Journal articles: 'Wheelset skid'

1

Handoko, Y., and M. Dhanasekar. "Wheelset skid in railway bogies." Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 221, no. 2 (March 2007): 237–45. http://dx.doi.org/10.1243/0954409jrrt68.

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Pichlík, Petr, and Jiří Zděnek. "Train velocity estimation method based on an adaptive filter with fuzzy logic." Journal of Electrical Engineering 68, no. 2 (March 28, 2017): 125–31. http://dx.doi.org/10.1515/jee-2017-0017.

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Abstract The train velocity is difficult to determine when the velocity is measured only on the driven or braked locomotive wheelsets. In this case, the calculated train velocity is different from the actual train velocity due to slip velocity or skid velocity respectively. The train velocity is needed for a locomotive controller proper work. For this purpose, an adaptive filter that is tuned by a fuzzy logic is designed and described in the paper. The filter calculates the train longitudinal velocity based on locomotive wheelset velocity. The fuzzy logic is used for the tuning of the filter according to actual wheelset acceleration and wheelset jerk. The simulation results are based on real measured data on a freight train. The results show that the calculated velocity corresponds to the actual train velocity.

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Lata, Michael. "THE MODERN WHEELSET DRIVE SYSTEM AND POSSIBILITIES OF MODELLING THE TORSION DYNAMICS." TRANSPORT 23, no. 2 (June 30, 2008): 172–81. http://dx.doi.org/10.3846/1648-4142.2008.23.172-181.

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The article deals with the view of modern wheelset drive construction design in the first part. Next part deals with dynamics of the wheelset individual drive torsion system in electric traction vehicles, explained by the drive model in several variants. The basics of time simulation of the transition dynamics effects have been explained and the frequency analysis of the system has been shown. Identification of transition dynamics effects in the wheelset drive enables to evaluate precisely the loading on individual parts during the design stage, to apply the results in anti‐skid protection and probably also to disclose some effects due to wear in the wheel‐rail contact.

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Takeda, Munehisa, and Isao Shimoyama. "Slip and Magnetic Attraction Effects in a Microrobot with Magnetic-Wheels and Skid-Steering." Micromachines 10, no. 6 (June 6, 2019): 379. http://dx.doi.org/10.3390/mi10060379.

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This study investigated slip and magnetic attraction effects in a skid-steered magnetic-wheeled microrobot. The dynamics of the microrobot were derived by considering the slip and magnetic attraction of the wheels. In addition, the slip characteristics of the magnetic wheels were measured using an evaluation apparatus built for this purpose. A simulation program for driving performance was developed as well. Simulations indicated that the turning characteristics of the skid-steered wheeled microrobot degrade because the gripping force decreases due to the decrease in weight with decreasing size. However, the turning characteristics of a skid-steered microrobot can be improved with the magnetic attraction of magnetic wheels. A 5 mm × 9 mm × 6.5 mm skid-steered microrobot with four magnetic wheels was fabricated, and the measured performance was consistent with the simulation results. The differences in driving performance were clarified between a microrobot with column-type magnetic wheels and one with barrel-type magnetic wheels, as well as between forward and backward motion.

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Demyanov, Alexander, Alexey Demyanov, and Alexander Rybak. "Skid adjuster for humps." E3S Web of Conferences 135 (2019): 02020. http://dx.doi.org/10.1051/e3sconf/201913502020.

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The paper based on the analysis of the working conditions of railway transport shows that, ceteris paribus, an increase in actual durability and mean time before failure of rolling stock units is obtained through maintenance of wheelsets, especially during logistic processes on nonmechanized humps. One of the main causes for the service life decrease of wheelsets is brake damage. To eliminate such brake damage on highways, on-board braking dis-tance regulators mounted on the locomotive are used. In the hump yards, using such systems is not possible, since under marshalling, cars are detached from the locomotive. In this regard, an industrial challenge turns up to design a similar in purpose braking distance regulator for humps through skidding. To solve this problem, we developed a method of controlling the speed of cars to be sorted, which complements the widely used technology of the shoe braking and avoids the formation of one-way sliders. The paper presents a skid adjuster, which excludes brake damage to the rolling stock wheels by the slides on the humps using the shoe braking techniques. The motion equation of the rolling stock equipped with a skid adjuster on the hump tracks is developed. In the result of this study, an equation of car motion in the system of “rolling stock Hughes regulator way” allowing to enter the working elements of Hughes controller to an existing and debugged algorithm of any slides with minimal change it.

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Ding, Liang, Hai-bo Gao, Zong-quan Deng, Zhijun Li, Ke-rui Xia, and Guang-ren Duan. "Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain." Scientific World Journal 2014 (2014): 1–13. http://dx.doi.org/10.1155/2014/793526.

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The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

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Okada, Tokuji, Abeer Mahmoud, Wagner Tanaka Botelho, and Toshimi Shimizu. "Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels." Robotica 30, no. 1 (May 6, 2011): 123–32. http://dx.doi.org/10.1017/s026357471100035x.

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SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work expression to determine the robot's motion complying with driven wheels. The model also enables us to estimate trajectories for different ground conditions. A hybrid robot, PEOPLER-II, is used to demonstrate the predicted motions, including turns and spins, by following angular velocity control rules. Experimental data verifies that the proposed formulation and minimisation of virtual work are valid techniques for predicting a robot's trajectory. The method described is widely applicable to wheeled robots having independently driven wheels.

