Mechanical Engineering Commons^™

Freeform Extrusion Fabrication Of Advanced Ceramics And Ceramic-Based Composites, Wenbin Li

Doctoral Dissertations

"Ceramic On-Demand Extrusion (CODE) is a recently developed freeform extrusion fabrication process for producing dense ceramic components from single and multiple constituents. In this process, aqueous paste of ceramic particles with a very low binder content ( < 1 vol%) is extruded through a moving nozzle to print each layer sequentially. Once one layer is printed, it is surrounded by oil to prevent undesirable water evaporation from the perimeters of the part. The oil level is regulated just below the topmost layer of the part being fabricated. Infrared radiation is then applied to uniformly and partially dry the top layer so that the yield stress of the paste increases to avoid part deformation. By repeating the above steps, the part is printed in a layer-wise fashion, followed by post-processing. Paste extrusion precision of different extrusion mechanisms was compared and analyzed, with an auger extruder determined to be the most suitable paste extruder for the CODE system. A novel fabrication system was developed based on a motion gantry, auger extruders, and peripheral devices. Sample specimens were then produced from 3 mol% yttria stabilized zirconia using this fabrication system, and their properties, including density, flexural strength, Young's modulus, Weibull modulus, fracture toughness, and hardness were measured. The results indicated that superior mechanical properties were achieved by the CODE process among all the additive manufacturing processes. Further development was made on the CODE process to fabricate ceramic components that have external/internal features such as overhangs by using fugitive support material. Finally, ceramic composites with functionally graded materials (FGMs) were fabricated by the CODE process using a dynamic mixing device"--Abstract, page iv.

Solvent-Free Additive Manufacturing Of Electrodes For Li-Ion Batteries, Brandon Joshua Ludwig

Doctoral Dissertations

"A new Li-ion battery electrode manufacturing process using a solvent free additive manufacturing method has been developed. Li-ion battery electrodes consist of active material particles, a binder additive, and a conductive additive. Traditionally, Li-ion battery electrodes are manufacturing using the "slurry casting" technique. In this method, the electrode materials are mixed with a solvent to create a slurry. Electrodes fabricated in this method are readily implemented for small platforms, such as portable electronics. However, this method isn't as economically viable in large platforms due to high material and manufacturing costs. High material and manufacturing costs are mostly attributed to the …

Deep Understanding Of Degradation In Lithium Ion Batteries Through Experimental And First-Principles Study, Yufang He

Doctoral Dissertations

"The growing interests in Lithium-ion Batteries (LIBs) have significantly accelerated the development of active materials. However, the key challenge is that electrode materials suffer from degradation, which include transition metal dissolution, solid electrolyte interphase (SEI) layer formation, and mechanical fracture. To address these issues, applying an ultrathin coating onto active materials via Atomic Layer Deposition (ALD) is an efficient way. Although numerious works have been done for active material performance improvement via ALD technology, the fundamental enhancement mechanisms of ALD coating on battery performance improvement are not yet known. Therefore, this dissertation consists of four papers, which focused on the …

Design, Fabrication, And Characterization Of Functionally Graded Materials, Sreekar Karnati

Doctoral Dissertations

“The aim of this research was to investigate the feasibility of fabricating custom designed, graded materials using Laser Metal Deposition (LMD) that will cater for functionality and unconventional repair. The ultimate goal of the project is to establish the versatility of LMD for fabricating advanced materials and tackling problems that have been conventionally difficult or in cases infeasible. In order to accomplish these goals, this research involved investigations into, the feasibility of using elemental powders as modular feedstocks, the feasibility of fabricating tailored gradients with these custom compositions, and finally leveraging the advantages of grading materials using LMD to successfully …

Plasmonic Metamaterial For Structural Color Printing And Spontaneous Emission Control, Wei Wang

Doctoral Dissertations

”Plasmon polaritons or plasmons are a collective oscillation movement of free electrons in metal at optical frequencies. The frequency-dependent complex dielectric function makes the metal property at optical frequencies behave totally different with that at other spectral ranges with lower frequency such as infrared and microwaves. This novel property makes the so called plasmonics or nanoplasmonics a rapid growing research field over the past few years. Many innovative concepts and applications have been developed such as perfect absorber, structural color printing, and quantum emitter spontaneous emission enhancement.

