Browse Topic: Chassis

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Prediction of Trimmed BIW Noise transfer function based on BIW response using Machine Learning2026-26-0640To be published on 01/16/2026
This research focuses on the prediction of the Noise Transfer Function (NTF) in a trimmed Body-in-White (BIW) structure by leveraging machine learning technique considering BIW-level NTF, dynamic stiffness at engine mount attachment points, and Vibration Transfer Function (VTF). The study employs an iterative methodology, adjusting the thickness of various BIW panels to analyse their impact on noise transfer characteristics. Frequency response functions are generated at the BIW attachment points to assess the effectiveness of these modifications. By systematically increasing and decreasing panel thicknesses, and stiffness at the attachment point and trimmed BIW level responses the study aims to optimize the acoustic performance of the BIW structure. The findings provide critical insights into the relationship between structural modifications and noise transfer, offering valuable guidance for automotive design and engineering during early design stage to reduce the development time.
Kulkarni, Prasad Ramesh, Bijwe, Vilas, Kulkarni, Shirish, Sahu, Dilip, Inamdar, Pushpak
Evaluating Passenger Car Tyre Performance: Lateral and Longitudinal Dynamics in Varied Testing Conditions2026-26-0578To be published on 01/16/2026
The lateral and longitudinal dynamics of passenger car tyres are crucial for vehicle safety, handling and stability, thus having a direct influence on the braking, acceleration, and cornering performance of a vehicle. This study investigates the influence of key input parameters, namely inflation pressure, vertical load, and inclination angle, on the tyre behaviour using a dual approach: Indoor testing using a Flatbed machine for controlled conditions and Outdoor testing using a traction trailer for real-world evaluations. Lateral dynamics is evaluated across a range of slip angles to analyse lateral force and aligning moment characteristics. The quantification of the influence of inclination angle, inflation pressure, and load on lateral characteristics is done by evaluating the cornering stiffness and aligning stiffness. The indoor tests are conducted in both sweep and steady-state modes. The outdoor tests rely solely on sweep testing due to practical limitations. The longitudinal
Sethumadhavan, Arjun, Duryodhana, Dasari, Tomer, Avinash, Ghosh, Prasenjit, Mukhopadhyay, Rabindra
Systematic Study To Understand And Resolve Brake Pull In Commercial Vehicles Using Simulation And Proving Ground Tests2026-26-0083To be published on 01/16/2026
In traditional commercial vehicles with leaf spring suspension and Recirculating Ball Joint (RCBT) steering systems often experience undesirable pulling due to unsymmetrical steering mechanism during braking, especially when the suspension and steering hardpoints are not properly tuned. This study investigates the causes behind such pulling behavior, specifically focusing on brake steer and bump steer, which occur due to misalignments in the suspension and steering geometries. Brake steer happens when the braking forces generate a torque, causing the vehicle to pull towards one side. On the other hand, bump steer refers to the unwanted changes in the wheel alignment when the suspension undergoes travel, leading to instability or unintended steering input. These two phenomena, if not controlled, can result in undesirable vehicle handling, especially under heavy braking conditions. The study aims to understand and quantify these mechanisms, providing insights into how they can be
Pandhare, Vinay Ramakant, M, Anantha Padmnabhan, NIZAMPATNAM, BALARAMAKRISHNA, Londhe, Abhijit, Doundkar, Vikas
Agricultural tractor brake linkage efficiency prediction and correlation using Flexible Multibody Dynamics model2026-26-0103To be published on 01/16/2026
In agricultural tractors, braking actuation is usually done through control linkages consisting of a series of connected four-bar linkages with multiple pivots from the pedal to the brake pads. The quality of force transmission is critical as it directly affects the braking performance of the tractor. Forces measured at the end of the control linkage or brake pull rod often show deviation with theoretically-based mechanical advantage calculations. This is due to various factors such as linkage transmission angle, elasticity, and friction in joints not considered, which contribute to loss in force transfer. A standardized simulation method needs to be developed and validated to predict the losses in the control linkage system. In this paper, the author proposes a simulation approach using multi-body dynamics, which includes contribution factors such as transmission angle, linkage elasticity, and friction in joints. MBS model for brake linkage system for three different tractors
Subbaiyan, Prasanna Balaji, Nizampatnam, Balaramakrishna, Redkar, Dinesh, Arun, G, K, Vinoth, R, Sengottu, Paulraj, Lemuel
Investigation of Fatigue Durability Failure Mechanisms in High-Pressure Hydraulic Pipes of Power Steering Systems2026-26-0542To be published on 01/16/2026
Abstract—The high-pressure hydraulic pipeline in the power steering system is a vital component for ensuring optimal performance. During warranty analysis, leakage incidents were observed at the customer end within the warranty period. The primary factors contributing to these failures include pipe material thickness, material composition, mechanical properties, and engine-induced vibrations. This study investigates fatigue-related failures through detailed material characterization and Computer-Aided Engineering (CAE) based on real world usage road load data collected. The objective is to identify the root causes by examining the influence of varying pipe thickness on fatigue life. The investigation discovered that crack initiation predominantly occurred on the concave side of bent pipe sections, specifically on the engine-side high-pressure steering line, which is connected to the power steering pump mounted on the engine. Fracture surfaces exhibited characteristics consistent with
SURVADE, LALIT, Koulage, Dasharath Baliram, Biswas, Kaushik
Sound quality refinement and vibration reduction during Horn Application in Electric Vehicles2026-26-0338To be published on 01/16/2026
This paper focuses on the cabin sound quality refinement and the tactile vibration reduction during horn application in the electric vehicle. Horn cracking sound is perceived in the cabin while pressing the horn. Higher vibrations are also perceived in accelerator pedal during the particular event. Sound diagnosis is carried out to identify the frequencies contributing to cracking noise. Transfer path analysis is conducted to identify the nature of noise and the predominant path through which forces transfer. Based on finding from TPA, various recommendations are evaluated which reduced the noise to a certain extent. Operational Deflection Shape(ODS) is conducted on the horn, horn mounting bracket and on the body to identify the component having higher deflection at the problematic frequencies . Based on the outcome of ODS, recommendations like dynamic stiffness improvement on the horn bracket and the body is assessed and the effect of each outcome is discussed. With all the
S, Nataraja Moorthy
Study of Style wheel rim failure Due to Rim and disc assembly interference2026-26-0541To be published on 01/16/2026
This study focuses on the investigation of wheel rim failures near weld zone during repeated cornering induced by interference between the rim and disc during the wheel manufacturing assembly process. Strain gauges were employed to capture real-time stress and strain distributions at critical zones during interference fitting. The experimental results revealed that improper interference levels lead to significant stress concentrations, often surpassing the material's elastic limit, initiating micro-crack formation and promoting fatigue failure. Detailed strain analysis indicated that both radial and axial stresses contribute to long-term structural degradation. The study highlights the critical role of dimensional tolerances, surface finishes, and assembly forces in minimizing stress-induced failures. Recommendations are provided for optimizing design and assembly practices to enhance the durability and reliability of automotive wheels.
