High speed fluttering skids with elastic suspensions

In a recent project, named SEALAB, a novel marine vehicle has been developed. Its main characteristic is the presence of special skid surfaces surfing over rough water. A suspension system controls the vertical motion of the skid, softening the sequential impacts and vibrations induced by the water, similarly to a wheeled vehicle in off-road trials. The hull-skid-suspension set is modeled by prototypical equations. The system undergoes special regimes when the vessel speed at sea is varied. In particular, for some combinations of the forward speed and sea-state, the skid still maintains the contact with the water. In other navigation conditions the skid indeed jumps out the water with a complete different average transmitted force and vibration characteristics of the hull. This paper presents a theory that outlines these phenomena identifying conditions that lead to the jumping skid condition

On line estimation of rolling resistance for intelligent tires

The analysis of a rolling tire is a complex problem of nonlinear elasticity. Although in the technical literature some tire models have been presented, the phenomena involved in the tire rolling are far to be completely understood. In particular, small knowledge comes even from experimental direct observation of the rolling tire, in terms of dynamic contact patch, instantaneous dissipation due to rubber-road friction and hysteretic behavior of the tire structure, and instantaneous grip. This paper illustrates in details a new powerful technology that the research group has developed in the context of the project OPTYRE. A new wireless optical system based on Fiber Bragg Grating strain sensors permits a direct observation of the inner tire stress when rolling in real conditions on the road. From this information, following a new suitably developed tire model, it is possible to identify the instant area of the contact patch, the grip conditions as well the instant dissipation, which is the object of the present work

Energy exchange between nonlinear oscillators: An entropy foundation

In the field of vibrations of complex structures, energy methods like SEA and a series of mid-frequency methods, represent an important resource for computational analysis. All these methods are based in general on a linear formulation of the elastic problem. However, when nonlinearities are present, for example related to clearance or stiffening of joints, these methods, in principle, cannot be applied. This paper, on the basis of a theory presented recently by one of the authors, proposes a foundation of a new energy method able to deal with nonlinearities when studying the energy exchange between subsystems. The idea relies on the concept of a thermodynamic vibroacoustic temperature, that can be directly defined when introducing the entropy of a vibrating structure. The theory is introduced in general, and examples of calculation of the power flow between nonlinear resonators are presented introducing stiffening and clearences for systems with many degrees of freedom

Prototyping a new car semi-active suspension by variational feedback controller

New suspension systems electronically controlled are presented and mounted on board of a real car. The system consists of variable semi-active magneto-rheological dampers that are controlled through an electronic unit that is designed on the basis of a new optimal theoretical control, named VFC-Variational Feedback Controller. The system has been mounted on board of a BMW Series 1 car, and a set of experimental tests have been conducted in real driving conditions. The VFC reveals, because of its design strategy, to be able to enhance simultaneously both the comfort performance as well as the handling capability of the car. Preliminary comparisons with several industrially control methods adopted in the automotive field, among them skyhook and groundhook, show excellent results

Generation of Earth’s Surface Three-Dimensional (3-D) Displacement Time-Series by Multiple-Platform SAR Data

In this chapter, the recent advancements of differential synthetic aperture radar interferometry (DInSAR) technique are presented, with the focus on the DInSAR-based approaches leading to the generation of three-dimensional time-series of Earth’s surface deformation, based on the combination of multi-platform line-of-sight (LOS)-projected time-series of deformation. Use of pixel-offset (PO) measurements for the retrieval of North-South deformation components, which are difficult to be extracted from DInSAR data, only, is also discussed. A review of the principal techniques based on the exploitation of amplitude and phase signatures of sequences of SAR images will be first provided, by emphasizing the limitations and strength of each single approach. Then, the interest will be concentrated on the recently proposed multi-track InSAR combination algorithm, referred as minimum acceleration InSAR combination (MinA) approach. The algorithm assumes the availability of two (or more) sets of SAR images acquired from complementary tracks. SAR data are pre-processed through one of currently available multi-temporal DInSAR toolboxes, and the LOS-projected surface deformation time-series are computed. An under-determined system of linear equations is then solved, based on imposing that the 3-D displacement time-series have minimum acceleration (MA). The presented results demonstrate the validity of the MinA algorithm

Car collision avoidance with velocity obstacle approach

The obstacle avoidance maneuver is required for an autonomous vehicle. It is essential to define the system's performance by evaluating the minimum reaction times of the vehicle and analyzing the probability of success of the avoiding operation. This paper presents a collision avoidance algorithm based on the velocity bstacle approach that guarantees collision-free maneuvers. The vehicle is controlled by an optimal feedback control named FLOP, designed to produce the best performance in terms of safety and minimum kinetic collision energy. Dimensionless accident evaluation parameters are proposed to compare different crash scenarios

A multisensing setup for the intelligent tire monitoring

The present paper offers the chance to experimentally measure, for the first time, the internal tire strain by optical fiber sensors during the tire rolling in real operating conditions. The phenomena that take place during the tire rolling are in fact far from being completely understood. Despite several models available in the technical literature, there is not a correspondently large set of experimental observations. The paper includes the detailed description of the new multi-sensing technology for an ongoing vehicle measurement, which the research group has developed in the context of the project OPTYRE. The experimental apparatus is mainly based on the use of optical fibers with embedded Fiber Bragg Gratings sensors for the acquisition of the circumferential tire strain. Other sensors are also installed on the tire, such as a phonic wheel, a uniaxial accelerometer, and a dynamic temperature sensor. The acquired information is used as input variables in dedicated algorithms that allow the identification of key parameters, such as the dynamic contact patch, instantaneous dissipation and instantaneous grip. The OPTYRE project brings a contribution into the field of experimental grip monitoring of wheeled vehicles, with implications both on passive and active safety characteristics of cars and motorbikes

Topological Characterization and Advanced Noise-Filtering Techniques for Phase Unwrapping of Interferometric Data Stacks

This chapter addresses the problem of phase unwrapping interferometric data stacks, obtained by multiple SAR acquisitions over the same area on the ground, with a twofold objective. First, a rigorous gradient-based formulation for the multichannel phase unwrapping (MCh-PhU) problem is systematically established, thus capturing the intrinsic topological character of the problem. The presented mathematical formulation is consistent with the theoretical foundation of the discrete calculus. Then within the considered theoretical framework, we formally describe an innovative procedure for the noise filtering of time-redundant multichannel multilook interferograms. The strategy underlying the adopted multichannel noise filtering (MCh-NF) procedure arises from the key observation that multilook interferograms are not fully time consistent due to multilook operations independently applied on each single interferogram. Accordingly, the presented MCh-NF procedure suitably exploits the temporal mutual relationships of the interferograms. Finally, we present some experimental results on real data and show the effectiveness of our approach applied within the well-known small baseline subset (SBAS) processing chain, thus finally retrieving the relevant Earth’s surface deformation time series for geospatial phenomena analysis and understanding