Mobile robots are increasingly being developed for highrisk missions in rough terrain situations, such as planetary exploration. Here a rough-terrain control (RTC) methodology is presented that exploits the actuator redundancy found in multi-wheeled mobile robot systems to improve ground traction and reduce power consumption. The methodology “chooses” an optimization criterion based on the loca...

The existing energy management strategies for four-wheel-drive electric vehicles only take into account the vehicle consumption under static adhesion constraints. However, front and rear axle loads transfer dynamic conditions lead to variations of characteristics, which results in changes consumptions. In this paper, a multi-objective optimal torque distribution strategy is proposed, taking loa...

Analysis of stress distributions under lightweight wheeled vehicles Report Title In recent years, the need for reliable modeling tools for lightweight robotic systems deployed on various terrains has spurred research efforts into development of vehicle terrain interaction (VTI) models. This paper presents an analysis of rigid wheels dry sand interaction and compares experimental results with pr...

Wheel slip activity detection is crucial in railway maintenance, as it can contribute to avoiding wheel damage but also track deteriorations leading significant maintenance costs, trains delays, well the risk of accidents. characterised by lower adhesion between and wheel, especially braking conditions, locking wheels. It complex model or predict, being influenced a multitude factors including ...

this study was conducted to investigate the effect of soil moisture content in primary tillage and travel speed during disking operation on the performance of an offset disk harrow in a silty clay loam soil. at first, the effect of three soil moisture content ranges of (12-14), (14-16) and (16-18) percent (dry basis) on soil clod size (left from moldboard plowing) was investigated. then, the pe...

It is proved that the transient performance of nonlinear adaptive backstepping can be improved by resetting the parameter estimator, without loss of stability. The estimator resetting algorithm is based on multiple model adaptive control, where a number of models with xed parameter vectors are monitored online in order to detect parameter vectors that gives a negative jump in the control Lyapun...

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 directions,...