David M. Bevly
`
`Phone: (334) 844-3446
`Fax: (334) 844-3307
`Email: dmbevly@eng.auburn.edu
`
`Department of Mechanical Engineering
`Auburn University
`Auburn, AL 36849-5341
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`Current
`Position
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`Education
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`Awards
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`Research
`Background
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`Auburn, AL
`Auburn University
`2010-2015
`Albert Smith Endowed Professorship
`2010-Present
`Professor, Department of Mechanical Engineering
`Associate Professor, Department of Mechanical Engineering
`2007-2010
`2001-2007
`Assistant Professor, Department of Mechanical Engineering
`In charge of teaching mechanical engineering courses and developing a strong externally
`funded research program in the area of dynamics, controls, and transportation systems.
`
`Stanford, CA
`Stanford University
`Ph.D., Mechanical Engineering, September 2001. Thesis directed by Professor Bradford Parkinson
`entitled “High Speed, Dead Reckoning, and Towed Implement Control for Automatically Steered
`Farm Tractors Using GPS.”
`Major Area: Automatic Control, Minor Area: Mechatronic Systems
`
`Cambridge, MA
`Massachusetts Institute of Technology
`Master of Science, Mechanical Engineering, September 1997. Thesis directed by Professor Steven
`Dubowsky, entitled “Action Module Planning and Cartesian Based Control of an Experimental
`Climbing Robot.”
`
`College Station, TX
`Texas A&M University
`Bachelor of Science, Mechanical Engineering, Summa Cum Laude, May 1995. Broad curriculum
`in mechanical engineering with emphasis in design, dynamics, and control. Completed
`undergraduate research units directed by Professor Christian Burger.
`
`2007 SAE Ralph R. Teetor Educational Award
`2005, 2008, 2010 Outstanding Mechanical Engineering Faculty Member Award
`2010 Walker Teaching Award
`2006 Office of Naval Research Young Investigator Award
`2006 Army Research Office Young Investigator Award
`2000 SAE Myers Award for Outstanding Student Paper
`Best Paper of Session: ION GPS 2000
`Best Presentation of Session: ACC 2000
`
`
`
`Stanford, CA
`GPS Lab, Stanford
`1998-2001
`Graduate Researcher
`Performed research and implementation of hardware for automated control of a farm tractor using
`GPS. Developed accurate vehicle models for high-speed control and towed implement control.
`Responsible for programming data acquisition equipment for Lynx Real Time Operating System
`and integration of several analog sensors. Developed method for integrating multiple inertial type
`sensors with GPS, through an EKF, for estimating multiple biases and dead reckoning control of
`the tractor. Created computer simulations and models to verify control and estimation techniques
`performed on the tractor.
`Stanford, CA
`DYNAMIC Design Lab, Stanford
`1999-2001
`Graduate Researcher
`Initiated the ideas and performed research on the use of GPS velocity measurements for estimation
`of vehicle states and developed a method for measuring wheel slip and side-slip angle. Developed
`vehicle simulation models and performed experiments on a test vehicle to verify methodology.
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`David M. Bevly – 2015 Dossier
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`CATERPILLAR EXHIBIT 1042
`CATERPILLAR v. WIRTGEN
`IPR2018-01091
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`Page 1 of 32
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`Teaching
`Experience
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`Auburn, AL
`Auburn University
`MECH 4420 - Vehicle Dynamics
`2002-present
`Developed this new course as part of the College of Engineering’s Automotive Certificate
`Program. Emphasized the importance of computational numerical methods to simulate and
`analyze vehicle systems. Was able to secure an Infiniti G35 test vehicle from Nissan which was
`instrumented by graduate students in the laboratory and used as part of the class. The students test
`drive the vehicle, collect data, and provide lab reports analyzing the experiments and data.
`MECH 3140 - System Dynamics and Controls
`2001-present
`Have taught this traditional undergraduate course most Fall and Spring Semesters since arriving
`at Auburn University. Assigned homework and team design projects requiring simulation,
`analysis, and design of a control system using MATLAB.
`2002-present
`MECH 7710 - Optimal Estimation and Control
`Developed this new graduate course. The class consists of assignments which utilize data from
`experimental research platforms and culminates in a team research design project.
`MECH 6970 - Fundamentals of GPS
`2005-present
`Developed this new undergraduate/graduate course on the fundamentals of GPS with graduate
`student Matthew Lashley. The class consists of assignments which utilize data from experimental
`research platforms in the laboratory and the use of GPS equipment from the laboratory.
