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n
s
s
u
ch
a
s
p
lan
etar
y
e
x
p
lo
r
atio
n
.
An
d
also
th
e
o
d
o
m
e
tr
y
er
r
o
r
is
t
h
e
u
s
e
o
f
d
ata
f
r
o
m
m
o
tio
n
s
e
n
s
o
r
to
esti
m
ate
c
h
a
n
g
e
i
n
p
o
s
itio
n
o
v
er
ti
m
e.
T
h
e
o
d
o
m
etr
y
i
s
u
s
ed
b
y
s
o
m
e
r
o
b
o
ts
w
h
et
h
er
t
h
e
y
b
e
leg
g
ed
o
r
w
h
ee
led
to
est
i
m
ate
t
h
eir
p
o
s
itio
n
r
elate
d
to
a
s
tar
tin
g
lo
ca
tio
n
.
I
t
also
lead
s
to
lo
ca
lizatio
n
e
r
r
o
r
s
an
d
u
n
co
n
tr
o
lled
o
d
o
m
e
tr
y
.
T
h
e
o
d
o
m
etr
y
er
r
o
r
is
a
m
ea
s
u
r
i
n
g
m
e
th
o
d
o
f
w
h
ee
l
r
o
tatio
n
as
a
f
u
n
ctio
n
o
f
ti
m
e.
I
f
th
e
t
w
o
w
h
ee
ls
o
f
r
o
b
o
t
ar
e
jo
in
ed
to
a
co
m
m
o
n
ax
le
o
r
b
o
d
y
r
elati
v
e
to
p
er
v
io
u
s
o
r
ien
ta
tio
n
ca
n
b
e
d
eter
m
in
ed
f
r
o
m
t
h
eo
d
o
m
etr
y
er
r
o
r
m
ea
s
u
r
e
m
e
n
t
o
n
b
o
th
r
ea
r
w
h
ee
ls
o
f
t
w
o
wh
e
eled
m
o
b
ile
r
o
b
o
t
an
d
s
i
n
g
l
e
w
h
ee
l
is
b
ein
g
i
n
f
r
o
n
t
o
f
t
w
o
w
h
ee
led
m
o
b
ile
r
o
b
o
ts
as
a
ca
s
ter
w
h
ee
l
to
c
alcu
lato
r
.
T
h
e
v
ar
iatio
n
in
p
o
s
itio
n
an
d
o
r
ien
tatio
n
o
f
t
h
e
r
o
b
o
t
w
it
h
r
esp
ec
t
to
s
tar
tin
g
p
o
in
t.
T
h
e
o
d
o
m
etr
y
er
r
o
r
(
o
e)
ca
n
b
e
tr
ea
ted
as
o
u
tp
u
t
r
esp
o
n
s
e
an
d
e
x
p
r
ess
ed
as
a
f
u
n
ctio
n
o
f
p
ar
am
eter
s
n
a
m
el
y
p
a
y
lo
ad
(
L
)
,
s
p
ee
d
(
S),
d
iam
eter
o
f
w
h
ee
l
(
D)
an
d
th
ick
n
e
s
s
o
f
w
h
ee
l
(
T
)
.
T
o
f
in
d
o
u
t
th
e
v
ar
iatio
n
i
n
p
o
s
itio
n
a
n
d
o
r
ien
tatio
n
o
f
t
h
e
r
o
b
o
t
w
it
h
r
esp
ec
t
to
s
tar
tin
g
p
o
in
t
(
p
)
ac
r
o
s
s
a
g
iv
e
n
s
p
an
o
f
ti
m
e
,
lin
er
d
is
ta
n
ce
DR
a
n
d
D
L
o
f
ea
ch
w
h
ee
l
tr
a
v
eled
(
co
m
p
u
ted
f
r
o
m
n
u
m
b
er
o
f
tic
k
s
o
f
th
e
en
co
d
er
s
an
d
d
ia
m
eter
o
f
t
h
e
w
h
ee
l)
a
n
d
w
h
ee
l
b
ase(
W
)
ar
e
s
u
b
s
tit
u
ted
in
th
e
f
o
llo
w
in
g
eq
u
a
tio
n
t
h
e
n
e
w
o
r
ie
n
tatio
n
(
R
)
in
r
ad
ian
s
is
ca
lc
u
lated
b
y
R
=P
+
(
DR
-
D
L
)
/W
He
r
e
th
e
p
o
s
itio
n
in
g
in
a
w
h
ee
led
m
o
b
ile
r
o
b
o
t
is
an
im
p
o
r
tan
t
task
f
o
r
m
a
n
y
ap
p
licat
io
n
s
w
h
ile
n
av
i
g
atio
n
o
f
t
h
e
W
MR.
