Driving behavior considerably affects the transportation system, especially lane-changing behavior occasionally cause conflicts between drivers and induce shock waves that propagate backward. A freeway merge section is one of locations observed a freeway bottleneck, generating freeway traffic congestion. The emerging technologies, such as autonomous vehicles (AVs) and vehicle connectivity, are expected to bring about improvement in mobility, safety, and environment. Hence the objective of this study is to enhance freeway merge section operations based on the advanced technologies. To achieve the objective, this study modeled the non-cooperative merging behavior, and then proposed the cooperative applications in consideration of a connected and automated vehicles (CAVs) environment. As a tactical process, decision-making for lane-changing behaviors is complicated as the closest following vehicle in the target lane also behaves concerning to the lane change (reaction to the lane-changing intention), i.e., there is apparent interaction between drivers. To model this decision-making properly, this study used the game theoretical approach which is the study of the ways in which interacting choices of players. The game models were developed to enhance the microscopic simulation model representing human driver's realistic lane-changing maneuvers. The stage game structure was designed and payoff functions corresponding to the action strategy sets were formulated using driver's critical decision variables. Furthermore, the repeated game concept which takes previous game results into account was introduced with the assumption that drivers want to maintain initial decision in competition if there is no significant change of situations. The validation results using empirical data provided that the developed stage game has a prediction accuracy of approximately 86%, and the superior performance of the repeated game was verified by an agent-based simulation model, especially in a competitive scenario. Specifically, it helps a simulation model to not fluctuate in decision-making. Based on the validated non-cooperative game model, in addition, this study proposed the cooperative maneuver planning avoiding the non-cooperative maneuvers with prediction of the other vehicle's desired action. If a competitive action is anticipated, in other words, a CAV changes its action to be cooperative without selfish driving. Simulation results showed that the proposed cooperative maneuver planning can improve traffic flow at a freeway merge section. Lastly, the optimal lane selection (OLS) algorithm was also proposed to assist lane selection in consideration of real-time downstream traffic data transferred via a long-range wireless communication. Simulation case study on I-66 highway proved that the proposed OLS can improve the system-wide freeway traffic flow and lane allocation. Overall, the present work addressed developing the game model for merging maneuvers in a traditional transportation system and suggesting use of efficient algorithms in a CAV environment. These findings will contribute to enhance performance of the microscopic simulator and prepare the new era of future transportation system. / Doctor of Philosophy / Driving behaviors considerably affect the traffic flow; especially a lane change occasionally forces rear vehicles in a target lane to decrease speed or stop, hence it is considered as one of primary sources causing traffic congestion. U.S. Department of Transportation (DOT) announced that freeway bottleneck including merge section contributes to freeway traffic congestion more than 40 percent while traffic incidents count for only 25 percent of freeway congestion. This study, therefore, selected a freeway merge section, where mandatory lane changes are required, as a target area for the study. The emerging technologies, such as autonomous vehicles (AVs) and vehicle connectivity, are expected to bring about improvement in mobility, safety, and environment. Based upon these backgrounds, the objective of this study was determined to enhance freeway merge section operations based on the advanced technologies. To achieve the objective, first this study focused on understanding driving behaviors of human drivers. Decision-making for lane-changing behaviors is complicated as the closest following vehicle in the target lane also behaves concerning to the lane change (reaction to the lane-changing intention), i.e., there is apparent interaction between drivers. For example, the vehicle sometimes interferes the merging vehicle's lane-changing by decreasing a gap. To model the decision-making properly, this study modeled the non-cooperative merging behaviors using a game theoretical approach which mathematically explains the interaction (e.g., cooperation or conflict) between intelligent decision-makers. It was modeled for two vehicles, i.e., the merging vehicle in acceleration lane and a following vehicle in freeway rightmost lane, with possible actions of each vehicle. This model includes how each vehicle chooses an action in consideration of rewards. The developed model showed prediction accuracy of approximately 86% against empirical