`
`
`HONORS AND AWARDS
`
`While at Auburn, Dr. Bevly has received the following awards:
`1. 2011 Auburn University Graduate School Outstanding Faculty Member
`2. Albert Smith Professorship, 2010-2015
`3. Philpott-Westpoint Stevens Professorship, 2008-2010
`4. 2010 William Walker Teaching Award
`5. 2010 Auburn Alumni Engineering Council Outstanding Faculty Award
`6. 2008 Auburn Alumni Engineering Council Outstanding Faculty Award
`7. 2007 SAE Ralph R. Teetor Educational Award
`8. 2006 Office of Naval Research Young Investigator Proposal (ONR YIP) Recipient
`9. 2006 Army Research Office Young Investigator Proposal Recipient
`10. 2005 Auburn Alumni Engineering Council Outstanding Faculty Award
`11. 2003 Auburn Alumni Engineering Council Junior Faculty Research Award
`
`David M. Bevly – 2015 Dossier
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`SCHOLARLY CONTRIBUTIONS
`
`The following section outlines Dr. Bevly’s scholarly contributions and is divided into three areas:
`teaching, research, and outreach.
`
`A. Teaching
`
`
`1. Courses Taught—Table 2 indicates the courses that Dr. Bevly has taught over the past
`three years. Lecture/lab hours and enrollment are also noted. MECH 7990 Research and
`Thesis and MECH 8990 Research and Dissertation courses have been omitted.
`
`Semester
`Fall 2012
`
`Spring 2013
`
`
`Fall 2013
`
`
`Spring 2014
`
`
`Fall 2014
`
`Spring 2015
`
`
`
`Table 2. Actual Course Taught from Spring 2012-2015
`Course
`Hours
`MECH 3140 System Dynamics and Control
`3 lec.
`
`
`MECH 4420 Vehicle Dynamics
`3 lec.
`MECH 7710 Optimal Estimation and Control
`3 lec.
`
`
`MECH 3140 System Dynamics and Control
`3 lec.
`MECH 5970 Fundamentals of GPS
`3 leg
`
`
`MECH 3140 System Dynamics and Control
`3 lec.
`MECH 4420 Vehicle Dynamics
`3 lec.
`
`
`MECH 3140 System Dynamics and Control
`3 lec.
`
`
`MECH 4420 Vehicle Dynamics
`3 lec.
`MECH 7710 Optimal Estimation and Control
`3 lec.
`
`
`
`Enrollment
`41
`
`20
`12
`
`60
`22
`
`33
`18
`
`50
`
`23
`18
`
`
`2. Graduate Students (Graduated)
`As outlined below, Dr. Bevly has served as the major professor advisor of 10 PhD students
`and 37 MS students. The names of the students research topic, department, degree, and
`graduation year are provided below.
`
`
`
`
`Student
`Robert Daily
`
`Research Topic
`Model-free Control of Unmanned Ground
`Vehicles
`A software and hardware system for the
`Winnard Britt
`autonomous control and navigation of a
`trained canine
`Matthew Lashley Modeling and Performance Analysis of GPS
`Vector Tracking Algorithms
`Navigation Accuracy of Various Sensors for
`William Travis
`Ground Vehicles
`Wei Huang
`On-line Vehicle Estimation and Navigation
`A Maximum Effort Control System for the
`Jeffrey Miller
`Tracking and Control of a Guided Canine
`David M. Bevly – 2015 Dossier
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`
`Dept. MS/PhD Year
`PhD
`ME
`2008
`PhD
`
`2009
`
`CS
`
`EE
`ME
`ME
`ME
`
`PhD
`PhD
`PhD
`PhD
`
`2009
`2010
`2010
`2010
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`Dynamic Gaussian Process Models for Model
`Predictive Control of Vehicle Roll
`Fault Detection and Exclusion in Deeply
`Integrated GPS/INS
`Terrain and Road Characterization and
`Roughness Estimation for Simulation and
`Control of Unmanned Ground Vehicles
`Robust Gain-Scheduled Observer Design with
`Application to Vehicle State Estimation
`Modeling the Variations of Tractor Dynamics
`for Typical Farm Applications
`Navigation Accuracy of Various Sensors for
`Ground Vehicles
`Navigation in GPS Denied Areas
`Development and Analysis of Deeply
`Integrated GPS/INS
`Development of a Software GPS Receiver
`GPS Applications for Advanced Driver
`Assistance Systems
`Direct Adaptive Control of Farm Tractors
`Using GPS for Model Based Estimation of
`Critical Vehicle States and Parameters
`Novel Control Allocation and Quadratic
`Programming Algorithms for Control of Aero
`and Ground Vehicles
`Christopher
`Comparison of GPS/INS Integration
`Hamm
`Techniques for High Dynamic Environments
`Evan Gartley
`Adaptive Steering Control of Farm Tractors
