Journal of Terramechanics最新文献

Log detection for autonomous forwarding using auto-annotated data from a real-time virtual environment 使用来自实时虚拟环境的自动注释数据进行自主转发的日志检测

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2025-09-20 DOI: 10.1016/j.jterra.2025.101096

Mattias Lehto, Håkan Lideskog, Magnus Karlberg

{"title":"Log detection for autonomous forwarding using auto-annotated data from a real-time virtual environment","authors":"Mattias Lehto, Håkan Lideskog, Magnus Karlberg","doi":"10.1016/j.jterra.2025.101096","DOIUrl":"10.1016/j.jterra.2025.101096","url":null,"abstract":"<div><div>Object detectors for autonomous forestry operations have previously been developed mainly by training on physical manually annotated data, which is both time-consuming and costly. Since the ground truth in the virtual model is known, the training data can be auto-annotated, enabling the creation of larger training datasets, while also improving time and cost efficiency. In this work, a virtual environment in Unity is used in co-simulation with a real-time digital twin of a physical forestry vehicle, to generate realistic auto-annotated training data, as captured by an onboard stereo camera. First, it is shown that a log detector trained on physical data can detect logs in the virtual environment. Second, new detectors are trained, using different shares of virtual and physical data. It is shown that a detector trained using only virtual data, can learn to detect logs in the physical world. Moreover, virtual pre-training is shown to improve the performance of physically trained and tested detectors, both at low availability of physical training data, and in terms of domain generalization. A detailed detector performance analysis also highlights further potential and opportunities for future improvements. Furthermore, the real-time capable virtual models enable future machine learning tasks utilizing different levels of Hardware-in-the-Loop.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101096"},"PeriodicalIF":3.7,"publicationDate":"2025-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145096530","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Study on the adhesion law of rubber-soil interface under the influence of multiple factors 多因素影响下橡胶-土界面黏附规律研究

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2025-09-06 DOI: 10.1016/j.jterra.2025.101095

Mingyang Yuan , Ze Zhang , Hang Li , Zhiyuan Wang , Xiangxi Meng

{"title":"Study on the adhesion law of rubber-soil interface under the influence of multiple factors","authors":"Mingyang Yuan , Ze Zhang , Hang Li , Zhiyuan Wang , Xiangxi Meng","doi":"10.1016/j.jterra.2025.101095","DOIUrl":"10.1016/j.jterra.2025.101095","url":null,"abstract":"<div><div>Soil adhesion is one of the basic physical properties of soil, which is manifested as the ability of soil to adhere to foreign objects. Soil adhesion can cause additional energy consumption in mechanical operations in agriculture, engineering, transportation and other fields, which is an important scientific problem to be studied and solved urgently. In this paper, three kinds of rubber tires with different surface roughness were used as test materials, and soil samples from six regions were selected as test soil samples. The adhesion force of rubber-soil interface under different normal loads was tested, and the variation law of soil peak adhesion force and the peak moisture content to reach peak adhesion force under the combined action of various influencing factors were analyzed and discussed. The mechanism of peak moisture content change under load was proposed. The test results show that the adhesion force of the rubber-soil interface increases with the increase of surface roughness, normal load and clay content. This experiment further promoted the study of soil adhesion and helped to solve the energy consumption problem caused by soil adhesion in the transportation field.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101095"},"PeriodicalIF":3.7,"publicationDate":"2025-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145005316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The bevameter technique – Its developments and a proposed framework for its recommended practice 测径仪技术。其发展及其推荐实践的建议框架

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2025-09-02 DOI: 10.1016/j.jterra.2025.101086

J.Y. Wong

引用次数: 0

A vehicle dynamics-oriented estimator for soft soil/tyre contact parameters from experimental testing 一种基于车辆动力学的软土/轮胎试验接触参数估计方法

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2025-09-02 DOI: 10.1016/j.jterra.2025.101087

Luca Zerbato , Angelo Domenico Vella , Enrico Galvagno , Alessandro Vigliani , Silvio Carlo Data , Matteo Eugenio Sacchi

