Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS最新文献_第4页

Design and Simulation Analysis of Intelligent Suspension for Manned Lunar Rover 载人月球车智能悬架设计与仿真分析

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/nstj2451

Tao Li, Chongfeng Zhang, Weijun Wang, Junwei Shi

引用次数: 0

Ride Comfort Comparison Between Suspension Modes: Input Towards Designing Difference Threshold Experiments During Driving 不同悬架方式的平顺性比较:为设计驾驶差异阈值试验提供输入

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/mgkw8503

Cor-Jacques Kat, K. Praet, M. Dhaens, S. Els

{"title":"Ride Comfort Comparison Between Suspension Modes: Input Towards Designing Difference Threshold Experiments During Driving","authors":"Cor-Jacques Kat, K. Praet, M. Dhaens, S. Els","doi":"10.56884/mgkw8503","DOIUrl":"https://doi.org/10.56884/mgkw8503","url":null,"abstract":"Ride comfort is an important topic for on- and off-road suspension design. Difference thresholds of whole-body vibration is important to determine perceptibility of changes in a vehicle’s dynamics. Difference thresholds can be used to guide ride comfort improvements. Difference thresholds have been estimated for vertical and multi-axial seat vibration in laboratory settings. In order to determine the applicability of these laboratory difference thresholds and/or to estimate difference thresholds during driving, it is required that changes can be made in the vehicle’s vibration that is transmitted to the occupants i.e. the stimulus. Ride comfort is quantified by the weighted vertical seat pad vibration and compared between four suspension modes of a vehicle over three roads from ten repeat runs. Significant differences in the median weighted vertical seat pad vibration were found between Mode 1 and the other three modes over Road 1 and Road 2. No significant differences were found over Road 3. The significant differences over Road 1 are in the range of the median relative difference threshold reported in literature. Over Road 2 the differences are below the reported 25th percentile relative difference thresholds. Some combinations of the suspension modes and roads result in ride comfort differences. The suspension mode and road combinations could be used to verify the applicability of available difference thresholds during driving.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128030059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Comprehensive Lumped Parameter Approach for the Dynamic Simulation of Agricultural Tractors in Real Operating Conditions 农用拖拉机实际工况动态仿真的综合集总参数法

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/zlty2074

Marco Polastri, Damiano Chiarabelli, Silvia Gessi, M. Martelli, E. Mucchi, P. Marani

{"title":"A Comprehensive Lumped Parameter Approach for the Dynamic Simulation of Agricultural Tractors in Real Operating Conditions","authors":"Marco Polastri, Damiano Chiarabelli, Silvia Gessi, M. Martelli, E. Mucchi, P. Marani","doi":"10.56884/zlty2074","DOIUrl":"https://doi.org/10.56884/zlty2074","url":null,"abstract":"Vehicle dynamics is of primary importance for the determination of the vertical load on wheels and consequently on their traction capability. This is even more true if the vehicle is travelling on an uncompacted soil and influenced by a variable load applied to the hitch, as it is for a ploughing tractor. In this framework, the authors present a comprehensive lumped parameter approach for performance assessment of agricultural tractors in real operating conditions. The proposed methodology integrates in a modular context different numerical models related to the main subsystems of a modern tractor, i.e. diesel engine, hydro-mechanical transmission, full multibody frame and tire mechanics. In particular, the engine and transmission modules reproduce powertrain characteristics and control strategy, the multibody module characterizes the dynamic behaviour of the vehicle detailing the interaction between the tractor rigid bodies, and the tire model predicts tractive capability and resistance to motion on soft soil. It also provides the possibility to properly reproduce real load cycles and their influence on the vehicle setup. The presented lumped parameter model is intended as a powerful simulation tool, capable of considering a large number of phenomena affecting tractor performance, both in terms of fuel consumption and longitudinal response due to load distribution. The predictive capabilities of the proposed modelling approach are presented by simulating a realistic ploughing operation, focusing on tire-soil interaction. Considering the cascade phenomena from the wheel-ground interaction to the engine, passing through the dynamic of vehicle bodies and their mass transfer, numerical results are presented in terms of tractive capability and its effect on fuel consumption.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130539138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

3D-DEM Simulation and Post-Process Method of Wheel-Terrain Interaction for Planetary Rovers 行星漫游者车轮-地形相互作用3D-DEM仿真及后处理方法

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/wwux2021

Q. Lan, Zhengyin Wang, Huaiguang Yang, Liang Ding, Haibo Gao

引用次数: 0

Energy Consumption Analysis of Door Opening with a Mobile Manipulator in the Nuclear Power Plants 核电站移动机械手开门能耗分析

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/fpqm8003

Changyou Ma, Binbin Yan, Xu Xiong, Haibo Gao, Liang Ding

引用次数: 0

Design of Self-Driving Bulldozer System 自动驾驶推土机系统设计

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/cruy6863

Junhua Yang, Biao Zhang, Haokai Tang, Binghua Shen, Linlin Ou, Xinyi Yu, Yu-Cheng Feng, Yu-Cheng Feng, Libo Zhou

