Operator's, manual : tractor, wheeled, warehouse, gasoline, pneumatic-tired wheels, 4,000 pound drawbar pull, (Minneapolis-Moline model MT 40, Army model MHE 172).

"July 1961."

Organizational maintenance repair parts and special tools lists : tractor, wheeled, warehouse, gasoline, pneumatic tired wheels, 4000 lbs DBP, Minneapolis-Moline model MT40, Army model MHE 172 (FSN 3930-724-3471) ...

"May 1969."

Organizational maintenance manual : tractor, wheeled, warehouse, gasoline, pneumatic-tired wheels, 4,000 lb drawbar pull (Minneapolis-Moline model MT 40, Army model MHE 172)

"July 1961."

Unit, direct support, and general support maintenance repair parts and special tools lists : tractor, wheeled, warehouse, gasoline, pneumatic-tired wheels, 4000 pound drawbar pull, Army model MHE-180 (NSN 3930-00-953-4890), Clark model CTA-40-1615160-RS.

"May 1992."

Organizational maintenance repair parts and special tools lists : tractor, wheeled, warehouse, gasoline, 4-wheel pneumatic tired, 4000 lb drawbar pull, Army model MHE 228, Clark equipment model 2330237, NSN 3930-00-347-6173.

Includes index.

Direct support and general support maintenance repair parts and special tools lists : tractor, wheeled, warehouse gasoline, 4-wheel pneumatic tired, 4000 lb drawbar pull, Army model MHE 228, Clark equipment model 2330237, NSN 3930-00-347-6173.

Includes index.

Direct support and general support maintenance repair parts and special tools lists : tractor, wheeled, warehouse gasoline, 4-wheel pneumatic tired, 4000 lb drawbar pull, Army model MHE 228, Clark equipment model 2330237, NSN 3930-00-347-6173.

Includes index.

Direct support and general support maintenance manual : tractor, wheeled, warehouse gasoline, 4-wheel pneumatic tired, 4000 pound drawbar pull, (Army model MHE-228), (Clark equipment model 2330237), NSN 3930-00-347-6173.

Includes index.

Operator and organizational maintenance manual : tractor, wheeled, warehouse, gasoline, 4-wheel pneumatic tired, 4000 pound drawbar pull, (Army model MHE-228), (Clark equipment model 2330237), NSN 3930-00-347-6173.

Includes index.

Unit, direct support, and general support maintenance repair parts and special tools lists : tractor, wheeled, warehouse, gasoline, 4-wheel pneumatic tired, 4000 lb drawbar pull, Army model MHE 228, Clark Equipment model 2330237, NSN 3930-00-347-6173.

"September 1989."

A lightweight, modular robotic vehicle for the sustainable intensification of agriculture

This paper describes a lightweight, modular and energy efficient robotic vehicle platform designed for broadacre agriculture - the Small Robotic Farm Vehicle (SRFV). The current trend in farming is towards increasingly large machines that optimise the individual farmer’s productivity. Instead, the SRFV is designed to promote the sustainable intensification of agriculture by allowing farmers to concentrate on more important farm management tasks. The robot has been designed with a user-centred approach which focuses the outcomes of the project on the needs of the key project stakeholders. In this way user and environmental considerations for broadacre farming have informed the vehicle platform configuration, locomotion, power requirements and chassis construction. The resultant design is a lightweight, modular four-wheeled differential steer vehicle incorporating custom twin in-hub electric drives with emergency brakes. The vehicle is designed for a balance between low soil impact, stability, energy efficiency and traction. The paper includes modelling of the robot’s dynamics during an emergency brake in order to determine the potential for tipping. The vehicle is powered by a selection of energy sources including rechargeable lithium batteries and petrol-electric generators.

Adaptive compliance control of a multi‐legged stair‐climbing robot based on proprioceptive data

Purpose – The purpose of this paper is to describe an innovative compliance control architecture for hybrid multi‐legged robots. The approach was verified on the hybrid legged‐wheeled robot ASGUARD, which was inspired by quadruped animals. The adaptive compliance controller allows the system to cope with a variety of stairs, very rough terrain, and is also able to move with high velocity on flat ground without changing the control parameters. Design/methodology/approach – The paper shows how this adaptivity results in a versatile controller for hybrid legged‐wheeled robots. For the locomotion control we use an adaptive model of motion pattern generators. The control approach takes into account the proprioceptive information of the torques, which are applied on the legs. The controller itself is embedded on a FPGA‐based, custom designed motor control board. An additional proprioceptive inclination feedback is used to make the same controller more robust in terms of stair‐climbing capabilities. Findings – The robot is well suited for disaster mitigation as well as for urban search and rescue missions, where it is often necessary to place sensors or cameras into dangerous or inaccessible areas to get a better situation awareness for the rescue personnel, before they enter a possibly dangerous area. A rugged, waterproof and dust‐proof corpus and the ability to swim are additional features of the robot. Originality/value – Contrary to existing approaches, a pre‐defined walking pattern for stair‐climbing was not used, but an adaptive approach based only on internal sensor information. In contrast to many other walking pattern based robots, the direct proprioceptive feedback was used in order to modify the internal control loop, thus adapting the compliance of each leg on‐line.

