Designing and initial testing of a tyre strain sensing system to estimate slip in robotic platforms

Paper


Lutfi, Ali Farooq Lutfi, Low, Tobias and Maxwell, Andrew. 2018. "Designing and initial testing of a tyre strain sensing system to estimate slip in robotic platforms." 2018 Australasian Conference on Robotics and Automation (ACRA 2018). Lincoln, New Zealand 04 - 06 Dec 2018 Australia.
Paper/Presentation Title

Designing and initial testing of a tyre strain sensing system to estimate slip in robotic platforms

Presentation TypePaper
AuthorsLutfi, Ali Farooq Lutfi (Author), Low, Tobias (Author) and Maxwell, Andrew (Author)
Journal or Proceedings TitleProceedings of the 2018 Australasian Conference on Robotics and Automation (ACRA 2018)
Number of Pages10
Year2018
Place of PublicationAustralia
ISBN9781510879584
Web Address (URL) of Paperhttps://ssl.linklings.net/conferences/acra/acra2018_proceedings/views/includes/files/pap107s1-file1.pdf
Web Address (URL) of Conference Proceedingshttps://www.araa.asn.au/conference/acra-2018-2/
Conference/Event2018 Australasian Conference on Robotics and Automation (ACRA 2018)
Event Details
Rank
B
B
B
B
B
B
B
B
B
Event Details
2018 Australasian Conference on Robotics and Automation (ACRA 2018)
Event Date
04 to end of 06 Dec 2018
Event Location
Lincoln, New Zealand
Abstract

Wheel slip estimation is an important element in improving the performance of wheeled mobile robots. Conventional wheel slip estimation methods relied upon sensors which were far from the tyre-ground interface; hence, they required the use of approximated models and complex transformations. A modern method, which directly measures tyre-ground contact quantities utilising in-tyre sensors, helps develop accurate and direct wheel slip estimation techniques. The work presented in this paper represents a first stage towards developing such techniques for small, non-pressurised tyres that are widely used in mobile robots. An optimum sensing system for these tyres is presented. Experimental work is conducted to determine the possibility of bonding the selected system inside the tyre. Static footprint tests are undertaken to derive an optimal design for the sensing system. Image processing is utilised to obtain dimensions of the tyre-ground contact patches provided by these tests. Performance of the produced system design is evaluated with static tests using a custom-built, bench-top rig. Results of these tests demonstrated a sufficient degree of consistency in the measurements of the sensory system. In addition, the strain profiles extracted from the sensors' readings agree with key theoretical facts.

Keywordswheel slip, tyre strain sensing system, mobile robots
Contains Sensitive ContentDoes not contain sensitive content
ANZSRC Field of Research 2020400707. Manufacturing robotics
Public Notes

File reproduced in accordance with the copyright policy of the publisher/author.

