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Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic model is useful to understand the slip characteristics during(More)
In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time(More)
Exploiting wheel slips of mobile robots to improve navigation performance Naim Sidek a & Nilanjan Sarkar b a Faculty of Engineering, Department of Mechatronics Engineering, International Islamic University Malaysia, PO Box 10, 50728, Kuala Lumpur, Malaysia b Department of Mechanical Engineering, Vanderbilt University, VU Station B 351592, 2301 Vanderbilt(More)
A refractive index sensor based modal interference in hollow core photonic crystal fiber (HCPCF) is proposed and demonstrated. The sensor is realized by splicing both ends of a HCPCF section to single mode fiber (SMF). At both splicing points, the HCPCF air holes are fully collapsed by the arc discharge. The collapsed regions excite and recombine core and(More)
A new approach to actuator fault detection in the presence of model uncertainty and disturbances, and its application to a wheeled mobile robot (WMR) are presented in this paper. Robust fault detection is important because of the universal existence of model uncertainties and process disturbances in most systems. This paper proposes a new approach, called(More)
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