• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.1
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• pp.234-243
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• 2002

When a vehicle is operated over sort terrain, torque(or soil thrust) applied to driving wheel brings about shear displacement far soil due to compression and shear failure of soil under tire. This shear displacement give rise to slip and a additional sinkage due to slip. This additional sinkage is usually referred to as slip-sinkage. The slip-sinkage is affected by soil conditions and inflation pressure of tire. This slip-sinkage influence tractive performance on driving wheel . We conducted the experimental study far investigating the effect of slip on sinkage and tractive performance of driving wheel, such as motion resistance, thrust and drawbar pull. The experiment was carried out over three different soil conditions(soft, hard and very hard soil) far a tire with three levels of inflation pressure(120kPa, 240kPa and 360kPa). The results of this study show qualitatively slipsinkage characteristics and slip-tractive performance relationships of driving wheel with soil conditions and inflation pressure of tire.

• Journal of Biosystems Engineering
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• v.34 no.4
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• pp.205-210
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• 2009

It has been known from Willoughby's empirical equation that rating cone index can be determined if wheel sinkage and slip of a vehicle can be measured on soil surface. A field data of wheel sinkage and slip was collected from two tractors of different sizes on gravelly sand and gravelly loamy sand. Using the data, rating cone index of the soil was estimated. The estimated rating cone index demonstrated that it could be determined in real time by measuring wheel sinkage and slip. It was also demonstrated statistically that the same soil strength could be obtained under the same soil conditions regardless of the vehicle platforms used for the wheel sinkage and slip measurements.

• Journal of the Korean Geotechnical Society
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• v.34 no.6
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• pp.49-59
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• 2018

When a tracked vehicle travels off-road, shearing action and ground sinkage occur on the soil-track interface and severely affect tractive performance of the tracked vehicle. Especially, the ground sinkage, which is induced by vehicle's weight (hereinafter referred to as static sinkage) and longitudinal forces in the direction of travel producing slip (hereinafter referred to as slip sinkage), develops soil resistance, directly restricting the tractive performance of an off-road tracked vehicle. Thus, to assess the tractive performance of an off-road tracked vehicle, it is imperative to take both of static sinkage and slip sinkage into consideration. In this research, a series of model track experiments was conducted to investigate the slip sinkage which has not been clarified. Experiment results showed that the slip sinkage increased with increasing the slip ratio, but the increasing rate gradually decreased. Also, the slip sinkage was found to increase as relative density of soil decreased and imposed vertical load increased. From the experiment results, the normalized slip sinkage defined as slip sinkage to static sinkage calculated in the identical condition was investigated, and an empirical equation for the slip sinkage was developed in terms of slip ratio, which allows vehicle operators to predict the slip sinkage in a given soil and operating conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• Journal of the Korean GEO-environmental Society
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• v.10 no.5
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• pp.59-67
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• 2009

Three-dimensional (3D) numerical analyses have been conducted to study the behaviour of a single pile to tunnelling. The numerical analysis has included soil slip at the pile-soil interface. In the numerical analyses the interaction between the tunnel and the pile constructed in weathered soil and rock has been analysed. The study includes the pile settlement, the relative shear displacement between the pile and the soil and the shear stresses at the interface and the axial force on the pile. In particular, the shear stress transfer mechanism at the pile-soil interface related to the tunnel advancement has been rigorously analysed. Due to changes in the relative shear displacement at the pile-soil interface during the tunnel advancement, the shear stress and the axial force distributions along the pile have been changed. Upward shear stress developed at most part of the pile (Z/L=0.0-0.8), while downward shear stress is mobilised near the pile tip (Z/L=0.8-1.0) resulting in tensile force on the pile, where Z is the pile location and L is the pile length. Some insights into the pile behaviour to tunnelling obtained from the numerical analyses will be reported and discussed.

• Journal of Biosystems Engineering
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• v.27 no.6
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• pp.501-512
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• 2002

Traction performance of off-road vehicles is estimated using slip-traction relationships Two zero condition accepted by ASAE have been used widely to obtain the slip-traction relationships of off-road vehicles. This study was carried out using the soil bin systems to investigate the characteristic of slip-traction curves obtained using two zero conditions defined by ASAE. which are driving and driven zero condition, and to present disadvantage of slip-traction relationship based on two zero conditions of ASAE. The results of this study are summarized as follows : 1. For the driving zero condition, the curve of slip-traction relationship shows some issues. The first question is that the slip is zero when the traction is zero. The second question is that the value of slip is smaller than that of corresponding real slip, as the rolling radius decreased f3r the setting zero condition with driving wheel. 2. For the driven zero condition. slip occurs when the traction is zero, which is more realistic results than driving zero condition. But when a zero condition is set, skid occurs and this result increased the rolling radius of tire and increased slip value f3r the specific traction value of whole slip range. This kind of trend was getting bigger as the soil is softer, or the tire inflation pressure is higher. 3. From the results of this study, it was found that slip-traction relationship obtained by two zero conditions of ASAE is not realistic in estimating the traction performance of off-road vehicles. And also slip-traction relationship obtained for the same experimental condition showed different result in accordance with chosen zero condition,

