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Terrain classification using mars raw images based on deep learning algorithms with application to wheeled planetary rovers 基于深度学习算法的火星原始图像地形分类及其在轮式行星探测器上的应用
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-08-01 DOI: 10.1016/j.jterra.2023.04.002
Junlong Guo, Xingyang Zhang, Yunpeng Dong, Zhao Xue, Bo Huang

Scene information plays a crucial role in motion control, attitude perception, and path planning for wheeled planetary rovers (WPRs). Terrain recognition is the fundamental component of scene recognition. Due to the rich information, visual sensors are usually used in terrain classification. However, teleoperation delay prevents WPRs from using visual information efficiently. End-to-end learning method of deep learning (DL) that does not need complex image preprocessing was proposed to deal with this issue. This paper first built a terrain dataset (consists of loose sand, bedrock, small rock, large rock, and outcrop) using real Mars images to directly support You Only Look Once (YOLOv5) to test its performance on terrain classification. Because the capability of end-to-end training scheme is positively correlated with dataset, the performance of YOLOv5 can be significantly improved by exploiting orders of magnitude more data. The best combination of hyperparameters and models was achieved by slightly tuning YOLOv5, and data augmentation was also applied to optimize its accuracy. Furthermore, its performance was compared with two other end-to-end network architectures. Deep learning algorithms can be used in the future planetary exploration missions, such as WPRs autonomy improvement, traversability analysis, and avoiding getting trapped.

场景信息在轮式行星漫游者的运动控制、姿态感知和路径规划中起着至关重要的作用。地形识别是场景识别的基本组成部分。由于视觉传感器具有丰富的信息,因此通常用于地形分类。然而,远程操作的延迟影响了WPRs对视觉信息的有效利用。针对这一问题,提出了不需要对复杂图像进行预处理的深度学习(DL)端到端学习方法。本文首先利用真实火星图像构建地形数据集(由松散的沙子、基岩、小岩石、大岩石和露头组成),直接支持You Only Look Once (YOLOv5),测试其地形分类性能。由于端到端训练方案的能力与数据集呈正相关,因此YOLOv5可以通过利用数量级的数据来显著提高性能。通过对YOLOv5进行微调,实现了超参数和模型的最佳组合,并采用数据增强方法优化其精度。此外,将其性能与另外两种端到端网络体系结构进行了比较。深度学习算法可用于未来的行星探测任务,如wpr自主性改进、可遍历性分析、避免被困等。
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引用次数: 0
Three-dimensional DEM tillage simulation: Validation of a suitable contact model for a sweep tool operating in cohesion and adhesion soil 三维DEM耕作模拟:在黏性和附着力土壤中操作的扫描工具的合适接触模型的验证
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-08-01 DOI: 10.1016/j.jterra.2023.05.003
Chunling Zhang , Jin Xu , Zihao Zheng , Weiwei Wang , Lichao Liu , Liqing Chen

Discrete element modelling (DEM) is widely used to estimate soil-tool interaction and tillage forces. To run an accurate simulation, it is essential to determine the appropriate DEM contact model and parameters. Although previous work has been introduced to determine the DEM contact model and parameters, the accuracy of numerical simulation is not high because of the soil differences when tillage tools operate in cohesion and adhesion soil in the middle and lower reaches of the Yangtze River in China. In this paper a Hertz-Mindlin with JKR Cohesion contact model and Linear Cohesion contact model were used to predict soil disturbance area and draft forces. The DEM parameters were determined using cone penetration, and uniaxial unconfined compression as an assisted test. The field experiment using sweep tool was used to validate the simulation results. A good agreement has been showed between simulation results and experiment results. Using verified model, the relative error for the predicted soil disturbance area at speeds of 0.50, 0.75 and 1.00 m/s were 5.3, 3.6 and 7.1 %, respectively. The maximum and average relative errors between simulated and measured draft forces were 6.98 and 3.91%, respectively. The effect of tillage depth and speed at soil disturbance area and draft forces were found which can provide some guidance for the selection of parameters during actual operation.

