Analysis Techniques for Racecar Data

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Analysis Techniques for Racecar
Data Acquisition Second Edition
Jorge Segers
Whether measuring the performance of a Formula
One racecar or that of a road-legal street car on the
local drag strip, the dynamics of vehicles and thei r
drivers remain the same. Identical analysis techniques
apply. This book contains a collect ion of techniques
for analyzing dat a recorded by any vehicle's data
acquisition system. It deta ils how to measure the
performance of the vehicle and driver, what can be
learned from it , and how this information can be used
to advantage the next t ime the vehicle hits the track .
Since the best-selling fi rst edition was published
in 2008, data recording technology has developed
making it possible to obta in more advanced and
accurate data regarding the performance of race cars
at less cost.
In addition to updates throughout, this new edition
contains three new chapters. Chapter eight covers
the techniques that are available to analyze tire
performance. Chapter 17 gives an introduction to
metric-driven analysis, a technique that is used
throughout the book . Chapter 18 was added to
explain what kind of informat ion the data conta ins
about the tra ck being dr iven on.
INTERNATIONAL.
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Analysis Techniques
About the Author
Jorge Segers has been involved with
racing disciplines such as GT and
for Racecar Data
sportscar racing, single seaters, and
tour ing cars since 1998. He apprenticed
at GLPK Carsport and became team
manager three years later.
Acquisition
After finishing studies in automotive engineering,
he worked at BPR Competition Engineering as
Second Edition
track engineer and later as development manager
at Eurotech Racing. He has worked for other team s
such as Henrik Roos Motorsports (FIA GT), Racing
for Holland ( Le Mans 24 Hours), DKR Engineering ,
Carsport Modena, and W-Racing Team.
In 2010 he founded JS Engineering BVBA, which
provides engineering services to the motor racing
industry and supplies data acquisition hardware to a
multitude of organizations. In 2013 he began working
for the German team Phoenix Racing where he is an
engineer in the DTM championship with Audi.
R-40 8
Jorge Segers
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Analysis Techniques
for Racecar
Data Acquisition

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Other SAE books of interest:

Hands-On Race Car Engineer
By John H. Glimmerveen
(Product Code: R-323)

Kinetic Energy Recovery Systems for Racing Cars

Edited by Alberto Boretti
(Product Code: PT-159)

Engine Failure Analysis—Internal Combustion

Engine Failures and Their Causes
By Stefan Zima and Ernst Greuter
(Product Code: R-320)

For more information or to order a book, contact SAE International at

400 Commonwealth Drive, Warrendale, PA 15096-0001, USA;
phone 877-606-7323 (U.S. and Canada only) or 724-776-4970
(outside U.S. and Canada); fax 724-776-0790;
email CustomerService@sae.org;
website http://books.sae.org.

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Analysis
Techniques for
Racecar Data
Acquisition,
Second Edition
By Jörge Segers

Warrendale, Pennsylvania, USA

Copyright © 2014 SAE International eISBN: 978-0-7680-8081-0

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400 Commonwealth Drive

Warrendale, PA 15096-0001 USA

E-mail: CustomerService@sae.org
Phone: 877-606-7323 (inside USA and Canada)
724-776-4970 (outside USA)
Fax: 724-776-0790

Copyright © 2014 SAE International. All rights reserved.

No part of this publication may be reproduced, stored in a retrieval system, distributed,

or transmitted, in any form or by any means without the prior written permission of
SAE International. For permission and licensing requests, contact SAE Permissions, 400
Commonwealth Drive, Warrendale, PA 15096-0001 USA; email: copyright@sae.org;
phone: 724-772-4028; fax: 724-772-9765.

ISBN 978-0-7680-6459-9
SAE Order Number R-408
DOI 10.4271/R-408

Segers, Jörge.
Analysis techniques for racecar data acquisition / by Jörge Segers. — Second
Edition.
   pages cm
Includes bibliographical references and index.
ISBN 978-0-7680-6459-9
1. Automobiles, Racing—Dynamics—Data processing. 2. Automobiles,
Racing—Performance—Measurement. 3. Automobiles, Racing—
Testing. I. Title.
TL243.S43 2014
629.28’2—dc23
2013037907

Information contained in this work has been obtained by SAE International from sources believed
to be reliable. However, neither SAE International nor its authors guarantee the accuracy or
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724-776-4970 (outside USA)
Fax: 724-776-0790

Visit the SAE International Bookstore at

books.sae.org

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Dedicated to Daan and Savitri

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Contents
Preface to the Second Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

Preface to the First Edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii

Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 What Is This Book All About?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 What Is Data Acquisition?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Hardware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4 Recent Hardware Trends. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 2 Data Analysis Software Requirements . . . . . . . . . . . . . 17

