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When a vehicle changes speed or direction, the interaction between the contacting surfaces of the tire and the pavement form frictional forces. The pavement's contribution to tire-pavement friction is referred to as skid resistance and is provided by pavement microtexture and macrotexture. The amount of skid resistance depreciates over time due to the polishing action of traffic, and for this reason, the skid resistance should be monitored with friction testing equipment. The equipment use one of four test methods to measure network-level friction: ASTM E 274 locked-wheel, ASTM E 2340 fixed-slip technique, ASTM E 1859 variable-slip technique, and sideways-force coefficient (SFC) technique. The fixed-slip, variable-slip, and SFC techniques are used in continuous friction measurement equipment (CFME). In the United States, skid resistance is traditionally measured with a locked-wheel skid trailer (LWST) equipped with either a ASTM E 501 ribbed or a ASTM E 524 smooth 'no tread' tire. Since the LWST fully-locks the test wheel to measure friction, it is only capable of spot testing tangent sections of roadway. By contrast, the remaining three test methods never lock their test wheels and, therefore, they can collect friction measurements continuously on all types of roadway, including curves and t-intersections. For this reason, highway agencies in the U.S. are interested in transitioning from using a LWST to using one of three continuous methods. This dissertation explores the use of continuous friction measurements, collected with a Sideways-force Coefficient Routine Investigation Machine (SCRIM), in a systemic highway safety management approach to reduce crashes that result in fatalities, injuries, and property damage only. The dissertation presents four manuscripts. In the first manuscript, orthogonal regression is used to develop models for converting between friction measurements with a SCRIM and LWST with both a ribbed and smooth tire. The results indicated that the LWST smooth tire measured friction with greater sensitivity to changes in macrotexture than the SCRIM and LWST ribbed tire. The SCRIM also had greater correlation to the LWST ribbed tire than the LWST smooth tire. The second investigation establishes the relationship between friction measured with a SCRIM and the risk of crashes on dry and wet pavement surfaces. The results of this showed that increasing friction decreases both dry and wet pavement crashes; however, friction was found to have greater impact in wet conditions. Due to the negative relationship between friction and crashes, eventually there will be a point where further losses in friction can result in a rapid increase in crash risk. This point can be identified with a friction threshold known as an investigatory level. When measured friction is at or below the investigatory level, an in- and out-of-field investigation is required to determine whether a countermeasure is necessary to improve safety. The third manuscript proposes a statistical regression approach for determining investigatory levels. Since this approach relies on statistical regression, the results are objective and should be the same for any analyst reviewing the same data. The investigatory levels can be used in a systemic approach that identifies locations where crashes can be reduced based on a benefit-cost analysis of surface treatments. Last, the forth manuscript demonstrates a benefit-cost analysis that selects surface treatments based on crash reductions predicted with continuous friction measurements. / Doctor of Philosophy / When a vehicle changes speed or direction, the tires slide over the pavement surface, creating friction that produces the traction that is necessary for the vehicle to change speed or direction. Friction can diminish when water, dust, and other contaminants are present, or over time due to traffic. Over time, the loss in friction causes the risk of a crash to increase. However, this relationship is non-linear, and therefore, eventually there will be a point where further losses in friction can cause a rapid increase in crash risk. For this reason, the pavement friction is monitored with equipment that slides a rubber tire with known properties over a pavement surface. Since friction is lowest when the pavement is wet, the equipment applies a film of water to the surface directly in front of the sliding tire. There are different types of equipment used to measure friction. The physical designs of the equipment and their method of testing may be different. For example, some devices measure friction by sliding a wheel that is angled away from the path of the vehicle, while others slide a wheel that is aligned with the vehicle but reduced in speed compared to the vehicle. The factors that make the equipment different can affect the quantity of friction that is measured, as well as the timing between each consecutive measurement. The advantages that some equipment offers can entice highway agencies to transition from a pre-existing system to a more advantageous system. Before transitioning, the measurements from the two types of equipment should be compared directly to determine their correlation. Statistical regression can also be used to develop models for converting the measurements from the new equipment to the units of the current, which can help engineers interpret the measurements, and to integrate them into an existing database. The presence of water on a pavement surface can result in a temporary loss of friction that can increase the risk of a crash beyond the normal, dry pavement state. This does not guarantee that dry pavements have sufficient friction as is suggested in most literature. In this dissertation, the relationship between friction and the risk of a crash on dry and wet pavements are evaluated together. The results show that increasing friction can decrease the crash risk on both dry and wet pavement surfaces. The amount of friction that is needed to maintain low crash risk is not the same for every section of road. Locations such as approaches to curves or intersections can increase the risk of a crash, and for that reason, some sections of roadway require more friction than others. Minimum levels of friction called investigatory levels can be established to trigger an in- and out-of-field investigation to determine whether improving friction can improve safety when the measured friction is at or below a specific value. This dissertation proposes a methodology for determining the investigatory levels of friction for different sections of roadway using a statistical regression approach. The investigatory levels are then used to identify locations where pavement surface treatments can reduce crashes based on a benefit-cost analysis. Last, the ability of a surface treatment to reduce crashes is evaluated using another statistical regression approach that predicts changes in crash risk using friction measurements. Since there are several treatment options, a treatment is selected based on estimated cost and benefit.

