Characterization of the mechanical properties of muskeg with special reference to vehicle mobility

Results of measurement of the load-sinkage and shearing characteristics of a muskeg in the Ottawa area, Ontario are presented. Mathematical models for the bearing capacity and shearing characteristics of muskeg are proposed. Methods for predicting the punching load, critical sinkage and shear strength of muskeg are suggested. Based on the characteristics of the mechanical properties of muskeg obtained, some aspects of the design of vehicles for use in organic terrain are discussed.     

A review of mobility metrics for next generation vehicle mobility models

In the United States, the NATO Reference Mobility Model (NRMM) has been used for evaluating military ground vehicle mobility and the Vehicle Cone Index (VCI) has been selected as a mobility metric. VCI represents the minimum soil strength required for a vehicle to consistently make a specific number of passes, usually one or fifty passes. In the United Kingdom, the Mean Maximum Pressure (MMP) has been adopted as a metric for assessing military vehicle cross-country mobility. MMP is the mean value of the maxima occurring under all the wheel stations of a vehicle. Both VCI and MMP are empirically based. This paper presents a review of the basis upon which VCI and MMP were developed, as well as their applications to evaluating vehicle mobility in practice. With the progress in terramechanics and in modelling and simulation techniques in recent years, there is a growing desire to develop physics-based mobility metrics for next generation vehicle mobility models. Based on the review, criteria for selecting physics-based mobility metrics are proposed. Following these criteria, metrics for characterizing military vehicle traction limits and traversability on a given operating area are recommended.     

Quantifying vegetation biomass impacts on vehicle mobility

Soil impacts on vehicle mobility are well known; however, most data are for bare soil or the type and amount of vegetation is not documented. This study summarizes results from experiments to quantify the effect of above ground and below ground vegetation biomass on vehicle performance. Soil–vegetation combinations of three soils and three grasses were used. The vegetation was tested at various growth stages and was also subjected to stressors such as trafficking, burning, and cutting. Vegetation measurements included above ground (leaves and shoots) and below ground (root) biomass weights, lengths, diameters and surface area parameters. The soils were characterized for size distribution, moisture, density and terrain strength for each test condition. Vehicle traction and motion resistance were measured for each soil–grass combination using the CRREL Instrumented Vehicle. Results showed an increase in net traction biomass in sandy soils. For clay soils above ground biomass generally increased resistance while increased root diameter clearly decreased resistance. This study represents the first measurements quantifying the impacts of specific biomass parameters on vehicle mobility. The results will serve to guide new experimental methods, improve datasets, and develop physics-based models for years to come.     

Triaxial-in-a-plane soil stress gage for vehicle mobility applications

The approach used here consists of an axisymmetric gage with a tapered exterior. Raw outputs are normal stress in three directions in the plane perpendicular to the gage axis of symmetry. From these outputs, the time history of the complete state of stress in this plane can be determined. Of special interest is the plane of symmetry which is the vertical plane centered on one side of a wheeled or tracked vehicle proceeding in a straight line. The gage was placed from a berm on the side of the vehicle path, approximately 4 ft horizontally and at approximately 9 in. below the ground surface. Test vehicles were a 4 × 4 wheeled vehicle and a M113A2 armored personnel carrier. The measured stress results are largely consistent with expectations.     

Preconditioning of deep snowpack for off-road vehicle mobility

This paper addresses several preconditioning techniques for strengthening a deep snowpack in order to support vehicular loadings. The criteria imposed on preconditioning a deep snowpack were: (1) only light commercially-available vehicles or equipment could be used, (2) preconditioning would only be applied to the snow surface and (3) any additives to be used should be easily acquired in remote areas. Viable preconditioning techniques were first evaluated in the laboratory using artificial snow. The techniques explored were surface loading (surcharging), heating and mixing with additives (sand and straw) followed by surcharging. The properties of the laboratory-preconditioned snow were evaluated primarily in terms of footing penetration resistance and Rammsonde hardness. Based on the laboratory results, preconditioning of a deep natural snowpack was carried out. Surcharging the snowpack was achieved by a BV206 Carrier. The preconditioning techniques studied were surcharging, heating and mixing with additives (salt and straw). Various ageing periods were imposed. The load-carrying capacity of the preconditioned snowpack was evaluated by multipasses of two wheeled vehicles (Iltis and 5/4 ton truck). The results indicated that a soft deep snowpack can be preconditioned to the extent that it can support multipasses of wheeled vehicles.     

