Relevant bibliographies by topics / Motion of the wheel

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
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Academic literature on the topic 'Motion of the wheel'

Author: Grafiati
Published: 4 June 2021
Last updated: 7 February 2022

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Journal articles on the topic "Motion of the wheel"

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Ryoo, Young-Jae, Dae-Yeong Im, and Hyun-Rok Cha. "Design of Robotic Vehicle for Personal Mobility with Electric-Driven Three-Wheels." International Journal of Humanoid Robotics 13, no. 04 (November 29, 2016): 1650020. http://dx.doi.org/10.1142/s0219843616500201.

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In this paper, a robotic vehicle for a personal mobility with electric-driven three-wheels is proposed. Before designing the proposed robotics vehicle, omni-directional motions using special wheels, active caster wheels, and active steerable driving wheels are studied. For design of the proposed vehicle, we discuss about active steerable wheel design, and vehicle’s frame design. The omni-directional motion through the digital design exploration of the vehicle using active driving and steering wheel robot technology is examined. As the major mechanical components, an active steerable driving wheel, in-wheel motors, brakes, suspensions, and control systems are described. The design is established by rapid prototyping model of omni-directional motion. The steering geometry and control algorithm for the prototype of the proposed personal mobility are experimented.
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Quaglia, Giuseppe, Daniela Maffiodo, and Francesco Pescarmona. "A Novel Continuous Alternate Motion Mechanism With Two Input Wheels." Journal of Mechanical Design 129, no. 8 (June 27, 2006): 858–64. http://dx.doi.org/10.1115/1.2735638.

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This paper presents the design of a mechanism with the following specifications: continuous alternate motion, wide motion phases with constant angular velocity, parallel input and output shafts, and great strokes. Those specifications derive from a possible application in the textile field. The mechanism is composed of two star wheels properly coupled together: there are two counter-rotating input wheels, alternately coupling with slots first, then teeth at each side of the output wheel. As usual for star wheels, pins and slots handle the acceleration and deceleration phases, while the constant velocity phase is performed by coupling sectors of toothed gears. A proper design of pins and slots is performed, so that at the same time when a pin from one input wheel is releasing a slot, a pin from the other input wheel engages a slot on the other side of the output wheel, forcing the latter to an opposite motion. In this way the output wheel has a continuous and smooth alternate motion. By annihilating the arrest phases typical of star wheels, the proposed system eliminates the discontinuities in the acceleration diagram. The paper develops a complete parametrical analysis of the device, underlining the effect of the constraints on the shape of the motion laws with particular emphasis on the acceleration and deceleration phases. In this way the output wheel has a continuous and smooth alternate motion. With respect to an analogous mechanism realizing the same laws of motion, e.g., cams, this device is very compact and economical, also presenting parallel input and output shafts, and significantly reduces sliding and wear.
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Kumagai, Masaaki, and Kaoru Tamada. "Wheel Locomotion of a Biped Robot Using Passive Rollers – Large Biped Robot Roller Walking Using a Variable-Curvature Truck –." Journal of Robotics and Mechatronics 20, no. 2 (April 20, 2008): 206–12. http://dx.doi.org/10.20965/jrm.2008.p0206.

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This paper proposes the leg-wheel locomotion of a biped robot. The feet of the robot consist of wheels that move forward with the periodic motion of a leg under a double-leg support. There are many types of approach leg-wheel hybrid systems; however, biped system with passive wheels is rarely used. A special axle mechanism is introduced so that the wheels could smoothly track a curved path for propulsive motion. Finally, the robot achieves not only straight and circular motion but also pivoting motion that is significantly faster than walking, while implementing a minimal number of simple components. The concept of locomotion, function of the mechanism, and experimental results are described in this paper.
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Dong, Yu Hong, Zong Quan Deng, and Hai Bo Gao. "Wheel Velocity Analysis of a Rover with Six Wheels Independently Driven on Uneven Terrain." Key Engineering Materials 392-394 (October 2008): 335–640. http://dx.doi.org/10.4028/www.scientific.net/kem.392-394.335.

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In order to implement basic motion functions of lunar rover over uneven terrain, wheel kinematics of a novel lunar rover with each wheel independently driven was studied. In terms of mechanism principle and configuration features of the rover the kinematics model of wheels was set up by utilizing modified D-H method. The simulation analyses of wheels traversing over uneven terrain were carried out by using MATLAB software. The velocity simulation curves of wheels’ centers relative to rover body were acquired. The research results give motion parameters of wheels varying with rough terrain, and from the velocity simulation curves we can gain velocity control instructions of rover wheels over uneven terrain. It illustrates varying of lunar rover wheels’ velocity with uneven terrain. The paper provides a theoretical basis for accomplishing motion control and autonomously avoiding obstacles of lunar rover and so on.
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Song, Jeonghoon. "Enhanced braking and steering yaw motion controllers with a non-linear observer for improved vehicle stability." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 222, no. 3 (March 1, 2008): 293–304. http://dx.doi.org/10.1243/09544070jauto662.