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V, Demianiuk. "ANALYSIS OF THE PROCESS OF BRAKING OF WHEELED VEHICLES IN THE CONDITIONS OF ONBOARD INEQUALITY OF BRAKING MOMENTS." National Transport University Bulletin 1, no. 51 (2022): 181–92. http://dx.doi.org/10.33744/2308-6645-2022-1-51-181-192.

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The article is devoted to the study of the dynamics of curvilinear motion and course stability of wheeled vehicles during braking in conditions of onboard uneven braking torques. The object of the study – wheeled vehicle, the braking of which is investigated on dry, wet and slippery roads. 192 The purpose of the work is to develop methods of modeling and analysis of the braking process of the wheeled vehicle in the conditions of onboard inequality of braking moments. Research method – mathematical and computer modeling of a dynamic system. A mathematical model is proposed, which allows to investigate the occurrence of curvilinear motion (skid) of wheeled vehicle during braking and to analyze how the inequality of braking moments on the left and right wheels of wheeled vehicle affects the parameters of its movement. During braking, significant longitudinal and transverse reactions occur in the contact of the wheels with the road, which cause significant slippage of the wheels in the appropriate directions. Therefore, when determining the transverse reaction that occurs in the contact of wheels with the road, preference in the mathematical model is given not to the classical theory of wheel deflection, but to the concept of the common nature and identical patterns of interaction of the wheel with the road in both longitudinal and transverse directions. Within the framework of the mentioned concept, quantitative research has clarified the physical processes that occur when the brake wheel interacts with the road. The article investigates the influence of the onboard inequality of braking moments on the course angle during braking of a wheeled vehicle. Studies have identified the causes of the variable by the sign and the oscillating nature of the change in time of the course angle of the vehicle during braking, which complicates the driver to carry out the driving process. The results obtained in the article actualize before the designers of wheeled vehicles the question of increasing the stability of the characteristics of the brake mechanisms and the widespread use of automatic gap regulators in the friction pairs of brakes. Predictive assumptions about the development of the object of study – the development of databases to clarify the regulatory documents on the allowable values of on-board inequality of braking torques for different categories of wheeled vehicles. KEY WORDS: WHEELED VEHICLES, BRAKING PROCESS, MATHEMATICAL MODEL, COMPUTER SIMULATION, COURSE STABILITY

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Kosmodamianskiy, Andrey, Sergey Batashov, and Evgeniy Nikolaev. "Development of locomotive skid prevention devices based on object modeling of technical solutions." Automation and modeling in design and management 2022, no. 4 (December 21, 2022): 79–86. http://dx.doi.org/10.30987/2658-6436-2022-4-79-86.

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Techniques of prevention of locomotive wheelsets skidding were analyzed. The relevance of using object modeling techniques to automate the design of devices to prevent skidding is shown. The main task the solution of which is devoted to the article is the synthesis of the object model of technical solutions of such devices, the calculation and compilation of matrices of measures for inclusion, intersection and similarity. As a result of object modeling, the closest technical solution (prototype) was chosen, its characteristic features and disadvantages were identified. Novelty of results obtained in the present article consists in proposed device for prevention of skidding, application of which makes it possible to reduce power losses caused by eddy currents created by magnetic field in wheels and rail, to reduce energy consumption for creation of magnetic field, due to the fact that magnetic field is created only at possibility of wheels skidding and current values are maintained at minimum required level. The methodology and results of the scientific investigation can be used in the synthesis of new technical solutions aimed at improving the components of the crew of locomotives

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Zhi, Jin Ning, Chang Le Xiang, and Yue Ma. "Study on Skid-Steering Drag Force Calculation and Model for Electric Ground Vehicle with Six In-Wheel Motors." Applied Mechanics and Materials 697 (November 2014): 402–6. http://dx.doi.org/10.4028/www.scientific.net/amm.697.402.

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The skid-steering vehicle is able to be steered by the speed difference of the inside and outside wheels created by controlling the torque distribution of all drive wheels. The three degree of freedom dynamic equations are established for electric ground vehicle with six in-wheeled motors, based on which the drag force calculation model is presented under steady skid-steering condition. Then the variation of resistance torque with the steer input and vehicle velocity is analyzed including its theoretic constraint limit. The steering resistance moment of the electric ground vehicle is compared with that of the tracked vehicle with the same vehicle parameters. In order to validate the calculation results, the virtual prototype model is created and the dynamic simulation is executed in ADAMS software. The results indicate that the resistance moment of electric ground vehicle is more than that of the tracked vehicle with same configurations and the computational model is correct.

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An, Youngwoo, and Yongsoon Eun. "Online Fault Detection for Four Wheeled Skid Steered UGV Using Neural Network." Actuators 11, no. 11 (October 26, 2022): 307. http://dx.doi.org/10.3390/act11110307.

