Bibliografie tematiche / Terramechanika

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Letteratura scientifica selezionata sul tema "Terramechanika"

Autore: Grafiati

Pubblicato: 4 giugno 2021

Ultima modifica: 1 febbraio 2022

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Articoli di riviste sul tema "Terramechanika"

Gonzalez, Ramon, and Lutz Richter. "Journal of Terramechanics special section on “Artificial intelligence applied to terramechanics”." Journal of Terramechanics 96 (August 2021): 117–18. http://dx.doi.org/10.1016/j.jterra.2021.04.006.

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Kiss, Peter, David Gorsich, and Vladimir Vantsevich. "Terramechanics: Real-time applications." Journal of Terramechanics 81 (February 2019): 1. http://dx.doi.org/10.1016/j.jterra.2018.11.003.

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Chatterjee, Saurabh, and K. Kurien Isaac. "Terramechanics and Path Finding." IFAC-PapersOnLine 49, no. 1 (2016): 183–88. http://dx.doi.org/10.1016/j.ifacol.2016.03.050.

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Dwyer, M. J. "Terramechanics and off-road vehicles." Soil and Tillage Research 22, no. 1-2 (1992): 189–90. http://dx.doi.org/10.1016/0167-1987(92)90031-6.

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Dwyer, M. J. "Terramechanics and off-road vehicles." Journal of Terramechanics 30, no. 1 (1993): 59–60. http://dx.doi.org/10.1016/0022-4898(93)90031-r.

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Li, Zhengcai, and Yang Wang. "Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain." Scientific World Journal 2014 (2014): 1–13. http://dx.doi.org/10.1155/2014/396382.

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A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system.

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Muro, Tatsuro. "Special issue. Earth & Robot. Terramechanics and Robotics." Journal of the Robotics Society of Japan 12, no. 7 (1994): 920–23. http://dx.doi.org/10.7210/jrsj.12.920.

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Li, Guang Bu, Li Dai, Ming Hua Xu, and Feng Ying Shi. "Track Link-Terrain Interaction Simulation Based on Terramechanics." Key Engineering Materials 572 (September 2013): 640–43. http://dx.doi.org/10.4028/www.scientific.net/kem.572.640.

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A review of terramechanics terrain models and discuss on their application in link-terrain, wheel-terrain and tire-terrain interaction are taken. Three kinds of pressure–sinkage relationship proposed by Bekker and Reece are studied. The loading and unloading is introduced in the model. And the relationship between the maximum shear stress and applied normal pressure is derived. The link tractive effort and drawbar pull at a given slip of an assumed shape and mass are deduced. Also the link moves in two dimensions. At last, the relationship of terrain sinkage vs. time, terrain pressure vs. sinkage and drawbar pull vs. slip for the link-terrain interface are simulated. The simulation is in good agreement with that got by Bekker.

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Guo, Xiao Lin, Jie Liu, Guo Qiang Liu, and Yan Zhao. "Summarization of Terramechanics Research on Screw-Propelled Vehicle." Applied Mechanics and Materials 551 (May 2014): 84–89. http://dx.doi.org/10.4028/www.scientific.net/amm.551.84.

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It is of great significance for screw-propelled vehicles to solve the problem of driving on the soft ground. In this paper, the development of screw-propelled vehicles both at home and abroad is reviewed; the domestic and foreign propulsion theory research results of scholars are summarized based on terramechanics; the deficiency of the modern research methods is analyzed. At last, some discussions on study methods are made in particular.

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Song, Xingguo, Haibo Gao, Liang Ding, Pol D. Spanos, Zongquan Deng, and Zhijun Li. "Locally supervised neural networks for approximating terramechanics models." Mechanical Systems and Signal Processing 75 (June 2016): 57–74. http://dx.doi.org/10.1016/j.ymssp.2015.12.028.

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Tesi sul tema "Terramechanika"

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 graphical layer is made in such a way so that the computational time does not increase as the size of the terrain does, making the method applicable to actual games.

