Exponential Decay of Contact-patch Friction Steering Moment with Rolling Speed

Steering torque is a very important quantity for the driver feeling. In fact, it gives the driver an idea of the road adherence condition during driving. Several models have been developed to simulate shear forces at the contact patch, most of them are based on semi-empirical tire models that account for slip and slip angles. They have good reliability when speed is high enough. At very low speed, like in parking, these models suffer from both reliability and numerical issues. This paper presents a model to compute the steering moment due to contact-patch friction at any longitudinal speed including pivot steering condition. In particular, it supplements the pivot steering model with a novel exponential decay of moment model to simulate for various rolling speeds of the wheel. The decay rate found to be dependent upon contact-patch geometry and rolling speed

Infrastructure-Based Vehicle Localization through Camera Calibration for I2V Communication Warning

In recent years, the research on object detection and tracking is becoming important for the development of advanced driving assistance systems (ADASs) and connected autonomous vehicles (CAVs) aiming to improve safety for all road users involved. Intersections, especially in urban scenarios, represent the portion of the road where the most relevant accidents take place; therefore, this work proposes an I2V warning system able to detect and track vehicles occupying the intersection and representing an obstacle for other incoming vehicles. This work presents a localization algorithm based on image detection and tracking by a single camera installed on a roadside unit (RSU). The vehicle position in the global reference frame is obtained thanks to a sequence of linear transformations utilizing intrinsic camera parameters, camera height, and pitch angle to obtain the vehicle's distance from the camera and, thus, its global latitude and longitude. The study brings an experimental analysis of both the localization accuracy, with an average error of 0.62 m, and detection reliability in terms of false positive (1.9%) and missed detection (3.6%) rates

Predictive Display with Perspective Projection of Surroundings in Vehicle Teleoperation to Account Time-delays

Teleoperation provides human operator sophisticated perceptual and cognitive skills into an over the network control loop. It gives hope of addressing some challenges related to vehicular autonomy which is based on artificial intelligence by providing a backup plan. Variable network time delays in data transmission is the major problem in teleoperating a vehicle. On 4G network, variability of these delays is high. Due to this, both video streaming and driving commands encounter variable time delay. This paper presents an approach of providing the human operator a forecast video stream which replicates future perspective of vehicle field of view accounting the delay present in the network. Regarding the image transformation, perspective projection technique is combined with correction given by smith predictor in the control loop. This image transformation accounts current time delay and tries to address both issues, time delays as well as its variability. For experiment sake, only frontward field of view is forecast. Performance is evaluated by performing online vehicle teleoperation on street edge case maneuvers and later comparing the path deviation with and without perspective projection

A Torque Vectoring Control for Enhancing Vehicle Performance in Drifting

When dealing with electric vehicles, different powertrain layouts can be exploited. Among them, the most interesting one in terms of vehicle lateral dynamics is represented by the one with independent electric motors: two or four electric motors. This allows torque-vectoring control strategies to be applied for increasing vehicle lateral performance and stability. In this paper, a novel control strategy based on torque-vectoring is used to design a drifting control that helps the driver in controlling the vehicle in such a condition. Drift is a particular cornering condition in which high values of sideslip angle are obtained and maintained during the turn. The controller is applied to a rear-wheel drive race car prototype with two independent electric motors on the rear axle. The controller relies only on lateral acceleration, yaw rate, and vehicle speed measurement. This makes it independent from state estimators, which can affect its performance and robustness. Document type: Articl

Heavy-Vehicle Response to Crosswind: Evaluation of Driver Reactions Using a Dynamic Driving Simulator

Heavy vehicles exiting (or entering) a tunnel at high speed under a strong crosswind is a particularly critical condition since the aerodynamic load changes drastically, greatly affecting the lateral stability of the vehicle. Often, active control systems (active suspensions, active front steering, etc.) and infrastructure elements (e.g., wind fences) are proposed to reduce the induced risks. To help the design of these devices, the present paper investigates the response of the vehicle–driver system in the case of a high-sided lorry exiting a tunnel under crosswind, by using Driver-In-the-Loop simulations. The study was performed using the dynamic driving simulator of Politecnico di Milano and 28 test drivers. Vehicle and aerodynamic models have been developed to reproduce the phenomenon in a highly immersive environment. During the tests, several combinations of vehicle and wind speed were considered. The effect of vehicle loading condition (Empty and Laden) was also investigated. The performed tests allowed us to gain information about the sequence of the driver’s actions and associated delays, which may induce lane deviation or, in the worst case, rollover. It was found that lane invasion may happen for ratios of lateral aerodynamic force over vehicle weight force bigger than 0.1, while rollover could happen for ratios bigger than 0.3. Moreover, it was found that the driver’s response typically happens with a delay of ∼0.25 s with respect to the onset of the crosswind stimulus

Fruit Development in Sweet Cherry

Fruits are an important source of vitamins, minerals and nutrients in the human diet. They also contain several compounds of nutraceutical importance that have significant antioxidant and anti-inflammatory roles, which can protect the consumer from diseases, such as cancer, and cardiovascular disease as well as having roles in reducing the build-up of LDL-cholesterol in blood plasma and generally reduce the risks of disease and age-related decline in health. Cherries contain high concentrations of bioactive compounds and minerals, including calcium, phosphorous, potassium and magnesium, and it is, therefore, unsurprising that cherry consumption has a positive impact on health. This review highlights the development of sweet cherry fruit, the health benefits of cherry consumption, and the options for increasing consumer acceptance and consumption