P, Praveen, DEsigan, Lakshmipathy, K, CHANDRAMOHAN, C, Santhosh
Static Rollover Stability Analysis of Heavy Tipper vehicle2026-26-0090To be published on 01/16/2026
Heavy tipper vehicles are primarily utilized for transporting ores and construction materials. These vehicles often operate in challenging locations, such as mining sites, riverbeds, and stone quarries, where the roads are unpaved and characterized by highly uneven elevations in both the longitudinal and lateral directions of vehicle travel. During the unloading process, the tipper bodies are raised to significant heights, which increases the vehicle's centre of gravity, particularly if the payload material does not discharge quickly. Such conditions can lead to tipper rollover accidents, causing severe damage to life and substantial vehicle breakdowns. To analyse this issue, a study is conducted on the vehicle design parameters affecting the rollover stability of a 35-ton GVW tipper using multi-body simulations in ADAMS software. The tilt table test was simulated to determine the table angle at which wheel lift occurs. Initially, simulations are performed with the rigid body model
Vichare, Chaitanya Ashok, Patil, Sudhir, Gupta, Amit
Design and Validation of a Collapsible Brake Pedal System for Lower-Leg Protection in Frontal Impacts2026-26-0500To be published on 01/16/2026
Indian Passenger car accident data indicates that approximately 44% of crashes are frontal impacts. Among the injuries sustained in these crashes, lower leg injuries are notably critical, contributing to nearly 25% of driver occupant injuries. To evaluate such injuries, the Bharat New Car Assessment Program (BNCAP) includes lower leg injury metrics as part of the Frontal Offset Deformable Barrier (ODB64) test. While the overall injury performance is assessed at the vehicle level, BNCAP also monitors vehicle interior intrusions—particularly pedal intrusions—as key contributors to lower limb injury severity. A major challenge in frontal crashes is the intrusion of the vehicle's front-end structure into the occupant compartment. Rigid components, particularly the brake pedal assembly, can be displaced rearward during a crash, significantly increasing the risk of lower leg injuries. Therefore, minimizing pedal intrusions into the driver footwell is critical to enhancing lower leg
Shetti, Rahul R., Kudale, Shailesh, Naik, Nagaraj, Bisen, Badal, Kotak, Vijay, Dudhewar, Swapnil Dudhewar, Bhagat, Amit, Durgaprasad, HNV
Failure Analysis of Dissimilar Metal Weld Joint of an Air Spring Bracket within an Automotive Active Seat Suspension System2026-26-0487To be published on 01/16/2026
In modern four-wheelers, seat suspension systems play a crucial role in enhancing occupant comfort by mitigating the effects of road unevenness and vibrations. Among these systems, active suspension mechanisms offer advanced performance through complex assemblies involving welded, riveted, and bolted joints. This study investigates the failure of an air spring bracket - a critical component of a pneumatic active suspension system - manufactured by Gas Metal Arc Welding (GMAW) of two dissimilar ferrous materials which are likely to be SAPH440 and S355J2. These different materials were used based on mechanical properties required to perform by their particular part. System level validation tests were conducted to ensure the reliability of the seat suspension system. The one of the validation tests is continuous cyclic fatigue test which is carried out on the complete seat assembly. However, during vibration / cyclic endurance testing, premature failures were observed near the weld joints
Patale Jr, Reshma, PINJARI, JAYANT NAMDEV, BALI, SHIRISH
"Parametric Evaluation of Rolling Resistance in Bias & Radial Tyres and influence of key operational parameters under varying conditions."2026-26-0606To be published on 01/16/2026
Tyre rolling resistance is a fundamental parameter in automotive engineering, directly impacting vehicle fuel efficiency and overall performance. The Rolling Resistance Coefficient (CRR) is influenced by tyre construction, material properties, and operational conditions such as inflation pressure, vehicle speed, load, ambient temperature, and road surface roughness. This study investigates the influence of critical parameters—including test speed, inflation pressure, load, temperature, and slip angle—on the rolling resistance of tyres of various sizes. While previous research has predominantly focused on radial tyres, this paper extends the analysis to include bias-ply tyres, which remain widely used in ASEAN countries, including India. The findings aim to offer valuable insights for policymakers and researchers by examining the behaviour of bias tyres under real-world conditions. Special focus is given to the influence of slip and camber angles, with experiments conducted on passenger
Joshi, Amol, Khairatkar, Vyankatesh, Belavadi Venkataramaiah, Shamsundara
Optimizing Tire NVH Performance in Electric Vehicles: A Comprehensive Approach Using Benchmarking, Simulation, and Validation2026-26-0605To be published on 01/16/2026
The electrification of mobility is becoming increasingly vital in meeting global zero carbon footprint targets, with nations setting ambitious goals to achieve by 2030. As part of this transformation, the development of Electric SUVs (E-SUVs) capable of navigating diverse terrains and road conditions presents a significant challenge, often extending vehicle development timelines. To address these demands, many Original Equipment Manufacturers (OEMs) are adopting a ‘Born-Electric’ platform approach, specifically tailored to the unique requirements of electric vehicles. However, this approach introduces several challenges, particularly in maintaining the Noise, Vibration, and Harshness (NVH) levels expected by customers. The elimination of the Internal Combustion Engine (ICE) powertrain has significantly shifted the NVH dynamics of E-SUVs, with tire road rolling noise becoming a dominant factor influencing in-cabin noise perception, Tire-induced noise and vibrations emerge as primary
Singh, Ram Krishnan, Deivasigamani Purushothaman, Balakrishnan, Paua, Ketan, ahire, Manoj, Adiga, Ganesh N
Comprehensive Analysis and Mitigation Strategies to minimize torque Steer phenomenon for FWD vehicles during the vehicle development2026-26-0097To be published on 01/16/2026
Born Electric SUVs is gaining immense popularity due to enhanced ride and handling characteristics, advanced tech features elevating both performance and customer experience to an elite standard. Due to the platform constraints, the vehicle adopts a Front Wheel Drive (FWD) layout with a rear twist beam configuration, housing the electric motor at the front to deliver drive torque directly to the front wheels. Torque steer is a phenomenon often found in FWD cars, which can be unsettling to a driver where the steering wheel could be pulled hard to one side when there is aggressive throttle input potentially leading to deviation of the vehicle from its desired path. In contrast to internal combustion engines (ICEs), electric motors provide an instantaneous torque, something that can worsen torque steer if not well addressed. However, torque steer remains a key concern, with high torque output of electric motors especially for a front wheel drive vehicle. This paper introduces a
