bluuebunny/crossref_metadata_2025 huggingface dataset:
CONFIDENCE-BASED UNCERTAINTY QUANTIFICATION AND RELIABILITY ASSESSMENT USING LIMITED NUMBERS OF INPUT AND OUTPUT TEST DATA AND VALIDATED SIMULATION MODEL
Authors: Choi K.K. , Cho Hyunkyoo , Moon Min-yeong , Gaul Nicholas , Lamb David , Gorsich David
Published: November 2024

ABSTRACT

Accurate reliability assessment requires accurate output distribution. To obtain
correct output distribution, a very large number of output physical test data is
required, which is prohibitively expensive. Regarding this, simulation-based
methods have been developed under the assumption that: (1) accurate input
distribution models obtained from large number of input test data; and (2)
accurate simulation model (including surrogate model if utilized) that correctly
represents physical phenomena. However, in real application, only limited
numbers of input test data are available. Thus, input distribution models are
uncertain. In addition, the simulation model could be biased due to assumptions
and idealizations. Furthermore, only a limited number of physical output test
data is available. As a result, a target output distribution to which simulation
model can be validated is uncertain and the corresponding reliability is also
uncertain. This paper proposes a confidence-based reliability assessment that
combines uncertainty due to insufficient input/output test data and biased
simulation model. To do that, a hierarchical Bayesian analysis is formulated to
obtain uncertainty distribution of reliability. After that, confidence-based
reliability is selected at the user-specified target confidence level. It has
been numerically demonstrated that the proposed method can estimate reliability
of a product that satisfies the user-specified target confidence level.
CHARACTERIZATION OF ARMY GROUND VEHICLE DRIVE CYCLES
Authors: Sebeck Katherine , Mange Jeremy , MacLennan Jamie , Rizzo Denise
Published: November 2024

ABSTRACT

The US Army Ground Vehicle Programs use various drive cycles for testing and
validation of new vehicle systems and models. These cycles have traditionally
been characterized by run speed, number of stops, and terrain profile. For the
sake of powertrain analysis, there have been a number of additional metrics
proposed for characterization of such drive cycles in the context of fuel
economy evaluation. This paper examines several metrics related to fuel economy,
comparing standard Army test circuits, simulated drive cycles, and commercially
standardized drive cycles. By comparing these cycles and identifying key
metrics, we can develop better testing plans and bench cycles for technology
evaluation. Field data from a mountainous region shows substantial variability
that is not fully captured by current test cycles. Kinetic intensity is able to
differentiate between the human in the loop scenarios, with values higher in
simulated cycles than in field data. However, number of stops remains an
important criteria for characterizing drive cycles
THE ROBOTIC SITE SHUTTLE - A FULLY AUTONOMOUS
SOLUTION
Authors: Nimblett Don , Mills Myron
Published: November 2024

ABSTRACT

Lockheed Martin Missiles and Fire Control has developed a robotic site shuttle
for use in structured areas, such as commercial railroad yards, port operations
and storage/distribution industries. The purpose of the site shuttle is to
provide an autonomous taxi service for personnel needing to move to various
locations around the facilities. Many rail yards, ports and storage area are
very large, so “taxi” transportation is vital to maintain
efficiency and safety. The shuttle vehicles operate in complete autonomy: they
have no steering wheel, accelerator or brake pedal. Personnel using the vehicles
have only emergency stop buttons in the front and rear of the vehicles. Once
implemented, the robotic shuttles will considerably reduce the costs of
operation for the company. This need is consistent throughout the rail, port and
storage/distribution industries, as all need to move personnel around their
yards.
PEGASUS TRANSFORMING UAV/UGV HYBRID VEHICLE
Authors: Lacaze Alberto
Published: November 2024

ABSTRACT

In this paper, we present Pegasus Transforming UAV/UGV Hybrid Vehicle, a unique,
transformable UAS/UGV that is particularly well-suited for missions. The
combination of flight and ground modalities allows Pegasus to fly to location,
automatically transform into a ground vehicle, reposition, and quietly approach
a target; or, Pegasus can land and “perch” for long durations,
allowing for the maintenance of the custody trail and long ISR missions or
emplace sensors particular for a specific mission. The sequential use of aerial
and ground capabilities in this platform provides the reach usually lacking in
these missions.

The Pegasus platform was developed with DTRA/ARDEC funding in support of
specialized missions where these functionalities are needed. Robotic Research,
LLC has developed the system from the ground up, including: mechanical,
electrical, and software designs (without using foreign-made parts). The current
system is shown in Figure 2. The system
already has obstacle avoidance payloads, and has demonstrated capabilities in
GPS-denied environments and SubT, while mapping and traversing line-of-sight and
NLOS areas.
Figure 2

Pegasus quietly drives to a location, flies to a roof, and
repositions on top of the roof to point to the OP.
Maneuver Robotics & Autonomous Systems (MRAS): Enabling Future
Capability
Authors: Nuckols COL Willie T. , Sadowski Robert , Harber Gary , Bosscher Paul
Published: November 2024

