Discrete element method analysis of single wheel performance for a small lunar rover on sloped terrain

The purpose of this study is to analyze the performance of a lugged wheel for a lunar micro rover on sloped terrain by a 2D discrete element method (DEM), which was initially developed for horizontal terrain. To confirm the applicability of DEM for sloped terrain locomotion, the relationships of slope angle with slip, wheel sinkage and wheel torque obtained by DEM, were compared with experimental results measured using a slope test bed consisting of a soil bin filled with lunar regolith simulant. Among the lug parameters investigated, a lugged wheel with rim diameter of 250 mm, width of 100 mm, lug height of 10 mm, lug thickness of 5 mm, and total lug number of 18 was found, on average, to perform excellently in terms of metrics, such as slope angle for 20% slip, power number for self-propelled point, power number for 15-degree slope and power number for 20% slip. The estimation of wheel performance over sloped lunar terrain showed an increase in wheel slip, and the possibility exists that the selected lugged wheel will not be able to move up a slope steeper than 20°.     

Performance investigation of an advanced tracked prime mover on the low bearing soil

This study has presented a performance investigation of an advanced tracked prime mover for the operation of agricultural goods and other operations on peat terrain. The maximum and continuous traction torque of the prime mover has been developed by designing an advanced controller for controlling the intelligent system. The prime mover’s mobility is studied with ultrasonic displacement sensor, torque transducer, National Instrument cRIO-9004 Compact-RIO Real-time Controller Unit (RCU), a National Instrument TPC 2106T Touch Panel Control (TPC), a Trimble AG132 GPS antenna and receiver unit, and a Dlink DIR-655 router. The fuzzy logic controller (FLC) has been equipped with the prime mover hydraulic system to increase the traction torque of the hydraulic motor when the prime mover’s sinkage is more than or equal to 70 mm. The prime mover’s design demonstrates good potential in traversing peat terrain as the measured tractive effort was found to be 48% of the vehicle’s gross weight while the recommended tractive effort is in the range of 30–36% of the vehicle’s gross weight.     

Axle torque distribution in 4WD tractors

Performance of a four-wheel drive (4WD) tractor can be optimized by controlling the power distribution between the front and near axles. This paper proposes an automatically controlled hitch system to adjust the vertical force on each axle and thereby control the axle torques. Factors affecting the functional relationship between axle torque ratio and hitch position were examined experimentally using a scale model 4WD tractor. The relationship between axle torque and hitch position was affected by the initial static weight distribution, the vertical and horizontal drawbar loads and traction or soil conditions. Traction efficiency was not affected by the axle torque ratio.     

Comparison of the traffic performance of a two-axle four wheel drive (4WD), rear wheel drive (RWD), and front wheel drive (FWD) vehicle on loose sandy sloped terrain

The traffic performances during driving and braking of a 5.88 kN weight wheeled vehicle with two-axle four wheel drive, rear wheel drive, and front wheel drive running up and down a loose sandy sloped terrain were compared by means of a simulation. For the given dimensions of the vehicle and the given terrain-wheel system constants, the relationship between the effective tractive and braking effort of the vehicle, the amount of sinkage of the front and rear wheels, the total amount of sinkage of the vehicle, and the slip ratio were calculated to estimate the optimum height of force of application and the optimum eccentricity of the center of gravity of the vehicle. It was observed that, during driving action, the maximum effective tractive effort of the four wheel drive vehicle (4WD) was larger than that of the rear wheel drive vehicle (RWD), which in turn was greater than that of the front wheel drive vehicle (FWD). During the braking action, the effective braking effort at skid -20% of the four wheel vehicle (4WB) was larger than that of the front wheel brake vehicle (FWB), in turn greater than that of the rear wheel brake vehicle (RWB), when the two-axle four wheel vehicle is moving up or down the loose sandy sloped terrain. The maximum terrain slope angle up which the two-axle wheeled vehicle is able to move during driving action was found to be about 0.067π rad for the 4WD vehicle, about 0.031π rad for the RWD vehicle, and about 0.017π rad for the FWD vehicle. The effective braking effort at skid-20% of 4WB, FWB and RWB was found to decrease with slope angle.     

