# 11th Asia-Pacific Regional Conference of the ISTVS September 26-28, 2022 | online {% hint style="success" %} This is a conference site archive. {% endhint %}
## ISTVS conferences form an amazing legacy since our first meeting in 1962 Today the International Society for Terrain-Vehicle Systems is a connected group of collaborative professionals from industry, universities, and research institutions who have been meeting over five decades to share research findings. **The 11th Asia-Pacific Regional Conference of the ISTVS** gives you the opportunity to exchange ideas and technical information on current and future research and technology developments in terramechanics and terrain/road-vehicle system dynamics, control, design, vetronics, artificial intelligence, autonomous and unmanned vehicle systems, field and planetary exploration robots, digital-twin, and Industry 4.0. **The conference will be fully online, September 26-28, 2022 //** You will have the opportunity to participate in keynote talks and conference sessions and conduct academic exchanges with colleagues in the varied fields of terramechanics. ## Keynote Speakers ### **Baofeng Yuan** #### *Locomotion and Exploration of Zhurong Mars Rover* | Chief designer of the Zhurong Mars Rover mobility system | China Academy of Space Technology Researcher, Space robot technology, China Academy of Space Technology | Beijing Institute of Space Systems Engineering | **Baofeng Yuan** has engaged in the research of space robot technology since 2006. His research interest include space robot system design, precision transmission and mechanism design, drive control and dynamic analysis, perception and measurement technology. His research projects include Zhurong Mars rover mobile system, space station manipulator and Chang’e 5 sampling manipulator. He has published 5 SCI journal papers and 11 EI journal papers, and applied 13 patents. ![](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/59949ee2-1907-42d7-a879-c196cf313b74/zhurong_rover.jpg?format=1500w) Zhurong Mars Rover, photo: China Academy of Space Technology ### **Salah Sukkarieh** #### *Agriculture Robotics—Mechatronic and AI design for all terrain operations* ![](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/685dc209-a0fd-4636-a2b2-642dbff91bc4/Prof+Salah+Sukkarieh.png?format=300w) Professor, Robotics and Intelligent Systems, University of Sydney | Sydney Institute of Agriculture | The University of Sydney Nano Institute | the Charles Perkins Centre | CEO of Agerris | [C.V.](https://www.sydney.edu.au/engineering/about/our-people/academic-staff/salah-sukkarieh.html) Dr. Salah Sukkarieh was the Director Research and Innovation at the Australian Centre for Field Robotics from 2007-2018. He was awarded the NSW Science and Engineering Award for Excellence in Engineering and Information and Communications Technologies in 2014, the 2017 CSIRO Eureka Prize for Leadership in Innovation and Science, and the 2019 NSW Australian of the Year nominee. He is a Fellow of Australian Academy of Technological Sciences and Engineering (ATSE), and has over 500 academic and industry publications in robotics and intelligent systems. ### Guangming Chen #### *Development of a Biologically Inspired Walking Robot for Mars Exploration* ![](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/17b8c491-41b8-42c6-b949-8cf505a6a9f0/guangmingchen.jpg?format=300w) Instructor, School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics | Institute of Bio-Inspired Structure and Surface Engineering | [C.V.](https://cmee.nuaa.edu.cn/2019/0222/c11675a189008/page.htm) | [ResearchGate](https://www.researchgate.net/profile/Guangming-Chen-8) Dr Guangming Chen obtained his PhD degree from Delft University of Technology, the Netherlands. Since November 2017, he works in Nanjing University of Aeronautics and Astronautics. His research interest is Mobile robotics for unstructured environments. He has published 13 SCI journal papers and 10 conference papers, and applied 8 patents. *Other speakers to be announced* *** ### Conference overview The aim of the conference is to further advance knowledge in terrain-vehicle and road-vehicle system dynamics and design and, thus, to discuss and suggest new frontiers and research directions, facilitate engineering practice, and benefit the society at large in the area of the energy conservation, environmental sustainability, safety, cyber/physical security, application of artificial intelligence (AI) techniques in terramechanics and development of vetronics systems for civil and on ground-moving military vehicles. * Terramechanics, locomotion, and soil/terrain modeling * Recent accomplishments in terramechanics research and education * Locomotion systems * Soil and terrain modeling and characterization * Advances in mobility, energy efficiency, ground vehicle dynamics, and high-fidelity simulation * Agricultural, forestry, construction equipment, and machinery * Mobile robotics for ground applications, planetary exploration, and other environments * Design/control, sensing/actuation in cyber-physical systems for vehicle dynamics and mobility * Innovative system designs for terrain and road-vehicle applications * Application of artificial intelligence to vehicles **Sponsors** // We thank our sponsors for their support. Please show them your appreciation. If you are interested in becoming a sponsor, [information is here](https://conference.istvs.org/#). ### Short program The conference takes place over three days, 19:00-22:30 *China Standard Time*: **Monday September 26, 2022**\ 19:00-22:30 Opening Ceremony | Keynote 1 | Sessions **Tuesday September 27, 2022**\ 19:00-22:30 Keynote 2 | Keynote 3 | Sessions **Wednesday September 28, 2022**\ 19:00-22:30 Keynote 4 | Sessions | Award Ceremony | Closing Ceremony *A detailed program will be published in August.* *** [![](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/605bb400-db2d-4d42-a4e7-da70b81438c0/hit-logo-red.jpg?format=1500w)](http://en.hit.edu.cn/) ### HOSTING INSTITUTION Harbin Institute of Technology [Harbin Institute of Technology](https://www.hit.edu.cn/), affiliated with the Ministry of Industry and Information Technology of the People’s Republic China, focuses on science and engineering and maintains the coordinated development of multiple disciplines including science, engineering, management, literature, economics, law, and art. Since its founding in 1920, HIT has been well-known as the cradle of engineers today. HIT has three campuses in Harbin, Weihai, and Shenzhen. ![Skyline, Harbin Institute of Technology, China](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/bdcc2d50-bc4d-4fff-8cb3-d0272e7391a9/harbin-headstone_edit.jpeg?format=1500w) Skyline, Harbin Institute of Technology # Details 11th Asia-Pacific Regional Conference of the ISTVS **September 26-28, 2022**\ *19:00-22:30 China Standard Time*\ *»* [*find time in your timezone*](https://www.timeanddate.com/worldclock/fixedtime.html?ah=3\&am=30\&iso=20220926T19\&msg=11th%20Asia-Pacific%20Regional%20Conference%20of%20the%20ISTVS%20%7C%20online%20%7C%20conference.istvs.org\&p1=502) ———————— ### Dates *updated 2022-05-13* **March 01**\ Call for Submissions **April 30**\ Registration opens ~~May 15~~ **May 31**\ Abstract submissions due ~~May 30~~ **June 25**\ Notices of abstract acceptance ~~June 30~~ **July 20**\ Full paper submissions due **July 31**\ Early bird registrations close ~~July 31~~ **August 20**\ Reviews returned to the authors ~~August 15~~ **August 31**\ Revised full paper submissions due ~~August 31~~ **September 10**\ Presentation prerecording due **September 26-28**\ **Conference**\ *19:00-22:30 China Standard Time*\ *»* [*find time in your timezone*](https://www.timeanddate.com/worldclock/fixedtime.html?ah=3\&am=30\&iso=20220926T19\&msg=11th%20Asia-Pacific%20Regional%20Conference%20of%20the%20ISTVS%20%7C%20online%20%7C%20conference.istvs.org\&p1=502) #### 2022 Conference Chair Professor Liang Ding\ ### 2022 Scientific Committee Liang Ding, China, *Chair*\ Corina Sandu, U.S.A.\ Dror Rubinstein, Israel\ Genya Ishigami, Japan\ George Mason, U.S.A.\ Haibo Gao, China\ Heidi R. Howard, U.S.A.\ Hiroshi Nakashima, Japan\ Jianqiao Li, China\ József Kövecses, Canada\ Junya Yamakawa, Japan\ Kyeong Uk Kim, South Korea\ Lei Jiang, China\ Luquan Ren, China\ Lutz Richter, Germany\ Massimo Martelli, Italy\ Mehari Tekeste, U.S.A.\ Parish Nalavade, India\ Peter Kiss, Hungary\ Qingqing Wei, China\ Rámon Gonzalez, Spain\ Sally Shoop, U.S.A.\ Schalk Els, South Africa\ Shashank Agarwal, U.S.A.\ Shingo Ozaki, Japan\ Taizo Kobayashi, Japan\ Thomas R. Way, U.S.A.\ Vilas Salokhe, India\ Vladimir Vantsevich, U.S.A.\ Zhenzhong, Jia, China\ Zhiwu Han, China #### 2022 Sponsors We appreciate[ our sponsors](https://conference.istvs.org/sponsors-2022) for their support of the conference. #### Upcoming Conferences September 2023\ **16th European-African Regional Conference**\ Europe-Africa location September 2024\ **21th International Conference**\ Asia-Pacific location # Program ISTVS - Proceedings of the 20th International and 9th Americas Conference of the ISTVS | Program ### Conference Program **All times are in Beijing time (UTC+8).**\ Check your local time here: [everytimezone.com](https://everytimezone.com/) View full paper abstracts [here](/papers)\ View abstract-only abstracts [here](/abstract-only)\ View advance video presentations [here](https://vimeo.com/showcase/istvs2022) *(password available to attendees)* ### Monday, September 26, 2022
19:00-19:40Opening Ceremony
Chair: Liang Ding
Welcome by Conference Chair: Liang Ding
Welcome by: Zhiwu Han, Executive Director of Chinese Society for Agricultural Machinery
President Address: Corina Sandu
Report on Journal of Terramechanics: Vladimir V. Vantsevich
19:40-19:45

