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. 2015 Dec 19;15(12):32056–32078. doi: 10.3390/s151229908

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© 2015 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons by Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).

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Curve simulation. Surface μ = 0.8. 500 m. radius curve. (a) Longitudinal and lateral speed; (b) Longitudinal slip; (c) Longitudinal forces; (d) Lateral forces; (e) Vertical forces; (f) Friction coefficient.