data collected at a merge section on US 101 highway. This study additionally evaluated the proposed model's rational decision-making performance in various merging situations using an agent-based simulation model. These evaluation results indicate that the developed model can depict merging maneuvers based on practical decision-making. Since most existing lane-changing models were developed from the standpoint of the lane-changing vehicle only, this study anticipates that a lane-changing model including practical decision-making process can be used to precisely analyze traffic flow in microscopic traffic simulation. Additionally, an AV should behave as a human-driven vehicle in order to coexist in traditional transportation system, and can predict surrounding vehicle's movement. The developed model in this study can be a part of AV's driving strategy based on perception of human behaviors. In a future transportation environment, vehicle connectivity enables to identify the surrounding vehicles and transfer the data between vehicles. Also, autonomous driving behaviors can be programmed to reduce competition by predicting behaviors of surrounding human-driven vehicles. This study proposed the cooperative maneuver planning which future connected and automated vehicles (CAVs) avoid choosing the non-cooperative actions based on the game model. If a competitive action is anticipated, in other words, a CAV changes its action to be cooperative without selfish driving. Simulation results showed that the proposed cooperative maneuver planning can improve traffic flow at a freeway merge section. Lastly, the optimal lane selection (OLS) algorithm was also proposed to provide a driver the more efficient lane information in consideration of real-time downstream traffic data transferred via a long-range wireless communication. Simulation case study on I-66 highway proved that the proposed OLS can improve the system-wide freeway traffic flow and lane allocation. Overall, the present work addressed developing the game model for merging maneuvers in a traditional transportation system and suggesting use of efficient algorithms in a CAV environment. These findings will contribute to enhance performance of the microscopic simulator and prepare the new era of future transportation system.

Approved for public release, distribution is unlimited / This thesis develops an integer linear program called MSAMT (Model to Schedule Army Maneuver Training) to schedule an Army installation's maneuver training. We demonstrate MSAMT using a data set containing 261 platoon-level, 67 company-level and 18 battalion-level units, and 7 major training areas located at Fort Hood, Texas. Using a typical near-term planning horizon from 6 to 8 weeks, MSAMT schedules daily training for a randomly selected set of the stationed units and training requirements. For a 6-week time period and almost 65% (63 platoons 16 companies and 5 battalions) of the units there are 151 platoon-level, 51 company-level and 11 battalion-level required tasks of which MSAMT can schedule 93%. When the subset of units is increased to 80% (75 platoons, 20 companies, 6 battalions), there are 187 platoon-level, 62 company-level and 11 battalion-level tasks of which MSAMT can schedule only 85%. Maintaining the 80% unit level but having an 8 weekperiod increases required training achieved to 94%. Such results can help determine the ability of an Army installation to satisfy training requirements of its stationed units as well as identify a shortage or excess in available training land. It can show the training impact of changing the quantity of units at an installation and thereby aid in base realignment and closure decisions. / First Lieutenant, Turkish Army

Approved for public release, distribution is unlimited / This thesis examines a 2015 Marine Expeditionary Brigade scheme of maneuver as the baseline scenario for a commercial logistics support software program called SEAWAY. Modifications to this scenario are conducted using a designed experiment in order to explore how the plan characteristics relate to eleven specified input factors. Multiple regression analysis is used to fit models to the resulting data for three different measures of performance: Total Aircraft Sorties, Total Aircraft Sortie Time and Total Aircraft Tons. The results suggest the plan performance is predicted well by a small subset of the factors and their interactions. One implication of this work is a better understanding of which factors are key determinants of the plan characteristics for variations on this specific base scenario. By using these fitted models, the number of SEAWAY runs needed to identify acceptable plans should decrease dramatically. The approach in this thesis provides a blueprint for similar analyses of other scenarios by demonstrating how information gained from models fit during an exploration phase might allow the logistician to quickly determine factor settings that yield an acceptable plan once details of an operation become available. Finally, working with the SEAWAY developers provided them with some new insights. / Lieutenant Commandeer, United States Navy

No description available.

