首页 > 最新文献

Journal of Terramechanics最新文献

英文 中文
Design and multi-body dynamic analysis of inline and offset track configuration in deep-sea mining vehicles for enhanced traction in soft seabed 设计和多体动力学分析深海采矿车辆的内嵌式和偏置式履带配置,以增强在松软海底的牵引力
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-07-08 DOI: 10.1016/j.jterra.2024.100999
C. Janarthanan , R. Muruganandhan , K. Gopkumar

The deep sea polymetallic nodule mining vehicle maneuverability depends on the vehicle track parameters and track configuration. The traction force offered by the deep sea soil is very limited for the mining vehicle during dynamic operating conditions on the seabed and it is very critical to maneuver against the external resistances. The present study strives to arrive at optimum track parameters for enhancing the traction of the vehicle for the pre-determined seabed conditions. The efficacy of the four tracks in Inline and Offset track configurations on the soft soil has been compared. To improve the traction force estimation, the existing mathematical model was modified with the inclusion of dynamic variation of shear stress-shear displacement characteristics and variation in shear residual displacement concerning the track parameters. The modified mathematical model was solved in a well-established mathematical tool and found that there are 30 percent improvements in the traction force generation for the offset configuration over inline track configuration. The optimum track length to width ratio (L/b) was also estimated for the given contact area to configure the vehicle track for improvement of the traction. Further, a Multi-Body Dynamic (MBD) analysis has been carried out in commercially available soil-machine interaction tool for the inline and offset track configurations with actual measured seabed soil parameters. The MBD analysis proved that the sinkage and vehicle gradient is significantly increased in the inline track configuration due to disturbance created by the front tracks. The simulation results confirm that the offset track configuration is suitable for the deep sea soil conditions for handling the higher payload of a deep sea mining vehicle.

深海多金属结核采矿车的机动性取决于车辆的履带参数和履带配置。在海底动态运行条件下,深海土壤为采矿车提供的牵引力非常有限,因此,如何克服外部阻力进行机动非常关键。本研究试图找出最佳履带参数,以增强车辆在预定海底条件下的牵引力。比较了四种履带的内嵌式和偏移式履带配置在软土上的功效。为改进牵引力估算,对现有数学模型进行了修改,加入了与履带参数有关的剪应力-剪切位移特征动态变化和剪切残余位移变化。修改后的数学模型采用成熟的数学工具进行求解,结果发现偏置配置比直列轨道配置的牵引力产生率提高了 30%。此外,还估算了给定接触面积下的最佳履带长宽比(L/b),以配置车辆履带,提高牵引力。此外,还利用市场上可买到的土机互动工具,结合实际测量的海底土壤参数,对直列式和偏置式履带配置进行了多体动力学(MBD)分析。MBD 分析表明,由于前履带产生的扰动,直列履带配置的下沉和车辆坡度明显增加。模拟结果证实,偏置履带配置适合深海土壤条件,可处理深海采矿车的较大有效载荷。
{"title":"Design and multi-body dynamic analysis of inline and offset track configuration in deep-sea mining vehicles for enhanced traction in soft seabed","authors":"C. Janarthanan ,&nbsp;R. Muruganandhan ,&nbsp;K. Gopkumar","doi":"10.1016/j.jterra.2024.100999","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100999","url":null,"abstract":"<div><p>The deep sea polymetallic nodule mining vehicle maneuverability depends on the vehicle track parameters and track configuration. The traction force offered by the deep sea soil is very limited for the mining vehicle during dynamic operating conditions on the seabed and it is very critical to maneuver against the external resistances. The present study strives to arrive at optimum track parameters for enhancing the traction of the vehicle for the pre-determined seabed conditions. The efficacy of the four tracks in Inline and Offset track configurations on the soft soil has been compared. To improve the traction force estimation, the existing mathematical model was modified with the inclusion of dynamic variation of shear stress-shear displacement characteristics and variation in shear residual displacement concerning the track parameters. The modified mathematical model was solved in a well-established mathematical tool and found that there are 30 percent improvements in the traction force generation for the offset configuration over inline track configuration. The optimum track length to width ratio (<span><math><mrow><mi>L</mi><mo>/</mo><mi>b</mi></mrow></math></span>) was also estimated for the given contact area to configure the vehicle track for improvement of the traction. Further, a Multi-Body Dynamic (MBD) analysis has been carried out in commercially available soil-machine interaction tool for the inline and offset track configurations with actual measured seabed soil parameters. The MBD analysis proved that the sinkage and vehicle gradient is significantly increased in the inline track configuration due to disturbance created by the front tracks. The simulation results confirm that the offset track configuration is suitable for the deep sea soil conditions for handling the higher payload of a deep sea mining vehicle.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141582566","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
Discrete element contact model and parameter calibration of sticky particles and agglomerates 粘性颗粒和团聚体的离散元素接触模型和参数校准
IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Pub Date : 2024-06-29 DOI: 10.1016/j.jterra.2024.100998
Zhifan Chen, Angxu Duan, Yang Liu, Hanqi Zhao, Chunyang Dai, Seng Hu, Xiaolong Lei, Jianfeng Hu, Lin Chen

