This paper proposes a wheel-assembly automation system, which assembles a wheel into a hub of a vehicle hung to a moving hanger in a car manufacturing line. A macro-micro manipulator control strategy is introduced to increase the system bandwidth and tracking accuracy to ensure insertion tolerance. A camera is equipped at the newly designed wheel gripper, which is attached at the center of the ...

This paper introduces a novel method for slip angle estimation based on visually observing the traces produced by the wheels of a robot on soft, deformable terrain. The proposed algorithm uses a robust Hough transform enhanced by fuzzy reasoning to estimate the angle of inclination of the wheel trace with respect to the vehicle reference frame. Any deviation of the wheel track from the planned ...

Lubrication on sharp curves has been commonly adopted as a method of reducing friction between the wheel flange and rail gauge face to minimize wear and energy consumption. Additionally, lubrication between the running surface of the low-rail and the wheel tread has recently been recognized as a significant factor in reducing the likelihood of low-rail corrugation, squealing noise and rail gaug...

Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideways and they can negotiate tight turns more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom ...

The applications of underwater vehicles have shown a dramatic increase in recent years, such as, mines clearing operation, feature tracking, cable or pipeline tracking and deep ocean exploration. According to different applications, the mechanical and electrical configuration and shape of an underwater vehicle are different. For instance, manipulators are necessary when doing mines clearing ope...

The development of Integrated Chassis Control (ICC) systems is a major area of current interest in automotive research. Roughly speaking, research on this topic has been motivated by the desire for increased vehicle safety, increased comfort, and better performance by taking into account and utilising the interactions that exists between the different subsystems of the vehicle. While research o...

Test rolling is a quality assessment technique performed on road construction materials to verify consistency prior to paving. In this test, the depth to which the wheels of a heavy vehicle penetrate the material is used as a measure of quality. Current test rolling specifications are based largely on empirical data. In this paper, theoretical models are presented for the case of a test roller ...