2.1 General Requirements for Data Acquisition Software. . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Different Ways of Displaying Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3 Keeping Notes with Data Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.4 Mathematical Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.5 Data Overlays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.6 Filtering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.7 Exporting Data to Other Software Packages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.8 Getting Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Chapter 3 The Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3.1 Check the Car’s Vital Signs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.2 Lap Markers and Segment Times. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.3 Comparing Laps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.4 Track Mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.5 The Beginner’s Data Logging Kit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.6 A Possible Approach to the Testing of Sensor Readings. . . . . . . . . . . . . . . . . . . . . . . 72

Chapter 4 Straight-Line Acceleration . . . . . . . . . . . . . . . . . . . . . . . . 77

4.1 Torque and Horsepower. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.2 Traction and Longitudinal Slip. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4.3 TCS and Slip Ratios. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
4.4 Time versus Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4.5 The Importance of Corner Exiting Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.6 Drag Racing Specifics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

vii

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Contents

Chapter 5 Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

5.1 Braking Quickness. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
5.2 Braking Effort. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
5.3 Braking Points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
5.4 Lock-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
5.5 Brake Balance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
5.6 Pedal Travel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
5.7 ABS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
5.8 Brake Temperature Measurement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Chapter 6 Gearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

6.1 Up-shifting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
6.2 Down-shifting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
6.3 The Gear Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
6.4 Total Gear Ratio Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
6.5 Determining Correct Gear Ratios. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
6.6 Determining in Which Gear to Take a Corner. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

Chapter 7 Cornering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

7.1 The Cornering Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.2 The Traction Circle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
7.3 Effects of Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
7.4 Driver Activities That Indicate Vehicle Balance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7.5 The Understeer Angle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
7.6 Vehicle Balance with a Yaw Rate Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
7.7 Front and Rear Lateral Acceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

Chapter 8 Understanding Tire Performance . . . . . . . . . . . . . . . . . 169

8.1 Estimating Grip Levels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
8.2 Working with Tire Pressure Monitoring Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
8.3 Working with Infrared Tire Temperature Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
8.4 Where Does Tire Temperature Come From?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
8.5 Working Temperature Range of the Tires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
8.6 Lateral Load Transfer and Tire Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.7 Tire Workload Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
8.8 Camber Evaluation with Tire Temperature Sensors. . . . . . . . . . . . . . . . . . . . . . . . . 194
8.9 Tire Pressure Evaluation with Tire Temperature Sensors. . . . . . . . . . . . . . . . . . . . . 196

Chapter 9 Quantifying Roll Stiffness Distribution . . . . . . . . . . . . 199

9.1 Measuring Suspension Roll Angle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
9.2 The Roll Gradient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

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Contents

9.3 Using Roll Gradients as a Setup Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

9.4 Front to Rear Roll Angle Ratio. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
9.5 Using the Roll Ratio as a Setup Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
9.6 Suspension Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
9.7 Pitch Gradient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

Chapter 10 Wheel Loads and Weight Transfer . . . . . . . . . . . . . . . 221

10.1 Lateral Weight Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
10.2 Longitudinal Weight Transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
10.3 Banking and Grade Effects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
10.4 Total Wheel Loads. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
10.5 Determining Wheel Loads with Modal Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
10.6 Measuring Wheel Loads with Suspension Load Cells . . . . . . . . . . . . . . . . . . . . . . . 250
10.7 Tire Spring Rates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
10.8 Chassis Torsion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Chapter 11 Shock Absorbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

11.1 Shock Absorber Velocity Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
11.2 Determining in Which Range to Tune the Shock Absorbers. . . . . . . . . . . . . . . . . . . 260
11.3 Shock Speed Ranges. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
11.4 The Shock Speed Histogram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
11.5 The Shock Speed Box Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
11.6 Shock Speed Run Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

Chapter 12 Suspension Analysis in the Frequency Domain . . . 287

12.1 Introducing Frequency Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
12.2 Frequency Analysis versus Time-Space Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
12.3 Theoretical Analysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
12.4 Suspension Optimization Using Frequency Analysis. . . . . . . . . . . . . . . . . . . . . . . . 303
12.5 Modal Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
12.6 Modal Frequency Issues. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
12.7 Nonlinear Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
12.8 Frequency Analysis from Sensor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

Chapter 13 Aerodynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

13.1 Aerodynamic Measurements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
13.2 Air Density. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
13.3 Dynamic Pressure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
13.4 Ride Height Measurement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
13.5 Estimating Drag and Downforce from Logged Data. . . . . . . . . . . . . . . . . . . . . . . . . 331
13.6 The Coast-down Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

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Contents

13.7 The Constant Velocity Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

13.8 A Worked out Example of a Straight-Line Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
13.9 Airbox Efficiency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

Chapter 14 Analyzing the Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

14.1 Improving Driver Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
14.2 Driving Style Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
14.3 Throttle Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
14.4 Braking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
14.5 Shifting Gears. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
14.6 Steering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
14.7 The Driving Line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
14.8 Driver Consistency over Multiple Laps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394