Sediment is a prevalent non-point source pollutant associated with forest operations. Roads and skid trail surfaces have erosion rates that are greater than the harvest area. Forestry best management practices (BMPs) have been developed to minimize erosion on skid trails, but few projects have compared the effectiveness of different BMPs for bladed skid trails in the mountains. This project evaluated soil erosion rates from bladed skid trails in the Ridge and Valley physiographic region of Virginia following an operational timber harvest. Skid trails were assigned into six blocks where each block had similar slopes and soils. All BMP treatments had waterbars, which are considered the minimum acceptable BMP closure treatment. Each block contained four different skid trail closure BMP treatments (waterbar only (Control), slash-covered (Slash), seeded (Seed), and seeded with fertilizer and mulch (Mulch)). The 24 treatment units were isolated with waterbars and installed following the Virginia Department of Forestry (VDOF) BMP guidelines. The randomized complete block design had three slope class ranges: gentle (0%-10%), moderate (11%-20%), and steep (21%-30%). Stormwater runoff from skid trails was directed at downslope waterbars and eroded material was trapped in silt fences at each treatment area. Depth and area of eroded soil collected in silt fences was measured monthly to quantify total erosion volume for the skid trail area and converted to a per acre basis. Volumes were converted to mass using soil bulk density within the trapped sediment. Control treatments had an average erosion rate of 6.8 tons ac-1 yr-1, with rates up to 73.5 tons ac-1 yr-1 following installation and during extreme rainfall events. Seed treatments recorded an average erosion rate of 2.6 tons ac-1 yr-1, with rates reaching 27.2 tons ac-1 yr-1. Adding grass seed provided ground cover, but not consistently over time. Due to high rates of ground cover, the Mulch treatments averaged 0.5 tons ac-1 yr-1 with an extreme of 3.8 tons ac-1 yr-1. Slash treatments were found to reduce erosion rates to an average of 0.4 tons ac-1 yr-1, with the highest rate being 1.8 tons ac-1 yr-1. Site characteristics on experimental units were collected quarterly in order to model erosion rates with commonly used erosion models for forestland (USLE-Forest, RUSLE2, WEPP:Road). Direct erosion estimates were compared to erosion model predictions produced by USLE-Forest, RUSLE2, and WEPP:Road in order to partially confirm the relationship between sediment trap data and the models. Using multiple analyses it was determined that USLE-Forest and RUSLE2 predicted mean values that are more similar to the actual measured rates, RUSLE2 and WEPP:Road have better linear relationships to the measured rates than does USLE-Forest, and USLE-Forest was the most statistically similar to the measured data using a nonparametric Steel-Dwass Multiple Comparisons Test. All models performed inadequately when attempting to predict Control or Slash treatments; while all models performed the best at predicting Mulch treatments. / Master of Science

Evaluation of crash count data as a function of roadway characteristics allows Departments of Transportation to predict expected average crash risks in order to assist in identifying segments that could benefit from various treatments. Currently, the evaluation is performed using negative binomial regression, as a function of average annual daily traffic (AADT) and other variables. For this thesis, a crash study was carried out for the interstate, primary and secondary routes, in the Salem District of Virginia. The data used in the study included the following information obtained from Virginia Department of Transportation (VDOT) records: 2010 to 2012 crash data, 2010 to 2012 AADT, and horizontal radius of curvature (CV). Additionally, tire-pavement friction or skid resistance was measured using a continuous friction measurement, fixed-slip device called a Grip Tester. In keeping with the current practice, negative binomial regression was used to relate the crash data to the AADT, skid resistance and CV. To determine which of the variables to include in