PRABHAKARA RAO, VAGEESH, Wankhade, Krishna, Thakur, Pragyesh, Rasal, Shraddhesh, Asthana, Shivam
"Design and process Optimization of Suspension Components Under RWUP-based Loading Conditions"2026-26-0514To be published on 01/16/2026
Title: Challenges faced during design and manufacturing of POM (Polyoxymethylene) ring in Macpherson strut suspension. Abstract: Designing and manufacturing a POM (Polyoxymethylene) ring for a MacPherson strut suspension system brings a unique set of challenges due to the high-performance and durability demands for Indian road application. POM ring along with bump used in the shock absorber is designed to absorb the strong shock coming from the road inputs when suspension travel reached to the maximum limit there by absorbing the impact energy and preventing it from transferring it to the body. A bump stopper for a suspension of a vehicle is made of poly urethane (PU) and POM ring (Polyoxymethylene). The bump stopper forms of a bellows shape during the absorption of impact energy. Bellow or wrinkle in which concaves and convexes are repeated is formed on the outer surface of the bump stopper. POM ring is placed in the concaves of bump stopper which will define load, deflection
Koritala, Ashok Kumar, Malekar, Amit, kulkarni, Purushottam, S, SIVASHANKAR, Mishra, Harshit, Ganesh, Mohan Selvakumar, Patnala, Avinash, J, Ramkumar, NAYAK, Bhargav, M, Sudhan
Design optimization of the propeller shaft and transfer case for high-speed 4WD vehicles2026-26-0343To be published on 01/16/2026
Nowadays, vehicle enthusiasts often vary their driving patterns, ranging from driving at very high speeds to off-roading. Due to these driving patterns, 4WD vehicle demand is continuously growing day by day. A 4WD vehicle used to have better traction control with enhanced stability. The 4WD vehicle performance and reliability at high speed are critically influenced by driveline stiffness and natural frequency. Driveline stiffness and natural frequency are very critical parameter for high-speed vehicles, that significantly influenced by the propeller shaft and transfer case. This study focuses on the design optimization of the transfer case and critical frequency of propeller shafts to enhance vehicle performance at high speeds. The analysis begins with a comprehensive study of the factors affecting power transfer path, transfer case stiffness, critical frequency, including material properties, propeller shaft geometry and the boundary conditions. Advanced computational methods are
Kumar, Sarvesh, Yadav, Sahdev, S, Manickaraja, Sanjay, L, Kanagaraj, Pothiraj, Jain, Saurabh Kumar, Deole, Subodh M
Design Robustness of Electronic Locking Differential for enhanced off-road performance2026-26-0502To be published on 01/16/2026
The Electronic Locking Differential (ELD) is a critical component for enhancing off-road vehicle performance by ensuring optimal traction in challenging terrains. This paper addresses intermittent engagement issues observed in the ELD system during off-road trials, which impacted its reliability and functionality. It presents a comprehensive study of design robustness improvements implemented to resolve these concerns and optimize the ELD’s performance, ensuring enhanced customer satisfaction in demanding off-road environments. The analysis begins with identifying factors contributing to the intermittent engagement and disengagement of the ELD system upon actuation. These factors include residual magnetism, material properties, temperature effects, and the stack-up characteristics of transfer path components under various boundary conditions. To address these challenges, three key design modifications were introduced: (1) reduction of residual magnetism through an increased air gap
S, Mohd Imtiaz, AP, Baaheedharan, Ghumare, Dheeraj, Kanagaraj, Pothiraj, Jain, Saurabh Kumar
Indirect Road Departure Mitigation System for Passenger Vehicle2026-26-0669To be published on 01/16/2026
Road departures remain a major cause of fatal accidents in passenger vehicles, especially on highways, driving the demand for robust and accessible active safety technologies. Conventional Road Departure Mitigation Systems (RDMS) typically depend on camera- or LiDAR-based sensing, which can be cost-prohibitive and challenging to integrate across diverse vehicle platforms. While existing RDMS solutions have enhanced vehicle safety, their dependency on expensive, specialized sensors limits broader adoption, particularly in cost-sensitive market segments. This study introduces a sensor-less, cost-effective Road Departure Mitigation (RDM) system that utilizes existing vehicle sensors accessed through CAN channels. A threshold-based logic algorithm processes key parameters such as vehicle speed, steering angle, yaw rate, and lateral acceleration to detect potential road departure events. Upon detection, the system initiates a two-stage intervention: a driver alert followed by automatic
Iqbal, Shoaib, Adsul, Sourabh
Assessing Brake Emission Performance Across New, Upgraded, and Retrofitted Test Bed Infrastructures2026-26-0232To be published on 01/16/2026
Brake wear particle emissions are a significant source of traffic-related particulate matter, prompting increasing regulatory attention through frameworks such as UN GTR No. 24 and the forthcoming Euro 7 standard. To address the demand for accurate and reproducible measurement solutions, a comparative study was conducted using an identical ventilated cast-iron disc brake across different test bed infrastructures. Three AVL solution configurations were assessed: (1) a newly built brake emission test bed, (2) an engine test bed upgraded with brake emission measurement equipment, and (3) a simulated third-party brake test bed (e.g., originally used for performance or NVH testing) retrofitted with brake emission measurement equipment. In the third configuration, the UN GTR No. 24 test sequence was automated and executed by the AVL System Control in coordination with the existing test bed infrastructure. The testing infrastructure included a CFD-optimized brake enclosure and sampling tunnel
Martikainen, Sampsa, Weidinger, Christoph, Huber, Michael Peter
Investigation and Reduction of Road Noise due to transient road inputs in Electric Vehicle2026-26-0358To be published on 01/16/2026
Higher road noise is perceived in the cabin when the test vehicle encounters road irregularities like bump or pothole in the public roads. The sudden transfer of transient road inputs inside the body caused objectionable cabin noise. Measurements are conducted on the test track at different road surfaces to identify the patch where the objective data well correlated with the noise measured at the public road. Wavelet analysis is carried out to identify the frequency zones since the events are transient in nature. Transfer Path Analysis (TPA) is conducted in both time domain and frequency domain to identify the nature of the noise and the limitation in each of the methodologies are explained. The dominant path through which the transient road forces are transferring inside the body are also identified. Based on the outcome of TPA, various countermeasures like reduction of dynamic stiffness of suspension and cradle bushes , structural modifications on the path are proposed to reduce the
S, Nataraja Moorthy
