Re-examined principles of thrust generation by a track on soft ground

Dr. Bekker’s first book Theory of land locomotion offers in fact two different concepts of thrust generation on soft ground with respect to the slip: (a) as the push of grousers causing horizontal soil “distortion” and (b) as the shear force in the failure plane linked with the shear deformation. Bekker preferred the second concept and backed it up by the unique shear-ring measuring technique. To clear up the matter, the author decided to re-examine the thrust generation by a track plate experimentally in field conditions. The tests have shown that the initial stage of thrust generation in compressible ground is always horizontal soil compression by grousers, which divides the soil under a track into separate blocks initially at rest. This compression increases at least to the transition point, when a block is sheared off simultaneously at the bottom and in both lateral planes and starts sliding along the channel formed by the preceding grouser. The analysis of these measurements enabled to define the compressive displacement of the face of the soil block (travel of the grouser) appurtenant to the mentioned transition point, useful to define the thrust–slip curve. The case may also be described by the conventional shear stress–shear displacement relationship, imagined to take place in the bottom failure plane, however, namely the “shear displacement” is rather an unusual quantity.     

Compression–Sliding approach: Dependence of transitional displacement of a driving element on its size and load

Every element of a pulling traction device (e.g. track shoe with grouser or tire section with lug) exhibits increasing rearward displacement during its engagement with soft ground. Compression–Sliding (CS) approach states in agreement with experimental evidence that on common soft ground this displacement starts due to longitudinal soil compression by the grouser or lug, which steadily increases up to the transitional displacement when the soil segment beneath a driving element fails in shear. Further displacement of a driving element is marked by forced slide of a sheared off soil block, which may eventually collapse. There was justified reasoning that the transitional displacement depends not only on the grouser (lug) contact pressure but also on the area and load of the respective traction element. The presented article reports on experiments designed to test this premise. The measurements applying the novel double plate (DP) meter technique were carried out in a laboratory soil bin containing loam charge of uniform bulk density and moisture content. Three sizes (proportions 1:2:4) and two mean vertical contact pressures (ratio1:2) of DP meter main plate were tested. The analysis of performed experiments confirmed the existence of dimensional and loading relationship “main plate – transitional displacement”, which bears upon the evaluation of thrust–slip relationship of any traction device by the CS approach or by any other method observing the existence of displacement.     

Use of a sliding plate rheometer to measure the first normal stress difference at high shear rates

The use of a sliding plate rheometer (SPR) to determine the first normal stress difference of molten polymers and elastomers at high shear rates is demonstrated. The simple shear flow in this instrument is not subject to the flow instabilities that limit the use of rotational rheometers to shear rates often below 1 s⁻¹. However, issues of secondary flow and wall slip must be addressed to obtain reliable data using an SPR. A highly entangled, monodisperse polybutadiene and a commercial polystyrene were the polymers studied. The inclusion of the polystyrene made it possible to compare data with those obtained by Lodge using a stressmeter, which is an instrument based on the measurement of the hole pressure. The data from the two instruments are in good agreement and are also close to the predictions of an empirical equation of Laun based on the storage and loss moduli.     

Solution of the planar Newtonian stick–slip problem with the singular function boundary integral method

A singular function boundary integral method (SFBIM) is proposed for solving biharmonic problems with boundary singularities. The method is applied to the Newtonian stick–slip flow problem. The streamfunction is approximated by the leading terms of the local asymptotic solution expansion which are also used to weight the governing biharmonic equation in the Galerkin sense. By means of the divergence theorem the discretized equations are reduced to boundary integrals. The Dirichlet boundary conditions are weakly enforced by means of Lagrange multipliers, the values of which are calculated together with the singular coefficients. The method converges very fast with the number of singular functions and the number of Lagrange multipliers, and accurate estimates of the leading singular coefficients are obtained. Comparisons with the analytical solution and results obtained with other numerical methods are also made. Copyright © 2005 John Wiley & Sons, Ltd.     