ABSTRACT

The Army Operating Concept and the Cross Domain Maneuver Concept describe more
capable Brigade Combat Teams that can operate semi-independently across wide
areas on the future battlefield. Robotics and Autonomous Systems can increase
capabilities of Brigade Combat Teams by increasing situational awareness,
facilitating movement and maneuver, improving protection, extending a small
unit’s area of operations, and sustaining the force with increased
distribution, throughput, and efficiency. Army industry partners, in concert
with Army labs, must provide the affordable technologies that can provide these
autonomous and semi-autonomous operational capabilities to the future force.
While acknowledging that there must be significant technology development to
realize this vision, this concept paper aims to take a realistic look at
enabling Brigade Combat Teams with third-offset capabilities by 2035.
IMPROVING THE FUEL ECONOMY OF CLASS 8 MILITARY VEHICLES USING A SMART
CRUISE CONTROL ALGORITHM
Authors: Sharer Phillip , Rousseau Aymeric , Karbowski Dominik , Shen Daliang , Heim Scott , Gonyou Kevin Mark , Rizzo Denise , Ragatz Adam , Gonder Jeff , Prohaska Robert , Song Jae
Published: November 2024

ABSTRACT

Connected and automated vehicles (CAVS) have the potential to improve fuel
economy by changing the way vehicles are driven. Fuel economy can be improved
through a wide range of technologies, many of which do not require Level 5
automation. One of the most promising technologies is a smart cruise control
that uses a speed-matching algorithm to account for fuel economy. Accounting for
fuel economy in the algorithm leads to different driving behavior than simply
matching the driver-entered set speed. This paper describes how such a smart
cruise control could be applied to a class 8 vehicle both in simulation and in
the actual vehicle on a closed test track. It evaluates the algorithm and
describes the correlation procedure used to calibrate the model using test data
from the vehicle.
COOPERATIVE LOCALIZATION TO IMPROVE CONVOY STABILITY
(CLICS)
Authors: Wilhelm Ray , Balas Cristian , Schneider Anne , Klarquist William , Lacaze Alberto , Murphy Karl
Published: November 2024

ABSTRACT

In this paper, we present CLICS, a program that optimizes convoy vehicle tracks
by intelligently combining sensor updates of all vehicles in the convoy in a
distributed, cooperative localization system. Currently, follower vehicles in
the convoy rely either on GPS breadcrumbs from the lead vehicle, or rely on
sensing the location of its predecessor and following its path. However, GPS
availability and accuracy oftentimes cause the former solution to fail, and
accumulated errors in tracking and control in long convoys can cause the latter
solution to fail.

Robotic Research’s CLICS system attempts to overcome these problems by
(1) integrating multiple heterogeneous sensor outputs from multiple vehicles (2)
developing a distributed, real-time non-linear estimation of inter-vehicle pose
using spring network providing coordinated localization for members of a vehicle
convoy, and (3) real-time robust synchronization of information amongst the
convoy, and local convoy and mission level planning.

Using the smooth relative navigation solution from the inertial measurement unit
(IMU), CLICS inserts virtual “springs” between a
vehicle’s navigation solution and other vehicles’ navigation
solutions by using inter-vehicle sensing updates. An example of a common spring
is a range and angle from one vehicle to another. These
“springs” pull the position history of the vehicle with a
strength based upon the reliability of the input data. This is done through a
nonlinear optimization algorithm that computes an optimal track for each vehicle
in the convoy.
UTILIZING BAYESIAN NETWORKS TO DEVELOP REAL TIME PROGNOSTIC
MODELS FOR GROUND VEHICLES
Authors: Banghart Marc , Nelson David , Brennan Adam
Published: November 2024

ABSTRACT

Bayesian networks have been applied to many different domains in order to
perform prognostics, reduce risk and ultimately improve decision
making. However, these methods have not been applied to military
ground vehicle field data sets. The primary objective of this study is
to illustrate how Bayesian networks can be applied to a ground vehicle
data set in order to predict potential downtime. The study generated a
representative field data set, along with tabu search, in order to
learn the network structure followed by quantification of link
probabilities. The method is illustrated in a case study and future
work is described in order to integrate the method into a real-time
monitoring system. The study yielded a highly accurate prediction
algorithm that can improve decision making, reduce downtime and more
efficiently manage resources in the ground vehicle community.
SHAPING DEPOT MAINTENANCE STRATEGY WITH PREDICTIVE
MODELING
Authors: Posadas Serg
Published: November 2024

ABSTRACT

Defense fleet managers require maintenance strategies that deliver high
readiness, reliable and sustainable combat equipment in the face of operational
uncertainty and chaotic tactical environments. Shaping depot maintenance
strategy is complex: aircraft, vehicles, and weapons systems operate in
unpredictable and dynamic environments while component aging, convoluted
maintenance practices, and overlapping sustainment programs all influence
requirements. Yet, most predictive analytics efforts are focused on short-term
tactics and historical data. As a result, these models cannot deliver the needed
long-run precision suitable for depot strategies. Despite new big-data feeds,
cloud applications, and innovative visualizations, most underlying predictive
models are not suited for the challenge due to a simple reason: The past does
not represent the future. Without the appropriate predictive tools, fleet
managers lean heavily and cautiously towards doing more maintenance. The
underlying assumption is that more maintenance yields more readiness. Four case
studies, show successful predictive modeling of depot maintenance complexities.
An advanced, approach towards predictive analysis across the lifecycle of
defense programs can accurately shape strategies and identify cases where too
much maintenance is scheduled.
HOW RIDE SHARING AND AUTONOMOUS VEHICLES IMPACT CUSTOMER USAGE AND
RELIABILITY
Authors: Wasiloff James
Published: November 2024

