Deformation Tracking Research Articles

Prediction of resilient modulus of ballast under cyclic loading using machine learning techniques

The resilient modulus (MR) of ballast is one of the key output parameters in any rail design project because it controls the elastic magnitude of track deformation under cyclic loading. This study investigates the response of MR under cyclic conditions as a function of four key parameters, i.e., the loading magnitude, the number of loading cycles, the loading frequency, and the confining pressure. To do so, two non-linear predictive models, namely, the artificial neural network (ANN), and the adaptive neuro-fuzzy inference system (ANFIS), are used to predict the MR values under different loading conditions. To evaluate and predict MR, an experimental database with 196 data samples is considered in this study. A series of sensitivity analyses is carried out to investigate the most effective parameters in each non-linear model and also predict the highest performance model. Although the results from the primary validation phase are satisfactory for the ANN and ANFIS models, ANFIS proves better (i.e., the coefficient of determination = 0.709) at estimating the MR during the secondary validation phase, using an independent dataset. Hence, it can be used as a powerful and practical model for predicting the magnitude of MR. On the basis of the ANFIS model, this study also offers some design considerations in terms of MR of ballast under a practical range of cyclic loading parameters.

Failure modes in dual layer thickness Laser Powder Bed Fusion components using a novel post-mortem reconstruction technique

To exploit the design freedoms of Powder Bed Fusion, parameters can be varied within sub-volumes of components to achieve the optimal part for both service conditions and manufacturing productivity. This involves prioritising mechanical strength in areas of structural significance and high volumetric build rates in areas of low structural significance. In theory, a component with similar mechanical behaviour to that seen in standard Laser Powder Bed Fusion parts can be built in significantly less time and at a reduced cost. In practice however, the boundary between such regions is yet to be understood and discretising components into sub-volumes can induce interfacial defects. In this study, an in-depth analysis of interfaces between disparate layer thickness volumes in single components has been explored, to gain information vital to solving interface quality issues so that LPBF design freedoms can be fully exploited. A novel 3D reconstruction technique has been demonstrated to characterise transient plastic behaviour of interfacial pores post-fracture. This technique enables post-mortem evaluation of additively manufactured parts and tracking of pore deformation during subsequent mechanical testing. X-ray Computed Tomography (XCT) identified interfacial pores up to 170 µm Feret diameter, with a voxel resolution of 6 µm. Micro tensile testing with in-situ microscopy exhibited a real-time mechanical response, observing evidence that these interfacial defects lead to fracture at interface locations. The 3D reconstruction technique found that pores constricted 10.0 – 14.1% in the x direction and 10.3 – 14.6% in the y direction after fracture – normal to the loading direction. These findings contribute towards improving Additively Manufactured biomedical implants and airframe components with reduced time and cost. • LPBF components are discretised into sub-volumes with different layer thicknesses. • XCT revealed pores are introduced at the interface between sub-regions. • Interface plane orientation has a great effect on interfacial porosity. • Micro tensile failure modes are observed at the interfaces with in-situ microscopy. • A novel 3D pore reconstruction technique is demonstrated.

Determination of settlement limit values for a new concrete box subgrade with ballasted track

To obtain the settlement limits of ballasted track-concrete box subgrade (BTCBS), the influences of ground settlement on track deformation, force and vehicle dynamic responses are investigated in this paper. Firstly, the new type of BTCBS structure is introduced, and four settlement types are proposed according to the structural characteristics, including box faulting, trapezoid settlement, V-shape settlement and box rolling. Then, the influences of ground settlement on track deformation and fastener force are investigated based on the nonlinear finite element model of BTCBS. Furthermore, based on the train-ballasted track-concrete box subgrade (TBTCBS) dynamic model, the influences of settlement on train dynamic responses are studied by adopting a real-time co-simulation method which considers the nonlinearity of voided sleepers. On this basis, the settlement thresholds of BTCBS are determined according to China’s codes. Numerical results show that except that the settlement threshold with box faulting at the speed of 350 km/h is determined by wheel unloading rate, the settlement thresholds of all the other settlement conditions are controlled by 10 m chord versine of vertical irregularity. The settlement thresholds of BTCBS with box faulting, trapezoid settlement, V-shape settlement and box rolling are suggested as 4.02 mm, 17.63 mm, 9.17 mm and 5.53 mm, respectively.