离散元模型(DEM)被广泛用于估算土壤-工具相互作用和耕作力。为了进行准确的模拟,必须确定合适的DEM接触模型和参数。虽然已有研究成果确定了DEM接触模型和参数,但由于耕作工具在中国长江中下游黏聚性和黏附性土壤中操作时土壤的差异,数值模拟的精度不高。本文采用Hertz-Mindlin结合JKR黏聚力接触模型和线性黏聚力接触模型对土壤扰动面积和牵引力进行了预测。DEM参数采用锥突法确定,单轴无侧限压缩辅助试验。利用扫描工具进行了现场试验,对模拟结果进行了验证。仿真结果与实验结果吻合较好。经验证的模型在0.50、0.75和1.00 m/s速度下预测土壤扰动面积的相对误差分别为5.3%、3.6%和7.1%。模拟与实测的最大相对误差为6.98,平均相对误差为3.91%。研究了耕深、耕速对土壤扰动区和牵引力的影响,为实际操作中参数的选择提供了一定的指导。
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引用次数: 0
Correlations between moisture content and color spectrum of sandy soils 砂质土壤水分含量与光谱的相关性研究
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-08-01 DOI: 10.1016/j.jterra.2023.05.002
György Pillinger , Ahmed Elawad Eltayeb Ahmed , Kornél Bessenyei , Péter Kiss

It is a well-known phenomenon that the color of sand changes due to moisture. As the moisture content increases, the sand will typically become darker. In our research, we are looking for the answer to the exact function according to which this darkening process changes and what relationship there may be between the different, initial (dry) soil colors and how this relationship can influence the evolution of the darkening process. Using the suitably chosen range of the color spectrum, we created a color parameter to characterize the color of the measured sandy soil, and then, in addition to determining the moisture content, we also looked for other uses of the color spectrum for sandy soil. Thus, based on the color spectrum and other input parameters, not only the moisture content can be calculated, but in the case of two components, the grain composition can also be determined.

沙子因受潮而变色是一个众所周知的现象。随着水分含量的增加,沙子通常会变得更暗。在我们的研究中,我们正在寻找这个变暗过程变化的确切功能的答案,不同的初始(干)土壤颜色之间可能存在什么关系,以及这种关系如何影响变暗过程的演变。通过选择合适的光谱范围,我们创建了一个颜色参数来表征所测沙土的颜色,然后,除了确定含水量之外,我们还寻找了沙土光谱的其他用途。因此,根据色谱等输入参数,不仅可以计算出水分含量,而且在两组分的情况下,还可以确定颗粒组成。
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引用次数: 0
Load bearing capacity of finite half space agricultural homogeneous soil 有限半空间农业均匀土的承载能力
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-06-01 DOI: 10.1016/j.jterra.2023.03.001
Nihal D. Salman , György Pillinger , György Sitkei , Péter Kiss

A comprehensive plate-sinkage equation is necessary for the description of the load bearing capacity of soils. In the last century, several improvements to the existing equations were attempted but with limited success. The main aim of this paper is to verify, evaluate and develop a load bearing capacity theory of finite half space soil. Agricultural soils may be regarded as a finite half space in which the tilled soil layer is comparable to the loading diameter. Harder soil is found below the tilled soil layer and this hard soil can be considered as a rigid layer. A new consideration is the compacted cone-shaped zone developing under a loading device and its possible interaction with the rigid bottom surface. Theoretical and experimental investigations reported in this paper have shown that these approaches have facilitated deriving new relationships valid for finite half space. These include two independent variables and developing a dimensionless load bearing number. This paper introduces a new dimensionless plate-sinkage equation describing soil deformation in a general form.

综合板沉方程是描述土体承载力的必要条件。在上个世纪,对现有方程进行了几次改进,但收效甚微。本文的主要目的是验证、评价和发展有限半空间土的承载力理论。农业土壤可以看作是一个有限的半空间,其中耕作的土层与荷载直径相当。较硬的土壤在耕作的土层下面,这种坚硬的土壤可以被认为是刚性层。一个新的考虑是在加载装置下形成的压实锥形区及其可能与刚性底表面的相互作用。本文的理论和实验研究表明,这些方法有助于推导有限半空间下有效的新关系。这包括两个自变量和发展无因次承载数。本文提出了一种新的无量纲板沉方程,以一般形式描述了土体的变形。
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引用次数: 0
Review on soil shear strength with loam sand soil results using direct shear test 土壤抗剪强度与壤土-砂土直接剪切试验结果的比较
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-06-01 DOI: 10.1016/j.jterra.2023.03.003
Alaa El Hariri , Ahmed Elawad Eltayeb Ahmed , Péter Kiss

This article aims to give a background about the soil shear strength and its measurement methods based on scientific articles and the work of researchers. A brief introduction is given about terramechanics science and the loads acting at the interaction zone between the tractive element (wheel/track) and the terrain. The most important loads exciting the terrain from the machine’s tractive element are the normal and the tangential loads. The tangential load will shear the terrain/soil and might lead to slippage, thus it is important to study the shear strength of the soil. In the review the soil terrain behaviour as an elastic and a plastic region is discussed. The conventional methods for measuring the soil strength used by scientists in terramechanics studies are reviewed. The influence of moisture content on soil strength is also taken into consideration. New ideas created by terramechanics scientists that emulate a real wheel/track - terrain interaction case for measuring the soil shear strength and are not civil or geotechnical engineering methods are mentioned. Finally, the shear strength results of loam sand soil obtained using the direct shear test conducted at the Hungarian University of Agriculture and Life Sciences (MATE) are presented.