Simulation of EV range Estimation for different payload of vehicle.2026-26-0389To be published on 01/16/2026
The electrification of transportation is reshaping the automotive and logistics industries, with electric vehicles (EVs) playing an increasingly central role in passenger mobility and commercial operations. As EV adoption grows, the need for accurate range estimation becomes critical, particularly under varying operational conditions such as increased payload. A key business challenge lies in the significant variability of EV range due to changes in vehicle load, which can affect performance, operational efficiency, and cost-effectiveness—especially for fleet-based services. This study focuses on addressing the technical gap in predicting EV range with respect to different payload conditions. Traditional range estimation methods often fail to account for real-world variables like additional cargo weight, leading to suboptimal route planning, increased energy consumption, and unanticipated charging requirements. Payload-induced range degradation can result in up to some deviation in
Khatal, Swaraj, Gupta, Anjali, Krishna, Thallapaka
Investigation of Low Frequency Interior Noise due to Tyre-Road Interaction2026-26-0351To be published on 01/16/2026
Unlike internal combustion engine (IC Engine) vehicles, the rapidly growing electric vehicle (EV) market demands tyres with superior yet often conflicting performance characteristics. The increased weight of EVs, due to their heavy batteries, necessitates robust tyres with reinforcement and higher inflation pressure. Conversely, increased wear due to higher initial torque and the need for lower rolling resistance to extend range, combined with the requirement for better grip for improved handling, call for advanced compound and tread pattern designs. EV tyres need to be stiffer, lighter, and less dampened, making it very hard to reduce low-frequency (20-200 Hz) interior noise that was previously hidden by engine noise. This study investigates the low-frequency (20-200 Hz) structural-borne interior noise performance of EV tyres using both experimental and simulation tools. By wisely tuning the tyre's stiffness, mass, and damping properties, the necessary noise targets can be met. These
Subbian, Jaiganesh, M, Saravanan
Novel Approach for Predicting Steering Rack Load Using Multibody Simulation2026-26-0378To be published on 01/16/2026
In the initial stages of a vehicle development program, the sizing of various components is a critical deliverable. The steering system, in particular, requires a precise estimation of the rack load for the appropriate sizing of the rack and assist units. Accurately predicting the load on the system during the early stages of development is challenging, especially in the absence of benchmark or legacy data. Commonly used processes for estimating parking steering effort often employ simplistic approaches that may fail to account for parameters such as tire size, vertical stiffness, and steering geometry, leading to reduced accuracy. This paper introduces an advanced methodology for predicting steering rack loads, which incorporates considerations such as contact patch size and pressure variation, as well as the tire jacking effect. The methodology involves mathematical modeling of the contact patch using mesh-grids, utilizing common inputs available in the early stages of vehicle
Shirke, Umesh, Dabholkar, Aniruddh, bardia, Vivek, Srivastava, Harshit, PRASAD, TEJ PRATAP
Sustainable Tyre- A Journey to Meet Future Requirements of Tyre Industry2026-26-0291To be published on 01/16/2026
Sustainability and environmentally friendly business practices are becoming essential. Tyre industries are embracing the green initiatives to reduce its impact on the environment by exploring the eco-friendly strategies. Starting from the ethical raw material sourcing to a creative recycling technique, strategies are widely distributing in every step of tyre manufacturing to disposition. Each stage of a tyre's life cycle viz. raw material procurement, manufacturing, transportation both upstream and downstream as well as during the end-of-life phases have an emission-saving potential. It is important to reduce emissions at every stage of tyre's lifecycle. We, JK Tyre has recently developed a Sustainable Tyre with 11% less GHG emission through sustainable raw material approach. Bio sourced or bio attributed raw materials like Styrene Butadiene Rubber (SBR), Polybutadiene Rubber (PBR), Rubber process oil (RPO) and Silica along with natural rubber (NR) had been used. Beside the raw
Bhandary, Tirthankar, Singha Roy, Sumit, Paliwal, Mukesh, Dasgupta, Saikat, Chattopadhyay, Dipankar, Das, Mahuya, Mukhopadhyay, Rabindra
A study on the thermal degradation of chlorinated Polyethylene rubber2026-26-0276To be published on 01/16/2026
Elastomeric materials are essential in advanced automotive engineering for mobility, isolation, damping, fluid transfer (cooling, steering, fuel, and brake), and sealing because of their unique physio mechanical properties. Elastomers are commonly used in both static and dynamic components, such as hoses, mounts, bushes, and tires. Engine emission standards and weight optimization have caused higher temperature exposure conditions for automotive components. The steering system uses special purpose elastomers like Chlorinated Polyethylene that can deteriorate under abnormal conditions during vehicle operation or manufacturing process due to the high temperature exposure. Therefore, it is crucial to comprehend the causes and consequences of thermal degradation of elastomers. Thermal degradation is a significant phenomenon that changes the physical and chemical properties of elastomers, which results in a product not meeting functional requirements. This study investigates the thermal
THIRUPPATHI, ANANDHI, Mishra, Nitish, Krishnamoorthy, Kunju
Low-speed steering returnability analysis and improvements through mathematical modeling and CAE simulation for SUV2026-26-0573To be published on 01/16/2026
In driving, steering serves as the input mechanism to control the vehicle's direction. The driver adjusts the steering input to guide the vehicle along the desired path. During maneuvers such as parking or U-turns, the steering wheel is often turned fully from lock to lock and then released. It is expected that the steering wheel quickly returns to its original position. Steering returnability is defined as the ratio of the difference between the steering wheel position at lock to lock and the steering wheel angle after 3 seconds of release, to the steering wheel angle at the lock position, under steady-state cornering conditions at 10 km/h. Industry standards dictate that the steering system should achieve 75% returnability under these conditions within 3 seconds. Achieving proper steering returnability characteristics is a critical aspect of vehicle design. Vehicles equipped with Electric Power-Assisted Steering (EPS) systems can more easily meet returnability targets since the
Singh, Ram Krishnan, ahire, Manoj, JAIN, PRIYA, Vellandi, Vikraman, SUNDARAM, RAGHUPATHI, Paua, Ketan
Optimizing Suspension Joint Reliability: Overcoming Bolt Loosening and Torque Variability in Automotive Production2026-26-0492To be published on 01/16/2026