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This paper proposes a neural network-based actuator fault detection scheme for four-wheeled skid-steered unmanned ground vehicles (UGV). The neural network approach is first validated on vehicle dynamics simulations. Then, it is tailored for the experimental setup. Experiments involve a motion tracking system, Husarion Rosbot 2.0 UGV with associated network control systems. For experimental work, the disturbance is intentionally induced by augmenting wheels with a bump. Network size optimization is also carried out so that computing resource is saved without degrading detecting accuracy too much. The resulting network exhibit fault detection and isolation accuracy over 97% of the test data. A scenario is experimentally illustrated where a fault occurs, is detected, and tracking control is modified to continue operation in the presence of an actuator fault.

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Zhileykin, M. M. "Improving the Energy Efficiency of Movement and Cross-Country Capacity of an Articulated Mobile Wheeled Robot by Controlling an Individual Electric Traction Drive." Proceedings of Higher Educational Institutions. Маchine Building, no. 5 (734) (May 2021): 17–23. http://dx.doi.org/10.18698/0536-1044-2021-5-17-23.

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Articulated wheel-walking robots having a good combination of weight and load capacity, as well as high cross-country capacity and maneuverability are among the promising schemes of mobile robotic systems. One of the main requirements for such complexes is a high level of autonomy. In this regard, the task of improving the energy efficiency of the articulated mobile wheeled robot movement (especially in long-term transport mode) by reducing the driving wheel skid becomes urgent. An algorithm for the operation of the antiskid system of such a robot with an individual traction electric drive has been developed. It provides an increase in the energy efficiency of robot movement and cross-country capacity by reducing the skid of the driving wheels. The efficiency of the antiskid system operation algorithm has been proved by the simulation methods.

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13

Rubio, Francisco, Carlos Llopis-Albert, Francisco Valero, and Antonio José Besa. "A new approach to the kinematic modeling of a three-dimensional car-like robot with differential drive using computational mechanics." Advances in Mechanical Engineering 11, no. 3 (March 2019): 168781401982590. http://dx.doi.org/10.1177/1687814019825907.

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This article presents a kinematic analysis of a four-wheeled mobile robot in three-dimensions, introducing computational mechanics. The novelty lies in (1) the type of robot that is analyzed, which has been scarcely dealt with in the literature, and (2) the methodology used which enables the systematic implementation of kinematic algorithms using the computer. The mobile robot has four wheels, four rockers (like an All-Terrain Mobile Robot), and a main body. It also has two actuators and uses a drive mechanism known as differential drive (like those of a slip/skid mobile robot). We characterize the mobile robot as a set of kinematic closed chains with rotational pairs between links and a higher contact pair between the wheels and the terrain. Then, a set of generalized coordinates are chosen and the constraint equations are established. A new concept named “driving modes” has been introduced because some of the constraint equations are derived from these. The kinematics is the first step in solving the dynamics of this robot in order to set a control algorithm for an autonomous car-like robot. This methodology has been successfully applied to a real mobile robot, “Robotnik,” and the results are analyzed.

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Wang, Yue Fang, and Xiao Rui Dong. "Simulation Analysis of Wheeled Vehicle Skid-Steer." Advanced Materials Research 328-330 (September 2011): 2203–6. http://dx.doi.org/10.4028/www.scientific.net/amr.328-330.2203.

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In this paper, the wheeled vehicle is regard as a multi-rigid-body system and simulation model of the vehicle is established firstly by using dynamics simulation software of mechanical system ADAMS which is used most widely in the world. Secondly, through setting the initial condition and inputting various parameters, simulation analysis of skid-steer during the unilateral braking process and swerving braking process that the vehicle runs roundly in constant speed of 10km/h and 20km/h respectively is performed. In addition, vehicle velocity curves are recorded, vehicle yaw angular velocity curve are showed, Side accelerated speed curve is seen, the turning track curve of centre is drawn and the results are contrasted. Finally, some conclusions are reached that the vehicle minimum turning track radius decrease immensely than the radius which does not adopt unilateral braking and vehicle velocity could be controlled in a small velocity rage when vehicle is steering braking.

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Zhang, Xing, Shihua Yuan, Xufeng Yin, Xueyuan Li, Xinyi Qu, and Qi Liu. "Estimation of Skid-Steered Wheeled Vehicle States Using STUKF with Adaptive Noise Adjustment." Applied Sciences 11, no. 21 (November 5, 2021): 10391. http://dx.doi.org/10.3390/app112110391.

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Skid-steered wheeled vehicles are commonly adopted in outdoor environments with the benefits of mobility and flexible structure. However, different from Ackerman turning vehicles, skid-steered vehicles do not possess geometric constraint but only dynamic constraint when steered, which leads to motion control and state estimation problems for skid-steered vehicles. The controlling accuracy of a skid-steered vehicle depends largely on feedback state information from sensors and an observer. In this study, a 3-DOF dynamic model using a Brush nonlinear tire model is built, first, to model a 6 × 6 skid-steered wheeled vehicle in flat ground driving conditions. Then, an observer using the unscented Kalman filter with a strong tracking algorithm and adaptive noise matrix adjustment (AN-STUKF) is established to estimate vehicle motion states based on the 3-DOF dynamic model. Finally, the experiment is carried out in three different driving conditions to verify the accuracy and stability of the proposed method. The results show that the AN-STUKF method possesses better accuracy and tracking rate than the traditional UKF, and the phenomenon of ICRs shifting forward of the skid-steered wheeled vehicle is also verified.

