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Slip Validation and Prediction for Mars Exploration Rovers

Jeng Yen
2008 Sensors & Transducers  
This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rover mission (MER).  ...  This method, with the proper wheel slip and sliding factors, produces accurate simulation of the Mars Exploration rovers, which have been validated with the earth-testing vehicle.  ...  , and John Wright) for supporting the inclusion of the slip model in RSVP, Mark Maimone for fruitful discussion on validating the slip model using the telemetry and VisOdom data.  ... 
doaj:3cca39d7322a4020b48059c4e12c2281 fatcat:ruqnji2jgncknjyppei4hwzjra

Model based wheel slip control via constrained optimal algorithm

Dae Keun Yoo, Liuping Wang
2007 Control Applications (CCA), Proceedings of the IEEE International Conference on  
A master node is also …tted with a re ‡ective memory card for overseeing the interactions between the distributed real-time simulation nodes.  ...  Figure 6.8 shows the longitudinal slip levels of each wheel for the same stop.  ...  /**************************Input Arguments ******************** partition(1).Internal.Address -Contains specified Offset Address, is set by internally by the completepartitionstruct command partition(1  ... 
doi:10.1109/cca.2007.4389405 dblp:conf/IEEEcca/YoonW07 fatcat:7cdqfpm55bgyhohyrqwqmboy5a

Synthesis of a Model-Based Tire Slip Controller

Stefan Solyom, Anders Rantzer, Jens LÜdemann
2004 Vehicle System Dynamics  
The controllers have to be able to maintain a specified tire slip for each wheel during braking.  ...  Trajectory convergence for a class of nonlinear systems is analyzed. The servo problem for piecewise linear systems is treated.  ...  Such a high level integration and interaction is not possible without brake-by-wire technology.  ... 
doi:10.1080/004231105123313868 fatcat:ifxh3lftkzgl7kv6x3gwzymhxu

Control of Humanoid Hopping Based on a SLIP Model [chapter]

Patrick M. Wensing, David E. Orin
2013 Mechanisms and Machine Science  
Center of mass trajectories are planned with a spring-loaded inverted pendulum (SLIP) model and are tracked with a task-space controller.  ...  The structural similarity of these robots to humans makes them natural candidates for applications such as elder care or search and rescue in spaces designed for human occupancy.  ...  Section 3 presents the Task-Space Controller at a high-level and describes the generation of SLIP-based CoM reference trajectories.  ... 
doi:10.1007/978-3-319-00398-6_21 fatcat:qsfcdnnl7zgk5kqgkpcadmoxvm

Tongue Kinematics during Utterances Elicited with the SLIP Technique

Marianne Pouplier
2007 Language and Speech  
the phonological planning level.  ...  The findings are interpreted within a dynamic model of speech production as errors in phasing between the interacting consonant gestures. Tongue kinematics 3  ...  For stimulus presentation, the software PsyScope (Cohen, MacWhinney, Flatt, & Provost, 1993) was used.  ... 
doi:10.1177/00238309070500030201 pmid:17974322 fatcat:rax3j6qbenh6veewmmyahe5fzu

Learning and prediction of slip from visual information

Anelia Angelova, Larry Matthies, Daniel Helmick, Pietro Perona
2007 Journal of Field Robotics  
This paper presents an approach for slip prediction from a distance for wheeled ground robots using visual information as input.  ...  The final slip prediction error is about 20%. The system is intended for improved navigation on steep slopes and rough terrain for Mars rovers. Figure 3.  ...  Clouse and four anonymous reviewers for providing very useful comments on the paper.  ... 
doi:10.1002/rob.20179 fatcat:n22we27oivbynimyn6bqn77a7u

Dynamic action units slip in speech production errors

Louis Goldstein, Marianne Pouplier, Larissa Chen, Elliot Saltzman, Dani Byrd
2007 Cognition  
A classic source of evidence as to the units structuring speech has been patterns observed in speech errors -"slips of the tongue".  ...  Our data are consistent with the hypothesis that speech production results from the assembly of dynamically deWned action units -gestures -in a linguistically structured environment.  ...  Cathe Browman provided insights and foresight that paved the way for this research.  ... 
doi:10.1016/j.cognition.2006.05.010 pmid:16822494 pmcid:PMC2394196 fatcat:js3enqsnavd33gubkxn3ack2t4

Rolling Contact Fatigue Life of Rail for Different Slip Conditions

Jay Prakash Srivastava, Prabir Kumar Sarkar, V R Kiran Meesala, Vinayak Ranjan
2017 Latin American Journal of Solids and Structures  
A three-dimensional elastic-plastic finite element analysis (FEA) is carried out to estimate the rolling contact fatigue (RCF) crack initiation life for varied slip range on the rail arising from operational  ...  Present study combines these effects by translating the wheel load on rail for multiple (twelve) pass in presence of thermal load, contact pressure and traction through a proposed simulation.  ...  The change in the orientation of principal stress axes permits more grains to align in their most favourable orientations for slip and increases the interaction between slip systems.  ... 
doi:10.1590/1679-78254161 fatcat:fjwapo3hu5ennn3jf7im322qqe

Slip activities in polycrystals determined by coupling DIC measurements with crystal plasticity calculations

Adrien Guery, François Hild, Félix Latourte, Stéphane Roux
2016 International journal of plasticity  
However, a good agreement in the major slip system evaluation between experimental observation and computations is observed.  ...  The full-field measurements allow in turn for a direct, local and quantitative comparison with crystal plasticity finite element simulations of the same experiments based on the same mesh.  ...  The values of the material-dependent parameters used in the simulations for the microstructure A 70 are given inTable A.6. Table A.5: Interaction matrix between slip systems.  ... 
doi:10.1016/j.ijplas.2016.01.008 fatcat:bquejogizzarfipxvtywb6u3em