`Randy Whitehead Determination of Vehicle Parameters that
`Influence Vehicle Rollover Propensity
`Low-level GPS/INS Sensor Fusion for
`Warren Flenniken
`Improved Vehicle Navigation
`Development of an autonomous mobile robot-
`David Hodo
`trailer system for UXO detection
`Harold Henderson Relative positioning of unmanned ground
`vehicles using ultrasonic sensors
`Registration and tracking of objects with
`Andrew Nevin
`computer vision for autonomous vehicles
`A study of vehicle properties that influence
`rollover and their effect on electronics stability
`controllers
`Parameter estimation techniques for
`determining safe vehicle speeds in UGVs
`GPS/INS Operation in Shadowed
`Environments
`Tire Force Estimation in Off-Road Vehicles
`using Suspension Strain and Deflection
`Measurements
`
`
`Kenneth Lambert
`
`Dustin Edwards
`Ben Clark
`
`Ryan Hill
`
`David Broderick
`Ben Clark
`
`Jeremy Dawkins
`
`Yan Wang
`Paul Pearson
`William Travis
`John Wall
`Matt Lashley
`Michael Newlin
`Josh Clanton
`Benton Derrick
`Rusty Anderson
`
`John Plumlee
`
`
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`David M. Bevly – 2015 Dossier
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`
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`EE
`ME
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`ME
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`ME
`ME
`ME
`ME
`EE
`EE
`EE
`ME
`ME
`ME
`
`EE
`ME
`ME
`
`ME
`EE
`ME
`EE
`ME
`
`ME
`
`ME
`ME
`
`PhD
`PhD
`
`PhD
`
`PhD
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`
`
`MS
`MS
`MS
`
`MS
`MS
`MS
`MS
`MS
`
`MS
`MS
`MS
`
`2012
`2012
`
`2011
`
`2014
`2007
`2006
`2007
`2006
`2006
`2006
`2008
`2004
`
`2004
`
`2005
`2005
`
`2005
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`2005
`2007
`2008
`2009
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`2007
`
`2008
`2008
`
`2012
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`Lowell Brown
`Scott Martin
`
`Jonathan Ryan
`
`Chris Rose
`Jordan Britt
`John Allen
`William Woodall
`
`Mike Payne
`Michael Wooten
`
`Robert Williams
`
`James Salmon
`Thomas Bitner
`Eric Broshears
`
`Jameson Colbert
`
`Roll & Bank Estimation Using GPS/INS and
`Suspension Deflections
`Closely Coupled GPS/INS Relative
`Positioning for Automated Vehicle Convoys
`A Fully Integrated Sensor Fusion Method
`Combining a Single Antenna GPS Unit with
`Electronic Stability Control Sensors
`Robust lane detection using Vision/IMU
`measurements
`Lane detection and vehicle attitude using Lidar
`Use of Vision Sensors and Lane Maps to Aid
`GPS-INS Navigation
`Low-Bandwidth Three Dimensional Mapping
`and Latency Reducing Model Prediction to
`Improve Teleoperation of Robotic Vehicles
`Non-Collocated Control of an Autonomous
`Vehicle-Trailer System Using State Estimation
`High-Dynamic Range Collision Detection
`using Piezoelectric Polymer Films for Planar
`and Non-planar Applications
`Evaluation of Beam Load Cell Use for Base
`Reaction Force Collision Detection on
`Industrial Robots
`Guidance of an Off-Road Tractor-Trailer
`System Using Model Predictive Control
`Detection and Removal of Erroneous GPS
`Signals Using Angle of Arrival
`Ultra-wideband Radio Aided Carrier Phase
`Ambiguity Resolution in
`Real-Time Kinematic GPS Relative
`Positioning
`Development of a Custom Data Acquisition
`System for the Study of Vehicle Dynamics in
`Longer Combination Vehicles
`Andrew Hennigar Analysis of Record and Playback Errors of
`GPS Signals Caused by the USRP
`
`ME
`ME
`ME
`
`EE
`EE
`ME
`CS
`
`EE
`EE
`
`ME
`
`ME
`ME
`ME
`
`ME
`
`ME
`
`MS
`MS
`MS
`
`MS
`MS
`MS
`MS
`
`MS
`MS
`
`MS
`
`MS
`MS
`MS
`
`MS
`
`MS
`
`2012
`2011
`
`2011
`
`2010
`2010
`2011
`
`2012
`
`2012
`
`2013
`
`2014
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`2013
`2013
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`2013
`
`2014
`
`2014
`
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`3. Graduate Students (Current)
`Dr. Bevly is currently serving as the major professor advisor for 6 PhD students and 17 MS
`students. Listed below is each student, graduate level, department, and topic of study.
