A benchmark study on the model-based estimation of the go-kart side-slip angle

Nowadays, the active safety systems that control the dynamics of passenger cars usually rely on real-time monitoring of vehicle side-slip angle (VSA). The VSA can’t be measured directly on the production vehicles since it requires the employment of high-end and expensive instrumentation. To realiably overcome the VSA estimation problem, different model-based techniques can be adopted. The aim of this work is to compare the performance of different model-based state estimators, evaluating both the estimation accuracy and the computational cost, required by each algorithm. To this purpose Extended Kalman Filters, Unscented Kalman Filters and Particle Filters have been implemented for the vehicle system under analysis. The physical representation of the process is represented by a single-track vehicle model adopting a simplified Pacejka tyre model. The results numerical results are then compared to the experimental data acquired within a specifically designed testing campaign, able to explore the entire vehicle dynamic range. To this aim an electric go-kart has been employed as a vehicle, equipped with steering wheel encoder, wheels angular speed encoder and IMU, while an S-motion has been adopted for the measurement of the experimental VSA quantity

A New Approach for Estimating Tire-Road Longitudinal Forces for a Race Car

© 2019, Springer Nature Switzerland AG. In vehicle dynamics, the determination of the tire-road interaction forces plays a fundamental role in the analysis of vehicle behavior. This paper proposes a simple yet effective approach to estimate longitudinal forces. The proposed approach: i) is based on equilibrium equations; ii) analyses the peculiarities of driving and braking phases; iii) takes into account the interactions between vehicle sprung mass and unsprung mass. The unsprung mass is often neglected but that might lead to significant approximations, which are deemed unacceptable in performance or motorsport environments. The effectiveness of the proposed approach is assessed using experimental data obtained from a high performance racing car. Results show that the proposed approach estimates tire longitudinal forces with differences up to 10% when compared against a simpler formulation which uses only the overall mass of the vehicle. Therefore the distinction among vehicle sprung and unsprung masses, which is likely to be an easily obtainable piece of information in motorsport environments, is exploited in this approach to provide significant benefits in terms of longitudinal force estimation, ultimately aimed at maximizing vehicle performance

The tim-3-galectin-9 secretory pathway is involved in the immune escape of human acute myeloid leukemia cells

Acute myeloid leukemia (AML) is a severe and often fatal systemic malignancy. Malignant cells are capable of escaping host immune surveillance by inactivating cytotoxic lymphoid cells. In this work we discovered a fundamental molecular pathway, which includes ligand-dependent activation of ectopically expressed latrophilin 1 and possibly other G-protein coupled receptors leading to increased translation and exocytosis of the immune receptor Tim-3 and its ligand galectin-9. This occurs in a protein kinase C and mTOR (mammalian target of rapamycin)-dependent manner. Tim-3 participates in galectin-9 secretion and is also released in a free soluble form. Galectin-9 impairs the anti-cancer activity of cytotoxic lymphoid cells including natural killer (NK) cells. Soluble Tim-3 prevents secretion of interleukin-2 (IL-2) required for the activation of cytotoxic lymphoid cells. These results were validated in ex vivo experiments using primary samples from AML patients. This pathway provides reliable targets for both highly specific diagnosis and immune therapy of AML

Pathway level subtyping identifies a slow-cycling biological phenotype associated with poor clinical outcomes in colorectal cancer

Molecular stratification using gene-level transcriptional data has identified subtypes with distinctive genotypic and phenotypic traits, as exemplified by the consensus molecular subtypes (CMS) in colorectal cancer (CRC). Here, rather than gene-level data, we make use of gene ontology and biological activation state information for initial molecular class discovery. In doing so, we defined three pathway-derived subtypes (PDS) in CRC: PDS1 tumors, which are canonical/LGR5+ stem-rich, highly proliferative and display good prognosis; PDS2 tumors, which are regenerative/ANXA1+ stem-rich, with elevated stromal and immune tumor microenvironmental lineages; and PDS3 tumors, which represent a previously overlooked slow-cycling subset of tumors within CMS2 with reduced stem populations and increased differentiated lineages, particularly enterocytes and enteroendocrine cells, yet display the worst prognosis in locally advanced disease. These PDS3 phenotypic traits are evident across numerous bulk and single-cell datasets, and demark a series of subtle biological states that are currently under-represented in pre-clinical models and are not identified using existing subtyping classifiers

