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Traction Processes of Wheels in Lose...

Moreland, Scott Jared.

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Traction Processes of Wheels in Lose, Granular Soil.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Traction Processes of Wheels in Lose, Granular Soil./
Author:	Moreland, Scott Jared.
Description:	154 p.
Notes:	Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.
Contained By:	Dissertation Abstracts International75-02B(E).
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3575074
ISBN:	9781303526077

Traction Processes of Wheels in Lose, Granular Soil.
Moreland, Scott Jared.

Traction Processes of Wheels in Lose, Granular Soil. - 154 p.

Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.

Thesis (Ph.D.)--Carnegie Mellon University, 2013.

This research provides a well-supported hypothesis, that wheel-induced sub-surface soil motion behaviors can be analyzed via an empirical approach, in order to develop new explanations of traction processes of wheels operating in loose, granular soil. This research has undertaken the approach of directly observing sub-surface soil motions due to the operation of different traction devices, to demonstrate that this analysis method can be employed to explain traction processes specific to a traction device and demonstrates how these findings can be used to aid in the development of planetary rover mobility systems.

ISBN: 9781303526077Subjects--Topical Terms:

783786
Engineering, Mechanical.

Traction Processes of Wheels in Lose, Granular Soil.
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020 $a 9781303526077
035 $a (MiAaPQ)AAI3575074
035 $a AAI3575074
040 $a MiAaPQ $c MiAaPQ
100 1 $a Moreland, Scott Jared. $3 2096239
245 1 0 $a Traction Processes of Wheels in Lose, Granular Soil.
300 $a 154 p.
500 $a Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.
500 $a Adviser: David S. Wettergreen.
502 $a Thesis (Ph.D.)--Carnegie Mellon University, 2013.
520 $a This research provides a well-supported hypothesis, that wheel-induced sub-surface soil motion behaviors can be analyzed via an empirical approach, in order to develop new explanations of traction processes of wheels operating in loose, granular soil. This research has undertaken the approach of directly observing sub-surface soil motions due to the operation of different traction devices, to demonstrate that this analysis method can be employed to explain traction processes specific to a traction device and demonstrates how these findings can be used to aid in the development of planetary rover mobility systems.
520 $a Shear Interface Imaging Analysis (SIIA), is a new technique, developed as part of this thesis research. SIIA is employed for visualizing the effects of wheel operation on the soil beneath a rim, in richer detail than before possible. SIIA relies on high-speed imaging of sub-surface soil and on computer vision software to produce soil displacement fields, of high fidelity. The resulting data provides new insight and can reveal misconceptions about how wheels generate traction.
520 $a Two comprehensive studies relying on SIIA are undertaken: the investigation of wheel grouser mechanics and the investigation of push-roll locomotion. Soil forward motion, at a wheel leading edge, is identified as a key behavior for the grousered wheels. As a result, an equation, for grouser height/spacing relationship to achieve a higher performance grouser configuration, is developed and validated. This expression relates grouser configuration to wheel parameters (wheel radius) and operational parameters (sinkage and slip).
520 $a The soil mechanics behind Push-roll locomotion for high net traction and soft ground applications are presented. SIIA reveals that high thrust generated by push-roll locomotion is due to ground failure of the soil. Confirmation of the type of soil failure and of the application of operation in soft ground (where most vehicles would be embedded), brings forward the mobility gains of this non-typical locomotion mode and as a possible use for future planetary missions.
520 $a Additionally, insight into fundamental traction processes such as thrust, sinkage and motion resistance, are discussed with experimental evidence from soil displacement fields. This research proves that accounting for soil motion is of the utmost importance for the understanding of traction in loose, granular soils.
520 $a As a result of the specific technique utilized for directly studying soil motion, this research enables improved analysis and new design relevant to planetary rover mobility.
590 $a School code: 0041.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
650 4 $a Engineering, Computer. $3 1669061
650 4 $a Engineering, Electronics and Electrical. $3 626636
690 $a 0548
690 $a 0771
690 $a 0464
690 $a 0544
710 2 $a Carnegie Mellon University. $b Mechanical Engineering. $3 2096240
773 0 $t Dissertation Abstracts International $g 75-02B(E).
790 $a 0041
791 $a Ph.D.
792 $a 2013
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3575074