Byline AffiliationsSchool of Mechanical and Electrical Engineering
Institution of OriginUniversity of Southern Queensland
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Qi, Haixia, Zhou, Hong, Low, Tobias, Mehdizadeh, S., Tscharke, M. and Banhazi, T.. 2013. "A hybrid WSN system for environment monitoring at poultry buildings." SEAg 2013: Innovative Agricultural Technologies for a Sustainable Future. Barton, Australia 22 - 25 Sep 2013 Barton, ACT, Australia.
From individual Remote Access Laboratory implementations to institutional learning tools
Kist, Alexander A., Gibbings, Peter and Maxwell, Andrew. 2013. "From individual Remote Access Laboratory implementations to institutional learning tools." 2013 IEEE Global Engineering Education Conference (EDUCON). Berlin, Germany 13 - 15 Mar 2013 United States. https://doi.org/10.1109/EduCon.2013.6530254
Estimation of round trip time in distributed real time system architectures
Maiti, Ananda, Kist, Alexander A. and Maxwell, Andrew D.. 2013. "Estimation of round trip time in distributed real time system architectures." Gregory, Mark A. (ed.) Australasian Telecommunication Networks and Applications Conference (ATNAC 2013). Christchurch, New Zealand 20 - 22 Nov 2013 United States. https://doi.org/10.1109/ATNAC.2013.6705357
An inverted remote laboratory - makers and gamers
Maxwell, Andrew D., Orwin, Lindy, Kist, Alexander A., Maiti, Ananda, Midgley, Warren and Ting, Wu. 2013. "An inverted remote laboratory - makers and gamers." Lemckert, Charles, Jenkins, Graham and Lang-Lemckert, Susan (ed.) 24th Annual Conference of the Australasian Association for Engineering Education (AaeE 2013): Work Integrated Learning- Applying Theory to Practice in Engineering Education. Gold Coast, Australia 08 - 11 Dec 2013 Brisbane, Australia.
An overview of system architectures for remote laboratories
Maiti, Ananda, Maxwell, Andrew D. and Kist, Alexander A.. 2013. "An overview of system architectures for remote laboratories." Lee, Mark J. W. (ed.) 2nd IEEE International Conference on Teaching, Assessment and Learning for Engineering (TALE 2013). Kuta, Indonesia 26 - 29 Aug 2013 Piscataway, NJ. United States. https://doi.org/10.1109/TALE.2013.6654520
Performance evaluation of network architectures for collaborative real-time learning systems
Kist, Alexander A., Maiti, Ananda, Maxwell, Andrew D. and Orwin, Lindy. 2013. "Performance evaluation of network architectures for collaborative real-time learning systems." Lee, Mark. J. W. (ed.) 2nd IEEE International Conference on Teaching, Assessment and Learning for Engineering (TALE 2013). Kuta, Indonesia 26 - 29 Aug 2013 Piscataway, NJ. United States. https://doi.org/10.1109/TALE.2013.6654522
Joint subcarrier pairing and resource allocation for adaptive hybrid relay protocol in OFDM systems
Sileh, Ibrahim Khalil, Xiang, Wei and Maxwell, Andrew. 2013. "Joint subcarrier pairing and resource allocation for adaptive hybrid relay protocol in OFDM systems." 24th IEEE International Symposium on Personal Indoor and Mobile Radio Communications (PIMRC 2013). London, United Kingdom 08 - 11 Sep 2013 Piscataway, NJ. United States. https://doi.org/10.1109/PIMRC.2013.6666474
Supporting remote laboratory activities at an institutional level
Kist, Alexander A., Gibbings, Peter, Maxwell, Andrew D. and Jolly, Hannah. 2013. "Supporting remote laboratory activities at an institutional level." International Journal of Online Engineering. 9 (S5), pp. 38-47. https://doi.org/10.3991/ijoe.v9iS5.2772
Monocular vision, optical blur and visual looming as a basis for mobile robot obstacle avoidance
Brookshaw, Iain J. and Low, Tobias. 2012. "Monocular vision, optical blur and visual looming as a basis for mobile robot obstacle avoidance." Dorantes-Gonzalez, Dante J. (ed.) 16th International Conference on Mechatronics Technology (ICMT 2012): Advanced Mechatronics, Precision Measurement and NanoManufacturing. Tianjin, China 16 - 19 Oct 2012 China.
Robot RAL-ly international - Promoting STEM in elementary school across international boundaries using remote access technology
Maxwell, Andrew, Fogarty, Roderick, Gibbings, Peter, Noble, Karen, Kist, Alexander A. and Midgley, Warren. 2013. "Robot RAL-ly international - Promoting STEM in elementary school across international boundaries using remote access technology." 10th International Conference on Remote Engineering and Virtual Instrumentation (REV 2013): Moving from Design to Innovation and Impact. Sydney, Australia 06 - 08 Feb 2013 Piscataway, NJ. United States. https://doi.org/10.1109/REV.2013.6502895
