In this paper, we develop a new method for Wheeled Mobile Robot (WMR) fault detection. Specifically, we develop kinematic and dynamic models of the WMR in the presence of faults such as a change in the wheel radius (e.g., deformation, broken spoke, flat tire) or general kinematic disturbances that model slipping or skidding faults. Utilizing the WMR models, we employ a torque filtering techniqu...

This paper considers the stabilization problem of Inertia Wheel Pendulum, a widely studied benchmark nonlinear system. It is a classical example of a flat underactuated mechanical system, for which the design of control law becomes a challenging task owing to its underactuated nature. A novel nonlinear controller design, fusing the recently introduced Dynamic Surface Control and the Control Lya...

An omnidirectional platform with an Active Offset Split Caster (ASOC) is described and its ability to operate on non-ideal floors is studied. It is shown that all of its driven wheels of the platform will remain in contact with an uneven floor at all times, a condition necessary to maintain good traction and dead-reckoning capabilities. It is shown that planning algorithms developed for an idea...

Harvesting kinetic energy from the environment is an ideal alternative to traditional electrochemical batteries as a power source for low-power electronics such as pressure sensors and thermometers. A tire pressure monitoring system (TPMS) is a key device in preventing a flat tire, which is one of the most frequent causes of car accidents. The U.S.A., European Union, and a number of Asian count...

As NASA’s exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in wh...

Abstract A singular rail or wheel surface irregularity, such as a squat, insulation joint flat, can cause large wheel-rail impact force. Both the magnitude and frequency content of force need to be correctly modelled because they are closely related formation, deterioration detection irregularities. In this paper, we compare two types commonly used wheel-track interaction models for problems, i...

The object of research is the process circular and surface grinding titanium alloy corrosion-resistant steel, namely, cutting forces arising from mechanical processing. One most problematic areas in work selection required modes, material wheel grain size. In course experiment, we used samples VT8 12Х18N9T on which was studied with wheels made various materials (electrocorundum, cubic boron nit...