Journal of Terramechanics最新文献

{"title":"Discrete element contact model and parameter calibration of sticky particles and agglomerates","authors":"Zhifan Chen,&nbsp;Angxu Duan,&nbsp;Yang Liu,&nbsp;Hanqi Zhao,&nbsp;Chunyang Dai,&nbsp;Seng Hu,&nbsp;Xiaolong Lei,&nbsp;Jianfeng Hu,&nbsp;Lin Chen","doi":"10.1016/j.jterra.2024.100998","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100998","url":null,"abstract":"<div><p>The soil in southwest China is a cohesive soil in which discrete cohesive particles and aggregates coexist. In view of the problem that there are many studies on discrete cohesive particles and a lack of research on aggregates, discrete element software DEM is used to conduct a study on cohesive particles and agglomerates parameter calibration. The angle of repose is selected as the target value to calibrate the simulation parameters of sticky particles. Then, the simulation parameters of the viscous particles are used as the basis for the calibration of the contact parameters of the agglomerates, and shear experiments are conducted on the agglomerates, with the ultimate shear depth and ultimate shear force as target values. The results show that the parameters of the agglomerate are: Normal Stiffness per unit area is 5.627 × 10⁸ N/m³, Shear Stiffness per unit area is 4.359 × 10⁸ N/m³, Critical Normal Stress is 3.5 × 10⁶ Pa, Critical Shear Stress is 4.5 × 10⁶ Pa and Bonded Disk Radius is 5.43 mm. Through the particle sliding friction angle test and the agglomerate compression test, it was verified that the errors of sticky particles were 0.30 % and 0.37 % respectively, and the error of agglomerates was 1.69 %.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"116 ","pages":"Article 100998"},"PeriodicalIF":2.4,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000405/pdfft?md5=a687c65faf0abd40ea368ca45146d2a1&pid=1-s2.0-S0022489824000405-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141486896","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}

{"title":"Design and multi-body dynamic analysis of inline and offset track configuration in deep-sea mining vehicles for enhanced traction in soft seabed","authors":"C. Janarthanan ,&nbsp;R. Muruganandhan ,&nbsp;K. Gopkumar","doi":"10.1016/j.jterra.2024.100999","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100999","url":null,"abstract":"<div><p>The deep sea polymetallic nodule mining vehicle maneuverability depends on the vehicle track parameters and track configuration. The traction force offered by the deep sea soil is very limited for the mining vehicle during dynamic operating conditions on the seabed and it is very critical to maneuver against the external resistances. The present study strives to arrive at optimum track parameters for enhancing the traction of the vehicle for the pre-determined seabed conditions. The efficacy of the four tracks in Inline and Offset track configurations on the soft soil has been compared. To improve the traction force estimation, the existing mathematical model was modified with the inclusion of dynamic variation of shear stress-shear displacement characteristics and variation in shear residual displacement concerning the track parameters. The modified mathematical model was solved in a well-established mathematical tool and found that there are 30 percent improvements in the traction force generation for the offset configuration over inline track configuration. The optimum track length to width ratio (<span><math><mrow><mi>L</mi><mo>/</mo><mi>b</mi></mrow></math></span>) was also estimated for the given contact area to configure the vehicle track for improvement of the traction. Further, a Multi-Body Dynamic (MBD) analysis has been carried out in commercially available soil-machine interaction tool for the inline and offset track configurations with actual measured seabed soil parameters. The MBD analysis proved that the sinkage and vehicle gradient is significantly increased in the inline track configuration due to disturbance created by the front tracks. The simulation results confirm that the offset track configuration is suitable for the deep sea soil conditions for handling the higher payload of a deep sea mining vehicle.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"116 ","pages":"Article 100999"},"PeriodicalIF":2.4,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141582566","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}

