Search Results (48)

Forestry logging is among the most hazardous economic activities, so identifying where hazards and risks concentrate supports targeted prevention. This scoping review mapped evidence on logging hazards and risks, their co-occurrence with operations, and preventive measures. PRISMA-ScR was followed. Only peer-reviewed journal articles (2015–2025) in English on occupational hazards/risks, risk-assessment methods or preventive measures in logging were included, found in Scopus, Web of Science, Inspec and Dimensions (last search 15 September 2025). Independent data screening and extraction were performed by two reviewers, with a third reviewer resolving any disagreements. No formal risk-of-bias appraisal was conducted. Forty-two studies were included. Hazards and risks concentrated in three phases—chainsaw/manual cutting, skidding/cable yarding, and loading/short-haul transport—where acute injury mechanisms (struck-by events, slips/trips/falls, rollovers, lacerations) coexisted with chronic exposures (musculoskeletal strain, noise, vibration, diesel exhaust). Preventive measures emphasised engineering and organisational controls, complemented by raining and PPE, but were inconsistently specified and evaluated. Evidence was heterogeneous and geographically concentrated in few countries, limiting generalisability. A small set of tasks consistently concentrates acute and chronic risks; prevention should integrate accident control and health protection, prioritising engineering/organisational measures supported by training and PPE. Future studies should standardise descriptors and outcome metrics to enable comparisons. Full article

Pavement texture is a crucial factor influencing both skid resistance and durability. This study aims to investigate the impact of texture reconstruction on pavement performance, which holds significant scientific value for enhancing road safety and durability. The research focuses on the reconstruction of airport cement pavement textures through the design of seven solid–liquid, two-component coating formulations, comprising three types of coatings: emulsion coating (P), waterborne epoxy coating (E), and water-based coating (W). Laser texture scanning technology was employed to identify the texture characteristics, which, combined with the British pendulum test, enabled a comprehensive analysis of skid resistance. Additionally, the coating–concrete interfacial strength and frost resistance were evaluated through pull-out tests, flexural strength tests, and freeze–thaw cycle tests. The results demonstrated that, compared to uncoated concrete, the mean profile depth (MPD) of the P, E, and W coatings increased by 43.4%, 34.7%, and 21.6%, respectively. Furthermore, the peak band of the slope spectrum density (SSD) shifted from a range greater than 1 mm to approximately 0.5 mm following coating application. The British pendulum number (BPN) increased by 25%, 20%, and 15% for the P, E and W coatings, demonstrating a strong correlation with MPD (R² = 0.95). These results indicate that the coated surface texture exhibits superior properties, which explain the enhanced slip resistance from a textural perspective. Moreover, the interfacial strength between the coating and concrete initially increased and then decreased with increasing coating thickness. In comparison, the interfacial bonding strength of the E coating was significantly higher than that of the P and W coatings. Furthermore, compared to the P and W coatings, the flexural bond strength of the E coating increased by 7% and 74%, respectively. After undergoing the freeze–thaw cycle, the E coating exhibited the best freeze resistance, while the W coating exhibited the poorest performance. In summary, the P coating excelled in texture reconstruction, while the E coating provided superior bonding and freeze resistance. This paper presents a novel approach to the development of coating materials for use on airport pavements. Full article

Tires are composed of various rubber polymers and reinforcing carcasses, and their wet skid resistance is influenced by the coupled effects of multiple factors. The braking force coefficient (BFC) is the primary performance indicator for evaluating tire wet skid resistance. This study proposes a novel method for evaluating the BFC of tires by integrating laboratory-simulated wet road tests with finite element simulations. A 295/60R22.5 all-steel radial tire was selected as the test object, and the simulation results showed good agreement with the experimental data, with a BFC error of 7.14%. This consistency confirms the reliability and accuracy of the proposed model in predicting tire wet grip performance. This study also investigated the effects of different working conditions of the tested tire on the BFC. The results showed that the wet grip performance of the tire on wet concrete surfaces was significantly lower than that on wet asphalt surfaces. Specifically, the BFC increased with the increase in braking slip ratio, decreased slightly with the rise in tire inflation pressure, and exhibited relatively low sensitivity to vertical load variations. All these results demonstrate that this integrated evaluation method provides targeted guidance for the mechanical performance optimization of tire tread rubber composites. Full article