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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, principles of energy conservation and numerical integration. The model is based on a single rigid wheel because construction plant tyres are inflated to high pressure in order to support heavy loads thereby translating the flexible tyres into rigid mode. The results from the mathematical model were verified using a three stage robust verification process which included computational analysis based on two existing semi-empirical methods and real experimental data. Laboratory experiments using Mobility SF- 3713 were also used to check the validity of the results. The results from the mathematical model verify that a flexible tyre can operate in rigid mode if it encounters softer and wet ground. Results further indicate that the soil cohesion, angle of shearing resistance and moisture content play key roles in the subsequent power loss created by motion resistance. All the results from computational analysis and the experiments were found to be consistent with the mathematical model results. The study concludes that there is ample evidence to suggest that there is significant power loss associated with wheeled construction plant traversing in soft terrain which can be assessed. The study further concludes that a combination of economic decisions on variables must be considered with respect to existing ground conditions. This will considerably reduce uncertainty levels in cost and resource management on construction projects.

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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 efficient computational tools to model mechanical systems in the presence of parametric and external uncertainty. This dissertation investigates the influence of parametric and external uncertainties on vehicle dynamics and terramechanics. The uncertainties studied include parametric uncertainties, stochastic external excitations, and random variables between vehicle-terrain and vehicle-soil/snow interface. The methodology developed has been illustrated on a stochastic vehicle-terrain interaction model, a stochastic vehicle-soil interaction model, two stochastic tire-snow interaction models, and two stochastic tire-force relations. The uncertainties are quantified and propagated through vehicle and terramechanics systems using a polynomial chaos approach. Algorithms which can predict the geometry of the contact patch and the interfacial forces and torques on the vehicle-soil interfaces are developed. All stochastic models and algorithms are simulated for various scenarios and maneuvers. Numerical results are analyzed from the computational effort point of view, or from the angle of vehicle dynamics and terramechanics, and provide a deeper understanding of the evolution of stochastic vehicle and terramechanics systems. They can also be used in guiding vehicle design and development. This dissertation represents a pioneer study on stochastic vehicle dynamics and terramechanics. Moreover, the methodology developed is not limited to such systems. Any mechanical system with uncertainties can be treated using the polynomial chaos approach presented, considering their specific characteristics. Ph. D.

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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 and by imposing a desired tire slip; the normal load, camber angle, toe angle, and other testing configurations can also be pre-set, as required. Methods of and issues related to controlling the production of ice and maintaining the conditions of numerous factors for each trial run were also documented. The AVDL terramechanics rig allowed for the collection of data from tests that varied the tire tread, tire inflation pressure, normal load on the wheel, and the slip ratio of the moving tire. This empirical data was then analyzed through the statistical analysis program JMP 8 in order to determine which factors (or combination of factors) significantly influence pneumatic tire friction on ice. The analysis verified that the slip ratio had a significant effect on the observed coefficient of friction, which decreased as the slip ratio increased. The combinations of the slip ratio and inflation pressure and the slip ratio and tire setup also had a significant effect on the observed coefficient of friction. The tests appear to have validated the theory that the drawbar pull and the traction was higher for the tire with tread. Master of Science

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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 reliably measure it would allow scientists to evaluate space technology limitations under different operational scenarios on Earth prior to a mission. Therefore, the objectives of this research were to (1) develop methods to induce prescribed levels of cohesion in dry granular media, and (2) evaluate accessible and reliable testing methods to measure cohesion. We developed and evaluated several methods to induce cohesion in two types of dry sand, F-75 silica sand and generic play sand. The methods to induce cohesion included play sand mixed with sugar-water, polymeric sand, and nanocellulose fibers, as well as F-75 sand mixed with polydimethylsiloxane, polyvinyl acetate, crystalline silica, agar, zero-valent iron, adhesive spray, and sand surface modification using a plasma gun. Each method was assessed for advantages and disadvantages, and laboratory specimens produced using the most promising methods were tested at different compositions and densities to measure cohesion. The laboratory methods used to measure the cohesion included direct shear test, simple direct shear test, and vertical cut test. The results from these tests were then compared to tensile strength tests, using a split box test. In addition, these tests were also performed on lunar simulants JSC-1A and GRC-3 at different densities. The direct shear apparatus was available, but the other three devices were fabricated as part of this work. Based on the research results, simple methods to potentially induce low levels of cohesion in dry granular media are suggested along with suitability of laboratory methods to measure the added cohesion.

