bluuebunny/crossref_metadata_2025 huggingface dataset:
ROAD WHEEL READINESS EXPERIMENT
Authors: Patria Garett S. , Rescoe Stu , Bradford William , Mynderse James A.
Published: November 2024

ABSTRACT

Tracks and wheels are some of the top constituents of ground vehicle mobility and
sustainment cost. Even small improvements in performance parameters and support
strategies can go a long way. Analyzing equipment sustainment models can help
identify these opportunities in conjunction with maintaining a situational
awareness of R&D activities. Specifically, understanding component failure
analysis, characterizing production road wheel material properties, conducting
component testing, and benchmarking diverse manufacturing capabilities provides
a roadmap to establishing and identifying “Best in Class” road
wheel materials. Establishing and executing an R&D compounding plan to
deliver 5X-10X durability improvement is hypothesized. Leveraging the Defense
Mobility Enterprise (DME) and its authority under the 10 USC 2370 Section 845
Ground Vehicle Systems Other Transaction Agreement will allow the government to
rapidly determine the technical feasibility of realizing such colossal
performance expectations.
SILICONE BRAKE FLUID COMPATIBILITY WITH ANTI-LOCK BRAKING SYSTEMS FOR
IDENTIFYING FUTURE MILITARY BRAKE FLUID REQUIREMENTS
Authors: Schroeder Zackery , Sebastian Talia , Yost Douglas , Jeyashekar Nigil , Bramer Jill , Watson Daniel
Published: November 2024

ABSTRACT

Since the 1980s, the US Army has been successfully utilizing silicone brake fluid
(SBF) to protect military ground vehicle brake systems from corrosion in a
variety of environments. Currently, the US Army is focusing its ground vehicle
brake system efforts on safety by executing a hardware technology upgrade to
anti-lock braking systems (ABS). SBF has been purported by many ABS
manufacturers to be incompatible with ABS; however, to date no literature exist
to prove these claims. Therefore, the work therein investigated these claims by
testing SBF versus traditional glycol-based brake fluid in a commercial ABS
utilizing a pump and dump cycle approach to simulate ABS actuation. As expected,
failure of SBF was observed at 20,000 cycles, while no failure was observed for
the traditional fluid. The failure of SBF was investigated and identified to be
related to the lower lubricity of SBF in relation to the traditional fluid, as
well as SBF incompatibility with internal ABS elastomers. This paper presents
the results of these analyses, so as to help ensure a smooth transition to ABS
use in military ground vehicles.
Noise and Vibration Analysis of Zero Rare-Earth Magnet Integrated
Starter-Generator for Military Vehicle Applications
Authors: Sozer Yilmaz , Tylenda Joshua , Kutz John , Wright Ronnie L.
Published: November 2024

ABSTRACT

Most hybrid electric vehicle (HEV) applications require the utilization of
electric motors that have high torque/power density, high efficiency, a wide
speed range and reliability. Interior permanent magnet (IPM) synchronous motors
comprised of rare-earth magnet material is the most common electric motor class
used for HEVs. However, recent fluctuations in the rare-earth magnet pricing and
availability demands the search for zero rare-earth motor topologies as an
alternative to IPM for use in HEVs. Switched reluctance machines (SRMs) are
rare-earth free alternatives with simple and very robust construction, high
efficiency/reliability, high torque at low speed, more thermal capability, and a
wide constant power region. Nonetheless, they have several disadvantages which
emerge from the nature of the torque production in SRMs, such as high torque
ripple, high vibration, and substantial acoustic noise. This paper investigates
the acoustic noise mitigation techniques of SRMs with Finite Element Analysis
and experimental verifications.
THE DEVELOPMENT OF SOIL STOCHASTICS MODEL
Authors: Kang Jian , Sheng Jianping , Akers Stephen , Williams Neil
Published: November 2024

ABSTRACT

In this study, the water content and dry density data from field measurement of
the ATC Engineered Roadway Soil (E-RW) were analyzed first, and their means and
standard deviations were derived. Based on corresponding ERDC lab test data,
each soil parameter in both material model and EOS equation was then expressed
as a function of soil water content and dry density by 3D or 4D surface fitting.
Thus mapping equations from soil water content and dry density to soil
parameters were established. With an assumption of normal distribution for both
soil water content and dry density, a stochastic soil model was developed for
the ATC Engineered Roadway Soil. Modeling and simulation examples were provided
to demonstrate how to apply the developed stochastic soil model to carry out
underbody blast Monte Carlo simulation for generating vehicle and occupant
responses clouds, and how to estimate the low and up bounds of occupant and
structure response with certain confidence level.
PERFORMANCE ANALYSIS OF CONSTANT SPEED LOCAL OBSTACLE AVOIDANCE
CONTROLLER USING AN MPC ALGORITHM ON GRANULAR TERRAIN
Authors: Haraus Nicholas , Serban Radu , Fleischmann Jonathan
Published: November 2024

