Journal of Terramechanics最新文献_第2页

Terrain classification and rock abundance analysis at Utopia Planitia using Zhurong image data based on deep learning algorithms 基于深度学习算法，利用祝融影像数据对乌托邦行星进行地形分类和岩石丰度分析

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-10-09 DOI: 10.1016/j.jterra.2024.101022

Yan Shen , Dong Pan , Hongtao Cao , Baofeng Yuan , Yang Jia , Lianbin He , Meng Zou

{"title":"Terrain classification and rock abundance analysis at Utopia Planitia using Zhurong image data based on deep learning algorithms","authors":"Yan Shen , Dong Pan , Hongtao Cao , Baofeng Yuan , Yang Jia , Lianbin He , Meng Zou","doi":"10.1016/j.jterra.2024.101022","DOIUrl":"10.1016/j.jterra.2024.101022","url":null,"abstract":"<div><div>The complexity of image scene information presents challenges for the trafficability assessment and path planning of Mars rovers. To ensure the operational safety of Mars rovers and extract terrain features from complex image scenes, this paper develops an end-to-end deep learning model, using the deep convolutional neural networks ResNet50 and DeepLabV3 + as the framework, with images from the Zhurong rover’s navigation camera as the training and test datasets. A deep learning model suitable for classification and segmentation of terrain in the Mars Utopia Planitia region has been established and applied to planetary geology research. The classification accuracy of model exceeds 83.90 % and segmentation accuracy exceeds 80 %. Subsequently, an analysis of 1309 raw images from the navigation camera yielded 203,744 individual estimates of rock abundance, the model evaluates the rock abundance in the Utopia Planitia region, where the Zhurong rover is located, at 10.94 %. The terrain classification model proposed in this study provides both engineering and scientific value for future rovers on the Utopia Planitia.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101022"},"PeriodicalIF":2.4,"publicationDate":"2024-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142423783","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

Tire sinkage measurement and entry angle calculation using stereo cameras 使用立体相机测量轮胎下沉量并计算进入角

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-10-07 DOI: 10.1016/j.jterra.2024.101019

Hannah White , Corina Sandu , Jyotirmoy Mukherjee , Andrea L’Afflitto , David Gorsich , Michael Cole

{"title":"Tire sinkage measurement and entry angle calculation using stereo cameras","authors":"Hannah White , Corina Sandu , Jyotirmoy Mukherjee , Andrea L’Afflitto , David Gorsich , Michael Cole","doi":"10.1016/j.jterra.2024.101019","DOIUrl":"10.1016/j.jterra.2024.101019","url":null,"abstract":"<div><div>In the modern world the use of autonomous vehicles is growing more and more common. There are many applications for autonomous vehicles on deformable terrain, such as in military, farming, and mining but the problem with most established autonomous vehicle models is that they do not take into account the effect the terrain has on vehicle performance. To be able to accurately include these values in the vehicle model, they need to be directly sensed or estimated. One of the most valuable of these values is the tire sinkage. Tire sinkage is very important when it comes to terrain-vehicle interaction. The slip-sinkage relationship is an important factor in tractive performance. This paper is part of a larger project that is working on autonomy in conditions with deformable terrain and this paper presents on the methods employed to measure and find important values for the terramechanics of the model. This study specifically focuses on measuring the rut depth left behind after a tire travels over the terrain using a set of two stereo cameras. The sinkage is then used to be able to find the entry angle of the tire in the terrain.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101019"},"PeriodicalIF":2.4,"publicationDate":"2024-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142423780","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

Natural recovery of different soil types after passes by wheeled military truck: Implications for soil as a ground for follow-on mobility operations 轮式军用卡车通过后不同土壤类型的自然恢复：土壤作为后续机动作战地面的意义

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-09-27 DOI: 10.1016/j.jterra.2024.101017