Differences in tractor performance parameters between single-wheel 4WD and dual-wheel 2WD driving systems

Vertical wheel load and tire pressure are both easily managed parameters which play a significant role in tillage operations for limiting slip which involves energy loss. This aspect to a great extent affects the fuel consumption and the time required for soil tillage. The main focus of this experiment was to determine the effect on the wheels’ slip, the fuel consumption and the field performance of a tractor running in a single-wheel 4WD driving system and in a dual-wheel 2WD driving system, due to the variations in air pressure of the tires as well as in the ballast mass. With no additional mass, the lowest fuel consumption was reached by a tractor with the least air pressure in the tires and running in a dual-wheel 2WD driving system. It was determined that for a stubble cultivation with a medium-power (82.3 kW) tractor running in a dual-wheel 2WD driving system, the hourly fuel consumption was by 1.15 L h⁻¹ (or 7.3%), the fuel consumption per hectare by 0.35 L ha⁻¹ (or 7.9%) and the field performance by 0.05 ha h⁻¹ (or 1.25%) lower compared to a single-wheel 4WD driving system, when driving wheels’ slip for both modes was the same, i.e., at 8–12%.     

Deformation behavior and microstructure/texture evolution of an annealed 304 AISI stainless steel sheet. Experimental and micromechanical modeling

Different tensile tests are performed at −60 °C, on a 304 AISI stainless steel, to produce strain induced α′ martensite. Using EBSD analysis and X-ray diffraction methods, the corresponding texture and microstructure evolutions is studied, as well as the γ → α′ transformation mechanism. It is shown that α′ martensite is associated with {1 1 1}_γ faulted bands, partially ε bands, as often reported in the literature for low SFE stainless steels. As a consequence, these deformation bands play a key role in the nucleation and growth of α′ martensite. A micromechanical model is applied to simulate the deformation behavior of the stainless steel as well as the corresponding transformation kinetic and γ texture evolution. Different simulations are proposed, using various assumptions for the γ → α′ transformation mechanism. The simulation data are in better agreement with the experimental ones, when the γ → α′ transformation strain is derived from the Bowles–MacKenzie theory using the (1 1 1)_γ[−1 2 −1]_γ stacking fault shear system as lattice invariant shear.     

Wheel slip measurement in 2WD tractor

A microcontroller-based slip sensor was developed for a 2WD tractor to indicate slip values during on-farm use. The ‘zero condition’ considered for the development of slip sensor was – tractor supplied with a driving torque to propel any device across a tarmacadam surface while delivering zero net traction (self-propelled condition). This sensor comprised of four components: power supply; sensing of throttle position, gear position, and wheel rpm; processing of collected data; and display unit. Power was taken from the tractor battery. Rotary potentiometer and proximity switches were installed on the tractor to measure throttle position and wheel revolution, respectively. The performance of developed slip sensor was evaluated both on tarmacadam surface as well as in the field. The variations between indicated and actual slip were found to be within 0–5% for both the surfaces, thus indicating the accuracy of slip measurement by the developed slip sensor.     

