Journal of Terramechanics最新文献

An insight into mobility power efficiency of an automated guided vehicle performing in the presence of a hinged trailer

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-04-10 DOI: 10.1016/j.jterra.2025.101056

S.M. Shafaei , H. Mousazadeh

{"title":"An insight into mobility power efficiency of an automated guided vehicle performing in the presence of a hinged trailer","authors":"S.M. Shafaei , H. Mousazadeh","doi":"10.1016/j.jterra.2025.101056","DOIUrl":"10.1016/j.jterra.2025.101056","url":null,"abstract":"<div><div>This is the first research that it conceptually appraises new technical paradigm (mobility power efficiency) for automated guided vehicle (AGV) of tandem robotic transportation system. Pulling operations were conducted based on changes of operational parameters of the AGV speed, tire air pressure, and trailer load. Results of the operations for the mobility power efficiency (5.54–28.67 %) were compared to those of former technical paradigm (tractive power efficiency). Reliable data obtained from exponential model indicated that the AGV slippage values for the maximum mobility power efficiency were higher (averagely 3.1 times) than those of the maximum tractive power efficiency. As traction ability of the AGV in the pulling operations is more important than its mobility ability, the tractive power efficiency must be considered as main technical paradigm. The mobility power efficiency must be considered as main technical paradigm for free motion of the AGV without drawbar pull. Meanwhile, mobility power loss values indicated that 1.19–33.52 % of the AGV mobility power were wasted. These research results are advantageous for researchers, engineers, and supervisors concerned with the AGV not only operated in inside and outside robotic production lines of manufacturing sectors, but also employed in intelligent warehousing systems and wharf container terminals.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101056"},"PeriodicalIF":2.4,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143807667","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

Machine learning-based estimation of agricultural tyre sinkage: A streamlit web application

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-03-29 DOI: 10.1016/j.jterra.2025.101055

Rajesh Yadav, Hifjur Raheman

{"title":"Machine learning-based estimation of agricultural tyre sinkage: A streamlit web application","authors":"Rajesh Yadav, Hifjur Raheman","doi":"10.1016/j.jterra.2025.101055","DOIUrl":"10.1016/j.jterra.2025.101055","url":null,"abstract":"<div><div>This study investigates the impact of wheel slip, drawbar pull, and soil strength on agricultural tyre sinkage under varying normal loads and inflation pressures. A controlled experiment was conducted with a 13.6–28 bias ply tyre using single wheel tester in a soil bin, measuring tyre sinkage, drawbar pull, and wheel slip across different conditions. Machine learning models, including Artificial Neural Network (ANN) and Support Vector Regression (SVR), were developed to predict tyre sinkage based on key variables, with hyperparameter tuning to optimize model performance. The SVR model outperformed the ANN model, with Coefficient of determination (R<sup>2</sup>) and Mean Squared Errors (MSE) as 0.997 and 0.8 for training; 0.981 and 4.3 mm for testing, respectively. The Mean Absolute Error (MAE) and Mean Absolute Percentage Error (MAPE) were also significantly lower for SVR, with MAPE values of 2.58 % (training) and 6.94 % (testing). The optimized SVR model was integrated into a Streamlit web application, offering a user-friendly platform for real-time predictions of tyre sinkage. This application had significant potential for enhancing tractive efficiency and minimizing soil degradation in agricultural practices. The study highlighted the efficacy of machine learning techniques in modelling tyre sinkage.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101055"},"PeriodicalIF":2.4,"publicationDate":"2025-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143725744","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

Development of software for performance analysis of wheeled tractors

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-03-09 DOI: 10.1016/j.jterra.2025.101054

Igor Araujo Barbosa , Andre Luiz de Freitas Coelho , Daniel Marçal de Queiroz , Marconi Ribeiro Furtado Junior , Geice Paula Villibor

