Application of a dynamic pressure-sinkage relationship for lightweight mobile robots
Why this work is in the frame
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Bibliographic record
Abstract
This paper investigates a dynamic pressure-sinkage relationship which can be used in a wheel-soil model to better capture periodic variations observed in sinkage, drawbar pull and normal force as a rigid wheel interacts with loose sandy soil. The dynamic wheel-soil model can be used for wheels with or without grousers. Several case studies are presented to demonstrate the usefulness and applicability of this dynamic pressure-sinkage relationship. Hill climbing experiments were carried out using a smooth-wheel micro rover with a fixed suspension to confirm operational regions of the dynamic pressure-sinkage relationship. Single wheel testbed experiments were carried out to determine how well the model can predict changes in the number and length of the grousers on the wheel. It was concluded that dynamic pressure-sinkage relationship can predict the observed oscillations in the sinkage, drawbar pull and normal force with a single tuning case as the slip ratio and the configuration of the wheel changes.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it