bluuebunny/crossref_metadata_2025 huggingface dataset:
AUTONOMOUS CONVOY OPERATIONS IN THE ROBOTIC TECHNOLOGY KERNEL (RTK)
Authors: Alton Nicholas , Bries Matthew , Hernandez Joseph
Published: November 2024

ABSTRACT

This paper presents two techniques for autonomous convoy operations, one based on
the Ranger localization system and the other a path planning technique within
the Robotic Technology Kernel called Vaquerito. The first solution, Ranger, is a
high-precision localization system developed by Southwest Research
Institute® (SwRI®) that uses an
inexpensive downward-facing camera and a simple lighting and electronics
package. It is easily integrated onto vehicle platforms of almost any size,
making it ideal for heterogeneous convoys. The second solution, Vaquerito, is a
human-centered path planning technique that takes a hand-drawn map of a route
and matches it to the perceived environment in real time to follow a route known
to the operator, but not to the vehicle.

Citation: N. Alton, M. Bries, J. Hernandez, “Autonomous
Convoy Operations in the Robotic Technology Kernel (RTK)”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 11–13, 2020.
Cyberattack Defense Through Digital Fingerprinting, Detection
Algorithms, and Bus Segmentation in Ground Vehicles
Authors: Wolford Jonathan , Westrick Courtney , Moldenhauer Peter
Published: November 2024

ABSTRACT

This paper describes strategies to secure military ground vehicles by using
digital fingerprinting, detection algorithms, and bus segmentation to identify
and remove anomalous messages from the Controller Area Network (CAN) bus. Modern
automotive buses were designed for reliability rather than security. This lack
of security means that any node on the bus can transmit a message to any other
node, and the receiver cannot verify the sender or that the message is
unaltered. The intrusion defense system (IDS) protects the bus by actively
monitoring traffic on all connected busses and removing messages identified as
anomalies. Digital fingerprinting combined with various detection algorithms
identifies these anomalies while bus segmentation simultaneously defends the CAN
bus by removing anomalous messages.

Citation: J. Wolford, C. Westrick, P. Moldenhauer,
“Cyberattack Defense Through Digital Fingerprinting, Detection
Algorithms, and Bus Segmentation in Ground Vehicles”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.
Real-time Analysis of Vehicle Patches and Binaries
Authors: Brock James , Dahlstrom Jason , Padnos Stephen Wille , Taylor Stephen
Published: November 2024

ABSTRACT

Modern data loggers of industrial bus networks provide a useful tool to record
the bus traffic associated critical vehicle systems, but provide little insight
into the impact of maintenance patches on the associated system binary codes and
system behaviors. This paper describes an emerging DARPA technology, the
Tactical Smart Network Interface Card (TSNIC), that provides a secure base from
which to deploy, monitor, and interact with patched binaries. Our TSNIC
appliance can take either a passive or active presence on the vehicle bus,
obviating the need for a vulnerable JTAG interface, and processes diagnostic
messages arriving from the patched binary. These messages can provide a wide
range of insights into the behavior of the system. The Tactical Smart NIC
represents the next-generation of secure and reliable patching technology for
military and heavy industrial systems. It provides a unique way for developers,
maintainers, and field engineers to gain a new appreciation for the operational
impact of their patches. DARPA is actively seeking operational partners for
deployment and technology evolution. This paper outlines the existing and
planned capabilities of the platform.

Citation: J. Brock, J. Dahlstrom, S. Wille Padnos, S. Taylor,
“Real-time Analysis of Vehicle Patches and Binaries”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.
BLOCKCHAIN VEHICLE APPLICATIONS AND CYBERSECURITY: AN APPROPRIATE USE
OR USE APPROPRIATELY?
Authors: Parker Charles
Published: November 2024

ABSTRACT

Bitcoin and other digital currencies utilize blockchain. Blockchain, in summary,
is a collection of blocks. Within each block is a collection of transactions.
Each computer (node) has the same list of blocks and transactions, which they
can see as the blocks are filled with the transactions. While this is the
traditional application experienced, there are other applications relevant to
cybersecurity. As part of the blockchain technology, the nodes are responsible
for decision-making. The blockchain technology may be used for this function in
these systems. In adjusting the data flow, this is an option to increase the
cybersecurity for a complete system. This addition to the cybersecurity system
provides a clear benefit.

Citation: Parker, C., “Blockchain Vehicle Applications and Cybersecurity:
An Appropriate Use or Use Appropriately?”, In Proceedings of the
Ground Vehicle Systems Engineering and Technology Symposium
(GVSETS), NDIA, Novi, MI, August 10, 2021.
Advanced Cyber Testing With Virtualization
Authors: Wysocki William , Price Greg , Friedman Steve , Conage Adrianne
Published: November 2024

ABSTRACT

The growing sophistication and emergence of widespread cyber threats today has
driven the DOD to place Cyber Resiliency requirements on new and legacy defense
systems. The DOD has recently garnered a massive defensive DevSecOps effort
aimed at defining structured practices to unify software (Dev), Security (Sec),
and operations (Ops) under the umbrella of more OpSec-driven engineering
practices. According to the DOD DevSecOps practicum referenced in this document
[1], “Practicing DevSecOps
provides demonstrable quality and security improvements over the traditional
software lifecycle, enabling application security, secure deployments, and
secure operations in close alignment with mission objectives.”