Chapter 15 Simulation Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

15.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
15.2 Suspension Kinematics Simulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
15.3 Lap Time Simulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
15.4 A Worked out Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
15.5 How to Integrate Lap Time Simulation in Daily Data
Acquisition Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
15.6 Putting the Driver in the Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

Chapter 16 Using the Data Acquisition System for

Race Strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
16.1 Fuel Consumption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
16.2 Lap Time Variation During a Race. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437

Chapter 17 Data Analysis Using Metrics . . . . . . . . . . . . . . . . . . . . 443

17.1 What Are Metrics?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
17.2 Why Use Metrics?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
17.3 How to Create Metrics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

Chapter 18 Track Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

18.1 What Can Be Learned from the Data about the Racetrack?. . . . . . . . . . . . . . . . . . . 453
18.2 Racetrack Metrics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
18.3 Speed and Gear Histograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
18.4 The Friction Circle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
18.5 How Bumpy Is the Track Surface?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459

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Contents

Chapter 19 Introduction to Measurement . . . . . . . . . . . . . . . . . . . 461

19.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
19.2 Analog-Digital Conversion: Accuracy Implications . . . . . . . . . . . . . . . . . . . . . . . . . 462
19.3 Sensor Selection and Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
19.4 Measurement Uncertainty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467
19.5 Temperature Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472
19.6 Pressure Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478
19.7 Displacement Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
19.8 Acceleration Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
19.9 Speed Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484
19.10 Strain Gages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
19.11 Torque Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
19.12 The Pitot Tube . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
19.13 Oxygen Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
19.14 GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
19.15 Laser Distance Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
19.16 Surface Acoustic Wave Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494

List of Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495

English Letters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
Greek Symbols. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507

About the Author . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515

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Preface to the Second Edition

When the first edition of this book was first published in 2008, my goal was to create
a book presenting up-to-date techniques to analyze data collected from onboard data
logging systems in race cars. Since the first edition, I have received a great deal of
feedback from people all over the world indicating that I was successful in obtaining
this goal. I am extremely happy that this book has been able to fill a void in this ever-
developing area.

However, since 2008 my personal understanding of this subject has evolved. First of all,
the technology has developed, making it possible to obtain more advanced and accurate
data regarding the performance of race cars at less cost. There are a number of observa-
tions that have led me to write this second edition.

Some race series have actively restricted data logging to decrease the team’s running
budgets. In these cases, it is extremely important that a maximum of information be
extracted and interpreted from the hardware that is at hand. Although I do not agree
with the philosophy of limiting data acquisition by sporting regulations, it does level the
field, as everybody will have access to the same information. This means that a team that
uses the data more efficiently will have an edge over the competition.

The opposite is also true. The ever-decreasing cost of electronics makes advanced sensors
and logging capabilities more accessible for everybody. With this comes the risk of infor-
mation overload. There will be a point where a team will no longer be able to process all
the available data. Therefore, techniques need to be provided that will help in drawing
the right conclusions quickly from very large data sets.

I wanted to include newly gained knowledge since the first publication. Experience is a
continuous process, and I felt that the time had come to upgrade the book. There were
some items in the first edition that needed to be addressed, explained better, or with
more examples. The book contains three new chapters. The first (chapter 8) covers the
techniques that are available to analyze tire performance. The second (chapter 17) gives
an introduction to metric-driven analysis, a technique that is used throughout the book.
Finally, a chapter was added to explain what kind of information the data contains about
the track being driven on (chapter 18).

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Preface to the First Edition

A proven way for athletes to be successful in any sporting discipline is for them to record
their performance, analyze what has happened, and draw conclusions from the factors
that influence that performance. Marathon runners log their running speed and distance
along with their heart rate to optimize their training schedules. Football players record
their games on video to evaluate techniques, performance, and tactics. Chess players
write down every move in a game to replay and analyze it afterward. They measure
something, learn from it, and try to use it to their advantage the next time.

In motor racing, sophisticated recording devices are used in conjunction with numerous
sensors to record what the car and its driver are doing. Engineers often are employed
full-time to maintain the system, analyze the recorded data, and draw the correct conclu-
sions from it.

Motor racing is known for high-end technology, and this technology changes every day.
Ten years ago, race car data acquisition was somewhat limited to well-funded teams in
high-profile championships. Nowadays, the cost of electronics has decreased dramati-
cally. Powerful computers are available for very little expense. Data acquisition systems
are now sold for the price of a single racing tire. This means data acquisition has become
accessible to everyone.

Whatever the price of the data acquisition system, it is a waste of money if the recorded
data is not interpreted correctly. This book contains enough information to prevent the
investment in a data acquisition system from being a waste of money.

