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

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.11
• /
• pp.1711-1718
• /
• 2004

When the tracked vehicle is running on various types of terrain, the physical properties of the interacting ground can be different. In this paper, the interactions between track link and soft soil ground are investigated using static sinkage theory of soil ground. Grouser surfaces of a track link and triangular patches of ground are implemented for contact detection algorithm. Contact force at each segment area of a track link is computed respectively by using virtual work concept. Bekker's static soil sinkage model is applied for pressure-sinkage relationship and shear stress-shear displacement relationship proposed by Janosi and Hanamoto is used for tangential shear forces. The repetitive normal loads of a terrain are considered because a terrain element is subject to the repetitive loading of the roadwheels of a tracked vehicle. The methods how to apply Bekker's soil theory for multibody track system are proposed in this investigation and demonstrated numerically by high mobility tracked vehicle.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.27 no.3
• /
• pp.409-420
• /
• 2021

The decrease in under keel clearance (UKC) due to the increase of draft that occurs during advancing and turning of very large vessels of different types was analyzed based on computational fluid dynamics (CFD). The trim change in the Duisburg test case (DTC) container ship was much smaller than that of the KRISO very large crude oil carrier 2 (KVLCC2). The sinkage of both ships increased gradually as the water depth became shallower. The amount of sinkage change in DTC was greater than that in KVLCC2. The maximum heel angle was much larger for DTC than for KVLCC2. Both ships showed outward heel angles up to medium-deep water. However, when the water depth became shallow, an inward heel was generated by the shallow water effect. The inward heel increased rapidly in very shallow water. For DTC, the reduction ratio was very large at very shallow water. DTC appeared to be larger than KVLCC2 in terms of the decreased UKC because of shallow water in advancing and turning. In this study, a new result was derived showing that a ship turning in a steady state due to the influence of shallow water can incline inward, which is the turning direction.

• 한국기계연구소 소보
• /
• s.9
• /
• pp.153-167
• /
• 1982

From first-order thin-ship theory, we can obtain the" wave resistance, wave amplitude functions, wave elevation along the hull, sinkage and trim of a ship moving with constant speed into calm water. Generally, these calculations of ship is called with Michell’s Theory, and there is all the difference between calculated wave resistance and residual resistance from conventional wave resis¬tance test. But, these calculated results are important reference materials for initial hull form design procedure. Various calculated results for Shearer’ s Model, Wigley’s Model and Series 60 4210W Model have been calculated using this theory. The results are compared with the corresponding experimental values, and the agreement between theoretical and experimental values is considered satisfactory.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.4
• /
• pp.372-377
• /
• 2015

In this paper, the consideration factors that affect the actual driving of a rover wheel was examined based on the wheel-terrain model. For the evaluation of driving performance in a real environment, the test bed of the rover wheel consists of the driving part of the wheel and sensing part of the various parameters was designed and assembled. Using the test bed, the preliminary driving experiment concerning the slip ratio, sinkage, and friction force according to the rotational velocity and the shape of the wheel were carried out and evaluated. The wheel test bed and the experiment results are expected to contribute to finding the optimal result in the designing of the wheel shape and the planning of the driving conditions through further study.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.44 no.1
• /
• pp.68-74
• /
• 2008

This study is concerned with the development of the basic planing hull form of small fishing boat in 25 knots high speed. A series of model test to determine the optimum performance hull form of actual fishing boat with 10 gross tonnage was carried out for 5 models made available planing hull form in the circulation water channel. Model test was performed with the resistance test to study the hydrodynamic characteristics of model ships and the sinkage and trim measurement to investigate the stability of model ships and also the wave pattern observation to analyze the effectiveness of model ships. As the result, the planing hull form of P-4 with deep V type bow can be derived as the best hull form with good performance especially in ship's resistance efficiency showing less residual resistance and sinkage and trim and the spray effect, etc..

• Ocean and Polar Research
• /
• v.26 no.2
• /
• pp.323-332
• /
• 2004

This paper concerns about a study on dynamic responses of tracked vehicle on soft cohesive soil. For dynamic analyses of tracked vehicle, two different models were adopted, i.e. a single-body model and a multi-body model. The single-body vehicle model was assumed as a rigid body with 6-dof. The multi-body vehicle was modeled by using a commercial software, RecurDyn-LM. For the both models properties of cohesive soft soil were modeled by means of three relationships: pressure to sinkage, shear displacement to shear stress, and shear displacement to dynamic sinkage. Traveling performances of the two tracked vehicle models were compared through dynamic analyses in time domain.

• Journal of Ocean Engineering and Technology
• /
• v.15 no.1
• /
• pp.1-6
• /
• 2001

This study focuses on the potential flow analysis for a hull with the transom stern. The method is based on a low order panel method. The Kelvin type free-surface boundary condition which is known to better fit experimental data for a high speed is applied. To treat a dry transom stern effect a special treatment for the free-surface boundary condition is adopted at the free-surface region after the transom stern. Trim and sinkage, which are important in high speed ships, are considered by an iterative method. Pressure and momentum approaches are used to calculate the wave resistance. Numerical calculations are performed for Athena hull and these results are compared with the experimental data and also other computational results.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2002.10a
• /
• pp.149-154
• /
• 2002

A simplified 3D dynamic model of tracked vehicle crawling on cohesive soft soil is investigated. The vehicle is assumed as rigid body with 6-dof. Cohesive soft soil is modeled through relations: pressure to sinkage, shear displacement to shear stress, and shear to dynamic sinkage. Equations of motion of vehicle are derived with respect to the body-fixed coordinates. In order to investigate 3D transient dynamics of tracked vehicle, Newmark's method is employed based on incremental-iterative algorithm. 3D dynamic simulations are conducted for a tracked vehicle model and steering performance is investigated.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2003.05a
• /
• pp.116-120
• /
• 2003

To study the trafficability on soft and cohesive benthic terrain, a tracked vehicle model($670mm(L){\times}750mm(B_c)$) is designed and tested. The pitch and chevron angle of grouser, weight and center of gravity of vehicle, and drawbar pull force are chosen as experimental variables. Slip, sinkage and inclined angle of vehicle are picked as performance values. Strength of soil is considered as noise factor. A preliminary straight-line motion test is performed. Then, DOE(Design of Experiment) is discussed for further research.