Journal articles: 'Tracked vehicle'

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Zhang, Yu, Mianhao Qiu, Xixia Liu, Jun Li, Haijun Song, Yue Zhai, and Hongjuan Hu. "Research on Characteristics of Tracked Vehicle Steering on Slope." Mathematical Problems in Engineering 2021 (January 31, 2021): 1–18. http://dx.doi.org/10.1155/2021/3592902.

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A special design is needed for an unmanned tracked vehicle (UTV) to meet the requirements of off-road environments and complex tasks. A loose surface is the main terrain for tracked vehicles in off-road driving. Slope steering is inevitable while driving in such conditions; hence, its performance is a major concern for tracked vehicles on loose terrain. This study investigates the slope steering performance of a tracked vehicle. An improved dynamic steering model is proposed when considering the shear stress-shear displacement relation of soil at the track-ground interface. The influence of ground characteristics on the slope steering performance of a tracked vehicle is illustrated. The track slip rate is adopted as an index to evaluate the influence of typical vehicle structure parameters on the slope steering performance of a tracked vehicle. This study provides technical support for the design and optimization of UTV.

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Zhou, Chong Kai, Ya Yu Huang, and Li Ni. "The Dynamics Simulation of Tracked Vehicles on the Hard and Soft Ground Based on the RecurDyn." Advanced Materials Research 842 (November 2013): 351–54. http://dx.doi.org/10.4028/www.scientific.net/amr.842.351.

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In order to accurately study a tracked vehicle movement on the ground in hard and soft features, this paper uses multi-body dynamics simulation software RecurDyn tracked vehicle subsystems Track (LM), establishing a three-dimensional multi-body vehicle dynamics model. For tracked vehicles at an inclination of 10 degrees slope, through the soft and hard ground steering process dynamics simulation and comparative analysis. This paper provides an accurate basis for the future in-depth research on Tracked vehicle.

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Li, Jianfeng, Amir Khajepour, Yanjun Huang, Hong Wang, Chen Tang, and Yechen Qin. "A new coordinated control strategy for tracked vehicle ride comfort." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 232, no. 3 (October 12, 2017): 330–41. http://dx.doi.org/10.1177/1464419317734950.

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To improve tracked vehicle ride comfort and minimize weapon's vibration, a coordinated control strategy is developed for tracked vehicles' semi-active suspension systems. A model with eight degrees-of-freedom for a tracked vehicle equipped with magnetorheological dampers is established, and is followed by the formulation of a sliding mode controller. The proposed control algorithm is a localized-based controller that can change its target location in the tracked vehicle to where it is needed most. A co-simulation system model including a six-wheel tracked vehicle multi-body dynamics model, coordinated control strategy, and magnetorheological damper force allocator is developed to analyze the ride performance under bump and random road excitations. The simulation results demonstrate that the proposed strategy is very effective in improving the vehicle's ride performance and is much better than the traditional skyhook controllers. The innovation of this paper can be concluded as the coordinated control strategy can simultaneously improve vertical acceleration and pitch acceleration for the hull, which is of great importance for combat situations.

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Pratama, Agung Yusuf, Muhammad Ridwan Lubis, Anjar Wanto, Indra Gunawan, and Ika Okta Kirana. "Penggunaan Sistem GPS Untuk Keamanan Kendaraan Dengan Kontrol SMS Menggunakan Mikrokontroler Arduino." BEES: Bulletin of Electrical and Electronics Engineering 2, no. 1 (July 27, 2021): 29–34. http://dx.doi.org/10.47065/bees.v2i1.803.

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Motor vehicle theft cases still often occur around us, this happens because there is still a lack of security systems in motorized vehicles that only use ignition keys and key covers, where the weakness of standard security systems like this has been understood by perpetrators of motor vehicle theft. to perform the action. The need for additional security systems is felt to be very necessary, in order to avoid the occurrence of motor vehicle theft. To overcome all this, a motor vehicle security system was created using SMS with an Arduino-based GPS tracking method, to create a GPS Tracker that can control vehicles via SMS (short message service) that can track or assist the vehicle's position using the Arduino Uno GPS (global positioning system). , SIM 800L. If the vehicle is lost, the owner can be tracked only by SMS to the number that has been programmed on the Arduino uno to prevent and make it easier to get back a stolen motor vehicle.

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Dong, Chao, Kai Cheng, Kangle Hu, and WenQiang Hu. "Dynamic modeling study on the slope steering performance of articulated tracked vehicles." Advances in Mechanical Engineering 9, no. 7 (July 2017): 168781401771241. http://dx.doi.org/10.1177/1687814017712418.

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Articulated tracked vehicles are used as special off-road transportation vehicles, and their mobility is gaining more attention now than before. As an important evaluation indicator of the mobility of articulated tracked vehicles, steering performance receives wide attention in particular. Most of the present studies focus on the planar steering performance; few studies employing current models concentrate on the slope steering performance of articulated tracked vehicles. To address this research gap, this study proposes a dynamic modeling method for analyzing the slope steering performance of articulated tracked vehicles. A kinematic model of a vehicle is initially constructed to analyze its kinematic characteristics during slope steering; these characteristics include velocity and acceleration. A dynamic model of a vehicle is then developed to analyze its mechanical characteristics during slope steering; these characteristics include vertical loads, driving forces, and driving moments of tracks. The created dynamic model is then applied to analyze the slope steering performance of a specific articulated tracked vehicle. A mechanical-control united simulation model and an actual test of an articulated tracked vehicle are suggested to verify the established steering model. Comparison results show the effectiveness of the proposed dynamic steering model.

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Wong, J. Y. "Optimization of the Tractive Performance of Articulated Tracked Vehicles Using an Advanced Computer Simulation Model." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 206, no. 1 (January 1992): 29–45. http://dx.doi.org/10.1243/pime_proc_1992_206_158_02.

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This paper describes the results of a study of the effects of articulation joint configuration, suspension characteristics, location of the centre of gravity and initial track tension on the mobility of a two-unit, articulated tracked vehicle. The study was carried out using a comprehensive computer simulation model known as NTVPM-86. The results show that suspension characteristics, location of the centre of gravity and initial track tension have noticeable effects on the mobility of articulated tracked vehicles over marginal terrain, while the articulation joint angle has a less significant influence on vehicle performance. Locking the articulation joint between the two units of an articulated tracked vehicle usually causes a degradation of tractive performance. The approach to the optimization of the design of articulated tracked vehicles is demonstrated. It is shown that the simulation model NTVPM-86 can play a significant role in the optimization of articulated tracked vehicle design or in the evaluation of vehicle candidates for a given mission and environment.