Weak imposition of boundary conditions for the Navier–Stokes equations by a penalty method

We prove convergence of the finite element method for the Navier–Stokes equations in which the no‐slip condition and no‐penetration condition on the flow boundary are imposed via a penalty method. This approach has been previously studied for the Stokes problem by Liakos (Weak imposition of boundary conditions in the Stokes problem. Ph.D. Thesis, University of Pittsburgh, 1999). Since, in most realistic applications, inertial effects dominate, it is crucial to extend the validity of the method to the nonlinear Navier–Stokes case. This report includes the analysis of this extension, as well as numerical results validating their analytical counterparts. Specifically, we show that optimal order of convergence can be achieved if the computational boundary follows the real flow boundary exactly. Copyright © 2008 John Wiley & Sons, Ltd.     

Time‐dependent flow across a step: the slip with friction boundary condition

The paper studies numerically the slip with friction boundary condition in the time‐dependent incompressible Navier–Stokes equations. Numerical tests on two‐ and three‐dimensional channel flows across a step using this boundary condition on the bottom wall are performed. The influence of the friction parameter on the flow field is studied and the results are explained according to the physics of the flow. Due to the stretching and tilting of vortices, the three‐dimensional results differ in many respects from the two‐dimensional ones. Copyright © 2005 John Wiley & Sons, Ltd.     

Finite element solution of the Navier–Stokes equations by a velocity–vorticity method

A velocity–vorticity formulation of the Navier–Stokes equations is presented as an alternative to the primitive variables approach. The velocity components and the vorticity are solved for in a fully coupled manner using a Newton method. No artificial viscosity is required in this formulation. The pressure is updated by a method allowing natural imposition of boundary conditions. Incompressible and subsonic results are presented for two-dimensional laminar internal flows up to high Reynolds numbers.     

Penalty finite element method for Navier–Stokes equations with nonlinear slip boundary conditions

The penalty finite element method for Navier–Stokes equations with nonlinear slip boundary conditions is investigated in this paper. Since this class of nonlinear slip boundary conditions include the subdifferential property, the weak variational formulation is a variational inequality problem of the second kind. Using the penalty finite element approximation, we obtain optimal error estimates between the exact solution and the finite element approximation solution. Finally, we show the numerical results which are in full agreement with the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd.     

Thrust and slip of a low-pressure tire on compressible ground by the compression-sliding approach

Driving wheels with low-pressure lugged tires are standard propulsion components of wheeled off-road vehicles. Such wheels have been mostly treated in theory as shorter tracks or even as “black boxes”. These procedures, however, appear not to be necessary since an updated theory of thrust generation, based on experiments with double-plate meter, was presented at the 2008 ISTVS Turin conference. This theory is based on the compaction-sliding (CS) concept, which claims that the rearward displacement of soil, a reason for slip, starts as horizontal soil compression by lugs (C-stage at lower thrust), followed by the slide of sheared off soil blocks (S-stage at higher thrust). The thrust in terms of ISTVS Standards equals gross tractive effort minus internal rolling resistance of a tire. The resultant thrust of a tire equals the sum of component thrusts of individual soil segments. The respective technique provides thrust-slip curves, which reflect tire size, loading, inflation pressure and tread pattern design, e.g. tread density, lug angle, pitch, height and tire casing lay-out and thus can be useful notably in assessing the traction properties of new tire designs. Concerning the evaluation of tire traction tests or similar applications, the CS approach offers a simplified version of thrust-slip formula (G-function), which complies with the CS concept and is easy to use.     

Space–time integrated least squares: a time‐marching approach

A time‐marching formulation is derived from the space–time integrated least squares (STILS) method for solving a pure hyperbolic convection equation and is numerically compared to various known methods. Copyright © 2004 John Wiley & Sons, Ltd.     

