On the applicability of soil water finite difference models to operational trafficability models

Certain current operational trafficability models (e.g. SMSP) use soil moisture models which are empirically based and have a relatively coarse time increment. It is proposed that the inclusion of a soil water finite difference model may more realistically represent the detailed soil water flux changes that occur near the surface, and thus provide an improved forecasting capability. Results are present which show the important role evaporation can play in its effect upon rating cone index values, emphasizing the need need to have a dynamic soil water model in trafficability modelling.     

Determination of rating cone index using wheel sinkage and slip

It has been known from empirical equations that soil strength can be determined if wheel sinkage and slip of a vehicle can be measured on a soil surface. In this study, field data of wheel sinkage and slip were collected from two platform tractors of different sizes on gravely sandy and sandy loam soils. Using an empirical equation, the rating cone index was determined using the measured wheel sinkage and slip data. The data demonstrated that the same rating cone index can be obtained although the measuring platforms are different. It was also noted that the rating cone index can be estimated in real time by measuring the sinkage and slippage of a driving wheel.     

The determination of plough draught—Part I. prediction from soil and meteorological data with cone index as the soil strength parameter

Using cone index as an indication of soil strength, empirical equations are developed in accordance with soil mechanics theory to relate soil moisture content to plough draught. The plough draught equation comprises a quasi-static component dependent on cone index and a dynamic component which is a function of the soil specific weight, plough speed and mouldbard tail angle. It is further argued that the cohesive and frictional components of the cone penetration resistance can be predicted by means of a simple equation comprising a reciprocal function of the square of the soil moisture content and a linear function of the soil specific weight. The cone index equation explained 98% of the experimental data for threthree soils over a wide range of moisture contents. These empirical equations, together with a soil moisture model, provide a method of predicting plough draught directly from soil and meteorological data.     

An overview of methods to convert cone index to bevameter parameters

This paper reviews experimental methods for the conversion of cone index measurements to bevameter parameters in support of vehicle soil/tire/track interactions for two general soil types, sand and lean clay. The accurate prediction of traction, motion resistance, and sinkage of tire/tracks off-road requires estimates of soil strength. Equipment used in the measurement of soil strength to support predictions of off-road mobility include the bevameter and the cone penetrometer. The portability of the cone penetrometer and rapid estimates of spatial/temporal variability in all terrain conditions make it an invaluable tool. The bevameter, a less portable tool, is used for the mechanical analysis of soils. The bevameter measures parameters defining soil strength in terms of cohesive modulus of soil deformation (k_c), frictional modulus of soil deformation (k_φ), exponent of soil sinkage (n), cohesion (c), angle of internal friction (φ), and the plate pressure at 1 in. (2.54 cm) of penetration (K) (Bekker, 1969). The field of terramechanics would greatly benefit from having the ability to convert cone penetrometer data in areas where bevameter parameters are difficult to collect. That ability to convert from cone index to bevameter parameters could be used for the large sets of existing cone index data to support determination of traction and motion resistance. This paper examines those methods for converting cone index to bevameter plate penetration parameters k_c, k_φ, and n.     

Design and characterization of GRC-1: A soil for lunar terramechanics testing in Earth-ambient conditions

Earth experiments must be carried out on terrain that deforms similarly to the lunar terrain to assess the tractive performances of lunar vehicles. Most notably, terrain compaction and shear response underneath the lunar vehicle wheels must represent that of the Moon. This paper discusses the development of a new lunar soil simulant, Glenn Research Center lunar soil simulant #1 (GRC-1), which meets this need. A semi-empirical design approach was followed in which the soil was created by mixing readily available manufactured sands to a particle size distribution similar to the coarse fraction of lunar soil. By varying terrain density, a broad range of in situ cone penetration measurements collected by the Apollo mission astronauts can be replicated. An extensive set of characterization data is provided in this article to facilitate the use of this material. For reference, the index and geotechnical properties of GRC-1 are compared to the lunar soil and existing lunar soil simulants.     

