To improve the accuracy and robustness of inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead reckoning (DR) solution based on wheel-mounted microelectromechanical system (MEMS) measurement unit (IMU) in this article. There are two major advantages mounting IMU to center non-steering wheel. Firstly, gyroscope outpu...

The global emphasis on conserving energy resources has led to the adoption of hybrid power systems in vehicles. Optimally applied, can save up 40% fuel costs. To optimally manage a vehicle's flow it is necessary know, real time, all requirements complete given route. consumption depends mainly vehicle mass, speed profile, and route topography. Of these, topographic profile one factor that only ...

Wheel contour extraction from image is an important unit of any vision-based traffic accident analysis system, and automatically doing it is still a difficult task due to various distracting factors such as low contrast between the wheel and the ground, different wheel types and various weather conditions etc. In this work, a new automatic wheel extraction method is proposed, in which rather th...

Wheel out-of-roundness (OOR) inevitably jeopardizes the safety of railway operations. Regular visual inspection and checking by experienced workers are the commonly adopted practices to identify wheel defects. However, the defects may not be spotted in time. The paper puts forward a new method to real-time monitor wheel OOR based on PVDF strain sensor. Track strain response upon wheel-rail inte...

In this paper, kinetic and kinematic modeling of a 4 wheel steering vehicle is done and its movement is controlled in an optimal way using Linear Quadratic Regulator (LQR). The results are compared with the same control of two-wheel steering case and the advantages are analyzed. In 4 wheel steering vehicles which are nowadays more applicable the number of controlling actuators are more than the...

Based on the structural features of electric vehicle (EV) driven by in-wheel motors and the characteristics of low speed as well as high torque for in-wheel motors, regenerative braking method for in-wheel motors has been presented. All braking torque for vehicle deceleration is output by in-wheel motors under Medium-intensity braking condition for the sake of recovering the maximum braking ene...

As the level of human interaction with robotic systems increases, robot mobility becomes more important. Two wheeled robots offer higher levels of mobility and manoeuvrability when compared to their four wheeled counterparts with the ability to turn on the spot and easily negotiate tight corners. Whilst the stabilisation of two wheeled platforms has been well studied, there is no published rese...

The classical shimmying wheel is the simplest mechanical model to describe vibration problems in the rolling dynamics of aircraft nose gears, motorcycles , automotive systems and tractor-trailer systems. Such systems can exhibit undesirable unstable rolling motion which can often lead to disastrous results. The classical shimmy model includes a rigid wheel towed by a horizontal caster attached ...

A steering by wired haptic system based on disturbance rejection control techniques is presented. High gain Generalized Proportional Integral (GPI) observers are considered for the estimation of tire and steering wheel dynamic disturbances. These disturbances are on line canceled to ensure efficient tracking between the commanded steering wheel angle and the tire orientation angle. The estimate...