Whether measuring the performance of a Formula One race car or that of a road-legal
street car on the local drag strip, the dynamics of the vehicles and their drivers remain
the same. Identical analysis techniques apply. This book contains a collection of tech-
niques for analyzing data recorded by any vehicle’s data acquisition system. It details
how to measure the performance of the vehicle and driver, what can be learned from it,
and how this information can be used to your advantage the next time the vehicle hits
the track.

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Chapter 1

channels. Lateral, longitudinal, and vertical acceleration are measured by a three-axis

g-force sensor located near the car’s center of gravity. In addition, two lateral g-force
sensors are located on the front and rear axle. These are convenient for analyzing under-
steering and oversteering.

There are eight wheel-speed signals recorded by the logging unit. This might seem a bit
excessive, but this particular car was equipped with an engine-controlled traction control
system (TCS) and, completely separate from this, an antilock brake system (ABS). Because
the team uses separate wheel-speed sensors for both systems, a failure in one does not
affect the other. All eight signals are logged for analysis as well as diagnostic purposes.

Three sensors indicate what occurs in the braking system. The amount of pedal travel by
the driver is recorded by a linear potentiometer. Brake line pressures are logged as well.
In addition to being useful for analysis, brake line pressure readouts make it easier to
adjust the brake balance.

Suspension travel is measured by four potentiometers mounted on the shock absorbers.

Three locations per tire measure tire surface temperature, which accounts for another 12
sensor signals.

Table 1.1 already represents 51 channels that are directly logged. From these, the analysis
software calculates another 73 math channels, which brings the total to 124. Getting lost
becomes a potential risk. In this case, the investment in such a system and all the sensors
was justified by several reasons:

• The championship consisted of seven races on three different racetracks. To continu-

ously improve the vehicle and driver performance, more data was required.

• During the 2004 season, the team was developing a semi-active hydraulic suspen-
sion system. Vehicle dynamic parameters were measured to compare with those
measured using the conventional suspension.

• Traction control and the ABS required four wheel speed sensors anyway, so
those signals (in this case, eight) were wired to the data logger as well for analysis
and diagnostics.

• The team implemented lap time simulation software and used the data acquisition
system to help build a virtual model of the race car.

More signals measured means more accurate conclusions, but it often requires more
analysis skills as well. Getting the most out of the available channels is explored in
this book.

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no related content on Scribd:
Emir Ikenukhen, 244, 504, 505

Fabu, 67
Fafa, 194, 197, 250, 379
Faguibine, Lake, 33
Faidherbe, General, 17, 24, 352, 500
Fandu, 314, 316
Fanta, 380
Farca, 268, 270, 272, 273
Farimake, 372
Fatimata Azzer’a, 237
Faure, Felix, President, 176
Festing, Major, 474-477, 481, 482, 487, 490
Fily or Fili Kanté, 97, 304, 333, 337, 340, 469, 480
Fituka, 316
Flatters, 114, 145, 244, 391
Flint, Mr., 490
Fogne, 443
Fonssagrives, 458, 474
Footah, 66, 280, 352
Forcades, The, 495
Forcados, 492, 495
Forgo, 164
Fort Archinard, 39, 298, 302, 306, 317, 320-325, 332-337, 339, 344, 348, 356,
360, 371, 387, 392, 398-400, 403, 508
Fort Arenberg or Taubman-Goldie, 470, 471, 473
Fort Goree, 21
Froger, Naval-Ensign, 7
Fulahs or Peuls, the, 3, 65, 75, 78, 129, 166, 181, 194, 202, 251, 271, 280,
309, 312, 314, 316, 325, 351, 352, 359, 362, 363, 368, 379, 386, 394, 396,
408, 422, 436, 454
Futanis, the, 406, 408, 411, 426
Futankés, the, 282, 290, 385, 406

Gaberos, the, 181, 315, 316, 382, 384

Gabibi, the, 216
Gagno, 422
Galam, 496
Gallieni, Colonel, 67, 284, 500
Gambia, the, 6
Gando, 428, 429, 438, 454
Gao or Garo, 165-167, 268, 279, 506, 507
Gao-Wâdy, 242, 243
Garafiri, 462, 467
Garama, 166
Garamantes, the, 166
Gardio, 140
Garnier, Francis, 511
Gauthiot, M., 36, 37, 170
Geba, 471-476, 481, 486
Geigelia, 93
Gheres, 237
Gherinecha, 237, 238
Gilua, 439
Giraudon, M. de, 352
Girris, 427-429, 435
Gober or Sinder, 207, 313, 507
Gomba, 433, 436, 437
Goruberi, 411, 414, 420, 424
Gorubi, 412
Gourma, 316, 317, 328
Grodet, M., 20, 28, 32, 289
Grunner, Dr , 428, 438
Guadjibo or Badjibo, 470, 471, 473, 476
Guinina, 67
Gumba, 405
Gundam, 129
Gungi, 134, 136, 140
Guni, 62
Gurao, 74, 77, 334
Gurienisi, the, 325
Gurma, 354, 366, 387

