In this paper, a novel omnidirectional vehicle with anisotropic friction wheels is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the...

Direct Yaw moment Control systems (DYC) can maintain the vehicle in the driver’s desired path by distributing the asymmetric longitudinal forces and the generation of the Control Yaw Moment (CYM). In order to achieve the superior control performance, intelligent usage of lateral forces is also required. The lateral wheel forces have an indirect effect on the CYM and based upon their directio...

background: the brown-banded cockroach, supella longipalpa , is not as common as the german cockroach in iran. this species seeks out areas that are very warm most of the time, and prefer warmer area than what german cock­roaches pre­fer. there is relationship between development of instars and diet of cockroaches. the aim of this study was to determine the effect of different diets on biology,...

Desiccant wheels are widely used in buildings to control humidity and reduce energy consumption. A model is presented based on transient coupled heat and mass transfer, to model, design and analyze the effects of geometrical characteristics of a honeycombed rotary desiccant wheel and its performance. Governing equations are solved numerically using finite volume method and the model is validate...

In a laboratory population of unstriped Nile grass rats, Arvicanthis niloticus, individuals with two distinctly different patterns of wheel-running exist. One is diurnal and the other is relatively nocturnal. In the first experiment, the authors found that these patterns are strongly influenced by parentage and by sex. Specifically, offspring of two nocturnal parents were significantly more lik...

Nomenclature β,γ(∈ S) = The gimbal and wheel angles. (rad) Rβ(∈ SO(3)) = Transformation from gimbal frame G to the spacecraft body frame B. Is = Spacecraft inertia without the CMG gimbal and wheel inertia. (kg.m) Ig, Ir = Gimbal frame inertia, wheel inertia about own centre of mass represented in gimbal frame. (kg.m) (Igr)β = Combined inertia of gimbal frame and wheel in the spacecraft frame. R...

A robust wheel slip controller for electric vehicles is introduced. The proposed wheel slip controller exploits the dynamics of electric traction drives and conventional hydraulic brakes for achieving maximum energy efficiency and driving safety. Due to the control of single wheel traction motors in combination with a hydraulic braking system, it can be shown, that energy recuperation and vehic...

In this study, it is experimentally investigated that the surface generation process in the cross axis grinding method with small diameter grinding wheel. In this grinding method, workpiece surface speed and sum of both wheel working surface speed and wheel feed rate crossed each other. Therefore, it is the largest characteristic that the cross angle, which is defined as the angle between the w...

It is generally considered as self evident that the lifetime of our vacuum in the landscape of string theory cannot be much shorter than the current age of the universe. Here I show why this lower limit is invalid. A certain type of " parallel universes " is a necessary consequence of the string-landscape dynamics and might well allow us to " survive " vacuum decay. As a consequence our stringy...

In this paper the performance of the proposed DLMT and CLMT algorithms are compared. These proposed algorithms tend to extend the node lifetime. Decentralized lifetime maximizing tree(DLMT) features in nodes with higher energy to be chosen as data aggregating parents while Centralized Lifetime Maximizing Tree(CLMT) features with the identification of the bottleneck node to collect data in a cen...