{"title":"Scaling law modeling artificial soil-to-bulldozer blade interaction","authors":"Mohamed A.A. Abdeldayem ,&nbsp;Mehari Z. Tekeste","doi":"10.1016/j.jterra.2024.101001","DOIUrl":"10.1016/j.jterra.2024.101001","url":null,"abstract":"<div><p>Bulldozers are one of the major off-road machine systems for cutting and transporting granular materials during earthmoving operations. With the growing demand for energy-efficient and accelerated optimization design cycles and automated earthmoving processes, researchers and engineers are exploring methods to model the soil-to-bulldozer interaction. This study proposes a similitude scaling law for the soil and scaled blade systems, providing an alternative approach to costly and time-consuming field-based design verification and validation for product engineering of Ground-Engaging Tools (GETs). In this soil bin study, we examined the interaction between scaled bulldozer blades and cohesive-frictional artificial soil, aiming to establish scaling laws of geometrically scaled blade ratio to two blade performance responses, soil reaction forces and soil mass. A randomized complete block design with five replications was conducted in a soil bin using five 3D printed geometric scales of the blade, λ = 1/8, λ = 1/9, λ = 1/11, λ = 1/13, and λ = 1/15, with λ = 1 representing the full-scale geometry of a Caterpillar D3K2 XL bulldozer blade. Blade soil cutting forces were measured using a load cell instrumented blade dynamometer carriage on a cohesive-frictional artificial soil in the bin. Each scaled blade traveled at a constant speed of 213 mm/s and the tool depth was set to 30 % of the blade height. After reaching full load, the cut soil mass and pile dimensions (height, width, and rupture length) above the undisturbed soil were also measured. A scaling law model was established between soil horizontal reaction forces and the five geometric blade scale ratios with a high coefficient of determination, R², of 0.9898. Similarly, the scaling law (R² = 0.9951) was established between the five geometric scales and soil mass. The findings demonstrate that a scaling law model can be used for predicting the soil horizontal reaction force and soil load. The scaling law can be utilized for optimizing energy and productivity, enhancing GET product design optimization, and developing algorithms for energy-efficient automation of earthmoving processes.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"116 ","pages":"Article 101001"},"PeriodicalIF":2.4,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141962084","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}

{"title":"Machine learning applications in off-road vehicles interaction with terrain: An overview","authors":"Behzad Golanbari ,&nbsp;Aref Mardani ,&nbsp;Nashmil Farhadi ,&nbsp;Giulio Reina","doi":"10.1016/j.jterra.2024.101003","DOIUrl":"10.1016/j.jterra.2024.101003","url":null,"abstract":"<div><p>With the advent of artificial intelligence, the analysis of systems related to complex processes has become possible or easier. The interaction of the traction factor of off-road vehicles with soil or other uncommon surfaces is one of the complex mechanical problems, which has been very difficult to model and analyze in conventional and previous methods due to numerous and variable parameters. This review article delves into the imperative and progression of integrating AI algorithms within the realm of modeling and predicting target parameters in Terramechanics engineering. Such endeavors are especially pertinent to predicting various soil properties, including soil compaction, traction, energy consumption, deformation, and associated factors. The application of AI encompasses various facets, including modeling and predicting traction, soil sinkage, rut depth, contact area, soil stress, density, and energy wasted on the traction device’s movement on the soil. The present study evaluates the solutions and benefits offered by AI-based methodologies in addressing soil-machine interaction challenges. Furthermore, the study investigates the constraints inherent in utilizing these methodologies.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"116 ","pages":"Article 101003"},"PeriodicalIF":2.4,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000454/pdfft?md5=cdd07c6b8be6c20390df080d09d807d6&pid=1-s2.0-S0022489824000454-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142084360","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}