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Naghdi, R., I. Bagheri, M. Lotfalian, and B. Setodeh. "Rutting and soil displacement caused by 450C Timber Jack wheeled skidder (Asalem forest northern Iran)." Journal of Forest Science 55, No. 4 (March 25, 2009): 177–83. http://dx.doi.org/10.17221/102/2008-jfs.

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The use of skidding machinery in logging operations causes destructive effects especially on soil but has many advantages such as extracting long and heavy logs, optimum use of useful logging time and absence of defect in wood production quality and thus an increase in the added value of wood. In this research compartment 40 of the second district of Nav-Asalem in northern Iran at an altitude of 1,050–1,450 m above sea level was chosen in order to assess the amount of displaced soil volume and depth of ruts due to the traffic of Timber Jack 450C rubber wheeled skidder along the skid trail. Therefore, the correlations between two independent variables, longitudinal slope and soil texture, with two dependent variables, displaced soil volume and average depth of rut, along the skid trail were examined after 20 passes of skidder machinery. The results of this research showed a significant difference between the longitudinal slope increase of skid trail and the amount of soil volume displaced (<I>P</I> < 0.001). However, there was no significant correlation between the mean rut depth and different classification of longitudinal slope along the skid trail. The highest measured rut depth was 22 cm and occurred in the slope class of more than 25%. There was no significant correlation between the amount of displaced soil volume and rut depth with changes in soil texture along the skid trail.

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Firsov, M. M., M. M. Makhmutov, V. I. Slavkin, and M. M. Makhmutov. "Providing of rational slipping of wheeled mover." Traktory i sel hozmashiny 82, no. 6 (June 15, 2015): 14–16. http://dx.doi.org/10.17816/0321-4443-65390.

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The article solves the problem of optimization of slipping process of wheeled mover by joint solution of regression equations for slipping and resistance force of motion of wheeled mover equipped with anti-skid devices.

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Ling, Yun, Jian Wu, ZhanQiang Lyu, and Pengwen Xiong. "Backstepping controller for laser ray tracking of a target mobile robot." Measurement and Control 53, no. 7-8 (May 26, 2020): 1540–47. http://dx.doi.org/10.1177/0020294020909141.

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Tracking control, which is applied to the target mobile robots in the process of rushing toward the trainees, is one of the critical technologies in the advancement of anti-terrorist training. Considering the disadvantages of various types of traditional tracking methods, this paper proposes a novel laser ray tracking mechanism and a backstepping controller for the target mobile robot that is used in shooting ranges. The mechanism and principle of the laser ray tracking is illustrated in detail. Based on the unique structure, the light intensity distributions are measured to further locate the laser spots on the cut-ray boards. Then, the relationship between the positions of the laser spots on the cut-ray boards and the pose of the target mobile robot is demonstrated. According to the features of the tracking situation, a backstepping controller is designed to achieve the laser ray tracking. After that, the inverse kinematics of the wheeled skid-steering mobile robot is analyzed to map the linear and angular velocities of the robot to the velocities of its left wheels and right wheels. The conventional proportional–integral–derivative controller is applied in the experiments to compare with the proposed backstepping controller. The experimental results show that the proposed controller is more robust, and converges faster for the laser ray tracking.

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Tang, Shouxing, Shihua Yuan, Xueyuan Li, and Junjie Zhou. "Dynamic modeling and experimental validation of skid-steered wheeled vehicles with low-pressure pneumatic tires on soft terrain." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, no. 2-3 (May 13, 2019): 840–56. http://dx.doi.org/10.1177/0954407019847302.

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Wheeled skid-steered technology has an increasing interest in its use for off-road unmanned ground vehicles, because of its great mobility and compact mechanical structure. By integrating multibody dynamics model and semi-empirical tire-terrain model, this paper presents a dynamic modeling approach for skid-steered wheeled vehicles with low-pressure pneumatic tires on soft terrain to predict and investigate its steering performance. The forward dynamics equations are built by spatial vector algebra. The tire–terrain model estimates flexible deformation and sinkage of the tire, and calculates forces and torques exerted on the tire according to relative motions of tire–terrain contact. The combined longitudinal slip and lateral skid of tires, and the vertical coupled deformations of tires and terrain are also considered in tire-terrain model. This approach optimizes the solution procedure and improves the computing efficiency. The simulation results show that the proposed tire–terrain model can predict the effects of rigid and flexible operation modes of tires on mechanical properties of tires and steering performances of the vehicle. The proposed dynamic model is validated on a six-wheeled skid-steered vehicle. The comparisons between experimental results and simulations show that the proposed dynamic model provides a better accuracy of steering performance simulation for skid-steered vehicles.

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Flippo, Daniel. "Advantages of Anisotropic Wheels in Skid Steer Turns." International Journal of Advanced Robotics and Automation 1, no. 1 (February 18, 2016): 01–05. http://dx.doi.org/10.15226/2473-3032/1/1/00103.

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Dogru, Sedat, and Lino Marques. "An improved kinematic model for skid-steered wheeled platforms." Autonomous Robots 45, no. 2 (January 9, 2021): 229–43. http://dx.doi.org/10.1007/s10514-020-09959-0.

