Journal of Terramechanics最新文献

英文中文

Machine learning-based estimation of agricultural tyre sinkage: A streamlit web application

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-03-29 DOI: 10.1016/j.jterra.2025.101055

Rajesh Yadav, Hifjur Raheman

This study investigates the impact of wheel slip, drawbar pull, and soil strength on agricultural tyre sinkage under varying normal loads and inflation pressures. A controlled experiment was conducted with a 13.6–28 bias ply tyre using single wheel tester in a soil bin, measuring tyre sinkage, drawbar pull, and wheel slip across different conditions. Machine learning models, including Artificial Neural Network (ANN) and Support Vector Regression (SVR), were developed to predict tyre sinkage based on key variables, with hyperparameter tuning to optimize model performance. The SVR model outperformed the ANN model, with Coefficient of determination (R²) and Mean Squared Errors (MSE) as 0.997 and 0.8 for training; 0.981 and 4.3 mm for testing, respectively. The Mean Absolute Error (MAE) and Mean Absolute Percentage Error (MAPE) were also significantly lower for SVR, with MAPE values of 2.58 % (training) and 6.94 % (testing). The optimized SVR model was integrated into a Streamlit web application, offering a user-friendly platform for real-time predictions of tyre sinkage. This application had significant potential for enhancing tractive efficiency and minimizing soil degradation in agricultural practices. The study highlighted the efficacy of machine learning techniques in modelling tyre sinkage.

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引用次数: 0

Development of software for performance analysis of wheeled tractors

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-03-09 DOI: 10.1016/j.jterra.2025.101054

Igor Araujo Barbosa , Andre Luiz de Freitas Coelho , Daniel Marçal de Queiroz , Marconi Ribeiro Furtado Junior , Geice Paula Villibor

Understanding the relationship between the parameters that influence the traction capacity and fuel consumption of tractors is important for optimizing the performance of these machines. Mathematical simulations can be implemented in computer programs as an alternative to conducting numerous experimental tests under laboratory and field conditions, thereby reducing analysis, development time, and costs. Therefore, this study developed and validated a software tool to evaluate the performance of wheeled tractors in terms of traction capacity and fuel consumption. Mathematical models and a graphical user interface were implemented using Python. Field tests were conducted using an agricultural tractor to validate the software. Subsequently, simulations were performed for the same scenarios tested in the field, and the results were compared using statistical tests. The analyzed variables agreed closely in the experimental and simulated results. For front- and rear-wheel slips, the average absolute error was less than 2.50-point percent. Among the variables analysed, the best adjustment condition between the simulated and experimental results was verified for the engine angular velocity. In this case, the coefficient of determination was 0.96. For fuel consumption, the average absolute error was less than 0.75 L h⁻¹. The software successfully identified the operating conditions that optimized fuel efficiency.

{"title":"Development of software for performance analysis of wheeled tractors","authors":"Igor Araujo Barbosa , Andre Luiz de Freitas Coelho , Daniel Marçal de Queiroz , Marconi Ribeiro Furtado Junior , Geice Paula Villibor","doi":"10.1016/j.jterra.2025.101054","DOIUrl":"10.1016/j.jterra.2025.101054","url":null,"abstract":"<div><div>Understanding the relationship between the parameters that influence the traction capacity and fuel consumption of tractors is important for optimizing the performance of these machines. Mathematical simulations can be implemented in computer programs as an alternative to conducting numerous experimental tests under laboratory and field conditions, thereby reducing analysis, development time, and costs. Therefore, this study developed and validated a software tool to evaluate the performance of wheeled tractors in terms of traction capacity and fuel consumption. Mathematical models and a graphical user interface were implemented using Python. Field tests were conducted using an agricultural tractor to validate the software. Subsequently, simulations were performed for the same scenarios tested in the field, and the results were compared using statistical tests. The analyzed variables agreed closely in the experimental and simulated results. For front- and rear-wheel slips, the average absolute error was less than 2.50-point percent. Among the variables analysed, the best adjustment condition between the simulated and experimental results was verified for the engine angular velocity. In this case, the coefficient of determination was 0.96. For fuel consumption, the average absolute error was less than 0.75 L h<sup>−1</sup>. The software successfully identified the operating conditions that optimized fuel efficiency.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101054"},"PeriodicalIF":2.4,"publicationDate":"2025-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143580008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Tractive performance analysis of the SRTT with respect to the spin count and the ASTM F1805 parameters

