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Articoli di riviste sul tema "Terramechanika"

Autore: Grafiati

Pubblicato: 4 giugno 2021

Ultima modifica: 1 febbraio 2022

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1

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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2

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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3

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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4

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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5

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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6

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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7

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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8

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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9

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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10

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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11

Li, Weihua, Liang Ding, Haibo Gao, Zongquan Deng, and Nan Li. "ROSTDyn: Rover simulation based on terramechanics and dynamics." Journal of Terramechanics 50, no. 3 (2013): 199–210. http://dx.doi.org/10.1016/j.jterra.2013.04.003.

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12

Sitkei, G., G. Pillinger, L. Máthé, L. Gurmai, and P. Kiss. "Methods for generalization of experimental results in terramechanics." Journal of Terramechanics 81 (February 2019): 23–34. http://dx.doi.org/10.1016/j.jterra.2018.05.004.

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13

Lopez-Arreguin, A. J. R., and S. Montenegro. "Improving engineering models of terramechanics for planetary exploration." Results in Engineering 3 (September 2019): 100027. http://dx.doi.org/10.1016/j.rineng.2019.100027.

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14

Lei, Jiang, and Su Bo. "Research and Implementation of Small Mobile Robot Technology." Applied Mechanics and Materials 602-605 (August 2014): 1047–51. http://dx.doi.org/10.4028/www.scientific.net/amm.602-605.1047.

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Due to mission requirements in the field of deep space exploration, emergency relief, intelligent mobile etc., based on the cross research with vehicle terramechanics, vehicle engineering and mobile robotics, this paper carried out researches of lunar rover, lightly wheeled unmanned ground platform, quadruped mobile platform etc., and proposals application prospect in future.

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15

Olmedo, Nicolas A., Martin Barczyk, Hong Zhang, Ward Wilson, and Michael G. Lipsett. "A UGV-based modular robotic manipulator for soil sampling and terramechanics investigations." Journal of Unmanned Vehicle Systems 8, no. 4 (2020): 364–81. http://dx.doi.org/10.1139/juvs-2020-0003.

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Unmanned vehicles are a natural choice for accessing challenging or hazardous terrains, for instance oil sands tailings ponds, and performing tasks such as soil sampling and terramechanics investigations. In previously published work, an unmanned ground vehicle (UGV) named RTC-I was designed and built for this task by part of our group. The present article covers the design choices and technical details of a custom-built robotic manipulator, a soil sampler, and an instrumented wheel deployed onboard a second-generation UGV named RTC-II. The robotic manipulator is designed to provide the reach, payload capacity, ruggedness, and self-locking operation required for field operations. The soil sampler employs a curved scoop to minimize deformation of the collected sample. The instrumented wheel permits independent control of the normal load and the slip ratio during terramechanics investigations. Each of the three designs is deployed and successfully tested in field experiments. Measurements collected by the soil sampler and instrumented wheel will be used in future work dealing with sampler force modeling and real-time terrain parameter estimation, respectively.

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16

MIZUKAMI, Noriaki, Tetsuo YOSHIMITSU, and Takashi KUBOTA. "Proposal of Terramechanics-Based Wheel Model for Dynamic Sinkage." TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 78, no. 788 (2012): 1109–18. http://dx.doi.org/10.1299/kikaic.78.1109.

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17

Jia, Zhenzhong, William Smith, and Huei Peng. "Fast analytical models of wheeled locomotion in deformable terrain for mobile robots." Robotica 31, no. 1 (2012): 35–53. http://dx.doi.org/10.1017/s0263574712000069.

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SUMMARYHazardous terrains pose a crucial challenge to mobile robots. To operate safely and efficiently, it is necessary to detect the terrain type and modify operation strategies in real-time. Fast analytical models of wheeled locomotion on deformable terrains are thus important. Based on classic terramechanics, a closed-form wheel–soil interaction model was derived by quadratic approximation of stresses along the wheel–soil interface. The bulldozing resistance and the effects of grousers were also added for more accurate prediction of wheel contact forces. A non-iterative method was proposed to estimate the entry angle, by using approximated vertical pressure acting on the wheels. The computational efficiency was improved by avoiding traditional recursive search. Real-time computation of the wheel contact forces is achieved by the terramechanics-based formula (TBF), which was developed by integrating the wheel–soil interaction model and the entry angle estimator. In addition, an automotive-inspired approach was used to integrate the TBF and the simplified vehicle dynamics model for fast simulation of mobile robots. Stability problems in numerical simulation could be avoided by this method. The above models were verified by comparing simulation results and experiment data, including single-wheel experiments and full-vehicle experiments.

