Indiana University-Purdue University Indianapolis (IUPUI) / Self-driving is simply the capacity of a vehicle to drive itself without human intervention. To accomplish this, the vehicle utilizes mechanical and electronic parts, sensors, actuators and an AI computer. The on-board PC runs advanced programming, which permits the vehicle to see and comprehend its current circumstance dependent on sensor input, limit itself in that climate and plan the ideal course from point A to point B. Independent driving is not an easy task, and to create self-sufficient driving arrangements is an exceptionally significant ability in the present programming designing field. ROS is a robust and versatile communication middle ware (framework) tailored and widely used for robotics applications. This thesis work intends to show how ROS could be used to create independent driving programming by investigating self-governing driving issues, looking at existing arrangements and building up a model vehicle utilizing ROS. The main focus of this thesis is to develop and implement a one-tenth scale of an autonomous RACECAR equipped with Jetson Nano board as the on-board computer, PCA9685 as PWM driver, sensors, and a ROS based software architecture. Finally, by following the methods presented in this thesis, it is conceivable to build an autonomous RACECAR that runs on ROS. By following the means portrayed in this theory of work, it is conceivable to build up a self-governing vehicle.

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This thesis is concerned with the optimalization of suspension arm desing in term of rigidity wheel direction and weight.

Formula Student is a global engineering competition where university students collaborate to design, construct, and race formula-style cars. Aerodynamics is one aspect in the vehicle design that can improve on-track performance by increasing cornering and straight-line speed. To improve the aerodynamics of KTH Formula Student's DeV18 vehicle, the side structure is being redesigned. The current model, DeV17, features an underperforming tunnel-based side structure. To address this issue, this had the goal to investigate a new multi-element wing design that utilizes ground effect. The design study of the DeV18 vehicle is conducted using Siemens NX 2212 for 3D modelling and Simcenter Star-CCM+ 17.06.008-R8 for airflow simulations. To quickly investigate certain design parameters effect on the results, Design Manager Project inside Simcenter Star-CCM+ is used. The resulting side structure produces a total of 26 N of downforce and 6 N of drag at 40 kph, more than twice that of DeV17’s side structure while also producing less drag. Although this significant improvement compared to DeV17, it is believed that further increases in performance are necessary to compete with top teams. By using a more sophisticated method to optimize the multi-element wing, such as adjoint optimization, the concept could be improved. However, the overall potential of the concept is still considered too limited to achieve the desired performance goals, which is why it will no longer be investigated further.

This qualitative study examined the psychological demands of Formula One Racing, and the psychological skills former Formula One drivers utilized to meet those demands. The participants were nine former drivers, from six different countries, who have competed in at least one Formula One World Drivers Championship grand prix. The qualitative data were gathered using a semi-structured interview framework, developed by the researcher, to explore the psychological skills established from other validated psychological skills questionnaires, such as the Test of Performance Strategies, (Thomas, Murphy, & Hardy, 1999). Eight of the interviews were done via Skype, and one interview was performed in person. The interviews were transcribed verbatim, and then sent to the participants to make any edits or corrections. Once the transcriptions were approved, the data were coded by the researcher using constant comparative methods as described in Charmaz (2006). Three phases of coding resulted in four themes and 14 sub-themes. The themes that emerged include: (1) Applied Sport Psychology in Formula One, (2) Psychological Skills, (3) Uncontrollable Aspects of Competition, (4) Career Components. Drivers used various psychological skills in a focused effort to aid their performance. Drivers discussed the important role psychology plays in their sport, and the psychological resources available to them during their career. Drivers discussed the danger element of their competition, and how they and their competitors managed the fear associated with racing. The drivers in this study competed in an era that was much more dangerous than the current era of Formula One racing (Barnes, 2013). The drivers' use of psychological skills, and perceptions of sport psychology, may guide consultants working with race car drivers and those working with other populations that have similar psychological and physical demands. / Kinesiology