Surface slip during large Owens Valley earthquakes

E. K. Haddon, C. B. Amos, O. Zielke, A. S. Jayko, R. Bürgmann
2016 Geochemistry Geophysics Geosystems  
We present a new, comprehensive record of surface slip based on lidar and field investigation, documenting 162 new measurements of laterally and vertically displaced landforms for 1872 and prehistoric  ...  Summing displacements across subparallel, overlapping rupture traces implies a maximum of 7-11 m and net average of 4.4 6 1.5 m, corresponding to a geologic M w $7.5 for the 1872 event.  ...  Morgan for assistance in the field, and S. Bacon, J. Arrowsmith, R. Weldon, K. Scharer, J. Unruh, C. Madden-Madugo, and D. Haddad for helpful discussions. Constructive reviews by D. Schwartz, R.  ... 
doi:10.1002/2015gc006033 fatcat:ujmde5q74bezpkk6sxynv3dlg4

The relationship between seismic and aseismic slip on the Philippine Fault on Leyte Island: Bayesian modeling of fault slip and geothermal subsidence

John Dale B. Dianala, Romain Jolivet, Marion Y. Thomas, Yo Fukushima, Barry Parsons, Richard Walker
2020 Journal of Geophysical Research - Solid Earth  
Inverting for slip at depth reveals along-strike variations of aseismic slip rate over ∼100 km.  ...  The presence of active hydrothermal systems and rate-strengthening materials provide physical conditions that can promote aseismic slip.  ...  Acknowledgments We would like to thank the Editor and two anonymous reviewers for their comments that helped improve the manuscript. We thank the European Space Agency (ESA) and COMET for  ... 
doi:10.1029/2020jb020052 fatcat:uqtftppynzff5jgfdf6cql5nje

New constraints on fault architecture, slip rates, and strain partitioning beneath Pyramid Lake, Nevada

A. K. Eisses, A. Kell, G. M. Kent, N. W. Driscoll, R. LeRoy Baskin, K. D. Smith, R. E. Karlin, J. N. Louie, S. K. Pullammanappallil
2015 Geosphere  
In contrast, since 9.5 ka, CHIRP imagery provides evidence for three or four major earthquakes, assuming a characteristic offset of 2.5 m per event.  ...  A minimum vertical slip rate of ~1.0 mm/yr is estimated along the Lake Range fault. When combined with fault length, slip rates yield a potential earthquake magnitude range between M6.4 and M7.0.  ...  We also wish to thank IHS Kingdom for their academic license and access to Kingdom Suite software, and QPS for academic pricing for Fledermaus.  ... 
doi:10.1130/ges00821.1 fatcat:ca2jwruiafbf5m26wklv5neneq

Molecular Mechanism of Transition from Catch-Bond to Slip-Bond in Fibrin [article]

Rustem I. Litvinov, Olga Kononova, Farkhad Maksudov, Artem Zhmurov, Kenneth A. Marx, John W. Weisel, Valeri Barsegov
2017 arXiv   pre-print
constant k_0 = 0.11 nm^2 s^-1, and transition distance for dissociation σ_y = 0.25 nm.  ...  Fluctuating bottleneck theory is developed to understand the "catch-to-slip" transition in terms of the interface stiffness κ = 15.7 pN nm ^-1, interface size fluctuations 0.7-2.7 nm, knob 'A' escape rate  ...  Acknowledgements The authors thank Andrey Mekler for technical assistance.  ... 
arXiv:1709.05727v1 fatcat:5iy5m3jglng4dh6gb5hfwztrxe

Experimental modelling of tectonics–erosion–sedimentation interactions in compressional, extensional, and strike–slip settings

Fabien Graveleau, Vincent Strak, Stéphane Dominguez, Jacques Malavieille, Marina Chatton, Isabelle Manighetti, Carole Petit
2015 Geomorphology  
For the strike-slip setting, the complex morphology of the wrench zone, composed of several interacting fault segments, enhances the interactions with the drainage network.  ...  This approach allows for a qualitative and quantitative analysis of landscape evolution in response to active deformation in the three end-member geological settings: compression, extension, and strike-slip  ...  Romano is kindly acknowledged for his crucial technical help when building the experimental apparatus. Several figures were drawn using the free software package GMT (Wessel and Smith, 1991) .  ... 
doi:10.1016/j.geomorph.2015.02.011 fatcat:ew5fljvqyzgmrm6rd3patmztqe

Holocene slip rate of the North Anatolian Fault beneath the Sea of Marmara

A. Polonia, L. Gasperini, A. Amorosi, E. Bonatti, G. Bortoluzzi, N. Çagatay, L. Capotondi, M.-H. Cormier, N. Gorur, C. McHugh, L. Seeber
2004 Earth and Planetary Science Letters  
The North Anatolian Fault (NAF) is a major continental transform system that extends E-W across Turkey for over 1600 km, separating the Anatolian and Eurasian plates.  ...  The resulting average slip rate on the fault is~10 mm/year for the last 10 kyr.  ...  [12, 13] , as a single through-going master strikeslip fault [14] [15] [16] [17] [18] [19] [20] [21] [22] or as a pull-apart system produced by fault segmentation, oversteps and slip partitioning  ... 
doi:10.1016/j.epsl.2004.07.042 fatcat:nkxy3qgy45c2pbszklyt6jkfwm
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