ABSTRACT

A Model Predictive Control (MPC) LIDAR-based constant speed local obstacle
avoidance algorithm has been implemented on rigid terrain and granular terrain
in Chrono to examine the robustness of this control
method. Provided LIDAR data as well as a target location, a vehicle can route
itself around obstacles as it encounters them and arrive at an end goal via an
optimal route. Using Chrono, a multibody physics API,
this controller has been tested on a complex multibody physics HMMWV model
representing the plant in this study. A penalty-based DEM approach is used to
model contacts on both rigid ground and granular terrain. We draw conclusions
regarding the MPC algorithm performance based on its ability to navigate the
Chrono HMMWV on rigid and granular terrain.
INTEGRATION OF AN EXTERNALLY-DEVELOPED THERMAL MODEL IN
MERCURY’S POWERTRAIN ANALYSIS AND COMPUTATIONAL ENVIRONMENT
(PACE)
Authors: Monroe Gabriel , Goodin Christopher , Card Angela , Doude Matthew , Haupt Tomasz , Henley Gregory , Mazzola Michael , Shurin Scott
Published: November 2024

ABSTRACT

Part of CREATE-GV’s Mercury, the Powertrain Analysis and Computational
Environment (PACE) is a simulation tool that provides advanced behavioral
modeling of the powertrain subsystem of conventional or hybrid-electric
vehicles. PACE performs its task by converting an existing powertrain
architecture created in Autonomie or Matlab/Simulink into HPC-ready C++ code
using an automated code generation capability, which parses the powertrain
model’s Simulink XML files. Utilizing PACE’s modular powertrain
model structure, a Simulink lumped-mass thermal model has been developed
separately to augment the original functionality of the powertrain model. The
augmented powertrain model was then subjected to a high-fidelity max speed test
in Mercury’s simulation environment to demonstrate the successful
integration of a ‘3rd party’ component via the PACE
module. The Mercury Driver Client was also modified to accept calculated
temperatures as an input. Including thermal analysis in powertrain modeling is
crucial for vehicle development, especially hybrid-electrics. The lumped-mass
thermal model provides a first-order estimation of the thermal behavior, but the
modular structure of PACE and (ultimately) Mercury allows more sophisticated
models to be easily integrated.
ACES: A Simulation and Modeling tool for Vehicle
Corrosion
Authors: Savell C Thomas , Woodson Scott , Porter Scott , Repp John , Ault Pete , Thiel Alex , Hathaway Bob
Published: November 2024

ABSTRACT

This paper describes validation testing of a comprehensive vehicle corrosion
simulation and modeling tool under development by US Army TARDEC called
“ACES” (Accelerated Corrosion Expert Simulator). ACES is used to
predict the initiation and growth of corrosion on Wheeled Vehicles, Aircraft,
Ships and other Assets. It is able to simulate coating & corrosion
performance under various operating scenarios and to forecast & display
deterioration of vehicle systems over time.

ACES has a high degree of correlation to Accelerated Corrosion Deterioration Road
Test (ACDRT) data and the original prediction algorithms were correlated using
ACDRT data from the Army Family of Medium Tactical Vehicles (FMTV) truck. This
paper describes validation testing of the predictions conducted by a third-party
stakeholder using a different vehicle, namely the Marine Corps’ Medium
Tactical Vehicle Replacement (MTVR).
Autonomous Expeditionary Resupply in Austere
Environments
Authors: Rosenblum Mark
Published: November 2024

ABSTRACT

The Department of Defense has identified the need for increased expeditionary,
long range, and mobile capabilities to support standard logistics resupply, as
well as the ability to perform logistics resupply in austere and special
operations environments. The purpose of such a system is to quickly provide
critical supplies to the Warfighter on the ground. In order to quickly get the
supplies to the designated target location, a vertical take-off aircraft is
used. Stratom has developed the eXpeditionary Robo-Platform (XR-P)™
which is a vertically inserted semi-autonomous robotic logistical vehicle
designed to meet the demanding logistical needs of the warfighter. The XR-P will
be able to carry, among other things, two standard pallets of 120mm rifled
mortar rounds weighing 2700 pounds and have the capability to tow a trailer, all
while meeting strict MV-22 cargo air certification requirements when fully
loaded. By automating various aspects of the transport task of the resupply
mission, especially the unloading in austere and hostile landing zones, the
Warfighter’s exposure is significantly reduced.
PORTING OPERATING SYSTEMS TO RUN IN XEN VIRTUAL MACHINES
Authors: Roach Jarvis
Published: November 2024

ABSTRACT

Semiconductor manufacturers are creating new System on Chips that allow embedded
system developers to design consolidated architectures to reduce size, weight,
power, and cost. However, combining software functions onto a single computing
resource creates safety and security concerns due to reduced fault containment
and increased coupling between software components. Safety and
security-conscious industries use various software separation solutions to
isolate software functions logically in order to achieve a comparable level of
decoupling and fault containment that distributed/federated systems enjoy as a
by-product of their system architecture. This paper will assess the suitability
of common separation solutions for use in embedded systems and explain our
preference for Xen, an open source Type I hypervisor. This paper will also
examine reasons for porting operating systems to run in virtual machines, also
known as paravirtualization, and evaluate how certain properties of operating
systems can impact this task. Finally, we will conclude with lessons learned
from our efforts paravirtualizing a number of operating systems.
DELIVERING THE PROMISE OF AUTOSAR
Authors: Patel Janak
Published: November 2024

ABSTRACT

In this paper, I will describe what AUTOSAR is, and the benefits it can provide
in the development of ECUs. AUTOSAR provides an industry standard framework for
the development of modular software architectures, including multi-core,
cyber-secure, safety critical applications in the automotive/ground vehicle
systems.
TRANSITIONING PROJECTS TO A MODEL-BASED APPROACH
Authors: Alexander Eric
Published: November 2024