The soil in southwest China is a cohesive soil in which discrete cohesive particles and aggregates coexist. In view of the problem that there are many studies on discrete cohesive particles and a lack of research on aggregates, discrete element software DEM is used to conduct a study on cohesive particles and agglomerates parameter calibration. The angle of repose is selected as the target value to calibrate the simulation parameters of sticky particles. Then, the simulation parameters of the viscous particles are used as the basis for the calibration of the contact parameters of the agglomerates, and shear experiments are conducted on the agglomerates, with the ultimate shear depth and ultimate shear force as target values. The results show that the parameters of the agglomerate are: Normal Stiffness per unit area is 5.627 × 108 N/m3, Shear Stiffness per unit area is 4.359 × 108 N/m3, Critical Normal Stress is 3.5 × 106 Pa, Critical Shear Stress is 4.5 × 106 Pa and Bonded Disk Radius is 5.43 mm. Through the particle sliding friction angle test and the agglomerate compression test, it was verified that the errors of sticky particles were 0.30 % and 0.37 % respectively, and the error of agglomerates was 1.69 %.

中国西南地区的土壤属于离散粘粒与团聚体共存的粘性土壤。针对离散粘性颗粒研究较多而团聚体研究较少的问题,采用离散元软件 DEM 对粘性颗粒和团聚体进行参数标定研究。选择休止角为目标值来校准粘性颗粒的模拟参数。然后,以粘性颗粒的模拟参数为基础校准团聚体的接触参数,并以极限剪切深度和极限剪切力为目标值对团聚体进行剪切实验。结果表明,团聚体的参数为单位面积法向刚度为 5.627 × 108 N/m3,单位面积剪切刚度为 4.359 × 108 N/m3,临界法向应力为 3.5 × 106 Pa,临界剪切应力为 4.5 × 106 Pa,粘结盘半径为 5.43 mm。通过颗粒滑动摩擦角试验和团聚体压缩试验,验证了粘性颗粒的误差分别为 0.30 % 和 0.37 %,团聚体的误差为 1.69 %。
{"title":"Discrete element contact model and parameter calibration of sticky particles and agglomerates","authors":"Zhifan Chen,&nbsp;Angxu Duan,&nbsp;Yang Liu,&nbsp;Hanqi Zhao,&nbsp;Chunyang Dai,&nbsp;Seng Hu,&nbsp;Xiaolong Lei,&nbsp;Jianfeng Hu,&nbsp;Lin Chen","doi":"10.1016/j.jterra.2024.100998","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100998","url":null,"abstract":"<div><p>The soil in southwest China is a cohesive soil in which discrete cohesive particles and aggregates coexist. In view of the problem that there are many studies on discrete cohesive particles and a lack of research on aggregates, discrete element software DEM is used to conduct a study on cohesive particles and agglomerates parameter calibration. The angle of repose is selected as the target value to calibrate the simulation parameters of sticky particles. Then, the simulation parameters of the viscous particles are used as the basis for the calibration of the contact parameters of the agglomerates, and shear experiments are conducted on the agglomerates, with the ultimate shear depth and ultimate shear force as target values. The results show that the parameters of the agglomerate are: Normal Stiffness per unit area is 5.627 × 10<sup>8</sup> N/m<sup>3</sup>, Shear Stiffness per unit area is 4.359 × 10<sup>8</sup> N/m<sup>3</sup>, Critical Normal Stress is 3.5 × 10<sup>6</sup> Pa, Critical Shear Stress is 4.5 × 10<sup>6</sup> Pa and Bonded Disk Radius is 5.43 mm. Through the particle sliding friction angle test and the agglomerate compression test, it was verified that the errors of sticky particles were 0.30 % and 0.37 % respectively, and the error of agglomerates was 1.69 %.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000405/pdfft?md5=a687c65faf0abd40ea368ca45146d2a1&pid=1-s2.0-S0022489824000405-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141486896","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Override forces through clumps of small vegetation 通过小植被丛覆盖力量
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2024-06-12 DOI: 10.1016/j.jterra.2024.100988
Marc N. Moore , Christopher Goodin , Ethan Salmon , Michael P. Cole , Paramsothy Jayakumar , Brittney English

