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Tesis sobre el tema "Terramechanics"

Autor: Grafiati

Publicado: 4 de junio de 2021

Última modificación: 28 de enero de 2023

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1

Knutsson, Viktor. "Terramechanics based wheel-soil model in a computer game enviroment." Thesis, Umeå universitet, Institutionen för fysik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-118585.

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This thesis aimed to develop deformable a virtual terrain which a vehicle can move in and interact with in a realistic manner. The theory used to calculate how the terrain influences the vehicle is based on terramechanics. The terrain is divided into two separate parts, one for visualization and one for physical collisions. Deformations of the graphical layer is calculated on the GPU using compute shader programming. The result of the thesis include a tech demo with a small landscape where an alternate terrain vehicle can deform the terrain as it moves around. The method for deforming the grap

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2

Holley, Troy Nigel. "Empirical Analysis of Pneumatic Tire Friction on Ice." Thesis, Virginia Tech, 2010. http://hdl.handle.net/10919/76875.

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Pneumatic tire friction on ice is an under-researched area of tire mechanics. This study covers the design and analysis of a series of pneumatic tire tests on a flat-level ice road surface. The terramechanics rig of the Advanced Vehicle Dynamics Lab (AVDL) is a single-wheel test rig that allows for the experimental analysis of the forces and moments on a tire, providing directly the data for the drawbar pull of said tire, thus supporting the calculation of friction based on this data. This indoor testing apparatus allows for some degree of replication by helping to maintain test conditions

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3

Muleya, Franco. "Modelling wheeled construction plant performance in clay and sandy terrain : a terramechanics perspective." Thesis, Anglia Ruskin University, 2014. http://arro.anglia.ac.uk/550362/.

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This research has investigated the effect of tyre rutting of wheeled construction plant performance traversing in wet and deformable terrain, specifically clay and sand. The purpose was to translate the wheel rutting into performance reduction measured in drawbar-pull. The ultimate goal was to translate the power loss into practical effects on cost, time and other economic variations on construction projects that are characterised by movement of wheeled plant on long haulage deformable roads. In order to achieve this aim, mathematical modelling was deployed based on Newton’s laws of motion, pr

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4

Muleya, Franco. "Modelling wheeled construction plant performance in clay and sandy terrain: a terramechanics perspective." Thesis, Anglia Ruskin University, 2014. https://arro.anglia.ac.uk/id/eprint/550362/1/FRANCO%20MULEYA%20PHD%20FINAL%20COPY.pdf.

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This research has investigated the effect of tyre rutting of wheeled construction plant performance traversing in wet and deformable terrain, specifically clay and sand. The purpose was to translate the wheel rutting into performance reduction measured in drawbar-pull. The ultimate goal was to translate the power loss into practical effects on cost, time and other economic variations on construction projects that are characterised by movement of wheeled plant on long haulage deformable roads. In order to achieve this aim, mathematical modelling was deployed based on Newton’s laws of motion, p

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5

Li, Lin. "Treatment of Uncertainties in Vehicle and Terramechanics Systems Using a Polynomial Chaos Approach." Diss., Virginia Tech, 2008. http://hdl.handle.net/10919/29030.

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Mechanical systems always operate under some degree of uncertainty, which can be due to the inherent properties of the system parameters, to random inputs or external excitations, to poorly known parameters in the interface between different systems, or to inadequate knowledge of the dynamic process. Also, mechanical systems are large and highly nonlinear, while the magnitude of uncertainties may be very large. This dissertation addresses the critical need for understanding of the stochastic nature of mechanical system, especially vehicle and terramechanics systems, and need for developing eff

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6

Khan, Aamir Khusru. "Design and Implementation of a Clutch and Brake System for a Single Wheel Indoor Tire Testing Rig." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/79965.

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The primary goal of this work is to design and implement a clutch and brake system on the single tire Terramechanics rig of Advanced Vehicle Dynamics Laboratory (AVDL) at Virginia Tech. This test rig was designed and built to study the performance of tires in off-road conditions on surfaces such as soil, sand, and ice. Understanding the braking performance of tires is crucial, especially for terrains like ice, which has a low coefficient of friction. Also, rolling resistance is one of the important aspects affecting the tractive performance of a vehicle and its fuel consumption. Investigating

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7

Armstrong, Elizabeth Gene. "Investigation Into Use of Piezoelectric Sensors in a Wheeled Robot Tire For Surface Characterization." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/51146.

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A differential steered, 13.6 kg robot was developed as an intelligent tire testing system and was used to investigate the potential of using piezoelectric film sensors in small tube-type pneumatic tires to characterize tire-ground interaction.<br />One focus of recent research in the tire industry has been on instrumenting tires with sensors to monitor the tire, vehicle, or external environment. On small robots, tire sensors that measure the forces and deflections in the contact patch could be used to improve energy efficiency and/or mobility during a mission.<br />The robot was assembled from

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8

Obregon, Laura. "Generating And Measuring Prescribed Levels Of Cohesion In Soil Simulants In Support Of Extraterrestrial Terramechanics Research." ScholarWorks @ UVM, 2018. https://scholarworks.uvm.edu/graddis/832.