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-02-22 DOI: 10.1016/j.jterra.2025.101046

Chaitanya Shekhar Sonalkar , Mohit Nitin Shenvi , Corina Sandu , Costin Untaroiu , Eric Pierce

Snow is a complex material. Its mechanical properties are influenced by various factors such as ambient temperature, solar radiation, compaction, metamorphism, etc., making it complex to model and predict them. To date, only a few studies have focused on predicting the traction coefficient as a function of ambient temperature, snow temperature, and snow compaction (CTI Index). These parameters are measured in accordance with The ASTM F1805 standard, which is used to evaluate the straight-line tractive performance of tires on snow.

This study introduces an additional parameter: spin count and investigates its effect on tractive performance. It was observed for the 16-inch SRTT that the traction coefficient of the control tire decreased progressively as the season advanced. The study aims to determine whether a similar trend applies to a 14-inch SRTT and correlates the tractive performance of individual control tires with ASTM F1805 parameters using regression analysis. Furthermore, it seeks to identify the most accurate regression algorithm for predicting the tractive coefficient and ranks the most influential parameters through feature selection.

In summary, this research examines the influence of spin count on tire traction, aiming to improve prediction models and identify key parameters influencing performance on snow.

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引用次数: 0

Effects of grain breakage on hydraulic conductivity in granular soils under one-dimensional compression

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-01-26 DOI: 10.1016/j.jterra.2025.101045

Faruk Sefi, Musaffa Ayşen Lav

Since hydraulic conductivity significantly influences the compression and deformation characteristics of granular terrains, this study examines the variations in permeability (k₂₀) of granular soils under one-dimensional compression. Two uniformly graded calcareous soil samples were tested: one with grain sizes of 9.50–12.70 mm, and another of 4.75–9.50 mm. Both samples were subjected to one-dimensional compression and constant-head permeability tests. Key soil properties affecting permeability (k₂₀), including absorption (n), specific surface area (S_s), relative density (D_r), void ratio (e), uniformity coefficient (C_u), effective grain size (d₁₀), and mean grain size (d₅₀), were analyzed. The virgin compression line (VCL) of the soil samples was identified within an oedometric stress (σ_VCL) range of 4.00–14.00 MPa, where the rate of change in soil properties affecting permeability was most pronounced. As oedometric stress increased, the instantaneous absorption (n_i) of the soil samples increased linearly, with a slope (α_n) of 0.055–0.061. Similarly, the instantaneous specific surface area (S_s,i) of the soil samples increased linearly, with a slope (α_s) of 1.229–1.388. In addition, practical equations were developed to predict the instantaneous relative density (D_r,i), instantaneous grain size distribution curve, and instantaneous permeability (k_20,i) of granular soils under one-dimensional compression.

{"title":"Effects of grain breakage on hydraulic conductivity in granular soils under one-dimensional compression","authors":"Faruk Sefi, Musaffa Ayşen Lav","doi":"10.1016/j.jterra.2025.101045","DOIUrl":"10.1016/j.jterra.2025.101045","url":null,"abstract":"<div><div>Since hydraulic conductivity significantly influences the compression and deformation characteristics of granular terrains, this study examines the variations in permeability (<em>k<sub>20</sub></em>) of granular soils under one-dimensional compression. Two uniformly graded calcareous soil samples were tested: one with grain sizes of 9.50–12.70 mm, and another of 4.75–9.50 mm. Both samples were subjected to one-dimensional compression and constant-head permeability tests. Key soil properties affecting permeability (<em>k<sub>20</sub></em>), including absorption (<em>n</em>), specific surface area (<em>S<sub>s</sub></em>), relative density (<em>D<sub>r</sub></em>), void ratio (<em>e</em>), uniformity coefficient (<em>C<sub>u</sub></em>), effective grain size (<em>d<sub>10</sub></em>), and mean grain size (<em>d<sub>50</sub></em>), were analyzed. The virgin compression line (VCL) of the soil samples was identified within an oedometric stress (<em>σ<sub>VCL</sub></em>) range of 4.00–14.00 MPa, where the rate of change in soil properties affecting permeability was most pronounced. As oedometric stress increased, the instantaneous absorption (<em>n<sub>i</sub></em>) of the soil samples increased linearly, with a slope (<em>α<sub>n</sub></em>) of 0.055–0.061. Similarly, the instantaneous specific surface area (<em>S<sub>s,i</sub></em>) of the soil samples increased linearly, with a slope (<em>α<sub>s</sub></em>) of 1.229–1.388. In addition, practical equations were developed to predict the instantaneous relative density (<em>D<sub>r,i</sub></em>), instantaneous grain size distribution curve, and instantaneous permeability (<em>k<sub>20,i</sub></em>) of granular soils under one-dimensional compression.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"118 ","pages":"Article 101045"},"PeriodicalIF":2.4,"publicationDate":"2025-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143148051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Climbing loose surfaces with steep slopes using a small, lightweight push-rolling rover with minimal configuration