ABSTRACT

This paper will discuss the recent efforts of the Squad Centric Mounted Maneuver
(SCMM) project to transition from document based to Model Based Systems
Engineering (MBSE) in an effort to synchronize disparate sources of information
into a unified model. This effort began with the transition of the system
One-Wire diagram into a Systems Modeling Language (SysML) Internal Block Diagram
(IBD) to generate the interfaces for the entire system. With the help of various
stakeholders to format the Magic Draw diagram to look similar to the previous
Visio diagram we were able to get buy-in from project leadership and Subject
Matter Experts (SMEs) who have relied on Visio to generate these One-Wires.
After the success of demonstrating the power of a modeling tool to rapidly
update content and query data into usable reports we began using Magic Draw to
document behavioral analysis through use case diagrams, sequence diagrams, state
machine diagrams and activity diagrams. The project has continued to understand
how to read these SysML diagrams with the help of TARDEC Architecture support
and have been able to transition these architecture artifacts into more concise
system requirements. The project is now gaining momentum by using a common
language (SysML) to document system interfaces and behaviors once present only
on conference room whiteboards and power point charts. From this effort came
several techniques, reusable model content, cross-organizational collaboration
within TARDEC, and additional best practices for system architecture
development.
SECURE WIRELESS ARCHITECTURE FOR GROUND VEHICLES
Authors: Kawasaki Charlie
Published: November 2024

ABSTRACT

US Army and Marine Corps tactical networking and command post programs have a
widely-acknowledged critical need to improve mobility, including the objective
of moving to mobile, vehicle-mounted command posts that can move hourly. The
current state of the art for tent-based command posts requires hours of setup,
which includes thousands of feet of copper wiring that delay network
availability. To enable mobility for warfighting, the National Security Agency
(NSA) established a program (with a set of guidelines) called
“Commercial Solutions for Classified” (CSfC). CSfC-based
mobility solutions have great potential to enable command post mobility and
soldier dismounted situational awareness using ground vehicles as network nodes.
However, the extensive requirements and processes involved are complex and not
well understood. This paper compares various CSfC network architectures, and
proposes several approaches for CSfC solutions optimized for mobility use cases.
The paper further describes state of the art technologies suitable for such
solutions.
MODERNIZING MILITARY GROUND VEHICLE RELIABILITY
TESTING
Authors: Ramsey Greg , Schultz Greg , Clerkin James
Published: November 2024

ABSTRACT

The durability and reliability of military vehicle systems are traditionally
tested at Aberdeen Proving Ground by driving vehicles on a set of paved roads,
secondary roads, trails, and cross-country terrains. However, driving
mile-for-mile over the proving ground test courses is very time-consuming and
costly. The U.S. Army Aberdeen Test Center (ATC) has recently conducted
accelerated durability tests of wheeled vehicles using two different methods:
accelerated hardware-in-the-loop simulation and accelerated field testing. This
paper discusses the methods used to date and associated technical details to
highlight options for future accelerated testing.
AUTONOMY MODELING AND VALIDATION IN A HIGHLY UNCERTAIN
ENVIRONMENT
Authors: Alghodhaifi Hesham , Lakshmanan Sridhar , Baek Stanley , Richardson Paul
Published: November 2024

ABSTRACT

This paper describes a simulation model for autonomous vehicles operating in
highly uncertain environments. Two elements of uncertainty are studied –
rain and pedestrian interaction – and their effects on autonomous
mobility. The model itself consists of all the essential elements of an
autonomous vehicle: Scene -roads, buildings, etc., Environment - sunlight, rain,
snow, etc., Sensors - gps, camera, radar, lidar, etc., Algorithms - lane
detection, pedestrian detection, etc., Control - lane keeping, obstacle
avoidance, etc., Vehicle Dynamics – mass, drivetrain, tires, etc., and
Actuation - throttle, braking, steering, etc. Using this model, the paper
presents results that assess the autonomous mobility of a Polaris GEM E6 type of
vehicle in varying amounts of rain, and when the vehicle encounters multiple
pedestrians crossing in front. Rain has been chosen as it impacts both
situational awareness and trafficability conditions. Mobility is measured by the
average speed of the vehicle. This work is part of MDAS.ai, a multi-disciplinary autonomous
shuttle development project.2
USE OF CORROSION PRODUCT FOR DIGITAL IMAGE CORRELATION
MEASUREMENTS
Authors: Sia Bernard
Published: November 2024

ABSTRACT

This paper describes the results of work performed to assess the use of corrosion
product for Digital Image Correlation (DIC) measurements. DIC was recently
evaluated for its capability to measure contour, strain and deflection of metals
using the corrosion product instead of a painted speckle pattern. The DIC
system, consisting of two cameras with zoom lenses, was set up at an angle to
the specimen, enabling both cameras to image multiple sides of a specimen
simultaneously. This provides a more direct measurement of in-plane and
out-of-plane deformation and strains. Aluminum and steel dogbones were placed in
a salt spray chamber for up to 10 days. Contour measurements were then taken at
various evaluation settings as an initial assessment of the use of the corrosion
product for DIC measurements. Multiple tensile tests were then performed to
assess the capability of using corrosion product for strain and deflection
measurements while a material is under applied load. System bias and deviation
was determined using static images taken of the corroded dogbones. Test results
and analysis are presented in detail in this paper, as well as conclusions drawn
as a result of these tests.
FLASH® BAINITE: ROOM TEMPERATURE WELDABLE ULTRA HARD 600, HIGH HARD 500, AND ADVANCED HIGH STRENGTH STEEL FOR A-CAB
Authors: Cola Gary M
Published: November 2024

ABSTRACT

Flash® Bainite Processing employs rapid thermal cycling (<10s) to
strengthen commercial off the shelf (COTS) steel sheet, plate, and tubing into
Ultra Hard 600 Armor, High Hard 500 Armor, and advanced high strength steel
(AHSS). In a continuous process, induction technology heats a narrow segment of
the steel cross section in just seconds to atypically high temperature
(1000-1300°C). Quenching substantially immediately follows.

