This diploma thesis deals with the design of device for measuring wheel alignment and set- up of race car chassis. The real prototype of measuring device based on previous theoretical design has been made. The measuring procedure is mentioned as well. Another part is focused on factors affecting accuracy of measurement. The last part contains evaluation and discussion of gained results based on several measurements that have been done with prototype of measuring device.

Master’s thesis focused on design and construction of front uprights for Formula Student racing car. Topology optimization and FEM analysis will be used to design the uprights with higher stiffness and minimal weight difference compared to the last model. In the FEM analysis loads will be applied from wheel side and from suspension side. Design of the upright then will be compared to the previous designs especially to safety factor, weight and cost.

This thesis describes the design of single-cylinder four-stroke racing motorcycle with a displacement of 450 cm3. The introduction describes the MX1 class motorcycle engines design and basic parameters of the designed engine. This is followed by comparing construction of crank mechanism parts meeting strength calculations with components of contemporary racing engines. The next section describes the design of the timing mechanism, balance shaft, cylinder head, engine cylinder, gearbox shaft location and crankcase lubrication and cooling system.

The thesis consists of rear wheel suspension design for light Formula Student racing car, especially design of upright, wheel hub and other parts of the assembly. Design was done in CAD software PTC Creo 2.0. Thesis also mentions calculation of critical wheel loads, wheel bearing life calculation and wheel loads during the race as well as stress analysis in Ansys Workbench and fatigue life analysis.

This diploma thesis deals with design of uprights and wheel hubs of front wheels of Formula Student race car. Specifically race cars named Dragon 3 and Dragon 4 of TU Brno Racing team. In this thesis there will be load calculations of front wheels, choosing of bearings and uprights and wheel hub’s design. Then control of design by FEA analysis. And finally comparing of both designs and comparing with previous designs.

The aim of this thesis is design of one cylinder engine, with stroke volume 250ccm, for a Moto3 category racing motorbike. At the begin the thesis describes rules for engine design for Moto3 racing motorbike category and gives a summary about current technologies in engine design and motorcycle development. Another part describes construction features of engine design, completed with crank shaft analysis using the LSA method.

This master's thesis deals with physical simulation of cars. Program is implemented in C++ using OpenSceneGraph and Bullet libraries, which are shortly introduced. The application is implemented as simple racing game for one or two players. Using a simple menu, the user can select a car and the weather, which dramatically affects the handling characteristics of vehicles. Setting weather to random is one of the options leading to a dynamic weather changes during the game. The application takes into account collisions among cars and collisions with the terrain and bars on a racing circuit.

Thesis analyses the problem about motorsport discipline hill climb races. Using the findings is designed database structure and created user application together with websites for current result publishing. The work also describes the hardware that is compatible with this application.

Ce travail de thèse avait pour objectif (i) de quantifier les contraintes métaboliques en slalom (SL), en slalom géant (GS) pour des durées d’efforts courtes et longues, représentatives des temps extrêmes de compétitions contemporaines ; (ii) de comparer les demandes métaboliques entre le ski alpin in situ (SL et GS) et différentes motricités (bonds latéraux sur box, slide, course à pied, cyclisme, bonds latéraux sur trampoline). Quelle que soit la durée de GS en compétition, le métabolisme aérobie est prédominant dans la fourniture d’énergie. En revanche, les contributions respectives des métabolismes aérobie et glycolytique à la fourniture d’énergie ne sont pas significativement différentes en SL. Par ailleurs, la course à pied et le cyclisme sont les motricités investiguées les moins spécifiques de SL et GS. En revanche, la motricité des bonds latéraux sur box et celle des bonds latéraux sur trampoline représentent des similarités physiologiques intéressantes par rapport au SL et GS. A fortiori, la motricité du slide est la plus spécifique de SL et GS au regard de la spécificité de ses paramètres physiologiques (part d’implication des métabolismes aérobie et glycolytique, débits énergétiques total, glycolytique et aérobie, valeurs de [La]pic et de Δ[La]). Subséquemment, l’objectif de l’étude n°3 était de déterminer la reproductibilité d’un test physique de 80s utilisant la motricité du slide. Le 80s-slide-test est un test physique spécifique du ski alpin et reproductible. En effet, le nombre total d’appuis, V̇ O2pic, V̇ O2moy et FCmoy sont reproductibles. Ainsi, le 80s-slide-test constitue une alternative pertinente aux tests physiques non spécifiques du ski alpin menés en laboratoire. Enfin, l’objectif de l’étude de cas n°4 était de décrire la stratégie d’allure du skieur alpin au cours d’une manche longue de GS. Le skieur alpin adopterait une stratégie d’allure au cours d’une manche longue de GS en diminuant l’intensité de ski de manière anticipée dès la section 1 (premières 52s) puis durant la section 2 (dernière 29s) lors d’un GS long (81s). / The objective of this thesis was (i) to assess metabolic constraints in slalom (SL) and giant slalom (GS) during short and long effort according to extrem contemporary races duration ; (ii) to clarify motor skills (box bouncing, sliding, running, cycling, trampoline lateral bouncing) energetically specificity to alpine ski racing. Regardless of GS length the aerobic system was the primary energy system involved. Aerobic and glycolytic energy system contribution were not different in SL. Furthermore running and cycling were most unspecific motor skills investigated regarding SL and GS. On the other hand box bouncing and trampoline lateral bouncing presented interesting physiological specificities. Moreover no significant difference in aerobic and glycolytic energy system contribution, total energy output, glycolytic energy output, aerobic energy output, phosphagen energy output, [La]peak, Δ[La] were observed between sliding and both GS and SL. Subsequently the aim of the third study was to determine the test-retest reliability of a 80s test involving sliding motror skills. The 80s-slide-test is a specific and reliable test. Indeed the 80s-slide-test showed large reliability for total push-offs number, V̇ O2peak, V̇ O2moy, FCpeak and FCmoy. Hence 80s-slide-test is a relevant alternative to lab unspecific test for alpine ski racers. Finally the aim of the fourth study was to analyse pacing strategy in long GS. Alpine ski racer may run pacing strategy skiing decreasing intensity during section 1 (first 52s) and during section 2 (last 29s) in long GS (81s).