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This study proposes two enhanced yaw motion controllers that are modified versions of a braking yaw motion controller (BYMC) and a steering yaw motion controller (SYMC). A BYMC uses an inner rear-wheel braking pressure controller, while an SYMC uses a rear-wheel steering controller. However, neither device can entirely ensure the safety of a vehicle because of the load transfer from the rear to front wheels during braking. Therefore, an enhanced braking yaw motion controller (EBYMC) and an enhanced steering yaw motion controller (ESYMC) are developed, which contain additional outer front-wheel controllers. The performances of the EBYMC and ESYMC are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability, stability, and comfort of the vehicle. A non-linear observer and driver model also produce satisfactory results.
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Holland, J. B., M. J. D. Hayes, and R. G. Langlois. "A SLIP MODEL FOR THE SPHERICAL ACTUATION OF THE ATLAS MOTION PLATFORM." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (December 2005): 711–20. http://dx.doi.org/10.1139/tcsme-2005-0048.

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The Atlas platform represents a novel six degree-of-freedom motion platform architecture. Orienting is decoupled from positioning, and unlimited rotations are possible about every axis. The decoupling is accomplished by fixing a three degree-of-freedom spherical orienting device, called the Atlas sphere, on a gantry with three orthogonal linear axes. The key to the design is three omni-directional wheels in an equilateral arrangement, which impart angular displacement to a sphere, providing rotational actuation. The free-spinning castor rollers provide virtually friction-free motion parallel to each omni-wheel rotation axis creating the potential for unconstrained angular motion. Since the sphere directly contacts the omni-wheels, there are no joints or links interfering with its motion, allowing full 360° motion about all axes. However, the kinematic constraints are non-holonomic. This paper explores the slip at the interface between each omni-wheel and the Atlas sphere. A kinematic slip model is presented, introducing the slip ratio, which is the ratio of the kth omni-wheel’s transverse velocity component, S⊥k, which is perpendicular to the free-spinning castor wheel axis, and the tangential velocity component, Stank, which is perpendicular to the omni-wheel driving axis, parallel to the tangential velocity vector, Vk. The long-term goal is to incorporate the slip model into a control law for position level control of the sphere. Two illustrative examples are given.
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Adamchuk, V., V. Bulgakov, V. Nadykto, and I. Golovach. "Theory of motion controllability of a wheel machine-tractor aggregate." Agricultural Science and Practice 3, no. 2 (July 15, 2016): 3–10. http://dx.doi.org/10.15407/agrisp3.02.003.

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Aim. To obtain analytically new dependencies, determining the indicator of motion controllability of a wheel machine-tractor aggregate, taking into consideration external forces, constructive and kinematic parameters of the aggregate while the latter moves in the transport mode. Methods. The methods of tractor and vehicle theories, theoretical mechanics, the theory of dynamic stability, and methods of numeric computer calculations. Results. A new theory of motion controllability of a wheel machine-tractor aggregate during its non-linear mo- tion along the surface of the soil at an angle to the horizontal was elaborated. The analytic expressions for the determination of the actual indicator of aggregate controllability, including force and constructive parameters of a machine-tractor aggregate, affecting this indicator in the longitudinal-vertical plane were made. The ana- lytic expressions were obtained for the transport mode of the aggregate movement. The conditions, in which cross slips of the directive wheels of the tractor with implements in the longitudinal plane were analytically considered for the fi rst time. The analytic expressions for the determination of the required indicator of the controllability of the machine-tractor aggregate in the longitudinal plane, excluding any possibility of a cross slip of the aggregate while turning its directive wheels at a certain angle, were defi ned. Conclusions. Computer calculations demonstrated that during the non-linear movement along the surface of the soil at an angle of 12 ° to the horizontal the wheel machine-tractor aggregate will be controllable only if the wheel turning angles for the tractor with implements do not exceed 9 ° . In case of the working motion of this aggregate along the slope, its controllability is preserved on condition that the turning angle of directive wheels does not exceed 11 ° . It was established that the controllability of the wheel machine-tractor aggregate is determined by the actual λ d and required λ о indicators of controllability, which take into consideration the values of the vertical load on the directive wheels of the power source, the possibility of their turn in the longitudinal plane, and the pull during the deviation from rectilinear motion when it moves along the surface at an angle to the horizontal.
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HAYES, M. J. D., and R. G. LANGLOIS. "ATLAS: A NOVEL KINEMATIC ARCHITECTURE FOR SIX DOF MOTION PLATFORMS." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (December 2005): 701–9. http://dx.doi.org/10.1139/tcsme-2005-0047.

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Conventional training simulators commonly use the hexapod configuration to provide motion cues. While widely used, studies have shown that hexapods are incapable of producing the range of motion required to achieve high fidelity simulation required in many applications. This paper presents an overview of the Atlas platform: a novel six DOF motion platform architecture. Orienting is decoupled from positioning, and unlimited rotations are possible about every axis of the mechanism. The decoupling is accomplished by fixing a three DOF spherical orienting device, called the Atlas sphere, on a gantry with three linear axes. The key to the design is three omni-directional wheels in an equilateral arrangement, which impart angular motions to a sphere, thereby providing rotational actuation. The omni-wheels and their castor rollers provide virtually friction-free motion parallel to each omni-wheel rotation axis creating the possibility for unconstrained rotational motion. Since the Atlas sphere rests on these omni-wheels, there are no joints or levers constraining its motion, allowing full 360° motion about all axes. The motivation, architecture, and potential applications for this motion platform are described.
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Alexandru, Cătălin. "A mechanical integral steering system for increasing the stability and handling of motor vehicles." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 231, no. 8 (December 30, 2015): 1465–80. http://dx.doi.org/10.1177/0954406215624465.