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-01-06 DOI: 10.1016/j.jterra.2024.101043

Daisuke Fujiwara , Qingze He , Kojiro Iizuka

Owing to the payload limitations, some organizations are focusing on small, lightweight wheeled rovers for planetary exploration. Planetary and lunar surfaces feature weak soils and slopes that pose mobility challenges for wheeled rovers. Studies have shown that push–pull locomotion can improve climbing ability. Such rovers lock one pair of wheels relative to the ground while driving the other like an inchworm. Conventional rovers have large masses ranging from 10 to nearly 1,000 kg. However, some studies are now focusing on small rovers of masses from under 1 kg to 20 kg. For such rovers, traveling on granular surfaces with steep slopes and low slips remains an experimental challenge. This study develops a small, lightweight push-rolling rover and evaluates its ability to climb steep slopes. To meet size requirements, the rover uses a minimal configuration. Experiments to measure resistance and drawbar pull forces during push-rolling revealed that a lugged wheel and dynamic sinking behavior using an intentional slip increased the total thrust forces. Additionally, travel experiments showed that the developed rover, with its optimal configuration, demonstrated a high climbing ability on slopes greater than 30°.

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引用次数: 0

Effect of vertical load on track traction under different soil moisture content

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-12-20 DOI: 10.1016/j.jterra.2024.101044

Zhuohuai Guan, Dong Jiang, Min Zhang, Mei Jin, Haitong Li, Tao Jiang

Comprehensive analysis of the tractive performance is central to the design of tracked agriculture vehicles, particularly in challenging terrain conditions. To assess the effect of altering the track traction, the stress state of the track plate and grousers were analyzed based on the terramechanics. A simulation model based on the discrete element method (DEM) was proposed to explore the displacement of soil particles and stress distribution within the soil. Subsequently, a test bench was developed to investigate the effect of vertical load, soil moisture content, and grouser height on the maximum track traction. The results demonstrated that DEM simulation could reproduce the experimental results sufficiently well with a relative error of 3.5 % for maximum traction. The highest vertical stress is located beneath the grousers and the horizontal stresses are found to be higher near the bottom of the grousers. The vertical load exerts the most significant influence on track traction. Moisture content mainly affects the rate of increase in track traction at different vertical loads. At the moisture contents of 10 % and 15 %, and under vertical loads of 1000 N and 1500 N, the grouser height had little impact on maximum traction. However, at a soil moisture content of 25 % and under vertical loads of 2500 N and 3000 N, increasing the grouser height resulted in a notable enhancement of track traction.

