Browse Topic: Environment

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Multiple Pathways to decarbonize PV Sector2024-28-0127To be published on 12/05/2024
The cumulative accumulation of greenhouse gases (GHGs) historically has resulted in the current problem of global warming. This is further compounded by developed nations, therefore, to fill this gap enhanced global actions are decided. Considering Country's development need, available resources, government boost for agriculture, A holistic approach for 4W PVs is taken considering well to wheel emissions, as there are other ways to reduce tank to wheel emissions but may not be very effective for overall country's GHG reduction. Major emissions in vehicle use are calculated based on Carbon intensity of various fuels & optimum pathway for Indian scenario is prepared & discussed in the paper considering all aspects CO2 reduction, development & motorization need This paper explains multiple pathways for PV Sector to be considered to meet country's GHG needs
Sarna, Nishant, Jaiswal, Harsh, Rani, Abha, Dwivedi, Vipin, Vashisth, Ajay, Bhat, Anoop
Technical Paper
Dynamic modeling of torque & emissions: Digital twin to simulate combustion process and exhaust emissions for diagnostics & prognostics applications2024-28-0172To be published on 12/05/2024
A large fraction of today’s energy consumption is attributable to the transportation sector. Therefore, further development of internal combustion engines has a huge potential to reduce environmental impact through modelling complicated, fast and unsteady phenomena including the changes of emission gases concentration and output torque observed during diesel emission and combustion process. This paper presents research on the emission and combustion characteristics of a heavy vehicle diesel engine, elaborating an engineered framework for prognostics/diagnostics, state monitoring, and performance trending of heavy-duty vehicle engine and after treatment system (ATS). The proposed framework leverages advanced simulation and modeling methodologies to ensure precise predictions and diagnostics. By integrating physics-based models with data-driven techniques, the framework accurately models engine and exhaust system behaviors under various operating conditions. For exhaust system, framework
Singh, Prabhsharn, Thakare, Ujval, Hivarkar, Umesh
Technical Paper
Best Practices in Sensor Selection for Object detection in Autonomous Driving: A Practitioner’s Perspective2024-28-0218To be published on 12/05/2024
Object detection is one of the most important aspects in Autonomous Driving (AD) application. This depends on the strategic sensor’s selection and placement of sensors around the vehicle. The sensors should be selected based on various constraints such as range, use-case, and cost limitation. This paper introduces a systematic approach for identifying the optimal practices for selecting sensors in AD object detection, offering guidance for those looking to expand their expertise in this field and select the most suitable sensors accordingly. In general, object detection typically involves utilizing RADAR, LIDAR, and cameras. RADAR excels in accurately measuring longitudinal distances over both long and short ranges, but its accuracy in lateral distances is limited. LIDAR is known for its ability to provide accurate range data, but it struggles to identify objects in various weather conditions. On the other hand, camera-based systems offer superior recognition capabilities but lack the
Maktedar, Asrarulhaq, Chatterjee, Mayurika
Technical Paper
Precise and robust SoC estimation using adaptive filters-based techniques for Electric Trucks2024-28-0152To be published on 12/05/2024
The traction for zero emission vehicles in the transportation industry is creating a focus on Battery Electric vehicles (BEV) as one of the potential alternate powertrain sources. To the relevance of electric trucks, the range estimation and optimum energy prediction & utilization brings utmost importance. Battery management system (BMS) controller is needed for optimized and safe operation of high voltage (HV) battery. For correct behavior of battery management system, it is important to accurately estimate the state of charge (SoC). SoC is an important and decisive factor for deciding operating limits such as current limits, voltage limits & battery operational range (charge-discharge interval). Inaccurate State of Charge (SoC) estimation can accelerate battery aging and cause damage to components, affecting energy throughput. Current state of art deploys coulomb counting technique for SoC calculation, this approach encounters the challenges like sensor noises and initial SoC error
Kumar, Raman, AHMAD, MD SAIF, Challa, Krishna, Ranjan, Ashish, Bayya, Madhuri
Technical Paper
Novel UWS mist injection technique for SCR performance improvement2024-28-0133To be published on 12/05/2024
The present study aims to meet the Euro-VII compliance applicable for internal combustion engines (diesel and hydrogen) by improving the performance of selective catalytic reduction (SCR) system using a novel UWS mist generation technique. The SCR system helps to convert the harmful NOx emission into harmless by-products by injecting the UWS, which is converted into ammonia (NH3). Despite the proven technology, there are several challenges presented in the existing system which degrade the SCR performance: (i) incomplete droplet evaporation (ii) solid deposit formation (iii) non uniformity of NH3 distribution at the catalyst entrance. The past studies shows that the droplet size plays a major role in this context. Further, it is noted that the smaller size droplets are desirable to overcome the impediments and enhance the efficiency of SCR application. Therefore, the current work numerically investigates the effect of mist (contains very fine size droplets) injection on the droplet
Venkatachalam, Palaniappan, Shiva, Shashidhar, Govindarajan, Vaishali, Soni, Prerna, Patidar, Sachin
Technical Paper
Virtual recording generation using Generative AI and Carla Simulator2024-28-0261To be published on 12/05/2024
A Field Operation Test (FOT) and Use case scenario recording capture is very expensive due to the amount of necessary material (vehicles, measurement equipment, headcount, data storage capacity/complexity, trained drivers/professionals) and all-time robust working vehicle setup is not available, mileage is directly proportional to time, along with that it cannot be scaled up due to physical limitations. During the early development phase, ground truth data is not available, and data that can be reused from other projects may not match 100% with current project requirements. All event scenarios/weather conditions cannot be ensured during recording capture. Carla is an autonomous open-source driving simulator, used for the development, training, and validation of autonomous driving systems, by integrating generative AI, particularly Generative Adversarial Networks (GANs) and Retrieval Augmented Generation (RAG) which are deep learning models, the process of creating synthetic data, and