Design and mobility evaluation of tracked lunar vehicle

Past lunar vehicles have had difficulty traveling through soft sand areas due to the thick, soft and dry regolith. This paper describes the design and evaluation results of a tracked lunar vehicle which aims at achieving greater mobility, particularly improved climbing ability on pure sand slopes, by reducing contact pressure with a crawler link. The tracked vehicle uses mesh crawler links to reduce complexity, weight and parts count. Single-crawler tests on simulated lunar soil revealed that the crawler’s slip ratio was lower than that of a rigid wheel at any slope angle, and that its power consumption was lower than that of a wheel on slopes of 10° or more. Furthermore, the crawler’s slip ratio was stable or decreasing along the traveling distance on steep slopes, contrary to the wheel. Our tracked lunar vehicle, the “Light Crawler”, is equipped with four such mesh-crawlers, each of which is independently driven and steered. It is intended to realize high climbing ability, a small turning circle, and an obstacle-crossing capability using a unique suspension system. The vehicle’s climbing and obstacle-crossing capabilities were tested on both simulated lunar soil and a rock-scattered field, and its mobility performance was successfully confirmed.     

一种适用于低机动性载体的圆锥算法

不同的圆锥算法,其误差的补偿精度各不相同,而补偿精度又影响最终的姿态解算精度,因此研究高补偿精度的圆锥算法非常重要.对捷联惯导系统提出了利用前两个计算周期陀螺输出的角增量信息和当前陀螺采样值的圆锥误差补偿算法,并对新算法中的单子样和双子样算法进行了分析.结果表明,在圆锥运动为低频率的条件下,提出的双子样算法的补偿精度相比传统的优化三子样算法可以提高2个数量级.对于舰艇、轮船等低机动性的载体,由于其圆锥运动处于低频率,可以利用该算法进行姿态更新解算.     

Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle

From the viewpoints of environmental protection, support for the aged and ensuring the right to mobility, there is a need to develop a new type of mobility vehicle that provides more effective transportation. The authors propose an inverted pendulum vehicle with pedals as one of the forms of personal mobility vehicles (PMVs). In this paper, the steering performance of the inverted pendulum vehicle with pedals is discussed based on experiments on a prototype. From the experimental results, it was confirmed that the errors from the five subjects for the target trajectory and the five-grade evaluation of the maneuverability were similar. Finally, we created an inverted pendulum vehicle with pedals to which was added a reaction actuator for the steering system. From the experimental results, it was found that setting appropriate feedback gains for the handle steering angle and its rate of rotation, which control the right and left wheel driving torques, resulted in greatly improved maneuverability.     

Data assimilation of local model error forecasts in a deterministic model

One of the most popular data assimilation techniques in use today are of the Kalman filter type, which provide an improved estimate of the state of a system up to the current time level, based on actual measurements. From a forecasting viewpoint, this corresponds to an updating of the initial conditions. The standard forecasting procedure is to then run the model uncorrected into the future, driven by predicted boundary and forcing conditions. The problem with this methodology is that the updated initial conditions quickly ‘wash‐out’, thus, after a certain forecast horizon the model predictions are no better than from an initially uncorrected model. This study demonstrates that through the assimilation of error forecasts (in the present case made using so‐called local models) entire model domains can be corrected for extended forecast horizons (i.e. long after updated initial conditions have become washed‐out), thus demonstrating significant improvements over the conventional methodology. Some alternate uses of local models are also explored for the re‐distribution of error forecasts over the entire model domain, which are then compared with more conventional Kalman filter type schemes. Copyright © 2002 John Wiley & Sons, Ltd.     

Study of active flow control for a simplified vehicle model using the PANS method

Flow control has shown a potential in reducing the drag in vehicle aerodynamics. The present numerical study deals with active flow control for a quasi-2D simplified vehicle model using a synthetic jet (zero net mass flux jet). Recently developed near-wall Partially-Averaged Navier–Stokes (PANS) method, based on the ζ–f RANS turbulence model, is used. The aim is to validate the performance of this new method for the complex flow control problem. Results are compared with previous studies using LES and experiments, including global flow parameters of Strouhal number, drag coefficients and velocity profiles. The PANS method predicts a drag reduction of approximately 15%, which is closer to the experimental data than the previous LES results. The velocity profiles predicted by the PANS method agree well with LES results and experimental data for both natural and controlled cases. The PANS prediction showed that the near-wake region is locked-on due to the synthetic jet, and the shear layer instabilities are thus depressed which resulted in an elongated wake region and reduced drag. It demonstrates that the PANS method is able to predict the flow control problem well and is thus appropriate for flow control studies.     

