Pub Date : 2026-01-01Epub Date: 2025-11-15DOI: 10.1016/j.jterra.2025.101102
Thomas B. Kabutz, P. Schalk Els
This study investigates the feasibility of using measurements of the geometry on the inner surface of a tyre to predict the geometry of the tread on the outside. The proposed method offsets the deformed inner surface along its normal directions by the tread thickness.
Initially, a simple 2D cross-section model proved the feasibility of this method. This led to the development of a full 3D tyre model that can estimate the tread of a deformed tyre. Photogrammetry was used to capture a complete 3D geometry model of an unloaded and uninflated tyre, from which the inner and outer surfaces are used to calculate a displacement map for the model. Results indicate that the model can estimate the tread of both a SUV tyre and a large lug agricultural tyre to within about 2.5 mm of measurements of the deformed tread. This tyre is approximately 750 mm in diameter. The remaining error is likely due to the accuracy of the inner and outer surface measurements. The findings pave the way to predict soil volume displacement and contact area, providing crucial insights for vehicle control and mitigating environmental impacts in offroad scenarios. The system is expected to provide extremely useful data for future tyre-terrain interaction research.
{"title":"Tyre tread estimation from 3D contact patch measurements on the inside of a deformed tyre","authors":"Thomas B. Kabutz, P. Schalk Els","doi":"10.1016/j.jterra.2025.101102","DOIUrl":"10.1016/j.jterra.2025.101102","url":null,"abstract":"<div><div>This study investigates the feasibility of using measurements of the geometry on the inner surface of a tyre to predict the geometry of the tread on the outside. The proposed method offsets the deformed inner surface along its normal directions by the tread thickness.</div><div>Initially, a simple 2D cross-section model proved the feasibility of this method. This led to the development of a full 3D tyre model that can estimate the tread of a deformed tyre. Photogrammetry was used to capture a complete 3D geometry model of an unloaded and uninflated tyre, from which the inner and outer surfaces are used to calculate a displacement map for the model. Results indicate that the model can estimate the tread of both a SUV tyre and a large lug agricultural tyre to within about 2.5 mm of measurements of the deformed tread. This tyre is approximately 750 mm in diameter. The remaining error is likely due to the accuracy of the inner and outer surface measurements. The findings pave the way to predict soil volume displacement and contact area, providing crucial insights for vehicle control and mitigating environmental impacts in offroad scenarios. The system is expected to provide extremely useful data for future tyre-terrain interaction research.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101102"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145568606","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}
Pub Date : 2026-01-01Epub Date: 2025-11-03DOI: 10.1016/j.jterra.2025.101099
Feng Chen , Junjie Ding , Long Chen , Enlai Zheng , Zhitao Luo , Yingtao Lu , Yinyan Shi , Xiaochan Wang , Lianglong Hu , Shanhu Zhao
To improve the driving stability and safety of electric drive mobile platforms (EDMP) for protected horticulture, it is essential to minimize the excessive slip of driving wheels. Therefore, a tire-soil model is established and a dynamic model of EDMP with implement considering the influence of wheel slip on longitudinal motion is developed. Subsequently, a linear parameter-varying model incorporating longitudinal speed and wheel force is established. A state estimator utilizing an improved adaptive strong tracking unscented Kalman filter (ASTUKF) algorithm is proposed to obtain real-time friction coefficients of four wheels and determine the optimal slip rate. Based on this, a robust model predictive controller (RMPC) with the employment of linear matrix inequality is designed to suppress EDMP slip. Finally, to validate the effectiveness of the proposed controller, a real test system for the EDMP is developed. It’s demonstrated that the slip rate of the EDMP can be significantly reduced through the implementation of the proposed skid control strategy. The average estimation errors of the ASTUKF are reduced by 95.5% and 81.6% compared to the KF and UKF, respectively. Under both straight and continuous steering conditions, the wheel slip rate errors are reduced by 48.33% and 55.63%, respectively.