{"title":"Ride comfort comparison between 4-poster and full vehicle driving simulations using difference thresholds","authors":"Cor-Jacques Kat,&nbsp;P. Schalk Els","doi":"10.1016/j.jterra.2024.101000","DOIUrl":"10.1016/j.jterra.2024.101000","url":null,"abstract":"<div><p>Difference thresholds of whole-body vibration is important to determine perceptibility of changes in vehicle vibration and can be used to guide ride comfort improvements. It is postulated that estimated difference thresholds in a laboratory setting should be applicable to real-world driving conditions given that the stimuli are similar. This study considers the aspect of vehicle vibration associated with the stimulus. A validated non-linear SUV vehicle model is simulated on a 4-poster test rig and driven in a straight-line over a rough road. This allows for the vehicle vibration to be compared between vertical excitation only (4-poster) and complete excitation (straight-line driving) by the road profile at each of the four wheels. Results show that differences in the seat vibration exists between the 4-poster test rig and straight-line driving simulations. These differences are larger than difference thresholds implying that they would most probably be perceivable. Further investigations are needed to determine the influence of differences in vibration stimuli on difference thresholds.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"116 ","pages":"Article 101000"},"PeriodicalIF":2.4,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141732373","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}

{"title":"Modeling wheeled locomotion in granular media using 3D-RFT and sand deformation","authors":"Qishun Yu,&nbsp;Catherine Pavlov,&nbsp;Wooshik Kim,&nbsp;Aaron M. Johnson","doi":"10.1016/j.jterra.2024.100987","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100987","url":null,"abstract":"<div><p>Modeling the wheel-soil interaction of small-wheeled robots in granular media is important for robot design and control. A wide range of applications, from earthmoving for construction and farming vehicles to navigating rough terrain for Mars rovers, motivate the need for a model that can predict the force response of a wheel and the terrain shape afterward. More importantly, the speed, accuracy, and generality of the model should be considered for real-world applications. In this paper, we offer a straightforward sand deformation simulator to simulate the soil surface and integrate it with 3D-RFT in order to capture the soil motion caused by the wheel. The proposed method is able to: (1) estimate three-dimensional interaction forces of arbitrarily shaped wheels traveling in granular media; (2) simulate the soil displacement from the trajectory; and (3) perform the force calculation in real-time at 60 Hz.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"115 ","pages":"Article 100987"},"PeriodicalIF":2.4,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141240045","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}

{"title":"Unleashing the potential of IoT, Artificial Intelligence, and UAVs in contemporary agriculture: A comprehensive review","authors":"Mustapha El Alaoui ,&nbsp;Khalid EL Amraoui ,&nbsp;Lhoussaine Masmoudi ,&nbsp;Aziz Ettouhami ,&nbsp;Mustapha Rouchdi","doi":"10.1016/j.jterra.2024.100986","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100986","url":null,"abstract":"<div><p>This study explores the potential of Precision Agriculture (PA) and Smart Farming (SF) using cutting-edge technologies like Artificial Intelligence (AI), the Internet of Things (IoT), and Unmanned Aerial Vehicles (UAVs) to address global challenges such as food shortages and population growth. The research focuses on recent developments in SF, including data collection, analysis, visualization and viable solutions, highlighting the role of IoT and 5G networks. The paper also discusses the application of robots and UAVs in agricultural tasks, showcasing their integration with IoT, AI, Deep Learning (DL), Machine Learning (ML), and wireless communications. Moreover, Smart Decision Support Systems (SDSS) are explored for real-time soil analysis and decision-making. The study underscores the significance of these technologies in PA, propelling traditional farming practices into an era of intelligent and sustainable farming solutions. This Overview is grounded in a thorough analysis of 80 recent research articles, covering the period from 2019 to 2023, within the domain of SF. This study highlights notable trends and advancements in this ever-evolving sector. Furthermore, this paper delves into the nuances of addressing particular challenges prevalent in developing nations, strategies aimed at surmounting constraints related to infrastructure and resource availability, and the pivotal role of governmental and private sector support in fostering the growth of Smart Agriculture (SA).</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"115 ","pages":"Article 100986"},"PeriodicalIF":2.4,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140901055","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}

