&lt;title&gt;Using modeling and simulation to evaluate stability and traction performance of a track-laying robotic vehicle&lt;/title&gt;

Gunter, Dave D.; Bylsma, Wesley; Edgar, Kevin J.; Letherwood, Mike D.; Gorsich, David

doi:10.1117/12.603543

Cited by 4 publications

(2 citation statements)

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“…Some codes do not consider track-terrain interaction itself and consider tracked vehicle dynamics simply as wheeled vehicle dynamics. Some codes treat simplified massless mathematical models of track-wheel-terrain interaction and simulate track-related effects as additional forces that act on road wheels [6]. Some advanced fast simulation models for tracked vehicles take into account also inertia properties of tracks.…”

Section: Introductionmentioning

confidence: 99%

Simulating the interaction between a mobile robot and a supporting surface with the help of polygon intersection algorithms

Stadukhin¹

2016

EJSI

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Abstract. A massless track-wheel-terrain interaction model for the real-time simulation of tracked vehicles is suggested. The model is oriented for simulation of tracked vehicles on highly non-smooth urban and industrial terrains that include such elements like stairs, vertical obstacles etc. The suggested model provides realistic tracked vehicle dynamics and is used in the computer simulator of mobile tracked robots RobSim. The computer simulator is used in the training centers of Russian State Atomic Energy Corporation for training the operators of mobile robots. The main feature of such mobile robots is the remote control based on pictures from the onboard cameras. Such a remote control needs from the operators special abil-

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Section: Introductionmentioning

confidence: 99%

Simulating the interaction between a mobile robot and a supporting surface with the help of polygon intersection algorithms

Stadukhin¹

2016

EJSI

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“…31,32 Different conditions were evaluated with or without the motion platform. After each attempt, the subjects were asked to fill in the available questionnaire for the subjective rating of the perception due to psychophysics.…”

Section: Protocolmentioning

confidence: 99%

Motion sickness evaluation and comparison for a static driving simulator and a dynamic driving simulator

Aykent

Merienne

Guillet

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part D:

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is an open access repository that collects the work of Arts et Métiers ParisTech researchers and makes it freely available over the web where possible. Abstract This paper deals with driving simulation and in particular with the important issue of motion sickness. The paper proposes a methodology to evaluate the objective illness rating metrics deduced from the motion sickness dose value and questionnaires for both a static simulator and a dynamic simulator. Accelerations of the vestibular cues (head movements) of the subjects were recorded with and without motion platform activation. In order to compare user experiences in both cases, the head-dynamics-related illness ratings were computed from the obtained accelerations and the motion sickness dose values. For the subjective analysis, the principal component analysis method was used to determine the conflict between the subjective assessment in the static condition and that in the dynamic condition. The principal component analysis method used for the subjective evaluation showed a consistent difference between the answers given in the sickness questionnaire for the static platform case from those for the dynamic platform case. The two-tailed Mann-Whitney U test shows the significance in the differences between the self-reports to the individual questions. According to the two-tailed Mann-Whitney U test, experiencing nausea (p = 0.019 \ 0.05) and dizziness (p = 0.018 \ 0.05) decreased significantly from the static case to the dynamic case. Also, eye strain (p = 0.047 \ 0.05) and tiredness (p = 0.047 \ 0.05) were reduced significantly from the static case to the dynamic case. For the perception fidelity analysis, the Pearson correlation with a confidence interval of 95% was used to study the correlations of each question with the x illness rating component IR x , the y illness rating component IR y , the z illness rating component IR z and the compound illness rating IR tot . The results showed that the longitudinal head dynamics were the main element that induced discomfort for the static platform, whereas vertical head movements were the main factor to provoke discomfort for the dynamic platform case. Also, for the dynamic platform, lateral vestibular-level dynamics were the major element which caused a feeling of fear.

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Steerability of articulated multi-tracked vehicles by flexed posture moving on slippery surface

Kinugasa

Yoshida

Haji

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Serpentine tracked robots -i. e., articulated multitracked vehicles -are designed to move on rough terrains and used for a variety of purposes, including search and rescue operations, planetary exploration and environmental investigations. The steerability of such vehicles depends on its posture and interaction between the vehicle and the ground. In previous research, kinematic models with slip information were derived for articulated multi-tracked vehicles. Such kinematic models, however, do not allow for the slippage of the vehicle that occurs when moving at a high speed or on a slippery surface. In this paper, we derive a dynamic model on which the frictional force is acting between the track shoes of each track of the vehicle and the ground for the slippery conditions. The frictional model neglecting static friction is given by a formula for the friction coefficient function proposed in the field of Teramechanics in order to mainly analyze slip behavior. The model is also used to analyze the steering properties, or steerability of the vehicles. I. INTRODUCTIONSerpentine tracked robots -i. e., articulated multi-tracked vehicles composed of several serially connected mono-tread [1], dual-tread [2], [3], [4], [5] or multi-tread [6], [7] tracked vehicles and steerable mono-tread tracked vehicles with bendable [8], [9], [10], [11], [12], [13], [14] or flexible [15] configuration in order to steer -are designed to move on rough terrains and are used for a variety of purposes, including search and rescue operations, planetary exploration, and environmental investigation. We have developed the flexible mono-tread tracked vehicle [15] and are trying to clarify the steerability under various conditions in order to control the vehicle. We hereafter use the term "articulated multi-tracked vehicles" for all articulated tracked vehicles, including articulated monotread or dual-tread multi-tracked vehicles and steerable monotread tracked vehicles. The steerability of articulated multitracked vehicles depends on their posture and interaction between track shoes and the ground. A mathematical model is needed to analyse the steerability and control the vehicle. Takeuchi [16] derived a kinematic model for an articulated dual-tread dual-tracked vehicle, which Isayama [17] expanded to allow for slippage. However the kinematic models are not useful for analysis of a tracked vehicle maneuvering at a high speed or moving on slippery surface, since the slippage varies depending on the interaction. This has given rise to the need for a dynamic model that takes into consideration

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<title>Using modeling and simulation to evaluate stability and traction performance of a track-laying robotic vehicle</title>

Cited by 4 publications

References 1 publication

Simulating the interaction between a mobile robot and a supporting surface with the help of polygon intersection algorithms

Simulating the interaction between a mobile robot and a supporting surface with the help of polygon intersection algorithms

Motion sickness evaluation and comparison for a static driving simulator and a dynamic driving simulator

Steerability of articulated multi-tracked vehicles by flexed posture moving on slippery surface

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