`
`Student
`Scott Martin
`Lowell Brown
`Chris Rose
`Jordan Britt
`Jonathan Ryan
`David Hodo
`Daniel Salmon
`
`Research Topic
`Vector tracking aided carrier phase for GPS attitude
`Model parameter uncertainty and sensitivity for
`control performance guarantees
`Optical flow for UGV navigation using plenoptic
`camera
`Simultaneous localization, mapping and sensor
`calibration
`Vehicle dynamic constraints to aid navigation
`Network based navigation
`Vehicle based models and sensors to improve
`navigation
`David M. Bevly – 2015 Dossier
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`Dept.
`ME
`ME
`ME
`ME
`ME
`EE
`ME
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`Degree
`PhD
`PhD
`PhD
`PhD
`PhD
`PhD
`MS
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`Christopher Collins
`Sostenez Perez
`John Dan Pierce
`William Apperson
`Brian Keyser
`Sarah Preston
`Nate Carson
`Robert Cofield
`Scott Smith
`Joshua Starling
`Gabriel Morales
`Velislav Stemenov
`Jacoby Golden
`Trip Richert
`Joseph Hamilton
`Xialong Cao
`
`Network based direct Y acquisition
`Sensitivity and accuracy of friction and mass
`estimation in heavy vehicles
`Sensor fusion for pedestrian navigation
`GPS guidance of a tractor implement
`Real-time implementation of a vector tracking
`receiver on an FPGA
`Use of clock bias for detecting false signals
`GPS Spoofing detection and mitigation using
`networked receivers
`Map based navigation
`DRTK/Radar fusion for robust vehicle following
`Multi-antenna signal processing for GPS
`Magnetometer based vehicle navigation
`Lidar based terrain perception
`Image tracking for UAV/UGV collaboration
`GNSS Vector Tracking analysis
`Multi-antenna signal processing for GPS
`MPC control for vehicle model uncertainty in CACC
`systems
`
`ME
`ME
`ME
`ME
`ME
`EE
`ME
`ME
`ME
`ME
`ME
`ME
`ME
`EE
`EE
`ME
`
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`MS
`
`
`4. Committee Members
`Dr. Bevly has served as a committee member or outside reader for 12 students.
`
`
`
`1. Abby Anderson, M.S., May 2006, “Design, Testing, and Simulation of a Low-Cost, Light-
`Weight, Low-G, IMU for the Navigation of an Indoor Blimp.”
`2. Darrel Krueger, MS, December, 2007, “Investigation of Lateral Performance on and ATV Tire
`on Natural, Deformable Surfaces.”
`3. Desheng Ma, PhD, May 2010, “Design and Implementation of RF Receiver Front-end and
`Tunable Filter.”
`4. Yuan Yao, PhD, May 2010, “Design and Implementation of High-Speed Low-Power Data
`Converters.”
`5. Guangli Ma, PhD, December 2010, “Modeling, Machine Vision Sensing and Position Control
`of Braiding Point based on Braiding Process”
`6. Robert Jantz, MS, May 2011, “Controlling the Speed of a Magnetically-Suspended Rotor
`with Compressed Air.”
`7. Russell Green, MS, August 2011, A Non-contact Method for Sensing Tire Contact Patch
`Deformation Using a Monocular Vision System and Speckled Image Tracking
`8. Robert Jantz, MS, May 2011, “Controlling the Speed of a Magnetically-Suspended Rotor
`with Compressed Air.”
`9. James Jantz, MS, May 2014, Development of a Multi-mode Adaptive Controller and
`Investigation of Gain Variations with Speed and Balance Changes
`10. Robert Thetford, Jr., MEE, “Visual Position and Angle Recognition using a Neural Network”
`August 2012.
`11. Siwei Wang MEE “Design and Analysis of Trailer System for the Metalmapper Sensor”,
`May 2013.
`12. Brian Reitz, PhD, AE, Dec 2014, “Control System Development for Autonomous Aerobatic
`Maneuvering with a Fixed-Wing Aircraft.”
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`David M. Bevly – 2015 Dossier
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`5. Courses and Curricula Developed
`
` While at Auburn, Dr. Bevly has developed three new courses, each of which is described
`below.