A report by Benet Labs and Picatinny Arsenal, investigating a less mature flash
technology in 2011, surmised that the novel flash bainite process for steels has
the potential to reduce cost and weight while also enhancing mechanical
performance [1]. Receiving five financial
grants, the US Dept of Energy has greatly matured flash technology in the last
few years and its metallurgical understanding in collaboration with Oak Ridge
National Lab and others. DOE has named Flash Bainite as the “SBIR
Small Business of the Year” in May 2018 and awarded a Phase 3
SBIR to construct a 10 ton coil-to-coil flash processing line to meet the
requests of the auto industry.
HIGH PERFORMANCE TRUSTED EXECUTION ENVIRONMENT
Authors: Kline Jonathan
Published: November 2024

ABSTRACT

This paper explores the construction of a Trusted Execution Environment (TEE)
which doesn’t rely on TrustZone or specific processing modes in order to
achieve a high-performance operating environment with multiple layers of
hardware enforced confidentiality and integrity. The composed TEE uses hardware
intellectual property (IP) blocks, existing hardware-level protections, a
hypervisor, Linux security module (LSM), and Linux kernel capabilities including
a file system in order to provide the performance and multiple layers of
confidentiality and integrity. Additionally, the TEE composition explores both
open source and commercial solutions for achieving the same result.

Citation: J. Kline, “High Performance Trusted Execution
Environment”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
13-15, 2019.
NEW DESIGN FOR RELIABILITY (DfR) NEEDS AND STRATEGIES FOR EMERGING AUTONOMOUS GROUND VEHICLES
Authors: Majcher Monica , Wasiloff James
Published: November 2024

ABSTRACT

Significant Design for Reliability (DfR) methodology challenges are created with
the integration of autonomous vehicle technologies via applique systems in a
ground military vehicle domain. Voice of the customer data indicates current
passenger vehicle usage cycles are typically 5% or less (approximately 72
minutes of use in a twenty-four hour period) [2]. The time during which vehicles currently lay dormant due to
drivers being otherwise occupied could change with autonomous vehicles. Within
the context of the fully mature autonomous military vehicle environment, the
daily vehicle usage rate could grow to 95% or more. Due to this potential
increase in the duty or usage cycle of an autonomous military vehicle by an
order of magnitude, several issues which impact reliability are worth
exploring.

Citation: M. Majcher, J. Wasiloff, “New Design for
Reliability (DfR) Needs and Strategies for Emerging Autonomous Ground
Vehicles”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
13-15, 2019.
NOVEL METAL-FOAM FLOW FIELDS FOR PEM FUEL CELLS WITH ENHANCED PERFORMANCE
Authors: Dukhan Nihad , Awin Yussef
Published: November 2024

ABSTRACT

Flow fields in bipolar plates of Proton Exchange Membrane fuel cells distribute
fuel and oxidant over the reactive sites of the membrane electrode assembly.
Bipolar plates are typically graphite with parallel or serpentine channels as
flow fields. Drawbacks of graphite include weight, fabrication inaccuracy, cost,
porosity, and brittleness. In this paper, open-cell metal foam is experimentally
investigated as a flow field for a new bipolar plate design. Using experiments,
the performance of the conventional bipolar plate/flow field was directly
compared to that of the metal-foam designs at the same operational conditions.
Results show that the cell current, voltage and power density were improved and
temperature and pressure distribution on the membrane were even. As importantly,
the conversion efficiency was higher for the metal-foam design, and the weight
was reduced significantly.

Citation: Nihad Dukhan, PhD, Yussef Awin, “Novel Metal-Foam
Flow Fields for PEM Fuel Cells with Enhanced Performance”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2019.
COMPOSITE RUBBER TRACK (CRT) FOR ROBOTIC & AUTONOMOUS SYSTEMS
(RAS)
Authors: Lagier Fabien
Published: November 2024

ABSTRACT

Militaries worldwide are increasing their Research and Development (R&D) into
RAS. Within the next 10 – 15 years RAS will play an active part in
operations as the future battlefield becomes more complex. CRT technology can
significantly reduce platform weight, fuel consumption, noise and vibration
levels[1][2][3]. Armies and vehicle manufacturers have initiated a series of
independent trials that confirmed the benefits and reliability of CRT on a
tracked military vehicle. With the increase in RAS technologies comes a desire
to utilize the proven benefits identified from manned platforms. The
author’s objective is to highlight the findings of these
trials[1][2][3]
and provide substantiated data on how CRT technology can benefit RAS in terms of
weight saving, whilst reducing maintenance and vibration.

