A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also develo...

An exploratory computational investigation using RANS & URANS was carried out to understand the aerodynamics around an isolated single rotating wheel with decreasing ground proximity. The wheel was initially modelled in free air conditions, then with decreasing ground proximity and increased yaw angle with rotational speeds. Three speeds of rotation were applied to the wheel so that the effect ...

This paper describes the theoretical and experimental investigations of the key components and also the performance analysis of a rotary wheel for using as a solid desiccant dehumidifier and also indirect evaporator cooling system. Solid desiccants have long been used in dehumidification and cooling systems for energy efficiency or reduce electricity. Although many mathematical models on th...

direct yaw moment control systems (dyc) can maintain the vehicle in the driver’s desired path by distributing the asymmetric longitudinal forces and the generation of the control yaw moment (cym). in order to achieve the superior control performance, intelligent usage of lateral forces is also required. the lateral wheel forces have an indirect effect on the cym and based upon their directions,...

this paper describes the theoretical and experimental investigations of the key components and also the performance analysis of a rotary wheel for using as a solid desiccant dehumidifier and also indirect evaporator cooling system. solid desiccants have long been used in dehumidification and cooling systems for energy efficiency or reduce electricity. although many mathematical models on the ro...

We introduce new classes of valid inequalities, called wheel inequalities, for the stable set polytope P G of a graph G. Each \wheel connguration" gives rise to two such inequalities. The simplest wheel connguration is an \odd" subdivision W of a wheel, and for these we give necessary and suucient conditions for the wheel inequality to be facet-inducing for P W. Generalizations arise by allowin...

In this paper, an Ultrasonic testing method for inservice wheel by use of phased array technology is introduced. To meet the ultrasonic test criterion of inservice CRH wheel, groups of phased array probes and conventional probes are combined used. By study echo wave in wheel rim and wheel disk form different probes, defect analyzing methods in wheel rim and wheel disk are studied. Tests on CRH ...

In this paper, an in-wheel vibration absorber for In-wheel-motor electric vehicle (IWM EV) is designed, and a comprehensive control strategy of in-wheel absorber and vehicle suspension is proposed to improve vehicle ride comfort. The proposed in-wheel vibration absorber, designed for suppressing the motor vibration, is composed of a spring and a controllable damper. The values of in-wheel sprin...

In this paper, a new cascaded wheel-slip control strategy based on wheel slip and wheel acceleration measurements is presented. This new algorithm is able to stabilize globally and asymptotically the wheel slip around any prescribed setpoint, both in the stable and unstable regions of the tyre.

Rodents anticipate rewarding stimuli such as daily meals, mates, and stimulant drugs. When a single meal is provided daily at a fixed time of day, an increase in activity, known as food anticipatory activity (FAA), occurs several hours before feeding time. The factors affecting the expression of FAA have not been well-studied. Understanding these factors may provide clues to the undiscovered an...