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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. Cataloged from PDF version of thesis. Includes bibliographical references (pages 44-45). 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 rig was developed by MIT's Robotic Mobility Group to measure the forces and torques on a single rover wheel as it traverses across a soil simulant of the Martian surface, and compared that measured data to the hypothetical results predicted by Artemis. A significant portion of this work is dedicated toward the determination of the proper soil simulant to use in the test rig. Several compositions of Mauricetown NJ70 material and SilCoSil 250 Ground Silica were tested in a direct shear test in order to distinguish the properties of the material at various concentrations. With its high residual stress, low peak strength, and large internal friction angle, a mixture of 75% NJ70 with 25% SilCoSil by weight was selected as the Martian soil simulant. The experimental data revealed that as slip values and vertical loads on the rover wheel increases, values for drawbar force, wheel torque, and sinkage generally increase as well, which are the same trends predicted by the Artemis software package. Supplementary testing will need to be completed for additional slip levels and vertical loads to further substantiate the results of the Artemis software. Moreover, additional testing should be done to characterize the test soil's properties, to directly compare the results of the Artemis model to the experimental figures. by Gregory D. Puszko. S.B.

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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, code sequence, and multi-processing. This has resulted in significant improvements in efficiency of the code that can now run close to real time and therefore it is suitable for use by commercially available vehicle simulation packages. Model parameters are obtained using a validated finite element tire model, modal analysis, and other experimental test procedures. Experimental tests were performed on the Terramechanics rig at Virginia Tech. The tests were performed on different terrains; tire forces and moments, soil sinkage, and tire deformation data were collected for various case studies based on a design of experiment matrix. This data, in addition to modal analysis data were used to validate the tire model. Furthermore, to study the validity of the tire model, simulations at conditions similar to the test conditions were performed on a quarter car model. The results have indicated the superiority of this model as compared to other lumped parameter models currently available. Ph. D.

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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 these experimentally will help improve tire models performance. The current configuration of the test rig does not have braking and free rolling capabilities. This study involves modifications on the rig to enable free rolling testing when the clutch is disengaged and to allow braking when the clutch is engaged and the brake applied. The first part of this work involves the design and fabrication of a clutch system that would not require major changes in the setup of the test rig; this includes selecting the appropriate clutch that would meet the torque requirement, the size that would fit in the space available, and the capability to be remotely operated. The test rig's carriage has to be modified in order to fit a pneumatic clutch, its adapter, a new transmission shaft, and the mounting frame for the clutch system. The components of the actuation system consisting of pneumatic lines, the pressure regulator, valves, etc., have to be installed. Easy operation of the clutch from a remote location is enabled through the installation of a solenoid valve. The second part of this work is to design, fabricate, and install a braking system. The main task is to design a customized braking system that satisfies the various physical and functional constraints of the current configuration of the Terramechanics rig. Some other tasks are the design and fabrication of a customized rotor, selection of a suitable caliper, and design and fabrication of a customized mounting bracket for the caliper. A hydraulic actuation system is selected since it is suitable for this configuration and enables remote operation of the brakes. Finally, the rig is upgraded with the assembly of these two systems onto it. Master of Science

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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. 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. The robot was assembled from a SuperDroid Robots kit and instrumented with low-cost piezoelectric film sensors from Measurement Specialties between the inner tube and the tire. An unlaminated and a laminated sensor were placed circumferentially along the tread and an unlaminated sensor was placed along the sidewall. A slip ring transferred the signals from the tire to the robot. There, the signal conditioning circuit extended the time constant of the sensors and filtered electromagnetic interference. The robot was tested with a controlled power sequence carried out on polished cement, ice, and sand at three power levels, two payload levels, and with two tire sizes. The results suggest that the sensors were capable of detecting normal pressure, deflection, and/or longitudinal strain. Added payload increased the amplitude of the signals for all sensors. On the smaller tires, sensors generally recorded a smaller, wider signal on sand compared to cement, indicating the potential to detect contact patch pressure and length. The signals recorded by the unlaminated sensor along the tread of the smaller tire were lower on ice compared to cement, indicating possible sensitivity to tractive force. Results were less consistent for the larger tires, possibly due to the large tread pattern. Master of Science