Sehgal, Vishal, Sekaran, Nikhil
Technical Paper
Impact Of Time Aligned Measurement Parameters On Brake Specific Emissions2024-28-0132To be published on 12/05/2024
As per global emissions legislation requirements running test cycles and reporting brake specific emissions is the key requirement. Engine gaseous emissions measurement is mandatory requirement for ON Highway and OFF Highway applications for transient duty cycles during testing at test cells. To meet the stringent emission limits is one of the challenging tasks considering the nature of transient duty cycles with accurate measurement of lower emission values. Similarly calculating accurate results is critical since there are several factors which impacts the accuracy of calculated results. As per regulatory test methods, there is guidance on measuring the time lag through an experiment method and accounting the same during the results calculation, however during dynamic conditions, the time lags will vary and influence the calculated results. This paper focuses on understanding critical parameters which leads to variations in dynamic condition of time lag of measured emissions
Patil, Rahul Chandrakant, Rajoapdhye, Sunil, Mudassir, Mohammed, Mokhadkar, Rahul, Phadke, Abhijit Narahari, Bharambe, Niraj, Dhuri, Santosh
Technical Paper
A method on HPR critical route identification and evaluation in electric trucks2024-28-0150To be published on 12/05/2024
Heavy-duty vehicles, particularly those towing higher weights, require a continuous/secondary braking system. While conventional vehicles employ Retarder or Engine brake systems, electric vehicles utilize recuperation for continuous braking. In a state where high voltage battery of electric vehicles is at 100% of its designed capacity, at such scenario if vehicle travels on a route which has brake requirement, all this recuperated energy generated from the vehicle operation is passed on to high performance brake resistors(HPR) and this energy gets converted from electrical energy into waste heat energy. This study focuses on a method for identification of such a routes, which are critical for Brake Resistors, by analyzing the elevation data of existing charging stations, the route’s slope distribution, and the vehicle’s battery SOC. In the results entire method is demonstrated with the example of all the charging stations of Switzerland. This method has a significant applications in
Thakur, Shivam, Salunke, Omkar, Ambuskar, Mandar, Pandey, Lokesh
Technical Paper
Anomaly Detection in Fleet Vehicle Data and Statistical approach to develop Engine System OBD thresholds2024-28-0195To be published on 12/05/2024
On-Board-Diagnostics are crucial for ensuring the proper functioning of Vehicle’s emission control system by continuously monitoring various sensors and components. When the failure is detected, the Check Engine Light (CEL) is triggered on Vehicle’s dashboard, alerting the driver to seek professional service to address the issue. However, the task of developing the Diagnostics strategies and perform robust calibration is a challenging and time consuming. Model in Loop Testing and Simulation is a technique used to understand and estimate the behavior of system or sub system. The diagnostics model can be tested and refined within the model-based environment allowing a complex system to be efficiently regulated. Model in loop framework could be used at various stages of development from very early in the design phase to later stages of series developments through vehicle fleet data. This framework allows an early identification and correction of errors and bugs. In this paper, the
Kumar, Amit, Hegde, Karthik, Challa, Krishna, H, YASHWANTH
Technical Paper
Development of an Automated Testbench for Functional Testing of Dosing Unit2024-28-0202To be published on 12/05/2024
Increasingly stringent emission regulations continue to be legislated around the world to signifi-cantly minimize pollutants released to the air by internal combustion engines. After Treatment Systems (ATS) meant for reducing oxides of nitrogen (NOx) in the exhaust into non-harmful species have evolved at a rapid pace over the past two decades. Stringent emissions requirements have driven complex ATS architecture through sensors to measure delta-pressure, NOx, and tem-peratures. Accurate and precise performance of individual components as well as the integrated ATS is required to ensure regulatory compliance and efficient performance. Both of which require substantial amounts of performance and validation testing. Manufacturers have been developing the ability to accurately and efficiently test the ATS components. To meet the norms for tail pipe or stack emissions of NOx in ‘as new’ condition and during the entire ‘emissions useful life (EUL)’ of the ATS, all components of an ATS must
RAUT, Pratiksha C, Ottikkutti, Pradheepram, Phadke, Abhijit Narahari, Magar, Vijay A.
Technical Paper
Data Quality Evaluation and Assurance of Emissions on IC Engine2024-28-0134To be published on 12/05/2024
Engines are the predominant source of Earth's Air pollution contributor, hence there are various emission laws which mandate the use of Emission test cycle to verify that engine adhere to predetermined emission limits. A protocol found in an emission standard that enables consistent and comparable measurement of exhaust emissions for various engines is known as an emission test cycle. Values of emission parameters are the result of emission cycle. Measurements of GHG emissions - particulate number and particulate matter, carbon monoxide, total hydrocarbon, and nitrogen oxides are used to determine exhaust gas thermodynamic characteristics, fuel-air ratio, combustion efficiency, and emission indices. Because they link engine performance to environmental impact. The engine and aftertreatment system's exhaust emissions are currently having a significant negative impact on the environment. The emission indices (EI) are the characteristics that engine engineers and atmospheric emissions
Baraskar, Shweta, Rajoapdhye, Sunil, Dhuri, Santosh, Patil, Rahul, Mudassir, Mohammed, Phadke, Abhijit Narahari, Mokhadkar, Rahul
Technical Paper
Sustainable Storage and Transition from CNG to Hydrogen2024-28-0128To be published on 12/05/2024
As the world becomes more environmentally conscious, a sustainable transition from Compressed Natural Gas (CNG) to a hydrogen economy is desirable. Hydrogen is a clean and abundant fuel that has the potential to replace fossil fuels and eliminate greenhouse gas emissions. This paper analyses the status of the hydrogen economy and the policies and incentives that government is implementing to promote its adoption, storage, dispensing and usage. The feasibility of a transition from CNG to a hydrogen economy through HCNG and the challenges that need to be overcome are explored. The paper discusses the advantages and disadvantages of CNG, HCNG and hydrogen and compares the fuels in terms of energy efficiency, infrastructure requirements and environmental impact. Efforts have been made to develop Hydrogen storage cylinder (Type IV) to store hydrogen gas at high pressures, typically around 350 to 700 bar (5,000 to 10,000 psi), to ensure a sufficient range for the vehicle and ensure no risk