T
h
e
p
o
s
itio
n
in
g
o
f
w
h
ee
led
m
o
b
ile
r
o
b
o
ts
b
asicall
y
ca
lcu
lated
u
s
in
g
o
d
o
m
etr
y
f
r
o
m
th
e
w
h
ee
l’
s
en
co
d
er
is
m
o
s
tl
y
u
s
ed
f
o
r
s
i
m
p
le
a
n
d
in
e
x
p
en
s
i
v
e
i
m
p
le
m
e
n
tatio
n
f
o
r
d
eter
m
in
e
t
h
e
r
elati
v
e
lo
ca
lizatio
n
o
f
a
m
o
b
ile
r
o
b
o
t.
2.
L
I
T
E
R
AT
U
RE
-
WH
E
E
L
S
L
I
P
T
h
e
t
y
r
e
i
s
s
lip
p
i
n
g
r
ela
tiv
e
t
o
th
e
r
o
ad
th
e
co
ef
f
icie
n
t
o
f
f
r
ictio
n
f
o
r
d
y
n
a
m
ic
co
n
tact
is
lo
w
er
,
a
n
d
h
av
e
le
s
s
tr
ac
tio
n
.
T
h
e
s
lip
is
g
en
er
all
y
g
iv
e
n
as
p
er
ce
n
tag
e
o
f
th
e
d
i
f
f
er
e
n
ce
b
et
w
ee
n
r
o
ta
tio
n
al
s
p
ee
d
(
w
h
ee
l
s
p
ee
d
)
o
f
th
e
w
h
ee
l
a
n
d
v
e
h
i
cle
s
p
ee
d
.
T
h
e
liter
atu
r
e
s
u
r
v
e
y
ab
o
u
t
t
h
e
w
h
ee
l
s
l
ip
o
f
m
o
b
ile
r
o
b
o
ts
is
t
h
e
m
o
s
tl
y
h
as
b
ee
n
f
o
c
u
s
ed
o
n
th
e
d
ev
elo
p
m
en
t
o
f
v
ar
io
u
s
m
o
d
el
s
,
s
tab
ilit
y
a
n
al
y
s
i
s
an
d
p
at
h
p
lan
n
in
g
f
o
r
mo
b
ile
r
o
b
o
ts
.
B
u
t t
h
is
r
ev
ie
w
h
as c
o
n
s
id
er
atio
n
ef
f
ec
t o
f
p
ar
a
m
eter
s
li
k
e
p
a
y
lo
ad
,
s
p
ee
d
,
g
eo
m
etr
y
o
f
w
h
ee
ls
f
o
r
m
o
b
ile
r
o
b
o
t
i
n
t
h
e
d
eter
m
i
n
atio
n
at
w
h
ee
l
s
lip
.
Ver
y
f
e
w
r
e
s
ea
r
ch
er
s
h
a
v
e
co
n
s
id
er
ed
th
e
e
f
f
ec
t
o
f
p
ar
am
eter
s
lik
e
p
a
y
lo
ad
,
v
e
lo
cit
y
an
d
g
eo
m
etr
y
o
f
w
h
ee
ls
f
o
r
m
o
b
ile
r
o
b
o
t
in
th
e
d
eter
m
i
n
atio
n
o
f
r
elati
v
e
lo
ca
lizatio
n
u
s
i
n
g
w
h
ee
ls
lip
&
o
d
o
m
etr
y
er
r
o
r
.
3.
E
F
F
E
C
T
O
F
P
AYLOA
D
T
h
e
w
eig
h
t
ca
r
r
y
i
n
g
ca
p
ac
it
y
is
r
ep
r
esen
tin
g
t
h
e
p
a
y
lo
ad
it
is
n
o
t
r
ep
r
esen
t
t
h
e
s
ep
ar
ate
w
ei
g
h
t
o
f
th
e
w
h
ee
led
m
o
b
ile
r
o
b
o
t.