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18

Xu, Shuo, Yinan Gu, Jing Sun, and Dawei Tu. "Unique and accurate soil parameter identification for air-cushioned robotic vehicles." Robotica 35, no. 3 (2015): 613–35. http://dx.doi.org/10.1017/s0263574715000739.

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SUMMARYOn-line identification of soil parameters is a pre-condition of operating performance optimization and control for unmanned ground vehicles (UGV). Inverse calculation from measured vehicular operating parameters is a prevalent methodology. However, it inherently suffers from a multiple-solution problem caused by the coupling of soil parameters in terramechanics equations and an accuracy problem caused by the influences of state noise and measurement noise. These problems in tractive-force-related soil parameters identification were addressed here for air-cushioned vehicles (ACV) by taking advantage of their additional degree of control freedom in vertical force. To be specific, a g-function algorithm was proposed to solve the multiple-solution problem from reproductive tractive force equations; de-noising techniques consisting of mean-effect strategies, sampling points selection and sample rearrangement were employed to solve the accuracy problem. A series of experiments were conducted to evaluate these techniques at different noise levels and in different soil conditions. They got satisfactory results in terms of data utilization ratio, identification accuracy and performance stability. The contribution of the paper lies in inventing a novel algorithm for unique and accurate identification of tractive-force-related soil parameters without making any simplification to the original terramechanics equation and with robustness to variations of noise level and soil condition.

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19

Pytka, Jarosław, Piotr Budzyński, Mariusz Kamiński, Tomasz Łyszczyk, and Jerzy Józwik. "Application of the TDR Soil Moisture Sensor for Terramechanical Research." Sensors 19, no. 9 (2019): 2116. http://dx.doi.org/10.3390/s19092116.

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This paper presents examples of the application of the TDR (Time-Domain Reflectometry) sensor in terramechanical research. Examples include the determination of soil moisture content during off-road vehicle mobility tests, the determination of snow density before and after the wheeling of a snow grooming machine and an airplane, as well as the monitoring of turf moisture on a grassy airfield for the analysis and prediction of safe and efficient flight operations (takeoff and landing). A handheld TDR meter was used in these experiments. Soil moisture data were correlated with the vehicle mobility index and a simple model for this correlation was derived. Using grassy airfield research, soil moisture data were related to meteorological impacts (precipitation, sunlight, etc.). Generally, it was concluded that the TDR meter, in its handheld version, was a useful tool in the performed research, but a field sensor that operates autonomically would be an optimal solution for the subject applications.

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20

Zhao, Yi Bing, Lie Guo, Lin Hui Li, and Ming Heng Zhang. "Research of Semi-Step Walking Wheel Based on Vehicle-Terramechanics." Applied Mechanics and Materials 409-410 (September 2013): 1435–40. http://dx.doi.org/10.4028/www.scientific.net/amm.409-410.1435.

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One new structure of Semi-step Walking Wheel Modeled on Impeller is constructed based on Vehicle-Terramechanics. Based on Passive earth pressure of soil mechanics put forward by C.A.Coulomb, the front force formula of the vane of Semi-step Walking Wheel modeled on Impeller is reduced and the wheel traction force when a set of vanes insert the earth is derived. Some Kinematics Simulations are conducted for installing Lunar rover model with ADAMS software. The simulation results show that the wheel can travel smoothly on straight road, climb over bump obstacles. Also, the ability of the lunar rover one-side surmounting obstacle is better than the ability of two-sides. The walking wheel inherits high ride comfort of traditional wheel and excellent cross obstacle ability of walking wheel.

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21

Vantsevich, Vladimir. "Dr. Ramon Gonzalez – New Editor of the Journal of Terramechanics." Journal of Terramechanics 79 (October 2018): 97. http://dx.doi.org/10.1016/j.jterra.2018.08.002.

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22

Olmedo, Nicolas A., Martin Barczyk, and Michael G. Lipsett. "An improved terramechanics model for a robotic soil surface sampler." Journal of Terramechanics 91 (October 2020): 257–71. http://dx.doi.org/10.1016/j.jterra.2020.07.003.

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23

SUZUKI, Hirotaka, and Shingo OZAKI. "Proposal of field modeling method and seamlessization to terramechanics analysis." Proceedings of The Computational Mechanics Conference 2019.32 (2019): 087. http://dx.doi.org/10.1299/jsmecmd.2019.32.087.

