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A single wheel test rig for ocean world rovers 海洋世界漫游者的单轮试验台
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.07.001
Athul Pradeepkumar Girija , Rachana Agrawal , Ye Lu , Archit Arora , Maxim de Jong , Sarag J. Saikia , James M. Longuski

Ocean Worlds such as Europa and Enceladus are known to harbor subsurface liquid water oceans under their icy crust and are high-priority targets for in situ exploration. Compared to the Moon and Mars, Ocean Worlds likely present a significantly more challenging environment for surface mobility systems due to the extremely cold temperature, high radiation dosage, and poorly constrained material properties under these conditions. Small-diameter wheels such as those used by Mars rovers are prone to slip-sinkage in loose soil and damage from sharp rock and ice formations. A 4-wheel rover with a simple drive system and large deployable compliant tires is proposed as a solution for extreme terrain mobility on Ocean World surfaces. The present work describes the design and construction of a single wheel test rig and a prototype large-diameter deployable wheel for Ocean World rovers and initial test results. The test rig allows independent control of the vertical load, slip ratio, slip angle, and camber angle, and accommodates large-diameter deployable wheels. The test rig features a modular test bed that can simulate varied surface features such as fine-grained ice, smooth hard ice, sharp ice formations, and large ice boulder fields.

众所周知,像木卫二和土卫二这样的海洋世界在其冰冷的地壳下蕴藏着地下液态水海洋,是原位勘探的优先目标。与月球和火星相比,由于极冷的温度、高辐射剂量和在这些条件下材料性能的限制很差,海洋世界可能为地表移动系统提供了一个更具挑战性的环境。火星探测车使用的小直径车轮容易在松散的土壤中滑落,也容易被尖锐的岩石和冰层损坏。提出了一种具有简单驱动系统和大型可展开柔性轮胎的四轮漫游车,作为海洋世界表面极端地形移动的解决方案。本文介绍了“海洋世界”月球车单轮试验台和大直径可展开轮样机的设计和制造,以及初步试验结果。该试验台可以独立控制垂直载荷、滑移比、滑移角和弧度角,并可容纳大直径可展开车轮。该测试平台具有模块化测试平台,可以模拟各种表面特征,如细粒度冰、光滑硬冰、尖锐的冰形成和大型冰巨石场。
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引用次数: 1
Obstacle detection in snow covered terrain 积雪地形中的障碍物检测
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.05.004
S.N. Vecherin, J.M. Shaker, M.W. Parker

This work describes an automatic detection method of obstacles covered by snow. The method is based on the detection of statistical anomalies relative to an estimated background image which contains no obstacles. The sensitivity of the detection can be adjusted by a specified probability of false alarms, and the obstacle detection confidence is characterized by a probability of detection. Statistical properties of the background image are estimated from the given image without additional information on the background. The visible height of obstacles above the snow is related to the actual height of the obstacles above the ground, so that an operator can estimate the actual height of the snow covered obstacle. The developed method requires no training, is self-calibrating to the cluttered images, operates with a single given image, and aligns with a detection quantification adopted in the receiver operating characteristic framework.

本文描述了一种积雪覆盖障碍物的自动检测方法。该方法是基于检测相对于不包含障碍物的估计背景图像的统计异常。检测灵敏度可以通过指定的虚警概率来调节,障碍物检测置信度用检测概率来表征。从给定的图像中估计背景图像的统计属性,而不需要背景上的附加信息。积雪上障碍物的可见高度与障碍物离地面的实际高度有关,这样操作员就可以估计积雪覆盖障碍物的实际高度。所开发的方法不需要训练,对杂乱图像进行自校准,对单个给定图像进行操作,并且与接收机工作特性框架中采用的检测量化相一致。
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引用次数: 0
Review of modeling and validation techniques for tire-deformable soil interactions 轮胎-可变形土相互作用的建模和验证技术综述
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.05.007
Varsha S Swamy , Rashna Pandit , Alba Yerro , Corina Sandu , Denise M. Rizzo , Katherine Sebeck , David Gorsich

