VTire: A Bimodal Visuotactile Tire with High-Resolution Sensing Capability

Abstract: Developing smart tires with high sensing capability is significant for improving the moving stability and environmental adaptability of wheeled robots and vehicles. However, due to the classical manufacturing design, it is always challenging for tires to infer external information precisely. To this end, this paper introduces a bimodal sensing tire, which can simultaneously capture tactile and visual data. By leveraging the emerging visuotactile techniques, the proposed smart tire can realize various functions, including terrain recognition, ground crack detection, load sensing, and tire damage detection. Besides, we optimize the material and structure of the tire to ensure its outstanding elasticity, toughness, hardness, and transparency. In terms of algorithms, a transformer-based multimodal classification algorithm, a load detection method based on finite element analysis, and a contact segmentation algorithm have been developed. Furthermore, we construct an intelligent mobile platform to validate the system's effectiveness and develop visual and tactile datasets in complex terrains. The experimental results show that our multimodal terrain sensing algorithm can achieve a classification accuracy of 99.2\%, a tire damage detection accuracy of 97\%, a 98\% success rate in object search, and the ability to withstand tire loading weights exceeding 35 kg. In addition, we open-source our algorithms, hardware, and datasets at https://sites.google.com/view/vtire.

Utilizing IEEEtran LaTeX Templates for Academic Publications

The IEEE document titled "How to Use the IEEEtran LaTeX Templates" offers a comprehensive guide for authors looking to format their work in accordance with IEEE standards for submission to conferences, journals, and technical notes. As outlined in this guide, the IEEEtran class is a versatile tool designed to approximate the final look and page length of submitted articles. Though not intended to produce works that are identical to the final printed or digital versions, these templates support authors in preparing their manuscripts for submission by facilitating format estimation and XML conversion.

Key Document Elements

The guide details essential elements within a LaTeX document using IEEEtran, including title setup, author names and affiliations, abstracts, index terms, sections, citations, figures, tables, lists, and more:

• Title and Author Information: Controlled via straightforward LaTeX commands, the guide recommends concise coding practices.
• Abstracts and Index Terms: Authors are advised on defining clear abstracts free from complex equations and on selecting index terms vital for classification and discovery.
• Body and Structure: The guide delineates structured section and subsection commands, methods for drop cap letters, and approaches for handling figures and tables to maintain consistency with IEEE styles.

Technical Advice

The authors provide guidance on numerous technical aspects essential for LaTeX document preparation:

• Document Class Options: The guide explores several class options tailored for various types of publications to ensure manuscript adherence to intended publication type standards.
• Multiple Sections: Recommendations include how to structure front matter, body text, and common back matter elements like acknowledgments and bibliographies.
• Mathematical Expression Typography: The guide emphasizes the significance of uniformity and clarity in mathematical typesetting and provides stylized examples of display equations, equation numbering, multi-line equations, and matrix setups.

Implications and Future Directions

While the guide refrains from qualitative evaluation of IEEEtran itself, its implications are clear for academic authors aiming for streamlined and compliant article submissions. The integration and universal acceptance of LaTeX, particularly within technical fields, underscore the ongoing utility and importance of IEEEtran templates as foundational tools in scholarly publishing.

Looking ahead, advancements in automated document processing and machine-learning-based content optimization may support authors in minimizing common formatting issues addressed in this guide, potentially leading to novel tools that can enhance compliance and streamline publication processes further.

In summary, this guide serves as an essential resource for researchers preparing manuscripts for IEEE submissions. Through methodical directives on document component structuring and technical advice, authors achieve adherence to stringent IEEE standards, supporting both the quality and professionalism of scholarly publications.