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The safety and reliability of ground vehicles is a motivating factor for periodic maintenance which includes fluids, lubrication, cleaning, repairs, and general observation of key subsystems. The scheduling of maintenance activities can occur at different rates such as daily, weekly, or perhaps operating time based on collected historical data and general guidelines. The availability of a digital twin (DT), which offers a virtual representation of the vehicle behavior, enables virtual system simulations for different operating cycles to explore the dynamic behavior. When field operating fleet data can be integrated with the digital twin estimates, then this supplemental information can be combined with the existing maintenance plan to provide a more comprehensive approach. In this paper, a digital twin with a statistical based predictive maintenance strategy is investigated for a wheeled military ground vehicle.

Digital twin technology has become impactful in Industry 4.0 as it enables engineers to design, simulate, and analyze complex systems and products. As a result of the synergy between physical and virtual realms, innovation in the “real twin” or actual product is more effectively fostered. The availability of verified computer models that describe the target system is important for realistic simulations that provide operating behaviors that can be leveraged for future design studies or predictive maintenance algorithms. In this paper, a digital twin is created for an offroad tracked vehicle that can operate in either autonomous or remote-control modes. Mathematical models are presented and implemented to describe the twin track and vehicle chassis governing dynamics. These components are interfaced through the nonlinear suspension elements and distributed bogies.

The design of transportation vehicles, whether passenger or commercial, typically involves a lengthy process from concept to prototype and eventual manufacture. To improve competitiveness, original equipment manufacturers are continually exploring ways to shorten the design process. The application of digital tools such as computer-aided-design and computer-aided-engineering, as well as model-based computer simulation enable team members to virtually design and evaluate ideas within realistic operating environments. Recent advances in machine learning (ML)/artificial intelligence (AI) can be integrated into this paradigm to shorten the initial design sequence through the creation of digital agents. A digital agent can intelligently explore the design space to identify promising component features which can be collectively assessed within a virtual vehicle simulation.

Design of internal combustion (IC) engine pistons is dependent on accurate prediction of the temperature field in the component. Experimental temperature measurements can be taken but are costly and typically limited to a few select locations. High-fidelity computer simulations can be used to predict the temperature at any number of locations within the model, but the models must be calibrated for the predictions to be accurate. The largest barrier to calibration of piston thermal models is estimating the backside boundary conditions, as there is not much literature available for these boundary conditions. Bayesian model calibration is a common choice for model calibration in literature, but little research is available applying this method to piston thermal models. Neural networks have been shown in literature to be effective for calibration of piston thermal models.

Robust communications are crucial for autonomous military fleets. Ground vehicles function as mobile local area networks utilizing Controller Area Network (CAN) backbones. Fleet coordination between autonomous platforms relies on the Robot Operating System (ROS) publish/subscribe robotic middleware for effective operation. To bridge communications between the CAN and ROS network segments, the CAN2ROS bridge software supports bidirectional data flow with message mapping and node translation. Fuzzing, a software testing technique, involves injecting randomized data inputs into the target system. This method plays a pivotal role in identifying vulnerabilities. It has proven effective in discovering vulnerabilities in online systems, such as the integrated CAN/ROS system. In our study, we consider ROS implementing zero-trust access control policies, running on a Gazebo test-bed connected to a CAN bus.

Semiconductor devices in electric vehicle (EV) motor drive systems are considered the most fragile components with a high occurrence rate for open circuit fault (OCF). Various signal-based and model-based methods with explicit mathematical models have been previously published for OCF diagnosis. However, this proposed work presents a model-free machine learning (ML) approach for a single-switch OCF detection and localization (DaL) for a two-level, three-phase inverter. Compared to already available ML models with complex feature extraction methods in the literature, a new and simple way to extract OCF feature data with sufficient classification accuracy is proposed. In this regard, the inherent property of active thermal management (ATM) based model predictive control (MPC) to quantify the conduction losses for each semiconductor device in a power converter is integrated with an ML network.

The joint real-time co-simulation, which involves the virtual integration of laboratories located in different locations, is met with challenges, especially the communication latency or delay, which significantly affects co-simulation accuracy and system stability. The real-time power system co-simulation is particularly susceptible to these delays and could lose synchronism, which affects the simulation fidelity and limits dynamic and transient studies. This paper proposes a model-free framework for predicting and compensating delays in the virtual integration of real-time co-simulators through the damped impedance interface method to address this issue. The framework includes an improved co-simulation interface algorithm called the Damping Impedance Method (DIM) and a model-free predictor system designed to predict and compensate for delays without decomposing and reconstructing signals at coupling points.