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Li, Guo Qiang, and Xing Ye Wang. "Research on Electronic Pneumatic Steering and Braking Control Technology for Autonomous Tracked Vehicles." Applied Mechanics and Materials 577 (July 2014): 359–63. http://dx.doi.org/10.4028/www.scientific.net/amm.577.359.

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To realize the autonomous driving of a certain tracked vehicle, the paper has a research on its steering and braking control technology. According to the steering and braking device’s structure and work principle on the original vehicle, the paper design an electronic pneumatic steering and braking control system before analyzing the design request of the system and introduce the system’s work principle. Applying this system to the original vehicle’s autonomous transformation, a test was conducted on the vehicle, the test prove that the electronic pneumatic steering and braking control system can well satisfied the tracked vehicles’ request of steering and braking.

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Wong, Jo Y., Paramsothy Jayakumar, and Jon Preston-Thomas. "Evaluation of the computer simulation model NTVPM for assessing military tracked vehicle cross-country mobility." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 5 (April 23, 2018): 1194–213. http://dx.doi.org/10.1177/0954407018765504.

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In the United States and some other NATO (North Atlantic Treaty Organization) countries, the NATO Reference Mobility Model is currently used to evaluate military ground vehicle mobility. The module of the NATO Reference Mobility Model for predicting the cross-country performance of military vehicles is empirically based and was developed using test data collected decades ago. The NATO Reference Mobility Model has inherent limitations, such as the uncertainty whether its empirical relations can be extrapolated beyond the test conditions upon which they were derived or whether it can be used for evaluating new-generation military vehicles. This suggests that there is a need for the development of a physics-based model that takes into account the advancements in terramechanics and modelling/simulation techniques. This paper describes the results of a detailed evaluation of a physics-based model – the Nepean Tracked Vehicle Performance Model – for assessing military tracked vehicle cross-country performance. The performance of a notional tracked vehicle (an armoured personnel carrier) predicted by the latest version of the Nepean Tracked Vehicle Performance Model is compared with test data obtained on sandy terrain, muskeg and snow-covered terrain. The correlations between the predicted and measured performance are evaluated using the coefficient of correlation, coefficient of determination, root mean square deviation and coefficient of variation. The applications of the Nepean Tracked Vehicle Performance Model to predicting the maximum possible vehicle speed (speed-made-good) on a given terrain, the sensitivity of vehicle performance to variations in the values of terrain parameters and the mean maximum pressure are demonstrated. The results of this study indicate that the Nepean Tracked Vehicle Performance Model has potential to form the basis for the development of the next-generation cross-country performance assessment methodology for military tracked vehicles.

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Shiller, Zvi, and William Serate. "Trajectory Planning of Tracked Vehicles." Journal of Dynamic Systems, Measurement, and Control 117, no. 4 (December 1, 1995): 619–24. http://dx.doi.org/10.1115/1.2801122.

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This paper presents a method for computing the track forces and track speeds of planar tracked vehicles, required to follow a given path at specified speeds on horizontal and inclined planes. It is shown that the motions of a planar tracked vehicle are constrained by a velocity dependent nonholonomic constraint, derived from the force equation perpendicular to the tracks. This reduces the trajectory planning problem to determining the slip angle between the vehicle and the path tangent that satisfies the nonholonomic constraint along the entire path. Once the slip angle has been determined, the track forces are computed from the remaining equations of motion. Computing the slip angle is shown to be an initial boundary-value problem, formulated as a parameter optimization. This computational scheme is demonstrated numerically for a planar vehicle moving along circular paths on horizontal and inclined planes.

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Eto, Ryosuke, Tomoaki Satomi, and Hiroshi Takahashi. "Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear Wheels." Journal of Robotics and Mechatronics 24, no. 6 (December 20, 2012): 933–38. http://dx.doi.org/10.20965/jrm.2012.p0933.

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Tracked vehicles are generally trucked to the field because they cannot move on the pavement. This operation is very slow and inefficient. To solve the problem, it is necessary to develop tracked vehicles that can move swiftly on both soft ground and pavement. Wheel-type tracked vehicles with crawlers in between the front and rear wheels can move swiftly using only the wheels on pavement and both wheels and crawlers on soft ground. However, such vehicles cannot turn on both wheels and crawlers. In this study, this steering constraint condition of the vehicle was analyzed with inverse kinematics. Using the obtained optimal conditions, numerical simulations and experiments were carried out. The vehicle’s turning performance was also shown to improve.

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Gao, Y., and J. Y. Wong. "The Development and Validation of a Computer Aided Method for Design Evaluation of Tracked Vehicles with Rigid Links." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 208, no. 3 (July 1994): 207–15. http://dx.doi.org/10.1243/pime_proc_1994_208_183_02.

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In the past decade, a computer aided method for design evaluation of high-speed tracked vehicles with flexible tracks (or tracks with relatively short track pitch commonly in use in tracked transport vehicles and military vehicles) has been developed. It has been successfully used in assisting vehicle manufacturers in the development of new products and governmental agencies in the selection of vehicle candidates. For low-speed tracked vehicles commonly in use in agriculture, construction and logging, rigid tracks with relatively long track pitch are employed to achieve a more uniform ground pressure distribution. To assist manufacturers of this type of vehicle to expedite the development of new products in a cost effective manner, a computer aided method for design evaluation of tracked vehicles with rigid links has recently been developed. It treats the track as a system of interconnected rigid links and takes into account the characteristics of the interaction between track links and deformable terrain. The basic features of the method have been verified by field test data. The method can be an extremely useful tool for the engineer to optimize vehicle design and for the procurement manager to select appropriate vehicle candidates to meet specific operating requirements.

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Reitbauer, Eva, and Christoph Schmied. "Bridging GNSS Outages with IMU and Odometry: A Case Study for Agricultural Vehicles." Sensors 21, no. 13 (June 29, 2021): 4467. http://dx.doi.org/10.3390/s21134467.

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Nowadays, many precision farming applications rely on the use of GNSS-RTK. However, when it comes to autonomous agricultural vehicles, GNSS cannot be used as a stand-alone system for positioning. To ensure high availability and robustness of the positioning solution, GNSS-RTK must be fused with additional sensors. This paper presents a novel sensor fusion algorithm tailored to tracked agricultural vehicles. GNSS-RTK, an IMU and wheel speed sensors are fused in an error-state Kalman filter to estimate position and attitude of the vehicle. An odometry model for tracked vehicles is introduced which is used to propagate the filter state. By using both IMU and wheel speed sensors, specific motion characteristics of tracked vehicles such as slippage can be included in the dynamic model. The presented sensor fusion algorithm is tested at a composting site using a tracked compost turner. The sensor measurements are recorded using the Robot Operating System (ROS). To analyze the achievable accuracies for position and attitude of the vehicle, a precise reference trajectory is measured using two robotic total stations. The resulting trajectory of the error-state filter is then compared to the reference trajectory. To analyze how well the proposed error-state filter is suited to bridge GNSS outages, GNSS outages of 30 s are simulated in post-processing. During these outages, the vehicle’s state is propagated using the wheel speed sensors, IMU, and the dynamic model for tracked vehicles. The results show that after 30 s of GNSS outage, the estimated horizontal position of the vehicle still has a sub-decimetre accuracy.