{"title":"Multi-layer skid controller design of distributed electric drive mobile platform based on the optimal slip rate to improve its driving stability","authors":"Feng Chen , Junjie Ding , Long Chen , Enlai Zheng , Zhitao Luo , Yingtao Lu , Yinyan Shi , Xiaochan Wang , Lianglong Hu , Shanhu Zhao","doi":"10.1016/j.jterra.2025.101099","DOIUrl":"10.1016/j.jterra.2025.101099","url":null,"abstract":"<div><div>To improve the driving stability and safety of electric drive mobile platforms (EDMP) for protected horticulture, it is essential to minimize the excessive slip of driving wheels. Therefore, a tire-soil model is established and a dynamic model of EDMP with implement considering the influence of wheel slip on longitudinal motion is developed. Subsequently, a linear parameter-varying model incorporating longitudinal speed and wheel force is established. A state estimator utilizing an improved adaptive strong tracking unscented Kalman filter (ASTUKF) algorithm is proposed to obtain real-time friction coefficients of four wheels and determine the optimal slip rate. Based on this, a robust model predictive controller (RMPC) with the employment of linear matrix inequality is designed to suppress EDMP slip. Finally, to validate the effectiveness of the proposed controller, a real test system for the EDMP is developed. It’s demonstrated that the slip rate of the EDMP can be significantly reduced through the implementation of the proposed skid control strategy. The average estimation errors of the ASTUKF are reduced by 95.5% and 81.6% compared to the KF and UKF, respectively. Under both straight and continuous steering conditions, the wheel slip rate errors are reduced by 48.33% and 55.63%, respectively.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101099"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145465380","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}
Pub Date : 2026-01-01Epub Date: 2025-09-02DOI: 10.1016/j.jterra.2025.101086
J.Y. Wong
This paper provides a concise comparison of the features and applications between the cone penetrometer technique and the bevameter technique. The developments of the bevameter technique since its inception in the 1960s are reviewed. Its roles in characterizing terrain engineering properties for evaluating off-road vehicle mobility are highlighted. A framework for the recommended practice for the bevameter technique is proposed for the consideration of the professional community in the terramechanics field.
{"title":"The bevameter technique – Its developments and a proposed framework for its recommended practice","authors":"J.Y. Wong","doi":"10.1016/j.jterra.2025.101086","DOIUrl":"10.1016/j.jterra.2025.101086","url":null,"abstract":"<div><div>This paper provides a concise comparison of the features and applications between the cone penetrometer technique and the bevameter technique. The developments of the bevameter technique since its inception in the 1960s are reviewed. Its roles in characterizing terrain engineering properties for evaluating off-road vehicle mobility are highlighted. A framework for the recommended practice for the bevameter technique is proposed for the consideration of the professional community in the terramechanics field.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101086"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144926732","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}
Pub Date : 2026-01-01Epub Date: 2025-09-02DOI: 10.1016/j.jterra.2025.101087
Luca Zerbato , Angelo Domenico Vella , Enrico Galvagno , Alessandro Vigliani , Silvio Carlo Data , Matteo Eugenio Sacchi
Modelling the interaction between tyres and unconsolidated soft surfaces has assumed a crucial role in predicting off-road vehicle performance in different machine areas such as planetary exploration and agriculture. The direct measurement of the soft soil/tyre contact parameters is a challenging task, addressed by expensive experimental campaigns and specific tools such as sensor-equipped wheels. In this paper an alternative cost-effective approach is proposed to estimate the contact parameters for semi-empirical formulations. The method relies on the experimental measurement typically available on the CAN bus of passenger vehicles. Specifically, the algorithm is tested with data gathered during acceleration manoeuvres performed on two different soft surfaces, i.e., snow and sand. The experimental signals are used to feed a 5 Degree Of Freedom (DOF) virtual vehicle equipped with a custom semi-empirical soil contact model. An optimisation problem with the target of minimising the differences between experimental and numerical traction performance is designed for the estimation of the sinkage module, cohesion, friction angle, elastic recovery and the multi-pass factor. Finally, the estimated parameters are validated using different experimental signals and data from literature, demonstrating the robustness of the methodology.