International Telemetering Conference Proceedings / October 27-30, 1997 / Riviera Hotel and Convention Center, Las Vegas, Nevada / This student paper was produced as part of the team design competition in the University of Arizona course ECE 485, Radiowaves and Telemetry. It describes the design of a telemetering system for race cars. Auto Racing is an exciting sport where the winners are the ones able to optimize the balance between the driver’s skill and the racing teams technology. One of the main reasons for this excitement is that the main component, the race car, is traveling at extremely high speeds and constantly making quick maneuvers. To be able to do this continually, the car itself must be constantly monitored and possibly adjusted to insure proper maintenance and prevent damage. To allow for better monitoring of the car’s performance by the pit crew and other team members, a telemetering system has been designed, which facilitates the constant monitoring and evaluation of various aspects of the car. This telemetering system will provide a way for the speed, engine RPM, engine and engine compartment temperature, oil pressure, tire pressure, fuel level, and tire wear of the car to be measured, transmitted back to the pit, and presented in a way which it can be evaluated and utilized to increase the car’s performance and better its chances of winning the race. Furthermore, this system allows for the storing of the data for later reference and analysis.

The aim of this master’s thesis is to evaluate the effect of shock absorber on vehicle limits. At the beginning of the thesis, shock absorber properties were described. Then computational model was created and manoeuvres for shock absorber behaviour were defined. Created mathematical model is based on quarter model of a car and excitation in form of road with a random profile is an essential part of the model. This model was used for evaluation of heave. After heave analysis, shock absorber behaviour during drive was investigated. Drive conditions were defined as set of handling manoeuvres. For the drive investigation, complete multibody virtual model of racing car was used. Based on drive investigation analysis, optimal damping characteristics for each manoeuvre were found. Furthermore, each optimal characteristic was compared for different manoeuvres. Obtained results were compared. As a conclusion, compromise damping characteristic was suggested with the aim to fit the combination of all defined drive conditions. Final part of the thesis was aimed at validation of the computational model. Data measured during real drive were used as an input for this validation.

Tato diplomová práce je věnována vývoji a analýze zavěšení Formule Student. V úvodu je představena mezinárodní soutěž Formula Student, její disciplíny a historie týmu TU Brno Racing a UH Racing. V teoretické části je detailní popis charakteristik pneumatiky, kinematický návrh zavěšení a aerodynamiky s ohledem na závodní vozy. V části věnované konstrukčnímu návrh je popis vývoje ramen zavěšení, vahadel a zadního stabilizátoru. Návrh kinematických charakteristik vozu Dragon 5 je detailně popsán a porovnán s předešlou variantou. Mimo vývoje kinematiky Dragon 5 je popsán vývoj vozu UH 18. Závěrečná kapitola detailně analyzuje zaznamenaná data z testování vozu Dragon 4.