Design of lightweight robots for over-snow mobility

Snowfields are challenging terrain for lightweight (<50 kg) ground robots. Deep sinkage, high snow-compaction resistance, traction loss while turning and ingestion of snow into the drive train can cause immobility within a few meters of travel. However, for suitably designed vehicles, deep snow offers a smooth, uniform terrain that can obliterate obstacles. Key requirements for good over-snow mobility are low ground pressure, large clearance relative to vehicle size and a drive system that tolerates moist, compactable snow.A small robot will invariably encounter deep snow relative to its ground clearance and thus must travel over the snow rather than gain support from the underlying surface. This can be accomplished using low-pressure tracks (<1.5 kPa). Even still, snow-compaction resistance can exceed 20% of vehicle weight. Also, despite relatively high traction coefficients for low track pressures, differential or skid steering is difficult because the outboard track can easily break traction as the vehicle attempts to turn against the snow. Short track lengths (relative to track separation) or coupled articulated robots offer steering solutions for deep snow.This paper presents guidance to design lightweight robots for good mobility over snow based on tests of two custom-designed over-snow robots, SnoBot and SnoBot-2, and driving experience with two commercially available robots, PackBot and Talon. Moreover, we used the present guidance to design SnoBot-2, and it displays excellent over-snow mobility. Because many other considerations constrain robot designs, this guidance can also help with development of winterization kits to improve the over-snow performance of existing robots.     

The ExoMars rover locomotion subsystem

ExoMars is the European Space Agency (ESA) mission to Mars planned for launch in 2018, focusing on exobiology with the primary objective of searching for any traces of extant or extinct carbon-based micro-organisms. The on-surface mission is performed by a near-autonomous mobile robotic vehicle (also referred to as the rover) with a mission design life of 180 sols. The rover has a 6 × 6 × 6 with 6 wheel-walking drive configuration (all 6 wheels are driven, steered and have a ‘walking’ capability) and has flexible wheels providing enhanced traction compared to rigid wheels of the same diameter. The suspension is a passive ‘3-bogie’ system which offers the same 6 wheel contact on uneven ground and mobility performance as the NASA-JPL ‘rocker-bogie’ suspension used on previous Mars rovers, but permits elimination of the differential linkage present in that design. Mars presents several challenges to the rover locomotion subsystem with its rock-strewn surface, sand dunes, rocky outcrops, craters and slopes. The unknown nature of the terrain to be traversed imposes several constraints on the locomotion subsystem design that need to be evaluated and incorporated within the flight model for its successful operation on Mars. In addition, accommodation within the confines of the lander and successful egress from it over deflated airbags places stringent constraints on locomotion subsystem mass, stowage envelope, deployment and wheel design. This paper documents the evolution of the ExoMars rover vehicle locomotion configuration from an early design concept to the current mission baseline design. The discussion involves various tradeoffs supported by mechanical and terramechanical analyses, simulations and testing performed on full-scale locomotion breadboard models at single wheel level and system level.     

Yield criterion and elasto-plastic damage constitutive model for frozen sandy soil

A series of triaxial compression tests was carried out on a frozen sandy soil under confining pressures of 0–18 MPa at −6 °C. The experimental results indicate that, the strength of frozen sandy soil increases versus the increase in the confining pressures when σ₃ ? 3 MPa, but decreases when σ₃ > 3 MPa. This phenomenon is called the strengthening and weakening effects of confining pressures. A yield function, considering both effects, is proposed using the experimental method according to Drucker’s postulate, and the mathematical expression of the hardening parameter, which can describe the softening and hardening phenomenon, is provided. An elasto-plastic constitutive model for frozen sandy soil is developed. Based on the continuum damage theory, the cross anisotropic damage variables are deduced and their change regularities are investigated. Then the elasto-plastic damage constitutive model is proposed by introducing damage variables into elasto-plastic constitutive model. The validity of the model is verified by comparing its modeling results with experimental results obtained from triaxial tests. It is found that, this model can predict the deformation regularity of frozen soil exactly. It can simulate the stress–strain process under high confining pressures when pressure melting phenomena appear especially well.     