ABSTRACT

The concept of Autonomous Vehicles ultimately generating an “order of
magnitude” potential increase in the duty or usage cycle of a vehicle
needs to be addressed in terms of impact on the reliability domain. Voice of the
customer data indicates current passenger vehicle usage cycles are typically
very low, 5% or less. Meaning, out of a 24 hour day, perhaps the average vehicle
is actually driven only 70 minutes or less. Therefore, approximately 95% of the
day, the vehicles lay dormant in an unused state. Within the context of future
fully mature Autonomous Vehicle environment involving structured car sharing,
the daily vehicle usage rate could grow to 95% or more.
BRIDGING THE GAP: OPERATIONAL UTILITY IN S&T TO IMPROVE
TECHNOLOGY TRANSISTION
Authors: Horning Matthew , Schumm Timothy , Bryant Jeremiah
Published: November 2024

ABSTRACT

Defense acquisition presents unique challenges to the Science and Technology
(S&T) process. Due to the nature of the S&T environment, often the
requirement for a particular capability is not explicitly driven by an
identified operational need, but by a technology developed in the commercial
market. Often these projects present a challenge in the operational domain for
S&T programs. Their use would represent a significant change to the
Doctrine, Organization, Training, Materiel, Leadership and Education, Personnel,
Facilities and Policy (DOTMLPF-P). Work must be done to define the future
operational environment and DOTMLPF-P considerations that would be in place at
some point in the future when the technology could probably be fielded. This
paper presents a methodology for developing a Concept of Operations (CONOPS) for
emerging technologies at the System and Sub-system level.
IMPACTS OF NAVIGATION AND SENSOR ACCURACIES ON COMBAT
VEHICLES
Authors: Liang Feng
Published: November 2024

ABSTRACT

This paper discusses the impacts of the navigation accuracy and sensor accuracy
on combat vehicles and some potential improvements. Two of the combat vehicle
subsystems are the fire control subsystem for weapon engagement and the target
locating subsystem for fire support. The fire control subsystem is required to
comply with the hit probability requirements that depend on position sensor
accuracy, rate gyro sensor accuracy and the Euler angle accuracies of the
Inertial Navigation Unit (INU), in addition to many other factors. The paper
reviews the kinematic lead correction estimation and its error sources. Rate
gyro sensors are widely used in the target Line of Sight (LOS) stabilization and
the weapon Line of Fire (LOF) stabilization. This paper presents a solution that
can remove the components in the rate gyro signals related to earth rotation
rate and trim down the fire control subsystem drifting errors significantly.
Fire control subsystems also use the pitch and roll angles of an INU for LOS and
LOF cant angle correction, so no cant sensor is needed.

The target locating subsystem needs to meet Target Location Error (TLE)
requirements that rely on the Euler angle and position accuracies of an INU, the
Global Positioning System (GPS) positioning accuracy, the target range
measurement accuracy and the angular position sensor (measuring the LOS angles)
accuracies. The error sources of the target locating subsystem discussed in this
paper are the INU/GPS position errors, the INU Euler angle errors (especially
the heading/azimuth error), the Universal Transverse Mercator (UTM) based target
location computation errors, and the target range error. Based on these
insights, this paper provides some improvements on the target locating
accuracy.

This paper concludes that the navigation systems and the sensors can be improved
or upgraded for better fire control subsystem and target locating subsystem
performances. Some of the insights and improvements presented in this paper can
be applied to many combat vehicles to enhance their lethality.
A TWO-STAGE DEEP LEARNING APPROACH FOR CAN INTRUSION
DETECTION
Authors: Zhang Linxi , Kaja Nevrus , Shi Lyndon , Ma Di
Published: November 2024

ABSTRACT

With recent advancements in the automotive world and the introductions of
autonomous vehicles, automotive cybersecurity has become a main and primary
issue for every automaker. In order to come up with measures to detect and
protect against malicious attacks, intrusion detection systems (IDS) are
commonly used. These systems identify attacks while comparing normal behavior
with abnormalities. In this paper, we propose a novel, two-stage IDS based on
deep-learning and rule-based systems. The objective of this IDS is to detect
malicious attacks and ensure CAN security in real time. Deep Learning has
already been used in CAN IDS and is already proven to be a successful algorithm
when it comes to extensive datasets but comes with the cost of high
computational requirements. The novelty of this paper is to use Deep Learning to
achieve high predictability results while keeping low computational requirements
by offsetting it with rule-based systems. In addition, we examine the
performance of proposed IDS with the objective for using it in real-time
situations.
Smart Model Based Systems Engineering
Authors: Ayala Alejandro , Weaver Jonathan , Fuentes Jenifer , Ochoa Ruben
Published: November 2024

ABSTRACT

Model Based Systems Engineering (MBSE) has been a dominant methodology for
defining and developing complex systems; however, it has not yet been paired
with cutting-edge digital engineering transformation. MBSE is constrained to
represent a whole system, but lacks other capabilities, such as dynamic
simulation and optimization, as well as integration of hardware and software
functions.

This paper provides the key elements for developing a Smart MBSE (SMBSE) modeling
approach that integrates Systems Engineering (SE) functionality with the full
suite of other development tools utilized to create today’s complex
products. SMBSE connects hardware and software with a set of customer needs,
design requirements, program targets, simulations and optimization
functionalities.