{"title":"A vehicle dynamics-oriented estimator for soft soil/tyre contact parameters from experimental testing","authors":"Luca Zerbato , Angelo Domenico Vella , Enrico Galvagno , Alessandro Vigliani , Silvio Carlo Data , Matteo Eugenio Sacchi","doi":"10.1016/j.jterra.2025.101087","DOIUrl":"10.1016/j.jterra.2025.101087","url":null,"abstract":"<div><div>Modelling the interaction between tyres and unconsolidated soft surfaces has assumed a crucial role in predicting off-road vehicle performance in different machine areas such as planetary exploration and agriculture. The direct measurement of the soft soil/tyre contact parameters is a challenging task, addressed by expensive experimental campaigns and specific tools such as sensor-equipped wheels. In this paper an alternative cost-effective approach is proposed to estimate the contact parameters for semi-empirical formulations. The method relies on the experimental measurement typically available on the CAN bus of passenger vehicles. Specifically, the algorithm is tested with data gathered during acceleration manoeuvres performed on two different soft surfaces, i.e., snow and sand. The experimental signals are used to feed a 5 Degree Of Freedom (DOF) virtual vehicle equipped with a custom semi-empirical soil contact model. An optimisation problem with the target of minimising the differences between experimental and numerical traction performance is designed for the estimation of the sinkage module, cohesion, friction angle, elastic recovery and the multi-pass factor. Finally, the estimated parameters are validated using different experimental signals and data from literature, demonstrating the robustness of the methodology.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101087"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144926735","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}
Pub Date : 2026-01-01Epub Date: 2025-10-10DOI: 10.1016/j.jterra.2025.101098
Tamiru Tesfaye Gemechu , Jun Zhou , Guoliang Lai , Ibrar Ahmad , Luke Toroitch Rottok , Yade Li , Tabinda Naz Syed , Muhammad Aurangzaib
Accurate terrain classification is essential for the effective and efficient operation of autonomous robots and off-road vehicles. This study proposes a novel multi-sensor fusion technique for off-road terrain classification using a robotic platform that matches the practical features of an electric tractor. The method employs proprioceptive signals from the vehicle body and all four wheels, including wheel torque, wheel speed, wheel slippage, and vibration. A high-speed counter was programmed using the STEP 7 Microwin environment and uploaded onto an S7-200 PLC to measure wheel torque and speed. An inertial measurement unit and a three-axis digital accelerometer were used to record vibrations from the vehicle body and wheel bracket, respectively. MATLAB Simulink was employed to synchronise sensors data. Signal pre-processing, segmentation, Savitzky-Golay filtering, feature-level fusion, and the Random Forest algorithm were incorporated into the developed terrain classification model. The proposed Random Forest-based model, validated using K-fold cross-validation, achieved up to 90% test accuracy. Performance on unseen labelled data demonstrated consistent classification accuracy between 80% and 90%, indicating strong generalisation across terrain types. Real-time testing with unseen and unlabelled data demonstrated the model’s robustness and stability, enabling reliable terrain prediction with minimal latency, suitable for real-world off-road autonomous vehicle applications.
{"title":"Real-time terrain classification for all-wheel drive robotic electric tractors using multi-sensor fusion and machine learning","authors":"Tamiru Tesfaye Gemechu , Jun Zhou , Guoliang Lai , Ibrar Ahmad , Luke Toroitch Rottok , Yade Li , Tabinda Naz Syed , Muhammad Aurangzaib","doi":"10.1016/j.jterra.2025.101098","DOIUrl":"10.1016/j.jterra.2025.101098","url":null,"abstract":"<div><div>Accurate terrain classification is essential for the effective and efficient operation of autonomous robots and off-road vehicles. This study proposes a novel multi-sensor fusion technique for off-road terrain classification using a robotic platform that matches the practical features of an electric tractor. The method employs proprioceptive signals from the vehicle body and all four wheels, including wheel torque, wheel speed, wheel slippage, and vibration. A high-speed counter was programmed using the STEP 7 Microwin environment and uploaded onto an S7-200 PLC to measure wheel torque and speed. An inertial measurement unit and a three-axis digital accelerometer were used to record vibrations from the vehicle body and wheel bracket, respectively. MATLAB Simulink was employed to synchronise sensors data. Signal pre-processing, segmentation, Savitzky-Golay filtering, feature-level fusion, and the Random Forest algorithm were incorporated into the developed terrain classification model. The proposed Random Forest-based model, validated using K-fold cross-validation, achieved up to 90% test accuracy. Performance on unseen labelled data demonstrated consistent classification accuracy between 80% and 90%, indicating strong generalisation across terrain types. Real-time testing with unseen and unlabelled data demonstrated the model’s robustness and stability, enabling reliable terrain prediction with minimal latency, suitable for real-world off-road autonomous vehicle applications.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101098"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145267815","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}
