A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. Te inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control also developed ...

A reliability study based on a Bayesian semi-parametric framework is performed in order to explore the impact of the position of a locomotive wheel on its service lifetime and to predict its other reliability characteristics. A piecewise constant hazard regression model is used to analyse the lifetime of locomotive wheels using degradation data and taking into account the bogie on which the whe...

One of the most important issues in ground based wood extraction in forestry is to minimize the soil damage caused by heavy forestry machines. Generally, harvesting effects include changes in vegetation nutrient availability, soil microclimate/structure and litter quantity/ quality. Several studies were carried out on the impacts of heavy machines on the soil. However, only few studies took int...

An efficient maintenance is a key consideration in systems of railway transport, especially in high-speed trains, in order to avoid accidents with catastrophic consequences. In this sense, having a method that allows for the early detection of defects in critical elements, such as the bogie mechanical components, is a crucial for increasing the availability of rolling stock and reducing mainten...

In this paper, we show that an $L_1$-2-type surface in the three-dimensional hyperbolic space $H^3subset R^4_1$ either is an open piece of a standard Riemannian product $ H^1(-sqrt{1+r^2})times S^{1}(r)$, or it has non constant mean curvature, non constant Gaussian curvature, and non constant principal curvatures.