The mobility of vehicles in off-road environments is critical for many applications. Predicting the tire-soil interaction is a challenge, especially in non-linear deformable terrain. This paper presents an overview of the bibliographic references on tires–deformable soil interactions after the 2000's, identifying the gaps in the literature. The capabilities and challenges of different modeling frameworks used for mobility (i.e., empirical, semi-empirical, and physics-based) are discussed; special emphasis is given to continuum-based frameworks. A summary of terrain material models used to approximate the behavior of coarse and fine-grained soils is provided with practices used to characterize such materials. A review of tire models for deformable soil navigation and the tire-soil interfaces is provided. Strategies to validate all these models are presented. Finally, the application of these studies for assessing the sensitivity concerning input parameters (e.g., velocity, inflation pressure, and normal load), multi-pass, multi-layered soils, wet soils, and fully integrated multi-body vehicle models are discussed. The final contribution of this review paper is a summary table that synthesizes the extensive bibliographic review. Overall, this work highlights a lack of physics-based trafficability studies in wet and plastic deformable soils. Moreover, studies on contact adhesion, stone picking, multipass, and cornering also need improvement.

车辆在非公路环境中的机动性对许多应用来说至关重要。预测轮胎-土壤相互作用是一个挑战,特别是在非线性变形地形。本文概述了2000年以后关于轮胎-可变形土壤相互作用的参考文献,并确定了文献中的空白。讨论了用于移动性的不同建模框架(即经验的、半经验的和基于物理的)的能力和挑战;特别强调以连续为基础的框架。用于近似粗粒和细粒土壤行为的地形材料模型的摘要提供了用于表征此类材料的实践。本文综述了用于可变形土壤导航的轮胎模型和轮胎-土壤界面模型。提出了验证所有这些模型的策略。最后,讨论了这些研究在评估输入参数(如速度、膨胀压力和正常载荷)、多通道、多层土壤、湿土和完全集成的多体车辆模型的敏感性方面的应用。这篇综述论文的最后贡献是一个综合了广泛的书目综述的汇总表。总的来说,这项工作强调了在湿和塑性变形土壤中缺乏基于物理的可通行性研究。此外,在接触粘附、拣石、多通、过角等方面的研究也有待改进。
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引用次数: 0
Construction of a soil clod recognition bench-scale experiment for discrete element method modeling of tilling phenomena 离散元法模拟耕作现象的土块识别台架试验的建立
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.06.004
Shuto Ishii , Isami Suto , Hiroaki Tabe , Kota Aono , Moju Zhao , Yoshifumi Ueshige , Kohei Matsushita , Takashi Iritani , Tadayuki Hanamoto , Masayuki Nakao , Keisuke Nagato

Rotary claws are used to break soil into small pieces and plow the soil flat. In this study, rotary claw development in tiller machines was evaluated using both equipment and the discrete element method (DEM). However, evaluation through equipment is imprecise and time consuming. Although DEM is an effective method for modeling the movement of granular materials, it requires numerous parameters to ensure accuracy, which must be determined through experimental evaluation and comparison. To resolve this concern, an image processing method was developed that leverages point cloud data obtained from a depth camera to capture changes in soil shape, distribution, and soil clod size before and after tilling. The effect of soil moisture content and claw rotation speed on soil clod formation and decomposition was evaluated. The experimental results show that the location, number, and soil clod size vary with soil moisture content and claw rotation speed. The results were compared with the DEM simulation to reconcile differences and confirm the feasibility of the proposed method. The model experiment system for soil clods and the image processing method facilitates a quantitative comparison between experimental and DEM simulated soil dispersal, which accelerates the search for DEM parameters to reproduce the tilling.