Remote electronic acquisition of soil cone index measurement

The cone penetrometer is widely used in tillage and off-road mobility research as an indicator of soil strength and density characteristics. Light-weight, manually operated units are especially useful in recording cone index determinations at remote field locations. Such units permit a single operator to measure and record penetration force vs depth in graphic form. However, the interpretation and analysis of such data has remained a tedious manual operation which has limited the number of determinations which are practical for a given field experiment. The system described in this paper allows one person to determine and electronically record penetration force vs depth relationships using a standard cone penetrometer (ASAE S313.1, 1979). A CMOS (complementary metal oxide semiconductor) microprocessor is utilized to sample and digitize analog signals and to record them on a magnetic tape cassette. An identifying code can be associated with each measurement and the microprocessor is subsequently utilized in interpreting cassette-stored data and transmitting it to a remote computer terminal or minicomputer for processing and analysis. Thus, this relatively low-cost system significantly enhances manual acquisition and interpretation of cone penetrometer measurements.     

Compaction

Compaction of soils is a complex process in which several soil properties as well as compactor characteristics interact. General rules have been developed through years of experience in construction and through a need, in the recent past, to increase the sub-base and base strength of runways to accomodate higher aircraft wheel loads. General guidelines are adequate when there is no need for an accurate prediction of the number of compactor coverages required to effect a given level of soil compaction.During the conduct of a recent program, it was necessary that an estimate be made of the time required to compact soil to a certain strength. A review of the literature indicated that little recent work has been done on compaction and on the modelling of the compaction process. Similitude modelling has been used to predict the trafficability of soft soils. Although the soil compaction criteria are different from those of trafficability, it was felt that similitude modelling could also be applied to compaction. This paper describes the basis for CBR and density models and some indications of their form and prediction ability.     

A proposed strength classification test for fine-grained soils

It is proposed that the linear semi-log relation of water content to soil strength be used as a means of identifying and classifying soils. The relation can be specified by two parameters proposed to be named trafficability limit and strength index. Together these two parameters will provide more useful information about a soil for the conduct and analysis of traction and mobility testing than any other classification system now in use. The parameters also have potential for additional correlations with measures of soil behavior in dynamic testing. Data are presented to demonstrate the feasibility of the proposal.     

The effect of dynamic impact and water potential on some surface soil properties

A direct shear test with a superimposed impact was used to simulate the action of a track on the soil surface and to study the effect on soil surface properties. Results showed that impact increased bulk density, reduced saturated hydraulic conductivity and decreased cone penetrometer resistance. An impact plus shear treatment reduced the residual shear strength to approximately 60 kPa compared with 85 kPa for a shear only treatment. Water tension also greatly influenced the changes measured with the order of greatest change being −5>−10>−60>t-100>−300 kPa. The results are discussed with respect to soil trafficability and soil structural change with vehicle passage.     

Vorschlag für die Klassifizierung der Festigkeit Feinkörniger Böden

It is proposed that the linear semi-log relation of water content to soil strength be used as a means of identifying and classifying soils. The relation can be specified by two parameters proposed to be named trafficability limit and strength index. Together these two parameters will provide more useful information about a soil for the conduct and analysis of traction and mobility testing than any other classification system now in use. The parameters also have potential for additional correlations with measures of soil behavior in dynamic testing. Data are presented to demonstrate the feasibility of the proposal.     

Modeling compaction in agricultural soils

Research was conducted to quantify the effect of tire variables (section width, diameter, inflation pressure); soil variables (soil moisture content, initial cone index, initial bulk density); and external variables (travel speed, axle load, number of tire passes) on soil compaction and to develop models to assess compaction in agricultural soils. Experiments were conducted in a laboratory soil bin at the Asian Institute of Technology in three soils, namely: clay soil (CS), silty clay loam soil (SCLS), and silty loam soil (SLS). A dimensional analysis technique was used to develop the compaction models. The axle load and the number of tire passes proved to be the most dominant factors which influenced compaction. Up to 13% increase in bulk density and cone index were observed when working at 3 kN axle load in a single pass using a 8.0–16 tire. Most of the compaction occurred during the first three passes of the tire. It was also found that the aspect ratio, tire inflation pressure and soil moisture content have significant effect on soil compaction. The initial cone index did not show significant effect. The compaction models provided good predictions even when tested with actual field data from previous studies. Thus, using the models, a decision support system could be developed which may be able to provide useful recommendations for appropriate soil management practices and solutions to site-specific compaction problems.     