Experimental study and analysis on driving wheels’ performance for planetary exploration rovers moving in deformable soil

Planetary rovers are different from conventional terrestrial vehicles in many respects, making it necessary to investigate the terramechanics with a particular focus on them, which is a hot research topic at the budding stage. Predicting the wheel-soil interaction performance from the knowledge of terramechanics is of great importance to the mechanical design/evaluation/optimization, dynamics simulation, soil parameter identification, and control of planetary rovers. In this study, experiments were performed using a single-wheel testbed for wheels with different radii (135 and 157.35 mm), widths (110 and 165 mm), lug heights (0, 5, 10, and 15 mm), numbers of lugs (30, 24, 15, and 8), and lug inclination angles (0°, 5°, 10°, and 20°) under different slip ratios (0, 0.1, 0.2, 0.3, 0.4, 0.6, etc.). The influences of the vertical load (30 N, 80 N, and 150 N), moving velocity (10, 25, 40, and 55 mm/s), and repetitive passing (four times) were also studied. Experimental results shown with figures and tables and are analyzed to evaluate the wheels’ driving performance in deformable soil and to draw conclusions. The driving performance of wheels is analyzed using absolute performance indices such as drawbar pull, driving torque, and wheel sinkage and also using relative indices such as the drawbar pull coefficient, tractive efficiency, and entrance angle. The experimental results and conclusions are useful for optimal wheel design and improvement/verification of wheel-soil interaction mechanics model. The analysis methods used in this paper, such as those considering the relationships among the relative indices, can be referred to for analyzing the performance of wheels of other vehicles.     

Progressive fracture of laminated composite stiffened plate

Laminated fiber-reinforced composite stiffened plate with [0/90/±45]_S plies made of S-Glass/epoxy are evaluated via computational simulation to study damage and fracture progression. The loads are pressure and temperature which varies from 21 to 65.5 °C (case I) and from 143.3 to 21 °C (case II). An integrated computer code is used for the simulation of the damage progression. Results show that damage initiation begins at low load level, with matrix cracking at the 0° (bottom and top) plies, fiber fracture at the bottom (0°) ply and interply delamination at the top (0°) ply. Increasing the applied pressure, the damage growth is expended resulting in fracture through the thickness of the structure. At this stage, 90% of the plies damage at applied pressure 15.306 MPa for the case I and 15.036 MPa for the case II. After this stage, the cracks propagate rapidly and the structure collapses.     

Two-phase frictional pressure drop multipliers for SUVA R-134a flowing in a rectangular duct

The adiabatic two-phase frictional multipliers for SUVA, R-134a flowing in a rectangular duct (with D_H = 4.8 mm) have been measured for three nominal system pressures (0.9 MPa, T_sat = 35.5 °C; 1.38 MPa, T_sat = 51.8 °C; and 2.41 MPa, T_sat = 75.9 °C) and three nominal mass fluxes (510, 1020 and 2040 kg/m²/s). The data is compared with several classical correlations to assess their predictive capabilities. The Lockhart–Martinelli model gives reasonable results at the lowest pressure and mass flux, near the operating range of most refrigeration systems, but gives increasingly poor comparisons as the pressure and mass flux are increased. The Chisholm B-coefficient model is found to best predict the data over the entire range of test conditions; however, there is significant disagreement at the highest pressure tested (with the model over predicting the data upwards of 100% for some cases). The data shows an increased tendency toward homogeneous flow as the pressure and flow rate are increased, and in fact the homogeneous model best predicts the bulk of the data at the highest pressure tested.     