{"title":"Effect of vertical load on track traction under different soil moisture content","authors":"Zhuohuai Guan, Dong Jiang, Min Zhang, Mei Jin, Haitong Li, Tao Jiang","doi":"10.1016/j.jterra.2024.101044","DOIUrl":"10.1016/j.jterra.2024.101044","url":null,"abstract":"<div><div>Comprehensive analysis of the tractive performance is central to the design of tracked agriculture vehicles, particularly in challenging terrain conditions. To assess the effect of altering the track traction, the stress state of the track plate and grousers were analyzed based on the terramechanics. A simulation model based on the discrete element method (DEM) was proposed to explore the displacement of soil particles and stress distribution within the soil. Subsequently, a test bench was developed to investigate the effect of vertical load, soil moisture content, and grouser height on the maximum track traction. The results demonstrated that DEM simulation could reproduce the experimental results sufficiently well with a relative error of 3.5 % for maximum traction. The highest vertical stress is located beneath the grousers and the horizontal stresses are found to be higher near the bottom of the grousers. The vertical load exerts the most significant influence on track traction. Moisture content mainly affects the rate of increase in track traction at different vertical loads. At the moisture contents of 10 % and 15 %, and under vertical loads of 1000 N and 1500 N, the grouser height had little impact on maximum traction. However, at a soil moisture content of 25 % and under vertical loads of 2500 N and 3000 N, increasing the grouser height resulted in a notable enhancement of track traction.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"118 ","pages":"Article 101044"},"PeriodicalIF":2.4,"publicationDate":"2024-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143148054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Editorial: Best papers of the ISTVS 2023 conference

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-12-13 DOI: 10.1016/j.jterra.2024.101042

Jarosław Pytka, Schalk Els, Massimo Martelli

引用次数: 0

Interaction-aware control for robotic vegetation override in off-road environments 越野环境下机器人植被覆盖的交互感知控制

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-29 DOI: 10.1016/j.jterra.2024.101034

Charles Noren, Bhaskar Vundurthy, Sebastian Scherer, Matthew Travers

Robotic systems tasked with completing off-road economic, military, or humanitarian missions often encounter environmental objects when traversing unstructured terrains. Certain objects (e.g. safety cones) must be avoided to ensure operational integrity, but others (e.g. small vegetation) can be interacted with (e.g. overridden/pushed) safely. Pure object-avoidance assumptions in conventional robotic system navigation policies may lead to inefficient (slow) or overly-cautious (immobilized) traversal behaviors in off-road terrains. To address this gap in system performance, we draw inspiration from existing hybrid dynamic system control literature. We have designed a nonlinear trajectory optimization controller that utilizes vegetation-interaction models as a jump map in the dynamics constraint. In contrast to purely vision-based navigation policies which classify the traversability of obstacles, the allowable subset of objects with which the vehicle can safely interact is now characterized by a data-driven collision model and the existence of a dynamically-feasible trajectory which satisfies the contact constraints. The controller’s capabilities are demonstrated on a full-sized autonomous utility task vehicle where objects including posts and trees of up to 25.4 [mm] and 81.8 [mm] diameter are overridden.

完成越野经济、军事或人道主义任务的机器人系统在穿越非结构化地形时经常遇到环境物体。某些物体（如安全锥）必须避免以确保操作完整性，但其他物体（如小植被）可以安全地与之交互（如覆盖/推动）。在传统的机器人系统导航策略中，单纯的物体回避假设可能导致在越野地形中低效（缓慢）或过于谨慎（固定）的穿越行为。为了解决系统性能上的这一差距，我们从现有的混合动态系统控制文献中汲取灵感。我们设计了一个非线性轨迹优化控制器，利用植被相互作用模型作为动力学约束中的跳跃图。与对障碍物可穿越性进行分类的纯粹基于视觉的导航策略相比，车辆可以与之安全交互的允许对象子集现在由数据驱动的碰撞模型和满足接触约束的动态可行轨迹的存在性来表征。该控制器的功能在一辆全尺寸自动多功能任务车上进行了演示，该任务车辆覆盖了直径25.4毫米和81.8毫米的柱子和树木等物体。

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引用次数: 0

Analyzing bearing capacity changes due to vibration in discrete element method simulations 用离散元法模拟分析振动引起的承载力变化

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-29 DOI: 10.1016/j.jterra.2024.101031

Tomohiro Watanabe , Ryoma Higashiyama , Dai Watanabe , Kojiro Iizuka

Recently, legged robots have gained significant attention as highly mobile platforms for planetary exploration. However, the surfaces of celestial bodies such as the Moon are mainly composed of loose materials, leading to slippage due to the deformation of the surface under the movements of the rover’s legs. To address this issue, we proposed a walking method designed to minimize slippage. Our previous research demonstrated that applying vibrations can increase both the shear strength of the ground and the amount of the rover’s leg subsidence, thereby enhancing the ground’s bearing capacity, which is related to the counterforce provided by the ground against the legs of the rover. For the robot to perform optimally, it is essential to accurately estimate this bearing capacity to select efficient vibration settings. In this study, we utilized the discrete element method (DEM) to simulate the ground’s bearing capacity under various vibrational influences changing both the sinkage depth of a leg and the vibration frequency. Our simulations successfully mirrored the real-world effects of vibrations on bearing capacity, providing insightful perspectives on how vibration can be used to enhance ground support for these robotic explorers.

