We present in this work the performances of a mobile omnidirectional robot through evaluating its management of the redundancy of actuation. Thus we come to the predictive control implemented. The distribution of the wringer on the robot actions, through the inverse pseudo of Moore-Penrose, corresponds to a « geometric ›› distribution of efforts. We will show that the load on vehicle wheels wou...

Truemper configurations are four types of graphs (namely thetas, wheels, prisms and pyramids) that play an important role in the proof of several decomposition theorems for hereditary graph classes. In this paper, we prove two structure theorems: one for graphs with no thetas, wheels and prisms as induced subgraphs, and one for graphs with no thetas, wheels and pyramids as induced subgraphs. A ...

Applications of wheeled mobile robots have recently extended to service robots for the handicapped or the aged and industrial mobile robots working in various environments. The most popular wheeled mobile robots are equipped with two independent driving wheels. Since these robots possess 2 degrees-of-freedom (DOFs), they can rotate about any point, but cannot perform holonomic motion including ...

Recently, a number of authors [KS, Oh2, Ro] have independently shown that the universal finite type invariant of rational homology 3-spheres on the level of sl2 can be recovered from the Reshetikhin-Turaev sl2 invariant. An important role in Ohtsuki’s proof [Oh3] plays a map j1 (which joins the legs of 2-legged chinese characters) and its relation to a map α in terms of a power series (on the l...

The paper introduces mathematical models of a skid steered mobile platform for robotics. The platform consists of a rectangular steel construction with four wheels. Two banks of two drive wheels on each side are linked to two DC electrical motors via chain on sprocket drive and gearing. The two drive assemblies for the left and right banks are identical but they operate independently to steer t...

The paper discusses the redesign of the second version of the Mantis hybrid leg-wheel mobile robot, conceived for surveillance and inspection tasks in unstructured indoor and outdoor environments. This small-scale ground mobile robot is characterized by a main body equipped with two front actuated wheels, a passive rear axle and two rotating legs. Motion on flat and even ground is purely wheele...

Despite the fact that Meals-on-Wheels have both nutritional and social aspects, research on the social objectives of the service is lacking. This study set out to develop an understanding of the social objectives of Meals-on-Wheels and to explore the extent to which they are met by Ireland's Meals-on-Wheels services. A literature review suggested that Meals-on-Wheels services can potentially me...