Browse Topic: Transportation Systems
This study aims to explore the multifaceted influencing factors of market acceptance and consumer behavior of low-altitude flight services through online surveys and advanced neuroscientific methods (such as functional magnetic resonance imaging fMRI, electroencephalography EEG, functional near-infrared spectroscopy fNIRS) combined with artificial intelligence and video advertisement quantitative analysis. We conducted an in-depth study of the current trends in low-altitude flight vehicle development and customer acceptance of low-altitude services, focusing particularly on the survey methods used for market acceptance. To overcome the influence of strong opinion leaders in volunteer group experiments, we designed specialized surveys targeting broader online and social media groups. Utilizing specialized knowledge in aviation psychology, we designed a distinctive questionnaire and, within just 7 days of its launch, gathered a significant number of valid responses. The data was then
ABSTRACT Route planning plays an integral role in mission planning for ground vehicle operations in urban areas. Determining the optimum path through an urban area is a well understood problem for traditional ground vehicles; however, in the case of autonomous unmanned ground vehicles (UGVs), additional factors must be considered. For a UGV, perception, rather than mobility, will be the limiting factor in determining operational areas. Current ground vehicle route planning techniques do not take perception concerns into account, and these techniques are not suited for route planning for UGVs. For this study, perception was incorporated into the route planning process by including expected sensor accuracy for GPS, LIDAR, and inertial sensors into the path planning algorithm. The path planner also accounts for additional factors related to UGV performance capabilities that affect autonomous navigation
ABSTRACT Currently, many small Army ground robots have mobility configurations containing tracks with sets of dual or quad flipper configurations. Many of these robots include the iRobot PackBot, Talon, and Dragon Runner. While the preceding robotic designs have allowed these robots to navigate over obstacles and across low traction environments, an increasing need for agile robotic platforms in complex environments involving subterranean and urban structure missions will be critical in the future. Therefore, a new mobility system for dismounted ground robots is being researched to aid in the exploration, mapping, and identification by targets of interest for dense urban environments. This paper discusses one possibility for a new small CRS-I sized ground robot mobility system that is inspired by the rocker-bogie designs of the Mars rover systems. Citation: Timothy Pietrzyk, Ty Valascho “Robotic Rocker-Bogie Mechanism Prototype”, In Proceedings of the Ground Vehicle Systems Engineering
In the realm of low-altitude flight power systems, such as electric vertical take-off and landing (eVTOL), ensuring the safety and optimal performance of batteries is of utmost importance. Lithium (Li) plating, a phenomenon that affects battery performance and safety, has garnered significant attention in recent years. This study investigates the intricate relationship between Li plating and the growth profile of cell thickness in Li-ion batteries. Previous research often overlooked this critical aspect, but our investigation reveals compelling insights. Notably, even during early stage of capacity fade (~ 5%), Li plating persists, leading to a remarkable final cell thickness growth exceeding 20% at an alarming 80% capacity fade. These findings suggest the potential of utilizing cell thickness growth as a novel criterion for qualifying and selecting cells, in addition to the conventional measure of capacity degradation. Monitoring the growth profile of cell thickness can enhance the
ABSTRACT This work investigates the effects of obstacle uncertainty on the speed, distance, and feasibility of a planned traversal path. Simulation results for artificial and real-world environments are used to numerically quantify how geometric uncertainty within a map affects path traversal cost. A significant outcome of this research is the discovery of a relationship between increasing uncertainty and path cost. As obstacle uncertainty increases, previously planned routes can become infeasible as they effectively become blocked off due to uncertainty in the obstacle geometry. This paper illustrates a method that can serve to increase the speed, simplicity, and reliability of path planning, while allowing uncertainty to be included in the mobility analysis. Citation: S. Tau, S. Brennan, K. Reichard, J. Pentzer, D. Gorsich, “The Effects of Obstacle Dimensional Uncertainty on Path Planning in Cluttered Environments”, In Proceedings of the Ground Vehicle Systems Engineering and
ABSTRACT Leader-follower autonomous vehicle systems have a vast range of applications which can increase efficiency, reliability, and safety by only requiring one manned-vehicle to lead a fleet of unmanned followers. The proper estimation and duplication of a manned-vehicle’s path is a critical component of the ongoing development of convoying systems. Auburn University’s GAVLAB has developed a UWB-ranging based leader-follower GNC system which does not require an external GPS reference or communication between the vehicles in the convoy. Experimental results have shown path-duplication accuracy between 1-5 meters for following distances of 10 to 50 meters. Citation: K. Thompson, B. Jones, S. Martin, and D. Bevly, “GPS-Independent Autonomous Vehicle Convoying with UWB Ranging and Vehicle Models,” In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 16-18, 2022
Yaw control for aircraft using the rudder faces challenges in resisting fast time-varying uncertainty due to the relatively slower response of the rudder. In hybrid unmanned aerial vehicles equipped with both rudders and rotors, the introduction of powered yaw control offers novel solutions for addressing fast time-varying uncertainty by leveraging the quicker response of rotors compared to traditional rudders. This paper presents a hierarchical yaw control approach for hybrid unmanned aerial vehicles, comprising a nominal control for rudders to achieve the desired yaw tracking and a constrained powered yaw control for rotors to resist fast time-varying uncertainty. Given the constrained amplitude of powered yaw control, it is imperative that the designed auxiliary input guarantees adherence to its constraint. Firstly, a nonlinear control for nominal hybrid unmanned aerial vehicle system is formulated to deal with the nonlinearity model, rendering a modest nominal control for rudders
