Four-Wheel Vehicle Suspension System

NASA Technical Reports Server (NTRS)

Bickler, Donald B.

1990-01-01

Four-wheel suspension system uses simple system of levers with no compliant components to provide three-point suspension of chassis of vehicle while maintaining four-point contact with uneven terrain. Provides stability against tipping of four-point rectangular base, without rocking contact to which rigid four-wheel frame susceptible. Similar to six-wheel suspension system described in "Articulated Suspension Without Springs" (NPO-17354).

Interaction between moving tandem wheels and an infinite rail with periodic supports - Green's matrices of the track method in stationary reference frame

NASA Astrophysics Data System (ADS)

Mazilu, Traian

2017-08-01

This paper approaches the issue of the interaction between moving tandem wheels and an infinite periodically supported rail and points out at the basic characteristics in the steady-state interaction behaviour and in the interaction in the presence of the rail random irregularity. The rail is modelled as an infinite Timoshenko beam resting on supports which are discretely modelling the inertia of the sleepers and ballast and also the viscoelastic features of the rail pads, the ballast and the subgrade. Green‧s matrices of the track method in stationary reference frame were applied so as to conduct the time-domain analysis. This method allows to consider the nonlinearities of the wheel/rail contact and the Doppler effect. The study highlights certain aspects regarding the influence of the wheel base on the wheels/rail contact forces, particularly at the parametric resonance, due to the coincidence between the wheel/rail natural frequency and the passing frequency and also when the rail surface exhibits random irregularity. It has been shown that the wheel/rail dynamic behaviour is less intense when the wheel base equals integer multiple of the sleeper bay.

Research on Standard and Automatic Judgment of Press-fit Curve of Locomotive Wheel-set Based on AAR Standard

NASA Astrophysics Data System (ADS)

Lu, Jun; Xiao, Jun; Gao, Dong Jun; Zong, Shu Yu; Li, Zhu

2018-03-01

In the production of the Association of American Railroads (AAR) locomotive wheel-set, the press-fit curve is the most important basis for the reliability of wheel-set assembly. In the past, Most of production enterprises mainly use artificial detection methods to determine the quality of assembly. There are cases of miscarriage of justice appear. For this reason, the research on the standard is carried out. And the automatic judgment of press-fit curve is analysed and designed, so as to provide guidance for the locomotive wheel-set production based on AAR standard.

Sensor set-up for wireless measurement of automotive rim and wheel parameters in laboratory conditions

NASA Astrophysics Data System (ADS)

Borecki, M.; Prus, P.; Korwin-Pawlowski, M. L.; Rychlik, A.; Kozubel, W.

2017-08-01

Modern rims and wheels are tested at the design and production stages. Tests can be performed in laboratory conditions and on the ride. In the laboratory, complex and costly equipment is used, as for example wheel balancers and impact testers. Modern wheel balancers are equipped with electronic and electro-mechanical units that enable touch-less measurement of dimensions, including precision measurement of radial and lateral wheel run-out, automatic positioning and application of the counterweights, and vehicle wheel set monitoring - tread wear, drift angles and run-out unbalance. Those tests are performed by on-wheel axis measurements with laser distance meters. The impact tester enables dropping of weights from a defined height onto a wheel. Test criteria are the loss of pressure of the tire and generation of cracks in the wheel without direct impact of the falling weights. In the present paper, a set up composed of three accelerometers, a temperature sensor and a pressure sensor is examined as the base of a wheel tester. The sensor set-up configuration, on-line diagnostic and signal transmission are discussed.

Nocturnal to Diurnal Switches with Spontaneous Suppression of Wheel-Running Behavior in a Subterranean Rodent

PubMed Central

Tachinardi, Patricia; Tøien, Øivind; Valentinuzzi, Veronica S.; Buck, C. Loren; Oda, Gisele A.

2015-01-01

Several rodent species that are diurnal in the field become nocturnal in the lab. It has been suggested that the use of running-wheels in the lab might contribute to this timing switch. This proposition is based on studies that indicate feed-back of vigorous wheel-running on the period and phase of circadian clocks that time daily activity rhythms. Tuco-tucos (Ctenomys aff. knighti) are subterranean rodents that are diurnal in the field but are robustly nocturnal in laboratory, with or without access to running wheels. We assessed their energy metabolism by continuously and simultaneously monitoring rates of oxygen consumption, body temperature, general motor and wheel running activity for several days in the presence and absence of wheels. Surprisingly, some individuals spontaneously suppressed running-wheel activity and switched to diurnality in the respirometry chamber, whereas the remaining animals continued to be nocturnal even after wheel removal. This is the first report of timing switches that occur with spontaneous wheel-running suppression and which are not replicated by removal of the wheel. PMID:26460828

Mathematical model of rolling an elastic wheel over deformable support base

NASA Astrophysics Data System (ADS)

Volskaia, V. N.; Zhileykin, M. M.; Zakharov, A. Y.

2018-02-01

One of the main direction of economic growth in Russia remains to be a speedy development of north and northeast regions that are the constituents of the 60 percent of the country territory. The further development of these territories requires new methods and technologies for solving transport and technological problems when off-road transportation of cargoes and people is conducting. One of the fundamental methods of patency prediction is imitation modeling of wheeled vehicles movement in different operating conditions. Both deformable properties of tires and physical and mechanical properties of the ground: normal tire deflection and gauge depth; variation of contact patch area depending on the load and pressure of air in the tire; existence of hysteresis losses in the tire material which are influencing on the rolling resistance due to friction processes between tire and ground in the contact patch; existence of the tangential reaction from the ground by entire contact area influence on the tractive patency. Nowadays there are two main trends in theoretical research of interaction wheeled propulsion device with ground: analytical method involving mathematical description of explored process and finite element method based on computational modeling. Mathematical models of interaction tire with the ground are used both in processes of interaction individual wheeled propulsion device with ground and researches of mobile vehicle dynamical models operated in specific road and climate conditions. One of the most significant imperfection of these models is the description of interaction wheel with flat deformable support base whereas profile of real support base surface has essential height of unevenness which is commensurate with radius of the wheel. The description of processes taking place in the ground under influence of the wheeled propulsion device using the finite element method is relatively new but most applicable lately. The application of this method allows to provide the most accurate description of the interaction process of a wheeled propulsion devices and the ground, also this method allows to define tension in the ground, deformation of the ground and the tire and ground’s compression. However, the high laboriousness of computations is essential shortcoming of that method therefore it’s hard to use these models as part of the general motion model of multi-axis wheeled vehicles. The purpose of this research is the elaboration of mathematical model of elastic wheel rolling over deformable rough support base taking into account the contact patch deformation. The mathematical model of rectilinear rolling an elastic wheel over rough deformable support base, taking into account variation of contact patch area and variation in the direction of the radial and tangential reactions also load bearing capacity of the ground, is developed. The efficiency of developed mathematical model of rectilinear rolling an elastic wheel over rough deformable support base is proved by the simulation methods.

On-machine precision preparation and dressing of ball-headed diamond wheel for the grinding of fused silica

NASA Astrophysics Data System (ADS)

Chen, Mingjun; Li, Ziang; Yu, Bo; Peng, Hui; Fang, Zhen

2013-09-01

In the grinding of high quality fused silica parts with complex surface or structure using ball-headed metal bonded diamond wheel with small diameter, the existing dressing methods are not suitable to dress the ball-headed diamond wheel precisely due to that they are either on-line in process dressing which may causes collision problem or without consideration for the effects of the tool setting error and electrode wear. An on-machine precision preparation and dressing method is proposed for ball-headed diamond wheel based on electrical discharge machining. By using this method the cylindrical diamond wheel with small diameter is manufactured to hemispherical-headed form. The obtained ball-headed diamond wheel is dressed after several grinding passes to recover geometrical accuracy and sharpness which is lost due to the wheel wear. A tool setting method based on high precision optical system is presented to reduce the wheel center setting error and dimension error. The effect of electrode tool wear is investigated by electrical dressing experiments, and the electrode tool wear compensation model is established based on the experimental results which show that the value of wear ratio coefficient K' tends to be constant with the increasing of the feed length of electrode and the mean value of K' is 0.156. Grinding experiments of fused silica are carried out on a test bench to evaluate the performance of the preparation and dressing method. The experimental results show that the surface roughness of the finished workpiece is 0.03 μm. The effect of the grinding parameter and dressing frequency on the surface roughness is investigated based on the measurement results of the surface roughness. This research provides an on-machine preparation and dressing method for ball-headed metal bonded diamond wheel used in the grinding of fused silica, which provides a solution to the tool setting method and the effect of electrode tool wear.

A Brief Opportunity to Run Does Not Function as a Reinforcer for Mice Selected for High Daily Wheel-Running Rates

ERIC Educational Resources Information Center

Belke, Terry W.; Garland, Theodore, Jr.

2007-01-01

Mice from replicate lines, selectively bred based on high daily wheel-running rates, run more total revolutions and at higher average speeds than do mice from nonselected control lines. Based on this difference it was assumed that selected mice would find the opportunity to run in a wheel a more efficacious consequence. To assess this assumption…

Mid-sized omnidirectional robot with hydraulic drive and steering

NASA Astrophysics Data System (ADS)

Wood, Carl G.; Perry, Trent; Cook, Douglas; Maxfield, Russell; Davidson, Morgan E.

2003-09-01

Through funding from the US Army-Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program, Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS) has developed the T-series of omni-directional robots based on the USU omni-directional vehicle (ODV) technology. The ODV provides independent computer control of steering and drive in a single wheel assembly. By putting multiple omni-directional (OD) wheels on a chassis, a vehicle is capable of uncoupled translational and rotational motion. Previous robots in the series, the T1, T2, T3, ODIS, ODIS-T, and ODIS-S have all used OD wheels based on electric motors. The T4 weighs approximately 1400 lbs and features a 4-wheel drive wheel configuration. Each wheel assembly consists of a hydraulic drive motor and a hydraulic steering motor. A gasoline engine is used to power both the hydraulic and electrical systems. The paper presents an overview of the mechanical design of the vehicle as well as potential uses of this technology in fielded systems.

Estimation of actual residual stresses due to braking and contact loading of rail vehicle wheels

DOT National Transportation Integrated Search

1996-03-01

A finite element formulation for shakedown stress analysis of rail vehicle wheels is presented, based on a hypothesis that the shakedown state is axisymmetric. The method can be used to estimate shakedown stresses in wheels subjected to combined mech...

A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

NASA Astrophysics Data System (ADS)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

Multi Objective Optimization of Multi Wall Carbon Nanotube Based Nanogrinding Wheel Using Grey Relational and Regression Analysis

NASA Astrophysics Data System (ADS)

Sethuramalingam, Prabhu; Vinayagam, Babu Kupusamy

2016-07-01

Carbon nanotube mixed grinding wheel is used in the grinding process to analyze the surface characteristics of AISI D2 tool steel material. Till now no work has been carried out using carbon nanotube based grinding wheel. Carbon nanotube based grinding wheel has excellent thermal conductivity and good mechanical properties which are used to improve the surface finish of the workpiece. In the present study, the multi response optimization of process parameters like surface roughness and metal removal rate of grinding process of single wall carbon nanotube (CNT) in mixed cutting fluids is undertaken using orthogonal array with grey relational analysis. Experiments are performed with designated grinding conditions obtained using the L9 orthogonal array. Based on the results of the grey relational analysis, a set of optimum grinding parameters is obtained. Using the analysis of variance approach the significant machining parameters are found. Empirical model for the prediction of output parameters has been developed using regression analysis and the results are compared empirically, for conditions of with and without CNT grinding wheel in grinding process.

The CRREL Instrumented Vehicle: Hardware and Software.

DTIC Science & Technology

1983-01-01

rear axle torque are meas- ured. The vehicle is equipped for front-wheel, rear-wheel or four-wheel drive. A dual brake system allows front-, rear- or...four-wheel braking . A minicomputer- based data acquisition system is installed in the vehicle to control data gather ing and to process the data. The...o..o...o 4 4. Dual brake system control valves . ........ 5 5. Schematic of modified brake system ...... .... st 5 6. Air-shock-absorber regulator

An E-liquid Flavor Wheel: A Shared Vocabulary based on Systematically Reviewing E-liquid Flavor Classifications in Literature.

PubMed

Krüsemann, Erna Johanna Zegerina; Boesveldt, Sanne; de Graaf, Kees; Talhout, Reinskje

2018-05-18

E-liquids are available in a high variety of flavors. A systematic classification of e-liquid flavors is necessary to increase comparability of research results. In the food, alcohol and fragrance industry, flavors are classified using flavor wheels. We systematically reviewed literature on flavors related to e-cigarette use, to investigate how e-liquid flavors have been classified in research, and propose an e-liquid flavor wheel to classify e-liquids based on marketing descriptions. The search was conducted in May 2017 using PubMed and Embase databases. Keywords included terms associated with e-cigarettes, flavors, liking, learning, and wanting in articles. Results were independently screened and reviewed. Flavor categories used in the articles reviewed were extracted. Searches yielded 386 unique articles of which 28 were included. Forty-three main flavor categories were reported in these articles (e.g., tobacco, menthol, mint, fruit, bakery/dessert, alcohol, nuts, spice, candy, coffee/tea, beverages, chocolate, sweet flavors, vanilla, unflavored). Flavor classifications of e-liquids in literature showed similarities and differences across studies. Our proposed e-liquid flavor wheel contains 13 main categories and 90 subcategories, which summarize flavor categories from literature to find a shared vocabulary. For classification of e-liquids using our flavor wheel, marketing descriptions should be used. We have proposed a flavor wheel for classification of e-liquids. Further research is needed to test the flavor wheels' empirical value. Consistently classifying e-liquid flavors using our flavor wheel in research (e.g., experimental, marketing, or qualitative studies) minimizes interpretation differences and increases comparability of results. We reviewed e-liquid flavors and flavor categories used in research. A large variation in the naming of flavor categories was found and e-liquid flavors were not consistently classified. We developed an e-liquid flavor wheel and provided a guideline for systematic classification of e-liquids based on marketing descriptions. Our flavor wheel summarizes e-liquid flavors and categories used in literature in order to create a shared vocabulary. Applying our flavor wheel in research on e-liquids will improve data interpretation, increase comparability across studies, and support policy makers in developing rules for regulation of e-liquid flavors.

Influence of the contact roughness upon railway monobloc wheel acoustic behaviour on virtual prototyping approach

NASA Astrophysics Data System (ADS)

Todorov, George; Kamberov, Konstantin; Kralov, Ivan; Ignatov, Ignat

2017-12-01

In this study the virtual prototyping is used for evaluation the influence of the contact roughness upon the acoustic behaviour evaluation of railway monobloc wheel. The proposed procedure covers requirements of the European Standard EN 13979-1 "Wheels and bogies - Monobloc wheels". The main advantage of the acoustic assessment based on the virtual engineering technics - absence of the expensive and time consuming physical tests, is sown. The real industrial-project example is presented and comparison of the numerical and experimental results is used for acoustic behaviour assessment and approval of railway monobloc wheel design.

Attitude Model of a Reaction Wheel/Fixed Thruster Based Satellite Using Telemetry Data

DTIC Science & Technology

2005-03-01

xii ATTITUDE MODEL OF A REACTION WHEEL/ FIXED THRUSTER BASED SATELLITE USING TELEMETRY DATA I. Introduction As technology advances and spacecraft ...Earth’s horizon to determine spacecraft attitude . Sun sensors use the Sun to determine spacecraft attitude and are currently the attitude determination...wheels and the rate of rotation of the gimbal. Gravity gradient stabilization is a passive attitude control technique that is designed to use the

Reaction Wheel Disturbance Modeling, Jitter Analysis, and Validation Tests for Solar Dynamics Observatory

NASA Technical Reports Server (NTRS)

Liu,Kuo-Chia; Maghami, Peiman; Blaurock, Carl

2008-01-01

The Solar Dynamics Observatory (SDO) aims to study the Sun's influence on the Earth by understanding the source, storage, and release of the solar energy, and the interior structure of the Sun. During science observations, the jitter stability at the instrument focal plane must be maintained to less than a fraction of an arcsecond for two of the SDO instruments. To meet these stringent requirements, a significant amount of analysis and test effort has been devoted to predicting the jitter induced from various disturbance sources. One of the largest disturbance sources onboard is the reaction wheel. This paper presents the SDO approach on reaction wheel disturbance modeling and jitter analysis. It describes the verification and calibration of the disturbance model, and ground tests performed for validating the reaction wheel jitter analysis. To mitigate the reaction wheel disturbance effects, the wheels will be limited to operate at low wheel speeds based on the current analysis. An on-orbit jitter test algorithm is also presented in the paper which will identify the true wheel speed limits in order to ensure that the wheel jitter requirements are met.

Study on general theory of kinematics and dynamics of wheeled mobile robots

NASA Astrophysics Data System (ADS)

Tsukishima, Takahiro; Sasaki, Ken; Takano, Masaharu; Inoue, Kenji

1992-03-01

This paper proposes a general theory of kinematics and dynamics of wheeled mobile robots (WMRs). Unlike robotic manipulators which are modeled as 3-dimensional serial link mechanism, WMRs will be modeled as planar linkage mechanism with multiple links branching out from the base and/or another link. Since this model resembles a tree with branches, it will be called 'tree-structured-link'. The end of each link corresponds to the wheel which is in contact with the floor. In dynamics of WMR, equation of motion of a WMR is derived from joint input torques incorporating wheel dynamics. The wheel dynamics determines forces and moments acting on wheels as a function of slip velocity. This slippage of wheels is essential in dynamics of WMR. It will also be shown that the dynamics of WMR reduces to kinematics when slippage of wheels is neglected. Furthermore, the equation of dynamics is rewritten in velocity input form, since most of industrial motors are velocity controlled.

A Robust Control of Two-Wheeled Mobile Manipulator with Underactuated Joint by Nonlinear Backstepping Method

NASA Astrophysics Data System (ADS)

Acar, Cihan; Murakami, Toshiyuki

In this paper, a robust control of two-wheeled mobile manipulator with underactuated joint is considered. Two-wheeled mobile manipulators are dynamically balanced two-wheeled driven systems that do not have any caster or extra wheels to stabilize their body. Two-wheeled mobile manipulators mainly have an important feature that makes them more flexible and agile than the statically stable mobile manipulators. However, two-wheeled mobile manipulator is an underactuated system due to its two-wheeled structure. Therefore, it is required to stabilize the underactuated passive body and, at the same time, control the position of the center of gravity (CoG) of the manipulator in this system. To realize this, nonlinear backstepping based control method with virtual double inverted pendulum model is proposed in this paper. Backstepping is used with sliding mode to increase the robustness of the system against modeling errors and other perturbations. Then robust acceleration control is also achieved by utilizing disturbance observer. Performance of the proposed method is evaluated by several experiments.

Perspectives on energy storage wheels for space station application

NASA Technical Reports Server (NTRS)

Oglevie, R. E.

1984-01-01

Several of the issues of the workshop are addressed from the perspective of a potential Space Station developer and energy wheel user. Systems' considerations are emphasized rather than component technology. The potential of energy storage wheel (ESW) concept is discussed. The current status of the technology base is described. Justification for advanced technology development is also discussed. The study concludes that energy storage in wheels is an attractive concept for immediate technology development and future Space Station application.

Characterizing Wheel-Soil Interaction Loads Using Meshfree Finite Element Methods: A Sensitivity Analysis for Design Trade Studies

NASA Technical Reports Server (NTRS)

Contreras, Michael T.; Trease, Brian P.; Bojanowski, Cezary; Kulakx, Ronald F.

2013-01-01

A wheel experiencing sinkage and slippage events poses a high risk to planetary rover missions as evidenced by the mobility challenges endured by the Mars Exploration Rover (MER) project. Current wheel design practice utilizes loads derived from a series of events in the life cycle of the rover which do not include (1) failure metrics related to wheel sinkage and slippage and (2) performance trade-offs based on grouser placement/orientation. Wheel designs are rigorously tested experimentally through a variety of drive scenarios and simulated soil environments; however, a robust simulation capability is still in development due to myriad of complex interaction phenomena that contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree nite element approaches enable simulations that capture su cient detail of wheel-soil interaction while remaining computationally feasible. This study implements the JPL wheel-soil benchmark problem in the commercial code environment utilizing the large deformation modeling capability of Smooth Particle Hydrodynamics (SPH) meshfree methods. The nominal, benchmark wheel-soil interaction model that produces numerically stable and physically realistic results is presented and simulations are shown for both wheel traverse and wheel sinkage cases. A sensitivity analysis developing the capability and framework for future ight applications is conducted to illustrate the importance of perturbations to critical material properties and parameters. Implementation of the proposed soil-wheel interaction simulation capability and associated sensitivity framework has the potential to reduce experimentation cost and improve the early stage wheel design proce

Thermal modal analysis of novel non-pneumatic mechanical elastic wheel based on FEM and EMA

NASA Astrophysics Data System (ADS)

Zhao, Youqun; Zhu, Mingmin; Lin, Fen; Xiao, Zhen; Li, Haiqing; Deng, Yaoji

2018-01-01

A combination of Finite Element Method (FEM) and Experiment Modal Analysis (EMA) have been employed here to characterize the structural dynamic response of mechanical elastic wheel (ME-Wheel) operating under a specific thermal environment. The influence of high thermal condition on the structural dynamic response of ME-Wheel is investigated. The obtained results indicate that the EMA results are in accordance with those obtained using the proposed Finite Element (FE) model, indicting the high reliability of this FE model applied in analyzing the modal of ME-Wheel working under practical thermal environment. It demonstrates that the structural dynamic response of ME-Wheel operating under a specific thermal condition can be predicted and evaluated using the proposed analysis method, which is beneficial for the dynamic optimization design of the wheel structure to avoid tire temperature related vibration failure and improve safety of tire.

Green's functions for analysis of dynamic response of wheel/rail to vertical excitation

NASA Astrophysics Data System (ADS)

Mazilu, Traian

2007-09-01

An analytical model to simulate wheel/rail interaction using the Green's functions method is proposed in this paper. The model consists of a moving wheel on a discretely supported rail. Particularly for this model of rail, the bending and the longitudinal displacement are coupled due to the rail pad and a complex model of the rail pad is adopted. An efficient method for solving a time-domain analysis for wheel/rail interaction is presented. The method is based on the properties of the rail's Green functions and starting to these functions, a track's Green matrix is assembled for the numerical simulations of wheel/rail response due to three kinds of vertical excitations: the steady-state interaction, the rail corrugation and the wheel flat. The study points to influence of the worn rail—rigid contact—on variation in the wheel/rail contact force. The concept of pinned-pinned inhibitive rail pad is also presented.

Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain

PubMed Central

Li, Zhengcai; Wang, Yang

2014-01-01

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system. PMID:25276849

Coordinated control of slip ratio for wheeled mobile robots climbing loose sloped terrain.

PubMed

Li, Zhengcai; Wang, Yang

2014-01-01

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system.

Vehicle Dynamics Control of In-wheel Electric Motor Drive Vehicles Based on Averaging of Tire Force Usage

NASA Astrophysics Data System (ADS)

Masaki, Nobuo; Iwano, Haruo; Kamada, Takayoshi; Nagai, Masao

For in-wheel electric motor drive vehicles, a new vehicle dynamics control which is based on the tire force usage rate is proposed. The new controller adopts non-linear optimal control could manage the interference between direct yaw-moment control and the tire force usage rate. The new control is considered total longitudinal and transverse tire force. Therefore the controller can prevent tire force saturation near tire force limit during cornering. Simulations and test runs by the custom made four wheel drive in-wheel motor electric vehicle show that higher driving stability performance compared to the performance of the same vehicle without control.

Magnetically suspended reaction wheel assembly

NASA Technical Reports Server (NTRS)

Stocking, G.

1984-01-01

The magnetically suspended reaction wheel assembly (MSRWA) is the product of a development effort funded by the Air Force Materials Laboratory (AFML) at Wright Patterson AFB. The specific objective of the project was to establish the manufacturing processes for samarium cobalt magnets and demonstrate their use in a space application. The development was successful on both counts. The application portion of the program, which involves the magnetically suspended reaction wheel assembly, is emphasized. The requirements for the reaction wheel were based on the bias wheel requirements of the DSP satellite. The tasks included the design, fabrication, and test of the unit to the DSP program qualification requirements.

Magnetically suspended reaction wheel assembly

NASA Astrophysics Data System (ADS)

Stocking, G.

1984-11-01

The magnetically suspended reaction wheel assembly (MSRWA) is the product of a development effort funded by the Air Force Materials Laboratory (AFML) at Wright Patterson AFB. The specific objective of the project was to establish the manufacturing processes for samarium cobalt magnets and demonstrate their use in a space application. The development was successful on both counts. The application portion of the program, which involves the magnetically suspended reaction wheel assembly, is emphasized. The requirements for the reaction wheel were based on the bias wheel requirements of the DSP satellite. The tasks included the design, fabrication, and test of the unit to the DSP program qualification requirements.

Lightweight design and analysis of automobile wheel based on bending and radial loads

NASA Astrophysics Data System (ADS)

Jiang, X.; Lyu, R.; Fukushima, Y.; Otake, M.; Ju, D. Y.

2018-06-01

Lightweighting of automobile vehicle is a significant application trends, using magnesium alloy wheels is a valuable way. This article discusses design of a new model of automobile wheel. Then bending test and radial test finite element model were established. Considering three different materials namely magnesium alloy, aluminium alloy and steel, the stress and strain performances of each material can be obtained. Through evaluating and analyzing model in bending test and radial test, we obtained the reasonable and superior results for magnesium alloy wheel. The results of the equivalent stress and deformation were compared, the magnesium alloy wheel practicality has been confirmed. This research predicts the reliability of the structural design, some valuable references are provided for the design and development of magnesium alloy wheel.

Influence of polygonal wear of railway wheels on the wheel set axle stress

NASA Astrophysics Data System (ADS)

Wu, Xingwen; Chi, Maoru; Wu, Pingbo

2015-11-01

The coupled vehicle/track dynamic model with the flexible wheel set was developed to investigate the effects of polygonal wear on the dynamic stresses of the wheel set axle. In the model, the railway vehicle was modelled by the rigid multibody dynamics. The wheel set was established by the finite element method to analyse the high-frequency oscillation and dynamic stress of wheel set axle induced by the polygonal wear based on the modal stress recovery method. The slab track model was taken into account in which the rail was described by the Timoshenko beam and the three-dimensional solid finite element was employed to establish the concrete slab. Furthermore, the modal superposition method was adopted to calculate the dynamic response of the track. The wheel/rail normal forces and the tangent forces were, respectively, determined by the Hertz nonlinear contact theory and the Shen-Hedrick-Elkins model. Using the coupled vehicle/track dynamic model, the dynamic stresses of wheel set axle with consideration of the ideal polygonal wear and measured polygonal wear were investigated. The results show that the amplitude of wheel/rail normal forces and the dynamic stress of wheel set axle increase as the vehicle speeds rise. Moreover, the impact loads induced by the polygonal wear could excite the resonance of wheel set axle. In the resonance region, the amplitude of the dynamic stress for the wheel set axle would increase considerably comparing with the normal conditions.

Nesting behavior of house mice (Mus domesticus) selected for increased wheel-running activity.

PubMed

Carter, P A; Swallow, J G; Davis, S J; Garland, T

2000-03-01

Nest building was measured in "active" (housed with access to running wheels) and "sedentary" (without wheel access) mice (Mus domesticus) from four replicate lines selected for 10 generations for high voluntary wheel-running behavior, and from four randombred control lines. Based on previous studies of mice bidirectionally selected for thermoregulatory nest building, it was hypothesized that nest building would show a negative correlated response to selection on wheel-running. Such a response could constrain the evolution of high voluntary activity because nesting has also been shown to be positively genetically correlated with successful production of weaned pups. With wheel access, selected mice of both sexes built significantly smaller nests than did control mice. Without wheel access, selected females also built significantly smaller nests than did control females, but only when body mass was excluded from the statistical model, suggesting that body mass mediated this correlated response to selection. Total distance run and mean running speed on wheels was significantly higher in selected mice than in controls, but no differences in amount of time spent running were measured, indicating a complex cause of the response of nesting to selection for voluntary wheel running.

The Development of Wheels for the Lunar Roving Vehicle

NASA Technical Reports Server (NTRS)

Asnani, Vivake; Delap, Damon; Creager, Colin

2009-01-01

The Lunar Roving Vehicle (LRV) was developed for NASA s Apollo program so astronauts could cover a greater range on the lunar surface, carry more science instruments, and return more soil and rock samples than by foot. Because of the unique lunar environment, the creation of flexible wheels was the most challenging and time consuming aspect of the LRV development. Wheels developed for previous lunar systems were not sufficient for use with this manned vehicle; therefore, several new designs were created and tested. Based on criteria set by NASA, the choices were narrowed down to two: the wire mesh wheel developed by General Motors (GM), and the hoop spring wheel developed by the Bendix Corporation. Each of these underwent intensive mechanical, material, and terramechanical analyses, and in the end, the wire mesh wheel was chosen for the LRV. Though the wire mesh wheel was determined to be the best choice for its particular application, it may be insufficient towards achieving the objectives of future lunar missions that could require higher tractive capability, increased weight capacity, or extended life. Therefore lessons learned from the original LRV wheel development and suggestions for future Moon wheel projects are offered.

Wheel liner design for improved sound and structural performances

NASA Astrophysics Data System (ADS)

Oltean, Alexandru; Diaconescu, Claudiu; Tabacu, Ştefan

2017-10-01

Vehicle noise is composed mainly of wheel-road noise and noise from the power unit. At low speeds power unit noise dominates while at high speeds wheel-road noise dominates as wheel-road noise level increases approximately logarithmically with speed. The wheel liner is designed as a component of the vehicle that has a multiple role. It has to prevent the dirt or water from the road surface that are engaged by the wheel to access the engine/front bay. Same time it has the important role to reduce perceived noised in the passenger’s compartment that comes from the wheel-road interaction. Progress in plastic injection moulding technology allowed for new structures to be developed - nonwoven materials in combination with a PP based carrier structure which benefits from a cell structure caused by MuCell injection moulding. The results are light parts with increased sound absorption performances. An adapted combination of materials and production processes can provide the solution for stiff yet soundproofing structures valued for modern vehicles. Sound absorption characteristics of materials used for wheel liners applications were reported in this study. Different polypropylene and polyester fibre-based thermally bonded nonwovens varying in weight and thickness were investigated. Having as a background the performances of the nonwoven material the microcellular structure was part of the analysis. Acoustical absorptive behaviour was explained by analysing the results obtained using the impedance tube and correlating with the knowledge of materials structure.

Dynamic Measurement for the Diameter of A Train Wheel Based on Structured-Light Vision

PubMed Central

Gong, Zheng; Sun, Junhua; Zhang, Guangjun

2016-01-01

Wheels are very important for the safety of a train. The diameter of the wheel is a significant parameter that needs regular inspection. Traditional methods only use the contact points of the wheel tread to fit the rolling round. However, the wheel tread is easily influenced by peeling or scraping. Meanwhile, the circle fitting algorithm is sensitive to noise when only three points are used. This paper proposes a dynamic measurement method based on structured-light vision. The axle of the wheelset and the tread are both employed. The center of the rolling round is determined by the axle rather than the tread only. Then, the diameter is calculated using the center and the contact points together. Simulations are performed to help design the layout of the sensors, and the influences of different noise sources are also analyzed. Static and field experiments are both performed, and the results show it to be quite stable and accurate. PMID:27104543

Decoupling control of steering and driving system for in-wheel-motor-drive electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Han; Zhao, Wanzhong

2018-02-01

To improve the maneuverability and stability of in-wheel-motor-drive electric vehicle, a control strategy based on nonlinear decoupling control method is proposed in this paper, realizing the coordinated control of the steering and driving system. At first, the nonlinear models of the in-wheel-motor-drive electric vehicle and its sub-system are constructed. Then the inverse system decoupling theory is applied to decompose the nonlinear system into several independent subsystems, which makes it possible to realize the coordinated control of each subsystem. Next, the μ-Synthesis theory is applied to eliminate the influence of model uncertainty, improving the stability, robustness and tracking performance of in-wheel-motor-drive electric vehicle. Simulation and experiment results and numerical analyses, based on the electric vehicle actuated by in-wheel-motors, prove that the proposed control method is effective to accomplish the decoupling control of the steering and driving system in both simulation and real practice.

Dynamic Measurement for the Diameter of A Train Wheel Based on Structured-Light Vision.

PubMed

Gong, Zheng; Sun, Junhua; Zhang, Guangjun

2016-04-20

Wheels are very important for the safety of a train. The diameter of the wheel is a significant parameter that needs regular inspection. Traditional methods only use the contact points of the wheel tread to fit the rolling round. However, the wheel tread is easily influenced by peeling or scraping. Meanwhile, the circle fitting algorithm is sensitive to noise when only three points are used. This paper proposes a dynamic measurement method based on structured-light vision. The axle of the wheelset and the tread are both employed. The center of the rolling round is determined by the axle rather than the tread only. Then, the diameter is calculated using the center and the contact points together. Simulations are performed to help design the layout of the sensors, and the influences of different noise sources are also analyzed. Static and field experiments are both performed, and the results show it to be quite stable and accurate.

Estimation of Road Friction Coefficient in Different Road Conditions Based on Vehicle Braking Dynamics

NASA Astrophysics Data System (ADS)

Zhao, You-Qun; Li, Hai-Qing; Lin, Fen; Wang, Jian; Ji, Xue-Wu

2017-07-01

The accurate estimation of road friction coefficient in the active safety control system has become increasingly prominent. Most previous studies on road friction estimation have only used vehicle longitudinal or lateral dynamics and often ignored the load transfer, which tends to cause inaccurate of the actual road friction coefficient. A novel method considering load transfer of front and rear axles is proposed to estimate road friction coefficient based on braking dynamic model of two-wheeled vehicle. Sliding mode control technique is used to build the ideal braking torque controller, which control target is to control the actual wheel slip ratio of front and rear wheels tracking the ideal wheel slip ratio. In order to eliminate the chattering problem of the sliding mode controller, integral switching surface is used to design the sliding mode surface. A second order linear extended state observer is designed to observe road friction coefficient based on wheel speed and braking torque of front and rear wheels. The proposed road friction coefficient estimation schemes are evaluated by simulation in ADAMS/Car. The results show that the estimated values can well agree with the actual values in different road conditions. The observer can estimate road friction coefficient exactly in real-time and resist external disturbance. The proposed research provides a novel method to estimate road friction coefficient with strong robustness and more accurate.

Multi-disciplinary optimization of railway wheels

NASA Astrophysics Data System (ADS)

Nielsen, J. C. O.; Fredö, C. R.

2006-06-01

A numerical procedure for multi-disciplinary optimization of railway wheels, based on Design of Experiments (DOE) methodology and automated design, is presented. The target is a wheel design that meets the requirements for fatigue strength, while minimizing the unsprung mass and rolling noise. A 3-level full factorial (3LFF) DOE is used to collect data points required to set up Response Surface Models (RSM) relating design and response variables in the design space. Computationally efficient simulations are thereafter performed using the RSM to identify the solution that best fits the design target. A demonstration example, including four geometric design variables in a parametric finite element (FE) model, is presented. The design variables are wheel radius, web thickness, lateral offset between rim and hub, and radii at the transitions rim/web and hub/web, but more variables (including material properties) can be added if needed. To improve further the performance of the wheel design, a constrained layer damping (CLD) treatment is applied on the web. For a given load case, compared to a reference wheel design without CLD, a combination of wheel shape and damping optimization leads to the conclusion that a reduction in the wheel component of A-weighted rolling noise of 11 dB can be achieved if a simultaneous increase in wheel mass of 14 kg is accepted.

Mechanical Properties of Oxide Films on Electrolytic In-process Dressing (ELID) Copper-based Grinding Wheel

NASA Astrophysics Data System (ADS)

Kuai, J. C.; Wang, J. W.; Jiang, C. R.; Zhang, H. L.; Yang, Z. B.

2018-05-01

The mechanical properties of oxide films on copper based grinding wheel were studied by nanoindentation technique. The analysis of load displacement shows that the creep phenomenon occurs during the loading stage. Results show that the oxide film and the matrix have different characteristics, and the rigidity of the copper based grinding wheel is 0.6-1.3mN/nm, which is weaker than that of the matrix; the hardness of the oxide film is 2000-2300MPa, which is higher than the matrix; and the elastic modulus of the oxide film is 100-120GPa, also higher than the matrix.

Stocks and flows of lead-based wheel weights in the United States

USGS Publications Warehouse

Bleiwas, Donald I.

2006-01-01

Lead is used in many widely known applications, such as automobile batteries and radiation shielding. Another lesser known, but long-term, use of lead is in automotive vehicle wheel weights. Lead weights have been used to balance wheels since the 1930s because of its high specific gravity, low relative cost, and its malleability. Out-of-balance tires tend to 'cup' and vibrate and as a result cause excessive wear on tires and vehicle suspension components and result in compromised handling, especially at high speeds. The mass, number, and style of weights needed to balance a wheel depend on the tire's size and weight and on the type and condition of the wheels (rims) on the vehicle. This study addresses an accounting of the stocks and flows of lead contained in lead wheel weights from their manufacture, through use, dissipation, and recycling, and environmental issues associated with the use of lead.

A third-order approximation method for three-dimensional wheel-rail contact

NASA Astrophysics Data System (ADS)

Negretti, Daniele

2012-03-01

Multibody train analysis is used increasingly by railway operators whenever a reliable and time-efficient method to evaluate the contact between wheel and rail is needed; particularly, the wheel-rail contact is one of the most important aspects that affects a reliable and time-efficient vehicle dynamics computation. The focus of the approach proposed here is to carry out such tasks by means of online wheel-rail elastic contact detection. In order to improve efficiency and save time, a main analytical approach is used for the definition of wheel and rail surfaces as well as for contact detection, then a final numerical evaluation is used to locate contact. The final numerical procedure consists in finding the zeros of a nonlinear function in a single variable. The overall method is based on the approximation of the wheel surface, which does not influence the contact location significantly, as shown in the paper.

Analysis of torque transmitting behavior and wheel slip prevention control during regenerative braking for high speed EMU trains

NASA Astrophysics Data System (ADS)

Xu, Kun; Xu, Guo-Qing; Zheng, Chun-Hua

2016-04-01

The wheel-rail adhesion control for regenerative braking systems of high speed electric multiple unit trains is crucial to maintaining the stability, improving the adhesion utilization, and achieving deep energy recovery. There remain technical challenges mainly because of the nonlinear, uncertain, and varying features of wheel-rail contact conditions. This research analyzes the torque transmitting behavior during regenerative braking, and proposes a novel methodology to detect the wheel-rail adhesion stability. Then, applications to the wheel slip prevention during braking are investigated, and the optimal slip ratio control scheme is proposed, which is based on a novel optimal reference generation of the slip ratio and a robust sliding mode control. The proposed methodology achieves the optimal braking performance without the wheel-rail contact information. Numerical simulation results for uncertain slippery rails verify the effectiveness of the proposed methodology.

Analytic and simulation studies on the use of torque-wheel actuators for the control of flexible robotic arms

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C.; Ghosh, Dave; Kenny, Sean

1991-01-01

This paper presents results of analytic and simulation studies to determine the effectiveness of torque-wheel actuators in suppressing the vibrations of two-link telerobotic arms with attached payloads. The simulations use a planar generic model of a two-link arm with a torque wheel at the free end. Parameters of the arm model are selected to be representative of a large space-based robotic arm of the same class as the Space Shuttle Remote Manipulator, whereas parameters of the torque wheel are selected to be similar to those of the Mini-Mast facility at the Langley Research Center. Results show that this class of torque-wheel can produce an oscillation of 2.5 cm peak-to-peak in the end point of the arm and that the wheel produces significantly less overshoot when the arm is issued an abrupt stop command from the telerobotic input station.

Rating Pregnancy Wheel Applications Using the APPLICATIONS Scoring System.

PubMed

Chyjek, Kathy; Farag, Sara; Chen, Katherine T

2015-06-01

To identify the top-rated pregnancy wheel applications (apps) using a newly developed APPLICATIONS scoring system. A list of pregnancy wheel apps was identified. Consumer-based and inaccurate apps were excluded. The APPLICATIONS scoring system was developed to rate the remaining apps. Application comprehensiveness was evaluated. Objective rating components included price, paid subscription, literature used, in-app purchases, connectivity to the Internet, advertisements, text search field, interdevice compatibility, and other components such as images or figures, videos, and special features. Subjective rating components were ease of navigation and subjective presentation. A complete list of 55 pregnancy wheel apps was created from three sources. Thirty-nine (71%) were consumer-based, inaccurate, or both, leaving 16 (29%) for analysis using the APPLICATIONS scoring system. More than two thirds of pregnancy wheel apps were excluded from our study secondary to being consumer-based, inaccurate, or both. This highlights the importance of identifying systematically, reviewing critically, and rating the thousands of available apps to health care providers to ensure accuracy and applicability. We propose that our APPLICATIONS scoring system be used to rate apps in all specialties with the goal of improving health care provider performance and thereby patient outcomes. III.

Reinventing the wheel: comparison of two wheel cage styles for assessing mouse voluntary running activity.

PubMed

Seward, T; Harfmann, B D; Esser, K A; Schroder, E A

2018-04-01

Voluntary wheel cage assessment of mouse activity is commonly employed in exercise and behavioral research. Currently, no standardization for wheel cages exists resulting in an inability to compare results among data from different laboratories. The purpose of this study was to determine whether the distance run or average speed data differ depending on the use of two commonly used commercially available wheel cage systems. Two different wheel cages with structurally similar but functionally different wheels (electromechanical switch vs. magnetic switch) were compared side-by-side to measure wheel running data differences. Other variables, including enrichment and cage location, were also tested to assess potential impacts on the running wheel data. We found that cages with the electromechanical switch had greater inherent wheel resistance and consistently led to greater running distance per day and higher average running speed. Mice rapidly, within 1-2 days, adapted their running behavior to the type of experimental switch used, suggesting these running differences are more behavioral than due to intrinsic musculoskeletal, cardiovascular, or metabolic limits. The presence of enrichment or location of the cage had no detectable impact on voluntary wheel running. These results demonstrate that mice run differing amounts depending on the type of cage and switch mechanism used and thus investigators need to report wheel cage type/wheel resistance and use caution when interpreting distance/speed run across studies. NEW & NOTEWORTHY The results of this study highlight that mice will run different distances per day and average speed based on the inherent resistance present in the switch mechanism used to record data. Rapid changes in running behavior for the same mouse in the different cages demonstrate that a strong behavioral factor contributes to classic exercise outcomes in mice. Caution needs to be taken when interpreting mouse voluntary wheel running activity to include potential behavioral input and physiological parameters.

Judging rolling wheels: Dynamic and kinematic aspects of rotation-translation coupling

NASA Technical Reports Server (NTRS)

Hecht, Heiko

1993-01-01

Four experiments were carried out to investigate observers' abilities to judge rolling motions. The experiments were designed to assess whether two important aspects of such motions are appreciated: the kinematic coupling of rotation and translation, and the dynamic effects of gravity. Different motion contexts of rolling wheels were created using computer-generated displays. The first experiment involved wheels rolling down an inclined plane. Observers spontaneously appreciated the anomaly of wheels that failed to accelerate, but they were not able to differentiate between different acceleration functions. Moreover, their judgements were almost exclusively based on the translation component of the rolling motion, neglecting the rotation component. In a second experiment it was found that observers could accurately estimate the perimeter of various objects. Thus, their inability to consider rotation information is not attributable to misperceptions of the geometry of wheels. In a third experiment the finding that rolling wheels appear to overrotate was replicated; however, findings from this experiment also showed, together with those from a fourth experiment, that observers are able to make very accurate judgments about translation-rotation coupling in rolling wheels when information is provided about the orientation of the wheel and the texture of the surface on which it rolls.

Judging rolling wheels: dynamic and kinematic aspects of rotation-translation coupling.

PubMed

Hecht, H

1993-01-01

Four experiments were carried out to investigate observers' abilities to judge rolling motions. The experiments were designed to assess whether two important aspects of such motions are appreciated: the kinematic coupling of rotation and translation, and the dynamic effects of gravity. Different motion contexts of rolling wheels were created using computer-generated displays. The first experiment involved wheels rolling down an inclined plane. Observers spontaneously appreciated the anomaly of wheels that failed to accelerate, but they were not able to differentiate between different acceleration functions. Moreover, their judgments were almost exclusively based on the translation component of the rolling motion, neglecting the rotation component. In a second experiment it was found that observers could accurately estimate the perimeter of various objects. Thus, their inability to consider rotation information is not attributable to misperceptions of the geometry of wheels. In a third experiment the finding that rolling wheels appear to overrotate was replicated; however, findings from this experiment also showed, together with those from a fourth experiment, that observers are able to make very accurate judgments about translation-rotation coupling in rolling wheels when information is provided about the orientation of the wheel and the texture of the surface on which it rolls.

Break in Raised Tread on Curiosity Wheel

NASA Image and Video Library

2017-03-21

Two of the raised treads, called grousers, on the left middle wheel of NASA's Curiosity Mars rover broke during the first quarter of 2017, including the one seen partially detached at the top of the wheel in this image from the Mars Hand Lens Imager (MAHLI) camera on the rover's arm. This image was taken on March 19, 2017, as part of a set used by rover team members to inspect the condition of the rover's six wheels during the 1,641st Martian day, or sol, of Curiosity's work on Mars. Holes and tears in the wheels worsened significantly during 2013 as Curiosity was crossing terrain studded with sharp rocks on the route from near its 2012 landing site to the base of Mount Sharp. Team members have used MAHLI systematically since then to watch for when any of the zig-zag shaped grousers begin to break. The last prior set of wheel-inspection images from before Sol 1641 was taken on Jan. 27, 2017, (Sol 1591) and revealed no broken grousers. Longevity testing with identical aluminum wheels on Earth indicates that when three grousers on a given wheel have broken, that wheel has reached about 60 percent of its useful life. Curiosity has driven well over 60 percent of the amount needed for reaching all the geological layers planned as the mission's science destinations, so the start of seeing broken grousers is not expected to affect the mission's operations. Curiosity's six aluminum wheels are about 20 inches (50 centimeters) in diameter and 16 inches (40 centimeters) wide. Each of the six wheels has its own drive motor, and the four corner wheels also have steering motors. http://photojournal.jpl.nasa.gov/catalog/PIA21486

77 FR 26156 - Airworthiness Directives; Cessna Aircraft Company Airplanes

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-03

... surrounding components (wheel base, side rim, lock ring) for damage (such as corrosion, cracks, dents, bent areas, damaged or missing paint or primer, or wear on the metal), and of the bearing cup for corrosion... and surrounding components (wheel base, side rim, lock ring) for damage (such as corrosion, cracks...

Experimental Validation of a Differential Variational Inequality-Based Approach for Handling Friction and Contact in Vehicle

DTIC Science & Technology

2015-11-20

drawbar pull , wheel torque, and sinkage were measured for a lug-less rigid wheel for several slip cases and loading scenarios. The wheel used in this...0.6, µ =0.5, h =1× 10−3 seconds, τ =5×10−2 N. The quantitative results of this study are summarized in Figs. 11 through 13 for the drawbar pull , torque...and sinkage, respectively. It can be seen that as the slip of the wheel increases, the drawbar pull , torque, and sinkage also increase and the

Further study on the wheel-rail impact response induced by a single wheel flat: the coupling effect of strain rate and thermal stress

NASA Astrophysics Data System (ADS)

Jing, Lin; Han, Liangliang

2017-12-01

A comprehensive dynamic finite-element simulation method was proposed to study the wheel-rail impact response induced by a single wheel flat based on a 3-D rolling contact model, where the influences of the structural inertia, strain rate effect of wheel-rail materials and thermal stress due to the wheel-rail sliding friction were considered. Four different initial conditions (i.e. pure mechanical loading plus rate-independent, pure mechanical loading plus rate-dependent, thermo-mechanical loading plus rate-independent, and thermo-mechanical loading plus rate-dependent) were involved into explore the corresponding impact responses in term of the vertical impact force, von-Mises equivalent stress, equivalent plastic strain and shear stress. Influences of train speed, flat length and axle load on the flat-induced wheel-rail impact response were discussed, respectively. The results indicate that the maximum thermal stresses are occurred on the tread of the wheel and on the top surface of the middle rail; the strain rate hardening effect contributes to elevate the von-Mises equivalent stress and restrain the plastic deformation; and the initial thermal stress due to the sliding friction will aggravate the plastic deformation of wheel and rail. Besides, the wheel-rail impact responses (i.e. impact force, von-Mises equivalent stress, equivalent plastic strain, and XY shear stress) induced by a flat are sensitive to the train speed, flat length and axle load.

Determination of Steering Wheel Angles during CAR Alignment by Image Analysis Methods

NASA Astrophysics Data System (ADS)

Mueller, M.; Voegtle, T.

2016-06-01

Optical systems for automatic visual inspections are of increasing importance in the field of automation in the industrial domain. A new application is the determination of steering wheel angles during wheel track setting of the final inspection of car manufacturing. The camera has to be positioned outside the car to avoid interruptions of the processes and therefore, oblique images of the steering wheel must be acquired. Three different approaches of computer vision are considered in this paper, i.e. a 2D shape-based matching (by means of a plane to plane rectification of the oblique images and detection of a shape model with a particular rotation), a 3D shape-based matching approach (by means of a series of different perspectives of the spatial shape of the steering wheel derived from a CAD design model) and a point-to-point matching (by means of the extraction of significant elements (e.g. multifunctional buttons) of a steering wheel and a pairwise connection of these points to straight lines). The HALCON system (HALCON, 2016) was used for all software developments and necessary adaptions. As reference a mechanical balance with an accuracy of 0.1° was used. The quality assessment was based on two different approaches, a laboratory test and a test during production process. In the laboratory a standard deviation of ±0.035° (2D shape-based matching), ±0.12° (3D approach) and ±0.029° (point-to-point matching) could be obtained. The field test of 291 measurements (27 cars with varying poses and angles of the steering wheel) results in a detection rate of 100% and ±0.48° (2D matching) and ±0.24° (point-to-point matching). Both methods also fulfil the request of real time processing (three measurements per second).

A method of detection to the grinding wheel layer thickness based on computer vision

NASA Astrophysics Data System (ADS)

Ji, Yuchen; Fu, Luhua; Yang, Dujuan; Wang, Lei; Liu, Changjie; Wang, Zhong

2018-01-01

This paper proposed a method of detection to the grinding wheel layer thickness based on computer vision. A camera is used to capture images of grinding wheel layer on the whole circle. Forward lighting and back lighting are used to enables a clear image to be acquired. Image processing is then executed on the images captured, which consists of image preprocessing, binarization and subpixel subdivision. The aim of binarization is to help the location of a chord and the corresponding ring width. After subpixel subdivision, the thickness of the grinding layer can be calculated finally. Compared with methods usually used to detect grinding wheel wear, method in this paper can directly and quickly get the information of thickness. Also, the eccentric error and the error of pixel equivalent are discussed in this paper.

Control system for maximum use of adhesive forces of a railway vehicle in a tractive mode

NASA Astrophysics Data System (ADS)

Spiryagin, Maksym; Lee, Kwan Soo; Yoo, Hong Hee

2008-04-01

The realization of maximum adhesive forces for a railway vehicle is a very difficult process, because it involves using tractive efforts and depends on friction characteristics in the contact zone between wheels and rails. Tractive efforts are realized by means of tractive torques of motors, and their maximum values can provide negative effects such as slip and skid. These situations usually happen when information about friction conditions is lacking. The negative processes have a major influence on wearing of contact bodies and tractive units. Therefore, many existing control systems for vehicles use an effect of a prediction of a friction coefficient between wheels and rails because measuring a friction coefficient at the moment of running vehicle movement is very difficult. One of the ways to solve this task is to use noise spectrum analysis for friction coefficient detection. This noise phenomenon has not been clearly studied and analyzed. In this paper, we propose an adhesion control system of railway vehicles based on an observer, which allows one to determine the maximum tractive torque based on the optimal adhesive force between the wheels (wheel pair) of a railway vehicle and rails (rail track) depending on weight load from a wheel to a rail, friction conditions in the contact zone, a lateral displacement of wheel set and wheel sleep. As a result, it allows a railway vehicle to be driven in a tractive mode by the maximum adhesion force for real friction conditions.

From Hot Wheels to Teenage Mutant Ninja Turtles: The Evolution of the Definition of Program Length Commercials on Children's Television.

ERIC Educational Resources Information Center

Colby, Pamela A.

From 1969 to 1993 the definition of program length commercials has not been consistent. The FCC's first involvement with program length commercials was in 1969 when "Hot Wheels," a cartoon based on Mattel Corporation's Hot Wheels cars, was alleged to be nothing more than a 30 minute commercial. The FCC made no formal ruling but did…

Analysis of Flexible Car Body of Straddle Monorail Vehicle

NASA Astrophysics Data System (ADS)

Zhong, Yuanmu

2018-03-01

Based on the finite element model of straddle monorail vehicle, a rigid-flexible coupling dynamic model considering vehicle body’s flexibility is established. The influence of vertical stiffness and vertical damping of the running wheel on the modal parameters of the car body is analyzed. The effect of flexible car body on modal parameters and vehicle ride quality is also studied. The results show that when the vertical stiffness of running wheel is less than 1 MN / m, the car body bounce and pitch frequency increase with the increasing of the vertical stiffness of the running wheel, when the running wheel vertical stiffness is 1MN / m or more, car body bounce and pitch frequency remained unchanged; When the vertical stiffness of the running wheel is below 1.8 MN / m, the vehicle body bounce and pitch damping ratio increase with the increasing of the vertical stiffness of the running wheel; When the running wheel vertical stiffness is 1.8MN / m or more, the car body bounce and pitch damping ratio remained unchanged; The running wheel vertical damping on the car body bounce and pitch frequency has no effect; Car body bounce and pitch damping ratio increase with the increasing of the vertical damping of the running wheel. The flexibility of the car body has no effect on the modal parameters of the car, which will improve the vehicle ride quality index.

Online, efficient and precision laser profiling of bronze-bonded diamond grinding wheels based on a single-layer deep-cutting intermittent feeding method

NASA Astrophysics Data System (ADS)

Deng, Hui; Chen, Genyu; He, Jie; Zhou, Cong; Du, Han; Wang, Yanyi

2016-06-01

In this study, an online, efficient and precision laser profiling approach that is based on a single-layer deep-cutting intermittent feeding method is described. The effects of the laser cutting depth and the track-overlap ratio of the laser cutting on the efficiency, precision and quality of laser profiling were investigated. Experiments on the online profiling of bronze-bonded diamond grinding wheels were performed using a pulsed fiber laser. The results demonstrate that an increase in the laser cutting depth caused an increase in the material removal efficiency during the laser profiling process. However, the maximum laser profiling efficiency was only achieved when the laser cutting depth was equivalent to the initial surface contour error of the grinding wheel. In addition, the selection of relatively high track-overlap ratios of laser cutting for the profiling of grinding wheels was beneficial with respect to the increase in the precision of laser profiling, whereas the efficiency and quality of the laser profiling were not affected by the change in the track-overlap ratio. After optimized process parameters were employed for online laser profiling, the circular run-out error and the parallelism error of the grinding wheel surface decreased from 83.1 μm and 324.6 μm to 11.3 μm and 3.5 μm, respectively. The surface contour precision of the grinding wheel significantly improved. The highest surface contour precision for grinding wheels of the same type that can be theoretically achieved after laser profiling is completely dependent on the peak power density of the laser. The higher the laser peak power density is, the higher the surface contour precision of the grinding wheel after profiling.