In modern automotive manufacturing, ensuring the integrity of suspension joints under real-world driving conditions is a critical aspect of vehicle safety and performance. These joints endure substantial transverse loads and large vibrations due to irregular road surfaces, dynamic manoeuvres, and varying environmental factors. As a result, bolt loosening becomes a significant concern, compromising joint integrity and overall vehicle reliability. This paper delves into the challenges associated with maintaining joint integrity, specifically focusing on pre-load determination, torque application, and production-related issues. The pre-load generated during torquing is the primary factor that ensures a suspension joint remains securely fastened under dynamic road conditions. This pre-load is derived using road load data acquisition (RLDA) inputs, which capture the forces acting on the joint during actual driving scenarios. RLDA inputs provide critical insights into the forces experienced
Kumar, Sabeesh, Vasant Kumar, Jesse Daniel, Mishra, Harshit, Senthil Raja, T, NAYAK, Bhargav, M, Sudhan, NAMANI, Prasad, Vibhute, Shekhar
Predictive SoC Management for Enhanced Recuperation Efficiency in Electric Vehicles2026-26-0154To be published on 01/16/2026
In recent years, the automotive industry has been looking into alternatives for conventional vehicles to promote a sustainable transportation future having a lesser carbon footprint. Electric Vehicles (EV) are a promising choice as they produce zero tail pipe emissions. However, even with the demand for EVs increasing, the charging infrastructure is still a concern, which leads to range anxiety. This necessitates the judicious use of battery charge and reduce the energy wastage occurring at any point. In EVs, regenerative braking is an additional option which helps in recuperating the battery energy during vehicle deceleration. The amount of energy recuperated mainly depends on the current State of Charge (SoC) of the battery and the battery temperature. Typically, the amount of recuperable energy reduces as the current SoC moves closer to 100%. Once this limit is reached, the excess energy available for recuperation is discharged through the brake resistor/pads. This paper proposes a
Barik, Madhusmita, S, Sethuraman, Aruljothi, Sathishkumar
Systemic modelling and simulation approach to estimate Brake response time in a Pneumatic brake systems2026-26-0469To be published on 01/16/2026
Brake response time in truck air brake systems is crucial for ensuring safety and operational efficiency. This paper presents the development of a simulation model designed to meet all necessary regulatory requirements for Brake response time and as an input to the stopping distance calculations. The actual pneumatic circuit, including brake valves, relay valves, brake chambers, and plumbing have been replicated. The focus is on utilizing 1D simulations to predict the compliance of response time during both the pressurizing (brakes applied) and depressurizing (brakes released) phases of the brake system. A mathematical model is developed using a commercially available 1D simulation tool. This model employs a lumped parameter approach for the pneumatic components, with governing equations derived from compressible flow theory and empirical valve flow characteristics. A parametric study is carried out on variables such as plumbing length, system pressure, and valve orifice diameters. The
Kumbar, Praful, Murugesan, Karthik, Shannon, Rick
Simulation Research on Torque Vectoring, Braking, Chassis control Strategies for Electric & hybrid Vehicles using System Simulation2026-26-0423To be published on 01/16/2026
Electric Vehicles and Plug-in Hybrids alleviate the energy crisis but pose a unique challenge for vehicle dynamics. Though significant developments in motor control strategy and energy density management are evolving, we face significant challenges in Torque Management with several ADAS features being integral part of the EV's/xHEV's. It demands high-fidelity physical and control model exchanges between electric-chassis, ride-handling, tire modelling, Steering Assist, powertrain and validate using 0D-1D platform. This paper explicates a unified strategy for improving overall vehicle performance by intelligently distributing and coordinating drive torque to enhance traction, stability, and drivability across diverse operating conditions through the co-simulation. Co-Simulation platform includes physical models in AMESIM, and control strategies integrated in MATLAB/Simulink. The platform features comprehensive representations of digital vehicle that requires detailed modelling of
Eruva, Patrickxavier, Sarapalli Ramachandran, Raghuveeran, Chougule, Sourabh, Natanamani-Pillai, Siva Subramanian, Scheider, Clement, Leclerc, Cedric, Natarajasundaram, Balasubramanian
Exploring the Influence of Wheel Rim Width on Tire Performance through rig testing and Vehicle-level Evaluation: A Comprehensive study2026-26-0603To be published on 01/16/2026
With increasing challenges for optimizing vehicle ride and handling performance along with efficiency, the synergy between major systems such as suspension, chassis, brakes & tires has been investigated in the past. In this regard, the interaction between wheel rim width and tire performance characteristics has become a topic of interest. Extensive research is being conducted in the automotive industry to understand their key interaction dynamics and make appropriate design selections. This study aims to provide a comprehensive analysis of how variations in wheel rim width affect key tire performance parameters such as lateral force characteristics ,damping property, tire footprint, and pinch cut resistance. Also, the subsequent influence on vehicle-level performance parameters such as braking, ride & handling, steering, and durability is captured. Through rig level testing and full-vehicle evaluation data, several key observations have emerged. Firstly, it was observed that narrower
Singh, Ram Krishnan, Paua, Ketan, Sundaramoorthy, Ragasruoban, LENKA., VISWESWARA, ahire, Manoj, Adiga, Ganesh N
Path Planning and Control Strategies for a Semi-Autonomous Light Commercial Vehicle Navigating and Avoiding Static Obstacles in Urban Environments2026-26-0134To be published on 01/16/2026
This paper presents the design and implementation of a Semi-Autonomous Light Commercial Vehicle (LCV) capable of following a person while performing obstacle avoidance in urban and controlled environments. The LCV leverages its onboard 360-degree view camera, RTK-GNSS, Ultrasonic sensors, and algorithms to independently navigate the environment, avoiding obstacles and maintaining a safe distance from the person it is following. The proposed system employs a path planning algorithm that generates a secondary lateral path originating from the primary driving path to navigate around static obstacles. A Behavior Planner is utilized to decide when to generate the path and avoid obstacles, ensuring timely and efficient navigation adjustments. The primary objective is to ensure seamless and safe navigation in environments where obstacles are present. The LCV's path tracking is achieved using a combination of Pure Pursuit and Proportional-Integral (PI) controllers. The Pure Pursuit controller
Ayyappan, Vimal Raj, Dhanopia, Rashmi, Ali, Ashpak, N, Ragesh, Sato, Hiromitsu