旋转爪是用来把土壤掰成小块,把土壤犁平的。在本研究中,采用离散元法(DEM)对分蘖机的旋爪发展进行了评估。然而,通过设备进行评估是不精确和耗时的。虽然DEM是一种有效的模拟颗粒状物质运动的方法,但它需要大量的参数来保证准确性,这些参数必须通过实验评估和比较来确定。为了解决这一问题,研究人员开发了一种图像处理方法,利用深度相机获得的点云数据来捕捉耕作前后土壤形状、分布和土壤块大小的变化。评价了土壤含水量和爪旋转速度对土壤结块形成和分解的影响。实验结果表明,爪爪的位置、数量和土块尺寸随土壤含水量和爪爪转速的变化而变化。将结果与DEM模拟结果进行比较,以调和差异,并验证所提方法的可行性。土块模型实验系统和图像处理方法便于将实验与DEM模拟的土壤分散进行定量比较,从而加快了对DEM参数的搜索以再现耕作过程。
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引用次数: 0
Experimental investigation of factors affecting the characterisation of soil strength properties using a Bevameter in-situ plate sinkage and shear test apparatus 利用Bevameter原位板沉降剪切试验装置对土强度特性表征影响因素进行试验研究
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.06.002
Ray Kruger, P. Schalk Els, Herman A. Hamersma

The Bekker-Wong soil-wheel interaction model has been widely adopted in the terramechanics field. This model requires the soil to be characterised using a Bevameter, which entails performing in situ plate sinkage and shear stress tests. Bevameter soil characterisation is not a standardised test procedure, and the test setup may influence the identified soil model parameters. This study investigates the influence of the following five factors for partially saturated sandy soil: I) soil preparation method on pressure-sinkage, II) soil preparation method on shear stress, III) torsional vs. translational shear mechanism, IV) shear contact area, and V) the influence of shear velocity. The results indicate that the influence of soil preparation on pressure-sinkage response is substantial, exhibiting an order-of-magnitude difference. The influence of soil preparation on shear tests is notable, but less significant. The shear mechanism, shear contact area and shear velocity exhibited a maximum absolute shear stress difference of 18%, 20% and 10%, respectively. Moreover, depending on the test setup configuration and data processing decisions, the estimated internal soil friction angles ranged from 16.5 to 37.5° for the same soil. The findings are expected to have significant implications for the prediction of vehicle drawbar pull using the Bekker-Wong model.

Bekker-Wong土-轮相互作用模型在地球力学领域被广泛采用。该模型要求使用Bevameter对土壤进行表征,这需要进行原位板下沉和剪切应力测试。Bevameter土壤表征不是一个标准化的测试程序,测试设置可能会影响识别的土壤模型参数。研究了部分饱和砂土的5个影响因素:1)整土方法对压力沉降的影响;2)整土方法对剪应力的影响;3)扭剪与平剪机制;4)剪切接触面积;5)剪切速度的影响。结果表明,整土对压力沉降响应的影响是显著的,表现出数量级的差异。制备土对剪切试验的影响显著,但不显著。剪切机制、剪切接触面积和剪切速度的最大绝对剪应力差异分别为18%、20%和10%。此外,根据试验装置配置和数据处理决策,对相同土壤的估计内摩擦角范围为16.5至37.5°。研究结果预计将对使用Bekker-Wong模型预测车辆拉杆拉力具有重要意义。
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引用次数: 0
The effect of integrating a bio-inspired convex structure with a low-surface energy polymer on soil adhesion and friction 集成仿生凸结构与低表面能聚合物对土壤粘附和摩擦的影响
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.06.003
Abouelnadar El Salem , Guozhong Zhang , Hongchang Wang , Haytham M. Salem , Mohamed A.I. Abdalla , Ahmed A. Ghazy

The capacity of soil-burrowing animals to move freely in sticky soil is a motivational trait for developing soil-engaging tools with high operational efficiency. Meanwhile, outstanding hydrophobicity, chemical stability, and corrosion resistance make ultra-high molecular weight polyethylene (UHMW-PE) a potential option for reducing soil adhesion. This study looked into the viability of combining a domed surface inspired by the micro-convex structure of the dung beetle skin with the UHMW-PE as a surface coating to reduce sliding resistance. The sliding resistances of three plates (a flat plate of carbon steel, a flat plate of UHMW-PE, and a domed plate of UHMW-PE) were assessed under varied operating and soil conditions. In each treatment, the tested plate was dragged for 0.7 m of the soil bin length, and the sliding resistance was recorded using the distributed stress and strain test and analysis system (DH3820 N). The results revealed that in all treatments, the sliding resistance of the UHMW-PE domed plate was significantly lower than that of the flat steel plate. Furthermore, the UHMW-PE domed plate outperformed the other tested plates in reducing sliding resistance in more moist and sticky soils, paving the way for the development of highly practical and effective soil-engaging tools.

