A challenging topic in the field of planetary rover simulations is the modeling of the contact between the rover and its environment. Multibody simulation models are used to represent the kinematic structure of a wheeled rover, but its interface with the environment relies on sand-wheel contact dynamics. A new advanced contact model is presented and tuned according to single wheel experiments b...

A simplified, closed-form version of the basic mechanics of a driven rigid wheel on lowcohesion deformable terrain is presented. This approach allows the formulation of an on-line terrain parameter estimation algorithm, which has important applications for planetary exploration rovers. Analytical comparisons of the original and simplified equations are presented, and are shown to closely agree....

multiple adhesive coating is a controversial topic, especially in primary dentition that should be clarified. we evaluated the effect of multiple consecutive adhesive resin coatings on the microshear bond strength (μsbs) of composite resin to primary tooth dentin utilizing a filled (adper single bond plus) and an unfilled (adper single bond) adhesive resin.thirty extracted primary canines were ...

A 3D cationic Zn(II) framework, based on Zn2(CO2)4 paddle-wheel secondary building units (SBUs) and Zn16(CO2)32 polyhedral supramolecular building blocks (SBBs), has been synthesized. At room temperature, the framework undergoes guest solvent triggered reversible structural transformation and concomitant Zn(II) to Cu(II) transmetalation in a single-crystal to single-crystal fashion.

BACKGROUND Both calliper devices and digital photographic methods have been used to quantify foot arch height parameters. The purpose of this study was to compare the reliability of both a calliper device and digital photographic method in determining the arch height index (AHI). METHODS Twenty subjects underwent measurements of AHI on two separate days. On each day, AHI measurements during b...

[2]- and [3]-rotaxanes with a tetraphenoxy perylene diimide core were synthesized. Hydrogen bonding between the wheel and the imide changes the optical properties of the perylene chromophore: the absorption and fluorescence spectra are red-shifted. The decay times of the rotaxanes are shorter in comparison with that of the axle. Single molecule fluorescence measurements reveal relatively narrow...

We report the successful construction and operation of a far-infrared (337 pm) interferometer based on a multiple-order diffraction grating wheel. On reflection from the wheel circumference, the incident laser beam is diffracted into a number ( 12) of approximately equal intensity high-order beams. Since the Doppler offset of the beams is proportional to the diffraction order, information encod...

Three single-valued upper boundary functions for velocity, acceleration and deceleration of a wheeled mobile robot (WMR) are defined as closed mathematical forms over its entire spatial path. The limits deal with mechanical, kinematic and dynamic characteristics of the robot and with task and operating matters. These boundary functions can be computed making use of any robot model, as complex a...

With the development in egocentric vision, skill measurement has been recently proposed as a novel topic in this emerging field. In this report, we record the the experimenter’s first-person videos in Wet labratories (wetlab), and measure his/her operative skills. Specifically, given the videos of expert and amateur, we analyze their head motions, hands motions, eye-hand coordinations and key-m...