I
n
t
h
e
b
ased
o
n
co
n
ce
p
t
th
e
in
cr
em
en
tal
r
an
g
e
o
f
p
a
y
lo
ad
o
f
w
h
ee
led
m
o
b
ile
r
o
b
o
t
is
th
e
co
n
s
id
er
ab
l
y
e
x
is
t
as
a
r
ed
u
ce
s
th
e
w
h
ee
l
s
lip
p
ag
e
an
d
to
tter
in
g
o
f
r
o
b
o
t
w
h
ee
l
an
d
s
tr
u
ct
u
r
e.
T
h
is
r
esu
lt
w
a
s
f
o
u
n
d
b
y
T
.
Ma
th
av
ar
aj
R
av
ik
u
m
ar
(
1
)
.
On
t
h
e
r
i
g
id
ter
r
ain
a
lar
g
e
s
i
ze
w
h
ee
l
w
as
s
u
itab
le
as
it
a
ll
o
w
ed
a
g
r
ea
t
a
m
o
u
n
t
o
f
o
n
b
o
ar
d
b
atter
y
m
as
s
,
h
e
n
ce
th
e
i
n
cr
ea
s
i
n
g
m
a
x
i
m
u
m
g
iv
e
tr
a
v
er
s
a
b
le
ab
ilit
y
.
T
h
is
r
esu
l
t
w
a
s
f
o
u
n
d
b
y
M
ar
tin
u
d
en
g
u
ar
d
(
4
)
.
W
h
ile
ap
p
l
y
in
g
t
h
e
p
ar
ticu
la
r
r
an
g
e
o
f
lo
ad
d
is
tr
ib
u
tio
n
ap
p
ly
o
n
t
h
e
w
h
ee
led
m
o
b
il
e
r
o
b
o
t
it
w
ill
b
e
co
n
tr
o
llin
g
o
r
r
ed
u
ci
n
g
t
h
e
w
h
ee
l
s
lip
p
ag
e.
T
h
i
s
r
es
u
lt
w
a
s
f
o
u
n
d
b
y
T
.
Ma
th
av
ar
aj
R
av
i
k
u
m
ar
(
5
)
.
T
h
e
m
ax
i
m
u
m
tr
ac
tio
n
f
o
r
ce
r
eq
u
ir
ed
r
ed
u
cin
g
as
t
h
e
m
a
n
e
u
v
er
s
ti
m
e
in
cr
ea
s
e.
W
h
ic
h
h
elp
s
to
r
ed
u
ce
t
h
e
m
ax
i
m
u
m
lo
ad
o
n
t
h
e
ac
t
u
at
o
r
,
th
is
e
x
p
er
i
m
e
n
t
w
as
f
o
u
n
d
b
y
S.
O.
O
y
ad
ij
i1
(
7
)
.
W
h
ile
i
n
cr
ea
s
i
n
g
t
h
e
p
ay
lo
ad
o
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th
e
f
r
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t
w
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p
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ties
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n
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ter
r
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e
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el
ativ
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to
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r
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p
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tio
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ta
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ce
,
w
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e
th
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h
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tu
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en
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.
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h
e
les
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co
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ac
t
ar
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t
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th
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to
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ate
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ase
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d
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th
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m
al
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tr
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er
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h
is
is
f
o
u
n
d
ed
b
y
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.
M
ath
av
ar
aj
R
av
i K
u
m
ar
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.
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ased
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n
co
n
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o
f
ex
p
er
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m
e
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ts
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p
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m
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d
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o
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L
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A
D
-
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KG
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SP
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DI
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ti
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m
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d
itio
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o
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th
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etter
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ela
tiv
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o
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itio
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g
s
u
c
h
as
m
in
i
m
u
m
o
d
o
m
etr
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er
r
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th
e
m
i
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i
m
u
m
o
d
o
m
etr
y
is
co
m
e
f
r
o
m
lo
w
w
h
ee
l
s
lip
o
f
r
o
b
o
t.
T
h
is
is
f
o
u
n
d
ed
b
y
T
.
m
a
t
h
av
ar
aj
R
av
i
K
u
m
ar
(
1
3
)
.