Citation: Fabien Lagier, Ing. MBA, “Composite Rubber Track
(CRT) for Robotic & Autonomous System (RAS)”, In Proceedings
of the Ground Vehicle Systems Engineering and Technology Symposium
(GVSETS), NDIA, Novi, MI, Aug. 13-15, 2019.
ACCELERATED DEGRADATION OF LI-ION BATTERIES FOR HIGH RATE DISCHARGE APPLICATIONS
Authors: Thampan Tony , Ding Yi , Toomey Laurence , Hundich Alex , Babu Venkatesh
Published: November 2024

ABSTRACT

The U.S. Army has been pursuing vehicle electrification to achieve enhanced
combat effectiveness. The benefits include supporting new capabilities that
require high power pulse duty-cycles. These pulse power discharge rate can be
significantly higher than commercial Hybrid Electric Vehicle (HEV) Energy
Storage Systems (ESS) systems, resulting in significantly lower lifetimes than
commercial applications. Results of high power pulse duty cycles on lifetime
performance are presented as well as a discussion on the cause of
degradation.

Citation: T. Thampan, Y. Ding, L.Toomey, A. Hundich, V. Babu,
“Accelerated degradation of Li-ion Batteries for High Rate Discharge
Applications”, In Proceedings of the Ground Vehicle Systems Engineering
and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2019.
MoVE: A Mobility Virtual Environment for Testing Multi-Vehicle Scenarios
Authors: Compere Marc , Adkins Kevin , Legon Otto , Currier Patrick
Published: November 2024

ABSTRACT

This paper presents a Mobility Virtual Environment (MoVE) for testing
multi-vehicle autonomy scenarios with real and simulated vehicles and
pedestrians. MoVE is a network-centric framework designed to represent N real
and M virtual vehicles interacting and possibly communicating with each other in
the same coordinate frame with a common timestamp. The goal is to provide a
spectrum of test options from simulation-only to semi-virtual, to all real
vehicles and pedestrians. A multi-vehicle test fidelity metric is defined that
captures scenario realism more accurately than traditional hardware-in-the-loop
style terminology.

MoVE’s simple built-in vehicle models are described that provide
positions in both latitude and longitude and Cartesian UTM XYZ coordinates. Live
GPS inputs from real people or vehicles allow both virtual and real vehicles to
interact through the virtual environment. Test results are presented from three
experiments with real and virtual vehicles and pedestrians on a university
campus. MoVE is open source software that is freely available in source code at
Gitlab.com.
Off-Road Autonomous Mobility
Authors: Lacaze Alberto , Mottern Edward , Brilhart Bryan
Published: November 2024

ABSTRACT

Off-road autonomous navigation poses a challenging problem, as the surrounding
terrain is usually unknown, the support surface the vehicle must traverse cannot
be considered flat, and environmental features (such as vegetation and water)
make it difficult to estimate the support surface elevation. This paper will
focus on Robotic Research’s suite of off-road autonomous planning and
obstacle avoidance tools. Specifically, this paper will provide an overview of
our terrain detection system, which utilizes advanced LADAR processing
techniques to provide an estimate of the surface. Additionally, it will describe
the kino-dynamic off-road planner which can, in real-time, calculate the optimal
route, taking into account the support surface, obstacles sensed in the
environment, and more. Finally, the paper will explore how these technologies
have been applied to a wide variety of different robotic applications.
An Easier Approach to Measuring Optical Distortion in Transparent Armor
Authors: Gorman James M.
Published: November 2024

ABSTRACT

Optical distortion measurements for transparent armor (TA) solutions are critical
to ensure occupants can see what is happening outside a vehicle. Unfortunately,
optically transparent materials often have poorer mechanical properties than
their opaque counterparts which usually results in much thicker layups to
provide the same level of protection. Current standards still call for the use
of a double exposure method to manually compare the distortion of grid lines.
This report presents provides a similar method of analysis with less user input
using items typically available in many mechanics labs: machine vision cameras
and digital image correlation software.

Citation: J. M. Gorman, “An Easier Approach to Measuring
Optical Distortion in Transparent Armor”, In Proceedings of the
Ground Vehicle Systems Engineering and Technology Symposium
(GVSETS), NDIA, Novi, MI, Aug. 11-13, 2020.

The views presented are those of the author and do not necessarily represent the
views of DoD or its components.
PREDICTIVE DIPLAYS FOR HIGH LATENCY TELEOPERATION: EXTENSIONS AND EXPERIMENTS
Authors: Brudnak Mark
Published: November 2024

ABSTRACT

This paper presents developmental and experimental work beyond the initial
presentation of the predictive display technology. Developmental work consisted
of the addition of features to the predictive display such as image subsampling,
camera stabilization, void filling and image overlay graphics. The paper then
describes two experiments consisting of twelve subjects each in which the
predictive displays were compared to both the zero latency case (baseline) and
the unmitigated high-latency cases (worst case). The predictive display was
compared using four objective performance and activity measures of mean speed,
lateral deviation, heading deviation and steering activity. The predictive
display was also assessed using subjective measures of workload and
usability.