{"title":"Design of Self-Driving Bulldozer System","authors":"Junhua Yang, Biao Zhang, Haokai Tang, Binghua Shen, Linlin Ou, Xinyi Yu, Yu-Cheng Feng, Yu-Cheng Feng, Libo Zhou","doi":"10.56884/cruy6863","DOIUrl":"https://doi.org/10.56884/cruy6863","url":null,"abstract":"To improve the efficiency of manual operations in the coal bunker, a completely automatic system based on multi-sensor perceptual positioning and map-based clearance planning is proposed. Firstly, the perceptual positioning link combines semantic segmentation to improve the traditional feature extraction and restricts the loop keyframe by using brute force matching, which improves the localization ability of simultaneous localization and mapping (SLAM) in the coal bunker. Compared with the incremental map maintenance strategy, a neighboring strategy is proposed to update the map in the dynamic environment of the coal bunker. Secondly, in response to the requirements of the coal bunker cleaning operation, based on the SLAM positioning results, we formulate behavior planning combined with a hierarchical finite state machine (FSM) and a grid map-based motion planning. The proposed clearing plan combines the geometric characteristics of crawler rakes, reduces the error of trajectory tracking, and improves the smoothness of trajectory curvature. The system can realize accurate real-time positioning in the bunker environment, and successfully complete the requirements of cleaning. In addition, a high simulation environment based on the unreal engine is built to verify the effectiveness and robustness of the system.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128296619","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Research on Vehicle Running Performance on Paved Roads Covered with Falling Volcanic Ash 沉降火山灰覆盖路面车辆行驶性能研究

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/ytyf8036

J. Yamakawa, Ryosuke Eto, Yasuhiro Ichikado, M. Yoshimoto, T. Nishizawa, Tomohiro Kubo, Hiroyuki Yamada

引用次数: 0

Tire-Soil Tangential Force Reinforcement Learning Modeling 轮胎-土壤切向力强化学习模型

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/rhbe9228

Yingchun Qi, Jiaqi Zhao, Ye Zhuang

{"title":"Tire-Soil Tangential Force Reinforcement Learning Modeling","authors":"Yingchun Qi, Jiaqi Zhao, Ye Zhuang","doi":"10.56884/rhbe9228","DOIUrl":"https://doi.org/10.56884/rhbe9228","url":null,"abstract":"Tire-soil tangential interaction involves complex terramechanics. When modeling the tire-soil tangential forces, a great amount of experiments is needed to identify the parameters in the currently available models. The efficiency and accuracy of the current models is still time and cost consuming. The control of the terrain vehicle is introduced gradually to the off-road vehicles. Such application requires more accurate and real-time tire-soil force models. Therefore, the machine learning technique, the reinforcement learning algorithm, is introduced to the tire-soil tangential force modelling. First, the tire-soil rolling experiment is carried out under longitudinal and lateral slip condition with the tire-soil test facility. The tire-soil forces vs slip ratios test data is obtained on the sand and mud road surfaces. The reinforcement learning model, which including the physical interpretation and the uncertainty (with Gaussian Process), is proposed. The model parameters is identified through the supervised learning (training) by the model from the acquired experimental data. The model accuracy could be improved gradually with the iterative off-line learning (training). The trained model could calculate the force-vs-slip ratio relationship with high accuracy and efficiency. The proposed model could also be updated with the new data learning.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115230056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Review of Modeling and Validation Techniques for Tire-Deformable Soil Interactions 轮胎-可变形土相互作用建模与验证技术综述

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/ikfa4933

Varsha S Swamy, Rashna Pandit, Alba Yerro-Colom, C. Sandu, Denise M. Rizzo, K. Sebeck

{"title":"A Review of Modeling and Validation Techniques for Tire-Deformable Soil Interactions","authors":"Varsha S Swamy, Rashna Pandit, Alba Yerro-Colom, C. Sandu, Denise M. Rizzo, K. Sebeck","doi":"10.56884/ikfa4933","DOIUrl":"https://doi.org/10.56884/ikfa4933","url":null,"abstract":"The mobility of vehicles in off-road environments is critical for many applications. Understanding and predicting the tire-soil interaction is a challenge, especially when the terrain is largely deformable and plastic, and non-linear behavior is expected. This paper presents an overview of the bibliographic references on tires–deformable soil interactions and identifies the gaps present in the literature. The capabilities and challenges of different modeling methods used to assess the traction performance of a vehicle on deformable soil (i.e., analytical, semi-empirical, and numerical are discussed. Also, since the performance of the vehicle highly depends on the soil characteristics, a summary of the different material models used for non-cohesive and cohesive soil and the methods that have been used to characterize the soil is presented. The soil behavior and strength also depend on the water content and permeability along with the soil type. To highlight this, the available works on tire-wet soil interactions are discussed. Lastly, the different tire models and the validation methods that have been used for the soil, tire, and tire-deformable soil interaction are summarized. To conclude, this bibliographic review highlights that there is very limited work in the physics-based study of trafficability in wet soils, in particular in cohesive soil.","PeriodicalId":447600,"journal":{"name":"Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115566786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Model Predictive Control of a Robot Driven Vehicle for Testing of Advanced Driver Assist Systems 面向高级驾驶辅助系统测试的机器人驾驶车辆模型预测控制

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/wzvy2027

Mike Huang, Haixuan Qiu, Chunyu Yang, Lian Xia, Zhaomin Lin, Yanqing Wang, Zongqing Xu, Mingfu Tang

引用次数: 0