Vegetation override is an important aspect of off-road ground vehicle mobility. For autonomous ground vehicles (AGV), path-planning in off-road environments may be informed by the predicted resistance of vegetation in the navigation environment. However, there are no prior measurements on the override resistance of small stems (<2.5 cm) and groups of small stems on medium-sized (1000 kg) vehicles. In this work, a series of override measurements for clumps of small vegetation that are relevant for off-road navigation by intermediate-sized AGV is presented. The development and calibration of a custom-made pushbar system with integrated load cells for directly measuring override forces is also presented, and a comparison of the results of the experiments to models developed for override of larger single stems is made. It is found that for clumps of small vegetation, the total override force is best predicted by the diameter of the largest stem in the clump. Additionally, it is found that the equations developed for larger stems under-predict the override forces exerted by smaller stems by about a factor of two.

植被覆盖是越野地面车辆机动性的一个重要方面。对于自动地面车辆(AGV)来说,在非道路环境中进行路径规划时,可参考导航环境中植被的预测阻力。然而,对于中型(≈1000 千克)车辆上的小茎(<2.5 厘米)和小茎群的越障阻力,目前还没有事先的测量结果。在这项工作中,对与中型 AGV 越野导航相关的小植被丛进行了一系列越障测量。此外,还介绍了定制推杆系统的开发和校准情况,该系统带有集成称重传感器,可直接测量超载力,并将实验结果与为较大单茎超载而开发的模型进行了比较。实验发现,对于小型植被丛,丛中最大茎干直径对总推覆力的预测最为准确。此外,还发现为较大茎开发的方程对较小茎施加的推覆力的预测不足约 2 倍。
{"title":"Override forces through clumps of small vegetation","authors":"Marc N. Moore ,&nbsp;Christopher Goodin ,&nbsp;Ethan Salmon ,&nbsp;Michael P. Cole ,&nbsp;Paramsothy Jayakumar ,&nbsp;Brittney English","doi":"10.1016/j.jterra.2024.100988","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100988","url":null,"abstract":"<div><p>Vegetation override is an important aspect of off-road ground vehicle mobility. For autonomous ground vehicles (AGV), path-planning in off-road environments may be informed by the predicted resistance of vegetation in the navigation environment. However, there are no prior measurements on the override resistance of small stems (<span><math><mrow><mo>&lt;</mo></mrow></math></span>2.5 cm) and groups of small stems on medium-sized (<span><math><mrow><mo>≈</mo></mrow></math></span>1000 kg) vehicles. In this work, a series of override measurements for clumps of small vegetation that are relevant for off-road navigation by intermediate-sized AGV is presented. The development and calibration of a custom-made pushbar system with integrated load cells for directly measuring override forces is also presented, and a comparison of the results of the experiments to models developed for override of larger single stems is made. It is found that for clumps of small vegetation, the total override force is best predicted by the diameter of the largest stem in the clump. Additionally, it is found that the equations developed for larger stems under-predict the override forces exerted by smaller stems by about a factor of two.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0022489824000302/pdfft?md5=f6fd5b906e672e091fd9947120d8b3cf&pid=1-s2.0-S0022489824000302-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141312878","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of DEM–ANN-based hybrid terramechanics model considering dynamic sinkage 开发考虑动态下沉的基于 DEM-ANN 的混合地形力学模型
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2024-06-06 DOI: 10.1016/j.jterra.2024.100989
Ji-Tae Kim , Huisu Hwang , Ho-Seop Lee , Young-Jun Park

The interaction between deformable terrain and wheels significantly affects wheel mobility. To accurately predict vehicle mobility or optimize wheel design, an analysis of this interaction is essential. This study develops a hybrid terramechanics model (HTM) that integrates the semi-empirical model (SEM) and the discrete element method (DEM) using artificial neural networks (ANNs). The model overcomes the limitations inherent in SEM and DEM approaches. We used DEM simulations to analyze the impact of wheel design parameters and slip ratio on terrain behavior. ANNs were subsequently developed to predict dynamic sinkage in real time based on these results. A new concept, termed bulldozing angle, was introduced to define additional terrain–wheel contact caused by dynamic sinkage. Based on this concept, we predicted the bulldozing resistance exerted on the wheel. By combining SEM, ANNs, and DEM, we developed an HTM capable of terrain behavior analysis. Lastly, we conducted a comparative analysis between the SEM, HTM, and actual test data. The results confirmed that the predictive accuracy of the HTM surpassed that of the SEM across all slip ratios.