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Taratorkin, Igor, Victor Derzhanskii, and Alexander Volkov. "Stabilization of transport tracked vehicle trajectory." MATEC Web of Conferences 224 (2018): 02038. http://dx.doi.org/10.1051/matecconf/201822402038.

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The article presents the research findings of the controlled motion dynamics of tracked vehicles equipped with a steering system with discrete properties. It is established that the potential high-speed performance is limited by motion instability and by dynamic properties i.e. the phase lag of the vehicle response to the harmonic control input and the “engine overshoot” to a unit step function (steering jerk). Technical proposals allowing for the high-speed performance of the vehicle are substantiated, such as yaw moment control, which ensures the positive-difference of the partial differential coefficients of yaw moment and cornering resistance moment with respect to curvature; increase of the dynamic system stiffness for increasing the natural frequency and decreasing energy when exciting oscillatory processes; implementation of Shaper steering brake control algorithms.

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Fang, Yuan, Yunan Zhang, Nianyu Li, and Yinghui Shang. "Research on a medium-tracked omni-vehicle." Mechanical Sciences 11, no. 1 (May 12, 2020): 137–52. http://dx.doi.org/10.5194/ms-11-137-2020.

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Abstract. Existing omnidirectional vehicles have disadvantages of poor load capacities and practicability. Based on the omnidirectional mobile track and an adapted symmetrical layout, a novel medium-tracked omni-vehicle was designed. The kinematic and dynamic model of the vehicle was established, and the anisotropy of the velocity and acceleration of the vehicle was analyzed. With a counterbalanced forklift as the design goal, a virtual prototype and real prototype of the vehicle were established. The prototype had a no-load weight of 5 t and a full-load weight of 7 t. Simulations and experiments were carried out for various omnidirectional movements of the prototype, such as longitudinal, lateral, multi-angle diagonal, and center-point steering motions. The simulation and experimental results showed that the vehicle performed omnidirectional motion in the plane under no-load and full-load conditions. The translational motion of the prototype exhibited anisotropic motion. The causes of the trajectory and velocity deviation during the motion of the prototype were analyzed.

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Wong, J. Y., and J. Preston-Thomas. "Investigation into the Effects of Suspension Characteristics and Design Parameters on the Performance of Tracked Vehicles using an Advanced Computer Simulation Model." Proceedings of the Institution of Mechanical Engineers, Part D: Transport Engineering 202, no. 3 (July 1988): 143–61. http://dx.doi.org/10.1243/pime_proc_1988_202_169_02.

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This paper describes the results of an investigation into the effects of the characteristics of the suspension system, initial track tension, vehicle weight and location of the centre of gravity on the tractive performance of tracked vehicles over unprepared terrain. The investigation was carried out using a newly developed computer simulation model NTVPM-86. The results show that the suspension characteristics, initial track tension and vehicle weight have noticeable effects on the mobility of tracked vehicles over marginal terrain, while the location of the centre of gravity, within the normal range, has a less significant influence on the tractive performance. It is demonstrated that the simulation model NTVPM-86 can play a significant role in the optimization of tracked vehicle design or in the evaluation of vehicle candidates for a given mission and environment.

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SHIMURA, Hiroshi, and Atsuo KAWAGUCHI. "Tracked Vehicle for Rough Terrain." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 1P2—C12. http://dx.doi.org/10.1299/jsmermd.2017.1p2-c12.

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Chen, Jian Hua, Xi Hui Mu, Feng Po Du, and Kai Lv. "Study on Dynamics of Small Tracked Steering on Ramp." Advanced Materials Research 798-799 (September 2013): 586–89. http://dx.doi.org/10.4028/www.scientific.net/amr.798-799.586.

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This vehicle is mainly used for transportation of materials at a short distance in a variety of harsh terrain, such as mountains, ravines, jungles, deserts, beaches, snow-covered environment. Steering on ramp is a common working condition for this vehicle. For the restriction of the tracked vehicles size and internal space of chassis, the selected power of engine is always small. Therefore it is necessary to study on the tracked vehicle steering performance on ramp and to calculate traction and braking force of the inner and outer crawler required, which has practical significance for the further study on the vehicles dynamics research and power matching.

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Beketov, S. A. "The concept of the controlled movement of the tracked vehicle." Izvestiya MGTU MAMI 12, no. 4 (December 15, 2018): 16–20. http://dx.doi.org/10.17816/2074-0530-66812.

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This article is devoted to solving the actual problem - to define the concept of controlled movement of tracked vehicles. Uncertainty in the concept of controlled movement does not allow to solve practical problems related to the controllability of tracked vehicles. In the publication, controlled motion is considered as a transition from one steady state to another. Just a study of the steady-state motion regime will make it possible to determine the patterns between the force and kinematic parameters of controlled curvilinear motion and controlled parameters of a tracked vehicle. It is determined that controlled movement is such a movement in which the driver, acting on the controls, can change the mode of movement of the tracked vehicle in the right direction at the given time. If the movement of the tracked vehicle is carried out independently of the control actions of the driver or the reaction of the machine to the control action is uncertain, then such movement is uncontrollable. The analysis of transients from the rectilinear movement of the tracked vehicle to the curvilinear one is presented. It is shown that with curvilinear motion, the centrifugal force is balanced by the transverse reaction of the soil due to the displacement of the projection of the instantaneous center of rotation onto the longitudinal axis of the machine. The physical meaning of this bias is determined. During controlled curvilinear movement the center of mass of the tracked vehicle moves tangentially to the trajectory of movement, and the longitudinal axis will rotate around the center of mass by an additional angle relative to the tangent to the trajectory of movement in the direction of the instantaneous center of rotation. The indicator identifies a controlled, limitedly controlled and uncontrolled movement - the displacement of the instantaneous center of rotation on the longitudinal axis of the tracked vehicle to the level and beyond the front border of the supporting surfaces of the tracks. Thus, the conducted studies of the controlled curvilinear movement of tracked vehicles allow us to define the controllability and to identify the following types of movement: guaranteed controlled, limited controlled and uncontrolled movement.