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24

Xu, Rui Liang, and Tao Yang. "Mechanical Properties of Soil under Vehicle Load." Applied Mechanics and Materials 633-634 (September 2014): 1095–99. http://dx.doi.org/10.4028/www.scientific.net/amm.633-634.1095.

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Based on the analysis of relevant characteristics of the traffic load, explores the impact of static and dynamic vehicle type, shaft type factors,and cars on the road, down to analyze the stress level in the soil loads -deformation relationship Through theoretical analysis, research, and future prospects, the measures proposed to solve the problem, come to study the mechanical properties of the program under the vehicle load soil and make the outlook for future work in this area terramechanics.

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25

Salman, Nihal Dawood, and Péter Kiss. "A study of pressure-sinkage relationship used in a tyre-terrain interaction." International Journal of Engineering and Management Sciences 4, no. 1 (2019): 186–99. http://dx.doi.org/10.21791/ijems.2019.1.24.

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The vehicle applies a normal load to the terrain, which causes sinkage and motion resistance. To forecast the normal pressure distribution on the interface of a vehicle–terrain and the tractive performance of a vehicle, the response of the terrain to normal load (which is characterized by pressure–sinkage relationship equations) must be measured. This paper presents the common conventional pressure sinkage models used in terramechanic and the modification that happened to this models. In addition the features of the new models.

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26

He, Rui, Corina Sandu, Aamir K. Khan, A. Glenn Guthrie, P. Schalk Els, and Herman A. Hamersma. "Review of terramechanics models and their applicability to real-time applications." Journal of Terramechanics 81 (February 2019): 3–22. http://dx.doi.org/10.1016/j.jterra.2018.04.003.

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27

MIZUKAMI, Noriaki, Tetsuo YOSHIMITSU, and Takashi KUBOTA. "1A2-C08 Terramechanics-based Wheel Dynamics Model on Lunar Gravel Surface." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010 (2010): _1A2—C08_1—_1A2—C08_4. http://dx.doi.org/10.1299/jsmermd.2010._1a2-c08_1.

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28

SUZUKI, Hirotaka, Shingo OZAKI, Hiroki YAMAMOTO, Kazuki KURE, and Takashi Noda. "RFT-based terramechanics analysis of traveling behavior of single caterpillar track." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2016 (2016): 2A2–18a7. http://dx.doi.org/10.1299/jsmermd.2016.2a2-18a7.

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29

Zheng, Junqiang, Haibo Gao, Baofeng Yuan, et al. "Design and terramechanics analysis of a Mars rover utilising active suspension." Mechanism and Machine Theory 128 (October 2018): 125–49. http://dx.doi.org/10.1016/j.mechmachtheory.2018.05.002.

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30

Ishigami, Genya, Masatsugu Otsuki, and Takashi Kubota. "B105 Terramechanics-based Model for Flexible/Rigid Wheels in Rough Terrain." Proceedings of the Symposium on the Motion and Vibration Control 2011.12 (2011): 90–95. http://dx.doi.org/10.1299/jsmemovic.2011.12.90.

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31

SUZUKI, Hirotaka, and Shingo OZAKI. "Multistage terramechanics analysis: From terrain field modeling to wheel traveling analysis." Proceedings of the Symposium on the Motion and Vibration Control 2019.16 (2019): A102. http://dx.doi.org/10.1299/jsmemovic.2019.16.a102.

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32

Bajla, J., Z. Balogh, and M. Božik. "Exploitation of the software product Pro/Mechanica in the agricultural research." Research in Agricultural Engineering 49, No. 4 (2012): 161–64. http://dx.doi.org/10.17221/4968-rae.

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The program system Pro/MechaniCa is a specific software product designed for solving of different kinds of technical problems in general engineering. We were looking for usage not only in the engineering but also in the terramechanical area. We realized a simulation loading of the soil with a rigid circular table and after the loading we calculated deformations and stresses under the table using FEM (Finite Element Method). This article shows a specific exploitation program Pro/Mechanica in an unconventional area as well as in the agricultural area.

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33

Huang, Wei Dong, Jin Song Bao, and You Sheng Xu. "Terramechanics Model and Motion Control Strategy Simulation for down-Slope Travel of a Lunar Rover." Applied Mechanics and Materials 215-216 (November 2012): 1291–97. http://dx.doi.org/10.4028/www.scientific.net/amm.215-216.1291.

