IPS-D — AMW Transit Physics in Collapsed and Expanded IPS Passages

The Adaptive Matrix Worm must transit IPS passages at all depths in a 15-metre levee-scale AME. This paper derives the AMW body gauge pressure model and maps the complete design parameter space across wall thickness, body radius, and material stiffness. The baseline same-material NRL body achieves a critical depth of 4.6 m; four enhancement strategies each achieve full-depth capability. However, pre-pressurisation of IPS highways by the apex pump provides a 114-fold energy advantage over flat-passage transit (η_pre = 114×), and the pump runs continuously for vessel patency regardless. The engineering solution is system-level (pump), not component-level (body enhancement). The baseline 22 mm, 0.10 mm NRL body is confirmed as the optimal design: thin walls maximise transit speed and payload capacity. Payload capacity is locked at 9 micro-drops per body load (n² = 9), with 100 drops per densification campaign via 11 sequential missions.