Ever since the onset of robotics, humans have been finding increasingly clever ways to traverse harsher terrain. There have traditionally been two defined robotic locomotion methods: wheels and legs. This paper describes the design and construction process of a third, new type of All-Terrain Rover (ATR) that uses a hybrid design involving both wheels and legs. The ATR consists of four wheels, w...

Magnetic wheels are a powerful solution to design inspection climbing robots with excellent mobility. Magnetic wheels optimization based on simulations and the results that were obtained on prototypes are presented. The measured adhesion was doubled between the classic configuration and a novel multilayer one sharing exactly the same four magnets and the same total volume of iron. This know-how...

In this paper, the robot with three wheels is implement and its motion is controlled . two of robot’s wheels are activated by DC motors. The main PID controllers are implemented with a Field Programmable Gate Array(FPGA) for independent robot movement . a FPGA controller communicate with a PC with PCI card(PLX9052) so that the movement of wheels can be displayed on the monitor through PCI card ...

Given twographsG1 andG2, theRamseynumber R(G1,G2) is the smallest integer N such that, for any graph G of order N , either G1 is a subgraph of G, or G2 is a subgraph of the complement of G. We consider the case that G1 is a cycle and G2 is a (generalized) wheel. We expand the knowledge on exact values of Ramsey numbers in three directions: large cycles versus wheels of odd order; large wheels v...

This paper describes a mobile manipulator that uses its wheels for manipulation as well as locomotion. This robot, named the mobipulator, looks like a small car with four independently powered wheels, none of them steered. It is designed to manipulate paper and other objects on the surface of a desk. The wheels are used for locomotion or for manipulation, switching functions dynamically as the ...

Purpose – In this paper, two omni-directional mobile vehicles are designed and controlled implementing distributed mechatronics controllers. Omni-directionality is the ability of mobile vehicle to move instantaneously in any direction. It is achieved by implementing Mecanum wheels in one vehicle and conventional wheels in another vehicle. The control requirements for omni-directionality using t...

A mathematical model is developed for a mobile robot with three ball-wheels. The resulting model turns out to be a Chaplygin system, which allows the dynamics equations and the kinematic constraints to be integrated separately. The system is driven by six actuators: one actuator connected to one roller of each wheel, and three more actuators controlling the orientation of the ball-carriers with...

By considering spaces of directed Jacobi diagrams, we construct a diagrammatic version of the Etingof-Kazhdan quantization of complex semisimple Lie algebras. This diagrammatic quantization is used to provide a construction of a directed version of the Kontsevich integral, denoted ZEK, in a way which is analogous to the construction of the Reshetikhin-Turaev invariants from the R-matrices of th...

Irma Nykänen1,2,3* Tiina H Rissanen4 and Sirpa Hartikainen1,3 1Kuopio Research Centre of Geriatric Care, University of Eastern Finland, Kuopio, Finland 2Research Centre for Comparative Effectiveness and Patient Safety (RECEPS), University of Eastern Finland, Kuopio, Finland 3School of Pharmacy, Faculty of Health Sciences, University of Eastern Finland, Kuopio, Finland 4Institute of Public Healt...