In the field of tracked vehicle dynamics, studies show that vertical loads are concentrated under road wheels on firm road conditions, allowing slip-based models of tracked vehicles to be designed similar to wheeled vehicle models. This paper proposes a slip-based nonlinear two-track prediction model for model predictive control (MPC), where track forces under road wheels are calculated with a simplification procedure implemented onto shear displacement theory. The study includes a comparative analysis with a kinematic prediction model, examining scenarios such as constant speed cornering and spiral maneuvers. Validation is carried out by comparing the simulation results of the proposed controller with field test data acquired from a five-wheeled tracked vehicle platform, including measurements on asphalt and stabilized road conditions. The results demonstrate that the slip-based model excels in trajectory tracking, with lateral deviations consistently below 0.25 m and typically around 0.02–0.08 m RMS depending on the scenario. By improving the computational efficiency and ensuring precise navigation, this approach offers an advanced control solution for tracked vehicles on firm terrain. Full article

Optimisation of the anti-skid properties of tyres is a significant area of composite applications. For investigating the wet slip friction characteristics, the wet slip friction test of tread rubber and road surface was carried out using the comprehensive tire friction testing machine. The wet slip properties of different formulated rubbers under various working conditions such as different slip speeds, water film thicknesses and vertical loads were compared through the test. Subsequently, an orthogonal test programme was designed to investigate the degree of significant influence of each factor on the wet slip performance. A three-dimensional finite element model of tread rubber and road surface with water film was established in order to facilitate analysis of the wet slip properties. The simulation results were utilised to elucidate the pattern of the effects of different loads on the wet slip friction characteristics. Results indicate that the wet slip friction coefficient is subject to decrease in proportion to the magnitude of the vertical load; the friction coefficient of rubber block in wet slip condition exhibits a decline of approximately 26% in comparison with that of dry condition; the factor that exerts the most significant influence on the coefficient of friction is the vertical load, while the water film thickness exerts the least influence. The results obtained can serve as a reference source for the design of tire anti-skid performance enhancement. Full article

Autonomous navigation in mining environments is challenged by complex wheel–terrain interaction, traction losses caused by slip dynamics, and sensor limitations. This paper investigates the effectiveness of Deep Reinforcement Learning (DRL) techniques for the trajectory tracking control of skid-steer mobile robots operating under terra-mechanical constraints. Four state-of-the-art DRL algorithms, i.e., Proximal Policy Optimization (PPO), Deep Deterministic Policy Gradient (DDPG), Twin Delayed DDPG (TD3), and Soft Actor–Critic (SAC), are selected to evaluate their ability to generate stable and adaptive control policies under varying environmental conditions. To address the inherent partial observability in real-world navigation, this study presents an original approach that integrates Long Short-Term Memory (LSTM) networks into DRL-based controllers. This allows control agents to retain and leverage temporal dependencies to infer unobservable system states. The developed agents were trained and tested in simulations and then assessed in field experiments under uneven terrain and dynamic model parameter changes that lead to traction losses in mining environments, targeting various trajectory tracking tasks, including lemniscate and squared-type reference trajectories. This contribution strengthens the robustness and adaptability of DRL agents by enabling better generalization of learned policies compared with their baseline counterparts, while also significantly improving trajectory tracking performance. In particular, LSTM-based controllers achieved reductions in tracking errors of 10%, 74%, 21%, and 37% for DDPG-LSTM, PPO-LSTM, TD3-LSTM, and SAC-LSTM, respectively, compared with their non-recurrent counterparts. Furthermore, DDPG-LSTM and TD3-LSTM reduced their control effort through the total variation in control input by 15% and 20% compared with their respective baseline controllers, respectively. Findings from this work provide valuable insights into the role of memory-augmented reinforcement learning for robust motion control in unstructured and high-uncertainty environments. Full article