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Guarnieri, Michele, Paulo Debenest, Takao Inoh, and Shigeo Hirose. "HELIOS VII: a New Tracked Arm-Equipped Vehicle." Journal of Robotics and Mechatronics 15, no. 5 (October 20, 2003): 508–15. http://dx.doi.org/10.20965/jrm.2003.p0508.

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Crawled vehicles have a considerable importance for rescue operations and tasks performed in damaged areas. On tracked vehicles a great deal of research has been made. However, due to the variety of the sceneries in which robots are required to work, it is important to design vehicles with high terrain adaptability and capable to fulfill different tasks. After an overview of the merits on the state of the art of research on crawled vehicles, the important features of a tracked vehicle are introduced and explained. The new robot Helios VII is presented. The motions that it can realize are verified through simulations and some mechanical solutions applied in the mechanical design are also explained.

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Strawa, Natalia, Dmitry I. Ignatyev, Argyrios C. Zolotas, and Antonios Tsourdos. "On-Line Learning and Updating Unmanned Tracked Vehicle Dynamics." Electronics 10, no. 2 (January 15, 2021): 187. http://dx.doi.org/10.3390/electronics10020187.

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Increasing levels of autonomy impose more pronounced performance requirements for unmanned ground vehicles (UGV). Presence of model uncertainties significantly reduces a ground vehicle performance when the vehicle is traversing an unknown terrain or the vehicle inertial parameters vary due to a mission schedule or external disturbances. A comprehensive mathematical model of a skid steering tracked vehicle is presented in this paper and used to design a control law. Analysis of the controller under model uncertainties in inertial parameters and in the vehicle-terrain interaction revealed undesirable behavior, such as controller divergence and offset from the desired trajectory. A compound identification scheme utilizing an exponential forgetting recursive least square, generalized Newton–Raphson (NR), and Unscented Kalman Filter methods is proposed to estimate the model parameters, such as the vehicle mass and inertia, as well as parameters of the vehicle-terrain interaction, such as slip, resistance coefficients, cohesion, and shear deformation modulus on-line. The proposed identification scheme facilitates adaptive capability for the control system, improves tracking performance and contributes to an adaptive path and trajectory planning framework, which is essential for future autonomous ground vehicle missions.

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Chen, Ning, Yun Peng Han, Pei Pei Liu, and Shuai Yang. "The Motion Attitude Analysis of High-Speed Tracked Vehicle Climbing over Vertical Wall." Advanced Materials Research 852 (January 2014): 515–19. http://dx.doi.org/10.4028/www.scientific.net/amr.852.515.

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The research object is the motion attitude of the high-speed tracked vehicles climbing over the vertical wall. The new calculation method is used in calculating certain parameters of the equation and establishing the equation of driving characteristics. The changing equations of the pitch angle and roll angle when the high-speed tracked vehicles crossing the obstacles can be obtained. The analysis results show that the motion attitude when the high-speed tracked vehicles crossing the obstacles is related to the terrain parameters, the tracked vehicle parameters, the initial velocity when crossing the obstacles, and the motion attitude can be expressed by the mathematics equations. These results provide the research-based and the theory support for the modal and analysis of the high-speed tracked vehicles crossing over the obstacles, which have high practical value.

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Ding, Zhao, Yaoming Li, and Zhong Tang. "Theoretical Model for Prediction of Turning Resistance of Tracked Vehicle on Soft Terrain." Mathematical Problems in Engineering 2020 (March 20, 2020): 1–9. http://dx.doi.org/10.1155/2020/4247904.

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Skid-steered tracked vehicles are commonly used in soft agricultural terrain due to its low ground pressure between vehicle tracks and the ground. However, the sliding and sinkage of the track during a turning maneuver causes considerable turning resistance, which reduces the vehicle's turning ability. Therefore, we constructed a theoretical model that predicts the turning resistance of tracked vehicles—under steady-state conditions on soft terrain—accounting for track sinkage effects and track slip and skid. The results demonstrate that the moment of turning resistance decreases with increased track slip and skid ratio but increases with track sinkage depth. The model-predicted moments of turning resistance for the outer and inner tracks—at a given track sinkage depth and track slip and skid ratio—are in reasonably close agreement with available experimental data. This theoretical model can be employed as a predictor for testing the turning resistance of tracked vehicles operating on a wide range of soils.

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Gomaa, Ahmed, Moataz M. Abdelwahab, Mohammed Abo-Zahhad, Tsubasa Minematsu, and Rin-ichiro Taniguchi. "Robust Vehicle Detection and Counting Algorithm Employing a Convolution Neural Network and Optical Flow." Sensors 19, no. 20 (October 22, 2019): 4588. http://dx.doi.org/10.3390/s19204588.

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Automatic vehicle detection and counting are considered vital in improving traffic control and management. This work presents an effective algorithm for vehicle detection and counting in complex traffic scenes by combining both convolution neural network (CNN) and the optical flow feature tracking-based methods. In this algorithm, both the detection and tracking procedures have been linked together to get robust feature points that are updated regularly every fixed number of frames. The proposed algorithm detects moving vehicles based on a background subtraction method using CNN. Then, the vehicle’s robust features are refined and clustered by motion feature points analysis using a combined technique between KLT tracker and K-means clustering. Finally, an efficient strategy is presented using the detected and tracked points information to assign each vehicle label with its corresponding one in the vehicle’s trajectories and truly counted it. The proposed method is evaluated on videos representing challenging environments, and the experimental results showed an average detection and counting precision of 96.3% and 96.8%, respectively, which outperforms other existing approaches.

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Zhu, Chenhui, Hongmei Zhang, Wanzhang Wang, Kang Li, and Wanru Liu. "Robust control of hydraulic tracked vehicle drive system based on quantitative feedback theory." International Journal of Distributed Sensor Networks 16, no. 2 (February 2020): 155014772090783. http://dx.doi.org/10.1177/1550147720907832.

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To improve the control precision of the drive system of hydraulic tracked vehicles, we established a mathematical model of the drive system based on the analysis of structural characteristics of the high-clearance hydraulic tracked vehicles and the dual-pump dual-motor drive system and developed a control strategy based on the quantitative feedback theory. First, the mutual independence of the two motor channels was achieved through channel decoupling. Then, the loop-shaping controller and the pre-filter were designed for the two channels. The result of a simulation experiment indicates that the proposed control method is very effective in suppressing external uncertainties and smoothening the speed-switching process of the hydraulic motor. Finally, an hydraulic tracked vehicle steering experimental test was carried out. The results show that under two different steering modes, the maximum standard deviation of the output speeds of the inner and outer motors of the hydraulic tracked vehicle is only 0.42, which meets the performance requirement on the hydraulic motor speed. The average steering track radii of the geometric centers of the inner and outer tracks are 1.828 and 0.033 m, respectively, and the relative errors are 1.56% and 3.19%, respectively. This demonstrates that the proposed control method achieves satisfactory results in the robust control of the hydraulic tracked vehicle drive system. It provides some references for the future control research of the hydraulic servo drive system of the high-clearance hydraulic tracked vehicles.

