Search results

This paper aims to present a new method to analyze the robot’s obstacle negotiation based on the terramechanics, where the terrain physical parameters, the sinkage and the slippage of the robot are taken into account, to enhance the robot’s trafficability.

In this paper, terramechanics is used in motion planning for all-terrain obstacle negotiation. First, wheel/track-terrain interaction models are established and used to analyze traction performances in different locomotion modes of the reconfigurable robot. Next, several key steps of obstacle-climbing are reanalyzed and the sinkage, the slippage and the drawbar pull are obtained by the models in these steps. In addition, an obstacle negotiation analysis method on loose soil is proposed. Finally, experiments in different locomotion modes are conducted and the results demonstrate that the model is more suitable for practical applications than the center of gravity (CoG) kinematic model.

Using the traction performance experimental platform, the relationships between the drawbar pull and the slippage in different locomotion modes are obtained, and then the traction performances are obtained. The experimental results show that the relationships obtained by the models are in good agreement with the measured. The obstacle-climbing experiments are carried out to confirm the availability of the method, and the experimental results demonstrate that the model is more suitable for practical applications than the CoG kinematic model.

Comparing with the results without considering Terramechanics, obstacle-negotiation analysis based on the proposed track-terrain interaction model considering Terramechanics is much more accurate than without considering Terramechanics.

Wheel‐terrain interaction has hardly been taken into consideration in the process of conventional mobile robot design, but its importance has been reflected increasingly towards these categories of mobile robots in rough sandy terrain or obstacle‐dense ground, as the first performance index in this situation is the trafficability of robot whose propulsion is uniquely generated by wheel‐terrain interaction. Consequently, it is valuable to find an optimized design method when the terrain and robot itself are regarded simultaneously. The purpose of this paper is to present a novel and reasonable design approach to mobile robot in sandy terrain.

Leading to some conflicted performance indices of robot, terramechanics describes the non‐linear characteristics in wheel‐terrain interaction mathematically, therefore, trade‐offs must be implemented to get a proper solution by multi‐objective optimization (MOO). In this paper, a five‐wheeled drive and five‐wheeled steering (5WD5WS) reconfigurable mobile robot is taken as demonstration with taxonomy of total‐symmetrical, partial‐symmetrical and asymmetrical prototypes. After function modeling, the MOO is carried out via iSIGHT‐FD using NCGA (Neighborhood Cultivation Genetic Algorithm) to minimize the mass, wheel resistance and maximize the static stability simultaneously.

After MOO, a compact and light weighted asymmetrical prototype is obtained with better trafficability, and other prototypes can produce diversified configurations to meet specific requirements. Significantly reduced masses (about 17 kg) enhance the grade‐ability when robot is in rough terrain. Performed real‐world experiments have also verified these prototypes.

The paper presents a new design approach for a mobile robot which focuses on both robot and terrain simultaneously with respect to conflicted factors. To unveil the insight relation of these factors, MOO is an effective tool to get a trade‐offs prototype.

This paper aims to gain the real-time terrain parameters of the battlefield for the evaluation of military vehicle trafficability. In military missions, improvements in vehicle mobility have the potential to greatly increase the military operational capacity, in which vehicle trafficability plays a significant role.

In this framework, an online terrain parameter estimation method based on the Gauss-Newton algorithm is proposed to estimate the primary terrain mechanical parameters. Good estimation results are indicated, unless the initial values involved are properly selected. Correspondingly, a method of terrain classification is then presented to contribute to the selection of the initial values. This method uses the wavelet packet transform technique for feature extraction and adopts the support vector machine algorithm for terrain classification. Once the terrain type is identified, advices can be given on the initial value selection referring to the empirical terrain parameters.

On the basis of a dynamic testing system suitable for real military vehicles, the proposed algorithms are validated. High estimation accuracy of the terrain parameters is indicated on sandy loam, and good classification performance is demonstrated on four tested terrains.

The presented algorithm outperforms the existing methods, which not only realizes the online terrain parameter estimation but also develops the estimation accuracy. Moreover, its effectiveness is confirmed by real vehicle tests in practice.

Robotic industrial applications are very well established in the manufacturing industry, while they are relatively in their infancy phase in the construction sector. The need for automation in construction is clear especially in repetitive tasks. The excavation process, which is generally critical in most construction projects, is a prime example of such tasks. This paper addresses automation assistance in excavation. The work utilized the robotics approach towards the automation of a typical excavator model, whose structure closely resembled that of an industrial manipulator. A simulation package using Matlab was developed using several embedded design and analysis tools. Emulation was also carried out on the RHINO educational robot to confirm the simulation results. The constructed simulation package offered an integrated environment for trajectory design and analysis for an excavator while addressing the constraints related to the excavator structure, safety and stability, and mode of application.

The purpose of this paper is to explore a novel measurement approach for wheel-terrain contact angle using laser scanning sensors based on near-terrain perception. Laser scanning sensors have rarely been applied to the measurement of wheel-terrain contact angle for wheeled mobile robots (WMRs) in previous studies; however, it is an effective way to measure wheel-terrain contact angle directly with the advantages of simple, fast and high accuracy.