Su
r
f
ac
e
co
n
tact
p
ar
a
m
e
ter
s
w
er
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tu
n
ed
to
m
i
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m
ize
w
h
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l
s
lip
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th
e
d
y
n
a
m
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m
u
lat
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n
o
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w
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h
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A
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2
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L
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-
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h
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wh
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tatio
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a
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ctio
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o
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m
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(
r
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T
h
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w
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li
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ca
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12
T
h
e
in
cr
ea
s
e
i
n
p
a
y
lo
ad
co
n
s
i
d
er
ab
ly
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ed
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th
e
w
h
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s
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b
o
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th
at
lead
s
to
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o
d
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m
et
r
y
er
r
o
r
.
Has
b
ee
n
p
r
o
d
u
ce
d
b
y
T.
Ma
th
av
ar
aj
r
av
ik
u
m
ar
etal
(
1
)
.
I
n
th
is
ca
s
e
th
e
R
T
C
s
y
s
te
m
co
m
m
a
n
d
s
i
n
cr
ea
s
ed
to
r
q
u
e
to
th
e
r
ea
r
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h
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l,
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h
ich
h
a
s
a
m
u
ch
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i
g
h
er
lo
ad
th
a
n
t
h
e
f
r
o
n
t
w
h
ee
l,
r
es
u
lti
n
g
i
n
in
cr
ea
s
ed
n
et
th
r
u
s
t.
T
h
e
d
u
al
cr
iter
ia
o
p
tim
izatio
n
r
e
m
ai
n
e
d
in
tr
ac
tio
n
m
a
x
i
m
izatio
n
m
o
d
e
f
o
r
th
e
m
aj
o
r
it
y
o
f
th
e
tr
av
e
ls
.
T
h
e
m
o
d
er
ate
lo
ad
is
n
o
t
allo
w
ed
to
w
h
ee
ls
lip
&
o
d
o
m
etr
y
er
r
o
r
.
Has
b
ee
n
p
r
o
d
u
ce
d
b
y
Kar
l
I
ag
n
e
m
m
a
(
1
2
)
.
W
h
ee
l
ter
r
ain
co
n
tact
lo
ca
tio
n
s
w
er
e
d
eter
m
i
n
ed
b
y
m
a
k
in
g
a
th
i
n
w
h
ee
l
ap
p
r
o
x
im
at
io
n
an
d
f
i
n
d
in
g
t
h
e
i
n
ter
s
e
ctio
n
ar
e
b
et
w
ee
n
t
h
e
w
h
ee
l
an
d
t
h
e
lo
ca
l
tr
ian
g
u
lar
m
e
s
h
p
atch
e
s
.
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b
ee
n
p
r
o
d
u
ce
d
b
y
Ma
r
ti
n
Ud
e
n
g
aa
r
d
(
3
)
.
W
h
ile
ap
p
ly
i
n
g
th
e
p
ar
ticu
lar
r
an
g
e
o
f
lo
ad
d
is
tr
ib
u
tio
n
ap
p
ly
o
n
th
e
w
h
ee
led
m
o
b
ile
r
o
b
o
t
is
w
ill
b
e
co
n
tr
o
llin
g
o
r
r
ed
u
cin
g
t
h
e
wh
ee
l
s
l
ip
p
ag
e.
Od
o
m
etr
y
er
r
o
r
,
h
is
i
s
p
r
o
v
ed
b
y
T
.
Ma
th
a
v
a
r
aj
R
av
ik
u
m
ar
(
5
)
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h
e
p
r
o
p
o
s
ed
r
o
b
o
t
h
as
f
o
u
r
w
h
ee
ls
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n
o
r
d
er
to
m
ain
tain
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s
s
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ilit
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w
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e
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th
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ter
o
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g
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ch
a
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g
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d
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e
to
an
y
ex
tr
alo
ad
.
E
ac
h
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h
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l
h
as
a
ttach
ed
to
th
e
tip
o
f
a
le
g
b
ec
au
s
e
i
n
m
a
n
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s
es,
s
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f
f
icie
n
t
s
p
ac
e
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ailab
le
to
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et
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le
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a
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ee
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ar
atel
y
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n
t
h
e
b
o
d
y
o
f
th
e
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o
t.
