Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS最新文献_第5页

Tyre Parameterization Tests: Dynamic vs. Static 轮胎参数化测试:动态与静态

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/vtfc7095

C. Becker, S. Els

引用次数: 0

Multi-Fidelity Machine Learning Modeling for Wheeled Locomotion on Soft Soil 软土上轮式运动的多保真度机器学习建模

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/wgpv6693

Vladyslav Fediukov, Felix Dietrich, Fabian Buse

{"title":"Multi-Fidelity Machine Learning Modeling for Wheeled Locomotion on Soft Soil","authors":"Vladyslav Fediukov, Felix Dietrich, Fabian Buse","doi":"10.56884/wgpv6693","DOIUrl":"https://doi.org/10.56884/wgpv6693","url":null,"abstract":"Wheeled vehicles are the most convenient and widespread locomotion machines for the majority of research, industrial or private tasks. A perceptible share of wheeled vehicles is used on soft soil. Modelling wheel locomotion in these situations is challenging, because of the non-proportional relation between applied shear stress and the soil’s deformation. Currently, various conventional simulation approaches are used to describe wheel–soil interaction, ranging from detailed numerical methods with particle-level simulations to simpler empirical models, where a big part of physical formulas are set up a priori, empirically. The ultimate wheel locomotion modelling tool should have high-quality onboard predictions but within a reasonable time. The trade-off is unachievable with the current simulation tools. In this project, we argue that using Machine Learning (ML) we can build a tool with the quality of high-fidelity and speed of lower-fidelity simulations. To fit this requirement, we are combining data from several models with different fidelities, in order to build a multi-fidelity ML model. In the model, forces and torques acting on the wheel are predicted using input data like the wheel’s trajectory, surface and soil characteristics. The quality of this model will be validated by Terramechanics Robotics Locomotion Laboratory (TROLL) at Deutsche Zentrum für Luft- und Raumfahrt (DLR), a robotic single-wheel test bed designed to perform wheel–soil interaction experiments automatically. Early results show that, in simplified scenarios, our proposed method can be used to create efficient, multi-fidelity numerical models for locomotion prediction, including uncertainty estimation for the predictions.","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":"131170961","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

Review of the Reconfigurable Wheel-Tracked System 可重构车轮跟踪系统综述

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/cxrt8456

Jiaxuan Wang, Cheng Liu, Q. Yan

引用次数: 0

Investigation of the Relationship between the Cone Index and the Physical and Mechanical Parameters of the Soil of Typical Surfaces of the Movement of Agricultural Tractors and Machines 农用拖拉机机械典型运动面土壤锥指数与物理力学参数关系的研究

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/vnzq2520

S. Zhukov, V. Makarov, V. Belyakov, A. Belyaev

{"title":"Investigation of the Relationship between the Cone Index and the Physical and Mechanical Parameters of the Soil of Typical Surfaces of the Movement of Agricultural Tractors and Machines","authors":"S. Zhukov, V. Makarov, V. Belyakov, A. Belyaev","doi":"10.56884/vnzq2520","DOIUrl":"https://doi.org/10.56884/vnzq2520","url":null,"abstract":"The development of high-performance mobile transport complexes for agricultural purposes is largely based on the results of scientific research. The main direction is to study the mobility properties of robotic complexes in specific natural and climatic conditions of the area. The purpose of this work is to determine the cone index CI for typical surfaces of agricultural machinery movement, based on the physical and mechanical characteristics of agricultural soils. In 2020 year, a large-scale experimental and theoretical study of agricultural soils was conducted for 7 months using a soil penetrometer and equipment for measuring soil density and humidity. The peculiarity of this work is that the study has a spatiotemporal character of changes in the mechanical parameters of soils. Thus, the cone index CI is determined during the agricultural season for five typical plots: the first plot is fallow land located on a slope; the second plot is virgin land; the third section is a plowed field; the fourth section is a dirt road and the fifth section is a dirt road covered with broken bricks. Thus, the study showed a change in the cone index for each site during the year: the first site – 4.8-10.93 kPa; the second site – 5.13-5.32 kPa; the third site – 4.14-4.57 kPa; the fourth site - 4.43 – 11.20 kPa; the fifth site – 5.57 – 5.81 kPa. The data were also approximated and a mathematical model for calculating the cone index from the deformation modulus E, (MPa) was obtained. The obtained mathematical dependencies can be used in the future as the basis for mapping the mobility of any region of the world, as well as in the compilation of the algorithm of the mobile robotic complex.","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":"124481418","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

The Effect of Integrating a Bio-Inspired Convex Structure with a Low-Surface Energy Polymer on Soil Adhesion and Friction 集成仿生凸结构与低表面能聚合物对土壤粘附和摩擦的影响

Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS Pub Date : 2022-10-10 DOI: 10.56884/guln6927

A. Salem, Guozhong Zhang, Hongchang Wang

{"title":"The Effect of Integrating a Bio-Inspired Convex Structure with a Low-Surface Energy Polymer on Soil Adhesion and Friction","authors":"A. Salem, Guozhong Zhang, Hongchang Wang","doi":"10.56884/guln6927","DOIUrl":"https://doi.org/10.56884/guln6927","url":null,"abstract":"The capacity of soil-burrowing animals to move freely in sticky soil is a motivational trait for developing soil engaging tools with high operational efficiency. The hydrophobicity and morphological profiles of soil animals' skin were reported to be the key pillars in producing their anti-adhesive mechanisms. Ultra-high molecular weight polyethylene (UHMW-PE) possess outstanding corrosion resistance, hydrophobicity, and chemical stability, which qualify it as a potential choice in soil adhesion reduction. Hence, this study aimed to investigate the feasibility of integrating a domed surface inspired by the micro-convex structure of the dung beetle skin with the UHMW-PE as a surface coating for soil engaging components in terms of soil adhesion reduction. The sliding resistance of three sliding plates (flat plate of carbon steel, flat plate of UHMW-PE, and domed plate of UHMW-PE), entirely identical in the projected area, was evaluated in two soil textures of silty clay and sandy clay loam, at four moisture levels of 18, 23, 28, and 33% and four drag speeds of 0.15, 0.2, 0.25, and 0.3 m s-1 using a completely randomized design. The dimensions of the embossed domes on the tested plate surface and their distribution pattern were established based on the previously published structural optimization of the bioinspired convex surface. In each treatment, the tested plate was dragged for 0.7 m of the soil bin length, and the sliding resistance was recorded continuously using the distributed stress and strain test and analysis system (DH3820 N). The coefficients of adhesion and friction were calculated according to the Mohr-Coulomb failure criterion. The variance analysis revealed that all investigated parameters significantly affected coefficients of adhesion and friction. In addition, as compared to flat steel plates, UHMW-PE coated plates exhibited much lower adhesion in all treatments, paving the way for practical applications in soil adhesion reduction and soilengaging component optimization.","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":"125418116","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