最近，有腿机器人作为行星探测的高机动性平台受到了极大的关注。然而，月球等天体的表面主要由松散的物质组成，在月球车腿的运动下，表面会发生变形，导致滑动。为了解决这个问题，我们提出了一种旨在最小化滑移的行走方法。我们之前的研究表明，施加振动可以增加地面的抗剪强度和月球车腿下沉的量，从而提高地面的承载能力，这与地面对月球车腿提供的反作用力有关。为了使机器人发挥最佳性能，准确估计其承载能力以选择有效的振动设置至关重要。本研究采用离散元法（DEM）模拟了不同振动影响下的地基承载力，同时改变腿的下沉深度和振动频率。我们的模拟成功地反映了振动对承载能力的现实影响，为如何利用振动来增强这些机器人探险者的地面支持提供了有见地的观点。

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引用次数: 0

Optimization of subsoiler design using similitude-based DEM simulation and soil bin testing on cohesive-frictional artificial soil 利用基于模拟的 DEM 仿真和粘性摩擦人工土壤的土仓测试优化底土机设计

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-11-22 DOI: 10.1016/j.jterra.2024.101026

Adewale M. Sedara , Mohamed A.A. Abdeldayem , Francisco Pratas Glycerio de Freitas , Tekeste Z. Mehari

The study highlights the need for effective and efficient methods in designing tillage shanks to alleviate deep soil compaction, especially in wet soil conditions. Current techniques relying on full-scale tillage tools testing are prone to costly and time-consuming engineering product development cycles. DEM simulation of soil-to-shank interaction was utilized for screening twelve geometrically scaled (1:5.63) shanks to top-ranked six shanks, aiming reduced soil horizontal forces and maximum bulk density difference. Six scaled shanks (a straight, a bent, and four paraplow shapes) were fabricated and tested using a split-plot design soil bin experiment on cohesive-frictional artificial soil to investigate their performances on soil reaction forces and soil loosening parameters. Shank design had significant effects (p < 0.05) on energy responses (soil horizontal and vertical reaction forces), above-ground soil loosening (cross-sectional area, trench width, bulk density difference), and below-ground soil loosening (soil rupture area, D1 and D2) parameters. Using an optimization profiler, S-3 (β = 60°, α = 45°) demonstrated the best overall desirability score (0.58) with objectives reducing soil reaction forces and maximizing soil loosening. Manufacturing the S-3 to a full scale is proposed for evaluating its efficiency in tillage energy and soil loosening on field soil conditions for subsoil compaction management.

这项研究突出表明，在设计耕地刀柄时需要采用有效和高效的方法来减轻土壤深层压实，尤其是在潮湿的土壤条件下。目前的技术依赖于全尺寸耕具测试，容易造成工程产品开发周期成本高、耗时长。利用 DEM 模拟土壤与刀柄之间的相互作用，筛选出 12 个几何比例（1:5.63）的刀柄，最终确定了排名靠前的 6 个刀柄，目的是减少土壤水平力和最大容重差。我们制作了六种不同形状的刀柄（一种直柄、一种弯柄、四种paraplow形状），并在粘性摩擦人造土壤上进行了分块设计的土壤仓实验，以研究它们在土壤反作用力和土壤疏松参数上的性能。柄部设计对能量响应（土壤水平和垂直反作用力）、地面松土（横截面积、沟宽、容重差）和地下松土（土壤破裂面积、D1 和 D2）参数有显著影响（p < 0.05）。利用优化剖面仪，S-3（β = 60°，α = 45°）显示出最佳的总体可取性得分（0.58），其目标是减少土壤反作用力，最大限度地提高土壤疏松度。建议对 S-3 进行大规模制造，以评估其在田间土壤条件下的耕作能量和松土效率，从而进行底土压实管理。

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