[pt] In order to gain deeper understanding of the ow physics around low aspect ratio wings, the current dissertation presents a numerical study of the ow around a race-car rear wing, in particular, the PUC-Rio Formula-University car. To diminish the time it takes to prepare a numerical simulation, we evaluate the performance and accuracy of a particular utility available in Open-FOAM, namely, snappyHexMesh, which generates hexahedral unstructured grids. The effect of using such a grid in numerical simulations employing two different turbulence models (Spalart Allmaras and k - w SST) for several angles of attack is investigated. The methodology of the study comprised six steps: 3D scanning of the real geometry, geometry modeling, grid generation, ow computation, solution validation, ow visualization and analysis. The grid qualities were assessed using a simple two-dimensional case, which showed good agreement with experimental data with an absolute difference ranging between 0.39 per cent and 8 per cent. While comparing them with numerical validated data the difference ranged between 0.5 per cent and 3.6 per cent. By visualizing the velocity and pressure fields, it was confirmed that the methodology used in the current study is capable of capture the various physical phenomena present in the ow around a rear wing, which is characterized by horseshoe vortices at the end plates, local recirculation zones, tip vortices and their interaction with the boundary layer at the suction surface. The simulations showed that the size of the tip and horseshoe vortices increases with the angle of attack, as well as their in uence on the boundary-layer separation. Consequently, although the end plates are known to be useful in reduction of vortex, it was observed there is still a great waste of energy in their formation. / [en] A fim de obter uma compreensão mais profunda da física do escoamento em torno de asas de baixa relação de aspecto, a presente dissertação apresenta um estudo numérico do escoamento em torno da asa traseira de um carro de corrida, em particular, o carro de fórmula da PUC-Rio. Para diminuir o tempo que leva para preparar uma simulação numérica, avaliamos o desempenho e a precisão de um utilitário disponível no OpenFOAM chamado snappyHexMesh, o qual gera malhas não estruturadas usando em sua maioria elementos hexahédricos. O efeito do uso de tal malha nos resultados das simulações numéricas é investigado, empregando dois modelos de turbulência diferentes (Spalart Allmaras e k - omega SST) para vários ângulos de ataque. A metodologia do estudo foi composta por seis etapas: a digitalização da geometria, a modelagem da geometria, a geração da malha, o cálculo do escoamento, a avaliação da solução, a visualização e análise do escoamento. As qualidades da malha foram avaliados através de um caso bidimensional simples, que mostrou boa concordância com dados experimentais com uma diferença absoluta variando entre 0,39 por cento e 8 por cento. Em quanto que comparando-os com dados numéricos validados a diferença variou entre 0,5 por cento e 3,6 por cento. Visualizando os campos de velocidade e os campos de pressão, foi confirmado que a metodologia utilizada no estudo é capaz de capturar os diversos fenômenos físicos presentes no escoamento, o qual é caracterizado por vórtices de ferradura nas placas, zonas de recirculação locais, vórtices de ponta e sua interação com a camada limite na superfície de sucção. As simulações mostraram que o tamanho dos vórtices de ponta e dos vórtices de ferradura aumenta com o ângulo de ataque, bem como sua inuência sobre a separação da camada limite. Consequentemente, embora as placas sejam reconhecidamente úteis na diminuição dos efeitos de ponta, ainda há um grande desperdício de energia na formação de vórtices.

Este trabalho apresenta o estudo da dinâmica vertical de um veículo off-road de competição e do comportamento elastocinemático de suas suspensões primárias de duplo estágio com o auxílio da ferramenta computacional de simulação de sistemas multicorpos MSC-ADAMS. O modelo multicorpos do veículo inclui os modelos da suspensão dianteira, suspensão traseira, sistema de direção, pneus e massa suspensa. As análises elastocinemáticas das suspensões definiram geometrias que permitem longos cursos de trabalho das suspensões sem variações indesejadas de parâmetros de projeto. Com a análise modal do modelo de veículo completo foram definidos os valores de rigidez das molas das suspensões de duplo estágio que resultaram em valores de freqüência natural no primeiro estágio semelhantes aos indicados para carros de passeio e no segundo estágio, próximos dos encontrados em veículos de competição. A análise de conforto do veículo durante simulação de passagem por trecho de pista demonstrou que os elementos de força definidos na análise modal resultam em níveis de conforto raramente encontrados em veículos de competição. / This dissertation presents the study of a off-road competition vehicle ride and the double rate suspensions elastokinematic behavior using the multibody software MSC-ADAMS. The vehicle multibody model includes the rear and front suspensions, the steering system, the tires and the sprung mass. The suspensions elastokinematic analysis defined geometric configurations that allowed long jounce and rebound travel of wheel, without undesirable project parameters variations. In the modal analysis of the vehicle multibody model, the springs rates that results in natural frequencies values similar to passenger cars for the first suspension stage and, for the second stage, similar to competition vehicles, were defined. The ride analysis during the simulation of the vehicle running on a rough track showed that the force elements defined on the modal analysis resulted in a good ride quality, rarely found in competition vehicles.