Kersti Vennik

{"title":"Natural recovery of different soil types after passes by wheeled military truck: Implications for soil as a ground for follow-on mobility operations","authors":"Kersti Vennik","doi":"10.1016/j.jterra.2024.101017","DOIUrl":"10.1016/j.jterra.2024.101017","url":null,"abstract":"<div><div>The trafficking of off-road military vehicles generates disturbed soil conditions. Thus, former active combat areas can have a serious effect on subsequent operations. More precisely, an uneven soil surface will remarkably increase the vibration of travelling vehicles, and over-compacted as well as displaced soil layers affect soil water dynamics that, in turn, have a long-lasting effect on soil strength. In addition, soil as a habitat for plants must provide air, water, and nutrients for the plants to grow. Luckily, soil can naturally recover from being disturbed thanks to freezing-thawing cycles, wetting–drying cycles, and biological activity. However, the rate of recovery depends on the physical parameters of soil. The objective of this study was to monitor and summarize the natural recovery rate of soils. As an experiment, single pass and repeated passes with military trucks (total weight 70 kN) were carried out. The ruts that formed were monitored and soil samples were collected up to 2 years after wheeling. The rut depth, cone index values, bulk density, soil moisture content as well as field-saturated hydraulic conductivity were measured and soil pore size distribution was determined in a laboratory during the entire studied recovery period. The results about the natural recovery on different soils are presented herein.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101017"},"PeriodicalIF":2.4,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142327044","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 of rigid wheel in granular media using coarse-scale DEM models 利用粗尺度 DEM 模型实现刚性车轮在颗粒介质中的牵引性能

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-09-26 DOI: 10.1016/j.jterra.2024.101016

Bohumir Jelinek , Angela Card , George L. Mason , Karl Grebner , Aidan Dickerson , Thomas Skorupa , Michael Cole , Jody D. Priddy

{"title":"Tractive performance of rigid wheel in granular media using coarse-scale DEM models","authors":"Bohumir Jelinek , Angela Card , George L. Mason , Karl Grebner , Aidan Dickerson , Thomas Skorupa , Michael Cole , Jody D. Priddy","doi":"10.1016/j.jterra.2024.101016","DOIUrl":"10.1016/j.jterra.2024.101016","url":null,"abstract":"<div><div>Understanding interactions between wheel and granular media in variable loading conditions is critical for prediction of mobility of wheeled vehicles in off-road environments. The discrete element method (DEM) is routinely used for modeling vehicle off-road performance, but the method’s accuracy is often not fully established.</div><div>In this work, the DEM modeling accuracy is assessed by the comparison of ten DEM soil models with laboratory soil-bin measurements of net traction, gross traction, and sinkage of a wheel operating in sand. Laboratory soil-bin measurements, serving as reference for DEM simulations, were taken from physical experiments by <span><span>Shinone et al. (2010)</span></span>, examining a 165/60R13 wheel with circumferential velocity of 97.6 mm/s and vertical contact load of 980 N in varying slip conditions.</div><div>The set of ten DEM models was selected from the Generic EDEM Material Model database from Altair®’s EDEM™ software package, choosing the materials matching the bulk density and angle of repose for dry sand.</div><div>Given the large particle size and no additional calibration of the DEM models, finding overall reasonable match with the gross traction from lab measurements and identifying a material predicting the net traction with a satisfiable accuracy encourages further use, refinement, and calibration of the DEM-based soil models.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101016"},"PeriodicalIF":2.4,"publicationDate":"2024-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142323371","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

Predicting the impact of wheel passage on terrain unevenness 预测车轮通过对地形不平的影响

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-09-24 DOI: 10.1016/j.jterra.2024.101015

Antonio Leanza, Angelo Ugenti, Rocco Galati, Giulio Reina

{"title":"Predicting the impact of wheel passage on terrain unevenness","authors":"Antonio Leanza, Angelo Ugenti, Rocco Galati, Giulio Reina","doi":"10.1016/j.jterra.2024.101015","DOIUrl":"10.1016/j.jterra.2024.101015","url":null,"abstract":"<div><div>This article presents a novel approach to accurately predict how terrain unevenness is modified by the passage of a wheel under varying operating conditions. The proposed method uses a moving average filter to model the deformation of the soft soil caused by the rolling wheel. The window length of the filter is determined by key terrain parameters as well as the geometry of the wheel. The method’s accuracy and robustness are validated through a series of comparisons with a high-fidelity model developed in the multibody simulation environment <em>MSC Adams</em>, along with an experiment conducted in a real agricultural scenario. This model incorporates classical terramechanics theory to simulate the complex interactions between the wheel and the terrain. Key findings indicate that the moving average filter approach not only simplifies the computational process but also maintains a high degree of accuracy in predicting terrain deformation across a range of operating conditions. This method offers significant potential for improving the design and optimization of off-road vehicles, agricultural machinery, and planetary rovers by providing a more efficient tool to assess terrain interaction dynamics. In general, this study lays the foundations for advances in understanding and predicting terrain behavior under the influence of rolling wheels, contributing to the broader field of vehicle-terrain interaction research.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101015"},"PeriodicalIF":2.4,"publicationDate":"2024-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000570/pdfft?md5=d47a517f92ba22dfa8bf7d147d1aedb3&pid=1-s2.0-S0022489824000570-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142315033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and development of jamming-based stiffness-adjustable wheel on soft terrain 设计和开发基于干扰的软地形刚度可调车轮

