{"id":"https://openalex.org/W4387123785","doi":"https://doi.org/10.1109/case56687.2023.10260635","title":"The Effect of Dimensional Parameters on the Performance of DDMRs","display_name":"The Effect of Dimensional Parameters on the Performance of DDMRs","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387123785","doi":"https://doi.org/10.1109/case56687.2023.10260635"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102186895","display_name":"Andrew J. Tattersall","orcid":null},"institutions":[{"id":"https://openalex.org/I52179390","display_name":"University of Waikato","ror":"https://ror.org/013fsnh78","country_code":"NZ","type":"education","lineage":["https://openalex.org/I52179390"]}],"countries":["NZ"],"is_corresponding":true,"raw_author_name":"Andrew Tattersall","raw_affiliation_strings":["School of Engineering, University of Waikato,Hamilton,New Zealand","School of Engineering, University of Waikato, Hamilton, New Zealand"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Waikato,Hamilton,New Zealand","institution_ids":["https://openalex.org/I52179390"]},{"raw_affiliation_string":"School of Engineering, University of Waikato, Hamilton, New Zealand","institution_ids":["https://openalex.org/I52179390"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001308324","display_name":"Benjamin McGuinness","orcid":"https://orcid.org/0000-0003-4945-2641"},"institutions":[{"id":"https://openalex.org/I52179390","display_name":"University of Waikato","ror":"https://ror.org/013fsnh78","country_code":"NZ","type":"education","lineage":["https://openalex.org/I52179390"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Benjamin McGuinness","raw_affiliation_strings":["School of Engineering, University of Waikato,Hamilton,New Zealand","School of Engineering, University of Waikato, Hamilton, New Zealand"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Waikato,Hamilton,New Zealand","institution_ids":["https://openalex.org/I52179390"]},{"raw_affiliation_string":"School of Engineering, University of Waikato, Hamilton, New Zealand","institution_ids":["https://openalex.org/I52179390"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000351279","display_name":"Shen Hin Lim","orcid":"https://orcid.org/0000-0002-7570-1261"},"institutions":[{"id":"https://openalex.org/I52179390","display_name":"University of Waikato","ror":"https://ror.org/013fsnh78","country_code":"NZ","type":"education","lineage":["https://openalex.org/I52179390"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Hin Lim","raw_affiliation_strings":["School of Engineering, University of Waikato,Hamilton,New Zealand","School of Engineering, University of Waikato, Hamilton, New Zealand"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Waikato,Hamilton,New Zealand","institution_ids":["https://openalex.org/I52179390"]},{"raw_affiliation_string":"School of Engineering, University of Waikato, Hamilton, New Zealand","institution_ids":["https://openalex.org/I52179390"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012796374","display_name":"Chi Kit Au","orcid":"https://orcid.org/0000-0002-5509-3684"},"institutions":[{"id":"https://openalex.org/I52179390","display_name":"University of Waikato","ror":"https://ror.org/013fsnh78","country_code":"NZ","type":"education","lineage":["https://openalex.org/I52179390"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Chi Kit Au","raw_affiliation_strings":["School of Engineering, University of Waikato,Hamilton,New Zealand","School of Engineering, University of Waikato, Hamilton, New Zealand"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Waikato,Hamilton,New Zealand","institution_ids":["https://openalex.org/I52179390"]},{"raw_affiliation_string":"School of Engineering, University of Waikato, Hamilton, New Zealand","institution_ids":["https://openalex.org/I52179390"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054709242","display_name":"Henry Williams","orcid":"https://orcid.org/0000-0003-4510-0219"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Henry Williams","raw_affiliation_strings":["Centre for Automation and Robotic Engineering Science, The University of Auckland,New Zealand","Centre for Automation and Robotic Engineering Science, The University of Auckland, New Zealand"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotic Engineering Science, The University of Auckland,New Zealand","institution_ids":["https://openalex.org/I154130895"]},{"raw_affiliation_string":"Centre for Automation and Robotic Engineering Science, The University of Auckland, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058303658","display_name":"Mike Duke","orcid":"https://orcid.org/0000-0003-3001-0130"},"institutions":[{"id":"https://openalex.org/I52179390","display_name":"University of Waikato","ror":"https://ror.org/013fsnh78","country_code":"NZ","type":"education","lineage":["https://openalex.org/I52179390"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Mike Duke","raw_affiliation_strings":["School of Engineering, University of Waikato,Hamilton,New Zealand","School of Engineering, University of Waikato, Hamilton, New Zealand"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Waikato,Hamilton,New Zealand","institution_ids":["https://openalex.org/I52179390"]},{"raw_affiliation_string":"School of Engineering, University of Waikato, Hamilton, New Zealand","institution_ids":["https://openalex.org/I52179390"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102186895"],"corresponding_institution_ids":["https://openalex.org/I52179390"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14396826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12201","display_name":"Agricultural Engineering and