{"title":"A vehicle dynamics-oriented estimator for soft soil/tyre contact parameters from experimental testing","authors":"Luca Zerbato , Angelo Domenico Vella , Enrico Galvagno , Alessandro Vigliani , Silvio Carlo Data , Matteo Eugenio Sacchi","doi":"10.1016/j.jterra.2025.101087","DOIUrl":"10.1016/j.jterra.2025.101087","url":null,"abstract":"<div><div>Modelling the interaction between tyres and unconsolidated soft surfaces has assumed a crucial role in predicting off-road vehicle performance in different machine areas such as planetary exploration and agriculture. The direct measurement of the soft soil/tyre contact parameters is a challenging task, addressed by expensive experimental campaigns and specific tools such as sensor-equipped wheels. In this paper an alternative cost-effective approach is proposed to estimate the contact parameters for semi-empirical formulations. The method relies on the experimental measurement typically available on the CAN bus of passenger vehicles. Specifically, the algorithm is tested with data gathered during acceleration manoeuvres performed on two different soft surfaces, i.e., snow and sand. The experimental signals are used to feed a 5 Degree Of Freedom (DOF) virtual vehicle equipped with a custom semi-empirical soil contact model. An optimisation problem with the target of minimising the differences between experimental and numerical traction performance is designed for the estimation of the sinkage module, cohesion, friction angle, elastic recovery and the multi-pass factor. Finally, the estimated parameters are validated using different experimental signals and data from literature, demonstrating the robustness of the methodology.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101087"},"PeriodicalIF":3.7,"publicationDate":"2025-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144926735","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Efficient flexible tire-terrain interaction modelling 高效灵活的轮胎-地形交互建模

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2025-08-04 DOI: 10.1016/j.jterra.2025.101081

Mahdi Maleki , József Kövecses

{"title":"Efficient flexible tire-terrain interaction modelling","authors":"Mahdi Maleki , József Kövecses","doi":"10.1016/j.jterra.2025.101081","DOIUrl":"10.1016/j.jterra.2025.101081","url":null,"abstract":"<div><div>The analysis of tire dynamics is essential in simulating vehicle behavior. The forces exerted on a tire depend on the interaction between the tire and the terrain at the contact patch, and the tire structure directly influences this interaction. Complex models, such as finite element or lumped-parameter models, are typically required to represent tire flexibility accurately. However, these models are computationally expensive, making them unsuitable for real-time simulation.</div><div>In this work, we develop a reduced model for flexible tire-terrain interaction. A reduced model is a lower-fidelity representation that captures essential features of a complex system at a significantly lower computational cost. Our model efficiently represents the influence of tire flexibility on vehicle dynamics by computing the effective stiffness of the tire and combining it with a rigid body wheel model.</div><div>We observe that the contact patch size, which depends on tire deformation, directly affects traction forces. A larger contact patch enables the generation of greater frictional force before slipping. In the proposed model, effective stiffness is used to determine the contact patch size, which then scales the friction coefficient accordingly.</div><div>Simulation results demonstrate efficient real-time performance with high accuracy, making the model well-suited for diverse vehicle simulation applications.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101081"},"PeriodicalIF":3.7,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144771905","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Physics informed Gaussian process models for real-time simulation of tire terrain interactions for off- road conditions 物理告知高斯过程模型的实时仿真轮胎地形相互作用的越野条件

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-07-28 DOI: 10.1016/j.jterra.2025.101077