The SMBSE modeling approach is still under development, with significant
challenges for building bridges between conventional Systems Engineering
methodology, with additional capabilities to reuse, automate, simulate and
optimize the system model in order to generate solutions that do not require
significant remodeling efforts for each subsequent new product. The proposed
SMBSE framework provides the potential for product development teams to focus
more of their efforts on the new subsystems and technologies and less time
remodeling or updating legacy systems and components.
SET-BASED DESIGN AND OPTIMIZATION…. CAN THEY LIVE TOGETHER
AND MAKE BETTER TRADE SPACE DECISIONS?
Authors: Rapp Stephen , Doerry Norbert , Chinnam Ratna , Monplaisir Leslie , Murat Alper , Witus Gary
Published: November 2024

ABSTRACT

Often during Product Development, externalities or requirements change, forcing
design change. This uncertainty adversely affects program outcome, adding to
development time and cost, production cost, and can compromise system
performance. We present a development approach that minimizes impacts, by
proactively considering the possibility of changes in the externalities and
mid-course design changes. The approach considers the set of alternative designs
and the burdens of a mid-course change from one design to another in determining
the relative value of a specific design through the set-based design
methodology. The approach considers and plans parallel (redundant) development
of alternative designs with progressive selection of options, including
time-versus-cost tradeoffs and the impact change-costs. The approach includes a
framework of the development process addressing design and integration
lead-times, their relationship to the time-order of design decisions, and the
time-dependent burden of design changes. We also compare set-based and single
point design schemes.
OPTIMIZING BASE CAMP RESOURCE EFFICIENCY THROUGH SYSTEMS
ENGINEERING
Authors: Moravec Joe
Published: November 2024

ABSTRACT

The Product Director for Contingency Base Infrastructure (PD CBI) is chartered to
bring a system-of-systems approach to contingency basing. PD CBI has four major
lines of effort to accomplish the mission. This paper briefly touches on the
Strategic Recommendations, Analytical Support, and Stakeholder Collaboration and
Integration lines of effort and focuses on the Contingency Basing Interface to
the Warfighter line of effort. The paper outlines the Model-Based Systems
Engineering (MBSE) approach employed by the CBI team, detailing the application
of a common set of tools to address each part of the problem. The paper also
addresses the use of existing models and simulations, modifying them for use
with base infrastructure materiel, and developing new tools as needed, to
conduct analyses treating a contingency base as a system of systems (similar to
a ground vehicle system). The results of the analyses will provide the Army with
materiel investment recommendations for decision makers, optimized base
infrastructure-materiel set recommendations, and resource-efficient camp
designs. Issues addressed include determining what capabilities the Army should
invest in to increase operational/mission effectiveness, reduce risk, and
increase operational reach. The analytical results will help identify the
optimal mix of capabilities and standardized base camp configurations,
cost/benefit in terms of dollars, manpower, resource impacts, etc. The MBSE
approach demonstrates the power of bringing together key organizations and
mature analytic methods and tools to characterize and quantify critical mission
requirements.
IMPLEMENTING RISK MANAGEMENT IN YOUR ORGANIZATION: WHAT TO CONSIDER
Authors: Khaled-Noveloso Lubna
Published: November 2024

ABSTRACT

The objective of this paper is to provide guidance on what to consider to
implement Risk Management within an organization including what practices need
to be in place to ensure that leadership will continue to support Risk
Management over the long term. It also presents techniques to determine risk
severity, risk mitigation methods, ideas for ensuring risk management helps
achieve a program’s objectives, and techniques for incorporating risk
measurement parameters into a program’s daily execution activities.
Digital Engineering Model Maturity
Authors: Van Brocklin Keith L
Published: November 2024

ABSTRACT

The Digital Engineering Environment is new and rapidly changing. It is a complex
system with many tools, databases and views. Organizations struggle with how to
access their maturity in a new environment. This paper discusses the different
aspects of determination of the maturity of architecture model within a Digital
Engineering Environment. The intended audience is all levels of system
engineers. It will address the characteristics of maturity from content, size
and usefulness of architecture models. The goal of this paper is to provide
system architecture with tools, process and insight into gaining more
productivity and value from architecture models.
VARIABLE DISPLACEMENT OIL PUMP IMPROVES TRACKED VEHICLE TRANSMISSION
EFFICIENCY
Authors: Bol Stephen
Published: November 2024

ABSTRACT

Variable displacement pumps have been used in automotive transmissions for
decades. L3T had high confidence that a Variable Displacement Oil (VDO) pump
would increase overall transmission efficiency. An off-the-shelf (OTS) or OTS
modified pump in this pressure and flow range was not found. Therefore, a VDO
pump is being developed with the known risk of replacing a highly reliable pump
with a new better performing pump of unknown reliability. In this document the
development of this VDO pump is discussed.

