Search Results (174)

To maximize competitive performance in motorsports, balancing high downforce for cornering with low drag for straight–line speed is essential. This paper presents the development and optimization of a sliding Drag Reduction System (DRS) integrated with a ducktail guide for a Student Formula racing car. To overcome the computational costs and time constraints of conventional CFD–based iterative design, a Graph Neural Network (GNN) surrogate model was developed to predict aerodynamic coefficients. Unlike traditional models, the GNN directly learns from the geometric graph structure of the multi–element wing, enabling near–instantaneous and highly accurate predictions. CFD results indicated that activating the DRS reduced drag from 82.68 N to 25.51 N, improving the lift–to–drag ratio from 1.67 to 2.67. The GNN surrogate model achieved an R² value exceeding 0.99, demonstrating exceptional predictive fidelity compared to high–resolution simulations. Physical track testing with a Formula SAE vehicle corroborated these findings, showing a 4.6% improvement in 50 m acceleration and a 5.8% increase in maximum speed. This research establishes that GNN–based surrogate models can significantly accelerate the design and optimization of complex variable aerodynamic systems, providing a robust framework for performance enhancement in racing applications. Full article

This paper presents a geometric difficulty analysis framework for Formula 1 racing lines based on telemetry data from the 2024 season. To ensure geometric consistency across multiple laps, a representative racing line is identified using the discrete Fréchet distance, and corner segments are modeled using biarc approximation to estimate stable curvature. Based on the resulting geometric representation, we introduce three curvature-based difficulty metrics—the Curvature Exposure Index (CEI), Maximum Curvature Severity (MCS), and Curvature Variation Index (CVI)—to quantify both local and global track characteristics. This approach establishes a strictly geometric definition of difficulty based on the planar projection of the trajectory, purposely decoupling structural complexity from 3D terrain features, vehicle dynamics, and race context. Experimental results across 24 tracks demonstrate that these metrics effectively capture distinct track characteristics: CEI ranged from 1.97 rad/km (Italian) to 8.44 rad/km (Monaco), MCS from 230.54 km⁻¹ (Spanish) to 1689.54 km⁻¹ (Monaco), and CVI from 7.60 (British) to 9.33 (Monaco and Qatar). Although this framework focuses on planar geometry, it provides a compact, extensible foundation for geometric analysis and future applications incorporating elevation profiles and dynamic variables. Full article

Mining-induced seismicity presents significant challenges to the safety and operational continuity of underground mines, particularly in deep and highly stressed environments. This study proposes a methodological framework for seismic risk evaluation inspired by predictive-maintenance principles and applied to a high-resolution microseismic catalog from a Chilean underground mine. Using a combination of data filtering and correlation analyses, we identify the seismic parameters that control the most variability in the dataset: moment magnitude, frequency corner, and both dynamic and static stresses. Based on this, we perform a Principal Component Analysis (PCA), which clearly demonstrates the physical interconnection between the selected parameters, thereby helping to better characterize the seismic events and the mining environment. Using these results, a PCA-based risk map is constructed, enabling the delineation of zones with different levels of seismic risk. Additionally, a temporal tracking of potentially hazardous seismicity is included. The proposed methodology demonstrates that microseismic behavior can be effectively represented in a reduced-dimension space, offering a promising foundation for predictive and data-driven risk-assessment tools capable of supporting real-time decision-making in underground mining operations. Full article

This paper presents a virtual reference-based preview semi-active suspension system using a Magneto-Rheological (MR) damper to improve ride comfort when traversing bumps. The algorithm is designed to track the virtual reference profile of the vehicle’s corner by introducing a Model Predictive Control (MPC) method while considering the passivity of the MR damper. The proposed MPC is formulated to rely solely on estimable variables from an Inertial Measurement Unit (IMU) and vertical accelerometer. To support implementation on an Electronic Control Unit (ECU), the suspension state estimator employs a simple band-limited filtering structure. The proposed method is evaluated in simulation and achieves performance comparable to a controller that has accurate prior knowledge of the road profile. In addition, simulation results demonstrate that the proposed approach exhibits low sensitivity to sensor noise and bump perception uncertainty, making it well suited for real-world vehicle applications. Full article