Options for the generation of seedless cherry, the ultimate snacking product

Cherry fruit contain a large stone and seed, making processing of the fruit laborious and consumption by the consumer challenging, inconvenient to eat ‘on the move’ and potentially dangerous for children. Availability of fruit lacking the stone and seed would be potentially transformative for the cherry industry since such fruit would be easier to process and would increase consumer demand because of the potential reduction in costs. This review will explore the background of seedless fruit, in the context of the ambition to produce the first seedless cherry, carry out an in-depth analysis of the current literature around parthenocarpy in fruit and discuss the available technology and potential for producing seedless cherry fruit as an ‘ultimate snacking product’ for the 21st century

A Study of the Lateral Stability of Self-Propelled Fruit Harvesters

Self-propelled fruit harvesters (SPFHs) are agricultural machines designed to facilitate fruit picking and other tasks requiring operators to stay close to the foliage or to the upper part of the canopy. They generally consist of a chassis with a variable height working platform that can be equipped with lateral extending platforms. The positioning of additional masses (operators, fruit bins) and the maximum height of the platform (up to three meters above the ground) strongly affect machine stability. Since there are no specific studies on the lateral stability of SPFHs, this study aimed to develop a specific test procedure to fill this gap. A survey of the Italian market found 20 firms manufacturing 110 different models of vehicles. Observation and monitoring of SPFHs under real operational conditions revealed the variables mostly likely to affect lateral stability: the position and mass of the operators and the fruit bin on the platform. Two SPFHs were tested in the laboratory to determine their centre of gravity and lateral stability in four different settings reproducing operational conditions. The test setting was found to affect the stability angle. Lastly, the study identified two specific settings reproducing real operational conditions most likely to affect the lateral stability of SPFHs: these should be used as standard, reproducible settings to enable a comparison of results

Colorectal Cancer Stage at Diagnosis Before vs During the COVID-19 Pandemic in Italy

IMPORTANCE Delays in screening programs and the reluctance of patients to seek medical attention because of the outbreak of SARS-CoV-2 could be associated with the risk of more advanced colorectal cancers at diagnosis. OBJECTIVE To evaluate whether the SARS-CoV-2 pandemic was associated with more advanced oncologic stage and change in clinical presentation for patients with colorectal cancer. DESIGN, SETTING, AND PARTICIPANTS This retrospective, multicenter cohort study included all 17 938 adult patients who underwent surgery for colorectal cancer from March 1, 2020, to December 31, 2021 (pandemic period), and from January 1, 2018, to February 29, 2020 (prepandemic period), in 81 participating centers in Italy, including tertiary centers and community hospitals. Follow-up was 30 days from surgery. EXPOSURES Any type of surgical procedure for colorectal cancer, including explorative surgery, palliative procedures, and atypical or segmental resections. MAIN OUTCOMES AND MEASURES The primary outcome was advanced stage of colorectal cancer at diagnosis. Secondary outcomes were distant metastasis, T4 stage, aggressive biology (defined as cancer with at least 1 of the following characteristics: signet ring cells, mucinous tumor, budding, lymphovascular invasion, perineural invasion, and lymphangitis), stenotic lesion, emergency surgery, and palliative surgery. The independent association between the pandemic period and the outcomes was assessed using multivariate random-effects logistic regression, with hospital as the cluster variable. RESULTS A total of 17 938 patients (10 007 men [55.8%]; mean [SD] age, 70.6 [12.2] years) underwent surgery for colorectal cancer: 7796 (43.5%) during the pandemic period and 10 142 (56.5%) during the prepandemic period. Logistic regression indicated that the pandemic period was significantly associated with an increased rate of advanced-stage colorectal cancer (odds ratio [OR], 1.07; 95%CI, 1.01-1.13; P = .03), aggressive biology (OR, 1.32; 95%CI, 1.15-1.53; P < .001), and stenotic lesions (OR, 1.15; 95%CI, 1.01-1.31; P = .03). CONCLUSIONS AND RELEVANCE This cohort study suggests a significant association between the SARS-CoV-2 pandemic and the risk of a more advanced oncologic stage at diagnosis among patients undergoing surgery for colorectal cancer and might indicate a potential reduction of survival for these patients

Optimal Cooperative Brake Distribution Strategy for IWM Vehicle Accounting for Electric and Friction Braking Torques

Electric vehicles are spreading in automotive industry pushed by the need of reducing greenhouse gas. However, the use of multiple electric motors, i.e., one per wheel, allows to redefine the vehicle powertrain layout with great benefits on vehicle dynamics. Electric motors braking torque is in general not enough to produce high decelerations. Hydraulic friction brakes are still necessary for safety reasons and to avoid oversized motors. This paper presents a control strategy for distributed electric motors (EM), one per wheel, to maximize the regenerative braking. The controller handles cooperative braking among EMs and hydraulic brakes, which are still necessary to guarantee top braking performance of the car. The proposed algorithm considers the driver requested braking torque as well as the required yaw moment by stability control system. Motor efficiency map and wheel normal load are considered to optimally distribute the torques. With respect to conventional distribution strategies, the presented algorithm improves performance, maximizing the regenerative braking power