This paper presents the static balancing of a highly reconfigurable articulated wheeled vehicles with multiple leg-wheel subsystem. Articulated wheeled vehicles are a class of mobile robots which offer immense possibilities for enhanced locomotion-performance of autonomous mobile vehicles by virtue of the enormous reconfigurability within their articulated structure. However, changing the vehic...

The motions of planar tracked vehicles are govemed by three force and moment equations, but driven by only two independent control variables. The force equation perpendicular to the tracks represents a d y n a m i c nonholonomic constraint which is explicitly dependent on vehicle speed. It couples path planning with trajectory planning, that is, solving for vehicle kinematic motions requires sp...

A cross sectional study was conducted among military armoured vehicle drivers in the two largest mechanized battalions with the objective to determine the prevalence of low back pain (LBP), and its association with whole body vibration (WBV) and other associated factors. A self-administered questionnaire and Human Vibration Meter were used in this study. A total of 159 respondents participated ...

Freight transportation constitutes one of the main activities that influences economy and society, as it assures a vital link between suppliers and customers and is represents a major source of employment. Multi-echelon distribution is one of the most common strategies adopted by the transportation companies in an aim of cots reduction. Although vehicle routing problems are very common in opera...

The motions of wheeled mobile robots are largely governed by contact forces between the wheels and the terrain. Inasmuch as future wheel-terrain interactions are unpredictable and unobservable, high performance autonomous vehicles must ultimately learn the terrain by feel and extrapolate, just as humans do. We present an approach to the automatic calibration of dynamic models of arbitrary wheel...

This paper presents a sliding mode controller for a narrow tilting three wheeled vehicle. A dynamic model of eighteenth order is presented for simulation purposes only. Design and analysis are based on a simpler third order model of a bicycle. The validity of this simplification is verified through simulations. Because of the flatness of the bicycle, trajectories given by a presumed driver are ...