Agile tire slippage dynamics for radical enhancement of vehicle mobility

There is a need to radically increase mobility of terrain vehicles through new modalities of vehicle locomotion, i.e., by establishing a new technological paradigm in vehicle dynamics and mobility. The new paradigm greatly applies to military vehicles for the radical improvement of tactical and operational mobility. This article presents a new technological paradigm of agile tire slippage dynamics that is studied as an extremely fast and exact response of the tire–soil couple to (i) the tire dynamic loading, (ii) transient changes of gripping and rolling resistance conditions on uniform stochastic terrains and (iii) rapid transient changes from one uniform terrain to a different uniform terrain. Tire longitudinal relaxation lengths are analyzed to characterize the longitudinal relaxation time constants. A set of agile characteristics is also considered to analyze agile tire slippage dynamics within a time interval that is close to the tire longitudinal relaxation time constants. The presented paradigm of agile tire slippage dynamics lays out a foundation to radically enhance vehicle terrain mobility by controlling the tire slippage in its transient phases to prevent the immobilization of a vehicle. Control development basis and requirements for implementing an agile tire slippage control are also analyzed and considered.     

Assessment of tracked vehicle suspension system using a validated computer simulation model

A non-linear, in-plane computer simulation model of a typical high-mobility tracked vehicle is developed for suspension dynamic analysis and ride quality assessment. The Langrangian model formulation of the tracked vehicle is derived considering an arbitrary rigid terrain profile and constant vehicle speed. The model incorporates detailed representations of a trailing arm suspension system and dynamic wheel-track-terrain interactions. The computer model predictions are validated against field measurements, which were gathered from tests of an armoured personnel carrier traversing a discrete half-round bump and a random course. A parametric sensitivity analysis was carried out using the validated computer model in order to assess the influence of conventional suspension parameters on the ride performance of the test vehicle. In addition, the ride performance potentials of an alternate hydrogas suspension configuration were investigated.     

Determination of the non-linear parameter (mobility factor) of the Giesekus constitutive model using LAOS procedure

The paper introduces a novel procedure to determine the non-linear parameter of the Giesekus model, in relation to the characterization of the non-linear oscillatory shear regime of viscoelastic polymer solutions based on polyacrylamide. Instead of using the shear-thinning viscosity as the representative non-linear effect, the third harmonic in the Fourier spectrum of the shear stress response signal is considered for computing the mobility factor. The fluid is subjected to large amplitude oscillatory shear (LAOS) and its response is recorded. Deviations of this signal from the sinusoidal form are specific to each material and gives both qualitative and quantitative measures of the non-linearity. By fitting the material response with the corresponding numerical solutions of the n-modes Giesekus constitutive relation, one can extract the values of the non-linear α_i-parameters that describe the fluid rheology. It is demonstrated that this procedure, which can be successfully applied to semi-concentrated polymer solutions, provides better results than the classical viscosity-fit method.     

Some further studies on the mechanical properties of muskeg in relation to vehicle mobility

An experimental study of the mechanical properties of two types of muskeg was carried out. The results have further verified the basic features of a mathematical model for the pressure-sinkage characteristics of muskeg proposed previously. The procedure for deriving the value of the stiffness of the underlying peat from load-sinkage tests has been validated. The response of the muskeg to repetitive loading was measured. It has been found that these muskeg types exhibit noticeable elastic rebound and hysteresis during the unloading-reloading cycle. The average slope of the unloading and reloading line appears to increase with the load level at which the unloading-reloading cycle begins. The experimental results further confirm that from thw vehicle mobility as well as environmental protection standpoints, the tearing-off of the muskeg surface mat by vehicle running gear is to be avoided. When the mat is torn, the vehicle running gear will be in contact with the underlying peat which has lower bearing capacity and shear strength. This results in higher sinkage and lower traction.     

