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• 2020

  Active control of independently-rotating wheels with gyroscopes and tachometers - simple solutions for perfect curving and high stability performance: simple solutions for perfect curving and high stability performance

  Liu, X., Goodall, R. & Iwnicki, S., 18 Jun 2020, In: Vehicle System Dynamics. 16 p.

  Research output: Contribution to journal › Article › peer-review

  • Tachometers
  • Gyroscopes
  • Wheels
  • Vehicle wheels
  • Axles
  2 Citations (Scopus)

• Active suspension in railway vehicles: a literature survey

  Fu, B., Giossi, R. L., Persson, R., Stichel, S., Bruni, S. & Goodall, R., 9 Mar 2020, In: Railway Engineering Science. 28, 1, p. 3-35 33 p.

  Research output: Contribution to journal › Review article › peer-review

  Open Access

  • German Federal Railways
  • Axles
  • Rails
  • literature
  • Wheels
  7 Citations (Scopus)

• A Direct Control Approach for Automatic Steering and Stability of Motorized Independently-Rotating Wheels

  Liu, X., Goodall, R. & Iwnicki, S., 14 Feb 2020, Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. Klomp, M., Bruzelius, F., Nielsen, J. & Hillemyr, A. (eds.). 1 ed. Springer, p. 24-30 7 p. (Lecture Notes in Mechanical Engineering).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Wheels
  • Axles
  • Rails

• Benefits of mechatronically guided vehicles on railway track switches

  Farhat, N., Ward, C. P., Dixon, R. & Goodall, R. M., 1 Mar 2020, In: Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit. 234, 3, p. 276-288 13 p.

  Research output: Contribution to journal › Article › peer-review

  • Mechatronics
  • Rails
  • Switches
  • Flanges
  • Wear of materials
  1 Citation (Scopus)

• Combined active suspension and structural damping control for suppression of flexible bodied railway vehicle vibration

  Zheng, X., Zolotas, A. & Goodall, R., 1 Feb 2020, In: Vehicle System Dynamics. 58, 2, p. 198-228 31 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Damping
  • Actuators
  • Piezoelectric actuators
  • Uncertainty analysis
  • Decentralized control
  3 Citations (Scopus)

• Controlling a Rail Vehicle with Independently-Rotating Wheels

  Farhat, N., Ward, C., Shaebi, O., Crosbee, D., Stow, J., Wang, R., Goodall, R. & Whitley, M., 14 Feb 2020, Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, August 12-16, 2019, Gothenburg, Sweden. Klomp, M., Bruzelius, F., Nielsen, J. & Hillemyr, A. (eds.). Springer, p. 31-39 9 p. (Lecture Notes in Mechanical Engineering).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Suspensions
  • Rails
  • Wheels
  • Vehicle performance
  • Physics

• Inertance-Integrated Primary Suspension Optimisation on an Industrial Railway Vehicle Model

  Lewis, T., Li, Y., Tucker, G., Jiang, Z., Neild, S., Smith, M. C., Goodall, R., Iwnicki, S. & Dinmore, N., 14 Feb 2020, Advances in Dynamics of Vehicles on Roads and Tracks: Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. Klomp, M., Bruzelius, F., Nielsen, J. & Hillemyr, A. (eds.). 1 ed. Springer, p. 570-579 10 p. (Lecture Notes in Mechanical Engineering).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • railway
  • vehicle
  • stiffness
  • cost increase
  • trade-off
• 2019

  Improving the track friendliness of a four-axle railway vehicle using an inertance-integrated lateral primary suspension

  Lewis, T., Li, Y., Tucker, G., Jiang, J., Zhao, Y., Neild, S., Smith, M., Goodall, R. & Dinmore, N., 12 Sep 2019, In: Vehicle System Dynamics. 20 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Axles
  • Stiffness
  • Rails
  • Vehicle performance
  • Industry
• 2018

  Developing an Inerter Model using Multibody Dynamics Software for Railway Vehicle Applications

  Zhao, Y., Tucker, G., Goodall, R., Iwnicki, S., Jaing, J. Z. & Smith, M., 22 Jan 2018, Dynamics of Vehicles on Roads and Tracks: Proceedings of the 25th International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD 2017), 14-18 August 2017, Rockhampton, Queensland, Australia. Spiryagin, M., Gordon, T., Cole, C. & McSweeney, T. (eds.). CRC Press, Vol. 2. p. 1267-1272