An overview on real-time control schemes for wheeled mobile robot

NASA Astrophysics Data System (ADS)

Radzak, M. S. A.; Ali, M. A. H.; Sha’amri, S.; Azwan, A. R.

2018-04-01

The purpose of this paper is to review real-time control motion algorithms for wheeled mobile robot (WMR) when navigating in environment such as road. Its need a good controller to avoid collision with any disturbance and maintain a track error at zero level. The controllers are used with other aiding sensors to measure the WMR’s velocities, posture, and interference to estimate the required torque to be applied on the wheels of mobile robot. Four main categories for wheeled mobile robot control systems have been found in literature which are namely: Kinematic based controller, Dynamic based controllers, artificial intelligence based control system, and Active Force control. A MATLAB/Simulink software is the main software to simulate and implement the control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with presence of disturbances, however others software such C, C++ and visual basic are rare to be used.

Wheel life prediction model - an alternative to the FASTSIM algorithm for RCF

NASA Astrophysics Data System (ADS)

Hossein-Nia, Saeed; Sichani, Matin Sh.; Stichel, Sebastian; Casanueva, Carlos

2018-07-01

In this article, a wheel life prediction model considering wear and rolling contact fatigue (RCF) is developed and applied to a heavy-haul locomotive. For wear calculations, a methodology based on Archard's wear calculation theory is used. The simulated wear depth is compared with profile measurements within 100,000 km. For RCF, a shakedown-based theory is applied locally, using the FaStrip algorithm to estimate the tangential stresses instead of FASTSIM. The differences between the two algorithms on damage prediction models are studied. The running distance between the two reprofiling due to RCF is estimated based on a Wöhler-like relationship developed from laboratory test results from the literature and the Palmgren-Miner rule. The simulated crack locations and their angles are compared with a five-year field study. Calculations to study the effects of electro-dynamic braking, track gauge, harder wheel material and the increase of axle load on the wheel life are also carried out.

Rail corrugation growth accounting for the flexibility and rotation of the wheel set and the non-Hertzian and non-steady-state effects at contact patch

NASA Astrophysics Data System (ADS)

Vila, Paloma; Baeza, Luis; Martínez-Casas, José; Carballeira, Javier

2014-05-01

In this work, a simulation tool is developed to analyse the growth of rail corrugation consisting of several models connected in a feedback loop in order to account for both the short-term dynamic vehicle-track interaction and the long-term damage. The time-domain vehicle-track interaction model comprises a flexible rotating wheel set model, a cyclic track model based on a substructuring technique and a non-Hertzian and non-steady-state three-dimensional wheel-rail contact model, based on the variational theory by Kalker. Wear calculation is performed with Archard's wear model by using the contact parameters obtained with the non-Hertzian and non-steady-state three-dimensional contact model. The aim of this paper is to analyse the influence of the excitation of two coinciding resonances of the flexible rotating wheel set on the rail corrugation growth in the frequency range from 20 to 1500 Hz, when contact conditions similar to those that can arise while a wheel set is negotiating a gentle curve are simulated. Numerical results show that rail corrugation grows only on the low rail for two cases in which two different modes of the rotating wheel set coincide in frequency. In the first case, identified by using the Campbell diagram, the excitation of both the backward wheel mode and the forward third bending mode of the wheel set model (B-F modes) promotes the growth of rail corrugation with a wavelength of 110 mm for a vehicle velocity of 142 km/h. In the second case, the excitation of both the backward wheel mode and the backward third bending mode (B-B modes) gives rise to rail corrugation growth at a wavelength of 156 mm when the vehicle velocity is 198 km/h.

18. Post Lathe. View of wheel, motor, belt, casing and ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

18. Post Lathe. View of wheel, motor, belt, casing and grooved steel base. Camera pointed NW. See photo WA-116-17. - Puget Sound Naval Shipyard, Pattern Shop, Farragut Avenue, Bremerton, Kitsap County, WA

Effect of sucrose availability on wheel-running as an operant and as a reinforcing consequence on a multiple schedule: Additive effects of extrinsic and automatic reinforcement.

PubMed

Belke, Terry W; Pierce, W David

2015-07-01

As a follow up to Belke and Pierce's (2014) study, we assessed the effects of repeated presentation and removal of sucrose solution on the behavior of rats responding on a two-component multiple schedule. Rats completed 15 wheel turns (FR 15) for either 15% or 0% sucrose solution in the manipulated component and lever pressed 10 times on average (VR 10) for an opportunity to complete 15 wheel turns (FR 15) in the other component. In contrast to our earlier study, the components advanced based on time (every 8min) rather than completed responses. Results showed that in the manipulated component wheel-running rates were higher and the latency to initiate running longer when sucrose was present (15%) compared to absent (0% or water); the number of obtained outcomes (sucrose/water), however, did not differ with the presentation and withdrawal of sucrose. For the wheel-running as reinforcement component, rates of wheel turns, overall lever-pressing rates, and obtained wheel-running reinforcements were higher, and postreinforcement pauses shorter, when sucrose was present (15%) than absent (0%) in manipulated component. Overall, our findings suggest that wheel-running rate regardless of its function (operant or reinforcement) is maintained by automatically generated consequences (automatic reinforcement) and is increased as an operant by adding experimentally arranged sucrose reinforcement (extrinsic reinforcement). This additive effect on operant wheel-running generalizes through induction or arousal to the wheel-running as reinforcement component, increasing the rate of responding for opportunities to run and the rate of wheel-running per opportunity. Copyright © 2015 Elsevier B.V. All rights reserved.

Application of round grating angle measurement composite error amendment in the online measurement accuracy improvement of large diameter

NASA Astrophysics Data System (ADS)

Wang, Biao; Yu, Xiaofen; Li, Qinzhao; Zheng, Yu

2008-10-01

The paper aiming at the influence factor of round grating dividing error, rolling-wheel produce eccentricity and surface shape errors provides an amendment method based on rolling-wheel to get the composite error model which includes all influence factors above, and then corrects the non-circle measurement angle error of the rolling-wheel. We make soft simulation verification and have experiment; the result indicates that the composite error amendment method can improve the diameter measurement accuracy with rolling-wheel theory. It has wide application prospect for the measurement accuracy higher than 5 μm/m.

Integration of uniform design and quantum-behaved particle swarm optimization to the robust design for a railway vehicle suspension system under different wheel conicities and wheel rolling radii

NASA Astrophysics Data System (ADS)

Cheng, Yung-Chang; Lee, Cheng-Kang

2017-10-01

This paper proposes a systematic method, integrating the uniform design (UD) of experiments and quantum-behaved particle swarm optimization (QPSO), to solve the problem of a robust design for a railway vehicle suspension system. Based on the new nonlinear creep model derived from combining Hertz contact theory, Kalker's linear theory and a heuristic nonlinear creep model, the modeling and dynamic analysis of a 24 degree-of-freedom railway vehicle system were investigated. The Lyapunov indirect method was used to examine the effects of suspension parameters, wheel conicities and wheel rolling radii on critical hunting speeds. Generally, the critical hunting speeds of a vehicle system resulting from worn wheels with different wheel rolling radii are lower than those of a vehicle system having original wheels without different wheel rolling radii. Because of worn wheels, the critical hunting speed of a running railway vehicle substantially declines over the long term. For safety reasons, it is necessary to design the suspension system parameters to increase the robustness of the system and decrease the sensitive of wheel noises. By applying UD and QPSO, the nominal-the-best signal-to-noise ratio of the system was increased from -48.17 to -34.05 dB. The rate of improvement was 29.31%. This study has demonstrated that the integration of UD and QPSO can successfully reveal the optimal solution of suspension parameters for solving the robust design problem of a railway vehicle suspension system.

Detecting lane departures from steering wheel signal.

PubMed

Sandström, Max; Lampsijärvi, Eetu; Holmström, Axi; Maconi, Göran; Ahmadzai, Shabana; Meriläinen, Antti; Hæggström, Edward; Forsman, Pia

2017-02-01

Current lane departure warning systems are video-based and lose data when road- and weather conditions are bad. This study sought to develop a lane departure warning algorithm based on the signal drawn from the steering wheel. The rationale is that a car-based lane departure warning system should be robust regardless of road- and weather conditions. N=34 professional driver students drove in a high-fidelity driving simulator at 80km/h for 55min every third hour during 36h of sustained wakefulness. During each driving session we logged the steering wheel- and lane position signals at 60Hz. To derive the lane position signal, we quantified the transfer function of the simulated vehicle and used it to derive the absolute lane position signal from the steering wheel signal. The Pearson correlation between the derived- and actual lane position signals was r=0.48 (based on 12,000km). Next we designed an algorithm that alerted, up to three seconds before they occurred, about upcoming lane deviations that exceeded 0.2m. The sensitivity of the algorithm was 47% and the specificity was 71%. To our knowledge this exceeds the performance of the current video-based systems. Copyright © 2016 Elsevier Ltd. All rights reserved.

Benefits of magnesium wheels for consumer cars

NASA Astrophysics Data System (ADS)

Frishfelds, Vilnis; Timuhins, Andrejs; Bethers, Uldis

2018-05-01

Advantages and disadvantages of magnesium wheels are considered based on a mechanical model of a car. Magnesium wheels are usually applied to racing cars as they provide slightly better strength/weight ratio than aluminum alloys. Do they provide notable benefits also for the everyday user when the car speeds do not exceed allowed speed limit? Distinct properties of magnesium rims are discussed. Apart from lighter weight of magnesium alloys, they are also good in dissipating the energy of vibrations. The role of energy dissipation in the rim of a wheel is estimated by a quarter car model. Improvements to safety by using the magnesium wheels are considered. Braking distance and responsiveness of the car is studied both with and without using an Anti Blocking System (ABS). Influence of rim weight on various handling parameters of the car is quantitatively tested.

Fluid Mechanics of a High Performance Racing Bicycle Wheel

NASA Astrophysics Data System (ADS)

Mercat, Jean-Pierre; Cretoux, Brieuc; Huat, Francois-Xavier; Nordey, Benoit; Renaud, Maxime; Noca, Flavio

2013-11-01

In 2012, MAVIC released the most aerodynamic bicycle wheel on the market, the CXR 80. The french company MAVIC has been a world leader for many decades in the manufacturing of bicycle wheels for competitive events such as the Olympic Games and the Tour de France. Since 2010, MAVIC has been in a research partnership with the University of Applied Sciences in Geneva, Switzerland, for the aerodynamic development of bicycle wheels. While most of the development up to date has been performed in a classical wind tunnel, recent work has been conducted in an unusual setting, a hydrodynamic towing tank, in order to achieve low levels of turbulence and facilitate quantitative flow visualization (PIV). After a short introduction on the aerodynamics of bicycle wheels, preliminary fluid mechanics results based on this novel setup will be presented.

Uptake of wheel-filtration among clients of a supervised injecting facility: Can structured education work?

PubMed

Steele, Maureen; Silins, Edmund; Flaherty, Ian; Hiley, Sarah; van Breda, Nick; Jauncey, Marianne

2018-01-01

Wheel-filtration of pharmaceutical opioid tablets is a recognised harm reduction strategy, but uptake of the practice among people who inject drugs is low. The study aimed to: (i) examine perceptions of filtration practices; (ii) provide structured education on wheel-filtration; and (iii) assess uptake of the practice. Frequent opioid tablet injectors (n = 30) attending a supervised injecting facility in Sydney, Australia, received hands-on instruction on wheel-filtration based on recommended practice. Pre-education, post-education and follow-up questionnaires were administered. Wheel-filtration was generally regarded as better than cotton-filtration (the typical method) in terms of perceived effects on health, ease of use and overall drug effect. Sixty-eight percent of those who said they would try wheel-filtration after the education had actually done so. Of those who usually used cotton-filtration, over half (60%) had used wheel-filtration two weeks later. Uptake of safer preparation methods for pharmaceutical opioid tablets increases after structured education in wheel-filtration. Findings suggest that SIFs are an effective site for this kind of education. Supervised injecting facility workers are uniquely positioned to provide harm reduction education at the time of injection. [Steele M, Silins E, Flaherty I, Hiley S, van Breda N, Jauncey M. Uptake of wheel-filtration among clients of a supervised injecting facility: Can structured education work? Drug Alcohol Rev 2018;37:116-120]. © 2017 Australasian Professional Society on Alcohol and other Drugs.

Full drive-by-wire dynamic control for four-wheel-steer all-wheel-drive vehicles

NASA Astrophysics Data System (ADS)

Fahimi, Farbod

2013-03-01

Most of the controllers introduced for four-wheel-steer (4WS) vehicles are derived with the assumption that the longitudinal speed of the vehicle is constant. However, in real applications, the longitudinal speed varies, and the longitudinal, lateral, and yaw dynamics are coupled. In this paper, the longitudinal dynamics of the vehicle as well as its lateral and yaw motions are controlled simultaneously. This way, the effect of driving/braking forces of the tires on the lateral and yaw motions of the vehicle are automatically included in the control laws. To address the dynamic parameter uncertainty of the vehicle, a chatter-free variable structure controller is introduced. Elimination of chatter is achieved by introducing a dynamically adaptive boundary layer thickness. It is shown via simulations that the proposed control approach performs more robustly than the controllers developed based on dynamic models, in which longitudinal speed is assumed to be constant, and only lateral speed and yaw rate are used as system states. Furthermore, this approach supports all-wheel-drive vehicles. Front-wheel-drive or rear-wheel-drive vehicles are also supported as special cases of an all-wheel-drive vehicle.

The Development of Lightweight Commercial Vehicle Wheels Using Microalloying Steel

NASA Astrophysics Data System (ADS)

Lu, Hongzhou; Zhang, Lilong; Wang, Jiegong; Xuan, Zhaozhi; Liu, Xiandong; Guo, Aimin; Wang, Wenjun; Lu, Guimin

Lightweight wheels can reduce weight about 100kg for commercial vehicles, and it can save energy and reduce emission, what's more, it can enhance the profits for logistics companies. The development of lightweight commercial vehicle wheels is achieved by the development of new steel for rim, the process optimization of flash butt welding, and structure optimization by finite element methods. Niobium micro-alloying technology can improve hole expansion rate, weldability and fatigue performance of wheel steel, and based on Niobium micro-alloying technology, a special wheel steel has been studied whose microstructure are Ferrite and Bainite, with high formability and high fatigue performance, and stable mechanical properties. The content of Nb in this new steel is 0.025% and the hole expansion rate is ≥ 100%. At the same time, welding parameters including electric upsetting time, upset allowance, upsetting pressure and flash allowance are optimized, and by CAE analysis, an optimized structure has been attained. As a results, the weight of 22.5in×8.25in wheel is up to 31.5kg, which is most lightweight comparing the same size wheels. And its functions including bending fatigue performance and radial fatigue performance meet the application requirements of truck makers and logistics companies.

The dynamic compressive behavior and constitutive modeling of D1 railway wheel steel over a wide range of strain rates and temperatures

NASA Astrophysics Data System (ADS)

Jing, Lin; Su, Xingya; Zhao, Longmao

The dynamic compressive behavior of D1 railway wheel steel at high strain rates was investigated using a split Hopkinson pressure bar (SHPB) apparatus. Three types of specimens, which were derived from the different positions (i.e., the rim, web and hub) of a railway wheel, were tested over a wide range of strain rates from 10-3 s-1 to 2.4 × 103 s-1 and temperatures from 213 K to 973 K. Influences of the strain rate and temperature on flow stress were discussed, and rate- and temperature-dependent constitutive relationships were assessed by the Cowper-Symonds model, Johnson-Cook model and a physically-based model, respectively. The experimental results show that the compressive true stress versus true strain response of D1 wheel steel is strain rate-dependent, and the strain hardening rate during the plastic flow stage decreases with the elevation of strain rate. Besides, the D1 wheel steel displays obvious temperature-dependence, and the third-type strain aging (3rd SA) is occurred at the temperature region of 673-973 K at a strain rate of ∼1500 s-1. Comparisons of experimental results with theoretical predictions indicate that the physically-based model has a better prediction capability for the 3rd SA characteristic of the tested D1 wheel steel.

Emitted vibration measurement device and method

NASA Astrophysics Data System (ADS)

Gisler, G. L.

1986-10-01

This invention is directed to a method and apparatus for measuring emitted vibrational forces produced by a reaction wheel assembly due to imbalances, misalignment, bearing defects and the like. The apparatus includes a low mass carriage supported on a large mass base. The carriage is in the form of an octagonal frame having an opening which is adapted for receiving the reaction wheel assembly supported thereon by means of a mounting ring. The carriage is supported on the base by means of air bearings which support the carriage in a generally frictionless manner when supplied with compressed air from a source. A plurality of carriage brackets and a plurality of base blocks provided for physical coupling of the base and carriage. The sensing axes of the load cells are arranged generally parallel to the base and connected between the base and carriage such that all of the vibrational forces emitted by the reaction wheel assembly are effectively transmitted through the sensing axes of the load cells. In this manner, a highly reliable and accurate measurment of the vibrational forces of the reaction wheel assembly can be had. The output signals from the load cells are subjected to a dynamical analyzer which analyzes and identifies the rotor and spin bearing components which are causing the vibrational forces.

Model Design for Water Wheel Control System of Heumgyeonggaknu

NASA Astrophysics Data System (ADS)

Kim, Sang Hyuk; Ham, Seon Young; Lee, Yong Sam

2016-03-01

Heumgyeonggaknu (????) is powered by a water-hammering-type water wheel. The technique that maintains the constant speed of the water wheel is assumed to be the one used in the Cheonhyeong (???) apparatus in Shui Yun Yi Xiang Tai (???) made by the Northern Song (??) dynasty in the 11th century. We investigated the history of the development and characteristics of the Cheonhyeong apparatus, and we analyzed ways to transmit the power of Heumgyeonggaknu. In addition, we carried out a conceptual design to systematically examine the power control system. Based on the conceptual design, we built a model for a water wheel control system that could be used in experiments by drawing a 3D model and a basic design.

High-runner mice have reduced incentive salience for a sweet-taste reward when housed with wheel access.

PubMed

Thompson, Zoe; Kolb, Erik M; Garland, Theodore

2018-01-01

To explore reward substitution in the context of voluntary exercise, female mice from four replicate high-runner (HR) lines (bred for wheel running) and four non-selected control (C) lines were given simultaneous access to wheels and palatable solutions as competing rewards (two doses of saccharin [0.1, 0.2% w/v]; two doses of common artificial sweetener blends containing saccharin [Sweet 'N Low ® : 0.1, 0.2% w/v], aspartame [Equal ® : 0.04, 0.08% w/v], or sucralose [Splenda ® : 0.08, 0.16% w/v]; or two doses of sucrose [3.5, 10.5% w/v]). Wheel running and fluid consumption were measured daily, with each dose (including plain water) lasting two days and two "washout" days between solutions. In a separate set of mice, the experiment was repeated without wheel access. The artificial sweeteners had no statistical effect on wheel running. However, based on proportional responses, both doses of sucrose significantly elevated wheel running in C but not HR mice. In contrast, the high dose of sucrose suppressed home-cage activity for both linetypes. Both sucrose and the artificial blends generally increased fluid consumption in a dose-dependent manner. When they had access to wheels, HR had a significantly smaller increase in consumption of artificial sweetener blends when compared with C mice, but not when housed without wheels. Overall, these results provide further evidence that the reward system of HR mice has evolved, and specifically suggest that HR mice have a reduced incentive salience for some artificial sweetener blends, likely attributable to the stronger competing reward of wheel running that has evolved in these lines. Copyright © 2017 Elsevier B.V. All rights reserved.

The Matsu Wheel: A Cloud-Based Framework for Efficient Analysis and Reanalysis of Earth Satellite Imagery

NASA Technical Reports Server (NTRS)

Patterson, Maria T.; Anderson, Nicholas; Bennett, Collin; Bruggemann, Jacob; Grossman, Robert L.; Handy, Matthew; Ly, Vuong; Mandl, Daniel J.; Pederson, Shane; Pivarski, James;

Circulating levels of endocannabinoids respond acutely to voluntary exercise, are altered in mice selectively bred for high voluntary wheel running, and differ between the sexes

PubMed Central

Thompson, Zoe; Argueta, Donovan; Garland, Theodore; DiPatrizio, Nicholas

2017-01-01

The endocannabinoid system serves many physiological roles, including in the regulation of energy balance, food reward, and voluntary locomotion. Signaling at the cannabinoid type 1 receptor has been specifically implicated in motivation for rodent voluntary exercise on wheels. We studied four replicate lines of high runner (HR) mice that have been selectively bred for 81 generations based on average number of wheel revolutions on days five and six of a six-day period of wheel access. Four additional replicate lines are bred without regard to wheel running, and serve as controls (C) for random genetic effects that may cause divergence among lines. On average, mice from HR lines voluntarily run on wheels three times more than C mice on a daily basis. We tested the general hypothesis that circulating levels of endocannabinoids (i.e., 2-arachidonoylglycerol [2-AG] and anandamide [AEA]) differ between HR and C mice in a sex-specific manner. Fifty male and 50 female mice were allowed access to wheels for six days, while another 50 males and 50 females were kept without access to wheels (half HR, half C for all groups). Blood was collected by cardiac puncture during the time of peak running on the sixth night of wheel access or no wheel access, and later analyzed for 2-AG and AEA content by ultra-performance liquid chromatography coupled to tandem mass spectrometry. We observed a significant three-way interaction among sex, linetype, and wheel access for 2-AG concentrations, with females generally having lower levels than males and wheel access lowering 2-AG levels in some but not all subgroups. The number of wheel revolutions in the minutes or hours immediately prior to sampling did not quantitatively predict plasma 2-AG levels within groups. We also observed a trend for a linetype-by-wheel access interaction for AEA levels, with wheel access lowering plasma concentrations of AEA in HR mice, while raising them in C mice. In addition, females tended to have higher AEA concentrations than males. For mice housed with wheels, the amount of running during the 30 minutes before sampling was a significant positive predictor of plasma AEA within groups, and HR mice had significantly lower levels of AEA than C mice. Our results suggest that voluntary exercise alters circulating levels of endocannabinoids, and further demonstrate that selective breeding for voluntary exercise is associated with evolutionary changes in the endocannabinoid system. PMID:28017680

Circulating levels of endocannabinoids respond acutely to voluntary exercise, are altered in mice selectively bred for high voluntary wheel running, and differ between the sexes.

PubMed

Thompson, Zoe; Argueta, Donovan; Garland, Theodore; DiPatrizio, Nicholas

2017-03-01

The endocannabinoid system serves many physiological roles, including in the regulation of energy balance, food reward, and voluntary locomotion. Signaling at the cannabinoid type 1 receptor has been specifically implicated in motivation for rodent voluntary exercise on wheels. We studied four replicate lines of high runner (HR) mice that have been selectively bred for 81 generations based on average number of wheel revolutions on days five and six of a six-day period of wheel access. Four additional replicate lines are bred without regard to wheel running, and serve as controls (C) for random genetic effects that may cause divergence among lines. On average, mice from HR lines voluntarily run on wheels three times more than C mice on a daily basis. We tested the general hypothesis that circulating levels of endocannabinoids (i.e., 2-arachidonoylglycerol [2-AG] and anandamide [AEA]) differ between HR and C mice in a sex-specific manner. Fifty male and 50 female mice were allowed access to wheels for six days, while another 50 males and 50 females were kept without access to wheels (half HR, half C for all groups). Blood was collected by cardiac puncture during the time of peak running on the sixth night of wheel access or no wheel access, and later analyzed for 2-AG and AEA content by ultra-performance liquid chromatography coupled to tandem mass spectrometry. We observed a significant three-way interaction among sex, linetype, and wheel access for 2-AG concentrations, with females generally having lower levels than males and wheel access lowering 2-AG levels in some but not all subgroups. The number of wheel revolutions in the minutes or hours immediately prior to sampling did not quantitatively predict plasma 2-AG levels within groups. We also observed a trend for a linetype-by-wheel access interaction for AEA levels, with wheel access lowering plasma concentrations of AEA in HR mice, while raising them in C mice. In addition, females tended to have higher AEA concentrations than males. For mice housed with wheels, the amount of running during the 30min before sampling was a significant positive predictor of plasma AEA within groups, and HR mice had significantly lower levels of AEA than C mice. Our results suggest that voluntary exercise alters circulating levels of endocannabinoids, and further demonstrate that selective breeding for voluntary exercise is associated with evolutionary changes in the endocannabinoid system. Copyright © 2016 Elsevier Inc. All rights reserved.

Desiccant-based dehumidification system and method

DOEpatents

Fischer, John C.

2004-06-22

The present invention provides an apparatus for dehumidifying air supplied to an enclosed space by an air conditioning unit. The apparatus includes a partition separating the interior of the housing into a supply portion and a regeneration portion. The supply portion has an inlet for receiving supply air from the air conditioning unit and an outlet for supplying air to the enclosed space. A regeneration fan creates the regeneration air stream. The apparatus includes an active desiccant wheel positioned such that a portion of the wheel extends into the supply portion and a portion of the wheel extends into the regeneration portion, so that the wheel can rotate through the supply air stream and the regeneration air stream to dehumidify the supply air stream. A heater warms the regeneration air stream as necessary to regenerate the desiccant wheel. The invention also comprises a hybrid system that combines air conditioning and dehumidifying components into a single integrated unit.

Machinability of cast commercial titanium alloys.

PubMed

Watanabe, I; Kiyosue, S; Ohkubo, C; Aoki, T; Okabe, T

2002-01-01

This study investigated the machinability of cast orthopedic titanium (metastable beta) alloys for possible application to dentistry and compared the results with those of cast CP Ti, Ti-6Al-4V, and Ti-6Al-7Nb, which are currently used in dentistry. Machinability was determined as the amount of metal removed with the use of an electric handpiece and a SiC abrasive wheel turning at four different rotational wheel speeds. The ratios of the amount of metal removed and the wheel volume loss (machining ratio) were also evaluated. Based on these two criteria, the two alpha + beta alloys tested generally exhibited better results for most of the wheel speeds compared to all the other metals tested. The machinability of the three beta alloys employed was similar or worse, depending on the speed of the wheel, compared to CP Ti. Copyright 2002 Wiley Periodicals, Inc.

Venusian atmospheric and Magellan properties from attitude control data. M.S. Thesis

NASA Technical Reports Server (NTRS)

Croom, Christopher A.; Tolson, Robert H.

1994-01-01

Results are presented of the study of the Venusian atmosphere, Magellan aerodynamic moment coefficients, moments of inertia, and solar moment coefficients. This investigation is based upon the use of attitude control data in the form of reaction wheel speeds from the Magellan spacecraft. As the spacecraft enters the upper atmosphere of Venus, measurable torques are experienced due to aerodynamic effects. Solar and gravity gradient effects also cause additional torques throughout the orbit. In order to maintain an inertially fixed attitude, the control system counteracts these torques by changing the angular rates of three reaction wheels. Model reaction wheel speeds are compared to observed Magellan reaction wheel speeds through a differential correction procedure. This method determines aerodynamic, atmospheric, solar pressure, and mass moment of inertia parameters. Atmospheric measurements include both base densities and scale heights. Atmospheric base density results confirm natural variability as measured by the standard orbital decay method. Potential inconsistencies in free molecular aerodynamic moment coefficients are identified. Moments of inertia are determined with a precision better than 1 percent of the largest principal moment of inertia.

Online measurement for geometrical parameters of wheel set based on structure light and CUDA parallel processing

NASA Astrophysics Data System (ADS)

Wu, Kaihua; Shao, Zhencheng; Chen, Nian; Wang, Wenjie

2018-01-01

The wearing degree of the wheel set tread is one of the main factors that influence the safety and stability of running train. Geometrical parameters mainly include flange thickness and flange height. Line structure laser light was projected on the wheel tread surface. The geometrical parameters can be deduced from the profile image. An online image acquisition system was designed based on asynchronous reset of CCD and CUDA parallel processing unit. The image acquisition was fulfilled by hardware interrupt mode. A high efficiency parallel segmentation algorithm based on CUDA was proposed. The algorithm firstly divides the image into smaller squares, and extracts the squares of the target by fusion of k_means and STING clustering image segmentation algorithm. Segmentation time is less than 0.97ms. A considerable acceleration ratio compared with the CPU serial calculation was obtained, which greatly improved the real-time image processing capacity. When wheel set was running in a limited speed, the system placed alone railway line can measure the geometrical parameters automatically. The maximum measuring speed is 120km/h.

The Learning Wheel: Ideas and Activities for Multicultural and Holistic Lesson Planning.

ERIC Educational Resources Information Center

Nelson, Annabelle

This book describes a conceptual framework for multicultural education that is based on how various cultures lead their members to know about the world. This approach accounts for diverse ways of knowing and learning and is based on the symbol of the wheel as an ancient organizational model from Asia, Europe, Africa, and North America. This model…

A Novel Mittag-Leffler Kernel Based Hybrid Fault Diagnosis Method for Wheeled Robot Driving System.

PubMed

Yuan, Xianfeng; Song, Mumin; Zhou, Fengyu; Chen, Zhumin; Li, Yan

2015-01-01

The wheeled robots have been successfully applied in many aspects, such as industrial handling vehicles, and wheeled service robots. To improve the safety and reliability of wheeled robots, this paper presents a novel hybrid fault diagnosis framework based on Mittag-Leffler kernel (ML-kernel) support vector machine (SVM) and Dempster-Shafer (D-S) fusion. Using sensor data sampled under different running conditions, the proposed approach initially establishes multiple principal component analysis (PCA) models for fault feature extraction. The fault feature vectors are then applied to train the probabilistic SVM (PSVM) classifiers that arrive at a preliminary fault diagnosis. To improve the accuracy of preliminary results, a novel ML-kernel based PSVM classifier is proposed in this paper, and the positive definiteness of the ML-kernel is proved as well. The basic probability assignments (BPAs) are defined based on the preliminary fault diagnosis results and their confidence values. Eventually, the final fault diagnosis result is archived by the fusion of the BPAs. Experimental results show that the proposed framework not only is capable of detecting and identifying the faults in the robot driving system, but also has better performance in stability and diagnosis accuracy compared with the traditional methods.

A Novel Mittag-Leffler Kernel Based Hybrid Fault Diagnosis Method for Wheeled Robot Driving System

PubMed Central

Yuan, Xianfeng; Song, Mumin; Chen, Zhumin; Li, Yan

2015-01-01

The wheeled robots have been successfully applied in many aspects, such as industrial handling vehicles, and wheeled service robots. To improve the safety and reliability of wheeled robots, this paper presents a novel hybrid fault diagnosis framework based on Mittag-Leffler kernel (ML-kernel) support vector machine (SVM) and Dempster-Shafer (D-S) fusion. Using sensor data sampled under different running conditions, the proposed approach initially establishes multiple principal component analysis (PCA) models for fault feature extraction. The fault feature vectors are then applied to train the probabilistic SVM (PSVM) classifiers that arrive at a preliminary fault diagnosis. To improve the accuracy of preliminary results, a novel ML-kernel based PSVM classifier is proposed in this paper, and the positive definiteness of the ML-kernel is proved as well. The basic probability assignments (BPAs) are defined based on the preliminary fault diagnosis results and their confidence values. Eventually, the final fault diagnosis result is archived by the fusion of the BPAs. Experimental results show that the proposed framework not only is capable of detecting and identifying the faults in the robot driving system, but also has better performance in stability and diagnosis accuracy compared with the traditional methods. PMID:26229526

Cryogenic wheel mechanisms for the Mid-Infrared Instrument (MIRI) of the James Webb Space Telescope (JWST): detailed design and test results from the qualification program

NASA Astrophysics Data System (ADS)

Krause, O.; Birkmann, S.; Blümchen, T.; Böhm, A.; Ebert, M.; Grözinger, U.; Henning, Th.; Hofferbert, R.; Huber, A.; Lemke, D.; Rohloff, R.-R.; Scheithauer, S.; Gross, T.; Luichtel, G.; Stein, C.; Stott, R.; Übele, M.; Amiaux, J.; Auguères, J.-L.; Glauser, A.; Zehnder, A.; Meijers, M.; Jager, R.; Parr-Burrman, P.; Wright, G.

2008-07-01

The Mid-Infrared Instrument (MIRI) of the James Webb Space Telescope, scheduled for launch in 2013, will provide a variety of observing modes such as broad/narrow-band imaging, coronagraphy and low/medium resolution spectroscopy. One filter wheel and two dichroic-grating wheel mechanisms allow to configure the instrument between the different observing modes and wavelength ranges. The main requirements for the three mechanisms with up to 18 positions on the wheel include: (1) reliable operation at T ~ 7 K, (2) optical precision, (3) low power dissipation, (4) high vibration capability, (5) functionality at 6 K < T < 300 K and (6) long lifetime (5-10 years). To meet these stringent requirement, a space-proven mechanism design based on the European ISO mission and consisting of a central bearing carrying the optical wheels, a central torque motor for wheel actuation, a ratchet system for precise and powerless positioning and a magnetoresistive position sensor has been selected. We present here the detailed design of the flight models and report results from the extensive component qualification.

Angular Rate Sensing with GyroWheel Using Genetic Algorithm Optimized Neural Networks.

PubMed

Zhao, Yuyu; Zhao, Hui; Huo, Xin; Yao, Yu

2017-07-22

GyroWheel is an integrated device that can provide three-axis control torques and two-axis angular rate sensing for small spacecrafts. Large tilt angle of its rotor and de-tuned spin rate lead to a complex and non-linear dynamics as well as difficulties in measuring angular rates. In this paper, the problem of angular rate sensing with the GyroWheel is investigated. Firstly, a simplified rate sensing equation is introduced, and the error characteristics of the method are analyzed. According to the analysis results, a rate sensing principle based on torque balance theory is developed, and a practical way to estimate the angular rates within the whole operating range of GyroWheel is provided by using explicit genetic algorithm optimized neural networks. The angular rates can be determined by the measurable values of the GyroWheel (including tilt angles, spin rate and torque coil currents), the weights and the biases of the neural networks. Finally, the simulation results are presented to illustrate the effectiveness of the proposed angular rate sensing method with GyroWheel.

ATHLETE: Lunar Cargo Unloading from a High Deck

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

2010-01-01

As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are at least comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be lighter than a conventional all-terrain mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of freedom to be used as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A power-take-off from the wheel actuates the tools, so that they can take advantage of the 1+ horsepower motor in each wheel to enable drilling, gripping or other power-tool functions.

ATHLETE: a Cargo and Habitat Transporter for the Moon

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

2009-01-01

As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The vehicle concept is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through (or at least out of) extreme terrain, the wheels and wheel actuators can be sized only for nominal terrain. There are substantial mass savings in the wheels and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25 percent lighter than a conventional mobility chassis for planetary exploration. A side benefit of this approach is that each limb has sufficient degrees-of-freedom for use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A rotating power-take-off from the wheel actuates the tools, so that they can take advantage of the 1-plus-horsepower motor in each wheel to enable drilling, gripping or other power-tool functions.

Interaction of In-wheel permanent magnet synchronous motor with tire dynamics

NASA Astrophysics Data System (ADS)

Song, Ziyou; Li, Jianqiu; Wei, Yintao; Xu, Liangfei; Ouyang, Minggao

2015-05-01

Drive wheel systems combined with the in-wheel permanent magnet synchronous motor (I-PMSM) and the tire are highly electromechanical-coupled. However, the deformation dynamics of this system, which may influence the system performance, is neglected in most existing literatures. For this reason, a deformable tire and a detailed I-PMSM are modeled using Matlab/Simulink. Furthermore, the influence of tire/road contact interface is accurately described by the non-linear relaxation length-based model and magic formula pragmatic model. The drive wheel model used in this paper is closer to that of a real tire in contrast to the rigid tire model which is widely used. Based on the near-precise model mentioned above, the sensitivity of the dynamic tire and I-PMSM parameters to the relative error of slip ratio estimation is analyzed. Additionally, the torsional and longitudinal vibrations of the drive wheel are presented both in time and frequency domains when a quarter vehicle is started under conditions of a specific torque curve, which includes an abrupt torque change from 30 N · m to 200 N · m. The parameters sensitivity on drive wheel vibrations is also studied, and the parameters include the mass distribution ratio of tire, the tire torsional stiffness, the tire damping coefficient, and the hysteresis band of the PMSM current control algorithm. Finally, different target torque curves are compared in the simulation, which shows that the estimation error of the slip ratio gets violent, and the longitudinal force includes more fluctuation components with the increasing change rate of the torque. This paper analyzes the influence of the drive wheel deformation on the vehicle dynamic control, and provides useful information regarding the electric vehicle traction control.

Optimization of Angular-Momentum Biases of Reaction Wheels

NASA Technical Reports Server (NTRS)

Lee, Clifford; Lee, Allan

2008-01-01

RBOT [RWA Bias Optimization Tool (wherein RWA signifies Reaction Wheel Assembly )] is a computer program designed for computing angular momentum biases for reaction wheels used for providing spacecraft pointing in various directions as required for scientific observations. RBOT is currently deployed to support the Cassini mission to prevent operation of reaction wheels at unsafely high speeds while minimizing time in undesirable low-speed range, where elasto-hydrodynamic lubrication films in bearings become ineffective, leading to premature bearing failure. The problem is formulated as a constrained optimization problem in which maximum wheel speed limit is a hard constraint and a cost functional that increases as speed decreases below a low-speed threshold. The optimization problem is solved using a parametric search routine known as the Nelder-Mead simplex algorithm. To increase computational efficiency for extended operation involving large quantity of data, the algorithm is designed to (1) use large time increments during intervals when spacecraft attitudes or rates of rotation are nearly stationary, (2) use sinusoidal-approximation sampling to model repeated long periods of Earth-point rolling maneuvers to reduce computational loads, and (3) utilize an efficient equation to obtain wheel-rate profiles as functions of initial wheel biases based on conservation of angular momentum (in an inertial frame) using pre-computed terms.

Facing rim cavities fluctuation modes

NASA Astrophysics Data System (ADS)

Casalino, Damiano; Ribeiro, André F. P.; Fares, Ehab

2014-06-01

Cavity modes taking place in the rims of two opposite wheels are investigated through Lattice-Boltzmann CFD simulations. Based on previous observations carried out by the authors during the BANC-II/LAGOON landing gear aeroacoustic study, a resonance mode can take place in the volume between the wheels of a two-wheel landing gear, involving a coupling between shear-layer vortical fluctuations and acoustic modes resulting from the combination of round cavity modes and wheel-to-wheel transversal acoustic modes. As a result, side force fluctuations and tonal noise side radiation take place. A parametric study of the cavity mode properties is carried out in the present work by varying the distance between the wheels. Moreover, the effects due to the presence of the axle are investigated by removing the axle from the two-wheel assembly. The azimuthal properties of the modes are scrutinized by filtering the unsteady flow in narrow bands around the tonal frequencies and investigating the azimuthal structure of the filtered fluctuation modes. Estimation of the tone frequencies with an ad hoc proposed analytical formula confirms the observed modal properties of the filtered unsteady flow solutions. The present study constitutes a primary step in the description of facing rim cavity modes as a possible source of landing gear tonal noise.

ATHLETE: A Limbed Vehicle for Solar System Exploration

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

2012-01-01

As part of the Human-Robot Systems project funded by NASA, the Jet Propulsion Laboratory has developed a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25% lighter than a conventional mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of-freedom to use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb.

Effect of Wheel/Rail Loads on Concrete Tie Stresses and Rail Rollover.

DOT National Transportation Integrated Search

2011-09-21

As a result of vertical and lateral wheel/rail forces, high contact stresses can develop at the interface between the rail base and tie. Under certain conditions, these stresses can exceed the strength of the concrete tie and result in deterioration ...

Formation tracker design of multiple mobile robots with wheel perturbations: adaptive output-feedback approach

NASA Astrophysics Data System (ADS)

Yoo, Sung Jin

2016-11-01

This paper presents a theoretical design approach for output-feedback formation tracking of multiple mobile robots under wheel perturbations. It is assumed that these perturbations are unknown and the linear and angular velocities of the robots are unmeasurable. First, adaptive state observers for estimating unmeasurable velocities of the robots are developed under the robots' kinematics and dynamics including wheel perturbation effects. Then, we derive a virtual-structure-based formation tracker scheme according to the observer dynamic surface design procedure. The main difficulty of the output-feedback control design is to manage the coupling problems between unmeasurable velocities and unknown wheel perturbation effects. These problems are avoided by using the adaptive technique and the function approximation property based on fuzzy logic systems. From the Lyapunov stability analysis, it is shown that point tracking errors of each robot and synchronisation errors for the desired formation converge to an adjustable neighbourhood of the origin, while all signals in the controlled closed-loop system are semiglobally uniformly ultimately bounded.

Design and implementation of self-balancing coaxial two wheel robot based on HSIC

NASA Astrophysics Data System (ADS)

Hu, Tianlian; Zhang, Hua; Dai, Xin; Xia, Xianfeng; Liu, Ran; Qiu, Bo

2007-12-01

This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness of the new design is testified by the experiment.

The effects of rear-wheel camber on the kinematics of upper extremity during wheelchair propulsion

PubMed Central

2012-01-01

Background The rear-wheel camber, defined as the inclination of the rear wheels, is usually used in wheelchair sports, but it is becoming increasingly employed in daily propulsion. Although the rear-wheel camber can increase stability, it alters physiological performance during propulsion. The purpose of the study is to investigate the effects of rear-wheel cambers on temporal-spatial parameters, joint angles, and propulsion patterns. Methods Twelve inexperienced subjects (22.3±1.6 yr) participated in the study. None had musculoskeletal disorders in their upper extremities. An eight-camera motion capture system was used to collect the three-dimensional trajectory data of markers attached to the wheelchair-user system during propulsion. All participants propelled the same wheelchair, which had an instrumented wheel with cambers of 0°, 9°, and 15°, respectively, at an average velocity of 1 m/s. Results The results show that the rear-wheel camber significantly affects the average acceleration, maximum end angle, trunk movement, elbow joint movement, wrist joint movement, and propulsion pattern. The effects are especially significant between 0° and 15°. For a 15° camber, the average acceleration and joint peak angles significantly increased (p < 0.01). A single loop pattern (SLOP) was adopted by most of the subjects. Conclusions The rear-wheel camber affects propulsion patterns and joint range of motion. When choosing a wheelchair with camber adjustment, the increase of joint movements and the base of support should be taken into consideration. PMID:23173938

The effects of rear-wheel camber on the kinematics of upper extremity during wheelchair propulsion.

PubMed

Tsai, Chung-Ying; Lin, Chien-Ju; Huang, Yueh-Chu; Lin, Po-Chou; Su, Fong-Chin

2012-11-22

The rear-wheel camber, defined as the inclination of the rear wheels, is usually used in wheelchair sports, but it is becoming increasingly employed in daily propulsion. Although the rear-wheel camber can increase stability, it alters physiological performance during propulsion. The purpose of the study is to investigate the effects of rear-wheel cambers on temporal-spatial parameters, joint angles, and propulsion patterns. Twelve inexperienced subjects (22.3±1.6 yr) participated in the study. None had musculoskeletal disorders in their upper extremities. An eight-camera motion capture system was used to collect the three-dimensional trajectory data of markers attached to the wheelchair-user system during propulsion. All participants propelled the same wheelchair, which had an instrumented wheel with cambers of 0°, 9°, and 15°, respectively, at an average velocity of 1 m/s. The results show that the rear-wheel camber significantly affects the average acceleration, maximum end angle, trunk movement, elbow joint movement, wrist joint movement, and propulsion pattern. The effects are especially significant between 0° and 15°. For a 15° camber, the average acceleration and joint peak angles significantly increased (p < 0.01). A single loop pattern (SLOP) was adopted by most of the subjects. The rear-wheel camber affects propulsion patterns and joint range of motion. When choosing a wheelchair with camber adjustment, the increase of joint movements and the base of support should be taken into consideration.

Utilization of wheel dop based on ergonomic aspects

NASA Astrophysics Data System (ADS)

Widiasih, Wiwin; Murnawan, Hery; Setiawan, Danny

2017-06-01

Time is an important thing in life. People need a tool or equipment to measure time which is divided into two types, namely clock and watch. Everyone needs those kinds of tool. It becomes an opportunity for manufacturer to build a business. However, establishing a business by depending on the demand is not enough, it is necessary to take a consideration of making innovation. Innovation is a difficult thing to find out, but it is not impossible to do it. By creating an innovative product, it can be a strategy to win the competitive market. This study aimed to create an innovative product based on the ergonomic aspects, which was by utilizing wheel dop. This methodology consisted of pre-study, planning and product development, and product analysis. This product utilized wheel dop and was made based on the ergonomic aspects.

Development and validation of a new kind of coupling element for wheel-hub motors

NASA Astrophysics Data System (ADS)

Perekopskiy, Sergey; Kasper, Roland

2018-05-01

For the automotive industry, electric powered vehicles are becoming an increasingly relevant factor in the competition against climate change. Application of one special example - a wheel-hub motor, for electric powered vehicle can support this challenge. Patented slotless air gap winding invented at the chair of mechatronics of the Otto von Guericke University Magdeburg has great application potential in constantly growing e-mobility field, especially for wheel-hub motors based on this technology due to its advantages, such as a high gravimetric power density and high efficiency. However, advantages of this technology are decreased by its sensibility to the loads out of driving maneuvers by dimensional variations of air gap consistency. This article describes the development and validation of a coupling element for the designed wheel-hub motor. To find a suitable coupling concept first the assembly structure of the motor was analyzed and developed design of the coupling element was checked. Based on the geometry of the motor and wheel a detailed design of the coupling element was generated. The analytical approach for coupling element describes a potential of the possible loads on the coupling element. The FEM simulation of critical load cases for the coupling element validated results of the analytical approach.

Development of a Hardware-in-the-Loop Simulator for Control Moment Gyroscope-Based Attitude Control Systems

DTIC Science & Technology

2015-12-01

angular momentum is simply the scalar value projected along the axis of rotation of the momentum wheel (see Figure 1). Since reaction wheels are fixed ...CMGs generate torque by gimbaling a momentum wheel rotating at a nominally fixed rate [2]. The torque output of a CMG is the cross product of the...notably the fixed skew angle of the original system. The goal of this research is to build upon the previous redesign efforts and develop a four-CMG HIL

The Monitoring System of the Operating State of the Gear Wheels of the Torque Multiplier of the Desalination Plant Steam Generator

NASA Astrophysics Data System (ADS)

Danilin, A. I.; Neverov, V. V.; Danilin, S. A.; Shimanov, A. A.; Tsapkova, A. B.

2018-01-01

The article describes a noncontact operational control method based on the processing of a microwave signal reflected from the controlled teeth of the wheel. In this paper describes the influence of wear patterns on the characteristic information parameters of the analyzed signals. The block diagram in section 3 shows the experimental system for monitoring the operating state of the gear wheels of the steam compressor torque multiplier. The design of the primary converter is briefly described.

Low-Cost MEMS Sensors and Vision System for Motion and Position Estimation of a Scooter

PubMed Central

Guarnieri, Alberto; Pirotti, Francesco; Vettore, Antonio

2013-01-01

The possibility to identify with significant accuracy the position of a vehicle in a mapping reference frame for driving directions and best-route analysis is a topic which is attracting a lot of interest from the research and development sector. To reach the objective of accurate vehicle positioning and integrate response events, it is necessary to estimate position, orientation and velocity of the system with high measurement rates. In this work we test a system which uses low-cost sensors, based on Micro Electro-Mechanical Systems (MEMS) technology, coupled with information derived from a video camera placed on a two-wheel motor vehicle (scooter). In comparison to a four-wheel vehicle; the dynamics of a two-wheel vehicle feature a higher level of complexity given that more degrees of freedom must be taken into account. For example a motorcycle can twist sideways; thus generating a roll angle. A slight pitch angle has to be considered as well; since wheel suspensions have a higher degree of motion compared to four-wheel motor vehicles. In this paper we present a method for the accurate reconstruction of the trajectory of a “Vespa” scooter; which can be used as alternative to the “classical” approach based on GPS/INS sensor integration. Position and orientation of the scooter are obtained by integrating MEMS-based orientation sensor data with digital images through a cascade of a Kalman filter and a Bayesian particle filter. PMID:23348036

Low-Cost MEMS sensors and vision system for motion and position estimation of a scooter.

PubMed

Guarnieri, Alberto; Pirotti, Francesco; Vettore, Antonio

2013-01-24

The possibility to identify with significant accuracy the position of a vehicle in a mapping reference frame for driving directions and best-route analysis is a topic which is attracting a lot of interest from the research and development sector. To reach the objective of accurate vehicle positioning and integrate response events, it is necessary to estimate position, orientation and velocity of the system with high measurement rates. In this work we test a system which uses low-cost sensors, based on Micro Electro-Mechanical Systems (MEMS) technology, coupled with information derived from a video camera placed on a two-wheel motor vehicle (scooter). In comparison to a four-wheel vehicle; the dynamics of a two-wheel vehicle feature a higher level of complexity given that more degrees of freedom must be taken into account. For example a motorcycle can twist sideways; thus generating a roll angle. A slight pitch angle has to be considered as well; since wheel suspensions have a higher degree of motion compared to four-wheel motor vehicles. In this paper we present a method for the accurate reconstruction of the trajectory of a "Vespa" scooter; which can be used as alternative to the "classical" approach based on GPS/INS sensor integration. Position and orientation of the scooter are obtained by integrating MEMS-based orientation sensor data with digital images through a cascade of a Kalman filter and a Bayesian particle filter.

A web-based electronic patient record (ePR) system for data integration in movement analysis research on wheel-chair users to minimize shoulder pain

NASA Astrophysics Data System (ADS)

Deshpande, Ruchi R.; Requejo, Philip; Sutisna, Erry; Wang, Ximing; Liu, Margaret; McNitt-Gray, Sarah; Ruparel, Puja; Liu, Brent J.

2012-02-01

Patients confined to manual wheel-chairs are at an added risk of shoulder injury. There is a need for developing optimal bio-mechanical techniques for wheel-chair propulsion through movement analysis. Data collected is diverse and in need of normalization and integration. Current databases are ad-hoc and do not provide flexibility, extensibility and ease of access. The need for an efficient means to retrieve specific trial data, display it and compare data from multiple trials is unmet through lack of data association and synchronicity. We propose the development of a robust web-based ePR system that will enhance workflow and facilitate efficient data management.

A new solution method for wheel/rail rolling contact.

PubMed

Yang, Jian; Song, Hua; Fu, Lihua; Wang, Meng; Li, Wei

2016-01-01

To solve the problem of wheel/rail rolling contact of nonlinear steady-state curving, a three-dimensional transient finite element (FE) model is developed by the explicit software ANSYS/LS-DYNA. To improve the solving speed and efficiency, an explicit-explicit order solution method is put forward based on analysis of the features of implicit and explicit algorithm. The solution method was first applied to calculate the pre-loading of wheel/rail rolling contact with explicit algorithm, and then the results became the initial conditions in solving the dynamic process of wheel/rail rolling contact with explicit algorithm as well. Simultaneously, the common implicit-explicit order solution method is used to solve the FE model. Results show that the explicit-explicit order solution method has faster operation speed and higher efficiency than the implicit-explicit order solution method while the solution accuracy is almost the same. Hence, the explicit-explicit order solution method is more suitable for the wheel/rail rolling contact model with large scale and high nonlinearity.

Influence of wheel load shape on vertical stress reaching subgrade through an aggregate layer

DOT National Transportation Integrated Search

2001-03-01

The U.S. Army design procedure to stabilize low-bearing capacity soil with geotextiles is based on the assumption that the applied surface load (the wheel load) is in the shape of a circle. The maximum vertical stress that reaches the subgrade throug...

Innovative Design and Performance Evaluation of Bionic Imprinting Toothed Wheel.

PubMed

Zhang, Zhihong; Wang, Xiaoyang; Tong, Jin; Stephen, Carr

2018-01-01

A highly efficient soil-burrowing dung beetle possesses an intricate outer contour curve on its foreleg end-tooth. This study was carried out based on evidence that this special outer contour curve has the potential of reducing soil penetration resistance and could enhance soil-burrowing efficiency. A toothed wheel is a typical agricultural implement for soil imprinting, to increase its working efficiency; the approach of the bionic geometrical structure was utilized to optimize the innovative shape of imprinting toothed wheel. Characteristics in the dung beetle's foreleg end-tooth were extracted and studied by the edge detection technique. Then, this special outer contour curve was modeled by a nine-order polynomial function and used for the innovative design of imprinting the tooth's cutting edge. Both the conventional and bionic teeth were manufactured, and traction tests in a soil bin were conducted. Taking required draft force and volume of imprinted microbasin as the evaluating indexes, operating efficiency and quality of different toothed wheels were compared and investigated. Results indicate that compared with the conventional toothed wheel, a bionic toothed wheel possesses a better forward resistance reduction property against soil and, meanwhile, can enhance the quality of soil imprinting by increasing the volume of the created micro-basin.

Neuro-Analogical Gate Tuning of Trajectory Data Fusion for a Mecanum-Wheeled Special Needs Chair

PubMed Central

ElSaharty, M. A.; zakzouk, Ezz Eldin

2017-01-01

Trajectory tracking of mobile wheeled chairs using internal shaft encoder and inertia measurement unit(IMU), exhibits several complications and accumulated errors in the tracking process due to wheel slippage, offset drift and integration approximations. These errors can be realized when comparing localization results from such sensors with a camera tracking system. In long trajectory tracking, such errors can accumulate and result in significant deviations which make data from these sensors unreliable for tracking. Meanwhile the utilization of an external camera tracking system is not always a feasible solution depending on the implementation environment. This paper presents a novel sensor fusion method that combines the measurements of internal sensors to accurately predict the location of the wheeled chair in an environment. The method introduces a new analogical OR gate structured with tuned parameters using multi-layer feedforward neural network denoted as “Neuro-Analogical Gate” (NAG). The resulting system minimize any deviation error caused by the sensors, thus accurately tracking the wheeled chair location without the requirement of an external camera tracking system. The fusion methodology has been tested with a prototype Mecanum wheel-based chair, and significant improvement over tracking response, error and performance has been observed. PMID:28045973

Risk of thoracic injury from direct steering wheel impact in frontal crashes.

PubMed

Chen, Rong; Gabler, Hampton C

2014-06-01

The combination of airbag and seat belt is considered to be the most effective vehicle safety system. However, despite the widespread availability of airbags and a belt use rate of more than 85%, US drivers involved in crashes continue to be at risk of serious thoracic injury. The objective of this study was to determine the influence of steering wheel deformation on driver injury risk in frontal automobile crash. The analysis is based on cases extracted from the National Automotive Sampling System Crashworthiness Data System database for case years 1993 to 2011. The approach was to compare the adjusted odds of frontal crash injury experienced by drivers in vehicles with and without steering wheel deformation. Among frontal crash cases with belted drivers, observable steering wheel deformation occurred in less than 4% of all cases but accounted for 30% of belted drivers with serious (Abbreviated Injury Scale [AIS] score, 3+) thoracic injuries. Similarly, steering wheel deformation occurred in approximately 13% of unbelted drivers but accounted for 60% of unbelted drivers with serious thoracic injuries. Belted drivers in frontal crashes with steering wheel deformation were found to have two times greater odds of serious thoracic injury. Unbelted drivers were found to have four times greater odds of serious thoracic injury in crashes with steering wheel deformation. In frontal crashes, steering wheel deformation was more likely to occur in unbelted drivers than belted drivers, as well as higher severity crashes and with heavier drivers. The results of the present study show that airbag deployment and seat belt restraint do not completely eliminate the possibility of steering wheel contact. Even with the most advanced restraint systems, there remains an opportunity for further reduction in thoracic injury by continued enhancement to the seat belt and airbag systems. Furthermore, the results showed that steering wheel deformation is an indicator of potential serious thoracic injury and can be useful to prehospital personnel in improving the diagnosis of serious injuries. Prognostic study, level III.