Approved for public release; distribution in unlimited. / Spray cooling is a promising means of dissipating large steady state heat fluxes in high density power and electronic systems, such as thermophotovoltaic systems. The present study reports on the effectiveness of spray cooling in removing heat fluxes as high as 220 W/cm2. An experiment was designed to determine how the parameters of spray volumetric flow rate and droplet size influence the heat removal capacity of such a system. A series of commercially available nozzles were used to generate full cone water spray patterns encompassing a range of volumetric flow rates (3.79 to 42.32 L/h) and droplet Sauter mean diameters (17.4 to 35.5 micrometers). The non-flooded regime of spray cooling was studied, in which liquid spreading on the heater surface following droplet impact is the key phenomenon that determines the heat transfer rate. The experimental data established a direct proportionality of the heat flux with spray flow rate, and an inverse dependence on the droplet diameter. A correlation of the data was developed to predict heat flux as a function of the studied parameters over the range of values tested in this. / Lieutenant, United States Navy

Les travaux de cette thèse portent sur la navigation des véhicules autonomes, notamment la planification de trajectoires et le contrôle du véhicule. En premier lieu, un modèle véhicule plan est développé en utilisant une technique de modélisation qui assimile le véhicule à un robot constitué de plusieurs corps articulés. La description géométrique du véhicule est basée sur la convention de Denavit-Hartenberg modifiée. Le modèle dynamique du véhicule est ensuite calculé en utilisant la méthode récursive de Newton-Euler, qui est souvent utilisée dans le domaine de robotique. La validation du modèle a été conduite sur le simulateur Scaner-Studio développé par Oktal pour les applications automobiles. Le modèle du véhicule développé est ensuite utilisé pour la synthèse de lois de commande couplées pour les dynamiques longitudinale et latérale du véhicule. Deux correcteurs sont proposés dans ce travail : le premier est basé sur les techniques de commande par Lyapunov, le second utilise une approche ”Immersion et Invariance”. Ces deux contrôleurs ont pour objectifs de suivre une trajectoire de référence donnée avec un profil de vitesse désirée, tout en tenant compte du couplage existant entre les dynamiques longitudinale et latérale du véhicule. En effet, le contrôle couplé est nécessaire pour garantir la sécurité du véhicule autonome surtout lors de l’exécution des manœuvres couplées comme les manœuvres de changement de voie, les manœuvres d’évitement d’obstacles et les manœuvres exécutées dans les situations de conduite critiques. Les contrôleurs développés ont été validés en simulation sous Matlab/Simulink en utilisant des données expérimentales. Par la suite, ces contrôleurs ont été validés expérimentalement en utilisant le véhicule démonstrateur robotisé (Renault-Zoé) du laboratoire Heudiasyc financé par l’Equipex Robotex. En ce qui concerne la planification de trajectoires, une méthode de planification basée sur la méthode des tentacules sous forme de clothoides a été développée. En outre, une méthode de planification de manœuvres qui s’intéresse essentiellement à la manœuvre de dépassement a été mise en place, afin d’améliorer et de compléter la méthode locale des tentacules. Le planificateur local et le planificateur de manœuvres ont été ensuite combinés pour établir une stratégie de navigation complète. Cette stratégie a été validée par la suite sous Matlab/Simulink en utilisant le modèle de véhicule développé et le contrôleur basé sur Lyapunov. / In this thesis, the trajectory planning and the control of autonomous vehicles are addressed. As a first step, a multi-body modeling technique is used to develop a four wheeled vehicle planar model. This technique considers the vehicle as a robot consisting of articulated bodies. The geometric description of the vehicle system is derived using the modified Denavit Hartenberg parameterization and then the dynamic model of the vehicle is computed by applying a recursive method used in robotics, namely Newton-Euler based Algorithm. The validation of the developed vehicle model was then conducted using an automotive simulator developed by Oktal, the Scaner-Studio simulator. The developed vehicle model is then used to derive coupled control laws for the lateral and the longitudinal vehicle dynamics. Two coupled controllers are proposed in this thesis: In the first controller, the control is designed using Lyapunov control techniques while in the second one an Immersion and Invariance approach is used. Both of the controllers aim to ensure a robust tracking of the reference trajectory and the desired speed while taking into account the strong coupling between the lateral and the longitudinal vehicle dynamics. In fact, the coupled controller is a key step for the vehicle safety handling, especially in coupled maneuvers such as lane-change maneuvers, obstacle avoidance maneuvers and combined maneuvers in critical driving situations. The developed controllers were validated in simulation under Matlab/Simulink using experimental data. Subsequently, an experimental validation of the proposed controllers was conducted using a robotized vehicle (Renault-ZOE) present in the Heudiasyc laboratory within the Equipex Robotex project. Concerning the trajectory planning, a local planning method based on the clothoid tentacles method is developed. Moreover, a maneuver planning strategy focusing on the overtaking maneuver is developed to improve and complete the local planning approach. The local and the maneuver planners are then combined in order to establish a complete navigation strategy. This strategy is then validated using the developed robotics vehicle model and the Lyapunov based controller under Matlab/Simulink.