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The article deals with the design, modeling, and simulation of an innovative four-wheel steering system for motor vehicles. The study is focused on the steering box of the rear wheels, which is a cam-based mechanism, while the front steering system uses a classical pinion—rack gearbox. In the proposed concept, the four-wheel steering aims to improve the vehicle stability and handling performances by considering the integral steering law, which is formulated in terms of correlation between the steering angles of the front and rear wheels. In this regard, a double-profiled cam is designed, in correlation with the input motion law applied to the steering wheel. The cam profile dictates (prescribes) the translational movement of the rear follower, which is connected to the left and right steering tierods, turning—as appropriate—the rear wheels in the same direction (for stability) or in opposite (for handling) to the front wheels. The cam-based mechanism is able to carry out complex motion laws, providing accurate integral steering law. The dynamic modeling and simulation of the four-wheel steering vehicle was performed by using the Multi-Body Systems package Automatic Dynamic Analysis of Mechanical Systems of MSC.Software, the full-vehicle model containing also the front and rear wheels suspension systems, as well the vehicle chassis (car body). The dynamic simulations in virtual environment have resulted in important results that demonstrate the handling and stability performances of the proposed four-wheel steering system by reference to a classical two-wheel steering vehicle.
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Zhao, Jianwei, Yuanshuang Liu, Yuanyuan Qu, Feng Bian, and Yu Ban. "Model and simulation of four-wheeled robot based on Mecanum wheel." International Journal of Modeling, Simulation, and Scientific Computing 08, no. 02 (October 24, 2016): 1750015. http://dx.doi.org/10.1142/s1793962317500155.

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Based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheels, we combine these two kinds of wheels’ respective motion principle with their advantages to design a new type of four-wheeled robot: install the Mecanum wheels at the end of “[Formula: see text]”-shaped planetary wheel group. The wheel designed based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheel can adapt to the complex terrain such as stairs, steps, and at the same time it can achieve the rotation of the whole body in a limited space. This paper studies the adaptability of the four-wheeled robot to the stairs, analyzing and calculating the parameters of the four-wheeled robot and the stairs.
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Dissertations / Theses on the topic "Motion of the wheel"

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Plantenberg, Detlef Holger. "Adaptive motion control for a four wheel steered mobile robot." Thesis, Nottingham Trent University, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.341262.

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For adaptive motion control of an autonomous vehicle, operating in a generally structured environment, position and velocity feedback are required to ascertain the vehicle location relative to a reference. Whilst the literature offers techniques for guiding vehicles along external references, autonomous vehicles should be able to navigate between despatch locations without the need to rely on external guidance systems. Considerations of the vehicle stability and manoeuvrability favour a vehicle design with four independently steered wheels. A new motion control methodology has been proposed which utilises the geometric relationship of the angular displacements and the rotations of the wheels to estimate the longitudinal and lateral motions of the vehicle. The motion controller consists of three building blocks: the motion control system comprising the position tracking and the motion command generation; the electronic system comprising a data acquisition system and proprietary power electronics; the mechanical system which includes an undercarriage enabling permanent contact of the wheels with the floor. The components have been designed not only to perform optimally in their specific functions but also to ensure full compatibility within the integrated system. For reliable deduction of the wheel rotations with a high degree of accuracy a dedicated data acquisition interface has been developed, which enables data to be captured in parallel from four optical encoders mounted directly on the wheel axles. Parallel sampling of the angular wheel position and parallel actuation of all steering motors improves the accuracy of the system state and gives a higher degree of certainty. Considering only circular motion of the vehicle, a method for calculating the steering angles and wheel speeds based on the complex notation is presented. By cumulating the displacement vectors of the vehicle motion and the location of the centre of rotation between consecutive samples of the controller, the path of the vehicle is estimated. The difference between the nominal and the deduced centre of rotation is determined to minimise deviations from the reference trajectory and to allow the controller to adapt to changes in the road/tyre interface characteristics. The individual mechanical and electronic components have been assembled and tested. Additionally, the performance of the electronic interface has been evaluated on a purpose built test-bed. For the experimental validation of the methodology, a simple method of mapping the centre of curvature with a pen mounted at the nominal centre of rotation has been proposed. Experiments have been conducted with both the steering angles fixed to their theoretical values for the nominal centre of rotation and with the proportional steering controller enabled. The results from the latter method have shown a significantly reduced deviation from the nominal centre of rotation. The data captured of the angular wheel positions and steering angle settings has been analysed off-line. Good agreement is obtained between the deduced and the actual centres of rotation for the measurements averaged over 1.5 seconds. A number of different centres of rotation have been investigated and the required steering angles to compensate for the deviation have been plotted to form a control surface for the motion controller. The deviation between the estimated and the actual centre of curvature was less than 1.6% and adequate results could be obtained with the proportional steering controller.
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Gandhi, Yogesh. "Motion planning and control for Differential Drive Wheel Mobile Robot (DDWMR)." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.

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This thesis proposes algorithms for motion planning to navigate robot in cluttered environment and a robust velocity-based tracking controller for Differential Drive Wheel Mobile Robot (DDWMR). First, the thesis presents, an offline A* path planning algorithm is used to find sequence of optimal waypoints in a two-dimensional occupancy grid also taking in account obstacle avoidance minimum distance criteria and using these waypoints, reference trajectory is generated based on the constraints on DDWMR. Second, the design of online non-linear back-stepping tracking controller for DDWMR, based on PSO algorithm in the selection of optimal controller gains.
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Arrizabalaga, Aguirregomezcorta Jon. "MPC based Caster Wheel Aware Motion Planning for Differential Drive Robots." Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-281702.