The application of power electronic converters (PEC) in electric vehicles (EVs) has increased immensely as they provide enhanced controllability and flexibility to these vehicles. Accordingly, the interest in developing innovative and sustainable technologies to ensure safe and reliable operation of PECs has also risen. One of the most difficult challenges experienced during the development of reliable PECs is the design of proper thermal management systems for controlling the junction temperature and reducing the thermal cycling of power semiconductors. The addition of Active Thermal Control (ATC) can mitigate these concerns. Moreover, the performance of the thermal management system can be enhanced further by the integration of active cooling methods. An active cooling system consumes external energy for circulating cooling air or liquid within the PECs.

A novel advanced combustion strategy that employs the kinetically controlled compression ignition of gasoline whose autoignition is sensitive to fuel concentration is termed Low Temperature Gasoline Combustion. The LTGC method can achieve high thermal efficiency with a commercially available fuel while generating ultra-low soot and NOx emissions relative to the conventional combustion modes. At high loads, a double direct injection (D-DI) strategy is used where the first injection generates a background premixed charge while a second compression stroke injection controls the level of fuel stratification on a cycle-to-cycle basis to manage the heat release rates. With lower loads, this combustion performance of this D-DI strategy decreases as the background charge becomes increasingly lean. Instead, a single direct injection (S-DI) is used at lower loads to maintain an adequate combustion efficiency.

Integrated modeling of vehicle, tire and terrain is a fundamental challenge to be addressed for off-road autonomous navigation. The complexities arise due to lack of tools and techniques to predict the continuously varying terrain and environmental conditions and the resultant non-linearities. The solution to this challenge can now be found in the plethora of data driven modeling and control techniques that have gained traction in the last decade. Data driven modeling and control techniques rely on the system’s repeated interaction with the environment to generate a lot of data and then use a function approximator to fit a model for the physical system with the data. Getting good quality and quantity of data may involve extensive experimentation with the physical system impacting developer’s resource. The process is computationally expensive, and the overhead time required is high.

The software architecture behind modern autonomous vehicles (AV) is becoming more complex steadily. Safety verification is now an imminent task prior to the large-scale deployment of such convoluted models. For safety-critical tasks in navigation, it becomes imperative to perform a verification procedure on the trajectories proposed by the planning algorithm prior to deployment. Signal Temporal Logic (STL) constraints can dictate the safety requirements for an AV. A combination of STL constraints is called a specification. A key difference between STL and other logic constraints is that STL allows us to work on continuous signals. We verify the satisfaction of the STL specifications by calculating the robustness value for each signal within the specification. Higher robustness values indicate a safer system. Model Predictive Control (MPC) is one of the most widely used methods to control the navigation of an AV, with an underlying set of state and input constraints.

The application of virtual engineering methods can streamline the product design process through improved collaboration opportunities among the technical staff and facilitate additive manufacturing processes. A product digital twin can be created using the available computer-aided design and analytical mathematical models to numerically explore the current and future system performance based on operating cycles. The strategic decision to implement a digital twin is of interest to companies, whether the required financial and workforce resources will be worthwhile. In this paper, two metrics are introduced to assist management teams in evaluating the technology potential. The usefulness and time savings metrics will be presented with accompanying definitions. A case study highlights the usefulness metric for the “Deep Orange” prototype vehicle, an innovative off-road hybrid vehicle designed and fabricated at Clemson University.

Drive cycles are a core piece of vehicle development testing methodology. The control and calibration of the vehicle is often tuned over drive cycles as they are the best representation of the real-world driving the vehicle will see during deployment. To obtain general performance numerous drive cycles must be generated to ensure final control and calibration avoids overfitting to the specifics of a single drive cycle. When real-world driving cycles are difficult to acquire methods can be used to create statistically similar synthetic drive cycles to avoid the overfitting problem. This subject has been well addressed within the passenger vehicle domain but must be expanded upon for utilization with tracked off-road vehicles. Development of hybrid tracked vehicles has increased this need further. This study shows that turning dynamics have significant influence on the vehicle power demand and on the power demand on each individual track.