5-minute break

19:45-20:35

Plenary — Keynote

Chair: Lutz Richter

Locomotion and Exploration of Zhurong Mars Rover

Baofeng Yuan

Chief designer of the Zhurong Mars Rover mobility system | China Academy of Space Technology

20:35-20:45

10-minute break

20:45-22:30

Session 1-1-A

Best Paper Candidates

Session 1-2-A

Mobility and Traction Characterization I

Session 1-3-A

Control, Planning and Estimation I

Time: 20:45 - 21:25

Chair: Péter Kiss

Co-Chair: Dror Rubinstein

Time: 20:45-21:35

Chair: Chen Li

Co-Chair: Meng Zou

Time: 20:45-21:35

Chair: Parish Nalavade

Co-Chair: He Kong

Acquisition of Flipper Motion of Tracked Robot in Step-Climbing Using Reinforcement LearningA Wheel and Vehicle Mobility Index Based on Traction and Velocity for Optimization of Mobility PerformanceSemi-active Reinforcement Learning Suspension Control for the Off-road Vehicles
Ryosuke Eto, Junya Yamakawa| 9913Vladimir Vantsevich, David Gorsich, Jesse Paldan, Masood Ghasemi, Lee Moradi| 0963Ye Zhuang, Haojie Sun, Yingchun Qi, Weiguang Fan, Hui Ye| 1128
Research on Drag Reduction Performance of Sliding Plate of Rice Direct Seeding Machine Based on Non-smooth Structure of Loach SurfaceA Comprehensive Lumped Parameter Approach for the Dynamic Simulation of Agricultural Tractors in Real Operating ConditionsFoothold Selection Considering Constraint and Slippage Evaluation for Legged Robots
Hongchang Wang, Zhen Jiang, Kaiquan Ding, Guozhong Zhang, Abouelnadar Salem, Yuan Gao| 5979Marco Polastri, Damiano Chiarabelli, Silvia Gessi, Massimo Martelli, Emiliano Mucchi, Pietro Marani| 2034Yufei Liu, Lei Jiang, Chong Tian, Boyang Xing, Zhirui Wang, Bo Su, Tong Yan, Liang Ding, Haibo Gao| 1534
Factors Affecting Bevameter Soil CharacterizationInvestigation of the Shear Stress Dynamics on Silty Loam Soil and Measurement of Traction-Wheel Slip Relationship of a Tractor TireModel Predictive Control of a Robot Driven Vehicle for Testing of Advanced Driver Assist Systems
Schalk Els, Herman Hamersma, Ray Kruger| 6174César Andrés Arévalo-Montaña, Stefan Böttinger| 2149Mike Huang, Qiu Haixuan,Yang Chunyu, Xia Lian, Lin Zhaomin, Wang Yanqing, Xu Zongqing, Mingfu Tang| 2539
Research on High Traction Bionic Wheel Based on Traction Characteristics of Jerboa FootEnergy Consumption Analysis of Door Opening with a Mobile Manipulator in the Nuclear Power Plants
Hao Pang, Liangliang Zhao, Huailiang Wang, Rui Zhang| 2681 (Abstract only)Changyou Ma, Binbin Yan, Xu Xiong, Haibo Gao, Liang Ding| 2632
The Running Gear Construction Impact on Obstacles Overcoming by Light High-Mobility UGVAn Improved Simultaneous Localization and Mapping Method Based on LeGO-LOAM and Motion Compensation
Daniela Szpaczyńska, Marian Łopatka, Piotr Krogul| 4260Mengyang Li, Xinsheng Wang, Xiyue Wang, Shuang Liu| 2643

Session 1-1-B

Best Student Paper Candidates

Session 1-2-B

Mobility and Traction Characterization II

Session 1-3-B

Control, Planning and Estimation II

Time: 21:30-22:30

Chair: Péter Kiss

Co-Chair: Shashank Agarwal

Time: 21:40-22:30

Chair: Chen Li

Co-Chair: Meng Zou

Time: 21:40-22:30

Chair: Parish Nalavade

Co-Chair: He Kong

The Effect of Integrating a Bio-inspired Convex Structure with a Low-Surface Energy Polymer on Soil Adhesion and FrictionSteadily Learn to Drive with Virtual MemoryObstacle Avoidance of Mobile Robots Using Modified Artificial Potential Field Algorithm Based on Vortex and PID Adjustment
Abouelnadar Salem, Guozhong Zhang, Hongchang Wang| 8349Yuhang Zhang, Yao Mu, Shengbo Li, Yangang Ren, Liye Tang, Yujie Yang, Chen Chen| 4774Zhuoran Sheng, Song Wang| 3004 (Abstract only)
A Time Domain Passivity Controller for Teleoperation of Four-Wheeled Differential Mobile Robot on Slippery SurfaceResearch on Vehicle Running Performance on Paved Roads Covered with Falling Volcanic AshPerceptive Locomotion of Legged Robot Coupling Model Predictive Control and Terrain Mapping
Hui Xi, Yanjing Li, Pengyu Sun, Weihua Li, Jianfeng Wang| 7092Junya Yamakawa, Ryosuke Eto, Yasuhiro Ichikado, Mitsuhiro Yoshimoto, Tatsuji Nishizawa, Tomohiro Kubo, Hiroyuki Yamada| 6718Boyang Xing, Lei Jiang, Bo Su, Yufei Liu, Zhirui Wang, Tianqi Qiu,Jianxin Zhao| 6316
Study of Passive Steering Mechanism for Mars Surface Exploration RoversVehicle Dynamic Factor Characterized by Actual Velocity and Combined Influence of the Transmission and Driveline SystemResearch on Energy-Saving Underactuated Bionic Biped Robot
Asahi Oe, Shin-Ichiro Nishida, Shintaro Nakatani| 7233Vladimir Vantsevich, David Gorsich, Jesse Paldan, Jordan Whitson, Brian Butrico, Oleg Sapunkov| 7199Youhao Diao, Zhiqiang Zhuang, Xuebo Wang| 7349 (Abstract only)
Parameters Calibration of Red Clay Soil in Hilly Area of Southwest China for Discrete Element Simulation Based on Repose Angle TestDetermination of the Necessary Indicators of Vehicles and the Movement Surface for Calculating the Mobility Criterion
Le Yang, Qinghui Lai, Liangliang Zhao, Peihang Li, Zhihong Zhang, Zhaoyang Chen| 8131Alina Markovnina, Umar Vakhidov, Vladimir Belyakov, Vladimir Makarov| 8104 (Abstract only)
Design and Verification of a Creeping Mars RoverForce Chain Analysis on Wheel-Soil Interaction Using Photoelastic Method
Wangjun Zhang, Yang Jia, Zhuo Tao| 1491Yuto Yoshida, Sota Yuasa, Kenji Nagaoka| 9273 (Abstract only)
A Review of Modeling and Validation Techniques for Tire-Deformable Soil Interactions
Varsha S Swamy, Rashna Pandit, Alba Yerro-Colom, Corina Sandu, Denise Rizzo, Katherine Sebeck| 7018
*** ### Tuesday, September 27, 2022
19:00-19:10