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Scientists have been well aware of the complexity of Martian and lunar regoliths. There are vast unexplored areas on both, the Moon and Mars, as well as uncertainties in our understanding of the physicochemical properties of their regoliths. Lunar and Martian regoliths differ from terrestrial soils in that they appear granular, but are expected to contain some cohesion. As such, cohesion in regolith poses challenges for future space operations, more specifically for landing, settlement, and mobility purposes. The ability to induce prescribed levels of cohesion in regolith simulants and reliabl

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9

Taheri, Shahyar. "A Hybrid Soft Soil Tire Model (HSSTM) For Vehicle Mobility And Deterministic Performance Analysis In Terramechanics Applications." Diss., Virginia Tech, 2015. http://hdl.handle.net/10919/76654.

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Accurate and efficient tire models for deformable terrain operations are essential for performing vehicle simulations. Assessment of the forces and moments that occur at the tire-terrain interface, and the effect of the tire motion on properties of the terrain are crucial in understanding the performance of a vehicle. In order to model the dynamic behavior of the tire on different terrains, a lumped mass discretized tire model using Kelvin-Voigt elements is developed. To optimize the computational time of the code, different techniques were used in memory allocation, parameter initialization,

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10

Johnson, Christopher Patrick. "Comparative Analysis of Lightweight Robotic Wheeled and Tracked Vehicle." Thesis, Virginia Tech, 2012. http://hdl.handle.net/10919/76994.

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This study focuses on conducting a benchmarking analysis for light wheeled and tracked robotic vehicles. Vehicle mobility has long been a key aspect of research for many organizations. According to the Department of Defense vehicle mobility is defined as, "the overall capacity to move from place to place while retaining its ability to perform its primary mission"[1]. Until recently this definition has been applied exclusively to large scale wheeled and tracked vehicles. With new development lightweight ground vehicles designed for military and space exploration applications, the meaning of veh

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11

Chan, Brendan Juin-Yih. "Development of an Off-Road Capable Tire Model for Vehicle Dynamics Simulations." Diss., Virginia Tech, 2008. http://hdl.handle.net/10919/26057.

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The tire is one of the most complex subsystems of the vehicle. It is, however, the least understood of all the components of a car. Without a good tire model, the vehicle simulation handling response will not be realistic, especially for maneuvers that require a combination of braking/traction and cornering. Most of the simplified theoretical developments in tire modeling, however, have been limited to on-road tire models. With the availability of powerful computers, it can be noted that majority of the work done in the development of off-road tire models have mostly been focused on creating b

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12

Naranjo, Scott David. "Experimental Investigation of the Tractive Performance of an Instrumented Off Road Tire in a Soft Soil Terrain." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/51165.

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The main goal of this study is to improve the understanding of the interaction between a pneumatic tire and deformable terrain. A design of experiments has been implemented, that gives insight into the effect of individual tire and soil parameters, specifically wheel slip, normal load, inflation pres-sure, and soil compaction, as well as into the effect of combinations of such parameters on the tire and soil behavior. The results of such test data is exceedingly relevant, providing significant infor-mation to tire design for tire manufacturers, to users for operating conditions selection, as w

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13

Pinto, Eduardo Jose. "A Three Dimensional Discretized Tire Model For Soft Soil Applications." Thesis, Virginia Tech, 2012. http://hdl.handle.net/10919/41335.

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A significant number of studies address various aspects related to tire modeling; most are dedicated to the development of tire models for on-road conditions. Such models cover a wide range of resolutions and approaches, as required for specific applications. At one end of the spectrum are the very simple tire models, such as those employed in real-time vehicle dynamic simulations. At the other end of the spectrum are the very complex finite element models, such as those used in tire design. In between these extremes, various other models have been developed, at different levels of compromise

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14

Nishiyama, Kenta. "Analysis of Soil-Tire Interaction Using a Two-Dimensional Finite Element-Discrete Element Method." Kyoto University, 2019. http://hdl.handle.net/2433/245298.

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15

Pirnazarov, Abdurasul. "Forestry machine and soil interaction for sustainable forestry." Doctoral thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-172519.

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More than 50 percent of the land area of the Nordic countries Finland, Norway, and Sweden are covered by dense forests and they are among the most important producers of forest products in the world. Forestry in these countries is based on sustainable management principles – reforestation follows harvesting. Furthermore, increasing demands for more gentle techniques and technologies with less negative impact on the environment ask for development and implementation of new processes and new machine solutions. The increasing interest in developing forest management approaches that are based on g

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16

He, Rui. "Systematic Tire Testing and Model Parameterization for Tire Traction on Soft Soil." Diss., Virginia Tech, 2020. http://hdl.handle.net/10919/104386.

