Formula SAE Intake System

The Formula SAE Intake System is intended to optimize the airflow into a restricted 600cc engine. The intake system is designed, fabricated, and installed in accordance with the FSAE rule book with a focus on maximizing the vehicle’s acceleration. It is directly responsible for determining the drivability of the car and how much horsepower the flow restricted engine produces. Design of the intake was conceptualized based on researching a number of factors including venturi diffusion angles, plenum volumes, and runner lengths. Initial tests were performed utilizing computational fluid dynamics for a total of 367 flow simulations and 261 running hours on various intake components in SolidWorks Flow Simulation 2016. From the beginning, it was known that the intake needed to possess certain contours that would be very difficult to create with sheet metal. It was for this reason that a composite construction was pursued for the plenum of the intake manifold, utilizing fused deposition modeling to form the mold. Flow testing and dynamometer testing will be utilized to verify the effectiveness of the design. In the end, the intake system will provide peak performance in the flow restricted system. The increased brake horsepower and improved vehicle drivability will provide a competitive advantage on any race course.https://scholarscompass.vcu.edu/capstone/1198/thumbnail.jp

Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race Cars

This paper presents an adaptive high performance control method for autonomous miniature race cars. Racing dynamics are notoriously hard to model from first principles, which is addressed by means of a cautious nonlinear model predictive control (NMPC) approach that learns to improve its dynamics model from data and safely increases racing performance. The approach makes use of a Gaussian Process (GP) and takes residual model uncertainty into account through a chance constrained formulation. We present a sparse GP approximation with dynamically adjusting inducing inputs, enabling a real-time implementable controller. The formulation is demonstrated in simulations, which show significant improvement with respect to both lap time and constraint satisfaction compared to an NMPC without model learning

Modelling Backward Travelling Holes in Mixed Traffic Conditions Using an Agent Based Simulation

A spatial queue model in a multi-agent simulation framework is extended by introducing a more realistic behaviour, i.e. backward travelling holes. Space corresponding to a leaving vehicle is not available immediately on the upstream end of the link. Instead, the space travels backward with a constant speed. This space is named a ‘hole’. The resulting dynamics resemble Newell’s simplified kinematic wave model. Furthermore, fundamental diagrams from homogeneous and heterogeneous traffic simulations are presented. The sensitivity of the presented approach is tested with the help of flow density contours

Abridged Petri Nets

A new graphical framework, Abridged Petri Nets (APNs) is introduced for bottom-up modeling of complex stochastic systems. APNs are similar to Stochastic Petri Nets (SPNs) in as much as they both rely on component-based representation of system state space, in contrast to Markov chains that explicitly model the states of an entire system. In both frameworks, so-called tokens (denoted as small circles) represent individual entities comprising the system; however, SPN graphs contain two distinct types of nodes (called places and transitions) with transitions serving the purpose of routing tokens among places. As a result, a pair of place nodes in SPNs can be linked to each other only via a transient stop, a transition node. In contrast, APN graphs link place nodes directly by arcs (transitions), similar to state space diagrams for Markov chains, and separate transition nodes are not needed. Tokens in APN are distinct and have labels that can assume both discrete values ("colors") and continuous values ("ages"), both of which can change during simulation. Component interactions are modeled in APNs using triggers, which are either inhibitors or enablers (the inhibitors' opposites). Hierarchical construction of APNs rely on using stacks (layers) of submodels with automatically matching color policies. As a result, APNs provide at least the same modeling power as SPNs, but, as demonstrated by means of several examples, the resulting models are often more compact and transparent, therefore facilitating more efficient performance evaluation of complex systems.Comment: 17 figure

Efficient estimation of high-dimensional multivariate normal copula models with discrete spatial responses

