Abstract: A method for identifying the location, orientation and shape of an object that a robot hand touches that includes using a particle filter. The method includes defining an appropriate motion model and a measurement model. The motion model characterizes the motion of the robot hand as it moves relative to the object. The measurement model estimates the likelihood of an observation of contact position, velocity and tactile sensor information given hand-object states. The measurement model is approximated analytically based on a geometric model or based on a corpus of training data. In either case, the measurement model distribution is encoded as a Gaussian or using radial basis functions.

Abstract: A method for determining a low performing cell in a fuel cell stack. The method measures the voltage of each cell in the fuel cell stack and calculates an average cell voltage of all of the cell voltages from the fuel cell stack at a plurality of stack current densities. The method also identifies a minimum cell voltage from all of the cell voltages from the fuel cell stack at the plurality of stack current densities that the average cell voltages are calculated and determines a relative delta voltage relationship between the average cell voltage and the minimum cell voltage at each of the plurality of stack current densities. The relative delta voltage relationships are used to determine whether the minimum cell voltage indicates a persistent stack problem.

Abstract: A bidirectional tendon terminator that has particular application for terminating a tendon that actuates a finger in a robotic arm. The tendon terminator includes a cylindrical member having an internal channel through which a single continuous piece of the tendon extends. The internal channel of the tendon terminator includes a widened portion. A ball is placed in the tendon strands, which causes the tendon to expand, and the ball is positioned within the widened portion of the channel. Pulling on the tendon operates to either open or close the finger of the robotic arm depending on which direction the tendon is pulled. In one specific embodiment, the cylinder includes two cylindrical pieces that are coupled together so that the ball can be positioned within the channel and the cylindrical member has an entire circumference of material.

Abstract: A fuel cell system that includes a compressor for providing cathode air to the cathode side of a fuel cell stack and an air filter for filtering the air sent to the compressor to prevent particulates and other contaminants from entering the compressor and the fuel cell stack. The fuel cell system also includes a mass flow meter that measures the flow of air to the compressor and a pressure sensor that measures the pressure of the airflow at the output of the compressor. An electronic compressor map is provided that defines the operating characteristics of the compressor. By knowing the flow through the compressor and the pressure at the outlet of the compressor, an algorithm can determine where on the compressor map the compressor is operating, and from that determine the inlet pressure to the compressor, which in turn shows whether the air filter is clogged or otherwise damaged.

Abstract: An integrated wireless antenna/transceiver module that has particular application for use on a vehicle. The module includes a plurality of antenna radiating elements integrated on a circuit board where a separate radiating element is typically provided for each wireless application desirable for the particular vehicle. The module further includes a separate transceiver integrated on the circuit board where each transceiver is electrically coupled to a particular radiating element. Each of the transceivers is also electrically coupled to a local area network hub that receives signals from the transceiver, where the hub multiplexes the signals onto a digital interface to be sent to the particular application in the vehicle.

Abstract: An adaptive vehicle control system that classifies a driver's driving style based on characteristic curve-handling maneuvers and road and traffic conditions. The system includes a plurality of vehicle sensors that detect various vehicle parameters. A maneuver identification processor receives the sensor signals to identify a characteristic maneuver of the vehicle and provides a maneuver identifier signal of the maneuver. The system also includes a traffic and road condition recognition processor that receives the sensor signals, and provides traffic condition signals identifying traffic conditions and road condition signals identifying road conditions. A style characterization processor receives the maneuver identifier signals, sensor signals from the vehicle sensors and the traffic and road condition signals, and classifies driving style based on the signals to classify the style of the driver driving the vehicle.

