This final reports the fault analysis of precision docking system and safety design of the safety critical elements for precision docking system. The report includes three Parts, including:

Part I provides a description of the Precision Docking System and reports analysis for fault diagnosis and safety design of automated steering controller and Electronic Control Unit (ECU) for steering actuator. It also reports a demonstration PATH conducted during the National Intelligent Vehicle Initiative demonstration organized by the US Department of Transportation Joint Program Office.

Part II report an analysis and design for a reliable direct drive for the steering wheel column of buses.

Part III reports power system reliability.

The report below is the Part II report: A Reliable Direct Drive for the Steering Wheel Column of Buses. It evaluates the feasibility of using a direct drive for the steering wheel column of buses and heavy trucks. Permanent magnet technology is proposed for the motor design, due to its proven advantages for medium- to low-power servo applications. A redundant set of windings is introduced in the motor, together with a fault-detection/isolation system, to provide fault tolerance and increase the actuator's reliability.The report is organized as follows: first, the design of the motor is described. Next, the power electronics and control strategy are analyzed. Finally, fault-detection and fault-isolation techniques are presented.