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Class II, III, and industrial diesel-powered locomotives create emissions of particulate matter (PM2.5) and oxides of nitrogen (NOx) which have been shown to be harmful to human health, causing illness and premature death.

CARB offers funding to operators seeking assistance to upgrade or replace locomotives to Tier 4 or ZE. Visit the incentives webpage for more information: CARB Incentives for Locomotives: California Air Resources Board

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Drone programming typically includes algorithm development and prototyping, software simulation, and hardware implementation and testing. MATLAB® and Simulink® provides tools and reference applications that support the different aspects of drone programming.

Drone programming is the development of software that enables drones to fly autonomously with self-awareness and situational awareness. It also enables a drone to make decisions and execute tasks without human intervention, such as last mile delivery.

The next step in drone programming, software simulation, helps identify bugs and validate complex autonomous flight algorithms. Simulation environments such as Gazebo®, Cuboid World, and Unreal Engine® are used to test the drone software in a virtual environment tailored for the test cases.

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See also: UAV Toolbox, drone programming videos, Computer Vision Toolbox, Lidar Toolbox, ROS Toolbox, Navigation Toolbox, MATLAB and Simulink for Robotics, robot programming, What is SLAM, Inertial Navigation System, PX4 Autopilot Support from UAV Toolbox

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*Currently there is a single Tier II locomotive operator working in California, CARB staff have not found sufficient data to characterize this population, therefore it is not included here.

The California Air Resources Board is one of six boards, departments, and offices under the umbrella of the California Environmental Protection Agency.

Under the Regulation PM emissions from Class III and industrial locomotives are projected to be reduced by approximately 96 percent and 98 percent respectively, and NOx emissions by over 95 percent compared with the baseline scenario.

The In-Use Locomotive Regulation (Regulation) will achieve emission reductions from diesel-powered locomotives and increase the use of zero-emission (ZE) technology. The Regulation will help meet California’s public health, air quality and climate goals by reducing criteria pollutants, toxic air contaminants, and greenhouse gas emissions for locomotives in-use.

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Finally, in the hardware implementation and testing phase, the programs and models are implemented on autopilots such as PX4® Autopilots or onboard computers such as the NVIDIA Jetson® CPUs by automatically generating code. Mission planning software such as QGroundControl and Mission Planner are used to plan missions, tune flight control parameters, and control the drone. The Micro Air Vehicle Link (MAVLink) communication protocol or Robot Operating System (ROS)  are used to communicate with the autopilots or onboard computers. Flight log analysis tools help analyze flight logs to understand the behavior of the drone.

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Visit the California Locomotives Fact Sheet to learn how the Regulation will apply to all locomotive operators, including industrial operators.

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The first step in drone programming is prototyping and algorithm development. The program can be structured into these key software components:

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