Modern systems often contain greater networking capability and are therefore more
exposed to cyber-threats. Legacy systems were often conceived prior to the field
of cyber warfare maturing, resulting in unpatched potential vulnerabilities that
could be exploited through trusting computing relationships. Each type of system
presents different Cyber Resiliency requirement challenges. This paper explores
the power and flexibility of employing virtualization technology as a tool for
cyber-focused testing on both new and legacy defense systems across the DOD.

Citation: William Wysocki, Greg Price, Steve Friedman, Adrianne
Conage, “Advanced Cyber Testing With Virtualization”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.
NEGATIVE STIFFNESS HONEYCOMBS FOR BLAST MITIGATION
PANELS
Authors: Nersessian Nersesse , Keegan Jared , Court Jeff , Gunsbury Connor , Seepersad Carolyn
Published: November 2024

ABSTRACT

Midé Technology Corporation (Midé), a Hutchinson company, in
collaboration with The University of Texas at Austin (UTA), have investigated
the potential for novel negative stiffness (NS)-based structures as blast
resistant vehicle panels. Protecting vehicles from blast shockwaves would
ideally minimize added weight and maximize reusability. Homogenous metal panels
provide such protection but without the benefit of reusability, absorbing energy
via plastic deformation, while also adding significant weight to a vehicle,
thereby sacrificing mobility. Although various emergent approaches, including
the use of hexagonal honeycombs and auxetic materials, have proved promising in
terms of higher energy absorption per unit mass, such approaches also rely on
plastic deformation additionally suffering from the drawback of occasionally
transmitting a higher peak force as compared to the incident.
SELF SEALING FUEL TANKS IN VEHICLES WITHOUT ARMOR
Authors: Stuck Larry
Published: November 2024

ABSTRACT

Military vehicle survivability can be enhanced by implementing Lightweight Fuel
Tanks with an Engineered Self-Sealing and Energy Absorbing solution. A thin
walled plastic or aluminum fuel tank with an outer self-sealing protection
coating and a properly installed ballistic baffle provide increased sealing
performance as compared to amour protected fuel tank. Design features include
reduced weight penalty, survivability, self-sealing against kinetic energy
threats, maximum fuel in space claim, flexible design, and low tooling
charges.

Citation: Stuck, LW, “Self Sealing Fuel Tanks in Vehicles
Without Armor”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
10-12, 2021.
LIGHTWEIGHT COMPOSITE CREW FLOOR FOR GROUND COMBAT
VEHICLES
Authors: Hart Robert , Dwyer Benjamin , Smail Andrew , Chishti Ammar , Erb David , Lopez-Anido Roberto
Published: November 2024

ABSTRACT

This paper focuses on the development of a lightweight, composite floating crew
floor designed to withstand the severe loading requirements of an underbody
blast. Energy absorbing devices decouple the floor from the surrounding vehicle
structure; therefore, in the event of an underbody blast, the impulse is spread
out over a longer period of time, thus reducing the loads into the floor where
the crew seats are attached. The composite floor development included:
characterizing candidate materials for structural and flame/smoke/toxicity
characteristics, design optimization of the composite floor geometry, modeling
the response of the floor assembly during a simulated underbody blast event, and
manufacturing of a physical composite crew floor. Based on this effort, the
composite floor was able to meet the structural requirements of the underbody
blast event, while reducing weight by more than 55% compared to the baseline
aluminum floor. Moreover, due to the significant reduction in mass and efficient
design, the raw material cost of the composite floor was approximately cost
neutral compared to the baseline aluminum floor that was machined from solid
aluminum billet.

Citation: R. Hart, B. Dwyer, A. Smail, A. Chishti, D. Erb, R.
Lopez-Anido, “Lightweight Composite Crew Floor for Ground Combat
Vehicles”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
10-12, 2021.
RELIABILITY MODELING TO INFORM THE DEVELOPMENT OF ON-PLATFORM
PREDICTIVE ANALYTICS
Authors: Majcher Monica , Bennett Lorri A. , Banks Jeffrey , Lukens Matthew , Nulton Eric , Yukish Michael A. , Merenich John J.
Published: November 2024

ABSTRACT

Implementing Prognostic and Predictive Maintenance (PPMx) for the U.S.
Army’s ground vehicle fleet requires the design and integration of
on-platform predictive analytics. To support the design process, U.S. Army
DEVCOM Ground Vehicle Systems Center (GVSC) and Applied Research Laboratory
(ARL) Penn State researchers are developing a systematic approach that uses
reliability modeling in a guiding role. The key steps of the process are
building the initial reliability model from available data (e.g., system
diagrams and physical layouts), augmenting with information on observed states
and failure modes via subject matter experts, and then conducting trades on
additional sensors and algorithms to determine a suitable predictive analytics
capability. In this paper we provide an example of this process as applied to an
Army ground vehicle, first focusing on a simplified sub-problem to demonstrate
the technique, then providing statistics on the large scale process.

Citation: M. Majcher, L. Bennett, J. Banks, M. Lukens, E. Nulton, M.
Yukish, J. Merenich, “Reliability Modeling to Inform the Development of
On-Platform Predictive Analytics”, In Proceedings of the Ground
Vehicle Systems Engineering and Technology Symposium (GVSETS),
NDIA, Novi, MI, Aug. 10-12, 2021.
BALLISTIC VALIDATION TESTING WITH CONFIDENCE SPECIFICATIONS
Authors: Eridon James
Published: November 2024

ABSTRACT

Ballistic protection requirements often call out a minimum probability of no
penetration against a projectile fired at a specified velocity with a required
confidence level. For example, 90% confidence of 90% probability of protection
at 2,900 fps. This paper describes a potential testing algorithm to maximize
confidence in the resulting test data, and validation of the algorithm through
Monte Carlo simulation. The algorithm uses a two-step process – a brief
initial V50 test, followed by testing at velocities calculated to
maximize the likelihood of validating the ballistic requirement within a given
number of shots. The algorithm is based on straightforward confidence
calculations based on the generalized likelihood ratio, does not require the
generation of a zone of mixed results, and eliminates the velocity tolerance
commonly used to discriminate valid and invalid shots. Monte Carlo simulations
indicate that the algorithm may bias the confidence calculations.