Mechanization","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9678999781608582,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.7900086641311646},{"id":"https://openalex.org/keywords/caster","display_name":"Caster","score":0.7340357303619385},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.6896504163742065},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.639619767665863},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.5638400316238403},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.49389559030532837},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4925297200679779},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46843940019607544},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4590427279472351},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43090444803237915},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4160999655723572},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41549813747406006},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.41205528378486633},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34893107414245605},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2637925446033478},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17562726140022278},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14585340023040771},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1407579779624939}],"concepts":[{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.7900086641311646},{"id":"https://openalex.org/C59361812","wikidata":"https://www.wikidata.org/wiki/Q1534874","display_name":"Caster","level":2,"score":0.7340357303619385},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.6896504163742065},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.639619767665863},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.5638400316238403},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.49389559030532837},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4925297200679779},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46843940019607544},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4590427279472351},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43090444803237915},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4160999655723572},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41549813747406006},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.41205528378486633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34893107414245605},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2637925446033478},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17562726140022278},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14585340023040771},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1407579779624939},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case56687.2023.10260635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8899999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2712023188","display_name":null,"funder_award_id":"UOAX1810","funder_id":"https://openalex.org/F4320321983","funder_display_name":"Ministry of Business, Innovation and Employment"}],"funders":[{"id":"https://openalex.org/F4320321983","display_name":"Ministry of Business, Innovation and Employment","ror":"https://ror.org/02jtq1b51"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W17689443","https://openalex.org/W1919564280","https://openalex.org/W1965772020","https://openalex.org/W2044449630","https://openalex.org/W2063138845","https://openalex.org/W2113629102","https://openalex.org/W2124827999","https://openalex.org/W2150591277","https://openalex.org/W2162982682","https://openalex.org/W2168586100","https://openalex.org/W2606339674","https://openalex.org/W2762917732","https://openalex.org/W2798501492","https://openalex.org/W2893707157","https://openalex.org/W2910558364","https://openalex.org/W2921272787","https://openalex.org/W3016084700","https://openalex.org/W3038470246","https://openalex.org/W3176570708","https://openalex.org/W4234845462","https://openalex.org/W4243340457","https://openalex.org/W4285502049","https://openalex.org/W6600749330","https://openalex.org/W6977927324"],"related_works":["https://openalex.org/W2051851664","https://openalex.org/W2378268140","https://openalex.org/W2059239878","https://openalex.org/W2935843774","https://openalex.org/W2658066576","https://openalex.org/W3165231051","https://openalex.org/W2364297307","https://openalex.org/W4285723892","https://openalex.org/W2328317394","https://openalex.org/W4212892707"],"abstract_inverted_index":{"Differential":[0],"drive":[1,26,119,140],"mobile":[2],"robots":[3],"(DDMRs)":[4],"are":[5,13,103],"often":[6],"used":[7],"in":[8,43,95,147],"automation":[9],"research":[10],"because":[11],"they":[12,20],"simple":[14],"mechanically,":[15],"and":[16,27,58,70,80,160],"low":[17],"cost":[18],"as":[19,49],"only":[21],"require":[22],"two":[23],"motors":[24],"to":[25,30,39,89,106,109,123,135,151],"steer.":[28],"Work":[29],"date":[31],"has":[32],"focused":[33],"on":[34],"control,":[35],"with":[36],"little":[37],"done":[38],"optimise":[40],"these":[41,102],"vehicles":[42],"terms":[44],"of":[45,51,67,74,92],"dimensional":[46,72,145],"parameters":[47,146],"such":[48],"centre":[50],"mass":[52],"position,":[53],"track":[54],"width,":[55],"wheel":[56],"base":[57],"caster":[59,131],"dimensions.":[60],"This":[61],"paper":[62],"presents":[63],"a":[64,68,90],"dynamic":[65],"model":[66,86],"DDMR":[69],"the":[71,115,130],"sensitivity":[73],"peak":[75,139],"drive/braking":[76],"force,":[77],"energy":[78],"consumption,":[79],"chassis":[81],"forces":[82,120],"is":[83,87],"assessed.":[84],"The":[85],"applied":[88],"range":[91],"trajectories":[93],"typical":[94],"an":[96],"agricultural":[97],"setting.":[98],"Results":[99],"show":[100],"that":[101],"all":[104],"sensitive":[105],"vehicle":[107],"dimensions":[108],"different":[110],"degrees.":[111],"Energy":[112],"consumption":[113],"showed":[114],"least":[116],"sensitivity,":[117],"while":[118],"were":[121],"found":[122],"be":[124],"significantly":[125],"influenced,":[126],"for":[127],"example,":[128],"increasing":[129],"trail":[132],"from":[133],"0.13":[134],"0.33":[136],"m":[137],"decreased":[138],"force":[141],"by":[142],"56%.":[143],"Optimising":[144],"DDMRs":[148],"can":[149],"contribute":[150],"more":[152],"economically":[153],"viable":[154],"automated":[155],"solutions":[156],"through":[157],"increased":[158],"efficency":[159],"reduced":[161],"expense.":[162]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}