In this dissertation two of the most important applications will be addressed. The …

Plenum-To-Plenum Heat Transfer Characteristics Under Natural Circulation In A Scaled-Down Prismatic Modular Reactor, Salman Mohammed Alshehri

Doctoral Dissertations

“Gas-cooled reactor (GCR) is being developed under the Next Generation Nuclear Plant Program (NGNP) in nuclear engineering studies. As the world searches for an energy source with high energy density, clean, abundant, and storable nature to avoid global warming issues, GCR seems to be a promising solution, particularly the possibility of producing hydrogen. Studying and developing the safety analysis and GCR technologies are required for the optimum design and safety of GCR system. Multiphase Reactors Engineering and Applications Laboratory (mReal) at Missouri University of Science and Technology (S&T) has developed a natural convection heat transfer test facility with one riser …

Characterization Of Aerosols In An Underground Mine, Arash A. Habibi

Doctoral Dissertations

“Diesel-powered engines are a common source of submicron carbon-rich particles. Characterizing morphological and physical attributes of diesel agglomerates is therefore of great importance to be able to identify the source and improve removal technology. Size-segregated sampling was conducted in two phases of underground experiments. Scanning transmission electron microscopy and fast mobility particle sizers were used to determine the size distribution of agglomerates based on particle mobility and projected area diameter. Controlled zone sampling test results were used to determine the morphological characteristics of agglomerates for specific types of diesel equipment both with and without removal strategies. Changes in fractal dimension, …

Volumetric Error Compensation For Industrial Robots And Machine Tools, Le Ma

Doctoral Dissertations

“A more efficient and increasingly popular volumetric error compensation method for machine tools is to compute compensation tables in axis space with tool tip volumetric measurements. However, machine tools have high-order geometric errors and some workspace is not reachable by measurement devices, the compensation method suffers a curve-fitting challenge, overfitting measurements in measured space and losing accuracy around and out of the measured space. Paper I presents a novel method that aims to uniformly interpolate and extrapolate the compensation tables throughout the entire workspace. By using a uniform constraint to bound the tool tip error slopes, an optimal model with …

Scaleable Nanomanufacturing Of Metasurfaces Using Microsphere Photolithography, Chuang Qu

Doctoral Dissertations

“The cost-effective manufacturing of metasurfaces over large areas is a critical issue that limits their implementations. Microsphere photolithography (MPL) uses a scalable self-assembled microsphere array as an optical element to focus collimated light to nanoscale photonic jets in a photoresist layer. This dissertation investigates the fabrication capabilities, process control, and potential applications of MPL. First, the MPL concept is applied to the fabrication of metasurfaces with engineered IR absorption (e.g. perfect absorption with multiband/broadband and wavelength/polarization dependences). Improving the patterning of the photoresist requires a fundamental understanding the photochemical photonic jet interactions. The dissertation presents a model of the MPL …

Blade Design And Analysis Of Horizontal-Axis Wind Turbine: Cfd And Experimental Investigation Of Blades Design, Relwinde Fabrice Zongo

College of Graduate Studies: Theses & Dissertations

The present thesis focuses on the investigations of the computational fluid dynamics analysis and the experimental study of small scales Horizontal Axis Wind Turbine (HAWT) blades. The initial steps are taken; in the process of this research were the selection of the airfoil type to be used in each blade design and the creation of a blade design with high efficiency operating in a low wind speed zone. For the mentioned blade design process, the following airfoils were selected respectively NACA 0010, NACA 0012, NACA 1412, NACA 2412, NACA 2414, NACA 4412 and NACA 6412. This selection intends to provide …

Hydrogen Fuel Cell Gasket Handling And Sorting With Machine Vision Integrated Dual Arm Robot, Devin C. Fowler

College of Graduate Studies: Theses & Dissertations

Recently demonstrated robotic assembling technologies for fuel cell stacks used fuel cell components manually pre-arranged in stacks (presenters), all oriented in the same position. Identifying the original orientation of fuel cell components and loading them in stacks for a subsequent automated assembly process is a difficult, repetitive work cycle which if done manually, deceives the advantages offered by automated fabrication technologies of fuel cell components and by robotic assembly processes. We present an innovative robotic technology which enables the integration of automated fabrication processes of fuel cell components with robotic assembly of fuel cell stacks into a fully automated fuel …

Remanufacturing Of Precision Metal Components Using Additive Manufacturing Technology, Xinchang Zhang