Experimental study on oil–water flow in horizontal and slightly inclined pipes

Oil–water two-phase flow experiments were conducted in a 15 m long, 8.28 cm diameter, inclinable steel pipe using mineral oil (density of 830 kg/m³ and viscosity of 7.5 mPa s) and brine (density of 1060 kg/m³ and viscosity of 0.8 mPa s). Steady-state data on flow patterns, two-phase pressure gradient and holdup were obtained over the entire range of flow rates for pipe inclinations of −5°, −2°, −1.5°, 0°, 1°, 2° and 5°. The characterization of flow patterns and identification of their boundaries was achieved via observation of recorded movies and by analysis of the relative deviation from the homogeneous behavior. A stratified wavy flow pattern with no mixing at the interface was identified in downward and upward flow. Two gamma-ray densitometers allowed for accurate measurement of the absolute in situ volumetric fraction (holdup) of each phase for all flow patterns. Extensive results of holdup and two-phase pressure gradient as a function of the superficial velocities, flow pattern and inclinations are reported. The new experimental data are compared with results of a flow pattern dependent prediction model, which uses the area-averaged steady-state two-fluid model for stratified flow and the homogeneous model for dispersed flow. Prediction accuracies for oil/water holdups and pressure gradients are presented as function of pipe inclination for all flow patterns observed. There is scope for improvement for in particular dual-continuous flow patterns.     

Effect of surface orientation on pool boiling heat transfer of nanoparticle suspensions

Several investigators have found that there is a significant effect of surface orientation on pool boiling performance and mechanisms, when a pure liquid is boiled over tubular heating surfaces. However, there is no similar study reported in literature for pool boiling of nanoparticle suspensions. This paper investigates the effect nanoparticles, suspended in pure liquids, can have on nucleate pool boiling heat transfer at various surface orientations. Systematic experiments were conducted on a smooth tube (average surface roughness 48 nm) of diameter 33 mm and length 170 mm at various inclinations (0°, 45° and 90°). Electro-statically stabilized water-based nanoparticle suspensions containing alumina nanoparticles (primary average sizes 47 nm and 150 nm) of concentrations 0.25%, 1% and 2% percent by weight were used. It has been found that there is a significant effect of surface orientation on the heat transfer performance. Horizontal orientation gave maximum heat transfer and the heating surface, when inclined at 45°, gave minimum heat transfer. Further, it was observed that surface–particle interaction and modified bubble motion can explain the behavior.     

Evaporation heat transfer coefficient in single circular small tubes for flow natural refrigerants of C3H8, NH3, and CO2

An experimental study of evaporation heat transfer coefficients for single circular small tubes was conducted for the flow of C₃H₈, NH₃, and CO₂ under various flow conditions. The test matrix encompasses the entire quality range from 0.0 to 1.0, mass fluxes from 50 to 600 kg m⁻² s⁻¹, heat fluxes from 5 to 70 kW m⁻², and saturation temperatures from 0 to 10 °C. The test section was made of circular stainless steel tubes with inner diameters of 1.5 mm and 3.0 mm, and a length of 2000 mm in a horizontal orientation. The test section was uniformly heated by applying electric power directly to the tubes. The effects of mass flux, heat flux, saturation temperature, and inner tube diameter on the heat transfer coefficient are reported. Among the working refrigerants considered in this study, CO₂ has the highest heat transfer coefficient. Laminar flow was observed in the evaporative small tubes, and was considered in the modification of boiling heat transfer coefficients and pressure drop correlations.     

On the quenching of steel and zircaloy spheres in water-based nanofluids with alumina,silica and diamond nanoparticles

The quenching curves (temperature vs time) for small (∼1 cm) metallic spheres exposed to pure water and water-based nanofluids with alumina, silica and diamond nanoparticles at low concentrations (?0.1 vol%) were acquired experimentally. Both saturated (ΔT_sub = 0 °C) and highly subcooled (ΔT_sub = 70 °C) conditions were explored. The spheres were made of stainless steel and zircaloy, and were quenched from an initial temperature of ∼1000 °C. The results show that the quenching behavior in nanofluids is nearly identical to that in pure water. However, it was found that some nanoparticles accumulate on the sphere surface, which results in destabilization of the vapor film in subsequent tests with the same sphere, thus greatly accelerating the quenching process. The entire boiling curves were obtained from the quenching curves using the inverse heat transfer method, and revealed that alumina and silica nanoparticle deposition on the surface increases the critical heat flux and minimum heat flux temperature, while diamond nanoparticle deposition has a minimal effect on the boiling curve. The possible mechanisms by which the nanoparticles affect the quenching process were analyzed. It appears that surface roughness increase and wettability enhancement due to nanoparticle deposition may be responsible for the premature disruption of film boiling and the acceleration of quenching. The basic results were also confirmed by quench tests with rodlets.     