Performance investigation of dynamic topologies in MPLS networks
Aldraho, Abdelnour, Kist, Alexander A. and Maxwell, Andrew. 2012. "Performance investigation of dynamic topologies in MPLS networks." 12th International Symposium on Communications and Information Technologies (ISCIT 2012). Gold Coast, Australia 02 - 05 Oct 2012 Piscataway, NJ. United States. https://doi.org/10.1109/ISCIT.2012.6381045
Network performance and quality of experience of remote access laboratories
Kist, Alexander A. and Maxwell, Andrew D.. 2012. "Network performance and quality of experience of remote access laboratories." International Journal of Online Engineering. 8 (4), pp. 50-57. https://doi.org/10.3991/ijoe.v8i4.2276
Enhancing nursing education with remote access laboratories
Bowtell, Les, Moloney, Clint, Kist, Alexander A., Parker, Victoria, Maxwell, Andrew and Reedy, Natasha. 2012. "Enhancing nursing education with remote access laboratories." International Journal of Online Engineering. 8 (Special Issue), pp. 52-59. https://doi.org/10.3991/ijoe.v8iS4.2279
Performance and quality of experience of remote access laboratories
Kist, Alexander A. and Maxwell, Andrew. 2012. "Performance and quality of experience of remote access laboratories." Lee, Mark J. W. and Leong, Hong Va (ed.) 1st IEEE International Conference on Teaching, Assessment, and Learning for Engineering (TALE 2012): Fostering Innovation and Excellence in Engineering Education. Hong Kong, China 20 - 23 Aug 2012 Piscataway, NJ. United States. https://doi.org/10.1109/TALE.2012.6360346
Going mobile: each small change requires another
Albion, Peter, Jamieson-Proctor, Romina, Redmond, Petrea, Larkin, Kevin and Maxwell, Andrew. 2012. "Going mobile: each small change requires another." Brown, M., Hartnett, M. and Stewart, T. (ed.) ASCILITE 2012: 29th Annual Conference of the Australasian Society for Computers in Learning in Tertiary Education: Future Challenges, Sustainable Futures. Wellington, New Zealand 25 - 28 Nov 2012 Gold Coast, Australia.
Using remote access laboratories in nursing education
Bowtell, Les, Moloney, Clint, Kist, Alexander A., Parker, Victoria, Maxwell, Andrew and Reedy, Natasha. 2012. "Using remote access laboratories in nursing education." 9th International Conference on Remote Engineering and Virtual Instrumentation (REV 2012). Bilbao, Spain 04 - 06 Jun 2012 Piscataway, NJ. United States. https://doi.org/10.1109/REV.2012.6293148
Expanding the concept of remote access laboratories
Kist, Alexander A., Maxwell, Andrew Douglas and Gibbings, Peter D.. 2012. "Expanding the concept of remote access laboratories." 2012 ASEE Annual Conference & Exposition: Spurring Big Ideas in Education (ASEE 2012). San Antonio, United States of America 10 - 13 Jun 2012 United States.
Learning at times and places chosen by the learner: adapting to study with mobile digital devices
Jamieson-Proctor, Romina, Albion, Peter, Larkin, Kevin, Redmond, Petrea, Harris, Julie, Fasso, Wendy, Sander, Teresa, Yuginovich, Trudy and Maxwell, Andrew. 2012. "Learning at times and places chosen by the learner: adapting to study with mobile digital devices." Newhouse, Paul and Pagram, Jeremy (ed.) 2012 Australian Computers in Education Conference: ITs Time: Information Technology in Schools Time (ACEC 2012). Perth, Australia 02 - 05 Oct 2012 Perth, Western Australia.
A pilot study on the relationship between mechanical and electrical loss tangents of glass powder reinforced epoxy composites post-cured in microwaves
Ku, H., Wong, P., Maxwell, A., Huang, J., Fung, H. and Mohan, T.. 2011. "A pilot study on the relationship between mechanical and electrical loss tangents of glass powder reinforced epoxy composites post-cured in microwaves." Zhu, Zeng (ed.) ICKEM 2011: 1st International Conference on Key Engineering Materials. Sanya, China 25 - 27 Mar 2011 Zurich, Switzerland. https://doi.org/10.4028/www.scientific.net/AMR.214.26
Review of e-submission and e-marking to provide quality feedback and minimise turn around times for external students
Maxwell, Andrew and Kist, Alexander A.. 2011. "Review of e-submission and e-marking to provide quality feedback and minimise turn around times for external students." Bernardino, Jorge and Quadrado, José Carlos (ed.) 39th SEFI Annual Conference: Global Engineering Recognition, Sustainability and Mobility (SEFI 2011). Lisbon, Portugal 27 - 30 Sep 2011 Lisbon, Portugal.
