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Advanced Autonomous Vehicle Design for Severe Environments NATO ASI Programme

Coventry University, Engineering and Computing Building Date and Time Schedule

Day 0: Sunday, July 13, 2014 15:00 - 19:00 Registration

Heather Creel, Sherrye. Watson, Mostafa Salama Laura Harris, Rebecca Russell

Day 1: Monday, July 14, 2014 7:30 - 8:30 Networking, Coffee/Tea

Heather Creel, Sherrye. Watson, Mostafa Salama – registration Laura Harris, Rebecca Russell – coffee/tea

8:30 - 9:00 Welcome Prof. Mike Blundell (Brief remarks and introductions) Prof. Mike Fitzpatrick, Dean of Faculty of Engineering and Computing (Welcome Address) Dr. Michael Switkes, Science Advisor, Counter Terrorism, Emerging Securities Challenges Division, NATO Deniz Beten, Head, Science for Peace and Security Programme, NATO Prof. Vladimir Vantsevich (Brief remarks and introduce the ASI Staff and Student team) Prof. Annika Stensson Trigell (Brief remarks) Prof. Mike Blundell (Housekeeping announcements)

Session 1: Vehicle Dynamics and System Design – History and Future Directions Session Chair: Prof. Vladimir Vantsevich, University of Alabama at Birmingham

9:00 - 10:30 1.1. Historic aspects and future research directions in road and terrain manned and unmanned vehicle dynamics and system design. Prof. Vladimir Vantsevich, University of Alabama at Birmingham, U.S.A. Prof. Annika Stensson Trigell, KTH – Royal Institute of Technology, Sweden

10:30 – 10:50 Coffee and Tea Break, EC1-29 Session 1: Vehicle Dynamics and System Design – History and Future Directions (continuation) Session Chair: Prof. Vladimir Vantsevich, University of Alabama at Birmingham 10:50 - 12:00 1.2. Terrain vehicle dynamics in severe environment; “Snow and surface maps” and

geometrical characteristics of underlying surfaces. 1.3. Past, present and future of control theory applied to autonomous vehicles/agents Dr. Kyriakos Vamvoudakis, University of California, Santa Barbara, U.S.A. Dr. Gregory Hudas, US Army Tank Automotive Research Engineering Center, U.S.A.

12:00 – 13:00 Lunch and Networking, , EC1-29 12:30 – 12:50 Optional Tours: Engineering and Computing Building. CU Student Ambassadors

Session 2. Severe environmental conditions and situations Session Chair: Prof. Corina Sandu, Virginia Tech 13:00 -14:30 2.1. Challenges in measurement, quantification, and modelling of deformable terrain

characteristics (sand, soil, snow, ice), as well as terrain profile, and their interaction with ground vehicles (manned and robotic). Experimental studies and modelling. Prof. Corina Sandu, Virginia Tech, U.S.A.

14:30 – 14:45 Coffee and Tea Break, EC1-29 Session 2. Severe environmental conditions and situations (continuation) Session Chair: Prof. Corina Sandu, Virginia Tech 14:45 - 16:00 2. Terrorist threats that can agilely deviate and relocate the vehicle from its original

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trajectory path and critically reposition the vehicle locomotion system in its interaction with the surface of motion, damage vehicle systems and make them inoperative, and finally immobilize and trap the vehicle. 3. Critical payload-vehicle-terrain interactions that can impact the structural/geometric configuration and mass-related parameters of the vehicle and thus degrade its dynamics and finally result in the vehicle mission failure. Dr. Kyriakos Vamvoudakis, University of California, Santa Barbara, U.S.A. Dr. Gregory Hudas, US Army Tank Automotive Research Engineering Center, U.S.A.

16:10 - 16:30 Photo of the ASI Attendees and Lecturers, Outside of the Engineering and computing building

16:30 - 16:50 All ASI Lecturers and Staff Members meet to discuss the first day outcomes, Lecture room

Day 2: Tuesday, July 15, 2014 8:00 - 8:50 Networking, Coffee/Tea

Heather Creel, Sherrye. Watson, Mostafa Salama – registration, reimbursement Laura Harris, Rebecca Russell – coffee/tea

8:50 - 9:00 Prof. Mike Blundell (announcement) Session 3: Fundamentals of Agility and Severe Environments Session Chair: Dr. Jianbo Lu, Ford Motor Company 9:00 - 10:30 3.1. Normal agility and eccentric agility. Definitions and mathematical characterization.

