Journal of Terramechanics最新文献_第6页

A single wheel test rig for ocean world rovers 海洋世界漫游者的单轮试验台

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.07.001

Athul Pradeepkumar Girija , Rachana Agrawal , Ye Lu , Archit Arora , Maxim de Jong , Sarag J. Saikia , James M. Longuski

{"title":"A single wheel test rig for ocean world rovers","authors":"Athul Pradeepkumar Girija , Rachana Agrawal , Ye Lu , Archit Arora , Maxim de Jong , Sarag J. Saikia , James M. Longuski","doi":"10.1016/j.jterra.2023.07.001","DOIUrl":"10.1016/j.jterra.2023.07.001","url":null,"abstract":"<div><p>Ocean Worlds such as Europa and Enceladus are known to harbor subsurface liquid water oceans under their icy crust and are high-priority targets for in situ exploration. Compared to the Moon and Mars, Ocean Worlds likely present a significantly more challenging environment for surface mobility systems due to the extremely cold temperature, high radiation dosage, and poorly constrained material properties under these conditions. Small-diameter wheels such as those used by Mars rovers are prone to slip-sinkage in loose soil and damage from sharp rock and ice formations. A 4-wheel rover with a simple drive system and large deployable compliant tires is proposed as a solution for extreme terrain mobility on Ocean World surfaces. The present work describes the design and construction of a single wheel test rig and a prototype large-diameter deployable wheel for Ocean World rovers and initial test results. The test rig allows independent control of the vertical load, slip ratio, slip angle, and camber angle, and accommodates large-diameter deployable wheels. The test rig features a modular test bed that can simulate varied surface features such as fine-grained ice, smooth hard ice, sharp ice formations, and large ice boulder fields.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49029066","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: 1

Obstacle detection in snow covered terrain 积雪地形中的障碍物检测

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.05.004

S.N. Vecherin, J.M. Shaker, M.W. Parker

引用次数: 0

Review of modeling and validation techniques for tire-deformable soil interactions 轮胎-可变形土相互作用的建模和验证技术综述

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.05.007

Varsha S Swamy , Rashna Pandit , Alba Yerro , Corina Sandu , Denise M. Rizzo , Katherine Sebeck , David Gorsich

{"title":"Review of modeling and validation techniques for tire-deformable soil interactions","authors":"Varsha S Swamy , Rashna Pandit , Alba Yerro , Corina Sandu , Denise M. Rizzo , Katherine Sebeck , David Gorsich","doi":"10.1016/j.jterra.2023.05.007","DOIUrl":"https://doi.org/10.1016/j.jterra.2023.05.007","url":null,"abstract":"<div><p>The mobility of vehicles in off-road environments is critical for many applications. Predicting the tire-soil interaction is a challenge, especially in non-linear deformable terrain. This paper presents an overview of the bibliographic references on tires–deformable soil interactions after the 2000's, identifying the gaps in the literature. The capabilities and challenges of different modeling frameworks used for mobility (i.e., empirical, semi-empirical, and physics-based) are discussed; special emphasis is given to continuum-based frameworks. A summary of terrain material models used to approximate the behavior of coarse and fine-grained soils is provided with practices used to characterize such materials. A review of tire models for deformable soil navigation and the tire-soil interfaces is provided. Strategies to validate all these models are presented. Finally, the application of these studies for assessing the sensitivity concerning input parameters (e.g., velocity, inflation pressure, and normal load), multi-pass, multi-layered soils, wet soils, and fully integrated multi-body vehicle models are discussed. The final contribution of this review paper is a summary table that synthesizes the extensive bibliographic review. Overall, this work highlights a lack of physics-based trafficability studies in wet and plastic deformable soils. Moreover, studies on contact adhesion, stone picking, multipass, and cornering also need improvement.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49878024","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

Construction of a soil clod recognition bench-scale experiment for discrete element method modeling of tilling phenomena 离散元法模拟耕作现象的土块识别台架试验的建立

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.06.004

Shuto Ishii , Isami Suto , Hiroaki Tabe , Kota Aono , Moju Zhao , Yoshifumi Ueshige , Kohei Matsushita , Takashi Iritani , Tadayuki Hanamoto , Masayuki Nakao , Keisuke Nagato