<p>Operation Iraqi Freedom 2003 ses ofta som det första tydliga exemplet på amerikansk manöverkrigföring. Under Andra Världskriget hade den amerikanska 4. Pansardivisionen hade en chef i Generalmajor John S. Wood som studerat Liddell Hart, de Gaulle, Fuller och von Seeckt under mellankrigstiden. Kan detta ha renderat i att divisionen stred enligt manöverkrigföringsteorier före 2003? För att analysera detta har ett enkelt teoretiskt perspektiv i form av William S. Linds referenspunkter uppdragstaktik, schwerpunkt och ytor och luckor från Maneuver Warfare Handbook applicerats på fallet som utgörs av 4. Pansardivisionens strider i Lorraine i september 1944 eftersom dessa omfattar både anfall och försvar. 4. Pansardivisionen anföll inledningsvis över floden Moselle och inneslöt en tysk division i staden Nancy med en dubbel omfattning för att därefter föra ett framgångsrikt försvar mot upprepade motanfall från tyska Femte Pansararmén. Tyvärr har inte några källor avseende processer och resulterande order vid 4. Pansardivisionen kunnat säkras. Dock har källor som omfattar generella tankesätt och doktriner vid divisionen studerats. Analysen visar att 4. Pansardivisionen nyttjade Linds referenspunkter i olika stor omfattning. Tydligast är att divisionen använde sig av referenspunkten ytor och luckor i striden. 4. Pansardivisionen nyttjade regelmässigt kombinerade vapen i form av direktriktad och indirekt eld samt flygunderstöd i striden vilket fick en tysk chef att hävda att normala principer för pansarkrigföring inte var tillämpbara på västfronten. Divisionen avdelade sällan reserver men lyckades ändå sätta in motanfall vid ett flertal tillfällen för att använda tyskarnas rörelse mot dem själva.</p> / <p>In Sweden Operation Iraqi Freedom in 2003 is often viewed upon as the first clear example of American maneuver warfare. During the Second World War the commander of the American 4^th Armored Division was initially Major General John S. Wood. He had studied Liddell Hart, de Gaulle, Fuller and von Seeckt during the interwar years. Could this have rendered in the 4^th Armored Division fighting according to maneuver warfare theories before 2003? To analyze this, a simple theory in the shape of William S. Lind´s reference points: mission-type orders, schwerpunkt and surfaces and gaps from the Maneuver Warfare Handbook have been applied to a case. The case chosen is the fighting that the 4^th Armored Division conducted in September of 1944 in the province of Lorraine since this battle includes both offensive and defensive action. Initially the 4^th Armored Division penetrated the German defensive line along the Moselle to encircle the city of Nancy and a German division by a double envelopment. Thereafter the division successfully fought of the repeated counterattacks conducted by the German Fifth Panzer Army.</p><p> No sources include the processes with resulting orders that the division’s commanders gave during the battles have been available for this study. To make up for this sources regarding the doctrine of the 4^th Armored Division as a whole have been studied.</p><p> </p><p>The results indicate that the 4^th Armored Division used Lind’s reference points to varying degrees. The division clearly used the reference point called surfaces and gaps. The 4^th Armored Division regularly used combined arms in the shape of direct and indirect fire as well as air-support. This was to such a degree that one German commander wrote that the normal principles of armored warfare did not apply to the western front. The division seldom had reserves available for counter-attacks but often managed to assemble enough units to counter-attack and to use the movement of the Germans against themselves.</p>

<p>Finlands kamp mot det mycket större Sovjetunionen under vinterkriget skildras i denna uppsats i form av en fallstudie av slaget i Suomussalmi. Det görs även en beskrivning av de militärteorier som är centrala för analysen i uppsatsen.</p><p>Finlands sätt att strida och nyttja taktiken under detta slag är tillämpbart för att studera militärteorier som Försvarsmakten idag använder i sina doktriner för markarenan. Teorierna som slaget analyseras kring rör manövertänkande, krigföringsförmågan och de taktiska grundprinciperna.</p><p>Uppsatsen undersöker i vilken omfattning den finska sidan använde sig av manövertänkande och vilka förmågor som spelade en avgörande roll i slaget. Även sambandet mellan manövertänkande och de taktiska grundprinciperna undersöks.