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Journal of Terramechanics最新文献

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Terrain classification and rock abundance analysis at Utopia Planitia using Zhurong image data based on deep learning algorithms 基于深度学习算法,利用祝融影像数据对乌托邦行星进行地形分类和岩石丰度分析
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-10-09 DOI: 10.1016/j.jterra.2024.101022
Yan Shen , Dong Pan , Hongtao Cao , Baofeng Yuan , Yang Jia , Lianbin He , Meng Zou
The complexity of image scene information presents challenges for the trafficability assessment and path planning of Mars rovers. To ensure the operational safety of Mars rovers and extract terrain features from complex image scenes, this paper develops an end-to-end deep learning model, using the deep convolutional neural networks ResNet50 and DeepLabV3 + as the framework, with images from the Zhurong rover’s navigation camera as the training and test datasets. A deep learning model suitable for classification and segmentation of terrain in the Mars Utopia Planitia region has been established and applied to planetary geology research. The classification accuracy of model exceeds 83.90 % and segmentation accuracy exceeds 80 %. Subsequently, an analysis of 1309 raw images from the navigation camera yielded 203,744 individual estimates of rock abundance, the model evaluates the rock abundance in the Utopia Planitia region, where the Zhurong rover is located, at 10.94 %. The terrain classification model proposed in this study provides both engineering and scientific value for future rovers on the Utopia Planitia.
图像场景信息的复杂性给火星车的交通性评估和路径规划带来了挑战。为了确保火星车的运行安全,并从复杂的图像场景中提取地形特征,本文以深度卷积神经网络ResNet50和DeepLabV3 +为框架,以 "祝融号 "火星车导航相机的图像为训练和测试数据集,建立了端到端的深度学习模型。建立了适用于火星乌托邦地区地形分类和分割的深度学习模型,并将其应用于行星地质研究。模型的分类准确率超过 83.90%,分割准确率超过 80%。随后,对导航相机拍摄的 1309 幅原始图像进行了分析,得出了 203744 个岩石丰度估算值,该模型评估出 "祝融 "号探测器所在的乌托邦星区的岩石丰度为 10.94%。本研究提出的地形分类模型为未来在桃花星上的漫游车提供了工程和科学价值。
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引用次数: 0
Tire sinkage measurement and entry angle calculation using stereo cameras 使用立体相机测量轮胎下沉量并计算进入角
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-10-07 DOI: 10.1016/j.jterra.2024.101019
Hannah White , Corina Sandu , Jyotirmoy Mukherjee , Andrea L’Afflitto , David Gorsich , Michael Cole
In the modern world the use of autonomous vehicles is growing more and more common. There are many applications for autonomous vehicles on deformable terrain, such as in military, farming, and mining but the problem with most established autonomous vehicle models is that they do not take into account the effect the terrain has on vehicle performance. To be able to accurately include these values in the vehicle model, they need to be directly sensed or estimated. One of the most valuable of these values is the tire sinkage. Tire sinkage is very important when it comes to terrain-vehicle interaction. The slip-sinkage relationship is an important factor in tractive performance. This paper is part of a larger project that is working on autonomy in conditions with deformable terrain and this paper presents on the methods employed to measure and find important values for the terramechanics of the model. This study specifically focuses on measuring the rut depth left behind after a tire travels over the terrain using a set of two stereo cameras. The sinkage is then used to be able to find the entry angle of the tire in the terrain.
在现代社会,自动驾驶汽车的使用越来越普遍。自动驾驶车辆在可变形地形上有很多应用,如军事、农业和采矿,但大多数已建立的自动驾驶车辆模型的问题在于,它们没有考虑到地形对车辆性能的影响。为了能够在车辆模型中准确地包含这些值,需要直接感知或估算这些值。其中最有价值的数值之一是轮胎下沉量。在地形与车辆相互作用方面,轮胎下沉量非常重要。滑移-下沉关系是影响牵引性能的重要因素。本文是一个大型项目的一部分,该项目致力于在可变形地形条件下实现自动驾驶,本文介绍了测量和查找模型地形力学重要值的方法。这项研究的重点是使用两台立体摄像机测量轮胎碾过地形后留下的车辙深度。然后,利用下沉量可以找到轮胎在地形中的进入角。
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引用次数: 0
Natural recovery of different soil types after passes by wheeled military truck: Implications for soil as a ground for follow-on mobility operations 轮式军用卡车通过后不同土壤类型的自然恢复:土壤作为后续机动作战地面的意义
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-09-27 DOI: 10.1016/j.jterra.2024.101017
Kersti Vennik
The trafficking of off-road military vehicles generates disturbed soil conditions. Thus, former active combat areas can have a serious effect on subsequent operations. More precisely, an uneven soil surface will remarkably increase the vibration of travelling vehicles, and over-compacted as well as displaced soil layers affect soil water dynamics that, in turn, have a long-lasting effect on soil strength. In addition, soil as a habitat for plants must provide air, water, and nutrients for the plants to grow. Luckily, soil can naturally recover from being disturbed thanks to freezing-thawing cycles, wetting–drying cycles, and biological activity. However, the rate of recovery depends on the physical parameters of soil. The objective of this study was to monitor and summarize the natural recovery rate of soils. As an experiment, single pass and repeated passes with military trucks (total weight 70 kN) were carried out. The ruts that formed were monitored and soil samples were collected up to 2 years after wheeling. The rut depth, cone index values, bulk density, soil moisture content as well as field-saturated hydraulic conductivity were measured and soil pore size distribution was determined in a laboratory during the entire studied recovery period. The results about the natural recovery on different soils are presented herein.