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Zhang, Yu, Jibin Hu, and Xueyuan Li. "Steady-state characteristics of skid steering for wheeled vehicles." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 228, no. 9 (March 12, 2014): 1095–104. http://dx.doi.org/10.1177/0954407013516105.

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Licea, Martin R., and Ilse Cervantes. "An Approach to Mitigate the Lateral Skid for Wheeled Vehicles." IEEE Latin America Transactions 16, no. 5 (May 2018): 1306–13. http://dx.doi.org/10.1109/tla.2018.8407101.

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Pazderski, Dariusz. "Waypoint Following for Differentially Driven Wheeled Robots with Limited Velocity Perturbations." Journal of Intelligent & Robotic Systems 85, no. 3-4 (June 28, 2016): 553–75. http://dx.doi.org/10.1007/s10846-016-0391-7.

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AbstractIn this paper a unified motion control strategy dedicated for the waypoint following task realized by a differentially driven robot is presented. It is assumed that the vehicle moves with limited velocities and accelerations in order to reduce excessive slip and skid effects. In order to include operational constraints, a motion planner is combined with a universal stabilizer taking advantage of transverse functions. To improve tracking precision translated transverse functions are deployed and a new adaptive technique for the controller tuning is proposed. During the motion planning stage an auxiliary trajectory connecting points in the configuration space and satisfying assumed phase constraints is generated. The resulting motion execution system has been implemented on a laboratory-scale skid-steering mobile robot, which served as platform for experimental validation of presented algorithms.

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DING, Liang. "Longitudinal Skid Experimental Investigation for Wheels of Planetary Exploration Rovers." Journal of Mechanical Engineering 51, no. 18 (2015): 99. http://dx.doi.org/10.3901/jme.2015.18.099.

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Dogru, Sedat, and Lino Marques. "A Physics-Based Power Model for Skid-Steered Wheeled Mobile Robots." IEEE Transactions on Robotics 34, no. 2 (April 2018): 421–33. http://dx.doi.org/10.1109/tro.2017.2778278.

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Wu, Hang, Hui Xiong, Weitao Du, Xiaodong Yang, Zhiliang Xu, Qifan Yang, and Yimin Shao. "Analysis of factors affecting steering performance of wheeled skid-steered vehicles." Journal of Engineering 2020, no. 14 (November 1, 2020): 1015–19. http://dx.doi.org/10.1049/joe.2020.0065.

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Izvarin, Mihail, and Vladimir Andreev. "Clutch Curve Calculation for Designing Anti-Skid and Anti-Slippage Systems." Proceedings of Petersburg Transport University 19, no. 4 (December 20, 2022): 752–62. http://dx.doi.org/10.20295/1815-588x-2022-4-752-762.

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Purpose: Creation of mathematical apparatus for calculating clutch curve in designing of anti-skid and anti-slippage devices. It is necessary to obtain formula suitable for calculating the dependence of clutch coefficient from absolute and relative slippage speeds of wheelsets along rails and from electric rolling stock (ERS) speed. Methods: Result analysis of trials for various ERS types according to data from open sources and to clutch characteristics obtained as a result of these trials with the use of mathematical statistics methods. Results: as a result of the work, it has been managed to represent the dependence for calculating clutch coefficient in the form of two function “joining”. Practical significance lies in the possibility to use the work results at designing anti-skid/anti-slippage device UPZ-M.

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Tchoń, K., K. Zadarnowska, Ł. Juszkiewicz, and K. Arent. "Modeling and control of a skid-steering mobile platform with coupled side wheels." Bulletin of the Polish Academy of Sciences Technical Sciences 63, no. 3 (September 1, 2015): 807–18. http://dx.doi.org/10.1515/bpasts-2015-0092.

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Abstract This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.

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Sutoh, Masataku, Yutaro Iijima, Yuta Sakakieda, and Sachiko Wakabayashi. "Motion Modeling and Localization of Skid-Steering Wheeled Rover on Loose Terrain." IEEE Robotics and Automation Letters 3, no. 4 (October 2018): 4031–37. http://dx.doi.org/10.1109/lra.2018.2861427.

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Mohammadpour, E., and M. Naraghi. "Robust Adaptive Stabilization of Skid Steer Wheeled Mobile Robots Considering Slipping Effects." Advanced Robotics 25, no. 1-2 (January 2011): 205–27. http://dx.doi.org/10.1163/016918610x538552.

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Liu, Xiang, Mian Li, and Min Xu. "A new anti-skid control method for electric vehicles using the motor torque and the wheel acceleration with experimental verification." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 231, no. 3 (August 5, 2016): 347–59. http://dx.doi.org/10.1177/0954407016639444.

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Driving electric vehicles by electric motors can result in many unique advantages for dynamic control of electric vehicles. With the superior fast and accurate torque control performance of electric motors, electric vehicles, in particular, can achieve higher levels of safety and handling performance. A simple, effective and efficient anti-skid control method specified for electric vehicles is proposed in this paper by considering the real-world resistance factors. This method is developed on the basis of sensing and regulating a newly defined parameter, namely the ratio of the drive motor torque to the angular acceleration of the wheels, both of which can be easily obtained for electric motors. The monotonic relationship between the slip ratio and the ratio of the drive motor torque to the angular acceleration of the wheels is proved under both acceleration conditions and deceleration conditions, by considering the real-world resistance factors. The simulations and the experimental results show that the ratio of the drive motor torque to the angular acceleration of the wheels can be efficiently used, instead of the slip ratio, in anti-skid control. The results indicate that electric vehicles can achieve high-performance vehicle motion control with more flexible and simplified configurations by using in-wheel electric motors.