Design and development of a new transformable wheel used in amphibious all-terrain vehicles (A-ATV)

Conventional ground-wheeled vehicles usually have poor trafficability, low efficiency, a large amount of energy consumption and possible failure when driving on soft terrain. To solve this problem, this paper presents a new design of transformable wheels for use in an amphibious all-terrain vehicle. The wheel has two extreme working statuses: unfolded walking-wheel and folded rigid wheel. Furthermore, the kinematic characteristics of the transformable wheel were studied using a kinematic method. When the wheel is unfolded at walking-wheel status, the displacement, velocity and acceleration of the wheel with different slip rates were analyzed. The stress condition is studied by using a classic soil mechanics method when the transformable wheel is driven on soft terrain. The relationship among wheel traction, wheel parameters and soil deformation under the stress were obtained. The results show that both the wheel traction and trafficability can be improved by using the proposed transformable wheel. Finally, a finite element model is established based on the vehicle terramechanics, and the interaction result between the transformable wheel and elastic–plastic soil is simulated when the transformable wheel is driven at different unfold angles. The simulation results are consistent with the theoretical analysis, which verifies the applicability and effectiveness of the transformable wheel developed in this paper.     

Reduced testing and modelling of the bearing capacity of rooted soil for wheeled forestry machines

The next generation of forestry machines must be developed to be gentler to soil and to the root mat than present machines, especially in thinning operations. The bearing capacity of the soil is a key property for determining the terrain trafficability and machine mobility. This asks for better and more general terramechanics models that can be used to predict the interaction between different machine concepts and real and complex forest soil.This paper presents results from terramechanics experiments of rooted soil with a new and small-scale testing device. The force–deflection results are analyzed and compared with analytical root reinforcement models found in literature. The presented study indicates that rooted soil properties obtained with the new laboratory test device can be used to create an augmented soil model that can be used to predict the bearing capacity of rooted soil and also to be used in dynamic machine–soil interaction simulations.     

Evaluation of penetrometers for measuring soil strength

Cone index, as determined by a cone penetrometer, is frequently used as a measure of soil strength. The index is a compound parameter involving components of shear, compressive and tensile strength and soil metal friction. In order to assess the effect of soil type and condition on the relative contributions of these components to penetration resistance, the forces required to push blunt and sharp probes into two soils under a range of moisture contents and bulk densities were investigated. The maximum penetration force in homogeneous soil was not uniquely related to dry bulk density or cohesion, but varied with soil moisture content.At high and low moisture contents, the soil tended to interact with the shaft of the penetrometer thus increasing the resistance to penetration. At low moisture content, bodies of compressed soil formed in front of the probe, effectively changing the probe geometry.It was concluded that interpretation of cone index in typical layered field soils is difficult. Even in homogeneous soils, the proportion of shear, compressive and tensile components that the cone index reflects varies with soil condition.     

Comparing the NRMM (VCI), MMP and VLCI traction models

A military vehicle’s ability to traverse soft soil is a significant aspect of its performance. It is therefore important to be able to accurately predict and compare the soft soil performance of wheeled and tracked vehicles. The paper compares the vehicle cone index (VCI) model used in the NATO Reference Mobility Model (NRMM) with the mean maximum pressure (MMP) and vehicle limiting cone index (VLCI) models. The wheeled vehicle models compare reasonably well but the VLCI model for tracked vehicles indicates markedly higher limiting go/no-go soil strengths compared to the VCI and MMP models. Some of the relationships used in the VCI model appear rather irrational and could be significantly simplified. There is a considerable lack of reliable experimental data for tracked vehicles especially in the low traction region.     