越野军用车辆的贩运会造成土壤条件紊乱。因此,前作战地区会对后续行动产生严重影响。更确切地说,不平整的土壤表面会显著增加行驶车辆的振动,过度压实和移位的土层会影响土壤水分动态,进而对土壤强度产生长期影响。此外,土壤作为植物的栖息地,必须为植物生长提供空气、水和养分。幸运的是,由于冰冻-解冻周期、湿润-干燥周期和生物活动的作用,土壤受到扰动后可以自然恢复。不过,恢复速度取决于土壤的物理参数。本研究的目的是监测和总结土壤的自然恢复率。作为一项实验,使用军用卡车(总重量 70 千牛)进行了单次通行和多次通行。对形成的车辙进行了监测,并收集了车轮碾压两年后的土壤样本。在整个研究恢复期间,在实验室测量了车辙深度、锥体指数值、容重、土壤含水量以及实地饱和导水率,并测定了土壤孔径分布。本文介绍了不同土壤的自然恢复结果。
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引用次数: 0
Tractive performance of rigid wheel in granular media using coarse-scale DEM models 利用粗尺度 DEM 模型实现刚性车轮在颗粒介质中的牵引性能
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-09-26 DOI: 10.1016/j.jterra.2024.101016
Bohumir Jelinek , Angela Card , George L. Mason , Karl Grebner , Aidan Dickerson , Thomas Skorupa , Michael Cole , Jody D. Priddy
Understanding interactions between wheel and granular media in variable loading conditions is critical for prediction of mobility of wheeled vehicles in off-road environments. The discrete element method (DEM) is routinely used for modeling vehicle off-road performance, but the method’s accuracy is often not fully established.
In this work, the DEM modeling accuracy is assessed by the comparison of ten DEM soil models with laboratory soil-bin measurements of net traction, gross traction, and sinkage of a wheel operating in sand. Laboratory soil-bin measurements, serving as reference for DEM simulations, were taken from physical experiments by Shinone et al. (2010), examining a 165/60R13 wheel with circumferential velocity of 97.6 mm/s and vertical contact load of 980 N in varying slip conditions.
The set of ten DEM models was selected from the Generic EDEM Material Model database from Altair®’s EDEM™ software package, choosing the materials matching the bulk density and angle of repose for dry sand.
Given the large particle size and no additional calibration of the DEM models, finding overall reasonable match with the gross traction from lab measurements and identifying a material predicting the net traction with a satisfiable accuracy encourages further use, refinement, and calibration of the DEM-based soil models.
了解车轮和颗粒介质在不同载荷条件下的相互作用对于预测轮式车辆在越野环境中的机动性至关重要。离散元法(DEM)通常用于车辆越野性能建模,但该方法的准确性往往尚未完全确定。在这项工作中,通过比较十个 DEM 土壤模型和沙地车轮净牵引力、总牵引力和下沉量的实验室土壤箱测量结果,评估了 DEM 建模的准确性。作为 DEM 模拟参考的实验室土仓测量数据来自 Shinone 等人(2010 年)的物理实验,在不同滑移条件下对圆周速度为 97.6 mm/s、垂直接触载荷为 980 N 的 165/60R13 车轮进行了测试。由于 DEM 模型的粒度较大,且无需额外校准,因此从实验室测量结果中找到了与总牵引力总体上合理匹配的材料,并确定了一种可预测净牵引力且精度令人满意的材料,从而鼓励了对基于 DEM 的土壤模型的进一步使用、改进和校准。
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引用次数: 0
Predicting the impact of wheel passage on terrain unevenness 预测车轮通过对地形不平的影响
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-09-24 DOI: 10.1016/j.jterra.2024.101015
Antonio Leanza, Angelo Ugenti, Rocco Galati, Giulio Reina
This article presents a novel approach to accurately predict how terrain unevenness is modified by the passage of a wheel under varying operating conditions. The proposed method uses a moving average filter to model the deformation of the soft soil caused by the rolling wheel. The window length of the filter is determined by key terrain parameters as well as the geometry of the wheel. The method’s accuracy and robustness are validated through a series of comparisons with a high-fidelity model developed in the multibody simulation environment MSC Adams, along with an experiment conducted in a real agricultural scenario. This model incorporates classical terramechanics theory to simulate the complex interactions between the wheel and the terrain. Key findings indicate that the moving average filter approach not only simplifies the computational process but also maintains a high degree of accuracy in predicting terrain deformation across a range of operating conditions. This method offers significant potential for improving the design and optimization of off-road vehicles, agricultural machinery, and planetary rovers by providing a more efficient tool to assess terrain interaction dynamics. In general, this study lays the foundations for advances in understanding and predicting terrain behavior under the influence of rolling wheels, contributing to the broader field of vehicle-terrain interaction research.
本文提出了一种新方法,用于准确预测车轮在不同运行条件下通过时如何改变地形的不平整度。所提出的方法使用移动平均滤波器对车轮滚动造成的软土变形进行建模。滤波器的窗口长度由主要地形参数和车轮的几何形状决定。通过与在多体仿真环境 MSC Adams 中开发的高保真模型以及在真实农业场景中进行的实验进行一系列比较,验证了该方法的准确性和稳健性。该模型结合了经典的地形力学理论,模拟了车轮与地形之间复杂的相互作用。主要研究结果表明,移动平均滤波器方法不仅简化了计算过程,而且在预测各种运行条件下的地形变形时保持了很高的准确性。这种方法为评估地形相互作用动力学提供了更有效的工具,从而为改进越野车、农业机械和行星漫游车的设计和优化提供了巨大的潜力。总之,这项研究为进一步了解和预测滚动车轮影响下的地形行为奠定了基础,为更广泛的车辆-地形相互作用研究领域做出了贡献。
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引用次数: 0
Design and development of jamming-based stiffness-adjustable wheel on soft terrain 设计和开发基于干扰的软地形刚度可调车轮
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-09-19 DOI: 10.1016/j.jterra.2024.101014
Tachadol Suthisomboon, Stephane Bonardi, Genya Ishigami

