Modeling of terrain impact caused by tracked vehicles

Analytical models that can predict the terrain impact caused by tracked vehicles on a horizontal plane were developed and tested. The models included a disturbed width model and an impact severity model. Inputs of the terrain impact models included vehicle static properties, vehicle dynamic properties, and terrain properties. The tested vehicles included an M1A1 tank, an M577 Armored Personal Carrier (APC), and an M548 cargo carrier. The models were verified with field tests conducted in Yakima Training Center in Yakima, WA, Fort Riley, KS, and Camp Atterbury, Indiana. The average percentage errors of the disturbed width model for the M1A1, M577, and the M548 were 10.0%, 27.3%, and 8.5%, respectively. The average percentage errors of the impact severity model of the M1A1 and M577 were 25.0% and 21.4%, respectively.     

Development of high-mobility tracked vehicles for over snow operations

This paper describes a detailed investigation into the effects of some of the major design features on the mobility of tracked vehicles over snow. The investigation was carried out using the latest version of an advanced computer simulation model, known as NTVPM, developed under the auspices of Vehicle Systems Development Corporation (VSDC), Ottawa, Ontario, Canada. Results show that the road wheel system configuration, initial track tension (i.e., the tension in the track system when the vehicle is stationary on a level, hard ground) and track width have significant effects on vehicle mobility over snow. On deep snow where the vehicle belly (hull) contacts the snow surface, the location of the centre of gravity (C.G.) of the sprung weight in the longitudinal direction has a noticeable effect on vehicle mobility, as it affects the attitude of the belly and the belly–snow interaction. Based on the investigation, a conceptual high-mobility tracked vehicle for over snow operations is discussed. Results of this study will provide the vehicle designer with guiding principles for the development of high-mobility tracked vehicles. It also demonstrates that NTVPM is a useful and effective tool for design and performance evaluation of tracked vehicles from a traction perspective.     

Online terrain estimation for autonomous vehicles on deformable terrains

In this work, a terrain estimation framework is developed for autonomous vehicles operating on deformable terrains. Previous work in this area usually relies on steady state tire operation, linearized classical terramechanics models, or on computationally expensive algorithms that are not suitable for real-time estimation. To address these shortcomings, this work develops a reduced-order nonlinear terramechanics model as a surrogate of the Soil Contact Model (SCM) through extending a state-of-the-art Bekker model to account for additional dynamic effects. It is shown that this reduced-order surrogate model is able to accurately replicate the forces predicted by the SCM while reducing the computation cost by an order of magnitude. This surrogate model is then utilized in an unscented Kalman filter to estimate the sinkage exponent. Simulations suggest this parameter can be estimated within 4% of its true value for clay and sandy loam terrains. It is also shown in simulation and experiment that utilizing this estimated parameter can reduce the prediction errors of the future vehicle states by orders of magnitude, which could assist with achieving more robust model-predictive autonomous navigation strategies.     

Multipass coefficients for terrain impacts based on military vehicle type,size and dynamic operating properties

Quantification of multipass vehicle impacts is needed to determine terrain disturbance during military training. This study, conducted at Fort Riley, Kansas on a clay loam soil, evaluated the multipass terrain impacts of four military vehicles: the M1A1 Main Battle Tank, M998 HMMWV, M985 HEMTT, and M113 APC. Disturbed width and impact severity were assessed along 14 spirals subjected to a maximum of eight passes for a total of 696 impact points. Project goals included evaluating vegetation impacts by tracked and wheeled military vehicles across multiple passes in order to develop coefficients allowing more accurate predictive modeling of vehicle multipass impacts. Multiple passes produce increased vegetative impacts, with multipass coefficients (MPC) ranging from 0.98 to 4.44 depending on vehicle type, size and turn severity. Tracked vehicles were found to have a higher multipass coefficient than wheeled vehicles, with multipass coefficients increasing with vehicle weight and the sharpness of turns. The components of a more theoretical and universal multipass vehicle impact model are discussed. Understanding multipass dynamics will allow land managers to determine the extent and severity of terrain impacts on military training areas and quickly evaluate vehicle environmental impacts when used in conjunction with a GPS-based vehicle tracking system (VTS).     