Citation: M.J. Brudnak, “Predictive Displays for High
Latency Teleoperation: Extensions and Experiments”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 11-13, 2020.
REMOTE SENSING OF TERRAIN STRENGTH FOR MOBILITY MODELING & SIMULATION
Authors: Ewing Jordan , Oommen Thomas , Jayakumar Paramsothy , Alger Russell
Published: November 2024

ABSTRACT

Knowing the soil’s strength properties is a vital component to accurately
develop Go/No-Go mobility maps for the Next Generation NATO Reference Mobility
Model (NG-NRMM). The Unified Soil Classification System (USCS) and soil strength
of the top 0-6” and 6-12” of the soil are essential terrain
inputs for the model. Current methods for the NG-NRMM require in-situ
measurement of soil strength using a bevameter, cone penetrometer, or other
mechanical contact device. This study examines the use of hyperspectral and
thermal imagery to provide ways of remotely characterizing soil type and
strength. Hyperspectral imaging provides unique spectrums for each soil where a
Soil Classification Index (SCI) was developed to predict the gradation of the
soil types. This gradation provides a means of identifying the soil type via the
major divisions within the USCS classification system. Thermal imagery is
utilized to collect the Apparent Thermal Inertia (ATI) for each pit, which is
then correlated to the soil strength.

Citation: J. Ewing, T. Oommen, P. Jayakumar, R. Alger,
“Remote Sensing of Terrain Strength for Mobility Modeling Simulation
& Software”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
11-13, 2020.
ADVANCED POWERTRAIN DEMONSTRATOR (APD) INTEGRATION
Authors: Claus Mike , LaRoy David , Nickel David , Panagos Constantine , Pesys Tomas , Skillman Newton , Srodawa John , Tadros Maged
Published: November 2024

ABSTRACT

Evolving requirements for combat vehicles to provide increased mission capability
and/or crew safety necessitate the addition of components and add-on armor to
currently-fielded vehicles. These new requirements result in increased weight
and increased electrical needs, which result in reduced mobility. The APD is
built from the ground up to optimize a powertrain solution using cutting-edge
technology specifically designed for harsh military environments, for use in
both vehicle retrofits and new vehicle designs. The APD combines an efficient
1000 hp engine, transmission, integrated starter generator, thermal management
system, and lithium-ion batteries to maximize powerpack power density. The APD
was designed for a 45-60 ton combat vehicle, but designing for scalability,
reconfigurability, and using modern techniques and technology has allowed the
APD to greatly improve the capability and flexibility of the powerpack and the
technology can be applied to heavier or lighter vehicles.

Citation: M. Claus, D. LaRoy, D. Nickel, C. Panagos, T. Pesys, N.
Skillman, J. Srodawa, M. Tadros, “Advanced Powertrain Demonstrator (APD)
Integration”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
11-13, 2020.
MISSION ENABLING TECHNOLOGIES DEMONSTRATOR REMOTE OPERATIONS AND
MANAGEMENT
Authors: Jedynak David , Gregory David , Nelson Jeff
Published: November 2024

ABSTRACT

Given the system complexity of the Mission Enabling Technologies Demonstrator
(MET-D) it is necessary to consider a robust communications management solution
capable of consolidating network management onto a “unified
interface” while providing distributed, hierarchical, and efficient
management of network attached nodes on multiple platforms regardless of the
vendor or implemented technology.

Citation: D. Jedynak, C. Kawasaki, D. Gregory, “Managing
Next Generation Open Standard Vehicle Electronics Architectures”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2019.
BEST PRACTICES FOR GROUND VEHICLE INTRUSION DETECTION
SYSTEMS
Authors: Novikova Elena I. , Le Vu , Weber Michael , Andersen Cory , Hamilton Samuel N.
Published: November 2024

ABSTRACT

Addressing the well-established need for accurate cyber situational awareness on
military vehicles and weapons platforms, we developed a well-tested, robust
Intrusion Detection System – Fox Shield™ – currently
rated TRL-8. The system is described and the lessons learned during its
development are discussed. The basic principles of our anomaly detectors are
outlined, and the details of our innovative warning-aggregating Fuser are
presented. Many attack detection examples are presented, using a publicly
available CANbus dataset.

Citation: E.I. Novikova, V. Le, M. Weber, C. Andersen, S.N.
Hamilton, “Best Practices For Ground Vehicle Intrusion Detection
Systems”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
13-15, 2020.
ENABLING ARTIFICIAL INTELLIGENCE STUDIES IN OFF-ROAD MOBILITY THROUGH PHYSICS-BASED SIMULATION OF MULTI-AGENT SCENARIOS
Authors: Negrut D. , Serban R. , Elmquist A. , Taves J. , Young A. , Tasora A. , Benatti S.
Published: November 2024

ABSTRACT

We describe a simulation environment that enables the design and testing of
control policies for off-road mobility of autonomous agents. The environment is
demonstrated in conjunction with the design and assessment of a reinforcement
learning policy that uses sensor fusion and inter-agent communication to enable
the movement of mixed convoys of conventional and autonomous vehicles. Policies
learned on rigid terrain are shown to transfer to hard (silt-like) and soft
(snow-like) deformable terrains. The enabling simulation environment, which is
Chrono-centric, is used as follows: the training occurs in the GymChrono
learning environment using PyChrono, the Python interface to Chrono. The
GymChrono-generated policy is subsequently deployed for testing in SynChrono, a
scalable, cluster-deployable multi-agent testing infrastructure that uses MPI.
The Chrono::Sensor module simulates sensing channels used in the learning and
inference processes. The software stack described is open source. Relevant
movies: [1].
Wireless Charging for Autonomous Electric Vehicles
Authors: Jeon-Chapman Oly , Fiorello Ron , Wright Ronnie L.
Published: November 2024

ABSTRACT

Charging an autonomous electric vehicle can be a challenge using the traditional
cable and connector approach. This paper explores various methods for the
charging of batteries used in autonomous electric vehicles. One such method, an
alternative to the traditional “contact” approach, utilizes a
non-contacting power transfer technology that is based on magnetic induction and
resonance principles. The paper examines various methods for the application of
battery energy replenishment. A proposed charging station with design objectives
is discussed, along with how well each of the battery energy replenishment
methods would meet the proposed autonomous electric vehicle charging station
requirements.