3D Contact Point Cloud Reconstruction From Vision-Based Tactile Flow

With the growing interest in vision-based tactile sensors, various types of sensors that utilize digital imaging are being developed. Among them, a group of sensors captures the tactile flow resulted from the contact deformation using the optical flow algorithm from computer vision and achieves full resolution deformation tracking on the tactile surface. In this work, a novel 3D contact reconstruction algorithm is proposed and evaluated. It exploits the contact geometry and projection relationship in the tactile flow, which are versatile for vision-based tactile sensors, unique for tactile perception but not inherited from computer vision. The resulted 3D contact point cloud representation is consistent with the tactile flow constraint, scale estimation, and contact edge estimation. It can be directly manipulated in downstream applications such as contact force estimation and contact pose estimation. Experiments and examples are provided that indicate the potential for the proposed tactile processing algorithm to connect tactile perception to tactile enabled robotic manipulation tasks.

DelTact: A Vision-Based Tactile Sensor Using a Dense Color Pattern

Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we propose a new design of a vision-based tactile sensor, DelTact. The sensor uses a modular hardware architecture for compactness whilst maintaining a contact measurement of full resolution ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$798\times 586$</tex-math></inline-formula> ) and large area (675 mm <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$^{2}$</tex-math></inline-formula> ). Moreover, it adopts an improved dense random color pattern based on the previous version to achieve high accuracy of contact deformation tracking. In particular, we optimize the color pattern generation process and select the appropriate pattern for coordinating with a dense optical flow algorithm under a real-world experimental sensory setting. The optical flow obtained from the raw image is processed to determine shape and force distribution on the contact surface. We also demonstrate the method to extract contact shape and force distribution from the raw images. Experimental results demonstrate that the sensor is capable of providing tactile measurements with low error and high frequency (40 Hz).

Direct and Sparse Deformable Tracking

Deformable Monocular SLAM algorithms recover the localization of a camera in an unknown deformable environment. Current approaches use a template-based deformable tracking to recover the camera pose and the deformation of the map. These template-based methods use an underlying global deformation model. In this letter, we introduce a novel deformable camera tracking method with a local deformation model for each point. Each map point is defined as a single textured surfel that moves independently of the other map points. Thanks to a direct photometric error cost function, we can track the position and orientation of the surfel without an explicit global deformation model. In our experiments, we validate the proposed system and observe that our local deformation model estimates more accurately the targeted deformations of the map in both laboratory-controlled experiments and in-body scenarios undergoing quasi-isometric deformations, with changing topology or discontinuities.

Identification of Geometrical Parameters of an Operational Railway Route Determined by the Curvature of the Track Axis

The paper presents a detailed procedure for determining the curvature of the track axis with the use of the moving chord method, with a view to practical application of this method to identify the geometric parameters of the operational railway track. The method of determining the coordinates of the end of the virtual chord brought forward and backward, and then determining the curvature occurring at a given measurement point, has been explained. The presented course of action is based on the use of the given calculation formulas and is of a sequential nature; there is no need to use numerical methods. As part of the curvature calculation procedure, it is also possible to determine the values of the directional angle of the route. The verification of the application possibilities of the moving chord method was carried out in the presented calculation example, on the basis of the determined Cartesian coordinates of the axis of the railway track in use. The obtained curvature plots, which clearly differ from the plots for model layouts as they have a less regular, oscillating character, which results from the track deformation and measurement error. However, this did not prevent them from making it possible to estimate the basic geometrical parameters of the measured layout. The implementation of the presented procedure should significantly improve the process of identifying the geometric layouts of the track in the horizontal plane.

Thermal Analysis and Prediction Methods for Temperature Distribution of Slab Track Using Meteorological Data

The structural temperature distribution, especially temperature difference caused by solar radiation, has a great impact on the deformation and curvature of the concrete slab tracks of high-speed railways. Previous studies mainly focused on the temperature prediction of slab tracks, while how the temperature distribution is affected by environmental conditions has been rarely investigated. Based on the integral transformation method, this work presents an analytical method to determine and decompose the temperature distribution of the concrete slab track. A field temperature test of a half-scaled specimen of concrete slab track was conducted to validate the developed methodology. In the proposed method, we decompose the temperature distribution of the slab track into an initial temperature component and a boundary temperature component. Then, the boundary temperature components caused by solar radiation and atmospheric temperature are investigated, respectively. The results show that the solar radiation plays a significant role in the nonlinear temperature distribution, while the atmospheric temperature has little effect. By contrast, the temperature change in the slab surface resulting from the atmospheric temperature accounts on average for only 5% in the hot weather condition. The proposed method establishes a relation between the structural temperature and meteorological parameters (i.e., the solar radiation and atmospheric temperature). Consequently, the temperature distribution of the concrete slab track is predicted via the meteorological parameters.