Doctoral Dissertations

"Critical metallic components such as jet engine turbine blades and casting die/mold may be damaged after servicing for a period at harsh working environments such as elevated temperature and pressure, impact with foreign objects, wear, corrosion, and fatigue. Additive manufacturing has a promising application for the refurbishment of such high-costly parts by depositing materials at the damaged zone to restore the nominal geometry. However, several issues such as pre-processing of worn parts to assure the repairability, reconstructing the repair volume to generate a repair tool path for material deposition, and inspection of repaired parts are challenging. The current research aims …

Improvements In Digital Image Correlation And Application In Material Mechanical Test, Yunlu Zhang

Doctoral Dissertations

"Digital image correlation (DIC) is a non-contact full-field optical measurement method. With the advantages of high accuracy, low cost, and simple implementation, it has been widely applied in the area of experimental mechanics. In this study, DIC algorithm has been improved in the aspects of the pixel-level searching method and reference frame update strategy. The feature matching based method is proposed to provide an initial guess for all points of interest with semi-subpixel level accuracy in cases with small or large translation, deformation, or rotation. The bisection searching strategy is presented to automatically adjust the frame step for varying practical …

Mechanical Design Automation: A Case Study On Plastic Extrusion Die Tooling, Allen Prasad Varghese

Theses

The Skills Gap in Mechanical Engineering (ME) Design has been widening with the increasing number of baby boomers retiring (Silver Tsunami) and the lack of a new generation to acquire, practice and perfect their knowledge base. This growing problem has been addressed with several initiatives focused on attracting and retaining young talent; however, these types of initiatives may not be timely for this new group to be trained by an established Subject Matter Expert (SME) group. Automated Engineering Design provides a potential pathway to address not only the Skills Gap but also the transfer of information from SMEs to a …

Simulation Of Droplet Impacting A Square Solid Obstacle In Microchannel With Different Wettability By Using High Density Ratio Pseudopotential Multiplerelaxation- Time (Mrt) Lattice Boltzmann Method (Lbm), Wandong Zhao, Ying Zhang, Wenqiang Shang, Zhaotai Wang, Ben Xu, Shuisheng Jiang

Mechanical Engineering Faculty Publications

In this paper, a pseudopotential high density ratio (DR) lattice Boltzmann Model was developed by incorporating multi-relaxation-time (MRT) collision matrix, large DR external force term, surface tension adjustment external force term and solid-liquid pseudopotential force. It was found that the improved model can precisely capture the two-phase interface at high DR. Besides, the effects of initial Reynolds number, Weber number, solid wall contact angle (CA), ratio of obstacle size to droplet diameter ( 1 χ ), ratio of channel width to droplet diameter ( 2 χ ) on the deformation and breakup of droplet when impacting on a square obstacle …

Sediment Patterns From Fluid-Bed Interactions: A Direct Numerical Simulations Study On Fluvial Turbulent Flows, ‪Nadim Zgheib, S. Balachandar

Mechanical Engineering Faculty Publications

We present results on the initial formation of ripples from an initially flattened erodible bed. We use direct numerical simulations (DNS) of turbulent open channel flow over a fixed sinusoidal bed coupled with hydrodynamic stability analysis. We use the direct forcing immersed boundary method to account for the presence of the sediment bed. The resolved flow provides the bed shear stress and consequently the sediment transport rate, which is needed in the stability analysis of the Exner equation. The approach is different from traditional linear stability analysis in the sense that the phase lag between the bed topology, and the …

Nurturing Brilliance In Engineering: Creating Research Venues For Undergraduate Underrepresented Minorites In Engineering As An Initiative From Faculty Members That Foster Academic Inclusion, Development, And Postgraduation Instruction, Eleazar Marquez, Samuel Garcia

Mechanical Engineering Faculty Publications

In this study, a new model for attracting, advancing, and advocating for the participation of underrepresented minorities in research venues is proposed with the intention of fostering academic inclusion, development, and post-graduation mentorship. It involves developing and nurturing a disposition from faculty by proactively identifying students via classroom interaction, performance, and academic aptitude and extending a personal invitation to collaborate on the research team. Current research opportunities for engineering undergraduates at tier-one institutions are obtained by students' incentive to communicate with faculty members via email or office hours. Despite the available opportunities, only a limited number of students are selected …

A Process, Structure, And Property Study Of Gallium-Based Room Temperature Metallic Alloys, Courtney Lyn Titus