Ha, 163
Habés, the, 367
Habibulaye, 78, 80, 81
Hacquart, Father, 83, 87, 94, 97, 103, 107, 118, 136, 145, 156-158, 172-174,
258, 272, 278, 279, 283, 290, 303, 324, 338, 340, 341, 351, 398, 427, 430,
432, 510
Hadji Hamet, 427, 428, 430, 432, 435
Hamadi, 80, 87, 89
Hamda-Allahi, 76, 78, 314, 365
Hameit, a sheriff, 104, 135, 140
Hamma Tansa, 392
Hanotaux, Commandant, 228
Haussa, 222, 325, 381, 395, 411, 429, 430, 439, 482
Hoggars, the, 81, 114, 136, 144-146, 231, 244-246
Hombori, 367, 373
Hugo, 282-284, 393

Ibnu, 118, 119

Ibrahim, 155, 161, 397
Ibrahim Bubakar, 342
Ibrahim Galadio, 288, 312-314, 351, 360, 362-367, 371, 372, 382
Idris, 192, 194
Ifoghas, the, 190, 192, 241
Igga, 440, 454, 479, 485
Igharghar, 243
Igwadaren, the, 91, 104, 106, 116-135, 142-145, 148, 209, 217, 240
Ihaggaren, the, 144, 215, 225, 227, 230, 231, 240, 249
Ikum, 440
Ilo, 426, 430, 431, 434-437, 474
Ioraghen, the, 129
Iregnaten, the, 129
Issa, 434
Issa-Ber, 33

Jenné, 52, 73, 96, 352

Jesero, 438
Joffre, Colonel, 33
Joliba or Upper Niger, 5
Jouenne, Dr., 8

Kabara, 81, 83, 90, 91, 93, 102, 121

Kagha, 90, 100, 107, 108, 174
Kaheide, 30
Kale, 392
Kambaris, the, 440
Kandji, 462
Kardieba, 127, 148
Karma, 281, 282, 313, 414
Karu, 251, 257
Kayes, 27, 30, 38, 39, 41, 49, 73, 476, 500
Kebbi, 317, 377, 409, 411, 413, 439
Kel Ahara, the, 238, 240, 241
Kel Air, the, 168, 177, 180
Kel Antassar, the, 33, 103, 118, 125
Kel Avis, the, 192
Kel Es Suk, the, 104, 121, 136, 162, 182-186, 207, 208, 217, 269, 270
Kel Gheres, the, 231, 237, 243, 246, 282
Kel Gossi, the, 100, 101, 107, 241
Kel Kumeden, the, 238, 240, 241
Kel Owi, the, 122, 142, 143
Kel Tedjiuane, the, 238, 240, 241
Kel Temulai, the, 102, 104, 106-110, 114, 173, 209, 375
Kendadji, 265, 438
Kibtachi, 296, 313, 381-384, 403, 405
Kieka-Sanké, 62-64
Kisira, 445
Kita, 9, 50, 51, 54, 408
Koa, 100
Kokoro, 276
Kolikoro, 8, 12, 22, 52-59, 62, 63, 73
Koly Mody, 373
Kompa, 282, 405-408, 411, 417, 420, 424
Kongu, 124
Konnari, 394
Konotasi, 462, 467
Koridjuga, 62
Koriomé, 8, 81
Koyraberos, the, 306, 309, 311, 323, 324, 361, 381, 508
Kpatachi, 462
Kuka, 491
Kunari, 373
Kundji, 438
Kunta, 108
Kuntas, the, 77, 81, 87-91, 100-103, 105, 106, 140, 141, 146, 152, 172, 177
Kurteyes, the, 181, 268, 271, 274, 278, 282, 316, 326, 382, 393, 425, 434, 435
Kutkuole, 282
Kutungu, 265

Labezenga, 193, 252, 257, 260, 261, 264, 370, 406

Lamothe, M. de, 23, 27
Lander, Richard, 472
Lankafu, 438
Laperrine, Captain, 145
Larba, 312
Lat-Dior, 23
Lavigerie, Mgr., 84
Leba, 453, 456, 457, 470, 471, 473, 476
Lefort, Sub-lieutenant, 8
Lemta or Lemtuma, 204, 240
Liptako, 372
Logomaten, the, 218, 242, 252, 270, 312
Lokodja, 344, 473, 475, 479, 480-485, 488