Solution of the Navier–Stokes equations in velocity–vorticity form using a Eulerian–Lagrangian boundary element method

This paper describes the Eulerian–Lagrangian boundary element model for the solution of incompressible viscous flow problems using velocity–vorticity variables. A Eulerian–Lagrangian boundary element method (ELBEM) is proposed by the combination of the Eulerian–Lagrangian method and the boundary element method (BEM). ELBEM overcomes the limitation of the traditional BEM, which is incapable of dealing with the arbitrary velocity field in advection‐dominated flow problems. The present ELBEM model involves the solution of the vorticity transport equation for vorticity whose solenoidal vorticity components are obtained iteratively by solving velocity Poisson equations involving the velocity and vorticity components. The velocity Poisson equations are solved using a boundary integral scheme and the vorticity transport equation is solved using the ELBEM. Here the results of two‐dimensional Navier–Stokes problems with low–medium Reynolds numbers in a typical cavity flow are presented and compared with a series solution and other numerical models. The ELBEM model has been found to be feasible and satisfactory. Copyright © 2000 John Wiley & Sons, Ltd.     

Raviart–Thomas and Brezzi–Douglas–Marini finite‐element approximations of the shallow‐water equations

An analysis of the discrete shallow‐water equations using the Raviart–Thomas and Brezzi–Douglas–Marini finite elements is presented. For inertia–gravity waves, the discrete formulations are obtained and the dispersion relations are computed in order to quantify the dispersive nature of the schemes on two meshes made up of equilateral and biased triangles. A linear algebra approach is also used to ascertain the possible presence of spurious modes arising from the discretization. The geostrophic balance is examined and the smallest representable vortices are characterized on both structured and unstructured meshes. Numerical solutions of two test problems to simulate gravity and Rossby modes are in good agreement with the analytical results. Copyright © 2007 John Wiley & Sons, Ltd.     

The solution of a convection–diffusion–reaction equation arising from cathodic reduction in a pulsating crack

This paper derives the convection–diffusion-reaction equation governing the reaction between the dissolved oxygen in sea-water and the steel walls of a pulsating crack. By the neglect of the diffusion term it is shown that an exact solution of the convection-reaction equation can be obtained. A numerical method for the solution of the complete convection–diffusion-reaction equation is derived by the use of finite differences. The numerical computation of the initial transient and the final periodic steady-state values is also discussed.     

Simulating two-dimensional turbulent flow by using the κ–ϵ model and the vorticity–streamfunction formulation

A numerical procedure to solve turbulent flow which makes use of the κ–? model has been developed. The method is based on a control volume finite element method and an unstructured triangular domain discretization. The velocity-pressure coupling is addressed via the vorticity-streamfunction and special attention is given to the boundary conditions for the vorticity. Wall effects are taken into account via wail functions or a low-Reynolds-number model. The latter was found to perform better in recirculation regions. Source terms of the κ and ε transport equations have been linearized in a particular way to avoid non-realistic solutions. The vorticity and streamfunction discretized equations are solved in a coupled way to produce a faster and more stable computational procedure. Comparison between the numerical predictions and experimental data shows that the physics of the flow is correctly simulated.     

Micro–macro approach for the rock salt behaviour

Rock salt is considered as a pure aggregate of halite (mineral NaCl) crystals and its behaviour is investigated by a micro–macro approach. The behaviour of the polycrystalline aggregate is deduced from the properties of the constituent halite crystals. A model for the elastoplastic behaviour of halite crystal has been deduced from experimental data available in the literature. The basic equations of the micro–macro model for the polycrystalline medium and the calculation method are then presented and the elastoplastic behaviour of rock salt is investigated by this method. The hardening effects obtained for the polycrystal are found to be very different from those obtained for FCC metal polycrystals. The differences are explained as a consequence of differences of families of glide systems in these crystals. Finally, the internal stresses in the polycrystal are studied in order to elucidate the origin of cracking and damage of the rock salt.     