the final models, the Akaike Information Criterion (AIC) and Log-Likelihood Ratio Tests were performed. By mathematically combining the information acquired from the negative binomial regression models and the information contained in the crash counts, the parameters of each network's true average crash risks were empirically estimated using the Empirical Bayes (EB) approach. The new estimated average crash risks were then used to rank segments according to their empirically estimated crash risk and to prioritize segments according to their expected crash reduction if a friction treatment were applied. / Master of Science

Forestry best management practices (BMPs) programs were developed by individual states in response to the Clean Water Act in order to protect water quality during and after timber harvests. Our research goals are to compare BMP implementation at stream crossings by region and road type in Virginia and to quantify effectiveness of BMPs by developing hypothetical upgrades and determining upgrade costs. Stream crossings (75 truck, 79 skidder) sampled for BMP implementation were on operational harvests conducted in 2016, from the Mountains, Piedmont, and Coastal Plain of Virginia. Erosion rates of stream crossing approaches were modeled using the Universal Soil Loss Equation modified for forest lands (USLE-Forest) and Water Erosion Prediction Project (WEPP) methodologies. Implementation ratings (BMP-, BMP-standard, BMP+) were developed to characterize crossings with respect to state implementation standards. Costs for upgrading crossings to a higher BMP category were estimated by adjusting cover percentages and approach lengths. Sixty-three percent of stream crossings were classified as BMP-standard, with an average erosion rate of 7.6 Mg/ha/yr; 25% of crossings were classified as BMP+, with an average erosion rate of 1.7 Mg/ha/yr; and 12% of crossings were classified as BMP-, with an average erosion rate of 26.2 Mg/ha/yr. Potential erosion rates decreased with increasing BMP implementation (p <0.0001). Average BMP implementation audit scores for stream crossings were 88% on skid trails and 82% on truck roads. To upgrade from a BMP- to BMP-standard, the cost-benefit ratio of dollars to tons of sediment prevented averaged $166.62/Mg for skid trails and $2274.22/Mg for truck roads. Enhancement to the BMP+ level is not economically efficient and BMP implementation at stream crossings reaches maximum efficiency at the BMP-standard level. / M. S. / Timber harvesting can accelerate erosion processes and result in the discharge of large quantities of sediment into nearby water resources if proper management is not used during and after harvests. Most of sediment entering streams is generated from forest roads and trails, particularly at stream crossings. This study includes 154 crossings (75 truck, 78 skidder) randomly selected from the Mountains, Piedmont, and Coastal Plain regions of Virginia. Evaluations were conducted on lands with silvicultural operations completed in 2016 that had truck road crossings and/or skidder crossings over any stream. Information was gathered at each crossing to model the erosion rates from both approaches to the stream by using the Universal Soil Loss Equation modified for forest lands and the Water Erosion Prediction Project. Implementation ratings (BMP-, BMP-standard, BMP+) were developed to characterize crossings with respect to state implementation standards, and evaluate other factors, including stream bank stability, ground cover, and evidence of sedimentation in the stream. The Virginia Department of Forestry BMP audit was used to score the crossings. Costs for upgrading the crossing to a higher BMP category were estimated by adjusting cover and approach lengths, and then using previous research data and existing road cost models. Potential erosion rates decreased with increasing BMP implementation (p <0.0001). Average BMP implementation audit scores for stream crossings were 88% on skid trails and 82% on truck roads. This research contributes to the evidence of BMP effectiveness and provides transparency to the citizens of Virginia regarding sustainable forestry practices.

