In this paper, we propose an implementation of a real-time operating system for the two-wheel mobile robot. With this implementation, we have the ability to control the complex embedded systems of the two-wheel mobile robot. The advantage of the real-time operating system is increasing the reliability and stability of the two-wheel mobile robot when they work in critical environments such as mi...

This paper presents the movement dynamic of the train and the relationship between the speed of wheel and train, as well as a discussion about the concept of wheel slip. There are two different operation regions designated as creep and wheelspin areas for wheel slip. Creep and wheelspin areas have stable and unstable characteristics, respectively. Wheels and rails are constructed from iron, and...

Mobile Robots are used to venture through types of environments where wheel slip is a threat. Wheel slip is a hazard to mobile robots in that it introduces error in dead reckoning measurement and in some instances causes the robot to halt is forward progress. To compensate for traction loss several methods are used to determine the terrain characteristics. One of these methods is Pacejka’s Tire...

A 4-wheel is a simple graph on 5 vertices with 8 edges, consisting of a 4-cycle, with a fifth vertex joined to each vertex in the 4-cycle. A A-fold 4-wheel system of order n is an edge-disjoint decomposition of AKn into 4-wheels. If two non-adjacent edges of the 4-cycle are removed, the result is a bowtie (that is, two triangles with a common vertex). In this paper necessary and sufficient cond...

The National Airport Pavement Test Facility (NAPTF) is a state-of-the-art full-scale test facility operated by the U.S. Federal Aviation Administration (FAA). The NAPTF is located at the William J. Hughes Technical Center near Atlantic City, New Jersey and it provides high quality, accelerated test data from rigid and flexible pavements subjected to simulated aircraft traffic. During the first ...

An original method for the real-time estimation of the roll angle using low-cost sensors in two-wheeled vehicles is proposed. The roll angle greatly affects the dynamics of singletrack vehicles and its estimation is essential in control systems such as ABS, Traction Control, as well as Curve and Collision Warning, or even active suspensions. The proposed method uses a non-linear Kalman filter, ...

This paper presents a simple sliding mode control strategy used for an electronic differential system for electric vehicle with two independent wheel drives. When a vehicle drives along a curved road lane, the speed of the inner wheel has to be different from that of the outer wheel in order to prevent the vehicle from vibrating and travelling an unsteady path. Because each wheel of this electr...

Laboratory-based simulators afford many advantages for studying physiology and biomechanics; however, they may not perfectly mimic wheelchair propulsion over natural surfaces. The goal of this study was to compare kinetic and temporal parameters between propulsion overground on a tile surface and on a dynamometer. Twenty-four experienced manual wheelchair users propelled at a self-selected spee...

This paper presents a path and speed planner for automated vehicles in unstructured environments. A global path planner has been designed with bounded continuous curvature and bounded curvature derivative to ensure smooth driving. This will allow the vehicle to know a priori which is the shortest path within a selected area that guarantees lateral accelerations and steering wheel speeds below g...

This paper presents the design, implementation and evaluation of a sonification system, which gives real-time auditory feedback to a performer who is carrying out moves on sports equipment called a German wheel. The paper starts with a brief description of different German wheel move categories and of relevant research on movement sonification to present how these motivated some of our design d...