Artificial neural network prediction to the hot compressive deformation behavior of Al–Cu–Mg–Ag heat-resistant aluminum alloy

The behavior of the flow stress of Al-Cu-Mg-Ag heat-resistant aluminum alloys during hot compression deformation was studied by thermal simulation test. The temperature and the strain rate during hot compression were 340-500 °C, 0.001 s⁻¹ to 10 s⁻¹, respectively. Constitutive equations and an artificial neural network (ANN) model were developed for the analysis and simulation of the flow behavior of the Al-Cu-Mg-Ag alloys. The inputs of the model are temperature, strain rate and strain. The output of the model is the flow stress. Comparison between constitutive equations and ANN results shows that ANN model has a better prediction power than the constitutive equations.     

Modelling the traction of a prototype track based on soil–rubber friction and adhesion

An experimental track layer tractor, based on an Allis Chalmers 8070 tractor (141 kW) was tested on bitumen covered concrete and on cultivated sandy loam at 7.8%; 13% and 21% soil water content. The two articulated beam-type tracks (500 mm wide × 2000 mm soil contact length) were constructed out of 500 mm long and 70 mm wide rubber covered steel track elements, carried by five steel cables (36 mm diameter). The tracks resisted inward deflection but allowed outward articulation between two smooth rear driving and two smooth front pneumatic truck tires (1060 mm diameter) per track. The contact pressure and the tangential force on an instrumented track element, as well as the total torque input to one track, were simultaneously recorded during the drawbar pull/slip tests.

Different possible pressure distribution profiles under the tracks were considered and compared to the recorded data. Two possible traction models are proposed, one constant pressure model for minimal inward track deflection, and a deformable track model with inward deflection and a higher contact pressure at both the front free-wheeling and rear driving tires. For both models, the traction force was generated mainly by rubber/soil friction and adhesion and limited soil shear. A close agreement between the measured and predicted contact pressures and traction force for individual track elements, based on the deformable track model, was observed. The recorded and calculated coefficient of traction based on the summation of the force for the series of track elements were comparable, but were considerably lower than the predicted values, probably due to internal track friction rather than soil sinkage. The tractive efficiency for both a hard or soft surface was also unacceptably low, probably caused by internal track friction.     

Obtaining the steady shear rheological properties and apparent wall slip velocity data of a water-in-oil emulsion from gap-dependent parallel plate viscometry data

A two-stage Tikhonov regularisation procedure has been used to obtain rheological properties for a high internal phase emulsion from gap-dependent steady-state parallel plate shear data. This method is beneficial in that it can convert the steady shear data into rheological property functions. The built-in regularisation parameters of the method are able to keep noise amplification under control. The two-stage method is able to obtain not only the shear stress–shear rate function but also the apparent slip velocity as a function of wall shear stress. The method is such that it obtains the rheological functions over the maximum range of shear rate covered by the data. The results obtained using the new method are compared to those obtained using the vane geometry with good agreement being observed.     

Investigation on a coupled Navier–Stokes–Direct Simulation Monte Carlo method for the simulation of plume flowfield of a conical nozzle

To assess the plume effects of space thrusters, the accurate plume flowfield is indispensable. The plume flow of thrusters involves both continuum and rarefied flow regimes. Coupled Navier–Stokes–Direct Simulation Monte Carlo (NS–DSMC) method is a major approach to the simulation of continuum‐rarefied flows. An axisymmetric coupled NS–DSMC solver, possessing adaptive‐interface and two‐way coupling features, is investigated in this paper for the simulation of the nozzle and plume flows of thrusters. The state‐based coupling scheme is adopted, and the gradient local Knudsen number is used to indicate the breakdown of continuum solver. The nitrogen flows in a conical nozzle and its plume are chosen as the reference case to test the coupled solver. The threshold value of the continuum breakdown parameter is studied based on both theoretical kinetic velocity sampling and coupled numerical tests. Succeeding comparisons between coupled and full DSMC results demonstrate their conformities, meanwhile, the former saves 58.8% computational time. The pitot pressure evaluated from the coupled simulation result is compared with the experimental data proposed in literatures, revealing that the coupled method makes precise predictions on the experimental pitot pressure. Copyright © 2014 John Wiley & Sons, Ltd.