The classical g-g diagram, representing the achievable acceleration space for a vehicle, is commonly used as a constraint in trajectory planning and control due to its computational simplicity. To address non-planar road geometries, this concept can be extended to incorporate g-g constraints as a function of vehicle speed and vertical acceleration, commonly referred to as g-g-g-v diagrams. However, the estimation of g-g-g-v diagrams is an open problem. Existing simulation-based approaches struggle to isolate non-transient, open-loop stable states across all combinations of speed and acceleration, while optimization-based methods often require simplified vehicle equations and have potential convergence issues. In this paper, we present a novel, open-source, quasi-steady-state black box simulation approach that applies a virtual inertial force in the longitudinal direction. The method emulates the load conditions associated with a specified longitudinal acceleration while maintaining constant vehicle speed, enabling open-loop steering ramps in a purely QSS manner. Appropriate regulation of the ramp steer rate inherently mitigates transient vehicle dynamics when determining the maximum feasible lateral acceleration. Moreover, treating the vehicle model as a black box eliminates model mismatch issues, allowing the use of high-fidelity or proprietary vehicle dynamics models typically unsuited for optimization approaches. An open-source version of the proposed method is available at: https://github.com/TUM-AVS/GGGVDiagrams

Effective fall risk assessment is critical for post-stroke patients. The present study proposes a novel, data-informed fall risk assessment method based on the instrumented Timed Up and Go (ITUG) test data, bringing in many mobility measures that traditional clinical scales fail to capture. IFRA, which stands for Instrumented Fall Risk Assessment, has been developed using a two-step process: first, features with the highest predictive power among those collected in a ITUG test have been identified using machine learning techniques; then, a strategy is proposed to stratify patients into low, medium, or high-risk strata. The dataset used in our analysis consists of 142 participants, out of which 93 were used for training (15 synthetically generated), 17 for validation and 32 to test the resulting IFRA scale (22 non-fallers and 10 fallers). Features considered in the IFRA scale include gait speed, vertical acceleration during sit-to-walk transition, and turning angular velocity, which align well with established literature on the risk of fall in neurological patients. In a comparison with traditional clinical scales such as the traditional Timed Up & Go and the Mini-BESTest, IFRA demonstrates competitive performance, being the only scale to correctly assign more than half of the fallers to the high-risk stratum (Fischer's Exact test p = 0.004). Despite the dataset's limited size, this is the first proof-of-concept study to pave the way for future evidence regarding the use of IFRA tool for continuous patient monitoring and fall prevention both in clinical stroke rehabilitation and at home post-discharge. Keywords: Fall Risk, Stroke Rehabilitation, Machine Learning, Mobility Impairment, Instrumented Timed Up and Go test, Inertial Measurement Units, Feature Selection 1 1.

We present a multifractal artificial terrain generation method that uses the 3D Weierstrass-Mandelbrot function to control roughness. By varying the fractal dimension used in terrain generation across three different values, we generate 60 unique off-road terrains. We use gradient maps to categorize the roughness of each terrain, consisting of low-, semi-, and high-roughness areas. To test how the fractal dimension affects the difficulty of vehicle traversals, we measure the success rates, vertical accelerations, pitch and roll rates, and traversal times of an autonomous ground vehicle traversing 20 randomized straight-line paths in each terrain. As we increase the fractal dimension from 2.3 to 2.45 and from 2.45 to 2.6, we find that the median area of low-roughness terrain decreases 13.8% and 7.16%, the median area of semi-rough terrain increases 11.7% and 5.63%, and the median area of high-roughness terrain increases 1.54% and 3.33%, all respectively. We find that the median success rate of the vehicle decreases 22.5% and 25% as the fractal dimension increases from 2.3 to 2.45 and from 2.45 to 2.6, respectively. Successful traversal results show that the median root-mean-squared vertical accelerations, median root-mean-squared pitch and roll rates, and median traversal times all increase with the fractal dimension.