Welcome

19:10-20:00

Plenary — Keynote

Chair: Corina Sandu

Agriculture Robotics—Mechatronic and AI Design for All Terrain Oprations

Salah Sukkarieh

Professor, Robotics and Intelligent Systems, University of Sydney | Sydney Institute of Agriculture | The University of Sydney Nano Institute | the Charles Perkins Centre | CEO of Agerris


20:00-20:05

5-minute break

20:05-20:55

Plenary — Keynote

Chair: Lutz Richter

Development of a Biologically Inspired Walking Robot for Mars Exploration

Guangming Chen

Instructor, School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics | Institute of Bio-Inspired Structure and Surface Engineering


20:55-21:05

10-minute break

21:05-22:30

Session 2-1-A

Robotics and Space Applications I

Session 2-2-A

Modeling and Simulation I

Session 2-3-A

Modeling and Simulation III

Time: 21:05-21:45

Chair: Huaiguang Yang

Co-Chair: Jiayu Li

Time: 21:05-21:45

Chair: Schalk Els

Co-Chair: Zhenzhong Jia

Time: 21:05 - 21:45

Chair: Junya Yamakawa

Co-Chair: Kyeong Uk Kim

Analysis on Climbing Mode of Zhurong RoverModeling of Lunar Rover Vehicle Wheel-Soil Interaction Using FEM-DEM MethodNumerical Analysis of Multi-Pass Effect Based on the Extended Terramechanics Theory

Zhen Chen, Meng Zou, Dong Pan, Baofeng Yuan, Lining Chen| 0196

(Abstract only)

Kaidi Zhang, Yunqing Zhang, Junwei Shi, Weili Kong| 1655

Shingo Nakano, Shingo Ozaki| 5636

(Abstract only)

Review on the Reconfigurable Wheel-Tracked SystemTyre Parameteriaztion Tests: Dynamic Vs. StaticInteraction Modeling and Dynamic Control Strategy for C-shaped Leg with Sandy Terrain in Terradynamics
Jiaxuan Wang, Cheng Liu, Wei Wei, Qingdong Yan| 0861Carl Becker, Schalk Els| 2190Chuanxiao Yang, Zhiyue Xin, Xiong Hu, Shibin Sun, Liang Ding, Dewei Tang| 5800
Bearing Capacity Analysis of Bionic Walking Wheel for Manned Lunar RoverModeling Tire-Soil Compression Resistance on Artificial Soil Using a Scaling Law of Pressure - Soil Sinkage RelationshipTire-Soil Tangential Force Reinforcement Learning Modelling
Rui Zhang, Liang Liang Zhao, Yupei Du, Bin Zhao, Hao Pang, Lige Wen, Weijun Wang, Hua Zhang, Zhenyu Hu, Meng Zou| 2928 (Abstract only)Pius Jjagwe, Mehari Tekeste, Nisreen Alkalifa| 2398 (Abstract only)Yingchun Qi, Jiaqi Zhao, Ye Zhuang| 7399
Why We Need Alternative Ground Robots to Traverse Sandy and Rocky Extraterrestrial Terrain, and How We Can Progress Towards ThemModelling of the Shear Displacement for Tracked Vehicles in Transient Maneuvers
Chen Li, Kevin Lewis| 3290 (Abstract only)Yang Jiao, Jozsef Kovecses| 7739 (Abstract only)

Session 2-1-B

Robotics and Space Applications II

Session 2-2-B

Modeling and Simulation II

Session 2-3-B

Modeling and Simulation IV

Time: 21:50-22:30

Chair: Huaiguang Yang

Co-Chair: Jiayu Li

Time: 21:50-22:30

Chair: Schalk Els

Co-Chair: Zhenzhong Jia

Time: 21:50 - 22:30

Chair: Junya Yamakawa

Co-Chair: Kyeong Uk Kim

Field Validation of Egress Process for Planetary RoverTerramechanics Model Augmentation Using Machine LearningA Method for Fast Obtaining of Soil Shear Strength Index Based on DEM Free-Fall Cone Penetration Simulation
Dang Zhaolong, Chen Baichao| 4054Eric Karpman, Jozsef Kovecses, Marek Teichmann| 2960 (Abstract only)Jincheng Diao, Jingwei Gao, Xiaobo Song, Baojun Di| 7878
Development and Traveling Performance Analysis of Driving Test Rover in Sandy TerrainDEM Analysis of the Dynamics of Granular Media Condidering with Interparticle Forces under Low Gravity ConditionA High-Fidelity Dynamics Simulation Method for Legged Robot Based on Foot–Terrain Interaction Model
Masataku Sutoh, Yuji Katsumata, Sachiko Wakabayashi| 4170 (Abstract only)Takuru Nishino, Kenta Takase, Shingo Ozaki, Takao Maeda, Mitsuhisa Baba, Masatsugu Otsuki| 4136 (Abstract only)Jianghua Ge, Jianghu Wu, Xiaofei Zhu| 8362 (Abstract only)
Development and Demonstration of Robotic Investigation Tool for Terrain Mechanical PropertyMulti-Fidelity Machine Learning Modeling for Wheeled Locomotion on Soft SoilExamining the Simulation-to-Reality Gap of a Wheel Loader Interacting with Deformable Terrain
Yuzuki Morita, Genya Ishigami| 4323 (Abstract only)Vladyslav Fediukov, Felix Dietrich, Fabian Buse| 4812Koji Aoshima, Daniel Lindmark, Martin Servin| 9092 (Abstract only)
Terrain Classification Using Mars Raw Images Based on Deep Learning Algorithms with Application to Wheeled Planetary Rovers3D-DEM Simulation and Post-process Method of Wheel-Terrain Interaction for Planetary Rovers
Junlong Guo, Xingyang Zhang, Yunpeng Dong, Zhao Xue, Bo Huang| 4744Qingning Lan, Zhengyin Wang, Huaiguang Yang, Liang Ding, Haibo Gao| 9352
*** ### Wednesday, September 28, 2022
19:00-19:10