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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 vehicle mobility must be revised and the tools at our disposal for evaluating mobility must also be expanded. In this context a significant gap in research is present and the main goal of this thesis is to help fill the void in knowledge regarding small robotic vehicle mobility assessment. Another important aspect of any vehicle is energy efficiency. Thus, another aim of this study is to compare the energy needs for a wheeled versus tracked robot, while performing similar tasks. The first stage of the research is a comprehensive review of the state-of-the-art in vehicle mobility assessment. From this review, a mobility assessment criterion for light robots will be developed. The second stage will be outfitting a light robotic vehicle with a sensor suite capable of capturing relevant mobility criteria. The third stage of this study will be an experimental investigation of the mobility capability of the vehicle. Finally the fourth stage will include quantitative and qualitative evaluation of the benchmarking study. Master of Science

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Più fonti

Libri sul tema "Terramechanika"

1943-, O'Brien Jonathan, ed. Terramechanics: Land locomotion mechanics. A.A. Balkema, 2004.

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Muro, Tatsuro. Terramechanics: Land locomotion mechanics. Balkema, 2003.

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Wong, J. Y. Terramechanics and off-road vehicles. Elsevier, 1989.

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Che liang di mian li xue: Vehicle-terramechanics. Guo fang gong ye chu ban she, 2002.

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Wong, J. Y. Terramechanics and off-road vehicle engineering: Terrain behaviour, off-road vehicle performance and design. 2nd ed. Butterworth-Heinemann/Elsevier, 2010.

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O'Brien, J., and T. Muro. Terramechanics: Land Locomotion Mechanics. Taylor & Francis Group, 2004.

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O'Brien, J., and T. Muro. Terramechanics: Land Locomotion Mechanics. Taylor & Francis Group, 2004.

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O'Brien, J., and T. Muro. Terramechanics: Land Locomotion Mechanics. Taylor & Francis Group, 2004.

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O'Brien, J., and T. Muro. Terramechanics: Land Locomotion Mechanics. Taylor & Francis Group, 2004.

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Terramechanics and Off-Road Vehicle Engineering. Elsevier, 2010. http://dx.doi.org/10.1016/c2009-0-00403-6.

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Capitoli di libri sul tema "Terramechanika"

Nakane, Yuto, Kojiro Iizuka, and Takashi Kubota. "Experimental Study of Grouser’s Effect for Planetary Rovers Based on Terramechanics." In Advances in Intelligent Systems and Computing. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-37374-9_61.

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Zhu, Ying, Xiao Chen, and G. Scott Owen. "Terramechanics Based Terrain Deformation for Real-Time Off-Road Vehicle Simulation." In Advances in Visual Computing. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-24028-7_40.

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"terramechanics." In Dictionary Geotechnical Engineering/Wörterbuch GeoTechnik. Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-642-41714-6_200621.

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"Introduction." In Terramechanics. Taylor & Francis, 2004. http://dx.doi.org/10.1201/9780203024157.ch1.

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"Rigid Wheel Systems." In Terramechanics. Taylor & Francis, 2004. http://dx.doi.org/10.1201/9780203024157.ch2.

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"Flexible-Tire Wheel Systems." In Terramechanics. Taylor & Francis, 2004. http://dx.doi.org/10.1201/9780203024157.ch3.

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"Terrain-Track System Constants." In Terramechanics. Taylor & Francis, 2004. http://dx.doi.org/10.1201/9780203024157.ch4.

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"Land Locomotion Mechanics for a Rigid-Track Vehicle." In Terramechanics. Taylor & Francis, 2004. http://dx.doi.org/10.1201/9780203024157.ch5.

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"Land Locomotion Mechanics of Flexible-Track Vehicles." In Terramechanics. Taylor & Francis, 2004. http://dx.doi.org/10.1201/9780203024157.ch6.