M’Pal, 23
Ma, 55, 56
Mabrok, 90
Madani, 292
Madecali, 420, 423-426, 434
Mademba Seye, 66-69, 71, 73
Madidu, Chief of the Awellimiden, 104-107, 136, 154, 155, 164-168, 170-180,
183, 192, 194-196, 217, 219, 240, 247, 265, 266, 271, 277, 286, 312, 368,
372, 382, 387, 426
Madunia, 102, 112
Mage, The, 9, 10, 74
Malet, Sir Edward, 10, 413
Malinke, the, 54
Malo, 277
Mamadu, 97
Mamé, 96, 97, 109, 259, 260, 263, 434
Manambugu, 8, 9, 52
Mandao, Osmane, 17, 26
Marchand, 36, 38
Marka, 274
Massala, 56
Massenya, 1
Massina, 8, 280, 312, 314, 316, 353, 367, 371, 372, 386, 394, 405
Matam, 30
Matar Samba, 87, 95
Mattei, Commandant, 483, 484, 488
Mauri, 313, 377, 413
Maussinissa, 202
Milali, 107
Mizon, 451, 470, 482
Modibo Konna, 394, 396, 397
Mohamed Askia, 165
Mohamed ben Eddain, 208
Mohamed Uld Mbirikat, 118, 121-123, 127, 130, 134, 136, 140
Mohammed ben Abdallah, 88, 201
Mohammed Djebbo, 385
Monteil, Colonel, 6, 7, 11, 17, 285, 360, 412, 413, 421
Mopti, 34, 140, 386, 394, 405
Mores, 474
Morning Star, The, 472
Morocco, 144, 204, 208, 209, 216
Mosi, 216
Mossi, 39, 65, 66, 316, 325, 353, 354, 373, 375, 377-379
Mount Davoust, 440
Mount Delagarde, 440
Mount Kolikoro, 56, 57
Mount Tondibi, 163
Moyadikoira, 147
Mumi, 386, 387
Mungo Park, 5, 6, 9, 165, 439, 500
Mussa, 97, 337
Mycenæ, 118

Naba of Wagadugu, 378

Nabi Mussa or Mises, 375
Namantugu Mame, 412
Neschrun, 185, 186
Ngiti-Sokoto, the, 243
Ngouna, 33
Ngubi-Sokoto, the, 437
N’Guna, 103, 105
Niger, the, 2, 5-14, 17, 18, 22, 23, 32, 33, 36-39, 42, 44, 52, 54, 56, 72-74, 78,
82, 84, 94, 96, 99, 101, 105, 116, 128, 129, 142, 146, 152, 157, 160, 163,
165-168, 176, 182, 185, 191, 193, 202, 209, 210, 242, 243, 262, 263, 269,
271, 273, 279, 281, 289, 290, 294, 295, 298, 314, 334, 344, 350, 353, 368,
386, 393, 404, 405-408, 411-415, 421, 440, 453, 458, 460, 464, 470, 472,
477, 483, 488, 492, 493, 495, 498, 499, 504, 507, 508, 510
Niger, The, 9, 10, 74
Nigotte, Captain, 218
Nigritian, The, 479
Nikki, 474
Nioro, 68, 100, 280, 282, 312, 313, 316
Niugui, 372
Nuhu, 8
Nupé, 477
Nupé, The, 490

Olinda, The, 495

Onitcha, 490
Osman, 277, 306-308, 325, 327, 353, 368, 376-378, 384-386, 389, 391
Osterman, 59
Othman dan Fodio, 78, 395
Oursi Beli, 243

Patanis, the, 452, 470, 491

Pontoise, 298
Porto Novo, 495
Port Said, 484
Prince de Polignac, 197
Pullo Sidibé or Khalifa, 306-308, 351, 360, 363, 364, 368, 376, 382, 386

Rabba, 378, 476, 477

R’abbas, 109, 112
Raha, 436
R’alif, 109, 112
R’alli, 121-125, 138-140
Regard, Captain, 218
Reichala, daughter of Madidu, 219
Rejou, M., Commandant, 83, 89, 90
René Caillie, The, 470
Rhâdames, 197, 244, 505
Rhat, 207, 278
Rhergo, 102, 107, 114, 116, 118, 119
Ribago, The, 479, 485, 487, 490
Richardson, 505
Rimaibes, the, 316
R’isa, 237
Rocher, M. Du, 23
Rufisque, 22
Rupia, 440-442, 451

