This paper presents analytical models to investigate the steering maneuvers of planetary exploration rovers on loose soil. The models are based on wheel-soil interaction mechanics, or terramechanics, with which the traction and disturbance forces of a wheel are evaluated for various slip conditions. These traction forces are decomposed into the longitudinal and lateral directions of the wheel. ...

We formulate the kinematic equations-of-motion of wheeled mobile robots incorporating conuentionaI, omnidirectional, and ball wheels. While our approach parallels the kinematic modeling of stationary manipulators, we extend the methodology to accommodate such special characteristics of wheeled mobile robots as multiple closed-link chains, higher-pair contact points between a wheel and a surface...

Reaction wheels are key components for the spacecraft attitude control subsystems. Faults in reaction may lead to high energy consumption, lack of control, and case failure, loss spacecraft. The accurate identification anomalies is a challenging task due internal nonlinearities wheels. This study proposes fast end-to-end architecture detecting identifying occurring using One-Dimensional Convolu...

differential steering of in-wheel electric vehicle provides the functions of both active steering and power assisted steering with the coupling control of force and displacement transfer characteristic of system. a collaborative optimization model of the differential power-assisted steering system of in-wheel electric vehicle is built, with steering economy as the main system optimization goal,...

This paper presents a control allocation method for simultaneous station-keeping and momentum management maneuvers. The considered satellite model is equipped with internal external actuators to the satellite’s orbit attitude and, concurrently, unload angular stored in reaction wheels. Our allocates achieve objectives. Internal such as wheels generate torque based on conservation of momentum. I...

A correction to this paper has been published: https://doi.org/10.1007/s11071-021-06473-5

Exercise is a common component of weight loss strategies, yet exercise programs are associated with surprisingly small changes in body weight [1-4]. This may be due in part to compensatory adaptations, in which calories expended during exercise are counteracted by decreases in other aspects of energy expenditure [1, 5-10]. Here we examined the relationship between a rodent model of voluntary ex...