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The inherited rotation in a caster wheel allows movement in any direction, but pays at the expense of reaction torques. When implemented in a mobile robot, these forces have a negative impact in its performance. One approach is to restrict rotations on the spot by attaching a filter to the output of the motion planner. However, this formulation compromises the navigation’s completion in critical scenarios, such as parking, taking curves in narrow corridors or navigating at the presence of a high density of obstacles. Therefore, in this thesis we consider the influence of caster wheels in the motion planning stage, commonly presented as local planning. This work proposes a Model Predictive Control (MPC) based local planner that integrates the caster wheel physics into the motion planning stage. A caster wheel aware term is combined with a reference tracking based navigation, which leads to the formulation of the Caster Wheel Aware Local Planner (CWAWLP). Since this method requires knowing the caster wheel’s state and there is no sensor that provides this information, a caster wheel state observer is also formulated. In order to evaluate the impact of the caster wheel aware term, CWAWLP is compared to a Caster Wheel based Agnostic Local Planner (CWAGLP) and a Caster Wheel based Agnostic Planner Local Planner with Path Filter (CWPFLP). After running simulations for three case studies in a virtual framework, two experimental case studies are conducted in an intra-logistics robot. These are evaluated according to the navigation’s quality, motor torque usage and energy consumption. According to the patterns observed in the evaluation, CWAWLP covers a longer distance than CWAGLP wihout decreasing the navigation’s quality. At the same time, its motor torques are similar to the ones of CWPFLP. Therefore, CWAWLP is capable of considering caster wheel physics without sacrificing navigation capabilities. The formulated caster wheel aware term is compatible with any MPC based navigation algorithm and inherits the derivation of an observer capable of estimating caster wheel rotation angles and rolling speeds. Even if the caster wheel awareness has been implemented in a differential driven robot, this approach is also applicable to vehicles with an alternative drivetrain, such as car-like robots.
Den ärvda rotationen i ett hjul möjliggör rörelse i vilken riktning som helst, men fås på bekostnad av reaktionsmoment. När de implementeras i en mobil robot har dessa krafter en negativ inverkan på dess prestanda. Ett tillvägagångssätt är att begränsa rotationer på plats genom att applicera ett filter på rörelseplannerns utgång. Denna formulering komprometterar dock navigeringens slutförande i kritiska scenarier, såsom parkering, kurvor i smala korridorer eller navigering i närheten av höga hinder. Därför beaktar vi i denna avhandling påverkan av hjul på hjulplaneringen, som ofta presenteras som lokal planering. Detta arbete föreslår en Model Predictive Control (MPC) -baserad lokal planerare som integrerar svängbara länkhjuls fysik i rörelseplaneringsstadiet. En kugghjulmedveten term kombineras med en referensspårningsbaserad navigering, vilket leder till formuleringen av Caster Wheel Aware Local Planner (CWAWLP). Eftersom denna metod kräver kunskap om svängbara länkhjuls tillstånd och det inte finns någon sensor som ger denna information, formuleras också en hjulhjulstillståndsobservatör. För att utvärdera effekten av det medvetna begreppet svängbara änkhjul jämförs CWAWLP med en Caster Wheel-baserad Agnostic Local Planner (CWAGLP) och en Caster Wheel-baserad Agnostic Planner Local Planner with Path Filter (CWPFLP). Efter att ha kört simuleringar för tre fallstudier i ett virtuellt ramverk genomförs två experimentella fallstudier i en intra-logistikrobot. Dessa utvärderas enligt navigeringens kvalitet, vridmomentanvändning och energiförbrukning. Enligt de mönster som observerats i utvärderingen når CWAWLP ett längre avstånd än CWAGLP utan att sänka navigeringens kvalitet. Samtidigt liknar motorns vridmoment dem som CWPFLP. Därför kan CWAWLP ta hänsyn till svängbara länkhjuls fysik utan att offra navigationsfunktionerna. Den formulerade medhjulningsmedveten termen är kompatibel med vilken MPC-baserad navigationsalgoritm som helst och ärver härledningen av en observatör som kan uppskatta hjulets rotationsvinklar och rullningshastigheter. Även om hjulhjälpmedvetenheten har implementerats i en differentierad robot, är detta tillvägagångssätt också tillämpligt på fordon med ett alternativt drivsystem, såsom billiknande robotar.
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Tsinias, Vasileios. "A hybrid approach to tyre modelling based on modal testing and non-linear tyre-wheel motion." Thesis, Loughborough University, 2014. https://dspace.lboro.ac.uk/2134/17852.