3.2. Normally agile vehicle dynamics and eccentrically agile vehicle dynamics. Characterization and indices. Dr. Jianbo Lu, Ford Motor Company, U.S.A.

10:30 – 10:50 Coffee and Tea Break, EC1-29 Session 3: Fundamentals of Agility and Severe Environments (continuation) Session Chair: Dr. Jianbo Lu, Ford Motor Company 10:50 - 12:00 3.3. Severe environments: severe surface conditions, surrounding conditions, and operation

conditions. Characterization and mathematical modelling. 3.4. Reasons for vehicle agility. Dr. Jianbo Lu, Ford Motor Company, U.S.A.

12:00 – 13:00 Lunch and Networking, EC1-29 12:30 – 12:50 Optional Tours: Engineering and Computing Building. CU Student Ambassadors

Session 3: Fundamentals of Agility and Severe Environments (continuation) Session Chair: Dr. Jianbo Lu, Ford Motor Company 13:00 - 14:30 3.5. Analysis of case studies for the following vehicle applications: tactical and combat

military vehicles; unmanned ground vehicles; passenger cars and trucks. Dr. Jianbo Lu, Ford Motor Company, U.S.A.

14:30 – 14:45 Coffee and Tea Break, EC1-29 Session 3: Fundamentals of Agility and Severe Environments (continuation) Session Chair: Dr. Jianbo Lu, Ford Motor Company 14:45 - 16:00 Vehicle Mobility vs. Energy Efficiency

1. An analytical technique to model stochastic terrain gripping/friction properties in correlation with terrain geometric profiles. 2. An agile/pre-emptive terrain mobility evaluation of an UGV based on individual wheel consideration and modelling. 3. Enhancing vehicle terrain mobility and minimizing energy consumption, while fulfilling vehicle mission/task, by optimizing and controlling power distribution between individually driven wheels. Prof. Vladimir Vantsevich, University of Alabama at Birmingham, U.S.A.

16:10 - 16:30 All ASI Lecturers and Staff Members meet to discuss the day outcomes, Lecture room 16:30 - 18:00 Free Time

3 18:00 - 18:30 Banquet Social, Coombe Abbey 18:30 - 20:00 Banquet, Coombe Abbey

Speaker: Emeritus Professor and former Associate Dean, Professor Peter White, Coventry University

Day 3: Wednesday, July 16, 2014 8:00 - 8:50 Networking, Coffee/Tea

Heather Creel, Sherrye. Watson, Mostafa Salama – registration, reimbursement Laura Harris, Rebecca Russell – coffee/tea

8:50 - 9:00 Mike Dickison (announcement) Session 4: Inverse vehicle dynamics and operational fusion of vehicle system dynamics. Module-based approach to vehicle system design Session Chair: Prof. Vladimir Vantsevich, University of Alabama at Birmingham, U.S.A. 9:00 - 10:30 4.1. Inverse vehicle dynamics problems formulation and solving algorithms, case studies of

various vehicle applications (terrain multi-wheel trucks, military applications, construction equipment, and hybrid-electric vehicles) Prof. Vladimir Vantsevich, University of Alabama at Birmingham, U.S.A. 4.2. Passive and active operational fusion of system dynamics (coupled dynamics): suspension - driveline; wheel brakes - driveline; steering - driveline. Prof. Vladimir Vantsevich, University of Alabama at Birmingham, U.S.A. 4.3. Multi-wheel trucks: wheel power optimization; wheel-obstacle interaction; soil damage estimation Prof. Sergey Shukhman, Ariel University, Israel Prof. Vladimir Vantsevich, University of Alabama at Birmingham, U.S.A.

10:30 – 10:50 Coffee and Tea Break, EC1-29 Session 5. Mathematical and computational techniques and software products Session Chair: Prof. Corina Sandu, Virginia Tech, U.S.A. 10:50 - 12:00 Part I. Multibody aspects

5.1. Uncertainty quantification and propagation through multibody dynamic systems using a polynomial chaos approach; mathematical formulations. 5.2. Application of the generalized polynomial chaos to modelling of ground vehicle systems in realistic off-road proving ground conditions. Incorporation of uncertainties in terrain modelling, soil characteristics, tire parameters, suspension parameters, etc., which heavily affect the vehicles’ handling, agility, and performance. 5.3. Multibody dynamics techniques for real-time parameter estimation that can lead to improved control techniques of terrain vehicles. Vehicle design optimization approach to obtain the best vehicle performance in the presence of conflicting and severe environments. Prof. Corina Sandu, Virginia Tech, U.S.A.