Vora, Kamalkishore Chhaganlal, Parasumanna, Ajeet Babu Kumar, Shembekar, Prashant Sharad
Technical Paper
ML (Machine Learning) Approach to control Thermal Strategies and mitigate Sensor Failure penalty on Emissions2024-28-0170To be published on 12/05/2024
As vehicle emission standards are becoming stringent worldwide because of the looming climate crisis, it is important to control the pollutants that vehicles emit. To achieve the stringent emission target, it has become a priority to enhance the capability of emission control system (ECS) which consist of Diesel Oxidation Catalyst (DOC), Diesel Particulate Filter (DPF) and Selective Catalytic Reduction (SCR) sub-systems. One of the bottlenecks is the limited operating temperature range of the after-treatment system. In modern emission control systems, the temperature characteristics should always be optimized to have the best efficiency. To achieve the optimal operating temperature, different thermal control strategies are followed in the Engine and emission control unit. Temperature sensor values are one of the primary inputs for thermal management strategies. In the event of temperature sensor malfunction, the ECS performance is affected due to incorrect temperature input, resulting
Kumar, Amit, V H, Yashwanth, Kumar, Raman, Hegde, Karthik, Manojdharan, Arjungopal
Technical Paper
An approach to reduce noise generated by thermal management systems in electric vehicles2024-28-0211To be published on 12/05/2024
Electric vehicles are transforming the future of transportation for the world while achieving the goal of sustainable development. While the concept and use of battery-powered vehicles has also penetrated the logistics and supply chain industry, it has also brought upon new challenges during its development. As OEMs strive to develop EVs with extended range, the components within the propulsion and drivetrain system tend to demand a higher power output from the energy storage systems. This results in EVs generating higher levels of thermal heat energy, which must be dissipated / rejected for optimal performance and safety. Eventually, to reject this heat, EVs must deploy thermal management systems with higher capacities. This increase in size is accompanied by the inclusion of many parts that generate noise and contribute to increased noise levels in EVs. In today’s EV market, optimization of noise levels is a significant factor when ensuring passenger comfort, while also showing
Shedge, Atharva Vikas, Shalgar, Sandeep, Srivastava, Sarvesh, Nagarhalli, Prasanna V
Technical Paper
Efficient NOx sensor failure detection using frequency spectrum analysis2024-28-0216To be published on 12/05/2024
In the present times it is the responsibility of the vehicle manufacturer to reduce and monitor the emissions that their vehicle is emitting into the environment. One such vehicle emission which is very harmful for the environment is Nitrogen Oxides (NOx). All internal combustion engine operated vehicles will have NOx sensor in them to monitor the NOx getting generated by the engine. The information from this sensor is crucial in order to take the correct action by the vehicle emission control system to treat NOx before releasing it to the environment. Hence it is very important to detect the failure in NOx sensors. This paper addresses the challenges in identifying NOx sensor failures, specifically concerning complex and time-consuming diagnostic methods that require dosing of fuel for testing. The conventional approach involves NOx sensor rationality checks, heating catalysts, and comparing engine outlet NOx and vehicle outlet NOx sensor values. To overcome these limitations, this
Ramesh, Prashanth Mysore, Velichappattil, Anvar Hussain
Technical Paper
Analyzing effect of reinforcement on stir casted 7075 Aluminum alloy2024-28-0165To be published on 12/05/2024
Growing demand for fuel-efficient vehicles and lower CO2 emissions has led to the development of lightweight materials. Aluminum composites are being used to achieve light weighting in order to improve performance, efficiency, and sustainability across various industries. The unique properties of aluminum composites make them an attractive choice for researchers and designers looking to optimize their products. Reinforcement materials play a vital role in the development of these composites, acting as barriers to dislocation movement within the aluminum matrix. This effectively strengthens the material and prevents deformation under load, resulting in increased tensile strength and fatigue resistance. Additionally, aluminum composites exhibit improved thermal and electrical conductivity, making them suitable for automotive applications. In this study, metal matrix composites (MMCs) of aluminum 7075 alloy were developed using silicon carbide (SiC) and fly ash as reinforcements. Three
Manwatkar, Asmita Ashok, Santosh Jambhale, Medha, Mahagaonkar, Nitin, Sharma, Dipesh
Technical Paper
Overview of Electric Vehicle Adoption in Bhutan2024-28-0130To be published on 12/05/2024
Nestled in the Himalayas, the Kingdom of Bhutan has a distinctive commitment towards sustainability and environmental conservation guided by the mandates of its supreme constitution and the concept of Gross National Happiness (GNH). The foundation of Bhutan's commitment to environmental conservation is built through strong policy enactments in conservation, waste management, and energy practices. Despite efforts to utilize clean and sustainable energy sources, Bhutan still heavily relies on non-renewable energy sources such as coal and its derivatives, biomass, and petroleum products, accounting for 62.4% of its energy share, with electricity from hydropower, wind, and solar energy accounting for 37.6%. Although the government has promoted EV adoption through policies and initiatives like the "Low Emission Development Strategy" and the "EV Roadmap 2035," the transport sector remains a significant consumer of energy, amounting to over 108,768.10 KOE (14.4% of the total energy consumed
Wangchuk, Singye, Dema, Dorji
Technical Paper
The Ranking of Major Noise Sources of a Multi Cylinder Diesel Engine2024-28-0131To be published on 12/05/2024
The internal combustion engine has become a prime source of mechanical power. In modern times, petrol and diesel engine-powered vehicles find wide application in the field of transport and agriculture. However, the progress has resulted in newer problems of different type of pollution problems like air and noise Pollution. Noise pollution is because of unwanted sound from engine structure, intake and exhaust are the principal sources of noise pollution & components. In the present problem, we have studied mechanical-induced and Areo Dynamic noise. Mechanical noise refers to noise generated by the vibrating surface of the engine structure, engine components and engine accessories after excitation by reciprocating or rotary engine components. In the present study, we are working on identification of the following engine sources: 1.Engine Structural Noise 2.Fuel Pump 3.Oil Pan 4.Air Suction Noise 5.Exhaust Noise These four noise sources like Fuel pump, oil pan,Suction noise and Exhaust