可变形地形与车轮之间的相互作用会极大地影响车轮的移动性。要准确预测车辆的机动性或优化车轮设计,就必须对这种相互作用进行分析。本研究开发了一种混合地形力学模型(HTM),利用人工神经网络(ANN)将半经验模型(SEM)和离散元素法(DEM)整合在一起。该模型克服了 SEM 和 DEM 方法固有的局限性。我们利用 DEM 仿真分析了车轮设计参数和滑移率对地形行为的影响。随后根据这些结果开发了 ANN,用于实时预测动态下沉。我们引入了一个名为 "推土角"(bulldozing angle)的新概念,用于定义动态下沉造成的额外地形-车轮接触。基于这一概念,我们预测了车轮受到的推土阻力。通过将 SEM、ANN 和 DEM 相结合,我们开发出了能够进行地形行为分析的 HTM。最后,我们对 SEM、HTM 和实际测试数据进行了对比分析。结果证实,在所有滑移率下,HTM 的预测准确性都超过了 SEM。
{"title":"Development of DEM–ANN-based hybrid terramechanics model considering dynamic sinkage","authors":"Ji-Tae Kim ,&nbsp;Huisu Hwang ,&nbsp;Ho-Seop Lee ,&nbsp;Young-Jun Park","doi":"10.1016/j.jterra.2024.100989","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100989","url":null,"abstract":"<div><p>The interaction between deformable terrain and wheels significantly affects wheel mobility. To accurately predict vehicle mobility or optimize wheel design, an analysis of this interaction is essential. This study develops a hybrid terramechanics model (HTM) that integrates the semi-empirical model (SEM) and the discrete element method (DEM) using artificial neural networks (ANNs). The model overcomes the limitations inherent in SEM and DEM approaches. We used DEM simulations to analyze the impact of wheel design parameters and slip ratio on terrain behavior. ANNs were subsequently developed to predict dynamic sinkage in real time based on these results. A new concept, termed bulldozing angle, was introduced to define additional terrain–wheel contact caused by dynamic sinkage. Based on this concept, we predicted the bulldozing resistance exerted on the wheel. By combining SEM, ANNs, and DEM, we developed an HTM capable of terrain behavior analysis. Lastly, we conducted a comparative analysis between the SEM, HTM, and actual test data. The results confirmed that the predictive accuracy of the HTM surpassed that of the SEM across all slip ratios.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141290219","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
Modeling wheeled locomotion in granular media using 3D-RFT and sand deformation 利用 3D-RFT 和沙粒变形模拟颗粒介质中的轮式运动
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2024-06-01 DOI: 10.1016/j.jterra.2024.100987
Qishun Yu, Catherine Pavlov, Wooshik Kim, Aaron M. Johnson

Modeling the wheel-soil interaction of small-wheeled robots in granular media is important for robot design and control. A wide range of applications, from earthmoving for construction and farming vehicles to navigating rough terrain for Mars rovers, motivate the need for a model that can predict the force response of a wheel and the terrain shape afterward. More importantly, the speed, accuracy, and generality of the model should be considered for real-world applications. In this paper, we offer a straightforward sand deformation simulator to simulate the soil surface and integrate it with 3D-RFT in order to capture the soil motion caused by the wheel. The proposed method is able to: (1) estimate three-dimensional interaction forces of arbitrarily shaped wheels traveling in granular media; (2) simulate the soil displacement from the trajectory; and (3) perform the force calculation in real-time at 60 Hz.

建立小轮机器人在颗粒介质中车轮与土壤相互作用的模型对于机器人的设计和控制非常重要。从建筑和农用车辆的土方工程到火星探测器的崎岖地形导航,广泛的应用促使人们需要一个能够预测车轮受力反应和之后地形形状的模型。更重要的是,模型的速度、准确性和通用性应考虑到实际应用。在本文中,我们提供了一个直接的沙土变形模拟器来模拟土壤表面,并将其与 3D-RFT 相结合,以捕捉车轮引起的土壤运动。所提出的方法能够(1) 估算在颗粒介质中行驶的任意形状车轮的三维相互作用力;(2) 根据轨迹模拟土壤位移;(3) 以 60 Hz 实时执行力计算。
{"title":"Modeling wheeled locomotion in granular media using 3D-RFT and sand deformation","authors":"Qishun Yu,&nbsp;Catherine Pavlov,&nbsp;Wooshik Kim,&nbsp;Aaron M. Johnson","doi":"10.1016/j.jterra.2024.100987","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100987","url":null,"abstract":"<div><p>Modeling the wheel-soil interaction of small-wheeled robots in granular media is important for robot design and control. A wide range of applications, from earthmoving for construction and farming vehicles to navigating rough terrain for Mars rovers, motivate the need for a model that can predict the force response of a wheel and the terrain shape afterward. More importantly, the speed, accuracy, and generality of the model should be considered for real-world applications. In this paper, we offer a straightforward sand deformation simulator to simulate the soil surface and integrate it with 3D-RFT in order to capture the soil motion caused by the wheel. The proposed method is able to: (1) estimate three-dimensional interaction forces of arbitrarily shaped wheels traveling in granular media; (2) simulate the soil displacement from the trajectory; and (3) perform the force calculation in real-time at 60 Hz.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141240045","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
Predicting unsaturated soil strength of coarse-grained soils for mobility assessments 为流动性评估预测粗粒土的非饱和土壤强度
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2024-05-20 DOI: 10.1016/j.jterra.2024.100977
Matthew D. Bullock, Joseph Scalia IV, Jeffrey D. Niemann