土穴动物在粘性土壤中自由移动的能力是开发高效吸土工具的动力特性。同时,优异的疏水性、化学稳定性和耐腐蚀性使超高分子量聚乙烯(UHMW-PE)成为减少土壤附着力的潜在选择。这项研究着眼于将受蜣螂皮肤微凸结构启发的圆顶表面与超高分子量聚乙烯(UHMW-PE)作为表面涂层相结合的可行性,以减少滑动阻力。研究了碳钢平板、超高分子量聚乙烯平板和超高分子量聚乙烯圆顶板在不同工况和土壤条件下的滑动阻力。在每个处理中,将被试板拖拽0.7 m的土仓长度,并使用DH3820 N分布式应力应变测试分析系统记录其滑动阻力。结果表明,在所有处理中,超高分子量聚乙烯穹顶板的滑动阻力均显著低于扁钢板。此外,超高分子量聚乙烯(UHMW-PE)圆顶板在减少潮湿和粘性土壤中的滑动阻力方面优于其他测试板,为开发高度实用和有效的土壤接触工具铺平了道路。
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引用次数: 0
Justification of the soil dem-model parameters for predicting the plow body resistance forces during plowing 土壤dem模型参数预测犁体阻力的合理性
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.06.001
Salavat Mudarisov , Yakov Lobachevsky , Ildar Farkhutdinov , Eduard Khasanov , Ildar Rakhimov

The discrete element method has recently become a popular tool for developing soil models to be used for modelling the tillage process, which involves using working tools. The research aims to evaluate the parameters of the contact model particles when modelling tillage with large–sized working tools using the discrete element method. The paper presents the results of calibration of the physico-mechanical parameters of the particles of the soil environment model described using the discrete element method. The model is used for modelling the tillage process using moldboard plow. The parameters of the simulated particles to be studied are the Poisson's ratio, coefficients of static and dynamic friction of particles, Young's modulus, surface energy, particles' diameter, coefficients of static and dynamic metal friction of particles. Calibration was carried out according to the horizontal, vertical and transverse components of the traction resistance of the plow body. The obtained dependences of the components of the plow body traction resistance on soil moisture and surface energy help select parameters for the Hertz-Mindlin contact model while modelling the behavior of the soil environment when interacting with the working tools of tillage and sowing machines.

离散元法最近成为一种流行的工具,用于开发用于模拟耕作过程的土壤模型,这涉及到使用工作工具。研究目的是利用离散元法对大型工具耕作建模时接触模型颗粒的参数进行评估。本文介绍了用离散元法对土壤环境模型中粒子的物理力学参数进行标定的结果。该模型用于对犁式耕作过程进行建模。所要研究的模拟颗粒的参数为泊松比、颗粒的静摩擦和动摩擦系数、杨氏模量、表面能、颗粒直径、颗粒的静摩擦和动金属摩擦系数。根据犁体牵引阻力的水平、垂直和横向分量进行标定。所获得的犁体牵引阻力各组成部分对土壤水分和表面能的依赖关系有助于选择Hertz-Mindlin接触模型的参数,同时对土壤环境与耕作和播种机械工作工具相互作用时的行为进行建模。
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引用次数: 0
On the power characteristics of an unmanned tracked vehicle for autonomous transportation of agricultural payloads 用于农业有效载荷自动运输的无人履带车功率特性研究
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-10-01 DOI: 10.1016/j.jterra.2023.05.006
S.M. Shafaei , H. Mousazadeh

