performances of electronic and mechanical draft control systems on a mf399 tractor were the objectives of the study to be evaluated and compared under field conditions. hence, the effects of two draft control systems (mechanical and electronic) under four ground speed levels and three set values of draft levels on rear wheel slippage, fuel consumption, compressive force within the top link and ...

using instrumented tractors to monitor and record spatial variations in performance parameters of tractor and implements during field operations, could improve productivity and the tractor efficiency. in the context of precision farming, this information can be used to map spatial variability of the parameters and to find the relations with changes in soil attributes (texture, moisture contents...

A slip-aware localization framework is proposed for mobile robots experiencing wheel slip in dynamic environments. The fuses infrastructure-aided visual tracking data (via fisheye lenses) and proprioceptive sensory from a skid-steer robot to enhance accuracy reduce variance of the estimated states. includes: thread detect track stereo image through computationally efficient 3D point cloud gener...

This paper presents an approach to motion control for fast mobile robots. The approach is based around the notion of a trajectory, which describes the time evolution of the robot's position, orientation and velocity over some finite interval. The use of trajectories allows us to take into account a wide range of dynamic effects, including (but not limited to) finite accelerations and wheel slip...

This paper reports the first results of a new interface between the multi-body simulation software SIMPACK Rail and Kalker’s wheel-rail contact software CONTACT. The main benefit is in the more accurate distributions of shear stress and micro-slip in the contact area, that together form the primary inputs to wear calculations. Further benefits of the interfacing reside in the ability to perform...

This document introduces a new kinematic simulation of a wheeled mobile robot operating on uneven terrain. Our modeling method borrows concepts from dextrous manipulation. This allows for an accurate simulation of the way 3-dimensional wheels roll over a smooth ground surface. The purpose of the simulation is to validate a new concept for design of off-road wheel suspensions, called Passive Var...

This contribution describes a real-time model predictive control allocation algorithm for over-actuated electric vehicles with individually driven wheels. The proposed method allows to exploit the inherent redundancy present in these systems to optimally allocate yaw moment and longitudinal force while considering actuator dynamics and complying with rate and wheel slip constraints. A linear fo...