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An in-situ tire test rig was developed for field research on tire tractive and maneuverability performances. The Single Wheel Tester (SWT) was mounted on a tractor and a tested wheel was driven by a hydromotor, along a frame of 3m length. In the SWT, four load cells were utilized to measure longitudinal and lateral forces, input and self-aligning torques, and two optical counters were applied to calculate...