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Vehicle suspensions
  • Software packages
  • Computer simulation
  1 Citation (Scopus)

• Developing a wheel motor controller for an actively steered bogie using co-simulation

  Zhao, Y., Goodall, R., Stow, J., Cooney, N. & Hawley, J., 22 Jan 2018, The Dynamics of Vehicles on Roads and Tracks: Proceedings of the 25th International Symposium on Dynamics of Vehicles on Roads and Tracks. Spiryagin, M., Gordon, T., Cole, C. & McSweeney, T. (eds.). CRC Press/Balkema, Vol. 2. p. 723-727 5 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Wheels
  • Controllers
  • Axles

• Enabling the optimisation of the primary suspension with passive components for an industrial railway vehicle model

  Lewis, T., Li, Y., Jiang, J. Z., Neild, S. A., Tucker, G., Iwnicki, S., Goodall, R. & Smith, M., 17 Sep 2018, Proceedings of ISMA 2018 - International Conference on Noise and Vibration Engineering and USD 2018 - International Conference on Uncertainty in Structural Dynamics. Moens, D., Desmet, W., Pluymers, B. & Rottiers, W. (eds.). KU Leuven - Departement Werktuigkunde, p. 3269-3281 13 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • vehicles
  • industries
  • optimization
  • passengers
  • comfort

• Improving the reliability and availability of railway track switching by analysing historical failure data and introducing functionally redundant subsystems

  Bemment, S. D., Goodall, R. M., Dixon, R. & Ward, C. P., 1 May 2018, In: Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit. 232, 5, p. 1407-1424 18 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  • Availability
  • Switches
  • Redundancy
  • Rails
  • Nuclear industry
  12 Citations (Scopus)

• New insights from fractional order skyhook damping control for railway vehicles

  Zolotas, A. C. & Goodall, R. M., 2 Nov 2018, In: Vehicle System Dynamics. 56, 11, p. 1658-1681 24 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Damping
  • Controllers
  3 Citations (Scopus)

• The benefits of mechatronically-guided railway vehicles: A multi-body physics simulation study

  Farhat, N., Ward, C. P., Goodall, R. & Dixon, R., 1 May 2018, In: Mechatronics. 51, p. 115-126 12 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  • Physics
  • Rails
  • Mechatronics
  • Wheels
  • Suspensions (components)
  9 Citations (Scopus)
• 2017

  Evaluation of passive and active steering systems for railway vehicles using Matlab and Simulink simulation

  Abobghala, A., Iwnicki, S. & Goodall, R., 26 Oct 2017, Proceedings of the 23rd International Conference on Automation & Computing, (University of Huddersfield, 7-8 September 2017). Institute of Electrical and Electronics Engineers Inc., 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Mechatronics
  • Software packages
  • Industry
  • MATLAB
  • Energy utilization

• Rethinking rail track switches for fault tolerance and enhanced performance

  Bemment, S. D., Ebinger, E., Goodall, R. M., Ward, C. P. & Dixon, R., 1 Oct 2017, In: Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit. 231, 9, p. 1048-1065 18 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  • Fault tolerance
  • Rails
  • Gages
  • Demonstrations
  • Switches
  7 Citations (Scopus)

• The use of wheelmotors to provide active steering and guidance for a light rail vehicle

  Stow, J., Cooney, N., Sellick, R. & Goodall, R. M., 2017, Institution of Mechanical Engineers - Stephenson Conference: Research for Railways 2017. Institution of Mechanical Engineers, p. 455-462 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Rails
  • Mechatronics
  • Traction motors
  • Axles
  • Wheels
• 2016

  Combining active structural damping and active suspension control in flexible bodied railway vehicles

  Zheng, X., Zolotas, A. & Goodall, R., 29 Aug 2016, Proceedings of the 35th Chinese Control Conference, CCC 2016. IEEE Computer Society, Vol. 2016-August. p. 8938-8944 7 p. 7554784. (Control Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Active Suspension
  • Piezoelectric Actuator
  • Railway
  • Actuator
  • Piezoelectric actuators
  2 Citations (Scopus)

• Railway bogie stability control from secondary yaw actuators

  Goodall, R. M., Ward, C. P., Prandi, D. & Bruni, S., 2016, The Dynamics of Vehicles on Roads and Tracks - Proceedings of the 24th Symposium of the International Association for Vehicle System Dynamics, IAVSD 2015. CRC Press/Balkema, p. 1061-1070 10 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Actuators
  • Stiffness
  • Wheels
  • Torque