{"title":"Construction of a soil clod recognition bench-scale experiment for discrete element method modeling of tilling phenomena","authors":"Shuto Ishii , Isami Suto , Hiroaki Tabe , Kota Aono , Moju Zhao , Yoshifumi Ueshige , Kohei Matsushita , Takashi Iritani , Tadayuki Hanamoto , Masayuki Nakao , Keisuke Nagato","doi":"10.1016/j.jterra.2023.06.004","DOIUrl":"https://doi.org/10.1016/j.jterra.2023.06.004","url":null,"abstract":"<div><p>Rotary claws are used to break soil into small pieces and plow the soil flat. In this study, rotary claw development in tiller machines was evaluated using both equipment and the discrete element method (DEM). However, evaluation through equipment is imprecise and time consuming. Although DEM is an effective method for modeling the movement of granular materials, it requires numerous parameters to ensure accuracy, which must be determined through experimental evaluation and comparison. To resolve this concern, an image processing method was developed that leverages point cloud data obtained from a depth camera to capture changes in soil shape, distribution, and soil clod size before and after tilling. The effect of soil moisture content and claw rotation speed on soil clod formation and decomposition was evaluated. The experimental results show that the location, number, and soil clod size vary with soil moisture content and claw rotation speed. The results were compared with the DEM simulation to reconcile differences and confirm the feasibility of the proposed method. The model experiment system for soil clods and the image processing method facilitates a quantitative comparison between experimental and DEM simulated soil dispersal, which accelerates the search for DEM parameters to reproduce the tilling.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49878025","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

Experimental investigation of factors affecting the characterisation of soil strength properties using a Bevameter in-situ plate sinkage and shear test apparatus 利用Bevameter原位板沉降剪切试验装置对土强度特性表征影响因素进行试验研究

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.06.002

Ray Kruger, P. Schalk Els, Herman A. Hamersma

{"title":"Experimental investigation of factors affecting the characterisation of soil strength properties using a Bevameter in-situ plate sinkage and shear test apparatus","authors":"Ray Kruger, P. Schalk Els, Herman A. Hamersma","doi":"10.1016/j.jterra.2023.06.002","DOIUrl":"10.1016/j.jterra.2023.06.002","url":null,"abstract":"<div><p>The Bekker-Wong soil-wheel interaction model has been widely adopted in the terramechanics field. This model requires the soil to be characterised using a Bevameter, which entails performing in situ plate sinkage and shear stress tests. Bevameter soil characterisation is not a standardised test procedure, and the test setup may influence the identified soil model parameters. This study investigates the influence of the following five factors for partially saturated sandy soil: I) soil preparation method on pressure-sinkage, II) soil preparation method on shear stress, III) torsional vs. translational shear mechanism, IV) shear contact area, and V) the influence of shear velocity. The results indicate that the influence of soil preparation on pressure-sinkage response is substantial, exhibiting an order-of-magnitude difference. The influence of soil preparation on shear tests is notable, but less significant. The shear mechanism, shear contact area and shear velocity exhibited a maximum absolute shear stress difference of 18%, 20% and 10%, respectively. Moreover, depending on the test setup configuration and data processing decisions, the estimated internal soil friction angles ranged from 16.5 to 37.5° for the same soil. The findings are expected to have significant implications for the prediction of vehicle drawbar pull using the Bekker-Wong model.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41901069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The effect of integrating a bio-inspired convex structure with a low-surface energy polymer on soil adhesion and friction 集成仿生凸结构与低表面能聚合物对土壤粘附和摩擦的影响

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.06.003

Abouelnadar El Salem , Guozhong Zhang , Hongchang Wang , Haytham M. Salem , Mohamed A.I. Abdalla , Ahmed A. Ghazy