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Rodríguez-Licea, Martín-Antonio. "On the Tripped Rollovers and Lateral Skid in Three-Wheeled Vehicles and Their Mitigation." Vehicles 3, no. 3 (July 11, 2021): 357–76. http://dx.doi.org/10.3390/vehicles3030022.

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Active safety systems for three-wheeled vehicles seem to be in premature development; in particular, delta types, also known as tuk-tuks or sidecars, are sold with minimal protection against accidents. Unfortunately, the risk of wheel lifting and lateral and/or longitudinal vehicle roll is high. For instance, a tripped rollover occurs when a vehicle slides sideways, digging its tires into soft soil or striking an object. Unfortunately, research is mostly aimed at un-tripped rollovers while most of the rollovers are tripped. In this paper, models for lateral skid tripped and un-tripped rollover risks are presented. Later, independent braking and accelerating control actions are used to develop a dynamic stability control (DSC) to assist the driver in mitigating such risks, including holes/bumps road-scenarios. A common Lyapunov function and an LMI problem resolution ensure robust stability while optimization allows tuning the controller. Numerical and HIL tests are presented. Implementation on a three-wheeled vehicle requires an inertial measurement unit, and independent ABS and propulsion control as main components.

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Scarpati, M., B. J. Zagata, and R. P. Harrison. "Cfc-Free Integral Skin Foams for Steering Wheels." Journal of Cellular Plastics 27, no. 1 (January 1991): 60–61. http://dx.doi.org/10.1177/0021955x9102700175.

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Okasa, Tokuji, Shunsuke Takahashi, and Mahmoud Abeer. "1P1-J01 Experimental Study of Four-Wheeled Skid-Steering Robot Trajectories Influenced by Differential Wheel Speed(Wheeled Robot/Tracked Vehicle)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011 (2011): _1P1—J01_1—_1P1—J01_4. http://dx.doi.org/10.1299/jsmermd.2011._1p1-j01_1.

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Yu, Wei, Oscar Ylaya Chuy, Emmanuel G. Collins, and Patrick Hollis. "Analysis and Experimental Verification for Dynamic Modeling of A Skid-Steered Wheeled Vehicle." IEEE Transactions on Robotics 26, no. 2 (April 2010): 340–53. http://dx.doi.org/10.1109/tro.2010.2042540.

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Prasad, Rajan, and Yue Ma. "Hierarchical Control Coordination Strategy of Six Wheeled Independent Drive (6WID) Skid Steering Vehicle." IFAC-PapersOnLine 52, no. 5 (2019): 60–65. http://dx.doi.org/10.1016/j.ifacol.2019.09.010.

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Gao, Haibo, Junlong Guo, Liang Ding, Nan Li, Zhen Liu, Guangjun Liu, and Zongquan Deng. "Longitudinal skid model for wheels of planetary exploration rovers based on terramechanics." Journal of Terramechanics 50, no. 5-6 (October 2013): 327–43. http://dx.doi.org/10.1016/j.jterra.2013.10.001.

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Takeshita, Rintaro, Kenji Yamanaka, and ,Masahide Hojo. "Consideration on Anti-Skid Method Suppressing Inertia in Driving Wheels on Trains." Journal of the Japan Institute of Power Electronics 45 (2019): 207. http://dx.doi.org/10.5416/jipe.45.207.

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Schindelwig, Kurt, Martin Mössner, Michael Hasler, and Werner Nachbauer. "Determination of the rolling resistance of roller skis." Proceedings of the Institution of Mechanical Engineers, Part P: Journal of Sports Engineering and Technology 231, no. 1 (August 1, 2016): 50–56. http://dx.doi.org/10.1177/1754337116628719.

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The rolling resistance of skis used in roller skiing competitions should resemble the gliding resistance of cross-country skis to allow specific training and moving patterns for cross-country skiing and to guarantee equal opportunities for athletes in roller ski races. Therefore, the purpose of this work was to develop a portable rolling resistance meter to precisely measure the rolling resistance of roller skis. Measurements were based on recordings of the angular deceleration of a flywheel due to the rolling resistance between a roller ski’s wheel and the flywheel’s steel surface. Rolling resistance coefficients of four roller ski types ranged between 0.019 and 0.025. Measurements of the rolling resistance coefficient showed a precision of 1.26%. Substantial rolling resistance coefficient variations (10%) were observed for wheels of the same type. Furthermore, the rolling resistance coefficient was found to be negatively correlated with normal load or ambient temperature. The proposed rolling resistance meter is appropriate to determine the rolling resistance coefficient of roller skis’ wheels precisely.

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Wesołowski, Mariusz, Piotr Barszcz, and Krzysztof Blacha. "Skid resistance properties of airfield pavements as one of the safety assessment parameters of air operations." Journal of KONBiN 42, no. 1 (June 1, 2017): 283–303. http://dx.doi.org/10.1515/jok-2017-0030.

