2006 Spring SIW

•

Huma -in- he loop s· ulation-based Combat Vehic e Duty Cyc e Measurement:

Duty Cycle Experiment 1 (06S-SIW -080)

·_ -~- ~icto J. Pa 1 - ·

U.S. Arm TARDEC-GVSL

April4-5, 2006

\

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1. REPORT DATE 27 MAR 2006

2. REPORT TYPE Briefing Charts

3. DATES COVERED 27-03-2006 to 27-03-2006

4. TITLE AND SUBTITLE HUMAN-IN-THE-LOOP SIMULATION-BASED COMBAT VEHICLEDUTY CYCLE MEASUREMENT: DUTY CYCLE EXPERIMENT 1 (06S-SIW-080)

5a. CONTRACT NUMBER

5b. GRANT NUMBER

5c. PROGRAM ELEMENT NUMBER

6. AUTHOR(S) Victor Paul

5d. PROJECT NUMBER

5e. TASK NUMBER

5f. WORK UNIT NUMBER

7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) U.S. Army TARDEC ,6501 E.11 Mile Rd,Warren,MI,48397-5000

8. PERFORMING ORGANIZATIONREPORT NUMBER #15662

9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) U.S. Army TARDEC, 6501 E.11 Mile Rd, Warren, MI, 48397-5000

10. SPONSOR/MONITOR’S ACRONYM(S) TARDEC

11. SPONSOR/MONITOR’S REPORT NUMBER(S) #15662

12. DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited

13. SUPPLEMENTARY NOTES SPRING SIW CONFERENCE, HUNTSVILLE, AL 2006

14. ABSTRACT N/A

15. SUBJECT TERMS

16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT Same as

Report (SAR)

18. NUMBEROF PAGES

25

19a. NAME OFRESPONSIBLE PERSON

a. REPORT unclassified

b. ABSTRACT unclassified

c. THIS PAGE unclassified

Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18

2006 Spring SIW

• Duty Cycle Experiments

• Simulation Objectives

• Simu ation Design

. , Experiment Design

• Concl sions

068-SIW-080

••

2

2006 Spring SIW

• T ARDEC ha a Power & Energy program to develop future vehic e power systems.

• Des· gn requires understanding of use.

• To measure use, vehicle must exist.

• IDuty yc e experiments use simulation to mea ure d ty cycles of notional vehicles.

• Duty cycle captures:

-Operator (driver/gunner) use

- External events

068-SIW-080 3

Si ulation Objectives

• Create motion ba ed im lation to invoke realistic driving behaviors

• Measure power usage of modeled vehicle during simulated battle

' .. - Mobility Load . •

- Non-Mobility Loads

• Move towards hardware-in-the-loop experiment

068-SIW-080 4

Design: op Level 2006 Spring SIW

• 6 Major Components

• 12 Computer

• Communications

-Ethernet

-SCRAMNet

• Performance:

-Model update: 500Hz

-System Latency: 247 ms

068-SIW-080

OTB

SimObserver

A Kit

Vehicle Power Dynamics System

Model Model

SCRAM Net Audio

RMS CAT Crewstation F----------'

S-Video

•

5

ulation Design: MS Platform Payload

Platform Diameter

Acceleration Bandwidth

Axes Displacement Linear (vert., lat. , long. } Angular (roll , pitch , yaw)

Axes Velocity Linear (vert., lat. long.) Angular (roll , pitch, yaw)

Axes Acceleration in ear vert., lat. , long.)

Angular (roll, pitch, ya )

Man-in-the-loop simulation Human/Robotic Investigations Crew station design HLA exercises/war-gaming

1,600 lbs.