Goel, Arunkumar, Meena, Avadhesh Kumar
Technical Paper
Domestically Produced Bioethanol Contributing to India’s Pursuit of Energy Self-Reliance and De-Carbonization of The Road Transport Sector2024-28-0126To be published on 12/05/2024
This paper explores India's energy landscape, critically analyzing the challenges and potential solutions for sustainable development. With aspirations to become the world's third-largest economy, India faces heightened energy demands fueled by economic growth, population expansion, and urbanisation. The country grapples with a heavy reliance on imported crude oil and a substantial carbon footprint from existing primary energy sources, emphasizing the need for strategic interventions. The research advocates a multi-fuel strategy, particularly emphasising the promising role of bioethanol. Key stakeholders in India's bioethanol ecosystem include farmers, Sugar mills, Oil Marketing Companies (OMCs), Original Equipment Manufacturers (OEMs), and consumers. The National Policy on Biofuels (NPB) aims to boost bioethanol usage, aligning with national energy security, climate change mitigation, and employment generation objectives. The research underscores the positive energy value of
Singh, Rajnesh
Technical Paper
Detailed FE Modeling of battery pack to predict Thermal Runaway2024-28-0154To be published on 12/05/2024
Electrified powertrain is the essential need to meet the C02 and NOX emissions compliance. Thereby focus of automotive industry is shifting towards to Electric Vehicle (EV). Thermal Runaway (TR) is still a big challenge to the safety of the EV. The major cause of TR is internal short-circuit of batteries under external mechanical abuse. When Anode and cathode of the battery comes in contact and short circuit happens. Internal short circuit is causing high amount of current flow and energy generation which leads to high increase in temperature. The approach that is used till date by OEMs is to protect the battery pack from structural damage during crash resulting into overdesigning of the vehicle. In this paper, detailed FE modeling of the battery system is considered for evaluating internal short circuit and TR. Solid Randle circuit is used for Multiphysics coupling simulation in Ls-dyna. Solid Randle circuits solves this Multiphysics and derives these electrical and thermal parameters
Jain, Tripti, Bonala, Sastry, Dangare, Anand
Technical Paper
Examining Ethanol-Biodiesel-Diesel Blends: Impact on Diesel Passenger Car Performance and Emissions Under Legislative Test Cycles2024-28-0125To be published on 12/05/2024
Incorporating ethanol and biodiesel into diesel fuel offers substantial benefits from bioenergy perspective. This approach aligns with the National Policy on Biofuels by reducing dependency on fossil fuels, promoting sustainability, and strengthening the agricultural sector through increased demand for bio-based feedstocks. To assess the effect of these alternative fuels, a study was conducted with different Ethanol-Biodiesel-Diesel (B7, E2B7 and E5B7) fuel blends on the performance and exhaust emissions of a diesel passenger car under Modified Indian Driving Cycle (MIDC) and Worldwide Harmonized Light Vehicles Test Cycle (WLTC). A four-cylinder 1.5 L Common Rail Turbo based diesel passenger car was selected for the study. The test findings reveal that biodiesel blend (B7) produces higher CO emissions compared to neat diesel; however, these emissions decrease with the addition of ethanol (E2B7 and E5B7) due to its embedded oxygen content. Under MIDC, THC emissions decrease with
Dhyani, Vipin, Patil, Yogesh J, Singhal, Nikita, Khandai, Chinmayananda, Kannala, Raghava, Muralidharan, M
Technical Paper
A predictive controller for battery cooling systems to tackle the comfort-safety-efficiency dilemma2024-28-0147To be published on 12/05/2024
The advent of electric vehicles has increased the complexity of air conditioning systems in vehicles which now must maintain the safety and comfort of occupants while ensuring that the high voltage battery temperature is kept within safe limits. This new task is critical due to the influence of the cell and battery pack temperature on the efficiency. Moreover, high temperatures within the battery pack can lead to undesirable effects such as degradation and thermal runaway. Classical solutions to this problem include larger air conditioning components to support worst case scenario conditions where the cooling request from the battery and the cabin happen at the same time. In such conditions, for the safety of the battery, the cooling request is assigned to battery system which may cause discomfort to the passengers due the significant temperature increase in the cabin during such events. The probability of such events happening is certainly dependent on the weather conditions but in
Palacio Torralba, Javier, Kulkarni, Shridhar Diliprao, Shah, Geet, Jaybhay, Sambhaji, Kapoor, Sangeet, Locks, Olaf
Technical Paper
Cost Optimization Techniques for EV Charging Stations based on Renewable Energy Sources and Grid power2024-28-0146To be published on 12/05/2024
Adoption of Electric Vehicles (EVs) reduces air pollution by reducing harmful gas emissions. Such adoption, however, needs a reliable and convenient charging infrastructure, including smart EV charging. Renewable energy sources such as solar photovoltaic cells, battery and wind energy systems can address these infrastructural gaps which work in conjunction with main grid power supply thereby providing low-cost electricity. This paper introduces an energy management algorithm for integrated renewable and grid power sources available at charging stations across India that considers techno-economic and environmental factors. The current work proposes a supervisory controller model that manages the load power demand of the charging station. The controller effectively deploys low cost energy sources based on the status of all available power supplies and reduces the overall charging costs in real time. The energy management algorithm ensures adequate stand-alone energy generation and
Shukla, Ankit, Kushwah, Yogendra Singh, Suman, Saurabh
Technical Paper
Assessment of Performance and Emissions from a Hybrid Vehicle Integrated with a Low Temperature Combustion Engine Undergoing a Drive Cycle2024-28-0140To be published on 12/05/2024