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Abstract The article presents the method for determining the skid resistance properties by estimating quantities characterizing the conditions on the airfield functional elements’ pavements. The skid resistance properties characterise the aircraft’ tire grip to the airfield functional element’s pavements, and this is the ability to produce a friction force between the airfield functional element’s pavement and the aircraft’s wheels under mutual skid conditions. The adhesion is affected by the pavement type and its condition, as well as the presence of contamination, and atmospheric conditions in the vicinity of the airfield. Throughout the world, measures aimed at development of a model for assessing the conditions of the airfield functional elements’ pavements are undertaken. A key element of this process is the personnel identifying specific situations as well as the pilots using the information for safe manoeuvring, especially landing.

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Jilek, Petr, and Jan Němec. "System for Changing the Radial Response on Car Wheels." Acta Universitatis Agriculturae et Silviculturae Mendelianae Brunensis 68, no. 1 (2020): 39–47. http://dx.doi.org/10.11118/actaun202068010039.

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The paper deals with the possibilities of change in adhesion force for experimental measurement on a road vehicle. The article deals with the ways in which the road vehicle can be brought to skid limit while driving at a safe speed. These are two newly designed systems (SlideWheel and Alternative SkidCar) to complement the experimental car. Both systems allow for the reduction of the adhesion force on car wheels, depending on the reduction of radial force transmitted by the car wheel. Their main difference is in the spatial arrangement and in the method of attachment to a car. The wheel units are mounted under the axles in case of SlideWheel and attached to the experimental car body via a subframe in case of Alternative SkidCar. We implemented an objective finding of their influence on the quantities describing the movement of the car in the two systems designed by the authors. Mutual comparison was made during experimental measurement during a test drive in the form of driving in a circle at a constant steering wheel turning angle. Experimental measurements were made with 50% of the radial response on car wheels. It is clear from the measured results that both systems met expectations and can be used to bring the car to the skid limit at a safe speed. Both systems help to induce any type of car skidding. The advantage of the SlideWheel system compared to Alternative SkidCar is its lower weight; the disadvantage is the size of the support wheels. The paper is focused on objective comparison of ASC and SW in terms of effect on the experimental car’s behaviour.

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Hwang, Eun-Ju, Hyo-Seok Kang, Chang-Ho Hyun, and Mignon Park. "Robust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots." International Journal of Advanced Robotic Systems 10, no. 1 (January 2013): 26. http://dx.doi.org/10.5772/55059.

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Zhu, Yuzheng, Xueyuan Li, Xing Zhang, Songhao Li, Qi Liu, and Shihua Yuan. "Research on Tire–Road Parameters Estimation Algorithm for Skid-Steered Wheeled Unmanned Ground Vehicle." Machines 10, no. 11 (November 2, 2022): 1015. http://dx.doi.org/10.3390/machines10111015.

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Skid-steered wheeled vehicles can be applied in military, agricultural, and other fields because of their flexible layout structure and strong passability. The research and application of vehicles are developing towards the direction of “intelligent” and “unmanned”. As essential parts of unmanned vehicles, the motion planning and control systems are increasingly demanding for model and road parameters. In this paper, an estimation method for tire and road parameters is proposed by combining offline and online identification. Firstly, a 3-DOF nonlinear dynamic model is established, and the interaction between tire and road is described by the Brush nonlinear tire model. Then, the horizontal and longitudinal stiffness of the tire is identified offline using the particle swarm optimization (PSO) algorithm with adaptive inertia weight. Referring to the Burckhardt adhesion coefficient formula, the extended forgetting factor recursive least-squares (EFRLS) method is applied to identify the road adhesion coefficient online. Finally, the validity of the proposed identification algorithm is verified by TruckSim simulation and real vehicle tests. Results show that the relative error of the proposed algorithm can be well controlled within 5%.

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Okada, Tokuji, Tomoyasu Ohya, Hiroyuki Kawasaki, Shigeru Fujiwara, and Nobuharu Mimura. "Structure of Skid Wheels and their Motional Characteristics for the Vehicle in Pipe." Journal of the Robotics Society of Japan 17, no. 6 (1999): 905–13. http://dx.doi.org/10.7210/jrsj.17.905.

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Kigawa, Takehiko, and Eiji Kimoto. "Influences of skidding pattern upon the occurrences of skid damage to railway wheels." Wear 167, no. 2 (August 1993): 143–54. http://dx.doi.org/10.1016/0043-1648(93)90319-h.

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Long, Ying Chun, and Li Fu Li. "Research on Electronic Differential Control Method of Electric Vehicle with Motorized Wheels Based on Adhesion Coefficient." Advanced Materials Research 706-708 (June 2013): 950–56. http://dx.doi.org/10.4028/www.scientific.net/amr.706-708.950.

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This paper presents an electronic differential control strategy based on equal adhesion coefficient, it makes electric vehicle (EV) with two dual-motorized-wheels achieve differential by distributing and controlling the driving torque. First, six degree-of-freedom (6-DOF) vehicle dynamic model was set up and electronic differential system based on permanent magnet synchronous motor (PMSM) vector control was designed, then the simulation of differential control method with Matlab/Simulink was performed. The results show that when the high-speed vehicle steering in the low road adhesion coefficient, the electronic differential control method based on the principle of equal adhesion coefficient can keep two driving wheels’ adhesion coefficient utilization ratio the same, avoiding single wheel skid and improving the steering stability.