Citation: James Eridon, “Ballistic Validation Testing with
Confidence Specifications”, In Proceedings of the Ground Vehicle
Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi,
MI, Aug. 10-12, 2021.
PHYSICS BASED SINGLE-WHEEL MODULE SLIPPAGE ASSESSMENT FOR AUTONOMOUS CONTROL DESIGN
Authors: Ghasemi Masood , Vantsevich Vladimir , Gorsich David , Goryca Jill , Singh Amandeep , Moradi Lee
Published: November 2024

ABSTRACT

In this paper, a conceptually new research direction of the tire slippage
analysis is provided as a new technological paradigm for agile tire slippage
control. Specifically, the friction coefficient-slippage dynamics is analyzed
and its characteristic parameters are introduced. Next, the nonlinear relation
between the wheel torque and the tire instantaneous rolling radius incorporating
the longitudinal elasticity factor is analyzed. The relation is shown to be
related to the tire slippage. Further, its importance is clarified by deriving
its dynamics and specifically, the instruction is given how it can be utilized
to control slippage. Finally, the indices are introduced to assess the mobility
and agility of the wheel in order to achieve optimal response to severe terrain
conditions. The indices comprise of the introduced friction coefficient-slippage
characteristic parameters.

Citation: M. Ghasemi, V. Vantsevich, D. Gorsich, J. Goryca, A.
Singh, L. Moradi, “Physics Based Single-Wheel Module Slippage Assessment
for Autonomous Control Design”, In Proceedings of the Ground
Vehicle Systems Engineering and Technology Symposium (GVSETS),
NDIA, Novi, MI, Aug. 10-12, 2021.
MACHINE LEARNING-BASED THERMAL AND FLOW SIMULATION ON HETEROGENEOUS PLATFORM FOR SIGNATURE PREDICTION
Authors: Hong Seong Hyeon , House Alec , Kaminsky Andrew L. , Tison Nathan , Ruan Yeefeng , Korivi Vamshi , Wang Yi , Pant Kapil
Published: November 2024

ABSTRACT

The data-driven machine learning (ML) method is developed to rapidly evaluate the
thermal and flow fields of a ground vehicle and its neighboring environment at
various conditions. The artificial neural network (ANN) is implemented as the ML
model to evaluate the fields, while achieving equivalent accuracy as the CFD
simulations. In order for ANN to precisely map a relationship between the
simulation parameters and the solution field, the proper orthogonal
decomposition (POD) technique is applied to reduce the dimension of the field
variables. Consequently, the compressed data (i.e. modal coefficients) is
selected as the target for the ANN. Once trained, POD reconstruction is
performed on the ANN predicted modal coefficients to recover the CFD solution.
The developed framework is tested at diverse sample sites, and the maximum mean
absolute errors are found to be 0.41 K and 0.019 m/s for thermal and flow
simulations, respectively, verifying the outstanding prediction performance.

Citation: S.H. Hong, A. House, A.L. Kaminsky, N. Tison, Y. Ruan, V.
Korivi, Y. Wang, K. Pant, “Machine Learning-based Thermal and Flow
Simulation on Heterogeneous Platform for Signature Prediction”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.
UTILIZING ADDITIVE MANUFACTURING TO ENABLE LOW-COST, RAPID FORMING OF
HIGH TEMPERATURE LIGHTWEIGHT GROUND VEHICLE STRUCTURES
Authors: Erb David , Dwyer Benjamin , Roy Jonathan , Yori William , Lopez-Anido Roberto A. , Smail Andrew , Hart Robert
Published: November 2024

ABSTRACT

Barriers to the introduction of composite materials for ground vehicle
applications include material property selection and cost effective material
processing. Advancements in processing of thermoplastic composites for use in
applications for semi structural and structural applications have created
opportunities in “Out of Autoclave” processing utilizing
preconsolidated unidirectional reinforced tapes. Traditional tooling for the
bending formation of high temperature reinforced structural thermoplastic
laminates typically involves matched metal tooling consisting of steel or
aluminum and are costly and heavy. In this research, a comparative analysis was
performed to evaluate the use of a large scale 3D printed forming tool in
comparison to a traditional metallic mold. Material processing considerations
included the development of a technique for localized laminate heating to
achieve optimized energy input in the forming process. Considerations in tooling
development included the comparison of the overall cost, lead times and embodied
energy. This comparison also included the design and simulation of process
engineering to form the parts in both cases.