Abstract: A method for monitoring the sensors in a vehicle control system. The method includes identifying a plurality of potential faults, identifying a plurality of measured values, and identifying a plurality of estimated values based on models in the control system. The method further includes identifying a plurality of residual error values as the difference between the estimated values and the measured values. The method also defines a plurality of fuzzy logic membership functions for each residual error value. The fuzzy logic membership functions are adaptive in that they change depending on the vehicle operating region, i.e., the non-linearity level of the vehicle, and the vehicle operating conditions, i.e., steady state verses transients. A degree of membership value is determined for each residual error value based on the membership functions. The degree of membership values are then analyzed in a fuzzy logic reasoning system to determine whether a potential fault exists.

Abstract: A vehicle control architecture designed based on a top-down approach with abstraction and modularity. The control architecture includes a vehicle/environment sensing and perception processor that processes sensor signals, and motion planning processors that provide lane center trajectory planning and tracking command, lane change trajectory planning and tracking command, and forward and backward speed and target tracking command. The architecture also includes a driver command interpreter that interprets driver commands and a command integration processor that provides reference dynamics for vehicle lateral, roll and longitudinal dynamics. The architecture also includes a control integration and supervisory controller that provides control integration and outputs integrated longitudinal force command signals, integrated lateral force command signals, integrated yaw moment command signals and steering torque command signals that are used by a vehicle longitudinal controller and a vehicle lateral controller.

Abstract: A system and method for limiting the amount of satellite radio digital bandwidth used by allowing a vehicle to record and store songs broadcast by the satellite and then play the songs from the vehicle the next times the songs are to be broadcast. When a song is selected to be broadcast, the method determines whether a certain percentage of vehicles will have the song recorded on the vehicle, and if so, will broadcast a song code identifying the song to allow the vehicle to play the recorded song.

Abstract: A fuel cell that employs a decomposition catalyst on one or more of the membrane, bipolar plates or diffusion media layers in the fuel cell that decomposes hydrogen peroxide, and thus reduces the generation of hydroxyl free radicals. In one embodiment, the decomposition catalyst is ruthenium oxide and is deposited on the structure by various processes, such as chemical vapor deposition process.

Abstract: A system and method for providing component and sub-system state of health prognosis in a complex system using fault models and component aging models. The method includes determining a current state of health value for a sub-system using fault signature test results and determining current state of health values for a plurality of components in the sub-system using the fault signature test results. The method also determines current state of health values for components in the system that cannot use fault signature test results using a first probability model and the current state of health values for the plurality of components. The method determines predicted future state of health values for the components in the sub-system using component aging models and determines a predicted future state of health value for the sub-system using a second probability model and the future state of health values of the components.

Abstract: A system for communicating measurement data from each fuel cell or a group of fuel cells in a fuel cell stack, including a plurality of fuel cells and a plurality of stack plates, where one stack plate is between each fuel cell and on each end of the stack. The system includes a plurality of embedded smart plates where each embedded smart plate is mechanically and electrically coupled to at least one of the plurality of stack plates, and where each embedded smart plate includes optical transceivers on a top side and a bottom side of the smart plate. The system further includes at least one aggregator device having at least one optical transceiver to initiate a series of communications between the embedded smart plates to determine the location and data collected by each of the smart plates.

Abstract: A method and system for detecting and tracking objects near a vehicle using a three dimensional laser rangefinder. The method receives points from the laser rangefinder, where the points represent locations in space where the rangefinder senses that some object exists. An algorithm first estimates the location of a ground plane, based on a previous ground plane location, data from onboard sensors, and an eigenvector calculation applied to the point data. Next, a plan view occupancy map and elevation map are computed for stationary objects, based on point data in relation to the ground plane. Finally, dynamic objects are detected and tracked, sensing objects which are moving, such as other vehicles, pedestrians, and animals. The output of the method is a set of stationary and dynamic objects, including their shape, range, and velocity. This output can be used by downstream applications, such as collision avoidance or semi-autonomous driving systems.

Abstract: A method for evaluating the composition of an MEA for a fuel cell. The method includes soaking the MEA in an unsaturated organic compound for a predetermined period of time, and then allowing the MEA to dry. The method then includes staining the MEA with osmium tetroxide (OsO4) in a closed container. The stained MEA is then encased in an epoxy. Thin sections of the encapsulated MEA are then prepared, and the sections are viewed through a transmission electron microscope. The stained MEA will show dark regions where the ionomer and carbon particles are located and lighter regions that are epoxy filled pores.