Elucidation of power characteristics of an unmanned tracked vehicle for autonomous transportation of agricultural payloads in greenhouse constructions leads to appearance of an applied research in this study. This novel aim has been chosen based on operational requirement of the vehicle. Hence, it can be highlighted that this paper is initiative study described results of power efficiencies (motion, slip, and tractive power efficiencies) of the vehicle. To this aim, various payloads mounted on a trailer (1–5 kN) were towed by the vehicle through diverse drive speeds (0.17–0.5 m/s). Results illuminate that vehicle drive speed and payload weight had consequential contribution to vehicle motion and tractive power efficiencies. While, vehicle slip power efficiency mainly depended on payload weight. Linear regression approximations demonstrate that dual cumulative contributory effect of the drive speed and payload weight on the motion power efficiency (84.98–97.69 %) and tractive power efficiency (78.62–92.92 %) was antagonist and synergetic, respectively. Meanwhile, the slip power efficiency (81.71–98.36 %) linearly dropped with augmentation of payload weight. Resultant slip and motion power inefficiency were associate with vehicle motion power loss in amplitude of 0.39–67.98 and 2.65–14.03 W, respectively. Consequently, tractive power inefficiency was associate with vehicle motion power loss in amplitude of 3.15–82.01 W. This amplitude spotlights that 3.35–43.62 % of vehicle motion power inevitably wasted inside track-surface interface in agricultural towing tasks. Overall, numerical and analytical descriptions of the results as well as practical suggestions provide appropriate guidelines for vehicle supervisor in order to optimize power characteristics.

阐述了一种用于温室建筑中农业有效载荷自主运输的无人履带车辆的功率特性,导致了本研究的应用研究的出现。这种新颖的目标是根据飞行器的作战要求而选择的。因此,可以强调的是,本文是对车辆动力效率(运动、滑移和牵引动力效率)的初步研究。为此,车辆以不同的行驶速度(0.17-0.5米/秒)牵引安装在拖车上的各种有效载荷(1-5千牛)。结果表明,车辆行驶速度和有效载荷对车辆的运动和牵引功率效率有重要影响。而车辆滑移功率效率主要取决于载荷重量。线性回归近似表明,驱动速度和载重对运动功率效率(84.98 ~ 97.69%)和牵引功率效率(78.62 ~ 92.92%)的双重累积贡献作用分别为拮抗作用和协同作用。滑移功率效率(81.71 ~ 98.36%)随载荷重量的增大呈线性下降。由此产生的滑移和运动功率效率低下与车辆运动功率损失的幅度分别为0.39 ~ 67.98 W和2.65 ~ 14.03 W。因此,牵引功率低效率与车辆运动功率损失的幅度为3.15-82.01 W。这一幅度表明,在农业拖曳任务中,3.35 ~ 43.62%的车辆运动功率不可避免地浪费在履带界面内。总体而言,对结果的数值和分析描述以及实际建议为车辆主管优化动力特性提供了适当的指导。
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引用次数: 3
Machine learning-based draft prediction for mouldboard ploughing in sandy clay loam soil 基于机器学习的砂质粘土壤土板耕牵伸预测
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-09-20 DOI: 10.1016/j.jterra.2023.09.002
Vijay Mahore, Peeyush Soni, Arpita Paul, Prakhar Patidar, Rajendra Machavaram