Pub Date : 2026-01-01Epub Date: 2025-09-20DOI: 10.1016/j.jterra.2025.101096
Mattias Lehto, Håkan Lideskog, Magnus Karlberg
Object detectors for autonomous forestry operations have previously been developed mainly by training on physical manually annotated data, which is both time-consuming and costly. Since the ground truth in the virtual model is known, the training data can be auto-annotated, enabling the creation of larger training datasets, while also improving time and cost efficiency. In this work, a virtual environment in Unity is used in co-simulation with a real-time digital twin of a physical forestry vehicle, to generate realistic auto-annotated training data, as captured by an onboard stereo camera. First, it is shown that a log detector trained on physical data can detect logs in the virtual environment. Second, new detectors are trained, using different shares of virtual and physical data. It is shown that a detector trained using only virtual data, can learn to detect logs in the physical world. Moreover, virtual pre-training is shown to improve the performance of physically trained and tested detectors, both at low availability of physical training data, and in terms of domain generalization. A detailed detector performance analysis also highlights further potential and opportunities for future improvements. Furthermore, the real-time capable virtual models enable future machine learning tasks utilizing different levels of Hardware-in-the-Loop.
{"title":"Log detection for autonomous forwarding using auto-annotated data from a real-time virtual environment","authors":"Mattias Lehto, Håkan Lideskog, Magnus Karlberg","doi":"10.1016/j.jterra.2025.101096","DOIUrl":"10.1016/j.jterra.2025.101096","url":null,"abstract":"<div><div>Object detectors for autonomous forestry operations have previously been developed mainly by training on physical manually annotated data, which is both time-consuming and costly. Since the ground truth in the virtual model is known, the training data can be auto-annotated, enabling the creation of larger training datasets, while also improving time and cost efficiency. In this work, a virtual environment in Unity is used in co-simulation with a real-time digital twin of a physical forestry vehicle, to generate realistic auto-annotated training data, as captured by an onboard stereo camera. First, it is shown that a log detector trained on physical data can detect logs in the virtual environment. Second, new detectors are trained, using different shares of virtual and physical data. It is shown that a detector trained using only virtual data, can learn to detect logs in the physical world. Moreover, virtual pre-training is shown to improve the performance of physically trained and tested detectors, both at low availability of physical training data, and in terms of domain generalization. A detailed detector performance analysis also highlights further potential and opportunities for future improvements. Furthermore, the real-time capable virtual models enable future machine learning tasks utilizing different levels of Hardware-in-the-Loop.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101096"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145096530","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}
Vertical stress distribution is of prime importance when it comes to determining the soil compaction and the dynamics of tire-soil interaction. It affects the performance of tires, enhancing or limiting mobility of vehicles passing on it. This work aims to develop novel pressure sensing setup using FlexiForce A401 piezoresistive pressure sensors. The pressure sensing apparatus is placed under the soil at a certain depth, and a tire passes over it. Tests are conducted at different slip ratios to measure the vertical stresses induced in the soil due to the tire-soil interaction. Using stress sensors and stereo cameras, we estimate the size and shape of the contact patch. The results from the experimental data are then compared with the analytical model developed using the Boussinesq’s equation. The novelty of this work consists of the development of an experimental setup and an experimentation methodology to characterize the contact patch size and the pressure distribution in the contact patch. The study shows good agreement between the analytical model and the experimental data, thus validating the proposed methodology and the accuracy of the analytical model.