T
h
e
p
r
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p
o
s
ed
r
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b
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t
h
a
s
f
o
u
r
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h
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n
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r
d
er
to
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s
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il
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e
n
th
e
ce
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ter
o
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g
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it
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t
h
e
ch
a
n
g
e
s
d
u
e
to
an
y
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tr
a
lo
ad
.
T
h
is
h
as
b
e
en
p
r
o
d
u
ce
d
b
y
d
s
h
u
r
o
n
a
k
aj
i
m
a
(
9
)
.
T
h
e
s
p
ec
if
ic
m
o
d
el
“
VE
NT
R
A
”
t
w
o
w
h
ee
led
m
o
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ile
r
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b
o
t
is
b
ein
g
t
h
e
u
s
e
f
u
l
u
t
ilizatio
n
.
T
h
e
g
iv
e
n
f
ig
u
r
e
i
s
r
ep
r
esen
t
it
s
d
etail
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n
d
it
s
elf
w
e
ig
h
t
i
s
1
.
2
k
g
a
n
d
th
e
d
is
ta
n
ce
b
et
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ee
n
2
w
h
ee
l
s
(
W
)
is
1
2
0
m
m
,
t
h
e
m
a
x
i
m
u
m
s
p
ee
d
is
u
p
to
2
0
0
m
m
/s
ec
.
T
h
e
r
o
b
o
t
w
a
s
d
r
iv
en
in
a
n
in
d
o
o
r
en
v
ir
o
n
m
e
n
t
a
s
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er
th
e
o
b
s
er
v
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o
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p
er
i
m
en
t
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r
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e
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n
cr
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s
in
g
t
h
e
p
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lo
ad
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n
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ab
l
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ce
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e
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l sli
p
p
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e
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n
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g
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v
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s
m
o
o
t
h
m
o
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e
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en
t
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h
in
t
h
e
p
ar
ticu
lar
p
ay
lo
ad
r
an
g
e
(
0
.
8
k
g
-
1
k
g
)
g
r
ap
h
.
Fig
u
r
e
8
.
So
u
r
ce
-
I
SS
N2
2
7
8
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0
1
4
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ww
.
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m
er
,
Vo
l,
3,
1,
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an
u
ar
y
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0
1
4
T
h
e
ab
o
v
e
g
r
ap
h
ical
r
ep
r
esen
tatio
n
is
p
r
o
d
u
cin
g
o
r
in
d
i
ca
tin
g
th
e
d
etai
l
o
f
o
d
o
m
etr
y
.
C
o
n
tr
o
l
ac
ce
n
d
in
g
t
h
e
lo
ad
v
ar
ian
ce
.
Has b
ee
n
p
r
o
d
u
ce
d
b
y
T
.
Ma
th
av
ar
aj
R
av
ik
u
m
ar
(
1
3
)
.
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p
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tial
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ilit
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et
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r
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b
y
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.
M
ath
av
ar
aj
R
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i
k
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u
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ete
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m
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v
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m
ath
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ar
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av
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k
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r
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3
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ap
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ase
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m
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h
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n
g
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ae
J
u
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g
(
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if
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ce
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h
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m
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u
lio
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a
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10.
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DIAM
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T
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WH
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L
Fro
m
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I
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N
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lear
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Fig
u
r
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12
.
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-
I
J
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N
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A
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T
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;
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Vo
l.
2
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3
(
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r
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3
5
9
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6
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ased
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ts
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m
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lo
w
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n
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ce
d
b
y
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.
Ma
th
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ar
aj
R
av
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m
ar
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1
3
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.
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h
e
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li
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o
f
f
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et
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aso
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atio
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ased
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o
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etr
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eth
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m
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y
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ate
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ter
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e
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ticu
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g
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a
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s
.
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ee
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d
u
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d
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Gen
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aI
s
h
ig
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m
i
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.
11.
E
F
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F
WH
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E
L
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CK
NE
SS
T
h
e
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f
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ce
,
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ic
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n
ess
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ied
f
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m
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m
a
n
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r
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er
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w
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h
t
h
e
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cr
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e
in
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,
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th
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Fig
u
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13
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w
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ar
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n
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d
u
ce
d
b
y
T
.
M
ath
a
v
ar
aj
R
av
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Ku
m
ar
(
1
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.
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h
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n
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IJ
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izat
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r
t
h
e
r
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tiv
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i.e
.