Machine learning (ML) models are developed to predict draft for mouldboard ploughs operating in sandy-clay-loam soil. The draft of tillage tools is influenced by soil cone-index, tillage-depth, and operating-speed. We used a three-point hitch dynamometer to measure draft force, a cone penetrometer for soil cone-index, rotary potentiometers for tillage-depth, and proximity sensors for operating-speed. Draft requirements were experimentally measured for a two-bottom mouldboard plough at three different tillage-depths and various operating-speeds. We developed prediction models using recent ML algorithms, including Linear-Regression, Ridge-Regression, Support-Vector-Machines, Decision-Trees, k-Nearest-Neighbours, Random-Forests, Adaptive-Boosting, Gradient-Boosting-Regression, Light-Gradient-Boosting-Machine, and Categorical-Boosting. These models were trained and tested using a dataset of field measurements including soil cone-index, tillage-depth, operating-speed, and corresponding draft values. We compared the measured draft with the commonly used ASABE model, which resulted in an R2 of 0.62. Our ML models outperformed the ASABE model with significantly better performance. The test data set achieved R2 values ranging from 0.906 to 0.983. These results demonstrate that the developed ML models effectively capture the complex nonlinear relationship between input parameters and draft of mouldboard plough.

开发了机器学习(ML)模型来预测在沙质粘土壤土中操作的板犁的吃水。土壤锥指数、耕作深度和作业速度对耕具的吃水有影响。我们用一个三点悬挂式测力仪来测量牵引力,用一个圆锥贯入仪来测量土壤锥指数,用旋转电位器来测量耕作深度,用接近传感器来测量工作速度。在三种不同的耕作深度和不同的运行速度下,对两底板犁的吃水要求进行了实验测量。我们使用最新的机器学习算法开发了预测模型,包括线性回归、脊回归、支持向量机、决策树、k近邻、随机森林、自适应增强、梯度增强回归、轻梯度增强机和分类增强。这些模型使用现场测量数据集进行训练和测试,包括土壤锥指数、耕作深度、运行速度和相应的牵伸值。我们将测量的草稿与常用的ASABE模型进行比较,结果R2为0.62。我们的ML模型在性能上明显优于ASABE模型。测试数据集的R2值为0.906 ~ 0.983。结果表明,所建立的机器学习模型有效地捕捉了模板犁的输入参数与牵伸之间复杂的非线性关系。
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引用次数: 0
Analysis of soil compaction under different wheel applications using a dynamical cone penetrometer 用动力锥贯仪分析不同车轮作用下的土壤压实
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-09-15 DOI: 10.1016/j.jterra.2023.09.001
Rania MAJDOUBI , Lhoussaine MASMOUDI , Abderahmane ELHARIF

Soil compaction is one of the major problems in modern agriculture. Thus, the workability of a soil reflects to its ability to accept the traffic of agricultural machinery and implements. Water content and compaction are factors that influence the rheological behavior of the soil. the representation of soil shows limitations regarding the behavior of the tire-soil interface and its resistance to deformation is both influenced by the different forms of loading application along a tire path on a soil particle. This paper presents a study of the impact of multiple wheel passage, the wheel velocity, and the weight applied to the wheel on the agricultural soil represented by the cone index. To do this, we were inspired to launch an investigation for soil compaction determination at three levels of wheel load, three levels of velocity and at tillage, first, second and third passages of wheel with three replications on clayey sandy mixed grain soil. The results of this study shows that the greatest soil compaction occurred at the highest wheel load (1000 N), the lowest speed (0.1 m/s) and the highest number of passes (third pass), this leads to minimize multiple passes and or follow the same path, also, keeping the load on the ground as low as possible (weight of the machines), and working at high speed in agricultural fields.

土壤压实是现代农业的主要问题之一。因此,土壤的可工作性反映了其接受农业机械和农具运输的能力。含水量和压实度是影响土壤流变特性的因素。土的表示显示了轮胎-土界面行为的局限性,其抗变形能力受到沿轮胎路径施加在土壤颗粒上的不同形式的载荷的影响。本文研究了多轮通道、轮速和轮载重量对以圆锥指数表示的农业土壤的影响。为此,我们在粘砂混合颗粒土上开展了轮载、速度、耕作、轮一、轮二、轮三遍三次重复的土壤压实测定研究。本研究结果表明,最大的土壤压实发生在最高轮载(1000 N),最低速度(0.1 m/s)和最多的通过次数(第三次),这导致尽量减少多次通过或遵循相同的路径,同时,保持地面上的负荷尽可能低(机器的重量),并在农业领域高速工作。
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引用次数: 0
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