This paper illustrates the use of the envelope theorem for the geometric design of a cycloidal speed reducer. Specifically, it proposes two designs for a mathematical model with tooth differences: a pin wheel epitrochoid meshing which is a cycloidal wheel (internal rotor) profile equidistant to an epitrochoid (or extended epicycloid) curve and a cycloida! wheel is generated by a pin wheel (exte...

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...

The onset of the daily wheel running bout precedes dark onset by several hours in the early runner genetic variant of mice. Here, we test the hypothesis that timed daily administration of a melatonin agonist, ramelteon, or a benzodiazepine, triazolam, normalizes the timing of daily wheel-running rhythms in early runner mice. The daily profiles of wheel-running activity of early runner mice were...

Volatile oil prices and increased environmental sensitivity together with political concerns have moved the attention of governments, automobile manufacturers and customers to alternative power trains. From the actual point of view the most promising concepts for future passenger cars are based on the conversion of electrical into mechanical energy. In-wheel motors are an interesting concept to...

The study of correlated evolution can lead to new insights about the inheritance patterns of complex traits. In order to better understand the evolution of metabolic rate, we tested whether voluntary activity levels and basal metabolic rate are genetically correlated in 90-wk-old mice (Mus domesticus) from replicated lines of the sixteenth generation of an artificial selection experiment for hi...

Biomechanical data provide fundamental information about changes in musculoskeletal function during development, adaptation, and disease. To facilitate the study of mouse locomotor biomechanics, we modified a standard mouse running wheel to include a force-sensitive rung capable of measuring the normal and tangential forces applied by individual paws. Force data were collected throughout the ni...

Based on the structural features of electric vehicle (EV) driven by in-wheel motors and the characteristics of low speed as well as high torque for in-wheel motors, regenerative braking method for in-wheel motors has been presented. All braking torque for vehicle deceleration is output by in-wheel motors under Medium-intensity braking condition for the sake of recovering the maximum braking ene...

The purpose of this study is to understand the nonlinear dynamics of longitudinal ground vehicle traction. Specifically, single-wheel models of rubber-tired automobiles under straight-ahead braking and acceleration conditions are investigated in detail. Customarily, the forward vehicle speed and the rotational rate of the tire/wheel are taken as dynamic states. This paper motivates an alternati...

In this paper, kinetic and kinematic modeling of a 4 wheel steering vehicle is done and its movement is controlled in an optimal way using Linear Quadratic Regulator (LQR). The results are compared with the same control of two-wheel steering case and the advantages are analyzed. In 4 wheel steering vehicles which are nowadays more applicable the number of controlling actuators are more than the...

Many types of omnidirectional wheels with passive rollers have gaps between rollers. Since these gaps cause a wheel to make discontinuous contact with the ground, they lead to vertical and/or horizontal vibrations during wheel operation. In addition, the radii of passive rollers are related to the height of a bump an omnidirectional wheel can surmount. In this research a new design of the alter...