{"title":"Development of Testing Apparatus and Postprocessing Methodology for Characterization of Contact Patch Dimensions and Vertical Stress in Deformable Soils","authors":"Chaitanya Shekhar Sonalkar, Alexandru Vilsan, Mohit Nitin Shenvi, Nikhil Ravichandran, Corina Sandu","doi":"10.1016/j.jterra.2025.101100","DOIUrl":"10.1016/j.jterra.2025.101100","url":null,"abstract":"<div><div>Vertical stress distribution is of prime importance when it comes to determining the soil compaction and the dynamics of tire-soil interaction. It affects the performance of tires, enhancing or limiting mobility of vehicles passing on it. This work aims to develop novel pressure sensing setup using FlexiForce A401 piezoresistive pressure sensors. The pressure sensing apparatus is placed under the soil at a certain depth, and a tire passes over it. Tests are conducted at different slip ratios to measure the vertical stresses induced in the soil due to the tire-soil interaction. Using stress sensors and stereo cameras, we estimate the size and shape of the contact patch. The results from the experimental data are then compared with the analytical model developed using the Boussinesq’s equation. The novelty of this work consists of the development of an experimental setup and an experimentation methodology to characterize the contact patch size and the pressure distribution in the contact patch. The study shows good agreement between the analytical model and the experimental data, thus validating the proposed methodology and the accuracy of the analytical model.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101100"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145465381","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}
Pub Date : 2025-10-01Epub Date: 2025-07-17DOI: 10.1016/j.jterra.2025.101076
Kenji Nagaoka, Yuto Yoshida
This paper proposes a new approach to understanding the wheel-soil interaction, which is an indirect estimation method of soil stress distributions beneath a traveling wheel soil using a photoelastic method. Thus far, several photoelastic methods have been discussed for the wheel-soil terramechanics, but it is difficult for the previous configuration to simulate the dynamic behaviors of natural soil, e.g., compaction, failure, or wheel ruts. Accordingly, achieving both the stress visualization and the dynamic behaviors of soil is a significant challenge to make the photoelastic method more practical. To cope with this challenging issue, we have developed a novel experimental setup consisting of a photoelastic wheel (top layer), soil (middle layer), and a photoelastic plate (bottom layer). By vertically sandwiching the soil between the photoelastic wheel and plate, the soil stresses can be indirectly estimated to satisfy the boundary stress conditions. To achieve this approach, we conducted calibration tests of the photoelastic wheel and plate, and then identified the force vector and contact patch corresponding to the visualized stresses. In this paper, we demonstrate that it is possible to indirectly estimate how the stress propagates and attenuates in the soil by the proposed method.
{"title":"A novel soil stress estimation method of wheel-soil interaction using photoelasticity","authors":"Kenji Nagaoka, Yuto Yoshida","doi":"10.1016/j.jterra.2025.101076","DOIUrl":"10.1016/j.jterra.2025.101076","url":null,"abstract":"<div><div>This paper proposes a new approach to understanding the wheel-soil interaction, which is an indirect estimation method of soil stress distributions beneath a traveling wheel soil using a photoelastic method. Thus far, several photoelastic methods have been discussed for the wheel-soil terramechanics, but it is difficult for the previous configuration to simulate the dynamic behaviors of natural soil, e.g., compaction, failure, or wheel ruts. Accordingly, achieving both the stress visualization and the dynamic behaviors of soil is a significant challenge to make the photoelastic method more practical. To cope with this challenging issue, we have developed a novel experimental setup consisting of a photoelastic wheel (top layer), soil (middle layer), and a photoelastic plate (bottom layer). By vertically sandwiching the soil between the photoelastic wheel and plate, the soil stresses can be indirectly estimated to satisfy the boundary stress conditions. To achieve this approach, we conducted calibration tests of the photoelastic wheel and plate, and then identified the force vector and contact patch corresponding to the visualized stresses. In this paper, we demonstrate that it is possible to indirectly estimate how the stress propagates and attenuates in the soil by the proposed method.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101076"},"PeriodicalIF":2.4,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144653674","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}
Pub Date : 2025-10-01Epub Date: 2025-07-15DOI: 10.1016/j.jterra.2025.101080
Zhuohuai Guan , Haitong Li , Tao Jiang , Licheng Xing , Min Zhang , Dong Jiang , Mei Jin
Due to the flexible characteristics of the rubber track, the ground pressure distribution on the soil is uneven, which will greatly increase the risk of soil compaction. Roller in the tracked chassis is a key influencing factor. Therefore, accurate analysis of the effect of the rollers on soil surface vertical stress distribution is important. In this research, the simulation of soil surface vertical stress distribution under rubber track with different roller structures and arrangements was carried out and experimentally validated. Firstly, a load transfer model of the roller-rubber track-soil system was developed. Then, a FEM simulation model of the roller −rubber track-soil system was constructed. The effect a single roller structure and the arrangement of multiple rollers was analyzed. Finally, field tests were carried out to test the soil surface vertical stress distribution with rollers of uniform distribution and dense at both sides. Results showed that the stress peaks were 69.3 kPa and 62.4 kPa, respectively. The soil surface vertical stress under the roller-track contact location was more than twice the average over the whole track surface. The diameter of a single roller and the arrangement of multiple rollers were the most important factors on the stress distribution.
