This paper highlights the need for a new power model skid-steered wheeled robots driving on loose soil, and lays groundwork to develop such model. State-of-the-art modeling assumes hard ground; under typical assumptions, this predicts constant consumption over range of small turning radii where inner wheels rotate backwards. However, experimental results performed both in field controlled labor...

This paper explores the problem of energy-efficient shortest path planning on off-road, natural, real-life terrain for unmanned ground vehicles (UGVs). We present a greedy algorithm based composite metric routing approach that combines energy consumption and distance path. In our work, we consider Terramechanics between UGV soil to account wheel sinkage effect, in addition slope deformation lim...

A computational fluid dynamic (CFD) simulation is performed to evaluate the resistance performance of a self-propelled amphibious vessel with caterpillars be operated as marine debris collection at hard-to-reach areas. This study focuses on influence addition performance. To capture free surface model, volume (VOF) method was adopted, and express sinkage trim acting ship Dynamic Fluid-body Inte...

The paper presents velocity measurements, using particle image velocimetry, as well a reconstruction of hydrodynamic pressures for the analysis fast ships. Stereoscopic PIV measurements with towed underwater system are conducted during towing tank tests to obtain field in bow region ship at speeds up Fr=0.8. While model is kept fixed trim and sinkage, multi-plane total 68 measurement planes rec...

This paper describes recent work toward developing a terramechanics-based modeling and validation infrastructure for characterizing the Curiosity rovers mobility properties on the Mars surface. The resulting simulation tool, ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), is composed of a MSC-Adams dynamic rover model, a library of terramechanics subroutines, and ...

In recent years, research has been conducted on reducing resistance by adding steps the bottom of high-speed craft. The most significant issue in design multi-stepped planing craft is selection an appropriate step configuration, i.e., geometry, location, and height. This requires a general knowledge hydrodynamic behavior each configuration. Although towing tank test effective method to predict ...

Abstract Sea level rise has currently become a major issue for climate change. It globally drawn attention because as time passes, global sea levels will continue to at an accelerating rate in the 21st century. cause serious impact on environmental problems such coastal inundation, salt intrusion, erosion, and other phenomena. These scenarios lead earth which land oceans shifting due change, po...

Compared with that of equal-length working faces, the mechanical evolution mechanism overburden rocks in “knife handle”-type mining sites is more complex. The form roof fracture knife handle-type mines variable, and stress distribution near interface concentrated, thereby severely threatening safety mining. To elucidate characteristics fully mechanized top-coal caving sites, geological conditio...