Brake Judder Resolution through Experimental Testing2026-26-0587To be published on 01/16/2026
Brake judder is a critical concern in modern automotive systems, impacting both vehicle performance and passenger comfort. This phenomenon manifests as undesirable vibrations during braking, often caused by various factors such as vehicle architecture, different wheelbase, brake design considerations, load distribution, suspension characteristics etc. These vibrations not only compromise braking efficiency but also affect the overall driving experience, making it a priority issue for automotive engineers and researchers. This paper investigates the root causes of brake judder in a M3 Bus category vehicle having pneumatic brake system, focusing on its mechanical aspects and operational dynamics. By employing a combination of experimental testing and analytical evaluations, the study delves into the influence of brake torque generation and its consumption during vehicle deceleration for different wheelbase vehicles having similar brake system, revealing discrepancies that contribute to
Mundkar, Rameshwar, Shete, Rahul, Nayak, Nihar, Gavade, Sarjerao
Auto Braking system for preventing commercial vehicle overloading.2026-26-0032To be published on 01/16/2026
Overloading in commercial vehicles is a widespread issue that creates serious safety, operational, and regulatory concerns. Excessive loads can result in mechanical breakdowns, diminished braking performance, accelerated tire wear, and a higher likelihood of accidents, posing risks to drivers and other road users. Moreover, overloading accelerates road deterioration and increases infrastructure maintenance costs. To tackle this pressing problem, this study introduces a novel integrated system that merges advanced load-sensing technology with the vehicle's braking system. The system utilizes high-precision sensors placed at key locations, such as the suspension or axle, to monitor the vehicle's load in real time. These sensors send data to a central control unit, which triggers the braking mechanism if the load surpasses a predetermined safety limit. Importantly, the braking system activates only when the vehicle is stationary, ensuring it does not disrupt normal driving operations. The
RAJ, AMRITESH, Pujari, Sachin, Londhe, Mahesh, Shirke, Sumeet, Shinde, Akshay
Analysis of door seal compression and its influence on NVH performance in heavy-duty vehicle2026-26-0339To be published on 01/16/2026
Seals in a truck cabin is one of the major contributors for cabin noise in terms of structure borne as well as air borne noise transfer path. This study emphasizes on the effect of door seal compression prediction and its impact on structure borne NVH in trucks. Vibrations are regarded as quality criteria in the perception of customers. It is necessary to ascertain the contribution of seal stiffness on compression of the seal under closed condition of the door rather than uncompressed conditions. The dynamic stiffness of door seal is calculated by non-linear analysis. The simulations models are constructed using the Mooney - Rivlin theory for both 2D and 3D seals. This encompasses contemplating the relevant seal mounted boundary condition on the body and the door of the vehicle. The stiffness after compression of seal is extracted from this non-linear analysis which is further used to obtain the vibration modes for the doors in the truck cabin. Subsequently, the compressed seal
L, Kavya, Ramanathan, Vijay
Computer Vision Aided Methodology for Steering Position Detection2026-26-0631To be published on 01/16/2026
Steering angle is a critical parameter in vehicle dynamics, traditionally measured using Steering Angle Sensors (SAS). However, external sensors used for development testing often pose challenges due to their bulk, installation complexity, and additional costs. With the upcoming regulatory requirements related to driver drowsiness detection, vehicles will incorporate cameras in near future. This study explores an innovative approach to repurpose the same camera for steering angle measurement, eliminating the need for dedicated sensors and reducing costs significantly. The proposed method utilizes colored tapes or visible markers affixed to the steering wheel, with a strategically placed camera capturing steering movement. Depending on requirements, various types of cameras (including thermal) can be deployed at different positions (front, back, or side). The vehicle's ECU employs an advanced object detection algorithm to track the movement of these markers, subsequently calculating the
TP, Amal, Priyadasini, Shishira
Optimization of Inverter Control Strategies for Improved Powertrain Efficiency Using E-Motor Emulation Platforms2026-26-0509To be published on 01/16/2026
The traction inverter is a critical component in electric vehicles (EVs), functioning as the heart and brain of the electric powertrain. It controls the power conversion between the high-voltage battery and the electric motor, enabling efficient propulsion and regenerative braking. As EV adoption grows, especially in emerging markets like India, the need for robust and scalable inverter testing solutions becomes paramount. Traditional testing methods involving real batteries and e-motors pose several challenges in the Indian context, including high safety risks, infrastructure limitations, high battery costs, and limited availability of prototype-grade components. This paper presents a comprehensive approach to inverter validation using the AVL Inverter TS™ system— an advanced Power Hardware-in-the-Loop (PHiL) test system based on e-motor emulation technology.. It enables safe, efficient, and reliable testing without the need for actual batteries or mechanical loads. The system
Mehrotra, Soumya, Chhabra, Rishabh
Unique methodology to cluster and reuse the “Hazard Analysis and Risk Assessment” across different E/E systems and features2026-26-0004To be published on 01/16/2026
As software-defined vehicles advance in complexity, achieving robust functional safety in line with ISO 26262 becomes increasingly vital. This growing need has led to a significant increase in Hazard Analysis and Risk Assessment (HARA) activities across numerous electrical and electronic (E/E) systems and features. Traditionally, HARA is performed separately for each E/E system, feature, or component. This approach often results in redundant analyses of the same function in multiple places, which leads to inconsistent risk categorizations and even conflicting safety goals, such as assigning different Automotive Safety Integrity Levels (ASIL) to similar features. As a result, the overall engineering effort and risk of inconsistency increase. To address these challenges, this paper proposes a unique approach: performing consolidated HARA for a group of vehicle-level functions (termed “platform HARA”). Rather than deriving safety goals for each E/E system or feature individually, this
Somasundaram, Manickam, Vijayakumar, Melvin
Event-Driven Field-to-Lab Replication: A Scalable Framework for Evaluating Fuel Economy and Performance in Dual-Fuel Tractors2026-26-0105To be published on 01/16/2026
