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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
Improvement of the design of the plow-subsoiler-fertilizer to increase soil fertility 改进犁-深-肥设计,提高土壤肥力
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-04-01 DOI: 10.1016/j.jterra.2023.01.001
Nikolay Romanyuk , Valery Ednach , Sayakhat Nukeshev , Irina Troyanovskaya , Sergey Voinash , Marat Kalimullin , Viktoriia Sokolova

The use of intensive technologies for the cultivation of agricultural crops provides for the application of fertilizers in the process of tillage. This reduces the compaction of the soil, increases its fertility and the quality of the crop. The purpose of these studies is to develop a universal working tool that allows you to combine several technological operations in one pass of the unit. The authors have developed an original design of a plow-subsoiler-fertilizer. This combined working body includes a reversible plow and a vibratory subsoiler with fertilizer ducts. This solution allows you to combine the application of fertilizers when plowing the field, loosening the subsoil layer and mixing the soil. As a result of the work, the dependences of the geometric dimensions of the structure on the traction resistance to movement in the soil were obtained. To implement the developed idea into a real design, the main parameters of the plow-subsoiler-fertilizer are determined. Particular attention is paid to the calculation of the spring mechanism that ensures the vibration of the subsoiler. The optimal number and location of belleville springs in the block and shock absorber were selected, at which the subsoiler will perform self-oscillations with a given amplitude.

农业作物种植的集约化技术为耕作过程中的肥料施用提供了条件。这减少了土壤的压实,提高了土壤的肥力和作物的质量。这些研究的目的是开发一种通用的工作工具,使您能够在单元的一次通过中结合几种技术操作。作者开发了一种犁-土-肥的原创设计。该组合工作体包括可逆犁和带肥料管道的振动深土机。这个解决方案可以让你在犁地时结合施肥,放松底土层和混合土壤。通过研究,得到了结构的几何尺寸与土中牵引阻力的关系。为了将开发的思想应用到实际设计中,确定了犁-土-肥的主要参数。特别注意了保证深埋机振动的弹簧机构的计算。选择了块体和减振器中最优的贝尔维尔弹簧的数量和位置,在此位置上,埋土器将以给定的幅度进行自振荡。
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引用次数: 2
A novel evaluation method for rolling energy losses of tacked vehicle road wheels using experimental modal analysis 基于试验模态分析的车辆道路车轮滚动能量损失评估方法
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-04-01 DOI: 10.1016/j.jterra.2022.12.003
Chengwei Zhu , Ye Zhuang , Weiguang Fan , Zhenxin Long , Shuyu Zhang

A novel evaluation method for rolling energy losses of road wheels of tracked vehicle is proposed, in which damping of road wheel surface is identified based on single vibration excitation and single point picking up frequency response function using a simplified modal experiment with an acceleration sensor. Three road wheels of tracked vehicle with different tread rubber are utilized as specimens during the modal experiments. The half power bandwidth method is employed to identify the viscous damping parameters. The damping parameters of road wheels are ranked by their values, and then these values of every road wheels are compared with their corresponding rolling energy losses to validate their correlative relationship. Moreover, the nonlinear deformation and stiffness of road wheels are investigated about their correlation with the rolling energy losses through model development and experimental validation. The results prove that the damping ratios of road wheels are correlated well with the rolling energy losses for all the three road wheels. The proposed evaluation method could effectively evaluate the rolling energy losses of road wheels, which suggests a simplified and economical alternative over the conventional rolling energy losses experimental method of road wheels.

提出了一种新的履带车辆车轮滚动能量损失评估方法,该方法利用加速度传感器的简化模态试验,基于单点振动激励和单点拾取频响函数识别车轮表面的阻尼。以不同胎面橡胶履带车辆的三个车轮为试样进行了模态试验。采用半功率带宽法辨识粘滞阻尼参数。通过对车轮阻尼参数的数值排序,将每个车轮的阻尼参数值与其对应的滚动能量损失进行比较,验证其相关关系。通过模型开发和试验验证,研究了道路车轮的非线性变形和刚度与滚动能量损失的关系。结果表明,三种车轮的阻尼比与滚动能量损失有较好的相关性。所提出的评价方法能够有效地评价道路车轮的滚动能量损失,为传统道路车轮滚动能量损失试验方法提供了一种简单、经济的替代方法。
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引用次数: 1
Vehicle design for terrain mobility: A modeling technique of powertrain power conversion and realization 地形机动车辆设计:一种动力总成功率转换建模技术及其实现
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-04-01 DOI: 10.1016/j.jterra.2023.01.003
Vladimir V. Vantsevich , David J. Gorsich , Dmytro O. Volontsevych , Ievhenii A. Veretennikov , Jesse R. Paldan , Lee Moradi