To investigate the influence of pavement texture on tire hydroplaning, this study utilized laser scanning to capture the surface characteristics of three asphalt mixtures—AC-13, SMA-13, and OGFC-13—across fifteen rutting plate specimens. Three-dimensional (3D) pavement models were reconstructed to incorporate realistic texture data. Finite element simulations, employing fluid-structure interaction and explicit dynamics in Abaqus, were conducted to model tire-water-pavement interactions. The results indicate that the anti-skid performance ranks as OGFC > SMA > AC. However, despite OGFC and SMA exhibiting comparable anti-skid metrics (e.g., pendulum friction value and mean texture depth), OGFC’s superior texture uniformity results in significantly better hydroplaning resistance. Additionally, tire tread depth critically influences hydroplaning speed. A novel Anti-Slip Comprehensive Texture Index (ACTI) was proposed to evaluate pavement texture uniformity, providing a more comprehensive assessment of anti-skid performance. These findings underscore the importance of texture uniformity in enhancing pavement safety under wet conditions. Full article

To enhance the precision and real-time performance of trajectory tracking control in differential-steering intelligent sweeping robots and to improve the adaptability of the control algorithm to errors caused by sensor noise, tire slip, and skid, an MPC-PID (Model Predictive Control–Proportional-Integral-Derivative) dual closed-loop control strategy was proposed. This strategy integrates a Kalman filter-based state estimator and a sliding compensation module. Based on the kinematic model of the intelligent sweeping robot, a model predictive controller (MPC) was designed to regulate the vehicle’s pose, while a PID controller was used to adjust the longitudinal speed, forming a dual closed-loop control algorithm. A Kalman filter was employed for state estimation, and a sliding compensation module was introduced to mitigate wheel slip and lateral drift, thereby improving the stability of the control system. Simulation results demonstrated that, compared to traditional MPC control, the maximum lateral deviation, maximum heading angle deviation, and speed response time were reduced by 50.83%, 53.65%, and 7.10%, respectively, during sweeping operations. In normal driving conditions, these parameters were improved by 41.58%, 45.54%, and 24.17%, respectively. Experimental validation on an intelligent sweeper platform demonstrates that the proposed algorithm achieves a 16.48% reduction in maximum lateral deviation and 9.52% faster speed response time compared to traditional MPC, effectively validating its enhanced tracking effectiveness in intelligent cleaning operations. Full article

The movement of a wheeled vehicle is a non-regular dynamic process characterized by a large number of states that depend on the movement conditions. This movement involves a large number of situations where elastic tires skid and slip against the base surface. This reduces the efficiency of movement as useful mechanical energy of the electromechanical drive is spent to overcome the increased skidding and slipping. Complete sliding results in the loss of control over the vehicle, which is unsafe. Processes that take place immediately before such phenomena are of special interest as their parameters can be useful in diagnostics and control. Additionally, such situations involve adverse oscillatory processes that cause additional dynamic mechanical and electrical loading in the electromechanical drive that can result in its failure. The authors provide the results of laboratory road research into the emergence of self-oscillatory phenomena during the rolling of a wheel with increased skidding on the base surface and a low traction factor. This paper reviews the methods of designing an anti-slip control system for wheels with an oscillation damping function and studies the applicability and efficiency of the suggested method using mathematical simulation of the virtual vehicle operation in the Matlab Simulink software package. Using the self-oscillation suppression algorithm in the control system helps reduce the maximum amplitude values by 5 times and average amplitudes by 2.5 times while preventing the moment operator from changing. The maximum values of current oscillation amplitude during algorithm changes were reduced by 2.5 times, while the current change rate was reduced by 3 times. The reduction in the current-change amplitude and rate proves the efficiency of the self-oscillation suppression algorithm. The high change rate of the current consumed by the drive’s inverters may have a negative impact on the remaining operating life of the rechargeable electric power storage system. This impact increases with the proximity of its location due to the low inductance of the connecting lines and the operating parameters, and the useful life of the components of the autonomous voltage inverters. Full article