{"title":"The effect of integrating a bio-inspired convex structure with a low-surface energy polymer on soil adhesion and friction","authors":"Abouelnadar El Salem , Guozhong Zhang , Hongchang Wang , Haytham M. Salem , Mohamed A.I. Abdalla , Ahmed A. Ghazy","doi":"10.1016/j.jterra.2023.06.003","DOIUrl":"https://doi.org/10.1016/j.jterra.2023.06.003","url":null,"abstract":"<div><p>The capacity of soil-burrowing animals to move freely in sticky soil is a motivational trait for developing soil-engaging tools with high operational efficiency. Meanwhile, outstanding hydrophobicity, chemical stability, and corrosion resistance make ultra-high molecular weight polyethylene (UHMW-PE) a potential option for reducing soil adhesion. This study looked into the viability of combining a domed surface inspired by the micro-convex structure of the dung beetle skin with the UHMW-PE as a surface coating to reduce sliding resistance. The sliding resistances of three plates (a flat plate of carbon steel, a flat plate of UHMW-PE, and a domed plate of UHMW-PE) were assessed under varied operating and soil conditions. In each treatment, the tested plate was dragged for 0.7 m of the soil bin length, and the sliding resistance was recorded using the distributed stress and strain test and analysis system (DH3820 N). The results revealed that in all treatments, the sliding resistance of the UHMW-PE domed plate was significantly lower than that of the flat steel plate. Furthermore, the UHMW-PE domed plate outperformed the other tested plates in reducing sliding resistance in more moist and sticky soils, paving the way for the development of highly practical and effective soil-engaging tools.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49878026","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

Justification of the soil dem-model parameters for predicting the plow body resistance forces during plowing 土壤dem模型参数预测犁体阻力的合理性

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.06.001

Salavat Mudarisov , Yakov Lobachevsky , Ildar Farkhutdinov , Eduard Khasanov , Ildar Rakhimov

{"title":"Justification of the soil dem-model parameters for predicting the plow body resistance forces during plowing","authors":"Salavat Mudarisov , Yakov Lobachevsky , Ildar Farkhutdinov , Eduard Khasanov , Ildar Rakhimov","doi":"10.1016/j.jterra.2023.06.001","DOIUrl":"10.1016/j.jterra.2023.06.001","url":null,"abstract":"<div><p>The discrete element method has recently become a popular tool for developing soil models to be used for modelling the tillage process, which involves using working tools. The research aims to evaluate the parameters of the contact model particles when modelling tillage with large–sized working tools using the discrete element method. The paper presents the results of calibration of the physico-mechanical parameters of the particles of the soil environment model described using the discrete element method. The model is used for modelling the tillage process using moldboard plow. The parameters of the simulated particles to be studied are the Poisson's ratio, coefficients of static and dynamic friction of particles, Young's modulus, surface energy, particles' diameter, coefficients of static and dynamic metal friction of particles. Calibration was carried out according to the horizontal, vertical and transverse components of the traction resistance of the plow body. The obtained dependences of the components of the plow body traction resistance on soil moisture and surface energy help select parameters for the Hertz-Mindlin contact model while modelling the behavior of the soil environment when interacting with the working tools of tillage and sowing machines.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46116549","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

On the power characteristics of an unmanned tracked vehicle for autonomous transportation of agricultural payloads 用于农业有效载荷自动运输的无人履带车功率特性研究

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.05.006

S.M. Shafaei , H. Mousazadeh

{"title":"On the power characteristics of an unmanned tracked vehicle for autonomous transportation of agricultural payloads","authors":"S.M. Shafaei , H. Mousazadeh","doi":"10.1016/j.jterra.2023.05.006","DOIUrl":"10.1016/j.jterra.2023.05.006","url":null,"abstract":"<div><p>Elucidation of power characteristics of an unmanned tracked vehicle for autonomous transportation of agricultural payloads in greenhouse constructions leads to appearance of an applied research in this study. This novel aim has been chosen based on operational requirement of the vehicle. Hence, it can be highlighted that this paper is initiative study described results of power efficiencies (motion, slip, and tractive power efficiencies) of the vehicle. To this aim, various payloads mounted on a trailer (1–5 kN) were towed by the vehicle through diverse drive speeds (0.17–0.5 m/s). Results illuminate that vehicle drive speed and payload weight had consequential contribution to vehicle motion and tractive power efficiencies. While, vehicle slip power efficiency mainly depended on payload weight. Linear regression approximations demonstrate that dual cumulative contributory effect of the drive speed and payload weight on the motion power efficiency (84.98–97.69 %) and tractive power efficiency (78.62–92.92 %) was antagonist and synergetic, respectively. Meanwhile, the slip power efficiency (81.71–98.36 %) linearly dropped with augmentation of payload weight. Resultant slip and motion power inefficiency were associate with vehicle motion power loss in amplitude of 0.39–67.98 and 2.65–14.03 W, respectively. Consequently, tractive power inefficiency was associate with vehicle motion power loss in amplitude of 3.15–82.01 W. This amplitude spotlights that 3.35–43.62 % of vehicle motion power inevitably wasted inside track-surface interface in agricultural towing tasks. Overall, numerical and analytical descriptions of the results as well as practical suggestions provide appropriate guidelines for vehicle supervisor in order to optimize power characteristics.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47937597","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: 3