The shift toward sustainable agricultural machinery has highlighted diesel and CNG/bio-CNG dual-fuel systems as promising solutions. Yet, standardized methods for assessing their fuel economy (FE) and performance under real-world operating conditions remain underdeveloped. This study introduces an event-based duty cycle synthesis to bridge this gap. Field data encompassing ploughing, rotavating, sowing, transportation, and idling were systematically acquired using CAN bus interfaces and dataloggers, capturing engine load, wheel torque, throttle dynamics, and fuel consumption. A high-fidelity duty cycle was subsequently devised, integrating the frequency, duration, and load intensity of field operations. This cycle was replicated in a controlled laboratory environment via a chassis dynamometer and engine-in-the-loop (EiL) platform, enabling precise, repeatable evaluation of dual-fuel (diesel-CNG) and pure diesel modes. Key metrics—including brake-specific fuel consumption (BSFC
Vishe, Prashant, Singh, Jitender, Saraswat, Shubham, Pawar, Abhijeet
Enhancing Range Prediction Accuracy for the BEV: Bridging the Gap Between Simulation and Real-World Testing2026-26-0521To be published on 01/16/2026
Accurate range estimation in battery electric vehicles (BEVs) is essential for optimizing performance, energy efficiency, and customer expectations. This study investigates the discrepancies between physical test data and simulation predictions for the Jeep Wagoneer model. A detailed range delta analysis identifies key contributors to the observed deviations, including regenerative braking inefficiencies, increased propulsion demand, auxiliary loads, and estimated drivetrain losses within the Electric Drive Module (EDM) during traction and regen. Results indicate that the test vehicle exhibits lower regenerative braking efficiency and higher traction and lower regen consumption than predicted by simulations, primarily due to EDM inefficiencies and friction brake usage during regeneration. The study underscores the importance of refining simulation methodologies by integrating real-world, test based EDM loss maps to improve accuracy and better align predictive models with actual vehicle
ali, Shoaib, Mahajan, Prasad
Data-Driven Prediction of Damper durability Cycles Using AIML Techniques2026-26-0550To be published on 01/16/2026
The suspension dampers play a pivotal role in controlling suspension dynamics, especially during rapid suspension movements such as pothole impacts, speed bumps, and off-road conditions. The dampers directly influence the ride comfort, vehicle stability. Ensuring the durability of these valves is essential to maintain consistent performance throughout the vehicle's lifecycle. To validate the valve configuration at high speed, in current development practices, durability cycles are typically derived through physical data collection on actual vehicle driven on proven ground tracks. While this method provides accurate real world validation, it is highly time consuming and resource intensive. The dependency on full vehicle testing also limits early phase of validation, creating bottlenecks in the product development cycle. An AIML based methodology is presented in this paper to predict the HSVD cycles for damper validation. The AIML algorithm was trained using the historical test data and
Kabbin, Chetan D., Suryawanshi, Vishal, Daphal, Pratap, Kulkarni, Prasad
Design & Optimization of CV shaft system to address powertrain induced NVH issues2026-26-0336To be published on 01/16/2026
The automotive industry is a crucial sector that plays a significant role globally. Government policies have a profound impact on this automotive industry in defining the regulatory standards and emission controls. Such regulations incentivized automakers to invest in research and development complying those standards towards reduction of vehicle emission which intern result in higher torsional vibrations and excitations amplitudes. To address the rising NVH related concerns in driveline system. Drive shafts (CV shafts) is an important component in power-train system in vehicle. Drive shaft’s main purpose to transfer torque from engines to wheels at multiple speeds with different articulation angles. The roughness generated by the engine follows a transfer path from engine to transaxle and transaxle to half shafts in monocoque vehicles which generates discomfort to the drivers whenever the vehicle is driven. The roughness can also be addressed by proper design of driveshaft stiffness
M A, Abdul Azarrudin, Jayachandran, Suresh kumar, KUMAR, SHIVANI, Bhardwaj, Kinshuk, M, DEVAMANALAN, Kanagaraj, Pothiraj
High-Frequency Dynamic Stiffness Measurements of Automotive Elastomers for Electric Vehicles2026-26-0312To be published on 01/16/2026
The increasing adoption of electric vehicles (EVs) has intensified the demand for advanced elastomeric materials capable of meeting stringent noise, vibration and harshness (NVH) requirements. Unlike internal combustion engine (ICE) vehicles, EVs lack traditional powertrain-induced masking noise. In the automotive industry the dynamic stiffness of elastomers for internal combustion engines are determined traditionally using hydraulic test rigs up to test frequencies of max. 1000 Hz. Measurements in excess of these frequencies were not possible and are only carried out using computerized FE or CAE calculation models. Electric drive systems generate distinct tonal noise components in the high-frequency range up to 10 kHz , which are well perceptible even at low sound pressure levels. Consequently, the dynamic stiffness characteristics of elastomers up to 3000 Hz are critical for optimizing NVH performance. This study focuses on the high-frequency dynamic stiffness testing of automotive
Bohne, Christian, Gröne, Michael
Optimizing Brake Pedal Feel and Driver Comfort in Buses with Pneumatic Braking Systems2026-26-0536To be published on 01/16/2026
Brakes are a critical safety component in vehicles, and every parameter of the braking system plays a vital role in vehicle operation. Among these, brake pedal feel and driver confidence are key factors, in addition to achieving the required brake force, deceleration, and stopping distance. These aspects depend on the system-generated torque, available pneumatic pressure, lining material properties, and Electronic Braking System (EBS) parameters. This paper focuses on the factors influencing brake pedal feel while maintaining a balance between driver comfort and confidence during bus operation. Under optimal braking conditions, brake pedal response and brake torque gradient must align with the driver’s deceleration demands. The braking system must respond promptly, completing the application in the shortest possible duration. The brake torque gradient values specified in the EBS file should neither be too low nor too high, and the brake pedal feel must remain consistent throughout the
Pujari, Sachin, Salunkhe, Swapnil, Ali, Tauqeer
Assessing Millable Polyurethane in Powertrain Mounting Applications: A Comparative Study with Natural Rubber2026-26-0289To be published on 01/16/2026
