Slip ratio control of a ground vehicle is an important concern for the development of antilock braking system (ABS) to avoid skidding when there is a transition of road surfaces. In the past, the slip ratio models of such vehicles were derived to implement ABS. It is found that the dynamics of the hybrid electric vehicle (HEV) is nonlinear, time varying and uncertain as the tire-road dynamics i...

Mechanical drift is a long-standing problem in optical microscopy that occurs in all three dimensions. This drift increasingly limits the resolution of advanced surface-coupled, single-molecule experiments. We overcame this drift and achieved atomic-scale stabilization (0.1 nm) of an optical microscope in 3D. This was accomplished by measuring the position of a fiducial mark coupled to the micr...

We address the problem of distinguishing between two sources of disagreement in annotations: genuine subjectivity and slip of attention. The latter is especially likely when the classification task has a default class, as in tasks where annotators need to find instances of the phenomenon of interest, such as in a metaphor detection task discussed here. We apply and extend a data analysis techni...

Controlling slip is crucial to reliable descent of steep unconsolidated slopes such as those found in lunar craters. The ability to enter these craters provides opportunities to explore potential in-situ resources, such as water ice. We present a rover prototype with a novel, actuated, omni-directional plowing device and control method for maneuvering on steep slopes. Data from field experiment...

This paper presents the synthesis of a control law which guarantees asymptotic stability for a wheeled mobile robot under slip conditions subject to both constraints and system dynamics. This control law is obtained using Linear Matrix Inequalities. The improvements provided by the proposed adaptive control are compared with other control laws, dealing with slip effect, through simulation.

The purpose of this work is to investigate the accurate trajectory tracking control of a wheeled mobile robot (WMR) based on the slip model prediction. Generally, a nonholonomic WMR may increase the slippage risk, when traveling on outdoor unstructured terrain (such as longitudinal and lateral slippage of wheels). In order to control a WMR stably and accurately under the effect of slippage, an ...