In the last decade, the increased global temperature, stringent regulations, and customer demand for high fuel economy have led to the accelerated development of alternative propulsion solutions, with particular focus on electrified vehicles. Hybrid electric vehicles (HEV), the combination of electric machinery with conventional powertrains, allows the diversification of powertrain architectures. In addition, it has been demonstrated that engines employing advanced low temperature combustion concepts, such as dual fuel reactivity controlled compression ignition (RCCI), and able to operate on both renewable and conventional fuels, produce ultra-low nitrogen oxides (NOx) and particulate matter (PM) emissions while maintaining thermal efficiency similar to conventional diesel operation at part load operating conditions. Therefore, the combination of both technologies creates a promising horizon to be implemented in production vehicles in the near future. This study aims to investigate the
Marwaha, Tejasva, Khedkar, Nikhil Dilip, Sarangi, Asish Kumar
Technical Paper
Diesel Exhaust Fluid (DEF) Associated Corrosion Risk Prediction for Aftertreatment System2024-28-0258To be published on 12/05/2024
Topic Name: Diesel Exhaust Fluid (DEF) Associated Corrosion Risk Prediction for Aftertreatment System. Authors: Tushar S Udhane, Enoch Nanduru, Michael J Warwick, Donald E Willey, Tanishq Parikh, Nikhil Giri. Abstract: With emission regulations becoming increasingly stringent, the integration of Diesel Exhaust Fluid (DEF) in aftertreatment systems has become essential for reducing nitrogen oxide (NOx) emissions in compliance with these evolving standards. DEF dosing is a critical component in Selective Catalytic Reduction (SCR) systems, where it chemically reacts with NOx emissions in the exhaust stream to form harmless nitrogen and water vapor, thus significantly reducing the environmental impact of diesel engines. However, the introduction of DEF presents a challenge of corrosion risk within the aftertreatment system components. This study aims to predict the location of corrosion risks associated with DEF usage in Diesel aftertreatment system by employing a multi-faceted approach
Udhane, Tushar Sudam, Nanduru, Enoch, Warwick, Michael, Willey, Donald, Giri, Nikhil, Parikh, Tanishq
Technical Paper
Electromagnetic interference measurement study from various electric vehicle drive train2024-28-0138To be published on 12/05/2024
The article presents measurement results from a semi-anechoic automotive EMC chamber with different electric drivetrains under various loading conditions. The measurements are conducted based on CISPR 12 standard guidelines, in which radiated broadband emission in the frequency range of 30 MHz to 1GHz using quasi peak and peak detectors are measured. Two wheeler, three wheeler and passenger cars with various drivetrains are selected for this study. Usually the measurements are done with no road loading condition as per standard recommendation. But in this paper we studied the effects of various parameters such as rolling, wind, and gradient resistance with the help of chassis dynamometer. The study examines and discusses how various vehicle architecture behaves under different conditions. According to the study, there are particular drive trains that emits more electromagnetic emissions when they are under various loading situations
Mulay, Abhijit B, M, Gokul, Patel, Jinay M
Technical Paper
SOUCY COMPOSITE RUBBER TRACK TECHNOLOGY2024-01-359211/15/2024
ABSTRACT Rubber tracks are now extremely competitive for vehicles up to 50 tons and fully fielded on 39 ton vehicles. They represent the best of what technology can offer for tracked vehicles, in terms of high durability, performance and low life cycle cost. This is mainly attributed to the optimization through the five (5) technological tools described in this paper. Better from its numerous distinctive advantages, rubber tracks can be adapted to suit virtually any specific need. This ductile rubber track technology can be shaped to match today’s requirements, with the help of advanced rubber compounding and computer simulations
Marcotte, Tommy
Technical Paper
TESTING GROUND VEHICLE MOBILITY IN SOFT SOIL: STANDARD OPERATING PROCEDURES AND ONGOING QUESTIONS2024-01-337711/15/2024
ABSTRACT Ground vehicle mobility in soft soil is crucial to many military missions. Thus, it has been tested and quantified in a metric called Vehicle Cone Index (VCI) since World War II. VCI provides an index of the minimum soil strength necessary for vehicle mobility. The standard operating procedure for VCI field testing and data analysis is detailed herein. Also, a new method for quantifying VCI uncertainty has been proposed, which uses confidence bounds on mean measurements of soil strength. A sample analysis of actual field data is provided
Stevens, Maria T., Towne, Brent W., Osorio, Javier E., Mason, George L.
Technical Paper
Effect of Heat on Wounded Warriors in Ground Combat Vehicles: Insights from the Army Medical Community, and the Simulation of a Novel Method for Soldier Thermal Control2024-01-338011/15/2024
ABSTRACT Ground combat vehicles can operate in regions characterized by various types and severities of injuries – resulting from improvised explosive devices (IEDs), gunfire or heat illness – as well as extreme climates such as desert environments. Because of the wounded warrior’s compromised physical condition, their thermal surroundings within the vehicle are especially important. This paper presents insights gleaned from the Army medical community, as well as a simple study of the effect of heat on soldiers in a ground combat vehicle using CFD / thermal modeling and simulation tools and methodologies. In particular, an Army-patented method for controlling body temperature via skin temperature feedback together with a cooling vest and pants ensemble is employed
Tison, Nathan, Smith, Rob E.
Technical Paper
IMPLEMENTATION OF CONTINUUM-BASED PLASTICITY FORMULATION FOR VEHICLE/SOIL INTERACTION IN MULTIBODY SYSTEM ALGORITHMS2024-01-349111/15/2024
ABSTRACT Recent advances in the capabilities of personal, workstation, and cloud computing platforms have spurred developments in many computational fields. Terramechanics, involving the study of the dynamic interactions between vehicle and terrain, could, to great benefit, leverage existing compute power towards the use of higher fidelity models. In this paper, we outline the formulation and implementation of an inelastic continuum based soil model in a multibody system (MBS) simulation environment. Such a new computational environment will allow for the simulation of the complex and dynamic interactions occurring at the interface between tracks and wheels, and the ground. The soil model is developed using the absolute nodal coordinate formulation (ANCF) finite elements. In deformable terrain, soil is modeled as a set of 8-node brick ANCF elements whose mechanical behavior may be defined by a suitable constitutive model. A Drucker-Prager plasticity material, which is used to model the
Contreras, Ulysses, Recuero, Antonio M., Hamed, Ashraf M., Wei, Cheng, Foster, Craig, Jayakumar, Paramsothy, Letherwood, Michael D., Gorsich, David J., Shabana, Ahmed A.
