This paper presents analytical models to investigate the steering maneuvers of planetary exploration rovers on loose soil. The models are based on wheel-soil interaction mechanics, or terramechanics, with which the traction and disturbance forces of a wheel are evaluated for various slip conditions. These traction forces are decomposed into the longitudinal and lateral directions of the wheel. ...

for different agronomic traits in sunflower (helianthus annuus l.) inbred lines were estimated using “line × tester” analysis method. six new restorer lines were crossed with four cms lines as tester in 2006 growing season. the 24 f1 single cross combinations were planted in complete randomized block design with four replications in khoy field research station in 2007 growing season. there were...

For a vehicle equipped with active single-wheel steering, brake, drive and suspension systems a nonlinear vehicle model is presented. On the basis of this model an integrated vehicle dynamics control is developed comprising all of the mentioned chassis actuators to control the plane vehicle motion. The basic control strategy consists in two parts. One part is a flatness based tracking controlle...

To date, most field robots use wheels as their means of locomotion (especially true of planetary exploration robots). In many cases these robots are required to travel significant distances, with limited power, and over rough terrain. All of which make wheels a major component contributing to their performance. It is through experimentation and iteration that effective wheel design, for a given...

Wheel sinkage is an important indicator of mobile robot mobility in natural outdoor terrains. This paper presents a vision-based method to measure the sinkage of a rigid robot wheel in rigid or deformable terrain. The method is based on detecting the difference in intensity between the wheel rim and the terrain. The method uses a single grayscale camera and is computationally efficient, making ...

A new binuclear paddle-wheel palladium(II) complex of [Pd2(μ-mtzt)4]dmgH2 (1) has been prepared by the treatment of PdCl2 in acetonitrile with mixture of 1-methyl-1H-1,2,3,4-tetrazole-5-thiol (Hmtzt) and dimethylglyoxime (dmgH2) in methanol. Resulted complex was characterized by elemental analysis (CHNS), IR, UV–Vis absorption, 1H NMR spectroscopy and its structure was determined with single-cr...

The wear of star wheel teeth is an importance issue in the single screw compressor. In order to enhance the wearresistance of star wheel teeth, some new profiles of the meshing pair were proposed to replace the currently used straight line envelope profile, such as single column envelope, multi-straight line (or multi-column) envelope. In this paper, a curved surface of the tooth flank is sugge...