UNF Graduate Theses and Dissertations

Amalgamations are a promising replacement for electronic solders, thermal interface materials, and other conductive joining materials. Amalgams are mechanically alloyed materials of a liquid constituent with a solid powder. Unlike traditional solders, these materials are processed at room temperature or slightly above, and can often operate at temperatures near, or beyond, their processing temperatures. Existing bonding processes require an excessive amount of heat, which may cause thermal stress to the electronic components and delaminate the attachment. Amalgams have promising characteristics for thermal interface materials (TIMs) due to being fully metallic, relatively easy of handling, and possessing metallic strength similar to …

Landing-Gear Impact Response: A Non-Linear Finite Element Approach, Tuan H. Tran

UNF Graduate Theses and Dissertations

The primary objective of this research is to formulate a methodology of assessing the maximum impact loading condition that will incur onto an aircraft’s landing gear system via Finite Element Analysis (FEA) and appropriately determining its corresponding structural and impact responses to minimize potential design failures during hard landing (abnormal impact) and shock absorption testing. Both static and dynamic loading condition were closely analyzed, compared, and derived through the Federal Aviation Administration’s (FAA) airworthiness regulations and empirical testing data.

In this research, a nonlinear transient dynamic analysis is developed and established via NASTRAN advanced nonlinear finite element model (FEM) to …

Evaluating The Approach Of Using Nox Control Performance Tracking For On-Board Diagnostics Of Heavy-Duty Diesel Vehicles, Renata Castiglioni

Graduate Theses, Dissertations, and Problem Reports (ETD)

egulatory agencies have taken several measures to ensure proper regulation of engine exhaust in response to a yearly rise in urban pollution levels. This is due in no small part to vehicular traffic and resulting air pollution from exhaust.

This study evaluates the NOx Control Performance Tracking (NCPT) Onboard Diagnostic (OBD) parameter proposed by the California Air Resources Board (CARB) as a tool to assess in-use heavy-duty vehicle performance. It also assesses the various criteria prescribed in the NCPT approach for applicability to real-world vehicle data.

In order to analyze the data, the study also investigated the effect of various …

A Novel Solar-Driven Direct Contact Membrane-Based Water Desalination System, Abdellah Sharifian, Mehdi Khiadani

Research outputs 2014 to 2021

This study proposes a novel integrated solar membrane-based desalination system. The system includes vacuum glass tubes to increase absorbed solar energy and to decrease heat loss, heat pipes to transfer the absorbed energy efficiently, and a tubular direct contact membrane distillation module to use the absorbed energy more effectively. To improve the freshwater production rate and overall efficiency of the proposed system, a cooling unit was also added to the permeate loop of the desalination unit. The performance of the system was experimentally investigated without (Case I) and with (Case II) the cooling unit in summer and without the cooling …

Thermal Performance Of An Evacuated Tube Heat Pipe Solar Water Heating System In Cold Season, Abdellah Sharifian, Mehdi Khiadani, Ataollah Nosrati

Research outputs 2014 to 2021

This study evaluates the performance of a heat pipe solar water heating system to meet a real residential hot water consumption pattern theoretically and experimentally under non-ideal climatic conditions during a cold day in Perth, Western Australia. A mathematical model was developed and used to calculate the optimum number of glass tubes of the heat pipe solar collector. Based on the obtained data, an experimental rig with 25 glass tubes was designed, built, and tested as the temperature changes after 25 tubes reached the insignificant value of 0.6%. The results showed that hot water extraction had significant impact on the …

Enhancing Heat Pipe Solar Water Heating Systems Performance Using A Novel Variable Mass Flow Rate Technique And Different Solar Working Fluids, Abdellah Shafieian, Junaid Jaffer Osman, Mehdi Khiadani, Ataollah Nosrati

Research outputs 2014 to 2021

This paper aims to improve the overall efficiency of heat pipe solar water heating (HPSWH) systems by implementing a novel variable mass flow rate technique which regulates the solar working fluid mass flow rate of the system with the solar radiation intensity. To analyse the system under real operational conditions, the residential hot water consumption pattern of Perth residents in Western Australia was used in the experiments. In addition, a nanofluid (Al₂O₃/DI) was fabricated and its performance as the solar working fluid was investigated to find the optimum concentration and to confirm its stability and thermo-physical …

Performance Analysis Of A Thermal-Driven Tubular Direct Contact Membrane Distillation System, Abdellah Sharifian, Mehdi Khiadani, Ataollah Nosrati