Citation: Oly Jeon-Chapman, Ron Fiorello and Ronnie L. Wright,
Ph.D., “Wireless Charging for Autonomous Electric Vehicles”,
In Proceedings of the Ground Vehicle Systems Engineering and
Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15,
2021.
REDUCED ORDER MODELLING METHOD (ROMM) FOR GROUND VEHICLE ROLLOVER PROTECTION M&S
Authors: Babu V. , Kang J. , Kankanalapalli S. , Sheng J. , Vunnam M. , Karwaczynski S. K. , Jessup C. , Duncan M. , Paulson K.
Published: November 2024

ABSTRACT

The performance of ground vehicles during a rollover event is an important safety
and occupant protection requirement for military vehicles. Modeling and
simulation is a very useful tool in study and investigation of vehicle rollover
characteristics and countermeasure concepts.

This study presents two methods of simulating the rollover events. The first one
uses Full System Method (FSM), where all the components are modelled as is and
are evaluated. The second method is a reduced order modelling method (ROMM)
using integration of the resulted kinematics data from FSM into the vehicle
model with occupant & restraints. The FSM & ROMM methods were applied to
simulate two HMMMV rollover events, and the results from both methods show that
simulation and test data agreed fairly well. Computational time reduced by the
ROMM was about 53% of that of the FSM. ROMM approach not only saves significant
computational time but also increases robustness of the simulation.

Citation: V. Babu, J. Kang, S. Kankanalapalli, J. Sheng, M. Vunnam,
S. K. Karwaczynski, C. Jessup, M. Duncan, K. Paulson, “REDUCED ORDER
MODELLING METHOD (ROMM) FOR GROUND VEHICLE ROLLOVER PROTECTION M&S”,
In Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.
SiC POWER CONVERTERS FOR MILITARY MOBILE HYBRID POWER
SYSTEMS
Authors: Lentijo Santiago , Stone Philip , Porter Joe , Peterson Chris
Published: November 2024

ABSTRACT

Silicon carbide (SiC) semiconductor devices offer several advantages to power
converter design when compared with silicon (Si). An increase in power density
can be achieved with SiC thanks to the reduced conduction and switching losses
and to the ability to withstand higher temperatures [1]. The main system level benefits of using SiC
devices on mobile hybrid power systems include large reductions in the size,
weight, and cooling of the power conditioning. In this paper, the authors
describe the Wide-bandgap-enabled Advanced Versatile Energy System (WAVES) with
a focus on the design and testing of a SiC prototype of a WAVES power inverter.
The prototype is a 10 kW three-phase AC/DC inverter that is air-cooled, IP-67
rated, bi-directional, operates down to a power factor of 0.4, and designed to
have overload capability up to 350% for up to 250µs of nominal rating.
Because the inverter is bidirectional, it may be used as an AC input to DC
output battery charger or as a DC input to AC output AC voltage supply meeting
military power quality standards.

Citation: S. Lentijo, P. Stone, J. Porter, and C. Peterson,
“SiC Power Converters for Military Mobile Hybrid Power Systems”,
In Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.
A HIGH-PERFORMANCE DATA TO DECISION SOLUTION FOR ALL ECHELON
PARTICIPATION IN ARMY GROUND VEHICLE PPMX
Authors: Bond W. Glenn , Pokoyoway Andrew , Daniszewski David , Lucas Cesar , Arnold Thomas L. , Dozier Haley R.
Published: November 2024

ABSTRACT

As the Army leverages Prognostic and Predictive Maintenance (PPMx) models to
migrate ground vehicle platforms toward health monitoring and prescriptive
maintenance, the need is imminent for a pipeline to quickly and constantly move
operational and maintenance data off the platform, through analytic models, and
push the insights gained back out to the edge. This process will reduce
data-to-decision time and operation and sustainment costs while increasing
reliability for the platform and situational awareness for analysts, subject
matter experts, maintainers, and operators. The US Army Ground Vehicle Systems
Center (GVSC) is collaborating with The US Army Engineer Research and
Development Center (ERDC) to develop a system of systems approach to stream
operational and maintenance data to appropriate computing resources, collocating
the data with DoD High-Performance Computing (HPC) processing capabilities where
appropriate, then channeling the generated insights to maintainers and
operational decision makers where this decision support will have the greatest
impact. The team has accomplished proof of concept or prototyping for several
foundational components of the system and has demonstrated the effectiveness of
combining data analytics with high-performance computing on large data in
discovering and developing PPMx models.

Citation: W. Glenn Bond, Andrew Pokoyoway, David Daniszewski, Cesar
Lucas, Thomas L. Arnold, Haley R. Dozier, “A High-Performance Data to
Decision Prototyping Solution for All Echelon Participation in Army Ground
Vehicle PPMx”, In Proceedings of the Ground Vehicle Systems Engineering
and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.
Dynamic Object Collision Avoidance for Autonomous Multi-Vehicle Systems in the Robotic Technology Kernel
Authors: Grogan Matthew
Published: November 2024

ABSTRACT

As unmanned ground vehicle technology matures and autonomous platforms become
more common, such platforms will invariably be in close proximity to one another
both in formation and independently. With an increasingly crowded field, the
risk of collisions between these platforms grows, and with it the need for path
deconfliction. This paper presents two complementary technological developments
to this end: a pipeline for affirmatively identifying and classifying dynamic
objects, e.g., vehicles or pedestrians; and a pipeline for preventing collisions
with such objects. The efficacy of these techniques is demonstrated in
simulation, and validation on robotic platforms will be undertaken in the near
future.