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The current state-of-the-art tyre models tend to be demanding in parameterisation terms, typically requiring extensive and expensive testing, and computational power. Consequently, an alternative parameterisation approach, which also allows for the separation of model fidelity from computational demand, is essential. Based on the above, a tyre model is introduced in this work. Tyre motion is separated into two components, the first being the non-linear global motion of the tyre as a rigid body and the second being the linear local deformation of each node. The resulting system of differential equations of motion consists of a reduced number of equations, depending on the number of rigid and elastic modes considered rather than the degrees of freedom. These equations are populated by the eigenvectors and the eigenvalues of the elastic tyre modes, the eigenvectors corresponding to the rigid tyre modes and the inertia properties of the tyre. The contact sub-model consists of bristles attached to each belt node. Shear forces generated in the contact area are calculated by a distributed LuGre friction model while vertical tread dynamics are obtained by the vertical motion of the contact nodes and the corresponding bristle stiffness and damping characteristics. To populate the abovementioned system of differential equations, the modal properties of the rigid and the elastic belt modes are required. In the context of the present work, rigid belt modes are calculated analytically, while in-plane and out-of-plane elastic belt modes are identified experimentally by performing modal testing on the physical tyre. To this end, the eigenvalue of any particular mode is obtained by fitting a rational fraction polynomial expression to frequency response data surrounding that mode. The eigenvector calculation requires a different approach as typically modes located in the vicinity of the examined mode have an effect on the apparent residue. Consequently, an alternative method has been developed which takes into account the out-of-band modes leading to identified residues representing only the modes of interest. The validation of the proposed modelling approach is performed by comparing simulation results to experimental data and trends found in the literature. In terms of vertical stiffness, correlation with experimental data is achieved for a limited vertical load range, due to the nature of the identified modal properties. Moreover, the tyre model response to transient lateral slip is investigated for a range of longitudinal speeds and vertical loads, and the resulting relaxation length trends are compared with the relevant literature.
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Kim, Bumsoo. "Motion control of an autonomous vehicle with loss of wheel-ground contact avoidance using dynamic model based predictive control." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/NQ58286.pdf.

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Seegmiller, Neal A. "Dynamic Model Formulation and Calibration for Wheeled Mobile Robots." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/460.

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Advances in hardware design have made wheeled mobile robots (WMRs) exceptionally mobile. To fully exploit this mobility, WMR planning, control, and estimation systems require motion models that are fast and accurate. Much of the published theory on WMR modeling is limited to 2D or kinematics, but 3D dynamic (or force-driven) models are required when traversing challenging terrain, executing aggressive maneuvers, and manipulating heavy payloads. This thesis advances the state of the art in both the formulation and calibration of WMR models We present novel WMR model formulations that are high-fidelity, general, modular, and fast. We provide a general method to derive 3D velocity kinematics for any WMR joint configuration. Using this method, we obtain constraints on wheel ground contact point velocities for our differential algebraic equation (DAE)-based models. Our “stabilized DAE” kinematics formulation enables constrained, drift free motion prediction on rough terrain. We also enhance the kinematics to predict nonzero wheel slip in a principled way based on gravitational, inertial, and dissipative forces. Unlike ordinary differential equation (ODE)-based dynamic models which can be very stiff, our constrained dynamics formulation permits large integration steps without compromising stability. Some alternatives like Open Dynamics Engine also use constraints, but can only approximate Coulomb friction at contacts. In contrast, we can enforce realistic, nonlinear models of wheel-terrain interaction (e.g. empirical models for pneumatic tires, terramechanics-based models) using a novel force-balance optimization technique. Simulation tests show our kinematic and dynamic models to be more functional, stable, and efficient than common alternatives. Simulations run 1K-10K faster than real time on an ordinary PC, even while predicting articulated motion on rough terrain and enforcing realistic wheel-terrain interaction models. In addition, we present a novel Integrated Prediction Error Minimization (IPEM) method to calibrate model parameters that is general, convenient, online, and evaluative. Ordinarily system dynamics are calibrated by minimizing the error of instantaneous output predictions. IPEM instead forms predictions by integrating the system dynamics over an interval; benefits include reduced sensing requirements, better observability, and accuracy over a longer horizon. In addition to calibrating out systematic errors, we simultaneously calibrate a model of stochastic error propagation to quantify the uncertainty of motion predictions. Experimental results on multiple platforms and terrain types show that parameter estimates converge quickly during online calibration, and uncertainty is well characterized. Under normal conditions, our enhanced kinematic model can predict nonzero wheel slip as accurately as a full dynamic model for a fraction of the computation cost. Finally, odometry is greatly improved when using IPEM vs. manual calibration, and when using 3D vs. 2D kinematics. To facilitate their use, we have released open source MATLAB and C++ libraries implementing the model formulation and calibration methods in this thesis.
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Miranda, La Hera Pedro Xavier. "Contributions to Motion Planning and Orbital Stabilization : Case studies: Furuta Pendulum swing up, Inertia Wheel oscillations and Biped Robot walking." Licentiate thesis, Umeå : Umepå universitet, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-1874.

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Kimmel, Shawn Christopher. "Considerations for and Implementations of Deliberative and Reactive Motion Planning Strategies for the Novel Actuated Rimless Spoke Wheel Robot IMPASS for the Two-Dimensional Sagittal Plane." Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/32324.

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IMPASS is a novel spoke-wheel robot invented by researchers at the Robotics and Mechanisms Lab (RoMeLa) at Virginia Tech. The robot is driven by a rimless spoke wheel which can alter the length of any given spoke in the hub. This form of novel locomotion combines the efficiency of a wheeled robot and the mobility of a legged robot, arriving at a very practical mobility platform. A highly mobile robot such as IMPASS could prove very valuable in applications where the terrain is complex and dangerous, such as search and rescue, reconnaissance, or anti-terror response. A prototype has been constructed that effectively demonstrates the actuated spoke wheel concept using two wheels containing six spokes each. Manually controlling the motion of two wheels and twelve spokes would be a daunting task for any operator. Due to this inherent complexity, automated motion control is a necessity for the IMPASS platform. The work presented here will discuss two different approaches to the motion planning problem for the two-dimensional sagittal plane. The first approach is deliberative in nature and depends on fairly accurate terrain sensing. The motion planning first decides on a set of contact points based on obstacle configurations and a Lagrangian interpolation of the terrain. A lower level motion planning component then executes the movements that guide the spoke ends to the contact points. The second motion planning approach is reactive in nature. Proprioceptive and tactile sensors are used to determine the robot's pose and immediate surroundings. These sensors directly affect the motion profile of the robot. The reactive approach follows much simpler logic, which theoretically will make it more robust. Motion planning strategies were tested in simulation and on the IMPASS prototype. Both strategies proved to be well suited for different applications. The deliberative control was very successful in a structured environment, whereas the reactive control was able to cross a wider variety of terrain. The results from the testing also provided some insight into variables introduced by the hardware. Future improvements to the motion planning control include accounting for these variables in the hardware and eventually developing three-dimensional motion planning algorithms based on the lessons learned from the two-dimension case.
Master of Science
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Grönlund, Arthur, and Christos Tolis. "Riderless self-balancing bicycle : Derivation and implementation of a time variantlinearized state space model for balancing a bicycle in motion by turning the front wheel." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230169.

