The motivation for this paper comes from the study of a simple model of bicycle motion. The bicycle is modeled as an oriented segment in the plane of fixed length `, the wheelbase of the bicycle. The motion is constrained so that the segment is always tangent to the path of the rear wheel; this non-holonomic constraint is due to the fact that the rear wheel is fixed on the frame, whereas the fr...

Pursuit Evasion (P-E) problem has been studied as a non-cooperative zero-sum game in Homicidal Chauffer problem [1] in 1960s and in the game of two identical cars [2] most recently. The capture conditions in the two games, which govern the capture behavior, can be determined by solving Hamilton-Jacobi-Isaacs (HJI) equations. However, the existing game theoretic solution does not consider wheel ...

This paper presents a design for stair-climbing using a wheel that can split into segments and walk up stairs or surmount other obstacles often found where humans traverse, while still being able to retain a perfectly round shape for traveling on smooth ground. Using this change of configuration, staircases with a wide range of dimensions can be covered efficiently and safely. The design, named...

The application of an electrically conductive diamond material to a new type of grinding wheel whose cutting edges possess electrical conductivity has been tried in this research work. Firstly, electrical discharge machining is applied on a solid surface of an electrically conductive CVD diamond film to create protrusions like cutting edges. Secondly, it is confirmed that the EDMed surface of t...

An automated system is developed to control the rotation of the wheel chair based on touch screen and head movement by the physically challenged person. Independent movement can be done by them with the help of an accelerometer device which is fitted on person’s head and a touch screen is placed with the wheelchair which can be operated by the person [1]. Based on the touch and head movements, ...

The equations for wheelchair caster wheel shimmy are presented along with experimental data. The report includes the theory and performance of single wheel casters for a variety of tires, and a new design for wheelchair casters using a grooved dual-tread tire or co-rotating caster wheels. The dual-tread tire was found to significantly inhibit caster shimmy. The turning resistance due to a groov...

In any brake system of an automobile or passenger vehicle, an increase in Master/Wheel cylinder diameter ratio leads to an increase in brake efficiency. This paper focuses on Master/Wheel cylinder diameter effect on the brake efficiency. A VISUAL BASIC computer code was developed for computation of Master/Wheel cylinder diameter ratio corresponding to break efficiency. Aided by the developed so...

The wheel loader is modeled as a mechanical manipulator with four degrees of freedom (DOFs), which comprises a seven-bar linkage using the symbolic notation of Denavit and Hartenberg. Homogeneous transformation matrices are used to capture the spatial configuration between adjacent links. The forward kinematics method is used to formulate the kinematics equations by attaching Cartesian coordina...

This paper presents a new control algorithm that prevents electrical vehicle from wheel skidding in presence of uncertainties of tire-road condition. An estimator of the maximum effective torque is realized by wheel velocity and input torque, which is based on a pure kinematic relationship between the wheel and the chassis. In order to enhance the stability of the control system and handing per...

rai eff ex Un ex me wi eff co we an loc wh oth ad rat rep the dis ro W str [2 stu ha ov ra un an in to to im re Un s.iw W Abstract—Un ilway field is ffective operatio xtensively for niversity of Hu xamine the effe easurement und ithout contamin ffect of dry, w ontaminants such ear measuremen n optical profilo cation with high hich both water her damage we ddition of sand tes increased u plica m...