This study presents an integrated, low-cost system for measuring extremely small displacements in Ionic Polymer–Metal Composite (IPMC) actuators operating in aqueous environments. A custom optical setup was developed, combining a glass tank, a tubular microscope with a 10× achromatic objective, a digital USB camera and uniform LED backlighting, enabling side-view imaging of the actuator with high contrast. The microscopy system achieves a spatial sampling of 0.536 μm/pixel on the horizontal axis and 0.518 μm/pixel on the vertical axis, while lens distortion is limited to a maximum edge deviation of +0.015 μm/pixel (≈+2.8%), ensuring consistent geometric magnification across the field of view. On the image-processing side, a predictive grid-based tracking algorithm is introduced to localize the free tip of the IPMC. The method combines edge detection, Harris corners and a constant-length geometric constraint with an adaptive search over selected grid cells. On 1920 × 1080-pixel frames, the proposed algorithm achieves a mean processing time of about 10 ms per frame and a frame-level detection accuracy of approximately 99% (98.3–99.4% depending on the allowed search radius) for actuation frequencies below 2 Hz, enabling real-time monitoring at 30 fps. In parallel, dedicated electronic circuitry for supply and load monitoring provides overvoltage, undervoltage, open-circuit and short-circuit detection in 100 injected fault events, all faults were detected and no spurious triggers over 3 h of nominal operation. The proposed microscopy and tracking framework offer a compact, reproducible and high-resolution alternative to laser-based or Digital Image Correlation techniques for IPMC displacement characterization and can be extended to other micro-displacement sensing applications in submerged or challenging environments. Full article

The paper focuses on the goal point following an algorithm design based on the exact Global Positioning System (GPS) points. In order to achieve that, the first GPS point and initial heading angle are previously calculated by recursively adopting GPS points from the Naver Application Programming Interface (API) map. The GPS points are designated as a goal point in order to follow the mobile platform to the generated path. Simulation and experimental results demonstrate that goal point following logic can be implemented based on the generated path achieved from the map. Furthermore, the goal-point-following method is extended to trajectory tracking by defining the vector rather than the designated goal point. The result is demonstrated through simulation and an experiment with the real mobile platform. Full article

To address the difficulty of balancing trajectory-tracking accuracy and yaw stability for distributed-drive four-axle heavy trucks under high-speed and large-curvature cornering conditions, this paper proposes a hierarchical cooperative control strategy. The upper layer employs Sliding Mode Control (SMC) to achieve precise trajectory tracking, while the lower layer integrates a sliding-mode-based Direct Yaw Moment Control (DYC) and a differential braking allocation strategy to enhance vehicle stability. TruckSim–Simulink co-simulation results demonstrate that, under large-curvature scenarios such as S-shaped paths, sharp lane changes, and single-lane transitions, the proposed strategy outperforms the conventional SMC method. Specifically, the maximum lateral deviation is reduced by 19.23–23.02%, the peak heading angle error decreases from 5.3° to 3.5°, the maximum yaw rate drops from 12.6°/s to 4.6°/s (a 63.49% reduction), and the peak sideslip angle at the vehicle’s center of mass converges from 4.6° to 3.8° (a 17.39% decrease). The results indicate that the proposed strategy achieves coordinated optimization of trajectory tracking and yaw stability under high-speed, large-curvature cornering conditions, providing both theoretical support and engineering value for high-dynamic control of distributed-drive heavy trucks. Full article

Scintillator-SiPM Particle Detectors (SSPDs) are compact, low-power devices with applications including particle physics, underground tomography, cosmic-ray studies, and space instrumentation. They are based on a prism-shaped scintillator with corner-mounted SiPMs. Previous work has demonstrated that analytic algorithms based on a physical model of light propagation can reconstruct particle impinging positions and tracks and estimate deposited energy and Linear Energy Transfer (LET) with moderate accuracy. In this study, we enhance this approach by applying machine learning (ML) methods, specifically gradient boosting techniques, to improve the accuracy of spatial location and energy deposition estimation. Using the GEANT4 simulation toolkit, we simulated cosmic muons and energetic oxygen ions traversing an SSPD, and we trained XGBoost and LightGBM models to predict particle impinging positions and deposited energy. Both algorithms outperformed the analytic baseline. We further investigated hybrid strategies, including hybrid boosting and probing. While hybrid boosting provided no significant improvement, probing yielded measurable gains in both position and LET estimation. These results suggest that ML-driven reconstruction provides a powerful enhancement to SSPD performance. Full article