Abstract: A method and system for identifying individual cell monitoring controllers in an electric vehicle battery pack. Several cell monitoring controllers are serially connected to each other and to a master battery pack controller via a signal line, which is also used for communicating alarm signals between the controllers. The master battery pack controller sends a wake-up signal on the signal line. The first cell monitoring controller in the signal line wiring route receives the wake-up signal and receives an identification number from the master battery pack controller. Only then does the first cell monitoring controller allow the wake-up signal to be passed along to the second cell monitoring controller, which activates and receives its identification number, and so forth. In this way, identical cell monitoring controllers can be used in a battery pack, yet each cell monitoring controller can be uniquely identified by the master battery pack controller.

Abstract: A method for estimating the horizon in an image of a camera to provide camera auto-calibration in the pitch direction. The method includes taking an image of a scene and generating a texture map of the image using horizontal edge detection analysis to locate horizontal edges in the scene. The method also includes providing a motion map by providing image differencing between subsequent images to find areas in the scene with no motion while the vehicle is moving. The texture map and the motion map are combined to identify the areas in the image that do not move and contain horizontal edges. A horizontal projection is generated from the combined map by counting white dots in the map in the horizontal direction. The horizontal projection is smoothed to eliminate noise and the location of the horizon is estimated in the image by identifying the maximum peak in the horizontal projection.

Abstract: A needle delivery device that has particular application for providing needles for minimally invasive spinal surgical procedures. The device includes an elongated pincher having opposing rails that is slidable within a channel defined in an extended base portion. Widened end portions of the rails hold the needle and push it out of an end of the device where it is released. The pincher is then retracted to a location where the end portions can pick up a next needle to be delivered.

Abstract: A fuel cell system that employs a technique for nitrogen bleeding. The fuel cell system includes a fuel cell stack having a first sub-stack and a second sub-stack, where the hydrogen gas flow is flow-shifted between the sub-stacks. A first nitrogen bleed valve is provided in an anode gas input line coupled to the first sub-stack and a second nitrogen bleed valve is provided in an anode gas input line coupled to the second sub-stack. When the first sub-stack is receiving the anode gas, and a nitrogen bleed is requested, the first bleed valve is closed and the second bleed valve is opened to provide the nitrogen bleeding. When the second sub-stack is receiving the anode gas, and a nitrogen bleed is requested, the second bleed valve is closed and the first bleed valve is opened to provide the nitrogen bleed.

Abstract: A system and method for estimating vehicle lateral velocity that defines a relationship between front and rear axle lateral forces and front and rear axle side-slip angles. The method includes providing measurements of vehicle yaw-rate, lateral acceleration, longitudinal speed, and steering angle. The method also includes using these measurements to provide a measurement of the front and rear axle forces. The method calculates a front axle lateral velocity and a rear axle lateral velocity, and calculates a front axle side-slip angle based on the rear axle lateral velocity and a rear axle side-slip angle based on the front axle lateral velocity. The method then estimates front and rear axle forces, and selects a virtual lateral velocity that minimizes an error between the estimated and measured lateral axle forces. The method then provides an estimated vehicle lateral velocity using the selected virtual lateral velocity.

Abstract: A method for reducing the probability of an air/hydrogen front in a fuel cell stack is disclosed that includes closing anode valves for an anode side of the fuel cell stack to permit a desired quantity of hydrogen to be left in the anode side upon shutdown and determining a schedule to inject hydrogen during the time the fuel cell stack is shutdown. The pressure on an anode input line is determined and a discrete amount of hydrogen is injected into the anode side of the stack according to the determined schedule by opening anode input line valves based on the determined pressure along the anode input line so as to inject the hydrogen into the anode side of the stack.