Abstract: Methods and systems are provided for monitoring ground line degradation of electric devices coupled to a communication bus. The method includes, by a processor: receiving voltage data including measurements of voltages of messages transmitted by the electric device over the communication bus, generating health indicators from the voltage data associated with ground line degradation of the electric device, the health indicators including statistical moments calculated based on the voltage data, and determining a health stage of the electric device based on the health indicators, the health stage including a classification based on a relationship between ground line degradation and communication loss for the electric device.

Abstract: A method for early detection and prognosis of wheel bearing faults in a motor vehicle includes one or more of the following: obtaining a wheel speed of a wheel with a sensor in combination with an encoder ring, the sensor generating a signal, the wheel including a bearing that enables rotational movement of the wheel; pre-processing the signal from the sensor; and post- processing an output of the pre-processed signal to generate a bearing fault signature of the bearing.

Abstract: A system includes a brake torque request module, a brake control module, and a diagnostic module. The brake torque request module is configured to generate a brake torque request based on a brake pedal position during a braking event. The brake control module is configured to apply friction brakes on a wheelset of a vehicle to satisfy the brake torque request during the braking event. The wheelset includes less than all wheels of the vehicle. The diagnostic module is configured to detect a fault in a brake rotor on a wheel in the wheelset based on vehicle operating conditions measured during the braking event.

Abstract: A braking system includes brake rotors, wheel speed sensors, and an electronic control unit. The brake rotors are couplable to wheels. The brake rotors have rotor thickness variations that cause a vibration while braking. The wheel speed sensors are couplable to the wheels and configured to generate rotation signals for the wheels. The electronic control unit coupled to the wheel speed sensors and configured to generate an absolute phase offset signal that conveys an absolute phase offset angle between the rotor thickness variations in response to the rotation signals, generate a brake torque adjustment signal in response to the absolute phase offset signal and the rotation signals, and adjust a first braking control signal for a first brake rotor relative to a second braking control signal for a second brake rotor based on the brake torque adjustment signal to minimize an amplitude of the vibration during a braking event.

Abstract: A method of controlling tethered self-propelled platforms is provided. The method comprises providing a platform leader and a platform follower connected to the leader with a tether to define a first heading line of the leader and a first coordinate frame of the follower. Each of the leader and the follower is pivotally moveable relative to the tether, defining a leader angle and a follower angle. The method further comprises estimating a predicted position of the leader based on a current position, a current speed, and a current yaw rate of the leader. The predicted position of the leader defines a predicted heading line of the leader. The method further comprises determining a trajectory of the follower from the first coordinate frame to the predicted heading line defining a second coordinate frame of the follower. The trajectory is based on a desired distance the predicted heading line and a desired change in yaw angle of the follower.

Abstract: A system and method to perform lane position sensing and tracking in a vehicle include using a first camera with a first field of view of a first side of the vehicle and a second camera with a second field of view on a second side of the vehicle to capture images. The method includes determining if a first lane line on a first side of the vehicle and a second lane line on the second side of the vehicle are both visible, and based on the first lane line and the second lane line being visible, determining, a position of the vehicle in a lane between the first lane line and the second lane line and determining a trajectory of the first lane line and the second lane line and of the vehicle.

Abstract: A system and method to perform lane position sensing and tracking in a vehicle include using a first camera with a first field of view of a first side of the vehicle and a second camera with a second field of view on a second side of the vehicle to capture images. The method includes determining if a first lane line on a first side of the vehicle and a second lane line on the second side of the vehicle are both visible, and based on the first lane line and the second lane line being visible, determining, a position of the vehicle in a lane between the first lane line and the second lane line and determining a trajectory of the first lane line and the second lane line and of the vehicle.

Abstract: A method to automate detection of a vehicle light degradation or failure includes generating a distinct pattern to be executed by at least one vehicle light, and sending a command to a light control module operative to cause the at least one vehicle light to emit the distinct pattern. The method continues with extracting features from camera images of the distinct pattern emitted by the at least one vehicle light, and then comparing the features extracted from the camera images with features from the commanded distinct pattern to determine degradation or failure of the at least one vehicle light's state of health.

Abstract: A method to automate detection of a vehicle light degradation or failure includes generating a distinct pattern to be executed by at least one vehicle light, and sending a command to a light control module operative to cause the at least one vehicle light to emit the distinct pattern. The method continues with extracting features from camera images of the distinct pattern emitted by the at least one vehicle light, and then comparing the features extracted from the camera images with features from the commanded distinct pattern to determine degradation or failure of the at least one vehicle light's state of health.

Abstract: An apparatus for electromagnetic (EM) tracking or localization is described which includes one or more EM transmitters and receivers (sensors, or trackers), an indication of relative locations of the one or more transmitter and sensor with respect to one or more instrument, optionally, a model of the one or more instrument flexibility, a measurement uncertainty analyzer that reports an uncertainty associated with each measurement, an equation of motion or dynamic model with motion constraints that describes an expected behavior of the one or more instrument, a probabilistic simultaneous localization and mapping (SLAM) algorithm that simultaneously estimates a pose of one or more instrument and updates a field distortion map, or parameters of a field distortion model, a field distortion estimator that uses currently-available information of the field distortion map and estimates field distortion in the vicinity of the one or more instrument, to be used for future measurement compensation, a transient analyzer

Abstract: An apparatus for electromagnetic (EM) tracking or localization is described which includes one or more EM transmitters and receivers (sensors, or trackers), an indication of relative locations of the one or more transmitter and sensor with respect to one or more instrument, optionally, a model of the one or more instrument flexibility, a measurement uncertainty analyzer that reports an uncertainty associated with each measurement, an equation of motion or dynamic model with motion constraints that describes an expected behavior of the one or more instrument, a probabilistic simultaneous localization and mapping (SLAM) algorithm that simultaneously estimates a pose of one or more instrument and updates a field distortion map, or parameters of a field distortion model, a field distortion estimator that uses currently-available information of the field distortion map and estimates field distortion in the vicinity of the one or more instrument, to be used for future measurement compensation, a transient analyzer