Optimization of wheel-rail interface friction using top-of-rail friction modifiers: State of the art

NASA Astrophysics Data System (ADS)

Khan, M. Roshan; Dasaka, Satyanarayana Murty

2018-05-01

High Speed Railways and Dedicated Freight Corridors are the need of the day for fast and efficient transportation of the ever growing population and freight across long distances of travel. With the increase in speeds and axle loads carried by these trains, wearing out of rails and train wheel sections are a common issue, which is due to the increase in friction at the wheel-rail interfaces. For the cases where the wheel-rail interface friction is less than optimum, as in case of high speed trains with very low axle loads, wheel-slips are imminent and loss of traction occurs when the trains accelerate rapidly or brake all of a sudden. These vast variety of traction problems around the wheel-rail interface friction need to be mitigated carefully, so that the contact interface friction neither ascents too high to cause material wear and need for added locomotive power, nor be on the lower side to cause wheel-slips and loss of traction at high speeds. Top-of-rail friction modifiers are engineered surface coatings applied on top of rails, to maintain an optimum frictional contact between the train wheels and the rails. Extensive research works in the area of wheel-rail tribology have revealed that the optimum frictional coefficients at wheel-rail interfaces lie at a value of around 0.35. Application of top-of-rail (TOR) friction modifiers on rail surfaces add an extra layer of material coating on top of the rails, with a surface frictional coefficient of the desired range. This study reviews the common types of rail friction modifiers, the methods for their application, issues related with the application of friction modifiers, and a guideline on selection of the right class of coating material based on site specific requirements of the railway networks.

On the overriding issue of train front end collision in rail vehicle dynamics

NASA Astrophysics Data System (ADS)

Yang, Chao; Li, Qiang; Xiao, Shoune; Wang, Xi

2018-04-01

A three-dimensional dynamic model of crashed vehicles coupled with moving tracks is developed to research the dynamic behaviour of the train front end collision on tangent tracks. The three-dimensional dynamic model consists of a crashed vehicle model, moving track models, a simple wheel-rail contact model, a velocity-based coupler model and the model of energy absorption and anti-climbing devices. The vector method dealing with the nonlinear wheel-rail geometry is put forward in the paper. The developed model is applicable in the scope that central collisions occur on tangent tracks at low speeds. The examples of the vehicle impacting with a rigid wall and the train front end collision are carried out to obtain the dynamic responses of vehicles. The overriding issue is studied on the basis of the wheel rise in train collisions. The results show that the second bogie of the first colliding vehicle possesses the maximal wheel rise. The wheel rise increases with the increase of vehicles. However, the number of vehicles has tiny influence on the overriding in train collisions at low speeds. On the contrary, the impact speed has significant influence on the overriding in train collisions. The wheel rise increases rapidly if the impact speed is close to the critical speed of overriding. The large wheel rise is principally generated by the great coupler force related to the rigid impact in the axial direction.

The filter and calibration wheel for the ATHENA wide field imager

NASA Astrophysics Data System (ADS)

Rataj, M.; Polak, S.; Palgan, T.; Kamisiński, T.; Pilch, A.; Eder, J.; Meidinger, N.; Plattner, M.; Barbera, M.; Parodi, G.; D'Anca, Fabio

2016-07-01

The planned filter and calibration wheel for the Wide Field Imager (WFI) instrument on Athena is presented. With four selectable positions it provides the necessary functions, in particular an UV/VIS blocking filter for the WFI detectors and a calibration source. Challenges for the filter wheel design are the large volume and mass of the subsystem, the implementation of a robust mechanism and the protection of the ultra-thin filter with an area of 160 mm square. This paper describes performed trade-offs based on simulation results and describes the baseline design in detail. Reliable solutions are envisaged for the conceptual design of the filter and calibration wheel. Four different variant with different position of the filter are presented. Risk mitigation and the compliance to design requirements are demonstrated.

Simulation of Fatigue Crack Initiation at Corrosion Pits With EDM Notches

NASA Technical Reports Server (NTRS)

Smith, Stephen W.; Newman, John A.; Piascik, Robert S.

2003-01-01

Uniaxial fatigue tests were conducted to compare the fatigue life of laboratory produced corrosion pits, similar to those observed in the shuttle main landing gear wheel bolt-hole, and an electro-discharged-machined (EDM) flaw. EDM Jaws are used to simulate corrosion pits during shuttle wheel (dynamometer) testing. The aluminum alloy, (AA 7050) laboratory fatigue tests were conducted to simulate the local stress level contained in the wheel bolt-hole. Under this high local stress condition, the EDM notch produced a fatigue life similar to test specimens containing corrosion pits of similar size. Based on the laboratory fatigue test results, the EDM Jaw (semi-circular disc shaped) produces a local stress state similar to corrosion pits and can be used to simulate a corrosion pit during the shuttle wheel dynamometer tests.

One ligand in dual roles: self-assembly of a bis-rhomboidal-shaped, three-dimensional molecular wheel.

PubMed

Lu, Xiaocun; Li, Xiaopeng; Guo, Kai; Wang, Jing; Huang, Mingjun; Wang, Jin-Liang; Xie, Ting-Zheng; Moorefield, Charles N; Cheng, Stephen Z D; Wesdemiotis, Chrys; Newkome, George R

2014-10-06

A facile high yield, self-assembly process that leads to a terpyridine-based, three-dimensional, bis-rhomboidal-shaped, molecular wheel is reported. The desired coordination-driven supramolecular wheel involves eight structurally distorted tristerpyridine (tpy) ligands possessing a 60° angle between the adjacent tpy units and twelve Zn(2+) ions. The tpy ligand plays dual roles in the self-assembly process: two are staggered at 180° to create the internal hub, while six produce the external rim. The wheel can be readily generated by mixing the tpy ligand and Zn(2+) in a stoichiometric ratio of 2:3; full characterization is provided by ESI-MS, NMR spectroscopy, and TEM imaging. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A predictive wheel-soil interaction model for planetary rovers validated in testbeds and against MER Mars rover performance data

NASA Astrophysics Data System (ADS)

Richter, L.; Ellery, A.; Gao, Y.; Michaud, S.; Schmitz, N.; Weiss, S.

Successful designs of vehicles intended for operations on planetary objects outside the Earth demand, just as for terrestrial off-the-road vehicles, a careful assessment of the terrain relevant for the vehicle mission and predictions of the mobility performance to allow rational trade-off's to be made for the choice of the locomotion concept and sizing. Principal issues driving the chassis design for rovers are the stress-strain properties of the planetary surface soil, the distribution of rocks in the terrain representing potential obstacles to movement, and the gravity level on the celestial object in question. Thus far, planetary rovers have been successfully designed and operated for missions to the Earth's moon and to the planet Mars, including NASA's Mars Exploration Rovers (MER's) `Spirit' and `Opportunity' being in operation on Mars since their landings in January 2004. Here we report on the development of a wheel-soil interaction model with application to wheel sizes and wheel loads relevant to current and near-term robotic planetary rovers, i.e. wheel diameters being between about 200 and 500 mm and vertical quasistatic wheel loads in operation of roughly 100 to 200 N. Such a model clearly is indispensable for sizings of future rovers to analyse the aspect of rover mobility concerned with motion across soils. This work is presently funded by the European Space Agency (ESA) as part of the `Rover Chassis Evaluation Tools' (RCET) effort which has developed a set of S/W-implemented models for predictive mobility analysis of rovers in terms of movement on soils and across obstacles, coupled with dedicated testbeds to validate the wheel-soil models. In this paper, we outline the details of the wheel-soil modelling performed within the RCET work and present comparisons of predictions of wheel performance (motion resistance, torque vs. slip and drawbar pull vs. slip) for specific test cases with the corresponding measurements performed in the RCET single wheel testbed and in the RCET system-level testbed, the latter permitting drawbar pull vs. slip measurements for complete rover development vehicles under controlled and homogeneous soil conditions. Required modifications of the wheel-soil model, in particular related to modelling the effect of wheel slip, are discussed. To strengthen the model validation base, we have run single wheel measurements using a spare MER Mars rover wheel and have performed comparisons with MER actual mobility performance data, available through one of us (LR) who is a member of the MER Athena science team. Corresponding results will be presented. Keywords: rovers, wheel, soil, mobility, vehicle performance, RCET (Rover Chassis Evaluation Tools), MER (Mars Exploration Rover mission) 2

Wheel drives for large telescopes: save the cost and keep the performance over hydrostatic bearings

NASA Astrophysics Data System (ADS)

Campbell, Marvin F.

2014-07-01

The use of steel wheels on steel tracks has been around since steel was invented, and before that it was iron wheels on iron tracks. Not to be made obsolete by the passage of time, this approach for moving large objects is still valid, even optimal, but the detailed techniques for achieving high performance and long life have been much improved. The use of wheel-and-track designs has been very popular in radio astronomy for the largest of the large radio telescopes (RT), including such notables as the 305m Arecibo RT, the 100m telescopes at Effelsberg, Germany (at 3600 tonnes) and the Robert C. Byrd, Greenbank Telescope (GBT, 7600 tonnes) at Greenbank, West Virginia. Of course, the 76m Lovell Telescope at Jodrell Bank is the grandfather of all large aperture radio telescopes that use wheel drives. Smaller sizes include NRAO's Very Long Baseline Array (VLBA) telescopes at 25m and others. Wheel drives have also been used on large radars of significance such as the 410 tonne Ground Based Radar-Prototype (GBR-P) and the 150 foot (45.7m) Altair Radar, and the 2130 tonne Sea Based X-Band Radar (SBX). There are also many examples of wheel driven communications antennas of 18 meters and larger. All of these instruments have one thing in common: they all use steel wheels that run in a circle on one or more flat, level, steel tracks. This paper covers issues related to designing for wheel driven systems. The intent is for managing motion to sub arc-second levels, and for this purpose it is primary for the designer to manage measurement and alignment errors, and to establish repeatability through dimensional control, structural and drive stiffness management, adjustability and error management. In a practical sense, there are very few, if any, fabricators that can machine structural and drive components to sufficiently small decimal places to matter. In fact, coming within 2-3 orders of magnitude of the precision needed is about the best that can be expected. Further, it is incumbent on the design team to develop the servo control system features, correction algorithms and structural features in concert with each other. Telescope designers are generally adept at many of these practices, so the scope of this paper is not that, but is limited to those items that pertain to a precision wheel driven system.

Terrain physical properties derived from orbital data and the first 360 sols of Mars Science Laboratory Curiosity rover observations in Gale Crater

NASA Astrophysics Data System (ADS)

Arvidson, R. E.; Bellutta, P.; Calef, F.; Fraeman, A. A.; Garvin, J. B.; Gasnault, O.; Grant, J. A.; Grotzinger, J. P.; Hamilton, V. E.; Heverly, M.; Iagnemma, K. A.; Johnson, J. R.; Lanza, N.; Le Mouélic, S.; Mangold, N.; Ming, D. W.; Mehta, M.; Morris, R. V.; Newsom, H. E.; Rennó, N.; Rubin, D.; Schieber, J.; Sletten, R.; Stein, N. T.; Thuillier, F.; Vasavada, A. R.; Vizcaino, J.; Wiens, R. C.

2014-06-01

Physical properties of terrains encountered by the Curiosity rover during the first 360 sols of operations have been inferred from analysis of the scour zones produced by Sky Crane Landing System engine plumes, wheel touch down dynamics, pits produced by Chemical Camera (ChemCam) laser shots, rover wheel traverses over rocks, the extent of sinkage into soils, and the magnitude and sign of rover-based slippage during drives. Results have been integrated with morphologic, mineralogic, and thermophysical properties derived from orbital data, and Curiosity-based measurements, to understand the nature and origin of physical properties of traversed terrains. The hummocky plains (HP) landing site and traverse locations consist of moderately to well-consolidated bedrock of alluvial origin variably covered by slightly cohesive, hard-packed basaltic sand and dust, with both embedded and surface-strewn rock clasts. Rock clasts have been added through local bedrock weathering and impact ejecta emplacement and form a pavement-like surface in which only small clasts (<5 to 10 cm wide) have been pressed into the soil during wheel passages. The bedded fractured (BF) unit, site of Curiosity's first drilling activity, exposes several alluvial-lacustrine bedrock units with little to no soil cover and varying degrees of lithification. Small wheel sinkage values (<1 cm) for both HP and BF surfaces demonstrate that compaction resistance countering driven-wheel thrust has been minimal and that rover slippage while traversing across horizontal surfaces or going uphill, and skid going downhill, have been dominated by terrain tilts and wheel-surface material shear modulus values.

Naloxone and rimonabant reduce the reinforcing properties of exercise in rats.

PubMed

Rasmussen, Erin B; Hillman, Conrad

2011-12-01

Naloxone and rimonabant block neurotransmitter action of some drugs of abuse (such as ethanol, opiates, and nicotine), and thereby reduce drug seeking and self-administration by suppressing the drugs' reinforcing properties. The present study represents an attempt to elucidate whether these drugs may also reduce rewarding properties of other events, in this case, activity-based reinforcement. In Experiment 1, 10 obese and 10 lean Zucker rats pressed a locked door under a progressive ratio schedule of reinforcement that, when unlocked, provided access to a running wheel for 2-min intervals. After baseline breakpoints were established, doses of naloxone (0.3-10 mg/kg) were administered prior to experimental sessions. Obese rats exhibited lower baseline breakpoints for wheel activity, lower response rates, and fewer revolutions compared to lean rats. Naloxone decreased revolutions and response rates for lean and obese rats, but did not reduce breakpoints. In Experiment 2, five Long-Evans rats pressed a door to unlock a wheel for 20 s of wheel activity. Doses of rimonabant (1-10 mg/kg) were administered before some experimental sessions. The highest dose of rimonabant suppressed breakpoints and response rates, but did not affect revolutions. These data suggest that both drugs reduce the reinforcing properties of wheel running, but do so in different manners: naloxone may suppress wheel-based activity (consummatory behavior), but not seeking (appetitive behavior), and rimonabant does the converse. The data also support the role of endocannabinoids in the reinforcing properties of exercise, an implication that is important in terms of CB1 antagonists as a type of pharmacotherapy.

Development and validation of a wear model for the analysis of the wheel profile evolution in railway vehicles

NASA Astrophysics Data System (ADS)

Auciello, J.; Ignesti, M.; Malvezzi, M.; Meli, E.; Rindi, A.

2012-11-01

The numerical wheel wear prediction in railway applications is of great importance for different aspects, such as the safety against vehicle instability and derailment, the planning of wheelset maintenance interventions and the design of an optimal wheel profile from the wear point of view. For these reasons, this paper presents a complete model aimed at the evaluation of the wheel wear and the wheel profile evolution by means of dynamic simulations, organised in two parts which interact with each other mutually: a vehicle's dynamic model and a model for the wear estimation. The first is a 3D multibody model of a railway vehicle implemented in SIMPACK™, a commercial software for the analysis of mechanical systems, where the wheel-rail interaction is entrusted to a C/C++user routine external to SIMPACK, in which the global contact model is implemented. In this regard, the research on the contact points between the wheel and the rail is based on an innovative algorithm developed by the authors in previous works, while normal and tangential forces in the contact patches are calculated according to Hertz's theory and Kalker's global theory, respectively. Due to the numerical efficiency of the global contact model, the multibody vehicle and the contact model interact directly online during the dynamic simulations. The second is the wear model, written in the MATLAB® environment, mainly based on an experimental relationship between the frictional power developed at the wheel-rail interface and the amount of material removed by wear. Starting from a few outputs of the multibody simulations (position of contact points, contact forces and rigid creepages), it evaluates the local variables, such as the contact pressures and local creepages, using a local contact model (Kalker's FASTSIM algorithm). These data are then passed to another subsystem which evaluates, by means of the considered experimental relationship, both the material to be removed and its distribution along the wheel profile, obtaining the correspondent worn wheel geometry. The wheel wear evolution is reproduced by dividing the overall chosen mileage to be simulated in discrete spatial steps: at each step, the dynamic simulations are performed by means of the 3D multibody model keeping the wheel profile constant, while the wheel geometry is updated through the wear model only at the end of the discrete step. Thus, the two parts of the whole model work alternately until the completion of the whole established mileage. Clearly, the choice of an appropriate step length is one of the most important aspects of the procedure and it directly affects the result accuracy and the required computational time to complete the analysis. The whole model has been validated using experimental data relative to tests performed with the ALn 501 'Minuetto' vehicle in service on the Aosta-Pre Saint Didier track; this work has been carried out thanks to a collaboration with Trenitalia S.p.A and Rete Ferroviaria Italiana, which have provided the necessary technical data and experimental results.

Novel Straight and Circular Road Driving Control of Electric Power Assisted Wheelchair Based on Fuzzy Algorithm

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Tadakuma, Susumu

This paper describes a novel straight and circular road driving control scheme for electric power assisted wheelchairs. “Electric power assisted wheelchair” which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of the straight and circular road driving must be further improved because the two wheels drive independently. This paper proposes a novel driving control scheme based on fuzzy algorithm to realize the stable and reliable driving on straight and circular roads. The suitable assisted torque of the right and left wheels is determined by fuzzy algorithm based on the posture angular velocity of the wheelchair and the human input torque proportion of the right and left wheels. Some experiments on the practical roads show the effectiveness of the proposed control system.

Speed Daemon: Experience-Based Mobile Robot Speed Scheduling

DTIC Science & Technology

2014-10-01

a wheeled mobile robot. Robotica , 20(2): 181–193, 2002. [7] O. Purwin and R. D‘Andrea. Trajectory generation and control for four wheeled...robot on an uneven surface. Robotica , 27(4):481–498, 2009. [9] S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale

Global Output-Feedback Control for Simultaneous Tracking and Stabilization of Wheeled Mobile Robots

NASA Astrophysics Data System (ADS)

Chang, J.; Zhang, L. J.; Xue, D.

A time-varying global output-feedback controller is presented that solves both tracking and stabilization for wheeled mobile robots simultaneously at the torque level. The controller synthesis is based on a coordinate transformation, Lyapunov direct method and backstepping technique. The performance of the proposed controller is demonstrated by simulation.

49 CFR 213.333 - Automated vehicle-based inspection systems.

Code of Federal Regulations, 2014 CFR

2014-10-01

... the contact point of wheels carrying a vertical load of no less than 10 kips per wheel, unless... enable field forces to easily locate indicated exceptions. (f) Following a track inspection performed by... reference loads of 16 kips of lateral force and 33 kips of vertical force. (j) As further specified for the...

49 CFR 213.333 - Automated vehicle-based inspection systems.

Code of Federal Regulations, 2013 CFR

2013-10-01

... the contact point of wheels carrying a vertical load of no less than 10 kips per wheel, unless... enable field forces to easily locate indicated exceptions. (f) Following a track inspection performed by... reference loads of 16 kips of lateral force and 33 kips of vertical force. (j) As further specified for the...

The Holistic Medicine Wheel: An Indigenous Model of Teaching and Learning.

ERIC Educational Resources Information Center

Pewewardy, Cornel

1999-01-01

Based on the Medicine Wheel, a culturally relevant model for holistic teaching and curriculum development in indigenous education is centered on the self, then expands to four domains (mental, spiritual, physical, emotional) operationalized via eight multiple intelligences. Outer circles portray societal values and a global view of the world. A…

Development of an Optimization Methodology for the Aluminum Alloy Wheel Casting Process

NASA Astrophysics Data System (ADS)

Duan, Jianglan; Reilly, Carl; Maijer, Daan M.; Cockcroft, Steve L.; Phillion, Andre B.

2015-08-01

An optimization methodology has been developed for the aluminum alloy wheel casting process. The methodology is focused on improving the timing of cooling processes in a die to achieve improved casting quality. This methodology utilizes (1) a casting process model, which was developed within the commercial finite element package, ABAQUS™—ABAQUS is a trademark of Dassault Systèms; (2) a Python-based results extraction procedure; and (3) a numerical optimization module from the open-source Python library, Scipy. To achieve optimal casting quality, a set of constraints have been defined to ensure directional solidification, and an objective function, based on the solidification cooling rates, has been defined to either maximize, or target a specific, cooling rate. The methodology has been applied to a series of casting and die geometries with different cooling system configurations, including a 2-D axisymmetric wheel and die assembly generated from a full-scale prototype wheel. The results show that, with properly defined constraint and objective functions, solidification conditions can be improved and optimal cooling conditions can be achieved leading to process productivity and product quality improvements.

mobilityRERC state of the science conference: Considerations for developing an evidence base for wheeled mobility and seating service delivery.

PubMed

Cohen, Laura; Greer, Nancy; Berliner, Elise; Sprigle, Stephen

2013-11-01

This article, developed as background content for discussion during the Mobility Rehabilitation Engineering Research Center State of the Science Conference, reviews research surrounding wheeled mobility and seating (WMS) service delivery, discusses the challenges of improving clinical decision-making, and discusses research approaches used to study and improve health services in other practice areas that might be leveraged to develop the evidence base for WMS. Narrative literature review. An overview of existing research found general agreement across models of WMS service delivery but little high quality evidence to support the recommended approaches and few studies of the relationship between service delivery steps and individual patient outcomes. The definition of successful clinical decision-making is different for different stakeholders. Clinical decision-making should incorporate the best available evidence along with patient values, preferences, circumstances, and clinical expertise. To advance the evidence base for WMS service delivery, alternatives to randomized controlled trials should be considered and reliable and valid outcome measures developed. Technological advances offer tremendous opportunities for individuals with complex rehabilitation technology needs. However, with ongoing scrutiny of WMS service delivery there is an increased need for evidence to support the clinical decision-making process and to support evidence-based coverage policies for WMS services and technologies. An evidence base for wheeled mobility and seating services is an important component of the clinical decision-making process. At present, there is little evidence regarding essential components of the wheeled mobility and seating evaluation or the relationship between the evaluation process and patient outcomes. Many factors can confound this relationship and present challenges to research in this area. All stakeholders (i.e. clinicians, rehabilitation technology suppliers, manufacturers, researchers, payers, policy makers, and wheelchair users) need to work together to develop and support an evidence base for wheeled mobility and seating service delivery.

Novel Straight Road Driving Control of Power Assisted Wheelchair Based on Disturbance Estimation of Right and Left Wheels

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Sugimoto, Takeaki; Tadakuma, Susumu

This paper describes a novel straight road driving control scheme of power assisted wheelchair. Power assisted wheelchair which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people. The straight driving can be prevented by the road conditions such as branches, grass and carpets because the right and left wheels drive independently. This paper proposes a straight road driving control system based on the disturbance torque estimation. The proposed system estimates the difference of the driving torque by disturbance torque observer and compensates to one side of the wheels. Some practical driving experiments on various road conditions show the effectiveness of the proposed control system.

Improved wavelet de-noising method of rail vibration signal for wheel tread detection

NASA Astrophysics Data System (ADS)

Zhao, Quan-ke; Zhao, Quanke; Gao, Xiao-rong; Luo, Lin

2011-12-01

The irregularities of wheel tread can be detected by processing acceleration vibration signal of railway. Various kinds of noise from different sources such as wheel-rail resonance, bad weather and artificial reasons are the key factors influencing detection accuracy. A method which uses wavelet threshold de-noising is investigated to reduce noise in the detection signal, and an improved signal processing algorithm based on it has been established. The results of simulations and field experiments show that the proposed method can increase signal-to-noise ratio (SNR) of the rail vibration signal effectively, and improve the detection accuracy.

Hollow shaft integrated health monitoring system for railroad wheels

NASA Astrophysics Data System (ADS)

Frankenstein, B.; Hentschel, D.; Pridoehl, E.; Schubert, F.

2005-05-01

The economic efficiency and competitiveness of environment-friendly rail transportation depends on safety, availability and maintenance of single highly loaded structure components. Until now these components have been changed in fixed maintenance intervals irrespective of any usage related conditions. With the knowledge and evaluation of the component conditions, life cycle costs can be reduced by means of optimized maintenance and/or "fit for purpose" design. For example, rail-bound vehicle wheel sets are among the most highly stressed travelling gear components of the bogie. if such a component fails, a serious accident may occur. For this reason, a health monitoring system based on the interpretation of ultrasonic sound signatures has been developed. First, the ultrasonic waves generated by an artificial defect on the outer wheel tread of a railroad wheel towards an acoustic sensor, placed inside the hollow shaft of the railroad axis were simulated with a EFIT (Elastodynamic Finite Integration Technique). The results achieved proved that relevant signals can be found in a frequency range up to 300 kHz. Based on this a diagnostic unit was designed and built for application under rotation conditions, which consists of a piezo-electric sensor, primary electronics, an analog-to-digital converter, a digital signal processor, a trigger unit, and a telemetric transmitter. This diagnostic unit was integrated in the hollow shaft of a railroad wheel axis, a component of a special laboratory test rig. Algorithms which allow for the rotation-synchronized processing of acoustic signals were implemented into the rotating diagnostic unit. After successfully completing a campaign for this test rig, a second test was performed inside the wheel/railroad simulation test rig of the Deutsche Bahn AG under railroad-like conditions. The data generated inside the hollow shaft of the railroad wheel axis by the diagnostic unit were telemetrically transmitted to an industrial computer. The detection of artificial defects of different sizes is shown in correlation with theoretical assumptions.

Using the Activity-based Anorexia Rodent Model to Study the Neurobiological Basis of Anorexia Nervosa.

PubMed

Chowdhury, Tara Gunkali; Chen, Yi-Wen; Aoki, Chiye

2015-10-22

Anorexia nervosa (AN) is a psychiatric illness characterized by excessively restricted caloric intake and abnormally high levels of physical activity. A challenging illness to treat, due to the lack of understanding of the underlying neurobiology, AN has the highest mortality rate among psychiatric illnesses. To address this need, neuroscientists are using an animal model to study how neural circuits may contribute toward vulnerability to AN and may be affected by AN. Activity-based anorexia (ABA) is a bio-behavioral phenomenon described in rodents that models the key symptoms of anorexia nervosa. When rodents with free access to voluntary exercise on a running wheel experience food restriction, they become hyperactive - running more than animals with free access to food. Here, we describe the procedures by which ABA is induced in adolescent female C57BL/6 mice. On postnatal day 36 (P36), the animal is housed with access to voluntary exercise on a running wheel. After 4 days of acclimation to the running wheel, on P40, all food is removed from the cage. For the next 3 days, food is returned to the cage (allowing animals free food access) for 2 hr daily. After the fourth day of food restriction, free access to food is returned and the running wheel is removed from the cage to allow the animals to recover. Continuous multi-day analysis of running wheel activity shows that mice become hyperactive within 24 hr following the onset of food restriction. The mice run even during the limited time during which they have access to food. Additionally, the circadian pattern of wheel running becomes disrupted by the experience of food restriction. We have been able to correlate neurobiological changes with various aspects of the animals' wheel running behavior to implicate particular brain regions and neurochemical changes with resilience and vulnerability to food-restriction induced hyperactivity.

Using the Activity-based Anorexia Rodent Model to Study the Neurobiological Basis of Anorexia Nervosa

PubMed Central

Chowdhury, Tara Gunkali; Chen, Yi-Wen; Aoki, Chiye

2015-01-01

Anorexia nervosa (AN) is a psychiatric illness characterized by excessively restricted caloric intake and abnormally high levels of physical activity. A challenging illness to treat, due to the lack of understanding of the underlying neurobiology, AN has the highest mortality rate among psychiatric illnesses. To address this need, neuroscientists are using an animal model to study how neural circuits may contribute toward vulnerability to AN and may be affected by AN. Activity-based anorexia (ABA) is a bio-behavioral phenomenon described in rodents that models the key symptoms of anorexia nervosa. When rodents with free access to voluntary exercise on a running wheel experience food restriction, they become hyperactive – running more than animals with free access to food. Here, we describe the procedures by which ABA is induced in adolescent female C57BL/6 mice. On postnatal day 36 (P36), the animal is housed with access to voluntary exercise on a running wheel. After 4 days of acclimation to the running wheel, on P40, all food is removed from the cage. For the next 3 days, food is returned to the cage (allowing animals free food access) for 2 hr daily. After the fourth day of food restriction, free access to food is returned and the running wheel is removed from the cage to allow the animals to recover. Continuous multi-day analysis of running wheel activity shows that mice become hyperactive within 24 hr following the onset of food restriction. The mice run even during the limited time during which they have access to food. Additionally, the circadian pattern of wheel running becomes disrupted by the experience of food restriction. We have been able to correlate neurobiological changes with various aspects of the animals’ wheel running behavior to implicate particular brain regions and neurochemical changes with resilience and vulnerability to food-restriction induced hyperactivity. PMID:26555618

Simulation of 7050 Wrought Aluminum Alloy Wheel Die Forging and its Defects Analysis based on DEFORM

DOE Office of Scientific and Technical Information (OSTI.GOV)

Huang Shiquan; Yi Youping; Zhang Yuxun

2010-06-15

Defects such as folding, intercrystalline cracking and flow lines outcrop are very likely to occur in the forging of aluminum alloy. Moreover, it is difficult to achieve the optimal set of process parameters just by trial and error within an industrial environment. In producing 7050 wrought aluminum alloy wheel, a rigid-plastic finite element method (FEM) analysis has been performed to optimize die forging process. Processing parameters were analyzed, focusing on the effects of punch speed, friction factor and temperature. Meanwhile, mechanism as well as the evolution with respect to the defects of the wrought wheel was studied in details. Frommore » an analysis of the results, isothermal die forging was proposed for producing 7050 aluminum alloy wheel with good mechanical properties. Finally, verification experiment was carried out on hydropress.« less

Direct yaw moment control and power consumption of in-wheel motor vehicle in steady-state turning

NASA Astrophysics Data System (ADS)

Kobayashi, Takao; Katsuyama, Etsuo; Sugiura, Hideki; Ono, Eiichi; Yamamoto, Masaki

2017-01-01

Driving force distribution control is one of the characteristic performance aspects of in-wheel motor vehicles and various methods have been developed to control direct yaw moment while turning. However, while these controls significantly enhance vehicle dynamic performance, the additional power required to control vehicle motion still remains to be clarified. This paper constructed new formulae of the mechanism by which direct yaw moment alters the cornering resistance and mechanical power of all wheels based on a simple bicycle model, including the electric loss of the motors and the inverters. These formulation results were validated by an actual test vehicle equipped with in-wheel motors in steady-state turning. The validated theory was also applied to a comparison of several different driving force distribution mechanisms from the standpoint of innate mechanical power.

A new family of omnidirectional and holonomic wheeled platforms for mobile robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; Killough, S.M.

1994-08-01

This paper presents the concepts for a new family of holonomic wheeled platforms that feature full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. The authors first present the orthogonal-wheels'' concept and the two major wheel assemblies on which these platforms are based. The authors then describe how a combination of these assemblies with appropriate control can be used to generate an omnidirectional capability for mobile robot platforms. Several alternative designs are considered, and their respective characteristics with respect to rotational and translational motion control are discussed. The design and control of a prototype platform developed tomore » test and demonstrate the proposed concepts is then described, and experimental results illustrating the full omnidirectionality of the platforms with decoupled rotational and translational degrees of freedom are presented.« less

Aerodynamic Drag Analysis of 3-DOF Flex-Gimbal GyroWheel System in the Sense of Ground Test

PubMed Central

Huo, Xin; Feng, Sizhao; Liu, Kangzhi; Wang, Libin; Chen, Weishan

2016-01-01

GyroWheel is an innovative device that combines the actuating capabilities of a control moment gyro with the rate sensing capabilities of a tuned rotor gyro by using a spinning flex-gimbal system. However, in the process of the ground test, the existence of aerodynamic disturbance is inevitable, which hinders the improvement of the specification performance and control accuracy. A vacuum tank test is a possible candidate but is sometimes unrealistic due to the substantial increase in costs and complexity involved. In this paper, the aerodynamic drag problem with respect to the 3-DOF flex-gimbal GyroWheel system is investigated by simulation analysis and experimental verification. Concretely, the angular momentum envelope property of the spinning rotor system is studied and its integral dynamical model is deduced based on the physical configuration of the GyroWheel system with an appropriately defined coordinate system. In the sequel, the fluid numerical model is established and the model geometries are checked with FLUENT software. According to the diversity and time-varying properties of the rotor motions in three-dimensions, the airflow field around the GyroWheel rotor is analyzed by simulation with respect to its varying angular velocity and tilt angle. The IPC-based experimental platform is introduced, and the properties of aerodynamic drag in the ground test condition are obtained through comparing the simulation with experimental results. PMID:27941602

A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

NASA Astrophysics Data System (ADS)

Li, Yuankai; Ding, Liang; Zheng, Zhizhong; Yang, Qizhi; Zhao, Xingang; Liu, Guangjun

2018-05-01

For motion control of wheeled planetary rovers traversing on deformable terrain, real-time terrain parameter estimation is critical in modeling the wheel-terrain interaction and compensating the effect of wheel slipping. A multi-mode real-time estimation method is proposed in this paper to achieve accurate terrain parameter estimation. The proposed method is composed of an inner layer for real-time filtering and an outer layer for online update. In the inner layer, sinkage exponent and internal frictional angle, which have higher sensitivity than that of the other terrain parameters to wheel-terrain interaction forces, are estimated in real time by using an adaptive robust extended Kalman filter (AREKF), whereas the other parameters are fixed with nominal values. The inner layer result can help synthesize the current wheel-terrain contact forces with adequate precision, but has limited prediction capability for time-variable wheel slipping. To improve estimation accuracy of the result from the inner layer, an outer layer based on recursive Gauss-Newton (RGN) algorithm is introduced to refine the result of real-time filtering according to the innovation contained in the history data. With the two-layer structure, the proposed method can work in three fundamental estimation modes: EKF, REKF and RGN, making the method applicable for flat, rough and non-uniform terrains. Simulations have demonstrated the effectiveness of the proposed method under three terrain types, showing the advantages of introducing the two-layer structure.

Bucket wheel rehabilitation of ERC 1400-30/7 high-capacity excavators from lignite quarries

NASA Astrophysics Data System (ADS)

Vîlceanu, Fl; Iancu, C.

2016-11-01

The existence of bucket wheel equipment type ERC 1400-30/7 in lignite quarries with lifetime expired, or in the ultimate life period, together with high cost investments for their replacement, makes rational the efforts made to rehabilitation in order to extend their life. Rehabilitation involves checking operational safety based on relevant expertise of metal structures supporting effective resistance but also the replacement (or modernization) of subassemblies that can increase excavation process productivity, lowering energy consumption, reducing mechanical stresses. This paper proposes an analysis of constructive solution of using a part of the classical bucket wheel, on which are located 9 cutting cups and 9 chargers cups and adding a new part so that the new redesigned bucket-wheel will contain 18 cutting-chargers cups, compared to the classical model. On the CAD model of bucket wheel was performed a static and a dynamic FEA, the results being compared with the yield strength of the material of the entire structure, were checked mechanical stresses in the overall distribution map, and were verified the first 4 vibrating modes the structure compared to real loads. Thus was verified that the redesigned bucket-wheel can accomplish the proposed goals respectively increase excavation process productivity, lowering energy consumption and reducing mechanical stresses.

Fault-tolerant control of electric vehicles with in-wheel motors using actuator-grouping sliding mode controllers

NASA Astrophysics Data System (ADS)

Li, Boyuan; Du, Haiping; Li, Weihua

2016-05-01

Although electric vehicles with in-wheel motors have been regarded as one of the promising vehicle architectures in recent years, the probability of in-wheel motor fault is still a crucial issue due to the system complexity and large number of control actuators. In this study, a modified sliding mode control (SMC) is applied to achieve fault-tolerant control of electric vehicles with four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID). Unlike in traditional SMC, in this approach the steering geometry is re-arranged according to the location of faulty wheels in the modified SMC. Three SMC control laws for longitudinal velocity control, lateral velocity control and yaw rate control are designed based on specific vehicle motion scenarios. In addition the actuator-grouping SMC method is proposed so that driving actuators are grouped and each group of actuators can be used to achieve the specific control target, which avoids the strong coupling effect between each control target. Simulation results prove that the proposed modified SMC can achieve good vehicle dynamics control performance in normal driving and large steering angle turning scenarios. In addition, the proposed actuator-grouping SMC can solve the coupling effect of different control targets and the control performance is improved.

Innovative Design and Performance Evaluation of Bionic Imprinting Toothed Wheel

PubMed Central

Wang, Xiaoyang; Tong, Jin; Stephen, Carr

2018-01-01

A highly efficient soil-burrowing dung beetle possesses an intricate outer contour curve on its foreleg end-tooth. This study was carried out based on evidence that this special outer contour curve has the potential of reducing soil penetration resistance and could enhance soil-burrowing efficiency. A toothed wheel is a typical agricultural implement for soil imprinting, to increase its working efficiency; the approach of the bionic geometrical structure was utilized to optimize the innovative shape of imprinting toothed wheel. Characteristics in the dung beetle's foreleg end-tooth were extracted and studied by the edge detection technique. Then, this special outer contour curve was modeled by a nine-order polynomial function and used for the innovative design of imprinting the tooth's cutting edge. Both the conventional and bionic teeth were manufactured, and traction tests in a soil bin were conducted. Taking required draft force and volume of imprinted microbasin as the evaluating indexes, operating efficiency and quality of different toothed wheels were compared and investigated. Results indicate that compared with the conventional toothed wheel, a bionic toothed wheel possesses a better forward resistance reduction property against soil and, meanwhile, can enhance the quality of soil imprinting by increasing the volume of the created micro-basin. PMID:29515651

Torque blending and wheel slip control in EVs with in-wheel motors

NASA Astrophysics Data System (ADS)

de Castro, Ricardo; Araújo, Rui E.; Tanelli, Mara; Savaresi, Sergio M.; Freitas, Diamantino

2012-01-01

Among the many opportunities offered by electric vehicles (EVs), the design of power trains based on in-wheel electric motors represents, from the vehicle dynamics point of view, a very attractive prospect, mainly due to the torque-vectoring capabilities. However, this distributed propulsion also poses some practical challenges, owing to the constraints arising from motor installation in a confined space, to the increased unsprung mass weight and to the integration of the electric motor with the friction brakes. This last issue is the main theme of this work, which, in particular, focuses on the design of the anti-lock braking system (ABS). The proposed structure for the ABS is composed of a tyre slip controller, a wheel torque allocator and a braking supervisor. To address the slip regulation problem, an adaptive controller is devised, offering robustness to uncertainties in the tyre-road friction and featuring a gain-scheduling mechanism based on the vehicle velocity. Further, an optimisation framework is employed in the torque allocator to determine the optimal split between electric and friction brake torque based on energy performance metrics, actuator constraints and different actuators bandwidth. Finally, based on the EV working condition, the priorities of this allocation scheme are adapted by the braking supervisor unit. Simulation results obtained with the CarSim vehicle model, demonstrate the effectiveness of the overall approach.

Simulation of vertical dynamic vehicle-track interaction in a railway crossing using Green's functions

NASA Astrophysics Data System (ADS)

Li, X.; Torstensson, P. T.; Nielsen, J. C. O.

2017-12-01

Vertical dynamic vehicle-track interaction in the through route of a railway crossing is simulated in the time domain based on a Green's function approach for the track in combination with an implementation of Kalker's variational method to solve the non-Hertzian, and potentially multiple, wheel-rail contact. The track is described by a linear, three-dimensional and non-periodic finite element model of a railway turnout accounting for the variations in rail cross-sections and sleeper lengths, and including baseplates and resilient elements. To reduce calculation time due to the complexity of the track model, involving a large number of elements and degrees-of-freedom, a complex-valued modal superposition with a truncated mode set is applied before the impulse response functions are calculated at various positions along the crossing panel. The variation in three-dimensional contact geometry of the crossing and wheel is described by linear surface elements. In each time step of the contact detection algorithm, the lateral position of the wheelset centre is prescribed but the contact positions on wheel and rail are not, allowing for an accurate prediction of the wheel transition between wing rail and crossing rail. The method is demonstrated by calculating the wheel-rail impact load and contact stress distribution for a nominal S1002 wheel profile passing over a nominal crossing geometry. A parameter study is performed to determine the influence of vehicle speed, rail pad stiffness, lateral wheelset position and wheel profile on the impact load generated at the crossing. It is shown that the magnitude of the impact load is more influenced the wheel-rail contact geometry than by the selection of rail pad stiffness.

Minimum-Time and Vibration Avoidance Attitude Maneuver for Spacecraft with Torque and Momentum Limit Constraints in Redundant Reaction Wheel Configuration

NASA Technical Reports Server (NTRS)

Ha, Kong Q.; Femiano, Michael D.; Mosier, Gary E.

2004-01-01

In this paper, we present an optimal open-loop slew trajectory algorithm developed at GSFC for the so-called "Yardstick design" of the James Webb Space Telescope (JWST). JWST is an orbiting infrared observatory featuring a lightweight, segmented primary mirror approximately 6 meters in diameter and a sunshield approximately the size of a tennis court. This large, flexible structure will have significant number of lightly damped, dominant flexible modes. With very stringent requirements on pointing accuracy and image quality, it is important that slewing be done within the required time constraint and with minimal induced vibration in order to maximize observing efficiency. With reaction wheels as control actuators, initial wheel speeds as well as individual wheel torque and momentum limits become dominant constraints in slew performance. These constraints must be taken into account when performing slews to ensure that unexpected reaction wheel saturation does not occur, since such saturation leads to control failure in accurately tracking commanded motion and produces high frequency torque components capable of exciting structural modes. A minimum-time constraint is also included and coupled with reaction wheel limit constraints in the optimization to minimize both the effect of the control torque on the flexible body motion and the maneuver time. The optimization is on slew command parameters, such as maximum slew velocity and acceleration, for a given redundant reaction wheel configuration and is based on the dynamic interaction between the spacecraft and reaction wheel motion. Analytical development of the slew algorithm to generate desired slew position, rate, and acceleration profiles to command a feedback/feed forward control system is described. High-fidelity simulation and experimental results are presented to show that the developed slew law achieves the objectives.

Passivity-Based Control for Two-Wheeled Robot Stabilization

NASA Astrophysics Data System (ADS)

Uddin, Nur; Aryo Nugroho, Teguh; Agung Pramudito, Wahyu

2018-04-01

A passivity-based control system design for two-wheeled robot (TWR) stabilization is presented. A TWR is a statically-unstable non-linear system. A control system is applied to actively stabilize the TWR. Passivity-based control method is applied to design the control system. The design results in a state feedback control law that makes the TWR closed loop system globally asymptotically stable (GAS). The GAS is proven mathematically. The TWR stabilization is demonstrated through computer simulation. The simulation results show that the designed control system is able to stabilize the TWR.

3-Dimensional Analysis of Deformation of Disk Wheels and Transverse Force of Wheel Bolts

NASA Astrophysics Data System (ADS)

Kagiwada, Tadao; Harada, Hiroyuki

Loosening of the wheel nuts, which fix the disk wheels of automobiles to the wheel hub, may be the cause of accidents where the wheel falls off while the automobile is running. When the transverse force of wheel bolts exceeds a certain proportion of the bolt shaft force, the wheel nut begins to loosen. Further, the force on the bolt shaft may also be influenced by the loads acting to the wheel through the moment caused by the offset of the wheel. This study determined the 3-dimensional deformation of the disk wheels and the transverse forces on the wheel bolt by 3-dimensional numerical analysis. The results established that the transverse force was influenced by the bolt shaft force caused by the bolt fastening and was superposed on that due to the load, and that it fluctuated greatly during the revolution of the wheel. This phenomenon may be a large factor in the loosening of wheel nuts.

Analysis of grinding of superalloys and ceramics for off-line process optimization

NASA Astrophysics Data System (ADS)

Sathyanarayanan, G.

The present study has compared the performances of resinoid, vitrified, and electroplated CBN wheels in creep feed grinding of M42 and D2 tool steels. Responses such as a specific energy, normal and tangential forces, and surface roughness were used as measures of performance. It was found that creep feed grinding with resinoid, vitrified, and electroplated CBN wheels has its own advantages, but no single wheel could provide good finish, lower specific energy, and high material removal rates simultaneously. To optimize the CBN grinding with different bonded wheels, a Multiple Criteria Decision Making (MCDM) methodology was used. Creep feed grinding of superalloys, Ti-6Al-4V and Inconel 718, has been modeled by utilizing neural networks to optimize the grinding process. A parallel effort was directed at creep feed grinding of alumina ceramics with diamond wheels to investigate the influence of process variables on responses based on experimental results and statistical analysis. The conflicting influence of variables was observed. This led to the formulation of ceramic grinding process as a multi-objective nonlinear mixed integer problem.

Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts.

PubMed

Carreño, Francisco; Post, Mark A

2018-01-01

Efforts in the research of tensegrity structures applied to mobile robots have recently been focused on a purely tensegrity solution to all design requirements. Locomotion systems based on tensegrity structures are currently slow and complex to control. Although wheeled locomotion provides better efficiency over distances there is no literature available on the value of wheeled methods with respect to tensegrity designs, nor on how to transition from a tensegrity structure to a fixed structure in mobile robotics. This paper is the first part of a larger study that aims to combine the flexibility, light weight, and strength of a tensegrity structure with the efficiency and simple control of a wheeled locomotion system. It focuses on comparing different types of tensegrity structure for applicability to a mobile robot, and experimentally finding an appropriate transitional region from a tensegrity structure to a conventional fixed structure on mobile robots. It applies this transitional structure to what is, to the authors' knowledge, the design of the world's first wheeled tensegrity robot that has been designed with the goal of traversing air ducts.

Multi-Sensor Based Online Attitude Estimation and Stability Measurement of Articulated Heavy Vehicles.

PubMed

Zhu, Qingyuan; Xiao, Chunsheng; Hu, Huosheng; Liu, Yuanhui; Wu, Jinjin

2018-01-13

Articulated wheel loaders used in the construction industry are heavy vehicles and have poor stability and a high rate of accidents because of the unpredictable changes of their body posture, mass and centroid position in complex operation environments. This paper presents a novel distributed multi-sensor system for real-time attitude estimation and stability measurement of articulated wheel loaders to improve their safety and stability. Four attitude and heading reference systems (AHRS) are constructed using micro-electro-mechanical system (MEMS) sensors, and installed on the front body, rear body, rear axis and boom of an articulated wheel loader to detect its attitude. A complementary filtering algorithm is deployed for sensor data fusion in the system so that steady state margin angle (SSMA) can be measured in real time and used as the judge index of rollover stability. Experiments are conducted on a prototype wheel loader, and results show that the proposed multi-sensor system is able to detect potential unstable states of an articulated wheel loader in real-time and with high accuracy.

Dynamic train-track interaction at high vehicle speeds—Modelling of wheelset dynamics and wheel rotation

NASA Astrophysics Data System (ADS)

Torstensson, P. T.; Nielsen, J. C. O.; Baeza, L.

2011-10-01

Vertical dynamic train-track interaction at high vehicle speeds is investigated in a frequency range from about 20 Hz to 2.5 kHz. The inertial effects due to wheel rotation are accounted for in the vehicle model by implementing a structural dynamics model of a rotating wheelset. Calculated wheel-rail contact forces using the flexible, rotating wheelset model are compared with contact forces based on rigid, non-rotating models. For a validation of the train-track interaction model, calculated contact forces are compared with contact forces measured using an instrumented wheelset. When the system is excited at a frequency where two different wheelset mode shapes, due to the wheel rotation, have coinciding resonance frequencies, significant differences are found in the contact forces calculated with the rotating and non-rotating wheelset models. Further, the use of a flexible, rotating wheelset model is recommended for load cases leading to large magnitude contact force components in the high-frequency range (above 1.5 kHz). In particular, the influence of the radial wheel eigenmodes with two or three nodal diameters is significant.

Improved Fibrinolysis Using Magnetically Driven Colloidal Microwheels

NASA Astrophysics Data System (ADS)

Disharoon, Dante; Tasci, Onur; Schoeman, Rogier; Rana, Kuldeepsinh; Herson, Paco; Marr, David; Neeves, Keith

2017-11-01

At the microscale, fluid dynamics are unique because viscous forces dominate over inertial forces, with Reynolds numbers typically less than unity. To move through microscale channels (order 100 μ m) over macroscale distances (>1 cm) devices based on cellular machinery have been developed, but they are slow and difficult to implement within in vivo environments. To address these issues, we report the assembly and translation of magnetically-powered colloidal microwheels (μ wheels) capable of translation at speeds of over 100 μ m/s. In this, superparamagnetic microparticles cluster into wheel-like shapes that spin when subject to an order milliTesla planar rotating magnetic field. By exploiting wet friction between μ wheels and adjacent surfaces, not only can significant μ wheel translation speeds be achieved but also travel direction can be precisely and rapidly controlled. With both assembly and translation manipulated via non-gradient external magnetic fields that do not attenuate in tissue, this method is well-suited for drug delivery. We demonstrate this by showing that μ wheels functionalized with fibrinolytics can dissolve blood clots five-fold faster than soluble fibrinolytics at therapeutic concentrations.

Multi-Sensor Based Online Attitude Estimation and Stability Measurement of Articulated Heavy Vehicles

PubMed Central

Xiao, Chunsheng; Liu, Yuanhui; Wu, Jinjin

2018-01-01

Articulated wheel loaders used in the construction industry are heavy vehicles and have poor stability and a high rate of accidents because of the unpredictable changes of their body posture, mass and centroid position in complex operation environments. This paper presents a novel distributed multi-sensor system for real-time attitude estimation and stability measurement of articulated wheel loaders to improve their safety and stability. Four attitude and heading reference systems (AHRS) are constructed using micro-electro-mechanical system (MEMS) sensors, and installed on the front body, rear body, rear axis and boom of an articulated wheel loader to detect its attitude. A complementary filtering algorithm is deployed for sensor data fusion in the system so that steady state margin angle (SSMA) can be measured in real time and used as the judge index of rollover stability. Experiments are conducted on a prototype wheel loader, and results show that the proposed multi-sensor system is able to detect potential unstable states of an articulated wheel loader in real-time and with high accuracy. PMID:29342850

Influence of tire dynamics on slip ratio estimation of independent driving wheel system

NASA Astrophysics Data System (ADS)

Li, Jianqiu; Song, Ziyou; Wei, Yintao; Ouyang, Minggao

2014-11-01

The independent driving wheel system, which is composed of in-wheel permanent magnet synchronous motor(I-PMSM) and tire, is more convenient to estimate the slip ratio because the rotary speed of the rotor can be accurately measured. However, the ring speed of the tire ring doesn't equal to the rotor speed considering the tire deformation. For this reason, a deformable tire and a detailed I-PMSM are modeled by using Matlab/Simulink. Moreover, the tire/road contact interface(a slippery road) is accurately described by the non-linear relaxation length-based model and the Magic Formula pragmatic model. Based on the relatively accurate model, the error of slip ratio estimated by the rotor rotary speed is analyzed in both time and frequency domains when a quarter car is started by the I-PMSM with a definite target torque input curve. In addition, the natural frequencies(NFs) of the driving wheel system with variable parameters are illustrated to present the relationship between the slip ratio estimation error and the NF. According to this relationship, a low-pass filter, whose cut-off frequency corresponds to the NF, is proposed to eliminate the error in the estimated slip ratio. The analysis, concerning the effect of the driving wheel parameters and road conditions on slip ratio estimation, shows that the peak estimation error can be reduced up to 75% when the LPF is adopted. The robustness and effectiveness of the LPF are therefore validated. This paper builds up the deformable tire model and the detailed I-PMSM models, and analyzes the effect of the driving wheel parameters and road conditions on slip ratio estimation.

Development of method for experimental determination of wheel-rail contact forces and contact point position by using instrumented wheelset

NASA Astrophysics Data System (ADS)

Bižić, Milan B.; Petrović, Dragan Z.; Tomić, Miloš C.; Djinović, Zoran V.

2017-07-01

This paper presents the development of a unique method for experimental determination of wheel-rail contact forces and contact point position by using the instrumented wheelset (IWS). Solutions of key problems in the development of IWS are proposed, such as the determination of optimal locations, layout, number and way of connecting strain gauges as well as the development of an inverse identification algorithm (IIA). The base for the solution of these problems is the wheel model and results of FEM calculations, while IIA is based on the method of blind source separation using independent component analysis. In the first phase, the developed method was tested on a wheel model and a high accuracy was obtained (deviations of parameters obtained with IIA and really applied parameters in the model are less than 2%). In the second phase, experimental tests on the real object or IWS were carried out. The signal-to-noise ratio was identified as the main influential parameter on the measurement accuracy. Тhе obtained results have shown that the developed method enables measurement of vertical and lateral wheel-rail contact forces Q and Y and their ratio Y/Q with estimated errors of less than 10%, while the estimated measurement error of contact point position is less than 15%. At flange contact and higher values of ratio Y/Q or Y force, the measurement errors are reduced, which is extremely important for the reliability and quality of experimental tests of safety against derailment of railway vehicles according to the standards UIC 518 and EN 14363. The obtained results have shown that the proposed method can be successfully applied in solving the problem of high accuracy measurement of wheel-rail contact forces and contact point position using IWS.

Two Dimensional Viscoelastic Stress Analysis of a Prototypical JIMO Turbine Wheel

NASA Technical Reports Server (NTRS)

Gayda, John; Gabb, Timothy

2005-01-01

The designers of the Jupiter Icy Moons Orbiter (JIMO) are investigating the potential of nuclear powered-electric propulsion technology to provide deep space propulsion. In one design scenario a closed-Brayton-cycle power converter is used to convert thermal energy from a nuclear reactor to electrical power for the spacecraft utilizing an inert gas as the working fluid to run a turboalternator as described in L.S. Mason, "A Power Conversion for the Jupiter Icy Moons Orbiter," Journal of Propulsion and Power, vol. 20, no. 5, pp. 902-910. A key component in the turboalternator is the radial flow turbine wheel which may be fabricated from a cast superalloy. This turbine wheel is envisioned to run continuously over the life of the mission, which is anticipated to be about ten years. This scenario places unusual material requirements on the turbine wheel. Unlike the case of terrestrial turbine engines, fatigue, associated with start-up and shut-down of the engine, foreign-object damage, and corrosion issues are insignificant and thus creep issues become dominate. The purpose of this paper is to present estimates for creep growth of a prototypical JIMO turbine wheel over a ten year life. Since an actual design and bill of materials does not exist, the results presented in this paper are based on preliminary concepts which are likely to evolve over time. For this reason, as well as computational efficiency, a simplified 2-D, in lieu of a 3-D, viscoelastic, finite element model of a prototypical turbine wheel will be utilized employing material properties for the cast superalloy MAR-M247. The creep data employed in this analysis are based on preliminary data being generated at NASA Glenn Research Center.

In-situ soil sensing for planetary micro-rovers with hybrid wheel-leg systems

NASA Astrophysics Data System (ADS)

Comin Cabrera, Francisco Jose

Rover missions exploring other planets are tightly constrained regarding the trade-off between safety and traversal speed. Detecting and avoiding hazards during navigation is capital to preserve the mobility of a rover. Low traversal speeds are often enforced to assure that wheeled rovers do not become stuck in challenging terrain, hindering the performance and scientific return of the mission. Even such precautions do not guarantee safe navigation due to non-geometric hazards hidden in the terrain, such as sand traps beneath thin duricrusts. These issues motivate the research of the interaction with rough and sandy planetary terrains of conventional and innovative robot locomotion concepts. Hybrid wheel-legs combine the mechanical and control simplicity of wheeled locomotion with the enhanced mobility of legged locomotion. This concept has been rarely proposed for planetary exploration and the study of its interaction with granular terrains is at a very early stage. This research focuses on advancing the state-of-the-art of wheel-leg-soil interaction analysis and applying it through in-situ sensing to simultaneously improve the speed and safety of planetary rover missions. The semi-empirical approach used combines both theoretical modelling and experimental analysis of data obtained in laboratory and field analogues. A novel light-weight, low-power sensor system, capable of reliably detecting wheel-leg sinkage and slippage phenomena on-the-fly, is designed, implemented and tested both as part of a simplified single-wheel-leg test bed and integrated in a fully mobile micro-rover. Moreover, existing analytical models for the interaction between deformable terrain and heavily-loaded wheels or lightly-loaded legs are adapted to the generalised medium-loaded multi-legged wheel-leg case and combined into hybrid approaches for better accuracy, as validated against experimental data. Finally, the soil sensor system and analytical models proposed are used to develop and prove the effectiveness of different solutions for soil characterisation, trafficability assessment and terrain classification based on non-geometric physical properties.