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Självkörande fordon börjar bli en allt större verklighet isamhället, där bussar och bilar snart kan komma att implementeraspå större skala. Självkörande tvåhjuliga fordonkan vara en möjlig lösning på mindre fordon i städer därutrymme blir mer och mer sparsamt.Syftet med detta projekt har varit att ta fram och implementeraen linjäriserad tidsvarierande tillståndsmodell förbalansreglering av en elcykel genom vridning av framhjulet.För att testa modellen konstruerades en liten demonstratormed vilken experiment och tester utfördes.Den slutsats som drogs var att modellen mycket väl skullekunna vara en lösning för balansering av en elcykel, menatt fortsatta undersökningar bör genomföras på en större skala för att en mer definitiv slutsats skall kunna dras.
Self-driving vehicles are becoming more and more prevalentin society, with buses and cars close to being implementedin the public domain. Self-driving two-wheeled vehiclescould be a solution for space-efficient transportationin cities, where space is becoming a larger issue.The purpose of this project was to develop and implement alinearized time variant state space model for balancing sucha two-wheeled vehicle in the form of a bicycle by turningits front wheel. To test the derived model a small demonstratorwas built and experimented with.The final conclusion was that the model could be a simplesolution for balancing an electric bicycle. However, furtherexperimentation on a bigger scale would have to be doneto reach a more decisive conclusion.
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Hosseinipour, Milad. "Electromechanical Design and Development of the Virginia Tech Roller Rig Testing Facility for Wheel-rail Contact Mechanics and Dynamics." Diss., Virginia Tech, 2016. http://hdl.handle.net/10919/82542.

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The electromechanical design and development of a sophisticated roller rig testing facility at the Railway Technologies Laboratory (RTL) of Virginia Polytechnic and State University (VT) is presented. The VT Roller Rig is intended for studying the complex dynamics and mechanics at the wheel-rail interface of railway vehicles in a controlled laboratory environment. Such measurements require excellent powering and driving architecture, high-performance motion control, accurate measurements, and relatively noise-free data acquisition systems. It is critical to accurately control the relative dynamics and positioning of rotating bodies to emulate field conditions. To measure the contact forces and moments, special care must be taken to ensure any noise, such as mechanical vibration, electrical crosstalk, and electromagnetic interference (EMI) are kept to a minimum. This document describes the steps towards design and development of all electromechanical subsystems of the VT Roller Rig, including the powertrain, power electronics, motion control systems, sensors, data acquisition units, safety and monitoring circuits, and general practices followed for satisfying the local and international codes of practice. The VT Roller Rig is comprised of a wheel and a roller in a vertical configuration that simulate the single-wheel/rail interaction in one-fourth scale. The roller is five times larger than the scaled wheel to keep the contact patch distortion that is inevitable with a roller rig to a minimum. This setup is driven by two independent AC servo motors that control the velocity of the wheel and roller using state-of-the-art motion control technologies. Six linear actuators allow for adjusting the simulated load, wheel angle of attack, rail cant, and lateral position of the wheel on the rail. All motion controls are performed using digital servo drives, manufactured by Kollmorgen, VA, USA. A number of sensors measure the contact patch parameters including force, torque, displacement, rotation, speed, acceleration, and contact patch geometry. A unified communication protocol between the actuators and sensors minimizes data conversion time, which allows for servo update rates of up to 48kHz. This provides an unmatched bandwidth for performing various dynamics, vibrations, and transient tests, as well as static steady-state conditions. The VT Roller Rig has been debugged and commissioned successfully. The hardware and software components are tested both individually and within the system. The VT Roller Rig can control the creepage within 0.3RPM of the commanded value, while actively controlling the relative position of the rotating bodies with an unprecedented level of accuracy, no more than 16nm of the target location. The contact force measurement dynamometers can dynamically capture the contact forces to within 13.6N accuracy, for up to 10kN. The instantaneous torque in each driveline can be measured with better than 6.1Nm resolution. The VT Roller Rig Motion Programming Interface (MPI) is highly flexible for both programmers and non-programmers. All common motion control algorithms in the servo motion industry have been successfully implemented on the Rig. The VT Roller Rig MPI accepts third party motion algorithms in C, C++, and any .Net language. It successfully communicates with other design and analytics software such as Matlab, Simulink, and LabVIEW for performing custom-designed routines. It also provides the infrastructure for linking the Rig's hardware with commercial multibody dynamics software such as Simpack, NUCARS, and Vampire, which is a milestone for hardware-in-the-loop testing of railroad systems.
Ph. D.
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Books on the topic "Motion of the wheel"

1

Perschbacher, Gerald. Wheels in motion. Iola, WI: Krause Publications, 1996.