CFD-Based Feasibility Study of Laser-Directed Energy Deposition With a Metal Wire for On-Orbit Manufacturing

Additive manufacturing of parts on-site in space requires investigating the feasibility of adapting to zero-gravity and near-vacuum conditions, a technology applied today on Earth at standard conditions. While a few studies have been conducted for powder bed fusion, a feasibility study remains to be explored for direct energy deposition using a laser beam and a metal wire. This is the purpose of this study, which is conducted using a modeling approach based on computational fluid dynamics. The simulation model developed includes melting, re-solidification, vaporization, prediction of beam energy absorption as a function of the local surface temperature and curvature, ray tracing, tracking of free surface deformation and metal transfer, and wire-resistive heating. The study is carried out by starting from process parameters suited for stable on-Earth metal deposition. These conditions were also studied experimentally to validate the simulation model, leading to satisfactorily results. A total of three other test cases with ambient pressure lowered down to near-vacuum and/or gravitation down to zero are investigated. It is found that, compared to on-Earth conditions, in-space conditions can induce vaporization of the metal alloy that is large enough to result in a curvature of the melt pool free surface but too small to lead to the formation of a keyhole. The in-space conditions can also modify the force balance at the liquid melt bridge between the wire and the melt pool, leading to small changes in the curvature and temperature field at the free surface of the wire tip. Among the observed consequences are a small increase of the melt pool length and a small elevation of the bead height. More importantly, for process control, changing to in-space conditions might also affect the stability of the process, which could be assessed through the width of the liquid metal bridge. However, by using appropriate process control to maintain a continuous liquid metal bridge, it is concluded that direct energy deposition of metal using a laser and a wire could be used for manufacturing metal parts in-space in a tempered atmosphere.

State of the Art and Future Opportunities in MRI-Guided Robot-Assisted Surgery and Interventions.

Magnetic resonance imaging (MRI) can provide high-quality 3-D visualization of target anatomy, surrounding tissue, and instrumentation, but there are significant challenges in harnessing it for effectively guiding interventional procedures. Challenges include the strong static magnetic field, rapidly switching magnetic field gradients, high-power radio frequency pulses, sensitivity to electrical noise, and constrained space to operate within the bore of the scanner. MRI has a number of advantages over other medical imaging modalities, including no ionizing radiation, excellent soft-tissue contrast that allows for visualization of tumors and other features that are not readily visible by other modalities, true 3-D imaging capabilities, including the ability to image arbitrary scan plane geometry or perform volumetric imaging, and capability for multimodality sensing, including diffusion, dynamic contrast, blood flow, blood oxygenation, temperature, and tracking of biomarkers. The use of robotic assistants within the MRI bore, alongside the patient during imaging, enables intraoperative MR imaging (iMRI) to guide a surgical intervention in a closed-loop fashion that can include tracking of tissue deformation and target motion, localization of instrumentation, and monitoring of therapy delivery. With the ever-expanding clinical use of MRI, MRI-compatible robotic systems have been heralded as a new approach to assist interventional procedures to allow physicians to treat patients more accurately and effectively. Deploying robotic systems inside the bore synergizes the visual capability of MRI and the manipulation capability of robotic assistance, resulting in a closed-loop surgery architecture. This article details the challenges and history of robotic systems intended to operate in an MRI environment and outlines promising clinical applications and associated state-of-the-art MRI-compatible robotic systems and technology for making this possible.

