Journal of Terramechanics最新文献_第7页

Design and passability study of soil-plowing wheel facing soft terrain 面向软地形的土壤耕作轮的设计和通过性研究

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-02-01 Epub Date: 2024-08-27 DOI: 10.1016/j.jterra.2024.101002

Xinju Dong , Jingfu Jin , Zhicheng Jia , Yingchun Qi , Tingkun Chen , Lianbin He , Meng Zou

{"title":"Design and passability study of soil-plowing wheel facing soft terrain","authors":"Xinju Dong , Jingfu Jin , Zhicheng Jia , Yingchun Qi , Tingkun Chen , Lianbin He , Meng Zou","doi":"10.1016/j.jterra.2024.101002","DOIUrl":"10.1016/j.jterra.2024.101002","url":null,"abstract":"<div><p>On soft terrain, the rover wheels are easy to slip, sink, or even fail to move. This paper designs a soil-plowing wheel which is two-sided closed and without tread. The discrete element simulation shows that the wheel could grasp soil through both sides and plowing soil and that the ability to gain drawbar pull is not significantly reduced. The wheel is fabricated and tested to measure its sinkage, slip rate and drawbar pull. The wheel has high sinking, high slip and high drawbar pull. And the wheel is tested to verify the passability on five terrains of flat ground, climbing, out of sinkage, obstacle crossing and hard ground. The wheel exhibits good passability in all terrains. The soil-plowing wheel is tested verify the passability on three terrains of obstacle crossing, out of sinkage and climbing and using a three-rockers six-wheels rover. The wheel can pass through all terrain. More importantly, the wheel has an excellent ability to get out of sinkage. And it takes only 25.43 s for all six wheels to get out of sinkage. It is believed that the structure and test results of this wheel are valuable for the subsequent development of unmanned rover wheel.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101002"},"PeriodicalIF":2.4,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000442/pdfft?md5=2ff0e859f365afaf73ed25d7101a338f&pid=1-s2.0-S0022489824000442-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142084262","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

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

A Riemann-based SPH formulation for modelling elastoplastic soil behaviour using a Drucker–Prager model 利用德鲁克-普拉格模型建立弹塑性土壤行为模型的基于黎曼的 SPH 公式

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-02-01 Epub Date: 2024-11-21 DOI: 10.1016/j.jterra.2024.101033

M. Lallemand , C. De Sousa , C. Hermange , J. Michel , G. Oger

{"title":"A Riemann-based SPH formulation for modelling elastoplastic soil behaviour using a Drucker–Prager model","authors":"M. Lallemand , C. De Sousa , C. Hermange , J. Michel , G. Oger","doi":"10.1016/j.jterra.2024.101033","DOIUrl":"10.1016/j.jterra.2024.101033","url":null,"abstract":"<div><div>The present paper aims at proposing and investigating a Riemann-based SPH formulation to simulate the elastoplastic behaviour of soils undergoing large deformations, using a Drucker–Prager model. Basing on the pioneer work from Parshikov and Medin (Parshikov and Medin, 2002), a Riemann solver is used to maintain regular fields while being free of tuning parameters. By contrast to the work in Parshikov and Medin (2002) where piecewise constant reconstructions were employed, piecewise linear reconstructions are preferred in this work to reduce the numerical diffusion. A Particle Shifting Technique (PST) is used to maintain regular particle distributions and consequently accurate SPH interpolations. To the best of the author’s knowledge, the use of a Riemann solver specific to solid mechanics with a pressure-dependent elastoplastic Drucker–Prager yield surface to model the behaviour of the material represents a novelty with respect to the existing literature. A Boundary Integral Method (BIM) initially derived for fluid dynamics (Ferrand et al., 2013; Chiron et al., 2019) is adapted to solid mechanics in order to handle complex geometries. It allows to deal with wall treatment without using fictitious particles, and shows satisfactory results even in sharp angle regions. The ability of the proposed Riemann-based formulation to simulate accurately elastoplastic problems and its robustness are examined through several test cases in plane strain conditions. Attention is paid to the capacity of the formulation to mitigate the occurrence of Tensile Instability (TI) with respect to other schemes, for which additional treatment is required to treat this issue, such as the additional artificial stress method (Gray et al., 2001).</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101033"},"PeriodicalIF":2.4,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142700792","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