Traversing soft terrain poses a major challenge for planetary wheeled rovers, and various studies have demonstrated ways to enhance rover mobility by transforming the wheel structure or adjusting the wheel’s stiffness, which results in a change in wheel contact area on the terrain. This paper presents a novel idea using the jamming mechanism for modulating the wheel’s stiffness. The developed wheel consists of the core body, wheel outer rim, inner flexure, and cable tension mechanism. The jamming mechanism is realized by adjusting the cable tension inserted between the outer rim of the wheel. The wheel stiffness measuement test confirms that the wheel with low stiffness can reduce its stiffness for 75% of the high stiffness configuration. The wheel’s traversability on soft terrain are also evaluated based on slip ratio and current consumption. The results demonstrate that the lower-stiffness configuration outperforms the higher-stiffness wheel under various conditions. These findings, being consistent with previous works on flexible wheels, highlight the potential benefits of the jamming-based stiffness-adjustable wheel for rough terrain traverse with various payload conditions.

穿越松软地形对行星轮式漫游车来说是一项重大挑战,各种研究已经证明了通过改变车轮结构或调整车轮刚度来增强漫游车机动性的方法,从而改变车轮与地形的接触面积。本文提出了一种利用干扰机制来调节车轮刚度的新思路。所开发的车轮由核心主体、车轮外圈、内挠和拉索张紧机构组成。干扰机构是通过调整插入轮毂外缘之间的拉索张力来实现的。车轮刚度测量试验证实,低刚度车轮的刚度可降低到高刚度配置的 75%。此外,还根据滑移率和电流消耗评估了车轮在松软地形上的可穿越性。结果表明,在各种条件下,低刚度配置的车轮都优于高刚度车轮。这些研究结果与之前关于柔性车轮的研究结果一致,凸显了基于干扰的刚度可调车轮在各种有效载荷条件下穿越崎岖地形的潜在优势。
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引用次数: 0
Shortwave infrared fusion for snow surface traversability mapping 融合短波红外线绘制雪面可穿越性地图
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-09-17 DOI: 10.1016/j.jterra.2024.101010
Anthony T. Fragoso, Sarah M. Piedmont