`
`MECH 4420 Vehicle Dynamics
`This course developed by Dr. Bevly as part of the Automotive Certificate in Engineering
`program is a three hour undergraduate technical elective. The course introduces students to
`the basic mechanics governing vehicle performance, analytical methods, and terminology. The
`students are given assignments that require the development of mathematical models in order
`to simulate and analyze the various components of vehicle dynamics. The class also contains
`an un-official lab in which the students drive instrumented test-vehicles donated to Dr. Bevly's
`research program in order to collect data. This provides the students additional exposure to
`sensors and instrumentation as well as simulation and model validation, and it is an example
`of Dr. Bevly's commitment to integrate his research with the undergraduate education at
`Auburn. The class also contains a final project in which students must present model
`development, simulation and experimental results to the class and answer questions from
`members of Dr. Bevly's research lab.
`
`MECH 7710 Optimal Estimation and Control
`This course is a graduate class in optimal control and estimation and is intended to be a follow-
`up class to ELEC7500. The class covers statistical modeling of disturbances and measurement
`noises and develops methods to design sensor fusion and estimation algorithms to account for
`the statistical uncertainties. The class consists of several assignments that utilize GPS and
`IMU data from Dr. Bevly's research projects and a final project in which students can apply
`the material from the class to a problem related to their area of research.
`
`MECH 5970 Fundamentals of GPS
`Developed this new undergraduate/graduate course on the fundamentals of GPS with graduate
`student Matthew Lashley. The class consists of assignments which utilize data from
`experimental research platforms in the laboratory and the use of GPS equipment from the
`laboratory.
`
`
`6. Grants Related to Teaching - None.
`
`7. Publications Related to Teaching - None.
`
`8. Other Contributions to Teaching - None.
`
`9. Statement of Teaching Philosophy and Self-evaluation
`
`
`
`a. Philosophy—As a professor of mechanical engineering, my goal is to give students a
`practical yet theoretical foundation that will prepare them for jobs in industry or further work
`in academia. Because I believe practical examples are the best way to motivate students, I
`combine theory and practice by giving examples from past work and research. Test platforms
`used in my GPS and Vehicle Dynamics Laboratory are used to provide data, examples, and
`experience to students in a variety of classes taught by Dr. Bevly. This exposure allows
`students the opportunity to get hands-on experience applying theories taught in classes to
`David M. Bevly – 2015 Dossier
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`cutting-edge platforms. I strive to give the students I interact with, both in my research group
`and in the classroom, the invaluable experiences gained from building and working with
`experimental systems.
` Along with using real-world examples to give students the basic theoretical skills to advance
`in engineering, I seek to create a professional atmosphere that cultivates responsibility and
`respect. My assignments stress the importance of self-motivation as they challenge students
`to extend their knowledge beyond class discussions and lecture notes. Furthermore, these
`assignments teach students that they are ultimately responsible for their success, a lesson that
`I hope students take with them outside the classroom. Another component of my classes is
`team projects. Not only do these projects teach students how to work together and respect each
`other, they also provide opportunities for professional development as students are required to
`present their projects before their peers. By relying on real-world examples and creating a
`professional environment that stimulates learning and growth, I believe my classroom prepares
`students to become successful engineers in the twenty-first century.
`
`b. Self-evaluation—My level of effectiveness as a teacher can be demonstrated by my student
`evaluations given at the end of the semester. The final question on the survey asks students to
`rank the instructor’s effectiveness, with 6 being the highest score Table 3 illustrates the
`responses from all the classes I have taught at Auburn, with the exception of MECH 6970
`Special Topics: Fundamentals of GPS. The effectiveness scores of all classes result in an
`average score of 5.4, indicating that the majority of students find my teaching effective.
`
`
`Table 3. Summary of Student Evaluations.
`Course
`Responses
`Effectiveness
`Semester
`5.1
`MECH 3140
`20
`Fall 2012
`
`
`
`
`5.5
`Spring 2013 MECH 7710
`11
`5.7
`
`MECH 4420
`7
`
`
`
`
`4.9
`Fall 2013
`MECH 3140
`31
`
`
`
`
`5.2
`Spring 2014 MECH 3140
`18
`5.9
`
`MECH 4420
`8
`
`
`
`
`5.3
`Fall 2014
`MECH 3140
`21
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
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`B. Research/Creative Work
`
`
`1. Books
`1. David M. Bevly and Steward Cobb, GNSS For Vehicle Control, published by Artech,
`2010.
`
`2. Article-length Publications
`
`Dr. Bevly has written 3 book chapters, 40 journal articles, 39 of which are in print and none of
`which are currently under review. Dr. Bevly also has published 3 magazine articles and 122
`conference papers. Dr. Bevly’s Google Scholar H-index is 26.