Accurate extrinsic calibration between radar and camera sensors is essential for reliable multi-modal perception in robotics and autonomous navigation. Traditional calibration methods often rely on artificial targets such as checkerboards or corner reflectors, which can be impractical in dynamic or large-scale environments. This study presents a fully targetless calibration framework that estimates the rigid spatial transformation between radar and camera coordinate frames by aligning their observed trajectories of a moving object. The proposed method integrates You Only Look Once version 5 (YOLOv5)-based 3D object localization for the camera stream with Density-Based Spatial Clustering of Applications with Noise (DBSCAN) and Random Sample Consensus (RANSAC) filtering for sparse and noisy radar measurements. A passive temporal synchronization technique, based on Root Mean Square Error (RMSE) minimization, corrects timestamp offsets without requiring hardware triggers. Rigid transformation parameters are computed using Kabsch and Umeyama algorithms, ensuring robust alignment even under millimeter-wave (mmWave) radar sparsity and measurement bias. The framework is experimentally validated in an indoor OptiTrack-equipped laboratory using a Skydio 2 drone as the dynamic target. Results demonstrate sub-degree rotational accuracy and decimeter-level translational error (approximately 0.12–0.27 m depending on the metric), with successful generalization to unseen motion trajectories. The findings highlight the method’s applicability for real-world autonomous systems requiring practical, markerless multi-sensor calibration. Full article

In order to solve the problem of obstacle avoidance for unmanned surface vehicles (USV), based on the classic RRT algorithm and Velocity Obstacle principle, an improved RRT algorithm is proposed. For the situation of the extension direction of the parent node inside the collision cone in the EXTEND operation, ‘obstacle repellent vector’ and ’collision risk index’ are presented, making the extension direction of the search tree have the tendency to move away from obstacle. Meanwhile for the problem of the real time performance of the algorithm and path oscillation, ‘target attraction vector’ and waypoint corner constraint are introduced to accelerate the convergence of the algorithm and improve the quality of path point. Path planning experiment results show that the improved algorithm has better real-time character. Path tracking experiment results based on 3-DOF ship nonlinear dynamic model reveal that the collision-free paths generated by improved RRT algorithm are smoother and the navigation time is shorter, which are of great significance for practical engineering application. Full article

Distance simultaneous interpreting is a typical example of technology-mediated interpreting, bridging participants (i.e., interpreters, audience, and speakers) in various events and conferences. This study explores how presentation mode affects cognitive load in DSI, utilizing eye-tracking sensor technology. A controlled experiment was conducted involving 36 participants, comprising 19 professional interpreters and 17 student interpreters, to assess the effects of presentation mode on their cognitive load during English-to-Chinese DSI. A Tobii Pro X3-120 screen-based eye tracker was used to collect eye-tracking data as the participants sequentially performed a DSI task involving four distinct presentation modes: the Speaker, Slides, Split, and Corner modes. The findings, derived from the integration of eye-tracking data and interpreting performance scores, indicate that both presentation mode and experience level significantly influence interpreters’ cognitive load. Notably, student interpreters demonstrated longer fixation durations in the Slides mode, indicating a reliance on visual aids for DSI. These results have implications for language learning, suggesting that the integration of visual supports can aid in the acquisition and performance of interpreting skills, particularly for less experienced interpreters. This study contributes to our understanding of the interplay between technology, cognitive load, and language learning in the context of DSI. Full article