World-wide InSAR sensitivity index for landslide deformation tracking

• Sensitivity index: a priori assessment of InSAR geometry at any landslide. • 91% of the world’s slopes allow for displacement monitoring by InSAR. • Detection potential: assess the ability to extract InSAR deformation time series. • A Google Earth Engine app for world-wide semi-automated assessment of InSAR potential. Landslides are a major geohazard in hilly and mountainous environments. In-situ inspection of downslope motion is costly, sometimes dangerous and, requires prior knowledge of the existence of a landslide. Remote sensing from space is a way to detect and characterize landslides systematically at large scale. Interferometric Synthetic Aperture Radar (InSAR) has shown to be a valuable resource of deformation information, but it requires expert knowledge and considerable computational efforts. Moreover, the successful application of InSAR for landslides requires a favorable acquisition geometry relative to the landslide deformation pattern. Consequently, there is a need for a widely applicable tool to assess the potential of InSAR at a particular location a priori. Here we present a novel, generic approach to assess the potential of InSAR-based deformation tracking, providing a standardised and automated method applicable on any slope. We define the detection potential as the sensitivity of InSAR to detect downslope displacement combined with the presence of coherently scattering surfaces. We show that deformation can be detected on at least 91% of the global landslide-prone slopes, and provide an open source Google Earth Engine tool for the quick assessment of the availability of potential coherent scatterers. This tool enables any person interested in applying InSAR to routinely assess the potential for monitoring landslide deformation in their region of interest.

Vibration transfer from slab tracks on piled foundations

Railway tracks on soft soil are often supported by a piled foundation to increase track stiffness and reduce track deformation and settlement. In this paper, we consider the case of a slab track on a piled foundation and a floating slab track on a piled foundation, and compare their vibration transfer to the free field with the case of a slab track and a floating slab track. The case of a floating slab track on a piled foundation is inspired by the design of a new light railway line on very soft soil in close proximity of research labs with vibration sensitive equipment. We predict the track-soil mobility using state-of-the-art two-and-a-half-dimensional (2.5D) and periodic finite element models with perfectly matched layers, taking dynamic track-soil interaction into account. A comparison of the four track structures shows that the track-soil mobility is highest for the slab track in most of the frequency range between 1 and 80Hz. For the floating slab track, the vibration transfer is reduced by 10 to 15dB between 50 and 80Hz due to the insertion of a flexible material below the slab. Around the slab resonance frequency (20Hz), the free field response is 1 to 3dB higher compared to the slab track. For the slab track on a piled foundation, the track-soil mobility is approximately 10dB lower at frequencies below 10Hz compared to the slab track due to the higher static stiffness of the track, and close to 8dB lower at higher frequencies. The reduction at low frequencies is mainly due to the piles beneath the track, while their contribution to vibration reduction at high frequencies is rather limited. By combining a floating slab track with a piled foundation, an additional reduction of approximately 12dB compared to the slab track on a piled foundation is achieved. Hence, the total vibration reduction compared to the slab track is close to 20dB. However, the free field mobility at low frequencies increases for the floating slab track on a piled foundation compared to the slab track on a piled foundation.

Particle retracking algorithm capable of quantifying large, local matrix deformation for traction force microscopy.

Deformation measurement is a key process in traction force microscopy (TFM). Conventionally, particle image velocimetry (PIV) or correlation-based particle tracking velocimetry (cPTV) have been used for such a purpose. Using simulated bead images, we show that those methods fail to capture large displacement vectors and that it is due to a poor cross-correlation. Here, to redeem the potential large vectors, we propose a two-step deformation tracking algorithm that combines cPTV, which performs better for small displacements than PIV methods, and newly-designed retracking algorithm that exploits statistically confident vectors from the initial cPTV to guide the selection of correlation peak which are not necessarily the global maximum. As a result, the new method, named 'cPTV-Retracking', or cPTVR, was able to track more than 92% of large vectors whereas conventional methods could track 43-77% of those. Correspondingly, traction force reconstructed from cPTVR showed better recovery of large traction than the old methods. cPTVR applied on the experimental bead images has shown a better resolving power of the traction with different-sized cell-matrix adhesions than conventional methods. Altogether, cPTVR method enhances the accuracy of TFM in the case of large deformations present in soft substrates. We share this advance via our TFMPackage software.