12:00 – 13:00 Lunch and Networking, EC1-29 Session 5. Mathematical and computational techniques and software products (continuation) Session Chair: Prof. Corina Sandu, Virginia Tech, U.S.A. 13:00 - 14:30

5.4. Tyre Force and Moment Behaviour and Tyre Modelling. An introduction to tyres and their modelling requirements including friction and slip mechanisms and force and moment generation. Specific models for vehicle handling (Magic Formula, Harty Model) are also covered as are models for durability ( Finite Elements, FTire). Prof. Mike Blundell, Coventry University, UK

14:30 – 14:45 Coffee and Tea Break, EC1-29 Session 5. Mathematical and computational techniques and software products (continuation) Session Chair: Prof. Corina Sandu, Virginia Tech, U.S.A. 14:45 - 16:00 5.5. The use of multibody systems analysis in vehicle modelling and simulation.

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Prof. Mike Blundell, Coventry University, UK and Dr. Alfred Boulos, MSC Software 16:10 - 16:30 All ASI Lecturers and Staff Members meet to discuss the day outcomes, Lecture room

Day 4: Thursday, July 17, 2014 8:00 - 8:50 Networking, Coffee/Tea

Heather Creel, Sherrye. Watson, Mostafa Salama – registration, reimbursement Laura Harris, Rebecca Russell – coffee/tea

8:50 - 9:00 Prof. Mike Blundell (announcement) Session 5. Mathematical and computational techniques and software products (continuation) Session Chair: Prof. Corina Sandu, Virginia Tech, U.S.A. 9:00 - 10:30 Part II. Computational simulations and associated enabling technologies – Computer

aided geometry design, meshing, visualization and virtual reality 5.6. Develop and deliver high fidelity computational simulations involving fluid as well as structural mechanics and associated enabling technology tools. 5.7. Develop and deliver integration of simulations and experimental multibody dynamics techniques will be considered for improving the vehicle design using multidisciplinary optimization approach to provide the best vehicle performance. 5.8. Virtual and immersive visualization environment will be generated and used for analysis, design and ASI students training. Prof. Bharat Soni, Tennessee technological University, U.S.A.

10:30 – 10:50 Coffee and Tea Break, EC1-29 Session 6. New methods and techniques in on-line control and learning Session Chair: Dr. Kyriakos Vamvoudakis, University of California, Santa Barbara, U.S.A. 10:50 - 12:00 6.1. Bringing together distributed/cooperative on-line control, reinforcement learning, and

game theory to achieve a radical improvement in the agile performance of unmanned ground vehicles, including vehicle teams, at high speeds. 6.2. Enabling on-board autonomy and coordination of distributed, heterogeneous teams of unmanned ground vehicles, the proposed NATO ASI will present in detail online reinforcement learning algorithms for autonomous game-based control of agile vehicles. 6.3. Presenting online optimization algorithms in cyber-physical systems that can guarantee robustness, mission completion and agreement in the presence of measurement and jamming network attacks in a given presence of enemy components and the possibility of malicious attacks compromising the security of networked teams of unmanned ground vehicles. Teams will be capable of breaking or splitting into parts that are themselves autonomous. 6.4. Case study: i) Air/Ground scenario (UGV and UAV) involving data exchange, malicious attacks, avoidance maneuvers ii) Ground/Ground scenario involving patrolling or monitoring. Dr. Kyriakos Vamvoudakis, University of California, Santa Barbara, U.S.A. Dr. Gregory Hudas, US Army Tank Automotive Research Engineering Center, U.S.A.

12:00 – 13:00 Lunch and Networking, EC1-29 Session 7. Mechatronics and cyber-physics issues of agile vehicle dynamics to design for control and energy harvesting Session Chair: Dr. Farbod Khoshnoud, Brunel University, UK 13:00 - 14:30

7.1. Traditional procedures for Mechatronics design that are hierarchically separated into topological design and parametric design. Extending this concept, the mechatronic design quotient (MDQ) as developed by Khoshnoud and de Silva will be “structured” into a multi-layered hierarchy. 7.2. Dynamic models that can significantly benefit the design process and control performance. We have utilized bond-graph and linear-graph models for this purpose, particularly as they provide a direct correspondence to the physical component topology of