Machine learning-based draft prediction for mouldboard ploughing in sandy clay loam soil 基于机器学习的砂质粘土壤土板耕牵伸预测

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-09-20 DOI: 10.1016/j.jterra.2023.09.002

Vijay Mahore, Peeyush Soni, Arpita Paul, Prakhar Patidar, Rajendra Machavaram

{"title":"Machine learning-based draft prediction for mouldboard ploughing in sandy clay loam soil","authors":"Vijay Mahore, Peeyush Soni, Arpita Paul, Prakhar Patidar, Rajendra Machavaram","doi":"10.1016/j.jterra.2023.09.002","DOIUrl":"https://doi.org/10.1016/j.jterra.2023.09.002","url":null,"abstract":"<div><p>Machine learning (ML) models are developed to predict draft for mouldboard ploughs operating in sandy-clay-loam soil. The draft of tillage tools is influenced by soil cone-index, tillage-depth, and operating-speed. We used a three-point hitch dynamometer to measure draft force, a cone penetrometer for soil cone-index, rotary potentiometers for tillage-depth, and proximity sensors for operating-speed. Draft requirements were experimentally measured for a two-bottom mouldboard plough at three different tillage-depths and various operating-speeds. We developed prediction models using recent ML algorithms, including Linear-Regression, Ridge-Regression, Support-Vector-Machines, Decision-Trees, k-Nearest-Neighbours, Random-Forests, Adaptive-Boosting, Gradient-Boosting-Regression, Light-Gradient-Boosting-Machine, and Categorical-Boosting. These models were trained and tested using a dataset of field measurements including soil cone-index, tillage-depth, operating-speed, and corresponding draft values. We compared the measured draft with the commonly used ASABE model, which resulted in an R<sup>2</sup> of 0.62. Our ML models outperformed the ASABE model with significantly better performance. The test data set achieved R<sup>2</sup> values ranging from 0.906 to 0.983. These results demonstrate that the developed ML models effectively capture the complex nonlinear relationship between input parameters and draft of mouldboard plough.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49876187","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

Analysis of soil compaction under different wheel applications using a dynamical cone penetrometer 用动力锥贯仪分析不同车轮作用下的土壤压实

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2023-09-15 DOI: 10.1016/j.jterra.2023.09.001

Rania MAJDOUBI , Lhoussaine MASMOUDI , Abderahmane ELHARIF

{"title":"Analysis of soil compaction under different wheel applications using a dynamical cone penetrometer","authors":"Rania MAJDOUBI , Lhoussaine MASMOUDI , Abderahmane ELHARIF","doi":"10.1016/j.jterra.2023.09.001","DOIUrl":"https://doi.org/10.1016/j.jterra.2023.09.001","url":null,"abstract":"<div><p>Soil compaction is one of the major problems in modern agriculture. Thus, the workability of a soil reflects to its ability to accept the traffic of agricultural machinery and implements. Water content and compaction are factors that influence the rheological behavior of the soil. the representation of soil shows limitations regarding the behavior of the tire-soil interface and its resistance to deformation is both influenced by the different forms of loading application along a tire path on a soil particle. This paper presents a study of the impact of multiple wheel passage, the wheel velocity, and the weight applied to the wheel on the agricultural soil represented by the cone index. To do this, we were inspired to launch an investigation for soil compaction determination at three levels of wheel load, three levels of velocity and at tillage, first, second and third passages of wheel with three replications on clayey sandy mixed grain soil. The results of this study shows that the greatest soil compaction occurred at the highest wheel load (1000 N), the lowest speed (0.1 m/s) and the highest number of passes (third pass), this leads to minimize multiple passes and or follow the same path, also, keeping the load on the ground as low as possible (weight of the machines), and working at high speed in agricultural fields.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2023-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49876186","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