Technical Paper
Application of An Integrated HPC Reliability Prediction Framework to HMWWV Suspension System2024-01-321911/15/2024
ABSTRACT This research paper addresses the ground vehicle reliability prediction process based on a new integrated reliability prediction framework. The paper is an extension of the paper presented last year at the GVSETS symposium. The integrated stochastic framework combines the computational physics-based predictions with experimental testing information for assessing vehicle reliability. The integrated reliability prediction approach incorporates the following computational steps: i) simulation of stochastic operational environment, ii) vehicle multi-body dynamics analysis, iii) stress prediction in subsystems and components, iv) stochastic progressive damage analysis, and v) component life prediction, including the effects of maintenance and, finally, iv) reliability prediction at component and system level. To solve efficiently and accurately the challenges coming from large-size computational mechanics models and high-dimensional stochastic spaces, a HPC simulation-based
Ghiocel, Dan M., Negrut, Dan, Lamb, David, Gorsich, David
Technical Paper
IMPROVED SAFETY AND MOBILITY OF GROUND ROBOTS2024-01-330811/15/2024
ABSTRACT The main goal of this paper is to report recent progress on two example projects supported within the Ground Robotics Reliability Center (GRRC), a TARDEC supported research center headquartered at the University of Michigan. In the first project, the concept of Velocity Occupancy Space (VOS), a new navigation algorithm that allows a robot to operate using only a range finding sensor in an unknown environment was developed. This method helps a mobile robot to avoid stationary and moving obstacles while navigating towards a target. The second project highlighted is related to energy and power requirement of mobile robots. Hazardous terrains pose challenges to the operation of mobile robots. To enable their safe and efficient operations, it is necessary to detect the terrain type and to modify operation and control strategies in real-time. A research project supported by GRRC has developed a closed-form wheel-soil model. Computational efficiency of this model is improved by
Peng, Huei, Ulsoy, A. Galip
Technical Paper
ROBUST TRIGGERING OF MULTIPLE SUBSYSTEMS FOR A TERRAIN MEASUREMENT SYSTEM2024-01-319911/15/2024
ABSTRACT One primary system integration challenge for a terrain measurement system is the triggering and time synchronization of all subsystems. Since individual measurement systems vary in their triggering requirements, both in terms of voltage levels and response times, a comprehensive triggering architecture is difficult to implement. Examples of triggering signal inputs include: a transistor-transistor logic (TTL) compliant signal, an RS-232 compliant signal, and an open/close switch circuit. Pulse-triggering signals are also present, and enable continuous time synchronization between instruments. Therefore, a triggering scheme is proposed capable of accurately initiating, synchronizing, and concluding data collection from multiple sensors and subsystems. Simulation of complete circuit designs show that the trigger circuit is capable of properly processing a single physical switch input signal into a TTL-compliant trigger signal. Synchronization pulse signals are likewise amplified
Binns, Robert, Ferris, John B.
Technical Paper
ADDRESSING THE SOFT SOIL TOWING CAPABILITY OF A NOTIONAL RECOVERY VEHICLE USING NEXT GENERATION M&S TOOLS2024-01-384611/15/2024
ABSTRACT Sustaining readiness is a core component of the Army Modernization Strategy and the fleet of ground vehicles must be capable and available to fight when called to action even as additional requirements such as additional armor and electrical loads are imposed on such systems. In support of this principle, Combat Capabilities Development Command Ground Vehicle Systems Center (CCDC GVSC) provided Program Executive Office Ground Combat Systems with modeling and simulation (M&S) expertise to analyze soft soil towing capability of a notional recovery vehicle. The analysis involved simulating a notional recovery vehicle and disabled towed main battle tank up a slope and developing design changes to improve soft soil towing performance
Cole, Michael, Goryca, Jill, Singh, Amandeep, Ross, Brant
Technical Paper
USING RUT DEPTH SENSING TO CALCULATE SOIL STRENGTH FOR COMPARING ACCURACY TO GEOWATCH AND PHYSICAL MEASUREMENTS2024-01-390811/15/2024
ABSTRACT Ground vehicle soft soil mobility has been studied for decades. Standard measurements, such as cone penetrometer, determine soil strength which helps analyze vehicle mobility. These methods are only available where data can be collected. As off-road vehicles transition to autonomous and semi-autonomous, real time in-situ analysis of soil strength is becoming a necessity. Databases such as GeoWATCH provide coarse (30-90m geospatial resolution) mobility parameter estimates. Hydrologic events can cause rapid changes in mobility which may not be effectively captured by these databases. In order to make real time predictions for autonomous vehicles, it is necessary to develop a method to determine mobility parameters without operator intervention. A system using rut depth measurements (collected via optical and ultrasonic sensors) and vehicle parameters was developed from established methods to estimate soil strength. The results were compared to corresponding physical measurements
Fischell, Jason N., Hansen, Bradley S., Jackson, J. Rebekah, Eylander, John B.
Technical Paper
ATLAS, AN ALL-TERRAIN LABELSET FOR AUTONOMOUS SYSTEMS2024-01-400311/15/2024
ABSTRACT All-Terrain off-road environments are the next frontier for autonomous vehicles to overcome. However, there are many obstacles in the way of this goal. Artificial intelligence has proven to be an invaluable asset in developing perception and path planning systems capable of overcoming these obstacles, but these AI systems fundamentally rely on the availability of data related to the operational environment in order to succeed. Currently, there is no unifying ontology for this data. This has inhibited progress on training AI by reducing the availability of cross-integrable datasets. We present ATLAS: A labeling ontology composed of over 200 labels specifically designed to encompass all-terrain off-road environments. This ontology will lay the ground work for creating scalable standardized all terrain off-road data and will enable future AI by providing an expansive and well labeled ontology that can push the field of autonomous vehicles to new heights. Citation: W. Smith, D
Smith, Weston, Grabowsky, David, Mikulski, Dariusz
Technical Paper
MULTI-WHEELED COMBAT VEHICLE MODELING ON RIGID AND SOFT TERRAIN2024-01-342911/15/2024
ABSTRACT Multi-wheeled off-road vehicles performance depends not only on the total engine power but also on its distribution among the drive axles/wheels. In this paper, a combat vehicle model was developed to examine dynamic performance on rigid and soft terrain. The vehicle dynamics is validated on rigid road against published measured data. Also non-linear tire look-up tables for rigid and soft terrain were constructed based on developed three-dimensional non-linear Finite Element Analysis off-road tire using PAM-CRASH. The measured and predicted results are compared on the basis of vehicle steering, yaw rates and accelerations using published US Army validation criteria. The validated combat vehicle model then used to study vehicle lane-change maneuverability on rigid and soft terrain at different speeds and powertrain configurations. This comparison showed the importance of having active torque distribution system on soft terrain especially at high speeds
Ragheb, H., El-Gindy, M., Kishawy, H. A.