</p><p>Slutsatserna visar att rörligheten var den förmåga som spelade störst roll för den finska sidans framgångar. Det framkommer också att många finska chefer använde sig av manövertänkande. Slutsatserna visar även hur manövertänkande på ett positivt sätt påverkar chefens möjligheter att använda sig av de taktiska grundprinciperna.</p> / <p>Finland’s struggle against the much larger Soviet union during the Winter War is in this essay described as a case study of the Battle of Suomussalmi. Furthermore, descriptions of the theories of warfare that is essential for the final analysis of the essay.</p><p>The Finnish tactics during this battle are applicable for studies of the warfare theories that the Swedish Armed Forces use in their doctrines for ground combat. The theories that the battle is used for studying are those of maneuver thinking, warfare abilities, and the basic tactical principles.</p><p>The essay discusses to what extent the Finnish commanders used maneuver thinking and what warfare abilities played the essential role for the outcome of the battle. Moreover, the relation between maneuver thinking and the basic tactical principles is resolved.</p><p>The conclusions show that mobility was the ability that played the most significant part for the Finnish Army’s success. They also show that many Finnish commanders used maneuver thinking, and how maneuver thinking adds to the commander’s possibilities to use the basic tactical principles.</p>

<p>Denna uppsats har undersökt vilka förmågor som är centrala för en chef att besitta för att bli en effektiv chef inom manöverkrigföringen. Förmågorna som denna uppsats identifierat som centrala är: Kreativitet, initiativkraft/handlingskraft, självständighet, god utbildningsståndpunkt inom taktik och stridsteknik samt förmåga i att tillämpa uppdragstaktik. Dessa förmågor anses av litteraturen som studerats i denna uppsats som de mest centrala för chefen att besitta. Vidare så har uppsatsen undersökt vilka utbildningsmetoder som kan användas för att utveckla de ovannämnda förmågorna hos elever. Det finns en mängd metoder som rekommenderas men de som anses som mest effektiva är dubbelsidiga övningar och muntliga stridsövningar under förutsättningen att elevernahar en grundlagd utbildning i taktik och stridsteknik. Oavsett vilken metod som används så får det aldrig finnas ett facit för vilken lösning som är den rätta utan det som är centralt är att utvärdera beslutsfattarens tankeprocess. Det vikiga är att tankeprocessen har en sammanhängande logik med spårbarhet från tilldelad uppgift vidare till en analys och slutligen till agerandet. Utefter de centrala förmågorna samt vilka utbildningsmetoder som anses effektiva så analyserades sedan Grundkurs plutonchef i insatsorganisationen (amfibie), 1OP090. Analysen visade att utbildningen har använt många av de utbildningsmetoder som anses som effektiva. Det som identifierades som brister var att lärarna måste ändra sitt synsätt från att försöka få fram den bästa lösningen när t ex muntliga stridsövningar genomfördes och istället ge feedback på elevernas tankeprocess. Samt att de bör låta eleverna få tillämpa sina planer på något vis för att på så sätt lära sig vad som var bra och vad somvar mindre bra med dem. Önskvärt vore också att en dubbelsidig övning hade genomförts då detta anses som den mest effektiva utbildningsmetoden.</p> / <p>This essay has examined the abilities that are essential for a commander to possess in order to become effective in maneuver warfare. The central abilities that this essay has identified are the following; creativity, initiative, decisiveness, autonomy, high standards in tactics, military technology and the application of mission type tactics. These abilities were identified as essential capabilities for commanders. Furthermore, the essay has studied the training methods that can be used to develop the previously mentioned abilities of students. There are numerous methods that are recommended, but those which are considered most effective are two-sided combat drills and oral exercises on the assumption that students have training in tactics and military technology. Regardless of training methods used, the tactical solution is less important to evaluate than the decision-maker's thought process. It is important that the thought process has coherent and logic traceability from the assigned