A method for predicting the internal motion resistance of rubber-tracked undercarriages,Pt. 1. A review of the state-of-the-art methods for modeling the internal resistance of tracked vehicles

This article summarizes the known methods for calculating the internal resistance of tracked undercarriages. The values of the coefficient of internal resistance for sample tracked vehicles are available in the literature and presented in this paper. Although they are suitable for simple computations, they cannot be used to optimize the energy efficiency of new generation tracked undercarriages. This problem might be solved by the models where every phenomenon leading to energy dissipation during vehicle motion is described by a separate submodel as a function of vehicle speed, track tension, undercarriage layout, design features of the undercarriage components, etc. This kind of model is still missing for vehicles with conventional rubber tracks. The article presents multiple state-of-the-art models describing rolling resistance of road wheels, bending resistance of rubber belts, etc., including the models of belt conveyors resistance. A vast majority of the phenomena discussed herein are described by several incompatible models whose parameters have not yet been determined for conventional rubber tracks. Consequently, in the second and the third part of the article, the authors have undertaken a theoretical and experimental studies on the methods for calculating and optimizing the internal motion resistance of vehicles with conventional rubber tracks.     

Effects of a roller and a tracked vehicle on the compaction of a high lifted decomposed granite sandy soil

The aim of this research was to innovate a new compaction machinery by comparing experimentally the effects of a two-axle, two wheel road roller and a tracked vehicle on the compaction of a decomposed granite sandy soil with a high spreading lift. By measuring the amount of sinkage of the terrain surface, the dry density distribution versus depth using a cone penetrometer, the normal earth pressure distribution versus depth using a stress state transducer (SST), the effects of the road roller and the tracked vehicle on the increment of the soil dry density were considered theoretically. It was observed that the tracked vehicle showed a larger amount of sinkage and a larger dry density distribution versus depth than the roller. The ratio of shear stress to normal stress was still large enough at the deep stratum, so that an optimal shear strain was developed on the whole range of the high lifted stratum and it increased the soil compaction density due to the dilatancy effect.     

Visualization and analysis of wheel camber angle effect for slope traversability using an in-wheel camera

This paper visualizes and analyzes an effect of a wheel camber angle for the slope traversability in sandy terrain. An in-wheel camera developed in this work captures the wheel-soil contact phenomenon generated beneath the wheel through a transparent section of the wheel surface. The images taken by the camera are then analyzed using the particle image velocimetry. The soil flows with various wheel camber angles are analyzed with regard to the soil failure observed on the slope surface. The analysis reveals that the slope failure and soil accumulation in front of the wheel significantly affect the wheel forces and distributions of the wheel sinkage in the wheel width direction. Further, the side force of the wheel in traversing a slope decreases as the slip ratio increases because the shear stress in the slope downward direction decreases owing to the slope failure.     

On the impact of cargo weight, vehicle parameters, and terrain characteristics on the prediction of traction for off-road vehicles

A realistic prediction of the traction capacity of vehicles operating in off-road conditions must account for stochastic variations in the system itself, as well as in the operational environment. Moreover, for mobility studies of wheeled vehicles on deformable soil, the selection of the tire model used in the simulation influences the degree of confidence in the output. Since the same vehicle may carry various loads at different times, it is also of interest to analyze the impact of cargo weight on the vehicle’s traction.This study focuses on the development of an algorithm to calculate the tractive capacity of an off-road vehicle with stochastic vehicle parameters (such as suspension stiffness, suspension damping coefficient, tire stiffness, and tire inflation pressure), operating on soft soil with an uncertain level of moisture, and on a terrain topology that induces rapidly changing external excitations on the vehicle. The analysis of the vehicle–soil dynamics is performed for light cargo and heavy cargo scenarios. The algorithm relies on the comparison of the ground pressure and the calculated critical pressure to decide if the tire can be approximated as a rigid wheel or if it should be modeled as a flexible wheel. It also involves using previously-developed vehicle and stochastic terrain models, and computing the vehicle sinkage, resistance force, tractive force, drawbar pull, and tractive torque.The vehicle model used as a case study has seven degrees of freedom. Each of the four suspension systems is comprised of a nonlinear spring and a viscous (linear or magneto-rheological) damper. An off-road terrain profile is simulated as a 2-D random process using a polynomial chaos approach [Sandu C, Sandu A, Li L. Stochastic modeling of terrain profiles and soil parameters. SAE 2005 transactions. J Commer Vehicles 2005-01-3559]. The soil modeling is concerned with the efficient treatment of the impact of the moisture content on relationships critical in defining the mobility of an off-road vehicle (such as the pressure–sinkage [Sandu C et al., 2005-01-3559] and the shear stress–shear displacement relations). The uncertainties in vehicle parameters and in the terrain profile are propagated through the vehicle model, and the uncertainty in the output of the vehicle model is analyzed [Sandu A, Sandu C, Ahmadian M. Modeling multibody dynamic systems with uncertainties. Part I: theoretical and computational aspects, Multibody system dynamics. Publisher: Springer Netherlands; June 29, 2006. p. 1–23 (23), ISSN: 1384-5640 (Paper) 1573-272X (Online). doi:10.1007/s11044-006-9007-5; Sandu C, Sandu A, Ahmadian M. Modeling multibody dynamic systems with uncertainties. Part II: numerical applications. Multibody system dynamics, vol. 15, No. 3. Publisher: Springer Netherlands; 2006. p. 241–62 (22). ISSN: 1384-5640 (Paper) 1573-272X (Online). doi:10.1007/s11044-006-9008-4]. Such simulations can provide the basis for the study of ride performance, handling, and mobility of the vehicle in rough off-road conditions.     