Initial testing of the VDO pump demonstrated an average 25HP savings in pumping
losses throughout the transmission operating ranges. At this point, durability
testing has not been performed.
STRYKER VEHICLE ADVANCED PROPULSION WITH ONBOARD
POWER
Authors: Boice Kevin , Abdallah Youssef , Tylenda Josh
Published: November 2024

ABSTRACT

The intent of the Advanced Propulsion with Onboard Power (APOP) system is to
increase the available onboard power for the Stryker from 16kW (570A) to 120kW
to support future vehicle capabilities such as directed energy, electromagnetic
armor, and electronic warfare. The additional power is also used to run
electrified automotive auxiliaries on the vehicle such as the main fan and the
hydraulic pump more efficiently. Vehicle test results showed that the APOP
vehicle had better or equivalent performance to the baseline vehicle when just
the electrified automotive auxiliaries are included, but additional future loads
still pose a challenge to meeting vehicle performance requirements.
Development of a Laboratory Based Test Methodology to Identify Axle
Lubricants with Limited Slip Capability
Authors: Comfort Allen S. , Brandt Adam , Thrush Steven
Published: November 2024

ABSTRACT

Modern vehicles use various methods to improve traction. One way to control
torque to the drive wheels and improve traction is the limited slip differential
(LSD). These differentials prevent loss of traction in the event that a driving
wheel loses grip. A popular arrangement is the clutch-type LSD. Clutch-type LSDs
use alternating friction and reaction plates lubricated by gear oils with
specific frictional properties that allow for smooth and quiet operation. It is
essential that vehicles designed with LSDs use gear oils with the appropriate
frictional characteristics, but each manufacturer relies on proprietary test
methods to identify compatible gear oils for their LSDs. This lack of
standardization limits the availability of compatible oils. To deal with this
problem, the Army is developing a laboratory based test method using the SAE No.
2 friction test machine to identify fully formulated gear oils compatible with
LSDs found in military equipment.
3D Printed Piston for Heavy-Duty Diesel Engines
Authors: Dolan Robert , Budde Roger , Schramm Christian , Rezaei Reza
Published: November 2024

ABSTRACT

3D printing is a rapidly evolving technique for alternative piston manufacturing
that offers the ability to realize complex combustion bowl geometry, robust
structure and advanced cooling channel geometries while delivering precise
tolerance and mass control. IAV has designed, analyzed, optimized and produced
3D printed pistons for heavy-duty diesel engines. The key features include an
innovative form of combustion bowl, 300 bar peak cylinder pressure capability
and advanced cooling channels in a mass neutral to less capable design. During
2018, these pistons will undergo fired engine testing.
USE OF CREW AUGMENTATION TECHNIQUES TO REDUCE COMBAT CREW
SIZE
Authors: Anderson Erik , Bryant Jeremiah , Paul Victor , Reid Alexander , Schrader Jason
Published: November 2024

ABSTRACT

TARDEC is leading the Next Generation Combat Vehicle – Mission Enabler
Technology Demonstrator (NGCV MET-D) program, which has developed and
implemented new technologies to enhance and augment Crew and vehicle
capabilities. As part of this, a concerted effort is being made to optimally
interface the crew-member to the technology in a way that will maximize overall
effectiveness. The payoff for these efforts will be to have the crew do more
than they have in the past, or have a reduced size crew perform at the same
– or higher – level as the original crew would have. This study
provides a framework process and techniques for crew augmentation with the end
goal to reduce combat crew task load and increase overall crew performance.
TRACKED AND WHEELED VEHICLE BENCHMARK – A DEMONSTRATION OF SIMULATION MATURITY FOR NEXT GENERATION NATO REFERENCE MOBILITY MODEL
Authors: Balling Ole , McCullough Michael , Hodges Henry , Pulley Reid , Jayakumar Paramsothy
Published: November 2024

ABSTRACT

Due to shortcomings in vehicle mobility prediction in the NATO Reference Mobility
Model (NRMM), recommendations and requirements for the Next-Generation NATO
Reference Mobility Model (NG-NRMM) are under development. The limiting nature of
empirically based terramechanics and the recent decades of significant
improvements to 3D physics based Modeling and Simulation (M&S) capability
call for a process to quantify physics based M&S in meeting the proposed
goals of NG-NRMM. A verification and validation (V&V) process is
demonstrated to quantify the vehicle mobility prediction capability of current
state of the art physics based M&S tools. The evaluation is based upon an
M&S maturity scale adopted and modified from corporate simulation governance
to fit the specifics of vehicle mobility. The V&V process is demonstrated
through a set of benchmarks, one for a tracked and another for a wheeled
vehicle. The NG-NRMM benchmark efforts have demonstrated an analytical process
for evaluating simulation capability maturity levels for M&S tools. More
test data needs to be acquired with this specific purpose in mind. However,
current results support the conclusion that current industry standard 3D physics
based M&S tools are able to predict expected mobility outcomes that will
never be possible with NRMM.
SCALED TESTBEDS FOR AUTOMATED ROBOTIC SYSTEMS
Authors: Lodato Diego , Kamalanathsharma Raj , Farber Maurice
Published: November 2024

ABSTRACT

The automotive and defense industries are going through a period of disruption
with the advent of Connected and Automated Vehicles (CAV) driven primarily by
innovations in affordable sensor technologies, drive-by-wire systems, and
Artificial Intelligence-based decision support systems. One of the primary tools
in the testing and validation of these systems is a comparison between virtual
and physical-based simulations, which provides a low-cost, systems-approach
testing of frequently occurring driving scenarios such as vehicle platooning and
edge cases and sensor-spoofing in congested areas. Consequently, the project
team developed a robotic vehicle platform—Scaled Testbed for Automated
and Robotic Systems (STARS)—to be used for accelerated testing elements
of Automated Driving Systems (ADS) including data acquisition through
sensor-fusion practices typically observed in the field of robotics. This paper
will highlight the implementation of STARS as a scaled testbed for rapid
prototyping, accelerated testing and verification and validation (V&V), and
its applicability as a simulation tool for additional CAV concepts, such as
modeling edge cases like swarm behaviors for route delivery and vehicle cyber
security testing on sensors.
QUANTUM ANNEALING FOR MOBILITY STUDIES: GO/NO-GO MAPS VIA
QUANTUM-ASSISTED MACHINE LEARNING
Authors: Serban Radu , Wilson Max , Benedetti Marcello , Realpe-Gómez John , Perdomo-Ortiz Alejandro , Petukhov Andre , Jayakumar Paramsothy
Published: November 2024

