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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 2,   Pages 166-172 doi: 10.1631/FITEE.1400183

Abstract: This research formulates a path-following control problem subjected to wheel slippage and skid and solvesit using a logic-based control scheme for a wheeled mobile robot (WMR).novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slipBased on the derived slip model, the controller for longitudinal motion slip has been synthesized.The designed controller for lateral slip or skid is based on the proposed side friction model and skid

Keywords： Robot modeling     Robot navigation     Slip and skid control     Wheeled mobile robots    

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2,   Pages 193-208 doi: 10.1007/s11465-019-0569-3

Abstract: essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIPAiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the(SSA) task space control for a monopode robot to deal with terrain irregularity.This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximateThe higher layer employs an analytical approximate representation of the sagittal SLIP model to form

Keywords： legged robots     spring-loaded inverted pendulum     task space control     apex return map     deadbeat control     irregular    

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Study on micro-texture and skid resistance of aggregate during polishing

Zhenyu QIAN, Lingjian MENG

Frontiers of Structural and Civil Engineering 2017, Volume 11, Issue 3,   Pages 346-352 doi: 10.1007/s11709-017-0409-7

Abstract: The skid resistance performance of pavement is closely related to the micro-texture of pavement aggregate, while there is very few research on the relationship between micro-texture and the skid resistance.effect on aggregate is simulated by Wehner/Schulze (W/S) device, during the polishing procedure, the skidThe contribution of micro-texture to the skid resistance can be described with the secondary polynomial

Keywords： skid resistance of pavement     micro-texture     aggregates     polishing test    

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Chemically reactive solute transfer in a boundary layer slip flow along a stretching cylinder

Swati Mukhopadhyay

Frontiers of Chemical Science and Engineering 2011, Volume 5, Issue 3,   Pages 385-391 doi: 10.1007/s11705-011-1101-4

Abstract: Velocity slip condition at the boundary is used instead of no-slip condition.The velocity decreases with increasing slip parameter.

Keywords： boundary layer     stretching cylinder     partial slip     mass transfer     similarity solution    

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Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism: modeling

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0697-z

Abstract: A piezoelectric inertial pipeline robot using a “stick-slip” mechanism was proposed to address this requirementA dynamics model of the stick-slip system was established by combining the dynamics model of the drivingExperimental results show that the proposed pipeline robot with inertial stick-slip mechanism has a great

Keywords： pipeline robot     piezoelectric     inertial drive     stick-slip     large load capacity     dynamics model     small    

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Joint slip investigation based on finite element modelling verified by experimental results on wind turbine

Saleh YAGHOOBI, Ahmad SHOOSHTARI

Frontiers of Structural and Civil Engineering 2018, Volume 12, Issue 3,   Pages 341-351 doi: 10.1007/s11709-017-0393-y

Abstract: since the construction clearance between the bolt shank and the bolthole at assembly can cause joint slipFinally, joint slip data for different types of angles, bolt diameter and bolt arrangements are generated

Keywords： Joint slip     cyclic loading     Finite element modelling     Experimental joint behavior     damping ratios (   

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Magnetohydrodynamic slip flow and diffusion of a reactive solute past a permeable flat plate with suction

Krishnendu BHATTACHARYYA, G. C. LAYEK

Frontiers of Chemical Science and Engineering 2011, Volume 5, Issue 4,   Pages 471-476 doi: 10.1007/s11705-011-1130-z

Abstract: The magnetohydrodynamic (MHD) boundary layer slip flow and solute transfer over a porous plate in theThe study reveals that due to the increase in the boundary slip, the concentration decreases and the

Keywords： slip flow     MHD boundary layer     reactive solute diffusion     flat plate     suction/injection    

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simulation for elastic dislocation of the North-Tehran fault: The effects of geologic layering and slip

Pooya ZAKIAN; Hossein ASADI HAYEH

Frontiers of Structural and Civil Engineering 2022, Volume 16, Issue 4,   Pages 533-549 doi: 10.1007/s11709-022-0802-8

Abstract: The influences of both uniform and non-uniform slip distributions were investigated.In addition to the assessment of slip distribution, layering complexity and heterogeneity, the results

Keywords： finite element method     fault dislocation     slip distribution     the North-Tehran fault     heterogeneity     geological    

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Effects of slip length and hydraulic diameter on hydraulic entrance length of microchannels with superhydrophobic

Wenchi GONG, Jun SHEN, Wei DAI, Zeng DENG, Xueqiang DONG, Maoqiong GONG

Frontiers in Energy 2020, Volume 14, Issue 1,   Pages 127-138 doi: 10.1007/s11708-020-0661-8

Abstract: This paper investigated effects of slip length and hydraulic diameter on the hydraulic entrance lengthThe dimensionless hydraulic entrance length slightly increases with the increasing slip length at approximatelyA new correlation to predict the entrance length in square microchannels with different slip lengths

Keywords： laminar flow     hydraulic entrance length     super hydrophobic surface     slip length     hydraulic diameter    

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Improvement of mechanical behavior of buried pipelines subjected to strike-slip faulting using textured

Mahdi IZADI, Khosrow BARGI

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 5,   Pages 1105-1119 doi: 10.1007/s11709-019-0539-1