`
`a. Book Chapters
`1. David M. Bevly, Demoz Gebre-Egziabher, Mark Petovello, “Integration of GNSS and
`INS: Part 1” in GNSS Applications and Methods, published by Artech, 2009
`2. David M. Bevly, Demoz Gebre-Egziabher, Mark Petovello, “Integration of GNSS and
`INS: Part 2” in GNSS Applications and Methods, published by Artech, 2009
`3. Bevly, D. M., Gebre-Egziabher, D., and Parkinson, B. W., "Error Analysis of a Dead
`Reckoning Navigator for Ground Vehicle Guidance and Control," selected to be
`published in the new GPS Red Book.
`
`b. Refereed Journal Publications
`
`In Print
`
`1. Sherer, T., Martin, S., and Bevly, D. M. “Radar Probabilistic Data Association
`Filter\DGPS Fusion for Target Selection and Relative Range Determination for a Ground
`Vehicle Convoy.” Accepted Ready for Publication, Navigation: Journal of the Institute of
`Navigation, 2019.
`2. Wang, Y., Rajamani, R., Bevly, D.M., “Observer Design for Parameter Varying
`Differentiable Nonlinear Systems, with Application to Slip Angle Estimation,” IEEE
`Transactions on Automatic Control, Vol. 62, No. 4, April 2017, pp. 1940-1945.
`3. Bevly, D.M., et. al., “Lane Change and Merge Maneuvers for Connected and Automated
`Vehicles: A Survey,” IEEE Transactions on Intelligent Vehicles, Vol. 1, No. 1, July
`2016, pp. 105-120.
`4. Song Gaoa,c, Alvin Lima,c,⁎, David Bevly, “An empirical study of DSRC V2V
`performance in truck platooning Scenarios,” Digital Communications and Networks,
`Vol. 2, No. 4, November 2016, pp 233-244.
`5. Wang, Y., Bevly, D.M., Rajamani, R., “Interval observer design for LPV systems with
`parametric uncertainty,” Automatica, Vol. 60, October 2015, pp. 79-85.
`6. Wooten, J. M., Bevly, D.M., Hung, J., “Piezoelectric Polymer-Based Collision Detection
`Sensor for Robotic Applications,” Electronics, Vol. 4, No. 1, 2015, pp. 204-220.
`7. Brown, Lowell S., Bevly, D.M., “Roll and Bank Estimation Using GPS/INS and
`Suspension Deflections,” Electronics, Vol. 4, No. 1, 2015, pp. 118-149.
`8. Rose, C.; Britt, J.; Allen, J.; Bevly, D., "An Integrated Vehicle Navigation System
`Utilizing Lane-Detection and Lateral Position Estimation Systems in Difficult
`
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`Environments for GPS," Intelligent Transportation Systems, IEEE Transactions on ,
`Vol.15, No.6, March, 2014. pp. 2615 – 2629.
`9. Ryan, Jonathan, and Bevly, D.M., “On the Observability of Loosely Coupled Global
`Positioning System/Inertial Navigation System Integrations With Five Degree of
`Freedom and Four Degree of Freedom Inertial Measurement Units”, Journal of
`Dynamics, Systems, Measurement, and Control, Vol. 136, No. 2, March 2014.
`10. Martin, S. , Bevly, D.M., “ Comparison of GPS-based autonomous vehicle
`following using global and relative positioning,” International Journal of
`Autonomous Vehicle Systems, Vol. 10, No. 3, 2012 pp. 229-255.
`11. Miller, J., Bevly, D.M., “A system for autonomous canine guidance,” International
`Journal of Modelling, Identification and Control, Vol. 20, No. 1, 2013, pp. 33-46.
`12. Dawkins, J.J., Bevly, D.M, and Jackson, R.L., “Evaluation of fractal terrain model for
`vehicle dynamic simulations,” Journal of Terramechanics, Vol. 49, No. 6, 2012, pp. 299–
`307.
`13. Miller, J., Bevly D.M., Flowers, G., “A System for Tracking an Autonomously
`Controlled Canine, The Journal of Navigation, Vol. 64, No. 3, July 2012, pp 427-444.
`14. Huang, W. and Bevly, D.M. “Set terrain based optimal speed limits for heavy trucks
`energy saving’, International Journal of. Powertrains, Vol. 1, No. 4, 2012, pp. 335–350.
`15. Dawkins, J.J., Bevly, D.M, and Jackson, R.L “Fractal Terrain Generation for Vehicle
`Simulation”, International Journal of Vehicle Autonomous Systems, Vol. 10, No. 1/2,
`2012, pp. 3-18.
`16. Huang, W., and D.M. Bevly, “Evaluation of 3D road geometry based heavy truck fuel
`optimization,” International Journal of Vehicle Autonomous Systems, Vol. 8, No. 1, pp.
`39-55, 2010.