Citation: D. Erb, B. Dwyer, J. Roy, W. Yori, R.A. Lopez-Anido, A.
Smail, R. Hart, “Utilizing Additive Manufacturing To Enable Low-Cost,
Rapid Forming Of High Temperature Lightweight Ground Vehicle
Structures”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
10-12, 2021.
Robotic GMA-P DED AM Build Technology for Aluminum Vehicle
Structures
Authors: Canaday J. , Harwig D.D. , Carney M.
Published: November 2024

ABSTRACT

Gas metal arc pulse directed energy deposition (GMA-P DED) offers large-scale
additive manufacturing (AM) capabilities and lower cost systems compared to
laser or electron beam DED. These advantages position GMA-DED as a promising
manufacturing process for widespread industrial adoption. To enable this
“digital” manufacturing of a component from a computer-aided
design (CAD) file, a computer-aided manufacturing (CAM) solver is necessary to
generate build plans and utilize welding parameter sets based on feature and
application requirements. Scalable and robot-agnostic computer-aided robotics
(CAR) software is therefore essential to provide automated toolpath generation.
This work establishes the use of Autodesk PowerMill Ultimate software as a
CAM/CAR solution for arc-based DED processes across robot manufacturers.
Preferred aluminum GMA-P DED welding parameters were developed for single-pass
wide “walls” and multi-pass wide “blocks” that
can be configured to build a wide range of features and components from ER5183.
These parameters were incorporated into Autodesk PowerMill Ultimate to create
several representative builds using GMA-DED of ER5183 with an 8-axis OTC Daihen
GMA robot cell.

Citation: Canaday, J., Harwig, D.D., and Carney, M. “Robotic
GMA-P DED AM Build Technology for Aluminum Vehicle Structures”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2021.
PATH TO 450 PARTS QUALIFIED FOR ADVANCED
MANUFACTURING
Authors: Burton Phil , Kott N. Joe , Kruz Andrew , Batjer Ashley
Published: November 2024

ABSTRACT

The United States Army is leveraging Advanced Manufacturing (AdvM) methods to
solve both operational and tactical readiness gaps. AdvM includes not only
Additive Manufacturing (AM), but also traditional manufacturing capabilities in
the field and at Army production facilities. The Tank-Armaments and automotive
Command (TACOM) and the Ground Vehicles Systems Center (GVSC) Materials-AdvM
Branch have developed a strategy of five critical path key words oriented on
three Lines of Effort (LOE) that enables a disciplined process to deliver final
use qualified parts manufactured by the Organic Industrial Base (OIB) as an
alternate source of supply that will improve readiness of TACOM’s combat
and tactical wheeled fleets. Additionally, an alternate critical path has been
developed to provide limited use parts for Battle Damage and Repair (BDAR).

Citation: P. Burton, N. Kott, A. Kruz, A. Batjer, “Path to
450 Parts Qualified for Advanced Manufacturing”, In Proceedings
of the Ground Vehicle Systems Engineering and Technology Symposium
(GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.
Procedure Qualification Scheme Portfolio for Metal Directed Energy
Deposition Additive Manufacturing
Authors: Harwig D.D. , Mohr W. , Kapustka N. , Hay J. , Carney M. , Hovanec S. , Handler E. , Farren J. , Rettaliata J. , Hayleck R.
Published: November 2024

ABSTRACT

Standard requirements for directed energy deposition (DED) additive manufacturing
(AM) of parts were needed for a new NAVSEA Technical Publication. DED procedure
qualification schemes were developed for integrated and non-integrated build
platforms and for both single-sided and double-sided build applications. A
double-sided build platform approach is widely preferred for distortion control
and build productivity. These procedure qualification requirements were
developed for arc, laser, and electron beam welding-based DED processes using
wire or powder consumables. Each procedure qualification scheme included a
standard qualification build (SQB) design, nondestructive evaluation test map,
property specimen test matrix and qualification records for each application and
process combination. Since these metal AM processes cover a range of feature
size capabilities that are defined by minimum deposit bead width, SQBs were
designed for full-scale (~> 5 mm), sub-scale (~2 – 5 mm) and
mini-scale (< 2 mm) deposit width features. As a result, there are nine
baseline SQB designs that include different combinations of specimens depending
on the material, scale and application. In addition, each SQB evaluated the
effects of thickness using thin (single pass wide wall) and thick (multi-pass
wide block) features to extract property specimens in different directions and
scales. These DED procedure qualification schemes should be considered by Army
compliance organizations to harmonize requirements across the Department of
Defense (DOD) and reduce manufacturing qualification and certification process
costs of supply chains.

Citation: D.D. Harwig, W. Mohr, N. Kapustka, J. Hay, M. Carney, S. Hovanec, E.
Handler, J. Farren, J. Rettaliata, and R. Hayleck, “Procedure
Qualification Scheme Portfolio for Metal Directed Energy Deposition Additive
Manufacturing”, In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
10-13, 2021.
Considerations for the Development of Additively Manufactured (AM) Metallic Armor
Authors: Slocumb William James , Holm Brandon , Kelsey Vic
Published: November 2024

ABSTRACT

An examination of the current state-of-the-art in additive manufacturing (AM) of
metallic armor products for ground vehicles was conducted. Primary barriers to
the implementation of AM on ground systems are related to elevated cost compared
to traditional fabrication techniques, a lack of public engineering data, and
lack of specifications. Initial ballistic testing against 0.30-cal.
armor-piercing (AP)M2 and 0.30-cal. fragment-simulating projectile (FSP) threats
was conducted on a range of test coupons made from Inconel 718 and Ti-6Al-4V
(Grade 23) extra-low-interstitial (ELI) materials made by direct metal laser
melting (DMLM), wire-laser directed-energy deposition (WL-DED), and wire arc
additive manufacturing (WAAM). Initial attempts at evaluating lot-to-lot
variation, machine-to-machine variation, process-to-process variation, and the
effect of asprinted surface roughness on ballistic protection were made to
direct future research and development. Given the elevated cost and complexity
of these products, a series of recommendations for further development are made
to speed implementation of AM for ground system armor. Collaboration between
original equipment manufacturers (OEMs) and Combat Capabilities Development
Center (CCDC) laboratories is advocated.