In autonomous racing there is a need to accurately localize the vehicle while simultaneously creating a map of the track. This information can be delivered to planning and control layers in order to achieve fully autonomous racing. The kinematic model is a commonly used motion model in feature-based SLAM. However, it is a poor representation of the vehicle when considering high lateral accelerations since the model is only based on trigonometric relationships. This Master’s Thesis investigates the consequence of using the kinematic model when undertaking demanding maneuvers; and if by switching to a dynamic model, which takes the tire forces into account, can improve the localization performance. An EKF-SLAM algorithm comprising the kinematic and dynamic model was implemented on a development platform. The pose estimation accuracy was compared using either model when subject to typical maneuvers in racing-scenarios. The results showed that the pose estimation accuracy was in general similar when using either of the vehicle models. When exposed to large slip angles, the implications of switching from a kinematic model to a dynamic model resulted in a significantly better pose estimation accuracy when driving in an unknown environment. However, switching to a dynamic model had little effect when driving in a known environment. The implications of the study suggest that, during the first lap of a racing track, the kinematic model should be switched to a dynamic model when subject to high lateral accelerations. For the consecutive laps, the choice of vehicle model has less impact. Keywords: SLAM, EKF-SLAM, Localization, Estimation, Vehicle Dynamics, Kinematic Model, Dynamic Model, Autonomous Racing / I autonom racing är det viktigt att kunna lokalisera fordonet med hög noggrannhet samtidigt som en karta över banan skapas. Den här informationen kan vidare bli hanterad av planerings- och reglersystem för att uppfylla autonom racing fullt ut. Den kinematiska modellen är en vanligt förekommande rörelsemodell i SLAM. Den är däremot en bristande representation av fordonet vid höga laterala accelerationer eftersom modellen enbart är baserad på trigonometriska samband. Det här masterarbetet undersöker den kinematiska modellens påverkan vid olika manövrar och huruvida den dynamiska modellen, som modellerar däckkrafterna, kan förbättra prestandan. En EKF-SLAM algorithm innehållande den kinematiska- och dynamiska modellen implementerades på en utvecklingsplattform. Estimeringsnoggrannheten av positionen och orienteringen jämfördes vid typiska manövrar för racingscenarier. Resultatet visade att estimeringsnoggrannheten av positionen och orienteringen var generellt sett lika vid användandet av antingen den kinematiska eller den dynamiska modellen. Implikationerna av att byta från den kinematiska modellen till den dynamiska modellen vid höga glidvinklar, resulterade i en signifikant bättre estimeringsnoggrannhet av positionen och orienteringen vid körning i en okänd miljö. Emellertid så var effekterna av att byta till en dynamisk modell insignifikanta vid körning i en känd miljö. Implikationerna av denna studie föreslår att under det första varvet av racingbanan byta från den kinematiska modellen till den dynamiska vid höga laterala accelerationer. Under kommande varv har valet av fordonsmodell mindre effekt. Nyckelord: SLAM, EKF-SLAM, lokalisering, estimering, fordonsmodellering, kinematisk modell, dynamisk modell, autonom racing.