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Lyashenko, M. V., V. V. Shekhovtsov, V. V. Kosenko, P. V. Potapov, and A. I. Iskaliev. "AUTOMATED LOADING OF TRACKED VEHICLES ON RAIL FLATCAR." Spravochnik. Inzhenernyi zhurnal, no. 291 (June 2021): 45–51. http://dx.doi.org/10.14489/hb.2021.06.pp.045-051.

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Problem of loading and unloading of tracked vehicles on a rail flatcar can origin during the transportation of construction machinery, for example in case of reconstruction works near railways when using of cranes is impossible. Current solutions are based on use of ramps connected to a rail flatcar. These ramps are lowered on rails for moving out of a vehicle. At this protection of rails and railway elements during vehicle turning is provided by preliminary stacking of sleepers and automotive rubber tires on place for vehicle movement. This article describes automated method and appropriate mechanism for loading and unloading of self-propelled tracked machines on a rail flatcar. This method provides reduced labor intensity and process duration by exception of hand operations and also avoidance of damages of railway elements.

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Zhou, Fa Liang, Xiao Jun Xu, and Hao Yue Zhang. "Design and Analysis of Steering Mechanism for Small Tracked Vehicle." Applied Mechanics and Materials 701-702 (December 2014): 659–65. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.659.

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The steering mechanism of tracked vehicles is complicated and large, which is an obstacle for its miniaturization. According to the theory of rubber-belt CVTs, a new kind of steering mechanism for small Tracked vehicle is designed. The mechanism consists of two symmetrical-layout rubber-belt CVTs. A sliding part for steering is designed, which can slide axially to make the transmission ratio of one transmission increase while the other reduces, so that the tracked vehicle turns. The steering motion is calculated and its motion discipline is founded. The steering sensitivity and steering smoothness are analyzed, and its steering performance is evaluated.

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HaoLiang, Guo, Mu XiHui, Yang XiaoYong, and Lv Kai. "Research on the influence of virtual modeling and testing–based rubber track system on vibration performance of engineering vehicles." Engineering review 38, no. 3 (2018): 288–95. http://dx.doi.org/10.30765/er.38.3.5.

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The rubber track system can be quickly swapped on the tyres, exerting a smaller ground pressure while generating a greater adhesion to solve the problem vehicles faced in traversing rough and difficult terrain. This paper will discuss the influence of rubber track system on the ride comfort of engineering vehicles with rigid suspension. First, a multi-body dynamic model of the rubber track system and a mathematical model of contact between the ground and the track are established, and then the macro commands are programmed to add many complex contact forces. Moreover, by using the method of physical prototype obstacle testing, the correctness of the simulation model is validated. The ride comfort of the engineering vehicle when equipped with rubber track system is explored by the method of the multi-body dynamics and real vehicle test. The research shows that a flexible roller wheel system can significantly improve the ride comfort of the engineering vehicle when compared to wheeled vehicles. When the vehicle speed is low, the weighted root-mean-square acceleration of the wheeled vehicle and tracked vehicle is almost the same. At the same time, it is verified that the ride comfort of the steel-chain tracked vehicles is worse than that of rubber tracked vehicles, due to the polygon effect. Through the multi-body dynamics simulation of the virtual prototype, we can predict and evaluate the ride comfort of vehicles, saving the cost of testing and obtaining the actual experimental data, which has great significance for the research and development of vehicles.

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Das, R. K., A. Upadhyay, and R. K. Garg. "An Unmanned Tracked Vehicle for Snow Research Applications." Defence Science Journal 67, no. 1 (December 23, 2016): 74. http://dx.doi.org/10.14429/dsj.1.8952.

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Lightweight robotic vehicles can be designed for over-snow mobility to carry out a variety of snow and glacier related studies like carrying out GPR survey of cracks & crevasses over ice crusts that cannot support foot travel, for collecting snow samples and carrying out sub-surface experiments with penetrometers on terrain that are dangerous for human, GPS mapping of avalanche debris etc. Sinkage, resistance to snow compaction, loss of traction and ingestion of snow into the driving system are some of the challenges that an unmanned lightweight tracked vehicle faces in snowbound terrain. In present work, a lightweight and unmanned remotely operated vehicle (ROV) is conceptualized and developed as a technological solution. In this paper design and features of this vehicle, named HimBot, are presented along with the results obtained from tests carried over snow at Solang Nullah field observatory of SASE in February 2013. The outcome of this work will help in developing an optimized design of an ROV for over snow mobility for a variety of applications.

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Tarulescu, Radu, Ciprian Olteanu, and Sorin Zamfira. "Variation of Start Acceleration for Wheeled and Tracked Autonomous Mini-Vehicles." Applied Mechanics and Materials 822 (January 2016): 299–304. http://dx.doi.org/10.4028/www.scientific.net/amm.822.299.

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In this paper is presented a comparison between the obtained start-acceleration of a vehicle with wheels and one tracked. Experiments performed in this regard were conducted on three types of surfaces like parquet, carpet and sand. The vehicles chosen for testing were a remote-controlled mini-vehicle (wheeled locomotion system) and Spy Video TRAKR (locomotion system tracked). In order to determine the acceleration, the vehicles were equipped with ultrasonic sensor DT020-1 and data acquisition system MultiLogPRO, running connected to a PC or as a standalone device.

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Jeong, Hyungjin, Jiwon Yu, and Donghun Lee. "Track HM Design for Dynamic Analysis of 4-tracked Vehicle on Rough Terrain Using Recurdyn." Transactions of the Korean Society of Mechanical Engineers - A 45, no. 4 (April 30, 2021): 275–83. http://dx.doi.org/10.3795/ksme-a.2021.45.4.275.

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31

M., Salem, and Galal W. "Evaluation of tracked vehicle performance characteristics." International Conference on Applied Mechanics and Mechanical Engineering 12, no. 12 (May 1, 2006): 397–409. http://dx.doi.org/10.21608/amme.2006.41311.

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32

ISHIKAWA, Ryuji. "Latest Technology for Military Tracked Vehicle." Journal of the Society of Mechanical Engineers 105, no. 1003 (2002): 390–91. http://dx.doi.org/10.1299/jsmemag.105.1003_390.

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33

Ramesh, S. "The Armoured Tracked Vehicle - Future Perspective." Defence Science Journal 67, no. 4 (June 30, 2017): 341. http://dx.doi.org/10.14429/dsj.67.11544.