Exercise Prescription Using a Group-Normalized Rating of Perceived Exertion in Adolescents and Adults With Spina Bifida.

PubMed

Crytzer, Theresa M; Keramati, Mariam; Anthony, Steven J; Cheng, Yu-Ting; Robertson, Robert J; Dicianno, Brad E

2018-02-03

People with spina bifida (SB) face personal and environmental barriers to exercise that contribute to physical inactivity, obesity, risk of cardiovascular disease, and poor aerobic fitness. The WHEEL rating of perceived exertion (RPE) Scale was validated in people with SB to monitor exercise intensity. However, the psycho-physiological link between RPE and ventilatory breakpoint (Vpt), the group-normalized perceptual response, has not been determined and would provide a starting point for aerobic exercise in this cohort. The primary objectives were to determine the group-normalized RPE equivalent to Vpt based on WHEEL and Borg Scale ratings and to develop a regression model to predict Borg Scale (conditional metric) from WHEEL Scale (criterion metric). The secondary objective was to create a table of interchangeable values between WHEEL and Borg Scale RPE for people with SB performing a load incremental stress test. Cross-sectional observational. University laboratory. Twenty-nine participants with SB. Participants completed a load incremented arm ergometer exercise stress test. WHEEL and Borg Scale ratings were recorded the last 15 seconds of each 1-minute test phase. WHEEL and Borg Scale ratings, metabolic measures (eg, oxygen consumption, carbon dioxide production). Determined Vpt via plots of oxygen consumption and carbon dioxide production against time. Nineteen of 29 participants achieved Vpt (Group A). The mean ± standard deviation peak oxygen consumption at Vpt for Group A was 61.76 ± 16.26. The WHEEL and Borg Scale RPE at Vpt were 5.74 ± 2.58 (range 0-10) and 13.95 ± 3.50 (range 6-19), respectively. A significant linear regression model was developed (Borg Scale rating = 1.22 × WHEEL Scale rating + 7.14) and used to create a WHEEL-to-Borg Scale RPE conversion table. A significant linear regression model and table of interchangeable values was developed for participants with SB. The group-normalized RPE (WHEEL, 5.74; Borg, 13.95) can be used to prescribe and self-regulate arm ergometer exercise intensity approximating the Vpt. II. Copyright © 2018. Published by Elsevier Inc.

A comparison of two types of running wheel in terms of mouse preference, health, and welfare.

PubMed

Walker, Michael; Mason, Georgia

2018-07-01

Voluntary wheel running occurs in mice of all strains, sexes, and ages. Mice find voluntary wheel running rewarding, and it leads to numerous health benefits. For this reason wheels are used both to enhance welfare and to create models of exercise. However, many designs of running wheel are used. This makes between-study comparisons difficult, as this variability could potentially affect the amount, pattern, and/or intensity of running behaviour, and thence the wheels' effects on welfare and exercise-related changes in anatomy and physiology. This study therefore evaluated two commercially available models, chosen because safe for group-housed mice: Bio Serv®'s "fast-trac" wheel combo and Ware Manufacturing Inc.'s stainless steel mesh 5″ upright wheel. Working with a total of three hundred and fifty one female C57BL/6, DBA/2 and BALB/c mice, we assessed these wheels' relative utilization by mice when access was free; the strength of motivation for each wheel-type when access required crossing an electrified grid; and the impact each wheel had on mouse well-being (inferred from acoustic startle responses and neophobia) and exercise-related anatomical changes (BMI; heart and hind limb masses). Mice ran more on the "fast-trac" wheel regardless of whether both wheel-types were available at once, or only if one was present. In terms of motivation, subjects required to work to access a single wheel worked equally hard for both wheel-types (even if locked and thus not useable for running), but if provided with one working wheel for free and the other type of wheel (again unlocked) accessible via crossing the electrified grid, the "fast-trac" wheel emerged as more motivating, as the Maximum Price Paid for the Ware metal wheel was lower than that paid for the "fast-trac" plastic wheel, at least for C57BL/6s and DBA/2s. No deleterious consequences were noted with either wheel in terms of health and welfare, but only mice with plastic wheels developed significantly larger hearts and hind limbs than control animals with locked wheels. Thus, where differences emerged, Bio Serv®'s "fast-trac" wheel combos appeared to better meet the aims of exercise provision than Ware Manufacturing's steel upright wheels. Copyright © 2018 Elsevier Inc. All rights reserved.

29 CFR 1910.211 - Definitions.

Code of Federal Regulations, 2011 CFR

2011-07-01

... having a diameter, thickness and wall—wheel is mounted on the diameter. (3) Type 6 straight cup wheels...—Type 6 Straight Cup Wheels EC27OC91.054 Type 6—Straight-cup Wheel Side grinding wheel having a diameter... describe this shape type. (4) Type 11 flaring cup wheels mean wheels having double diameter dimensions D...

Tire-road friction coefficient estimation based on the resonance frequency of in-wheel motor drive system

NASA Astrophysics Data System (ADS)

Chen, Long; Bian, Mingyuan; Luo, Yugong; Qin, Zhaobo; Li, Keqiang

2016-01-01

In this paper, a resonance frequency-based tire-road friction coefficient (TRFC) estimation method is proposed by considering the dynamics performance of the in-wheel motor drive system under small slip ratio conditions. A frequency response function (FRF) is deduced for the drive system that is composed of a dynamic tire model and a simplified motor model. A linear relationship between the squared system resonance frequency and the TFRC is described with the FRF. Furthermore, the resonance frequency is identified by the Auto-Regressive eXogenous model using the information of the motor torque and the wheel speed, and the TRFC is estimated thereafter by a recursive least squares filter with the identified resonance frequency. Finally, the effectiveness of the proposed approach is demonstrated through simulations and experimental tests on different road surfaces.

Factors affecting minimum push and pull forces of manual carts.

PubMed

Al-Eisawi, K W; Kerk, C J; Congleton, J J; Amendola, A A; Jenkins, O C; Gaines, W

1999-06-01

The minimum forces needed to manually push or pull a 4-wheel cart of differing weights with similar wheel sizes from a stationary state were measured on four floor materials under different conditions of wheel width, diameter, and orientation. Cart load was increased from 0 to 181.4 kg in increments of 36.3 kg. The floor materials were smooth concrete, tile, asphalt, and industrial carpet. Two wheel widths were tested: 25 and 38 mm. Wheel diameters were 51, 102, and 153 mm. Wheel orientation was tested at four levels: F0R0 (all four wheels aligned in the forward direction), F0R90 (the two front wheels, the wheels furthest from the cart handle, aligned in the forward direction and the two rear wheels, the wheels closest to the cart handle, aligned at 90 degrees to the forward direction), F90R0 (the two front wheels aligned at 90 degrees to the forward direction and the two rear wheels aligned in the forward direction), and F90R90 (all four wheels aligned at 90 degrees to the forward direction). Wheel width did not have a significant effect on the minimum push/pull forces. The minimum push/pull forces were linearly proportional to cart weight, and inversely proportional to wheel diameter. The coefficients of rolling friction were estimated as 2.2, 2.4, 3.3, and 4.5 mm for hard rubber wheels rolling on smooth concrete, tile, asphalt, and industrial carpet floors, respectively. The effect of wheel orientation was not consistent over the tested conditions, but, in general, the smallest minimum push/pull forces were measured with all four wheels aligned in the forward direction, whereas the largest minimum push/pull forces were measured when all four wheels were aligned at 90 degrees to the forward direction. There was no significant difference between the push and pull forces when all four wheels were aligned in the forward direction.

Public provision of four-wheeled walkers: contingent valuation study of economic benefit.

PubMed

Haines, Terry; Brown, Cassandra; Morrison, Jan

2008-09-01

To quantify the economic value of publicly provided four-wheeled walkers as judged by recipients in Queensland, Australia. Contingent valuation study using willingness-to-pay approach. A sample of 49 Australian older adults who received a publicly funded four-wheeled walker in the past 3 months completed the survey via telephone. A discrete choice bidding response format with a randomly selected starting bid was employed to glean valuations. This approach yielded only one non-response, and one zero dollar response. The mean (standard deviation) valuation provided was $ A 290 ($ A 167), which was $ A 84 in excess of the price paid by the public provider agency to purchase the equipment. Starting bid was significantly associated with values provided. The current public provision program of four-wheeled walkers is likely to generate net societal benefit. These findings coupled with arguments based on equity build a moderate case for the continuation of this program.

Investigation of contact pressure and influence function model for soft wheel polishing.

PubMed

Rao, Zhimin; Guo, Bing; Zhao, Qingliang

2015-09-20

The tool influence function (TIF) is critical for calculating the dwell-time map to improve form accuracy. We present the TIF for the process of computer-controlled polishing with a soft polishing wheel. In this paper, the static TIF was developed based on the Preston equation. The pressure distribution was verified by the real removal spot section profiles. According to the experiment measurements, the pressure distribution simulated by Hertz contact theory was much larger than the real contact pressure. The simulated pressure distribution, which was modeled by the Winkler elastic foundation for a soft polishing wheel, matched the real contact pressure. A series of experiments was conducted to obtain the removal spot statistical properties for validating the relationship between material removal and processing time and contact pressure and relative velocity, along with calculating the fitted parameters to establish the TIF. The developed TIF predicted the removal character for the studied soft wheel polishing.

On use of characteristic wavelengths of track irregularities to predict track portions with deteriorated wheel/rail forces

NASA Astrophysics Data System (ADS)

Xu, Lei; Zhai, Wanming; Chen, Zhaowei

2018-05-01

The dynamic performance of the railway vehicles and the guiding tracks is mainly governed by the wheel-rail interactions, particularly in cases of track irregularities. In this work, a united model was developed to investigate the track portions subject to violent wheel/rail forces triggered by track irregularities at middle-low frequencies. In the modeling procedures, a time-frequency unification method combining wavelet transform and Wigner-Ville distribution for characterizing time-frequency characteristics of track irregularities and a three-dimensional nonlinear model for describing vehicle-track interaction signatures were developed and coupled, based on which the method for predicting track portions subject to deteriorated wheel/rail forces was proposed. The theoretical models developed in this paper were comprehensively validated by numerical investigations. The significance of this present study mainly lies on offering a new path to establish correlation and realize mutual prediction between track irregularity and railway system dynamics.

A cellulose liquid crystal motor: a steam engine of the second kind

PubMed Central

Geng, Yong; Almeida, Pedro Lúcio; Fernandes, Susete Nogueira; Cheng, Cheng; Palffy-Muhoray, Peter; Godinho, Maria Helena

2013-01-01

The salient feature of liquid crystal elastomers and networks is strong coupling between orientational order and mechanical strain. Orientational order can be changed by a wide variety of stimuli, including the presence of moisture. Changes in the orientation of constituents give rise to stresses and strains, which result in changes in sample shape. We have utilized this effect to build soft cellulose-based motor driven by humidity. The motor consists of a circular loop of cellulose film, which passes over two wheels. When humid air is present near one of the wheels on one side of the film, with drier air elsewhere, rotation of the wheels results. As the wheels rotate, the humid film dries. The motor runs so long as the difference in humidity is maintained. Our cellulose liquid crystal motor thus extracts mechanical work from a difference in humidity. PMID:23293743

A cellulose liquid crystal motor: a steam engine of the second kind.

PubMed

Geng, Yong; Almeida, Pedro Lúcio; Fernandes, Susete Nogueira; Cheng, Cheng; Palffy-Muhoray, Peter; Godinho, Maria Helena

2013-01-01

The salient feature of liquid crystal elastomers and networks is strong coupling between orientational order and mechanical strain. Orientational order can be changed by a wide variety of stimuli, including the presence of moisture. Changes in the orientation of constituents give rise to stresses and strains, which result in changes in sample shape. We have utilized this effect to build soft cellulose-based motor driven by humidity. The motor consists of a circular loop of cellulose film, which passes over two wheels. When humid air is present near one of the wheels on one side of the film, with drier air elsewhere, rotation of the wheels results. As the wheels rotate, the humid film dries. The motor runs so long as the difference in humidity is maintained. Our cellulose liquid crystal motor thus extracts mechanical work from a difference in humidity.

Simulations of roughness initiation and growth on railway rails

NASA Astrophysics Data System (ADS)

Sheng, X.; Thompson, D. J.; Jones, C. J. C.; Xie, G.; Iwnicki, S. D.; Allen, P.; Hsu, S. S.

2006-06-01

A model for the prediction of the initiation and growth of roughness on the rail is presented. The vertical interaction between a train and the track is calculated as a time history for single or multiple wheels moving on periodically supported rails, using a wavenumber-based approach. This vertical dynamic wheel/rail force arises from the varying stiffness due to discrete supports (i.e. parametric excitation) and the roughness excitation on the railhead. The tangential contact problem between the wheel and rail is modelled using an unsteady two-dimensional approach and also using the three-dimensional contact model, FASTSIM. This enables the slip and stick regions in the contact patch to be identified from the input geometry and creepage between the wheel and rail. The long-term wear growth is then predicted by applying repeated passages of the vehicle wheelsets, as part of an iterative solution.

A Study on the Internal Structure of Heumgyeonggaknu

NASA Astrophysics Data System (ADS)

Kim, Sang Hyuk; Lee, Yong Sam; Lee, Min Soo; Ham, Sun Young

2013-06-01

Heumgyeonggaknu is a water-hammering type automatic water clock which was made by Jang Yeong-Sil in 1438. The water clock that is located in Heumgyeonggaknu consists of Suho which is equipped with 2-stage overflow. Constant water wheel power is generated by supplying a fixed amount of water of Suho to Sususang, and this power is transferred to each floor at the same time. The 1st floor rotation wheel of Gasan consists of the operation structure which has the shape of umbrella ribs. The 2nd floor rotation wheel is made so that the 12 hour signal, Gyeong-Jeom signal, and Jujeon constitute a systematic configuration. The 3rd floor rotation wheel is made so that the signal and rotation of Ongnyeo and four gods can be accomplished. Based on the above conceptual design, this paper analyzed the internal signal generation and power transmission of Heumgyeonggaknu.

A novel method for producing low cost dynamometric wheels based on harmonic elimination techniques

NASA Astrophysics Data System (ADS)

Gutiérrez-López, María D.; García de Jalón, Javier; Cubillo, Adrián

2015-02-01

A method for producing low cost dynamometric wheels is presented in this paper. For carrying out this method, the metallic part of a commercial wheel is instrumented with strain gauges, which must be grouped in at least three circumferences and in equidistant radial lines. The strain signals of the same circumference are linearly combined to obtain at least two new signals that only depend on the tyre/road contact forces and moments. The influence of factors like the angle rotated by the wheel, the temperature or the centrifugal forces is eliminated in them by removing the continuous component and the largest possible number of harmonics, except the first or the second one, of the strain signals. The contact forces and moments are obtained from these new signals by solving two systems of linear equations with three unknowns each. This method is validated with some theoretical and experimental examples.

Increasing the Mobility of Dismounted Marines. Small Unit Mobility Enhancement Technologies: Unmanned Ground Vehicles Market Survey

DTIC Science & Technology

2009-10-01

DARPA) Legged Squad Support System (LS3) Program. DARPA’s LS3 Program is an effort to develop a walking platform, preferably a quadruped, which...top-scoring UGV’s are track- or wheel-based; only the BigDog is a leg -based system. This presented BigDog with certain advantages (particularly...Technologies, Inc.’s ( DTI ) first location in Ranlo, North Carolina) – is a system capable of wheeled or tracked locomotion and was recently

The US Army and the New National Security Strategy

DTIC Science & Technology

2003-01-01

transformation, the entry of the wheeled Stryker Brigade Combat Teams (SBCTs) into the operational force beginning in FY 2003 could provide some...more self-sufficient. It has established regional " hub " bases, such as the one at Andersen AFB on Guam, repositioned assets at bases where forces may...brigades $1.44 billion Missiles 1.81 Ammunition 1.81 Other procurement 4.32 Wheeled and tracked vehicles not for the Objective Force 0.71 Total $10.10 27A

Design of driving control strategy of torque distribution for two - wheel independent drive electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Chuanwei; Zhang, Dongsheng; Wen, Jianping

2018-02-01

In order to coordinately control the torque distribution of existing two-wheel independent drive electric vehicle, and improve the energy efficiency and control stability of the whole vehicle, the control strategies based on fuzzy control were designed which adopt the direct yaw moment control as the main line. For realizing the torque coordination simulation of the two-wheel independent drive vehicle, the vehicle model, motor model and tire model were built, including the vehicle 7 - DOF dynamics model, motion equation, torque equation. Finally, in the Carsim - Simulink joint simulation platform, the feasibility of the drive control strategy was verified.

Single wheel hub motor failures and their impact on vehicle and driver behaviour

NASA Astrophysics Data System (ADS)

Wanner, Daniel; Kreußlein, Maria; Augusto, Bruno; Drugge, Lars; Stensson Trigell, Annika

2016-10-01

This research work studies the impact of single wheel hub motor failures on the dynamic behaviour of electric vehicles and the corresponding driver reactions. An experimental study in a moving-base driving simulator is conducted to analyse the influence of single wheel hub motor failures for motorway speeds. Driver reaction times are derived from the measured data and discussed in their experimental context. The failure is rated objectively on the dynamic behaviour of the vehicle and compared to the subjective evaluation. Findings indicate that critical traffic situations impairing traffic safety can occur for motorway speeds. Clear counteractions by the drivers had to be taken.

Art on Wheels.

ERIC Educational Resources Information Center

Szekely, George

2002-01-01

Discusses the use of wheels in children's art. Focuses on collecting wheels, ideas for decorating different artworks with wheels, and objects that can move on wheels. Sees wheels as an inspiration for children's art, reflecting on the use of this object in the art classroom. (CMK)

A Study on Wheel Sinkage and Rolling Resistance with variations in wheel geometry for Plain and Lugged wheels on TRI -1 Soil Simulant

NASA Astrophysics Data System (ADS)

Gireesh Kumar, Pala; Jayalekshmi, S.

2018-03-01

Wheel-soil Interaction studies are gaining momentum in the field of Terramechanics, but the basis is Terzaghi’s bearing capacity equation. For the current study, on a lunar soil simulant TRI – 1, two plain rigid wheels are considered, i.e., small wheel (dia. of 210 mm and width of 50 mm) and large wheel (dia. 160 mm and width 32 mm). Also, different number of lugs (N = 8, 12, 16) with various lug heights (h = 5 mm, 10 mm, 15 mm) are used. In this paper, the variation of wheel sinkages from experiments obtained for various wheel weights are examined and presented. The parameter, Coefficient of rolling resistance (CRR) is determined for various cases. Hence, rolling resistance was determined and examined from the obtained CRR for all cases. Among the cases examined, the large wheel with weight 67.44 N for plain wheels and weight 67.85 N for lugged wheel (no. of lugs = 16, and height of lugs = 5 mm) registered better mobility. Similarly, for small wheel with weight 52.189 N for plain wheel and weight 52.481 N for lugged wheel (no. of lugs = 16, and height of lugs = 5 mm) registered better mobility, a lesser rolling resistance for these cases.

E-5070

NASA Image and Video Library

1959-12-16

Side view of a F-105B (serial #54-0102) photographed on Rogers Dry Lakebed at Edwards Air Force Base, California in 1959. The black stripes across the left wheel-panel complete the lettering on the bottom of the wing when wheels are retracted. Two of the F-105B characteristics are fuselage length of 61 feet 1.33 inches and a wing area of 385.0 square feet.

Lipid peroxidation and antioxidant status in rat: effect of food restriction and wheel running.

PubMed

Filaire, Edith; Rouveix, Matthieu; Massart, Alain; Gladine, Cécile; Davicco, Marie Jeanne; Durand, Denys

2009-09-01

Using the activity-based anorexia model, the aim of this investigation was to explore antioxidant enzyme activity (catalase, superoxide dismutase), total antioxidant status (TAS), and alpha-tocopherol in blood, liver, and gastrocnemius muscle associated with the food restriction and voluntary wheel running during 8 days. In addition, lipid peroxidation was measured by measurements of malondialdehyde (MDA). Wistars rats (n = 56) were randomly assigned to one of four groups: an ad lib sedentary group, a control wheel activity group, a food restriction-induced hyperactivity group (1 h/day ad lib food, 23 h/day ad lib wheel access), and a food-restricted sedentary group. The animals were killed when the rats in the food-restricted group had lost 25% of their free feeding weight. Antioxidant enzyme activities and TAS in blood, liver, and gastrocnemius muscle were unaffected by voluntary wheel running. A wheel activity effect (P < 0.05) was obtained for the MDA concentrations in plasma, with lower concentrations in trained animals. Food restriction effects were obtained for antioxidant capacity in liver, as well as for CAT activity in the gastrocnemius muscle and plasma MDA concentrations with lower values in the restricted animals. On the other hand, the food-restricted rats showed higher plasma TAS concentrations (P < 0.05) and higher alpha-tocopherol concentrations in the liver (P < 0.05) when compared to animals fed ad libitum. Our results also showed that food restriction coupled to wheel running decreased antioxidant parameters in liver, and plasmatic MDA concentrations and increased TAS plasma concentrations when compared to the ad libitum sedentary situation.

The Development of Model for Measuring Railway Wheels Manufacturing Readiness Level

NASA Astrophysics Data System (ADS)

Inrawan Wiratmadja, Iwan; Mufid, Anas

2016-02-01

In an effort to grow the railway wheel industry in Indonesia and reduce the dependence on imports, Metal Industries Development Center (MIDC) makes the implementation of the railway wheel manufacturing technology in Indonesia. MIDC is an institution based on research and development having a task to research the production of railway wheels prototype and acts as a supervisor to the industry in Indonesia, for implementing the railway wheel manufacturing technology. The process of implementing manufacturing technology requires a lot of resources. Therefore it is necessary to measure the manufacturing readiness process. Measurement of railway wheels manufacturing readiness was in this study done using the manufacturing readiness level (MRL) model from the United States Department of Defense. MRL consists of 10 manufacturing readiness levels described by 90 criteria and 184 sub-criteria. To get a manufacturing readiness measurement instrument that is good and accurate, the development process involved experts through expert judgment method and validated with a content validity ratio (CVR). Measurement instrument developed in this study consist of 448 indicators. The measurement results show that MIDC's railway wheels manufacturing readiness is at the level 4. This shows that there is a gap between the current level of manufacturing readiness owned by MIDC and manufacturing readiness levels required to achieve the program objectives, which is level 5. To achieve the program objectives at level 5, a number of actions were required to be done by MIDC. Indicators that must be improved to be able to achieve level 5 are indicators related to the cost and financing, process capability and control, quality management, workers, and manufacturing management criteria.

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C.; Kenny, Sean P.; Ghosh, Dave; Shenhar, Joram

1993-01-01

Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

Fatigue based design and analysis of wheel hub for Student formula car by Simulation Approach

NASA Astrophysics Data System (ADS)

Gowtham, V.; Ranganathan, A. S.; Satish, S.; Alexis, S. John; Siva kumar, S.

2016-09-01

In the existing design of Wheel hub used for Student formula cars, the brake discs cannot be removed easily since the disc is mounted in between the knuckle and hub. In case of bend or any other damage to the disc, the replacement of the disc becomes difficult. Further using OEM hub and knuckle that are used for commercial vehicles will result in increase of unsprung mass, which should be avoided in Student formula cars for improving the performance. In this design the above mentioned difficulties have been overcome by redesigning the hub in such a way that the brake disc could be removed easily by just removing the wheel and the caliper and also it will have reduced weight when compared to existing OEM hub. A CAD Model was developed based on the required fatigue life cycles. The forces acting on the hub were calculated and linear static structural analysis was performed on the wheel hub for three different materials using ANSYS Finite Element code V 16.2. The theoretical fatigue strength was compared with the stress obtained from the structural analysis for each material.

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

NASA Astrophysics Data System (ADS)

Montgomery, Raymond C.; Kenny, Sean P.; Ghosh, Dave; Shenhar, Joram

1993-02-01

Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

Enlargement of Axo-Somatic Contacts Formed by GAD-Immunoreactive Axon Terminals onto Layer V Pyramidal Neurons in the Medial Prefrontal Cortex of Adolescent Female Mice Is Associated with Suppression of Food Restriction-Evoked Hyperactivity and Resilience to Activity-Based Anorexia

PubMed Central

Chen, Yi-Wen; Wable, Gauri Satish; Chowdhury, Tara Gunkali; Aoki, Chiye

2016-01-01

Many, but not all, adolescent female mice that are exposed to a running wheel while food restricted (FR) become excessive wheel runners, choosing to run even during the hours of food availability, to the point of death. This phenomenon is called activity-based anorexia (ABA). We used electron microscopic immunocytochemistry to ask whether individual differences in ABA resilience may correlate with the lengths of axo-somatic contacts made by GABAergic axon terminals onto layer 5 pyramidal neurons (L5P) in the prefrontal cortex. Contact lengths were, on average, 40% greater for the ABA-induced mice, relative to controls. Correspondingly, the proportion of L5P perikaryal plasma membrane contacted by GABAergic terminals was 45% greater for the ABA mice. Contact lengths in the anterior cingulate cortex correlated negatively and strongly with the overall wheel activity after FR (R = −0.87, P < 0.01), whereas those in the prelimbic cortex correlated negatively with wheel running specifically during the hours of food availability of the FR days (R = −0.84, P < 0.05). These negative correlations support the idea that increases in the glutamic acid decarboxylase (GAD) terminal contact lengths onto L5P contribute toward ABA resilience through suppression of wheel running, a behavior that is intrinsically rewarding and helpful for foraging but maladaptive within a cage. PMID:25979087

Design and development of control unit and software for the ADFOSC instrument of the 3.6 m Devasthal optical telescope

NASA Astrophysics Data System (ADS)

Kumar, T. S.

2016-08-01

In this paper, we describe the details of control unit and GUI software for positioning two filter wheels, a slit wheel and a grism wheel in the ADFOSC instrument. This is a first generation instrument being built for the 3.6 m Devasthal optical telescope. The control hardware consists of five electronic boards based on low cost 8-bit PIC microcontrollers and are distributed over I2C bus. The four wheels are controlled by four identical boards which are configured in I2C slave mode while the fifth board acts as an I2C master for sending commands to and receiving status from the slave boards. The master also communicates with the interfacing PC over TCP/IP protocol using simple ASCII commands. For moving the wheels stepper motors along with suitable amplifiers have been employed. Homing after powering ON is achieved using hall effect sensors. By implementing distributed control units having identical design modularity is achieved enabling easier maintenance and upgradation. A GUI based software for commanding the instrument is developed in Microsoft Visual C++. For operating the system during observations the user selects normal mode while the engineering mode is available for offering additional flexibility and low level control during maintenance and testing. A detailed time-stamped log of commands, status and errors are continuously generated. Both the control unit and the software have been successfully tested and integrated with the ADFOSC instrument.

Zero-moment point determination of worst-case manoeuvres leading to vehicle wheel lift

NASA Astrophysics Data System (ADS)

Lapapong, S.; Brown, A. A.; Swanson, K. S.; Brennan, S. N.

2012-01-01

This paper proposes a method to evaluate vehicle rollover propensity based on a frequency-domain representation of the zero-moment point (ZMP). Unlike other rollover metrics such as the static stability factor, which is based on the steady-state behaviour, and the load transfer ratio, which requires the calculation of tyre forces, the ZMP is based on a simplified kinematic model of the vehicle and the analysis of the contact point of the vehicle relative to the edge of the support polygon. Previous work has validated the use of the ZMP experimentally in its ability to predict wheel lift in the time domain. This work explores the use of the ZMP in the frequency domain to allow a chassis designer to understand how operating conditions and vehicle parameters affect rollover propensity. The ZMP analysis is then extended to calculate worst-case sinusoidal manoeuvres that lead to untripped wheel lift, and the analysis is tested across several vehicle configurations and compared with that of the standard Toyota J manoeuvre.

Reduction of extinction and reinstatement of cocaine seeking by wheel running in female rats.

PubMed

Zlebnik, Natalie E; Anker, Justin J; Gliddon, Luke A; Carroll, Marilyn E

2010-03-01

Previous work has shown that wheel running reduced the maintenance of cocaine self-administration in rats. In the present study, the effect of wheel running on extinction and reinstatement of cocaine seeking was examined. Female rats were trained to run in a wheel during 6-h sessions, and they were then catheterized and placed in an operant conditioning chamber where they did not have access to the wheel but were allowed to self-administer iv cocaine. Subsequently, rats were divided into four groups and were tested on the extinction and reinstatement of cocaine seeking while they had varying access to a wheel in an adjoining compartment. The four groups were assigned to the following wheel access conditions: (1) wheel running during extinction and reinstatement (WER), (2) wheel running during extinction and a locked wheel during reinstatement (WE), (3) locked wheel during extinction and wheel running during reinstatement (WR), and (4) locked wheel during extinction and reinstatement (WL). WE and WR were retested later to examine the effect of one session of wheel access on cocaine-primed reinstatement. There were no group differences in wheel revolutions, in rate of acquisition of cocaine self-administration, or in responding during maintenance when there was no wheel access. However, during extinction, WE and WER responded less than WR and WL. WR and WER had lower cocaine-primed reinstatement than WE and WL. One session of wheel exposure in WE also suppressed cocaine-primed reinstatement. Wheel running immediately and effectively reduced cocaine-seeking behavior, but concurrent access to running was necessary. Thus, exercise is a useful and self-sustaining intervention to reduce cocaine-seeking behavior.

Wheel-Sleeper Impact Model in Rail Vehicles Analysis

NASA Astrophysics Data System (ADS)

Brabie, Dan

The current paper establishes the necessary prerequisites for studying post-derailment dynamic behavior of high-speed rail vehicles by means of multi-body system (MBS) software. A finite-element (FE) model of one rail vehicle wheel impacting a limited concrete sleeper volume is built in LS-DYNA. A novel simulation scheme is employed for obtaining the necessary wheel-sleeper impact data, transferred to the MBS code as pre-defined look-up tables of the wheel's impulse variation during impact. The FE model is tentatively validated successfully by comparing the indentation marks with one photograph from an authentic derailment for a continuous impact sequence over three subsequent sleepers. A post-derailment module is developed and implemented in the MBS simulation tool GENSYS, which detects the wheel contact with sleepers and applies valid longitudinal, lateral and vertical force resultants based on the existing impact conditions. The accuracy of the MBS code in terms of the wheels three-dimensional trajectory over 24 consecutive sleepers is successfully compared with its FE counterpart for an arbitrary impact scenario. An axle mounted brake disc is tested as an alternative substitute guidance mechanism after flange climbing derailments at 100 and 200 km/h on the Swedish high-speed tilting train X 2000. Certain combinations of brake disc geometrical parameters manage to stop the lateral deviation of the wheelsets in circular curve sections at high lateral track plane acceleration.

Designing neuro-fuzzy controller for electromagnetic anti-lock braking system (ABS) on electric vehicle

NASA Astrophysics Data System (ADS)

Pramudijanto, Josaphat; Ashfahani, Andri; Lukito, Rian

2018-03-01

Anti-lock braking system (ABS) is used on vehicles to keep the wheels unlocked in sudden break (inside braking) and minimalize the stop distance of the vehicle. The problem of it when sudden break is the wheels locked so the vehicle steering couldn’t be controlled. The designed ABS system will be applied on ABS simulator using the electromagnetic braking. In normal condition or in condition without braking, longitudinal velocity of the vehicle will be equal with the velocity of wheel rotation, so the slip ratio will be 0 (0%) and if the velocity of wheel rotation is 0 (in locked condition) then the wheels will be slip 1 (100%). ABS system will keep the value of slip ratio so it will be 0.2 (20%). In this final assignment, the method that is used is Neuro-Fuzzy method to control the slip value on the wheels. The input is the expectable slip and the output is slip from plant. The learning algorithm which is used is Backpropagation that will work by feedforward to get actual output and work by feedback to get error value with target output. The network that was made based on fuzzy mechanism which are fuzzification, inference and defuzzification, Neuro-fuzzy controller can reduce overshoot plant respond to 43.2% compared to plant respond without controller by open loop.

Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind

NASA Astrophysics Data System (ADS)

Hendzel, Z.; Rykała, Ł.

2017-02-01

The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

Reinforcement value and substitutability of sucrose and wheel running: implications for activity anorexia.

PubMed

Belke, Terry W; Pierce, W David; Duncan, Ian D

2006-09-01

Choice between sucrose and wheel-running reinforcement was assessed in two experiments. In the first experiment, ten male Wistar rats were exposed to concurrent VI 30 s VI 30 s schedules of wheel-running and sucrose reinforcement. Sucrose concentration varied across concentrations of 2.5, 7.5, and 12.5%. As concentration increased, more behavior was allocated to sucrose and more reinforcements were obtained from that alternative. Allocation of behavior to wheel running decreased, but obtained wheel-running reinforcement did not change. Overall, the results suggested that food-deprived rats were sensitive to qualitative changes in food supply (sucrose concentration) while continuing to defend a level of physical activity (wheel running). In the second study, 15 female Long Evans rats were exposed to concurrent variable ratio schedules of sucrose and wheel-running, wheel-running and wheel-running, and sucrose and sucrose reinforcement. For each pair of reinforcers, substitutability was assessed by the effect of income-compensated price changes on consumption of the two reinforcers. Results showed that, as expected, sucrose substituted for sucrose and wheel running substituted for wheel running. Wheel running, however, did not substitute for sucrose; but sucrose partially substituted for wheel running. We address the implications of the interrelationships of sucrose and wheel running for an understanding of activity anorexia.

Reinforcement Value and Substitutability of Sucrose and Wheel Running: Implications for Activity Anorexia

PubMed Central

Belke, Terry W; Duncan, Ian D; David Pierce, W

2006-01-01

Choice between sucrose and wheel-running reinforcement was assessed in two experiments. In the first experiment, ten male Wistar rats were exposed to concurrent VI 30 s VI 30 s schedules of wheel-running and sucrose reinforcement. Sucrose concentration varied across concentrations of 2.5, 7.5, and 12.5%. As concentration increased, more behavior was allocated to sucrose and more reinforcements were obtained from that alternative. Allocation of behavior to wheel running decreased, but obtained wheel-running reinforcement did not change. Overall, the results suggested that food-deprived rats were sensitive to qualitative changes in food supply (sucrose concentration) while continuing to defend a level of physical activity (wheel running). In the second study, 15 female Long Evans rats were exposed to concurrent variable ratio schedules of sucrose and wheel-running, wheel-running and wheel-running, and sucrose and sucrose reinforcement. For each pair of reinforcers, substitutability was assessed by the effect of income-compensated price changes on consumption of the two reinforcers. Results showed that, as expected, sucrose substituted for sucrose and wheel running substituted for wheel running. Wheel running, however, did not substitute for sucrose; but sucrose partially substituted for wheel running. We address the implications of the interrelationships of sucrose and wheel running for an understanding of activity anorexia. PMID:17002224

Design and manufacture of wheels for a dual-mode (manned - automatic) lunar surface roving vehicle. Volume 1: Detailed technical report

NASA Technical Reports Server (NTRS)

1970-01-01

The concept development, testing, evaluation, and the selection of a final wheel design concept for a dual-mode lunar surface vehicle (DLRV) is detailed. Four wheel configurations were fabricated (one open wheel and three closed wheel) (and subjected to a series of soft soil, mechanical, and endurance tests. Results show that the open wheel has lower draw-bar pull (slope climbing) capability in loose soil due to its higher ground pressure and tendency to dig in at high wheel slip. Endurance tests indicate that a double mesh, fully enclosed wheel can be developed to meet DLRV life requirements. There is, however, a 1.0 to 1.8 lb/wheel weight penalty associated with the wheel enclosure. Also the button cleats used as grousers for the closed-type wheels result in local stress concentration and early fatigue failure of the wire mesh. Load deflection tests indicate that the stiffness of the covered wheel increased by up to 50% after soil bin testing, due to increased friction between the fabric and the wire mesh caused by the sand. No change in stiffness was found for the open wheel. The single woven mesh open wheel design with a chevron tread is recommended for continued development

On the real-time estimation of the wheel-rail contact force by means of a new nonlinear estimator design model

NASA Astrophysics Data System (ADS)

Strano, Salvatore; Terzo, Mario

2018-05-01

The dynamics of the railway vehicles is strongly influenced by the interaction between the wheel and the rail. This kind of contact is affected by several conditioning factors such as vehicle speed, wear, adhesion level and, moreover, it is nonlinear. As a consequence, the modelling and the observation of this kind of phenomenon are complex tasks but, at the same time, they constitute a fundamental step for the estimation of the adhesion level or for the vehicle condition monitoring. This paper presents a novel technique for the real time estimation of the wheel-rail contact forces based on an estimator design model that takes into account the nonlinearities of the interaction by means of a fitting model functional to reproduce the contact mechanics in a wide range of slip and to be easily integrated in a complete model based estimator for railway vehicle.

Walk and roll robot

NASA Technical Reports Server (NTRS)

Wilson, Andrew (Inventor); Punnoose, Andrew (Inventor); Strausser, Katherine (Inventor); Parikh, Neil (Inventor)

2011-01-01

A mobile robotic unit features a main body, a plurality of legs for supporting the main body on and moving the main body in forward and reverse directions about a base surface, and a drive assembly. According to an exemplary embodiment each leg includes a respective pivotal hip joint, a pivotal knee joint, and a wheeled foot adapted to roll along the base surface. Also according to an exemplary embodiments the drive assembly includes a motor operatively associated with the hip and knee joints and the wheeled foot for independently driving pivotal movement of the hip joint and the knee joint and rolling motion of the wheeled foot. The hip joint may include a ball-and-socket-type joint interconnecting top portion of the leg to the main body, such that the hip joint is adapted to pivot said leg in a direction transverse to a forward-and-reverse direction.

Car suspension system monitoring under road conditions

NASA Astrophysics Data System (ADS)

Fedotov, A. I.; Kuznetsov, N. Y.; Lysenko, A. V.; Vlasov, V. G.

2017-12-01

The paper describes an advanced gyro-based measuring system comprising a CGV-4K central vertical gyro and a G-3M gyrocompass. The advanced system provides additional functions that help measure unsprung mass rotation angles about a vertical axis, rolling angles, trim angles and movements of the unsprung masses of the front (ap and al) and rear b axes when a car wheel hits a single obstruction. The paper also describes the operation of the system, which measures movements of unsprung masses about the body of a car when it hits a single obstruction. The paper presents the dependency diagrams ap = f(t) and al = f(t) for front and rear wheels respectively, as well as b = f(t) for a rear left wheel, which were determined experimentally. Test results for a car equipped with an advanced gyro-based measuring system moving around a circle can form a basis for developing a mathematical model of the process.

A fuzzy logic sliding mode controlled electronic differential for a direct wheel drive EV

NASA Astrophysics Data System (ADS)

Ozkop, Emre; Altas, Ismail H.; Okumus, H. Ibrahim; Sharaf, Adel M.

2015-11-01

In this study, a direct wheel drive electric vehicle based on an electronic differential system with a fuzzy logic sliding mode controller (FLSMC) is studied. The conventional sliding surface is modified using a fuzzy rule base to obtain fuzzy dynamic sliding surfaces by changing its slopes using the global error and its derivative in a fuzzy logic inference system. The controller is compared with proportional-integral-derivative (PID) and sliding mode controllers (SMCs), which are usually preferred to be used in industry. The proposed controller provides robustness and flexibility to direct wheel drive electric vehicles. The fuzzy logic sliding mode controller, electronic differential system and the overall electrical vehicle mechanism are modelled and digitally simulated by using the Matlab software. Simulation results show that the system with FLSMC has better efficiency and performance compared to those of PID and SMCs.

Modeling and Simulation of Two Wheelchair Accessories for Pushing Doors.

PubMed

Abdullah, Soran Jalal; Shaikh Mohammed, Javeed

2017-03-27

Independent mobility is vital to individuals of all ages, and wheelchairs have proven to be great personal mobility devices. The tasks of opening and navigating through a door are trivial for healthy people, while the same tasks could be difficult for some wheelchair users. A wide range of intelligent wheelchair controllers and systems, robotic arms, or manipulator attachments integrated with wheelchairs have been developed for various applications, including manipulating door knobs. Unfortunately, the intelligent wheelchairs and robotic attachments are not widely available as commercial products. Therefore, the current manuscript presents the modeling and simulation of a novel but simple technology in the form of a passive wheelchair accessory (straight, arm-like with a single wheel, and arc-shaped with multiple wheels) for pushing doors open from a wheelchair. From the simulations using different wheel shapes and sizes, it was found that the arc-shaped accessory could push open the doors faster and with almost half the required force as compared to the arm-like accessory. Also, smaller spherical wheels were found to be best in terms of reaction forces on the wheels. Prototypes based on the arc-shaped accessory design will be manufactured and evaluated for pushing doors open and dodging or gliding other obstacles.

Maximum Torque and Momentum Envelopes for Reaction Wheel Arrays

NASA Technical Reports Server (NTRS)

Markley, F. Landis; Reynolds, Reid G.; Liu, Frank X.; Lebsock, Kenneth L.

2009-01-01

Spacecraft reaction wheel maneuvers are limited by the maximum torque and/or angular momentum that the wheels can provide. For an n-wheel configuration, the torque or momentum envelope can be obtained by projecting the n-dimensional hypercube, representing the domain boundary of individual wheel torques or momenta, into three dimensional space via the 3xn matrix of wheel axes. In this paper, the properties of the projected hypercube are discussed, and algorithms are proposed for determining this maximal torque or momentum envelope for general wheel configurations. Practical strategies for distributing a prescribed torque or momentum among the n wheels are presented, with special emphasis on configurations of four, five, and six wheels.

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2013 CFR

2013-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2013-10-01 2013-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2014 CFR

2014-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2014-10-01 2014-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2014 CFR

2014-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2012 CFR

2012-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2012-10-01 2012-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2010 CFR

2010-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2011 CFR

2011-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2011 CFR

2011-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2011-10-01 2011-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.114 - Wheel centers.

Code of Federal Regulations, 2010 CFR

2010-10-01

..., following the repair, the crankpin and axle shall remain tight in the wheel. Banding of the hub is permitted... 49 Transportation 4 2010-10-01 2010-10-01 false Wheel centers. 230.114 Section 230.114... Tenders Wheels and Tires § 230.114 Wheel centers. (a) Filling blocks and shims. Driving and trailing wheel...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2012 CFR

2012-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

49 CFR 230.105 - Lateral motion.

Code of Federal Regulations, 2013 CFR

2013-10-01

... between the hubs of the wheels and the boxes on any pair of wheels shall not exceed the following limits: Inches Engine truck wheels (with swing centers) 1 Engine truck wheels (with rigid centers) 11/2 Trailing truck wheels 1 Driving wheels 3/4 (b) Limits increased. These limits may be increased on steam...

Development of Component Mechanisms and Novel Actuation for Origami Inspired Designs

DTIC Science & Technology

2016-11-17

soft robot for the competition ‘RoboSoft Grand Challenge 2016’, and contributed greatly to SNUMAX’s winning performance. Table 1 summarizes the...gliding multimodal robot . Self-Depolyable Glider DISTRIBUTION A. Approved for public release: distribution unlimited. II. Research Performances...proposed a novel variable-diameter wheel using an origami-based soft robotics design approach. Using soft materials for a variable-diameter wheel

Maximum Torque and Momentum Envelopes for Reaction Wheel Arrays

NASA Technical Reports Server (NTRS)

Reynolds, R. G.; Markley, F. Landis

2001-01-01

Spacecraft reaction wheel maneuvers are limited by the maximum torque and/or angular momentum which the wheels can provide. For an n-wheel configuration, the torque or momentum envelope can be obtained by projecting the n-dimensional hypercube, representing the domain boundary of individual wheel torques or momenta, into three dimensional space via the 3xn matrix of wheel axes. In this paper, the properties of the projected hypercube are discussed, and algorithms are proposed for determining this maximal torque or momentum envelope for general wheel configurations. Practical implementation strategies for specific wheel configurations are also considered.

Modeling of traction-coupling properties of wheel propulsor

NASA Astrophysics Data System (ADS)

Sakhapov, R. L.; Nikolaeva, R. V.; Gatiyatullin, M. H.; Makhmutov, M. M.

2017-12-01

In conditions of operation of aggregates on soils with low bearing capacity, the main performance indicators of their operation are determined by the properties of retaining the functional qualities of the propulsor. Therefore, the parameters of the anti-skid device can not be calculated by only one criterion. The equipment of propellers with anti-skid devices, which allow to reduce the compaction effect of the propulsion device on the soil, seems to be a rational solution to the problem of increasing traction and coupling properties of the driving wheels. The mathematical model is based on the study of the interaction of the driving wheel with anti-skid devices and a deformable bearing surface, which takes into account the wheel diameter, skid coefficient, the parameters of the anti-skid device, the physical and mechanical properties of the soil. As a basic mathematical model that determines the dependence of the coupling properties on the wheel parameters, the model obtained as a result of integration and reflecting the process of soil deformation from the shear stress is adopted. The total value of the resistance forces will determine the force of the hitch pressure on the horizontal soil layers, and the value of its deformation is the degree of wheel slippage. When the anti-skid devices interact with the soil, the traction capacity of the wheel is composed of shear forces, soil shear and soil deformation forces with detachable hooks. As a result of the interaction of the hook with the soil, the latter presses against the walls of the hook with the force equal to the sum of the hook load and the resistance to movement. During operation, the linear dimensions of the hook will decrease, which is not taken into account by the safety factor. Abrasive wear of the thickness of the hook is approximately proportional to the work of friction caused by the movement of the hook when inserted into the soil and slipping the wheel.

Wheel speed management control system for spacecraft

NASA Technical Reports Server (NTRS)

Goodzeit, Neil E. (Inventor); Linder, David M. (Inventor)

1991-01-01

A spacecraft attitude control system uses at least four reaction wheels. In order to minimize reaction wheel speed and therefore power, a wheel speed management system is provided. The management system monitors the wheel speeds and generates a wheel speed error vector. The error vector is integrated, and the error vector and its integral are combined to form a correction vector. The correction vector is summed with the attitude control torque command signals for driving the reaction wheels.

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2012 CFR

2012-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2012-10-01 2012-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2012 CFR

2012-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2012-10-01 2012-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2010 CFR

2010-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2010-10-01 2010-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2011 CFR

2011-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2011-10-01 2011-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2014 CFR

2014-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2014-10-01 2014-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2013 CFR

2013-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2013-10-01 2013-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2010 CFR

2010-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2010-10-01 2010-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

49 CFR 230.113 - Wheels and tire defects.

Code of Federal Regulations, 2011 CFR

2011-10-01

... crack or break in the flange, tread, rim, plate, hub or brackets. (b) Flat spots. Wheels and tires may... 49 Transportation 4 2011-10-01 2011-10-01 false Wheels and tire defects. 230.113 Section 230.113... Tenders Wheels and Tires § 230.113 Wheels and tire defects. Steam locomotive and tender wheels or tires...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2014 CFR

2014-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2014-10-01 2014-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

49 CFR 215.103 - Defective wheel.

Code of Federal Regulations, 2013 CFR

2013-10-01

... less; (d) A wheel rim, flange, plate, or hub area on the car has a crack or break; (e) A wheel on the... 49 Transportation 4 2013-10-01 2013-10-01 false Defective wheel. 215.103 Section 215.103... § 215.103 Defective wheel. A railroad may not place or continue in service a car, if— (a) A wheel flange...

SDO Delta H Mode Design and Analysis

NASA Technical Reports Server (NTRS)

Mason, Paul A.; Starin, Scott R.

2007-01-01

While on orbit, disturbance torques on a three axis stabilized spacecraft tend to increase the system momentum, which is stored in the reaction wheels. Upon reaching the predefined momentum capacity (or maximum wheel speed) of the reaction wheel, an external torque must be used to unload the momentum. The purpose of the Delta H mode is to manage the system momentum. This is accomplished by driving the reaction wheels to a target momentum state while the attitude thrusters, which provide an external torque, are used to maintain the attitude. The Delta H mode is designed to meet the mission requirements and implement the momentum management plan. Changes in the requirements or the momentum management plan can lead to design changes in the mode. The momentum management plan defines the expected momentum buildup trend, the desired momentum state and how often the system is driven to the desired momentum state (unloaded). The desired momentum state is chosen based on wheel capacity, wheel configuration, thruster layout and thruster sizing. For the Solar Dynamics Observatory mission, the predefined wheel momentum capacity is a function of the jitter requirements, power, and maximum momentum capacity. Changes in jitter requirements or power limits can lead to changes in the desired momentum state. These changes propagate into the changes in the momentum management plan and therefore the Delta H mode design. This paper presents the analysis and design performed for the Solar Dynamics Observatory Delta H mode. In particular, the mode logic and processing needed to meet requirements is described along with the momentum distribution formulation. The Delta H mode design is validated using the Solar Dynamics Observatory High Fidelity simulator. Finally, a summary of the design is provided along with concluding remarks.

Rapid development of semistarvation-induced hyperactivity in Dark Agouti rats. Excessive wheel running and effect of 3,4-methylenedioxymethamphetamine (MDMA).

PubMed

Vidal, Pedro; Pérez-Padilla, Ángeles; Pellón, Ricardo

2013-02-01

Clinical studies have found that patients with anorexia develop high activity levels. These data suggest a possible implication of activity in the aetiology of anorexia and are in line with findings obtained in animals during experimental procedures to model interactions between activity and weight loss. Activity-based anorexia (ABA) and semistarvation-induced hyperactivity (SIH) develop when laboratory rats have food access restricted to a single period in the day and are given free access to an activity wheel. This experiment sought to show the effect on weight loss of the excessive activity normally seen in Dark Agouti rats and of hyperactivity induced by 3,4-methylenedioxymethamphetamine (MDMA). To this end, 32 female rats of the Dark Agouti strain were selected and divided into four groups in accordance with a 2 × 2 factorial design, in which one factor was treatment (saline or MDMA) and the other was access or lack of access to an activity wheel. Animals with wheel running access displayed a marked increase in running combined with accelerated weight loss. Although pharmacological treatment resulted in no observable effect on weight loss, rats treated with 12.5mg/kg MDMA generally registered more wheel running than did those treated with saline. Analysis of data on the temporal distribution of wheel running revealed an alteration in circadian activity patterns as a consequence of MDMA. These results, by showing a general high level of wheel running in Dark Agouti rats, once again emphasise the close relationship between activity and weight loss in the development of SIH and related phenomena such as ABA. Copyright © 2012 Elsevier Ltd. All rights reserved.

Systematic autistic-like behavioral phenotyping of 4 mouse strains using a novel wheel-running assay.

PubMed

Karvat, Golan; Kimchi, Tali

2012-08-01

Three core symptoms of autistic spectrum disorders are stereotypic movements, resistance to change in routines and deficits in social interaction. In order to understand their neuronal mechanisms, there is a dire need for behavioral paradigms to assess those symptoms in rodents. Here we present a novel method which is based on positive reward in a customized wheel-running apparatus to assess these symptoms. As a proof of concept, 4 mouse strains were tested in the new behavioral paradigm; 2 control lines (C57BL/6 and ICR) and 2 mouse-models of autism (BTBR T+ tf/J and Nlgn3(tm1Sud)). We found that the C57BL/6, ICR and Nlgn3(tm1Sud) mice showed a significant reduction in stereotypical behavior in the presence of the running wheel, ability to forfeit the running habit when the running-wheel was jammed, and preference of interacting with a social stimulus over the jammed running-wheel. No difference was found between genotypes of the Nlgn3(tm1Sud) mice. On the other hand, the BTBR mice exhibited persistent, elevated levels of stereotypical behavior. In addition, they presented a deficit in their ability to adjust to a changing environment, as manifested in persistence to interact with the wheel even when it was jammed. Lastly, the BTBR mice exhibited no significant preference to interact with the stranger mouse over the jammed running-wheel. These results were validated by a set of commonly used behavioral tests. Overall, our novel behavioral paradigm detects multiple components of autistic-like phenotypes, including cognitive rigidity, stereotypic behavior and social deficiency. Copyright © 2012 Elsevier B.V. All rights reserved.

Design of a robotic vehicle with self-contained intelligent wheels

NASA Astrophysics Data System (ADS)

Poulson, Eric A.; Jacob, John S.; Gunderson, Robert W.; Abbott, Ben A.

1998-08-01

The Center for Intelligent Systems has developed a small robotic vehicle named the Advanced Rover Chassis 3 (ARC 3) with six identical intelligent wheel units attached to a payload via a passive linkage suspension system. All wheels are steerable, so the ARC 3 can move in any direction while rotating at any rate allowed by the terrain and motors. Each intelligent wheel unit contains a drive motor, steering motor, batteries, and computer. All wheel units are identical, so manufacturing, programing, and spare replacement are greatly simplified. The intelligent wheel concept would allow the number and placement of wheels on the vehicle to be changed with no changes to the control system, except to list the position of all the wheels relative to the vehicle center. The task of controlling the ARC 3 is distributed between one master computer and the wheel computers. Tasks such as controlling the steering motors and calculating the speed of each wheel relative to the vehicle speed in a corner are dependent on the location of a wheel relative to the vehicle center and ar processed by the wheel computers. Conflicts between the wheels are eliminated by computing the vehicle velocity control in the master computer. Various approaches to this distributed control problem, and various low level control methods, have been explored.

Effect of sucrose availability and pre-running on the intrinsic value of wheel running as an operant and a reinforcing consequence.

PubMed

Belke, Terry W; Pierce, W David

2014-03-01

The current study investigated the effect of motivational manipulations on operant wheel running for sucrose reinforcement and on wheel running as a behavioral consequence for lever pressing, within the same experimental context. Specifically, rats responded on a two-component multiple schedule of reinforcement in which lever pressing produced the opportunity to run in a wheel in one component of the schedule (reinforcer component) and wheel running produced the opportunity to consume sucrose solution in the other component (operant component). Motivational manipulations involved removal of sucrose contingent on wheel running and providing 1h of pre-session wheel running. Results showed that, in opposition to a response strengthening view, sucrose did not maintain operant wheel running. The motivational operations of withdrawing sucrose or providing pre-session wheel running, however, resulted in different wheel-running rates in the operant and reinforcer components of the multiple schedule; this rate discrepancy revealed the extrinsic reinforcing effects of sucrose on operant wheel running, but also indicated the intrinsic reinforcement value of wheel running across components. Differences in wheel-running rates between components were discussed in terms of arousal, undermining of intrinsic motivation, and behavioral contrast. Copyright © 2013 Elsevier B.V. All rights reserved.

C57 mice increase wheel-running behavior following stress: preliminary findings.