Temperature field and thermal effects of the longitudinal connected slab track based on the measurement data and thermal-fluid-structure coupling analysis

The temperature field and thermal effects are important factors affecting the serviceability of the longitudinal connected slab track and the safety of high-speed trains, which are necessary to deeply understand. To analyze the temperature field and thermal deformation of the longitudinal connected slab track, based on the heat transfer processes between the track and the environment, a three-dimensional thermal-fluid–structure coupling analysis model is established. The meteorological factors are comprehensively considered in the model, and the temperature field and the thermal effects of the longitudinal connected slab track can be thoroughly investigated. Good agreement is observed between the calculated temperatures of the model and the measured temperatures at the testing platform. On this basis, the temperature and deformation of the longitudinal connected slab track in typical dates in Beijing are analyzed. The results indicate that the maximum temperatures of the track and the time of their occurrence vary in different seasons. The positive temperature gradient is greater than the negative temperature gradient. The temperature distribution of the slab track shows significant non-uniformity in the transverse direction along the track. In summer, the slab track has a U-shaped temperature distribution in daylight, while in winter, the slab track has an S-shaped temperature distribution. The uneven distribution of the track temperature causes uneven deformation of the precast slab. The arching deformation of the precast slab is greatest in summer. Focused observation of the precast slab during the hot season is required to prevent excessive deformation and instability of the slab. The construction temperature of the slab track has pronounced effects on track deformations. The construction temperature should be strictly controlled to prevent the track cracking or instability.

Full-Scale Highway Bridge Deformation Tracking via Photogrammetry and Remote Sensing

Recent improvements in remote sensing technologies have shown that techniques such as photogrammetry and laser scanning can resolve geometric details at the millimeter scale. This is significant because it has expanded the range of structural health monitoring scenarios where these techniques can be used. In this work, we explore how 3D geometric measurements extracted from photogrammetric point clouds can be used to evaluate the performance of a highway bridge during a static load test. Various point cloud registration and deformation tracking algorithms are explored. Included is an introduction to a novel deformation tracking algorithm that uses the interpolation technique of kriging as the basis for measuring the geometric changes. The challenging nature of 3D point cloud data means that statistical methods must be employed to adequately evaluate the deformation field of the bridge. The results demonstrate a pathway from the collection of digital photographs to a mechanical analysis with results that capture the bridge deformation within one standard deviation of the mean reported value. These results are promising given that the midspan bridge deformation for the load test is only a few millimeters. Ultimately, the approaches evaluated in this work yielded errors on the order of 1 mm or less for ground truth deflections as small as 3.5 mm. Future work for this method will investigate using these results for updating finite element models.

Study on the Positioning Accuracy of the GNSS/INS System Supported by the RTK Receiver for Railway Measurements

Currently, the primary method for determining the object coordinates is positioning using Global Navigation Satellite Systems (GNSS) supported by Inertial Navigation Systems (INS). The main goal of this solution is to ensure high positioning availability, particularly when access to satellite signals is limited (in tunnels, areas with densely concentrated buildings and in forest areas). The aim of this article is to determine whether the GNSS/INS system supported by the RTK receiver is suitable for the implementation of selected geodetic and construction tasks in railway engineering, such as determining the place and extent of rail track deformations (1 cm (p = 0.95)), the process of a rapid stocktaking of existing rail tracks (3 cm (p = 0.95)) and for design and construction works (10 cm (p = 0.95)), as well as what the impact of various terrain obstacles have on the obtained positioning accuracy of the tested system. During the research, one INS was used, the Ekinox2-U by the SBG Systems, which was supported by the Real-Time Kinematic (RTK) receiver. GNSS/INS measurements were conducted on three representative sections varying in terms of terrain obstacles that limit the access to satellite signals during mobile railway measurements in Tricity (Poland). The acquired data allowed us to calculate the basic position accuracy measures that are commonly used in navigation and transport applications. On this basis, it was concluded that the Ekinox2-U system can satisfy the positioning accuracy requirements for rapid stocktaking of existing rail tracks (3 cm (p = 0.95)), as well as for design and construction works (10 cm (p = 0.95)). On the other hand, the system cannot be used to determine the place and extent of rail track deformations (1 cm (p = 0.95)).

Fluid–structure interactions of energy-harvesting membrane hydrofoils

We study the kinematics, dynamics and flow fields generated by an oscillating, compliant membrane hydrofoil extracting energy from a uniform water stream at a chord-based Reynolds number $Re \approx 3 \times 10^4$ . Hydrodynamic forces during the foil's motion cause the membrane to dynamically morph its shape, effectively increasing the camber during the oscillation cycle. The membrane's deflection is modelled using the Young–Laplace equation, with pressure term approximated from thin-airfoil theory. Simultaneous tracking of the membrane deformation and the surrounding flow field using laser profiling and particle image velocimetry, respectively, reveals the role of dynamic cambering in stabilizing the leading-edge vortices on the membrane. In this regime of operation, we obtain up to 160 % higher power extraction when compared to a rigid, symmetric hydrofoil. The present work provides a demonstration of how passive compliance of soft materials interacting with fluids may be exploited in tidal and fluvial energy extraction.