In the United States and worldwide, 38,824 and 1.35 million people were killed in vehicle crashes during 2020. These statistics are tragic and indicative of an on-going public health crisis centered on automobiles and other ground transportation solutions. Although the long-term US vehicle fatality rate is slowly declining, it continues to be elevated compared to European countries. The introduction of vehicle safety systems and re-designed roadways has improved survivability and driving environment, but driver behavior has not been fully addressed. A non-confrontational approach is the evaluation of driver behavior using onboard sensors and computer algorithms to determine the vehicle’s “mistrust” level of the given operator and the safety of the individual operating the vehicle. This is an inversion of the classic human-machine trust paradigm in which the human evaluates whether the machine can safely operate in an automated fashion.

Since 1989, ISO has published procedures for developing and testing public information symbols (ISO 9186), while the SAE standard for in-vehicle icon comprehension testing (SAE J2830) was first published in 2008. Neither testing method was designed to evaluate the comprehension of symbols in modern vehicles that offer digital instrument cluster interfaces that afford new levels of flexibility to further improve drivers’ understanding of symbols. Using a driving simulator equipped with an eye tracker, this study investigated drivers’ understanding of six automotive symbols presented on in-vehicle displays. Participants included 24 teens, 24 adults, and 24 senior drivers. Symbols were presented in a symbol-only, symbol + short text descriptions, and symbol + long text description conditions. Participants’ symbol comprehension, driving performance, reaction times, and eye glance times were measured.

Passenger comfort is a critical factor in user acceptance of autonomous vehicles (AVs). Despite existing methods for passenger comfort assessment, new approaches to assessing passenger comfort in AVs may be valuable to the automotive industry. In this paper, continuous pressing-based and discrete smartphone-based approaches for comfort assessment were designed and implemented in a user study. Participants used the two approaches to evaluate their comfort levels in an experimental study based on a high-fidelity autonomous driving simulator. Performances of the two approaches in assessing comfort levels were analyzed and compared. In general, the discrete approach showed better measurement repeatability and lower measurement bias than the continuous approach. The performance gap of the continuous approach could be reduced with proper post-processing measures. Discussions on the potential uses of the approaches were also raised.

Fatigue analysis of pistons is reliant on an accurate representation of the high temperatures to which they are exposed. It can be difficult to represent this accurately, because instrumented tests to validate piston thermal models typically include only measurements near the piston crown and there are many unknown backside heat transfer coefficients (HTCs). Previously, a methodology was proposed to aid in the estimation of HTCs for backside convection boundary conditions of a stratified charge compression ignition (SCCI) piston. This methodology relies on Bayesian inference of backside HTC using a co-simulation between computational fluid dynamics (CFD) and finite element analysis (FEA) solvers. Although this methodology primarily utilizes the more computationally efficient FEA model for the iterations in the calibration, this can still be a computationally expensive process.

Fully autonomous vehicles have the potential to fundamentally transform the future transportation system. While previous research has examined individuals’ perceptions towards fully autonomous vehicles, a complete understanding of attitudes and opinions across the lifespan is unknown. Therefore, individuals’ awareness, acceptance, and preferences towards autonomous vehicles were obtained from 75 participants through interviews with three diverse groups of participants: 20 automotive engineering graduate students who were building an autonomous concept vehicle, 21 non-technical adults, and 34 senior citizens. The results showed that regardless of age, an individual’s readiness to ride in a fully autonomous vehicle and the vehicle’s requirements were influenced by the users’ understanding of autonomous vehicles.

Formal verification plays an important role in proving the safety of autonomous vehicles (AV). It is crucial to find errors in the AV system model to ensure safety critical features are not compromised. Model checking is a formal verification method which checks if the finite state machine (FSM) model meets system requirements. These requirements can be expressed as linear Temporal logic (LTL) formulae to describe a sequence of states with linear Temporal properties to be satisfied. NuSMV is a dedicated software for performing model checking based on Temporal logic formulae on FSM models. However, NuSMV does not provide model-based design. On the other hand, Stateflow in MATLAB/SIMULINK is a powerful tool for designing the model and offers an interactive Graphical User Interface (GUI) for the user/verifier but is not as efficient as NuSMV in model checking.

In military applications, diesel engines are required to achieve high power outputs and therefore must operate at high loads. This high load operation leads to high piston component temperatures and heat rejection rates limiting the packaged power density of the powertrain. To help predict and understand these constraints, as well as their effects on performance, a thermodynamic engine model coupled to a finite element heat conduction solver is proposed and validated in this work. The finite element solver is used to calculate crank angle resolved, spatially averaged piston temperatures from in-cylinder heat transfer calculations. The calculated piston temperatures refine the heat transfer predictions as well requiring iteration between the thermodynamic model and finite element solver.