Slip risk on surfaces used by humans or active in mechanisms is studied to mitigate its effects or harness its beneficial outcomes. This article presents pioneering research on the risk of surfaces created using 3D printing technology. The study examines three materials (Polylactic Acid, PLA; Polyethylene Terephthalate Glycol, PET-G; and Thermoplastic Polyurethane, TPU), considering three print head movement directions relative to the British Portable Skid Resistance Tester (BSRT) measurement direction. In addition, surface roughness tests were performed. Dry tests showed that the structure created by the printing direction perpendicular to the movement direction is the safest in terms of slip risk. The SRVs of the measured samples on a qualitative scale were classified on this scale as materials with low or extremely low slip risk (ranging from 55 to 90 SRV dry and 35 to 60 SRV wet). Referring to the influence of the type of material on the SRV, it was found that the safest material in terms of reducing the risk of slipping in dry conditions is TPU and, in wet conditions, PLA. During wet tests, the best properties that reduce the risk of slippage in most cases are shown by the printing direction on a horizontal plane at an angle of 45° to the direction of movement. Statistical analysis showed that the printing direction and roughness do not have a statistically significant effect on the SRV, but the type of material and the type of method (dry and wet) and their interaction have a significant effect. Full article

This article focuses on trajectory tracking control of a four-wheeled mobile robot, with non-steered wheels. The issues in terms of robot kinematics are discussed and a dynamics model is derived, which additionally took into account the drive unit model. This paper analyses four versions of the control system, which take into account the possibility of compensating for wheel slip and non-linearities resulting from the drive unit model. It is assumed that the wheel-slip compensation is based on the measurement of the actual robot’s motion parameters. The linear and angular motion parameters of the robot’s mobile platform are taken into account, which allows for the estimation of the wheel slip velocities. The results of the simulation studies are presented, consisting of the evaluation of individual control system solutions in terms of achieving the highest possible accuracy in executing a prescribed trajectory. Additionally, the impact of the investigated control strategies on electric power demand and electric energy consumption by the robot’s drives is analyzed. In order to quantitatively assess the control system solutions, quality indexes were adopted, focusing on tracking accuracy and energy efficiency. The research results indicate that incorporating wheel-slip compensation into the control system enables high accuracy to be achieved in terms of trajectory tracking. In turn, the use of the drive unit model within the control system leads to an increase in the accuracy of the robot’s wheel movements, which does not ultimately result in an increase in the accuracy of the motion of the robot’s mobile platform due to the slipping of the wheels. It was also observed that improving the trajectory tracking accuracy leads to an increase in the maximum electric power demand and electric energy consumption by the robot’s drives. Full article

This paper presents a robust control strategy for trajectory-tracking control of Skid-Steer Mobile Manipulators (SSMMs) using a Robust Nonlinear Model Predictive Control (R-NMPC) approach that minimises trajectory-tracking errors while overcoming model uncertainties and terra-mechanical disturbances. The proposed strategy is aimed at counteracting the effects of disturbances caused by the slip phenomena through the wheel–terrain contact and bidirectional interactions propagated by mechanical coupling between the SSMM base and arm. These interactions are modelled using a coupled nonlinear dynamic framework that integrates bounded uncertainties for the mobile base and arm joints. The model is developed based on principles of full-body energy balance and link torques. Then, a centralized control architecture integrates a nominal NMPC (disturbance-free) and ancillary controller based on Active Disturbance-Rejection Control (ADRC) to strengthen control robustness, operating the full system dynamics as a single robotic body. While the NMPC strategy is responsible for the trajectory-tracking control task, the ADRC leverages an Extended State Observer (ESO) to quantify the impact of external disturbances. Then, the ADRC is devoted to compensating for external disturbances and uncertainties stemming from the model mismatch between the nominal representation and the actual system response. Simulation and field experiments conducted on an assembled Pioneer 3P-AT base and Katana 6M180 robotic arm under terrain constraints demonstrate the effectiveness of the proposed method. Compared to non-robust controllers, the R-NMPC approach significantly reduced trajectory-tracking errors by 79.5% for mobile bases and 42.3% for robot arms. These results highlight the potential to enhance robust performance and resource efficiency in complex navigation conditions. Full article