46inches

40Hz

±20 in. ±20 °

±50 in./s ± 70 °/s

± 2 g's ± 1150 Q/s2

Crew station and component development Seat characterization Hardware component testing

068-SIW-080

Motion Drive Washout Algorithms Real-time Vehicle Dynamics Control Loaders Function Generator Random Signal Generator

Data Acquisition Soldier Performance Vehicle Performance HLA Battlefield Scenarios Simulator Performance

Th~ ----------------------------6

Simulatio Design: CAT Crewstation

• Research tool for future crew tation

• 3 touch creen

- 6 virtual di play

~ Multi-function • I

• oft button + hard b tton

• Yoke + Pedals • "Drive'' function

068-SIW-080 7

• Provided with CAT

-Training

-Mission Rehear al

• U ed as DCE IG

• J3 ased on open architecture

• Inte faces to OTB

"Mobility" process replaced with VDMS

06 -SIW-080

X-IG Chan 1

X-IG Chan 2

1ij

E~ Q) 0 . - ~ c_.

• Cf) Q) Cf)z

. w

X-fG Chan n

SAF

Vehicle "n11

r--1 M-ol.:>-ility----.1 ~

I RST A jjweapon I

~ .... ~ -Q) z Q)

.2

..c. Q)

>

8

2006 Spring SIW

• VDMS i a process: -Real-time Dynamics

-Power Train

-Terrain Model -Interfaces to external

y tern . e · ver dynamic model

in executable form. • Can be used to sim late

unmanned or manmed vehicles.

068-SIW-080

VDMS Vehicle Power

Dynamics System Model Model

TCP/IP

ESS

9

Simulation Design: Vehicle Dynamics

• 24 T Tracked Vehicle (MCS)

• Front-drive

• 6 road wheel I ide

·• SimCreator®' s ulti- J bod ynamics

• Executes in VDMS

• Interfaces to Power System

068-SIW-080 10

I

• Serie Hybrid Power System for MCS

• Independent Left/Right

• Die el Engine/Generator

~ 600 V bus w fB attery

• ~wo 300 W tract" on motors.

• Includes thermal model

• Implemented in Simulink w/ Real-time workshop

068-SIW-080 11

• Internal sound

-Engine

-Track

-Engine RPM & vehicle peed change sonnd ~~~

• External ounds

-Battle noise

-Bullet Pings

068-SIW-080 12

Experiment Design: wo Experiments

• DCEl • DCEI .l

- Formal Study - Informal follow-on

- Battle cenario - Driving scenario

- 9 civilian subjects - ? civilian subject

068-SIW-080 13

• A e aggregate power con umption u · ng CASTFOREM

• Extract vignet e

- 9 hours into battle I •• -MCS LT

-Road March ( 12 km)

-Dismount ambush

• Drive+ defensive systems

068-SIW-080 14

DC :0 ta ion

• Implemented in OTB 2.0 Alpha Subject 4

• Blue forces: Alpha -3 SAFM Proxy

3 • "Alpha 1" -''Alpha 3" •••• Commander

~ -- 1 Virtua MCS .....

• "Alpha 4" ·I

• Red forces

- RPG Alpha

1

-ATGM

068-SIW-080 15

DCEl : Proxy Commander

• Serve as PL T leader

• Give direction

• Maintain ''chatter''

06S-SIW-080

Voice

•Give miss· on briefing

•Monitors OTB

1(o

• 57 channel of data at 100Hz • Video of experiment

- 31 vehicle dynamic • Event

- 26 power y tern - hit

- transmi ion ~-

•

- """ 1100 11100 1i!ll0 '""" 11101)

liiXI - I 0 200 - 000 IICU 1000 12(10 1000 1000

068-SIW-080 17

• Drive one lap on hilly Army proving ground cour e.

• Record driver commands, speed, locatio .

• Seven subjects drawn from experimenters

068-SIW-080 19

• Affidavits and questionnaires

-Consent form

a d i g

-Simulation Sickne s Que tionnaire (1 of 3)

-Demographic Que tionnaire 1 •• Mission B · efing · ..