Relationship between electrical and mechanical loss tangents of hollow glass powder reinforced epoxy composites: a pilot study
Ku, H., Maxwell, A., Wong, P., Huang, J. and Fung, H.. 2011. "Relationship between electrical and mechanical loss tangents of hollow glass powder reinforced epoxy composites: a pilot study ." Journal of Applied Polymer Science. 119 (5), pp. 2945-2952. https://doi.org/10.1002/app.33009
Exploring a cross-disciplinary research initiative with remote access laboratories: robot RAL-ly as a stimulus for consideration of engineering pathway
Maxwell, Andrew, Noble, Karen, Kist, Alexander A., Fogarty, Roderick, Gibbings, Peter and Midgley, Warren. 2011. "Exploring a cross-disciplinary research initiative with remote access laboratories: robot RAL-ly as a stimulus for consideration of engineering pathway." Al-Abdeli, Yasir M. and Lindsay, Euan (ed.) 22nd Annual Conference of the Australasian Association for Engineering Education (AaeE 2011): Developing Engineers for Social Justice: Community Involvement, Ethics & Sustainability. Fremantle, Australia 05 - 07 Dec 2011 Barton, ACT, Australia.
HCL. Trade Mark No.1044991 (as a series in Class 9, Scientific Apparatus, Measuring Apparatus) registered from 07 March 2005 (for ten years)
Hancock, Nigel and Maxwell, Andrew. 2005. HCL. Trade Mark No.1044991 (as a series in Class 9, Scientific Apparatus, Measuring Apparatus) registered from 07 March 2005 (for ten years). 1044991
HCL [Trademark]
Hancock, Nigel and Maxwell, Andrew. 2006. HCL [Trademark].
Method and apparatus for measuring electrical conductivity
Hancock, Nigel Harold, Maxwell, Andrew Douglas and Ah Fock, Antonio Louis. 2005. Method and apparatus for measuring electrical conductivity. 2005205611
Method and apparatus for measuring electrical conductivity
Hancock, Nigel H., Maxwell, Andrew D. and Ahfock, Tony L.. 2008. Method and apparatus for measuring electrical conductivity. AG01N2702FI
Ground-plane classification for robot navigation: combining multiple cues toward a visual-based learning system
Low, Tobias and Manzanera, Antoine. 2010. "Ground-plane classification for robot navigation: combining multiple cues toward a visual-based learning system." 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010). Singapore 07 - 10 Dec 2010 United States. https://doi.org/10.1109/ICARCV.2010.5707289
Use of wireless tablet PCs as an effective learning and teaching enhancement tool
Xiang, Wei, Goh, Steven, Pather, Selvan, Maxwell, Andrew, Wang, Hao and Ku, Harry. 2009. "Use of wireless tablet PCs as an effective learning and teaching enhancement tool." Foley, Chris (ed.) EDUCAUSE Australasia Conference 2009: Innovate, Collaborate and Sustain. Perth, Australia 03 - 06 May 2009 Wembley, Western Australia.
Automated carbon dioxide measurement via miniaturised chemical reaction chambers under mechatronic control
Maxwell, Andrew, Hancock, Nigel and Tran-Cong, Thanh. 2000. "Automated carbon dioxide measurement via miniaturised chemical reaction chambers under mechatronic control." Billingsley, John (ed.) Mechatronics and machine vision. Baldock, United Kingdom. Research Studies Press. pp. 135-142
Infrastructure for remotely accessible laboratories at the University of Southern Queensland
Ahfock, Tony, Buttsworth, David, Phythian, Mark and Maxwell, Andrew. 2008. "Infrastructure for remotely accessible laboratories at the University of Southern Queensland." Mann, Llewellyn, Thompson, Adam and Howard, Prue (ed.) AaeE 2008: To Industry and Beyond. Yeppoon, Australia 07 - 10 Dec 2008 Canberra, Australia.
Carbon dioxide sensing - a mechatronic approach
Maxwell, Andrew, Hancock, Nigel and Billingsley, John. 1997. "Carbon dioxide sensing - a mechatronic approach." Werner, B. (ed.) 4th Annual Conference on Mechatronics and Machine Vision in Practice (MViP 1997). Toowoomba, Australia 23 - 25 Sep 1997 Los Alamitos, CA. United States. https://doi.org/10.1109/MMVIP.1997.625292
Universal acidity - conductivity relations in commercial bulk starter production
Hancock, N. H., McKinnon, I. and Maxwell, A. D.. 2006. "Universal acidity - conductivity relations in commercial bulk starter production." Australian Journal of Dairy Technology. 61 (2), pp. 189-192.