{"title":"Effect of rubber-tracked chassis roller on soil surface vertical stress distribution based on finite element method","authors":"Zhuohuai Guan , Haitong Li , Tao Jiang , Licheng Xing , Min Zhang , Dong Jiang , Mei Jin","doi":"10.1016/j.jterra.2025.101080","DOIUrl":"10.1016/j.jterra.2025.101080","url":null,"abstract":"<div><div>Due to the flexible characteristics of the rubber track, the ground pressure distribution on the soil is uneven, which will greatly increase the risk of soil compaction. Roller in the tracked chassis is a key influencing factor. Therefore, accurate analysis of the effect of the rollers on soil surface vertical stress distribution is important. In this research, the simulation of soil surface vertical stress distribution under rubber track with different roller structures and arrangements was carried out and experimentally validated. Firstly, a load transfer model of the roller-rubber track-soil system was developed. Then, a FEM simulation model of the roller −rubber track-soil system was constructed. The effect a single roller structure and the arrangement of multiple rollers was analyzed. Finally, field tests were carried out to test the soil surface vertical stress distribution with rollers of uniform distribution and dense at both sides. Results showed that the stress peaks were 69.3 kPa and 62.4 kPa, respectively. The soil surface vertical stress under the roller-track contact location was more than twice the average over the whole track surface. The diameter of a single roller and the arrangement of multiple rollers were the most important factors on the stress distribution.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101080"},"PeriodicalIF":2.4,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144632314","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}
Testing and evaluation of commercial passenger car and truck tires for severe snow usage are performed on compacted snow tracks based on the ASTM F1805-20 standard. The snow track is characterized for these tests using the CTI penetrometer. Evaluating the compactness of the snow track as an index number is helpful, but it does not provide information that can be useful from a simulation/modeling perspective.
In this work, a new device was developed that was inspired by the ‘Russian snow penetrometer’ to help evaluate the compressive and shear properties of snow. It was found that the classical methods of analysis used for Rammsonde penetrometers and Clegg hammers had some discrepancies that partially stem from assumptions made in their formulations. This work proposes modifications to the equations thereby improving their outputs to align with a more physics-oriented approach. The assumptions in the formation of classical equations are not incorrect but may not be completely accurate for cones with a higher surface area to base area ratio.
Future work could be assessing the accuracy of the devised equations in different terrain conditions and a sensitivity study to identify critical cone angles in different conditions.
{"title":"In-house instrument development and updated classical equations for compacted snow characterization","authors":"Mohit Nitin Shenvi , Corina Sandu , Costin Untaroiu","doi":"10.1016/j.jterra.2025.101069","DOIUrl":"10.1016/j.jterra.2025.101069","url":null,"abstract":"<div><div>Testing and evaluation of commercial passenger car and truck tires for severe snow usage are performed on compacted snow tracks based on the ASTM F1805-20 standard. The snow track is characterized for these tests using the CTI penetrometer. Evaluating the compactness of the snow track as an index number is helpful, but it does not provide information that can be useful from a simulation/modeling perspective.</div><div>In this work, a new device was developed that was inspired by the ‘Russian snow penetrometer’ to help evaluate the compressive and shear properties of snow. It was found that the classical methods of analysis used for Rammsonde penetrometers and Clegg hammers had some discrepancies that partially stem from assumptions made in their formulations. This work proposes modifications to the equations thereby improving their outputs to align with a more physics-oriented approach. The assumptions in the formation of classical equations are not incorrect but may not be completely accurate for cones with a higher surface area to base area ratio.</div><div>Future work could be assessing the accuracy of the devised equations in different terrain conditions and a sensitivity study to identify critical cone angles in different conditions.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101069"},"PeriodicalIF":2.4,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144105270","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}
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