Algorithms for autonomous tandem operation of a dual M113 system

In mid-July 2003, the U.S. Army Tank-Automotive & Armaments Command (TACOM) performed a series of experiments at Keweenaw Research Center (KRC), with a remote operated mine roller system. This system, named Panther Lite, consists of two M113 Armored Personnel Carriers (APC’s) connected by a Tandem Vehicle Linkage Assembly (TVLA). The system has three sets of mine rollers, two of which are connected to the front of the lead vehicle with one set trailing from the trail vehicle. Currently, the system requires two joystick controllers. One regulates the braking of the tracks, throttle, and transmission of the lead vehicle and the other controls the braking and throttle of the rear vehicle. One operator controls both joysticks, attempting to maneuver the lead vehicle along a desired path. At the same time, this operator makes compensation maneuvers to reduce lateral loads in the TVLA and to guide the rear mine rollers along the desired path. The purpose of this project is to create algorithms that would allow the slave (trail) vehicle to operate using inputs that maneuver the control (lead) vehicle. The project will be completed by first reconstructing the experimental data. Kinematic models will be generated and simulations created. The models will then be correlated with the reconstructions of the experimental data. The successful completion of this project will be a first step to eliminating the need for the second joystick.

Tracing the source of groundwater for three different coastal peatlands along Lake Superior

The goal of this project was to investigate the influence of a large inland lake on adjacent coastal freshwater peatlands. The specific aim was to determine the source of groundwater for three differently formed peatlands located on the southern shore of Lake Superior. The groundwater study was conducted at Bete Grise, a peatland complex in a dune-swale system; Pequaming, a peatland developed in the swale of a tombolo; and Lightfoot Bay, a peatland developed in a barrier beach wetland complex. To determine the source of groundwater in the peatlands, transects of six groundwater monitoring wells were established at each study site, covering distinctly different vegetation zones. At Pequaming and Lightfoot Bay the transects monitored two vegetation zones: transition zone from upland and open fen. At Bete Grise, the transects monitored dunes and swales. Additionally, at all three sites, upland groundwater was monitored using three wells that were installed into the adjacent upland forest. Biweekly measurements of well water pH and specific conductance were carried out from May to October of 2010. At each site, vegetation cover, peat depths and surface elevations were determined and compared to Lake Superior water levels. From June 14 – 17, July 20 – 21 and September 10 – 12, stable isotopes of oxygen (18O/16O) ratios were measured in all the wells and for Lake Superior water. A mixing model was used to estimate the percentage of lake water influencing each site based on the oxygen isotope ratios. During the sampling period, groundwater at all three sites was supported primarily by upland groundwater. Pequaming was approximately 80 % upland groundwater supported and up to 20 % Lake water supported in the uppermost 1 m layer of peat column of the transition zone and open fen. Bete Grise and Lightfoot Bay were 100 % upland groundwater supported throughout the season. The height of Lake Superior was near typical levels in 2010. In years when the lake level is higher, Lake water could intrude into the adjacent peatlands. However, under typical hydrologic conditions, these coastal peatlands are primarily supported by upland groundwater.