Related papers: Optimization of Vehicle Dynamics based on Multibod…
Multibody dynamics simulations are currently widely accepted as valuable means for dynamic performance analysis of mechanical systems. The evolution of theoretical and computational aspects of the multibody dynamics discipline make it…
Sensitivity analysis of multibody systems computes the derivatives of general cost functions that depend on the system solution with respect to parameters or initial conditions. This work develops adjoint sensitivity analysis for hybrid…
In automotive engineering, designing for optimal vehicle dynamics is challenging due to the complexities involved in analysing the behaviour of a multibody system. Typically, a simplified set of dynamics equations for only the key bodies of…
Model-based approaches have become increasingly popular in the domain of automated driving. This includes runtime algorithms, such as Model Predictive Control, as well as formal and simulative approaches for the verification of automated…
Real-world multibody systems are often subject to phenomena like friction, joint clearances, and external events. These phenomena can significantly impact the optimal design of the system and its controller. This work addresses the…
The design space of dynamic multibody systems (MBSs), particularly those with flexible components, is considerably large. Consequently, having a means to efficiently explore this space and find the optimum solution within a feasible…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…
This paper develops a surrogate model refinement approach for the simulation of dynamical systems and the solution of optimization problems governed by dynamical systems in which surrogates replace expensive-to-compute state- and…
Sensitivity analysis, especially adjoint based sensitivity analysis, is a powerful tool for engineering design which allows for the efficient computation of sensitivities with respect to many parameters. However, these methods break down…
Collision detection plays a key role in the simulation of interacting rigid bodies. However, owing to its computational complexity current methods typically prioritize either maximizing processing speed or fidelity to real-world behaviors.…
The latest advances in the design of vehicles with the adaptive level of automation pose new challenges in the vehicle-driver interaction. Safety requirements underline the need to explore optimal cockpit architectures with regard to driver…
This paper applies a discrete adjoint gradient computation method for a multi-class traffic flow model on road networks. Vehicle classes are characterized by their specific velocity functions, which depend on the total traffic density,…
Affective states have a critical role in driving performance and safety. They can degrade driver situation awareness and negatively impact cognitive processes, severely diminishing road safety. Therefore, detecting and assessing drivers'…
Autonomous systems are composed of several subsystems such as mechanical, propulsion, perception, planning and control. These are traditionally designed separately which makes performance optimization of the integrated system a significant…
This work presents an optimization framework for tailoring the nonlinear dynamic response of lightly damped mechanical systems using Spectral Submanifold (SSM) reduction. We derive the SSM-based backbone curve and its sensitivity with…
Driving is a daily routine for many individuals across the globe. This paper presents the configuration and methodologies used to transform a vehicle into a connected ecosystem capable of assessing driver physiology. We integrated an array…
Autonomous vehicles usually consume a large amount of computational power for their operations, especially for the tasks of sensing and perception with artificial intelligence algorithms. Such a computation may not only cost a significant…
We develop a sensitivity function for the design of electron optics using an adjoint approach based on a form of reciprocity implicit in Hamilton's equations of motion. The sensitivity function, which is computed with a small number of…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…