`17. H.F. Machiel Van der Loos, Steven Kautz, Douglas Schwandt, James Anderson, George
`Chen, David M. Bevly, Lena Ting, “A Split-Crank Bicycle Ergometer Uses Servomotors
`to Provide Programmable Pedal Forces for Studies in Human Biomechanics, IEEE
`Transactions on Neural Systems & Rehabilitation Engineering, Vol 18, No. 4, pp. 445-
`452, August 2010.
`18. Travis, W., Martin, S. Hodo, D.W., Bevly, D.M. "Non Line of Sight Automated Vehicle
`Following Using a Dynamic Base RTK System." NAVIGATION, Journal of the Institute
`of Navigation, Vol. 58, No. 4, pp. 241-255, 2011.
`19. Travis, W., Martin, S., Bevly, D.M. "Automated Short Distance Vehicle Following Using
`a Dynamic Base RTK System." International Journal of Vehicle Autonomous Systems,
`Vol. 9, No. 1/2, pp. 126-141, 2011.
`20. Britt, W., Miller, J., Bevly, D.M., Hamilton, D., and Waggoner, P., “An Embedded
`System for Real-Time Navigation and Remote Command of a Trained Canine,” Personal
`and Ubiquitous Computing, Volume 15, Number 1:61–74, 2011
`21. M. Lashley, D. M. Bevly, and J. Y. Hung, “Performance analysis of vector tracking
`algorithms for weak GPS signals in high dynamics,” IEEE Journal of Selected Topics in
`Signal Processing, Vol. 3, No.4, August 2009, pp. 661-673.
`22. Derrick, Benton and Bevly, D.M., “Adaptive Steering Control of a Farm Tractor with
`Varying Yaw Rate Properties”, Journal of Field Robotics, Vol. 26, No. 6/7, June/July
`2009, pp. 519-539.
`23. Clanton, J., Bevly, D.M., Hodel, S., “A Low Cost Solution for an Integrated, Multi-
`Sensor Lane Departure Warning System,” IEEE Transaction on Intelligent
`Transportation Systems, Vol. 10, No. 1, pp. 47-59, March 2009.
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`David M. Bevly – 2015 Dossier
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`24. Anderson, R., and Bevly, D. M., "Using GPS with a Model Based Estimator to Estimate
`Critical Vehicle States," Journal of Vehicle System Dynamics, Vol. 48, No. 12, December
`2010, pp. 1413-1438.
`25. Gartley, E., and Bevly, D.M., “On-line Estimation of Implement Dynamics for Adaptive
`Steering Control of a Farm Tractor,” IEEE/ASME Transactions on Mechatronics, Vol. 13,
`No. 4, August 2008, pp. 429-440.
`26. Pearson, P., Bevly, D.M., Raper, R., “Modeling and Validation of Hitch Loading Effects
`on Tractor Yaw Dynamics,” International Journal of Terramechanics, Vol. 44, No. 6,
`December 2007, pp. 439-450.
`27. Daily, R., Travis, W., and Bevly, D.M, “Cascaded Estimators to Improve Lateral Vehicle
`State and Tire Parameter Estimates,” International Journal of Vehicle Autonomous
`Systems, Volume 5, Number 3-4, 2007, pp. 230-255.
`28. Bevly, D.M. and Parkinson, B.W., “Cascaded Kalman Filters for Accurate Estimation of
`Multiple Biases, Dead-Reckoning Navigation, and Full State Feedback Control of Ground
`Vehicles,” IEEE Journal of Control Systems Technology, Vol. 15, No. 2, 2007.
`29. Travis, W. and Bevly, D.M., "Compensation of Vehicle Dynamic Induced Navigation
`Errors with Dual Antenna GPS Attitude Measurements," International Journal of
`Measurement, Identification, and Control, Vol.8, No. 3, 2008 pp.212-224.
`30. Bevly, D. M., Gebre-Egziabher, D., and Parkinson, B. W., "Error Analysis of a Dead
`Reckoning Navigator for Ground Vehicle Guidance and Control," Journal of Navigation,
`Vol. 53, No. 3, Fall 2006.
`31. Daily, R., Travis, W., Bevly, D.M., et. al., “SciAutonics-Auburn Engineering’s Low-Cost,
`High-Speed ATV for the 2005 DARPA Grand Challenge,” International Journal of Field
`Robotics, Vol. 23, No. 8, August 2006, pp. 579-597.
`32. Bevly, D. M., Ryu, J., Gerdes, J. C, “Integrating INS Sensors with GPS Velocity
`Measurements for Continuous Estimation of Vehicle Side-Slip and Tire Cornering
`Stiffness,” IEEE Transactions on Intelligent Transportation Systems, Vol. 7, No. 4,
`December 2006, pp. 483-493.
