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 ...

Problem statement: To design, implement, and test an algorithm for solving the square jigsaw puzzle problem, which has many applications in image processing, pattern recognition, and computer vision such as restoration of archeological artifacts and image descrambling. Approach: The algorithm used the gray level profiles of border pixels for local matching of the puzzle pieces, which was perfor...

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...