Citation: W.J. Slocumb, B. Holm, V. Kelsey, “Considerations
for the Development of Additively Manufactured Metallic Armor”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2021.
Sequential Satellite Lock (GPS-SL)
Authors: Lacaze Alberto , Wilhelm Ray , Schneider Anne , Ray Tanner
Published: November 2024

ABSTRACT

This paper presents a new concept in GNSS navigation: Sequential Lock GPS
(GPS-SL). The new concept and prototype provide a variety of advantages for
robustness, solution maintenance, and jamming resistance. Under normal
circumstances, GNSS receivers need to receive signals from four satellites
simultaneously to get a fix on position and the receiver time bias. If three or
less satellites are visible given the occlusions provided by the environment, or
because someone/something is intentionally or unintentionally jamming the space,
no benefit is provided to the navigation solution. In other words, four or more
simultaneous satellites give you a fix, three or less simultaneous satellites
usually do not contribute (with some caveats) at all.
AUTONOMOUS VEHICLE ASSESSMENT FRAMEWORK
Authors: Jeppesen Mads R. , Madsen Sigurd A. , Balling Ole
Published: November 2024

ABSTRACT

Development and assessment of autonomous vehicle capability are relying on
simulation software for time and cost efficiency. The value of such simulations
are significantly dependent on minimizing the gap from simulation to real
environment performance of systems. The simulations for off-road autonomous
vehicle assessment are in particular challenging due to the complex nature of
natural terrains and their virtual representations, vehicle-terrain interactions
during soft soil maneuvering, and the integration of sensors and their output in
virtual generated terrains. This paper presents the early development of a
software tool aimed at simulating custom autonomous off-road scenarios generated
from their real world counterparts. The effort is an important step in
generating confidence in simulation based testing of autonomous systems as a
forerunner for purely virtual generated scenarios for autonomous systems
evaluation.

Citation: M.R. Jeppesen, S.A. Madsen, O. Balling, "Autonomous
Vehicle Assessment Framework", In Proceedings of the Ground Vehicle
Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi,
MI, Aug. 10-12, 2021.
DEEP REINFORCEMENT LEARNING FOR SIMULTANEOUS PATH PLANNING AND STABILIZATION OF OFFROAD VEHICLES
Authors: Salvi Ameya , Buzhardt Jake , Tallapragada Phanindra , Krovi Venkat , Brudnak Mark , Smereka Jonathon M.
Published: November 2024

ABSTRACT

Motion planning algorithms for vehicles in an offroad environment have to contend
with the significant vertical motion induced by the uneven terrain. Besides the
obvious problems related to driver comfort, for autonomous vehicles, such
“bumpy” vertical motion can induce significant mechanical noise
in the real time data acquired from onboard sensors such as cameras to the point
that perception becomes especially challenging. This paper advances a framework
to address the problem of vertical motion in offroad autonomous motion control
for vehicular systems. This framework is first developed to demonstrate the
stabilization of the sprung mass in a modified quarter-car tracking a desired
velocity while traversing a terrain with changing height. Even for an idealized
model such as the quarter-car the dynamics turn out to be nonlinear and a
model-based controller is not obvious. We therefore formulate this control
problem as a Markov decision process and solve it using deep reinforcement
learning. The control inputs that are learned are the torque on the wheel and
the stiffness of the active suspension. It is demonstrated here that a
time-varying velocity can be tracked with reduced chassis oscillations using
these control inputs. We anticipate that reducing such oscillations will lead to
sensor stabilization, which will improve perception and reduce the required
frequency of recalibration. The deep reinforcement learning approach advanced in
this paper remains useful for offroad motion planning when complex
terramechanics and uncertain model parameters are introduced or the vehicle
model increases in complexity.

Citation: A. Salvi, J. Buzhardt, P. Tallapragada, V. Krovi, M.
Brudnak, J. M. Smereka, “Deep reinforcement learning for simultaneous
path planning and stabilization of offroad vehicles”, In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021.
JP-8 Fuel Cell Electric Vehicle
Authors: Vilekar Saurabh A. , Junaedi Christian , Allocco Eric , Macri Francesco , Hawley Kyle , Plajer Max , Blaze Phil , LaBreche Tim , Baca Carlos Martinez , Mastanduno Rich , Roychoudhury Subir , Hoose Jarrod , Centeck Kevin
Published: November 2024

ABSTRACT

This paper summarizes development and demonstration of F-24/JP-8-fueled Fuel-Cell
Electric-Vehicle that offers silent-mobility, silent-watch, and export-power.
The prototype electric vehicle was fueled with MIL-SPEC F-24/JP-8. It can
potentially be operated with other logistic fuels and does not require onboard
hydrogen storage. An onboard fuel reformer with integrated sulfur trap was used
for processing MIL-SPEC F-24/JP-8. The 10-kW electric (kWe) generator
included a solid oxide fuel cell and balance of plant components (oxidizer,
pumps, blowers, sensors, power and control electronics). It was hybridized with
a rechargeable battery for startup, peak loads, and load following. Water
neutrality and silent operation (i.e., ~60 dBA at 1-meter) was confirmed. The
power produced was sufficient for vehicle propulsion and export power. Both
28-32 VDC and 110 VAC for charging batteries and supporting external load
demands were available onboard. Initial off-road demonstrations were conducted
at PCI and Detroit Arsenal. System design and performance data are shared in the
paper.
Advanced Nonflammable Battery
Authors: Hondred John , Henslee Brian , Thampan Tony , Ding Yi , Toomey Laurence , Less Greg
Published: November 2024