PubMed

Sibold, Jeremy S; Hammack, Sayamwong E; Falls, William A

2011-10-01

Exercise has been shown to reduce anxiety in both humans and animals. To date, there are few, if any studies that examine the effect of stress on self-selected exercise using an animal model. This study examined the effect of acute stress on wheel-running distance in mice. Forty 8-week-old, male C57BL/6J mice were randomly assigned to one of three groups: no stress + wheel-running experience, stress + wheel-running experience, or stress with no wheel-running experience. Stressed mice were exposed to foot shock in a brightly lit environment. Following treatment, wheel-running distances were observed for three hours. Stress significantly increased voluntary wheel-running in mice with wheel-running experience as compared to nonstressed controls and stressed mice with no wheel-running experience. These results suggest that mice familiar with wheel-running may self-select this exercise as a modality for the mitigation of accumulated anxiety.

Mobility performance analysis of an innovation lunar rover with diameter-variable wheel

NASA Astrophysics Data System (ADS)

Sun, Gang; Gao, Feng; Sun, Peng; Xu, Guoyan

2007-11-01

To achieve excellent mobility performance, a four-wheel, all-wheel drive lunar rover with diameter-variable wheel was presented, the wheel can be contracted and extended by the motor equipped in the wheel hub, accompanied with wheel diameter varying from 200mm to 390mm. The wheel sinkage and drawbar pull force were predicated with terramechanics formulae and lunar regolith mechanic parameters employed, furthermore, the slope traversability was investigated through quasi-static modeling mechanic analysis, also the obstacle resistance and the maximum negotiable obstacle height for different wheel radius were derived from the equations of static equilibrium of the rover. Analysis results show that for the innovation lunar rover presented, it will bring much better slope traveling stability and obstacle climbing capability than rovers with normal wheels, these will improve the rover mobility performance and stabilize the rover's frame, smooth the motion of sensors.

Technics study on high accuracy crush dressing and sharpening of diamond grinding wheel

NASA Astrophysics Data System (ADS)

Jia, Yunhai; Lu, Xuejun; Li, Jiangang; Zhu, Lixin; Song, Yingjie

2011-05-01

Mechanical grinding of artificial diamond grinding wheel was traditional wheel dressing process. The rotate speed and infeed depth of tool wheel were main technics parameters. The suitable technics parameters of metals-bonded diamond grinding wheel and resin-bonded diamond grinding wheel high accuracy crush dressing were obtained by a mount of experiment in super-hard material wheel dressing grind machine and by analysis of grinding force. In the same time, the effect of machine sharpening and sprinkle granule sharpening was contrasted. These analyses and lots of experiments had extent instruction significance to artificial diamond grinding wheel accuracy crush dressing.

Activity-Based Anorexia Alters the Expression of BDNF Transcripts in the Mesocorticolimbic Reward Circuit.

PubMed

Ho, Emily V; Klenotich, Stephanie J; McMurray, Matthew S; Dulawa, Stephanie C

2016-01-01

Anorexia nervosa (AN) is a complex eating disorder with severe dysregulation of appetitive behavior. The activity-based anorexia (ABA) paradigm is an animal model in which rodents exposed to both running wheels and scheduled feeding develop aspects of AN including paradoxical hypophagia, dramatic weight loss, and hyperactivity, while animals exposed to only one condition maintain normal body weight. Brain-derived neurotrophic factor (BDNF), an activity-dependent modulator of neuronal plasticity, is reduced in the serum of AN patients, and is a known regulator of feeding and weight maintenance. We assessed the effects of scheduled feeding, running wheel access, or both on the expression of BDNF transcripts within the mesocorticolimbic pathway. We also assessed the expression of neuronal cell adhesion molecule 1 (NCAM1) to explore the specificity of effects on BDNF within the mesocorticolimbic pathway. Scheduled feeding increased the levels of both transcripts in the hippocampus (HPC), increased NCAM1 mRNA expression in the ventral tegmental area (VTA), and decreased BDNF mRNA levels in the medial prefrontal cortex (mPFC). In addition, wheel running increased BDNF mRNA expression in the VTA. No changes in either transcript were observed in the nucleus accumbens (NAc). Furthermore, no changes in either transcript were induced by the combined scheduled feeding and wheel access condition. These data indicate that scheduled feeding or wheel running alter BDNF and NCAM1 expression levels in specific regions of the mesocorticolimbic pathway. These findings contribute to our current knowledge of the molecular alterations induced by ABA and may help elucidate possible mechanisms of AN pathology.

An Experimental Investigation To Determine Interaction Between Rotating Bodies

NASA Technical Reports Server (NTRS)

Grugel, R. N.; Volz, M. P.; Mazuruk, K.

2003-01-01

A brass (copper+zinc) wheel, with a 4-in diameter and 1.4 in thick, was used for this investigation. Ceramic ball bearings were used to safely spin the wheel up to 40,000 rpm. The wheel was also electrically insulated from the rest of the armature. For spinning, an air turbine was used. The rotational velocity was measured by two methods: (1) A simple strobe light and (2) a photodiode that detected laser beam pulses as they passed through a slot in the rotating shaft. The magnetic sensor is based on a giant magnetoresistivity, and consists of a balanced bridge circuitry. The position of the sensor was as close as possible to the rim of the wheel. The linear dimension of the sensor is approximately equal to 8 mm so that the offset from the surface is on the order of 15 percent. We did not use any goniometer system, so the accuracy of the angular position is not high, being estimated within a few degrees, with the main uncertainty being the direction of Earth's magnetic field. We attempted to fit the experimental data with the presented theory by selecting the best value for the electrical conductivity of the wheel. The results of this procedure are displayed, where the black dots represent experimental values. A slight misfit on the right shoulder can be due to slight angular misalignment from a 90 degree position. The obtained value for the resistivity is 43 n(OMEGA)m, which compares well with those listed. We can conclude, based on these measurements, that the proposed theory satisfactorily explains our experiments.

Enlargement of Axo-Somatic Contacts Formed by GAD-Immunoreactive Axon Terminals onto Layer V Pyramidal Neurons in the Medial Prefrontal Cortex of Adolescent Female Mice Is Associated with Suppression of Food Restriction-Evoked Hyperactivity and Resilience to Activity-Based Anorexia.

PubMed

Chen, Yi-Wen; Wable, Gauri Satish; Chowdhury, Tara Gunkali; Aoki, Chiye

2016-06-01

Many, but not all, adolescent female mice that are exposed to a running wheel while food restricted (FR) become excessive wheel runners, choosing to run even during the hours of food availability, to the point of death. This phenomenon is called activity-based anorexia (ABA). We used electron microscopic immunocytochemistry to ask whether individual differences in ABA resilience may correlate with the lengths of axo-somatic contacts made by GABAergic axon terminals onto layer 5 pyramidal neurons (L5P) in the prefrontal cortex. Contact lengths were, on average, 40% greater for the ABA-induced mice, relative to controls. Correspondingly, the proportion of L5P perikaryal plasma membrane contacted by GABAergic terminals was 45% greater for the ABA mice. Contact lengths in the anterior cingulate cortex correlated negatively and strongly with the overall wheel activity after FR (R = -0.87, P < 0.01), whereas those in the prelimbic cortex correlated negatively with wheel running specifically during the hours of food availability of the FR days (R = -0.84, P < 0.05). These negative correlations support the idea that increases in the glutamic acid decarboxylase (GAD) terminal contact lengths onto L5P contribute toward ABA resilience through suppression of wheel running, a behavior that is intrinsically rewarding and helpful for foraging but maladaptive within a cage. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System

PubMed Central

Qian, Jun; Zi, Bin; Ma, Yangang; Zhang, Dan

2017-01-01

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields. PMID:28891964

A bio-hybrid DNA rotor-stator nanoengine that moves along predefined tracks

NASA Astrophysics Data System (ADS)

Valero, Julián; Pal, Nibedita; Dhakal, Soma; Walter, Nils G.; Famulok, Michael

2018-06-01

Biological motors are highly complex protein assemblies that generate linear or rotary motion, powered by chemical energy. Synthetic motors based on DNA nanostructures, bio-hybrid designs or synthetic organic chemistry have been assembled. However, unidirectionally rotating biomimetic wheel motors with rotor-stator units that consume chemical energy are elusive. Here, we report a bio-hybrid nanoengine consisting of a catalytic stator that unidirectionally rotates an interlocked DNA wheel, powered by NTP hydrolysis. The engine consists of an engineered T7 RNA polymerase (T7RNAP-ZIF) attached to a dsDNA nanoring that is catenated to a rigid rotating dsDNA wheel. The wheel motor produces long, repetitive RNA transcripts that remain attached to the engine and are used to guide its movement along predefined ssDNA tracks arranged on a DNA nanotube. The simplicity of the design renders this walking nanoengine adaptable to other biological nanoarchitectures, facilitating the construction of complex bio-hybrid structures that achieve NTP-driven locomotion.

Design and development of automatic sharia compliant wheelchair wheels cleaner

NASA Astrophysics Data System (ADS)

Shaari, Muhammad Farid; Rasli, Ibrahim Ismail Mohammad; Jamaludin, M. Z. Z. Wan; Isa, W. A. Mohamad; M., H.; Rashid, A. H. Abdul

2017-04-01

Sharia compliant wheelchair wheel cleaner was developed in order to assist the muslim Person with Disabilities (PWD) to pray in the mosque without leaving their wheelchair because of the filthy wheels. Though there are many wheelchair wheel cleaning system in the market, it is very rare to find sharia compliant cleaning system that applies sertu concept which is one of the cleaning and purification technique in Islamic practice. The sertu concept is based on 6:1 ratio that refers to the six times pipe water cleaning and one time soiled water cleaning. The development process consists of design stage, fabrication and system installation stage and followed by testing stage. During the design stage, the proposed prototype underwent design brainstorming, operation programming and structural simulation analysis. Once fabricated, the cleaner prototype underwent was tested. The results showed that the prototype can cater load up to 100kg with 1.31×10-6 mm shaft bending displacement. The water ejection timing varied approximately 3% compared to the program.

A bio-hybrid DNA rotor-stator nanoengine that moves along predefined tracks.

PubMed

Valero, Julián; Pal, Nibedita; Dhakal, Soma; Walter, Nils G; Famulok, Michael

2018-06-01

Biological motors are highly complex protein assemblies that generate linear or rotary motion, powered by chemical energy. Synthetic motors based on DNA nanostructures, bio-hybrid designs or synthetic organic chemistry have been assembled. However, unidirectionally rotating biomimetic wheel motors with rotor-stator units that consume chemical energy are elusive. Here, we report a bio-hybrid nanoengine consisting of a catalytic stator that unidirectionally rotates an interlocked DNA wheel, powered by NTP hydrolysis. The engine consists of an engineered T7 RNA polymerase (T7RNAP-ZIF) attached to a dsDNA nanoring that is catenated to a rigid rotating dsDNA wheel. The wheel motor produces long, repetitive RNA transcripts that remain attached to the engine and are used to guide its movement along predefined ssDNA tracks arranged on a DNA nanotube. The simplicity of the design renders this walking nanoengine adaptable to other biological nanoarchitectures, facilitating the construction of complex bio-hybrid structures that achieve NTP-driven locomotion.

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System.

PubMed

Qian, Jun; Zi, Bin; Wang, Daoming; Ma, Yangang; Zhang, Dan

2017-09-10

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields.

A tank-to-wheel analysis tool for energy and emissions studies in road vehicles.

PubMed

Silva, C M; Gonçalves, G A; Farias, T L; Mendes-Lopes, J M C

2006-08-15

Currently, oil based fuels are the primary energy source of road transport. The growing need for oil independence and CO(2) mitigation has lead to the increasing importance of alternative fuel usage. CO(2) is produced not only as the fuel is used in the vehicle (tank-to-wheel contribution), but also upstream, from the fuel extraction to the refueling station (well-to-tank contribution), and the life cycle of the fuel production (well-to-wheel contribution) must be considered in order to analyse the global impact of the fuel utilization. A road vehicle tank-to-wheel analysis tool that may be integrated with well-to-tank models was developed in the present study. The integration in a demonstration case study allowed to perform a life cycle assessment concerning the utilization of diesel and natural gas fuels in a specific network line of a bus transit company operating in the city of Porto, Portugal.

A Flight-Calibrated Methodology for Determination of Cassini Thruster On-Times for Reaction Wheel Biases

NASA Technical Reports Server (NTRS)

Sarani, Siamak

2010-01-01

This paper describes a methodology for accurate and flight-calibrated determination of the on-times of the Cassini spacecraft Reaction Control System (RCS) thrusters, without any form of dynamic simulation, for the reaction wheel biases. The hydrazine usage and the delta V vector in body frame are also computed from the respective thruster on-times. The Cassini spacecraft, the largest and most complex interplanetary spacecraft ever built, continues to undertake ambitious and unique scientific observations of planet Saturn, Titan, Enceladus, and other moons of Saturn. In order to maintain a stable attitude during the course of its mission, this three-axis stabilized spacecraft uses two different control systems: the RCS and the reaction wheel assembly control system. The RCS is used to execute a commanded spacecraft slew, to maintain three-axis attitude control, control spacecraft's attitude while performing science observations with coarse pointing requirements, e.g. during targeted low-altitude Titan and Enceladus flybys, bias the momentum of reaction wheels, and to perform RCS-based orbit trim maneuvers. The use of RCS often imparts undesired delta V on the spacecraft. The Cassini navigation team requires accurate predictions of the delta V in spacecraft coordinates and inertial frame resulting from slews using RCS thrusters and more importantly from reaction wheel bias events. It is crucial for the Cassini spacecraft attitude control and navigation teams to be able to, quickly but accurately, predict the hydrazine usage and delta V for various reaction wheel bias events without actually having to spend time and resources simulating the event in flight software-based dynamic simulation or hardware-in-the-loop simulation environments. The methodology described in this paper, and the ground software developed thereof, are designed to provide just that. This methodology assumes a priori knowledge of thrust magnitudes and thruster pulse rise and tail-off time constants for eight individual attitude control thrusters, the spacecraft's wet mass and its center of mass location, and a few other key parameters.

A Rotary Flow Channel for Shear Stress Sensor Calibration

NASA Technical Reports Server (NTRS)

Zuckerwar, Allan J.; Scott, Michael A.

2004-01-01

A proposed shear sensor calibrator consists of a rotating wheel with the sensor mounted tangential to the rim and positioned in close proximity to the rim. The shear stress generated by the flow at the sensor position is simply tau(sub omega) = (mu)r(omega)/h, where mu is the viscosity of the ambient gas, r the wheel radius, omega the angular velocity of the wheel, and h the width of the gap between the wheel rim and the sensor. With numerical values of mu = 31 (mu)Pa s (neon at room temperature), r = 0.5 m, omega = 754 /s (7200 rpm), and h = 50.8 m, a shear stress of tau(sub omega) = 231 Pa can be generated. An analysis based on one-dimensional flow, with the flow velocity having only an angular component as a function of the axial and radial coordinates, yields corrections to the above simple formula for the curvature of the wheel, flatness of the sensor, and finite width of the wheel. It is assumed that the sensor mount contains a trough (sidewalls) to render a velocity release boundary condition at the edges of the rim. The Taylor number under maximum flow conditions is found to be 62.3, sufficiently low to obviate flow instability. The fact that the parameters entering into the evaluation of the shear stress can be measured to high accuracy with well-defined uncertainties makes the proposed calibrator suitable for a physical standard for shear stress calibration.

Inertia coupling analysis of a self-decoupled wheel force transducer under multi-axis acceleration fields.

PubMed

Feng, Lihang; Lin, Guoyu; Zhang, Weigong; Dai, Dong

2015-01-01

Wheel force transducer (WFT), which measures the three-axis forces and three-axis torques applied to the wheel, is an important instrument in the vehicle testing field and has been extremely promoted by researchers with great interests. The transducer, however, is typically mounted on the wheel of a moving vehicle, especially on a high speed car, when abruptly accelerating or braking, the mass/inertia of the transducer/wheel itself will have an extra effect on the sensor response so that the inertia/mass loads will also be detected and coupled into the signal outputs. The effect which is considered to be inertia coupling problem will decrease the sensor accuracy. In this paper, the inertia coupling of a universal WFT under multi-axis accelerations is investigated. According to the self-decoupling approach of the WFT, inertia load distribution is solved based on the principle of equivalent mass and rotary inertia, thus then inertia impact can be identified with the theoretical derivation. The verification is achieved by FEM simulation and experimental tests. Results show that strains in simulation agree well with the theoretical derivation. The relationship between the applied acceleration and inertia load for both wheel force and moment is the approximate linear, respectively. All the relative errors are less than 5% which are within acceptable and the inertia loads have the maximum impact on the signal output about 1.5% in the measurement range.

Inertia Coupling Analysis of a Self-Decoupled Wheel Force Transducer under Multi-Axis Acceleration Fields

PubMed Central

Feng, Lihang; Lin, Guoyu; Zhang, Weigong; Dai, Dong

2015-01-01

Wheel force transducer (WFT), which measures the three-axis forces and three-axis torques applied to the wheel, is an important instrument in the vehicle testing field and has been extremely promoted by researchers with great interests. The transducer, however, is typically mounted on the wheel of a moving vehicle, especially on a high speed car, when abruptly accelerating or braking, the mass/inertia of the transducer/wheel itself will have an extra effect on the sensor response so that the inertia/mass loads will also be detected and coupled into the signal outputs. The effect which is considered to be inertia coupling problem will decrease the sensor accuracy. In this paper, the inertia coupling of a universal WFT under multi-axis accelerations is investigated. According to the self-decoupling approach of the WFT, inertia load distribution is solved based on the principle of equivalent mass and rotary inertia, thus then inertia impact can be identified with the theoretical derivation. The verification is achieved by FEM simulation and experimental tests. Results show that strains in simulation agree well with the theoretical derivation. The relationship between the applied acceleration and inertia load for both wheel force and moment is the approximate linear, respectively. All the relative errors are less than 5% which are within acceptable and the inertia loads have the maximum impact on the signal output about 1.5% in the measurement range. PMID:25723492

A dynamic wheel-rail impact analysis of railway track under wheel flat by finite element analysis

NASA Astrophysics Data System (ADS)

Bian, Jian; Gu, Yuantong; Murray, Martin Howard

2013-06-01

Wheel-rail interaction is one of the most important research topics in railway engineering. It involves track impact response, track vibration and track safety. Track structure failures caused by wheel-rail impact forces can lead to significant economic loss for track owners through damage to rails and to the sleepers beneath. Wheel-rail impact forces occur because of imperfections in the wheels or rails such as wheel flats, irregular wheel profiles, rail corrugations and differences in the heights of rails connected at a welded joint. A wheel flat can cause a large dynamic impact force as well as a forced vibration with a high frequency, which can cause damage to the track structure. In the present work, a three-dimensional finite element (FE) model for the impact analysis induced by the wheel flat is developed by the use of the FE analysis (FEA) software package ANSYS and validated by another validated simulation. The effect of wheel flats on impact forces is thoroughly investigated. It is found that the presence of a wheel flat will significantly increase the dynamic impact force on both rail and sleeper. The impact force will monotonically increase with the size of wheel flats. The relationships between the impact force and the wheel flat size are explored from this FEA and they are important for track engineers to improve their understanding of the design and maintenance of the track system.

Out-of-round railway wheels—assessment of wheel tread irregularities in train traffic

NASA Astrophysics Data System (ADS)

Johansson, Anders

2006-06-01

Results from an extensive wheel measurement campaign performed in Sweden are given and discussed. Out-of-roundness (OOR), transverse profile and surface hardness of 99 wheels on passenger trains (X2 and intercity), freight trains, commuter trains (Regina) and underground trains (C20) were measured. Both tread and disc braked wheels were investigated. The selected wheels had travelled a distance of more than 100000 km, and the measurements were conducted when the train wagons/coaches had been taken out of traffic for maintenance, most of them due to reasons other than wheel OOR. Mechanical contact measurement methods were used. The highest roughness levels (higher than 20 dB re 1 μm for some wheels) were found on powered high-speed (X2) train wheels. The previously known polygonalization of C20 underground wheels is quantified. It is also verified that an initial irregularity is formed due to the clamping in a three-jaw chuck during profiling of new C20 wheels. Magnitudes and wavelength contents of measured wheel roughness are compared with corresponding measurements of rail roughness.

A mechanical model for deformable and mesh pattern wheel of lunar roving vehicle

NASA Astrophysics Data System (ADS)

Liang, Zhongchao; Wang, Yongfu; Chen, Gang (Sheng); Gao, Haibo

2015-12-01

As an indispensable tool for astronauts on lunar surface, the lunar roving vehicle (LRV) is of great significance for manned lunar exploration. An LRV moves on loose and soft lunar soil, so the mechanical property of its wheels directly affects the mobility performance. The wheels used for LRV have deformable and mesh pattern, therefore, the existing mechanical theory of vehicle wheel cannot be used directly for analyzing the property of LRV wheels. In this paper, a new mechanical model for LRV wheel is proposed. At first, a mechanical model for a rigid normal wheel is presented, which involves in multiple conventional parameters such as vertical load, tangential traction force, lateral force, and slip ratio. Secondly, six equivalent coefficients are introduced to amend the rigid normal wheel model to fit for the wheels with deformable and mesh-pattern in LRV application. Thirdly, the values of the six equivalent coefficients are identified by using experimental data obtained in an LRV's single wheel testing. Finally, the identified mechanical model for LRV's wheel with deformable and mesh pattern are further verified and validated by using additional experimental results.

WOLF REXUS EXPERIMENT - European Planetary Science Congress

NASA Astrophysics Data System (ADS)

Buzdugan, A.

2017-09-01

WOLF experiment is developing a reaction wheel-based control system, effectively functioning as active nutation damper. One reaction wheel is used to reduce the undesirable lateral rates of spinning cylindrically symmetric free falling units, ejected from a sounding rocket. Once validated in REXUS flight, the concept and the design developed during WOLF experiment can be used for other application which require a flat spin of the free falling units.

On modelling the interaction between two rotating bodies with statistically distributed features: an application to dressing of grinding wheels

NASA Astrophysics Data System (ADS)

Spampinato, A.; Axinte, D. A.

2017-12-01

The mechanisms of interaction between bodies with statistically arranged features present characteristics common to different abrasive processes, such as dressing of abrasive tools. In contrast with the current empirical approach used to estimate the results of operations based on attritive interactions, the method we present in this paper allows us to predict the output forces and the topography of a simulated grinding wheel for a set of specific operational parameters (speed ratio and radial feed-rate), providing a thorough understanding of the complex mechanisms regulating these processes. In modelling the dressing mechanisms, the abrasive characteristics of both bodies (grain size, geometry, inter-space and protrusion) are first simulated; thus, their interaction is simulated in terms of grain collisions. Exploiting a specifically designed contact/impact evaluation algorithm, the model simulates the collisional effects of the dresser abrasives on the grinding wheel topography (grain fracture/break-out). The method has been tested for the case of a diamond rotary dresser, predicting output forces within less than 10% error and obtaining experimentally validated grinding wheel topographies. The study provides a fundamental understanding of the dressing operation, enabling the improvement of its performance in an industrial scenario, while being of general interest in modelling collision-based processes involving statistically distributed elements.

High-Clearance Six-Wheel Suspension

NASA Technical Reports Server (NTRS)

Bickler, Donald B.

1992-01-01

Multilevered suspension system gives body of vehicle high clearance and allows wheels to be steered independently. Suspension linkages above wheels enable body to skim over obstacles as high as wheel. Levers and independently steered wheels enable vehicle to climb steps 1 1/2 wheel diameters high and cross gaps 1 3/4 wide. Adaptable to off-the-road recreational vehicles, military scout vehicles, and robotic emergency vehicles.

Aerodynamic Drag Reduction Apparatus For Wheeled Vehicles In Ground Effect

DOEpatents

Ortega, Jason M.; Salari, Kambiz

2005-12-13

An apparatus for reducing the aerodynamic drag of a wheeled vehicle in a flowstream, the vehicle having a vehicle body and a wheel assembly supporting the vehicle body. The apparatus includes a baffle assembly adapted to be positioned upstream of the wheel assembly for deflecting airflow away from the wheel assembly so as to reduce the incident pressure on the wheel assembly.

77 FR 70478 - RG Steel Wheeling, LLC, Wheeling Office, A Division Of RG Steel, LLC, Including On-Site Leased...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-11-26

... DEPARTMENT OF LABOR Employment and Training Administration [TA-W-81,880: TA-A-81,880A] RG Steel Wheeling, LLC, Wheeling Office, A Division Of RG Steel, LLC, Including On-Site Leased Workers From Pro Unlimited and Green Energy Initiatives LLC, Including Workers Whose Wages Were Reported Through Severstal Wheeling, Wheeling, WV: Mountain State...

Propulsion and Levitation with a Large Electrodynamic Wheel

NASA Astrophysics Data System (ADS)

Gaul, Nathan; Lane, Hannah

We constructed an electrodynamic wheel using a motorized bicycle wheel with a radius of 12 inches and 36 one-inch cube magnets attached to the rim of the wheel. The radial magnetic field on the outside of the wheel was maximized by arranging the magnets into a series of Halbach arrays which amplify the field on one side of the array and reduce it on the other side. Rotating the wheel produces a rapidly oscillating magnetic field. When a conductive metal ``track'' is placed in this area of strong magnetic flux, eddy currents are produced in the track. These eddy currents create magnetic fields that interact with the magnetic fields from the electrodynamic wheel. The interaction of the magnetic fields produces lift and drag forces on the track which were measured with force gauges. Measurements were taken at a variety of wheel speeds, and the results were compared to the theoretical prediction that there should be a linear relationship between the lift and drag forces with increasing wheel speed. Partial levitation was achieved with the current electrodynamic wheel. In the future, the wheel will be upgraded to include 72 magnets rather than 36 magnets. This will double the frequency at which the magnetic field oscillates, increasing the magnetic flux. Electrodynamic wheels have applications to the transportation industry, since multiple electrodynamic wheels could be used on a vehicle to produce a lift and propulsion force over a conductive track.

76 FR 73596 - Notice of Scope Rulings

Federal Register 2010, 2011, 2012, 2013, 2014

2011-11-29

... LLC and OTR Wheel Engineering, Inc.; its wheel hub units/assemblies with tapered roller bearings are...-601: Tapered Roller Bearings from the People's Republic of China Requestor: New Trend Engineering... Requestor: OTR Wheel Engineering, Inc. (``OTR Wheel''); whether OTR Wheel's ``Trac Master'' and ``Traction...

Investigation of the effects of sliding on wheel tread damage

DOT National Transportation Integrated Search

2005-11-05

Wheel tread spalling is the main source of damage to wheel treads and : a primary cause for wheel removals from service. Severe frictional : heating of the wheel-rail contact patch during sliding causes the : formation of martensite, a hard, brittle ...

Stabilizing Wheels For Rover Vehicle

NASA Technical Reports Server (NTRS)

Collins, Earl R., Jr.

1990-01-01

Proposed articulated, normally-four-wheeled vehicle holds extra pair of wheels in reserve. Deployed to lengthen wheelbase on slopes, thereby making vehicle more stable, and to aid vehicle in negotiating ledge or to right vehicle if turned upside down. Extra wheels are drive wheels mounted on arms so they pivot on axis of forward drive wheels. Both extra wheels and arms driven by chains, hydraulic motors, or electric motors. Concept promises to make remotely controlled vehicles more stable and maneuverable in such applications as firefighting, handling hazardous materials, and carrying out operations in dangerous locations.

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 6 2010-10-01 2010-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

49 CFR 570.63 - Wheel assemblies.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 49 Transportation 6 2013-10-01 2013-10-01 false Wheel assemblies. 570.63 Section 570.63 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... 10,000 Pounds § 570.63 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc or spider shall...

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 6 2014-10-01 2014-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

49 CFR 570.63 - Wheel assemblies.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 6 2014-10-01 2014-10-01 false Wheel assemblies. 570.63 Section 570.63 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... 10,000 Pounds § 570.63 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc or spider shall...

49 CFR 570.63 - Wheel assemblies.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 6 2012-10-01 2012-10-01 false Wheel assemblies. 570.63 Section 570.63 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... 10,000 Pounds § 570.63 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc or spider shall...

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 49 Transportation 6 2013-10-01 2013-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 6 2011-10-01 2011-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

49 CFR 570.10 - Wheel assemblies.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 6 2012-10-01 2012-10-01 false Wheel assemblies. 570.10 Section 570.10 Transportation Other Regulations Relating to Transportation (Continued) NATIONAL HIGHWAY TRAFFIC SAFETY... Pounds or Less § 570.10 Wheel assemblies. (a) Wheel integrity. A tire rim, wheel disc, or spider shall...

Performance of the Boeing LRV wheels in a lunar soil simulant. Report 2: Effects of speed, Wheel load, and soil

NASA Technical Reports Server (NTRS)

Melzer, K.

1971-01-01

Two nearly identical Boeing-GM wire-mesh Lunar Roving Vehicle (LRV) wheels were laboratory tested in a lunar soil simulant to determine the influence of wheel speed and acceleration, wheel load, presence of a fender, travel direction, and soil strength on the wheel performance. Constant-slip and three types of programmed-slip tests were conducted with a single-wheel dynamometer system. Test results indicated that performance of single LRV wheels in terms of pull coefficient, power number, and efficiency were not influenced by wheel speed and acceleration, travel direction, the presence of a fender, or wheel load. Of these variables, only load influenced sinkage, which increased with increasing load. For a given slip, the pull coefficient and power number increased with increasing soil strength. However, for a given pull coefficient or slope, slip was less in firmer soil; thus, the power number decreased and efficiency increased with increasing soil strength.

Sexually dimorphic effects of postnatal treatment on the development of activity-based anorexia in adolescent and adult rats.

PubMed

Hancock, Stephanie D; Grant, Virginia L

2009-12-01

Hyperactivity of the hypothalamic-pituitary-adrenal (HPA) axis is a marked feature of anorexia nervosa. Using a modified version of the activity-based animal model of anorexia nervosa, we examine whether factors known to affect HPA axis activity influence the development of activity-based anorexia (ABA). Male and female rats were subjected to maternal separation or handling procedures during the first two postnatal weeks and tested in a mild version of the ABA paradigm, comprised of 2-hr daily running wheel access followed by 1-hr food access, either in adolescence or adulthood. Compared to handled females, maternally separated females demonstrated greater increases in wheel running and a more pronounced running-induced suppression of food intake during adolescence, but not in adulthood. In contrast, it was only in adulthood that wheel running produced more prolonged anorexic effects in maternally separated than in handled males. These findings highlight the interplay between early postnatal treatment, sex of the animal, and developmental age on running, food intake, and rate of body weight loss in a mild version of the ABA paradigm.

A study on a wheel-based stair-climbing robot with a hopping mechanism

NASA Astrophysics Data System (ADS)

Kikuchi, Koki; Sakaguchi, Keisuke; Sudo, Takayuki; Bushida, Naoki; Chiba, Yasuhiro; Asai, Yuji

2008-08-01

In this study, we propose a simple hopping mechanism using the vibration of a two-degree-of-freedom system for a wheel-based stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in the springs and quickly travels using wheels mounted in its lower body. The trajectories of the bodies during hopping change in accordance with the design parameters, such as the reduced mass of the two bodies, the mass ratio between the upper and lower bodies, the spring constant, the control parameters such as the initial contraction of the spring and the wire tension. This property allows the robot to quickly and economically climb up and down stairs, leap over obstacles, and landing softly without complex control. In this paper, the characteristics of hopping motion for the design and control parameters are clarified by both numerical simulations and experiments. Furthermore, using the robot design based on the results the abilities to hop up and down a step, leap over a cable, and land softly are demonstrated.

Attitude Control System Design for the Solar Dynamics Observatory

NASA Technical Reports Server (NTRS)

Starin, Scott R.; Bourkland, Kristin L.; Kuo-Chia, Liu; Mason, Paul A. C.; Vess, Melissa F.; Andrews, Stephen F.; Morgenstern, Wendy M.

2005-01-01

The Solar Dynamics Observatory mission, part of the Living With a Star program, will place a geosynchronous satellite in orbit to observe the Sun and relay data to a dedicated ground station at all times. SDO remains Sun- pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system is a single-fault tolerant design. Its fully redundant attitude sensor complement includes 16 coarse Sun sensors, a digital Sun sensor, 3 two-axis inertial reference units, 2 star trackers, and 4 guide telescopes. Attitude actuation is performed using 4 reaction wheels and 8 thrusters, and a single main engine nominally provides velocity-change thrust. The attitude control software has five nominal control modes-3 wheel-based modes and 2 thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. The paper details the mode designs and their uses.

Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation

NASA Astrophysics Data System (ADS)

Xiong, Lu; Yu, Zhuoping; Wang, Yang; Yang, Chen; Meng, Yufeng

2012-06-01

This paper focuses on the vehicle dynamic control system for a four in-wheel motor drive electric vehicle, aiming at improving vehicle stability under critical driving conditions. The vehicle dynamics controller is composed of three modules, i.e. motion following control, control allocation and vehicle state estimation. Considering the strong nonlinearity of the tyres under critical driving conditions, the yaw motion of the vehicle is regulated by gain scheduling control based on the linear quadratic regulator theory. The feed-forward and feedback gains of the controller are updated in real-time by online estimation of the tyre cornering stiffness, so as to ensure the control robustness against environmental disturbances as well as parameter uncertainty. The control allocation module allocates the calculated generalised force requirements to each in-wheel motor based on quadratic programming theory while taking the tyre longitudinal/lateral force coupling characteristic into consideration. Simulations under a variety of driving conditions are carried out to verify the control algorithm. Simulation results indicate that the proposed vehicle stability controller can effectively stabilise the vehicle motion under critical driving conditions.

The response of a high-speed train wheel to a harmonic wheel-rail force

NASA Astrophysics Data System (ADS)

Sheng, Xiaozhen; Liu, Yuxia; Zhou, Xin

2016-09-01

The maximum speed of China's high-speed trains currently is 300km/h and expected to increase to 350-400km/h. As a wheel travels along the rail at such a high speed, it is subject to a force rotating at the same speed along its periphery. This fast moving force contains not only the axle load component, but also many components of high frequencies generated from wheel-rail interactions. Rotation of the wheel also introduces centrifugal and gyroscopic effects. How the wheel responds is fundamental to many issues, including wheel-rail contact, traction, wear and noise. In this paper, by making use of its axial symmetry, a special finite element scheme is developed for responses of a train wheel subject to a vertical and harmonic wheel-rail force. This FE scheme only requires a 2D mesh over a cross-section containing the wheel axis but includes all the effects induced by wheel rotation. Nodal displacements, as a periodic function of the cross-section angle 6, can be decomposed, using Fourier series, into a number of components at different circumferential orders. The derived FE equation is solved for each circumferential order. The sum of responses at all circumferential orders gives the actual response of the wheel.

Hybrid thrusters and reaction wheels strategy for large angle rapid reorientation with high precision

NASA Astrophysics Data System (ADS)

Ye, Dong; Sun, Zhaowei; Wu, Shunan

2012-08-01

The quaternion-based, high precision, large angle rapid reorientation of rigid spacecraft is the main problem investigated in this study. The operation is accomplished via a hybrid thrusters and reaction wheels strategy where thrusters are engaged in providing a primary maneuver torque in open loop, while reaction wheels provide fine control torque to achieve high precision in closed-loop control. The inaccuracy of thrusters is handled by a variable structure control (VSC). In addition, a signum function is mixed in the switching surface in VSC to produce a maneuver to the reference attitude trajectory in a shortest distance. Detailed proofs and numerical simulation examples are presented to illustrate all the technical aspects of this work.

Electromechanical imitator of antilock braking modes of wheels with pneumatic tire and its application for the runways friction coefficient measurement

NASA Astrophysics Data System (ADS)

Putov, A. V.; Kopichev, M. M.; Ignatiev, K. V.; Putov, V. V.; Stotckaia, A. D.

2017-01-01

In this paper it is considered a discussion of the technique that realizes a brand new method of runway friction coefficient measurement based upon the proposed principle of measuring wheel braking control for the imitation of antilock braking modes that are close to the real braking modes of the aircraft chassis while landing that are realized by the aircraft anti-skid systems. Also here is the description of the model of towed measuring device that realizes a new technique of runway friction coefficient measuring, based upon the measuring wheel braking control principle. For increasing the repeatability accuracy of electromechanical braking imitation system the sideslip (brake) adaptive control system is proposed. Based upon the Burkhard model and additive random processes several mathematical models were created that describes the friction coefficient arrangement along the airstrip with different qualitative adjectives. Computer models of friction coefficient measuring were designed and first in the world the research of correlation between the friction coefficient measuring results and shape variations, intensity and cycle frequency of the measuring wheel antilock braking modes. The sketch engineering documentation was designed and prototype of the latest generation measuring device is ready to use. The measuring device was tested on the autonomous electromechanical examination laboratory treadmill bench. The experiments approved effectiveness of method of imitation the antilock braking modes for solving the problem of correlation of the runway friction coefficient measuring.

Association between reported sleep need and sleepiness at the wheel: comparative study on French highways between 1996 and 2011

PubMed Central

Quera-Salva, M A; Sauvagnac-Quera, R; Sagaspe, P; Taillard, J; Contrand, B; Micoulaud, J A; Lagarde, E; Barbot, F; Philip, P

2016-01-01

Objective To investigate the evolution over 15 years of sleep schedules, sleepiness at the wheel and driving risk among highway drivers. Methods Comparative survey including questions on usual sleep schedules and before the trip, sleepiness at the wheel, the Epworth sleepiness scale, Basic Nordic Sleep Questionnaire (BNSQ) and a travel questionnaire. Results 80% of drivers stopped by the highway patrol agreed to participate in both studies with a total of 3545 drivers in 2011 and 2196 drivers in 1996 interviewed. After standardisation based on sex, age and mean annual driving distance, drivers in 2011 reported shorter sleep time on week days (p<0.0001), and week-ends (p<0.0001) and shorter optimal sleep time (p<0.0001) compared to 1996 drivers. There were more drivers sleepy at the wheel in 2011 than in 1996 (p<0.0001) and 2.5 times more drivers in 2011 than in 1996 had an Epworth sleepiness score >15 indicating severe sleepiness. Conclusions Even if drivers in 2011 reported good sleep hygiene prior to a highway journey, drivers have reduced their mean weekly sleep duration over 15 years and have a higher risk of sleepiness at the wheel. Sleep hygiene for automobile drivers remains an important concept to address. PMID:28003284

A linear complementarity method for the solution of vertical vehicle-track interaction

NASA Astrophysics Data System (ADS)

Zhang, Jian; Gao, Qiang; Wu, Feng; Zhong, Wan-Xie

2018-02-01

A new method is proposed for the solution of the vertical vehicle-track interaction including a separation between wheel and rail. The vehicle is modelled as a multi-body system using rigid bodies, and the track is treated as a three-layer beam model in which the rail is considered as an Euler-Bernoulli beam and both the sleepers and the ballast are represented by lumped masses. A linear complementarity formulation is directly established using a combination of the wheel-rail normal contact condition and the generalised-α method. This linear complementarity problem is solved using the Lemke algorithm, and the wheel-rail contact force can be obtained. Then the dynamic responses of the vehicle and the track are solved without iteration based on the generalised-α method. The same equations of motion for the vehicle and track are adopted at the different wheel-rail contact situations. This method can remove some restrictions, that is, time-dependent mass, damping and stiffness matrices of the coupled system, multiple equations of motion for the different contact situations and the effect of the contact stiffness. Numerical results demonstrate that the proposed method is effective for simulating the vehicle-track interaction including a separation between wheel and rail.

Compliant-linkage kinematic design for multi-degree-of-freedom mobile robots

NASA Astrophysics Data System (ADS)

Borenstein, Johann

1993-05-01

Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideways and they can negotiate tight turns more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom are difficult to control because of their overconstrained nature. These difficulties translate into severe wheel slippage or jerky motion under certain driving conditions. In the past, these problems limited the use of MDOF vehicles to applications where the vehicle would follow a guide-wire, which would correct wheel slippage and control errors. By contrast, autonomous or semi-autonomous mobile robots usually rely on dead-reckoning between periodic absolute position updates and their performance is diminished by excessive wheel slippage. This paper introduces a new concept in the kinematic design of MDOF vehicles. This concept is based on the provision of a compliant linkage between drive wheels or drive axles. Simulation results indicate that compliant linkage allows to overcome the control problems found in conventional MDOF vehicles and reduces the amount of wheel slippage to the same level (or less) than the amount of slippage found on a comparable 2-DOF vehicle.

Why Animals Run on Legs, Not on Wheels.

ERIC Educational Resources Information Center

Diamond, Jared

1983-01-01

Speculates why animals have not developed wheels in place of inefficient legs. One study cited suggests three reasons why animals are better off without wheels: wheels are efficient only on hard surfaces, limitation of wheeled motion due to vertical obstructions, and the problem of turning in spaces cluttered with obstacles. (JN)

Propulsion Wheel Motor for an Electric Vehicle

NASA Technical Reports Server (NTRS)

Herrera, Eduardo (Inventor); Farrell, Logan Christopher (Inventor); Guo, Raymond (Inventor); Junkin, Lucien Q. (Inventor); Bluethmann, William J. (Inventor); Vitale, Robert L. (Inventor); Weber, Steven J. (Inventor); Lee, Chunhao J. (Inventor); Eggleston, IV, Raymond Edward (Inventor); Figuered, Joshua M. (Inventor);

Suspension system for a wheel rolling on a flat track. [bearings for directional antennas

NASA Technical Reports Server (NTRS)

Mcginness, H. D. (Inventor)

1981-01-01

An improved suspension system for an uncrowned wheel rolling on a flat track is presented. It is characterized by a wheel frame assembly including a wheel frame and at least one uncrowned wheel connected in supporting relation with the frame. It is adapted to be seated in rolling engagement with a flat track, a load supporting bed, and a plurality of flexural struts interconnecting the bed in supported relation with the frame. Each of said struts is disposed in a plane passing through the center of the uncrowned wheel surface along a line substantially bisecting the line of contact established between the wheel surface and the flat surface of the truck and characterized by a modulus of elasticity sufficient for maintaining the axis of rotation for the wheel in substantial parallelism with the line of contact established between the surfaces of the wheel and track.

Peculiarities of Clutch Forming Rails and Wheel Block Construction

NASA Astrophysics Data System (ADS)

Shiler, V. V.; Galiev, I. I.; Shiler, A. V.

2018-03-01

The clutch of the wheel and rail is significantly influenced by the design features of the standard wheel pair, which are manifested in the presence of "parasitic" slipping of the wheels along the rails during its movement. The purpose of the presented work is to evaluate new design solutions for wheel sets. The research was carried out using methods of comparative simulation modelling and physical prototyping. A new design of the wheel pair (block wheel pair) is proposed, which features an independent rotation of all surfaces of the wheels in contact with the rails. The block construction of the wheel pair forms open mechanical contours with the track gauge, which completely eliminates the "parasitic" slippage. As a result, in the process of implementing traction or braking forces, the coupling coefficient of the block construction of the wheel pair is significantly higher than that of existing structures. In addition, in the run-out mode, the resistance to movement of the block wheel pair is half as much. All this will allow one to significantly reduce the energy consumption for traction of trains, wear of track elements and crew, and to increase the speed and safety of train traffic.

Method for controlling a vehicle with two or more independently steered wheels

DOEpatents

Reister, D.B.; Unseren, M.A.

1995-03-28

A method is described for independently controlling each steerable drive wheel of a vehicle with two or more such wheels. An instantaneous center of rotation target and a tangential velocity target are inputs to a wheel target system which sends the velocity target and a steering angle target for each drive wheel to a pseudo-velocity target system. The pseudo-velocity target system determines a pseudo-velocity target which is compared to a current pseudo-velocity to determine a pseudo-velocity error. The steering angle targets and the steering angles are inputs to a steering angle control system which outputs to the steering angle encoders, which measure the steering angles. The pseudo-velocity error, the rate of change of the pseudo-velocity error, and the wheel slip between each pair of drive wheels are used to calculate intermediate control variables which, along with the steering angle targets are used to calculate the torque to be applied at each wheel. The current distance traveled for each wheel is then calculated. The current wheel velocities and steering angle targets are used to calculate the cumulative and instantaneous wheel slip and the current pseudo-velocity. 6 figures.

Body weight manipulation, reinforcement value and choice between sucrose and wheel running: a behavioral economic analysis.

PubMed

Belke, Terry W; Pierce, W David

2009-02-01

Twelve female Long-Evans rats were exposed to concurrent variable (VR) ratio schedules of sucrose and wheel-running reinforcement (Sucrose VR 10 Wheel VR 10; Sucrose VR 5 Wheel VR 20; Sucrose VR 20 Wheel VR 5) with predetermined budgets (number of responses). The allocation of lever pressing to the sucrose and wheel-running alternatives was assessed at high and low body weights. Results showed that wheel-running rate and lever-pressing rates for sucrose and wheel running increased, but the choice of wheel running decreased at the low body weight. A regression analysis of relative consumption as a function of relative price showed that consumption shifted toward sucrose and interacted with price differences in a manner consistent with increased substitutability. Demand curves showed that demand for sucrose became less elastic while demand for wheel running became more elastic at the low body weight. These findings reflect an increase in the difference in relative value of sucrose and wheel running as body weight decreased. Discussion focuses on the limitations of response rates as measures of reinforcement value. In addition, we address the commonalities between matching and demand curve equations for the analysis of changes in relative reinforcement value.

Measurements of characteristic parameters of extremely small cogged wheels with low module by means of low-coherence interferometry

NASA Astrophysics Data System (ADS)

Pakula, Anna; Tomczewski, Slawomir; Skalski, Andrzej; Biało, Dionizy; Salbut, Leszek

2010-05-01

This paper presents novel application of Low Coherence Interferometry (LCI) in measurements of characteristic parameters as circular pitch, foot diameter, heads diameter, in extremely small cogged wheels (cogged wheel diameter lower than θ=3 mm and module m = 0.15) produced from metal and ceramics. The most interesting issue concerning small diameter cogged wheels occurs during their production. The characteristic parameters of the wheel depend strongly on the manufacturing process and while inspecting small diameter wheels the shrinkage during the cast varies with the slight change of fabrication process. In the paper the LCI interferometric Twyman - Green setup with pigtailed high power light emitting diode, for cogged wheels measurement, is described. Due to its relatively big field of view the whole wheel can be examined in one measurement, without the necessity of numerical stitching. For purposes of small cogged wheel's characteristic parameters measurement the special binarization algorithm was developed and successfully applied. At the end the results of measurement of heads and foot diameters of two cogged wheels obtained by proposed LCI setup are presented and compared with the results obtained by the commercial optical profiler. The results of examination of injection moulds used for fabrication of measured cogged wheels are also presented. Additionally, the value of cogged wheels shrinkage is calculated as a conclusion for obtained results. Proposed method is suitable for complex measurements of small diameter cogged wheels with low module especially when there are no measurements standards for such objects.

Exercise to reduce the escalation of cocaine self-administration in adolescent and adult rats.

PubMed

Zlebnik, Natalie E; Anker, Justin J; Carroll, Marilyn E

2012-12-01

Concurrent access to an exercise wheel decreases cocaine self-administration under short access (5 h/day for 5 days) conditions and suppresses cocaine-primed reinstatement in adult rats. The effect of exercise (wheel running) on the escalation of cocaine intake during long access (LgA, 6 h/day for 26 days) conditions was evaluated. Adolescent and adult female rats acquired wheel running, and behavior was allowed to stabilize for 3 days. They were then implanted with an iv catheter and allowed to self-administer cocaine (0.4 mg/kg, iv) during 6-h daily sessions for 16 days with concurrent access to either an unlocked or a locked running wheel. Subsequently, for ten additional sessions, wheel access conditions during cocaine self-administration sessions were reversed (i.e., locked wheels became unlocked and vice versa). In the adolescents, concurrent access to the unlocked exercise wheel decreased responding for cocaine and attenuated escalation of cocaine intake irrespective of whether the locked or unlocked condition came first. However, cocaine intake increased when the wheel was subsequently locked for the adolescents that had initial access to an unlocked wheel. Concurrent wheel access either before or after the locked wheel access did not reduce cocaine intake in adults. Wheel running reduced cocaine intake during LgA conditions in adolescent but not adult rats, and concurrent access to the running wheel was necessary. These results suggest that exercise prevents cocaine seeking and that this effect is more pronounced in adolescents than adults.

Development of a wear model for the wheel profile optimisation on railway vehicles

NASA Astrophysics Data System (ADS)

Ignesti, M.; Innocenti, A.; Marini, L.; Meli, E.; Rindi, A.

2013-09-01

The modelling and the reduction of wear due to wheel-rail interaction is a fundamental aspect in the railway field, mainly correlated to safety, maintenance interventions and costs. In this work, the authors present two innovative wheel profiles, specifically designed with the aim of improving the wear and stability behaviour of the standard ORE S1002 wheel profile matched with the UIC60 rail profile canted at 1/20 rad, which represents the wheel-rail combination adopted in the Italian railway line. The two wheel profiles, conventionally named CD1 and DR2, have been developed by the authors in collaboration with Trenitalia S.p.A. The CD1 profile has been designed with the purpose of spreading the contact points in the flange zone on a larger area in order to reduce wear phenomena and having a constant equivalent conicity for small lateral displacements of the wheelset with respect to the centred position in the track. The DR2 wheel profile is instead designed to guarantee the same kinematic characteristics of the matching formed by ORE S1002 wheel profile and UIC60 rail profile with laying angle α p equal to 1/40 rad, widely common in European railways and characterised by good performances in both wear and kinematic behaviour. The evolution of wheel profiles due to wear has been evaluated through a wear model developed and validated by the authors in previous works. The wear model comprises two mutually interactive units: a vehicle model for the dynamic simulations and a model for the wear assessment. The whole model is based on a discrete process: each discrete step consists in one dynamic simulation and one profile update by means of the wear model while, within the discrete step, the profiles are supposed to be constant. The choice of an appropriate step is crucial in terms of precision and computational effort: the particular strategy adopted in the current work has been chosen for its capacity in representing the nonlinear wear evolution and for the low computational time required. In the present research, the investigated trainset is the passenger vehicle ALSTOM ALn 501 'Minuetto', which is usually equipped with the standard ORE S1002 wheel profile in Italian railways. The entire model has been simulated on a virtual track specifically developed to represent a statistical description of the whole Italian line. The data necessary to build the virtual track and the vehicle model were provided by Trenitalia S.p.A. and Rete Ferroviaria Italiana. The CD1 and DR2 wheel profiles, matched to the UIC60 rail with cant 1/20 rad, have shown a good behaviour in terms of wear resistance if compared with the old ORE S1002 wheel profile, consequently assuring a more uniform distribution of the removed material and a prolongation of the mean time between two subsequent re-profiling interventions.

Space Shuttle orbiter Columbia touches down at Edwards Air Force Base

NASA Image and Video Library

1981-04-14

S81-30744 (14 April 1981) --- The rear wheels of the space shuttle orbiter Columbia are about to touch down on Rogers Lake (a dry bed) at Edwards Air Force Base in southern California to successfully complete a stay in space of more than two days. Astronauts John W. Young, STS-1 commander, and Robert L. Crippen, pilot, are aboard the vehicle. The mission marked the first NASA flight to end with a wheeled landing and represents the beginning of a new age of spaceflight that will employ the same hardware repeatedly. Photo credit: NASA

Laser synchronized high-speed shutter for spectroscopic application

DOEpatents

Miles, Paul C.; Porter, Eldon L.; Prast, Thomas L.; Sunnarborg, Duane A.

2002-01-01

A fast mechanical shutter, based on rotating chopper wheels, has been designed and implemented to shutter the entrance slit of a spectrograph. This device enables an exposure time of 9 .mu.s to be achieved for a 0.8 mm wide spectrograph entrance slit, achieves 100% transmission in the open state, and an essentially infinite extinction ratio. The device further incorporates chopper wheel position sensing electronics to permit the synchronous triggering of a laser source.

Development of a Computerized Data Base to Monitor Wheeled Vehicle Corrosion

DTIC Science & Technology

1989-10-01

the region which corrodes. This potential difference , or voltage of these little batteries or cells, is due to the difference in the oxygen...availability at the point of attack. Differential aeration cells occur at all places where there is a difference in the availability of oxygen and can only...program is actually an evaluation of the various corrosion prevention systems and methods which were applied to the wheeled vehicles when they were

STS-64 landing view

NASA Technical Reports Server (NTRS)

1994-01-01

The Space Shuttle Discovery, with a crew of six NASA Astronauts aboard, touches down on Runway 04 at Edwards Air Force Base, completing a 10-day, 22 hour and 50 minute mission. Touchdown was at 2:12:59 p.m. and the nose wheel touched down at 2:13:03 p.m., with wheel stop at 2:13:52 p.m. Bad weather in Florida called for an 'eleventh hour' shift to the California landing site.

Health Monitoring for Condition-Based Maintenance of a HMMWV using an Instrumented Diagnostic Cleat

DTIC Science & Technology

2008-10-15

identify faults in the bearings, shaft , etc. In wheeled ground vehicles, loading varies significantly as mentioned above. If loads acting on the...vehicle could be fully measured or controlled in terms of the terrain input motions and/or spindle forces/moments, fault identification in wheeled...diagnostic results. - Vehicle speed traversing the cleat can be controlled. - Configuration of cleats can be designed to develop specific tests for

Membrane position control

NASA Technical Reports Server (NTRS)

Su, Ji (Inventor); Harrison, Joycelyn S. (Inventor)

2004-01-01

A membrane structure includes at least one electroactive bending actuator fixed to a supporting base. Each electroactive bending actuator is operatively connected to the membrane for controlling membrane position. Any displacement of each electroactive bending actuator effects displacement of the membrane. More specifically, the operative connection is provided by a guiding wheel assembly and a track, wherein displacement of the bending actuator effects translation of the wheel assembly along the track, thereby imparting movement to the membrane.

Wheeled and Tracked Vehicle Endurance Testing

DTIC Science & Technology

2014-10-02

Vehicle (ATV) 10 10 50 30 Fire Trucks - Crash and Rescue, Brush, Structural 49/56/50 22/16/50 - 29/28/0 a Wheeled Combat 30 40 15 15 Roboticb - 30 50... Wheeled Light W-M = Wheeled Medium W-H = Wheeled Heavy LM-TT = Light/Medium Truck H-TT = Heavy Truck Tractor/Trailer M = Motorcycle FT = Fire ...TYPE Final 3. DATES COVERED (From - To) 4. TITLE AND SUBTITLE Test Operations Procedure (TOP) 02-2-506A Wheeled and Tracked Vehicle Endurance

Leg pairs as virtual wheels

NASA Astrophysics Data System (ADS)

Howe, Russel; Duttweiler, Mark; Khanlian, Luke; Setrakian, Mark

2005-05-01

We propose the use of virtual wheels as the starting point of a new vehicle design. Each virtual wheel incorporates a pair of simple legs that, by simulating the rotary motion and ground contact of a traditional wheel, combine many of the benefits of legged and wheeled motion. We describe the use of virtual wheels in the design of a robotic mule, presenting an analysis of the mule's mobility the results of our efforts to model and build such a device.

Estimation of longitudinal force, lateral vehicle speed and yaw rate for four-wheel independent driven electric vehicles

NASA Astrophysics Data System (ADS)

Chen, Te; Xu, Xing; Chen, Long; Jiang, Haobing; Cai, Yingfeng; Li, Yong

2018-02-01

Accurate estimation of longitudinal force, lateral vehicle speed and yaw rate is of great significance to torque allocation and stability control for four-wheel independent driven electric vehicle (4WID-EVs). A fusion method is proposed to estimate the longitudinal force, lateral vehicle speed and yaw rate for 4WID-EVs. The electric driving wheel model (EDWM) is introduced into the longitudinal force estimation, the longitudinal force observer (LFO) is designed firstly based on the adaptive high-order sliding mode observer (HSMO), and the convergence of LFO is analyzed and proved. Based on the estimated longitudinal force, an estimation strategy is then presented in which the strong tracking filter (STF) is used to estimate lateral vehicle speed and yaw rate simultaneously. Finally, co-simulation via Carsim and Matlab/Simulink is carried out to demonstrate the effectiveness of the proposed method. The performance of LFO in practice is verified by the experiment on chassis dynamometer bench.