{"title":"Development of software for performance analysis of wheeled tractors","authors":"Igor Araujo Barbosa , Andre Luiz de Freitas Coelho , Daniel Marçal de Queiroz , Marconi Ribeiro Furtado Junior , Geice Paula Villibor","doi":"10.1016/j.jterra.2025.101054","DOIUrl":"10.1016/j.jterra.2025.101054","url":null,"abstract":"<div><div>Understanding the relationship between the parameters that influence the traction capacity and fuel consumption of tractors is important for optimizing the performance of these machines. Mathematical simulations can be implemented in computer programs as an alternative to conducting numerous experimental tests under laboratory and field conditions, thereby reducing analysis, development time, and costs. Therefore, this study developed and validated a software tool to evaluate the performance of wheeled tractors in terms of traction capacity and fuel consumption. Mathematical models and a graphical user interface were implemented using Python. Field tests were conducted using an agricultural tractor to validate the software. Subsequently, simulations were performed for the same scenarios tested in the field, and the results were compared using statistical tests. The analyzed variables agreed closely in the experimental and simulated results. For front- and rear-wheel slips, the average absolute error was less than 2.50-point percent. Among the variables analysed, the best adjustment condition between the simulated and experimental results was verified for the engine angular velocity. In this case, the coefficient of determination was 0.96. For fuel consumption, the average absolute error was less than 0.75 L h<sup>−1</sup>. The software successfully identified the operating conditions that optimized fuel efficiency.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101054"},"PeriodicalIF":2.4,"publicationDate":"2025-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143580008","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

Tractive performance analysis of the SRTT with respect to the spin count and the ASTM F1805 parameters

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-02-22 DOI: 10.1016/j.jterra.2025.101046

Chaitanya Shekhar Sonalkar , Mohit Nitin Shenvi , Corina Sandu , Costin Untaroiu , Eric Pierce

{"title":"Tractive performance analysis of the SRTT with respect to the spin count and the ASTM F1805 parameters","authors":"Chaitanya Shekhar Sonalkar , Mohit Nitin Shenvi , Corina Sandu , Costin Untaroiu , Eric Pierce","doi":"10.1016/j.jterra.2025.101046","DOIUrl":"10.1016/j.jterra.2025.101046","url":null,"abstract":"<div><div>Snow is a complex material. Its mechanical properties are influenced by various factors such as ambient temperature, solar radiation, compaction, metamorphism, etc., making it complex to model and predict them. To date, only a few studies have focused on predicting the traction coefficient as a function of ambient temperature, snow temperature, and snow compaction (CTI Index). These parameters are measured in accordance with The ASTM F1805 standard, which is used to evaluate the straight-line tractive performance of tires on snow.</div><div>This study introduces an additional parameter: spin count and investigates its effect on tractive performance. It was observed for the 16-inch SRTT that the traction coefficient of the control tire decreased progressively as the season advanced. The study aims to determine whether a similar trend applies to a 14-inch SRTT and correlates the tractive performance of individual control tires with ASTM F1805 parameters using regression analysis. Furthermore, it seeks to identify the most accurate regression algorithm for predicting the tractive coefficient and ranks the most influential parameters through feature selection.</div><div>In summary, this research examines the influence of spin count on tire traction, aiming to improve prediction models and identify key parameters influencing performance on snow.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101046"},"PeriodicalIF":2.4,"publicationDate":"2025-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143463549","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

Effects of grain breakage on hydraulic conductivity in granular soils under one-dimensional compression

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-01-26 DOI: 10.1016/j.jterra.2025.101045