Short term studies have suggested that ground based timber harvesting on wet sites can alter soil properties and inhibit early survival and growth of seedlings. Persistence of such negative effects may translate to losses in forest productivity over a rotation. During the fall and winter of 1989, numerous salvage logging operations were conducted during high soil moisture conditions on wet pine flats in the lower coastal plain of South Carolina following Hurricane Hugo. A long-term experiment (split-plot within an unbalanced randomized complete block design) allowed assessment of long term effects of rutted and compacted primary skid trails and subsequent site preparation on soil properties and loblolly pine (Pinus taeda L.) productivity. The experiment had 12 blocks, four levels of site preparation as the whole plot factor (bedding, disking with bedding, disking, and no site preparation), and two levels of traffic as the subplot factor (primary skid trail, no obvious traffic). After 23 years, bedding and disking with bedding treatments effectively enhanced soil physical properties and stand productivity via promoting greater survival and stocking, but had little effect on the size of individual trees relative to disking and no site preparation treatments. Primary skid trails significantly reduced the size of individual trees, but had no appreciable long term effects on soil properties or stand productivity after 23 years. The study suggests that bedding is the most efficient practice to enhance soil properties, seedling survival, and stand productivity on wet sites. However, site preparation is not necessary for these soils and sites, if strictly intended to restore soil properties and stand productivity in primary skid trails. Reduction in individual tree sizes on primary skid trails emphasizes benefits in minimizing the spatial extent of disturbance. / Master of Science / Heavy equipment traffic associated with ground-based timber harvesting has potential to alter soil properties resulting in lower productivity of the subsequent forest. Various soil tillage techniques have been suggested to offset changes in soil properties and forest productivity on disturbed soils, and to enhance soil properties and forest productivity on undisturbed soils. An experiment was conducted on low-lying Atlantic Coastal Plain sites to compare the effects of four soil tillage treatments (bedding, disking, disking with bedding, no tillage) on soil properties and forest productivity 23 years after treatments were installed. Bedding displaces soil from furrows into continuous, linear mounds called beds, such that bed surfaces are above the original soil surface. Disking is a tillage practice commonly implemented in agriculture. For the disking with bedding treatment, plots were disked followed by bedding. The no tillage treatment served as a control. Additionally, the experiment provided comparison of soil properties and forest productivity between soils heavily disturbed by logging activities and relatively undisturbed soils. Bedding and disking with bedding created favorable, localized soil conditions that promoted greater loblolly pine survival which translated to approximately double the total stand volume per unit area relative to disking and no tillage treatments. Differences in the sizes of individual trees among tillage treatments were minimal. Heavily disturbed soils and soils undisturbed by logging activity were similar in terms of soil properties and loblolly pine volume per unit area; however, individual trees were smaller on heavily disturbed soils. The implications of this study provide practical guidance for forest management decisions. Of treatments compared, bedding is the most efficient to increase total stand productivity on poorly drained sites. Disking with bedding offers no additional benefits, but is more expensive to implement. Results also imply that soils disturbed by logging have potential to recover over time such that long term forest productivity is sustained. However, the reduction in individual tree sizes emphasizes benefits of minimizing soil disturbance during timber harvests.

Sediment is one of the leading non-point source pollutants in the U.S and has detrimental effects on biological communities such as aquatic communities; human use such as recreation; and natural processes such as flood water storage. For silvicultural operations, the majority of sediment is produced from erosion on highly disturbed areas, such as skid trails, haul roads, and log landings. Erosion from silvicultural activities not only has the potential to introduce sediment into waterways but can also decrease site productivity through the removal of topsoil. In order to minimize erosion from silvicultural operations, forestry Best Management Practices (BMPs) have been developed, but efficacies of various BMP options are not well documented. This study evaluated five closure and cover BMPs for the control of erosion on bladed skid trails through both field based measurements with sediment traps and soil erosion modeling. The erosion models used were the Universal Soil Loss Equation for Forestry (USLE – Forest), the Revised Universal Soil Loss Equation version 2 (RUSLE2), and the Water Erosion Prediction Project for Forest Roads (WEPP – Forest Roads). Erosion model predictions were also regressed against field based results to determine accuracy. The bladed skid trail BMP treatments evaluated were: 1) water bar only (Control); 2) water bar and grass seed (Seed); 3) water bar, grass seed, and straw mulch (Mulch); 4) water bar and piled hardwood slash (Hardwood Slash); and 5) water bar and piled pine slash (Pine Slash). Field based results show that the Control treatment was the most erosive (137.7 tonnes/ha/yr), followed by the Seed treatment (31.5 tonnes/ha/yr), Hardwood Slash treatment (8.9 tonnes/ha/yr), Pine Slash treatment (5.9 tonnes/ha/yr), and finally the Mulch treatment was the most effective erosion control technique (3.0 tonnes/ha/yr). Model accuracy results show that RUSLE2 performed the best overall. Both USLE – Forest and WEPP – Forest Roads under predicted values on the Control treatment, where erosion rates were very high. WEPP – Forest Roads under predicted these values the most. All models generally show that the Control was the most erosive followed by the Seed, Hardwood Slash, Pine Slash, and Mulch treatments. / Master of Science

This thesis deals with the design of an anti-skid brake controller for a generic fighter aircraft. Antiskid brake controllers prevent wheel locking and maximize the coefficient of friction between the tyre and the ground, resulting in lower stopping distance and time. The frictional force is maximized by regulating the slip. A model for the landing gear is first developed, which consists of the translational and rotational motions of the wheel, the equation for the slip and the elastic landing gear strut dynamics. The elastic behaviour of the landing gear is characterized through its modal frequencies, obtained from a Finite element analysis. As the governing equations are nonlinear, with linear elastic deformations of the strut, feedback linearization is used to design the anti-skid controller. The brake controller is found to work well. Its stability is verified through numerical simulations. Both the plant parameters and the sensor measurements are perturbed up to 10% from their nominal values. It is seen that the feedback linearization tolerates these variations quite well. The system is exceptionally tolerant to sensor noises. The torsional stiffness of the strut is found to be more critical than the longitudinal stiffness. Limits on the torsional stiffness that can be tolerated by the controller are found. This determines the limits on the stiffness of the landing gear beyond which gear walk may appear. The thesis concludes with suggestions for future work in this exciting field.

