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A systematic approach to reliably characterize soils based on Bevameter testing

Maximilian, Apfelbeck und Kuß, Sebastian und Rebele, Bernhard und Schäfer, Bernd (2011) A systematic approach to reliably characterize soils based on Bevameter testing. Journal of Terramechanics, 48 (5), Seiten 360-371. Elsevier. DOI: 10.1016/j.jterra.2011.04.001. ISSN 0022-4898.

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Offizielle URL: http://dx.doi.org/10.1016/j.jterra.2011.04.001

Kurzfassung

Although a lot of information about soil parameter identification exists in literature, there is currently no algorithm who makes use both 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 its 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 prep- aration, which is applicable to a large planetary rover performance testbed. Furthermore, the preparation method has to be valid and stable for various types of dry, granular and frictional 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 preparation, the soil parameters are also influ- enced by different Bevameter test setup variables. 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 analysed as well as the variation of the grouser height, the number of the grousers and the increase of the rotational shear velocity. The results of the extensive test campaign are evaluated by the proposed identification algorithms.

Dokumentart:Zeitschriftenbeitrag
Titel:A systematic approach to reliably characterize soils based on Bevameter testing
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Maximilian, Apfelbeckmaximilian.apfelbeck@dlr.de
Kuß, SebastianNICHT SPEZIFIZIERT
Rebele, BernhardNICHT SPEZIFIZIERT
Schäfer, BerndNICHT SPEZIFIZIERT
Datum:5 Oktober 2011
Erschienen in:Journal of Terramechanics
Referierte Publikation:Ja
In Open Access:Nein
In SCOPUS:Ja
In ISI Web of Science:Ja
Band:48
DOI :10.1016/j.jterra.2011.04.001
Seitenbereich:Seiten 360-371
Herausgeber:
HerausgeberInstitution und/oder E-Mail-Adresse der Herausgeber
Kushawa, Lallal.kushwaha@usask.ca
Mason, GeorgeGeorge.L.Mason@erdc.usace.army.mil
Sandu, Carinacsandu@vt.edu
Uk Kim, Kyeongkukim@snu.ac.kr
Verlag:Elsevier
ISSN:0022-4898
Status:veröffentlicht
Stichwörter:Bevameter; Soil parameter; Testbed; Identiï¬�cation; Planetary rover; Statistical analysis
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:09 Dez 2011 11:56
Letzte Änderung:12 Dez 2013 21:17

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