Saga, 283, 328

Sahara, the, 8, 82, 136, 160, 204
Said, 89
St. Louis, 17, 22-27, 39, 67, 281, 352, 496
Sakhaui or Sarrawi, 90, 91, 104, 116, 118, 131, 134, 138, 144, 145
Sakhib, 104, 126-128, 130, 131, 134, 135, 147
Saldé, 30
Salla Uld Kara, 88, 104, 149-155, 161
Samba Demba, 300, 337, 338, 468
Samba Laobé, 23, 319
Samba Sumaré, 123
Samory, 54, 67, 299, 301, 310, 313, 314, 330, 331, 377
Sansanding, 66-69, 72-74, 87
Sansan-Haussa, 191, 278, 306, 377
Saraféré, 78
Sarankeni, 331
Sarayamo, 367
Saredina, 74-76, 140, 141
Sarracolais, the, 27, 28, 96, 274, 300, 316, 496,
Satoni, 269, 270
Sauzereau, 38, 39, 41, 59
Say, 32, 74, 75, 96, 99, 174, 180, 219, 240, 250, 274, 277, 280, 282, 285, 289,
290, 293-297, 299, 300, 306-308, 310-328, 333-335, 337, 347, 351, 352,
356, 358, 363, 365-369, 372, 375-378, 381, 384-390, 397, 405, 406, 413,
422, 437, 439, 474, 476, 479, 499, 508
Seba, 450
Sego, 37, 39, 52, 64, 66, 68, 78, 98, 301, 312, 314
Senegal, the, 4, 6, 7, 17, 27, 44, 66, 97, 274, 280, 316, 317, 334, 381, 482,
496, 504, 507
Senegambia, 23, 24
Senussis, the, 201
Sergoe, 377, 388
Serki Kebbi, 378, 406, 409, 411-413, 421
Sidi Alluata, 79, 80, 100-103, 107
Sidibés, the, 316, 361, 382-384
Sidi el Amin, 146
Sidi Hamet, 89-91, 100, 117, 118, 120-122, 127, 148, 149, 151, 153
Sidi Hamet Beckay, 74-77, 79-81, 88, 101, 105, 121, 129, 140, 141, 146, 153-
155, 184
Sidi Moktar, 79, 105
Sidi Okha, 78
Sikasso, 330
Silla, 5
Sillabés, the, 274, 316, 382, 392
Sinder, 180, 207, 218, 266, 269, 272-275, 278, 283, 312, 316
Skobeleff, General, 262
Sokkoto, The, 483
Sokoto, 75, 174, 313, 372, 377, 395, 412, 413, 484
Somangoro, 54-57
Songhay, 96, 109, 161, 163-166, 182, 191-194, 202, 208, 209, 216, 217, 274,
306, 309, 312, 316, 324, 325, 351, 354, 430
Soninkés, the, 54-56, 71, 100, 274
Sorbo, 278, 281, 282
Soule, 423-425
Spahis, the, 23, 319
Stanley, 504
Sudan, the, 7, 14, 19, 22, 32, 37, 43, 49, 50, 52, 67-69, 79, 81, 82, 138, 172,
201, 210, 213, 252, 273, 284, 300, 336, 337, 345, 372, 411, 417, 441, 505
Sudan, The, 475
Sudan, French, 6, 17, 34, 38, 42, 44, 51, 77, 100, 126, 138, 210, 273, 299, 373,
451, 488, 489, 503
Sudan, Western, 76, 100, 165, 166, 193, 406, 498
Suleyman Foutanke, 280, 281, 290, 323, 352, 357, 381, 399, 400, 416, 430
Suleyman Gundiamu, 41, 95, 286, 287, 292, 329, 331, 373, 397, 430, 483
Sultan of Fez, 208
Sultan of Segu, 37, 314
Sundiata, 47, 54, 56
Surgu, 202

Taburet, Dr., 38, 52, 58, 60, 87, 94, 97, 118, 123, 134, 135, 158, 277, 278, 281,
290, 303, 327, 328, 332, 333, 338, 348, 393, 416-419, 474, 476, 484, 486,
510
Tacubaos, the, 218
Taddemekka, 182, 207
Tademeket, the, 104, 131, 148, 152, 154-158, 160-162, 168, 170, 201, 241,
269
Tahar, 121, 140
Talibia, 296-298, 360, 379, 381, 387, 388
Ta-Masheg or Tamschek, 109, 173, 202, 220, 222, 226, 228, 229, 509
Tankisso, 404
Tarik, 203
Tarka, 203
Tarkai-Tamut, 203
Tayoro, 394-398
Tchad, Lake, 28, 165, 247, 352, 372, 507
Tchakatchi, 438-440, 499
Tedian Diarra, 358
Tenda, 414-416, 420-424, 430, 447
Tenger Eguedeche, the, 162-164, 168, 170
Tenguereguif, the, 173, 209, 218
Thies, 23
Tieba, 330, 331
Tillé, 389
Timbuktu, 7, 8, 32, 33, 41, 69, 73, 75, 78-84, 87-91, 98, 102, 103, 106, 114-
120, 122, 126, 129, 130, 134, 136, 138, 142, 148, 245, 273, 279, 288, 309,
331, 335, 344, 351, 352, 368, 369, 427, 473, 495, 498, 499, 507
Tinalschiden, 149
Tintellust, 207
Tioko, 372
Togoland, 428
Tolimandio, 52
Tombuttu, 423, 424
Torodi, 312, 313, 315, 382, 384
Toron, 54
Tosaye or Sala Koira, 88, 89, 104, 128, 131, 148-153, 158, 162, 201, 219
Toucouleurs, the, 3, 8, 41, 62, 63, 66, 67, 73, 75, 76, 79, 105, 129, 130, 140,
152, 209, 218, 271, 279-282, 284, 285, 287-290, 299, 304, 312-314, 360,
382, 384, 386-393, 397, 405, 411, 414, 417, 419, 423
Toutée, Captain, 266, 269, 272, 273, 278, 282, 286, 290, 447, 457, 470
Towdeyni, 83
Trentinian, Colonel de, 34, 38, 138
Tripoli, 216, 505
Tuaregs, the, 8, 18, 33, 37, 65, 75, 78-80, 84, 88, 89, 98, 100, 101, 104, 106,
108, 114, 119-134, 138, 142, 144, 149-178, 182, 189-194, 197, 199-249,
251, 256, 257, 266, 269, 270-273, 275, 283, 307, 312, 315, 351, 368, 372,
379, 383, 388, 394, 397, 434, 470, 505-506, 509
Tuat, 78, 79, 81, 88, 216, 310
Tumaré, 268