Welcome

19:10-20:00

Plenary — Keynote

Chair: Massimo Martelli

Semi-active Reinforcement Learning Suspension Control for Off-road Vehicles

Ye Zhuang | on behalf of FISITA

Professor | State Key Lab of Automotive Simulation and Control, College of Automotive Engineering | Jilin University

20:00-20:10

10-minute break

20:10-21:25Session 3-1-A
Soil and Ground Testing and Characterization I		Session 3-2-A
Design I		Session 3-3-A
Soil and Ground Testing and Characterization II

20:10-20:50

Chair: Taizo Kobayashi

Co-Chair: Junlong Guo

20:10-20:50

Chair: Linnea Hansson

Co-Chair: Mehari Tekeste

20:10-20:50

Chair: Vilas M. Salokhe

Co-Chair: Genya Ishigami

Composite Beam Tests with Closed Cell Polyurethane and Aluminum Foam
George Mason, Ethan Salman, Shiraz Mujahid | 0303		Design and Simulation Analysis of Intelligent Suspension for Manned Lunar Rover
Tao Li, Chongfeng Zhang, Weijun Wang, Junwei Shi | 0356		Ride Comfort Comparison Between Suspension Modes: Input Towards Designing Difference Threshold Experiments During Driving
Cor-Jacques Kat, Kylian Praet, Miguel Dhaens, Schalk Els | 5408
Benchmarking of Compression Testing Devices in Snow
Mohit Nitin Shenvi, Corina Sandu, Costin Untaroiu | 3351		Comparative Analysis of Hydrodynamical Efficiency of Full-submerged Archimedes Screws of Rotary-Screw Propulsion Units of Snow and Swamp-Going Amphibious Vehicles with Single and Tandem Propulsor Design
Svetlana Karaseva, Aleksey Papunin, Vladimir Makarov, Dmitry Malahov | 1704 (Abstract only)		Nonparametric Terrain Estimation Based on the Interaction Simulation between Planetary Penetrator and Soil
Xintao Yang, Han Huang, Zhixin Xiang, Qinghao Yan, Haozhe Wang, Shucai Xu | 6796
Soil Compaction Monitoring Technique Using Deep Learning
Shota Teramoto, Taizo Kobayashi | 4243		Design of Self-Driving Bulldozer System
Yang Junhua, Zhang Biao, Tang Haokai, Shen Binghua, Ou Linlin, Yu Xinyi, Feng Yuanjing, Feng Yu, Zhou Libo | 4409		Construction of a Soil Clods Recognition Bench-Scale Experiment for Discrete Element Method Modeling of Tilling Phenomena
Shuto Ishii, Isami Suto, Hiroaki Tabe, Keisuke Nagato, Moju Zhao, Yoshifumi Ueshige, Takashi Iritani, Masayuki Nakao | 8654
Experimental Study of Track-Soil Interactions of the Steering Performance of Tracked Robots over Soft Deformable Terrains
Qiaowen Wang, Zhenzhong Jia | 4782		Introducing Polibot: A High Mobility Tracked Robot with Innovative Passive Suspensions
Giulio Reina, Rocco Galati, Andrea Grazioso, Angelo Ugenti, Giacomo Mantriota | 4827		Investigation of the Relationship between the Cone Index and the Physical and Mechanical Parameters of the Soil of Typical Surfaces of the Movement of Agricultural Tractors and Machines
Sergey Zhukov, Vladimir Makarov, Vladimir Belyakov | 8658
Session 3-1-B
Robotics and Space Applications III		Session 3-2-B
Design II		Session 3-3-B
Soil and Ground Testing and Characterization III