A method of torque control for independent wheel drive vehicles on rough terrain

Our previous research has revealed that, for vehicles with independently driven wheels, a torque distribution based on the ratio of the vertical load of each wheel to the total vehicle load is efficient for driving on flat ground. In this research, this method of torque distribution was extended to electric off-road vehicles driving on rough ground. In order to examine the driving efficiency of these vehicles, a numerical vehicle model was constructed in the pitch plane. Simulations using the numerical vehicle model on rough ground were conducted with a proposed torque distribution and control method. The numerical results from these simulations were compared with those of a conventional vehicle to evaluate the driving efficiency and trafficability on ground with various profiles. A comparison between the simulations demonstrated that the proposed method of torque distribution to the front and rear wheels based on the ratio of the vertical load is efficient for driving on rough ground.     

Mobility analysis of off-road vehicles: Benefits for development, procurement and operation

Nowadays the requirements on off-road vehicles are rising steadily. The ideal vehicle has to provide excellent off-road capability with low fuel consumption, offer a high customizability for each specific mission and, last but not least, it has to be easy to operate. To meet these demands, on the development side a lot of parameter studies have to be carried out. The customer has to compare offers from a multiplicity of suppliers to decide which vehicle fulfills the designated mission task best. And finally, the operator needs the best training on the vehicle to cope with all possible situations in off-road mobility. In response to these needs, the presented simulation program WinMaku was developed to offer a tool to facilitate development, procurement and operator training. Exemplary simulation results show, on the one hand, the influence of specific design parameters, e.g. tire size, engine power, torque characteristics, gear shifting, and engine working conditions, and on the other hand the (beneficial or adverse) effects of operational parameters like driving with maximum/partial engine load, gear selection, engine speed, tire inflation pressure or track tension, on mobility performance. Furthermore results of vehicle comparison analysis are presented. These types of analysis show comparisons of mobility performance of different vehicle types or vehicle concepts (e.g. wheel vs. track) in fulfilling a certain mission profile, characterized by passing a sequence of different soils with various inclines. Endowed with such capability, the presented simulation tool serves as a training tool for operators, provides a cost effective method to assess possible development steps, allows customers to run a pre-selection process prior to expensive and time-consuming field tests, and finally supports mission planning by providing data like expected fuel consumption or time needed to pass a certain mission profile.     

Hybrid modelling for simulation of scour and flow patterns in laboratory flumes

In this study, a hybrid numerical–mathematical model is developed, which simulates the temporal evolution of local scour and flow patterns in laboratory flumes. The mathematical module calculates the shape of the scour hole by solving an integro‐parabolic equation. The numerical module simulates the two‐dimensional laterally averaged flow patterns in the corresponding scour hole. The hybrid model is verified by experimental data taken from the literature. The hybrid model predicted the temporal evolution of local scour and simulated the flow patterns in and around the scoured zone in good agreement with the experimental ones. The proposed hybrid model proved to be efficient when used in complex local scour and turbulent flow problems. Copyright © 2009 John Wiley & Sons, Ltd.     