Accurately estimating surficial soil moisture and strength is integral to determining vehicle mobility and is especially important over large spatial extents at fine resolutions. While methods exist to estimate soil strength across landscapes, they are empirical and rely on class average soil behavior. The Strength of Surficial Soils (STRESS) model was developed to estimate moisture-variable soil strength with a physics-based approach. However, there is a lack of field data from a diverse landscape to evaluate the STRESS model. To test the STRESS model, a field study was conducted in northern Colorado. Soil moisture and strength were measured on 10 dates. Data from the surficial layer (0–5 cm) were used to test the STRESS model and determine if soil strength trends could be estimated from topographical and soil textural differences. High variability was observed in soil strength measurements stemming from fine-scale terrain features and user variability. Observations show lower soil strengths for greater soil moistures, steeper slopes, higher vegetation, and lower soil fines content. STRESS estimated rating cone index values with a mean relative error of 37.5 %, while a pre-existing model had a mean relative error of 47.4 %. The STRESS model outperforms the current RCI prediction method, but uncertainty remains large.

准确估算表层土壤湿度和强度对于确定车辆的机动性不可或缺,尤其是在精细分辨率的大空间范围内。虽然有一些方法可以估算整个地貌的土壤强度,但这些方法都是经验性的,依赖于土壤的类平均行为。表层土壤强度(STRESS)模型是基于物理方法开发的,用于估算随湿度变化的土壤强度。然而,目前缺乏来自不同地貌的实地数据来评估 STRESS 模型。为了测试 STRESS 模型,我们在科罗拉多州北部进行了实地研究。在 10 个日期测量了土壤水分和强度。来自表层(0-5 厘米)的数据被用来测试 STRESS 模型,并确定是否可以根据地形和土壤质地差异估算出土壤强度趋势。在土壤强度测量中发现,由于地形特征和使用者的差异,土壤强度测量结果存在很大差异。观测结果表明,土壤湿度越大、坡度越陡、植被越多、土壤细粒含量越低,土壤强度就越低。STRESS 估算的评级锥指数值的平均相对误差为 37.5%,而之前已有模型的平均相对误差为 47.4%。STRESS 模型优于当前的 RCI 预测方法,但不确定性仍然很大。
{"title":"Predicting unsaturated soil strength of coarse-grained soils for mobility assessments","authors":"Matthew D. Bullock,&nbsp;Joseph Scalia IV,&nbsp;Jeffrey D. Niemann","doi":"10.1016/j.jterra.2024.100977","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100977","url":null,"abstract":"<div><p>Accurately estimating surficial soil moisture and strength is integral to determining vehicle mobility and is especially important over large spatial extents at fine resolutions. While methods exist to estimate soil strength across landscapes, they are empirical and rely on class average soil behavior. The Strength of Surficial Soils (STRESS) model was developed to estimate moisture-variable soil strength with a physics-based approach. However, there is a lack of field data from a diverse landscape to evaluate the STRESS model. To test the STRESS model, a field study was conducted in northern Colorado. Soil moisture and strength were measured on 10 dates. Data from the surficial layer (0–5 cm) were used to test the STRESS model and determine if soil strength trends could be estimated from topographical and soil textural differences. High variability was observed in soil strength measurements stemming from fine-scale terrain features and user variability. Observations show lower soil strengths for greater soil moistures, steeper slopes, higher vegetation, and lower soil fines content. STRESS estimated rating cone index values with a mean relative error of 37.5 %, while a pre-existing model had a mean relative error of 47.4 %. The STRESS model outperforms the current RCI prediction method, but uncertainty remains large.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141068493","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
Applied mathematical modelling to analyze terrain-roadway-vehicle interaction of flexible-rigid foldable roadway 应用数学模型分析柔性-刚性可折叠路面的地形-路面-车辆相互作用
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2024-05-18 DOI: 10.1016/j.jterra.2024.100976
Fengxiao Liu , Hao Wu , Hualin Fan , Wang Li

Based on decoupled technique and superposition principle, an applied mathematical modelling method was developed to analyze soil-roadway-vehicle interaction and roadway sinkage for a rapidly deployable foldable roadway. A tensionless soil-structure model was applied to model the interaction between the soil and the roadway. The roadway is flexible longitudinally and rigid transversely. The three-dimensional (3D) plate-like problem was decoupled by two two-dimensional (2D) structural models, a longitudinal membrane-like structural model and a transverse elastic beam model. The total sinkage of the roadway is the superposition of the calculations of these two structural models. The mathematical modelling is consistent with the experimental result and its rationality has been verified.