Hydrodynamics and boiling phenomena of water droplets impinging on hot solid

The collision of single water droplets with a hot Inconel 625 alloy surface was investigated by a two-directional flash photography technique using two digital still cameras and three flash units. The experiments were conducted under the following conditions: the pre-impact diameters of the droplets ranged from 0.53 to 0.60 mm, the impact velocities ranged from 1.7 m/s to 4.1 m/s, and the solid surface temperatures ranged from 170 °C to 500 °C. When a droplet impacted onto the solid at a temperature of 170 °C, weak boiling was observed at the liquid/solid interface. At temperatures of 200 or 300 °C, numerous vapor bubbles were formed. Numerous secondary droplets then jetted upward from the deforming droplet due to the blowout of the vapor bubbles into the atmosphere. No secondary droplets were observed for a surface temperature of 500 °C at the low-impact Weber numbers (∼30) associated with the impact inertia of the droplets. Experiments using 2.5-mm-diameter droplets were also conducted. The dimensionless collision behaviors of large and small droplets were compared under the same Weber number conditions. At temperatures of less than or equal to 300 °C, the blowout of vapor bubbles occurred at early stages for a large droplet. At a surface temperature of 500 °C, the two dimensionless deformation behaviors of the droplets were very similar to each other.     

Frost formation in vertical channels under natural convection

Processes involving heat transfer from a humid air stream to a cold plate, with simultaneous deposition of frost, are of great importance in a variety of refrigeration equipment. In this paper, frost growth on a cold, vertical plate in free convection has been experimentally investigated. The cold plate (0.095 m high, 0.282 m wide) was placed in vertical channels open at the top and bottom in order to permit the natural circulation of ambient air. The channels, rectangular in shape, were 2.395 m high and 0.36 m wide, with the depth set equal either to 20 mm, or 10 mm, or 6 mm in order to infer the influence of channel flow area on the natural convection and frost formation. The cold plate temperature and the air relative humidity were varied in the −40 to −4 °C and 31–85% range, respectively, with the air temperature held fixed at 27 °C (±1 °C). Several quantities (thickness, temperature and mass of frost, heat flux at the cold plate), were measured during the time-evolution of the process (7.5 h from the frost growth inception), and are presented as functions of the input parameters (relative humidity and cold plate temperature); in particular, the role exerted by the plate confinement on the frost growth is discussed. Data are recast in order to identify compact parameters able to correlate frost mass, thickness and density data.     

Gravity-driven motion of a deformable drop or bubble near an inclined plane at low Reynolds number

The creeping motion of a three-dimensional deformable drop or bubble in the vicinity of an inclined wall is investigated by dynamical simulations using a boundary-integral method. We examine the transient and steady velocities, shapes, and positions of a freely-suspended, non-wetting drop moving due to gravity as a function of the drop-to-medium viscosity ratio, λ, the wall inclination angle from horizontal, θ, and Bond number, B, the latter which gives the relative magnitude of the buoyancy to capillary forces. For fixed λ and θ, drops and bubbles show increasingly pronounced deformation in steady motion with increasing Bond number, and a continued elongation and the possible onset of breakup are observed for sufficiently large Bond numbers. Unexpectedly, viscous drops maintain smaller separations and deform more than bubbles in steady motion at fixed Bond number over a large range of inclination angles. The steady velocities of drops (made dimensionless by the settling velocity of an isolated spherical drop) increase with increasing Bond number for intermediate-to-large inclination angles (i.e. 45° ? θ ? 75°). However, the steady drop velocity is not always an increasing function of Bond number for viscous drops at smaller inclination angles.