ABSTRACT

We present the results of an exploratory investigation of applying a hybrid
quantum-classical architecture to an off-road vehicle mobility problem, namely
the generation of go/no-go maps posed as a machine learning
problem.

The premise of this work rests on two observations. First, quantum computing
allows in principle for algorithms that provide a speedup over the best known
classical counterparts. However, as it is to be expected of such novel and
complex tools (both hardware and algorithmic) at this early developmental stage,
current quantum algorithms do not always perform well on real-world problems.
Second, complex physics-based vehicle and terramechanics models and simulations,
currently advocated for high-fidelity high-accuracy ground
vehicle–terrain interaction analyses, pose significant computational
burden, especially when applied to mobility studies which may require numerous
simulation runs.

We describe the Quantum-Assisted Helmholtz Machine formulation, suitable to be
implemented on a quantum annealer such as the D-Wave 2000Q machine, discuss the
high-performance classical computing framework used to generate through
simulation the training and test sets, and provide the results of our
investigations and analysis into the performance of the machine learning model
and its predictive capabilities for generating go/no-go
mobility maps.

This work represents a contribution to an ongoing effort of exploring the
applicability of the emerging field of quantum computing to challenging
engineering and scientific problems.
PRACTICAL FEATURES EXTRACTED FROM FULL SURFACE TERRAIN SCANS
Authors: Liswell Brian
Published: November 2024

ABSTRACT

Test course characterization has long relied on single-line profile measurements
which provide elevation as a function of distance. These profiles are analyzed
to provide various statistics and metrics. While these metrics can be useful,
single-line profiles will always lead to a limited characterization. A vehicle
has multiple concurrent inputs from the ground, inducing not just vertical
excitations but also pitching, rolling, and twisting displacements (amongst
others). Improvements in profiling equipment have enabled the ability to sample
and characterize the entire surface. This paper identifies two characterization
methods which take advantage of a full surface scan. The first uses orthogonal
transverse modes which could either be extracted with Singular Value
Decomposition (SVD) or be predefined polynomials. The second extracts a
concurrent profile under each wheel for a given vehicle axle spacing and track
width. Orthogonal basis vectors are then projected onto the concurrent profiles
to extract the heave, pitch, roll, and twist inputs from the ground into the
vehicle.
FRAMEWORK OF RELIABILITY-BASED STOCHASTIC MOBILITY MAP FOR NEXT
GENERATION NATO REFERENCE MOBILITY MODEL
Authors: Choi K.K. , Gaul Nicholas , Jayakumar Paramsothy , Wasfy Tamer M. , Funk Matthew
Published: November 2024

ABSTRACT

A framework for generation of reliability-based stochastic off-road mobility maps
is developed to support the Next Generation NATO Reference Mobility Model
(NG-NRMM) using full stochastic knowledge of terrain properties and modern
complex terramechanics modelling and simulation capabilities. The framework is
for carrying out uncertainty quantification and reliability assessment for Speed
Made Good and GO/NO-GO decisions for the ground vehicle based on the input
variability models of the terrain elevation and soil property parameters. To
generate the distribution of the slope at given point, realizations of the
elevation raster are generated using the normal distribution. For the soil
property parameters, such as cohesion, friction and bulk density, the min and
max values obtained from geotechnical databases for each of the soil types are
used to generate the normal distribution with a 99% confidence value range. In
the framework, the ranges of terramechanics input parameters that will cover the
regions of interest are first identified. Within these ranges of terramechanics
input parameters, a Dynamic Kriging (DKG) surrogate model of the Speed Made Good
is generated using NATC Wheeled Vehicle Platform complex terramechanics model
runs at the design of experiment points. Finally, inverse reliability analysis
using Monte Carlo Simulation is carried out to generate the reliability-based
stochastic mobility maps for Speed Made Good and Go/NO-GO decisions. It is found
that the deterministic map of the region of interest has probability of only 25%
to achieve the indicated speed.
EVALUATING MOBILITY PERFORMANCE OF UNMANNED GROUND
VEHICLES
Authors: Cole Michael P. , Crean Cory M. , Gorsich David J. , Jayakumar Paramsothy , Jain Abhinandan , Ersal Tulga
Published: November 2024

