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A systematic approach to reliably characterize soils based on Bevameter testing

Apfelbeck, Maximilian and Kuß, Sebastian and Rebele, Bernhard and Schäfer, Bernd (2010) A systematic approach to reliably characterize soils based on Bevameter testing. 9th Asia-Pacific ISTVS Conference and Annual Meeting of Japanese Society for Terramechanics, 27-30 Sep 2010, Sapporo, Japan.

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Abstract

Although there exists a lot of information about soil parameter identification in literature, currently there is no algorithm both making use of state of the art identification methodologies and incorporating statistical analysis. In this paper a state of the art soil parameter identification method is presented including the calculation of their standard deviations and a proper weighting of the objective function. With this algorithm and a Bevameter with advanced sensor and actuator technology a test campaign is started to find a reliable soil preparation which is applicable to a large planetary rover performance testbed. Furthermore the preparation method has to be valid and stable for various types of granular soils, typically used for planetary rover testing in space robotics, since the result of pre-tests show that the soil parameters are highly depending on the preparation. Besides to the preparation soil parameters are influenced by different Bevameter test setup variables, too. Thus the effect of the penetration velocity as well as the penetration tool geometry for pressure-sinkage tests on soil parameters is investigated. For shear tests the influence of the dimension of the shear ring is also analysed as the variation of the grouser height, the number of the grouser and the increase of the rotational shear velocity. The results of the extensive test campaign are evaluated by the proposed identification algorithms.

Document Type:Conference or Workshop Item (Paper)
Title:A systematic approach to reliably characterize soils based on Bevameter testing
Authors:
AuthorsInstitution or Email of Authors
Apfelbeck, Maximilianmaximilian.apfelbeck@dlr.de
Kuß, SebastianUNSPECIFIED
Rebele, BernhardUNSPECIFIED
Schäfer, BerndUNSPECIFIED
Date:28 September 2010
Keywords:Bevameter, soil parameter, testbed, identification, planetary rover
Event Title:9th Asia-Pacific ISTVS Conference and Annual Meeting of Japanese Society for Terramechanics
Event Location:Sapporo, Japan
Event Type:international Conference, Conference
Event Dates:27-30 Sep 2010
Organizer:Kazuhiko Ohmiya
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Mobilität und Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Maximilian Apfelbeck
Deposited On:06 Dec 2010 11:17
Last Modified:12 Dec 2013 21:07

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