Faruk Sefi, Musaffa Ayşen Lav

{"title":"Effects of grain breakage on hydraulic conductivity in granular soils under one-dimensional compression","authors":"Faruk Sefi, Musaffa Ayşen Lav","doi":"10.1016/j.jterra.2025.101045","DOIUrl":"10.1016/j.jterra.2025.101045","url":null,"abstract":"<div><div>Since hydraulic conductivity significantly influences the compression and deformation characteristics of granular terrains, this study examines the variations in permeability (<em>k<sub>20</sub></em>) of granular soils under one-dimensional compression. Two uniformly graded calcareous soil samples were tested: one with grain sizes of 9.50–12.70 mm, and another of 4.75–9.50 mm. Both samples were subjected to one-dimensional compression and constant-head permeability tests. Key soil properties affecting permeability (<em>k<sub>20</sub></em>), including absorption (<em>n</em>), specific surface area (<em>S<sub>s</sub></em>), relative density (<em>D<sub>r</sub></em>), void ratio (<em>e</em>), uniformity coefficient (<em>C<sub>u</sub></em>), effective grain size (<em>d<sub>10</sub></em>), and mean grain size (<em>d<sub>50</sub></em>), were analyzed. The virgin compression line (VCL) of the soil samples was identified within an oedometric stress (<em>σ<sub>VCL</sub></em>) range of 4.00–14.00 MPa, where the rate of change in soil properties affecting permeability was most pronounced. As oedometric stress increased, the instantaneous absorption (<em>n<sub>i</sub></em>) of the soil samples increased linearly, with a slope (<em>α<sub>n</sub></em>) of 0.055–0.061. Similarly, the instantaneous specific surface area (<em>S<sub>s,i</sub></em>) of the soil samples increased linearly, with a slope (<em>α<sub>s</sub></em>) of 1.229–1.388. In addition, practical equations were developed to predict the instantaneous relative density (<em>D<sub>r,i</sub></em>), instantaneous grain size distribution curve, and instantaneous permeability (<em>k<sub>20,i</sub></em>) of granular soils under one-dimensional compression.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"118 ","pages":"Article 101045"},"PeriodicalIF":2.4,"publicationDate":"2025-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143148051","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

Climbing loose surfaces with steep slopes using a small, lightweight push-rolling rover with minimal configuration

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-01-06 DOI: 10.1016/j.jterra.2024.101043

Daisuke Fujiwara , Qingze He , Kojiro Iizuka

{"title":"Climbing loose surfaces with steep slopes using a small, lightweight push-rolling rover with minimal configuration","authors":"Daisuke Fujiwara , Qingze He , Kojiro Iizuka","doi":"10.1016/j.jterra.2024.101043","DOIUrl":"10.1016/j.jterra.2024.101043","url":null,"abstract":"<div><div>Owing to the payload limitations, some organizations are focusing on small, lightweight wheeled rovers for planetary exploration. Planetary and lunar surfaces feature weak soils and slopes that pose mobility challenges for wheeled rovers. Studies have shown that push–pull locomotion can improve climbing ability. Such rovers lock one pair of wheels relative to the ground while driving the other like an inchworm. Conventional rovers have large masses ranging from 10 to nearly 1,000 kg. However, some studies are now focusing on small rovers of masses from under 1 kg to 20 kg. For such rovers, traveling on granular surfaces with steep slopes and low slips remains an experimental challenge. This study develops a small, lightweight push-rolling rover and evaluates its ability to climb steep slopes. To meet size requirements, the rover uses a minimal configuration. Experiments to measure resistance and drawbar pull forces during push-rolling revealed that a lugged wheel and dynamic sinking behavior using an intentional slip increased the total thrust forces. Additionally, travel experiments showed that the developed rover, with its optimal configuration, demonstrated a high climbing ability on slopes greater than 30°.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"118 ","pages":"Article 101043"},"PeriodicalIF":2.4,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143148052","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 vertical load on track traction under different soil moisture content

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-12-20 DOI: 10.1016/j.jterra.2024.101044

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

{"title":"Effect of vertical load on track traction under different soil moisture content","authors":"Zhuohuai Guan, Dong Jiang, Min Zhang, Mei Jin, Haitong Li, Tao Jiang","doi":"10.1016/j.jterra.2024.101044","DOIUrl":"10.1016/j.jterra.2024.101044","url":null,"abstract":"<div><div>Comprehensive analysis of the tractive performance is central to the design of tracked agriculture vehicles, particularly in challenging terrain conditions. To assess the effect of altering the track traction, the stress state of the track plate and grousers were analyzed based on the terramechanics. A simulation model based on the discrete element method (DEM) was proposed to explore the displacement of soil particles and stress distribution within the soil. Subsequently, a test bench was developed to investigate the effect of vertical load, soil moisture content, and grouser height on the maximum track traction. The results demonstrated that DEM simulation could reproduce the experimental results sufficiently well with a relative error of 3.5 % for maximum traction. The highest vertical stress is located beneath the grousers and the horizontal stresses are found to be higher near the bottom of the grousers. The vertical load exerts the most significant influence on track traction. Moisture content mainly affects the rate of increase in track traction at different vertical loads. At the moisture contents of 10 % and 15 %, and under vertical loads of 1000 N and 1500 N, the grouser height had little impact on maximum traction. However, at a soil moisture content of 25 % and under vertical loads of 2500 N and 3000 N, increasing the grouser height resulted in a notable enhancement of track traction.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"118 ","pages":"Article 101044"},"PeriodicalIF":2.4,"publicationDate":"2024-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143148054","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