Stabilizing vertical dynamics for on-road and off-road vehicles is an important research area that has been looked at mostly from the point of view of ride comfort. The advent of autonomous vehicles now shifts the focus more towards developing stabilizing techniques from the point of view of onboard proprioceptive and exteroceptive sensors whose real-time measurements influence the performance of an autonomous vehicle. The current solutions to this problem of managing the vertical oscillations usually limit themselves to the realm of active suspension systems without much consideration to modulating the vehicle velocity, which plays an important role by the virtue of the fact that vertical and longitudinal dynamics of a ground vehicle are coupled. The task of stabilizing vertical oscillations for military ground vehicles becomes even more challenging due lack of structured environments, like city roads or highways, in off-road scenarios. Moreover, changes in structural parameters of the vehicle, such as mass (due to changes in vehicle loading), suspension stiffness and damping values can have significant effect on the controller's performance. This demands the need for developing deep learning based control policies, that can take into account an extremely large number of input features and approximate a near optimal control action. In this work, these problems are addressed by training a deep reinforcement learning agent to minimize the vertical acceleration of a scaled vehicle travelling over bumps by controlling its velocity.

The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range of disturbances. Faster off-road navigation has been explored for terrestrial applications but the combined effects of increased speeds and reduced gravity fields are yet to be fully studied. In this paper, we design and demonstrate a novel fully passive suspension design for wheeled planetary robots, which couples for the first time a high-range passive rocker with elastic in-wheel coil-over shock absorbers. The design was initially conceived and verified in a reduced-gravity (1.625 m/s${^2}$) simulated environment, where three different passive suspension configurations were evaluated against steep slopes and unexpected obstacles, and later prototyped and validated in a series of field tests. The proposed mechanically-hybrid suspension proves to mitigate more effectively the negative effects (high-frequency/high-amplitude vibrations and impact loads) of faster locomotion (~1\,m/s) over unstructured terrains under varied gravity fields.

Road transportation is of critical importance for a nation, having profound effects in the economy, the health and life style of its people. With the growth of cities and populations come bigger demands for mobility and safety, creating new problems and magnifying those of the past. New tools are needed to face the challenge, to keep roads in good conditions, their users safe, and minimize the impact on the environment. This dissertation is concerned with road quality assessment and aggressive driving, two important problems in road transportation, approached in the context of Intelligent Transportation Systems by using Machine Learning techniques to analyze acceleration time series acquired with smartphone-based opportunistic sensing to automatically detect, classify, and characterize events of interest. Two aspects of road quality assessment are addressed: the detection and the characterization of road anomalies. For the first, the most widely cited works in the literature are compared and proposals capable of equal or better performance are presented, removing the reliance on threshold values and reducing the computational cost and dimensionality of previous proposals. For the second, new approaches for the estimation of pothole depth and the functional condition of speed reducers are showed. The new problem of pothole depth ranking is introduced, using a learning-to-rank approach to sort acceleration signals by the depth of the potholes that they reflect. The classification of aggressive driving maneuvers is done with automatic feature extraction, finding characteristically shaped subsequences in the signals as more effective discriminants than conventional descriptors calculated over time windows. Finally, all the previously mentioned tasks are combined to produce a robust road transport evaluation platform.

You haven't seen The Matrix? Well, you should watch it. Here's the basic idea--some dude (Neo) finds out he's been living in a computer program. Since his world isn't "real," he is able to do some superhuman things--like dodge bullets and jump from one building to the next. Yes, this building jump is what I want to look at.

Next December, there'll be a new entrant into the end-of-year, blockbuster science fiction movie category: the Peter Jackson film Mortal Engines. A teaser trailer for it dropped just before the holidays, and there's really only one thing you need to know about it. Now, I know the movie is based on a book series, which probably has a lot of detail about these giant ambulatory dwellings. But I like to try and see what I can figure out just from the trailer itself. So let's get into some off the wall estimations.

Of course I'm not the first to look at the physics in Super Mario Bros--there was this interesting paper looking at the optimal jump to get to the highest point on the flag at the end of the level. There is also a nice page looking at the acceleration of jumping Mario in the different games. This is a great chance to take another look at the physics of Mario. The best way to get data from a video game is to first capture the action and then use video analysis. With video analysis, I can get position-time data by looking at the location of the object in each frame.

The analysis of a video game can be a game in itself. The process of trying to figure out the underlying physics engine in a game is just like science--but much cheaper. It's been a while since I've explored the mechanics in Angry Birds (the game), but I have quite a few posts on the topic. In my first Angry Birds post, I examined the trajectory of a bird after leaving the slingshot. The first thing I found was that the flight path was indeed a parabola.