本文旨在根据科学文献和研究者的工作,介绍土抗剪强度及其测量方法的研究背景。简要介绍了地形力学的基本知识和作用于牵引元件(车轮/履带)与地形相互作用区域的载荷。机械牵引元件对地形的主要作用是法向载荷和切向载荷。切向荷载会对地形/土体产生剪切作用,并可能导致土体滑移,因此对土体抗剪强度的研究具有重要意义。本文讨论了土壤地形作为弹性区域和塑性区域的特性。综述了地球力学研究中常用的土强度测量方法。同时考虑了含水率对土体强度的影响。文中提到了由地形力学科学家创造的新想法,即模拟真实的车轮/轨道-地形相互作用的情况下测量土壤抗剪强度,而不是土木或岩土工程方法。最后,介绍了在匈牙利农业与生命科学大学(MATE)进行的直剪试验中获得的壤土砂土抗剪强度结果。
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引用次数: 2
A bionic mechanical foot with adaptive variable postures travelling on sand 一种具有自适应可变姿态的仿生机械脚在沙滩上行走
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-06-01 DOI: 10.1016/j.jterra.2023.03.004
Rui Zhang , Xumin Sun , Dianlei Han , Rui Zhang , Hua Zhang , Jia Ma , Lige Wen , Meng Zou

In this study, an adaptive variable posture bionic mechanical foot is designed, which enables the transformation of different postures during the touchdown period. At the same time, the bolts at the joints are tightened to enable the non-variable configuration function of the bionic mechanical foot. A test rig was used to test the travelling and traction performance of the bionic mechanical foot at different speeds on sandy and hard surfaces. The results show that on sandy surfaces, at both high and low speeds, the variable posture mechanical foot outperforms the non-variable posture mechanical foot, especially at high speeds, indicating that the variable mechanical foot is suitable for movement at higher speeds on sandy ground. On hard ground, the traction and pedaling forces generated by the variable posture mechanical foot are essentially the same as those generated by the non-variable posture mechanical foot at low and high speeds, indicating that the travelling and traction performance of both mechanical feet on hard ground is the same. The variable posture mechanical foot is suitable for high-speed movement on sandy ground, providing a theoretical and technical basis for the design of future legged robots for efficient movement on desert surfaces and deep space soft surface environments.

本研究设计了一种自适应可变姿态仿生机械足,实现了着地过程中不同姿态的转换。同时,拧紧关节处的螺栓,实现仿生机械足的非变构功能。利用试验台对仿生机械足在不同速度下在沙质和硬质路面上的行走和牵引性能进行了测试。结果表明,在沙地上,无论高速还是低速,可变姿态机械足都优于非可变姿态机械足,特别是在高速下,表明可变姿态机械足适合在沙地上以较高的速度运动。在坚硬地面上,变姿机械足在低速和高速下产生的牵引力和蹬力与非变姿机械足产生的牵引力和蹬力基本相同,说明两种机械足在坚硬地面上的行驶和牵引性能是相同的。可变姿态机械足适合在沙地上高速运动,为未来设计在沙漠地表和深空软地表环境下高效运动的有腿机器人提供理论和技术基础。
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引用次数: 0
Discrete element modelling of soil pressure under varying number of tire passes 不同轮胎道次下土壤压力的离散元建模
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-06-01 DOI: 10.1016/j.jterra.2023.02.003
Kobby Acquah, Ying Chen

Pressure imposed on an arable farmland by farm machinery can lead to severe soil compaction. A model was developed with Discrete Element Method (DEM) to simulate soil – tire interaction. Virtual dead weight method was performed for the purpose of model calibration. Simulated soil pressure data were obtained from the topsoil layer under varying number of tractor tire passes (1P, 2P, 3P, 4P, 5P, 6P, 7P and 8P). Simulation results were validated with maximum soil pressure data from a field experiment in which soil pressure was measured at 0.1 m depth in sandy loam soil. Model results of maximum soil pressure increased from 137.7 to 242.5 kPa when the number of passes increased from 1P to 8P. Prediction of the maximum soil pressure was reasonably accurate for 1P and 2P with Relative Mean Errors (R.M.E) less than 9%. Predictions for 3P to 8P had higher R.M.E. In terms of model application, soil sinkage and rolling resistance ranged from 0.07 to 0.14 m and 225.3 to 517.8 N respectively between one to eight passes. The model developed in this study can be used in the simulation of soil pressure distribution and deformation in the topsoil layer induced by heavy farm machinery.