Vehicle terrain mobility characteristics, provided by the powertrain and running gear, are realized in dynamic interactions between the wheels and terrain. Approaches to modeling and simulation of vehicle-terrain interaction and mobility characteristics as well as engineering approaches to design powertrain sub-systems together pre-determine a vehicle’s technical success or failure before it touches the ground. This article develops a vehicle mobility design technique, applicable to both manned and unmanned platforms, concerned with powertrain power conversion and realization in tire-terrain interactions. The modeling component is based on multi-drive-wheel vehicle longitudinal dynamics combined with terramechanics and powertrain characteristics. The approach advances the conventional dynamic factor by introducing the conjoint effect of the engine, transmission, and driveline system on vehicle traction and acceleration performance in terrain conditions where circumferential wheel forces and tire slippages may differ from each other. The vehicle design component of the proposed technique introduces drivetrain, driveline, and powertrain design factors that assess the influence of the drivetrain and driveline systems on traction, acceleration performance, power conversion, and realization at the wheels. The vehicle-design-for-mobility technique is completed by examining indices of mobility margins and performance. An analysis of several 8x8 armored personal carriers and 4x4 off-road vehicles illustrates the proposed technique.

车辆的地形机动特性是在车轮与地形的动态相互作用中实现的,由动力总成和行走装置提供动力。车辆与地形相互作用和机动性特性的建模和仿真方法,以及设计动力总成子系统的工程方法,共同决定了车辆在接触地面之前的技术成功或失败。本文发展了一种适用于有人驾驶和无人驾驶平台的车辆机动设计技术,涉及轮胎-地形相互作用下动力系统功率的转换与实现。建模组件基于多驱动轮车辆纵向动力学,结合地形力学和动力系统特性。该方法通过引入发动机、变速器和传动系统对车辆在不同地形条件下的牵引和加速性能的共同影响,改进了传统的动力因素。该技术的车辆设计部分介绍了动力传动系统、传动系统和动力传动系统设计因素,这些因素评估了动力传动系统和传动系统对牵引力、加速性能、动力转换和车轮实现的影响。机动车辆设计技术是通过考察机动余量和性能指标来完成的。对几辆8 × 8装甲个人运输车和4 × 4越野车的分析说明了所提出的技术。
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引用次数: 0
Gradeability of ‘Zhu Rong’ Mars rover based on the simulated Martian terrain 基于模拟火星地形的“朱戎”号火星探测器的爬坡能力
IF 2.4 3区 工程技术 Q1 Engineering Pub Date : 2023-04-01 DOI: 10.1016/j.jterra.2023.01.002
Yansong Liu , Yingchun Qi , Dong Pan , Zhen Chen , Baofeng Yuan , Meng Zou

Due to the long-term weathering and erosion climate, many craters terrains on the surface of Mars are covered with loose weathered sedimentary debris, and Mars rovers traversing these slope-like terrains with soft soils will easily slip or even sink, and may affect the survey missions. Therefore, it is important to study the climbing ability of Mars rovers for Mars exploration missions. This work testes the climbing capability of 'Zhurong' Mars rover based on active–passive suspensions under the simulated Martian terrain and soil parameters were adequately measured. The maximum climbing distance (MCD), slip rate, power, current, energy, and efficiency are analyzed to explore the climbing abilities under different climbing methods, soil states and dynamic parameters (speeds, angular velocity) settings. The test results show that the peristaltic mode is able to continue climbing after a direct climb failure, and the MCD per period is influenced by angular velocity. The power and current data can effectively reflect the difficulty of the rover climbing. Under the same dynamic parameters, the greater the slip rate of the rover, the larger the output power and current. In addition, the speed should be minimized to prolong the climbing distance, no matter it is direct or peristaltic climbing.

由于长期的风化侵蚀气候,火星表面的许多陨石坑地形覆盖着松散的风化沉积碎屑,火星探测车穿越这些带有软土的斜坡状地形时,很容易打滑甚至下沉,可能会影响勘测任务。因此,研究火星漫游者的爬升能力对火星探测任务具有重要意义。在模拟火星地形和土壤参数得到充分测量的情况下,验证了基于主-被动悬架的“朱荣”号火星探测器的爬坡能力。通过对最大爬坡距离(MCD)、滑移率、功率、电流、能量和效率的分析,探讨了不同爬坡方式、土壤状态和动态参数(速度、角速度)设置下的爬坡能力。试验结果表明,直接爬升失效后,蠕动模式仍能继续爬升,且周期MCD受角速度的影响。功率和电流数据可以有效反映月球车爬坡的难度。在相同的动态参数下,流动站的滑移率越大,输出功率和电流越大。此外,无论是直接攀爬还是蠕动攀爬,都应尽量降低速度以延长攀爬距离。
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引用次数: 0
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Journal of Terramechanics
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