Investigation of diamond wheel topography in Elliptical Ultrasonic Assisted Grinding (EUAG) of monocrystal sapphire using fractal analysis method.

PubMed

Wang, Qiuyan; Zhao, Wenxiang; Liang, Zhiqiang; Wang, Xibin; Zhou, Tianfeng; Wu, Yongbo; Jiao, Li

2018-03-01

The wear behaviors of grinding wheel have significant influence on the work-surface topography. However, a comprehensive and quantitative method is lacking for evaluating the wear conditions of grinding wheel. In this paper, a fractal analysis method is used to investigate the wear behavior of resin-bonded diamond wheel in Elliptical Ultrasonic Assisted Grinding (EUAG) of monocrystal sapphire, and a series of experiments on EUAG and conventional grinding (CG) are performed. The results show that the fractal dimension of grinding wheel topography is highly correlated to the wear behavior, i.e., grain fracture, grain pullout, and wheel loading. An increase in cutting edge density on the wheel surface results in an increase of the fractal dimension, but an increase in the grain pullout and wheel loading results in a decrease in the fractal dimension. The wheel topography in EUAG has a higher fractal dimension than that in CG before 60 passes due to better self-sharpening behavior, and then has a smaller fractal dimension because of more serious wheel loadings after 60 passes. By angle-dependent distribution analysis of profile fractal dimensions, the wheel surface topography is transformed from isotropic to anisotropic. These indicated that the fractal analysis method could be further used in monitoring of a grinding wheel performance in EUAG. Copyright © 2017 Elsevier B.V. All rights reserved.

14 CFR 23.479 - Level landing conditions.

Code of Federal Regulations, 2010 CFR

2010-01-01

... attitudes: (1) For airplanes with tail wheels, a normal level flight attitude. (2) For airplanes with nose wheels, attitudes in which— (i) The nose and main wheels contact the ground simultaneously; and (ii) The main wheels contact the ground and the nose wheel is just clear of the ground. The attitude used in...

Curve squeal of urban rolling stock—Part 1: State of the art and field measurements

NASA Astrophysics Data System (ADS)

Vincent, N.; Koch, J. R.; Chollet, H.; Guerder, J. Y.

2006-06-01

This is the first part of a series of three papers dealing with curve squeal of urban rolling stock such as metros and trams. After a brief review of the present state of the art, the key parameters involved in curve squeal generation are discussed. Then, some results of field measurement campaigns, on metro and on tramway systems, are presented. A specific measurement methodology is applied for both campaigns in order to record the main key parameters: rolling speed, axle angle of attack, wheel/rail lateral position and modal damping of relevant wheel modes. On-board microphones are mounted close to each wheel of the instrumented bogies in order to locate the squealing wheels. No squeal occurs on the outer wheel of the leading axle in flange contact with the rail. The highest squeal levels are generally found on the front inner wheel. Pure tone frequencies are related to wheel axial modes for metro (undamped steel wheel) and for tramway (resilient wheels). Squeal occurrence is also observed on a bogie with independent wheels.

Analysis and control on changeable wheel tool system of hybrid grinding and polishing machine tool for blade finishing

NASA Astrophysics Data System (ADS)

He, Qiuwei; Lv, Xingming; Wang, Xin; Qu, Xingtian; Zhao, Ji

2017-01-01

Blade is the key component in the energy power equipment of turbine, aircraft engines and so on. Researches on the process and equipment for blade finishing become one of important and difficult point. To control precisely tool system of developed hybrid grinding and polishing machine tool for blade finishing, the tool system with changeable wheel for belt polishing is analyzed in this paper. Firstly, the belt length and wrap angle of each wheel in different position of tension wheel swing angle in the process of changing wheel is analyzed. The reasonable belt length is calculated by using MATLAB, and relationships between wrap angle of each wheel and cylinder expansion amount of contact wheel are obtained. Then, the control system for changeable wheel tool structure is developed. Lastly, the surface roughness of blade finishing is verified by experiments. Theoretical analysis and experimental results show that reasonable belt length and wheel wrap angle can be obtained by proposed analysis method, the changeable wheel tool system can be controlled precisely, and the surface roughness of blade after grinding meets the design requirements.

The vibration behavior of railway track at high frequencies under multiple preloads and wheel interactions

PubMed

Wu; Thompson

2000-09-01

The track foundation is preloaded by multiple wheel loads due to the train weight and, as the pad and ballast are nonlinear, their stiffness depends upon the preload in them. Due to the influence of these resilient components of the track, the track vibration is affected by the wheel loads. It is also affected by the wheel/rail interactions. In this article the preloads in the pad and ballast are calculated by considering the nonlinear properties of the track foundation, and thus the preloaded pad and ballast stiffnesses are determined. The vibration properties are explored for the track under multiple wheel loads and multiple wheel/rail interactions by comparing the results from different track models with and without these effects. It is found that the point receptance of the track is reduced and the vibration decay rate is enhanced at low frequencies due to the wheel loads. The effects of the wheel/rail interactions are most significant for frequencies 400-2000 Hz. Because of the wheel/rail interactions, the point receptance fluctuates and the vibration decay is enhanced in the regions around the wheels.

Factors affecting the incidence of first-quality wheels of Trentingrana cheese.

PubMed

Bittante, G; Cecchinato, A; Cologna, N; Penasa, M; Tiezzi, F; De Marchi, M

2011-07-01

Trentingrana (or Grana Trentino) is a Protected Designation of Origin hard cheese produced in the eastern Italian Alps by small cooperative dairy factories. To obtain the certification of quality, wheels are evaluated at 9±1 mo of ripening and those classified as first quality are revaluated at 18±1 mo. Traditionally, the assessment is based on 2 sensory features: namely, the external aspect of the wheel and the internal texture; the latter is evaluated through the sound produced by beating the wheel with a special hammer. Traits considered in the study were the percentage of first-quality wheels of total wheels examined at 9±1 (QW(9 mo)) and 18±1 (QW(18 mo)) mo of ripening, and their combination [i.e., the percentage of first-quality wheels at 18±1 mo of ripening of the number of wheels evaluated at 9±1 mo (QW(tot))]. The experimental unit was the batch of 2 mo of production of each of 10 cooperative dairy factories from 2002 to 2008. Data were analyzed with a model that included fixed effects of dairy factory, year and season of production, and interactions between dairy factory and year, and dairy factory and season. The coefficients of determination of the models were 0.57, 0.68, and 0.67 for QW(9mo), QW(18 mo), and QW(tot), respectively. All factors significantly influenced the traits, with dairy factory being the most important source of variation, followed by season and year of production. Remarkable differences were found between the best and the worst dairy factory for QW(9 mo) (11.5%), QW(18 mo) (21.1%), and QW(tot) (25.6%). The first 4 yr of production had a negative effect on the percentage of wheels labeled as first quality and QW(tot) decreased from 74 to 64%; nevertheless, a complete recovery was detected in the following years. The season of production strongly influenced the studied traits with the best results in spring and summer, and the worst in autumn and winter. Compared with average, the 3 best dairy factories were smaller, with smaller associated farms, and showed lower variation across years and seasons of production. Results support the relevance of routinely assessing and monitoring the quality of Trentingrana cheese. Copyright © 2011 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.

An Innovative Running Wheel-based Mechanism for Improved Rat Training Performance.

PubMed

Chen, Chi-Chun; Yang, Chin-Lung; Chang, Ching-Ping

2016-09-19

This study presents an animal mobility system, equipped with a positioning running wheel (PRW), as a way to quantify the efficacy of an exercise activity for reducing the severity of the effects of the stroke in rats. This system provides more effective animal exercise training than commercially available systems such as treadmills and motorized running wheels (MRWs). In contrast to an MRW that can only achieve speeds below 20 m/min, rats are permitted to run at a stable speed of 30 m/min on a more spacious and high-density rubber running track supported by a 15 cm wide acrylic wheel with a diameter of 55 cm in this work. Using a predefined adaptive acceleration curve, the system not only reduces the operator error but also trains the rats to run persistently until a specified intensity is reached. As a way to evaluate the exercise effectiveness, real-time position of a rat is detected by four pairs of infrared sensors deployed on the running wheel. Once an adaptive acceleration curve is initiated using a microcontroller, the data obtained by the infrared sensors are automatically recorded and analyzed in a computer. For comparison purposes, 3 week training is conducted on rats using a treadmill, an MRW and a PRW. After surgically inducing middle cerebral artery occlusion (MCAo), modified neurological severity scores (mNSS) and an inclined plane test were conducted to assess the neurological damages to the rats. PRW is experimentally validated as the most effective among such animal mobility systems. Furthermore, an exercise effectiveness measure, based on rat position analysis, showed that there is a high negative correlation between the effective exercise and the infarct volume, and can be employed to quantify a rat training in any type of brain damage reduction experiments.

Cryogenic filter wheel design for an infrared instrument

NASA Astrophysics Data System (ADS)

Azcue, Joaquín.; Villanueva, Carlos; Sánchez, Antonio; Polo, Cristina; Reina, Manuel; Carretero, Angel; Torres, Josefina; Ramos, Gonzalo; Gonzalez, Luis M.; Sabau, Maria D.; Najarro, Francisco; Pintado, Jesús M.

2014-09-01

In the last two decades, Spain has built up a strong IR community which has successfully contributed to space instruments, reaching Co-PI level in the SPICA mission (Space Infrared Telescope for Cosmology and Astrophysics). Under the SPICA mission, INTA, focused on the SAFARI instrument requirements but highly adaptable to other missions has designed a cryogenic low dissipation filter wheel with six positions, taking as starting point the past experience of the team with the OSIRIS instrument (ROSETTA mission) filter wheels and adapting the design to work at cryogenic temperatures. One of the main goals of the mechanism is to use as much as possible commercial components and test them at cryogenic temperature. This paper is focused on the design of the filter wheel, including the material selection for each of the main components of the mechanism, the design of elastic mount for the filter assembly, a positioner device designed to provide positional accuracy and repeatability to the filter, allowing the locking of the position without dissipation. In order to know the position of the wheel on every moment a position sensor based on a Hall sensor was developed. A series of cryogenic tests have been performed in order to validate the material configuration selected, the ball bearing lubrication and the selection of the motor. A stepper motor characterization campaign was performed including heat dissipation measurements. The result is a six position filter wheel highly adaptable to different configurations and motors using commercial components. The mechanism was successfully tested at INTA facilities at 20K at breadboard level.

Wheel of Wellness Counseling in Community Dwelling, Korean Elders: A Randomized, Controlled Trial.

PubMed

Kwon, So Hi

2015-06-01

The purpose of this study was to investigate the effects of Wheel of Wellness counseling on wellness lifestyle, depression, and health-related quality of life in community dwelling elderly people. A parallel, randomized controlled, open label, trial was conducted. Ninety-three elderly people in a senior welfare center were randomly assigned to two groups: 1) A Wheel of Wellness counseling intervention group (n=49) and 2) a no-treatment control group (n=44). Wheel of Wellness counseling consisted of structured, individual counseling based on the Wheel of Wellness model and provided once a week for four weeks. Wellness lifestyle, depression, and health-related quality of life were assessed pre-and post-test in both groups. Data from 89 participants were analyzed. For participants in the experimental group, there was a significant improvement on all of the wellness-lifestyle subtasks except realistic beliefs. Perceived wellness and depression significantly improved after the in the experimental group (n=43) compared to the control group (n=46) from pre- to post-test in the areas of sense of control (p=.033), nutrition (p=.017), exercise (p=.039), self-care (p<.001), stress management (p=.017), work (p=.011), perceived wellness (p=.019), and depression (p=.031). One participant in the intervention group discontinued the intervention due to hospitalization and three in the control group discontinued the sessions. Wheel of Wellness counseling was beneficial in enhancing wellness for the community-dwelling elderly people. Research into long-term effects of the intervention and health outcomes is recommended.

Ancient road transport devices: Developments from the Bronze Age to the Roman Empire

NASA Astrophysics Data System (ADS)

Rossi, Cesare; Chondros, Thomas G.; Milidonis, Kypros F.; Savino, Sergio; Russo, Flavio

2016-03-01

The development of transportation systems has significantly enhanced the welfare and modernization of society. Wooden vehicles pulled by animals have been used for land transportation since the early Bronze Age. Whole-body gharries with rigid wheels pulled by oxen appeared in Crete by 2000 BC or earlier. Horses originating from the East were depicted in early Cretan seal-rings of the same period. The two-wheeled horsedrawn chariot was one of the most important inventions in history. This vehicle provided humanity its first concept of personal transport and was the key technology of war for 2000 years. Chariots of Mycenaean and Archaic Greece with light and flexible four-spoked wheels acting as spring suspensions were depicted in vase paintings. The development of this vehicle incorporated the seeds of a primitive design activity and was important for engineering. The Trojan horse since 1194 BC and the helepolis since 700 BC were the first known machines on a wheeled base transported by horses or self-powered. Ancient engineers invented bearings lubricated with fat, and Romans introduced the ancestors of ball bearings for their wagons and carts. The historic evolution of wheeled transportation systems, along with early traction, suspension, and braking systems, is presented in this paper. Analytical and numerical methods are incorporated to analyze the most conceivable loading situations of typically reconstructed wheeled transportation systems in ancient times. Traction requirements both for horse-driven machines and the power for internal motors are also analyzed. This study can serve as a basis for further development of detailed reconstruction of transportation systems in antiquity.

Identification of mouse gaits using a novel force-sensing exercise wheel.

PubMed

Smith, Benjamin J H; Cullingford, Lottie; Usherwood, James R

2015-09-15

The gaits that animals use can provide information on neurological and musculoskeletal disorders, as well as the biomechanics of locomotion. Mice are a common research model in many fields; however, there is no consensus in the literature on how (and if) mouse gaits vary with speed. One of the challenges in studying mouse gaits is that mice tend to run intermittently on treadmills or overground; this paper attempts to overcome this issue with a novel exercise wheel that measures vertical ground reaction forces. Unlike previous instrumented wheels, this wheel is able to measure forces continuously and can therefore record data from consecutive strides. By concatenating the maximum limb force at each time point, a force trace can be constructed to quantify and identify gaits. The wheel was three dimensionally printed, allowing the design to be shared with other researchers. The kinematic parameters measured by the wheel were evaluated using high-speed video. Gaits were classified using a metric called "3S" (stride signal symmetry), which quantifies the half wave symmetry of the force trace peaks. Although mice are capable of using both symmetric and asymmetric gaits throughout their speed range, the continuum of gaits can be divided into regions based on the frequency of symmetric and asymmetric gaits; these divisions are further supported by the fact that mice run less frequently at speeds near the boundaries between regions. The boundary speeds correspond to gait transition speeds predicted by the hypothesis that mice move in a dynamically similar fashion to other legged animals. Copyright © 2015 the American Physiological Society.

Identification of mouse gaits using a novel force-sensing exercise wheel

PubMed Central

Cullingford, Lottie; Usherwood, James R.

2015-01-01

The gaits that animals use can provide information on neurological and musculoskeletal disorders, as well as the biomechanics of locomotion. Mice are a common research model in many fields; however, there is no consensus in the literature on how (and if) mouse gaits vary with speed. One of the challenges in studying mouse gaits is that mice tend to run intermittently on treadmills or overground; this paper attempts to overcome this issue with a novel exercise wheel that measures vertical ground reaction forces. Unlike previous instrumented wheels, this wheel is able to measure forces continuously and can therefore record data from consecutive strides. By concatenating the maximum limb force at each time point, a force trace can be constructed to quantify and identify gaits. The wheel was three dimensionally printed, allowing the design to be shared with other researchers. The kinematic parameters measured by the wheel were evaluated using high-speed video. Gaits were classified using a metric called “3S” (stride signal symmetry), which quantifies the half wave symmetry of the force trace peaks. Although mice are capable of using both symmetric and asymmetric gaits throughout their speed range, the continuum of gaits can be divided into regions based on the frequency of symmetric and asymmetric gaits; these divisions are further supported by the fact that mice run less frequently at speeds near the boundaries between regions. The boundary speeds correspond to gait transition speeds predicted by the hypothesis that mice move in a dynamically similar fashion to other legged animals. PMID:26139220

The Influence of Wheel/Rail Contact Conditions on the Microstructure and Hardness of Railway Wheels

PubMed Central

Davis, Claire

2014-01-01

The susceptibility of railway wheels to wear and rolling contact fatigue damage is influenced by the properties of the wheel material. These are influenced by the steel composition, wheel manufacturing process, and thermal and mechanical loading during operation. The in-service properties therefore vary with depth below the surface and with position across the wheel tread. This paper discusses the stress history at the wheel/rail contact (derived from dynamic simulations) and observed variations in hardness and microstructure. It is shown that the hardness of an “in-service” wheel rim varies significantly, with three distinct effects. The underlying hardness trend with depth can be related to microstructural changes during manufacturing (proeutectoid ferrite fraction and pearlite lamellae spacing). The near-surface layer exhibits plastic flow and microstructural shear, especially in regions which experience high tangential forces when curving, with consequentially higher hardness values. Between 1 mm and 7 mm depth, the wheel/rail contacts cause stresses exceeding the material yield stress, leading to work hardening, without a macroscopic change in microstructure. These changes in material properties through the depth of the wheel rim would tend to increase the likelihood of crack initiation on wheels toward the end of their life. This correlates with observations from several train fleets. PMID:24526883

Study on design of light-weight super-abrasive wheel

NASA Astrophysics Data System (ADS)

Nohara, K.; Yanagihara, K.; Ogawa, M.

2018-01-01

Fixed-abrasive tool, also called a grinding wheel, is produced by furnacing abrasive compound which contains abrasive grains and binding powder such as vitrified materials or resins. Fixed-abrasive tool is installed on spindle of grinding machine. And it is given 1,800-2,000 min-1 of spindle rotation for the usage. The centrifugal fracture of the compound of fixed- abrasive tool is one of the careful respects in designing. In recent years, however, super-abrasive wheel as a fixed-abrasive tool has been developed and applied widely. One of the most characteristic respects is that metal is applied for the body of grinding-wheel. The strength to hold abrasive grain and the rigidity of wheel become stronger than those of general grinding wheel, also the lifespan of fixed-abrasive tool becomes longer. The weight of fixed-abrasive tool, however, becomes heavier. Therefore, when the super-abrasive wheel is used, the power consumption of spindle motor becomes larger. It also becomes difficult for the grinding-wheel to respond to sudden acceleration or deceleration. Thus, in order to reduce power consumption in grinding and to obtain quicker frequency response of super-abrasive wheel, the new wheel design is proposed. The design accomplishes 46% weight reduction. Acceleration that is one second quicker than that of conventional grinding wheel is obtained.

Development and testing of a new system for assessing wheel-running behaviour in rodents.

PubMed

Chomiak, Taylor; Block, Edward W; Brown, Andrew R; Teskey, G Campbell; Hu, Bin

2016-05-05

Wheel running is one of the most widely studied behaviours in laboratory rodents. As a result, improved approaches for the objective monitoring and gathering of more detailed information is increasingly becoming important for evaluating rodent wheel-running behaviour. Here our aim was to develop a new quantitative wheel-running system that can be used for most typical wheel-running experimental protocols. Here we devise a system that can provide a continuous waveform amenable to real-time integration with a high-speed video ideal for wheel-running experimental protocols. While quantification of wheel running behaviour has typically focused on the number of revolutions per unit time as an end point measure, the approach described here allows for more detailed information like wheel rotation fluidity, directionality, instantaneous velocity, and acceleration, in addition to total number of rotations, and the temporal pattern of wheel-running behaviour to be derived from a single trace. We further tested this system with a running-wheel behavioural paradigm that can be used for investigating the neuronal mechanisms of procedural learning and postural stability, and discuss other potentially useful applications. This system and its ability to evaluate multiple wheel-running parameters may become a useful tool for screening new potentially important therapeutic compounds related to many neurological conditions.

77 FR 52682 - Tapered Roller Bearings and Parts Thereof, Finished and Unfinished, From the People's Republic of...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-08-30

... OTR Wheel Engineering, Inc.'s Wheel Hub Assemblies and TRBs,'' dated February 7, 2011 (finding Blackstone OTR LLC and OTR Wheel Engineering, Inc.'s wheel hub assemblies are within the scope of the order... Trend Engineering Ltd.'s Wheel Hub Assemblies,'' dated April 18, 2011 (finding New Trend Engineering...

49 CFR 229.75 - Wheels and tire defects.

Code of Federal Regulations, 2010 CFR

2010-10-01

... crack or break in the flange, tread, rim, plate, or hub. (l) A loose wheel or tire. (m) Fusion welding... 49 Transportation 4 2010-10-01 2010-10-01 false Wheels and tire defects. 229.75 Section 229.75....75 Wheels and tire defects. Wheels and tires may not have any of the following conditions: (a) A...

49 CFR 229.75 - Wheels and tire defects.

Code of Federal Regulations, 2012 CFR

2012-10-01

... crack or break in the flange, tread, rim, plate, or hub. (l) A loose wheel or tire. (m) Fusion welding... 49 Transportation 4 2012-10-01 2012-10-01 false Wheels and tire defects. 229.75 Section 229.75....75 Wheels and tire defects. Wheels and tires may not have any of the following conditions: (a) A...

49 CFR 229.75 - Wheels and tire defects.

Code of Federal Regulations, 2011 CFR

2011-10-01

... crack or break in the flange, tread, rim, plate, or hub. (l) A loose wheel or tire. (m) Fusion welding... 49 Transportation 4 2011-10-01 2011-10-01 false Wheels and tire defects. 229.75 Section 229.75....75 Wheels and tire defects. Wheels and tires may not have any of the following conditions: (a) A...

49 CFR 229.75 - Wheels and tire defects.

Code of Federal Regulations, 2014 CFR

2014-10-01

... crack or break in the flange, tread, rim, plate, or hub. (l) A loose wheel or tire. (m) Fusion welding... 49 Transportation 4 2014-10-01 2014-10-01 false Wheels and tire defects. 229.75 Section 229.75....75 Wheels and tire defects. Wheels and tires may not have any of the following conditions: (a) A...

49 CFR 229.75 - Wheels and tire defects.

Code of Federal Regulations, 2013 CFR

2013-10-01

... crack or break in the flange, tread, rim, plate, or hub. (l) A loose wheel or tire. (m) Fusion welding... 49 Transportation 4 2013-10-01 2013-10-01 false Wheels and tire defects. 229.75 Section 229.75....75 Wheels and tire defects. Wheels and tires may not have any of the following conditions: (a) A...

49 CFR 571.129 - Standard No. 129; New non-pneumatic tires for passenger cars.

Code of Federal Regulations, 2013 CFR

2013-10-01

...-pneumatic tire assembly incorporates a wheel, supports the tire, and attaches, either integrally or... directly or through a wheel or wheel center member, the vertical load and tractive forces from the roadway... assembly means a non-pneumatic tire, alone or in combination with a wheel or wheel center member, which can...

Development and validation of an in-line NIR spectroscopic method for continuous blend potency determination in the feed frame of a tablet press.

PubMed

De Leersnyder, Fien; Peeters, Elisabeth; Djalabi, Hasna; Vanhoorne, Valérie; Van Snick, Bernd; Hong, Ke; Hammond, Stephen; Liu, Angela Yang; Ziemons, Eric; Vervaet, Chris; De Beer, Thomas

2018-03-20

A calibration model for in-line API quantification based on near infrared (NIR) spectra collection during tableting in the tablet press feed frame was developed and validated. First, the measurement set-up was optimised and the effect of filling degree of the feed frame on the NIR spectra was investigated. Secondly, a predictive API quantification model was developed and validated by calculating the accuracy profile based on the analysis results of validation experiments. Furthermore, based on the data of the accuracy profile, the measurement uncertainty was determined. Finally, the robustness of the API quantification model was evaluated. An NIR probe (SentroPAT FO) was implemented into the feed frame of a rotary tablet press (Modul™ P) to monitor physical mixtures of a model API (sodium saccharine) and excipients with two different API target concentrations: 5 and 20% (w/w). Cutting notches into the paddle wheel fingers did avoid disturbances of the NIR signal caused by the rotating paddle wheel fingers and hence allowed better and more complete feed frame monitoring. The effect of the design of the notched paddle wheel fingers was also investigated and elucidated that straight paddle wheel fingers did cause less variation in NIR signal compared to curved paddle wheel fingers. The filling degree of the feed frame was reflected in the raw NIR spectra. Several different calibration models for the prediction of the API content were developed, based on the use of single spectra or averaged spectra, and using partial least squares (PLS) regression or ratio models. These predictive models were then evaluated and validated by processing physical mixtures with different API concentrations not used in the calibration models (validation set). The β-expectation tolerance intervals were calculated for each model and for each of the validated API concentration levels (β was set at 95%). PLS models showed the best predictive performance. For each examined saccharine concentration range (i.e., between 4.5 and 6.5% and between 15 and 25%), at least 95% of future measurements will not deviate more than 15% from the true value. Copyright © 2018 Elsevier B.V. All rights reserved.

Research on Walking Wheel Slippage Control of Live Inspection Robot

NASA Astrophysics Data System (ADS)

Yan, Yu; Liu, Xiaqing; Guo, Hao; Li, Jinliang; Liu, Lanlan

2017-07-01

To solve the problem of walking wheel slippage of a live inspection robot during walking or climbing, this paper analyzes the climbing capacity of the robot with a statics method, designs a pressing wheel mechanism, and presents a method of indirectly identifying walking wheel slippage by reading speed of the pressing wheel due to the fact that the linear speed of the pressing wheel and the walking wheel at the contract point is the same; and finds that the slippage state can not be controlled through accurate mathematical models after identifying the slippage state, whereas slippage can be controlled with fuzzy control. The experiment results indicate that due to design of the pressing wheel mechanism, friction force of the walking wheel is increased, and the climbing capability of the robot is improved. Within the range of climbing capability of the robot, gradient is the key factor that has influence on slippage of robot, and slippage can be effectively eliminated through the fuzzy control method proposed in this paper.

Magnetic power conversion with machines containing full or porous wheel heat exchangers

NASA Astrophysics Data System (ADS)

Egolf, Peter W.; Kitanovski, Andrej; Diebold, Marc; Gonin, Cyrill; Vuarnoz, Didier

2009-04-01

A first part of the article contains a thermodynamic theory describing the temperature distribution in a Curie wheel. The occurring nonlinear ordinary differential equation has an analytical solution. If a Curie wheel is stabilized by levitation, it is named Palmy wheel. These wheels show a full structure, and because of this reason, their uptake of heat from a flame (Curie wheel) or by (solar) light absorption (Palmy wheel) only on the periphery of a cylinder is very limited. To improve the method, a modification of the principle by introducing a convective heat transport into a porous wheel is discussed. By this the power conversion rate from a heat flux to mechanical and electric power is very much increased. The second part of the article presents results of a theoretical/numerical study on the efficiencies of magnetic power conversion plants operating with porous wheels. Furthermore, these efficiencies—which are promising—are compared with those of existing power conversion plants, as e.g. geothermal binary cycle power plants.

A method for improved accuracy in three dimensions for determining wheel/rail contact points

NASA Astrophysics Data System (ADS)

Yang, Xinwen; Gu, Shaojie; Zhou, Shunhua; Zhou, Yu; Lian, Songliang

2015-11-01

Searching for the contact points between wheels and rails is important because these points represent the points of exerted contact forces. In order to obtain an accurate contact point and an in-depth description of the wheel/rail contact behaviours on a curved track or in a turnout, a method with improved accuracy in three dimensions is proposed to determine the contact points and the contact patches between the wheel and the rail when considering the effect of the yaw angle and the roll angle on the motion of the wheel set. The proposed method, with no need of the curve fitting of the wheel and rail profiles, can accurately, directly, and comprehensively determine the contact interface distances between the wheel and the rail. The range iteration algorithm is used to improve the computation efficiency and reduce the calculation required. The present computation method is applied for the analysis of the contact of rails of CHINA (CHN) 75 kg/m and wheel sets of wearing type tread of China's freight cars. In addition, it can be proved that the results of the proposed method are consistent with that of Kalker's program CONTACT, and the maximum deviation from the wheel/rail contact patch area of this two methods is approximately 5%. The proposed method, can also be used to investigate static wheel/rail contact. Some wheel/rail contact points and contact patch distributions are discussed and assessed, wheel and rail non-worn and worn profiles included.

Large Diameter Shuttle Launched-AEM (LDSL-AEM) study

NASA Technical Reports Server (NTRS)

1976-01-01

A technical description of a Large Diameter Shuttle Launched-AEM (LDSL-AEM), an AEM base module adapted to carry 5 ft diameter payloads in the shuttle with propulsion for carrying payloads to higher altitude orbits from a 150 NM shuttle orbit, is described. The AEM is designed for launch on the scout launch vehicle. Onboard equipment provides capability to despin, acquire the earth, and control the vehicle in an earth pointing mode using reaction wheels for torque with magnets for all attitude acquisition, wheel desaturation, and nutation damping. Earth sensors in the wheels provide pitch and roll attitude. This system provides autonomous control capability to 1 degree in pitch and roll and 2 degrees in yaw. The attitude can be determined to .5 degrees in pitch and roll and 2 degrees in yaw.

The effect of caster wheel diameter and mass distribution on drag forces in manual wheelchairs.

PubMed

Zepeda, Rene; Chan, Franco; Sawatzky, Bonita

2016-01-01

This study proposes a way to reduce energy losses in the form of rolling resistance friction during manual wheelchair propulsion by increasing the size of the front caster wheels and adjusting the weight distribution. Drag tests were conducted using a treadmill and a force transducer. Three different casters diameter (4 in., 5 in., and 6 in.) and six different mass distribution combinations (based on percentage of total weight on the caster wheels) were studied. A two-way analysis of variance test was performed to compare caster size and weight distribution contribution with drag force of an ultralight wheelchair. The 4 in. caster contributed significantly more drag, but only when weight was 40% or greater over the casters. Weight distribution contributed more to drag regardless of the casters used.

Steering redundancy for self-driving vehicles using differential braking

NASA Astrophysics Data System (ADS)

Jonasson, M.; Thor, M.

2018-05-01

This paper describes how differential braking can be used to turn a vehicle in the context of providing fail-operational control for self-driving vehicles. Two vehicle models are developed with differential input. The models are used to explain the bounds of curvature that differential braking provides and they are then validated with measurements in a test vehicle. Particular focus is paid on wheel suspension effects that significantly influence the obtained curvature. The vehicle behaviour and its limitations due to wheel suspension effects are, owing to the vehicle models, defined and explained. Finally, a model-based controller is developed to control the vehicle curvature during a fault by differential braking. The controller is designed to compensate for wheel angle disturbance that is likely to occur during the control event.

Update on slip and wear in multi-layer azimuth track systems

NASA Astrophysics Data System (ADS)

Juneja, Gunjeet; Kan, Frank W.; Antebi, Joseph

2006-06-01

Many antennas, such as the 100-m Green Bank Telescope, use a wheel-on-track systems in which the track segments consist of wear plates mounted on base plates. The wear plates are typically 2 to 3 inches thick and are case hardened or through hardened. The base plates are usually 3 to 4 times thicker than the wear plates and are not hardened. The wear plates are typically connected to the base plates using bolts. The base plates are supported on grout and anchored to the underlying concrete foundation. For some antennas, slip has been observed between the wear plate and base plate, and between the base plate and the grout, with the migration in the wheel rolling direction. In addition, there has been wear at the wear plate/base plate interface. This paper is an update on the evaluation of GBT track retrofit. The paper describes the use of three-dimensional non-linear finite element analyses to understand and evaluate the behavior of (1) the existing GBT wheel-on-track system with mitered joints, and (2) the various proposed modifications. The modifications include welding of the base plate joints, staggering of the wear plate joints from the base plate joints, changing thickness of the wear plate, and increasing bolt diameter and length. Parameters included in the evaluation were contact pressure, relative slip, wear at the wear plate/base plate interface, and bolt shears and moments.

Profile parameters of wheelset detection for high speed freight train

NASA Astrophysics Data System (ADS)

Yang, Kai; Ma, Li; Gao, Xiaorong; Wang, Li

2012-04-01

Because of freight train, in China, transports goods on railway freight line throughout the country, it does not depart from or return to engine shed during a long phase, thus we cannot monitor the quality of wheel set effectively. This paper provides a system which uses leaser and high speed camera, applies no-contact light section technology to get precise wheel set profile parameters. The paper employs clamping-track method to avoid complex railway ballast modification project. And detailed descript an improved image-tracking algorithm to extract central line from profile curve. For getting one pixel width and continuous line of the profile curve, uses local gray maximum points as direction control points to direct tracking direction. The results based on practical experiment show the system adapted to detection environment of high speed and high vibration, and it can effectively detect the wheelset geometric parameters with high accuracy. The system fills the gaps in wheel set detection for freight train in main line and has an enlightening function on monitoring the quality of wheel set.

Practical Design of an Energy Harvester Considering Wheel Rotation for Powering Intelligent Tire Systems

NASA Astrophysics Data System (ADS)

Zhu, Bing; Han, Jiayi; Zhao, Jian; Deng, Weiwen

2017-04-01

Intelligent tires are essentially a data acquisition system based on a number of complex intelligent sensors inside the tire. Intelligent tires which are capable of boosting the performance of the vehicle have the key problem of energy supply. A practical energy harvester was here designed to support the electric equipment in the intelligent tires and make it feasible for them to work steadily and constantly. This harvester takes the centrifugal force caused by the rotation of the wheel, which could affect the resonance frequency of the piezoelectric cantilever, into account. First, the vibration characteristics of the wheel were analyzed by road test, and the optimal arrangement for vibration energy usage was determined. Then, a piezoelectric vibration energy harvester was designed according to a series of formulas that took the effect of centrifugal force on resonance frequency into account. Finally, a road test was carried out to test the generated energy of the energy harvester excited by the vibration of the wheel. The results showed that the electric power meets the need of general low-power consumption triaxial accelerometers used in intelligent tires.

Development of a Two-Wheel Contingency Mode for the MAP Spacecraft

NASA Technical Reports Server (NTRS)

Starin, Scott R.; ODonnell, James R., Jr.; Bauer, Frank H. (Technical Monitor)

2002-01-01

In the event of a failure of one of MAP's three reaction wheel assemblies (RWAs), it is not possible to achieve three-axis, full-state attitude control using the remaining two wheels. Hence, two of the attitude control algorithms implemented on the MAP spacecraft will no longer be usable in their current forms: Inertial Mode, used for slewing to and holding inertial attitudes, and Observing Mode, which implements the nominal dual-spin science mode. This paper describes the effort to create a complete strategy for using software algorithms to cope with a RWA failure. The discussion of the design process will be divided into three main subtopics: performing orbit maneuvers to reach and maintain an orbit about the second Earth-Sun libration point in the event of a RWA failure, completing the mission using a momentum-bias two-wheel science mode, and developing a new thruster-based mode for adjusting the inertially fixed momentum bias. In this summary, the philosophies used in designing these changes is shown; the full paper will supplement these with algorithm descriptions and testing results.

A guideline for analyzing circadian wheel-running behavior in rodents under different lighting conditions

PubMed Central

Jud, Corinne; Schmutz, Isabelle; Hampp, Gabriele; Oster, Henrik

2005-01-01

Most behavioral experiments within circadian research are based on the analysis of locomotor activity. This paper introduces scientists to chronobiology by explaining the basic terminology used within the field. Furthermore, it aims to assist in designing, carrying out, and evaluating wheel-running experiments with rodents, particularly mice. Since light is an easily applicable stimulus that provokes strong effects on clock phase, the paper focuses on the application of different lighting conditions. PMID:16136228

Stability of Castering Wheels for Aircraft Landing Gears

NASA Technical Reports Server (NTRS)

Kantrowitz, Arthur

1940-01-01

A theoretical study was made of the shimmy of castering wheels. The theory is based on the discovery of a phenomenon called kinematic shimmy. Experimental checks, use being made of a model having low-pressure tires, are reported and the applicability of the results to full scale is discussed. Theoretical methods of estimating the spindle viscous damping and the spindle solid friction necessary to avoid shimmy are given. A new method of avoiding shimmy -- lateral freedom -- is introduced.

Metal-organic polyhedron based on a Cu(II) paddle-wheel secondary building unit at the truncated octahedron corners.

PubMed

Prakash, M Jaya; Zou, Yang; Hong, Seunghee; Park, Mira; Bui, Minh-Phuong Ngoc; Seong, Gi Hun; Lah, Myoung Soo

2009-02-16

A metal-organic polyhedron of truncated octahedral geometry augmented with a C(4)-symmetric square-planar Cu(II) paddle-wheel node as a secondary building unit can be prepared using a C(3)-symmetric ligand that occupies the face of the octahedral cage, where the three phenyl groups containing a m-carboxylate group in the ligand provide the necessary curvature to form the finite octahedral cage.

Comparison of single and consecutive dual frequency induction surface hardening of gear wheels

NASA Astrophysics Data System (ADS)

Barglik, J.; Ducki, K.; Kukla, D.; Mizera, J.; Mrówka-Nowotnik, G.; Sieniawski, J.; Smalcerz, A.

2018-05-01

Mathematical modelling of single and consecutive dual - frequency induction surface hardening systems are presented and compared. The both models are solved by the 3D FEM-based professional software supported by a number of own numerical procedures. The methodology is illustrated with some examples of surface induction hardening of a gear wheel made of steel 41Cr4. The computations are in a good accordance with experiments provided on the laboratory stand.

Magnetic bearing momentum wheels with magnetic gimballing capability for 3-axis active attitude control and energy storage

NASA Technical Reports Server (NTRS)

Sindlinger, R. S.

1977-01-01

A 3-axis active attitude control system with only one rotating part was developed using a momentum wheel with magnetic gimballing capability as a torque actuator for all three body axes. A brief description of magnetic bearing technology is given. It is concluded that based on this technology an integrated energy storage/attitude control system with one air of counterrotating rings could reduce the complexity and weight of conventional systems.

Portrait of an Aging Wheel

NASA Technical Reports Server (NTRS)

2004-01-01

This plot maps the increasing amounts of energy needed to spin Spirit's right front wheel drive, which has been showing signs of age. The wheel has now traveled six times farther than its design life. Since Spirit's 126th day on Mars, this wheel has required additional electric current to run at normal speeds, as indicated with blue diamonds on this graph. Efforts to improve the situation by redistributing the lubricant in the wheel with heat and rest were only mildly successful (pink squares). To cope with the condition, rover planners have come up with a creative solution: they will drive the rover backwards using five of six wheels. The sixth wheel will be activated only when the terrain demands it.

A simulation model for risk assessment of turbine wheels

NASA Technical Reports Server (NTRS)

Safie, Fayssal M.; Hage, Richard T.

1991-01-01

A simulation model has been successfully developed to evaluate the risk of the Space Shuttle auxiliary power unit (APU) turbine wheels for a specific inspection policy. Besides being an effective tool for risk/reliability evaluation, the simulation model also allows the analyst to study the trade-offs between wheel reliability, wheel life, inspection interval, and rejection crack size. For example, in the APU application, sensitivity analysis results showed that the wheel life limit has the least effect on wheel reliability when compared to the effect of the inspection interval and the rejection crack size. In summary, the simulation model developed represents a flexible tool to predict turbine wheel reliability and study the risk under different inspection policies.

A simulation model for risk assessment of turbine wheels

NASA Astrophysics Data System (ADS)

Safie, Fayssal M.; Hage, Richard T.

A simulation model has been successfully developed to evaluate the risk of the Space Shuttle auxiliary power unit (APU) turbine wheels for a specific inspection policy. Besides being an effective tool for risk/reliability evaluation, the simulation model also allows the analyst to study the trade-offs between wheel reliability, wheel life, inspection interval, and rejection crack size. For example, in the APU application, sensitivity analysis results showed that the wheel life limit has the least effect on wheel reliability when compared to the effect of the inspection interval and the rejection crack size. In summary, the simulation model developed represents a flexible tool to predict turbine wheel reliability and study the risk under different inspection policies.

Resting Is Rusting: A Critical View on Rodent Wheel-Running Behavior.

PubMed

Richter, Sophie Helene; Gass, Peter; Fuss, Johannes

2014-08-01

Physical exercise is known to exert various beneficial effects on brain function and bodily health throughout life. In biomedical research, these effects are widely studied by introducing running wheels into the cages of laboratory rodents. Yet, although rodents start to run in the wheels immediately, and perform wheel-running excessively on a voluntary basis, the biological significance of wheel-running is still not clear. Here, we review the current literature on wheel-running and discuss potentially negative side-effects that may give cause for concern. We particularly emphasize on analogies of wheel-running with stereotypic and addictive behavior to stimulate further research on this topic. © The Author(s) 2014.

Behavioral assessment of intermittent wheel running and individual housing in mice in the laboratory.

PubMed

Pham, Therese M; Brené, Stefan; Baumans, Vera

2005-01-01

Physical cage enrichment--exercise devices for rodents in the laboratory--often includes running wheels. This study compared responses of mice in enriched physical and social conditions and in standard social conditions to wheel running, individual housing, and open-field test. The study divided into 6 groups, 48 female BALB/c mice group housed in enriched and standard conditions. On alternate days, the study exposed 2 groups to individual running wheel cages. It intermittently separated from their cage mates and housed individually 2 groups with no running wheels; 2 control groups remained in enriched or standard condition cages. There were no significant differences between enriched and standard group housed mice in alternate days' wheel running. Over time, enriched, group housed mice ran less. Both groups responded similarly to individual housing. In open-field test, mice exposed to individual housing without running wheel moved more and faster than wheel running and home cage control mice. They have lower body weights than group housed and wheel running mice. Intermittent withdrawal of individual housing affects the animals more than other commodities. Wheel running normalizes some effects of intermittent separation from the enriched, social home cage.

Model Predictive Control considering Reachable Range of Wheels for Leg / Wheel Mobile Robots

NASA Astrophysics Data System (ADS)

Suzuki, Naito; Nonaka, Kenichiro; Sekiguchi, Kazuma

2016-09-01

Obstacle avoidance is one of the important tasks for mobile robots. In this paper, we study obstacle avoidance control for mobile robots equipped with four legs comprised of three DoF SCARA leg/wheel mechanism, which enables the robot to change its shape adapting to environments. Our previous method achieves obstacle avoidance by model predictive control (MPC) considering obstacle size and lateral wheel positions. However, this method does not ensure existence of joint angles which achieves reference wheel positions calculated by MPC. In this study, we propose a model predictive control considering reachable mobile ranges of wheels positions by combining multiple linear constraints, where each reachable mobile range is approximated as a convex trapezoid. Thus, we achieve to formulate a MPC as a quadratic problem with linear constraints for nonlinear problem of longitudinal and lateral wheel position control. By optimization of MPC, the reference wheel positions are calculated, while each joint angle is determined by inverse kinematics. Considering reachable mobile ranges explicitly, the optimal joint angles are calculated, which enables wheels to reach the reference wheel positions. We verify its advantages by comparing the proposed method with the previous method through numerical simulations.

Reciprocal inhibitory effects of intravenous d-methamphetamine self-administration and wheel activity in rats

PubMed Central

Miller, ML; Vaillancourt, BD; Wright, MJ; Aarde, SM; Vandewater, SA; Creehan, KM; Taffe, MA

2011-01-01

Background Some epidemiological and cessation studies suggest physical exercise attenuates or prevents recreational drug use in humans. Preclinical studies indicate wheel activity reduces cocaine self-administration in rats; this may, however, require the establishment of compulsive wheel activity. Methods Effects of concurrent wheel activity on intravenous d-methamphetamine (METH) self-administration were examined in male Wistar and Sprague Dawley rats with negligible prior wheel experience. Wistar rats self-administered METH (0.05 mg/kg/inf) under a fixed-ratio 1 (FR1) schedule with concurrent access to an activity wheel during sessions 1–14, 8–21 or 15–21. Control rats which did not self-administer METH had access to an activity wheel during sessions 1–14, 8–21 or 15–28. Sprague Dawley rats self-administered METH (0.1 mg/kg/inf) under FR1 for 14 sessions with either concurrent access to a locked or an unlocked activity wheel. Results METH self-administration was lower when the wheel was available concurrently from the start of self-administration training in both strains, even though Sprague Dawley rats self-administered twice as many METH infusions and ran one-sixth as much on the wheel compared to Wistar rats. Wheel access initiated after 7 or 14 days had no effect on METH self-administration in Wistar rats. Wheel activity was significantly reduced in these groups compared with the group with concurrent wheel and METH access for the first 14 sessions. Conclusions These data show METH self-administration is reduced by exercise if initiated from the start of self-administration and that prior METH self-administration experience interferes with the value of exercise as a reinforcer. PMID:21899959

PowerWheel - A new look at waterwheels

DOE Office of Scientific and Technical Information (OSTI.GOV)

Weisman, R.N.; Broome, K.R.; Mayo, H.A.

1995-12-31

The PowerWheel is an advanced overshot water wheel, designed to generate electric power at drop structures on canals or on overflow spillways. Unlike the wheels of the 18th and 19th century which were designed to have maximum efficiency at a single flow rate, the current applications demand a wheel that can operate efficiently over a wide range of flows. The prototype PowerWheel will have a width to diameter ratio of 3 or more, in contrast to the wheels of the 19th century, which had large diameters and narrow widths. A model PowerWheel was built of plexiglass and delivered for testingmore » to the Imbt Hydraulics Laboratory at Lehigh University. The wheel has a diameter of 3.5 ft and is 16 in wide. The wheel contains 20 buckets and the bucket depth can be varied from a shallow depth of 4 in to a mid depth of 7 in to 10 in for the deep bucket. The blades have a rather simple geometry with a 4 in radius quarter circle at the outside of the wheel and then straight to the bottom of the bucket. The flume in which the wheel was tested has a width of 18 in. A hole was cut in the head box of the flume and a delivery chute was connected to the head box. The position of the chute can readily be moved up or down in relation to the wheel; for a fixed position of the chute on the head box, the slope of the chute can be changed because the chute was attached to the head box with a piano hinge. The laboratory flow system can deliver flow up to 6 cfs through a calibrated Venturi meter. The PowerWheel was subjected to flows ranging from 0.3 to 3.5 cfs.« less

Effects of genetic background and environmental novelty on wheel running as a rewarding behaviour in mice.

PubMed

de Visser, Leonie; van den Bos, Ruud; Stoker, Astrid K; Kas, Martien J H; Spruijt, Berry M

2007-02-27

Recent studies suggest running wheel activity to be naturally rewarding and reinforcing; considering the shared neuro-behavioural characteristics with drug-induced reward situations, wheel running behaviour gains interest as a tool to study mechanisms underlying reward-sensitivity. Previously, we showed that wheel running has the potential to disrupt the daily organization of home cage behaviour in female C57BL/6 [de Visser L, van den Bos R, Spruijt BM. Automated home cage observations as a tool to measure the effects of wheel running on cage floor locomotion. Behav Brain Res 2005;160:382-8]. In the present study, we investigated the effects of novelty-induced stress on wheel running and its impact on home cage behaviour in male C57BL/6 and DBA/2 mice. Our aim was to determine whether wheel running may be used as a tool to study both genetic and environmentally induced differences in sensitivity to rewarding behaviour in mice. One group of male mice was placed in an automated home cage observation system for 2 weeks with a wheel integrated in the cage. A second group of mice was allowed to habituate to this cage for 1 week before a running wheel was introduced. Results showed a pronounced sensitising effect of novelty on the level of wheel running in C57Bl/6 mice but not in DBA mice. Overall levels of wheel running were higher in DBA/2 mice. Furthermore, wheel running affected circadian rhythmicity in DBA/2 mice but not in C57BL/6 mice. From these findings we tentatively suggest that wheel running behaviour could serve as a tool to study the interaction between genetic and environmental factors in sensitivity to rewarding behaviour in mice. As it is displayed spontaneously and easy to monitor, wheel running may be well suitable to be included in high-throughput phenotyping assays.

Wheel-running activity modulates circadian organization and the daily rhythm of eating behavior

PubMed Central

Pendergast, Julie S.; Branecky, Katrina L.; Huang, Roya; Niswender, Kevin D.; Yamazaki, Shin

2014-01-01

Consumption of high-fat diet acutely alters the daily rhythm of eating behavior and circadian organization (the phase relationship between oscillators in central and peripheral tissues) in mice. Voluntary wheel-running activity counteracts the obesogenic effects of high-fat diet and also modulates circadian rhythms in mice. In this study, we sought to determine whether voluntary wheel-running activity could prevent the proximate effects of high-fat diet consumption on circadian organization and behavioral rhythms in mice. Mice were housed with locked or freely rotating running wheels and fed chow or high-fat diet for 1 week and rhythms of locomotor activity, eating behavior, and molecular timekeeping (PERIOD2::LUCIFERASE luminescence rhythms) in ex vivo tissues were measured. Wheel-running activity delayed the phase of the liver rhythm by 4 h in both chow- and high-fat diet-fed mice. The delayed liver phase was specific to wheel-running activity since an enriched environment without the running wheel did not alter the phase of the liver rhythm. In addition, wheel-running activity modulated the effect of high-fat diet consumption on the daily rhythm of eating behavior. While high-fat diet consumption caused eating events to be more evenly dispersed across the 24 h-day in both locked-wheel and wheel-running mice, the effect of high-fat diet was much less pronounced in wheel-running mice. Together these data demonstrate that wheel-running activity is a salient factor that modulates liver phase and eating behavior rhythms in both chow- and high-fat-diet fed mice. Wheel-running activity in mice is both a source of exercise and a self-motivating, rewarding behavior. Understanding the putative reward-related mechanisms whereby wheel-running activity alters circadian rhythms could have implications for human obesity since palatable food and exercise may modulate similar reward circuits. PMID:24624109

The influence of cognitive load on transfer with error prevention training methods: a meta-analysis.

PubMed

Hutchins, Shaun D; Wickens, Christopher D; Carolan, Thomas F; Cumming, John M

2013-08-01

The objective was to conduct research synthesis for the U.S.Army on the effectiveness of two error prevention training strategies (training wheels and scaffolding) on the transfer of training. Motivated as part of an ongoing program of research on training effectiveness, the current work presents some of the program's research into the effects on transfer of error prevention strategies during training from a cognitive load perspective. Based on cognitive load theory, two training strategies were hypothesized to reduce intrinsic load by supporting learners early in acquisition during schema development. A transfer ratio and Hedges' g were used in the two meta-analyses conducted on transfer studies employing the two training strategies. Moderators relevant to cognitive load theory and specific to the implemented strategies were examined.The transfer ratio was the ratio of treatment transfer performance to control transfer. Hedges' g was used in comparing treatment and control group standardized mean differences. Both effect sizes were analyzed with versions of sample weighted fixed effect models. Analysis of the training wheels strategy suggests a transfer benefit. The observed benefit was strongest when the training wheels were a worked example coupled with a principle-based prompt. Analysis of the scaffolding data also suggests a transfer benefit for the strategy. Both training wheels and scaffolding demonstrated positive transfer as training strategies.As error prevention techniques, both support the intrinsic load--reducing implications of cognitive load theory. The findings are applicable to the development of instructional design guidelines in professional skill-based organizations such as the military.

Virtual sensors for on-line wheel wear and part roughness measurement in the grinding process.

PubMed

Arriandiaga, Ander; Portillo, Eva; Sánchez, Jose A; Cabanes, Itziar; Pombo, Iñigo

2014-05-19

Grinding is an advanced machining process for the manufacturing of valuable complex and accurate parts for high added value sectors such as aerospace, wind generation, etc. Due to the extremely severe conditions inside grinding machines, critical process variables such as part surface finish or grinding wheel wear cannot be easily and cheaply measured on-line. In this paper a virtual sensor for on-line monitoring of those variables is presented. The sensor is based on the modelling ability of Artificial Neural Networks (ANNs) for stochastic and non-linear processes such as grinding; the selected architecture is the Layer-Recurrent neural network. The sensor makes use of the relation between the variables to be measured and power consumption in the wheel spindle, which can be easily measured. A sensor calibration methodology is presented, and the levels of error that can be expected are discussed. Validation of the new sensor is carried out by comparing the sensor's results with actual measurements carried out in an industrial grinding machine. Results show excellent estimation performance for both wheel wear and surface roughness. In the case of wheel wear, the absolute error is within the range of microns (average value 32 μm). In the case of surface finish, the absolute error is well below Ra 1 μm (average value 0.32 μm). The present approach can be easily generalized to other grinding operations.

A review of the nutritional needs of Meals on Wheels consumers and factors associated with the provision of an effective meals on wheels service-an Australian perspective.

PubMed

Krassie, J; Smart, C; Roberts, D C

2000-04-01

A review of the literature was undertaken to identify the nutritional needs of elderly MOW consumers and factors affecting the ability of existing programs to meet those needs. The focus was on the Australian experience but drawing on the world literature. Keyword search of English language based computer databases of the medical and health literature. Several studies suggest the nutritional intake of MOW consumers is below recommended levels, although the risk of nutritional deficiency has not always been identified. The literature indicates the effectiveness of Meals on Wheels programs are affected by a range of issues including the appropriateness of nutritional standards, menu selection, portion control, level of consumption and customer satisfaction. The literature recommends control of time and temperatures associated with food handling procedures, along with education of providers and customers, to assist in the provision of a safe food supply. Meals on Wheels is an important service, providing meals to housebound consumers. While the effectiveness of such programs is dependent on a range of variables, the nutritional impact of the service and the standard of food hygiene are fundamental assessment criteria. This work was supported by a grant from the NSW Meals on Wheels Association, Australia. European Journal of Clinical Nutrition (2000) 54, 275-280

Investigation of the Feasibility of an Intervention to Manage Fall Risk in Wheeled Mobility Device Users with Multiple Sclerosis.

PubMed

Rice, Laura A; Isaacs, Zadok; Ousley, Cherita; Sosnoff, Jacob

2018-01-01

Falls are a common concern for wheeled mobility device users with multiple sclerosis (MS); however, no evidence-based fall prevention programs have been developed to meet the specific needs of the population. We examine the preliminary feasibility of a fall management intervention in wheeled mobility device users with MS. Study participants were exposed to an intervention program targeting risk factors for falls, including transfer skills and seated postural control. The feasibility of the program was evaluated by assessing participant perspectives, cost, recruitment rates, study adherence, participant retention, safety, and the ability to collect primary and secondary outcomes, including fall frequency, concerns about falling, transfer quality, and seated postural control. 16 wheeled mobility device users completed the program, which was found to be feasible and was positively evaluated by participants. No adverse events were experienced. After exposure to the intervention, fall frequency significantly decreased (P < .001) and transfer quality (P = .001) and seated postural control (P = .002) significantly improved. No significant differences were found regarding concerns about falling (P = .728). This study examined the feasibility of an intervention program to manage fall risk in wheeled mobility device users with MS. The program was found to be feasible, and preliminary results showed the intervention to be effective in decreasing fall frequency. Additional testing is needed to further examine the efficacy and long-term impact of the intervention.

Characterization of Sensory Differences in Mixing and Premium Rums Through the Use of Descriptive Sensory Analysis.