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Slopes are a typical terrain of the rugged lunar surface. Using a modified model for wheel-terrain interaction, a terramechanics model for down-slope travel of a lunar rover is established. In order to describe the soil sinkage of different wheels more accurately, soil deformation by the front wheels is taken into account and the front and rear wheel sinkages are calculated separately. Finally, a motion control strategy for rover descent is proposed based upon analysis of its descending course, and validated by simulation in a 3D lunar rover visual simulation platform.

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34

Endo, Masafumi, Shogo Endo, Kenji Nagaoka, and Kazuya Yoshida. "Terrain-Dependent Slip Risk Prediction for Planetary Exploration Rovers." Robotica 39, no. 10 (2021): 1883–96. http://dx.doi.org/10.1017/s0263574721000035.

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SUMMARYWheel slip prediction on rough terrain is crucial for secure, long-term operations of planetary exploration rovers. Although rough, unstructured terrain hampers mobility, prediction by modeling wheel–terrain interactions remains difficult owing to unclear terrain conditions and complexities of terramechanics models. This study proposes a vision-based approach with machine learning for predicting wheel slip risk by estimating the slope from 3D information and classifying terrain types from image information. It considers the slope estimation accuracy for risk prediction under sharp increases in wheel slip due to inclined ground. Experimental results obtained with a rover testbed on several terrain types validate this method.

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35

Gao, Haibo, Junlong Guo, Liang Ding, et al. "Longitudinal skid model for wheels of planetary exploration rovers based on terramechanics." Journal of Terramechanics 50, no. 5-6 (2013): 327–43. http://dx.doi.org/10.1016/j.jterra.2013.10.001.

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36

Shamrao, Chandramouli Padmanabhan, Sayan Gupta, and Annadurai Mylswamy. "Estimation of terramechanics parameters of wheel-soil interaction model using particle filtering." Journal of Terramechanics 79 (October 2018): 79–95. http://dx.doi.org/10.1016/j.jterra.2018.07.003.

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37

NAGAOKA, Kenji, Noriaki MIZUKAMI, Masatsugu OTSUKI, and Takashi KUBOTA. "2P1-F14 Study on Terramechanics Application to Wheeled Robot in Rough Terrain." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010 (2010): _2P1—F14_1—_2P1—F14_4. http://dx.doi.org/10.1299/jsmermd.2010._2p1-f14_1.

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38

Bai, Yidong, Lingyu Sun, and Minglu Zhang. "Terramechanics Modeling and Grouser Optimization for Multistage Adaptive Lateral Deformation Tracked Robot." IEEE Access 8 (2020): 171387–96. http://dx.doi.org/10.1109/access.2020.3024977.

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39

Wang, Hong, Qiang Song, Shengbo Wang, and Pu Zeng. "Dynamic Modeling and Control Strategy Optimization for a Hybrid Electric Tracked Vehicle." Mathematical Problems in Engineering 2015 (2015): 1–12. http://dx.doi.org/10.1155/2015/251906.

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Abstract (sommario):

A new hybrid electric tracked bulldozer composed of an engine generator, two driving motors, and an ultracapacitor is put forward, which can provide high efficiencies and less fuel consumption comparing with traditional ones. This paper first presents the terramechanics of this hybrid electric tracked bulldozer. The driving dynamics for this tracked bulldozer is then analyzed. After that, based on analyzing the working characteristics of the engine, generator, and driving motors, the power train system model and control strategy optimization is established by using MATLAB/Simulink and OPTIMUS software. Simulation is performed under a representative working condition, and the results demonstrate that fuel economy of the HETV can be significantly improved.

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40

Schönauer, Marian, Stephan Hoffmann, Joachim Maack, Martin Jansen, and Dirk Jaeger. "Comparison of Selected Terramechanical Test Procedures and Cartographic Indices to Predict Rutting Caused by Machine Traffic during a Cut-to-Length Thinning Operation." Forests 12, no. 2 (2021): 113. http://dx.doi.org/10.3390/f12020113.

