Journal of Terramechanics最新文献_第5页

Climbing loose surfaces with steep slopes using a small, lightweight push-rolling rover with minimal configuration 使用一个小型的、轻量级的、配置最小的推推式漫游者爬上陡峭斜坡的松散表面

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-04-01 Epub 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":"2025-04-01","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

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 : 2025-04-01 Epub 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":"2025-04-01","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

Editorial: Best papers of the ISTVS 2023 conference 编辑：ISTVS 2023会议最佳论文

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-04-01 Epub Date: 2024-12-13 DOI: 10.1016/j.jterra.2024.101042

Jarosław Pytka, Schalk Els, Massimo Martelli

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 : 2025-02-01 Epub 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":"2025-02-01","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

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 : 2025-02-01 Epub 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":"2025-02-01","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

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 : 2025-02-01 Epub 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":"2025-02-01","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

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 : 2025-02-01 Epub 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":"2025-02-01","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

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 : 2025-02-01 Epub 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":"2025-02-01","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

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 : 2025-02-01 Epub 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":"2025-02-01","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

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 : 2025-02-01 Epub 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":"2025-02-01","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