Estimating the mechanical properties of snow from imagery is an essential part of over-snow vehicle autonomy. However, snow surfaces that differ widely in strength, traction, and motion resistance tend to appear a uniform bright white in visible or broadband infrared imagery, and it is difficult to determine where an oversnow vehicle should operate from imagery alone. In this work we determine the optimal fusion of filtered broadband shortwave infrared (SWIR) imagery to separate snow types with different mechanical properties by appearance. We demonstrate vastly increased discrimination skill in distinguishing snow types using a small number of SWIR cameras in both field and laboratory settings, and also identify sources of environmental context that can improve lookahead sensing for oversnow vehicles. Overall, we show that a small set of inexpensive SWIR filters is a powerful tool for over-snow autonomy and motion planning.

从图像中估计雪的机械特性是雪地车自动驾驶的重要组成部分。然而,在可见光或宽带红外图像中,强度、牵引力和运动阻力差异很大的雪面往往呈现出统一的亮白色,因此很难仅凭图像确定雪地车的运行位置。在这项工作中,我们确定了滤波宽带短波红外(SWIR)图像的最佳融合方式,以通过外观区分具有不同机械特性的雪类型。我们证明了在野外和实验室环境中使用少量 SWIR 摄像机区分雪类型的辨别能力大大提高,同时还确定了可改善雪地车前瞻性传感的环境背景来源。总之,我们证明了一小套廉价的 SWIR 滤波器是实现雪上自动驾驶和运动规划的强大工具。
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引用次数: 0
Comparison of lunar rover wheel performance in soils with different cohesive properties 比较月球车车轮在不同粘性土壤中的性能
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-09-13 DOI: 10.1016/j.jterra.2024.101011
Keisuke Takehana, Shino Kizaki, Tomomi Tanaka, Kentaro Uno, Kazuya Yoshida

Wheeled mobile robots, rovers, are highly effective in lunar exploration. However, the lunar regolith can cause wheel slippage, resulting in an inability to travel for the rover. A single-wheel testbed is usually used to analyze a rover wheel’s driving performance. Our experiment can control the rotation and translation of the wheels separately, realizing experiments in any slippage condition. Moreover, this testbed can conduct experiments using regolith simulant with a cohesive property, in addition to Toyoura sand, which is non-cohesive sand collected from the earth.

This paper presents the results of a driving test on two types of loose soil: Toyoura sand and regolith simulant (FJS-1). The wheel used in the experiment is the preliminary version of the actual flight model of a 10 kg class lunar exploration microrover. The results reveal that the traction performance on both sands improves as the slip ratio increases. The performance did not depend on velocity but on vertical load. It should be noted that the cohesive simulant shows a higher difference in traction performance than Toyoura sand. These findings, measured in detail from the low-slip to the high-slip range, contribute to the actual driving operation of the rover missions.

轮式移动机器人--漫游车在月球探测中非常有效。然而,月球上的碎石会造成车轮打滑,导致漫游车无法行驶。单轮试验台通常用于分析漫游车车轮的驱动性能。我们的实验可以分别控制车轮的旋转和平移,实现任何打滑条件下的实验。此外,该试验台除了可以使用从地球上采集的无粘性的丰浦砂外,还可以使用具有粘性的碎石模拟物进行实验:本文介绍了在两种松散土壤上进行的驾驶试验的结果:丰浦砂和碎石模拟物(FJS-1)。实验中使用的车轮是 10 公斤级月球探测微车实际飞行模型的初步版本。实验结果表明,随着滑移率的增加,两种沙的牵引性能都有所改善。性能并不取决于速度,而是取决于垂直载荷。值得注意的是,与丰浦砂相比,粘性模拟砂的牵引性能差异更大。这些研究结果从低滑移到高滑移范围进行了详细测量,有助于漫游车任务的实际驾驶操作。
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引用次数: 0
Agricultural tractor bogie axle adoption: Market opportunities and traction and ground pressure improvements through mobility metrics and simulations 农用拖拉机转向架车轴的采用:市场机遇以及通过机动性指标和模拟改善牵引力和地面压力
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-09-11 DOI: 10.1016/j.jterra.2024.101013
Stefano Uberti, Daniele Beltrami, Marco Ferrari, Paolo Iora