ABSTRACT

As the penetration levels of unmanned ground vehicles (UGV) in military
applications increase, there is a growing need to evaluate their mobility across
different latencies and various modes of operation ranging from pure
teleoperation to full autonomy. State-of-the-art tools to evaluate mobility of
ground vehicles do not address this need due to their not accounting for UGV
technologies and the associated latencies. Although the trade-off between
latency and performance has been thoroughly studied in the telerobotics
literature and the results may qualitatively shed light onto the UGV domain, as
well, a quantitative generalization is not possible due to the differences in
context. Recognizing this gap, this paper presents a functional relationship
between mobility and latency in high-speed, teleoperated UGVs under the context
of path following. Specifically, data from human-in-the-loop simulations
performed in this paper are combined with data from prior studies to span three
vehicle types, three courses, and teleoperation latencies ranging from 0 s to 1
s. This combination yields for the first time a diverse data set for the context
of path following in high speed, teleoperated UGVs. Based on this data set,
empirical relationships are derived to quantify the trade-off between latency
versus average speed and lane keeping error. This relationship can be used to
establish a benchmark to evaluate the performance of autonomy-enabled UGV
systems.
Modeling of Shear Thickening Fluids for Analysis of Energy Absorption
Under Impulse Loading
Authors: Bennett Alyssa , Vlahopoulos Nickolas , Jiang Weiran , Castanier Matthew , Thyagarajan Ravi , Shurin Scott
Published: November 2024

ABSTRACT

A proposed new method of energy absorption in multilayered plates is to implement
shear-thickening fluids between the plate layers to act as a damping mechanism.
Research into the implementation of shear thickening fluids (STF) in Kevlar body
armor has yielded positive results for ballistic loadings. The objective of this
integrated computational materials engineering (ICME) study is to accurately
model the behavior of shear thickening fluids using the discrete element method
(DEM) to better understand shear-thickening mechanisms and how shear thickening
fluids behave under high shear rates experienced during impulse loading. These
results are implemented in a reduced order model of a multilayered plate to
determine the effect of shear thickening fluids on energy absorption
capabilities.
DEMONSTRATION OF A COMMON WORLD MODEL
Authors: Hinton Mark , Vallabha Gautam , Cooke Chris , Piatko Christine , Zeher Michael , Gayler Peter , Osier Geoffrey
Published: November 2024

ABSTRACT

A crucial part of facilitating the cooperation of multi-robot and human-robot
teams is a Common World Model – a shared knowledge base with both
physical information (e.g., ground map) and semantic information (e.g, locations
of threats and goals) – that can be used to provide high-level guidance
to heterogeneous robot teams. Past work performed by Johns Hopkins University
Applied Physics Laboratory (JHU/APL) has shown that the Advanced Explosive
Ordnance Disposal Robotic System (AEODRS) architecture – a Modular Open
Systems Approach (MOSA) architecture leveraging the JAUS (Joint Architecture for
Unmanned Systems) standard for definition of its logical interfaces –
can be effectively used to develop and integrate the subsystems of a
teleoperated ground vehicle for use in a complex environment. This demonstration
tackles the next challenge, which is to extend the AEODRS architecture to
facilitate multi-robot and human-robot teams.
AUTONOMOUS GROUND RESUPPLY AUTONOMY KIT
Authors: Schneider Anne , Becker William , Howard John , Cichosz Alan , Theisen Bernard , Conger David
Published: November 2024

ABSTRACT

In this paper, we will present the results of our efforts developing the Autonomy
Kit for the Tank Automotive Research Development and Engineering
Center’s (TARDEC) Autonomous Ground Resupply (AGR) Sustainment
Operations (SO) program. Robotic Research, LLC was responsible for the design,
build, and implementation of the “Autonomy Kit” for the AGR SO.
The Autonomy Kit is designed to be a fault-tolerant, vehicle-agnostic applique
kit that provides the hardware and software needed to perform higher-level
autonomous driving and planning functions. In the first Increment, the main
focus was developing a “Leader/Follower” capability, where a
manned “Leader” vehicle could perform a mission with a number of
unmanned “Followers” reproducing its trajectory, maintaining
convoy constraints, and avoiding obstacles in the path.
The seL4 Microkernel – A Robust, Resilient, and Open-Source
Foundation for Ground Vehicle Electronics Architecture
Authors: VanVossen Robbie , Millwood Jesse , Guikema Chris , Elliott Leonard , Roach Jarvis
Published: November 2024

ABSTRACT

There has been a lot of interest in the secure embedded L4 (seL4) microkernel in
recent years as the basis of a cyber-security platform because it has been
formally proven to be correct and free of common defects. However, while the
seL4 microkernel has a formal proof of correctness, it does so at the cost of
deferring functionality to the user space that most developers and system
integrators would deem necessary for real life products and solutions, and use
of formal proofs for user space can be prohibitively expensive. DornerWorks took
an approach to bypass the need for native seL4 user space applications to
develop a representative real-world system for GVSC VEA based on seL4 by
enabling its virtual machine monitor functionality for ARMv8 platforms, allowing
feature rich software stacks to be run in isolation guaranteed by the seL4
formal proofs. This paper describes that system and the efforts undertaken to
achieve real world functionality.