基于解耦技术和叠加原理,开发了一种应用数学建模方法,用于分析可快速部署的折叠式路面的土壤-路面-车辆相互作用和路面下沉。无张力土壤-结构模型用于模拟土壤与路面之间的相互作用。路面纵向是柔性的,横向是刚性的。三维(3D)板状问题由两个二维(2D)结构模型(纵向膜状结构模型和横向弹性梁模型)解耦。巷道的总下沉量是这两个结构模型计算结果的叠加。数学模型与实验结果一致,其合理性已得到验证。
{"title":"Applied mathematical modelling to analyze terrain-roadway-vehicle interaction of flexible-rigid foldable roadway","authors":"Fengxiao Liu ,&nbsp;Hao Wu ,&nbsp;Hualin Fan ,&nbsp;Wang Li","doi":"10.1016/j.jterra.2024.100976","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100976","url":null,"abstract":"<div><p>Based on decoupled technique and superposition principle, an applied mathematical modelling method was developed to analyze soil-roadway-vehicle interaction and roadway sinkage for a rapidly deployable foldable roadway. A tensionless soil-structure model was applied to model the interaction between the soil and the roadway. The roadway is flexible longitudinally and rigid transversely. The three-dimensional (3D) plate-like problem was decoupled by two two-dimensional (2D) structural models, a longitudinal membrane-like structural model and a transverse elastic beam model. The total sinkage of the roadway is the superposition of the calculations of these two structural models. The mathematical modelling is consistent with the experimental result and its rationality has been verified.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141068488","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
Rapid and precise calibration of soil microparameters for high-fidelity discrete element models in vehicle mobility simulation 快速精确校准土壤微参数,用于车辆移动模拟中的高保真离散元件模型
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2024-05-11 DOI: 10.1016/j.jterra.2024.100985
Chen Hua , Runxin Niu , Xinkai Kuang , Biao Yu , Chunmao Jiang , Wei Liu

In the realm of numerical simulations concerning vehicle mobility, the establishment of a high-fidelity soil discrete element model often necessitates substantial parameter adjustments to align with the mechanical responses of actual soil. In pursuit of a rapid and precise calibration of the microparameters of the soil model, this paper describes an approach rooted in machine learning surrogate models. This method calibrates the corresponding discrete element microparameters based on the macroscopic Mohr–Coulomb parameters derived from actual soil direct shear tests. The distinct contribution lies in the creation of a dataset that bridges the soil microparameters and macroparameters through simulated direct shear tests, which serves as training data for machine learning algorithms. Additionally, an adaptive particle swarm optimization neural network algorithm is proposed to represent the nonlinear relationships among parameters within the dataset, thus achieving intelligent calibration. To verify the reliability of the proposed soil calibration model in the context of vehicle mobility simulations, a co-simulation is conducted using a vehicle multibody dynamics simulation model and the calibrated soil model, with validation conducted across multiple criteria.