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-09-19 DOI: 10.1016/j.jterra.2024.101014

Tachadol Suthisomboon, Stephane Bonardi, Genya Ishigami

{"title":"Design and development of jamming-based stiffness-adjustable wheel on soft terrain","authors":"Tachadol Suthisomboon, Stephane Bonardi, Genya Ishigami","doi":"10.1016/j.jterra.2024.101014","DOIUrl":"10.1016/j.jterra.2024.101014","url":null,"abstract":"<div><p>Traversing soft terrain poses a major challenge for planetary wheeled rovers, and various studies have demonstrated ways to enhance rover mobility by transforming the wheel structure or adjusting the wheel’s stiffness, which results in a change in wheel contact area on the terrain. This paper presents a novel idea using the jamming mechanism for modulating the wheel’s stiffness. The developed wheel consists of the core body, wheel outer rim, inner flexure, and cable tension mechanism. The jamming mechanism is realized by adjusting the cable tension inserted between the outer rim of the wheel. The wheel stiffness measuement test confirms that the wheel with low stiffness can reduce its stiffness for 75% of the high stiffness configuration. The wheel’s traversability on soft terrain are also evaluated based on slip ratio and current consumption. The results demonstrate that the lower-stiffness configuration outperforms the higher-stiffness wheel under various conditions. These findings, being consistent with previous works on flexible wheels, highlight the potential benefits of the jamming-based stiffness-adjustable wheel for rough terrain traverse with various payload conditions.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101014"},"PeriodicalIF":2.4,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000569/pdfft?md5=4331797600c57b4c3010d5c721ceb3ee&pid=1-s2.0-S0022489824000569-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142242759","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Shortwave infrared fusion for snow surface traversability mapping 融合短波红外线绘制雪面可穿越性地图

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-09-17 DOI: 10.1016/j.jterra.2024.101010

Anthony T. Fragoso, Sarah M. Piedmont

引用次数: 0

Comparison of lunar rover wheel performance in soils with different cohesive properties 比较月球车车轮在不同粘性土壤中的性能

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-09-13 DOI: 10.1016/j.jterra.2024.101011

Keisuke Takehana, Shino Kizaki, Tomomi Tanaka, Kentaro Uno, Kazuya Yoshida

{"title":"Comparison of lunar rover wheel performance in soils with different cohesive properties","authors":"Keisuke Takehana, Shino Kizaki, Tomomi Tanaka, Kentaro Uno, Kazuya Yoshida","doi":"10.1016/j.jterra.2024.101011","DOIUrl":"10.1016/j.jterra.2024.101011","url":null,"abstract":"<div><p>Wheeled mobile robots, rovers, are highly effective in lunar exploration. However, the lunar regolith can cause wheel slippage, resulting in an inability to travel for the rover. A single-wheel testbed is usually used to analyze a rover wheel’s driving performance. Our experiment can control the rotation and translation of the wheels separately, realizing experiments in any slippage condition. Moreover, this testbed can conduct experiments using regolith simulant with a cohesive property, in addition to Toyoura sand, which is non-cohesive sand collected from the earth.</p><p>This paper presents the results of a driving test on two types of loose soil: Toyoura sand and regolith simulant (FJS-1). The wheel used in the experiment is the preliminary version of the actual flight model of a 10 kg class lunar exploration microrover. The results reveal that the traction performance on both sands improves as the slip ratio increases. The performance did not depend on velocity but on vertical load. It should be noted that the cohesive simulant shows a higher difference in traction performance than Toyoura sand. These findings, measured in detail from the low-slip to the high-slip range, contribute to the actual driving operation of the rover missions.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101011"},"PeriodicalIF":2.4,"publicationDate":"2024-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000533/pdfft?md5=f8a0ef69fd48078871449b719c0ec355&pid=1-s2.0-S0022489824000533-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142228857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Agricultural tractor bogie axle adoption: Market opportunities and traction and ground pressure improvements through mobility metrics and simulations 农用拖拉机转向架车轴的采用：市场机遇以及通过机动性指标和模拟改善牵引力和地面压力

