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A systematic approach to reliably characterize soils based on Bevameter testing

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

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


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.

Document Type:Article
Title:A systematic approach to reliably characterize soils based on Bevameter testing
AuthorsInstitution or Email of Authors
Maximilian, Apfelbeckmaximilian.apfelbeck@dlr.de
Rebele, BernhardUNSPECIFIED
Date:5 October 2011
Journal or Publication Title:Journal of Terramechanics
Refereed publication:Yes
In Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 360-371
Kushawa, Lallal.kushwaha@usask.ca
Mason, GeorgeGeorge.L.Mason@erdc.usace.army.mil
Sandu, Carinacsandu@vt.edu
Uk Kim, Kyeongkukim@snu.ac.kr
Keywords:Bevameter; Soil parameter; Testbed; Identi�cation; Planetary rover; Statistical analysis
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:09 Dec 2011 11:56
Last Modified:12 Dec 2013 21:17

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