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34

Garber, M. "Tractive efficiency of a tracked vehicle." Journal of Agricultural Engineering Research 32, no. 4 (December 1985): 359–68. http://dx.doi.org/10.1016/0021-8634(85)90100-3.

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35

Ayers, P. D. "Environmental damage from tracked vehicle operation." Journal of Terramechanics 31, no. 3 (May 1994): 173–83. http://dx.doi.org/10.1016/0022-4898(94)90014-0.

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Nicolini, Andrea, Francesco Mocera, and Aurelio Somà. "Multibody simulation of a tracked vehicle with deformable ground contact model." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 233, no. 1 (June 26, 2018): 152–62. http://dx.doi.org/10.1177/1464419318784293.

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In this paper, the realisation of a multibody model of a tracked machine is described. A new compact modelling of the tracks–soil interaction is presented and soil mechanics laws for terrain response are implemented. Tracked vehicles can be used in different fields such as agriculture, military and construction. The conditions of the terrain on which they operate may vary a lot, in terms of soil composition, slope and roughness. For this reason, performance of tracked vehicles is difficult to predict without a great number of field tests. The model is developed in a multibody code that makes it possible to investigate its dynamic and kinematic behaviour in several operating conditions. A specific routine is implemented in the multibody model in order to simulate the behaviour of the tracked vehicle on deformable terrains. The main hypothesis of this paper is that the terrain deformation could be in a narrow zone affected by the vehicle. Thus, the deformation of the soil is kinematically correlated to the vehicle. Soil mechanics equations are implemented on each track portion and solved only for track links in contact with the soil. The latter is modelled as a rigid body and terrain stress or deformation are not directly computed, thus simplifying solution and terrain modelling despite obtaining coherent results in terms of vehicle traction force, slip and sinkage. Results are reported pointing out performance of the tracked machine on different ground conditions.

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Poddubnyy, Vladimir I. "Mathematical modeling of the movement of a tracked vehicle using the RecurDyn application package." Traktory i sel hozmashiny 88, no. 6 (December 15, 2021): 68–75. http://dx.doi.org/10.17816/0321-4443-2021-6-68-75.

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Mathematical modeling of motion allows at the design stage to assess the impact of the design and operational parameters of tracked vehicles on their performance, determine the qualitative and quantitative performance indicators, and consider controllability issues. The use of the RecurDyn application with a library of specialized extension packages allows to obtain a mathematical model of the vehicle, taking into account its design with a specified degree of detail. A model of a tracked vehicle with a torsion bar suspension was developed using the Professional extension packs and the Track (HM) library of the Toolkit extension package. It allows simulating standard maneuvers on various supporting surfaces. The CoLink extension package implements a control model that ensures the movement of the tracked vehicle along a given trajectory. The basis for the development of the motion control model is a technique based on predicting the position of the vehicle after a given forecast time. As a control, the speed difference between the leading and lagging tracks was adopted. It ensures movement along a given trajectory. The difference in speeds ∆V is determined using PID regulation by the values of the lateral deviation of the vehicle from the given trajectory and the angular deviation of the longitudinal axis of the vehicle from the tangent to the trajectory in the predicted position. The control model allows to simulate the movement of a vehicle with a differential and a planetary rotation mechanism. The simulation of movement along a circular trajectory and the snake maneuver was carried out. The movement of a tracked vehicle with a planetary steering mechanism on a solid support surface with a friction 0.7 coefficient was simulated. Based on the simulation results, a conclusion about the adequacy of the mathematical model of the tracked vehicle and the performance of the presented motion control model was made. The developed model allows simulating various maneuvers of a tracked vehicle to assess the stability of movement and controllability, to determine the rational parameters of the tracked mover based on the results of simulation of movement at various heights of irregularities and speeds of movement.

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Baek, Sung-Ha, Gyu-Beom Shin, Seung-Hwan Lee, Mintaek Yoo, and Choong-Ki Chung. "Evaluation of the Slip Sinkage and its Effect on the Compaction Resistance of an Off-Road Tracked Vehicle." Applied Sciences 10, no. 9 (May 2, 2020): 3175. http://dx.doi.org/10.3390/app10093175.

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When an off-road tracked vehicle travels, shearing action and ground sinkage occur on the soil–track interface, severely affecting the tractive performance of the vehicle. Notably, ground sinkage, which is induced by the vehicle’s weight (static sinkage) and longitudinal forces in the direction of travel producing slip (slip sinkage), develops motion resistance, directly restricting the tracked vehicle’s performance. Thus, it is critical to consider both static sinkage and slip sinkage to assess the tractive performance of a tracked vehicle. In this research, model track experiments were conducted to investigate slip sinkage. The experimental results showed that the slip sinkage increased as the slip ratio increased, but the rate of increase decreased. The slip sinkage was found to increase as the density of the ground decreased and imposed vertical load increased. The experimental results were used to calculate normalized slip sinkage, and an empirical equation for slip sinkage in terms of slip ratio was developed. This equation will allow vehicle operators to predict the slip sinkage and associated motion resistance for given soil and vehicle conditions.

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Alexa, Octavian, Marin Marinescu, Marian Truta, Radu Vilau, and Valentin Vinturis. "Simulating the Longitudinal Dynamics of a Tracked Vehicle." Advanced Materials Research 1036 (October 2014): 499–504. http://dx.doi.org/10.4028/www.scientific.net/amr.1036.499.

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The simulation procedure has always been considered as a giant leap forward, especially in the field of basic designing of a product. There is nothing new underneath the basic concept, but the scientific and technical progress always brings up new techniques that improve simulation in its whole. When we talk about a vehicle, especially about a military one, we consider that it is much cheaper to simulate a process involving the weapon system than performing countless tests that are rather expensive. In this respect, we tried to develop a simulation mathematical model, check its accuracy with a set of extensive tests, prove it reliability and further extrapolate the behavior of the simulated model to a larger number of military vehicles of the same kind. It could help in various fields, such as diagnose (by comparing the simulated results with the real ones got from a faulty vehicle) or automatically regulating some functions (an intelligent vehicle, having an implemented, simulated model, that is able to feel the status of a subsystem in real time and regulate its behavior, accordingly). Hence, the paper presents a model that simulates the longitudinal dynamics of a tracked vehicle. It has been issued using Simulink module of Matlab programming environment. It aims at pointing out the performances of the vehicle. The models interface is friendly and its structure is modular. The main modules of the model are the engine, the torque converter, the transmission and the track. The engine and the torque converter are modeled using the experimental maps obtained by the tests that have been previously developed by the manufacturer. The main principle of the equations that describe the system is to set a balance among the forces (both active and resistive) that load the vehicle. The inputs of the model are the technical and dimensional features, provided by the manufacturer or experimentally determined. The output of the model is a dynamic behavior. Comparing the results with the experimental data eventually validates or invalidates the model. But the results were excellent, so the model was validated. Also, the results proved that the developed model is able to predict the performances of the take-off stage of the tracked vehicle.