[pt] Robôs móveis autônomos são um grande foco de pesquisa devido à sua aplicabilidade e interdisciplinaridade. Robôs móveis com roda de direção diferencial, além de possuírem alta não-linearidade, detêm uma característica inerente à sua geometria: suas rodas só podem girar em torno de eixos fixos, sem esterçamento. Com isso, o deslizamento longitudinal e lateral é inevitável, principalmente quando o sistema está em movimento sob efeitos dinâmicos significativos. Controle Preditivo baseado em Modelo Não-Linear, Nonlinear Model Predictive Control (NMPC), é amplamente utilizado nesses casos, já que consegue lidar com sistemas com múltiplas restrições. O presente trabalho apresenta modelos matemáticos de um robô móvel com roda do tipo skidsteer, procedente da direção diferencial, incluindo o deslizamento longitudinal, aos quais o NMPC é empregado para seguimento de trajetória, obtendo trajetórias similares à de referência. Verificando que o custo de processamento de tais controladores pode ser muito alto para uso em tempo real, um controle hierárquico é desenvolvido otimizando as forças longitudinais entre as rodas e o solo para encontrar deslizamentos de referência para uma determinada trajetória a ser seguida. Como em um ambiente real nem todos os estados podem ser medidos, o controle necessita também estimar os estados não medidos. A Estimação de Estados por Horizonte Móvel, (Moving Horizon State Estimation (MHSE)), derivada dos fundamentos do NMPC, foi utilizada para realizar a estimativa, já que possui recursos para manter o sistema sob as restrições. Com o MHSE, o deslizamento do sistema pode ser calculado a partir dos estados estimados para as trajetórias obtidas com o Controle Preditivo baseado em Modelo, (Model Predictive Control (MPC)). Por fim, uma rede neural foi treinada com os estados preditos e estimados com o MHSE para que pudesse substituí-lo para que todo o controle fosse utilizado em tempo real. Com isso, o tempo computacional foi reduzido devido a substituição do MHSE. / [en] Autonomous mobile robots are a major focus of research due to their applicability and interdisciplinarity. Depending on the type of locomotion, the system’s controller needs to handle not only trajectory tracking but also the way the system interacts with the ground. Mobile robots with differential drive wheels, in addition to having high nonlinearity, possess an inherent characteristic due to their geometry: their wheels can only rotate around fixed axes, without steering. As a result, longitudinal and lateral slip is inevitable, especially when the system is in motion under significant dynamic effects. Nonlinear Model Predictive Control (NMPC) is widely used in these cases, as it can handle systems with multiple constraints. This work presents mathematical models of a skid-steer mobile robot, derived from differential drive, including longitudinal slip, to which NMPC is applied for trajectory tracking, achieving trajectories similar to the reference. Given that the processing cost of such controllers can be very high for real-time use, a hierarchical control is developed, optimizing the longitudinal forces between the wheels and the ground to find reference slips for a given trajectory to be followed. Since in a real environment not all states can be measured, the control also needs to estimate the unmeasured states. Moving Horizon State Estimation (MHSE), derived from the fundamentals of NMPC, was used to perform the estimation, as it has the resources to keep the system within the constraints. With MHSE, the system’s slip can be calculated from the estimated states for the trajectories obtained with Model Predictive Control (MPC). Finally, a neural network was trained with the predicted and estimated states using MHSE to replace it so that the entire control could be used in real-time. As a result, computational time was reduced due to the replacement of MHSE.