Steady-state analysis of multibody systems with reference to vehicle dynamics

This paper presents a systematic methodology and formulation for determining the steady-state response of multibody systems. The equations of motion for a general multibody system are described in terms of a set of relative joint accelerations. Then, the differential equations of motion are converted to a set of algebraic equations for the steady-state response. These equations are derived based upon a set of conditions that must exist for the steady state. The application of this formulation in determining the steady-state response of a vehicle moving in a circular path is shown. The multibody model of the vehicle for two- or four-wheel steering is presented. The results of the steady-state simulation are compared with those obtained from a transient dynamic analysis.     

Predicting terrain parameters for physics-based vehicle mobility models from cone index data

To provide terrain data for the development of physics-based vehicle mobility models, such as the Next Generation NATO Reference Mobility Model, there is a desire to make use of the vast amount of cone index (CI) data available. The challenge is whether the terrain parameters for physics-based vehicle mobility models can be predicted from CI data. An improved model for cone-terrain interaction has been developed that takes into account both normal pressure and shear stress distributions on the cone-terrain interface. A methodology based on Derivative-Free Optimization Algorithms (DFOA) has been developed in combination with the improved model to make use of continuously measured CI vs. sinkage data for predicting the three Bekker pressure-sinkage parameters, k_c, k_ϕ and n, and two cone-terrain shear strength parameters, c_c and ϕ_c. The methodology has been demonstrated on two types of soil, LETE sand and Keweenaw Research Center (KRC) soils, where continuous CI vs. sinkage measurements and continuous plate pressure vs. sinkage measurements are available. The correlations between the predicted pressure-sinkage relationships based on the parameters derived from continuous CI vs. sinkage measurements using the DFOA-based methodology and that measured were generally encouraging.     

Stochastic many-particle model for LFP electrodes

In the framework of non-equilibrium thermodynamics, we derive a new model for many-particle electrodes. The model is applied to \(\text {LiFePO}_{4}\) (LFP) electrodes consisting of many LFP particles of nanometer size. The phase transition from a lithium-poor to a lithium-rich phase within LFP electrodes is controlled by both different particle sizes and surface fluctuations leading to a system of stochastic differential equations. An explicit relation between battery voltage and current controlled by the thermodynamic state variables is derived. This voltage–current relation reveals that in thin LFP electrodes lithium intercalation from the particle surfaces into the LFP particles is the principal rate-limiting process. There are only two constant kinetic parameters in the model describing the intercalation rate and the fluctuation strength, respectively. The model correctly predicts several features of LFP electrodes, viz. the phase transition, the observed voltage plateaus, hysteresis and the rate-limiting capacity. Moreover we study the impact of both the particle size distribution and the active surface area on the voltage–charge characteristics of the electrode. Finally we carefully discuss the phase transition for varying charging/discharging rates.     

Determination of in situ parameters of sandy soils for off-road vehicle mobility

This study focuses on the development of a methodology for the determination of some in situ parameters for off-road vehicle mobility on sandy soils. The stress field in the vicinity of and at the interface between a wedge and soil was determined by solving the stress equations using the method of characteristics. The governing equations were solved numerically by using backward finite difference method. The proposed method allows the prediction of any two of the in situ soil parameters δ, φ, and γ (respectively, the interfacial friction angle between the material of a wedge penetrometer and the soil, the internal friction angle, and the unit weight of the soil), given the value of any one of them and the results of penetration tests of two different apex angle wedges. The predictions and the measured values are in agreement.     

Quantifying the intensity of vehicle impacts using vehicle tracking devices during live training exercises

The operation of off-road vehicles during military training exercises can affect the environmental conditions of training lands by removing or disturbing vegetation. To quantify the impact of vehicle based military training, global positioning system (GPS)-based vehicle tracking systems were used to characterize the movement of vehicles during live training exercises. Methods were developed to spatially estimate the tracking intensity (number of vehicle passes per area) resulting from the training exercises. This method was then combined with previous developed methods that identified off-road trail formation and vehicle dynamic properties to quantify the overall training mission impacts of specific training events on installation resources. This approach to characterizing training impacts results in mission impact profiles that more accurately quantify live training mission impacts.Search radius and output grid size are important parameters of the proposed traffic intensity approximation method. Traffic intensities estimated using a variety of search radii and grid sizes were compared. Results indicated that a 10 m search radius and a 10-by-10 m output grid size worked the best for the study dataset. Approximately, 89% accuracy was found for traffic intensity (number of passes) estimation when using a 10 m search radius and a 10-by-10 m output grid size.