`33. Plumlee, J., Hodel, S., and Bevly, D. M., "Control Allocation in Ground Vehicles,"
`International Journal of Vehicle Design, Vol. 42, No. 3, 2006, pp. 215-243.
`34. Daily, R., Bevly, D. M., "The Use of GPS for Vehicle Stability Control Systems," IEEE
`Transactions on Industrial Electronics, Vol. 51, No. 2, April 2004, pp. 270-277.
`35. Bevly, D. M., "GPS: A Low Cost Velocity Sensor for Correcting Inertial Sensor Errors on
`Ground Vehicles," Journal of Dynamic Systems, Measurement, and Control, Vol. 126, No.
`2, June 2004, pp. 255-264.
`36. Bevly, D.M., Gerdes, J.C., Wilson, C., “The Use of GPS Based Velocity Measurements
`for Measuring Side Slip and Wheel Slip,” Vehicle System Dynamics, Vol. 38, No. 2, August
`2002, pp. 127-147.
`37. Bevly, D. M., Gerdes, J. C., Parkinson, B., “A New Yaw Dynamic Modeling for Improved
`High Speed Control of a Farm Tractor,” Journal of Dynamic Systems, Measurement, and
`Control, Vol. 124, No. 4, December 2002.
`38. Bevly, D. M., Dubowsky, D., Mavroidis, C, “A Simplified Cartesian Computed Torque
`Controller and its Application to an Experimental Climbing Robot,” Journal of Dynamic
`Systems, Measurement and Control, Vol. 122, No. 1, March 2000, pp. 27-32.
`39. Bevly, D. M., Rekow, A., Parkinson, B., “Comparison of an INS vs. Carrier Phase DGPS
`Attitude in the Control of Off-Road Vehicles,” Journal of Navigation, Vol. 42, No. 4,
`Winter 2000.
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`David M. Bevly – 2015 Dossier
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`Submitted
`None
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`40. Rekow, Bell, Bevly, Parkinson, “System Identification and Adaptive Steering of Tractors
`Utilizing Differential Global Positioning System“, AIAA Journal of Guidance, Control, and
`Dynamics, Vol. 22, No. 5, September 1999, pp.671-674.
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`c. Articles
`1. Lashley, M., and Bevly, D.M., “How do vector delay lock loops predict the satellite
`signals?,” Inside GNSS, September/October 2012, pp. 28-34.
`2. Britt, J., Bevly, D.M, Rose, C., “A Comparison of Lidar and Camera-Based Lane
`Detection Systems,” GPS World, February 2012.
`3. Lashley, M., and Bevly, D.M., “What are vector tracking loops and what are their
`benefits and drawback,” Inside GNSS, May/June 2009, pp. 16-21.
`
`d. Conference Publications
`1. Rose, C., Pierce, D., Gao, S., Cofield, R., Bevly, D.M., and Bishop, R., “Blind Pedestrian
`Body-Worn Navigation Aid Based on Pedometry and Smart Intersection Connectivity,”
`Proceedings of the 2016 Transportation Research Board Annual Meeting, January 10-14,
`2016 , Washington, DC.
`2. Shaw, R. and Bevly, D.M., Proportional Navigation and Model Predictive Control of an
`Unmanned Autonomous Vehicle for Obstacle Avoidance, Proceedings of the 2018
`Dynamic Systems and Control Conference, Atlanta, Georgia, September-October, 2018.
`3. Williams, J., Martin, S., Bevly, D. Radar-Aided INS with Magnetometer Attitude
`Determination. Proceedings of the 31st International Technical Meeting of The Satellite
`Division of the Institute of Navigation ION GNSS+. Miami, Florida, September 2018, pp.
`1985-1998.
`4. Ray, T., Pierce, D., and Bevly, D.M., “A Comparison of Particle Propagation and Weight
`Update Methods for Indoor Positioning Systems” Institute of Navigation (ION) GNSS+
`2018.
`5. Selikoff, J., and Bevly, D.M., Collaborative Ground Vehicle Navigation Utilizing an IMM
`Radar Tracking Algorithm, Proceedings of the 2018 ION GNSS+ Conference, Miami,
`Florida, September, 2018.
`6. Pierce, Dan, Martin, Scott, Bevly, David M., "Opportunistic Landmark Registration for
`Long Distance Relative Path Following," Proceedings of the 30th International Technical
`Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017),
`Portland, Oregon, September 2017, pp. 2560-2573.
`7. Sherer, T., Martin, S., Bevly, D., “Radar Probabilistic Data Association Filter with GPS
`Aiding for Target Selection and Relative Position Determination,” Proceedings of the ION
`2017 Pacific PNT Meeting, Honolulu, HI, May 2017
`8. Ma