ABSTRACT

As military vehicles expand in mission roles and in offensive and defensive
weaponry, there is an ever-increasing demand for greater energy storage.
Moreover, with the technological breakthroughs in Direct Energy Weapons and
Active Protective Systems (e.g., high-energy laser and high-power microwave
systems, especially for prevention of UAVs), there is a commensurate need for
increased energy density military power supplies to provide electrification to
these Next Generation Combat Vehicles (Lynx, Griffin III, and CV-90). Current
lithiumion batteries for vehicles (e.g., 6T) have limited energy density (~100
Wh/kg), which are not sufficient for the high energy and power needs of military
vehicles. Additionally, they typically use carbonate electrolytes which are
extremely flammable. To address these issues, CRG developed a high specific
energy (>225 Wh/kg) lithium ion battery (LIB) pouch cell that could be
integrated into current military vehicle battery formats. This cell utilizes a
high capacity graphite anode, a thermally safe cathode with high energy density,
and a non-flammable temperature/voltage stable electrolyte. The developed cell
is an improvement over the current safety and operational performance of
military vehicle batteries.

Citation:
J. Hondred, B. Henslee, T Thampan, Y. Ding, L. Toomey, G. Less,
“Advanced Non-flammable Battery” In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022.
ADVANCED COMBAT TRANSMISSIONS - THE SAPA ACT1000, ACT850 &
ACT1075
Authors: Garcia-Eizaga Iñigo , Aperribay Jokin , Hunter Gary
Published: November 2024

ABSTRACT

This paper describes the architecture, capabilities, and readiness of the SAPA
Advanced Combat Transmission (ACT) family. The ACT850, ACT1000, and ACT1075
utilize scalable and modular technology across the product line, applicable to
tracked vehicles weighing 35 thru 75 tons. The ACT family of transmissions are
designed to improve the size, weight, power, and cooling (SWaP-C)
characteristics of armored vehicle powertrains. Common features of the ACT
family include high efficiency (>90%), low heat rejection under all operating
conditions, 32 speed mechanical propulsion in forward and reverse; high
efficiency mechanical steering delivering smooth agility from pivot turns thru
straight paths and enabling use of lower power electric motors to provide for
silent maneuverability; drive-by-wire control interface to reduce operator
fatigue and training requirements; and reduced powertrain cooling, weight, and
space claim impacts on the vehicle.
MULTI-LEVEL HARDWARE-IN-THE-LOOP TEST API FOR HARDWARE-SOFTWARE
INTEGRATION TESTING
Authors: Lingg Michael , Kushnier Timothy J , Proenza Rodolfo , Paul Howard , Grimes Brendan , Thompson Emory
Published: November 2024

ABSTRACT

Hardware/software integrated system ensures a system will operate as intended in the
same configuration it will be used in the field. Manual system testing can be a very
slow and error prone process, as well as being incapable of testing interfaces that
humans cannot interact with. Many existing solutions exist to introduce test hardware
into the loop for verifying systems, but most of these solutions provide a separate
component for each hardware interface. This paper presents an approach for a single
integrated system that can test all hardware interfaces of a system under test,
managed by a single controller. This test system provides the capability to abstract
away the hardware being tested so a test developer can develop tests while only
understanding the manual interfaces of the system being tested. We show that this
approach can provide a significant acceleration to the time to execute tests, as well
as improving the reliability, and consistency of the tests.

Citation: M. Lingg, T. Kushnier, R. Proenza, H. Paul, B. Grimes, E.
Thompson, “Multi-level Hardware-In-The-Loop Test API For Hardware-Software
Integration Testing,” In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
16-18, 2022.
GROUND VEHICLE BRIGADE LEVEL INTEGRATION LABORATORY (GVBLIL) DIGITAL
& PHYSICAL TWINS PLUG-IN ADAPTORS
Authors: Griffin Kevin W. , Suffredini Giuseppe D. , Kanon Robert J. , Dua Surender K.
Published: November 2024

ABSTRACT

Digital Engineering practices and ecosystem capabilities [1] optimize designs by providing digital solutions
with end-to-end information flows that are consistent from concept development,
through test and experimentation, all the way to fully defined capabilities
influencing systems across Ground Vehicle Brigade Combat Teams (GVBCT). This
approach delivers: 1) improved development, demonstration, and assessment of
autonomous vehicle capabilities, technologies, software, algorithms, controls,
and performance; 2) a plug and play (PnP) interface for system-of-system and
vehicle platform mission thread analysis and interoperability; and 3) 3D gaming
technology to support advanced virtual scene generation and world model. The
modernization of laboratory facilities to meet research and development
(R&D) needs, support advanced technology development, and improved vehicle
prototypes. The Brigade Level Integration Laboratory (BLIL) architecture
provides a set of views composed using Systems Modeling Language (SysML) and
governed by agreed-upon Architecture Viewpoints in accordance with IEEE
42010-2011[3]. This model-based
architecture elaborates on the problem and solutions domains for the BLIL
encompassing its requirements, structure, behavior, and constraints with full
relational tracing between system elements in SysML to demonstrate that the
architecture satisfies all BLIL requirements.