Optimization of tandem wheel spacing for trafficability in sand

Heavy vehicles use multi-axle layouts to meet axle weight regulations and for better off-the-road mobility. Wheels in tandem are often used on these layouts. A study to optimize the wheel spacing for trafficability in sand was taken up. It was shown by field experimentation that soil pressure zones under wheels in sand do not exceed the wheel diameter and thus the criteria for selection of tandem wheel spacing shall be decided by the type of suspension on which the wheels are accommodated.     

Measurement of soil parameters useful in predicting tractive ability of off-road vehicles using an instrumented portable device

An instrumented portable device that measures soil sinkage, shear, and frictional parameters in situ was developed to investigate the complexity of soil-traction device interaction process. The device was tested to determine its ability to measure soil frictional and shear characteristics. Extensive laboratory tests were conducted using dry and moist Capay clay and Yolo loam soils. In addition, field tests were also conducted in a Yolo loam field located at the UC Davis Agricultural Experiment Station. The Cohron sheargraph was also tested under the same laboratory experimental conditions to determine adhesion, soil-metal friction, cohesion, and angle of internal friction of soil. The analysis of experimental data indicated that soil adhesion and soil-metal friction were found to be functions of the intercept and slope values of cone torque versus cone index plot (r² = 0.94 and 0.95, respectively). Moreover, soil cohesion was found to be related to adhesion by the constrained adhesion relationship, and soil angle of internal friction was proportional to soil-metal friction as reported by Hettiaratchi [7] and [8]. These results imply that a simpler device consisting of a rotating cone can be developed to measure soil frictional and shear characteristics. Preliminary results showed that the soil parameters determined using this device predicted the maximum net traction developed by four different radial ply tires tested by Upadhyaya et al. [18] under similar soil conditions quite well. These results indicate that the parameters obtained from the device could be useful in obtaining traction related parameters of a soil-tractive device interaction process.     

The determination of plough draught—Part II the measurement and prediction of plough draught for two mouldboard shapes in three soil series

The draught of a 3-furrow reversible plough fitted with two types of bodies was measured at five separate test sites. Each site was ploughed on four different days to provide a range of soil moisture contents. The plough was operated at three different speeds in sequence for each type of body. The horizontal and vertical forces transmitted to the tractor were measured on a three-point linkage dynamometer. Tachogenerators monitored tractor wheel speed and fifth wheel ground speed. Cone index and soil specific weight were recorded at 30 mm intervals throughout the top-soil profile. Cone index at median plough depth was found to be a satisfactory measure of soil strength for the prediction of plough draught. Characterising specific plough draught by soil cone index, specific weight, moisture content, plough mouldboard tail angle and ploughing speed provided predicted values in closer agreement with measured draught compared with earlier equations. The sensitivity of cone index to soil moisture content supports the use of the cone penetrometer as a practical monitor of soil conditions in the field and as a management tool for judging the opportune times for agricultural tillage operations.     

Predictability of boreal forest soil bearing capacity by machine learning

In forest harvesting, terrain trafficability is the key parameter needed for route planning. Advance knowledge of the soil bearing capacity is crucial for heavy machinery operations. Especially peatland areas can cause severe problems for harvesting operations and can result in increased costs. In addition to avoiding potential damage to the soil, route planning must also take into consideration the root damage to the remaining trees. In this paper we study the predictability of boreal soil load bearing capacity by using remote sensing data and field measurement data. We conduct our research by using both linear and nonlinear methods of machine learning. With the best prediction method, ridge regression, the results are promising with a C-index value higher than 0.68 up to 200 m prediction range from the closest point with known bearing capacity, the baseline value being 0.5. The load bearing classification of the soil resulted in 76% accuracy up to 60 m by using a multilayer perceptron method. The results indicate that there is a potential for production applications and that there is a great need for automatic real-time sensoring in order to produce applicable predictions.     

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