Comments about the paper entitled ``A generalized boundary integral equation for isotropic heat conduction with spatially varying thermal conductivity'' by A.J. Kassab and E. Divo.

An integral formulation for heat conduction problems in non-homogeneous media has recently been proposed by Kassab and Divo [Engineering Analysis with Boundary Elements 1996;18:273]. The goal of this communication is to revisit and clarify two key features of the formulation of Kassab and Divo. First, the contention that the integral equation formulation proposed by them does not possess the desired boundary-only character is made and substantiated; it is shown in particular that Eq. 10 therein does not hold owing to the fact that a crucial requirement for the fundamental solution, Eqs. (5c) and (5d) therein, is actually not met. Second, the limiting process associated with a vanishing neighbourhood in connection with the particular kernel function used therein is revisited

Towards T.R.I.C.K. 2.0 – A tool for the evaluation of the vehicle performance through the use of an advanced sensors system

In the last years, the tire technological development has played a fundamental role in motorsport and in automotive industry. The tire contact patch forces have a great influence on the vehicle behavior, so their correct estimation is a crucial task to understand how to improve the car performance. In order to identify the tire interaction characteristic, it is also necessary to use a procedure that allows the correct evaluation of the slip angles in the different operating conditions. This paper presents an evolution of the T.R.I.C.K. tool developed by the UniNa vehicle dynamics research group. In the first version of this tool an 8 degree of freedom vehicle model has been implemented and, starting from the experimental data acquired, the T.R.I.C.K. calculates the interaction forces and the tire slips using the equilibrium equations. Using more car parameters and further data obtained from track sessions and dedicated tests, in the presented release of the tool, new formulations have been developed for a more accurate calculation of the tire-road forces. The effectiveness of the treatments is assessed using experimental data and the simulator outputs. The new formulations introduced in this paper allows, depending on the availability of additional vehicle data and acquisition sensors, to estimate the interaction forces with different and more accurate methodologies than the equilibrium equations, while retaining very reduced simulation times. In this way it is possible to carry out a more precise study of vehicle dynamics with the possibility of investigating and significantly improving performance

Towards the design of robotic drivers for full-scale self-driving racing cars

Autonomous vehicles are undergoing a rapid development thanks to advances in perception, planning and control methods and technologies achieved in the last two decades. Moreover, the lowering costs of sensors and computing platforms are attracting industrial entities, empowering the integration and development of innovative solutions for civilian use. Still, the development of autonomous racing cars has been confined mainly to laboratory studies and small to middle scale vehicles. This paper tackles the development of a planning and control framework for an electric full scale autonomous racing car, which is an absolute novelty in the literature, upon which we report our preliminary experiments and perspectives on future work. Our system leverages real time Nonlinear Model Predictive Control to track a pre-planned racing line. We describe the whole control system architecture including the mapping and localization methods employed

The boundary integral method for magnetic billiards

We introduce a boundary integral method for two-dimensional quantum billiards subjected to a constant magnetic field. It allows to calculate spectra and wave functions, in particular at strong fields and semiclassical values of the magnetic length. The method is presented for interior and exterior problems with general boundary conditions. We explain why the magnetic analogues of the field-free single and double layer equations exhibit an infinity of spurious solutions and how these can be eliminated at the expense of dealing with (hyper-)singular operators. The high efficiency of the method is demonstrated by numerical calculations in the extreme semiclassical regime.Comment: 28 pages, 12 figure

On the dynamic analysis of a novel snake robot: preliminary results

In recent years, modular robotics has become of great interest in the robotics community. Among them, snake robots are among the most flexible and versatile type of mobile robots, well-suited to a large number of applications, such as exploration and inspection tasks, participation to search and rescue missions etc. The present paper investigates the design of a novel snake robot, named Rese_Q01, currently being designed at Politecnico di Torino. In order to characterise the dynamic behaviour of the robot, a simple vehicle dynamics model is developed and basic simulations are carried out for a first implementation of a unit consisting of two modules. Preliminary results show the influence of the robot velocity on the trajectory curvature radius, as well as the effect of different ground/tire friction conditions. This analysis is the first step in order to develop effective control strategies for robot trajectories

A new fast multi-domain BEM to model seismic wave propagation and amplification in 3D geological structures

International audienceThe analysis of seismic wave propagation and amplification in complex geological structures raises the need for efficient and accurate numerical methods. The solution of the elastodynamic equations using traditional boundary element methods (BEMs) is greatly hindered by the fully-populated nature of the matrix equations arising from the discretization. In a previous study limited to homogeneous media, the present authors have established that the Fast Multipole (FM) method reduces the complexity of a 3-D elastodynamic BEM to $N \log N$ per GMRES iteration and demonstrated its effectiveness on 3-D canyon configurations. In this article, the frequency-domain FM-BEM methodology is extented to 3-D elastic wave propagation in piecewise-homogeneous domains in the form of a FM-accelerated multi-region BE-BE coupling approach. This new method considerably enhances the capability of the BEM for studying the propagation of seismic waves in 3-D alluvial basins of arbitrary geometry embedded in semi-infinite media. Several fully 3-D examples (oblique SV-waves) representative of such configurations validate and demonstrate the capabilities of the multi-domain fast multipole approach. They include comparisons with available (low-frequency) results for various types of incident wavefields, and time-domain results obtained by means of Fourier synthesis