20:55-21:25

Chair: Taizo Kobayashi

Co-Chair: Junlong Guo

20:55-21:25

Chair: Linnea Hansson

Co-Chair: Mehari Tekeste

20:55-21:25

Chair: Vilas M. Salokhe

Co-Chair: Genya Ishigami

Bionic Quadruped Robot for Mars Surface Exploration
Long Qiao, Guangming Chen, Lutz Richter, Aihong Ji | 5060		Research on Bionic Anti-skid Tires Suitable for Icy and Snow-Covered Roads
Rui Zhang, Yu Han, Hao Pang | 5943 (Abstract only)		Prominent Problems and Thoughts of "Paddy Soil-Terrain Machine System" Based on Disturbed Saturated Paddy Soil Conditions in South China
Guozhong Zhang, Hongchang Wang, Jun Du, Kaiquan Ding, Wanru Liu, Nanrui Tang, Yong Zhou | 1561
Penetration Dynamics of Asteroid Exploration Landing Based on DEM
Yongbin Wang, Shiqing Wu, Shutong Chen, Xinghua Liu, Huan Liu, He Jia, Xuyan Hou, Shaomin Liang, Shunying Ji, Zijian Zhang | 9219 (Abstract only)		Design and Testing of Parallel Embedded Six-Axis Force Sensors for Paddy Walking Wheels
Zaiman Wang, Jianfei He, Erli Zhang, Miao Su, Yue Huang, Wenwu Yang, Minghua Zhang, Weiqin Jia, Yuanli Huang, Yifan Ma, Dongyang Yu, Peizhao Zhong, Zhihao Zeng, Ziyou Guo | 8685 (Abstract only)		Experimental Analysis and Numerical Modeling of Bulldozing Force with Varied Soil Moisture Content
Naohiro Sato, Genya Ishigami | 9260 (Abstract only)
Configuration Design and Nonlinear Mechanical Properties Analysis of Tensegrity Robot
Ruiwei Liu, Xuntao Lin, Hongwei Guo, Yating Fang | 9943		Design and Traction Performance Test of Bionic Paddy Wheel Based on Cattle Hoof
Lan Li, Jing Li, Baofeng Xie, Fei Lin, Long Xue | 9768
21:25-21:30