• Rethinking Rail Track Switches for Fault Tolerance and Enhanced Performance

  Harrison, T., Bemment, S. D., Ebinger, E., Goodall, R. M., Ward, C. P. & Dixon, R., 10 Nov 2016, In: IFAC-PapersOnLine. 49, 21, p. 260-266 7 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  • Fault tolerance
  • Rails
  • Switches
  2 Citations (Scopus)
• 2015

  Design, construction and operation of a REPOINT laboratory demonstrator

  Bemment, S. D., Dixon, R., Goodall, R., Ward, C. P. & Wright, N., 21 Apr 2015, Stephenson Conference Research for Railways 2015. Institution of Mechanical Engineers, p. 221-231 11 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  Open Access

  • Monitoring
  • Maintainability
  • Rapid prototyping
  • Operating costs
  • Fault tolerance

• Modelling comparison of actively-steered railway vehicles using Simpack and Matlab

  Mei, T. X., Nagy, Z. & Goodall, R. M., 4 May 2015, 1999 European Control Conference (ECC). Institute of Electrical and Electronics Engineers Inc., p. 2425-2430 6 p. 7099686

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Axles
  • Controllers
  3 Citations (Scopus)

• Novel mechatronic solutions incorporating inerters for railway vehicle vertical secondary suspensions

  Matamoros-Sanchez, A. Z. & Goodall, R. M., 2015, In: Vehicle System Dynamics. 53, 2, p. 113-136 24 p.

  Research output: Contribution to journal › Article › peer-review

  • Mechatronics
  • Passive networks
  • Vehicle performance
  • Damping
  • Actuators
  15 Citations (Scopus)

• Optimal control of an advanced high speed train's suspension with a flexible body

  Foo, T. H. & Goodall, R. M., 4 May 2015, 1999 European Control Conference (ECC) . Institute of Electrical and Electronics Engineers Inc., p. 551-556 6 p. 7099362

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Actuators
  • Rails
  • Controllers

• Passive suspensions for ride quality improvement of two-axle railway vehicles

  Jiang, J. Z., Matamoros-Sanchez, A. Z., Zolotas, A., Goodall, R. M. & Smith, M. C., 1 Mar 2015, In: Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit. 229, 3, p. 315-329 15 p.

  Research output: Contribution to journal › Article › peer-review

  • Axles
  • Capacitors
  • Networks (circuits)
  33 Citations (Scopus)
• 2014

  Hydraulic actuation technology for full- and semi-active railway suspensions

  Goodall, R., Freudenthaler, G. & Dixon, R., 2 Dec 2014, In: Vehicle System Dynamics. 52, 12, p. 1642-1657 16 p.

  Research output: Contribution to journal › Article › peer-review

  • Hydraulics
  6 Citations (Scopus)

• Models for estimation of creep forces in the wheel/rail contact under varying adhesion levels

  Hubbard, P. D., Ward, C., Dixon, R. & Goodall, R., 30 May 2014, In: Vehicle System Dynamics. 52, SUPPL. 1, p. 370-386 17 p.

  Research output: Contribution to journal › Article › peer-review

  • Adhesion
  • Creep
  • Rails
  • Wheels
  • Braking
  12 Citations (Scopus)

• Multi-agent Control of High Redundancy Actuation

  Davies, J., Dixon, R., Goodall, R. M. & Steffen, T., 1 Feb 2014, In: International Journal of Automation and Computing. 11, 1, p. 1-9 9 p.

  Research output: Contribution to journal › Article › peer-review

  • Actuator
  • Redundancy
  • Fault Detection
  • Reconfiguration
  • Fault Tolerance
  5 Citations (Scopus)

• Optimised sensor selection for control and fault tolerance of electromagnetic suspension systems: A robust loop shaping approach

  Michail, K., Zolotas, A. C. & Goodall, R. M., Jan 2014, In: ISA Transactions. 53, 1, p. 97-109 13 p.

  Research output: Contribution to journal › Article › peer-review

  • fault tolerance
  • Fault Tolerance
  • Sensor
  • Fault tolerance
  • electromagnetism
  13 Citations (Scopus)

• Robust system state estimation for active suspension control in high-speed tilting trains

  Zhou, R., Zolotas, A. & Goodall, R., 30 May 2014, In: Vehicle System Dynamics. 52, SUPPL. 1, p. 355-369 15 p.