在有关车辆机动性的数值模拟领域,建立高保真土壤离散元件模型往往需要对参数进行大量调整,以符合实际土壤的机械响应。为了快速精确地校准土壤模型的微参数,本文介绍了一种基于机器学习代用模型的方法。该方法根据从实际土壤直接剪切试验中得出的宏观莫尔-库仑参数校准相应的离散元素微参数。其独特之处在于,通过模拟直接剪切试验创建了一个数据集,将土壤微观参数和宏观参数连接起来,作为机器学习算法的训练数据。此外,还提出了一种自适应粒子群优化神经网络算法,用于表示数据集中各参数之间的非线性关系,从而实现智能校准。为了验证所提出的土壤标定模型在车辆行驶模拟中的可靠性,我们使用车辆多体动力学模拟模型和标定的土壤模型进行了联合模拟,并通过多个标准进行了验证。
{"title":"Rapid and precise calibration of soil microparameters for high-fidelity discrete element models in vehicle mobility simulation","authors":"Chen Hua ,&nbsp;Runxin Niu ,&nbsp;Xinkai Kuang ,&nbsp;Biao Yu ,&nbsp;Chunmao Jiang ,&nbsp;Wei Liu","doi":"10.1016/j.jterra.2024.100985","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100985","url":null,"abstract":"<div><p>In the realm of numerical simulations concerning vehicle mobility, the establishment of a high-fidelity soil discrete element model often necessitates substantial parameter adjustments to align with the mechanical responses of actual soil. In pursuit of a rapid and precise calibration of the microparameters of the soil model, this paper describes an approach rooted in machine learning surrogate models. This method calibrates the corresponding discrete element microparameters based on the macroscopic Mohr–Coulomb parameters derived from actual soil direct shear tests. The distinct contribution lies in the creation of a dataset that bridges the soil microparameters and macroparameters through simulated direct shear tests, which serves as training data for machine learning algorithms. Additionally, an adaptive particle swarm optimization neural network algorithm is proposed to represent the nonlinear relationships among parameters within the dataset, thus achieving intelligent calibration. To verify the reliability of the proposed soil calibration model in the context of vehicle mobility simulations, a co-simulation is conducted using a vehicle multibody dynamics simulation model and the calibrated soil model, with validation conducted across multiple criteria.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140906109","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
Unleashing the potential of IoT, Artificial Intelligence, and UAVs in contemporary agriculture: A comprehensive review 释放物联网、人工智能和无人机在当代农业中的潜力:全面回顾
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2024-05-10 DOI: 10.1016/j.jterra.2024.100986
Mustapha El Alaoui , Khalid EL Amraoui , Lhoussaine Masmoudi , Aziz Ettouhami , Mustapha Rouchdi

This study explores the potential of Precision Agriculture (PA) and Smart Farming (SF) using cutting-edge technologies like Artificial Intelligence (AI), the Internet of Things (IoT), and Unmanned Aerial Vehicles (UAVs) to address global challenges such as food shortages and population growth. The research focuses on recent developments in SF, including data collection, analysis, visualization and viable solutions, highlighting the role of IoT and 5G networks. The paper also discusses the application of robots and UAVs in agricultural tasks, showcasing their integration with IoT, AI, Deep Learning (DL), Machine Learning (ML), and wireless communications. Moreover, Smart Decision Support Systems (SDSS) are explored for real-time soil analysis and decision-making. The study underscores the significance of these technologies in PA, propelling traditional farming practices into an era of intelligent and sustainable farming solutions. This Overview is grounded in a thorough analysis of 80 recent research articles, covering the period from 2019 to 2023, within the domain of SF. This study highlights notable trends and advancements in this ever-evolving sector. Furthermore, this paper delves into the nuances of addressing particular challenges prevalent in developing nations, strategies aimed at surmounting constraints related to infrastructure and resource availability, and the pivotal role of governmental and private sector support in fostering the growth of Smart Agriculture (SA).

本研究利用人工智能 (AI)、物联网 (IoT) 和无人机 (UAV) 等尖端技术,探索精准农业 (PA) 和智能农业 (SF) 的潜力,以应对粮食短缺和人口增长等全球性挑战。研究重点是 SF 的最新发展,包括数据收集、分析、可视化和可行的解决方案,强调物联网和 5G 网络的作用。论文还讨论了机器人和无人机在农业任务中的应用,展示了它们与物联网、人工智能、深度学习(DL)、机器学习(ML)和无线通信的整合。此外,还探讨了用于实时土壤分析和决策的智能决策支持系统(SDSS)。研究强调了这些技术在农业生产中的重要意义,推动传统农业实践进入智能和可持续农业解决方案时代。本《概述》基于对 SF 领域内 80 篇最新研究文章的全面分析,研究时间跨度为 2019 年至 2023 年。本研究强调了这一不断发展的领域的显著趋势和进步。此外,本文还深入探讨了应对发展中国家普遍存在的特殊挑战的细微差别、旨在克服与基础设施和资源可用性相关的制约因素的战略,以及政府和私营部门的支持在促进智能农业(SA)发展中的关键作用。
{"title":"Unleashing the potential of IoT, Artificial Intelligence, and UAVs in contemporary agriculture: A comprehensive review","authors":"Mustapha El Alaoui ,&nbsp;Khalid EL Amraoui ,&nbsp;Lhoussaine Masmoudi ,&nbsp;Aziz Ettouhami ,&nbsp;Mustapha Rouchdi","doi":"10.1016/j.jterra.2024.100986","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100986","url":null,"abstract":"<div><p>This study explores the potential of Precision Agriculture (PA) and Smart Farming (SF) using cutting-edge technologies like Artificial Intelligence (AI), the Internet of Things (IoT), and Unmanned Aerial Vehicles (UAVs) to address global challenges such as food shortages and population growth. The research focuses on recent developments in SF, including data collection, analysis, visualization and viable solutions, highlighting the role of IoT and 5G networks. The paper also discusses the application of robots and UAVs in agricultural tasks, showcasing their integration with IoT, AI, Deep Learning (DL), Machine Learning (ML), and wireless communications. Moreover, Smart Decision Support Systems (SDSS) are explored for real-time soil analysis and decision-making. The study underscores the significance of these technologies in PA, propelling traditional farming practices into an era of intelligent and sustainable farming solutions. This Overview is grounded in a thorough analysis of 80 recent research articles, covering the period from 2019 to 2023, within the domain of SF. This study highlights notable trends and advancements in this ever-evolving sector. Furthermore, this paper delves into the nuances of addressing particular challenges prevalent in developing nations, strategies aimed at surmounting constraints related to infrastructure and resource availability, and the pivotal role of governmental and private sector support in fostering the growth of Smart Agriculture (SA).</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140901055","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
Enhanced assessment framework of static stability of tracked vehicles in consideration of multi-directional loading 考虑多向载荷的履带式车辆静态稳定性强化评估框架
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2024-05-07 DOI: 10.1016/j.jterra.2024.100984
Ning Zhao , Youkou Dong , Dingtao Yan , Xiaowei Feng , Lan Cui