• Practice dri e • Simulation Sickness Questionnaire (2 of 3)

• Conduct experiment

• Simulation Sickness Questionnaire (3 of 3)

• Exit Interview

068-SIW-080

- 4j1ours

18

• •

c es Its: Demogra

• 9 Subjects (7 male, 2 female)

-Age 29 ± 2.2 years

-Education: 4.7 years ± 0.3 yr post HS.

~: Driving exp: 13 ±: 2.4 yrs. -- --- r

-M-litary vehicle exp: 5 subjects • None with tracked vehicle exp

-Computer use: 46 ± 7 hrs/wk.

-Video game exp: 5.8 ± 1.5 hrs/mo.

068-SIW-080 20

DC es ts: Duty eye e

I

• 6 ubject completed

• 3 ended early - computer era ,h

·• No · gnificant imu ator sickness 11

113 '(

111 •·

~ ~ 110 '

E 109

'108

107 i

106 '· 3 84 85

• • .... Driwn path

86 87 88 Y (km, + = East) ___, __ _

•

----path

start X stop

89

068-SIW-080

,---•

Approximate Elevation and Grade Performance (measured from vehicle global position) 480

0:: ~ 460 +_ 440 .s g 420

~ 400 G>

a; 380 . 0

0

-g 1

CEl.l es Is:

• 7 ubject completed

• Lap times

-14.2 - 22.4 minute

. _ -• Turns divergence •

'!.' Driven path 1 c

0.9·-

' A\ 0.8 0.7 € ~ 0.6 n + e o.s ~

>< 0.4

0.3

0.2·

0.1' --0 0.2 0.4 0.6 0.8 1.2

Y (km, +=East)

068-SIW-080

uty eye e Approximate Elevation and Grade Performance

c: .g 01

~ Qj

60' 0 2

40:· iii c: '5 20:

l i~~r -8 -20: I!! Cl

-40' 0 2

~ 11--,-

~ E~ I o o" 0.5 u__. a! g 0'--dl 0

Ill ... I!! 0'-.0

0

100: :2 &

2

3

3 distance (km)

3

3

50 '0 Gl Qj

ollf Q. 0

~~~-[ ;:::\ . 0 2 3

distance (km)

4 5

4 5

4

4

---

4

6

-6

5 6

l 5 6

22

DC 1.1 es

• Find average path

• Synchronize data at each point.

• 2m averaging

ts: Path ve • aging ...

"' "

I Speed f . /I

'·-t·' :; ~.

1000 2000 3000 """ .-..:_. ________ ... ,_, 5000

1000 :-- - - I

900 I Path I 800·· ' , I

., '

_; ... ~) 1,1 II .·'

100'-0

/ ~·-

- J -. -' --- -----=-----=-- --~ -

200 400

068-SIW-080

600 800

J 0.7·

o.e· ~ • 0.5>---

! Ill 0.4•-

o' 0

II Brake

- 5000 Ot.tanceon p«lh (m)

6000

-

CEl.l esu s: at Averag· g

800

910

00 /r'

900 600 /

500 8110 \

' 880

/ 00·

870 ,=

200· /

• 100' 0 200 400 600 800 1000

000 \ 1010 1020

1200 1030 1060 1040 1050 1070

~ ~-- --~----- ~--- ..... __ 410 1 \ t ,,

700

&90 400 " .,

680 \ '·

\ 390 'JI I' sao : ~ : ' I '

' I

370 1 ~ .,

\ , r· 670

.,.

I 660 6SO I

\

i!60

6AO J •\, 'II

530 . ,1

·''

06S-S 420 440 460 480 1100 1110 1120 1130 1140 1150 24 TAN~

I • ....

Co elusions

• wo duty cycle were recorded.

-Battle scenario with driving and defensive systems.

-Power train evaluation course. • J

•· Motion base simulation affects how a vehicle is operated.

• A scenario may be extracted from a force-on-force simulation and executed at a higher resolution.

068-SIW-080 25