• Geomechanics and Engineering
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• v.33 no.5
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• pp.477-486
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• 2023

In the studies on fault dislocation of tunnel, existing literatures are mainly focused on the problems caused by normal and reverse faults, but few on strike-slip faults. The paper aims to research the deformation and failure mechanism of a tunnel under strike-slip faulting based on a model test and test-calibrated numerical simulation. A potential faulting hazard condition is considered for a real water tunnel in central Yunnan, China. Based on the faulting hazard to tunnel, laboratory model tests were conducted with a test apparatus that specially designed for strike-slip faults. Then, to verify the results obtained from the model test, a finite element model was built. By comparison, the numerical results agree with tested ones well. The results indicated that most of the shear deformation and damage would appear within fault fracture zone. The tunnel exhibited a horizontal S-shaped deformation profile under strike-slip faulting. The side walls of the tunnel mainly experience tension and compression strain state, while the roof and floor of the tunnel would be in a shear state. Circular cracks on tunnel near fault fracture zone were more significant owing to shear effects of strike-slip faulting, while the longitudinal cracks occurred at the hanging wall.

• Journal of Biosystems Engineering
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• v.8 no.1
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• pp.9-16
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• 1983

This study was conducted to find out the effects of such parameters as specific draft resistance, slip rate, and fuel consumption rate on plowing performance in paddy fields spread with chopped rice straw. The plowing operation by an 8 P.S. power tiller was carried out in 6 different fields having the soil moisture content of 27~36 percent in dry basis in clay loam soil texture, and applying chopped rice straw of 10, 20, 30 and 60cm in length in the spring of 1982. The effects of soil hardness and moisture content on the plowing performance were also investigated. The results of the study are summarized as follows; 1. The minimum draft during the plowing operation was 110kg in the 30cm rice straw plot having the soil moisture content of 32 percent in dry basis. 2. The multiple regression equation of the specific draft(D) as a function of soil moisture content(M) and cutting length of rice straw(L) was obtained as follows. $D=14.1978-0.8565M+0.0661LxM-2.9685L+0.0133M^2+1.093L^2$ 3. In the 30cm rice straw plot with the soil moisture content of 32 percent in dry basis, the minimum specific draft resistance and the rate of slip were 0.35kg per $cm^2$ and 16 percent respectively. The specific draft resistance varied sensitively in accordance with the soil moisture content, and the slip rate of power tiller was dependent upon the cutting length of rice straw rather than the soil moisture content. 4. The highest plowing performance was 5.3 ares per hour at the soil moisture content of 35 percent and soil hardness of 10kg per $cm^2$. The relationship between the plowing performance and the soil moisture content was obtained by a quadratic equation. 5. The minimum fuel consumption rate in the plowing operation was recorded 6.5 liters per 10 ares in 30cm chopped rice straw plot with the soil moisture content of 32 percent in dry basis.

• Journal of the Korean Society of Hazard Mitigation
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• v.6 no.2 s.21
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• pp.17-24
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• 2006

A ground anchor system is used as a load carrying element for soil structure stability The conventional systems with ground anchors bring about the anchorage loss of wedges when anchors are installed for the support of soil structures. Hence we developed the new type of anchor system using both the spacing apparatus and spring (length 60mm, diameter 6mm). In this system, we can directly check the condition of wedges and PS strands and modify the problems with the slip and anchorage of wedges under construction. For demonstrating the superiority of this system, we carried out a series of both laboratory and field test. Consequently, we can obtain satisfactory result (18.99% reduction to the loss of conventional systems). Moreover, the replacement of wedges is easy and simple when retensioning of strands.

• Journal of the Korean Geotechnical Society
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• v.32 no.10
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• pp.31-40
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• 2016

In order to investigate the change in soil arch structure developed within the soil subjected to trapdoor movement, various responses in the deformed particle assembly were observed via photoelastic measurement technique. The particle assembly was composed of the regularly stacked model particles coated by thin photoelastic material. Variation of the internal structure transmitting contact forces were observed by taking images showing the photoelastic responses and compared with the change in slip lines and pressures measured by load cells placed beneath the assembly. Initial soil arch structure established immediately after the trapdoor movement collapsed progressively and meanwhile a new extended structure was developed against further movement of the trapdoor. For the sufficient movement of the trapdoor, initially identical regions bounded by the soil arch structure and slip lines were separated and the region enclosed by slip lines became a part of the region loosing the transmitting contact forces identified by photoelastic measurement.