At high speeds, skew and skid may frequently occur for the rollers in cylindrical roller bearings, especially when under eccentric load, as the uneven load distribution along the generatrix of the roller further aggravates this phenomenon. In this paper, a dynamic model of a cylindrical roller bearing was established, taking into account roller skewing and interactions with the cage. Firstly, the interaction between the roller and the raceway was calculated by slicing the roller along its generatrix. Furthermore, the computation of the interaction between the roller and the cage is based on elastic theory, taking into account pocket clearance. Subsequently, the dynamic equations for both rollers and cage were derived. Based on this foundation, an investigation was conducted to reveal how rotational speed, radial loads, and moment loads affect roller slipping, skewing characteristics, and interactions with the cage under uneven load conditions. The findings indicate a direct proportionality between roller slipping and bearing speed while exhibiting an inverse relationship with load magnitude. Additionally, it was observed that both bearing speed and load have a direct influence on roller skewing angle. Moreover, normal interaction force between the roller and cage demonstrates a direct proportionality to bearing speed while inversely correlating with load magnitude. Full article

In response to the challenges of multiple personnel, heavy support tasks, and high labor intensity in coal mine tunnel drilling and anchoring operations, this study proposes a novel tracked drilling and anchoring robot. The robot is required to maintain alignment with the centerline of the tunnel during operation. However, owing to the effects of skidding and slipping between the track mechanism and the floor, the precise control of a drilling and anchoring robot in tunnel environments is difficult to achieve. Through an analysis of the body and track mechanisms of the drilling and anchoring robot, a kinematic model reflecting the pose, steering radius, steering curvature, and angular velocity of the drive wheel of the drilling and anchoring robot was established. This facilitated the determination of speed control requirements for the track mechanism under varying driving conditions. Mathematical models were developed to describe the relationships between a tracked drilling and anchoring robot and several key factors in tunnel environments, including the minimum steering space required by the robot, the minimum relative steering radius, the steering angle, and the lateral distance to the sidewalls. Based on these models, deviation-correction control strategies were formulated for the robot, and deviation-correction path planning was completed. In addition, a PID motion controller was developed for the robot, and trajectory-tracking control simulation experiments were conducted. The experimental results indicate that the tracked drilling and anchoring robot achieves precise control of trajectory tracking, with a tracking error of less than 0.004 m in the x-direction from the tunnel centerline and less than 0.001 m in the y-direction. Considering the influence of skidding, the deviation correction control performance test experiments of the tracked drilling and anchoring robot at dy = 0.5 m away from the tunnel centerline were completed. In the experiments, the tracked drilling and anchoring robot exhibited a significant difference in speed between the two sides of the tracks with a track skid rate of 0.22. Although the real-time tracking maximum error in the y-direction from the tunnel centerline was 0.13 m, the final error was 0.003 m, meeting the requirements for position deviation control of the drilling and anchoring robot in tunnel environments. These research findings provide a theoretical basis and technical support for the intelligent control of tracked mobile devices in coal mine tunnels, with significant theoretical and engineering implications. Full article

This research focuses on the utilization of recently investigated aluminosilicate industrial wastes as precursors to produce non-structural precast alkali-activated concrete pavement blocks. For this purpose, conventional blocks (200 mm × 100 mm × 80 mm) were produced using electric arc furnace slag and municipal solid waste incineration bottom ashes as the sole binders. Portland cement and fly ash blocks were produced as references. The blocks underwent a curing regimen comprising thermal, dry, and carbonation curing stages. Control uncarbonated specimens were subjected to dry curing instead of CO₂-based curing to evaluate the influence of carbonation on the blocks’ strength development. The specimens were subsequently examined following EN 1338, which is the European standard for assessing and ensuring the conformity of conventional concrete pavement blocks. The carbonated blocks revealed improved mechanical and physical properties in relation to the uncarbonated ones. All blocks met standard dimensions, showed minimal skid potential (most indicating extremely low potential for slip for reporting unpolished slip resistance values exceeding 75), and had enhanced abrasion resistance due to carbonation, showing 30% and 11% less volume loss due to abrasion for fly ash and bottom ash, respectively. Carbonated blocks performed better than non-carbonated ones, displaying lower water absorption (0.58% and 0.23% less water absorption for bottom ash and slag, respectively) and higher thermal conductivity (20%, 13%, and 8% increase in values for fly ash, slag, and bottom ash, respectively). These results confirm the effectiveness of the accelerated carbonation curing technique in improving the block’s performance. Despite the promising outcomes, further optimization of the alkaline solution and carbonation curing conditions is recommended for future research. Full article