PubMed

Ickes, Chelsea M; Cadwallader, Keith R

2017-11-01

This study identified and quantitated perceived sensory differences between 7 premium rums and 2 mixing rums using a hybrid of the Quantitative Descriptive Analysis and Spectrum methods. In addition, the results of this study validated the previously developed rum flavor wheel created from web-based materials. Results showed that the use of the rum flavor wheel aided in sensory term generation, as 17 additional terms were generated after the wheel was provided to panelists. Thirty-eight sensory terms encompassing aroma, aroma-by-mouth, mouthfeel, taste and aftertaste modalities, were generated and evaluated by the panel. Of the finalized terms, only 5 did not exist previously on the rum flavor wheel. Twenty attributes were found to be significantly different among rums. The majority of rums showed similar aroma profiles with the exception of 2 rums, which were characterized by higher perceived intensities of brown sugar, caramel, vanilla, and chocolate aroma, caramel, maple, and vanilla aroma-by-mouth and caramel aftertaste. These results demonstrate the previously developed rum flavor wheel can be used to adequately describe the flavor profile of rum. Additionally, results of this study document the sensory differences among premium rums and may be used to correlate with analytical data to better understand how changes in chemical composition of the product affect sensory perception. © 2017 Institute of Food Technologists®.

Enhanced voluntary wheel running in GPRC6A receptor knockout mice.

PubMed

Clemmensen, Christoffer; Pehmøller, Christian; Klein, Anders B; Ratner, Cecilia; Wojtaszewski, Jørgen F P; Bräuner-Osborne, Hans

2013-06-13

GPRC6A is an amino acid-sensing receptor highly expressed in the brain and in skeletal muscle. Although recent evidence suggests that genetically engineered GPRC6A receptor knockout (KO) mice are susceptible to develop subtle endocrine and metabolic disturbances, the underlying disruptions in energy metabolism are largely unexplored. Based on GPRC6A's expression pattern and ligand preferences, we hypothesize that the receptor may impact energy metabolism via regulating physical activity levels. Thus, in the present study, we exposed GPRC6A receptor KO mice and their wild-type (WT) littermates to voluntary wheel running and forced treadmill exercise. Moreover, we assessed energy expenditure in the basal state, and evaluated the effects of wheel running on food intake, body composition, and a range of exercise-induced central and peripheral biomarkers. We found that adaptation to voluntary wheel running is affected by GPRC6A, as ablation of the receptor significantly enhances wheel running in KO relative to WT mice. Both genotypes responded to voluntary exercise by increasing food intake and improving body composition to a similar degree. In conclusion, these data demonstrate that the GPRC6A receptor is involved in regulating exercise behaviour. Future studies are highly warranted to delineate the underlying molecular details and to assess if these findings hold any translational value. Copyright © 2013 Elsevier Inc. All rights reserved.

Cause of Thermal Fatigue Cracking in Metroliner Wheels

DOT National Transportation Integrated Search

1977-03-01

One new wheel and two used wheels (one with a thermal crack in the tread) were examined for mechanical properties, macrostructure, microstructure, and residual stresses. Similar examinations were conducted on three new wheels which were first subject...

Friction drive position transducer

NASA Astrophysics Data System (ADS)

Waclawik, Ronald E.; Cayer, James L.; Lapointe, Kenneth M.

1991-10-01

A spring force loaded contact wheel mounted in a stationary position relative to a reciprocating shaft is disclosed. The apparatus of the present invention includes a tensioning assembly for maintaining absolute contact between the contact wheel and the reciprocating shaft wherein the tensioning assembly urges the contact wheel against the shaft to maintain contact therebetween so that the wheel turns as the shaft is linearly displaced. A rotary encoding device is coupled to the wheel for translating the angular and rotational movement thereof into an electronic signal for providing linear displacement information and derivative data with respect to displacement of the shaft. Absolute friction contact and cooperative interaction between the shaft and the contact wheel is further enhanced in the preferred embodiment by advantageously selecting the types of surface finish and the amount of surface area of the contact wheel relative to the surface condition of the shaft as well as by reducing the moment of inertia of the contact wheel.

Friction drive position transducer

NASA Astrophysics Data System (ADS)

Waclawik, Ronald E.; Cayer, James L.; Lapointe, Kenneth M.

1993-06-01

A spring force loaded contact wheel mounted in a stationary position relative to a reciprocating shaft is disclosed. The apparatus of the present invention includes a tensioning assembly for maintaining absolute contact between the contact wheel and the reciprocating shaft wherein the tensioning assembly urges the contact wheel against the shaft to maintain contact there between so that the wheel turn as the shaft is linearly displaced. A rotary encoding device is coupled to the wheel for translating the angular and rotational movement thereof into an electronic signal for providing linear displacement information and derivative data with respect to displacement of the shaft. Absolute friction contact and cooperative interaction between the shaft and the contact wheel is further enhanced in the preferred embodiment by advantageously selecting the type of surface finish and the amount of surface area of the contact wheel relative to the surface condition of the shaft as well as by reducing the moment of inertia of the contact wheel.

Bike skills training for children with cerebral palsy: protocol for a randomised controlled trial

PubMed Central

Toovey, Rachel; Harvey, Adrienne R; McGinley, Jennifer L; Lee, Katherine J; Shih, Sophy T F; Spittle, Alicia J

2018-01-01

Introduction Two-wheel bike riding can be a goal for children with cerebral palsy (CP) and a means of participating in physical activity. It is possible for some children with CP to ride a two-wheel bike; however, currently far fewer can ride compared with their typically developing peers. Evidence supports training targeted towards goals of the child with CP and their family; yet there is little evidence to guide best-practice bike skills training. Task-specific training may lead to attainment of two-wheel bike-specific goals. This study aims to determine if a novel task-specific approach to training two-wheel bike skills is more effective than a parent-led home programme for attaining individualised two-wheel bike-specific goals in independently ambulant children with CP aged 6–15 years. Methods and analysis Sixty eligible children with CP (Gross Motor Function Classification System levels I–II) aged 6–15 years with goals relating to riding a two-wheel bike will be randomised to either a novel task-specific centre-based group programme (intervention) or a parent-led home-based programme (comparison), both involving a 1-week intervention period. The primary outcome is goal attainment in the week following the intervention period (T1). Secondary outcomes include: goal attainment and participation in physical activity at 3 months postintervention (T2) and bike skills, attendance and involvement in bike riding, self-perception and functional skills at T1 and T2. Economic appraisal will involve cost-effectiveness and cost-utility analyses. Adherence of clinicians and parents to the intervention and comparison protocols will be assessed. Linear and logistic regression will be used to assess the effect of the intervention, adjusted for site as used in the randomisation process. Ethics and dissemination This study was approved by the Human Research and Ethics Committees at The Royal Children’s Hospital (#36209). Results will be disseminated via peer-reviewed publications and conference presentations. Trial registration number NCT03003026; Pre-results. PMID:29431140

Wheelchair caster shimmy and turning resistance.

PubMed

Kauzlarich, J J; Bruning, T; Thacker, J G

1984-07-01

The equations for wheelchair caster wheel shimmy are presented along with experimental data. The report includes the theory and performance of single wheel casters for a variety of tires, and a new design for wheelchair casters using a grooved dual-tread tire or co-rotating caster wheels. The dual-tread tire was found to significantly inhibit caster shimmy. The turning resistance due to a grooved caster wheel tire with a 1/2-inch groove was found to be 10 percent greater than for an ungrooved caster wheel tire. The analysis includes the methodology and the results of experiments developed to measure the sliding friction turning moment of the wheelchair caster wheel. A number of commercial wheelchair caster wheels were tested and the results for shimmy are presented.

Four-wheel dual braking for automobiles

NASA Technical Reports Server (NTRS)

Edwards, H. B.

1981-01-01

Each master cylinder applies braking power to all four wheels unlike conventional systems where cylinder operates only two wheels. If one master system fails because of fluid loss, other stops car by braking all four wheels although at half force.

Study of the Correlation between the Performances of Lunar Vehicle Wheels Predicted by the Nepean Wheeled Vehicle Performance Model and Test Data

NASA Technical Reports Server (NTRS)

Wong, J. Y.; Asnani, V. M.

2008-01-01

This paper describes the results of a study of the correlation between the performances of wheels for lunar vehicles predicted using the Nepean wheeled vehicle performance model (NWVPM), developed under the auspices of Vehicle Systems Development Corporation, Ottawa, Canada, and the corresponding test data presented in Performance evaluation of wheels for lunar vehicles , Technical Report M-70-2, prepared for George C. Marshall Space Flight Center, National Aeronautics and Space Administration (NASA), USA, by the US Army Engineer Waterways Experiment Station (WES). The NWVPM was originally developed for design and performance evaluation of terrestrial off-road wheeled vehicles. The purpose of this study is to assess the potential of the NWVPM for evaluating wheel candidates for the new generation of extra-terrestrial vehicles. Two versions of a wire-mesh wheel and a hoop-spring wheel, which were considered as candidates for lunar roving vehicles for the NASA Apollo program in the late 1960s, together with a pneumatic wheel were examined in this study. The tractive performances of these wheels and of a 464 test vehicle with the pneumatic wheels on air-dry sand were predicted using the NWVPM and compared with the corresponding test data obtained under Earth s gravity and previously documented in the above-named report. While test data on wheel or vehicle performances obtained under Earth s gravity may not necessarily be representative of those on extra-terrestrial bodies, because of the differences in gravity and in environmental conditions, such as atmospheric pressure, it is still a valid approach to use test data obtained under Earth s gravity to evaluate the predictive capability of the NWVPM and its potential applications to predicting wheel or wheeled rover performances on extra-terrestrial bodies. Results of this study show that, using the ratio (P20/W) of the drawbar pull to normal load at 20 per cent slip as a performance indicator, there is a reasonable correlation between the predictions and experimental data. This indicates that the NWVPM has the potential as an engineering tool for evaluating wheel candidates for a future generation of extra-terrestrial vehicles, provided that appropriate input data are available.

Thickness-Independent Ultrasonic Imaging Applied to Abrasive Cut-Off Wheels: An Advanced Aerospace Materials Characterization Method for the Abrasives Industry. A NASA Lewis Research Center Technology Transfer Case History

NASA Technical Reports Server (NTRS)

Roth, Don J.; Farmer, Donald A.

1998-01-01

Abrasive cut-off wheels are at times unintentionally manufactured with nonuniformity that is difficult to identify and sufficiently characterize without time-consuming, destructive examination. One particular nonuniformity is a density variation condition occurring around the wheel circumference or along the radius, or both. This density variation, depending on its severity, can cause wheel warpage and wheel vibration resulting in unacceptable performance and perhaps premature failure of the wheel. Conventional nondestructive evaluation methods such as ultrasonic c-scan imaging and film radiography are inaccurate in their attempts at characterizing the density variation because a superimposing thickness variation exists as well in the wheel. In this article, the single transducer thickness-independent ultrasonic imaging method, developed specifically to allow more accurate characterization of aerospace components, is shown to precisely characterize the extent of the density variation in a cut-off wheel having a superimposing thickness variation. The method thereby has potential as an effective quality control tool in the abrasives industry for the wheel manufacturer.

STRAD Wheel: Web-Based Library for Visualizing Temporal Data.

PubMed

Fernondez-Prieto, Diana; Naranjo-Valero, Carol; Hernandez, Jose Tiberio; Hagen, Hans

2017-01-01

Recent advances in web development, including the introduction of HTML5, have opened a door for visualization researchers and developers to quickly access larger audiences worldwide. Open source libraries for the creation of interactive visualizations are becoming more specialized but also modular, which makes them easy to incorporate in domain-specific applications. In this context, the authors developed STRAD (Spatio-Temporal-Radar) Wheel, a web-based library that focuses on the visualization and interactive query of temporal data in a compact view with multiple temporal granularities. This article includes two application examples in urban planning to help illustrate the proposed visualization's use in practice.

From wheels to wings with evolutionary spiking circuits.

PubMed

Floreano, Dario; Zufferey, Jean-Christophe; Nicoud, Jean-Daniel

2005-01-01

We give an overview of the EPFL indoor flying project, whose goal is to evolve neural controllers for autonomous, adaptive, indoor micro-flyers. Indoor flight is still a challenge because it requires miniaturization, energy efficiency, and control of nonlinear flight dynamics. This ongoing project consists of developing a flying, vision-based micro-robot, a bio-inspired controller composed of adaptive spiking neurons directly mapped into digital microcontrollers, and a method to evolve such a neural controller without human intervention. This article describes the motivation and methodology used to reach our goal as well as the results of a number of preliminary experiments on vision-based wheeled and flying robots.

AORN ergonomic tool 7: pushing, pulling, and moving equipment on wheels.

PubMed

Waters, Thomas; Lloyd, John D; Hernandez, Edward; Nelson, Audrey

2011-09-01

Pushing and pulling equipment in and around the OR can place high shear force demands on perioperative team members' shoulder and back muscles and joints. These high forces may lead to work-related musculoskeletal disorders. AORN Ergonomic Tool 7: Pushing, Pulling, and Moving Equipment on Wheels can help perioperative team members assess the risk of pushing and pulling tasks in the perioperative setting. The tool provides evidence-based suggestions about when assistive devices should be used for these tasks and is based on current ergonomic safety concepts, scientific evidence, and knowledge of effective technology and procedures, including equipment and devices for safe patient handling. Published by Elsevier Inc.

An application to model traffic intensity of agricultural machinery at field scale

NASA Astrophysics Data System (ADS)

Augustin, Katja; Kuhwald, Michael; Duttmann, Rainer

2017-04-01

Several soil-pressure-models deal with the impact of agricultural machines on soils. In many cases, these models were used for single spots and consider a static machine configuration. Therefore, a statement about the spatial distribution of soil compaction risk for entire working processes is limited. The aim of the study is the development of an application for the spatial modelling of traffic lanes from agricultural vehicles including wheel load, ground pressure and wheel passages at the field scale. The application is based on Open Source software, application and data formats, using python programming language. Minimum input parameters are GPS-positions, vehicles and tires (producer and model) and the tire inflation pressure. Five working processes were distinguished: soil tillage, manuring, plant protection, sowing and harvest. Currently, two different models (Diserens 2009, Rücknagel et al. 2015) were implemented to calculate the soil pressure. The application was tested at a study site in Lower Saxony, Germany. Since 2015, field traffic were recorded by RTK-GPS and used machine set ups were noted. Using these input information the traffic lanes, wheel load and soil pressure were calculated for all working processes. For instance, the maize harvest in 2016 with a crop chopper and one transport vehicle crossed about 55 % of the total field area. At some places the machines rolled over up to 46 times. Approximately 35 % of the total area was affected by wheel loads over 7 tons and soil pressures between 163 and 193 kPa. With the information about the spatial distribution of wheel passages, wheel load and soil pressure it is possible to identify hot spots of intensive field traffic. Additionally, the use of the application enables the analysis of soil compaction risk induced by agricultural machines for long- and short-term periods.

Conversion and control of an all-terrain vehicle for use as an autonomous mobile robot

NASA Astrophysics Data System (ADS)

Jacob, John S.; Gunderson, Robert W.; Fullmer, R. R.

1998-08-01

A systematic approach to ground vehicle automation is presented, combining low-level controls, trajectory generation and closed-loop path correction in an integrated system. Development of cooperative robotics for precision agriculture at Utah State University required the automation of a full-scale motorized vehicle. The Triton Predator 8- wheeled skid-steering all-terrain vehicle was selected for the project based on its ability to maneuver precisely and the simplicity of controlling the hydrostatic drivetrain. Low-level control was achieved by fitting an actuator on the engine throttle, actuators for the left and right drive controls, encoders on the left and right drive shafts to measure wheel speeds, and a signal pick-off on the alternator for measuring engine speed. Closed loop control maintains a desired engine speed and tracks left and right wheel speeds commands. A trajectory generator produces the wheel speed commands needed to steer the vehicle through a predetermined set of map coordinates. A planar trajectory through the points is computed by fitting a 2D cubic spline over each path segment while enforcing initial and final orientation constraints at segment endpoints. Acceleration and velocity profiles are computed for each trajectory segment, with the velocity over each segment dependent on turning radius. Left and right wheel speed setpoints are obtained by combining velocity and path curvature for each low-level timestep. The path correction algorithm uses GPS position and compass orientation information to adjust the wheel speed setpoints according to the 'crosstrack' and 'downtrack' errors and heading error. Nonlinear models of the engine and the skid-steering vehicle/ground interaction were developed for testing the integrated system in simulation. These test lead to several key design improvements which assisted final implementation on the vehicle.

The development of an assessment tool for the mobility of lightweight autonomous vehicles on coastal terrain

NASA Astrophysics Data System (ADS)

Worley, Marilyn E.; Ren, Ping; Sandu, Corina; Hong, Dennis

2007-04-01

This study focuses on developing an assessment tool for the performance prediction of lightweight autonomous vehicles with varying locomotion platforms on coastal terrain involves three segments. A table based on the House of Quality shows the relationships - high, low, or adverse - between mission profile requirements and general performance measures and geometries of vehicles under consideration for use. This table, when combined with known values for vehicle metrics, provides information for an index formula used to quantitatively compare the mobility of a user-chosen set of vehicles, regardless of their methods of locomotion. To study novel forms of locomotion, and to compare their mobility and performance with more traditional wheeled and tracked vehicles, several new autonomous vehicles - bipedal, self-excited dynamic tripedal, active spoke-wheel - are currently under development. While the terramechanics properties of wheeled and tracked vehicles, such as the contact patch pressure distribution, have been understood and models have been developed for heavy vehicles, the feasibility of extrapolating them to the analysis of light vehicles is still under analysis. wheeled all-terrain vehicle and a lightweight autonomous tracked vehicle have been tested for effects of sand gradation, vehicle speed, and vehicle payload on measures of pressure and sinkage in the contact patch, and preliminary analysis is presented on the sinkage of the wheeled all-terrain vehicle. These three segments - development of the comparison matrix and indexing function, modeling and development of novel forms of locomotion, and physical experimentation of lightweight tracked and wheeled vehicles on varying terrain types for terramechanic model validation - combine to give an overall picture of mobility that spans across different forms of locomotion.

Predicting energy expenditure through hand rim propulsion power output in individuals who use wheelchairs.

PubMed

Conger, Scott A; Scott, Stacy N; Bassett, David R

2014-07-01

To examine the relationship between hand rim propulsion power and energy expenditure (EE) during wheelchair wheeling and to investigate whether adding other variables to the model could improve on the prediction of EE. Individuals who use manual wheelchairs (n=14) performed five different wheeling activities in a wheelchair with a PowerTap power meter hub built into the right rear wheel. Activities included wheeling on a smooth, level surface at three different speeds (4.5, 5.5 and 6.5 km/h), wheeling on a rubberised track at one speed (5.5 km/h) and wheeling on a sidewalk course that included uphill and downhill segments at a self-selected speed. EE was measured using a portable indirect calorimetry system. Stepwise linear regression was performed to predict EE from power output variables. A repeated-measures analysis of variance was used to compare the measured EE to the estimates from the power models. Bland-Altman plots were used to assess the agreement between the criterion values and the predicted values. EE and power were significantly correlated (r=0.694, p<0.001). Regression analysis yielded three significant prediction models utilising measured power; measured power and speed; and measured power, speed and heart rate. No significant differences were found between measured EE and any of the prediction models. EE can be accurately and precisely estimated based on hand rim propulsion power. These results indicate that power could be used as a method to assess EE in individuals who use wheelchairs. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

Loss of stability of a railway wheel-set, subcritical or supercritical

NASA Astrophysics Data System (ADS)

Zhang, Tingting; Dai, Huanyun

2017-11-01

Most researches on railway vehicle stability analysis are focused on the codimension 1 (for short, codim 1) bifurcations like subcritical and supercritical Hopf bifurcation. The analysis of codim 1 bifurcation can be completed based on one bifurcation parameter. However, two bifurcation parameters should be considered to give a general view of the motion of the system when it undergoes a degenerate Hopf bifurcation. This kind of bifurcation named the generalised Hopf bifurcation belongs to the codimension 2 (for short, codim 2) bifurcations where two bifurcation parameters need to be taken into consideration. In this paper, we give a numerical analysis of the codim 2 bifurcations of a nonlinear railway wheel-set with the QR algorithm to calculate the eigenvalues of the linearised system incorporating the Golden Cut method and the shooting method to calculate the limit cycles around the Hopf bifurcation points. Here, we found the existence of a generalised Hopf bifurcation where a subcritical Hopf bifurcation turns into a supercritical one with the increase of the bifurcation parameters, which belong to the codim 2 bifurcations, in a nonlinear railway wheel-set model. Only the nonlinear wheel/rail interactive relationship has been taken into consideration in the lateral model that is formulated in this paper. The motion of the wheel-set has been investigated when the bifurcation parameters are perturbed in the neighbourhood of their critical parameters, and the influences of different parameters on critical values of the bifurcation parameters are also given. From the results, it can be seen that the bifurcation types of the wheel-set will change with a variation of the bifurcation parameters in the neighbourhood of their critical values.

Broken rims in railroad wheels.

DOT National Transportation Integrated Search

2014-12-01

Broken wheels are one of the most common types of equipment-caused train accidents. The failure of rail car wheel rims, which : are usually the result of shattered rims or vertical split rims (VSR), are the leading cause of wheel-related accidents, a...

Experimental studies of breaking of elastic tired wheel under variable normal load

NASA Astrophysics Data System (ADS)

Fedotov, A. I.; Zedgenizov, V. G.; Ovchinnikova, N. I.

2017-10-01

The paper analyzes the braking of a vehicle wheel subjected to disturbances of normal load variations. Experimental tests and methods for developing test modes as sinusoidal force disturbances of the normal wheel load were used. Measuring methods for digital and analogue signals were used as well. Stabilization of vehicle wheel braking subjected to disturbances of normal load variations is a topical issue. The paper suggests a method for analyzing wheel braking processes under disturbances of normal load variations. A method to control wheel baking processes subjected to disturbances of normal load variations was developed.

Proposal to use vibration analysis steering components and car body to monitor, for example, the state of unbalance wheel

NASA Astrophysics Data System (ADS)

Janczur, R.

2016-09-01

The results of road tests of car VW Passat equipped with tires of size 195/65 R15, on the influence of the unbalancing front wheel on vibration of the parts of steering system, steering wheel and the body of the vehicle have been presented in this paper. Unbalances wheels made using weights of different masses, placed close to the outer edge of the steel rim and checked on the machine Hunter GSP 9700 for balancing wheels. The recorded waveforms vibration steering components and car body, at different constant driving speeds, subjected to spectral analysis to determine the possibility of isolating vibration caused by unbalanced wheel in various states and coming from good quality asphalt road surface. The results were discussed in terms of the possibility of identifying the state of unbalancing wheels and possible changes in radial stiffness of the tire vibration transmitted through the system driving wheel on the steering wheel. Vibration analysis steering components and car body, also in the longitudinal direction, including information from the CAN bus of the state of motion of the car, can be used to monitor the development of the state of unbalance wheel, tire damage or errors shape of brake discs or brake drums, causing pulsations braking forces.

Refining the modelling of vehicle-track interaction

NASA Astrophysics Data System (ADS)

Kaiser, Ingo

2012-01-01

An enhanced model of a passenger coach running on a straight track is developed. This model includes wheelsets modelled as rotating flexible bodies, a track consisting of flexible rails supported on discrete sleepers and wheel-rail contact modules, which can describe non-elliptic contact patches based on a boundary element method (BEM). For the scenarios of undisturbed centred running and permanent hunting, the impact of the structural deformations of the wheelsets and the rails on the stress distribution in the wheel-rail contact is investigated.

Micro Hopping Robots for Rescue Operation. Location of the Distributed Tiny Robots Under the Collapsed Building

DTIC Science & Technology

2008-07-31

any wheels or legs even on small, rough terrain with the help of eccentric mechanical vibration. This tiny robot also has the ability of self...integral part of any robo -rescue operation. Inexpensive micro robots can be manufactured for this purpose and by utilizing numerous micro robots (100s to...designed and developed. This locomotion mechanism functions without any wheels or legs and can move based upon the asymmetrical thrusting and lifting

Test results and flight experience of ball bearing momentum and reaction wheels

NASA Technical Reports Server (NTRS)

Auer, W.

1990-01-01

The required satellite mission durations and levels of reliability have been considerably increased: While in the beginning of the 70's 3 to 5 year missions were planned, the standard is now 10 years with an expansion to 15 years and more for such programs as INTELSAT VII. Based on a 20 year test and flight experience with basically the same design, ball bearing momentum and reaction wheels with the required 15 year mission capability can be provided.

Harsh medicine. [retail wheeling experiment in Michigan and side effects

DOE Office of Scientific and Technical Information (OSTI.GOV)

Studness, C.M.

1993-07-15

Retailing wheeling's harmful side-effects may surface in a Michigan experiment. In the final analysis, the debate over retail wheeling is about whether there will be direct price competition in the electric power industry. Retail wheeling would extend to the electric power market the same freedom of choice among customers that is present elsewhere in the economy. It would provide a mechanism through which competition could enforce an efficient allocation of resources. It also undoubtedly would eliminate most of the huge discrepancies that exist between so many neighboring service areas. It is unlikely that permitting retail wheeling would actually result inmore » much wheeling or loss of load. Utilities will no doubt meet the threat of the loss of load by cutting rates to hold their customers. Hence, the primary effect would be on the pricing of electricity, not the wheeling of power. The retail wheeling experiment under consideration in Michigan can become an important step toward making the utility industry more efficient for the nation and more equitable for ratepayers. Unfortunately, it also is potentially unfair to the utilities involved. A retail wheeling experiment in one state is likely to put those utilities at risk for competitive attack, but is unlikely to give those utilities the countervailing power to use retail wheeling elsewhere to market their power. Fairness and economic efficiency require that retail wheeling exist everywhere, and that is is accessible to utilities as well as non-utilities.« less

Phenomena of Foamed Concrete under Rolling of Aircraft Wheels

NASA Astrophysics Data System (ADS)

Jiang, Chun-shui; Yao, Hong-yu; Xiao, Xian-bo; Kong, Xiang-jun; Shi, Ya-jie

2014-04-01

Engineered Material Arresting System (EMAS) is an effective technique to reduce hazards associated with aircraft overrunning runway. In order to ascertain phenomena of the foamed concrete used for EMAS under rolling of aircraft wheel, a specially designed experimental setup was built which employed Boeing 737 aircraft wheels bearing actual vertical loads to roll through the foamed concrete. A number of experiments were conducted upon this setup. It is discovered that the wheel rolls the concrete in a pure rolling manner and crushes the concrete downwards, instead of crushing it forward, as long as the concrete is not higher than the wheel axle. The concrete is compressed into powder in-situ by the wheel and then is brought to bottom of the wheel. The powder under the wheel is loose and thus is not able to sustain wheel braking. It is also found that after being rolled by the wheel the concrete exhibits either of two states, i.e. either 'crushed through' whole thickness of the concrete or 'crushed halfway', depending on combination of strength of the concrete, thickness of the concrete, vertical load the wheel carries, tire dimension and tire pressure. A new EMAS design concept is developed that if an EMAS design results in the 'crushed through' state for the main gears while the 'crushed halfway' state for the nose gear, the arresting bed would be optimal to accommodate the large difference in strength between the nose gear and the main gear of an aircraft.

Wheel-running reinforcement in free-feeding and food-deprived rats.

PubMed

Belke, Terry W; Pierce, W David

2016-03-01

Rats experiencing sessions of 30min free access to wheel running were assigned to ad-lib and food-deprived groups, and given additional sessions of free wheel activity. Subsequently, both ad-lib and deprived rats lever pressed for 60s of wheel running on fixed ratio (FR) 1, variable ratio (VR) 3, VR 5, and VR 10 schedules, and on a response-initiated variable interval (VI) 30s schedule. Finally, the ad-lib rats were switched to food deprivation and the food-deprived rats were switched to free food, as rats continued responding on the response-initiated VI 30-s schedule. Wheel running functioned as reinforcement for both ad-lib and food-deprived rats. Food-deprived rats, however, ran faster and had higher overall lever-pressing rates than free-feeding rats. On the VR schedules, wheel-running rates positively correlated with local and overall lever pressing rates for deprived, but not ad-lib rats. On the response-initiated VI 30s schedule, wheel-running rates and lever-pressing rates changed for ad-lib rats switched to food deprivation, but not for food-deprived rats switched to free-feeding. The overall pattern of results suggested different sources of control for wheel running: intrinsic motivation, contingencies of automatic reinforcement, and food-restricted wheel running. An implication is that generalizations about operant responding for wheel running in food-deprived rats may not extend to wheel running and operant responding of free-feeding animals. Copyright © 2015 Elsevier B.V. All rights reserved.

Wheel-running attenuates intravenous cocaine self-administration in rats: sex differences.

PubMed

Cosgrove, Kelly P; Hunter, Robb G; Carroll, Marilyn E

2002-10-01

This experiment examines the effect of access to a running-wheel on intravenous cocaine self-administration in male and female rats. Rats maintained at 85% of their free-feeding body weight were first exposed to the running-wheel alone during the 6-h sessions until behavior stabilized for 14 days. Intravenous cannulae were then implanted, and the rats were trained to self-administer a low dose of cocaine (0.2 mg/kg) under a fixed-ratio (FR 1) schedule during the 6-h sessions, while the wheel remained inactive and cocaine self-administration stabilized (cocaine-only condition). Next, the wheel access and cocaine self-administration were concurrently available followed by a period of cocaine-only. Behavior was allowed to stabilize for 10 days at each phase. During wheel access, cocaine infusions decreased by 21.9% in males and 70.6% in females compared to the cocaine-only condition; the effect was statistically significant in females. Infusions increased to baseline levels when wheel access was terminated. When cocaine infusions were concurrently available, wheel revolutions were reduced by 63.7% and 61.5% in males and females, respectively, compared to the wheel-only condition. This result did not differ due to sex, but it was statistically significant when data from males and females were combined. These results indicate that wheel-running activity had a greater suppressant effect on cocaine self-administration in females than in males, and in females, wheel-running and cocaine self-administration are substitutable as reinforcers.

Wheel/Rail Noise and Vibration : Volume 1. Mechanics of Wheel Rail Noise Generation.

DOT National Transportation Integrated Search

1975-05-01

The final reports are reported of a project to develop a basic understanding of urban transit wheel/rail noise control measures. Analytical models of impedance, response, radiation efficiency, and directivity of wheels and rails are presented and com...

All-wheel drive and winter-weather safety.

DOT National Transportation Integrated Search

2013-03-01

It is frequently stated that people living in northern states, the so called Snowbelt of the United : States, benefit with respect to safety from driving all-wheel or four-wheel drive vehicles as : opposed to front or rear-wheel drive only. This stud...

In-Service Performance and Costs of Methods to Control Urban Rail System Noise

DOT National Transportation Integrated Search

1979-12-01

This study evaluates the acoustic and economic effectiveness of five methods of controlling wheel/rail noise and vibration on urban rail transit systems, namely: rail grinding, wheel truing, resilient wheels, ring-damped wheels, and welded vs. jointe...

Automatic Mechetronic Wheel Light Device

DOEpatents

Khan, Mohammed John Fitzgerald

2004-09-14

A wheel lighting device for illuminating a wheel of a vehicle to increase safety and enhance aesthetics. The device produces the appearance of a "ring of light" on a vehicle's wheels as the vehicle moves. The "ring of light" can automatically change in color and/or brightness according to a vehicle's speed, acceleration, jerk, selection of transmission gears, and/or engine speed. The device provides auxiliary indicator lights by producing light in conjunction with a vehicle's turn signals, hazard lights, alarm systems, and etc. The device comprises a combination of mechanical and electronic components and can be placed on the outer or inner surface of a wheel or made integral to a wheel or wheel cover. The device can be configured for all vehicle types, and is electrically powered by a vehicle's electrical system and/or battery.

Wheel/rail noise generated by a high-speed train investigated with a line array of microphones

NASA Astrophysics Data System (ADS)

Barsikow, B.; King, W. F.; Pfizenmaier, E.

1987-10-01

Radiated noise generated by a high-speed electric train travelling at speeds up to 250 km/h has been measured with a line array of microphones mounted along the wayside in two different orientations. The test train comprised a 103 electric locomotive, four Intercity coaches, and a dynamo coach. Some of the wheels were fitted with experimental wheel-noise absorbers. By using the directional capabilities of the array, the locations of the dominant sources of wheel/rail radiated noise were identified on the wheels. For conventional wheels, these sources lie near or on the rim at an average height of about 0·2 m above the railhead. The effect of wheel-noise absorbers and freshly turned treads on radiated noise were also investigated.

Reinforcement of wheel running in BALB/c mice: role of motor activity and endogenous opioids.

PubMed

Vargas-Pérez, Héctor; Sellings, Laurie H L; Paredes, Raúl G; Prado-Alcalá, Roberto A; Díaz, José-Luis

2008-11-01

The authors investigated the effect of the opioid antagonist naloxone on wheel-running behavior in Balb/c mice. Naloxone delayed the acquisition of wheel-running behavior, but did not reduce the expression of this behavior once acquired. Delayed acquisition was not likely a result of reduced locomotor activity, as naloxone-treated mice did not exhibit reduced wheel running after the behavior was acquired, and they performed normally on the rotarod test. However, naloxone-blocked conditioned place preference for a novel compartment paired previously with wheel running, suggesting that naloxone may delay wheel-running acquisition by blocking the rewarding or reinforcing effects of the behavior. These results suggest that the endogenous opioid system mediates the initial reinforcing effects of wheel running that are important in acquisition of the behavior.

Precision asteroseismology of the pulsating white dwarf GD 1212 using a two-wheel-controlled Kepler spacecraft

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hermes, J. J.; Charpinet, S.; Barclay, Thomas

We present a preliminary analysis of the cool pulsating white dwarf (WD) GD 1212, enabled by more than 11.5 days of space-based photometry obtained during an engineering test of the two-reaction-wheel-controlled Kepler spacecraft. We detect at least 19 independent pulsation modes, ranging from 828.2-1220.8 s, and at least 17 nonlinear combination frequencies of those independent pulsations. Our longest uninterrupted light curve, 9.0 days in length, evidences coherent difference frequencies at periods inaccessible from the ground, up to 14.5 hr, the longest-period signals ever detected in a pulsating WD. These results mark some of the first science to come from amore » two-wheel-controlled Kepler spacecraft, proving the capability for unprecedented discoveries afforded by extending Kepler observations to the ecliptic.« less

Development of wall climbing robot

NASA Astrophysics Data System (ADS)

Kojima, Hisao; Toyama, Ryousei; Kobayashi, Kengo

1992-03-01

A configuration design is presented for a wall-climbing robot with high payload which is capable of moving on diversified surfaces of walls including the wall surface to ceilings in every direction. A developed quadruped wall climbing robot, NINJYA-1, is introduced. NINJYA-1 is composed of legs based on a 3D parallel link mechanism and a VM (Valve-regulated Multiple) sucker which will be able to suck even if there are grooves and a small difference in level. A wall climbing robot which supports rescue operation at a high building using a VM sucker is also introduced. Finally, a wall climbing robot named Disk Rover with a disk-type magnetic wheel is shown. The wheel shape is calculated by FEM. The disk-type magnetic wheel has a force three times more powerful than the one heretofore in use.

The use of a running wheel to measure activity in rodents: relationship to energy balance, general activity, and reward.

PubMed

Novak, Colleen M; Burghardt, Paul R; Levine, James A

2012-03-01

Running wheels are commonly employed to measure rodent physical activity in a variety of contexts, including studies of energy balance and obesity. There is no consensus on the nature of wheel-running activity or its underlying causes, however. Here, we will begin by systematically reviewing how running wheel availability affects physical activity and other aspects of energy balance in laboratory rodents. While wheel running and physical activity in the absence of a wheel commonly correlate in a general sense, in many specific aspects the two do not correspond. In fact, the presence of running wheels alters several aspects of energy balance, including body weight and composition, food intake, and energy expenditure of activity. We contend that wheel-running activity should be considered a behavior in and of itself, reflecting several underlying behavioral processes in addition to a rodent's general, spontaneous activity. These behavioral processes include defensive behavior, predatory aggression, and depression- and anxiety-like behaviors. As it relates to energy balance, wheel running engages several brain systems-including those related to the stress response, mood, and reward, and those responsive to growth factors-that influence energy balance indirectly. We contend that wheel-running behavior represents factors in addition to rodents' tendency to be physically active, engaging additional neural and physiological mechanisms which can then independently alter energy balance and behavior. Given the impact of wheel-running behavior on numerous overlapping systems that influence behavior and physiology, this review outlines the need for careful design and interpretation of studies that utilize running wheels as a means for exercise or as a measurement of general physical activity. Copyright © 2012 Elsevier Ltd. All rights reserved.

The use of a running wheel to measure activity in rodents: Relationship to energy balance, general activity, and reward

PubMed Central

Levine, James A.

2015-01-01

Running wheels are commonly employed to measure rodent physical activity in a variety of contexts, including studies of energy balance and obesity. There is no consensus on the nature of wheel-running activity or its underlying causes, however. Here, we will begin by systematically reviewing how running wheel availability affects physical activity and other aspects of energy balance in laboratory rodents. While wheel running and physical activity in the absence of a wheel commonly correlate in a general sense, in many specific aspects the two do not correspond. In fact, the presence of running wheels alters several aspects of energy balance, including body weight and composition, food intake, and energy expenditure of activity. We contend that wheel-running activity should be considered a behavior in and of itself, reflecting several underlying behavioral processes in addition to a rodent's general, spontaneous activity. These behavioral processes include defensive behavior, predatory aggression, and depression- and anxiety-like behaviors. As it relates to energy balance, wheel running engages several brain systems—including those related to the stress response, mood, and reward, and those responsive to growth factors—that influence energy balance indirectly. We contend that wheel-running behavior represents factors in addition to rodents' tendency to be physically active, engaging additional neural and physiological mechanisms which can then independently alter energy balance and behavior. Given the impact of wheel-running behavior on numerous overlapping systems that influence behavior and physiology, this review outlines the need for careful design and interpretation of studies that utilize running wheels as a means for exercise or as a measurement of general physical activity. PMID:22230703

Tracked Vehicle Road Wheel Puller

DTIC Science & Technology

2009-02-01

employed for removing smaller-size components, such as bolts and the like. U.S. Patent No. 5,410,792, issued to Freeman (3), discloses a caster wheel ...separation of the rubberized annular layer from the outer annular surface of the wheel . Figure 5 further illustrates a modification of the wheel puller...2001. 2. Rubino et al. Pulling Tool. U.S. Patent 5,479,688, 1996. 3. Freeman. Caster Wheel Axle Extraction Apparatus. U.S. Patent 5,410,792

14 CFR Appendix D to Part 23 - Wheel Spin-Up and Spring-Back Loads

Code of Federal Regulations, 2014 CFR

2014-01-01

... (0.80 may be used); F Vmax=maximum vertical force on wheel (pounds)=n j W e, where W e and n j are... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Wheel Spin-Up and Spring-Back Loads D.... D Appendix D to Part 23—Wheel Spin-Up and Spring-Back Loads D23.1 Wheel spin-up loads. (a) The...

14 CFR Appendix D to Part 23 - Wheel Spin-Up and Spring-Back Loads

Code of Federal Regulations, 2013 CFR

2013-01-01

... (0.80 may be used); F Vmax=maximum vertical force on wheel (pounds)=n j W e, where W e and n j are... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Wheel Spin-Up and Spring-Back Loads D.... D Appendix D to Part 23—Wheel Spin-Up and Spring-Back Loads D23.1 Wheel spin-up loads. (a) The...

14 CFR Appendix D to Part 23 - Wheel Spin-Up and Spring-Back Loads

Code of Federal Regulations, 2011 CFR

2011-01-01

... (0.80 may be used); F Vmax=maximum vertical force on wheel (pounds)=n j W e, where W e and n j are... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Wheel Spin-Up and Spring-Back Loads D.... D Appendix D to Part 23—Wheel Spin-Up and Spring-Back Loads D23.1 Wheel spin-up loads. (a) The...

14 CFR Appendix D to Part 23 - Wheel Spin-Up and Spring-Back Loads

Code of Federal Regulations, 2010 CFR

2010-01-01

... (0.80 may be used); F Vmax=maximum vertical force on wheel (pounds)=n j W e, where W e and n j are... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Wheel Spin-Up and Spring-Back Loads D.... D Appendix D to Part 23—Wheel Spin-Up and Spring-Back Loads D23.1 Wheel spin-up loads. (a) The...

14 CFR Appendix D to Part 23 - Wheel Spin-Up and Spring-Back Loads

Code of Federal Regulations, 2012 CFR

2012-01-01

... (0.80 may be used); F Vmax=maximum vertical force on wheel (pounds)=n j W e, where W e and n j are... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Wheel Spin-Up and Spring-Back Loads D.... D Appendix D to Part 23—Wheel Spin-Up and Spring-Back Loads D23.1 Wheel spin-up loads. (a) The...

Wheel/Rail Noise and Vibration : Volume 2. Applications to Control of Wheel/Rail Noise.

DOT National Transportation Integrated Search

1975-05-01

The final reports are reported of a project to develop a basic understanding of urban transit wheel/rail noise control measures. Analytical models of impedance, response, radiation efficiency, and directivity of wheels and rails are presented and com...

Shock-absorbing caster wheel is simple and compact

NASA Technical Reports Server (NTRS)

Kindley, R. J.

1968-01-01

Compact shock-absorbing caster wheel mitigates or absorbs shock by a compressible tire which deforms into a cavity between its inner edge and the wheel hub. A tee-shaped annular ring embedded in the tire distributes loads more uniformly throughout both wheel and tire.

The Running Wheel Enhances Food Anticipatory Activity: An Exploratory Study

PubMed Central

Flôres, Danilo E. F. L.; Bettilyon, Crystal N.; Jia, Lori; Yamazaki, Shin

2016-01-01

Rodents anticipate rewarding stimuli such as daily meals, mates, and stimulant drugs. When a single meal is provided daily at a fixed time of day, an increase in activity, known as food anticipatory activity (FAA), occurs several hours before feeding time. The factors affecting the expression of FAA have not been well-studied. Understanding these factors may provide clues to the undiscovered anatomical substrates of food entrainment. In this study we determined whether wheel-running activity, which is also rewarding to rodents, modulated the robustness of FAA. We found that access to a freely rotating wheel enhanced the robustness of FAA. This enhancement was lost when the wheel was removed. In addition, while prior exposure to a running wheel alone did not enhance FAA, the presence of a locked wheel did enhance FAA as long as mice had previously run in the wheel. Together, these data suggest that FAA, like wheel-running activity, is influenced by reward signaling. PMID:27458354

Computation of wheel-rail contact force for non-mapping wheel-rail profile of Translohr tram

NASA Astrophysics Data System (ADS)

Ji, Yuanjin; Ren, Lihui; Zhou, Jinsong

2017-09-01

Translohr tram has steel wheels, in V-like arrangements, as guide wheels. These operate over the guide rails in inverted-V arrangements. However, the horizontal and vertical coordinates of the guide wheels and guide rails are not always mapped one-to-one. In this study, a simplified elastic method is proposed in order to calculate the contact points between the wheels and the rails. By transforming the coordinates, the non-mapping geometric relationship between wheel and rail is converted into a mapping relationship. Considering the Translohr tram's multi-point contact between the guide wheel and the guide rail, the elastic-contact hypothesis take into account the existence of contact patches between the bodies, and the location of the contact points is calculated using a simplified elastic method. In order to speed up the calculation, a multi-dimensional contact table is generated, enabling the use of simulation for Translohr tram running on curvatures with different radii.

The Running Wheel Enhances Food Anticipatory Activity: An Exploratory Study.

PubMed

Flôres, Danilo E F L; Bettilyon, Crystal N; Jia, Lori; Yamazaki, Shin

2016-01-01

Rodents anticipate rewarding stimuli such as daily meals, mates, and stimulant drugs. When a single meal is provided daily at a fixed time of day, an increase in activity, known as food anticipatory activity (FAA), occurs several hours before feeding time. The factors affecting the expression of FAA have not been well-studied. Understanding these factors may provide clues to the undiscovered anatomical substrates of food entrainment. In this study we determined whether wheel-running activity, which is also rewarding to rodents, modulated the robustness of FAA. We found that access to a freely rotating wheel enhanced the robustness of FAA. This enhancement was lost when the wheel was removed. In addition, while prior exposure to a running wheel alone did not enhance FAA, the presence of a locked wheel did enhance FAA as long as mice had previously run in the wheel. Together, these data suggest that FAA, like wheel-running activity, is influenced by reward signaling.

The Four-Ball Gyro and Motorcycle Countersteering

NASA Astrophysics Data System (ADS)

Galli, J. Ronald; Carroll, Bradley W.

2017-04-01

Most two-wheel motorcycle riders know that, at highway speeds, if you want to turn left you push on the left handlebar and pull on the right handlebar. This is called countersteering. Countersteering is counterintuitive since pushing left and pulling right when the front wheel is not spinning would turn the wheel to the right. All good motorcycle instructors teach countersteering but few understand the physics of why it works, even though there is considerable discussion about it among motorcycle riders. This paper gives a simplified explanation of gyroscopic precession and then applies this to the front wheel of a motorcycle using two steps: 1) explaining how the wheel's lean is initiated, and 2) explaining how the lean will cause the wheel to turn. To assist with this discussion and to demonstrate the conclusions, a "wheel" was constructed using copper pipe, a bicycle wheel hub, and one pound of lead in each of four "balls" at the end of the spokes (see Fig. 1).

Noise reduction in urban LRT networks by combining track based solutions.

PubMed

Vogiatzis, Konstantinos; Vanhonacker, Patrick

2016-10-15

The overall objective of the Quiet-Track project is to provide step-changing track based noise mitigation and maintenance schemes for railway rolling noise in LRT (Light Rail Transit) networks. WP 4 in particular focuses on the combination of existing track based solutions to yield a global performance of at least 6dB(A). The validation was carried out using a track section in the network of Athens Metro Line 1 with an existing outside concrete slab track (RHEDA track) where high airborne rolling noise was observed. The procedure for the selection of mitigation measures is based on numerical simulations, combining WRNOISE and IMMI software tools for noise prediction with experimental determination of the required track and vehicle parameters (e.g., rail and wheel roughness). The availability of a detailed rolling noise calculation procedure allows for detailed designing of measures and of ranking individual measures. It achieves this by including the modelling of the wheel/rail source intensity and of the noise propagation with the ability to evaluate the effect of modifications at source level (e.g., grinding, rail dampers, wheel dampers, change in resiliency of wheels and/or rail fixation) and of modifications in the propagation path (absorption at the track base, noise barriers, screening). A relevant combination of existing solutions was selected in the function of the simulation results. Three distinct existing solutions were designed in detail aiming at a high rolling noise attenuation and not affecting the normal operation of the metro system: Action 1: implementation of sound absorbing precast elements (panel type) on the track bed, Action 2: implementation of an absorbing noise barrier with a height of 1.10-1.20m above rail level, and Action 3: installation of rail dampers. The selected solutions were implemented on site and the global performance was measured step by step for comparison with simulations. Copyright © 2015 Elsevier B.V. All rights reserved.

Design of a steering stabilizer based on CAN bus

NASA Astrophysics Data System (ADS)

Zhan, Zhaomin; Yan, Yibin

2018-04-01

This design realizes a posture correction device of griping steering wheel based on CAN bus, which is embedded in the steering wheel of vehicles. The system aims to detect the drivers' abnormal griping postures and provides drivers with classification alerts, by combining the recorded griping postures data and the vehicle speed data that are obtained via the CAN bus. The warning information are automatically stored and retained in the device for 12 months. To enhance the alerting effect, the count of this warning message for both the latest month and the last 12 months are displayed on the dashboard panel. In addition to prevent itself from being blocked and self-detect any faults in advance, the appliance also provide a self-test function, which will communicate with the integrated instrument system in vehicle and do simulation test right after the vehicle power on. This appliance can help to urge and ensure drivers to operate the steering wheel correctly, effectively, and timely; prevent some typical incorrect behaviors which commonly happen along with the change of griping postures, such as the using cellphone, and ultimately, reduce the incidence of traffic accidents.

Detection method based on Kalman filter for high speed rail defect AE signal on wheel-rail rolling rig

NASA Astrophysics Data System (ADS)

Hao, Qiushi; Shen, Yi; Wang, Yan; Zhang, Xin

2018-01-01

Nondestructive test (NDT) of rails has been carried out intermittently in traditional approaches, which highly restricts the detection efficiency under rapid development of high speed railway nowadays. It is necessary to put forward a dynamic rail defect detection method for rail health monitoring. Acoustic emission (AE) as a practical real-time detection technology takes advantage of dynamic AE signal emitted from plastic deformation of material. Detection capacities of AE on rail defects have been verified due to its sensitivity and dynamic merits. Whereas the application under normal train service circumstance has been impeded by synchronous background noises, which are directly linked to the wheel speed. In this paper, surveys on a wheel-rail rolling rig are performed to investigate defect AE signals with varying speed. A dynamic denoising method based on Kalman filter is proposed and its detection effectiveness and flexibility are demonstrated by theory and computational results. Moreover, after comparative analysis of modelling precision at different speeds, it is predicted that the method is also applicable for high speed condition beyond experiments.

Unsteady wake of a rotating tire

NASA Astrophysics Data System (ADS)

Lombard, Jean-Eloi; Moxey, Dave; Xu, Hui; Sherwin, Spencer; Sherwin Lab Team

2015-11-01

For open wheel race-cars, such as IndyCar and Formula One, the wheels are responsible for 40% of the total drag. For road cars drag associated to the wheels and under-carriage can represent 60% of total drag at highway cruise speeds. Experimental observations have reported two or three pairs of counter rotating vortices, the relative importance of which still remains an open question, that interact to form a complex wake. Traditional RANS based methods are typically not well equipped to deal with such highly unsteady flows which motivates research into more physical, unsteady models. Leveraging a high-fidelity spectral/hp element based method a Large Eddy Simulation is performed to give further insight into unsteady characteristics of the wake. In particular the unsteady nature of both the jetting and top vortex pair is reported as well as the time and length scales associated with the vortex core trajectories. Correlation with experimentally obtained particle image velocimetry is presented. The authors acknowledge support from the United Kingdom Turbulence Consortium (UKTC) as well as from the Engineering and Physical Sciences Research Council (EPSRC) for access to ARCHER UK National Supercomputing Service.

Automated Robot Movement in the Mapped Area Using Fuzzy Logic for Wheel Chair Application

NASA Astrophysics Data System (ADS)

Siregar, B.; Efendi, S.; Ramadhana, H.; Andayani, U.; Fahmi, F.

2018-03-01

The difficulties of the disabled to move make them unable to live independently. People with disabilities need supporting device to move from place to place. For that, we proposed a solution that can help people with disabilities to move from one room to another automatically. This study aims to create a wheelchair prototype in the form of a wheeled robot as a means to learn the automatic mobilization. The fuzzy logic algorithm was used to determine motion direction based on initial position, ultrasonic sensors reading in avoiding obstacles, infrared sensors reading as a black line reader for the wheeled robot to move smooth and smartphone as a mobile controller. As a result, smartphones with the Android operating system can control the robot using Bluetooth. Here Bluetooth technology can be used to control the robot from a maximum distance of 15 meters. The proposed algorithm was able to work stable for automatic motion determination based on initial position, and also able to modernize the wheelchair movement from one room to another automatically.

Tuning thermal mismatch between turbine rotor parts with a thermal medium

DOEpatents

Schmidt, Mark Christopher

2001-01-01

In a turbine rotor, an aft shaft wheel and the final-stage wheel of the rotor are coupled together, including by a rabbeted joint. During shutdown and startup of the turbine, a thermal mismatch between the aft shaft wheel and final-stage wheel is avoided by respectively heating and cooling the aft shaft wheel to maintain the thermal mismatch within acceptable limits, thereby avoiding opening of the rabbeted joint and the potential for unbalancing the rotor and rotor vibration. The thermal medium may be supplied by piping in the aft bearing cavity into the cavity between the forward closure plate and the aft shaft wheel.

Innovative grinding wheel design for cost-effective machining of advanced ceramics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Licht, R.H.; Kuo, P.; Liu, S.

2000-05-01

This Final Report covers the Phase II Innovative Grinding Wheel (IGW) program in which Norton Company successfully developed a novel grinding wheel for cost-effective cylindrical grinding of advanced ceramics. In 1995, Norton Company successfully completed the 16-month Phase I technical effort to define requirements, design, develop, and evaluate a next-generation grinding wheel for cost-effective cylindrical grinding of advanced ceramics using small prototype wheels. The Phase II program was initiated to scale-up the new superabrasive wheel specification to larger diameters, 305-mm to 406-mm, required for most production grinding of cylindrical ceramic parts, and to perform in-house and independent validation grinding tests.

Design and jump phenomenon analysis of an eccentric ring energy harvester

NASA Astrophysics Data System (ADS)

Wang, Yu-Jen; Chen, Chung-De

2013-10-01

This paper presents the development of a wheel-mounted eccentric ring energy harvester that is driven by centripetal and gravitational forces during wheel rotation. The natural frequency of the eccentric ring matches the wheel rotation frequency at any car speed because its character length is designed equal to the wheel radius. Consequently, the eccentric ring oscillates with a relatively large swing angle at the wheel speed to generate high levels of power. The nonlinear dynamic behavior of the eccentric ring is investigated to ensure that the proposed design produces steady swing angles, especially at high wheel speeds. Herein, the jump phenomenon of the dynamic motion of the eccentric ring is analyzed by using the Duffing equation and the linearization process. The discriminant value obtained from the analysis confirms that no jump phenomenon occurs at all wheel speeds if the eccentric ring is properly designed. In the experiment, the eccentric ring is integrated with magnets and a coil set to generate 318-442 μW at constant wheel speeds between 300 and 500 rpm. This shows that the proposed device is a potential power source for low-power wheel-mounted electronics, such as pressure sensors, accelerometers, and thermometers.

A bout of voluntary running enhances context conditioned fear, its extinction, and its reconsolidation

PubMed Central

Siette, Joyce; Reichelt, Amy C.; Westbrook, R. Frederick

2014-01-01

Three experiments used rats to examine the effect of a single bout of voluntary activity (wheel running) on the acquisition, extinction, and reconsolidation of context conditioned fear. In Experiment 1, rats provided with access to a wheel for 3 h immediately before or after a shocked exposure to a context froze more when tested in that context than rats provided with access to the wheels 6 h after the shocked exposure or rats not provided with access to the wheels. In Experiment 2, rats provided with access to the wheels immediately before or after a nonshocked exposure to the conditioned context froze less when tested in that context than rats provided with access to the wheels 6 h after the nonshocked exposure or rats not provided with access to the wheels. In Experiment 3, rats provided with access to wheels immediately after an extended nonshocked exposure to the conditioned context again froze less, whereas rats provided with access to the wheels after a brief nonshocked exposure froze more on the subsequent test than sedentary controls. These results show that a single bout of running can enhance acquisition, extinction, and reconsolidation of context conditioned fear. PMID:24429425

Wheelchair users' perceptions of and experiences with power assist wheels.

PubMed

Giacobbi, Peter R; Levy, Charles E; Dietrich, Frederick D; Winkler, Sandra Hubbard; Tillman, Mark D; Chow, John W

2010-03-01

To assess wheelchair users' perceptions of and experiences with power assist wheels using qualitative interview methods. Qualitative evaluations were conducted in a laboratory setting with a focus on users' experiences using power assist wheel in their naturalistic environments. Participants consisted of seven women and 13 men (M(age) = 42.75, SD = 14.68) that included one African American, one Hispanic, 17 whites, and one individual from Zambia. Qualitative interviews were conducted before, during, and after use of a power assist wheel. Main outcome measures included the wheelchair users' evaluations and experiences related to the use of power assist wheels. The primary evaluations included wheeling on challenging terrains, performance of novel activities, social/family aspects, fatigue, and pain. These descriptions indicated that most participants perceived positive experiences with the power assist wheels, including access to new and different activities. Secondary evaluations indicated that the unit was cumbersome and prohibitive for some participants because of difficulties with transport in and out of a vehicle and battery life. Most participants felt that power assist wheels provided more independence and social opportunities. The power assist wheel seems to offer physical and social benefits for most wheelers. Clinicians should consider users' home environment and overall life circumstances before prescribing.