Research outputs 2014 to 2021

This paper examines the performance of a thermal-driven tubular direct contact membrane distillation (DCMD) system theoretically and experimentally. A multi-step mathematical model was developed to predict the freshwater productivity of the tubular DCMD module applicable for both small and large-scale applications by considering the changes in the operational variables along the membrane’s length. The proposed model was verified by building an experimental rig which was tested under different operational conditions. The results showed that keeping the mass flow rates in the hot and cold channels either near the end or beyond the transition range of the flows results in higher …

Reduction Of Nox Emissions In A Single Cylinder Diesel Engine Using Sncr With In-Cylinder Injection Of Aqueous Urea, Anthony Timpanaro

UNF Graduate Theses and Dissertations

The subject of this study is the effect of in-cylinder selective non-catalytic reduction (SNCR) of NO_x emissions in diesel exhaust gas by means of direct injection of aqueous urea ((NH₂)₂CO) into the combustion chamber. A single cylinder diesel test engine was modified to accept an electronically controlled secondary common rail injection system to deliver the aqueous urea directly into the cylinder during engine operation.

Direct in-cylinder injection was chosen in order to ensure precise delivery of the reducing agent without the risk of any premature reactions taking place. Unlike direct in-cylinder injection of neat water, …

Experimental Analysis Of Protective Headgear Used In Defensive Softball Play, John Scott Strickland

UNF Graduate Theses and Dissertations

Every year in the United States, an estimated 1.6 to 3.8 million people sustain sports-related traumatic brain injuries (TBIs), with an appreciable number of these injuries coming from the sport of softball. Several studies have analyzed the impact performance of catcher’s masks within the context of baseball; however, virtually no studies have been performed on fielder’s masks within the context of softball. Thus, the main objective of the present work was to evaluate the protective capabilities of softball fielder’s masks. To better understand the injury mechanisms and frequency associated with softball head/facial injuries, epidemiological data from a national database was …

Computational Study Of Flow Interactions Over A Close Coupled Canard-Wing On Fighter, Setyawan Bekti Wibowo, Sutrisno Sutrisno, Tri Agung Rohmat

International Journal of Aviation, Aeronautics, and Aerospace

There have been many attempts to improve the flying performance of a fighter. By modifying the flow that occurs along the fuselage is expected to improve the performance of the aircraft. One of the indicators of combat aircraft performance is the ability to perform maneuver movement. Adding a canard as forewing on the fighter wing configuration is considered capable of raising the ability in maneuver movement. The use of canard-delta pairs will affect the performance and aerodynamic characteristics of the plane. Wings and canards with delta configuration will make the rolled-up vortex as a lifting force producer on the aircraft. …

Computational Fluid Dynamics Modeling And Comparison Of Advanced Techniques For Heat Transfer Augmentation For Nuclear Applications, Salman Mohammed Alzahrani

Doctoral Dissertations

“Passive safety is the most important feature of NuScale’s reactor designs. Twist tape is one passive heat enhance heat technique. The present research investigated thermo-hydraulic characteristics of natural and forced convection of water under different configurations of twisted tape inserted in tube as well as NuScale rod bundles for uniform wall heat flux using computational fluid dynamics (CFD) using ANSYS Fluent 18.1. Results for twist tape inserted in tube under natural circulation showed that heat transfer enhanced and pressure drop increased to 28% and 102.8% over the plain tube respectively. Regularly spaced tapes, and different widths of the twisted tapes …

การศึกษาอิงพารามิเตอร์ของการควบคุมอุณหภูมิเชิงคาบในช่องปิดสองช่องที่ติดกันด้วยการจำลองเชิงเลข, เทิดพงศ์ ช่วยแก้ว

Chulalongkorn University Theses and Dissertations (Chula ETD)