Citation: K. W. Griffin, G. D. Suffredini, R. J. Kanon, S. K. Dua,
“Ground Vehicle Brigade Level Integration Laboratory (GVBLIL) Digital
& Physical Twins Plug-in Adaptors,” In Proceedings of the
Ground Vehicle Systems Engineering and Technology Symposium
(GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022.
FIRE PROPAGATION IN CYLINDRICAL LI-ION BATTERIES UNDER ULTRA-HIGH STRAIN-RATE DEFORMATION
Authors: Kim Jinyong , Mallarapu Anudeep , Santhanagopalan Shriram , Ding Yi
Published: November 2024

ABSTRACT

Abuse response of lithium-ion batteries has been extensively studied over several
decades. Most studies on the onset and propagation of battery fires following
mechanical deformation are focused on understanding the onset of thermal events
following quasi-static loading. Using an array of cylindrical lithium-ion cells
as example, we report results from ultra-high strain-rate deformation mechanical
events (> 100 /s) that result in electrochemical short-circuits followed by
thermal events. We present a methodology that takes stock of gas compositions as
a function of state of charge and compute flammability limits. Finally, we
discuss implications for flame lengths and propensity for propagation of thermal
events.

Citation: J. Kim, A. Mallarapu, S. Santhanagopalan, Y. Ding,
“Propagation of Fire in Li-Ion Batteries under Ultra-High Strain-Rate
Deformation” In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
16-18, 2022.
Combat Vehicle Program Management and Product Development Resilience through Set-Based Design
Authors: Murat Alper , Chinnam Ratna Babu , Rana Satyendra , Rapp Stephen H. , Hartman Gregory D. , Lamb David A. , Agusti Rachel S.
Published: November 2024

ABSTRACT

Product Development (PD) remains a highly uncertain process for both commercial
and DoD programs. The presence of multiple stakeholders (e.g., DoD and allied
agencies, soldiers/users, PEO, contractors, manufacturing, service, logistics)
with varying requirements, preferences, constraints, and evolving priorities
make this particularly challenging for the DoD. These risks are well recognized
by agencies, and it is widely understood that acquisition is about risk
management and not certainties. However, almost all the DoD acquisition
processes still require critical reviews, and most importantly, structured
decision support for the fuzzy front-end of the acquisition process. What is
lacking, are effective decision support tools that explicitly recognize the
sequential milestone structure embedded with multi-stakeholder decision making
in all acquisition programs. We describe the Resilient Program Management &
Development (RPMD) framework to support complex decision making with set-based
design approach.

Citation: A. Murat, R.B. Chinnam, S. Rana, S. Rapp, G. Hartman, D.
Lamb, and R. Agusti, “Combat Vehicle Program Management and Product
Development Resilience through Set-Based Design,” In Proceedings
of the Ground Vehicle Systems Engineering and Technology Symposium
(GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022.
THE USE OF VIRTUAL REALITY TO SUPPORT ENGINEERING DESIGN REVIEWS
Authors: Hawthorne William , Sutton Meredith , Ransing Vishwajeet , Mocko Gregory , Turner Cameron , Walton Jamaihus
Published: November 2024

ABSTRACT

With more advanced technology and simulation software becoming available, the
idea of incorporating immersive technologies, such as virtual and augmented
reality in mechanical design. Specifically, this research seeks to understand
the current state of the art use of immersive technologies within the DoD
Acquisition Process. First, the state-of-the-art needs is analyzed, so that
research can be adequately directed to make this future a reality. Three
opportunities are identified 1) use of immersive technology to support design
reviews, 2) the use of current technology to support engineering design review
tasks, and 3) experiments and formal studies to evaluate the impact of immersive
technologies on engineering design review tasks.

Citation: W. Hawthorne, M. Sutton, V. Ransing, G. Mocko, C. Turner,
J. Walton, “The use of virtual reality to support engineering design
reviews,” In Proceedings of the Ground Vehicle Systems
Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug.
16-18, 2022.
System Safety and Cybersecurity within the Model Based System
Engineering (MBSE) System Model
Authors: Holmes Justin , Tecos William , Graham Stephen , Beeson Bradley , Speers Micah
Published: November 2024

ABSTRACT

Model Based System Engineering (MBSE) offers the ability to connect an ever
expanding set of disciplines through the system model into specialty areas,
having a dramatic impact early and lasting throughout the system lifecycle.
System safety and cybersecurity are two such areas that are far too often
“patched” into a system design versus properly integrated. MBSE
and the use of a system model provides a methodology to integrate these areas
early in the design process. Addressing system safety and cybersecurity concerns
from the beginning stages of development will enforce adoption of principals and
best practices throughout the life of the system.
EMPLOYING ELASTIC MODEL GOVERNANCE TO STREAMLINE GROUND VEHICLE
DEVELOPMENT
Authors: Davidz Heidi , Orellana Douglas
Published: November 2024

ABSTRACT

To conceive, design, operate, and sustain capabilities to outpace adversaries,
Digital Engineering (DE) is used to connect systems data and models as a
continuum across disciplines. In this linked ecosystem, governance increases
efficiency, confidence, insight, and understanding. This paper describes a model
governance approach which can streamline and secure the DE ecosystem, aiding
delivery of modernization and readiness. Model governance challenges are
described, and related literature is summarized. An example elastic model
governance guide is then provided. Key features include: (1) model-based
guidance with in-model work instructions; (2) integration of the overall model
governance system, DE infrastructure, individual models, and composite models;
(3) scoping of model purpose and resolution of technical debt; (4) automated
validation for insight on compliance; (5) customization for flexibility and
tailoring. Integrating model governance practices with additional mechanisms for
elasticity, flexibility, and automated validation provides robust control over
the DE ecosystem to streamline ground vehicle development.