Suhas A. Kowshik, Andrew Fisseler, Arun R. Srinivasa, J.N. Reddy

{"title":"Physics informed Gaussian process models for real-time simulation of tire terrain interactions for off- road conditions","authors":"Suhas A. Kowshik, Andrew Fisseler, Arun R. Srinivasa, J.N. Reddy","doi":"10.1016/j.jterra.2025.101077","DOIUrl":"10.1016/j.jterra.2025.101077","url":null,"abstract":"<div><div>We propose a Gaussian process machine learning model (GPM) for real-time simulation of tire-terrain interactions, especially under off-road conditions. Compared to purely empirical models or classical Neural Networks, the GPM requires much less input data for training, has greater ability to explain, and is able to quantify uncertainty in predictions. The model can seamlessly incorporate any combination of physics-based numerical simulations, empirical or semi-empirical models, and experimental data and produce real-time predictions of the interaction parameters (such as normal and shear forces, tire sinkage, etc.) along with uncertainty estimates on its predictions. The key idea is to use empirical models such as the steady-state Becker-Wong model as the baseline and “learn” the difference due to the dynamic response of the tire from detailed physics-based models or experimental data or any combination. We show that the result is able to make highly accurate predictions of the tire response in real-time. Such simplified models can be useful for training autonomous off-road vehicles under various conditions. They are also useful for virtual testing of different vehicle designs on different terrain.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101077"},"PeriodicalIF":2.4,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144714394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Calibration and validation of a discrete element model for sand and fine grain soil for use in vehicle mobility applications 用于车辆移动应用的砂和细颗粒土壤的离散元素模型的校准和验证

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-07-26 DOI: 10.1016/j.jterra.2025.101082

Tamer Wasfy , Omar Elmaraghi , Omkar Ghike , Ashwin Gaonkar , Hazim El-Mounayri , Paramsothy Jayakumar , Srinivas Sanikommu

{"title":"Calibration and validation of a discrete element model for sand and fine grain soil for use in vehicle mobility applications","authors":"Tamer Wasfy , Omar Elmaraghi , Omkar Ghike , Ashwin Gaonkar , Hazim El-Mounayri , Paramsothy Jayakumar , Srinivas Sanikommu","doi":"10.1016/j.jterra.2025.101082","DOIUrl":"10.1016/j.jterra.2025.101082","url":null,"abstract":"<div><div>In this paper, a procedure for calibrating a discrete element (DE) computational soil model for use in prediction of ground vehicle mobility is presented. The procedure relies on using the results of two small-scale physical soil experiments: (1) confined uniaxial compression; and (2) unconfined shear strength under different levels of normal stress and normal prestress. The confined uniaxial compression is an approximate hydrostatic compression test that is used to calibrate the DE bulk density, plastic strain, and elastic strain as a function of hydrostatic stress. The unconfined shear strength test is used to calibrate the DE inter-particle friction coefficient and adhesion stress as a function of the soil plastic strain. The test devices and experimental test procedures are presented in the paper. The DE model calibration procedure is demonstrated in the paper using two types of soils: silt–clay and sand-silt. The model is then validated by comparing its results for those two types of soil to experiment results for the following 3 tests: (1) confined shear strength test; (2) full-scale tracked vehicle drawbar-pull test; and (3) single tire drawbar-pull test. Within the middle of the slip range, the simulation results agree within ± 10 % on average with the experimental results for validation tests (2) and (3).</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101082"},"PeriodicalIF":2.4,"publicationDate":"2025-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144711151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A novel soil stress estimation method of wheel-soil interaction using photoelasticity 基于光弹性的轮-土相互作用土应力估算新方法

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-07-17 DOI: 10.1016/j.jterra.2025.101076

Kenji Nagaoka, Yuto Yoshida

{"title":"A novel soil stress estimation method of wheel-soil interaction using photoelasticity","authors":"Kenji Nagaoka, Yuto Yoshida","doi":"10.1016/j.jterra.2025.101076","DOIUrl":"10.1016/j.jterra.2025.101076","url":null,"abstract":"<div><div>This paper proposes a new approach to understanding the wheel-soil interaction, which is an indirect estimation method of soil stress distributions beneath a traveling wheel soil using a photoelastic method. Thus far, several photoelastic methods have been discussed for the wheel-soil terramechanics, but it is difficult for the previous configuration to simulate the dynamic behaviors of natural soil, e.g., compaction, failure, or wheel ruts. Accordingly, achieving both the stress visualization and the dynamic behaviors of soil is a significant challenge to make the photoelastic method more practical. To cope with this challenging issue, we have developed a novel experimental setup consisting of a photoelastic wheel (top layer), soil (middle layer), and a photoelastic plate (bottom layer). By vertically sandwiching the soil between the photoelastic wheel and plate, the soil stresses can be indirectly estimated to satisfy the boundary stress conditions. To achieve this approach, we conducted calibration tests of the photoelastic wheel and plate, and then identified the force vector and contact patch corresponding to the visualized stresses. In this paper, we demonstrate that it is possible to indirectly estimate how the stress propagates and attenuates in the soil by the proposed method.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101076"},"PeriodicalIF":2.4,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144653674","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Effect of rubber-tracked chassis roller on soil surface vertical stress distribution based on finite element method 基于有限元法的橡胶履带底盘滚轮对土壤表面垂直应力分布的影响