Tracked vehicles are widely used in transportation, excavation, and site investigation due to their advantages of maneuverability and off-road ability. Static stability of tracked vehicles has been characterized with the static stability factor (SSF) and the static roll threshold (SRT) by assuming the ground as perfectly rigid. Considering the interaction between the vehicle and the ground, the traditional studies assess the static stability of vehicles under uni-directional loads by ignoring coupling effect between the load components. This paper enhances the traditional framework by evaluating the static stability of tracked vehicles under multi-directional loads. The two tracks of a tracked vehicle are considered as two parallel shallow foundations. The failure envelope method is adopted to capture the maximum allowable loads through swipe test and fixed ratio test. A new coefficient, factor of stability (FOS), is introduced to quantify the static stability of the tracked vehicles. Various track configurations and load combinations have been considered. The judgment process of tracked vehicle’s stability and the calculation method of FOS are detailed. The results show that the FOS obtained from the enhanced framework is more conservative than that from the traditional one.

履带式车辆因其机动性和越野能力强等优点,被广泛应用于运输、挖掘和现场勘查等领域。履带式车辆的静态稳定性是通过静态稳定系数(SSF)和静态滚动阈值(SRT)来描述的,假设地面是完全刚性的。考虑到车辆与地面之间的相互作用,传统研究评估车辆在单向负载下的静态稳定性时忽略了负载分量之间的耦合效应。本文通过评估履带式车辆在多方向载荷作用下的静态稳定性,对传统框架进行了改进。履带式车辆的两条履带被视为两个平行的浅基础。采用破坏包络法,通过掠过试验和固定比率试验来捕捉最大允许载荷。引入了一个新系数--稳定系数(FOS),用于量化履带式车辆的静态稳定性。考虑了各种轨道配置和负载组合。详细介绍了履带车辆稳定性的判断过程和 FOS 的计算方法。结果表明,与传统框架相比,增强框架得到的 FOS 更为保守。
{"title":"Enhanced assessment framework of static stability of tracked vehicles in consideration of multi-directional loading","authors":"Ning Zhao ,&nbsp;Youkou Dong ,&nbsp;Dingtao Yan ,&nbsp;Xiaowei Feng ,&nbsp;Lan Cui","doi":"10.1016/j.jterra.2024.100984","DOIUrl":"https://doi.org/10.1016/j.jterra.2024.100984","url":null,"abstract":"<div><p>Tracked vehicles are widely used in transportation, excavation, and site investigation due to their advantages of maneuverability and off-road ability. Static stability of tracked vehicles has been characterized with the static stability factor (SSF) and the static roll threshold (<em>SRT</em>) by assuming the ground as perfectly rigid. Considering the interaction between the vehicle and the ground, the traditional studies assess the static stability of vehicles under uni-directional loads by ignoring coupling effect between the load components. This paper enhances the traditional framework by evaluating the static stability of tracked vehicles under multi-directional loads. The two tracks of a tracked vehicle are considered as two parallel shallow foundations. The failure envelope method is adopted to capture the maximum allowable loads through swipe test and fixed ratio test. A new coefficient, factor of stability (<em>FOS</em>), is introduced to quantify the static stability of the tracked vehicles. Various track configurations and load combinations have been considered. The judgment process of tracked vehicle’s stability and the calculation method of <em>FOS</em> are detailed. The results show that the <em>FOS</em> obtained from the enhanced framework is more conservative than that from the traditional one.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":null,"pages":null},"PeriodicalIF":2.4,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140878974","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
期刊
Journal of Terramechanics
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1