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"Introduction." In Terramechanics. CRC Press, 2004. http://dx.doi.org/10.1201/9780203024157-6.

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Atti di convegni sul tema "Terramechanika"

Kanamori, H., S. Aoki, and H. Nakashima. "Terramechanics of a Micro Lunar Rover." In Ninth Biennial Conference on Engineering, Construction, and Operations in Challenging Environments. American Society of Civil Engineers, 2004. http://dx.doi.org/10.1061/40722(153)18.

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Zhou, Ruyi, Liang Ding, Haibo Gao, Wenhao Feng, Zongquan Deng, and Nan Li. "Mapping for Planetary Rovers from Terramechanics Perspective*." In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019. http://dx.doi.org/10.1109/iros40897.2019.8967984.

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El-Sayegh, Zeinab, Moustafa El-Gindy, Inge Johansson, and Fredrik Öijer. "Off-Road Soft Terrain Modeling Using Smoothed Particle Hydrodynamics Technique." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85005.

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Soil modeling and calibration are the preliminary steps towards tire-soil interaction prediction. This paper presents soil calibration methods using Smoothed Particle Hydrodynamics technique (SPH). Calibration of soil comprises several models including dry sand, dense sand, and clayey soil. Furthermore, snow terrain properties provided in terramechanics literature are investigated and modeled using SPH technique. First, the soil material properties are collected from terramechanics published data. Then, two soil validation tests are performed to predict soil characteristics, namely the pressure-sinkage test and the direct shear-strength test. Both tests are repeated while varying targeted parameters, and compared to results provided from terramechanics physical measurements. Finally, optimal soil results are presented and discussed. The objective of this paper is to accurately model and validate SPH terrain materials. Additionally, the sensitivity of several SPH parameters and their effect on soil behavior is investigated. The results obtained from this study will be beneficial for modeling and simulation of tire-terrain interaction research.

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Boh, Tjasa, John Billingsley, Robin S. Bradbeer, and Paul Hodgson. "Terramechanics based traction control of underwater wheeled robot." In OCEANS 2010 IEEE - Sydney. IEEE, 2010. http://dx.doi.org/10.1109/oceanssyd.2010.5603859.

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Trease, Brian, Raymond Arvidson, Randel Lindemann, et al. "Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47896.

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Abstract (sommario):

To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

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Peng Zhang, Zongquan Deng, Ming Hu, and Haibo Gao. "Mobility performance analysis of lunar rover based on terramechanics." In 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2008. http://dx.doi.org/10.1109/aim.2008.4601645.

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Pytka, Jaroslaw, Tomasz Sliczniak, and Ernest Gnapowski. "Application of a Handheld TDR Meter for Terramechanical Research." In 2018 12th International Conference on Electromagnetic Wave Interaction with Water and Moist Substances (ISEMA). IEEE, 2018. http://dx.doi.org/10.1109/isema.2018.8442296.

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Narita, Shinichiro, Masatsugu Otsuki, Sachiko Wakabayashi, and Shinichiro Nishida. "Terramechanics evaluation of low-pressure wheel on deformable terrain." In 2011 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2011. http://dx.doi.org/10.1109/icra.2011.5980585.

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Sun, Dong-bo, Yan-qiang Di, and Hao-hao Cui. "A real-time vehicle-terramechanics model for visual simulation." In International Conference on Materials Engineering and Information Technology Applications (MEITA 2015). Atlantis Press, 2015. http://dx.doi.org/10.2991/meita-15.2015.186.

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Wang, Weidong, Zhijiang Du, and Lining Sun. "Obstacle Performance Analysis of Mine Research Robot Based on Terramechanics." In 2007 International Conference on Mechatronics and Automation. IEEE, 2007. http://dx.doi.org/10.1109/icma.2007.4303751.

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Rapporti di organizzazioni sul tema "Terramechanika"

Laughery, Sean, Grant Gerhart, and Richard Goetz. Bekker's Terramechanics Model for Off-Road Vehicle Research. Defense Technical Information Center, 1990. http://dx.doi.org/10.21236/ada457955.

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