,
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r
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a
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d
s
n
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r
es
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lted
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w
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t
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ar
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u
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e
14
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-
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J
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R
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ts
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Vo
l.
27,
No
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3
(
Ma
r
ch
2
0
1
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)
359
-
3
6
6
T
h
e
less
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tact
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t
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o
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f
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ase
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eter
m
in
ed
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y
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.
m
ath
a
v
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aj
R
av
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m
ar
(
5
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.
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ased
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m
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b
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.
m
ath
a
v
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R
av
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Ku
m
ar
(
1
3
)
.
Su
r
f
ac
e
co
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tact
p
ar
a
m
eter
s
w
er
e
t
u
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to
m
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ar
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d
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e
to
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m
o
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u
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ities
in
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.
12.
CO
M
P
ARSI
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L
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P
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DO
M
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RY
O
N
RE
A
L
T
I
M
E
O
F
WM
R
(
SUM
M
ARY)
T
h
e
w
h
ee
led
m
o
b
ile
r
o
b
o
t’
s
w
h
ee
l
s
lip
a
n
d
b
ad
o
d
o
m
etr
y
ar
e
th
e
m
o
s
tl
y
t
h
e
a
f
f
ec
ti
n
g
th
e
r
o
b
o
t’
s
m
o
v
e
m
e
n
t
f
o
r
d
if
f
er
en
tial
t
wo
w
h
ee
led
m
o
b
ile
r
o
b
o
t.
T
h
e
b
o
th
d
r
a
w
b
ac
k
s
(
s
lip
.
O
d
o
m
etr
y
er
r
o
r
)
ar
e
cr
ea
tin
g
s
o
m
e
a
n
o
th
er
in
d
ir
e
ct
ef
f
ec
t
p
ar
a
m
eter
s
n
a
m
el
y
J
er
k
m
o
v
in
g
,
v
ib
r
atio
n
s
,
p
itch
i
n
g
,
y
a
w
i
n
g
,
r
o
lli
n
g
etc.
Her
e
th
e
an
al
y
s
i
s
f
ir
s
t
ab
o
u
t
th
e
w
h
ee
l
s
lip
p
ag
e
o
f
w
h
e
eled
m
o
b
ile
r
o
b
o
t
h
o
w
to
b
e
r
ea
ch
th
e
tar
g
et
w
it
h
in
t
h
e
ti
m
e
b
ei
n
g
a
n
d
e
n
er
g
y
s
av
i
n
g
co
n
d
itio
n
.
I
n
ca
s
e
w
h
e
eled
m
o
b
ile
r
o
b
o
t’
s
b
o
th
w
h
e
els
ar
e
af
f
ec
ti
n
g
i
n
w
h
ee
l
s
lip
p
ag
e
it
w
ill
b
e
n
o
t
g
iv
e
th
e
an
y
n
a
v
i
g
atio
n
,
an
y
o
n
e
w
h
ee
l
is
af
f
ec
ti
n
g
i
n
th
e
w
h
e
elsl
ip
it
n
av
ig
at
io
n
is
s
lo
w
d
o
w
n
o
n
an
y
ter
r
ain
o
r
f
lo
o
r
.
T
h
e
o
d
o
m
etr
y
er
r
o
r
is
th
e
an
o
t
h
er
o
n
e
o
f
th
e
a
f
f
ec
ti
n
g
f
ac
to
r
th
e
w
h
ee
l
s
lip
p
ag
e
is
cr
ea
tin
g
th
e
b
ad
o
d
o
m
etr
y
.
I
t
is
th
e
d
if
f
er
e
n
t
f
r
o
m
t
h
e
w
h
ee
ls
lip
b
ec
au
s
e
t
h
e
m
o
v
e
m
e
n
t
ar
e
th
er
e
to
w
ar
d
th
e
tar
g
et,
b
u
t
th
e
o
d
o
m
etr
y
er
r
o
r
is
p
r
o
d
u
cin
g
t
h
e
u
n
co
n
tr
o
lled
s
tr
ea
m
tr
ac
k
i
n
g
m
o
v
e
m
e
n
t.
T
h
e
tr
av
elli
n
g
ti
m
e,
e
n
er
g
y
lo
s
s
is
m
o
r
e.