Abstract: of a new generation of buried pipelines, dubbed the textured pipeline, which is subjected to strike-slipkinds of buried textured pipelines, with 6 and 12 peripheral triangular facets, subjected to a strike-slip

Keywords： buried pipeline     textured pipeline     local buckling    

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The study of slip line field and upper bound method based on the non-associated flow rule

Zheng Yingren,Deng Chujian,Wang Jinglin

Strategic Study of CAE 2010, Volume 12, Issue 8,   Pages 56-69

Abstract:

The slip line field theory and the upper bound method based on the associatedIn this paper some problems existing in the slip line field theory and the upper bound method based onThe slip line field theory and the upper bound method based on the non-associated flow rule were deducedaccording to the generalized plastic theory , which eliminated some inconsistencies in the slip line

Keywords： slip line field     upper bound method     associated flow rule     non-associated flow rule     generalized plastic    

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Improved genetic algorithm and its application to determination of critical slip surface with arbitrary

LI Liang, CHI Shichun, LIN Gao, CHENG Yungming

Frontiers of Structural and Civil Engineering 2008, Volume 2, Issue 2,   Pages 145-150 doi: 10.1007/s11709-008-0016-8

Abstract: by the local minima encountered in applying the simple genetic algorithm (GA) to search the critical slip

Keywords： information     algorithm     Comparison     generation     feasible    

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engineering measures on displacement and stress field of surrounding rock in tunnels crossing active strike-slip

Frontiers of Structural and Civil Engineering doi: 10.1007/s11709-023-0966-x

Abstract: high-strength concrete-to resist fault dislocation in the surrounding rock near tunnels crossing active strike-slipThe stress field in the modified grouting area changed from shear stress in the fault slip directionresearch results provide a new supporting idea for the surrounding rock of tunnels crossing active strike-slip

Keywords： anti-fault effect     engineering measures     LRAF method     stress and displacement field     tunnel-crossing active faults    

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Laboratory and field evaluation of asphalt pavement surface friction resistance

Zhong WU, Chris ABADIE

Frontiers of Structural and Civil Engineering 2018, Volume 12, Issue 3,   Pages 372-381 doi: 10.1007/s11709-017-0463-1

Abstract: situ devices including Dynamic Friction Tester (DFT), Circular Texture Meter (CTM), and Lock-Wheel SkidThe results have led to develop a procedure for predicting pavement end-of-life skid resistance based

Keywords： friction skid resistance     polishing     PSV     LWST     micro-texture     macro-texture    

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Force fluctuations in sheared granular disks

Mingbo YUAN, Qicheng SUN, Feng JIN

Frontiers of Structural and Civil Engineering 2013, Volume 7, Issue 1,   Pages 46-49 doi: 10.1007/s11709-013-0189-7

Abstract: The internal structure established within granular materials, often observed as force chains, is dominant in controlling bulk mechanical properties. We designed a two-dimensional Hele-Shaw cell to contain photoelastic disks, and two servos were used on the top and right boundaries individually. We experimentally monitored the fluctuations in force on the top plate while slowing the shearing of the well-confined disks and keeping the right boundary at a contact-confined force of 0.2 kN. The particle rearrangements were found to correspond to bulk force drops and were observed in a localized zone with a length of approximately 5 particle diameters. These results help reveal the structure and mechanics of granular materials, and further investigations are ongoing.

Keywords： granular matter     force chain     stick and slip    

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Title Author Date Type Operation

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Journal Article

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Journal Article

Study on micro-texture and skid resistance of aggregate during polishing

Zhenyu QIAN, Lingjian MENG

Journal Article

Chemically reactive solute transfer in a boundary layer slip flow along a stretching cylinder

Swati Mukhopadhyay

Journal Article

Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism: modeling

Journal Article

Joint slip investigation based on finite element modelling verified by experimental results on wind turbine

Saleh YAGHOOBI, Ahmad SHOOSHTARI

Journal Article

Magnetohydrodynamic slip flow and diffusion of a reactive solute past a permeable flat plate with suction

Krishnendu BHATTACHARYYA, G. C. LAYEK

Journal Article

simulation for elastic dislocation of the North-Tehran fault: The effects of geologic layering and slip

Pooya ZAKIAN; Hossein ASADI HAYEH

Journal Article

Effects of slip length and hydraulic diameter on hydraulic entrance length of microchannels with superhydrophobic

Wenchi GONG, Jun SHEN, Wei DAI, Zeng DENG, Xueqiang DONG, Maoqiong GONG

Journal Article

Improvement of mechanical behavior of buried pipelines subjected to strike-slip faulting using textured

Mahdi IZADI, Khosrow BARGI

Journal Article

The study of slip line field and upper bound method based on the non-associated flow rule

Zheng Yingren,Deng Chujian,Wang Jinglin

Journal Article

Improved genetic algorithm and its application to determination of critical slip surface with arbitrary

LI Liang, CHI Shichun, LIN Gao, CHENG Yungming

Journal Article

engineering measures on displacement and stress field of surrounding rock in tunnels crossing active strike-slip

Journal Article

Laboratory and field evaluation of asphalt pavement surface friction resistance

Zhong WU, Chris ABADIE

Journal Article

Force fluctuations in sheared granular disks

Mingbo YUAN, Qicheng SUN, Feng JIN

Journal Article