Sediment erosion is a persistent problem that leads to the deterioration of hydro-turbines over time, ultimately causing blade failure. This paper analyzes the dynamics of sediment in water and its effects on a small Kaplan turbine. Flow data is obtained independently and transferred to a separate Lagrangian-based finite element code, which tracks particles throughout the computational domain to determine local impacts and erosion rates. This solver uses a random walk approach, along with statistical descriptions of particle sizes, numbers, and release positions. The turbine runner features significantly twisted blades with rounded corners, and complex three-dimensional (3-d) flow related to leakage and secondary flows. The results indicate that flow quality, particle size, concentration, and the relative position of the blades against the vanes significantly influence the distribution of impacts and erosion intensity, subsequently the local eroded mass is cumulated for each element face and averaged across one pitch of blades. At the highest concentration of 2500 mg/m³, the results show a substantial erosion rate from the rotor blades, quantified at 4.6784 × 10⁻³ mg/h and 9.4269 × 10⁻³ mg/h for the nominal and maximum power operating points, respectively. Extreme erosion is observed at the leading edge (LE) of the blades and along the front part of the pressure side (PS), as well as at the trailing edge (TE) near the hub corner. The distributor vanes also experience erosion, particularly at the LE on both sides, although the erosion rates in these areas are less pronounced. These findings provide essential insights into the specific regions where protective coatings should be applied, thereby extending the operational lifespan and enhancing overall resilience against sediment-induced wear. Full article

This study focuses on the use of eye-tracking technology to analyse the rider’s visual attention during racing on a Ducati Panigale V2 motorcycle. Using the TOBII Pro Glasses 2 system, the rider’s gaze dynamics were recorded, including fixations, eye movements (saccades) and gaze distribution on key sections of the track. The results revealed a link between gaze stability and cornering efficiency, particularly in optimising braking points and selecting the ideal trajectory. Identifying unstable visual behavior—such as frequent gaze deviations or constant switching between reference points—provides valuable insights for improving driving technique. This approach confirms the importance of eye-tracking as a tool for objective evaluation and optimization of rider performance in motorsport. Full article

Path tracking is a fundamental function for autonomous vehicles, but its performance often degrades under parameter variations and controller fragility—an issue seldom addressed together in prior studies. This paper develops a robust non-fragile Linear Quadratic Regulator (LQR) using linear matrix inequality (LMI) optimization, explicitly considering uncertainties in vehicle speed, mass, and cornering stiffness as well as gain perturbations from implementation. A two-degrees-of-freedom bicycle model is employed for controller design, and a weighted least-squares allocation method integrates multiple actuators, including front steering, rear steering, four-wheel independent drive, and braking. A double lane-change maneuver in CarSim evaluates the proposed design. The robust and non-fragile LQR maintains lateral offset within 0.02 m and overshoot below 1% under ±20% parameter variation, offering improved stability margins compared with the baseline LQR. The results highlight context-dependent actuator effects and clarify the trade-off between control complexity, robustness, and real-world applicability. Full article

Autonomous racing serves as a challenging testbed that exposes the limitations of perception-decision-control algorithms in extreme high-speed environments, revealing safety gaps not addressed in existing autonomous driving research. However, traditional control techniques (e.g., FGM and MPC) and reinforcement learning-based approaches (including model-free and Dreamer variants) struggle to simultaneously satisfy sample efficiency, prediction reliability, and real-time control performance, making them difficult to apply in actual high-speed racing environments. To address these challenges, we propose LiDAR Dreamer, a novel world model specialized for LiDAR sensor data. LiDAR Dreamer introduces three core techniques: (1) efficient point cloud preprocessing and encoding via Cartesian Polar Bar Charts, (2) Light Structured State-Space Cells (LS3C) that reduce RSSM parameters by 14.2% while preserving key dynamic information, and (3) a Displacement Covariance Distance divergence function, which enhances both learning stability and expressiveness. Experiments in PyBullet F1TENTH simulation environments demonstrate that LiDAR Dreamer achieves competitive performance across different track complexities. On the Austria track with complex corners, it reaches 90% of DreamerV3’s performance (1.14 vs. 1.27 progress) while using 81.7% fewer parameters. On the simpler Columbia track, while model-free methods achieve higher absolute performance, LiDAR Dreamer shows improved sample efficiency compared to baseline Dreamer models, converging faster to stable performance. The Treitlstrasse environment results demonstrate comparable performance to baseline methods. Furthermore, beyond the 14.2% RSSM parameter reduction, reward loss converged more stably without spikes, improving overall training efficiency and stability. Full article