Fro
m
th
e
ab
o
v
e
a
n
al
y
s
i
s
t
h
e
ti
m
e
co
n
s
u
m
i
n
g
a
n
d
en
e
r
g
y
lo
s
s
ar
e
m
o
s
tl
y
w
a
s
tag
e
b
y
t
h
e
w
h
ee
ls
l
ip
an
d
o
d
o
m
etr
y
er
r
o
r
ti
m
e
o
f
n
a
v
i
g
atio
n
.
B
u
t
th
e
m
o
s
t
f
ac
in
g
f
ac
to
r
in
th
e
r
ea
l
ti
m
e
o
f
n
a
v
ig
a
tio
n
o
n
W
M
R
to
ac
h
iev
i
n
g
t
h
e
tar
g
e
t/g
o
al,
b
ec
au
s
e
th
e
m
o
b
ile
r
o
b
o
t’
s
m
o
v
e
m
e
n
t
m
a
y
n
o
t
p
o
s
s
ib
le
w
h
ile
t
h
e
af
f
ec
tin
g
b
o
th
w
h
ee
ls
o
f
W
MR.
An
y
o
n
e
w
h
ee
l
af
f
ec
tin
g
it
w
ill
o
cc
u
r
th
e
s
lo
w
m
o
v
e
m
e
n
t.
I
n
th
e
o
d
o
m
etr
y
er
r
o
r
ti
m
e
t
h
e
m
o
v
e
m
en
t
is
p
o
s
s
ib
ilit
ies,
h
e
n
ce
t
h
e
ta
r
g
et
r
ea
ch
in
g
is
p
o
s
s
ib
ilit
y
in
ev
e
n
o
r
u
n
e
v
en
co
n
d
itio
n
.
s
o
it is
to
o
h
elp
to
r
ea
ch
th
e
tar
g
et/
g
o
al,
co
m
p
ar
in
g
w
it
h
t
h
e
w
h
ee
l
s
lip
f
ac
to
r
.
13.
CO
NCLU
SI
O
NS
Fro
m
th
e
ab
o
v
e
s
t
u
d
ies t
h
e
f
o
llo
w
i
n
g
s
ar
e
th
e
co
n
cl
u
s
io
n
s
:
T
h
e
w
h
ee
l
s
lip
&
o
d
o
m
e
tr
y
e
r
r
o
r
o
f
w
h
ee
led
m
o
b
ile
r
o
b
o
ts
is
m
o
s
t
l
y
af
f
ec
ti
n
g
f
ac
t
o
r
s
&
d
ir
ec
t
af
f
ec
tin
g
f
ac
to
r
s
to
th
e
r
o
b
o
ts
p
er
f
o
r
m
a
n
ce
.
E
s
p
ec
iall
y
t
h
e
wh
ee
l
s
lip
lead
to
m
o
r
e
ti
m
e
co
n
s
u
m
in
g
a
n
d
m
o
r
e
en
er
g
y
w
asta
g
e
o
f
W
MR
c
o
m
p
ar
i
n
g
w
i
th
o
d
o
m
etr
y
er
r
o
r
.
T
h
e
d
ir
ec
t
af
f
ec
t
p
ar
a
m
eter
s
(
P
ay
lo
ad
,
s
p
ee
d
,
d
ia
m
eter
o
f
w
h
ee
l,
th
ic
k
n
ess
o
f
w
h
ee
l)
an
d
v
er
y
i
n
f
lu
e
n
c
in
g
o
n
th
e
W
M
R
p
er
f
o
r
m
an
c
e
to
p
r
o
d
u
cin
g
t
h
e
w
h
ee
ls
lip
&
o
d
o
m
etr
y
er
r
o
r
.
W
h
en
a
f
f
ec
t
in
g
t
h
e
m
o
s
t
o
f
a
ll
w
h
ee
l
s
b
y
th
e
w
h
ee
l
s
li
p
p
ag
e
o
n
th
e
an
y
s
u
r
f
ac
e/f
lo
o
r
it’
s
p
er
f
o
r
m
a
n
ce
w
ill
b
e
r
ed
u
ce
s
u
d
d
en
l
y
,
it
s
r
ec
o
v
er
y
m
a
y
b
e
d
if
f
ic
u
lt
y
(
s
e
a
s
an
d
s
u
r
f
ac
e,
lo
s
e
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