{"title":"Semi-empirical terramechanics modelling of rough terrain represented by a height field","authors":"Eric Karpman ,&nbsp;Jozsef Kövecses ,&nbsp;Marek Teichmann","doi":"10.1016/j.jterra.2024.100975","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100975","url":null,"abstract":"<div><p>Dynamic simulations of various types of off-road vehicles, from planetary rovers to agricultural equipment, have long relied on well-established semi-empirical terramechanics models. While these models do have drawbacks and reliability issues that have been addressed by numerous works in the decades since the models were first introduced, semi-empirical approaches remain one of the few ways to simulate realistic wheel-soil interaction in real-time. One of their drawbacks is their assumption that the terrain is a flat plane. The models work by integrating normal and shear stresses along the wheel-terrain contact patch. The normal stress at each point along the contact patch is determined using an equation that computes soil pressure based on semi-empirical parameters, the dimensions of the wheel and the sinkage, which is determined based on the distance between the point and the plane that defines the terrain. Other works simplify the rough terrain contact problem by defining an equivalent contact plane at each time step in order to continue to be able to use semi-empirical models - modified to work with slanted planes - to compute the interaction forces. In this work, we propose a new, modified version of the semi-empirical model in which interaction forces for a wheel travelling on rough terrain can be computed without the need to use an equivalent contact plane. To highlight the advantages of our proposed approach, we compare our simulation results to the results of simulations using an existing approach for modelling a wheel travelling over rough terrain using traditional semi-empirical models.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"115 ","pages":"Article 100975"},"PeriodicalIF":2.4,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140825800","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}

{"title":"Applied mathematical modelling to analyze terrain-roadway-vehicle interaction of flexible-rigid foldable roadway","authors":"Fengxiao Liu ,&nbsp;Hao Wu ,&nbsp;Hualin Fan ,&nbsp;Wang Li","doi":"10.1016/j.jterra.2024.100976","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100976","url":null,"abstract":"<div><p>Based on decoupled technique and superposition principle, an applied mathematical modelling method was developed to analyze soil-roadway-vehicle interaction and roadway sinkage for a rapidly deployable foldable roadway. A tensionless soil-structure model was applied to model the interaction between the soil and the roadway. The roadway is flexible longitudinally and rigid transversely. The three-dimensional (3D) plate-like problem was decoupled by two two-dimensional (2D) structural models, a longitudinal membrane-like structural model and a transverse elastic beam model. The total sinkage of the roadway is the superposition of the calculations of these two structural models. The mathematical modelling is consistent with the experimental result and its rationality has been verified.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"115 ","pages":"Article 100976"},"PeriodicalIF":2.4,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141068488","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}

{"title":"Predicting unsaturated soil strength of coarse-grained soils for mobility assessments","authors":"Matthew D. Bullock,&nbsp;Joseph Scalia IV,&nbsp;Jeffrey D. Niemann","doi":"10.1016/j.jterra.2024.100977","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100977","url":null,"abstract":"<div><p>Accurately estimating surficial soil moisture and strength is integral to determining vehicle mobility and is especially important over large spatial extents at fine resolutions. While methods exist to estimate soil strength across landscapes, they are empirical and rely on class average soil behavior. The Strength of Surficial Soils (STRESS) model was developed to estimate moisture-variable soil strength with a physics-based approach. However, there is a lack of field data from a diverse landscape to evaluate the STRESS model. To test the STRESS model, a field study was conducted in northern Colorado. Soil moisture and strength were measured on 10 dates. Data from the surficial layer (0–5 cm) were used to test the STRESS model and determine if soil strength trends could be estimated from topographical and soil textural differences. High variability was observed in soil strength measurements stemming from fine-scale terrain features and user variability. Observations show lower soil strengths for greater soil moistures, steeper slopes, higher vegetation, and lower soil fines content. STRESS estimated rating cone index values with a mean relative error of 37.5 %, while a pre-existing model had a mean relative error of 47.4 %. The STRESS model outperforms the current RCI prediction method, but uncertainty remains large.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"115 ","pages":"Article 100977"},"PeriodicalIF":2.4,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141068493","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}