5-minute break

21:30-22:05

Closing Ceremony

Chair: Liang Ding


Appreciations by Conference Chair: Liang Ding

Award Presentation: Best Paper & Best Student Paper: Péter Kiss

Announcement of new ISTVS Fellows: Corina Sandu

Introduction of October 5-7 Americas Symposium: Lutz Richter

Introduction of ISTVS 2023 conference: Jaroslaw Pytka

# Submissions 11th Asia-Pacific Regional Conference of the ISTVS {% hint style="success" %} Submissions open March 1, 2022. All authors are encouraged to submit full papers. Abstracts for oral presentations may also be submitted. {% endhint %} ### Call for Papers The 11th Asia-Pacific Regional Conference of the ISTVS welcomes original and previously unpublished research and review papers describing results of research which are relevant to the conference topics and to terrain-vehicle systems. **Submission** // **Authors wishing to make a submission are requested to submit an abstract by May **~~**15**~~** 30, 2022** *(updated 2022-05-13)***.** Abstracts are requested to be about 200-300 words and must emphasize the objectives and results. **Authors may choose between two types of submissions: abstract-only and full paper.** All accepted submissions of either type will be included in the conference program for an oral presentation. Only full papers will be included in the conference proceedings. Therefore, if your abstract is accepted, we strongly encourage you to submit a full paper. **Review** // All abstracts will be reviewed by the Conference Scientific Committee. Abstract acceptance will be notified to the corresponding author by May 30, 2022. *** **Technical tracks for paper submission** // The conference includes the following thematic tracks: * Terramechanics, terrain/soil-wheel/tire/track interaction, modeling, and characterization * Advances in mobility, energy transfer, efficiency, ground vehicle dynamics, safety, and high-fidelity simulation * Land locomotion, off-road and military vehicles, operation mud, snow, and ice * Agricultural, forestry, construction, and mining equipment and vehicle operations * Mobile robotics for ground applications, planet exploration and other environments * Design/control, sensing/actuation in cyber-physical systems for vehicle dynamics and mobility * Innovative system designs for terrain and road-vehicle applications * Application of artificial intelligence to vehicles *** [![](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/8ce0d339-5b24-4488-b18d-b0e03e6a533f/Log+in+to+EasyChair+for+ISTVS2022HARBIN+2022-03-20+at+10.24.19+AM.jpg?format=750w)](https://easychair.org/conferences/?conf=istvs2022harbin) Submissions login page **Submission platform** // As in previous years, the conference submission platform is EasyChair. If you’ve participated in a recent ISTVS conference, you can log in with your existing account to submit. If you’re new to ISTVS conferences, use the *Create an account* link on the login page to get started. **Login page:** **Templates** // All submissions must comply with the conference templates. Please carefully follow the guidelines provided. Right-click the links below to download: [Template for Abstract](https://conference.istvs.org/s/ISTVS_2022_abstract_template2022-03-08.docx) /*/ posted 2022-03-08*\ [Template for Full Paper](https://conference.istvs.org/s/ISTVS_paper_template_2022v1.docx) *// posted 2022-05-12*\ [Template for Presentation](https://conference.istvs.org/s/2022-ISTVS-Conf-Template-Presentation_rev4.pptx) *// posted 2022-05-12* ***REFERENCE PDFs***\ *Provided for reference since live docs often open locally with broken formatting:*\ [*Abstract*](https://conference.istvs.org/s/ISTVS_2022_abstract_template2022-03-08_PDF-FOR-REFERENCE-ONLY.pdf) *//* [*Paper*](https://conference.istvs.org/s/ISTVS_paper_template_2022v1_PDF-FOR-REFERENCE-ONLY.pdf) *//* [*Presentation*](https://conference.istvs.org/s/2022-ISTVS-Conf-Template-Presentation_rev4_PDF-FOR-REFERENCE-ONLY.pdf) *// posted 2022-05-12* **Paper preparation** // Authors submitting a full paper must comply with the conference template and carefully follow the guidelines provided. Full papers are due June 30, 2022. Each full paper will be subject to peer review by reviewers selected by the Conference Scientific Committee. Authors will receive the reviews by July 31, 2022. Each paper will be either accepted or accepted with revisions or rejected. In case of acceptance with revisions, revised papers will be due by August 15, 2022. **Presentation** // If a full paper is not presented at the conference, it will not be included in the conference proceedings.
![](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/b4f6ff1f-4249-4c1e-8b23-8f02d8311f3a/2022-ISTVS-HARBIN_CFPv4.jpg?format=1500w) # Registration 11th Asia-Pacific Regional Conference of the ISTVS {% hint style="success" %} All participants and accompanying persons should register for the 11th Asia-Pacific Regional Conference of the ISTVS. Please read through the registration information to make your choices before you register at the bottom of the page. {% endhint %} {% hint style="success" %} **Mandatory Author Registration Requirements** // ISTVS author registration policy requires that at least one author from each accepted (accepted with revisions) paper be registered and paid prior to the uploading of the final manuscript before August 15, 2022. {% endhint %} {% hint style="success" %} **Cancellations** // Any cancellation request must be made in writing and submitted to the [Conference Chair](mailto:liangding@hit.edu.cn) no later than August 1, 2022. A processing fee will be applied to all refund requests. Refunds are NOT permitted on/after September 1, 2022. {% endhint %} ### Registration Rates All prices are in EUR. **Early Bird Registration before 31 July 2022** > Author/Attendee/Presenter — ISTVS Member €190\ > Author/Attendee/Presenter — Non-Member €230\ > Student — ISTVS Member/Non-Member €90 **Standard Registration after 31 July 2022** > Author/Attendee/Presenter — ISTVS Member €220\ > Author/Attendee/Presenter — Non-Member €260\ > Student — ISTVS Member/Non-Member €120 ### Payment for Registration To register now online by credit card, use the registration choices below to choose the appropriate registration, then complete the checkout process on the following page with a valid credit card. ISTVS partners with Stripe for simplified billing. :tickets: Member registration | Early bird | €190 :tickets: Non-Member registration | Early bird | €230 :tickets: [Student registration | Early Bird | €90](https://buy.stripe.com/00gaET7tN0SI5Ko288) # Sponsors 11th Asia-Pacific Regional Conference of the ISTVS *We actively welcome conference sponsors. Please contact .* *** ### Gold Sponsors ![](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/8b701a4c-f30a-4056-8b79-f1be0e747a6a/111%E5%BC%95%E6%99%BA%E5%9F%BA%E5%9C%B0.jpg?format=300w)![111-project-1.jpg](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/1649945353258-56V9ENFKAMMHF3TTX8AI/111-project-1.jpg?format=2500w)![六足机器人.png](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/1650012340542-I9RI99LXEHVS3MZW76W2/%E5%85%AD%E8%B6%B3%E6%9C%BA%E5%99%A8%E4%BA%BA.png?format=500w) **Research Center of Aerospace Mechanism and Control** relies on the mechanical engineering of Harbin Institute of Technology, and carries out relevant basic theory and key technology research in view of the serious shortage of basic theory and basic technology in the development of Aerospace Science and technology. 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HRG (Hefei) has built an ecological chain of the upper, middle and lower reaches of the robot industry, covering the core key components of the robot, ontology, system integration and software services.\ 861-0551-68996766\ | [www.hiiri.cn](https://www.hiiri.cn/) *** ### Bronze Sponsor ![](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/7d8e098b-5f3e-459a-b939-9da79c1e3edd/Weihai+Tiante-1.png?format=500w)![Weihai Tiante-product-1.png](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/1649338835480-B4SQO7KJKGKZ10VY6WDD/Weihai+Tiante-product-1.png?format=750w)![Weihai%252BTiante-product-2.jpg](https://images.squarespace-cdn.com/content/v1/542f394be4b0b9e132ee7b1a/1649769950240-5G52W8KAI24EWZT4MJY6/Weihai%25252BTiante-product-2.jpg?format=500w) [**Weihai Tiante Intelligent Technology**](mailto:wjfeee123@163.com) Co., Ltd., is a professional company of skateboard chassis + scene customized unmanned operation module. 