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Tire performance over soft soil influences the performance of off-road vehicles on soft soil, as the tire is the only force transmitting element between the off-road vehicles and soil during the vehicle operation. One aspect of the tire performance over soft soil is the tire tractive performance on soft soil, and it attracts the attention of vehicle and geotechnical engineers. The vehicle engineer is interested in the tire tractive performance on soft soil because it is related to vehicle mobility and energy efficiency; the geotechnical engineer is concerned about the soil compaction, brought

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17

Puszko, Gregory D. "Terramechanical analysis of rover wheel mobility over simulated Martian terrain at various slip conditions and vertical loads." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/83739.

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Thesis (S.B.)--Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 44-45).<br>Unmanned Mars rovers are presented with the unique challenge of requiring autonomous driving control over rough, adverse territory. A software package, dubbed Artemis, was developed in order to model the expected forces and torques on a rover's drive wheels while traveling across unfamiliar Martian terrain. However, experimental testing must be done in order to validate this theoretical model. A test

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18

Irani, Rishad. "DYNAMIC TERRAMECHANIC MODEL FOR LIGHTWEIGHT WHEELED MOBILE ROBOTS." 2011. http://hdl.handle.net/10222/14233.

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This doctoral thesis extends analytical terramechanic modelling for small lightweight mobile robots operating on sandy soil. Previous terramechanic models were designed to capture and predict the mean values of the forces and sinkage that a wheel may experience. However, these models do not capture the fluctuations in the forces and sinkage that were observed in experimental data. The model developed through the course of this research enhances existing terramechanic models by proposing and validating a new pressure-sinkage relationship. The resulting two-dimensional model was validated with

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19

Roy, Ayan. "Experimental Validation of Non-cohesive Soil Using Discrete Element Method." Thesis, 2018. http://hdl.handle.net/1805/17961.

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Indiana University-Purdue University Indianapolis (IUPUI)<br>In this thesis, an explicit time integration code which integrates multibody dynamics (MBD) and the discrete element method (DEM) is validated using three previously published steady-state physical experiments for non-cohesive sand-type material, namely: shear-cell for measuring shear stress versus normal stress; penetroplate pressure-sinkage test; and wheel drawbar pull-torque-slip test. The test results are used to calibrate the material properties of the DEM soft soil model and validate the coupled MBD-DEM code. All three tests ar

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20

ZLOCH, Jan. "Stanovení poloměru otáčení u traktorů Zetor Forterra 140 HSX, Zetor Proxima 120 Power a Zetor 7745 Turbo pro potřeby počítačových modelů." Master's thesis, 2018. http://www.nusl.cz/ntk/nusl-376021.

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The main aim of this diploma thesis is to determine the radius of rotation of selected tractors (Zetor Forterra 140 HSX, Zetor Proxima 120 Power and Zetor 7745 Turbo) on three different types of surfaces using different speeds. The literary part deals briefly with the importance and historical development of tractors, the basic knowledge of traction theory, the problems of forces acting on the rolling wheel, and last but not least the construction of the tractor parts. The practical part is mainly focused on determining the radii of rotation of individual tractors on three specified types of s

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21

(5931119), Ayan Roy. "Experimental Validation of Non-Cohesive Soil using Discrete Element Method." Thesis, 2019.

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<p>In this thesis, an explicit time integration code which integrates multibody dynamics (MBD) and the discrete element method (DEM) is validated using three previously published steady-state physical experiments for non-cohesive sand-type material, namely: shear-cell for measuring shear stress versus normal stress; penetroplate pressure-sinkage test; and wheel drawbar pull-torque-slip test. The test results are used to calibrate the material properties of the DEM soft soil model and validate the coupled MBD-DEM code. All three tests are important because each test measures specific mechanical

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22

"Helically-Driven Dynamics in Granular Media." Doctoral diss., 2019. http://hdl.handle.net/2286/R.I.55553.

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abstract: Vehicles traverse granular media through complex reactions with large numbers of small particles. Many approaches rely on empirical trends derived from wheeled vehicles in well-characterized media. However, the environments of numerous bodies such as Mars or the moon are primarily composed of fines called regolith which require different design considerations. This dissertation discusses research aimed at understanding the role and function of empirical, computational, and theoretical granular physics approaches as they apply to helical geometries, their envelope of applicability, an

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23

Kane, James Robert. "Terrain Impacts from Vehicle Operations across Multiple Passes." 2010. http://trace.tennessee.edu/utk_gradthes/811.

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This study, conducted on August 12th and 13th, 2008 at Fort Riley, Kansas on a clay loam soil, evaluated the terrain impacts of four commonly used tracked and wheeled military vehicles: the M1A1 Abrams Main Battle Tank, M998 High Mobility Multipurpose Wheeled Vehicle, M985 Heavy Expanded Mobility Tactical Truck, and M113 Armored Personnel Carrier. Disturbed width and impact severity were assessed along 14 spirals subjected to a maximum of eight consecutive passes for a total of 696 impact points. Data indicate that multiple passes produce increased vegetative impacts, with multipass coefficien

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