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-09-11 DOI: 10.1016/j.jterra.2024.101013

Stefano Uberti, Daniele Beltrami, Marco Ferrari, Paolo Iora

{"title":"Agricultural tractor bogie axle adoption: Market opportunities and traction and ground pressure improvements through mobility metrics and simulations","authors":"Stefano Uberti, Daniele Beltrami, Marco Ferrari, Paolo Iora","doi":"10.1016/j.jterra.2024.101013","DOIUrl":"10.1016/j.jterra.2024.101013","url":null,"abstract":"<div><p>Traction and ground pressure are key aspects of modern off-highway machinery. On the one hand, the machinery must be able to move successfully on rough terrain, on the other hand, the soil cannot be excessively ruined, particularly in agriculture fields that must be as productive as possible. In this regard, when the soil is very sensitive to ground pressure and slip efficiency, tracks are often mounted on agricultural tractors rather than wheels. Regrettably, it significantly diminishes the multi-purpose functionality of modern agricultural tractors, which is an essential feature. To offer higher pulling efficiency, reduced ground pressure, and greater multi-purpose functionality, an agricultural tractor fitted with a rear bogie axle is hereby presented. A market analysis is carried out to demonstrate the potential of such a vehicle. Subsequently, an ideal agricultural tractor is proposed for benchmarking purposes and as the baseline for designing the bogie axle application. Their pulling performance is evaluated by using a custom-made spreadsheet, while a novel coefficient named Pull on Pressure is introduced to assess off-road mobility. Ultimately, the two variations of the agricultural tractors undergo testing on vehicle dynamics simulation software to conduct an initial comparative analysis.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101013"},"PeriodicalIF":2.4,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000557/pdfft?md5=a0fad430ede30a217fadc35d41d62b60&pid=1-s2.0-S0022489824000557-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142169431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Parameter identification of DEM-FEM coupling model to simulate traction behavior of tire-soil interaction 模拟轮胎与土壤相互作用牵引行为的 DEM-FEM 耦合模型的参数识别

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-09-11 DOI: 10.1016/j.jterra.2024.101012

Haiyang Zeng , Zhifeng Lin , Guohong Huang , Xiaoqing Yang , Yanfeng Li , Jiabao Su , Wei Xu

{"title":"Parameter identification of DEM-FEM coupling model to simulate traction behavior of tire-soil interaction","authors":"Haiyang Zeng , Zhifeng Lin , Guohong Huang , Xiaoqing Yang , Yanfeng Li , Jiabao Su , Wei Xu","doi":"10.1016/j.jterra.2024.101012","DOIUrl":"10.1016/j.jterra.2024.101012","url":null,"abstract":"<div><p>This paper presents a novel parameter identification method for DEM-FEM coupling model to investigate the trafficability of off-road tires on granular soils. Initially, an experimental device is developed to measure the bulk responses of granular materials i.e., angles of repose and shear. A series of numerical tests, including the Plackett-Burman tests, steepest-climbing tests and three-factor orthogonal tests, are then performed to formulate the mathematical regression and constraint equations. These equations establish the correlation between the three key model input parameters (namely, coefficients of static friction of acrylic wall-particle and particles, and coefficient of restitution of acrylic wall-particle) and the aforementioned bulk responses. After that, the non-dominated sorting genetic algorithm II (NSGA-II) is implemented to iteratively calculate the equations based on the multi-objective optimization method to obtain the optimal solution set. Finally, the effectiveness and feasibility of the parameter identification method are confirmed by comparing the results of indoor soil-bin tests and the corresponding numerical simulations in terms of tire sinkage, ruts and soil deformation and flow.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101012"},"PeriodicalIF":2.4,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000545/pdfft?md5=a523e28d920389c0ed3cd6b98a7555a0&pid=1-s2.0-S0022489824000545-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142169430","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0