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Xu, Rui Liang, and Tao Yang. "Vehicle Traction Performance in Research of Soft Road." Applied Mechanics and Materials 644-650 (September 2014): 11–15. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.11.

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This paper describes the main properties of the soil, in the analysis of the soil under the horizontal load stress distribution and stress - deformation relationship on the basis of research issues related to wheeled vehicles and tracked vehicles traction. The formula gives the vehicle traction, analyzes the factors that affect vehicle traction and proposes an effective method to improve vehicle traction.

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41

Ni, Tao, Wenhang Li, Hongyan Zhang, Haojie Yang, and Zhifei Kong. "Pose Prediction of Autonomous Full Tracked Vehicle Based on 3D Sensor." Sensors 19, no. 23 (November 22, 2019): 5120. http://dx.doi.org/10.3390/s19235120.

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Autonomous vehicles can obtain real-time road information using 3D sensors. With road information, vehicles avoid obstacles through real-time path planning to improve their safety and stability. However, most of the research on driverless vehicles have been carried out on urban even driveways, with little consideration of uneven terrain. For an autonomous full tracked vehicle (FTV), the uneven terrain has a great impact on the stability and safety. In this paper, we proposed a method to predict the pose of the FTV based on accurate road elevation information obtained by 3D sensors. If we could predict the pose of the FTV traveling on uneven terrain, we would not only control the active suspension system but also change the driving trajectory to improve the safety and stability. In the first, 3D laser scanners were used to get real-time cloud data points of the terrain for extracting the elevation information of the terrain. Inertial measurement units (IMUs) and GPS are essential to get accurate attitude angle and position information. Then, the dynamics model of the FTV was established to calculate the vehicle’s pose. Finally, the Kalman filter was used to improve the accuracy of the predicted pose. Compared to the traditional method of driverless vehicles, the proposed approach was more suitable for autonomous FTV. The real-world experimental result demonstrated the accuracy and effectiveness of our approach.

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42

Qiao, Xin-yong, Ying Jin, and Cheng Gu. "Vibration Response and Evaluation Method of High-Speed Tracked Vehicles Driving Off-Road." Shock and Vibration 2022 (February 3, 2022): 1–18. http://dx.doi.org/10.1155/2022/2866236.

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In the stage of vehicle demonstration and development, equipment finalization test, and equipment service, an important role is played by the mobility prediction and evaluation method of tracked vehicles under complex road conditions, in which vehicle vibration response evaluation is the main content of off-road mobility prediction and evaluation. In this paper, based on the principle of multibody dynamics, a high-speed tracked vehicle action system model was established by using the simulation analysis method. The vibration response of the vehicle on uneven pavement was evaluated from four aspects: driver comfort, driver absorbed power, occupant handling efficiency, and suspension dynamic travel. Simultaneously, the shock vibration peak value was utilized to evaluate the vibration response of the vehicle during obstacle crossing. Three fitting methods, namely polynomial response surface, Kriging method, and radial basis function neural network, were used to establish approximate models between the design variables and the objective function, respectively. The pros and cons of each approximate model were analyzed by comparing the approximate errors between the predicted values of the fitting model and the actual response values of the simulation model. The results of this paper are of reference significance for the prediction and evaluation of the off-road mobility of high-speed tracked vehicles.

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43

Jothi, S., V. Balamurugan, and K. Malar Mohan. "Ride Dynamics of a Tracked Vehicle with a Finite Element Vehicle Model." Defence Science Journal 66, no. 1 (January 27, 2016): 19. http://dx.doi.org/10.14429/dsj.66.9201.

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Research on tracked vehicle dynamics is by and large limited to multi-rigid body simulation. For realistic prediction of vehicle dynamics, it is better to model the vehicle as multi-flexible body. In this paper, tracked vehicle is modelled as a mass-spring system with sprung and unsprung masses of the physical tracked vehicle by Finite element method. Using the equivalent vehicle model, dynamic studies are carried out by imparting vertical displacement inputs to the road wheels. Ride characteristics of the vehicle are captured by modelling the road wheel arms as flexible elements using Finite element method. In this work, a typical tracked vehicle test terrain viz., Trapezoidal blocks terrain (APG terrain) is considered. Through the simulations, the effect of the road wheel arm flexibility is monitored. Result of the analysis of equivalent vehicle model with flexible road wheel arms, is compared with the equivalent vehicle model with rigid road wheel arms and also with the experimental results of physical tracked vehicle. Though there is no major difference in the vertical bounce response between the flexible model and the rigid model, but there is a visible difference in the roll condition. Result of the flexible vehicle model is also reasonably matches with the experimental result.Defence Science Journal, Vol. 66, No. 1, January 2016, pp. 19-25, DOI: http://dx.doi.org/10.14429/dsj.66.9201

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44

Li, Pei Xin, Xiao Jun Zhou, Yan Ding Wei, and Fang Tang. "Research on Steering Dynamic Characteristics of Tracked Vehicle Transmission System." Applied Mechanics and Materials 105-107 (September 2011): 532–35. http://dx.doi.org/10.4028/www.scientific.net/amm.105-107.532.

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Based on the operating characteristics of tracked vehicle transmission system, the dynamic characteristics and research methods for transmission system were summarized. According to the analysis of above, a new test rig which can simulate the steering process of tracked vehicle was proposed, and the methods for driving and loading system were determined, the test procedures and evaluation system for the tracked vehicle transmission system were summed up. It provides a practical test method for the design and development of tracked vehicle transmission system.

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45

Yang, Cong Bin, Liang Gu, and Wei Wei Lv. "Study of Factors with Effects on Tracked Vehicle Driving Resistance Basis of Bekker Theory." Applied Mechanics and Materials 288 (February 2013): 80–83. http://dx.doi.org/10.4028/www.scientific.net/amm.288.80.

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Tracked vehicle usually travels in soft ground, so the driving resistance is more complicated. In this paper, Terzaghi ground bearing capacity theory was analyzed. According to Baker pressure - settlement formula and retaining wall theory, compaction resistance and bulldozing resistance of the tracked vehicle were deduced basis of conservation of energy. Factors with effects on tracked vehicle driving resistance were analyzed by matlab simulation. The driving resistance variation was obtained. Theoretical support for tracked vehicle in soft ground running was provided.

