Although walking rovers perform well in rocky terrain, their performance over sands and other deformable materials has not been well studied. A better understanding of walking rover terramechanics will be essential if they are to be actually deployed on a space mission. This paper presents a comprehensive walking rover terramechanics model incorporating slip and sinkage dependencies. In additio...

Predicting the tractive limitations of locomotion gears is of critical importance in a robotic vehicle system on natural terrain. In particular, it is imperative for an unmanned mobile robot to avoid getting stuck in loose soil to retain its mobility. From this perspective, this paper attempts to theoretically predict the limitations of a typical wheel in such loose soil based on traditional so...

Mobility analysis is crucial to fast, safe, and autonomous operation of planetary Wheeled Mobile Robots (WMRs). This paper reviews implemented odometry techniques on currently designed WMRs surveys methods for improving their mobility traversability. The are categorized based the employed approaches ranging from signal-based model-based estimation terramechanics-based, machine learning, global ...

Recently, progressive flooding simulations have been applied onboard to support decisions during emergencies based on the outcomes of sensors. However, only a small part existing fleet passenger ships is equipped with In order ease installation emergency decision systems older vessels, flooding-sensor-agnostic solution advisable reduce retrofit cost. this work, machine learning algorithms train...

In this study, particle image velocimetry was applied to measure the flow field around bow region of a trimaran with different appendages. The dimensionless axial velocity u/U in test planes 1 and 2 testing model measured by using towed underwater stereoscopic (SPIV) system. Based on data, local sinkage values appendages at speeds 1.766 2.943 m/s were presented. addition, effects speed, bulbous...

The steering performance of off-road tires on sandy soil has a great influence the maneuverability vehicle, which long been studied by scholars. However, discrete element method (DEM) modeling tire sand is still lacking. In this paper, an model established using method, and parameters are calibrated based triaxial compression test inclined plate experiment. Then, verified reduced-scale single w...

In this paper, a numerical assessment of the effect shallow water on total resistance solar catamaran SolarCat is carried out using computational fluid dynamics within software package STAR–CCM+. The unsteady viscous flow was modelled based Reynolds-averaged Navier–Stokes (RANS) equations with application k−ω SST (k−ω Shear Stress Transport) turbulence model. RANS were discretized by finite vol...

The capability of path tracking largely determines the operational efficiency deep-sea mining vehicles. In this paper, relationships vehicle–sediment mechanical interaction were obtained by sinkage and shear tests. Then, an overset grid method was used to establish computational fluid dynamics (CFD) model vehicle, spatial hydrodynamic distribution calculated in different motion states. Based on...