The distributional transform (DT) is amongst the computational methods used for estimation of high-dimensional multivariate normal copula models with discrete responses. Its advantage is that the likelihood can be derived conveniently under the theory for copula models with continuous margins, but there has not been a clear analysis of the adequacy of this method. We investigate the small-sample and asymptotic efficiency of the method for estimating high-dimensional multivariate normal copula models with univariate Bernoulli, Poisson, and negative binomial margins, and show that the DT approximation leads to biased estimates when there is more discretisation. For a high-dimensional discrete response, we implement a maximum simulated likelihood method, which is based on evaluating the multidimensional integrals of the likelihood with randomized quasi Monte Carlo methods. Efficiency calculations show that our method is nearly as efficient as maximum likelihood for fully specified high-dimensional multivariate normal copula models. Both methods are illustrated with spatially aggregated count data sets, and it is shown that there is a substantial gain on efficiency via the maximum simulated likelihood method

Minimum Race-Time Planning-Strategy for an Autonomous Electric Racecar

Increasing attention to autonomous passenger vehicles has also attracted interest in an autonomous racing series. Because of this, platforms such as Roborace and the Indy Autonomous Challenge are currently evolving. Electric racecars face the challenge of a limited amount of stored energy within their batteries. Furthermore, the thermodynamical influence of an all-electric powertrain on the race performance is crucial. Severe damage can occur to the powertrain components when thermally overstressed. In this work we present a race-time minimal control strategy deduced from an Optimal Control Problem (OCP) that is transcribed into a Nonlinear Problem (NLP). Its optimization variables stem from the driving dynamics as well as from a thermodynamical description of the electric powertrain. We deduce the necessary first-order Ordinary Differential Equations (ODE)s and form simplified loss models for the implementation within the numerical optimization. The significant influence of the powertrain behavior on the race strategy is shown.Comment: Accepted at The 23rd IEEE International Conference on Intelligent Transportation Systems, September 20 - 23, 202

Time-optimal Control Strategies for Electric Race Cars with Different Transmission Technologies

This paper presents models and optimization methods to rapidly compute the achievable lap time of a race car equipped with a battery electric powertrain. Specifically, we first derive a quasi-convex model of the electric powertrain, including the battery, the electric machine, and two transmission technologies: a single-speed fixed gear and a continuously variable transmission (CVT). Second, assuming an expert driver, we formulate the time-optimal control problem for a given driving path and solve it using an iterative convex optimization algorithm. Finally, we showcase our framework by comparing the performance achievable with a single-speed transmission and a CVT on the Le Mans track. Our results show that a CVT can balance its lower efficiency and higher weight with a higher-efficiency and more aggressive motor operation, and significantly outperform a fixed single-gear transmission.Comment: 5 pages, 4 figures, submitted to the 2020 IEEE Vehicle Power and Propulsion Conferenc

Towards Social Autonomous Vehicles: Efficient Collision Avoidance Scheme Using Richardson's Arms Race Model

Background Road collisions and casualties pose a serious threat to commuters around the globe. Autonomous Vehicles (AVs) aim to make the use of technology to reduce the road accidents. However, the most of research work in the context of collision avoidance has been performed to address, separately, the rear end, front end and lateral collisions in less congested and with high inter-vehicular distances. Purpose The goal of this paper is to introduce the concept of a social agent, which interact with other AVs in social manners like humans are social having the capability of predicting intentions, i.e. mentalizing and copying the actions of each other, i.e. mirroring. The proposed social agent is based on a human-brain inspired mentalizing and mirroring capabilities and has been modelled for collision detection and avoidance under congested urban road traffic. Method We designed our social agent having the capabilities of mentalizing and mirroring and for this purpose we utilized Exploratory Agent Based Modeling (EABM) level of Cognitive Agent Based Computing (CABC) framework proposed by Niazi and Hussain. Results Our simulation and practical experiments reveal that by embedding Richardson's arms race model within AVs, collisions can be avoided while travelling on congested urban roads in a flock like topologies. The performance of the proposed social agent has been compared at two different levels.Comment: 48 pages, 21 figure