Influence of freeze-thaw of ballasted track on vehicle vibration and its evaluation

In the seasonally frozen regions, railway subgrades are subjected to freeze-thaw cycles due to environmental temperature change. The railway track is likely to be deformed during the freezing and thawing processes of subgrades. As a result, the train operations will be severely affected. In the present study, the track deformation induced by the freeze-thaw of railway subgrade was investigated. In the freeze-thaw analysis, different types of the buried structure (for example, box culvert, pipe culvert) embedded in the subgrade were selected as an analytical example, as the transition section of buried structure owning complex boundary conditions is likely to experience significant frost heave and thaw settlement. The track surface deformation above the transition section was calculated through finite element analysis, considering the influences of groundwater levels and temperature boundary conditions. Two indices, namely, wavelength and amplitude, were used to quantify the surface deformation. The influence of variation of groundwater level and different seasonal temperatures on the deformation was investigated from the aspects of absolute value. Subsequently, to evaluate the influence of subgrade freeze-thaw induced track deformation on train vibration, the vehicle dynamic analysis was conducted using a vehicle-track model. The calculated absolute value of track deformation was inputted into the vehicle-track model as excitation. Finally, the car body vibration was evaluated from the aspect of safety (minimum vertical wheel-rail force and maximum vertical wheel-rail force) and stability (car body acceleration and Sperling index). This study can facilitate understanding the influence of subgrade freeze-thaw on vehicle vibration.

Actomyosin contractility requirements and reciprocal cell–tissue mechanics for cancer cell invasion through collagen-based channels

The interstitial tumor microenvironment is composed of heterogeneously organized collagen-rich porous networks as well as channel-like structures and interfaces which provide both barriers and guidance for invading cells. Tumor cells invading 3D random porous collagen networks depend upon actomyosin contractility to deform and translocate the nucleus, whereas Rho/Rho-associated kinase-dependent contractility is largely dispensable for migration in stiff capillary-like confining microtracks. To investigate whether this dichotomy of actomyosin contractility dependence also applies to physiological, deformable linear collagen environments, we developed nearly barrier-free collagen-scaffold microtracks of varying cross section using two-photon laser ablation. Both very narrow and wide tracks supported single-cell migration by either outward pushing of collagen up to four times when tracks were narrow, or cell pulling on collagen walls down to 50% of the original diameter by traction forces of up to 40 nN when tracks were wide, resulting in track widths optimized to single-cell diameter. Targeting actomyosin contractility by synthetic inhibitors increased cell elongation and nuclear shape change in narrow tracks and abolished cell-mediated deformation of both wide and narrow tracks. Accordingly, migration speeds in all channel widths reduced, with migration rates of around 45-65% of the original speed persisting. Together, the data suggest that cells engage actomyosin contraction to reciprocally adjust both own morphology and linear track width to optimal size for effective cellular locomotion.Graphic abstract

Suspension parameters design for robust and adaptive lateral stability of high-speed train

An adequate hunting stability margin is required through the optimisation and matching of bogie suspension parameters for high-speed trains. Moreover, the dynamics design is particularly important for the robust lateral stability to adapt to wheel–rail wear and track deformation. The hunting stability margin of vehicles, as well as the wheel–rail contact state adaptability should be taken into account. In this regard, the robust hunting stability Pareto optimisation of bogie suspension parameters for different wheel–rail wear stages is executed. A method for the centralised optimisation of key bogie suspension parameters based on vehicle lateral robust stability is presented, and the principle of two typical parameters matching for high-speed vehicles is summarised. In addition, in order to make the vehicle automatically adapt to different wheel–rail geometry contact states without any sensors and control systems, a new idea of frequency-dependent stiffness (SDF) of yaw damper is proposed to ensure the lateral stability margin especially in extreme wheel–rail contact states, which is verified through the vehicle linear system stability and ride comfort comparative analysis. Finally, the adaptive stabilisation mechanism of the vehicle with the frequency-dependent stiffness of yaw damper is clarified.