Recurrent and convolutional neural networks for deep terrain classification by autonomous robots

The future challenge for field robots is to increase the level of autonomy towards long distance (>1 km) and duration (>1h) applications. One of the key technologies is the ability to accurately estimate the properties of the traversed terrain to optimize onboard control strategies and energy efficient path-planning, ensuring safety and avoiding possible immobilization conditions that would lead to mission failure. Two main hypotheses are put forward in this research. The first hypothesis is that terrain can be effectively detected by relying exclusively on the measurement of quantities that pertain to the robot-ground interaction, i.e., on proprioceptive signals. Therefore, no visual or depth information is required. Then, artificial deep neural networks can provide an accurate and robust solution to the classification problem of different terrain types. Under these hypotheses, sensory signals are classified as time series directly by a Recurrent Neural Network or by a Convolutional Neural Network in the form of higher-level features or spectrograms resulting from additional processing. In both cases, results obtained from real experiments show comparable or better performance when contrasted with standard Support Vector Machine with the additional advantage of not requiring an a priori definition of the feature space.     

A dynamic terramechanic model for small lightweight vehicles with rigid wheels and grousers operating in sandy soil

This paper presents a validated dynamic terramechanic model for rigid wheels with grousers that may be used for planetary and terrestrial mobile robots operating in loose sandy soil. The proposed model is based on established analytical terramechanic theories and incorporates two new dimensionless empirical coefficients. The additional terms in the model are based on existing soil mechanic theories that vary as a function of soil properties, slip conditions, and vehicle loading. The proposed model was able to capture and predict the dynamic oscillations observed in experimental data from a single-wheel testbed for the sinkage, drawbar pull and normal load. For the operating conditions tested in this research the simulation results using the proposed model show an improvement over traditional terramechanic models for capturing the dynamic effects of grousers.     

气体模型对再入飞行器气动力热环境影响的数值研究

复杂外形再入飞行器的设计,需对气动力热环境进行预测,由于不同的气体模型会对预测的结果产生影响,所以气动设计时就必须考虑这一影响.采用热化学平衡气体模型和双温度热化学非平衡气体模型对复杂外形再入飞行器的气动力热环境进行了数值计算;分析了气体模型对气动力、壁面热流等值线、驻点线平动温度、振动温度、组分质量分数等特征量的影响...     

A new analytical model for thermal stresses in multi-phase materials and lifetime prediction methods

Based on the fundamental equations of the mechanics of solid continuum, the paper employs an analytical model for determination of elastic thermal stresses in isotropic continuum represented by periodically distributed spherical particles with different distributions in an infinite matrix, imaginarily divided into identical cells with dimensions equal to inter-particle distances, containing a central spherical particle with or without a spherical envelope on the particle surface. Consequently, the multi-particle-（envelope）- matrix system, as a model system regarding the analytical modelling, is applicable to four types of multi-phase materials. As functions of the particle volume fraction v, the inter-particle distances dl, d2, d3 along three mutually per- pendicular axes, and the particle and envelope radii, R1 and R2, respectively, the thermal stresses within the cell, are originated during a cooling process as a consequence of the difference in thermal expansion coefficients of phases rep- resented by the matrix, envelope and particle. Analytical-（experimental）-computational lifetime prediction methods for multi-phase materials are proposed, which can be used in engineering with appropriate values of parameters of real multi-phase materials.     

Turbulence modelling and role of compressibility on oil spilling from a damaged double hull tank

The viscosity plays an important role, and a multiphase solver is necessary to numerically simulate the oil spilling from a damaged double hull tank (DHT). However, it is uncertain whether turbulence modelling is necessary, which turbulence model is suitable; and what the role of compressibility of the fluids is. This paper presents experimental and numerical investigations to address these issues for various cases representing different scenarios of the oil spilling, including grounding and collision. In the numerical investigations, various approaches to model the turbulence, including the large eddy simulation (LES), direct numerical simulation and the Reynolds average Navier–Stokes equation (RANS) with different turbulence models, are employed. Based on the investigations, it is suggested that the effective Reynolds numbers corresponding to both oil outflow and water inflow shall be considered when classifying the significance of the turbulence and selecting the appropriate turbulence models. This is confirmed by new lab tests considering the axial offset between the internal and the external holes on two hulls of the DHT. The investigations conclude for numerically simulating oil spilling from a damaged DHT that when the effective Re is smaller the RANS approaches should not be used and LES modelling should be employed; while when the effective Reynolds numbers is large, the RANS models may be used as they can give similar results to LES in terms of the height of the mixture in the ballast tank and discharge but costing much less CPU time. The investigation on the role of the compressibility of the fluid reveals that the compressibility of the fluid may be considerable in a small temporal‐spatial scale but plays an insignificant role on macroscopic process of the oil spilling. Copyright © 2016 John Wiley & Sons, Ltd.