Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 26 for “"Terramechanics"”.
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Terramechanics of Saturated Clays: Assessing Tire Performance Through Experimental and Numerical Approaches
… studies. Full-scale testing is conducted on a terramechanics tire-soil bin rig at Virginia Tech to validate both the FE tire model and the tire-clay interaction model. Cone Penetration Test (CPT) results are simulated to verify the in situ conditions of the soil. This tire-soil testing is …
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Remote Sensing and Terramechanics Study of Mars using Orbital and Rover Data Sets
… remote-sensing and in-situ observations, and terramechanics modeling can be used collaboratively to examine the interplay between material properties, scientific setting, and mobility issues facing rovers on other worlds. In this thesis, these types of observations are used concurrently to …
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Treatment of Uncertainties in Vehicle and Terramechanics Systems Using a Polynomial Chaos Approach
… of mechanical system, especially vehicle and terramechanics systems, and need for developing efficient computational tools to model mechanical systems in the presence of parametric and external uncertainty. This dissertation investigates the influence of parametric and external uncertainties …
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A Hybrid Soft Soil Tire Model (HSSTM) For Vehicle Mobility And Deterministic Performance Analysis In Terramechanics Applications
… Experimental tests were performed on the Terramechanics rig at Virginia Tech. The tests were performed on different terrains; tire forces and moments, soil sinkage, and tire deformation data were collected for various case studies based on a design of experiment matrix. This data, in …
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Systematic Tire Testing and Model Parameterization for Tire Traction on Soft Soil
… on soft soil and promoted the development of terramechanics and tire model parameterization method through experimental tests. The experimental tests consisted of static tire deflection tests, static tire-soil tests, soil properties tests, and dynamic tire-soil tests. The series of tests (test …
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Experimental Study on the Mobility of Lightweight Vehicles on Sand
… identifies several important or fundamental terramechanics properties that necessitate model development for robots with novel locomotion platforms and testing for lightweight wheeled and tracked vehicles so as to consider the adaptation of counterpart heavyweight terramechanics models for …
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Comparative Study of the Effect of Tread Rubber Compound on Tire Performance on Ice
… constant during the testing conducted on the Terramechanics Rig at the Terramechanics, Multibody, and Vehicle Systems laboratory. The tests led to conclusive evidence of the effect of the tread rubber compound on the drawbar performance (found to be most prominent in the linear region of the …
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Empirical Analysis of Pneumatic Tire Friction on Ice
… tire tests on a flat-level ice road surface. The terramechanics rig of the Advanced Vehicle Dynamics Lab (AVDL) is a single-wheel test rig that allows for the experimental analysis of the forces and moments on a tire, providing directly the data for the drawbar pull of said tire, thus supporting …
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Experimental Investigation of the Tractive Performance of an Instrumented Off Road Tire in a Soft Soil Terrain
… tester built to investigate studies in terramechanics. The terramechanics rig provides a well-controlled environment to assure repeatable testing conditions and void vehicle component ef-fects. The test tire for the rig is instrumented with a wireless sensory system that measures tire …
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Experimental and Modeling of Pneumatic Tire Performance on Ice
… Experimental studies, carried out at the Terramechanics, Multibody, and Vehicle Systems (TMVS) Laboratory, were performed on the Terramechanics Rig. The investigation included measuring the bulk temperature distribution at the contact patch in order to validate the temperature rise …
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Design and Implementation of a Clutch and Brake System for a Single Wheel Indoor Tire Testing Rig
… a clutch and brake system on the single tire Terramechanics rig of Advanced Vehicle Dynamics Laboratory (AVDL) at Virginia Tech. This test rig was designed and built to study the performance of tires in off-road conditions on surfaces such as soil, sand, and ice. Understanding the braking …
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Development of an Off-Road Capable Tire Model for Vehicle Dynamics Simulations
… and photographic evidence collected by various terramechanics researchers within the last few decades. The tire model was developed to be used in vehicle dynamics simulations for engineering mobility analysis. Vehicle-terrain interaction is a complex phenomena governed by soil mechanical …
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The mechanics of tractor performance and their impact on historical and future device designs
This thesis utilizes a terramechanics-based farm tractor model to predict machine performance. This model is used to reflect on tractor evolution throughout the last century and the physics-based principles that govern tractor performance. Insights from this model and reflection can help designers …
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Characterization of Soft Clay and Clay-tire Interaction for the Prediction of Ground Mobility
… to the development of more advanced and accurate terramechanics models that involve deformable terrains like soft clays.
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Experimental Evaluation and Semi-Empirical Modeling of the Tractive Performance of Rigid and Flexible Wheels on Lunar Soil Simulant
… NASA Glenn Research Center (NASA-GRC), using the terramechanics rig at the Virginia Tech Advanced Vehicle Dynamics Lab (AVDL). To conduct such a study, four different wheels were evaluated under similar normal loads, slip ratios, and soil density. The first wheel represents the baseline, against …
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Terrain and Vehicle-Terrain Sensing and Estimation in Real-Time for Use in Autonomous Vehicles
… experimentally tested and validated using the Terramechanics testing rig at the TMVS laboratory at Virgina Tech. Both single pass and multi-pass scenarios were tested and the results analyzed. The terrain tested was GRC-1 lunar simulant, sandy loam, and clay. In the area of parameter …
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Modeling and Control of the UGV Argo J5 with a Custom-Built Landing Platform
… system with the wheelsterrain interaction (using terramechanics theory and mobile robot kinetics), while the landing platform model follows the Euler-Lagrange formulation. Different controllers are, then, derived, implemented to demonstrate: i.) self-leveling accuracy of the landing platform, ii.) …
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Methods for Control in Robotic Excavation
… limits in robotic excavation arising from terramechanics modeling. In particular, methods are presented to tackle the soil interaction problem in the context of three tasks typically encountered in robotic excavation. Firstly, we address the efficient bulk removal of material by introducing …
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Pneumatic Tire Performance on Ice
… testing, indoor testing was conducted using the Terramechanics Rig at the Advanced Vehicle Dynamics in Virginia Tech and field tests were conducted at the Keweenaw Research Center in Michigan Tech. The simulation results of the tire-ice model were validated against the findings of the indoor test …
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Modelling and control of unmanned ground vehicles
… equations are combined with the theory of terramechanics for dynamic modelling of the interaction between the vehicle wheels and a variety of terrain types. Also, a fast algorithm is developed to enable online implementation. The novel interaction model takes into account the relationship …
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