In this dissertation, a distributed robust controller, a motion control and sensing architecture, and a terrain feature localization are studied to solve general navigation problems for Compliant Framed wheeled Modular Mobile Robots (CFMMR). This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering capability with...

This paper deals with the kinematic analysis of a wheeled mobile robot (WMR) moving on uneven terrain. It is known in literature that a wheeled mobile robot, with a fixed length axle and wheels modeled as thin disk, will undergo slip when it negotiates an uneven terrain. To overcome slip, variable length axle (VLA) has been proposed in literature. In this paper, we model the wheels as a torus a...

When executing turning maneuvers, manual wheelchair users must overcome the rotational inertia of the wheelchair system. Differences in wheelchair rotational inertia can result in increases in torque required to maneuver, resulting in greater propulsion effort and stress on the shoulder joints. The inertias of various configurations of an ultralightweight wheelchair were measured using a rotati...

Visitation counts are the measures most widely used by park managers to demonstrate accountability and good stewardship of the public resources that legislatures invest in parks. Ostensibly, counting visitors may appear to be a simple task, but experienced park managers are aware that it is a complicated and difficult challenge with three dimensions: human, logistical, and technical. Part of th...

A 1,2-bis(pyridinium)ethane type axle containing a terpyridine chelate group, when combined with 24-membered crown ethers, forms [2]pseudorotaxanes, the stability of which can be controlled by coordination of metal ions with different geometries.

Posture sensing techniques for Compliant Framed Modular Mobile Robots (CFMMR) are presented in this paper using a new Relative Posture Sensor (RPS) combined with standard sensors in a tiered fusion algorithm. The fusion algorithm uses traditional Kalman filters and rigid axle kinematic models to predict the global posture of each axle. A Covariance Intersection filter then fuses disparate axle ...

Even when all the details are provided, the design of wind turbines is a big challenge. The detailed knowledge of the deformation of vital wind turbine components caused by a wind with extreme operating gusts and other type of winds can be obtained only by performing measurements on the wind turbine. The vital component of the wind turbine is axle pin. This article presents the results of the m...

As train loads and travel speeds have increased over time, railway axle bearings have become critical elements which require more efficient non-destructive inspection and fault diagnostics methods. This paper presents a novel and adaptive procedure based on ensemble empirical mode decomposition (EEMD) and Hilbert marginal spectrum for multi-fault diagnostics of axle bearings. EEMD overcomes the...

A dramatic increase in railway car axle loads has occurred over the past 50 years. This paper presents the results of an experimental program undertaken at the University of Manitoba to evaluate the structural performance and durability of treated timber bridge ties under different load levels. A portion of a prototype bridge deck, consisting of eight prototype timber ties, was tested under var...

in this study, an artificial neural network was developed in order to analyze flexible pavement structure anddetermine its critical responses under the influence of standard axle loading. in doing so, more than 10000four-layered flexible pavement sections composed of asphalt concrete layer, base layer, subbase layer, andsubgrade soil were analyzed under the impact of standard axle loading. pave...