This study evaluated the lateral thermal deformation induced by environmental factors for a precast I-girder. Lateral temperature gradients across the cross-section of the girder were calculated using analytical equations based on daily solar radiation, temperature variation, and wind speed. Then the lateral thermal deformation showed an average of approximately 40% to 71% of the tolerance for the initial lateral deformation of the girder, defined in the PCI bridge design standard.

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels’ contact to the ground during high acceleration, and localization for the real time position control.