Citation: R. VanVossen, J. Millwood, C. Guikema, L. Elliott, J.
Roach, “The seL4 Microkernel – A Robust, Resilient, and
Open-Source Foundation for Ground Vehicle Electronics Architecture”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2019.
TOWARD A SOFTWARE BASED INTERCOMMUNICATIONS CAPABILITY FOR ARMY
GROUND VEHICLES
Authors: Kelsch Geoffrey , Serafinko Robert , Frissora Anthony
Published: November 2024

ABSTRACT

The confluence of intra-vehicle networks, Vehicular Integration for (C4ISR)
Command, Control Communication, Computers, Intelligence, Surveillance,
Reconnaissance/(EW) Electronic Warfare Interoperability (VICTORY) standards and
onboard general-purpose processors creates an opportunity to implement Army
combat ground vehicle intercommunications (intercom) capability in software. The
benefits of such an implementation include 1) SWAP savings, 2) cost savings, 3)
simplified path to future upgrades and 4) enabling of potential new capabilities
such as voice activated mission command. The VICTORY Standards Support Office
(VSSO), working at the direction of its Executive Steering Group (ESG) members
(Program Executive Office (PEO) Ground Combat Systems (GCS), PEO Combat Support
and Combat Service Support (CS&CSS), PEO Command Control
Communications-Tactical (C3T) and PEO Intelligence, Electronic Warfare and
Sensors (IEW&S)), has developed and demonstrated a software intercom
prototype that proves out the concept and sets the stage for development of a
deployable software intercom capability. This paper describes that effort to
date including benefits to the Army, technical trades explored and potential for
extended capabilities.
MODULAR OPEN RF ARCHITECTURE (MORA): STANDARDIZING THE RF
CHAIN
Authors: Broczkowski Jason , Bailey Derek , Ryder Troy , Dirner Jason
Published: November 2024

ABSTRACT

The Modular Open RF Architecture’s (MORA) core objective is to logically
decompose radio frequency (RF) systems for efficiency, flexibility, reusability,
and scalability while enabling management, health monitoring, and sharing of raw
and/or processed data. MORA extends the Army’s Vehicular Integration for
C4ISR/EW Interoperability (VICTORY) architecture. MORA was introduced to the
GVSETS community in 2015 at version 1.0 of the specification, and has matured
with the help of community, industry, and academia partners to its current
version 2.3. This paper discusses the current state of the MORA specification
and how it has evolved beyond its initial topology to encompass the entirety of
the RF chain in an open and modular fashion. In addition, this paper will
describe the purpose of MORA, the objectives of its development, its foundation,
and the basic concepts and core features.

Citation: J. Broczkowski, D. Bailey, T. Ryder, J. Dirner,
“Modular Open RF Architecture (MORA): Standardizing the RF
Chain”, In Proceedings of the Ground Vehicle Systems Engineering
and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15,
2019.
DEMYSTIFYING PLATFORM CYBER RESILIENCE
Authors: Lofy Cheri , Vriesenga Mark
Published: November 2024

ABSTRACT

Today’s platform systems (satellites, aircraft, surface ships, ground
vehicles, and subsurface vehicles) have large numbers of electronic components
including microprocessors, microcontrollers, sensors, actuators, and internal
(onboard) and external (off-board) communication networks. Hardening and
securing these systems is currently performed using checklist approaches like
the Risk Management Framework (RMF) that derive from decades of information
technology (IT) best practices. However, these approaches do not translate well
to platforms because they inadequately address security issues that are unique
to cyber-physical and the embedded nature of platform systems.

In this paper, we describe key resilience concepts and two analytic models for
improving platform cyber resilience. These models balance knowledge of offensive
attack vectors with Resilience-in-Depth™ controls. The Platform Cyber
Attack Model (PCAM) provides a multi-scale construct for identifying,
describing, and understanding cyber-attacks that are relevant to platform
systems in their operating environment. The corresponding Platform Cyber Defense
Model (PCDM) determines resiliency controls needed to respond to and recover
from high-likelihood, high-severity cyber-attacks. These analytic models provide
a foundation for building on RMF and guides implementation of relevant cyber
resilience capabilities for platform systems. We conclude this paper with a
simplified process for developing the PCAM and PCDM models and with
recommendations for next steps in implementing platform cyber resilience.
TESTING IN A COMPLEX WORLD
Authors: LaRose Bryan , Morgan Melissa , Stark Kristen , Kosinski Dan , Fischer Ken , Brudnak Mark , Schultz Greg , Christino Angelo , Wayne Martin , Baseski Igor
Published: November 2024

ABSTRACT

This paper discusses and outlines ideas regarding changes to how testing is
performed in response to new policy regarding rapid integration of technology
into Army ground vehicle systems. It specifically presents and discusses the
ways that systems can begin testing early using laboratory testing. It discusses
how testing is currently performed and then leverages best practices from the
Automotive Industry to recommend methods to recommend how the Army can adapt
these for its testing function. Specifically it discusses how specific test
should be selected, how to define the testing environment and how to use the
data generated from the lab test. It concludes with an example case study.

Citation: B. LaRose, M. Morgan, K. Stark, D. Kosinski, K. Fischer,
M. Brudnak, G. Schultz, A. Christino, M. Wayne, I. Baseski, “Testing in
a Complex World”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
13-15, 2019.
Reliability Simulations for Electronic Assemblies: Virtual
Qualification, Reliability Assurance, Maintenance Scheduling and Obsolescence
Mitigation
Authors: Dodd Ed
Published: November 2024

ABSTRACT

Reliability Physics simulations for electronic assemblies has matured to become
best practice during specification and design. However, the potential advantages
of these simulations to programs and integrators are more far reaching. This
paper will explore how the simulations can be used for virtual qualification,
reliability assurance, maintenance scheduling and obsolescence management.

Citation: Ed Dodd, “Reliability Simulations for Electronic
Assemblies: Virtual Qualification, Reliability Assurance, Maintenance Scheduling
and Obsolescence Mitigation”, In Proceedings of the Ground Vehicle
Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
13-15, 2019.