Technical Paper
THE INFLUENCE OF GROUND COMBAT VEHICLE WEIGHT ON AUTOMOTIVE PERFORMANCE, TERRAIN TRAVERSABILITY, COMBAT EFFECTIVENESS, AND OPERATIONAL ENERGY2024-01-372011/15/2024
ABSTRACT This study utilized computer simulations to analyze the influence of vehicle weight on automotive performance, terrain traversability, combat effectiveness, and operational energy for the M1A2 Abrams, M2A3 Bradley, and M1126 Stryker. The results indicate that a 15% reduction in combat vehicle weight correlates to 0-20% or greater improvements in: automotive mobility (top speed, speed on grade, dash time, fuel economy), terrain traversability (minimum required soil strength, % Go-NoGo, off road speed), combat effectiveness (% of combat effective outcomes, hits sustained, time, average and top speed in kill zone), and operational energy (gallons of fuel and fuel truck deliveries). While it has always been “understood” that vehicle weight impacts performance, this study has actually successfully quantified the impact. Through the use of multiple simulation tools, this study shows that reduced vehicle weight improves automotive performance, which directly improves the combat
Hart, Robert J., Gerth, Richard J.
Technical Paper
Ultra-High Power Density Hybrid Power Systems and APUs2024-01-327111/15/2024
Abstract Military vehicles need prime power and auxiliary power systems with ever-increasing power density and specific power, as well as greater fuel economy, lower noise, lower exhaust emissions and greater stealth. D-STAR technologies, funded by the Army, DARPA, Marine Corps / Navy and others, are enabling a new generation of modified-HCCI (homogenous charge compression ignition) engines that simultaneously offer power density and specific power of racing-quality gasoline engines, operation on JP-8 and other heavy fuels, as well as the other desirable qualities mentioned above. D-STAR Engineering has recently developed a prototype for a 1 kW man-portable heavy-fuel hybrid power system, that has been successfully tested by the ONR / USMC, and has demonstrated the power core for a 2 kW hybrid power system (for Army TARDEC). D-STAR is also developing, based on funding from the Army, a 500 Watt hybrid power system, and has designs for hybrid heavy fuel power systems and APUs for 10 and
Dev, S. Paul
Technical Paper
REMOTE SENSING OF TERRAIN STRENGTH FOR MOBILITY MODELING & SIMULATION2024-01-384311/15/2024
ABSTRACT Knowing the soil’s strength properties is a vital component to accurately develop Go/No-Go mobility maps for the Next Generation NATO Reference Mobility Model (NG-NRMM). The Unified Soil Classification System (USCS) and soil strength of the top 0-6” and 6-12” of the soil are essential terrain inputs for the model. Current methods for the NG-NRMM require in-situ measurement of soil strength using a bevameter, cone penetrometer, or other mechanical contact device. This study examines the use of hyperspectral and thermal imagery to provide ways of remotely characterizing soil type and strength. Hyperspectral imaging provides unique spectrums for each soil where a Soil Classification Index (SCI) was developed to predict the gradation of the soil types. This gradation provides a means of identifying the soil type via the major divisions within the USCS classification system. Thermal imagery is utilized to collect the Apparent Thermal Inertia (ATI) for each pit, which is then
Ewing, Jordan, Oommen, Thomas, Jayakumar, Paramsothy, Alger, Russell
Technical Paper
TERRAMECHANICS IMPACT OF THE WHEEL NORMAL REACTION ON MOBILITY AND STEERABILITY MARGINS2024-01-391011/15/2024
ABSTRACT The normal reaction force in the tire-soil patch is a continuously changing wheel parameter. When a vehicle moves over uneven ground, motion in the vehicle’s sprung and unsprung masses produce dynamic shifts in the magnitude of the load transmitted to the ground. With the damping force controlled for better ride quality, tight constraining of the sprung mass motion may lead to significant dynamic changes of the normal load. At excessive loads, the wheel can dig into the soil. Considerably reduced loads can negatively impact vehicle steerability and diminish traction performance. The purpose of this paper is to develop a method that allows for establishing boundaries of the dynamic normal reaction in the tire-soil patch on uneven terrain. The boundary constraints are considered for both maximum and minimum values to establish conditions for mobility and steerability. Using differential equations describing the motion two masses of a single-wheel module representing a vehicle
Paldan, Jesse, Vantsevich, Vladimir, Gorsich, David, Goryca, Jill, Singh, Amandeep, Moradi, Lee
Technical Paper
AUTONOMOUS VEHICLE ASSESSMENT FRAMEWORK2024-01-393811/15/2024
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
Jeppesen, Mads R., Madsen, Sigurd A., Balling, Ole
Technical Paper
HIGH PERFORMANCE COMPUTING FRAMEWORK FOR CO-SIMULATION OF VEHICLE–TERRAIN INTERACTION2024-01-372711/15/2024
ABSTRACT Current modeling and simulation capabilities permit tackling complex multi-physics problems, such as those encountered in ground vehicle mobility studies, using high-fidelity physics-based models for all involved subsystems, including the vehicle, tires, and deformable terrain. However, these come at significant computational burden; research and development on new software architecture and parallelization techniques is crucial in enabling such predictive simulation capabilities to be useful in design of new vehicles or in operational settings. In this paper, we describe the architecture, philosophy, and implementation of a distributed message-passing-based granular terrain simulation capability and its incorporation into an explicit force–displacement co-simulation framework to enable effective simulation of multi-physics mobility problems. We demonstrate that the proposed infrastructure has good parallel scaling characteristics and can thus effectively leverage available
Serban, Radu, Olsen, Nicholas, Negrut, Dan
Technical Paper
GAUSSIAN PROCESS MODELING OF TERRAIN SLOPE FOR GROUND VEHICLE LOCALIZATION2024-01-400111/15/2024
ABSTRACT This paper presents a Gaussian process model of terrain slope for use in a GPS-free localization algorithm for ground robots operating in unstructured terrain. A wheeled skid-steer robot is used to map the terrain slope within an operational area of interest. The slope data is sampled sparsely and used as training data for a Gaussian process model with a two-dimensional input. Three different covariance functions for the Gaussian process model are evaluated with hyperparameters selected through maximizing the log marginal likelihood. The resulting Gaussian process model is used in the measurement update function of a localization particle filter to generate expected slope values at particle positions. Preliminary localization testing shows sub-ten meter accuracy with no initial knowledge of position. However, the overall performance of the filter is highly dependent on the variability of the terrain that the robot traverses. Citation: J. Pentzer, K. Reichard, “Gaussian Process