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-07-15 DOI: 10.1016/j.jterra.2025.101080

Zhuohuai Guan , Haitong Li , Tao Jiang , Licheng Xing , Min Zhang , Dong Jiang , Mei Jin

{"title":"Effect of rubber-tracked chassis roller on soil surface vertical stress distribution based on finite element method","authors":"Zhuohuai Guan , Haitong Li , Tao Jiang , Licheng Xing , Min Zhang , Dong Jiang , Mei Jin","doi":"10.1016/j.jterra.2025.101080","DOIUrl":"10.1016/j.jterra.2025.101080","url":null,"abstract":"<div><div>Due to the flexible characteristics of the rubber track, the ground pressure distribution on the soil is uneven, which will greatly increase the risk of soil compaction. Roller in the tracked chassis is a key influencing factor. Therefore, accurate analysis of the effect of the rollers on soil surface vertical stress distribution is important. In this research, the simulation of soil surface vertical stress distribution under rubber track with different roller structures and arrangements was carried out and experimentally validated. Firstly, a load transfer model of the roller-rubber track-soil system was developed. Then, a FEM simulation model of the roller −rubber track-soil system was constructed. The effect a single roller structure and the arrangement of multiple rollers was analyzed. Finally, field tests were carried out to test the soil surface vertical stress distribution with rollers of uniform distribution and dense at both sides. Results showed that the stress peaks were 69.3 kPa and 62.4 kPa, respectively. The soil surface vertical stress under the roller-track contact location was more than twice the average over the whole track surface. The diameter of a single roller and the arrangement of multiple rollers were the most important factors on the stress distribution.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101080"},"PeriodicalIF":2.4,"publicationDate":"2025-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144632314","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bionic design of a anti-sinking walking wheel for micro tillers and wheel-soil interaction model 微型分蘖防下沉行走轮仿生设计及轮-土相互作用模型

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-07-09 DOI: 10.1016/j.jterra.2025.101078

Dianlei Han , Jinrui Hu , Hairui Liu , Lizhi Ren , Qizhi Yang , Bingbo Cui

{"title":"Bionic design of a anti-sinking walking wheel for micro tillers and wheel-soil interaction model","authors":"Dianlei Han , Jinrui Hu , Hairui Liu , Lizhi Ren , Qizhi Yang , Bingbo Cui","doi":"10.1016/j.jterra.2025.101078","DOIUrl":"10.1016/j.jterra.2025.101078","url":null,"abstract":"<div><div>The existing wheels exhibit suboptimal performance when traversing the paddy fields. This study aims to develop a wheel suitable for the paddy fields. Firstly, an analysis was conducted into the morphological alterations and patterns of the webbed foot, leveraging the kinematic characteristics of mallards. Secondly, a walking wheel featuring anti-sinking and high-traction attributes was conceptualized and designed. Concurrently, a model elucidating the relationship between the contact area and the leg-foot angle variation was formulated. Subsequently, a series of field trials about the walking wheel and the paddy wheel were measured. Within the range of the slip ratio from 0 to 0.47, the drawbar pull, driving torque and sinkage of the walking wheel gradually increase, and the traction efficiency initially ascended and subsequently tapered off. In the paddy field and wetland, in comparison to the paddy wheel, the drawbar pull was augmented by 97.29 % and 51.65 % respectively. These findings validate the superior traction and traversal capabilities of the walking wheel. Finally, a terramechanics model delineating the relationship between the drawbar pull and slip ratio variation was established. This model holds the potential to furnish theoretical and technical underpinnings for augmenting the traction performance of walking wheels.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101078"},"PeriodicalIF":2.4,"publicationDate":"2025-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144581135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0