งานวิจัยนี้ศึกษาผลของปัจจัยต่างๆ ที่ส่งผลต่อการควบคุมอุณหภูมิเชิงคาบในช่องปิดสี่เหลี่ยมจัตุรัสสองช่องที่ติดกันแยกจากกันด้วยผนังร่วม โดยทีแต่ละช่องปิดมีการควบคุมอุณหภูมิด้วยเครื่องทำความร้อนแบบเปิดปิดแยกกันอย่างอิสระ การศึกษาใช้โปรแกรม ANSYS FLUENT 2019 จำลองการถ่ายเทความร้อนแบบการพาความร้อนตามธรรมชาติของอากาศที่มีการไหลแบบราบเรียบในช่องปิดและการนำความร้อนของผนังร่วมเมื่อเรย์เลห์นัมเบอร์มีค่าประมาณ 105 โดยกำหนดให้เครื่องทำความร้อนเปิดเมื่ออุณหภูมิเฉลี่ยในช่องปิดต่ำกว่า 299 K และปิดเมื่ออุณหภูมิเฉลี่ยในช่องปิดสูงกว่า 301 K ผลการจำลองแสดงว่าไม่ว่าจะเริ่มการควบคุมอุณหภูมิเมื่อใดก็ตาม เมื่อเวลาผ่านไป คาบของการควบคุมจะเข้าสู่สภาวะคงตัวโดยที่การเปลี่ยนแปลงของอุณหภูมิเชิงคาบของทั้งสองช่องจะปรับจนมีค่าสอดคล้องใกล้เคียงกัน นอกจากนี้จากการศึกษาผลของสมบัติของผนังร่วมต่อการควบคุมอุณหภูมิเชิงคาบ 3 ชนิด ได้แก่ ทองแดง อลูมิเนียม และนิกเกิล พบว่าผนังร่วมที่ทำด้วยอลูมิเนียม ซึ่งมีค่า Thermal storage ต่ำที่สุด จะทำให้ของการควบคุมอุณหภูมิเชิงคาบเข้าสู่สภาวะคงตัวและการสอดคล้องของอุณหภูมิของสองช่องได้เร็วที่สุด และในการศึกษาผลของอุณหภูมิภายนอกพบว่าอุณหภูมิภายนอกมีผลต่อคาบของการควบคุมอุณหภูมิเชิงคาบอย่างมาก โดยเมื่ออุณหภูมิภายนอกสูงขึ้นจะทำให้ระยะเวลาเปิดเครื่องทำความร้อนสั้นลงในขณะที่ระยะเวลาปิดยาวขึ้น และใช้เวลาเข้าสู่สภาวะคงตัวของการควบคุมเชิงคาบและการสอดคล้องกันของอุณหภูมิของสองช่องนานขึ้นด้วย ซึ่งส่งผลโดยรวมให้คาบการควบคุมยาวขึ้น เมื่ออุณหภูมิภายนอกสูงเกินกว่า 298.15 K พบว่าอุณหภูมิของช่องปิดทั้งสองช่องไม่มีการปรับตัวเข้าหากัน

ระบบควบคุมแบบปรับตัวได้พร้อมการควบคุมแรงฉุดลากสำหรับหุ่นยนต์ขับเคลื่อนสองล้อ, ไม้ไฑ ดะห์ลัน

Chulalongkorn University Theses and Dissertations (Chula ETD)

การควบคุมการเคลื่อนที่ของหุ่นยนต์สองล้อเพื่อให้การลื่นไถลที่ล้อให้น้อยที่สุดถือเป็นการเพิ่มความปลอดภัยให้กับหุ่นยนต์ที่ทำงานอยู่ในสภาพแวดล้อมที่มีคน ปกติแล้วการควบคุมแรงฉุดลากนั้นจำเป็นที่จะต้องมีการประมาณค่าพารามิเตอร์ทางพลศาสตร์ของการเคลื่อนที่เช่น ค่าความเฉื่อยและแรงเสียดทาน รวมถึงการประมาณค่าสัดส่วนของการลื่นไถลที่ล้อกับพื้น ซึ่งมักจะต้องใช้การคำนวณที่มีความสลับซับซ้อน ในงานวิจัยนี้เราจะใช้ตัวควบคุมแรงฉุดลากที่ปรับตัวได้ หรือ Model following control (MFC) โดยจะแปลงในอยู่ในรูปของเวลาแบบไม่ต่อเนื่อง (discrete time model) การทดลองจะใช้หุ่นยนต์แบบสองล้อที่ควบคุมแรงฉุดลากแบบจำลองการไถล เทียบกับการควบคุมโดยใช้ตัวควบคุมแบบพีดี ตามเส้นวิถีการเคลื่อนที่แบบเส้นตรง รวมถึงการทดสอบการประมาณค่าแรงฉุดลากสูงสุดของหุ่นยนต์ และทดสอบการเคลื่อนที่ของหุ่นยนต์ขึ้นและลงบนทางลาดชัน