Journal of Terramechanics最新文献_第4页

Modelling and simulation fundamentals in design for ground vehicle mobility part I: Eastern approach 地面车辆机动性设计中的建模和仿真基础 I 部分：东方方法

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-10-19 DOI: 10.1016/j.jterra.2024.101020

Vladimir Vantsevich , David Gorsich

{"title":"Modelling and simulation fundamentals in design for ground vehicle mobility part I: Eastern approach","authors":"Vladimir Vantsevich , David Gorsich","doi":"10.1016/j.jterra.2024.101020","DOIUrl":"10.1016/j.jterra.2024.101020","url":null,"abstract":"<div><div>For many decades, different approaches, fundamentals, and expressions have been developed in various countries for military vehicle modelling and simulation (M&S) as a core component of ground vehicle design for mobility. The political division of the world into the West and East that existed before the Soviet Union breakdown in 1991 had not facilitated collaboration between researchers and engineers of both sides, and, thus, they created and practiced their own approaches. The war in Ukraine urgently prompted analysis of the origins and essence of the Western and Eastern technical paradigms, which being conceptually different to ground vehicle mobility, had predetermined the development of vehicle M&S methods and techniques in their parts of the world, specifically for studying dynamic interactions of vehicles with severely uncertain terrains, which impact vehicle behavior and performance, and, thus, may either facilitate mission accomplishment or lead to its failure. Furthermore, this analysis of the technical paradigms aims to further advance M&S fundamentals for next generation combat vehicles as described in the U.S. Army’s 2019 Modernization Strategy. Part I of this article considers the Eastern approach and the Western approach is presented in Part II.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101020"},"PeriodicalIF":2.4,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142527952","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

Towards more efficient tractors: Assessing and refining traction test procedures for agricultural tractors 提高拖拉机的效率：评估和完善农用拖拉机牵引力测试程序

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-10-09 DOI: 10.1016/j.jterra.2024.101018

Leonardo Angelucci , François Pinet , Andrea Vertua , Michele Mattetti

{"title":"Towards more efficient tractors: Assessing and refining traction test procedures for agricultural tractors","authors":"Leonardo Angelucci , François Pinet , Andrea Vertua , Michele Mattetti","doi":"10.1016/j.jterra.2024.101018","DOIUrl":"10.1016/j.jterra.2024.101018","url":null,"abstract":"<div><div>A reliable testing procedure is needed to benchmark different vehicle and tyre parameters. Several testing procedures within two main families – transient and steady states – were adopted to evaluate drawbar performance of tractors. The two procedural families were not hitherto compared using a full vehicle. This article aims to fill this gap. The transient and steady-state procedures were tested using a tractor rated of 230 kW sets in different configurations and equipped with sensors for evaluating the tractive parameters. In the transient procedure, the drawbar load was continuously increased to maintain a fixed ground speed. In the steady-state procedure, the drawbar load was gradually increased by reducing the ground speed. The maximum drawbar force generated by the tractor differed little between procedures, but a difference was observed in power delivery efficiency, mostly for the transmission’s influence during transient conditions leading to variable transmission efficiency. The results of the steady-state procedure for different vehicle configurations were more consistent with findings in the literature than those of the transient procedure. The steady-state procedure is better than the other but it requires more land and therefore it is less convenient when drawbar performances must be quickly evaluated for many vehicle and soil configurations.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101018"},"PeriodicalIF":2.4,"publicationDate":"2024-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142423781","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 terrain deformation patterns in off-road vehicle-soil interactions using TRR algorithm 利用 TRR 算法预测越野车与土壤相互作用的地形变形模式

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-10-09 DOI: 10.1016/j.jterra.2024.101021

Behzad Golanbari , Aref Mardani , Adel Hosainpour , Hamid Taghavifar

{"title":"Predicting terrain deformation patterns in off-road vehicle-soil interactions using TRR algorithm","authors":"Behzad Golanbari , Aref Mardani , Adel Hosainpour , Hamid Taghavifar","doi":"10.1016/j.jterra.2024.101021","DOIUrl":"10.1016/j.jterra.2024.101021","url":null,"abstract":"<div><div>Soil deformation is one of the parameters affecting the performance of off-road vehicles, including traction, mobility, and steering. This study offers an examination of soil deformation resulting from interactions with pneumatic and track wheels. Experiments were conducted using a soil bin with a single-wheel test rig, equipped with both a standard agricultural tire and a customized track wheel. Three distinct levels of vertical loads (2, 3, and 4kN) and forward velocities (1, 2, and 3 km/h) were applied using the wheel tester. The displacement and deformation of the soil layers, visualized as a vertical cross-section along the motion path, were consistently prepared and photographed for all experiments. Image analysis was undertaken with MATLAB software to scale images and extract graphical data. The highest deformation, with a value of 60.86 mm, is associated with the interaction of a pneumatic wheel with a force of 4 kN, while the lowest deformation occurs when the soil interacts with a track wheel with a force of 2 kN, with a value of 25.05 mm. Furthermore, the fitted surfaces obtained using the optimization algorithm showed good convergence with the experimental data, with R<sup>2</sup> values of 0.9783 and 0.9516 for the pneumatic tire and tracked tire, respectively. The results demonstrated that the TRR model performs well in accurately predicting soil deformation induced by various types of wheels. A comparison between soil deformations caused by track wheels and pneumatic wheels revealed that track wheels result in less deformation and disturbance, particularly in the upper soil layers. These findings underscore the importance of considering the type of traction device and loading conditions when assessing soil deformation in agricultural environments.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101021"},"PeriodicalIF":2.4,"publicationDate":"2024-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142423782","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

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