A control law for an Integrated Power/Attitude Control System (IPACS) for a satellite is presented in this paper. Four non-coplanar momentum wheels in a special configuration, and a set of three thrusters are used to implement the torque inputs. The momentum wheels are used as attitude control actuators, as well as an energy storage mechanism, providing power to the spacecraft. In that respect,...

We present the Hbot, a holonomic, singularity-free spherical robot designed for haptic simulations. The Hbot is made up of a caged sphere actuated by steered and driven nonholonomic wheels to produce continuous and unlimited spherical motions. We analyse the kinematic interface between a sphere and n arbitrarily positioned, steered and driven non-holonomic wheels in the general case. We also pr...

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...

What does the invention do? This invention presents a modular system of units that can drive, brake, steer and suspend an electric vehicle. These units are also referred to as “Robot Wheels” because they are autonomous elements that can be connected to any electric vehicle chassis. Each unit (Fig.1) includes an electric motor, a steering element, a suspension arm and a connector. The system fit...

we find an explicit expression of the tutte polynomial of an $n$-fan. we also find a formula of the tutte polynomial of an $n$-wheel in terms of the tutte polynomial of $n$-fans. finally, we give an alternative expression of the tutte polynomial of an $n$-wheel and then prove the explicit formula for the tutte polynomial of an $n$-wheel.

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...