Skid‐steered mobile robots have been widely used in exploring unknown environments and in military applications. In this paper, the tuning fuzzy Vector Field Orientation (FVFO) feedback control method is proposed for a four track wheel skid‐steered mobile robot (4‐TW SSMR) using flexible fuzzy logic control (FLC). The extended Kalman filter is utilized to e...

The steady flow arising due to the rotation of a non-Newtonian fluid at a larger distance from a stationary disk is extended to the case where the disk surface admits partial slip. The constitutive equation of the non-Newtonian fluid is modeled by that for a Reiner-Rivlin fluid. The momentum equation gives rise to a highly nonlinear boundary value problem. Numerical solution of the governing no...

BACKGROUND Management of moderately displaced slipped capital femoral epiphysis (SCFE) is debated, mostly because of the risks related to open reduction on one hand, and subsequent evolution toward femoroacetabular impingement (FAI) on the other. METHOD All SCFE cases treated with in situ fixation (ISF) and a minimum of ten years of follow-up beyond skeletal maturity were analysed in a retros...

This paper proposes a novel technique to estimate slips and velocities of an unmanned ground vehicle (UGV). A visual odometry sensor looking down the terrain surface is employed to measure the motion of the UGV, by tracking features selected from the terrain surface. The visual odometry sensor can provide motion information even when the terrain surface contains no distinctive features. A slidi...

Certain photoelastic materials exhibit birefringent characteristics at a very low level of strain. This property of material may be suitable for dynamic or wave propagation studies, which can be exploited for designing tactile sensors. This paper presents the design, construction and testing of a novel dynamic sensor based on photoelastic effect, which is capable of detecting object slip as wel...

Ground robotics rely on accurate dynamic models for high performance control and estimation systems. To use odometry or predict the robots motion, an accurate model is needed for the vehicle’s slip. For mobile robots, the mapping between inputs and resultant behavior depends critically on terrain conditions which vary significantly over time and space so cannot be pre-programmed. Integrated Per...

Rarefied gas slip microflow and heat transfer in rectangular microchannels and backward facing steps are numerically investigated. A control-volume based numerical method is used to solve the Navier–Stokes and energy equations with velocity-slip and temperature-jump conditions at the walls. The effects of Knudsen number (Kn ! 0.1), thermal creep, and viscous heating on the velocity and temperat...

This paper presents a time-varying sliding mode adaptive controller in order to handle the stick-slip oscillation of nonlinear rotary drilling system. The time-varying sliding mode controller with strong robust has two time-varying sliding surfaces, one of them induced time-varying integral sliding mode control can control the transient stage of the rotary drilling system and ensure the system ...

Abstract We consider an experimental system consisting of a pendulum, which is free to rotate 360 degrees, attached to a cart. The cart can move in one dimension. We study the effect of friction on the design and performance of a feedback controller, a linear quadratic regulator, that aim to stabilize the pendulum in the upright position. We show that a controller designed using a simple viscou...

Piezoelectric stick-slip actuators have become the foundation of modern micromanipulation. Due to difficulty in closed-loop control with manipulators that use piezoelectric stick-slip actuators, methods for open-loop control with a human in the loop have been developed. The utility of such methods depends directly on the accuracy of the open-loop models of the manipulator. Prior research has sh...