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Timber harvesting operations using heavy forest machinery frequently results in severe soil compaction and displacement, threatening sustainable forest management. An accurate prediction of trafficability, considering actual operating conditions, minimizes these impacts and can be facilitated by various predictive tools. Within this study, we validated the accuracy of four terramechanical parameters, including Cone Index (MPa, Penetrologger), penetration depth (cm, Penetrologger), cone penetration (cm blow−1, dual-mass dynamic cone penetrometer) and shear strength (kPa, vane meter), and additionally two cartographic indices (topographic wetness index and depth-to-water). Measurements applying the four terramechanical approaches were performed at 47 transects along newly assigned machine operating trails in two broadleaved dominated mixed stands. After the CTL thinning operation was completed, measurement results and cartographic indices were correlated against rut depth. Under the rather dry soil conditions (29 ± 9 vol%), total rut depth ranged between 2.2 and 11.6 cm, and was clearly predicted by rut depth after a single pass of the harvester, which was used for further validations. The results indicated the easy-to-measure penetration depth as the most accurate approach to predict rut depth, considering coefficients of correlation (rP = 0.44). Moreover, cone penetration (rP = 0.34) provided reliable results. Surprisingly, no response between rut depth and Cone Index was observed, although it is commonly used to assess trafficability. The relatively low moisture conditions probably inhibited a correlation between rutting and moisture content. Consistently, cartographic indices could not be used to predict rutting. Rut depth after the harvester pass was a reliable predictor for total rut depth after 2–5 passes (rP = 0.50). Rarely used parameters, such as cone penetration or shear strength, outcompeted the highly reputed Cone Index, emphasizing further investigations of applied tools.

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DING, Liang. "Terramechanics Model for Wheel-terrain Interaction of Lunar Rover Based on Stress Distribution." Journal of Mechanical Engineering 45, no. 07 (2009): 49. http://dx.doi.org/10.3901/jme.2009.07.049.

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HUANG, Weidong. "Terramechanics Model and Movement Performance Analysis of a Lunar Rover for Slope Travel." Journal of Mechanical Engineering 49, no. 05 (2013): 17. http://dx.doi.org/10.3901/jme.2013.05.017.

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43

JIAO, Zhen, Haibo GAO, Zongquan DENG, and Liang DING. "Lunar Rover Wheel-Terrain Interaction Model for Climbing-up-Slope Based on Terramechanics." ROBOT 32, no. 1 (2010): 70–76. http://dx.doi.org/10.3724/sp.j.1218.2010.00070.

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44

El Gindy, Moustafa, Mirwais Sharifi, Zeinab El Sayegh, and Fatemeh Gheshlaghi. "Prediction and validation of terramechanics models for estimation of tyre rolling resistance coefficient." International Journal of Vehicle Systems Modelling and Testing 14, no. 1 (2020): 71. http://dx.doi.org/10.1504/ijvsmt.2020.10030673.

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Gheshlaghi, Fatemeh, Zeinab El Sayegh, Mirwais Sharifi, and Moustafa El Gindy. "Prediction and validation of terramechanics models for estimation of tyre rolling resistance coefficient." International Journal of Vehicle Systems Modelling and Testing 14, no. 1 (2020): 71. http://dx.doi.org/10.1504/ijvsmt.2020.108658.

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Ishigami, Genya, Akiko Miwa, Keiji Nagatani, and Kazuya Yoshida. "Terramechanics-based model for steering maneuver of planetary exploration rovers on loose soil." Journal of Field Robotics 24, no. 3 (2007): 233–50. http://dx.doi.org/10.1002/rob.20187.

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Griffith, G. Meirion, and M. Spenko. "Simulation and experimental validation of a modified terramechanics model for small-wheeled vehicles." International Journal of Vehicle Design 64, no. 2/3/4 (2014): 153. http://dx.doi.org/10.1504/ijvd.2014.058499.

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Wasfy, Tamer M., and Paramsothy Jayakumar. "Next-generation NATO reference mobility model complex terramechanics – Part 2: Requirements and prototype." Journal of Terramechanics 96 (August 2021): 59–79. http://dx.doi.org/10.1016/j.jterra.2021.02.007.

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Higa, Shoya, Yumi Iwashita, Kyohei Otsu, et al. "Vision-Based Estimation of Driving Energy for Planetary Rovers Using Deep Learning and Terramechanics." IEEE Robotics and Automation Letters 4, no. 4 (2019): 3876–83. http://dx.doi.org/10.1109/lra.2019.2928765.

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Wasfy, Tamer, and Paramsothy Jayakumar. "Next-generation NATO reference mobility model complex terramechanics – Part 1: Definition and literature review." Journal of Terramechanics 96 (August 2021): 45–57. http://dx.doi.org/10.1016/j.jterra.2021.02.002.

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