First, kinematics model for a WMR moving on rough terrain was developed, taking into consideration wheel slip and wheel-terrain contact angle. Second, the measurement principles of wheel-terrain contact angle using laser scanning sensors was presented, including “rigid wheel - rigid terrain” model and “rigid wheel - deformable terrain” model.

In the proposed approach, the measurement of wheel-terrain contact angle using laser scanning sensors was successfully demonstrated. The rationality of the approach was verified by experiments on rigid and sandy terrains with satisfactory results.

This paper proposes a novel, fast and effective wheel-terrain contact angle measurement approach for WMRs moving on both rigid and deformable terrains, using laser scanning sensors.

The purpose of this paper is to propose a new computational approach for parameter estimation in the Bayesian framework. A posteriori probability density functions are obtained using the polynomial chaos theory for propagating uncertainties through system dynamics. The new method has the advantage of being able to deal with large parametric uncertainties, non‐Gaussian probability densities and nonlinear dynamics.

The maximum likelihood estimates are obtained by minimizing a cost function derived from the Bayesian theorem. Direct stochastic collocation is used as a less computationally expensive alternative to the traditional Galerkin approach to propagate the uncertainties through the system in the polynomial chaos framework.

The new approach is explained and is applied to very simple mechanical systems in order to illustrate how the Bayesian cost function can be affected by the noise level in the measurements, by undersampling, non‐identifiablily of the system, non‐observability and by excitation signals that are not rich enough. When the system is non‐identifiable and an a priori knowledge of the parameter uncertainties is available, regularization techniques can still yield most likely values among the possible combinations of uncertain parameters resulting in the same time responses than the ones observed.

The polynomial chaos method has been shown to be considerably more efficient than Monte Carlo in the simulation of systems with a small number of uncertain parameters. This is believed to be the first time the polynomial chaos theory has been applied to Bayesian estimation.

The analysis of the effect of tool vibrations on the measured and simulated draught forces of cultivator tools. This paper aims to discuss this issue.

Soil bin measurements and discrete element method (DEM)-based simulations.

The soil-tool interaction induced free vibrations of cultivator tools have significant impact on the measured draught force, and the simulations made by using vibrating tools give similar results.

Accurate calibration of discrete element model parameters can be done based on the reproduction of the whole Mohr-Coulomb failure line. Draught force ratio – velocity ratio values seem to be independent of tool geometry and soil conditions in case of velocity ratio higher than 2.

DEM-based numerical simulations can be used for modeling the effect of tool vibration on the draught force values. During discrete element simulations of soil-tool interaction, the effect of tool vibration may not be neglected.

The paper demonstrates that during the discrete element modelling of the soil-tool interaction, the tool vibration phenomenon should not be neglected.

The purpose of this paper is to present an investigation of the effect of different gravity conditions on the penetration mechanism using the two-dimensional Distinct Element Method (DEM), which ranges from high gravity used in centrifuge model tests to low gravity incurred by serial parabolic flight, with the aim of efficiently analyzing cone penetration tests on the lunar surface.

Seven penetration tests were numerically simulated on loose granular ground under different gravity conditions, i.e. one-sixth, one-half, one, five, ten, 15 and 20 terrestrial gravities. The effect of gravity on the mechanisms is examined with aspect to the tip resistance, deformation pattern, displacement paths, stress fields, stress paths, strain and rotation paths, and velocity fields during the penetration process.

First, under both low and high gravities, the penetration leads to high gradients of the value and direction of stresses in addition to high gradients in the velocity field near the penetrometer. In addition, the soil near the penetrometer undergoes large rotations of the principal stresses. Second, high gravity leads to a larger rotation of principal stresses and more downward particle motions than low gravity. Third, the tip resistance increases with penetration depth and gravity. Both the maximum (steady) normalized cone tip resistance and the maximum normalized mean (deviatoric) stress can be uniquely expressed by a linear equation in terms of the reciprocal of gravity.

This study investigates the effect of different gravity conditions on penetration mechanisms by using DEM.

The purpose of this paper is to develop a numerical model used for calculating the nonlinearities of large-scale hydro-pneumatic suspension (HPS) and investigating the effects of variations in flow path and operational parameter on suspension damping response.

To parameterization nonlinearities of the suspension, the author developed a two-phase flow model of a large-scale HPS based on computational fluid dynamics and volume of fluid method. Considerable effort was made to verify the nonlinearities by field measurements carried out on an off-highway mining dump truck. The investigation of effects of variations in flow path and operational parameter on damping characteristics highlights the necessity of the numerical simulation.

The two-phase flow model can represent the gas-oil interaction and simulate the suspension operational movement conveniently. Transient numerical simulation results can be used to model the nonlinearities of large-scale HPS accurately. A new phenomenon was discovered that the pressure in rebound chamber presents reduction trend during compression stroke in special cases. It has never been reported before.

Developed a two-phase flow model of a large-scale HPS, which can manage the gas-oil interaction and capture the complex flow field structure in it. The paper is the first study to model the nonlinearities of a large-scale HPS used in off-highway mining dump truck through transient numerical simulation. Compared with previous researches, such a research not only gives new insight and thorough understanding into the suspension internal fluid structure but also can give good guiding opinions to the optimal design of HPS.