This paper explores the groundbreaking applications of plasma propulsion engines and advanced nanomaterials in low-altitude aircraft, addressing the challenges and recent technological advancements that make such applications feasible. Traditional space plasma thrusters operate effectively in near-vacuum conditions by taking advantage of the ease of plasma ignition at low pressures. However, these thrusters face significant difficulties when operated at near-atmospheric pressures found in low-altitude environments, where plasma ignition is challenging. This paper highlights recent breakthroughs in high-pressure plasma glow discharge technology and the integration of nanomaterials, which together enable the use of plasma propulsion engines in low-altitude aircraft. These innovations offer substantial advantages over conventional engines, including higher efficiency, reduced emissions, and the potential to fundamentally change the propulsion systems of low-altitude aircraft
ABSTRACT Commercial OEMs are fast realizing the long awaited dream of self-driving trucks and cars. The technology continues to improve with major implications for the Army. In the near tear, the impact may be most profound for military installations. Many believe, however, that the major limiting factor to wide-spread automated vehicle usage will not be technology but the human element. What happens when humans through no choice of their own are compelled to interact with self-driving vehicles? We propose a mixed-methods research study that examines the complex transportation system from both a technical and social perspective. This study will inform environmental controls (rules of the road and infrastructure modifications) and increase understanding of the social dynamics involved with vehicle acceptance. Findings may pave the way for a reduction in the over $400M the Army spends annually on non-tactical vehicles and the technical improvements, grounded in dual-use use cases will be
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
ABSTRACT Military personnel involved in convoy operations are often required to complete multiple tasks within tightly constrained timeframes, based on limited or time-sensitive information. Current simulations are often lacking in fidelity with regard to team interaction and automated agent behavior; particularly problematic areas include responses to obstacles, threats, and other changes in conditions. More flexible simulations are needed to support decision making and train military personnel to adapt to the dynamic environments in which convoys regularly operate. A hierarchical task analysis approach is currently being used to identify and describe the many tasks required for effective convoy operations. The task decomposition resulting from the task analysis provides greater opportunity for determining decision points and potential errors. The results of the task analysis will provide guidance for the development of more targeted simulations for training and model evaluation from
ABSTRACT Evolving requirements for combat vehicles to provide increased mission capability and/or crew safety necessitate the addition of components and add-on armor to currently-fielded vehicles. These new requirements result in increased weight and increased electrical needs, which result in reduced mobility. The APD is built from the ground up to optimize a powertrain solution using cutting-edge technology specifically designed for harsh military environments, for use in both vehicle retrofits and new vehicle designs. The APD combines an efficient 1000 hp engine, transmission, integrated starter generator, thermal management system, and lithium-ion batteries to maximize powerpack power density. The APD was designed for a 45-60 ton combat vehicle, but designing for scalability, reconfigurability, and using modern techniques and technology has allowed the APD to greatly improve the capability and flexibility of the powerpack and the technology can be applied to heavier or lighter
ABSTRACT To improve robustness of autonomous vehicles, deployments have evolved from a single intelligent system to a combination of several within a platoon. Platooning vehicles move together as a unit, communicating with each other to navigate the changing environment safely. While the technology is robust, there is a large dependence on data collection and communication. Issues with sensors or communication systems can cause significant problems for the system. There are several uncertainties that impact a system’s fidelity. Small errors in data accuracy can lead to system failure under certain circumstances. We define stale data as a perturbation within a system that causes it to repetitively rely on old data from external data sources (e.g. other cars in the platoon). This paper conducts a fault injection campaign to analyze the impact of stale data in a platooning model, where stale data occurs in the car’s communication and/or perception system. The fault injection campaign
ABSTRACT A framework for generation of reliability-based stochastic off-road mobility maps is developed to support the Next Generation NATO Reference Mobility Model (NG-NRMM) using full stochastic knowledge of terrain properties and modern complex terramechanics modelling and simulation capabilities. The framework is for carrying out uncertainty quantification and reliability assessment for Speed Made Good and GO/NO-GO decisions for the ground vehicle based on the input variability models of the terrain elevation and soil property parameters. To generate the distribution of the slope at given point, realizations of the elevation raster are generated using the normal distribution. For the soil property parameters, such as cohesion, friction and bulk density, the min and max values obtained from geotechnical databases for each of the soil types are used to generate the normal distribution with a 99% confidence value range. In the framework, the ranges of terramechanics input parameters
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