Traction and ground pressure are key aspects of modern off-highway machinery. On the one hand, the machinery must be able to move successfully on rough terrain, on the other hand, the soil cannot be excessively ruined, particularly in agriculture fields that must be as productive as possible. In this regard, when the soil is very sensitive to ground pressure and slip efficiency, tracks are often mounted on agricultural tractors rather than wheels. Regrettably, it significantly diminishes the multi-purpose functionality of modern agricultural tractors, which is an essential feature. To offer higher pulling efficiency, reduced ground pressure, and greater multi-purpose functionality, an agricultural tractor fitted with a rear bogie axle is hereby presented. A market analysis is carried out to demonstrate the potential of such a vehicle. Subsequently, an ideal agricultural tractor is proposed for benchmarking purposes and as the baseline for designing the bogie axle application. Their pulling performance is evaluated by using a custom-made spreadsheet, while a novel coefficient named Pull on Pressure is introduced to assess off-road mobility. Ultimately, the two variations of the agricultural tractors undergo testing on vehicle dynamics simulation software to conduct an initial comparative analysis.

牵引力和地面压力是现代非公路机械的关键因素。一方面,机械必须能够在崎岖不平的地形上顺利行驶,另一方面,土壤不能受到过度破坏,尤其是在必须尽可能提高产量的农田里。在这方面,当土壤对地面压力和滑动效率非常敏感时,农用拖拉机上通常安装履带而不是轮子。遗憾的是,这大大降低了现代农用拖拉机的多用途功能,而这正是其基本特征。为了提供更高的牵引效率、更小的地面压力和更强的多用途功能,本文介绍了一种装有后转向架车桥的农用拖拉机。通过市场分析,展示了这种车辆的潜力。随后,提出了一种理想的农用拖拉机,作为设计转向架车桥应用的基准。使用定制的电子表格对其牵引性能进行了评估,同时引入了名为 "压力拉力 "的新系数来评估越野机动性。最后,在车辆动力学仿真软件上对两种不同的农用拖拉机进行了测试,以进行初步的比较分析。
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引用次数: 0
Parameter identification of DEM-FEM coupling model to simulate traction behavior of tire-soil interaction 模拟轮胎与土壤相互作用牵引行为的 DEM-FEM 耦合模型的参数识别
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-09-11 DOI: 10.1016/j.jterra.2024.101012
Haiyang Zeng , Zhifeng Lin , Guohong Huang , Xiaoqing Yang , Yanfeng Li , Jiabao Su , Wei Xu

This paper presents a novel parameter identification method for DEM-FEM coupling model to investigate the trafficability of off-road tires on granular soils. Initially, an experimental device is developed to measure the bulk responses of granular materials i.e., angles of repose and shear. A series of numerical tests, including the Plackett-Burman tests, steepest-climbing tests and three-factor orthogonal tests, are then performed to formulate the mathematical regression and constraint equations. These equations establish the correlation between the three key model input parameters (namely, coefficients of static friction of acrylic wall-particle and particles, and coefficient of restitution of acrylic wall-particle) and the aforementioned bulk responses. After that, the non-dominated sorting genetic algorithm II (NSGA-II) is implemented to iteratively calculate the equations based on the multi-objective optimization method to obtain the optimal solution set. Finally, the effectiveness and feasibility of the parameter identification method are confirmed by comparing the results of indoor soil-bin tests and the corresponding numerical simulations in terms of tire sinkage, ruts and soil deformation and flow.

本文提出了一种新颖的 DEM-FEM 耦合模型参数识别方法,用于研究越野轮胎在颗粒土上的可通行性。首先,开发了一种实验装置来测量颗粒材料的体积响应,即休止角和剪切角。然后进行一系列数值试验,包括 Plackett-Burman 试验、最陡爬坡试验和三因素正交试验,以制定数学回归和约束方程。这些方程确定了三个关键模型输入参数(即丙烯酸壁-颗粒和颗粒的静摩擦系数以及丙烯酸壁-颗粒的弹性系数)与上述体积响应之间的相关性。然后,基于多目标优化方法,采用非支配排序遗传算法 II(NSGA-II)对方程进行迭代计算,以获得最优解集。最后,通过对比室内土箱试验结果和相应的数值模拟结果,从轮胎下沉、车辙和土壤变形及流动等方面证实了参数识别方法的有效性和可行性。
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引用次数: 0
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