task to analysis and action. Along the core capabilities and the training methods that are considered effective, as analyzed in Grundkurs plutonchef i insatsorganisationen (amfibie), 1OP090, the analysis showed that the training has used many of the training methods that are considered effective. It identified that the teachers must change the approach from trying to obtain the best solution when, for example verbal combat drills were carried out and instead provide feedback on students' thought processes. Furthermore, they should allow students to apply their plans, and make them learn by their mistakes. It would also be desirable that the double-sided exercise had been carried out to the fullest since this is considered as the most effective training method.</p>

Denna uppsats har undersökt vilka förmågor som är centrala för en chef att besitta för att bli en effektiv chef inom manöverkrigföringen. Förmågorna som denna uppsats identifierat som centrala är: Kreativitet, initiativkraft/handlingskraft, självständighet, god utbildningsståndpunkt inom taktik och stridsteknik samt förmåga i att tillämpa uppdragstaktik. Dessa förmågor anses av litteraturen som studerats i denna uppsats som de mest centrala för chefen att besitta. Vidare så har uppsatsen undersökt vilka utbildningsmetoder som kan användas för att utveckla de ovannämnda förmågorna hos elever. Det finns en mängd metoder som rekommenderas men de som anses som mest effektiva är dubbelsidiga övningar och muntliga stridsövningar under förutsättningen att elevernahar en grundlagd utbildning i taktik och stridsteknik. Oavsett vilken metod som används så får det aldrig finnas ett facit för vilken lösning som är den rätta utan det som är centralt är att utvärdera beslutsfattarens tankeprocess. Det vikiga är att tankeprocessen har en sammanhängande logik med spårbarhet från tilldelad uppgift vidare till en analys och slutligen till agerandet. Utefter de centrala förmågorna samt vilka utbildningsmetoder som anses effektiva så analyserades sedan Grundkurs plutonchef i insatsorganisationen (amfibie), 1OP090. Analysen visade att utbildningen har använt många av de utbildningsmetoder som anses som effektiva. Det som identifierades som brister var att lärarna måste ändra sitt synsätt från att försöka få fram den bästa lösningen när t ex muntliga stridsövningar genomfördes och istället ge feedback på elevernas tankeprocess. Samt att de bör låta eleverna få tillämpa sina planer på något vis för att på så sätt lära sig vad som var bra och vad somvar mindre bra med dem. Önskvärt vore också att en dubbelsidig övning hade genomförts då detta anses som den mest effektiva utbildningsmetoden. / This essay has examined the abilities that are essential for a commander to possess in order to become effective in maneuver warfare. The central abilities that this essay has identified are the following; creativity, initiative, decisiveness, autonomy, high standards in tactics, military technology and the application of mission type tactics. These abilities were identified as essential capabilities for commanders. Furthermore, the essay has studied the training methods that can be used to develop the previously mentioned abilities of students. There are numerous methods that are recommended, but those which are considered most effective are two-sided combat drills and oral exercises on the assumption that students have training in tactics and military technology. Regardless of training methods used, the tactical solution is less important to evaluate than the decision-maker's thought process. It is important that the thought process has coherent and logic traceability from the assigned task to analysis and action. Along the core capabilities and the training methods that are considered effective, as analyzed in Grundkurs plutonchef i insatsorganisationen (amfibie), 1OP090, the analysis showed that the training has used many of the training methods that are considered effective. It identified that the teachers must change the approach from trying to obtain the best solution when, for example verbal combat drills were carried out and instead provide feedback on students' thought processes. Furthermore, they should allow students to apply their plans, and make them learn by their mistakes. It would also be desirable that the double-sided exercise had been carried out to the fullest since this is considered as the most effective training method.