We present results from both simulation and experiment on a 2D gran-ular shear-cell. The experiments determine the position of disks and their orientations over time, as well as the force on individual disks. We use computerized particle tracking techniques to achieve the former and pho-toelasticity to achieve the latter. The simulations use MD force laws and eecient algorithms to simulate as c...

Accounting for wheel–terrain interaction is crucial navigation and traction control of mobile robots in outdoor environments rough terrains. Wheel slip one the surface hazards that needs to be detected mitigate against risk losing robot's controllability or mission failure occurring. The open problems Terramechanics field addressed are (1) need situ wheel-slippage estimation harsh using low-cos...

This paper presents an analysis of odometry errors in over-constrained mobile robots, that is, vehicles that have more independent motors than degrees of freedom. Based on our analysis we developed and examined three novel error-reducing methods. One method, called “Fewest Pulses” method, makes use of the observation that most terrain irregularities, as well as wheel slip, result in an erroneou...

Accurate knowledge on the absolute or true speed of a vehicle, if and when available, can be used to enhance advanced vehicle dynamics control systems such as anti-lock brake systems (ABS) and auto-traction systems (ATS) control schemes. Current conventional method uses wheel speed measurements to estimate the speed of the vehicle. As a result, indication of the vehicle speed becomes erroneous ...

Because of the nonlinear feature tire force, anti-lock braking system (ABS) research based on wheel slip control (WSC) is widely used even without measured and road friction. Combined with WSC technology, four-wheel ABS fuzzy sliding mode (FSM) method introduced in this paper. Unlike most single-wheel independent ABS, design has more advantages when under unusual conditions, such as transition ...

Heavy aircraft main landing gear tyres skid immediately after touchdown as result of the high slip ratio between the tyres and runway, which lead to tyre wear and smoke. In this paper, the tyre wear is modelled on the Archard theory using ANSYS mechanical transient, to reveal the wheel’s dynamic and the tyre tread wear. The wheel’s dynamic and the amount of wear are calculated for initially sta...