  Research output: Contribution to journal › Article › peer-review

  • State estimation
  • Uncertainty
  • Error analysis
  • Dynamical systems
  • Control systems
  11 Citations (Scopus)

• The performance and control requirements of a REPOINT track switch

  Wright, N., Bemment, S., Ward, C., Dixon, R. & Goodall, R. M., 2014, Proceedings of the Second International Conference on Railway Technology: Research, Development and Maintenance. Pombo, J. (ed.). Vol. 104. 215. (Civil-Comp Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Fault tolerance
  • Sustainable development
  • Switches
  • Control systems
  • Industry
• 2013

  Fallback options for airgap sensor fault of an electromagnetic suspension system

  Michail, K., Zolotas, A. C. & Goodall, R. M., Jun 2013, In: Central European Journal of Engineering. 3, 2, p. 206-220 15 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  • Suspensions
  • Sensors
  • Redundancy
  • Genetic algorithms
  6 Citations (Scopus)

• H_∞-based control system and its digital implementation for the integrated tilt with active lateral secondary suspensions in high speed trains

  Zhou, R., Zolotas, A. & Goodall, R., 21 Oct 2013, Proceedings of the 32nd Chinese Control Conference. IEEE Computer Society, p. 5554-5559 6 p. 6640408. (Chinese Control Conference, CCC).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Tilt
  • High Speed
  • Lateral
  • Control System
  • Hardware-in-the-loop
  2 Citations (Scopus)

• Non-uniform sampling strategies for digital control

  Khan, S., Goodall, R. M. & Dixon, R., 1 Dec 2013, In: International Journal of Systems Science. 44, 12, p. 2234-2254 21 p.

  Research output: Contribution to journal › Article › peer-review

  • Digital Control
  • Nonuniform Sampling
  • Sampling Strategy
  • Sampling
  • Requirements
  12 Citations (Scopus)

• Optimised sensor selection for control and fault tolerance: Comparison and some new results

  Michail, K., Zolotas, A. & Goodall, R., 26 Sep 2013, 21st Mediterranean Conference on Control and Automation. Antsaklis, P., Valavanis, K., Tsourveloudis, N., Zingaretti, P. & Moreno, L. (eds.). IEEE, p. 60-65 6 p. 6608699

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Fault tolerance
  • Sensors
  • Controllers
  • Industrial applications

• Real time detection of low adhesion in the wheel/rail contact

  Hubbard, P., Ward, C., Dixon, R. & Goodall, R., 1 Nov 2013, In: Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit. 227, 6, p. 623-634 12 p.

  Research output: Contribution to journal › Article › peer-review

  • Adhesion
  • Rails
  • Wheels
  • Condition monitoring
  • Kalman filters
  10 Citations (Scopus)

• Redundantly Engineered Track Switching for Enhanced Railway Nodal Capacity

  Bemment, S., Dixon, R., Goodall, R. & Brown, S., 2013, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 46, 25, p. 25-30 6 p.

  Research output: Contribution to journal › Conference article › peer-review

  Open Access

  • Rails
  • Redundancy
  • Switches
  • Maintainability
  • Fault tolerance
  8 Citations (Scopus)

• Verification of Model-Based Adhesion Estimation in the Wheel-Rail Interface

  Hubbard, P. D., Ward, C., Dixon, R. & Goodall, R., 2013, In: Chemical Engineering Transactions. 33, p. 757-762 6 p.

  Research output: Contribution to journal › Article › peer-review

  • Adhesion
  • Rails
  • Wheels
  • Creep
  • Vehicle suspensions
  2 Citations (Scopus)
• 2012

  Adhesion estimation at the wheel-rail interface using advanced model-based filtering

  Ward, C. P., Goodall, R. M., Dixon, R. & Charles, G. A., 1 Dec 2012, In: Vehicle System Dynamics. 50, 12, p. 1797-1816 20 p.

  Research output: Contribution to journal › Article › peer-review

  • Adhesion
  • Rails
  • Wheels
  • Condition monitoring
  • Sensors
  25 Citations (Scopus)

• Advances in tilt control design of high-speed railway vehicles: A study on fuzzy control methods

  Zamzuri, H., Zolotas, A., Goodall, R. & Mazlan, S. A., Sep 2012, In: International Journal of Innovative Computing, Information and Control. 8, 9, p. 6067-6080 14 p.