Multiphysical MF-based tyre modelling and parametrisation for vehicle setup and control strategies optimisation

Starting from the earliest phases of design of the vehicle and its control systems, the understanding of tyres is of fundamental importance to govern the overall vehicle dynamics. A properly characterised tyre–road interaction model is essential to achieve a reliable vehicle dynamics model on which more design variations can be studied directly in simulation environment optimising both cost and time. The possibility to count on computationally efficient and reliable formulations represents nowadays a great advantage, and the multiphysical Pacejka's Magic Formula (MF-evo) tyre model presented is one of the best trade-off solutions to meet the strict real-time requirements and to reproduce multiphysical variations of the tyre dynamic behaviour towards temperature, pressure and wear effects. A specific methodology has been developed to characterise and to identify the MF-evo parameters with a high grade of accuracy and reliability directly from experimental data. The proposed technique is based on a pre-processing procedure to remove non-physical outliers and to cluster the data, which allows to optimise the multidimensional parameterisation process. To the purpose of validation of the parametrisation routine, data from a motorsport case, exceptionally difficult to reproduce in simulation due particularly significant variations of the tyre dynamics during a single test, have been employed demonstrating the MF-evo model potential and robustness

Tire multiphysical modeling for the analysis of thermal and wear sensitivity on vehicle objective dynamics and racing performances

The handling behavior of a vehicle is one of its most important properties because of its relation to performance and safety and to its deep link with concepts such as “over-steer” or “under-steer”. Tire–road interaction models play a fundamental role in the vehicle system modeling, since tires are responsible for the generation of forces arising within contact patches, fundamental for both handling and ride/comfort. Among the models used to reproduce such forces, Pacejka's Magic Formula (MF) is undoubtedly one of the most used ones in real-time automotive simulation environments because of its ability to fit quite easily a large amount of experimental data, but its original formulation did not take into account of the tire thermodynamics and wear conditions, which clearly affect tire and vehicle dynamics and are not negligible, especially for high level applications, such as motorsport competitions. Exploiting a multiphysical tire model, which consists in an evolved version of the standard MF model (MF-evo), and a vehicle model properly validated throughout experimental data acquired in outdoor testing sessions carried out with an industrial partner, the current work presents a study on vehicle behavior variation induced by thermodynamic and wear parameters, defining a series of metrics to analyze and show results. One of the elements of interest on which the focus is placed is the possibility to highlight how under-over-steering behavior of a car changes according to different thermodynamic states of tires; to do this, a commercial software VI CarRealTime has been used to perform a series of objective steady-state maneuvers and long runs, exploiting the logic of a lap time optimizer

Performance and Safety Enhancement Strategies in Vehicle Dynamics and Ground Contact

Recent trends in vehicle engineering prove the great effort that scientists and industries have made in seeking solutions to enhance both the performance and the safety of vehicular systems [...

Application of Generalized Models for Identification of Viscoelastic Behavior

In this paper the capability to reproduce the mechanical behaviour of viscoelastic materials is investigated comparing the response of a generalized Maxwell model and a relative fraction derivative model towards the experimental behavior of a selected viscoelastic material. In particular, the rheological models are mathematically described illustrating the advantages of the pole-zero formulation for a constrained parameters’ identification procedure. The effectiveness of the both models’ is then compared focusing on the ability of the models to adequately fit the experimental data with a minimum number of parameters, also addressing the possible computational issues

Correction to: Cross-combined UKF for vehicle sideslip angle estimation with a modified Dugoff tire model: design and experimental results (Meccanica, (2021), 56, 11, (2653-2668), 10.1007/s11012-021-01403-6)

The original article has been updated. Several corrections were overlooked during the correction process; these have now been corrected