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A systematic approach to reliably characterize soils based on Bevameter testing

Apfelbeck, Maximilian und Kuß, Sebastian und Rebele, Bernhard und 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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Kurzfassung

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.

Dokumentart:Konferenzbeitrag (Paper)
Titel:A systematic approach to reliably characterize soils based on Bevameter testing
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Apfelbeck, Maximilianmaximilian.apfelbeck@dlr.de
Kuß, SebastianNICHT SPEZIFIZIERT
Rebele, BernhardNICHT SPEZIFIZIERT
Schäfer, BerndNICHT SPEZIFIZIERT
Datum:28 September 2010
Stichwörter:Bevameter, soil parameter, testbed, identification, planetary rover
Veranstaltungstitel:9th Asia-Pacific ISTVS Conference and Annual Meeting of Japanese Society for Terramechanics
Veranstaltungsort:Sapporo, Japan
Veranstaltungsart:internationale Konferenz, Konferenz
Veranstaltungsdatum:27-30 Sep 2010
Veranstalter :Kazuhiko Ohmiya
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Leistungszentrum Robotik - Mobilität und Exploration (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Maximilian Apfelbeck
Hinterlegt am:06 Dez 2010 11:17
Letzte Änderung:12 Dez 2013 21:07

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