Editorial: Best papers of the ISTVS 2023 conference

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-12-13 DOI: 10.1016/j.jterra.2024.101042

Jarosław Pytka, Schalk Els, Massimo Martelli

引用次数: 0

Interaction-aware control for robotic vegetation override in off-road environments 越野环境下机器人植被覆盖的交互感知控制

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-11-29 DOI: 10.1016/j.jterra.2024.101034

Charles Noren, Bhaskar Vundurthy, Sebastian Scherer, Matthew Travers

{"title":"Interaction-aware control for robotic vegetation override in off-road environments","authors":"Charles Noren, Bhaskar Vundurthy, Sebastian Scherer, Matthew Travers","doi":"10.1016/j.jterra.2024.101034","DOIUrl":"10.1016/j.jterra.2024.101034","url":null,"abstract":"<div><div>Robotic systems tasked with completing off-road economic, military, or humanitarian missions often encounter environmental objects when traversing unstructured terrains. Certain objects (e.g. safety cones) must be avoided to ensure operational integrity, but others (e.g. small vegetation) can be interacted with (e.g. overridden/pushed) safely. Pure object-avoidance assumptions in conventional robotic system navigation policies may lead to inefficient (slow) or overly-cautious (immobilized) traversal behaviors in off-road terrains. To address this gap in system performance, we draw inspiration from existing hybrid dynamic system control literature. We have designed a nonlinear trajectory optimization controller that utilizes vegetation-interaction models as a jump map in the dynamics constraint. In contrast to purely vision-based navigation policies which classify the traversability of obstacles, the allowable subset of objects with which the vehicle can safely interact is now characterized by a data-driven collision model and the existence of a dynamically-feasible trajectory which satisfies the contact constraints. The controller’s capabilities are demonstrated on a full-sized autonomous utility task vehicle where objects including posts and trees of up to 25.4 [mm] and 81.8 [mm] diameter are overridden.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101034"},"PeriodicalIF":2.4,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142745171","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

Analyzing bearing capacity changes due to vibration in discrete element method simulations 用离散元法模拟分析振动引起的承载力变化

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-11-29 DOI: 10.1016/j.jterra.2024.101031

Tomohiro Watanabe , Ryoma Higashiyama , Dai Watanabe , Kojiro Iizuka

{"title":"Analyzing bearing capacity changes due to vibration in discrete element method simulations","authors":"Tomohiro Watanabe , Ryoma Higashiyama , Dai Watanabe , Kojiro Iizuka","doi":"10.1016/j.jterra.2024.101031","DOIUrl":"10.1016/j.jterra.2024.101031","url":null,"abstract":"<div><div>Recently, legged robots have gained significant attention as highly mobile platforms for planetary exploration. However, the surfaces of celestial bodies such as the Moon are mainly composed of loose materials, leading to slippage due to the deformation of the surface under the movements of the rover’s legs. To address this issue, we proposed a walking method designed to minimize slippage. Our previous research demonstrated that applying vibrations can increase both the shear strength of the ground and the amount of the rover’s leg subsidence, thereby enhancing the ground’s bearing capacity, which is related to the counterforce provided by the ground against the legs of the rover. For the robot to perform optimally, it is essential to accurately estimate this bearing capacity to select efficient vibration settings. In this study, we utilized the discrete element method (DEM) to simulate the ground’s bearing capacity under various vibrational influences changing both the sinkage depth of a leg and the vibration frequency. Our simulations successfully mirrored the real-world effects of vibrations on bearing capacity, providing insightful perspectives on how vibration can be used to enhance ground support for these robotic explorers.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"118 ","pages":"Article 101031"},"PeriodicalIF":2.4,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142744582","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