A bout of voluntary running enhances context conditioned fear, its extinction, and its reconsolidation.

PubMed

Siette, Joyce; Reichelt, Amy C; Westbrook, R Frederick

2014-01-15

Three experiments used rats to examine the effect of a single bout of voluntary activity (wheel running) on the acquisition, extinction, and reconsolidation of context conditioned fear. In Experiment 1, rats provided with access to a wheel for 3 h immediately before or after a shocked exposure to a context froze more when tested in that context than rats provided with access to the wheels 6 h after the shocked exposure or rats not provided with access to the wheels. In Experiment 2, rats provided with access to the wheels immediately before or after a nonshocked exposure to the conditioned context froze less when tested in that context than rats provided with access to the wheels 6 h after the nonshocked exposure or rats not provided with access to the wheels. In Experiment 3, rats provided with access to wheels immediately after an extended nonshocked exposure to the conditioned context again froze less, whereas rats provided with access to the wheels after a brief nonshocked exposure froze more on the subsequent test than sedentary controls. These results show that a single bout of running can enhance acquisition, extinction, and reconsolidation of context conditioned fear.

Conditioned taste avoidance induced by forced and voluntary wheel running in rats.

PubMed

Forristall, J R; Hookey, B L; Grant, V L

2007-03-01

Voluntary exercise by rats running in a freely rotating wheel (free wheel) produces conditioned taste avoidance (CTA) of a flavored solution consumed before running [e.g., Lett, B.T., Grant, V.L., 1996. Wheel running induces conditioned taste aversion in rats trained while hungry and thirsty. Physiol. Behav. 59, 699-702]. Forced exercise, swimming or running, also produces CTA in rats [e.g., Masaki, T., Nakajima, S., 2006. Taste aversion induced by forced swimming, voluntary running, forced running, and lithium chloride injection treatments. Physiol. Behav. 88, 411-416]. Energy expenditure may be the critical factor in producing such CTA. If so, forced running in a motorized running wheel should produce CTA equivalent to that produced by a similar amount of voluntary running. In two experiments, we compared forced running in a motorized wheel with voluntary running in a free wheel. Mean distance run over 30 min was equated as closely as possible in the two apparatuses. Both types of exercise produced CTA relative to sedentary, locked-wheel controls. However, voluntary running produced greater CTA than forced running. We consider differences between running in the free and motorized wheels that may account for the differences in strength of CTA.

49 CFR 533.5 - Requirements.

Code of Federal Regulations, 2010 CFR

2010-10-01

... per gallon, in the model year specified as applicable: Table I Model year 2-wheel drive light trucks Captive imports Other 4-wheel drive light trucks Captive imports Other Limited product line light trucks... standard Captive imports Others 2-wheel drive light trucks Captive imports Others 4-wheel drive light...

49 CFR 533.5 - Requirements.

Code of Federal Regulations, 2011 CFR

2011-10-01

... per gallon, in the model year specified as applicable: Table I Model year 2-wheel drive light trucks Captive imports Other 4-wheel drive light trucks Captive imports Other Limited product line light trucks... standard Captive imports Others 2-wheel drive light trucks Captive imports Others 4-wheel drive light...

49 CFR 533.5 - Requirements.

Code of Federal Regulations, 2012 CFR

2012-10-01

... per gallon, in the model year specified as applicable: Table I Model year 2-wheel drive light trucks Captive imports Other 4-wheel drive light trucks Captive imports Other Limited product line light trucks... standard Captive imports Others 2-wheel drive light trucks Captive imports Others 4-wheel drive light...

77 FR 27249 - Certain Steel Wheels From China

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-09

... Steel Wheels From China Determinations On the basis of the record \\1\\ developed in the subject... of certain steel wheels from China, provided for in subheading 8708.70 of the Harmonized Tariff... preliminary determinations by Commerce that imports of certain steel wheels from China were subsidized within...

14 CFR 29.483 - One-wheel landing conditions.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false One-wheel landing conditions. 29.483 Section 29.483 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... One-wheel landing conditions. For the one-wheel landing condition, the rotorcraft is assumed to be in...

14 CFR 27.483 - One-wheel landing conditions.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false One-wheel landing conditions. 27.483 Section 27.483 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... One-wheel landing conditions. For the one-wheel landing condition, the rotorcraft is assumed to be in...

14 CFR 27.483 - One-wheel landing conditions.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false One-wheel landing conditions. 27.483 Section 27.483 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... One-wheel landing conditions. For the one-wheel landing condition, the rotorcraft is assumed to be in...

14 CFR 29.483 - One-wheel landing conditions.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false One-wheel landing conditions. 29.483 Section 29.483 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... One-wheel landing conditions. For the one-wheel landing condition, the rotorcraft is assumed to be in...

16 CFR 1512.12 - Requirements for wheel hubs.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 16 Commercial Practices 2 2014-01-01 2014-01-01 false Requirements for wheel hubs. 1512.12 Section... REGULATIONS REQUIREMENTS FOR BICYCLES Regulations § 1512.12 Requirements for wheel hubs. All bicycles (other than sidewalk bicycles) shall meet the following requirements: (a) Locking devices. Wheels shall be...

16 CFR 1512.12 - Requirements for wheel hubs.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 16 Commercial Practices 2 2012-01-01 2012-01-01 false Requirements for wheel hubs. 1512.12 Section... REGULATIONS REQUIREMENTS FOR BICYCLES Regulations § 1512.12 Requirements for wheel hubs. All bicycles (other than sidewalk bicycles) shall meet the following requirements: (a) Locking devices. Wheels shall be...

Procedures for One-Pass Vehicle Cone Index (VCI1) Determination for Acquisition Support

DTIC Science & Technology

2013-08-01

the VCI of tracked vehicles can be directly compared to that of wheeled vehicles; Priddy and Willoughby, 2006). Measurement of the minimum soil...of the wheel , or number of revolutions per unit time divided by 2π for a track v = forward velocity of vehicle or wheel axle. 12. Trafficability...be tested at the expected gross vehicle weight (GVW) and, for wheeled vehicles, at an appropriate soft-soil tire pressure. For wheeled vehicles

Global Versus Reactive Navigation for Joint UAV-UGV Missions in a Cluttered Environment

DTIC Science & Technology

2012-06-01

spaces. The vehicle uses a two- wheel 5 differential drive system with a third omnidirectional caster for balance. This uncomplicated system saves... wheels , two differential drive wheels and one omni- directional caster wheel . The vehicle changes the direction of its movement by altering the speed of...Virtual Speed Versus Time..........64  Figure 23:  Heading and Yaw Rate Versus Time................64  Figure 24:  Individual Wheel Speeds Versus Time

Method for controlling a vehicle with two or more independently steered wheels

DOEpatents

Reister, David B.; Unseren, Michael A.

1995-01-01

A method (10) for independently controlling each steerable drive wheel (W.sub.i) of a vehicle with two or more such wheels (W.sub.i). An instantaneous center of rotation target (ICR) and a tangential velocity target (v.sup.G) are inputs to a wheel target system (30) which sends the velocity target (v.sub.i.sup.G) and a steering angle target (.theta..sub.i.sup.G) for each drive wheel (W.sub.i) to a pseudovelocity target system (32). The pseudovelocity target system (32) determines a pseudovelocity target (v.sub.P.sup.G) which is compared to a current pseudovelocity (v.sub.P.sup.m) to determine a pseudovelocity error (.epsilon.). The steering angle targets (.theta..sup.G) and the steering angles (.theta..sup.m) are inputs to a steering angle control system (34) which outputs to the steering angle encoders (36), which measure the steering angles (.theta..sup.m). The pseudovelocity error (.epsilon.), the rate of change of the pseudovelocity error ( ), and the wheel slip between each pair of drive wheels (W.sub.i) are used to calculate intermediate control variables which, along with the steering angle targets (.theta..sup.G) are used to calculate the torque to be applied at each wheel (W.sub.i). The current distance traveled for each wheel (W.sub.i) is then calculated. The current wheel velocities (v.sup.m) and steering angle targets (.theta..sup.G) are used to calculate the cumulative and instantaneous wheel slip (e, ) and the current pseudovelocity (v.sub.P.sup.m).

Design and implementation of the flight dynamics system for COMS satellite mission operations

NASA Astrophysics Data System (ADS)

Lee, Byoung-Sun; Hwang, Yoola; Kim, Hae-Yeon; Kim, Jaehoon

2011-04-01

The first Korean multi-mission geostationary Earth orbit satellite, Communications, Ocean, and Meteorological Satellite (COMS) was launched by an Ariane 5 launch vehicle in June 26, 2010. The COMS satellite has three payloads including Ka-band communications, Geostationary Ocean Color Imager, and Meteorological Imager. Although the COMS spacecraft bus is based on the Astrium Eurostar 3000 series, it has only one solar array to the south panel because all of the imaging sensors are located on the north panel. In order to maintain the spacecraft attitude with 5 wheels and 7 thrusters, COMS should perform twice a day wheel off-loading thruster firing operations, which affect on the satellite orbit. COMS flight dynamics system provides the general on-station functions such as orbit determination, orbit prediction, event prediction, station-keeping maneuver planning, station-relocation maneuver planning, and fuel accounting. All orbit related functions in flight dynamics system consider the orbital perturbations due to wheel off-loading operations. There are some specific flight dynamics functions to operate the spacecraft bus such as wheel off-loading management, oscillator updating management, and on-station attitude reacquisition management. In this paper, the design and implementation of the COMS flight dynamics system is presented. An object oriented analysis and design methodology is applied to the flight dynamics system design. Programming language C# within Microsoft .NET framework is used for the implementation of COMS flight dynamics system on Windows based personal computer.

In-Service Performance and Costs of Methods for Control of Urban Rail System Noise : Experimental Design

DOT National Transportation Integrated Search

1976-05-01

This report presents an experimental design for a project to evaluate four techniques for reducing wheel-rail noise on urban rail transit systems: (a) resilient wheels, (b) damped wheels, (c) wheel truing, and (d) rail griding. The design presents th...

29 CFR 1910.241 - Definitions.

Code of Federal Regulations, 2011 CFR

2011-07-01

... reinforced does not cover wheels using such mechanical additions as steel rings, steel cup backs or wire or tape winding. (8) Type 11 flaring cup wheels. Type 11 flaring cup wheels have double diameter... mounting listed for Type 6 straight sided cup wheels definition in subparagraph (9) of this paragraph. Type...

29 CFR 1910.241 - Definitions.

Code of Federal Regulations, 2010 CFR

2010-07-01

... reinforced does not cover wheels using such mechanical additions as steel rings, steel cup backs or wire or tape winding. (8) Type 11 flaring cup wheels. Type 11 flaring cup wheels have double diameter... mounting listed for Type 6 straight sided cup wheels definition in subparagraph (9) of this paragraph. Type...

Auto Mechanics I. Learning Activity Packets (LAPs). Section D--Suspension.

ERIC Educational Resources Information Center

Oklahoma State Board of Vocational and Technical Education, Stillwater. Curriculum and Instructional Materials Center.

This document contains six learning activity packets (LAPs) that outline the study activities for the "suspension" instructional area for an Auto Mechanics I course. The six LAPs cover the following topics: wheel bearings, tires and wheels, wheel balancing, suspension system, steering system, and wheel alignment. Each LAP contains a…

40 CFR 86.235-94 - Dynamometer procedure.

Code of Federal Regulations, 2010 CFR

2010-07-01

..., carbon dioxide, and oxides of nitrogen. (b) As long as an emission sample is not taken, practice runs...) Four-wheel drive vehicles will be tested in a two-wheel drive mode of operation. Full-time four-wheel drive vehicles will have one set of drive wheels temporarily disengaged by the vehicle manufacturer...

16 CFR § 1512.12 - Requirements for wheel hubs.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 16 Commercial Practices 2 2013-01-01 2013-01-01 false Requirements for wheel hubs. § 1512.12... ACT REGULATIONS REQUIREMENTS FOR BICYCLES Regulations § 1512.12 Requirements for wheel hubs. All bicycles (other than sidewalk bicycles) shall meet the following requirements: (a) Locking devices. Wheels...

14 CFR 29.479 - Level landing conditions.

Code of Federal Regulations, 2011 CFR

2011-01-01

... accelerate the wheel rolling assembly up to the specified ground speed, with— (i) The ground speed for... which each wheel contacts the ground simultaneously. (2) An attitude in which the aft wheels contact the ground with the forward wheels just clear of the ground. (b) Loading conditions. The rotorcraft must be...

14 CFR 29.479 - Level landing conditions.

Code of Federal Regulations, 2013 CFR

2013-01-01

... accelerate the wheel rolling assembly up to the specified ground speed, with— (i) The ground speed for... which each wheel contacts the ground simultaneously. (2) An attitude in which the aft wheels contact the ground with the forward wheels just clear of the ground. (b) Loading conditions. The rotorcraft must be...

The Planning Wheel: Value Added Performance.

ERIC Educational Resources Information Center

Murk, Peter J.; Walls, Jeffrey L.

The "Planning Wheel" is an evolution of the original Systems Approach Model (SAM) that was introduced in 1986 by Murk and Galbraith. Unlike most current planning models, which are linear in design and concept, the Planning Wheel bridges the gap between linear and nonlinear processes. The "Program Planning Wheel" is designed to…

New regression model for predicting hand-arm vibration (HAV) of Malaysian Army (MA) three-tonne truck steering wheels.

PubMed

Aziz, Shamsul Akmar Ab; Nuawi, Mohd Zaki; Nor, Mohd Jailani Mohd

2015-01-01

The objective of this study was to present a new method for determination of hand-arm vibration (HAV) in Malaysian Army (MA) three-tonne truck steering wheels based on changes in vehicle speed using regression model and the statistical analysis method known as Integrated Kurtosis-Based Algorithm for Z-Notch Filter Technique Vibro (I-kaz Vibro). The test was conducted for two different road conditions, tarmac and dirt roads. HAV exposure was measured using a Brüel & Kjær Type 3649 vibration analyzer, which is capable of recording HAV exposures from steering wheels. The data was analyzed using I-kaz Vibro to determine the HAV values in relation to varying speeds of a truck and to determine the degree of data scattering for HAV data signals. Based on the results obtained, HAV experienced by drivers can be determined using the daily vibration exposure A(8), I-kaz Vibro coefficient (Ƶ(v)(∞)), and the I-kaz Vibro display. The I-kaz Vibro displays also showed greater scatterings, indicating that the values of Ƶ(v)(∞) and A(8) were increasing. Prediction of HAV exposure was done using the developed regression model and graphical representations of Ƶ(v)(∞). The results of the regression model showed that Ƶ(v)(∞) increased when the vehicle speed and HAV exposure increased. For model validation, predicted and measured noise exposures were compared, and high coefficient of correlation (R(2)) values were obtained, indicating that good agreement was obtained between them. By using the developed regression model, we can easily predict HAV exposure from steering wheels for HAV exposure monitoring.

Reliable fuzzy H∞ control for active suspension of in-wheel motor driven electric vehicles with dynamic damping

NASA Astrophysics Data System (ADS)

Shao, Xinxin; Naghdy, Fazel; Du, Haiping

2017-03-01

A fault-tolerant fuzzy H∞ control design approach for active suspension of in-wheel motor driven electric vehicles in the presence of sprung mass variation, actuator faults and control input constraints is proposed. The controller is designed based on the quarter-car active suspension model with a dynamic-damping-in-wheel-motor-driven-system, in which the suspended motor is operated as a dynamic absorber. The Takagi-Sugeno (T-S) fuzzy model is used to model this suspension with possible sprung mass variation. The parallel-distributed compensation (PDC) scheme is deployed to derive a fault-tolerant fuzzy controller for the T-S fuzzy suspension model. In order to reduce the motor wear caused by the dynamic force transmitted to the in-wheel motor, the dynamic force is taken as an additional controlled output besides the traditional optimization objectives such as sprung mass acceleration, suspension deflection and actuator saturation. The H∞ performance of the proposed controller is derived as linear matrix inequalities (LMIs) comprising three equality constraints which are solved efficiently by means of MATLAB LMI Toolbox. The proposed controller is applied to an electric vehicle suspension and its effectiveness is demonstrated through computer simulation.

Estimation of Longitudinal Force and Sideslip Angle for Intelligent Four-Wheel Independent Drive Electric Vehicles by Observer Iteration and Information Fusion.

PubMed

Chen, Te; Chen, Long; Xu, Xing; Cai, Yingfeng; Jiang, Haobin; Sun, Xiaoqiang

2018-04-20

Exact estimation of longitudinal force and sideslip angle is important for lateral stability and path-following control of four-wheel independent driven electric vehicle. This paper presents an effective method for longitudinal force and sideslip angle estimation by observer iteration and information fusion for four-wheel independent drive electric vehicles. The electric driving wheel model is introduced into the vehicle modeling process and used for longitudinal force estimation, the longitudinal force reconstruction equation is obtained via model decoupling, the a Luenberger observer and high-order sliding mode observer are united for longitudinal force observer design, and the Kalman filter is applied to restrain the influence of noise. Via the estimated longitudinal force, an estimation strategy is then proposed based on observer iteration and information fusion, in which the Luenberger observer is applied to achieve the transcendental estimation utilizing less sensor measurements, the extended Kalman filter is used for a posteriori estimation with higher accuracy, and a fuzzy weight controller is used to enhance the adaptive ability of observer system. Simulations and experiments are carried out, and the effectiveness of proposed estimation method is verified.

Estimation of Longitudinal Force and Sideslip Angle for Intelligent Four-Wheel Independent Drive Electric Vehicles by Observer Iteration and Information Fusion

PubMed Central

Chen, Long; Xu, Xing; Cai, Yingfeng; Jiang, Haobin; Sun, Xiaoqiang

2018-01-01

Exact estimation of longitudinal force and sideslip angle is important for lateral stability and path-following control of four-wheel independent driven electric vehicle. This paper presents an effective method for longitudinal force and sideslip angle estimation by observer iteration and information fusion for four-wheel independent drive electric vehicles. The electric driving wheel model is introduced into the vehicle modeling process and used for longitudinal force estimation, the longitudinal force reconstruction equation is obtained via model decoupling, the a Luenberger observer and high-order sliding mode observer are united for longitudinal force observer design, and the Kalman filter is applied to restrain the influence of noise. Via the estimated longitudinal force, an estimation strategy is then proposed based on observer iteration and information fusion, in which the Luenberger observer is applied to achieve the transcendental estimation utilizing less sensor measurements, the extended Kalman filter is used for a posteriori estimation with higher accuracy, and a fuzzy weight controller is used to enhance the adaptive ability of observer system. Simulations and experiments are carried out, and the effectiveness of proposed estimation method is verified. PMID:29677124

Potential and Limitations of an Improved Method to Produce Dynamometric Wheels

PubMed Central

García de Jalón, Javier

2018-01-01

A new methodology for the estimation of tyre-contact forces is presented. The new procedure is an evolution of a previous method based on harmonic elimination techniques developed with the aim of producing low cost dynamometric wheels. While the original method required stress measurement in many rim radial lines and the fulfillment of some rigid conditions of symmetry, the new methodology described in this article significantly reduces the number of required measurement points and greatly relaxes symmetry constraints. This can be done without compromising the estimation error level. The reduction of the number of measuring radial lines increases the ripple of demodulated signals due to non-eliminated higher order harmonics. Therefore, it is necessary to adapt the calibration procedure to this new scenario. A new calibration procedure that takes into account angular position of the wheel is completely described. This new methodology is tested on a standard commercial five-spoke car wheel. Obtained results are qualitatively compared to those derived from the application of former methodology leading to the conclusion that the new method is both simpler and more robust due to the reduction in the number of measuring points, while contact forces’ estimation error remains at an acceptable level. PMID:29439427

Virtual Sensors for On-line Wheel Wear and Part Roughness Measurement in the Grinding Process

PubMed Central

Arriandiaga, Ander; Portillo, Eva; Sánchez, Jose A.; Cabanes, Itziar; Pombo, Iñigo

2014-01-01

Grinding is an advanced machining process for the manufacturing of valuable complex and accurate parts for high added value sectors such as aerospace, wind generation, etc. Due to the extremely severe conditions inside grinding machines, critical process variables such as part surface finish or grinding wheel wear cannot be easily and cheaply measured on-line. In this paper a virtual sensor for on-line monitoring of those variables is presented. The sensor is based on the modelling ability of Artificial Neural Networks (ANNs) for stochastic and non-linear processes such as grinding; the selected architecture is the Layer-Recurrent neural network. The sensor makes use of the relation between the variables to be measured and power consumption in the wheel spindle, which can be easily measured. A sensor calibration methodology is presented, and the levels of error that can be expected are discussed. Validation of the new sensor is carried out by comparing the sensor's results with actual measurements carried out in an industrial grinding machine. Results show excellent estimation performance for both wheel wear and surface roughness. In the case of wheel wear, the absolute error is within the range of microns (average value 32 μm). In the case of surface finish, the absolute error is well below Ra 1 μm (average value 0.32 μm). The present approach can be easily generalized to other grinding operations. PMID:24854055

Development of a Large Scale, High Speed Wheel Test Facility

NASA Technical Reports Server (NTRS)

Kondoleon, Anthony; Seltzer, Donald; Thornton, Richard; Thompson, Marc

1996-01-01

Draper Laboratory, with its internal research and development budget, has for the past two years been funding a joint effort with the Massachusetts Institute of Technology (MIT) for the development of a large scale, high speed wheel test facility. This facility was developed to perform experiments and carry out evaluations on levitation and propulsion designs for MagLev systems currently under consideration. The facility was developed to rotate a large (2 meter) wheel which could operate with peripheral speeds of greater than 100 meters/second. The rim of the wheel was constructed of a non-magnetic, non-conductive composite material to avoid the generation of errors from spurious forces. A sensor package containing a multi-axis force and torque sensor mounted to the base of the station, provides a signal of the lift and drag forces on the package being tested. Position tables mounted on the station allow for the introduction of errors in real time. A computer controlled data acquisition system was developed around a Macintosh IIfx to record the test data and control the speed of the wheel. This paper describes the development of this test facility. A detailed description of the major components is presented. Recently completed tests carried out on a novel Electrodynamic (EDS) suspension system, developed by MIT as part of this joint effort are described and presented. Adaptation of this facility for linear motor and other propulsion and levitation testing is described.

Association between reported sleep need and sleepiness at the wheel: comparative study on French highways between 1996 and 2011.

PubMed

Quera-Salva, M A; Hartley, S; Sauvagnac-Quera, R; Sagaspe, P; Taillard, J; Contrand, B; Micoulaud, J A; Lagarde, E; Barbot, F; Philip, P

2016-12-21

To investigate the evolution over 15 years of sleep schedules, sleepiness at the wheel and driving risk among highway drivers. Comparative survey including questions on usual sleep schedules and before the trip, sleepiness at the wheel, the Epworth sleepiness scale, Basic Nordic Sleep Questionnaire (BNSQ) and a travel questionnaire. 80% of drivers stopped by the highway patrol agreed to participate in both studies with a total of 3545 drivers in 2011 and 2196 drivers in 1996 interviewed. After standardisation based on sex, age and mean annual driving distance, drivers in 2011 reported shorter sleep time on week days (p<0.0001), and week-ends (p<0.0001) and shorter optimal sleep time (p<0.0001) compared to 1996 drivers. There were more drivers sleepy at the wheel in 2011 than in 1996 (p<0.0001) and 2.5 times more drivers in 2011 than in 1996 had an Epworth sleepiness score >15 indicating severe sleepiness. Even if drivers in 2011 reported good sleep hygiene prior to a highway journey, drivers have reduced their mean weekly sleep duration over 15 years and have a higher risk of sleepiness at the wheel. Sleep hygiene for automobile drivers remains an important concept to address. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

Parametric excitation of tire-wheel assemblies by a stiffness non-uniformity

NASA Astrophysics Data System (ADS)

Stutts, D. S.; Krousgrill, C. M.; Soedel, W.

1995-01-01

A simple model of the effect of a concentrated radial stiffness non-uniformity in a passenger car tire is presented. The model treats the tread band of the tire as a rigid ring supported on a viscoelastic foundation. The distributed radial stiffness is lumped into equivalent horizontal (fore-and-aft) and vertical stiffnesses. The concentrated radial stiffness non-uniformity is modeled by treating the tread band as fixed, and the stiffness non-uniformity as rotating around it at the nominal angular velocity of the wheel. Due to loading, the center of mass of the tread band ring model is displaced upward with respect to the wheel spindle and, therefore, the rotating stiffness non-uniformity is alternately compressed and stretched through one complete rotation. This stretching and compressing of the stiffness non-uniformity results in force transmission to the wheel spindle at twice the nominal angular velocity in frequency, and therefore, would excite a given resonance at one-half the nominal angular wheel velocity that a mass unbalance would. The forcing produced by the stiffness non-uniformity is parametric in nature, thus creating the possibility of parametric resonance. The basic theory of the parametric resonance is explained, and a parameter study using derived lumped parameters based on a typical passenger car tire is performed. This study revealed that parametric resonance in passenger car tires, although possible, is unlikely at normal highway speeds as predicted by this model unless the tire is partially deflated.

Development of a vehicle-track model assembly and numerical method for simulation of wheel-rail dynamic interaction due to unsupported sleepers

NASA Astrophysics Data System (ADS)

Zhu, Jian Jun; Ahmed, A. K. W.; Rakheja, Subhash; Khajepour, Amir

2010-12-01

In practice, it is not very uncommon to find railway track systems with unsupported sleepers due to the uneven settlement of a ballasted track system. These unsupported sleepers are among the major vibration excitations for a train and track system when a train moves forwards on a track. The vibration induced by unsupported sleepers can cause a large dynamic contact force between wheels and rails. For heavily loaded high-speed trains, the deteriorated sleeper support may lead to accelerated degradation of the railway track and vehicle components, and may thus impose safety risk to the operation. This paper presents analyses of a coupled vehicle-track assembly consisting of a roll plane vehicle model, a continuous track system model and an adaptive wheel-rail contact model. In order to improve the simulation efficiency, a numerical approach based on the central finite difference method is proposed in this investigation. The developed model assembly and proposed simulation method are utilised to simulate the vehicle-track dynamic interaction in the presence of unsupported sleepers. The dynamic response in terms of the dynamic wheel-rail interaction force due to one or multiple unsupported sleepers is studied. Important factors influencing the dynamic wheel-rail interaction force in the presence of sleeper voids are also investigated. The results show that the vehicle speed, the gap size and the number of unsupported sleepers primarily dictate the magnitude of impact load which can be significant.

Characterization Parameters for a Three Degree of Freedom Mobile Robot

DTIC Science & Technology

2013-12-01

DARc’s dimensions which contributed to the inertia, force, torque and position equa- tions. We calculated body inertia as 1.93kg·m2 and wheel inertia...separation .316 Wheel Radius Outer/Inner .127 m .085cm Wheel Mass .7055 kg Body Mass 13.542 kg Table 4.1: DAR-C Dimensions The force on each wheel...which used ackeman steering, a technique where wheels are able to rotate relative the robot body . The easiest example of a differentially steered

Orbit Transfer Rocket Engine Technology Program. Automated Preflight Methods Concept Definition. Task E.7

DTIC Science & Technology

1991-12-21

itself. For example, in the case of turbine wheel /blade inspection, remotely obtained blade fatigue data coupled with a life prediction model and...Security, etc. C 2. T/C Assembly for Evidence of Coolant Passage Blockage C 3. HPFTP Turbine Wheel /Blades for Cracks, Fatigue and Damage C 4. HPOTP Turbine... Wheel /Blades for Cracks, Fatigue and Damage C 5. LPFTP Turbine Wheel /Blades for Cracks, Fatigue and Damage C 6. LPOTP Turbine Wheel /Blades for Cracks

Design and optimisation of wheel-rail profiles for adhesion improvement

NASA Astrophysics Data System (ADS)

Liu, B.; Mei, T. X.; Bruni, S.

2016-03-01

This paper describes a study for the optimisation of the wheel profile in the wheel-rail system to increase the overall level of adhesion available at the contact interface, in particular to investigate how the wheel and rail profile combination may be designed to ensure the improved delivery of tractive/braking forces even in poor contact conditions. The research focuses on the geometric combination of both wheel and rail profiles to establish how the contact interface may be optimised to increase the adhesion level, but also to investigate how the change in the property of the contact mechanics at the wheel-rail interface may also lead to changes in the vehicle dynamic behaviour.

A novel safety device with metal counter meshing gears discriminator directly driven by axial flux permanent magnet micromotors based on MEMS technology

NASA Astrophysics Data System (ADS)

Zhang, Weiping; Chen, Wenyuan; Zhao, Xiaolin; Li, Shengyong; Jiang, Yong

2005-08-01

In a novel safety device based on MEMS technology for high consequence systems, the discriminator consists of two groups of metal counter meshing gears and two pawl/ratchet wheel mechanisms. Each group of counter meshing gears is onepiece and driven directly by an axial flux permanent magnet micromotor respectively. The energy-coupling element is an optical shutter with two collimators and a coupler wheel. The safety device's probability is less than 1/106. It is fabricated by combination of an LiGA-like process and precision mechanical engineering. The device has simple structure, few dynamic problems, high strength and strong reliability.

Fixation probability on clique-based graphs

NASA Astrophysics Data System (ADS)

Choi, Jeong-Ok; Yu, Unjong

2018-02-01

The fixation probability of a mutant in the evolutionary dynamics of Moran process is calculated by the Monte-Carlo method on a few families of clique-based graphs. It is shown that the complete suppression of fixation can be realized with the generalized clique-wheel graph in the limit of small wheel-clique ratio and infinite size. The family of clique-star is an amplifier, and clique-arms graph changes from amplifier to suppressor as the fitness of the mutant increases. We demonstrate that the overall structure of a graph can be more important to determine the fixation probability than the degree or the heat heterogeneity. The dependence of the fixation probability on the position of the first mutant is discussed.

An ABS control logic based on wheel force measurement

NASA Astrophysics Data System (ADS)

Capra, D.; Galvagno, E.; Ondrak, V.; van Leeuwen, B.; Vigliani, A.

2012-12-01

The paper presents an anti-lock braking system (ABS) control logic based on the measurement of the longitudinal forces at the hub bearings. The availability of force information allows to design a logic that does not rely on the estimation of the tyre-road friction coefficient, since it continuously tries to exploit the maximum longitudinal tyre force. The logic is designed by means of computer simulation and then tested on a specific hardware in the loop test bench: the experimental results confirm that measured wheel force can lead to a significant improvement of the ABS performances in terms of stopping distance also in the presence of road with variable friction coefficient.

Reaction wheels for kinetic energy storage

NASA Astrophysics Data System (ADS)

Studer, P. A.

1984-11-01

In contrast to all existing reaction wheel implementations, an order of magnitude increase in speed can be obtained efficiently if power to the actuators can be recovered. This allows a combined attitude control-energy storage system to be developed with structure mounted reaction wheels. The feasibility of combining reaction wheels with energy storage wwheels is demonstrated. The power required for control torques is a function of wheel speed but this energy is not dissipated; it is stored in the wheel. The I(2)R loss resulting from a given torque is shown to be constant, independent of the design speed of the motor. What remains, in order to efficiently use high speed wheels (essential for energy storage) for control purposes, is to reduce rotational losses to acceptable levels. Progress was made in permanent magnet motor design for high speed operation. Variable field motors offer more control flexibility and efficiency over a broader speed range.

Highly accurate articulated coordinate measuring machine

DOEpatents

Bieg, Lothar F.; Jokiel, Jr., Bernhard; Ensz, Mark T.; Watson, Robert D.

2003-12-30

Disclosed is a highly accurate articulated coordinate measuring machine, comprising a revolute joint, comprising a circular encoder wheel, having an axis of rotation; a plurality of marks disposed around at least a portion of the circumference of the encoder wheel; bearing means for supporting the encoder wheel, while permitting free rotation of the encoder wheel about the wheel's axis of rotation; and a sensor, rigidly attached to the bearing means, for detecting the motion of at least some of the marks as the encoder wheel rotates; a probe arm, having a proximal end rigidly attached to the encoder wheel, and having a distal end with a probe tip attached thereto; and coordinate processing means, operatively connected to the sensor, for converting the output of the sensor into a set of cylindrical coordinates representing the position of the probe tip relative to a reference cylindrical coordinate system.

Reaction wheels for kinetic energy storage

NASA Technical Reports Server (NTRS)

Studer, P. A.

1984-01-01

In contrast to all existing reaction wheel implementations, an order of magnitude increase in speed can be obtained efficiently if power to the actuators can be recovered. This allows a combined attitude control-energy storage system to be developed with structure mounted reaction wheels. The feasibility of combining reaction wheels with energy storage wwheels is demonstrated. The power required for control torques is a function of wheel speed but this energy is not dissipated; it is stored in the wheel. The I(2)R loss resulting from a given torque is shown to be constant, independent of the design speed of the motor. What remains, in order to efficiently use high speed wheels (essential for energy storage) for control purposes, is to reduce rotational losses to acceptable levels. Progress was made in permanent magnet motor design for high speed operation. Variable field motors offer more control flexibility and efficiency over a broader speed range.

The colour wheels of art, perception, science and physiology

NASA Astrophysics Data System (ADS)

Harkness, Nick

2006-06-01

Colour is not the domain of any one discipline be it art, philosophy, psychology or science. Each discipline has its own colour wheel and this presentation examines the origins and philosophies behind the colour circles of Art, Perception, Science and Physiology (after image) with reference to Aristotle, Robert Boyle, Leonardo da Vinci, Goethe, Ewald Hering and Albert Munsell. The paper analyses and discusses the differences between the four colour wheels using the Natural Colour System® notation as the reference for hue (the position of colours within each of the colour wheels). Examination of the colour wheels shows the dominance of blue in the wheels of art, science and physiology particularly at the expense of green. This paper does not consider the three-dimensionality of colour space its goal was to review the hue of a colour with regard to its position on the respective colour wheels.

77 FR 75697 - Petition for Waiver of Compliance

Federal Register 2010, 2011, 2012, 2013, 2014

2012-12-21

... wheel loads when a rail vehicle traverses a curve. With the right combination of speed, curvature, and... wheels will be equal, i.e., balanced. The curving speed corresponding to this balanced state is referred... the outer wheel load to increase and the inner wheel load to decrease. The manifestation of this load...

16 CFR 1420.3 - Requirements for four-wheel ATVs.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 16 Commercial Practices 2 2010-01-01 2010-01-01 false Requirements for four-wheel ATVs. 1420.3... REGULATIONS REQUIREMENTS FOR ALL TERRAIN VEHICLES § 1420.3 Requirements for four-wheel ATVs. (a) Each ATV shall comply with all applicable provisions of the American National Standard for Four Wheel All-Terrain...

29 CFR 1915.134 - Abrasive wheels.

Code of Federal Regulations, 2012 CFR

2012-07-01

... shall be so mounted as to maintain proper alignment with the wheel, and the guard and its fastenings... safety flanges are required, they shall be used only with wheels designed to fit the flanges. Only safety... wheels shall fit freely on the spindle and shall not be forced on. The spindle nut shall be tightened...

29 CFR 1915.134 - Abrasive wheels.

Code of Federal Regulations, 2013 CFR

2013-07-01

... shall be so mounted as to maintain proper alignment with the wheel, and the guard and its fastenings... safety flanges are required, they shall be used only with wheels designed to fit the flanges. Only safety... wheels shall fit freely on the spindle and shall not be forced on. The spindle nut shall be tightened...

29 CFR 1915.134 - Abrasive wheels.

Code of Federal Regulations, 2014 CFR

2014-07-01

... shall be so mounted as to maintain proper alignment with the wheel, and the guard and its fastenings... safety flanges are required, they shall be used only with wheels designed to fit the flanges. Only safety... wheels shall fit freely on the spindle and shall not be forced on. The spindle nut shall be tightened...

75 FR 56991 - Grant of Authority for Subzone Status Michelin North America, Inc. (Tire Distribution and Wheel...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-09-17

... Status Michelin North America, Inc. (Tire Distribution and Wheel Assembly) Baltimore, MD Pursuant to its... warehouse/distribution and wheel assembly facility of Michelin North America, Inc., located in Elkton, MD... tire accessories warehousing and distribution and wheel assembly at the facility of Michelin North...

Planter closing wheel effects on cotton emergence in a conservation tillage system

USDA-ARS?s Scientific Manuscript database

Closing wheels on a row crop planter help provide good seed-soil contact during planting and can influence emergence and crop stand. Various types of closing wheels are available to producers for use on planters. Seven closing wheel types were used on a row crop planter planting cotton in a conser...

Geneva mechanism. [including star wheel and driver

NASA Technical Reports Server (NTRS)

Summers, R. H.; Kenney, R. L. (Inventor)

1974-01-01

An improved Geneva mechanism is characterized by a driven star-wheel having a segmented cam-follower surface. Star-wheel driver includes a restraining cam having a segmented cam surface for engaging the cam-follower surface of the star-wheel and antifriction rollers pinned to the restraining cam for engaging the cam-follower surface.

77 FR 76027 - PowerWheel Associates; Notice of Termination of Exemption by Implied Surrender and Soliciting...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-12-26

... DEPARTMENT OF ENERGY Federal Energy Regulatory Commission [Project No. 12119-000] PowerWheel... Initiated: November 20, 2012. d. Exemptee: PowerWheel Associates. e. Name and Location of Project: The... Contact Information: Mr. Kenneth R. Broome, PowerWheel Associates, 100 Rocky Creek Road, Woodside, CA...

16 CFR 1512.12 - Requirements for wheel hubs.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 16 Commercial Practices 2 2011-01-01 2011-01-01 false Requirements for wheel hubs. 1512.12 Section... REGULATIONS REQUIREMENTS FOR BICYCLES Regulations § 1512.12 Requirements for wheel hubs. All bicycles (other... hub retention test, § 1512.18(j)(3), to assure that when the locking devices are released the wheel...

16 CFR 1512.12 - Requirements for wheel hubs.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 16 Commercial Practices 2 2010-01-01 2010-01-01 false Requirements for wheel hubs. 1512.12 Section... REGULATIONS REQUIREMENTS FOR BICYCLES Regulations § 1512.12 Requirements for wheel hubs. All bicycles (other... hub retention test, § 1512.18(j)(3), to assure that when the locking devices are released the wheel...

29 CFR 1917.44 - General rules applicable to vehicles. 4

Code of Federal Regulations, 2012 CFR

2012-07-01

... shall first be deflated by valve core removal; and (ix) Before assembly, wheel components shall be... outside the frame of the device for any wheel position within the device. When the wheel assembly is... trailer road wheels prior to disconnection of the trailer and until braking is again provided. Section 49...

49 CFR 570.59 - Service brake system.

Code of Federal Regulations, 2014 CFR

2014-10-01

... the following tests. (1) Roller-type or drive-on platform tests. The force applied by the brake on a front wheel or a rear wheel shall not differ by more than 25 percent from the force applied by the brake on the other front wheel or the other rear wheel respectively. (i) Inspection procedure. The vehicle...

29 CFR 1917.44 - General rules applicable to vehicles. 4

Code of Federal Regulations, 2013 CFR

2013-07-01

... shall first be deflated by valve core removal; and (ix) Before assembly, wheel components shall be... outside the frame of the device for any wheel position within the device. When the wheel assembly is... trailer road wheels prior to disconnection of the trailer and until braking is again provided. Section 49...

29 CFR 1917.44 - General rules applicable to vehicles. 4

Code of Federal Regulations, 2014 CFR

2014-07-01

... shall first be deflated by valve core removal; and (ix) Before assembly, wheel components shall be... outside the frame of the device for any wheel position within the device. When the wheel assembly is... trailer road wheels prior to disconnection of the trailer and until braking is again provided. Section 49...

49 CFR 570.59 - Service brake system.

Code of Federal Regulations, 2010 CFR

2010-10-01

... the following tests. (1) Roller-type or drive-on platform tests. The force applied by the brake on a front wheel or a rear wheel shall not differ by more than 25 percent from the force applied by the brake on the other front wheel or the other rear wheel respectively. (i) Inspection procedure. The vehicle...

49 CFR 570.59 - Service brake system.

Code of Federal Regulations, 2011 CFR

2011-10-01

... the following tests. (1) Roller-type or drive-on platform tests. The force applied by the brake on a front wheel or a rear wheel shall not differ by more than 25 percent from the force applied by the brake on the other front wheel or the other rear wheel respectively. (i) Inspection procedure. The vehicle...

49 CFR 570.59 - Service brake system.

Code of Federal Regulations, 2013 CFR

2013-10-01

... the following tests. (1) Roller-type or drive-on platform tests. The force applied by the brake on a front wheel or a rear wheel shall not differ by more than 25 percent from the force applied by the brake on the other front wheel or the other rear wheel respectively. (i) Inspection procedure. The vehicle...

49 CFR 570.59 - Service brake system.

Code of Federal Regulations, 2012 CFR

2012-10-01

... the following tests. (1) Roller-type or drive-on platform tests. The force applied by the brake on a front wheel or a rear wheel shall not differ by more than 25 percent from the force applied by the brake on the other front wheel or the other rear wheel respectively. (i) Inspection procedure. The vehicle...

Wheel running in the wild.

PubMed

Meijer, Johanna H; Robbers, Yuri

2014-07-07

The importance of exercise for health and neurogenesis is becoming increasingly clear. Wheel running is often used in the laboratory for triggering enhanced activity levels, despite the common objection that this behaviour is an artefact of captivity and merely signifies neurosis or stereotypy. If wheel running is indeed caused by captive housing, wild mice are not expected to use a running wheel in nature. This however, to our knowledge, has never been tested. Here, we show that when running wheels are placed in nature, they are frequently used by wild mice, also when no extrinsic reward is provided. Bout lengths of running wheel behaviour in the wild match those for captive mice. This finding falsifies one criterion for stereotypic behaviour, and suggests that running wheel activity is an elective behaviour. In a time when lifestyle in general and lack of exercise in particular are a major cause of disease in the modern world, research into physical activity is of utmost importance. Our findings may help alleviate the main concern regarding the use of running wheels in research on exercise.

Fault detection method for railway wheel flat using an adaptive multiscale morphological filter

NASA Astrophysics Data System (ADS)

Li, Yifan; Zuo, Ming J.; Lin, Jianhui; Liu, Jianxin

2017-02-01

This study explores the capacity of the morphology analysis for railway wheel flat fault detection. A dynamic model of vehicle systems with 56 degrees of freedom was set up along with a wheel flat model to calculate the dynamic responses of axle box. The vehicle axle box vibration signal is complicated because it not only contains the information of wheel defect, but also includes track condition information. Thus, how to extract the influential features of wheels from strong background noise effectively is a typical key issue for railway wheel fault detection. In this paper, an algorithm for adaptive multiscale morphological filtering (AMMF) was proposed, and its effect was evaluated by a simulated signal. And then this algorithm was employed to study the axle box vibration caused by wheel flats, as well as the influence of track irregularity and vehicle running speed on diagnosis results. Finally, the effectiveness of the proposed method was verified by bench testing. Research results demonstrate that the AMMF extracts the influential characteristic of axle box vibration signals effectively and can diagnose wheel flat faults in real time.

Determining Wheel-Soil Interaction Loads Using a Meshfree Finite Element Approach Assisting Future Missions with Rover Wheel Design

NASA Technical Reports Server (NTRS)

Contreras, Michael T.; Peng, Chia-Yen; Wang, Dongdong; Chen, Jiun-Shyan

2012-01-01

A wheel experiencing sinkage and slippage events poses a high risk to rover missions as evidenced by recent mobility challenges on the Mars Exploration Rover (MER) project. Because several factors contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc., there are significant benefits to modeling these events to a sufficient degree of complexity. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree finite element approaches enable simulations that capture sufficient detail of wheel-soil interaction while remaining computationally feasible. This study demonstrates some of the large deformation modeling capability of meshfree methods and the realistic solutions obtained by accounting for the soil material properties. A benchmark wheel-soil interaction problem is developed and analyzed using a specific class of meshfree methods called Reproducing Kernel Particle Method (RKPM). The benchmark problem is also analyzed using a commercially available finite element approach with Lagrangian meshing for comparison. RKPM results are comparable to classical pressure-sinkage terramechanics relationships proposed by Bekker-Wong. Pending experimental calibration by future work, the meshfree modeling technique will be a viable simulation tool for trade studies assisting rover wheel design.

Adult wheel access interaction with activity and boldness personality in Siberian dwarf hamsters (Phodopus sungorus).

PubMed

Kanda, L Leann; Abdulhay, Amir; Erickson, Caitlin

2017-05-01

Individual animal personalities interact with environmental conditions to generate differences in behavior, a phenomenon of growing interest for understanding the effects of environmental enrichment on captive animals. Wheels are common environmental enrichment for laboratory rodents, but studies conflict on how this influences behavior, and interaction of wheels with individual personalities has rarely been examined. We examined whether wheel access altered personality profiles in adult Siberian dwarf hamsters. We assayed animals in a tunnel maze twice for baseline personality, then again at two and at seven weeks after the experimental group was provisioned with wheels in their home cages. Linear mixed model selection was used to assess changes in behavior over time and across environmental gradient of wheel exposure. While animals showed consistent inter-individual differences in activity, activity personality did not change upon exposure to a wheel. Boldness also varies among individuals, and there is evidence for female boldness scores converging after wheel exposure, that is, opposite shifts in behavior by high and low boldness individuals, although sample size is too small for the mixed model results to be robust. In general, Siberian dwarf hamsters appear to show low behavioral plasticity, particularly in general activity, in response to running wheels. Copyright © 2017 Elsevier B.V. All rights reserved.

Taste avoidance induced by wheel running: effects of backward pairings and robustness of conditioned taste aversion.

PubMed

Salvy, Sarah-Jeanne; Pierce, W David; Heth, Donald C; Russell, James C

2004-09-15

Rats repeatedly exposed to a distinctive novel solution (conditioned stimulus, CS) followed by the opportunity to run in a wheel subsequently drink less of this solution. Investigations on this phenomenon indicate that wheel running is an effective unconditioned stimulus (US) for establishing conditioned taste aversion (CTA) when using a forward conditioning procedure (i.e., the US-wheel running follows the CS-taste). However, other studies show that wheel running produces reliable preference for a distinctive place when pairings are backward (i.e., the CS-location follows the US-wheel running). One possibility to account for these results is that rewarding aftereffects of wheel running conditioned preference to the CS. The main objective of the present study was to assess the effects of backward conditioning using wheel running as the US and a distinctive taste as the CS. In a between-groups design, two experimental groups [i.e., forward (FC) and backward conditioning (BC)] and two control groups [CS-taste alone (TA) and CS-US unpaired (UNP)] were compared. Results from this experiment indicated that there is less suppression of drinking when a CS-taste followed a bout of wheel running. In fact, rats in the BC group drank more of the paired solution than all the other groups.

Position and force control of a vehicle with two or more steerable drive wheels

DOE Office of Scientific and Technical Information (OSTI.GOV)

Reister, D.B.; Unseren, M.A.

1992-10-01

When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach tomore » the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.« less

Modelling, validation and analysis of a three-dimensional railway vehicle-track system model with linear and nonlinear track properties in the presence of wheel flats

NASA Astrophysics Data System (ADS)

Uzzal, R. U. A.; Ahmed, A. K. W.; Bhat, R. B.

2013-11-01

This paper presents dynamic contact loads at wheel-rail contact point in a three-dimensional railway vehicle-track model as well as dynamic response at vehicle-track component levels in the presence of wheel flats. The 17-degrees of freedom lumped mass vehicle is modelled as a full car body, two bogies and four wheelsets, whereas the railway track is modelled as two parallel Timoshenko beams periodically supported by lumped masses representing the sleepers. The rail beam is also supported by nonlinear spring and damper elements representing the railpad and ballast. In order to ensure the interactions between the railpads, a shear parameter beneath the rail beams has also been considered into the model. The wheel-rail contact is modelled using nonlinear Hertzian contact theory. In order to solve the coupled partial and ordinary differential equations of the vehicle-track system, modal analysis method is employed. Idealised Haversine wheel flats with the rounded corner are included in the wheel-rail contact model. The developed model is validated with the existing measured and analytical data available in the literature. The nonlinear model is then employed to investigate the wheel-rail impact forces that arise in the wheel-rail interface due to the presence of wheel flats. The validated model is further employed to investigate the dynamic responses of vehicle and track components in terms of displacement, velocity, and acceleration in the presence of single wheel flat.

Influence of wheel size on muscle activity and tri-axial accelerations during cross-country mountain biking.

PubMed

Hurst, Howard Thomas; Sinclair, Jonathan; Atkins, Stephen; Rylands, Lee; Metcalfe, John

2017-07-01

This study aimed to investigate the influence of different mountain bike wheel diameters on muscle activity and whether larger diameter wheels attenuate muscle vibrations during cross-country riding. Nine male competitive mountain bikers (age 34.7 ± 10.7 years; stature 177.7 ± 5.6 cm; body mass 73.2 ± 8.6 kg) participated in the study. Riders performed one lap at race pace on 26, 27.5 and 29 inch wheeled mountain bikes. sEMG and acceleration (RMS) were recorded for the full lap and during ascent and descent phases at the gastrocnemius, vastus lateralis, biceps brachii and triceps brachii. No significant main effects were found by wheel size for each of the four muscle groups for sEMG or acceleration during the full lap and for ascent and descent (P > .05). When data were analysed between muscle groups, significant differences were found between biceps brachii and triceps brachii (P < .05) for all wheel sizes and all phases of the lap with the exception of for the 26 inch wheel during the descent. Findings suggest wheel diameter has no influence on muscle activity and vibration during mountain biking. However, more activity was observed in the biceps brachii during 26 inch wheel descending. This is possibly due to an increased need to manoeuvre the front wheel over obstacles.

Grinding assembly, grinding apparatus, weld joint defect repair system, and methods

DOEpatents

Larsen, Eric D.; Watkins, Arthur D.; Bitsoi, Rodney J.; Pace, David P.

2005-09-27

A grinding assembly for grinding a weld joint of a workpiece includes a grinder apparatus, a grinder apparatus includes a grinding wheel configured to grind the weld joint, a member configured to receive the grinding wheel, the member being configured to be removably attached to the grinder apparatus, and a sensor assembly configured to detect a contact between the grinding wheel and the workpiece. The grinding assembly also includes a processing circuitry in communication with the grinder apparatus and configured to control operations of the grinder apparatus, the processing circuitry configured to receive weld defect information of the weld joint from an inspection assembly to create a contour grinding profile to grind the weld joint in a predetermined shape based on the received weld defect information, and a manipulator having an end configured to carry the grinder apparatus, the manipulator further configured to operate in multiple dimensions.

Tire-road friction estimation and traction control strategy for motorized electric vehicle.

PubMed

Jin, Li-Qiang; Ling, Mingze; Yue, Weiqiang

2017-01-01

In this paper, an optimal longitudinal slip ratio system for real-time identification of electric vehicle (EV) with motored wheels is proposed based on the adhesion between tire and road surface. First and foremost, the optimal longitudinal slip rate torque control can be identified in real time by calculating the derivative and slip rate of the adhesion coefficient. Secondly, the vehicle speed estimation method is also brought. Thirdly, an ideal vehicle simulation model is proposed to verify the algorithm with simulation, and we find that the slip ratio corresponds to the detection of the adhesion limit in real time. Finally, the proposed strategy is applied to traction control system (TCS). The results showed that the method can effectively identify the state of wheel and calculate the optimal slip ratio without wheel speed sensor; in the meantime, it can improve the accelerated stability of electric vehicle with traction control system (TCS).

Improving Odometric Accuracy for an Autonomous Electric Cart.

PubMed

Toledo, Jonay; Piñeiro, Jose D; Arnay, Rafael; Acosta, Daniel; Acosta, Leopoldo

2018-01-12

In this paper, a study of the odometric system for the autonomous cart Verdino, which is an electric vehicle based on a golf cart, is presented. A mathematical model of the odometric system is derived from cart movement equations, and is used to compute the vehicle position and orientation. The inputs of the system are the odometry encoders, and the model uses the wheels diameter and distance between wheels as parameters. With this model, a least square minimization is made in order to get the nominal best parameters. This model is updated, including a real time wheel diameter measurement improving the accuracy of the results. A neural network model is used in order to learn the odometric model from data. Tests are made using this neural network in several configurations and the results are compared to the mathematical model, showing that the neural network can outperform the first proposed model.

Operationality Improvement Control of Electric Power Assisted Wheelchair by Fuzzy Algorithm Considering Posture Angle

NASA Astrophysics Data System (ADS)

Murakami, Hiroki; Seki, Hirokazu; Minakata, Hideaki; Tadakuma, Susumu

This paper describes a novel operationality improvement control for electric power assisted wheelchairs. “Electric power assisted wheelchair” which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of the straight and circular road driving must be further improved because the two wheels drive independently. This paper proposes a novel operationality improvement control by fuzzy algorithm to realize the stable driving on straight and circular roads. The suitable assisted torque of the right and left wheels is determined by fuzzy algorithm based on the posture angular velocity, the posture angle of the wheelchair, the human input torque proportion and the total human torque of the right and left wheels. Some experiments on the practical roads show the effectiveness of the proposed control system.

Validation of the Activities of Community Transportation model for individuals with cognitive impairments.

PubMed

Sohlberg, McKay Moore; Fickas, Stephen; Lemoncello, Rik; Hung, Pei-Fang

2009-01-01

To develop a theoretical, functional model of community navigation for individuals with cognitive impairments: the Activities of Community Transportation (ACTs). Iterative design using qualitative methods (i.e. document review, focus groups and observations). Four agencies providing travel training to adults with cognitive impairments in the USA participated in the validation study. A thorough document review and series of focus groups led to the development of a comprehensive model (ACTs Wheels) delineating the requisite steps and skills for community navigation. The model was validated and updated based on observations of 395 actual trips by travellers with navigational challenges from the four participating agencies. Results revealed that the 'ACTs Wheel' models were complete and comprehensive. The 'ACTs Wheels' represent a comprehensive model of the steps needed to navigate to destinations using paratransit and fixed-route public transportation systems for travellers with cognitive impairments. Suggestions are made for future investigations of community transportation for this population.

A numerical investigation on the efficiency of range extending systems using Advanced Vehicle Simulator

NASA Astrophysics Data System (ADS)

Varnhagen, Scott; Same, Adam; Remillard, Jesse; Park, Jae Wan

2011-03-01

Series plug-in hybrid electric vehicles of varying engine configuration and battery capacity are modeled using Advanced Vehicle Simulator (ADVISOR). The performance of these vehicles is analyzed on the bases of energy consumption and greenhouse gas emissions on the tank-to-wheel and well-to-wheel paths. Both city and highway driving conditions are considered during the simulation. When simulated on the well-to-wheel path, it is shown that the range extender with a Wankel rotary engine consumes less energy and emits fewer greenhouse gases compared to the other systems with reciprocating engines during many driving cycles. The rotary engine has a higher power-to-weight ratio and lower noise, vibration and harshness compared to conventional reciprocating engines, although performs less efficiently. The benefits of a Wankel engine make it an attractive option for use as a range extender in a plug-in hybrid electric vehicle.