This paper discusses the use of Linear Mixed Models (LMM) and Generalized Linear Mixed Models (GLMM) to predict the wear and damage trajectories of railway wheelsets for a fleet of modern multiple unit trains. The wear trajectory is described by the evolution of the wheel flange thickness, the flange height and the tread diameter; whereas the damage trajectory is assessed through the probabilit...

In order to avoid wheel slippage or mechanical damage during the mobile robot navigation, it is necessary to smoothly change driving velocity or direction of the mobile robot. This means that dynamic constraints of the mobile robot should be considered in the design of path tracking algorithm. In the study, a path tracking problem is formulated as following a virtual target vehicle which is ass...

This paper discusses the development of an optimal wheel torque controller for a compliant modular robot. The wheel actuators are the only actively controllable elements in this robot. For this type of robots, wheel-slip could offer a lot of hindrance while traversing on uneven terrains. Therefore, an effective wheel-torque controller is desired that will also improve the wheel-odometry and min...

A path tracking controller based on front wheel steering angle and additional yaw moment control is designed to achieve safe obstacle avoidance of distributed drive electric vehicles. Using sixth-degree polynomial at a given time with anti-collision anti-rollover conditions, the planning proposed. The are output by Model Predictive Control (MPC) controller. torque distribution Through vertical ...