Ubangi, the, 11
Uro Galadio, 37

Vermesch, 285
Vinet-Laprade, 24

Wadalen, the, 242

Wagadugu, 373, 375
Wagniaka, 372, 394
Wagobés, the, 269, 270, 272, 274, 316, 377
Walaldé, 30
Wali, 48
Wallace, Mr., 474, 475, 479, 480, 485, 490
Wari, 12, 491-494
Watagunu, 251
Wemé, the, 358
Wolof, 96, 280, 282, 320

Yakare, 71
Yangbassu, 458
Yauri, 377, 439
Yemen, 78
Yoba, 368
Yola, 479, 482
Yuli, 382
Yunes, 104, 156, 219
Yusuf Osman, 281, 282

Zarhoi, 122, 126, 139, 144

 Richard Clay & Sons, Limited, London & Bungay.

FOOTNOTES:

[1]A popular French dance.—Trans.

[2]The translator thinks it best to give the actual words of this
celebrated despatch, which caused so much excitement at the
time.
[3]A griot is a superior negro, who acts as interpreter, etc.—
Trans.
[4]Bamana Dankun had replied to Monson who had called him,
“I will come; when I have finished the sacrifices I am offering, I will
come.” Hence the anger of the Fama.
[5]I have failed to ascertain the meaning of the word Jaribata.
The griots sometimes use words in their songs, which the present
natives of Bambara do not themselves understand, and which
may perhaps be survivals of a now extinct language.
[6]The singular of Ihaggaren is Ahaggar, and of Imrad, Amrid.
[7]It will be understood that the translations in the English text
of the free translations of the originals can only give an
approximate idea of the poems quoted.—Trans.
[8]These are the slang names for members of the secret police
in France.—Trans.
[9]I make a special point of the exact situation of Farca.
Captain Toutée says in a note to his book on Dahomey, the Niger,
and the Tuaregs, that he believed it to be much nearer Timbuktu,
but he had not taken any astronomical observations, and he had
made a mistake of a day in his journal. This rectification will
appear somewhat tardy after the articles published on his return
in the newspapers, and in the Bulletin of the Comité de L’Afrique
française, which led to its being supposed that Farca is on the
outskirts of the last French post in the Sudan. Had this been so,
the results of our expedition would have been greatly minimized.
Suum cuique.
 On the subject of the recognition of the French protectorate by
the people of Farca, there must have been, to say the least, a
very great error of interpretation. Our readers have been able to
discover for themselves that unfortunately French influence does
not extend so far. Indeed, the hostile attitude of the people of
Sinder, who are the relations and feudal superiors of those of
Farca, and who attacked Captain Toutée, would have been
enough to prove it without anything else.
[10]The occupation of Say is now an accomplished fact, and
Amadu has fled in a north-westerly direction; but the French must
be more than ever careful to be on their guard against his forces,
aided by those of the Emir of Sokoto. We must be especially on
the watch against offensive action on the part of Samory, for does
not a certain section of the English press talk of arming and
rousing against us that monster in human form who under pretext
of a holy war is responsible for the destruction of thousands of his
fellow-creatures?
[11]Louis Blanc, ‘Histoire de Dix Ans.’ The sentence quoted is
quite untranslatable, but “We don’t care a rap for you,” perhaps
fairly represents it.—Trans.
[12]I must add that of the 373 miles of railway that I ask for,
125 are already made, and are in full work, so that the worst
difficulties are overcome.
 Transcriber's note:

pg 120 Changed: of the Tauregs to: Tuaregs

pg 121 Changed: letter from Sakhuai to: Sakhaui
pg 200 Changed: the Tauregs alone to: Tuaregs
pg 428 Changed: In is, in fact to: It is
pg 516 Changed: Galan to: Galam
Other spelling inconsistencies have been left unchanged.
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