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Srikonda, Sandeep, William Robert Norris, Dustin Nottage, and Ahmet Soylemezoglu. "Deep Reinforcement Learning for Autonomous Dynamic Skid Steer Vehicle Trajectory Tracking." Robotics 11, no. 5 (September 9, 2022): 95. http://dx.doi.org/10.3390/robotics11050095.

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Designing controllers for skid-steered wheeled robots is complex due to the interaction of the tires with the ground and wheel slip due to the skid-steer driving mechanism, leading to nonlinear dynamics. Due to the recent success of reinforcement learning algorithms for mobile robot control, the Deep Deterministic Policy Gradients (DDPG) was successfully implemented and an algorithm was designed for continuous control problems. The complex dynamics of the vehicle model were dealt with and the advantages of deep neural networks were leveraged for their generalizability. Reinforcement learning was used to gather information and train the agent in an unsupervised manner. The performance of the trained policy on the six degrees of freedom dynamic model simulation was demonstrated with ground force interactions. The system met the requirement to stay within the distance of half the vehicle width from reference paths.

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Rao, Houdong, Dongyang Zhang, Jingrui Li, Ling Zhang, and Wenfei Wang. "Effects of additives on properties of self-skinning polyurethane foam for automobile steering wheel." Vibroengineering PROCEDIA 48 (February 11, 2023): 49–54. http://dx.doi.org/10.21595/vp.2022.23076.

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Commercialized polyurethane foam products for automobile steering wheels have been committed to the development of products with comprehensive properties such as low density, high production efficiency and environmental protection. Based on this, this article has launched a series of experiments to explore the effects of different types of chain extenders, blowing agents and catalysts on the mechanical properties, cell structure, skin and reactivity of self-skinning polyurethane foams for automobile steering wheels. The results show that the hardness and tensile strength of the foam gradually decrease with the chain growth of small molecular chain extenders (ethylene glycol, 1.3-propanediol, 1.4-butanediol), and the elongation at break increases gradually. The foaming agent formic acid is more conducive than water as it favors the formation of small but compact cells, thus dense skin. The catalytic efficiency of non-reactive catalysts (A1, KC101 and DabcoEG) is higher than that of reactive catalysts (LED-103, ZR-50, DPA). The theoretical research for the development of high-performance and high-efficiency polyurethane foam products for automobile steering wheels.

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Thinakaran, Meera, S. Mohanavalli, and G. Sree V. Bala. "Evaluation of Influencing Factors and commonly Involving Side in Maxillofacial Injuries in Road Traffic Accidents by Motorized Two Wheelers: A Cross-sectional Study." World Journal of Dentistry 8, no. 1 (2017): 49–54. http://dx.doi.org/10.5005/jp-journals-10015-1410.

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ABSTRACT Introduction Trauma remains to be a leading cause of maxillofacial injury globally. Motorized two wheelers (MTWs) are the main cause of (73%) maxillofacial injuries in the road traffic accidents; in several studies, the right side of maxillofacial injuries was reported as the common side of injury than left side. In our previous study, the percentage of the right side injuries was higher than the left side. Aim The aim of this study is to evaluate the influencing factors of the maxillofacial injury by MTWs and to find the association between the side maxillofacial injuries and the handedness of drivers. Materials and methods Clusters sampling method was used; 20 clusters were selected in Chennai. Motorized twowheeler drivers were selected. Data collected by prepared questionnaires’ were statistically analyzed. Data included the demographic details, type of vehicle, engine capacity, average driving speed, years of driving, regular usage of the helmet, type, mode and frequency of accident, management, influence of alcohol, and use of the helmet at the time of injury. The side of the facial injury and handedness of drivers were recorded. Results From the total of 721 participants, 75.7% were males, 24.3% were females; 46.74% were in the age of 18 to 25; mean age is 29.45. Bikes were 55.9%, scooter 38.2%, moped 8.3%; 59.9% are geared; 50.5% were 80 to 100 cc vehicles types and 37% were 110 to 150 cc types; 62% of male's average speed is 80 km/hour; 53% of female's average speed is less than 40 km/hour. Only 18.06% had used at the time of injury. 39.4% of females had accidents, males had 59.3% (p < 0.0001). Two-wheeler vs two-wheeler accidents were 24.8%; two-wheeler vs four wheeler were 19%; by pedestrians crossing 18.7%; by animal crossing was 16.5%; skid two wheeler 20%. A total of 30.02% were under the influence of alcohol. Right-side injuries were 44.5%; left side 25.9% (p < 0.0001), while 96.9% were right-handers. Conclusion Right-side injuries were common in MTW skid and fall. Speed, type of vehicle, handedness, influence of alcohol, use of helmet, mode of injury, all are the determining factors for pattern and severity of injury. Helmet usage would definitely minimize the head injury to some extent. How to cite this article Mohanavalli S, Thinakaran M, Bala GSV. Evaluation of Influencing Factors and commonly Involving Side in Maxillofacial Injuries in Road Traffic Accidents by Motorized Two Wheelers: A Cross-sectional Study. World J Dent 2017;8(1):49-54.

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Journal articles on the topic 'Wheelset skid'

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