scholarly journals Wheel Slip Classification Method for Mobile Robot in Sandy Terrain Using In-Wheel Sensor

2017 ◽  
Vol 29 (5) ◽  
pp. 902-910
Author(s):  
Takuya Omura ◽  
◽  
Genya Ishigami
Keyword(s):  
Mobile Robot ◽  
Normal Force ◽  
Learning Algorithm ◽  
Machine Learning Algorithm ◽  
Exit Angle ◽  
Test Bed ◽  
Wheel Slip ◽  
Wheel Drive ◽  
Wheel Sensor ◽  
Four Wheel Drive

This paper proposes a method that can estimate and classify the magnitude of wheel slippage for a mobile robot in sandy terrains. The proposed method exploits a sensor suite, called an in-wheel sensor, which measures the normal force and contact angle at the wheel-sand interaction boundary. An experimental test using the in-wheel sensor reveals that the maximum normal force and exit angle of the wheel explicitly vary with the magnitude of the wheel slippage. These characteristics are then fed into a machine learning algorithm, which classifies the wheel slippage into three categories: non-stuck wheel, quasi-stuck wheel, and stuck wheel. The usefulness of the proposed method for slip classification is experimentally evaluated using a four-wheel-drive test bed rover.

A Study of Robot Platform Based on WiFi Remote Control

2013 ◽  
Vol 418 ◽  
pp. 20-24
Author(s):  
Yu Zhen Yang ◽  
Chang Sheng Ai ◽  
Kevin Lee
Keyword(s):  
Remote Control ◽  
Mobile Robot ◽  
Real Time ◽  
Data Communication ◽  
Wheel Drive ◽  
Control Terminal ◽  
Four Wheel Drive ◽  
And Control ◽  
Network Camera ◽  
Robot Platform

In order to complete the complex operation in the dangerous environment and improve the efficiency and accuracy of industrial production. WiFi based remote control system platform is composed by the controlled mobile robot and control terminal such as PC. They communicate with each other through wireless network. The mobile robot constructs of four wheel drive. Microcontroller, sensor, wireless routing module, serial server and network camera are in the robot. Control terminal includes PC, control handle and other equipments. Using a proven and reliable wireless bridge, each network device can realize network communication with others. Based on the TCP/IP protocol, using socket programming technology, data communication can be achieved. Video capture uses the network camera. Through the test of the platform, bilateral operation with real-time haptic and video feedback are achieved. At the same time according to the real-time environmental information feedback, control terminal realizes the effective remote monitoring in the controlled end.

scholarly journals Mechatronic Design of a Four-Wheel drive mobile robot and differential steering

2021 ◽  
Vol 343 ◽  
pp. 08003
Author(s):  
Mihai Crenganis ◽  
Cristina Biris ◽  
Claudia Girjob
Keyword(s):  
Mobile Robot ◽  
Mobile Platform ◽  
Wheel Drive ◽  
Differential Steering ◽  
General Aspects ◽  
Four Wheel Drive ◽  
And Control ◽  
High Degree ◽  
Future Work ◽  
Important Objective

This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.

scholarly journals Kinematics and Moving Properties of a Four-Wheel-Drive, Omnidirectional Mobile Robot.

1996 ◽  
Vol 62 (604) ◽  
pp. 4573-4579 ◽  
Author(s):  
Shoichiro FUJISAWA ◽  
Keiji OHKUBO ◽  
Yasunari SHIDAMA ◽  
Hiroo YAMAURA
Keyword(s):  
Mobile Robot ◽  
Omnidirectional Mobile Robot ◽  
Wheel Drive ◽  
Four Wheel Drive

Slip Calculation and Analysis for Four-wheel Drive Tractors

2005 ◽  
Vol 1 (1) ◽  
pp. 7-31 ◽  
Author(s):  
Márk Szente
Keyword(s):  
Rear Wheel ◽  
Front Wheel ◽  
Wheel Slip ◽  
Wheel Load ◽  
Low Profile ◽  
Wheel Drive ◽  
The Difference ◽  
Special Respect ◽  
Four Wheel Drive ◽  
Drawbar Pull

The objective of the research of tires was to determine the dynamic rolling radius and to apply it to wheel slip calculations with special respect to vertical wheel load and to tire inflation pressure. It is typical of mechanical four-wheel drive tractors that there is a definite additional power in the tractor power chain. This additional power is dependent on the difference between the front wheel and rear wheel peripheral speeds. Further-more, the purpose was to determine the effect of additional slip on four-wheel drive tractors operated without drawbar pull. Experiments were performed on asphalt surfaces and fields. A new measurement method was developed, and a device was constructed for the implementation of three tractor wheel drive operational modes (four-wheel drive, rear-wheel drive and front-wheel drive). As the result of the experiments, a relationship was found to describe the dynamic rolling radius for low-profile radial tires tested on rigid road surfaces. On this basis, the classical slip calculation method was modified. This phenomenon appears only on hard roads and soil surfaces with high adhesion coefficients and only within the low drawbar pull range.

Extended Ackerman Steering Principle for the coordinated movement control of a four wheel drive agricultural mobile robot

2018 ◽  
Vol 152 ◽  
pp. 40-50 ◽  
Author(s):  
Quan Qiu ◽  
Zhengqiang Fan ◽  
Zhijun Meng ◽  
Qing Zhang ◽  
Yue Cong ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Movement Control ◽  
Wheel Drive ◽  
Four Wheel Drive

Machine Learning Algorithm to Predict Early Complications after Brain Tumor Surgery

2018 ◽  
Author(s):  
C.H.B. van Niftrik ◽  
F. van der Wouden ◽  
V. Staartjes ◽  
J. Fierstra ◽  
M. Stienen ◽  
...  
Keyword(s):  
Machine Learning ◽  
Brain Tumor ◽  
Learning Algorithm ◽  
Machine Learning Algorithm ◽  
Tumor Surgery ◽  
Early Complications ◽  
Brain Tumor Surgery

Feature extraction and prediction of Dengue Outbreaks

2020 ◽  
pp. 216-222
Author(s):  
Kunal Parikh ◽  
Tanvi Makadia ◽  
Harshil Patel
Keyword(s):  
Public Health ◽  
Machine Learning ◽  
Developing Countries ◽  
Feature Extraction ◽  
Predictive Analytics ◽  
Learning Algorithm ◽  
Machine Learning Algorithm ◽  
Health Concerns ◽  
The World ◽  
Dengue Outbreaks

Dengue is unquestionably one of the biggest health concerns in India and for many other developing countries. Unfortunately, many people have lost their lives because of it. Every year, approximately 390 million dengue infections occur around the world among which 500,000 people are seriously infected and 25,000 people have died annually. Many factors could cause dengue such as temperature, humidity, precipitation, inadequate public health, and many others. In this paper, we are proposing a method to perform predictive analytics on dengue’s dataset using KNN: a machine-learning algorithm. This analysis would help in the prediction of future cases and we could save the lives of many.

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