hh.sePublikasjoner
Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Investigation of Stress and Failure in Granular Soils For Lightweight Robotic Vehicle Applications
MIT.
Gottfried Wilhelm Leibniz Universität Hannover Hannover, Germany.
MIT.
U.S. Army TARDEC, Warren, MI, USA.
Vise andre og tillknytning
2012 (engelsk)Inngår i: Proceedings of the 2012 Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), 2012, s. 1-12Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper describes novel experimental methods aimed at understanding the fundamental phenomena governing the motion of lightweight vehicles on dry, granular soils. A single-wheel test rig is used to empirically investigate wheel motion under controlled wheel slip and loading conditions on sandy, dry soil. Test conditions can be designed to replicate typical field scenarios for lightweight robots, while key operational parameters such as drawbar force, torque, and sinkage are measured. This test rig enables imposition of velocities, or application of loads, to interchangeable running gears within a confined soil bin of dimensions 1.5 m long, 0.7 m wide, and 0.4 m deep. This allows testing of small-scale wheels, tracks, and cone or plate penetrators. Aside from standard wheel experiments (i.e., measurements of drawbar force, applied torque, and sinkage during controlled slip runs) two additional experimental methodologies have been developed. The first relies on high-speed imaging of the wheel-soil interface and the use of particle image velocimetry (PIV) to measure micro-scale terrain kinematics. The second experimental methodology consists of a custom force sensor array located at the wheel-terrain interface. The sensors allow explicit measurement of normal and shear forces (and, therefore, estimation of normal and shear stresses) at numerous discrete points along the wheel-soil interface. Experimental measurements gathered by these test methodologies are to be compared against well-established semi-empirical models, to validate and understand limitations of the models and propose improvements.

sted, utgiver, år, opplag, sider
2012. s. 1-12
HSV kategori
Identifikatorer
URN: urn:nbn:se:hh:diva-20849OAI: oai:DiVA.org:hh-20849DiVA, id: diva2:586861
Konferanse
the 2012 Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), Troy Marriott, USA, August 14-16, 2012
Tilgjengelig fra: 2013-01-13 Laget: 2013-01-13 Sist oppdatert: 2018-03-22bibliografisk kontrollert

Open Access i DiVA

fulltext(816 kB)123 nedlastinger
Filinformasjon
Fil FULLTEXT01.pdfFilstørrelse 816 kBChecksum SHA-512
0fd3d070b4aed24413877a6844de5eccf299aba7ae06e9f4789251af9c546a4177c19f4a5c5a4962ad9bef459d5719ad6d2f41f5b3cf5fcfc1c7bf462b09a645
Type fulltextMimetype application/pdf

Personposter BETA

Iagnemma, Karl

Søk i DiVA

Av forfatter/redaktør
Iagnemma, Karl

Søk utenfor DiVA

GoogleGoogle Scholar
Totalt: 123 nedlastinger
Antall nedlastinger er summen av alle nedlastinger av alle fulltekster. Det kan for eksempel være tidligere versjoner som er ikke lenger tilgjengelige

urn-nbn

Altmetric

urn-nbn
Totalt: 228 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf