Author

Steve Southward

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Preprint Aug 2026

Scalable High-Speed Lateral Control for Single-Body and Articulated Autonomous Vehicles

This paper presents a scalable lateral control framework for robust path tracking of single-body and articulated autonomous vehicles at high speeds. A clothoid-based controller is extended with three key adaptations: 1) an integrated tangential check and Frechet distance method for optimized lookahead and oscillation m...

Aashish Shaju, Steve Southward, Mehdi Ahmadian · 0 citations

Preprint Aug 2026

Machine-Learning-Based Diagnostic Framework for Passive Ultrasonic Detection of Railway Wheel Defects

Reliable identification of railway wheel defects is important for safety and maintenance. This study develops a machine-learning-based diagnostic framework for multi-class defect identification using passive air-coupled ultrasonic acoustic emission signals. Data were collected from eleven full-scale railway wheelsets r...

Aashish Shaju, Steve Southward, Mehdi Ahmadian · 0 citations