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Digital wheel slipmeter for agricultural 2WD tractors:

Pranav, P.K. ; Pandey, K.P. ; Tewari, V.K.
Computers and Electronics in Agriculture.  73 (2010)  2 - p. 188-193 , 2010
Link: https://doi.org/10.1016/j.compag.2010.05.003