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Brown, David W. R. The Asa Jackson perpetual motion wheel: Complete specifications : including, historical notes by Asa's great-great-grandson, over ninety detailed drawings, companion CD with over 500 photographs. Norris, TN: Museum of Appalachia, 2003.

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J, Huijbregts Mark A., ed. Biofuels for road transport: A seed to wheel perspective. London: Springer, 2009.

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Drake, Gilbert N. Survival behind the wheel: Safety, knowledge, strategy, and performance for all who drive. Sarasota Fl: Distributed by BookWorld, 1995.

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Mather, Phil. Scooters service and repair manual: Automatic transmission, 50 to 250cc, two-wheel, carbureted models. Newbury Park, CA: Haynes North America, Inc., 2009.

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All about Thelma and Eve: Sidekicks and third wheels. Urbana: University of Illinois Press, 2002.

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Wheel. Todmorden, UK: Arc Publicaitons, 2008.

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Lynn, Sara. Wheels. Cambridge, Mass: Shaw's Candlewick Press, 1996.

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Manual transmissions and transaxles. San Diego: Harcourt Brace Jovanovich, Technology Publications, 1990.

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Manual transmissions and transaxles. 2nd ed. Albany, N.Y: Delmar Publishers, 1997.

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Book chapters on the topic "Motion of the wheel"

1

Wang, Xuezhu, Xiangtao Zhuan, Guilin Zheng, and Zheng Chen. "Motion Dynamics Modelling of an Electric Wheel Robot." In Intelligent Robotics and Applications, 159–70. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16584-9_15.

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Leber, Titus. "Interactively Setting in Motion the Wheel of Law." In X.media.publishing, 43–55. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-642-18663-9_6.

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Kidwell, Donna K., Cliff Zintgraff, and Gregory P. Pogue. "The STEM Technopolis Wheel: In Motion Through STEM Learning." In STEM in the Technopolis: The Power of STEM Education in Regional Technology Policy, 65–77. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-39851-4_4.

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Pasupuleti, Devasena, Dimple Dannana, Raghuveer Maddi, Uday Manne, and Rajeevlochana G. Chittawadigi. "Intuitive Control of Three Omni-Wheel-Based Mobile Platforms Using Leap Motion." In Advances in Intelligent Systems and Computing, 673–85. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-33-6984-9_53.

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Weiss, Avishai, Frederick Leve, Ilya V. Kolmanovsky, and Moriba Jah. "Reaction Wheel Parameter Identification and Control through Receding Horizon-Based Null Motion Excitation." In Advances in Estimation, Navigation, and Spacecraft Control, 477–94. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44785-7_25.

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Ma, Yue, Changle Xiang, Qingdong Yan, and Quanmin Zhu. "Motion Stabilizing Controller of Off-Road Unmanned Wheel Vehicle in 3 Dimensional Space." In Lecture Notes in Electrical Engineering, 275–89. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-33838-0_25.

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Manne, Uday, Raghuveer Maddi, Dimple Dannana, Devasena Pasupuleti, and Rajeevlochana G. Chittawadigi. "Two Degree-Of-Freedom Omni-Wheel Based Mobile Robot Platform for Translatory Motion." In Lecture Notes in Mechanical Engineering, 125–35. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-1769-0_12.

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Zalewski, Jarosław. "Selected Problems of a Motor Vehicle Motion in a Turn After Steering Wheel Release." In Communications in Computer and Information Science, 273–86. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27547-1_20.

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Smirnov, Kirill Andreevich. "Simulation of rectilinear motion of a four-wheel car-like robot with an electromechanical drivetrain." In Advances in Mechanism and Machine Science, 2671–79. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-20131-9_264.

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Trojnacki, Maciej. "Determination of Forces and Moments of Force Transmitted by the Wheel of a Mobile Robot During Motion." In Advances in Intelligent Systems and Computing, 205–17. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-26886-6_13.

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Conference papers on the topic "Motion of the wheel"

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Ghabcheloo, Reza, Mika Hyvo¨nen, Jarno Uusisalo, Otso Karhu, Juha Ja¨ra¨, and Kalevi Huhtala. "Autonomous Motion Control of a Wheel Loader." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2653.

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This paper addresses the problem of autonomous control of a hydraulically actuated articulated-frame-steering (AFS) mobile machine— a wheel loader. Our autonomous motion control system includes a mission planning graphical user interface, an improved odometry algorithm and a GPS device for navigation purposes, together with a model based path-following control strategy, and speed control. The test platform is a small prototype wheel loader based on Avant-635 whose hydraulic components are substituted by electrically controlled equivalents. System development and preliminary calibrations are done using GIMsim— an elaborated semi-empirical hardware-in-the-loop simulator. Some field experiments are presented that demonstrate satisfactory performance of the system at this stage. Further tunings are required to reach a desired performance.
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Ke, Qiu, and Luo Feng. "Research on motion system of wheel robot." In 2011 International Conference on Consumer Electronics, Communications and Networks (CECNet). IEEE, 2011. http://dx.doi.org/10.1109/cecnet.2011.5768587.

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Derby, Stephen J., Kurt Anderson, Steven Winckler, and Jason Winckler. "Motion Characteristics of a Square Wheel Car." In ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/detc2006-99140.

