Surface mobility using wheeled mobile robots (Rovers) is one of the important technologies for lunar/planetary exploration missions. The rover in these missions significantly expands the exploration area and thus increases the scientific or programmatic return from the mission. These planetary exploration rovers are expected to travel long distances and perform complex tasks in order to fulfill...

While sophisticated analyses have been performed using lab-on-chip devices, in most cases the sample preparation is still performed off chip. The global need for easy-to-use, disposable testing devices necessitates that sample processing is automated and that transport complexity between the processing and analytical components is minimal. We describe a complete sample manipulation unit for per...

A system that enables continuous slip compensation for a Mars rover has been designed, implemented, and field-tested. This system is composed of several components that allow the rover to accurately and continuously follow a designated path, compensate for slippage, and reach intended goals in high-slip environments. These components include: visual odometry, vehicle kinematics, a Kalman filter...

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,...

We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem of generating optimal motion splines. There has been little work in trajectory generation for vehicles with all-wheel steering capability compared to the Ackermann, differential-drive, or omnidirectional mobility syst...

This paper describes about an obstacle detecting robot which is controlled over IR Sensor .The robot is made using IR Sensor, wheel encoder and it is controlled by Arduino microcontroller . IR sensors in the front portion of the robot which senses the obstacle and deviate its path to choose an obstacle free path. The data from the sensor is compared with Controller to decide the movement of the...

A chord of a path $P$ is an edge joining two non-adjacent vertices of $P$. A path  $P$ is called a monophonic path if it is a chordless path. A longest $x-y$ monophonic path is called an $x-y$ detour monophonic path. A  detour monophonic graphoidal cover of a graph $G$ is a collection $psi_{dm}$ of detour monophonic paths in $G$ such that every vertex of $G$ is an internal vertex  of at most on...

Th is paper proposes the wheelchair caster unit which assists manual wheelchair users in a step climbing. Th is caster unit has 2 functions. First one is the assistive plate which en larges radius of a front wheel equivalently in the limited space between main frame and foot rest. When the caster meets the step, the assistive plates are rotated as same manner as a general big wheel. Thus, the u...

A new resampling procedure, the continuous-path block bootstrap, is proposed in the context of testing for integrated (unit root) time series. The continuous-path block bootstrap (CBB) is a nonparametric procedure that successfully generates unit root integrated pseudo time series retaining the important characteristics of the data, e.g., the dependence structure of the stationary process drivi...

This paper discuses sensor steering mechanism (SSM) for a laterally guided vehicle with a rear wheel steering mechanism. The authors have demonstrated the geometry of SSMs for front wheel steering type and reverse phase four-wheel steering type vehicles. SSMs allow stable lateral guiding performance for automated vehicles following a path with straight and curved portions created by a guideway....