Acoustic winter terrain classification for offroad autonomous vehicles 用于越野自动驾驶车辆的冬季地形声学分类

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-02-01 Epub Date: 2024-11-15 DOI: 10.1016/j.jterra.2024.101028

Anthony T. Fragoso

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

Editorial: Soil modeling and simulation for terramechanics applications of manned and unmanned autonomous vehicles 编辑：载人和无人自动驾驶车辆的地形力学应用土壤建模与模拟

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-02-01 Epub Date: 2024-11-21 DOI: 10.1016/j.jterra.2024.101032

Mehari Tekeste Guest editor, Thomas R. Way Guest editor, Mustafa Alsaleh Guest editor

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

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

Development of DEM–ANN-based hybrid terramechanics model considering dynamic sinkage 开发考虑动态下沉的基于 DEM-ANN 的混合地形力学模型

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-12-01 Epub Date: 2024-06-06 DOI: 10.1016/j.jterra.2024.100989

Ji-Tae Kim , Huisu Hwang , Ho-Seop Lee , Young-Jun Park

{"title":"Development of DEM–ANN-based hybrid terramechanics model considering dynamic sinkage","authors":"Ji-Tae Kim , Huisu Hwang , Ho-Seop Lee , Young-Jun Park","doi":"10.1016/j.jterra.2024.100989","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100989","url":null,"abstract":"<div><p>The interaction between deformable terrain and wheels significantly affects wheel mobility. To accurately predict vehicle mobility or optimize wheel design, an analysis of this interaction is essential. This study develops a hybrid terramechanics model (HTM) that integrates the semi-empirical model (SEM) and the discrete element method (DEM) using artificial neural networks (ANNs). The model overcomes the limitations inherent in SEM and DEM approaches. We used DEM simulations to analyze the impact of wheel design parameters and slip ratio on terrain behavior. ANNs were subsequently developed to predict dynamic sinkage in real time based on these results. A new concept, termed bulldozing angle, was introduced to define additional terrain–wheel contact caused by dynamic sinkage. Based on this concept, we predicted the bulldozing resistance exerted on the wheel. By combining SEM, ANNs, and DEM, we developed an HTM capable of terrain behavior analysis. Lastly, we conducted a comparative analysis between the SEM, HTM, and actual test data. The results confirmed that the predictive accuracy of the HTM surpassed that of the SEM across all slip ratios.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"116 ","pages":"Article 100989"},"PeriodicalIF":2.4,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141290219","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

Override forces through clumps of small vegetation 通过小植被丛覆盖力量

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2024-12-01 Epub Date: 2024-06-12 DOI: 10.1016/j.jterra.2024.100988

Marc N. Moore , Christopher Goodin , Ethan Salmon , Michael P. Cole , Paramsothy Jayakumar , Brittney English

{"title":"Override forces through clumps of small vegetation","authors":"Marc N. Moore , Christopher Goodin , Ethan Salmon , Michael P. Cole , Paramsothy Jayakumar , Brittney English","doi":"10.1016/j.jterra.2024.100988","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100988","url":null,"abstract":"<div><p>Vegetation override is an important aspect of off-road ground vehicle mobility. For autonomous ground vehicles (AGV), path-planning in off-road environments may be informed by the predicted resistance of vegetation in the navigation environment. However, there are no prior measurements on the override resistance of small stems (<span><math><mrow><mo><</mo></mrow></math></span>2.5 cm) and groups of small stems on medium-sized (<span><math><mrow><mo>≈</mo></mrow></math></span>1000 kg) vehicles. In this work, a series of override measurements for clumps of small vegetation that are relevant for off-road navigation by intermediate-sized AGV is presented. The development and calibration of a custom-made pushbar system with integrated load cells for directly measuring override forces is also presented, and a comparison of the results of the experiments to models developed for override of larger single stems is made. It is found that for clumps of small vegetation, the total override force is best predicted by the diameter of the largest stem in the clump. Additionally, it is found that the equations developed for larger stems under-predict the override forces exerted by smaller stems by about a factor of two.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"116 ","pages":"Article 100988"},"PeriodicalIF":2.4,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000302/pdfft?md5=f6fd5b906e672e091fd9947120d8b3cf&pid=1-s2.0-S0022489824000302-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141312878","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