weighted by the labor of the driver, followed by the fuel costs. While the HEV begins as the lowest cost powertrain for passenger vehicles, fuel cells are forecast to reach cost parity by 2030 when hydrogen prices reach $\$ 5$/kg while battery electric vehicles (BEV) reach cost parity by 2035 at a battery cost of $\$ 98$ per usable kWh of capacity, with these two technologies being the lowest cost in 2050. For the class 8 day cab tractor, the HEV and ICE vehicle begin as the lowest cost powertrains, and the 250-mile BEV reduces in cost from the most expensive to the least expensive by 2030.
Diagnostic device for monitoring the technical condition of mechanical assemblies
An automatic diagnostic device for monitoring the condition of tractor transmission gears is described. The structural noise spectrum of the gearshift box and rear axle of the tractor were analyzed in a digital computer, by an algorithm based on the multiple correlation method. The optimum assembly of operating frequencies, by use of which the errors in measurement were minimized, was selected from the entire frequency spectrum. Selected frequencies are necessary for choosing the measurement range of the diagnostic device. It turned out that, to obtain a relative error of no more than 2%, it was sufficient to use two filters, vibrating only at the frequencies carrying the maximum data of the mechanical parameter being investigated. The measurement system consists of frequency-selection filters, amplifiers and quadratic detectors, at the outlets of which constant voltages are created, which are proportional to the signal level at the frequencies selected.
Fifth wheel
An improved fifth wheel for a tractor trailer rig, characterized by a first subassembly including a wear plate was developed and modified to be mounted on a downwardly facing surface of a trailer. A king pin projected normally therefrom, and a second subassembly is adapted to be pivotally mounted on an upwardly facing surface of a tractor. The king pin is brought into contiguous relation with the first sub assembly. A receiver for capturing the king pin is included along with a safety means responsive to a failure of the king pin or its latching mechanism for joining the first subassembly with the second subassembly.