Use of personal mobility devices for first-and-last mile travel: The Macquarie-Ryde trial

Electric-motored personal mobility devices (PMDs) are appearing on Australian roads. While legal to import and own, their use is typically illegal for adult riders within the road transport system. However, these devices could provide an answer to traffic congestion by getting people out of cars for short trips (“first-and-last mile” travel). City of Ryde council, Macquarie University, and Transport for NSW examined PMD use within the road transport system. Stage 1 of the project examined PMD use within a controlled pedestrian environment on the Macquarie University campus. Three PMD categories were used: one-wheelers (an electric unicycle, the Solowheel); two-wheelers (an electric scooter, the Egret); and three-wheelers (the Qugo). The two-wheeled PMD was most effective in terms of flexibility. In contrast, the three-wheeled PMD was most effective in terms of speed. One-wheeled PMD riders were very satisfied with their device, especially at speed, but significant training and practice was required. Two-wheeled PMD riders had less difficulty navigating through pedestrian precincts and favoured the manoeuvrability of the device as the relative narrowness of the two-wheeled PMD made it easier to use on a diversity of path widths. The usability of all PMDs was compromised by the weight of the devices, difficulties in ascending steeper gradients, portability, and parking. This was a limited trial, with a small number of participants and within a unique environment. However, agreement has been reached for a Stage 2 extension into the Macquarie Park business precinct for further real-world trials within a fully functional road transport system.

Glowworm-inspired robot swarm for simultaneous taxis towards multiple radiation sources

This paper presents a glowworm metaphor based distributed algorithm that enables a collection of minimalist mobile robots to split into subgroups, exhibit simultaneous taxis-behavior towards, and rendezvous at multiple radiation sources such as nuclear/hazardous chemical spills and fire-origins in a fire calamity. The algorithm is based on a glowworm swarm optimization (GSO) technique that finds multiple optima of multimodal functions. The algorithm is in the same spirit as the ant-colony optimization (ACO) algorithms, but with several significant differences. The agents in the glowworm algorithm carry a luminescence quantity called luciferin along with them. Agents are thought of as glowworms that emit a light whose intensity is proportional to the associated luciferin. The key feature that is responsible for the working of the algorithm is the use of an adaptive local-decision domain, which we use effectively to detect the multiple source locations of interest. The glowworms have a finite sensor range which defines a hard limit on the local-decision domain used to compute their movements. Extensive simulations validate the feasibility of applying the glowworm algorithm to the problem of multiple source localization. We build four wheeled robots called glowworms to conduct our experiments. We use a preliminary experiment to demonstrate the basic behavioral primitives that enable each glowworm to exhibit taxis behavior towards source locations and later demonstrate a sound localization task using a set of four glowworms.

Active yaw control of a vehicle using a Fuzzy logic algorithm

Yaw rate of a vehicle is highly influenced by the lateral forces generated at the tire contact patch to attain the desired lateral acceleration, and/or by external disturbances resulting from factors such as crosswinds, flat tire or, split-μ braking. The presence of the latter and the insufficiency of the former may lead to undesired yaw motion of a vehicle. This paper proposes a steer-by-wire system based on fuzzy logic as yaw-stability controller for a four-wheeled road vehicle with active front steering. The dynamics governing the yaw behavior of the vehicle has been modeled in MATLAB/Simulink. The fuzzy controller receives the yaw rate error of the vehicle and the steering signal given by the driver as inputs and generates an additional steering angle as output which provides the corrective yaw moment. The results of simulations with various drive input signals show that the yaw stability controller using fuzzy logic proposed in the current study has a good performance in situations involving unexpected yaw motion. The yaw rate errors of a vehicle having the proposed controller are notably smaller than an uncontrolled vehicle's, and the vehicle having the yaw stability controller recovers lateral distance and desired yaw rate more quickly than the uncontrolled vehicle.