Pentzer, Jesse, Reichard, Karl
Technical Paper
THE NEED OF PROPER MODELING OF TRACTION CONTROL SYSTEM IN MOBILITY SIMULATIONS WITH SOFT SOIL2024-01-379511/15/2024
ABSTRACT When building simulation models of military vehicles for mobility analysis over deformable terrain, the powertrain details are often ignored. This is of interest for electric and hybrid-electric vehicles where the maximum torque is produced at low speeds. It is easy to end up with the drive wheels spinning and reducing traction and eventually the vehicle digging itself down in the soil. This paper reveals improvements to mobility results using Traction Control Systems for both wheeled and tracked vehicles. Simulations are performed on hard ground and two types of deformable soil, Lethe sand and snow. For each soft soil, simulations have been performed with a simple terramechanics model (ST) based on Bekker-Wong models and complex terramechanics (CT) using the EDEM discrete element soil model which Pratt & Miller Engineering (PME) has been instrumental in developing. To model the traction control system a PD controller is used that tries to limit the slip velocity at low speed
Slattengren, Jesper
Technical Paper
TELEOPERATED GROUND VEHICLE ROLLOVER PREVENTION VIA HAPTIC FEEDBACK OF THE ZERO-MOMENT POINT INDEX2024-01-399411/15/2024
ABSTRACT Many rollover prevention algorithms rely on vehicle models which are difficult to develop and require extensive knowledge of the vehicle. The Zero-Moment Point (ZMP) combines a simple vehicle model with IMU-only sensor measurements. When used in conjunction with haptic feedback, ground vehicle rollover can be prevented. This paper investigates IMU grade requirements for an accurate rollover prediction. This paper also discusses a haptic feedback design that delivers operator alerts to prevent rollover. An experiment was conducted using a Gazebo simulation to assess the capabilities of the ZMP method to predict vehicle wheel lift-off and demonstrate the potential for haptic communication of the ZMP index to prevent rollover. Citation: K. Steadman, C. Stubbs, A. Baskaran, C. G. Rose, D. Bevly, “Teleoperated Ground Vehicle Rollover Prevention via Haptic Feedback of the Zero-Moment Point Index,” In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium
Steadman, Kathleen, Stubbs, Chandler, Baskaran, Avinash, Rose, Chad G., Bevly, David
Technical Paper
CREATION OF A GROUND SLOPE MAPPING METHODOLOGY WITHIN THE ROBOTIC TECHNOLOGY KERNEL FOR IMPROVED NAVIGATION PERFORMANCE2024-01-400211/15/2024
ABSTRACT This paper presents a new terrain traversability mapping method integrated into the Robotic Technology Kernel (RTK) that produces ground slope traversability cost information from LiDAR height maps. These ground slope maps are robust to a variety of off-road scenarios including areas of sparse or dense vegetation. A few simple and computationally efficient heuristics are applied to the ground slope maps to produce cost data that can be directly consumed by existing path planners in RTK, improving the navigation performance in the presence of steep terrain. Citation: J. Ramsey, R. Brothers, J. Hernandez, “Creation of a Ground Slope Mapping Methodology Within the Robotic Technology Kernel for Improved Navigation Performance,” In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022
Ramsey, Jackson, Brothers, Robert, Hernandez, Joseph
Technical Paper
Improving Winter Traction for Vehicles in Northern Operations2024-01-390911/15/2024
ABSTRACT As part of the campaign to increase readiness in northern regions, a near commercial-off-the-shelf (COTS) solution was identified for the High Mobility Multipurpose Wheeled Vehicle (HMMWV); and used to assess the suitability of commercially available winter tires for operational deployment. Initial performance evaluations conducted during the winters of 2020 and 2021 demonstrated and quantified significant improvements to traction and handling on a variety of winter surfaces. User feedback from United States Army Alaska (USARAK) Soldiers confirmed these results in an operational environment. Results of this study provide new winter tire specifications for the Army and justify the procurement of a HMMWV winter tire for improved safety and capability for US Soldier and vehicle fleet needs. The data and Soldier evaluations support attaining a National Stock Number (NSN) and provide data to develop models of winter vehicle performance that include the impact of winter tires and
Shoop, Sally, Witte, Clifford, Karwaczynski, Sebastian, Ellis, Clifton, Matthews, Eoghan, Bishel, Steven, Bomier, Barry, McCullough, Ronald, Parker, Michael, Martin, Scott, Kamprath, Nathan, Welling, Orian, Elder, Bruce
Technical Paper
TRACKED VEHICLE – SOFT SOIL INTERACTIONS AND DESIGN SENSITIVITIES FOR PATH CLEARING SYSTEMS UTILIZING MULTI-BODY DYNAMICS SIMULATION METHODS2024-01-342211/15/2024
ABSTRACT Two notional path-clearing tracked-vehicle models are part of this exploration in assessing the capabilities and limitations of the state-of-the-art in tracked vehicle dynamics modeling and simulation over soft-soil terrain. Each vehicle utilized different path-clearing methods that presented challenges in modeling their interactions with the soil: one vehicle used a roller and rake combination. The roller pressured the soft soil while the rake sheared it. The other vehicle used a quickly rotating flail system that cleared a definitive path by impacting and flinging the soil away. One vehicle had a band track and the other had a segmented track introducing additional modeling challenges. Each of these design choices was independently varied and analyzed. Path clearing performances and design sensitivities to track properties were studied in addition to the effect of contact forces between track, road wheels, idler, and sprocket. Vehicle performance on differing soil types is
Raymond, Joseph B, Jayakumar, Paramsothy
Technical Paper
FAST LIDAR VEGETATION RESPONSE MODELING IN SIMULATION2024-01-392311/15/2024
ABSTRACT Off-road autonomy development is increasingly leveraging simulation for its ability to rapidly test and train new algorithms as well as simulate a wide variety of terrains and environmental conditions. Unstructured off-road environments require modeling complex environmental phenomena, such as LIDAR responses from vegetation. Neya has developed an approach to characterize the variability of measurements of vegetation and approximate the variability of vegetation measurements using that characterization. This method adds a small overhead to existing LIDAR models, works with many types of LIDAR sensor models, and simply requires objects to be tagged in the environment as vegetation for the sensor models to respond appropriately. Citation: R. Mattes, J. Pace, “Fast LIDAR Vegetation Response Modeling in Simulation”, In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 10-12, 2021
Mattes, Rich, Pace, James
Technical Paper
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