  Research output: Contribution to journal › Article › peer-review

  • Railway
  • Tilt
  • Fuzzy Control
  • High Speed
  • Control Design
  3 Citations (Scopus)

• An Evaluation of Redundancy Concepts for Fault Tolerant Railway Track Switching

  Bemment, S., Dixon, R. & Goodall, R., 1 Jan 2012, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 45, 20, p. 763-769 7 p.

  Research output: Contribution to journal › Conference article › peer-review

  Open Access

  • Redundancy
  • Cost benefit analysis
  • Fault tolerance
  • Rails
  • Availability
  3 Citations (Scopus)

• Detection of Low Adhesion in the Railway Vehicle Wheel/Rail Interface: Assessment of Multi-Bodied Simulation Data

  Ward, C., Goodall, R., Dixon, R. & Charles, G., 22 Oct 2012, Proceedings of the 2012 UKACC International Conference on Control. IEEE, p. 725-730 6 p. 6334719

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Vehicle wheels
  • Adhesion
  • Rails
  • Kalman filters
  • Physics
  1 Citation (Scopus)

• Editorial

  Iwnicki, S., Goodall, R. & Mei, T. X., 16 Jul 2012, In: Vehicle System Dynamics. 50, SUPPL. 1, p. 1-2 2 p.

  Research output: Contribution to journal › Editorial › peer-review

• Invariant Control of Non-Linear Elements in a Stacked High Redundancy Actuator

  Steffen, T., Dixon, R. & Goodall, R., 22 Oct 2012, Proceedings of the 2012 UKACC International Conference on Control. IEEE, p. 42-47 6 p. 6334599

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Redundancy
  • Actuators
  • Availability
  3 Citations (Scopus)

• Optimised configuration of sensors for fault tolerant control of an electro-magnetic suspension system

  Michail, K., Zolotas, A. C., Goodall, R. M. & Whidborne, J. F., 1 Oct 2012, In: International Journal of Systems Science. 43, 10, p. 1785-1804 20 p.

  Research output: Contribution to journal › Article › peer-review

  • Fault-tolerant Control
  • Sensor
  • Configuration
  • Sensors
  • Framework
  17 Citations (Scopus)

• Passive suspensions incorporating inerters for railway vehicles

  Jiang, J. Z., Matamoros-Sanchez, A. Z., Goodall, R. M. & Smith, M. C., 2012, In: Vehicle System Dynamics. 50, SUPPL. 1, p. 263-276 14 p.

  Research output: Contribution to journal › Article › peer-review

  • Vehicle suspensions
  • Mathematical models
  92 Citations (Scopus)

• Performance benefits in two-axle railway vehicle suspensions employing inerters

  Jiang, J. Z., Matamoros-Sanchez, A. Z., Goodall, R. M. & Smith, M. C., Jan 2012, Developments in Control Theory Towards Glocal Control. Qiu, L., Chen, J., Iwasaki, T. & Fujioka, H. (eds.). Institution of Engineering and Technology, p. 99-107 9 p.

  Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

  • Vehicle suspensions
  • Axles
  7 Citations (Scopus)

• Reliability of 2-out-of-N:G systems with NHPP failure flows and fixed repair times

  Dwyer, V. M., Goodall, R. M. & Dixon, R., Feb 2012, In: International Journal of Reliability, Quality and Safety Engineering. 19, 1, 1250003.

  Research output: Contribution to journal › Article › peer-review

  • Repair
  1 Citation (Scopus)

• Stability control of a railway vehicle using absolute stiffness and inerters

  Matamoros-Sanchez, A. Z., Goodall, R. M., Zolotas, A. C., Jiang, J. Z. & Smith, M. C., 22 Oct 2012, Proceedings of the 2012 UKACC International Conference on Control. IEEE, p. 120-127 8 p. 6334617

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

  • Stiffness
  • Multiobjective optimization
  • Tuning
  • Torque
  5 Citations (Scopus)
• 2011

  Condition monitoring opportunities using vehicle-based sensors

  Ward, C. P., Weston, P. F., Stewart, E. J. C., Li, H., Goodall, R. M., Roberts, C., Mei, T. X., Charles, G. & Dixon, R., 1 Mar 2011, In: Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit. 225, 2, p. 202-218 17 p.

  Research output: Contribution to journal › Article › peer-review

  • Condition monitoring
  • Sensors
  • Life cycle
  • Gears
  • Defects
  66 Citations (Scopus)