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masses and full CAD inertia","Tyre pressure/compliance/tread and soil calibration","Actual damper/air spring curves and mount/eye constraints","Frame, weld and joint flexibility/failure","Self contact, body kit, chain, main harness and brake hose contact","Motor current, battery, controller and thermal dynamics","Separate rear wheel contact forces","Sand, slopes, water, fault injection and physical correlation"],"source":"simulation/modern_atv_tyre/log_1000us.json","sourceSha256":"3043afa2d8ab3f574bb77a4fa5f30007f5f4566067a3602a36ed1018e4896396","historical":true,"qualification":"Archived simplified Chrono model, distinct from the Ridge and AG23 CAD. Saved outcomes and assumed inputs are retained; no physical qualification."}