In the automotive industry, the performance and longevity of elastomer components are critical to both vehicle durability and driver comfort. Powertrain mountings, play a crucial role in isolating vibrations and reducing noise. Traditionally, natural rubber (NR) has been the material of choice for these applications due to its excellent vibration isolation properties, flexibility, and cost-effectiveness. However, with evolving performance demands, there is growing interest in enhancing the durability and noise, vibration, and harshness (NVH) characteristics of powertrain mountings, along with improving their resistance to environmental stressors such as heat, oil, and wear. Unlike NR, which tends to degrade more quickly under such conditions, millable polyurethane (MPU) offers superior resistance, making it a promising candidate for extending the service life of these critical components. The objective of this study is to determine whether millable polyurethane (MPU) can serve as a
Murugesan, Annarajan, Pawar, Rohit
New generation Natural Rubber-Based Bump Stopper with Improved NVH Characteristics2026-26-0292To be published on 01/16/2026
In automotive suspension systems, components like bump stoppers and jounce bumpers play critical roles in controlling suspension travel and enhancing ride comfort. Material selection for these components is driven by functional demands and performance criteria. Traditionally, Natural rubber (NR) has traditionally been favoured for bump stopper applications due to its excellent vibration absorption, tear resistance, cost-effectiveness, and biodegradability. However, in more demanding environments, it has been largely replaced by microcellular polyurethane (PU) elastomers, which offer superior durability, environmental resistance, and enhanced noise, vibration, and harshness (NVH) performance. PU's high compressibility, low lateral expansion, and low compression set make it the material of choice across automotive, aerospace, and industrial sectors. Other materials like thermoplastic elastomers (TPE/TPU) and EPDM rubber are also used, offering advantages such as recyclability, ease of
Murugesan, Annarajan, Perumal, Mathavan
Advance techniques to optimize Variable Gear Ratio steering for high Centre of Gravity vehicles.2026-26-0086To be published on 01/16/2026
High center of gravity (CG) and moderate Wheel track vehicles such compact SUVs has comparatively low static stability factor (SSF). Making them unstable and highly susceptible for rollover. On the top of that, to enhance the ease of maneuverability in densely populated areas, it is required to have a minimal turning circle diameter (TCD). To do so, variable gear ratio (VGR) steering stands superior to conventional constant gear ratio (CGR) steering, benefiting in both improved roll stability and agility to manoeuvre in compact spaces. To fine-tune VGR steering for specific vehicle requirements, Driver-in-the-Loop (DIL) simulation is used. This method allows for precise adjustments based on real-world driving conditions, ensuring the VGR steering C-factor curve is optimized for ideal vehicle handling performance in on-center, off-center, and transition regions of the steering wheel angle (SWA). Metrics such as SWA gradient at different lateral accelerations and C-factor transitions for
Rewale, Pratik, Kopiec, Jakub, Kumar, Deva, Rasal, Shraddhesh, Hussain, Inzamam, Nehal, S B
A Scientific approach to identify the source of intermittent steering rattle noise and implementing the design solutions2026-26-0346To be published on 01/16/2026
Body-on-frame vehicles are well-regarded for their durability and off-road capabilities, but their structural design often makes them more vulnerable to noise, vibration, and harshness (NVH) issues. Vibrations originating from uneven roads are transmitted through the suspension and steering assemblies, sometimes resulting in rattles or other disturbances. These vibrations can be amplified by the inherent flexibility in the body-to-frame mounting system. In such vehicles, the steering system plays a critical role in driver comfort and is highly sensitive to vibrational inputs from the road surface, especially on coarse or uneven terrain. Occasionally, these inputs result in subtle rattle noises that are perceptible only to the driver and may not be detected under controlled testing environments. This poses a challenge for engineers trying to isolate and resolve such intermittent NVH phenomena. Identifying the source requires a combination of real-world driving evaluations, structural
Ramesh Chand, Karan Kumar, Gopinathan, Haridoss, Kabdal, Amit
Wheel Corner Module Energy Losses and Potential Improvements2026-26-0096To be published on 01/16/2026
With the inevitable shift of automotive industry towards E-mobility and mandatory fuel efficiency targets, there is a need to evaluate the energy losses in the vehicle & identify potential areas of improvement. Energy losses are calculated for different components in the corner module system of a passenger car. Contribution of losses (Resistances) from respective component are depicted using simple analytical models. Potential energy saving improvements were identified and analyzed basis emerging technologies in respective areas.
Raghatate, Kumar Shreyas, Vedartham, Raghavendra, Khanger, Rakesh, Bisht, Arun
Comprehensive research study examining Tyre wear and its Indian perspective.2026-26-0604To be published on 01/16/2026
Automobile emissions refer to the gases and particles released into the atmosphere by vehicles during their operation. These emissions contribute to environmental pollution and have an impact on human health and the environment. This paper assimilates findings from a comprehensive research study examining tyre wear and its Indian perspective. Tyre wear understood as a factor affecting road safety, environmental health, and economic sustainability. The study identifies factors affecting tyre wear and provides overview regarding tyre wear generation in India, encompassing road infrastructure, vehicle characteristics, driving patterns, and environmental factors. Moreover, it examines the adverse effects of these particles on human health, such as respiratory ailments and cardiovascular diseases, as well as their impact on ecosystems. This paper delves measures to measure tyre wear and safeguard both environmental and public health. It also covers the tyre wear measurement methodologies to
Joshi, Amol, Khairatkar, Vyankatesh, Belavadi Venkataramaiah, Shamsundara
Refinement of Road Induced Steering Wheel Vibration in Electric Vehicle2026-26-0337To be published on 01/16/2026
Nowadays, customers expect excellent cabin insulation and superior ride comfort in electric vehicle. OEMs focuses on fine tuning the suspension system in electric vehicle to isolate the road shocks which finally offers superior ride quality. This paper focuses on the enhancing the ride comfort by reducing the steering wheel vibration which mainly originates due to road inputs. Higher steering wheel vibrations are perceived on the test vehicle when driven on rough road at the speed of 50 kmph. To determine the predominant force transfer path, Multi reference Transfer Path Analysis (MTPA) is performed on the front and rear suspension. Based on the finding from MTPA, various recommendations are explored and the effect of each modification is discussed. Apart from this, Operational Deflection Shape (ODS) analysis is carried out on the entire steering system to identify the deflection shape at the operating condition. Based on ODS findings, recommendations like dynamic stiffness
S, Nataraja Moorthy
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