Citation: H. Davidz, D. Orellana, “Employing Elastic Model
Governance to Streamline Ground Vehicle Development,” In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022.
CURRENT PRACTICE OF VISUALIZATIONS FOR TRADESPACE EXPLORATION: A
LITERATURE STUDY
Authors: Sutton Meredith , Turner Cameron , Wagner John , Gorsich David , Rizzo Denise , Hartman Greg , Agusti Rachel , Skowronska Annette , Castanier Matthew
Published: November 2024

ABSTRACT

Tradespace exploration (TSE) is a key component of conceptual design or materiel
solution phases that revolves around multi-stakeholder decision making. The TSE
process as presented in literature is discussed, including the various stages,
tools, and decision making approaches. The decision-making process, summarized
herein, can be aided in various ways; one key intervention is the use of
visualizations. Characteristics of good visualizations are presented before
discussion of a promising avenue for visualization: immersive reality. Immersive
reality includes virtual reality representations as well as tactile feedback;
however, there are aspects of immersive reality that must be considered as well,
such as cognitive loads and accessibility. From the literature, major trends
were identified, including that TSE focuses on value but can suffer when not
framed as a group decision, the need for testing of proposed TSE support
systems, and the need to consider user populations and cognitive loads when
developing new visualizations.

Citation: M. Sutton, C. Turner, J. Wagner, D. Gorsich, D. Rizzo, G.
Hartman, R. Agusti, A. Skowronska, M. Castanier, “Current Practice of
Visualizations for Tradespace Exploration: A Literature Study,” In
Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022.
DETECTION AND MITIGATION OF ERRONEOUS AND MALICIOUS DATA IN VEHICLE SENSOR NETWORKS
Authors: McBee Ryan , Wolford Jonathan , Garza Abe
Published: November 2024

ABSTRACT

This paper describes research into the applicability of anomaly detection
algorithms using machine learning and time-magnitude thresholding to determine
when an autonomous vehicle sensor network has been subjected to a cyber-attack
or sensor error. While the research community has been active in autonomous
vehicle vulnerability exploitation, there are often no well-established
solutions to address these threats. In order to better address the lag, it is
necessary to develop generalizable solutions which can be applied broadly across
a variety of vehicle sensors. The current measured results achieved for
time-magnitude thresholding during this research shows a promising aptitude for
anomaly detection on direct sensor data in autonomous vehicle platforms. The
results of this research can lead to a solution that fully addresses concerns of
cyber-security and information assurance in autonomous vehicles.

Citation: R. McBee, J. Wolford, A. Garza, “Detection and
Mitigation of Erroneous and Malicious Data in Vehicle Sensor Networks,”
In Proceedings of the Ground Vehicle Systems Engineering and Technology
Symposium (GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022
Assurance and Verification of Vehicular Microelectronic Systems
(AV2MS): Supply Chain Assurance through Utilization of Side Channel Radio
Frequency Emissions for Improved Ground Vehicle Cybersecurity
Authors: Empie Yale , Bayer Matthew
Published: November 2024

ABSTRACT

Modern vehicular systems are comprised of numerous electronics control units
(ECUs) that consist of thousands of microelectronics components. Individual ECU
systems are reliant upon “trust” in the supply chain for
defense. This paper describes an approach utilizing historically offensive-based
cybersecurity technology, side-channels, to quantify and qualify malicious ECU
states in a bus-agnostic, logically-decoupled method of assurance and
verification. Providing a measure of supply chain assurance to end-users.

Citation: Yale Empie, Matthew Bayer, “Assurance and
Verification of Vehicular Microelectronic Systems (AV2MS): Supply Chain
Assurance through Utilization of Side Channel Radio Frequency Emissions for
Improved Ground Vehicle Cybersecurity,” In Proceedings of the
Ground Vehicle Systems Engineering and Technology Symposium
(GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022.
Microstructure analysis of TIG weld joints of Ni-based superalloys
produced by Laser Powder Bed Fusion
Authors: Geisen Ole , Bogner Jan , Ghavampour Ebrahim , Müller Vinzenz , Eissing Katharina
Published: November 2024

ABSTRACT

The industrial use of laser powder-bed fusion (L-PBF) in turbomachinery is
gaining momentum rendering the inspection and qualification of certain
post-processing steps necessary. This includes fusion techniques that allow to
print multiple parts separately to take advantage of e.g., various print
orientations and join them subsequently. The main motivation of this study is to
validate the tungsten inert gas (TIG) welding process of L-PBF manufactured
parts using industrial specifications relevant for gas turbines to pave the way
for the industrial production of modular build setups. For this, two commonly
used nickel-based super alloys for high-temperature applications, Inconel 718
and Inconel 625 are chosen. Since their defect-free printability has been
established widely, we focus on the suitability to be joined using TIG welding.
The process is evaluated performing microstructural examination and mechanical
tests in as built as well as heat-treated samples. The welds are assessed by
applying a general weld qualification approach used at Siemens Energy - Gas and
Power. It was found that both materials can be joined via TIG welding using
standard weld parameters causing minimal defects. A solution annealing heat
treatment before welding is not necessary for a positive outcome, but still
recommended for Inconel 718.