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A mechanical locomotive device that uses square wheels has been developed (patent pending), and a working prototype of one configuration has been built. This invention has applications to current locomotive devices, like robots or vehicles, as well as the potential to be used in micro devices (MEMS). The prototype uses a motor to create a moving force (a weight in this case), which moves in a repeating pattern, that in turn causes the device to move in a straight line, and there is no direct connection between the ground and the motor. Consequently, the device could work using any means to produce a moving force (weight, electrostatic, electromagnetic, aerodynamic, and so on). This paper describes the gait of the square wheels and looks at a sample of the results of standard dynamic modeling and analysis to understand the strengths and limitations of this new device.
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Goodell, I. Henry P., Robert Dennis, and Sharon Joines. "Tensegrity-Inspired Wheel with Force-Based Motion." In 16th Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments. Reston, VA: American Society of Civil Engineers, 2018. http://dx.doi.org/10.1061/9780784481899.087.

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Vantsevich, V. V. "Inverse Wheel Dynamics." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-13787.

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Wheel dynamics is a significant component of vehicle dynamics and performance analysis. This paper presents an innovative method of studying wheel dynamics and wheel performance control based on the inverse dynamics formulation of the problem. Such an approach opens up a new way to the optimization and control of both vehicle dynamics and vehicle performance by optimizing and controlling power distribution to the drive wheels. An equation of motion of a wheel is derived first from the wheel power balance equation that makes the equation more general. This equation of motion is considered the basis for studying both direct and inverse wheel dynamics. The development of a control strategy on the basis of the inverse wheel dynamics approach includes wheel torque control that provides a wheel with both the referred angular velocity and rolling radius and also with the required functionals of quality. An algorithm for controlling the angular velocity is presented as the first part in the implementation of the developed strategy of the inverse wheel dynamics/performance control.
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Agrawal, Sunil K., Jin Yan, and Jared Rochester. "Analytics and Motion Planning of a Novel Four-Wheel Vehicle With Expanding Wheels." In ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASME, 2002. http://dx.doi.org/10.1115/detc2002/mech-34348.

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Carvalhosa, A., P. Machado, A. Sousa, and J. C. Alves. "Soft core robot with joint wheel motion controller." In IECON 2009 - 35th Annual Conference of IEEE Industrial Electronics (IECON). IEEE, 2009. http://dx.doi.org/10.1109/iecon.2009.5415303.

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Ohira, Takashi. "Via-wheel power transfer to vehicles in motion." In 2013 IEEE Wireless Power Transfer Conference (WPTC). IEEE, 2013. http://dx.doi.org/10.1109/wpt.2013.6556928.

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Shigeru, Sarata, Osumi Hisashi, Hirai Yusuke, and Matshushima Gen. "Trajectory Arrangement of Bucket Motion of Wheel Loader." In 20th International Symposium on Automation and Robotics in Construction. International Association for Automation and Robotics in Construction (IAARC), 2003. http://dx.doi.org/10.22260/isarc2003/0020.

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Deng, Zongquan, Haitao Fang, Yuhong Dong, and Jianguo Tao. "Research on Wheel-walking Motion Control of Lunar Rover with Six Cylinder-conical Wheels." In 2007 International Conference on Mechatronics and Automation. IEEE, 2007. http://dx.doi.org/10.1109/icma.2007.4303574.

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Reports on the topic "Motion of the wheel"

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Slayzak, S. J., and J. P. Ryan. Desiccant Dehumidification Wheel Test Guide. Office of Scientific and Technical Information (OSTI), January 2001. http://dx.doi.org/10.2172/775748.

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Pharaon, Jean W. Tracked Vehicle Road Wheel Puller. Fort Belvoir, VA: Defense Technical Information Center, February 2009. http://dx.doi.org/10.21236/ada496121.

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Back, B. B., C. N. Davids, and J. Falout. Rotating target wheel for the FMA. Office of Scientific and Technical Information (OSTI), August 1995. http://dx.doi.org/10.2172/166371.

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Els, P. S. Wheel Force Transducer Research and Development. Fort Belvoir, VA: Defense Technical Information Center, March 2012. http://dx.doi.org/10.21236/ada557517.

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Olson, Sterling Stewart, Chris Clayton Chartrand, and Jesse D. Roberts. Big Wheel Farm: Farmland Scour Reduction. Office of Scientific and Technical Information (OSTI), December 2019. http://dx.doi.org/10.2172/1592853.

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Doerry, Armin W. Smoothing Motion Estimates for Radar Motion Compensation. Office of Scientific and Technical Information (OSTI), July 2017. http://dx.doi.org/10.2172/1369525.

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Yapp, Clifford. Vehicle Tire and Wheel Creation in BRL-CAD. Fort Belvoir, VA: Defense Technical Information Center, April 2009. http://dx.doi.org/10.21236/ada499661.

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Ban, Akane, and Hisashi Sugiyama. Evaluation Method of Touch Feeling for Steering Wheel. Warrendale, PA: SAE International, May 2005. http://dx.doi.org/10.4271/2005-08-0249.

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Singhal, R. K., and T. S. Golosinski. Basic consideration in selection of bucket wheel excavators. Natural Resources Canada/ESS/Scientific and Technical Publishing Services, 1986. http://dx.doi.org/10.4095/304926.

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Fite, Jesse, S. Nemesure, M. Sivertz, A. Rusek, and I.-H. Chiang. Beam Degrader Wheel for Gold Beams at NSRL. Office of Scientific and Technical Information (OSTI), November 2010. http://dx.doi.org/10.2172/1775551.

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