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. 2020 Oct 26;11:5392. doi: 10.1038/s41467-020-19088-y

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© The Author(s) 2020

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 5 — a The voltage output signal in a full tire revolution for the tire with pressure of 28 psi, velocity of 5 mph, and the normal load of 2000 N. b The time derivative of voltage signal. The effects of tire normal load on (tire pressure = 28 psi, velocity = 5 mph). c The magnitude of parameter V1. d The magnitude of parameter V4. The effects of tire inflation pressure on (tire load = 2000 N, velocity = 20 mph). e The magnitude of parameter V1. f The magnitude of parameter V4.