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the system, but the latter is preferred. Dr. Farbod Khoshnoud, Brunel University, UK Prof. Clarence de Silva, The University of British Columbia, Canada

14:30 – 14:45 Coffee and Tea Break, EC1-29 Session 7. Mechatronics and cyber-physics issues of agile vehicle dynamics to design for control and energy harvesting (continuation) Session Chair: Dr. Farbod Khoshnoud, Brunel University, UK 14:45 - 16:00 7.3. Cyber-physics issues to emphasize all aspects of the vehicle mechatronics and ensure

the security of the sensory communication system between the mechanical-electrical interconnected components. 7.4. Improved design to reduce the control burden in an automated industrial machine. In this context, “design for control performance” will be explored and integrated into the overall design methodology and its optimization. In particular, control specifications that represent such performance attributes as controllability, observability, stability, speed of response, and accuracy will be represented as design indices within an MDQ layer. Dr. Farbod Khoshnoud, Brunel University, UK Prof. Clarence de Silva, The University of British Columbia, Canada

16:10 - 16:30 All ASI Lecturers and Staff Members meet to discuss the day outcomes, Lecture room

Day 5: Friday, July 18, 2014 8:00 - 8:50 Networking, Coffee/Tea

Heather Creel, Sherrye. Watson, Mostafa Salama – registration, reimbursement Laura Harris, Rebecca Russell – coffee/tea

8:50 - 9:00 Prof. Mike Blundell (announcement) Session 7. Mechatronics and cyber-physics issues of agile vehicle dynamics to design for control and energy harvesting (continuation) Session Chair: Dr. Farbod Khoshnoud, Brunel University, UK 9:00 - 10:30 7.5. Self-powered Dynamic Systems such as self-powered sensors, actuators, and control

systems using energy harvesting techniques can lead to significant improvements in the efficiency and sustainability of a vehicle system, while striving for a degree of optimization in a multi-domain mechatronic context. These issues will be considered, specifically for the development of agile vehicles. Dr. Farbod Khoshnoud, Brunel University, UK Prof. Clarence de Silva, The University of British Columbia, Canada

10:30 – 10:50 Coffee and Tea Break, EC1-29 Session 7. Mechatronics and cyber-physics issues of agile vehicle dynamics to design for control and energy harvesting (continuation) Session Chair: Dr. Farbod Khoshnoud, Brunel University, UK 10:50 - 12:00 7.6. Advanced knowledge in decomposition, representation, aggregation, and optimization

(multi-objective and multi-domain) in different layers of a design hierarchy; model formulation and analysis, including innovative and enhanced model elements; and design-control trade-off optimization for performance, and stability analysis. General and specific methodologies for model-based optimization of design and control performance will be developed and analyzed. Energy harvesting will be integrated into various segments of an advanced vehicle system, in its optimal mechatronic design. The developed technologies will be implemented in prototype systems in laboratory and rigorously evaluated and further refined for vehicle applications. Dr. Farbod Khoshnoud, Brunel University, UK Prof. Clarence de Silva, The University of British Columbia, Canada

12:00 – 13:00 Lunch and Networking, EC1-29 Session 8. Suspension Design and Analysis for Ride, Handling and Durability Session Chair: Prof. Mike Blundell, Coventry University, UK

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8.1. The role of the suspension system and the areas of vehicle handling, ride and durability covering the design of suspension systems for kinematic and complaint wheel plane control and the modelling and the modelling of specific suspension elements such as springs, dampers and elastomers. Prof. Mike Blundell, Coventry University, UK Mike Dickison, Coventry University, UK

14:30 – 14:45 Coffee and Tea Break, EC1-29 Session 8. Suspension Design and Analysis for Ride, Handling and Durability (continuation) Session Chair: Prof. Mike Blundell, Coventry University, UK 14:45 - 16:00 8.2. The use of predictive engineering and the design processes required to engineer agile

vehicle dynamics in hostile environments. The integrity of suspension components in extreme load environments is covered with a focus on the modelling and simulation processes including the use of state of the art tyre models such as FTire to replicate vehicle performance in off road or severe environments. Prof. Mike Blundell, Coventry University, UK Mike Dickison, Coventry University, UK

16:00 - 16:30 ASI Closing. Lecture room Prof. Mike Blundell Prof. Vladimir Vantsevich Prof. Annika Stensson Trigell ASI Students and Observers

16:30 - 17:00 All Lecturers and Co-authors Meeting to discuss the outcomes of the ASI, NATO book and potential future activities.