农业机械对耕地施加的压力会导致严重的土壤压实。采用离散元法(DEM)建立了土-轮胎相互作用模型。采用虚拟自重法对模型进行标定。在不同牵引车轮胎通过次数(1P、2P、3P、4P、5P、6P、7P和8P)下,模拟表层土压力数据。模拟结果与沙质壤土在0.1 m深度测量的最大土壤压力数据进行了验证。当通道数从1P增加到8P时,最大土压力从137.7 kPa增加到242.5 kPa。1、2点最大土压力预测较为准确,相对平均误差(rm.e)小于9%。在模型应用方面,1 ~ 8道的土壤沉降和滚动阻力分别为0.07 ~ 0.14 m和225.3 ~ 517.8 N。该模型可用于重型农用机械引起的表土层土压力分布和变形的模拟。
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引用次数: 0
Development of an artificial neural network model with graphical user interface for predicting contact area of bias-ply tractor tyres on firm surface 基于图形用户界面的斜交拖拉机轮胎接触面积预测人工神经网络模型的开发
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-06-01 DOI: 10.1016/j.jterra.2023.01.004
Rajesh Yadav, Hifjur Raheman
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引用次数: 4
Terramechanics models augmented by machine learning representations 机器学习表示增强的Terramechanics模型
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-06-01 DOI: 10.1016/j.jterra.2023.03.002
Eric Karpman , Jozsef Kövecses , Marek Teichmann

The field of terramechanics focuses largely on two types of simulation approaches. First, the classical semi-empirical methods that rely on empirically determined soil parameters and equations to calculate the soil reaction forces acting on a wheel, track or tool. One major drawback to these methods is that they are only valid under steady-state conditions. The more flexible modelling approaches are discrete or finite element methods (DEM, FEM) that discretize the soil into elements. These computationally demanding approaches do away with the steady state assumption at the cost of including more model parameters that can be difficult to accurately tune. Model-free approaches in which machine learning algorithms are used to predict soil reaction forces have been explored in the past, but the use of these models comes at the cost of the valuable insight that the semi-empirical models provide. In this work, we presume that in a dynamic simulation, the soil reaction forces can be divided into a steady state component that can be captured using semi-empirical models and a dynamic component that cannot. We propose an augmented modelling approach in which a neural network is trained to predict the dynamic component of the reaction forces. We explore how this theory can be applied to the simulation of a soil-cutting blade using the Fundamental Earthmoving Equation and of a wheel driving over soft soil using the Bekker wheel-soil model.

地形力学领域主要集中于两种类型的模拟方法。首先,经典的半经验方法依赖于经验确定的土壤参数和方程来计算作用在车轮、轨道或工具上的土壤反作用力。这些方法的一个主要缺点是它们只在稳态条件下有效。更灵活的建模方法是离散或有限元方法(DEM, FEM),它们将土壤离散成元素。这些计算要求很高的方法放弃了稳态假设,代价是包含了更多难以精确调整的模型参数。过去已经探索了使用机器学习算法来预测土壤反力的无模型方法,但是这些模型的使用是以半经验模型提供的宝贵见解为代价的。在这项工作中,我们假设在动态模拟中,土壤反作用力可以分为可以使用半经验模型捕获的稳态分量和不能使用半经验模型捕获的动态分量。我们提出了一种增强建模方法,其中训练神经网络来预测反作用力的动态分量。我们探讨了如何将这一理论应用于使用基本土方方程模拟土壤切割刀片和使用Bekker轮-土模型模拟车轮在软土上行驶。
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引用次数: 2
Development of a mathematical model for determining the draft force of ard plow in silt clay soil 建立了淤泥质粘土中犁铧牵伸力的数学模型
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-04-01 DOI: 10.1016/j.jterra.2022.11.004
Thomas Gebre , Zewdu Abdi , Amana Wako , Teshome Yitbarek
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引用次数: 1
期刊
Journal of Terramechanics
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