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Xiang, Xuezhi, Mingliang Zhai, Ning Lv, and Abdulmotaleb El Saddik. "Vehicle Counting Based on Vehicle Detection and Tracking from Aerial Videos." Sensors 18, no. 8 (August 4, 2018): 2560. http://dx.doi.org/10.3390/s18082560.

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Vehicle counting from an unmanned aerial vehicle (UAV) is becoming a popular research topic in traffic monitoring. Camera mounted on UAV can be regarded as a visual sensor for collecting aerial videos. Compared with traditional sensors, the UAV can be flexibly deployed to the areas that need to be monitored and can provide a larger perspective. In this paper, a novel framework for vehicle counting based on aerial videos is proposed. In our framework, the moving-object detector can handle the following two situations: static background and moving background. For static background, a pixel-level video foreground detector is given to detect vehicles, which can update background model continuously. For moving background, image-registration is employed to estimate the camera motion, which allows the vehicles to be detected in a reference coordinate system. In addition, to overcome the change of scale and shape of vehicle in images, we employ an online-learning tracker which can update the samples used for training. Finally, we design a multi-object management module which can efficiently analyze and validate the status of the tracked vehicles with multi-threading technique. Our method was tested on aerial videos of real highway scenes that contain fixed-background and moving-background. The experimental results show that the proposed method can achieve more than 90% and 85% accuracy of vehicle counting in fixed-background videos and moving-background videos respectively.

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Рesterev, Mykhailo. "Mathematical Model of the Movement of a Fighting Tracked Vehicle." Przegląd Nauk o Obronności, no. 11 (October 11, 2021): 13–25. http://dx.doi.org/10.37055/pno/140217.

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ObjectivesDevelopment of movement model of fighting tracked vehicle to study oscillatory processes that cause a dynamic load on the driver’s workplace and imitate real conditions of fighting tracked vehicle’s movement to develop technical requirements for dynamic simulators with the achievement of high degree of their compliance with the real vehicle. Research hypothesis. Use of the improved mobility platform of dynamic simulators, realizing the conditions as close as possible to conditions of driving a real fighting tracked vehicle.MethodsThe presented views are the result of empirical research based on the general scheme of forces acting on a fighting tracked vehicle and allow to theoretically estimate the dynamic load of mechanic-driver's workplace.ResultsIn the study, the author developed an improved model of the movement of a fighting tracked vehicle, which describes the spatial movement of its body in motion on the support surface of a complex profile and allows to estimate theoretically the dynamic workload of the driver’s workplace, which provides a basic design of a dynamic platform in six degrees of freedom and will provide to develop the requirements for the modernization of dynamic simulators.ConclusionsWhen performing combat tasks mechanic-driver of FTV is exposed to the effects of spatial movements of different nature. The mechanic-driver during the movement of FTV feels a wide range of influences that are caused by the interaction of the tracked running gear (TRG) with the bearing surface and change the direction of movement of FTV.

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Özdemir, Mehmet Nuri, and Varlık Kılıç. "3 DOF Lumped Mass Tracked Vehicle Model." Applied Mechanics and Materials 799-800 (October 2015): 803–7. http://dx.doi.org/10.4028/www.scientific.net/amm.799-800.803.

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A 3 DOF lumped mass tracked vehicle model was constructed in Matlab Simulink Environment and used for positioning the vehicle on gradients and missile firing operations. Pitch center, roll center and system parameters such as equivalent stiffness values, equivalent damping values and equivalent mass/inertias of 3 DOF model were obtained from 32+ degrees of freedom tracked vehicle model by simulations. Moments in pitch and roll directions were applied to the vehicle to find the pitch and roll centers. A range of step forces in bounce direction and a range of step moments in pitch and roll directions were applied to the vehicle and responses in the related directions of 32+ degrees of freedom model were used to determine the system parameters of 3-DOF model. Finally attitude of the vehicle on the gradients and missile firing scenario were simulated with both models and the results showed that 3 DOF model reasonably predicts the behavior of the tracked vehicle.

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Liu, Pi Jing, Liang Hou, Wen Guang Lin, Xiu Yi Yu, and Wei Huang. "Simulation of Ride Comfort of Tracked Vehicle Based on Road Random Excitation." Advanced Materials Research 479-481 (February 2012): 93–97. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.93.

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By simplifying the triangular tracked engineer vehicle into dynamic model of half-tracked vehicle with five freedom degrees which includes four vertical jumps and one rotation, a corresponding dynamic differential equation is set up to each degree of freedom. A method of road roughness simulation, based on the time series of White Noise, is also represented and then verified. The simulation analysis of the tracked vehicle ride comfort is built on MATLAB/SIMULINK, based on the incentive signal of an imitated road. The simulation results show that the method that White Noise generated road roughness is applicable and prove efficient in the ride comfort research of the triangular tracked engineer vehicle. Thus a theoretical foundation is established for the optimization for ride comfort of the triangular tracked engineer vehicle.

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Vu, Mai The, Hyeung-Sik Choi, Dae Hyeong Ji, Sang-Ki Jeong, and Joon-Young Kim. "A study on an up-milling rock crushing tool operation of an underwater tracked vehicle." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 233, no. 1 (November 14, 2017): 283–300. http://dx.doi.org/10.1177/1475090217735934.

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In this article, we develop the analysis of a new underwater tracked vehicle with rock crushing tool, working under the water. To design the capacity of the underwater tracked vehicle actuator and the rock crushing tool actuator, we analyze the interaction forces and torque between the rock and the rock crushing tool. Since experiments on the underwater tracked vehicle with a rock crushing tool are very difficult, costly, time-consuming, we first perform a mathematical modeling of the underwater tracked vehicle with the rock crushing tool. We analyze the mechanics of the underwater tracked vehicle system that is affected by the forces and moments of the underwater rock crushing, where the force and torque on the rock crushing tool are based on the analysis of the mechanics of an individual cutter tool. We derive a mathematical expression for the forces and moments of the combined system on the underwater tracked vehicle and the rock crushing tool for rock crushing. For this, we study the parameters that affect the mechanics of the underwater tracked vehicle system with the rock crushing tool. To apply the rock crushing tool to underwater rock excavation, we also study the hydrostatic effects to the combined underwater tracked vehicle system with the rock crushing tool. To design the capacity of the actuator of the developing underwater tracked vehicle and the rock crushing tool, we analyze the required tractive or down thrust forces, and the torque to the rotor carriage caused by the cutting system. In addition, we analyze the energy and the power for the rock crushing tool actuator related to the tool characteristics. To support the validity of the analyses, we use the derived equations to perform a number of numerical simulations.

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Journal articles on the topic 'Tracked vehicle'

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