Citation: Matthew Grogan, “Dynamic Object Collision
Avoidance for Autonomous Multi-Vehicle Systems in the Robotic Technology
Kernel”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
13-15, 2019.
µSMET: A Lightweight Transport Robot
Authors: Grenn Katharina , Adam Cristian , Kleinow Timothy , Mason Brian , Sapunkov Oleg , Muench Paul , Lakshmanan Sridhar
Published: November 2024

ABSTRACT

Modern robotic technologies enable the development of semiautonomous ground
robots capable of supporting military field operations. Particular attention has
been devoted to the robotic mule concept, which aids soldiers in transporting
loads over rugged terrain. While existing mule concepts are promising, current
configurations are rated for payloads exceeding 1000 lbs., placing them in the
size and weight class of small cars and ATVs. These large robots are conspicuous
by nature and may not successfully carry out infantry resupply missions in an
active combat zone. Conversations with soldiers and industry professionals have
spotlighted a need for a compact, lightweight, and low-cost robotic mule. This
platform would ensure reliable last-mile delivery of critical supplies to
predetermined rally points. We present a design for such a compact robotic mule,
the µSMET. This versatile platform will be integrated with the Squad
Multipurpose Equipment Transport (SMET), to ferry supplies to soldiers in
combat, evacuate the wounded, transport loads on a forced march, while having
the ability to be carried by a soldier. The µSMET’s variable
geometry enhances mobility over challenging terrain: its rear wheel assembly can
expand to increase its stability or contract to reduce its profile. This
publication will describe the design and construction of a prototype
µSMET.

Citation: K. Grenn, C. Adam, T. Kleinow, B. Mason, O. Sapunkov, P.
Muench, S. Lakshmanan “µSMET: A Lightweight Transport
Robot”, in Proceedings of the Ground Vehicle Systems Engineering
and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12,
2021.
Selection of the Cell and Cooling Method for the Next Generation
Combat Vehicle Common Battery
Authors: Stone Philip , Lentijo Santiago , Thampan Tony , Wilson David
Published: November 2024

ABSTRACT

In support of the Army’s Next Generation Combat Vehicle the Ground
Vehicle Systems Center (GVSC) and UEC Electronics have been evaluating current
technologies to develop and demonstrate the feasibility of a High Voltage Common
Module (HVCM). In this paper the authors describe the process used to select the
optimal cells, as well as a comparison of the different cooling options for the
battery module.

Citation: P. Stone, S. Lentijo, T. Thampan, and D. Wilson,
“Selection of the Cell and Cooling Method for the Next Generation Combat
Vehicle Common Battery,” In Proceedings of the Ground Vehicle
Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi,
MI, Aug. 16-18, 2022.
Model-Based Optimization of Hydrogen Storage for Military Ground Vehicle Applications
Authors: Paczkowski Ben , Wiegand Andrew
Published: November 2024

ABSTRACT

As the Army begins to explore the electrification of its ground vehicle fleet,
several technologies are of interest to help clear the large hurdle presented by
vehicles’ energy needs. Hydrogen fuel cells have potential as a solution
to this problem but there are many challenges that need to be addressed, such as
hydrogen storage. Siemens LMS Amesim was used to simulate the performance of
several wheeled and tracked vehicles in order to evaluate several hydrogen
storage methods and materials to determine if they are suitable for military
ground vehicle use. Several technologies were found to perform better than the
state of the art compressed gas storage, exemplifying that advanced hydrogen
storage could enable the electrification of the heaviest ground vehicles in the
Army’s fleet.

Citation: B. Paczkowski, A. Wiegand, “Model-Based
Optimization of Hydrogen Storage for Military Ground Vehicle
Applications,” In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
16-18, 2022.
SIMULATION OF SNOW TEXTURE FOR AUTOMOMOUS VEHICLE NUMERICAL MODELING
Authors: Vecherin Sergey , Meyer Aaron , Quinn Brian , Letcher Theodore , Parker Michael
Published: November 2024

ABSTRACT

To advance development of the off-road autonomous vehicle technology, software
simulations are often used as virtual testbeds for vehicle operation. However,
this approach requires realistic simulations of natural conditions, which is
quite challenging. Specifically, adverse driving conditions, such as snow and
ice, are notoriously difficult to simulate realistically. The snow simulations
are important for two reasons. One is mechanical properties of snow, which are
important for vehicle-snow interactions and estimation of route drivability. The
second one is simulation of sensor responses from a snow surface, which plays a
major role in terrain classification and depends on snow texture. The presented
work describes an overview of several approaches for realistic simulation of
snow surface texture. The results indicate that the overall best approach is the
one based on the Wiener–Khinchin theorem, while an alternative approach
based on the Cholesky decomposition is the second best.

Citation: S. Vecherin, A. Meyer, J. Desmond, K. Dunn, B. Quinn, T.
Letcher, M. Parker, “Simulation of Snow Roughness for Autonomous Vehicle
Numerical Modeling,” In Proceedings of the Ground Vehicle
Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi,
MI, Aug. 16-18, 2022.