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It has formed a general chassis + scene customized R\&D mode to serve the development of robot technology in various industries.\ +86-18249758524 | ### Tiers #### Gold — 3 maximum — 2,000 EUR * daily live thank you from the main stage * logo and company information on sponsor page on conference website #### Silver — 4 maximum — 1,000 EUR * daily live thank you from the main stage * logo and company information on sponsor page on conference website #### Bronze — 6 maximum — 500 EUR * daily live thank you from the main stage * logo and company information on sponsor page on conference website ### What we’ll need from you We’ll need some text and images from you to set up your sponsorship — some items are essential, others are optional. Please send the following to: . #### Required #### Text **Sponsor Name.** The name of your company, product, idea, or content.\ **Sponsor Email.** The email where all emails from attendees who click the *Register Interest* button will be delivered.\ **Sponsor Headline.** Any short text about your company, e.g. motto or key message.\ **About.** A few words to make the booth descriptive for the conference attendees.\ **Website link.** The link that goes to your website. #### Logo Recommended: 1000x400px\ Minimum: 500x200px Bank account information for wire transfer:\ IBAN: DE69500105175413479131\ BIC: INGDDEFFXXX\ Bank name: ING Diba, Frankfurt, Germany\ Account holder: ISTVS, Lutz Richter # Papers of the 11th Asia-Pacific Regional Conference of the ISTVS Proceedings ISBN 978-1-942112-53-2 | https\://www\.istvs.org/proceedings-digital-downloads/istvs2022 # 0303 / Composite Beam Tests with Closed Cell Polyurethane and Aluminum Foam Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Composite Beam Tests with Closed Cell Polyurethane and Aluminum Foam Authors: George Mason, Ethan Salman, and Shiraz Mujahid Abstract: The frames of many commercial vehicles are composed of rectangular tubular steel and are a significant portion of the gross vehicle weight. The introduction of a composite frame would potentially reduce weight and increase structural properties. We compare a baseline frame section to new composite sections injected with two different types of foam: a polyurethane and aluminum foam. The objective was to increase the overall strength and stiffness, while leaving the overall weight of the frame unchanged or reduced by reducing the plate thickness of the tubular steel. Sections of rectangular tubular steel are tested individually with and without the inclusion of aluminum and closed cell polyurethane foam. The potential advantages include light weighting vehicles, increasing strength and durability, improving ride through a more ridged/stiffer un-sprung mass, and the ability to make quick structural repairs of a compromised vehicle frame. The study revealed that injecting of polyurethane foam produced increase in strength while the aluminum foam did not increase the strength. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 0356 / Design and Simulation Analysis of Intelligent Suspension for Manned Lunar Rover Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Design and Simulation Analysis of Intelligent Suspension for Manned Lunar Rover Authors: Tao Li, Chongfeng Zhang, Weijun Wang, and Junwei Shi Abstract: The frames of many commercial vehicles are composed of rectangular tubular steel and are a significant portion of the gross vehicle weight. The introduction of a composite frame would potentially reduce weight and increase structural properties. We compare a baseline frame section to new composite sections injected with two different types of foam: a polyurethane and aluminum foam. The objective was to increase the overall strength and stiffness, while leaving the overall weight of the frame unchanged or reduced by reducing the plate thickness of the tubular steel. Sections of rectangular tubular steel are tested individually with and without the inclusion of aluminum and closed cell polyurethane foam. The potential advantages include light weighting vehicles, increasing strength and durability, improving ride through a more ridged/stiffer un-sprung mass, and the ability to make quick structural repairs of a compromised vehicle frame. The study revealed that injecting of polyurethane foam produced increase in strength while the aluminum foam did not increase the strength. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 0861 / Review of the Reconfigurable Wheel-Tracked System Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Review on the Reconfigurable Wheel-Tracked System Authors: Jiaxuan Wang, Cheng Liu, Wei Wei, and Qingdong Yan Abstract: Reconfigurable wheel-tracked system, which enables a vehicle to have the high speed of wheels and the increased mobility of tracks, is one of the key technologies on improving the off-road performance of vehicles in extreme environment. A series of such systems has already been developed and equipped on robots and medium or heavy ground vehicles. The paper reviews the research work, prototype and application of reconfigurable wheel-tracked systems. To start with, different systems are classified according to their mechanical structures. Development and current research interests are then reviewed. Triangle track configuration is the most prevalent layout of the wheel-tracked system, so this paper highlights its structure characteristics, research contents and applications. Following the review, key technologies such as design of power transmission system, mobility validation and elastic track design are analyzed. Finally, prospective of the reconfigurable wheel-tracked locomotion system is discussed in terms of transformation principle innovation, depth of research and width of application. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 0963 / A Wheel and Vehicle Mobility Index Based on Traction and Velocity... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: A Wheel and Vehicle Mobility Index Based on Traction and Velocity for Optimization of Mobility Performance Authors: Vladimir Vantsevich, David Gorsich, Jesse Paldan, Masood Ghasemi, and Lee Moradi Abstract: In this paper, two new indices for wheel and vehicle mobility performance suitable for mobility performance optimization are proposed based on the wheel circumferential forces and the vehicle actual linear velocity. The indices are intended for on-the go assessment of mobility for autonomous real-time optimization of wheel power distribution. The wheel mobility performance (WMP) characterizes the mobility performance of a wheel in terms of its traction and velocity with regard to a potential but unachievable maximum. The index is extended to a vehicle with a given number of drive wheels, where the traction characteristics and theoretical velocities may be different at each wheel, as the vehicle mobility performance (VMP). The VMP index is demonstrated through a simulated comparison of multiple driveline configurations of a 4x4 vehicle on different terrains to the optimal value. The optimal mobility is computed through an objective function with the use of Lagrange Multipliers which determine the optimal distribution of vehicle forces and slippages which achieve optimal mobility. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 1128 / Semi-Active Reinforcement Learning Suspension Control for the Off-Road Vehicles Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Semi-Active Reinforcement Learning Suspension Control for the Off-Road Vehicles Authors: Ye Zhuang, Haojie Sun, Yingchun Qi, Weiguang Fan, and Hui Ye Abstract: Vertical vibration of the terrain vehicle involves its comfort, maneuverability, and fatigue life of the key components. The type of road surface encountered by the vehicle is very complex and difficult to measure. Besides, the damper system has a strong non-linearity, which makes the design of the vehicle suspension controller difficult. Compared with the active suspension, the semiactive suspension has the advantages of low energy consumption and high safety, therefore this paper uses semi-active magneto-rheological damper and reinforcement learning technology, from the comfort point of view, to solve the suspension random optimal control problem. It is expected to improve the comfort of the terrain-vehicle with intelligent, low-power control method. This paper applies Gaussian Process (GP) technology to learn and model the nonlinear part of the terrain vehicle system, and then carries out the design of the reinforcement learning control strategy, establishes a linear control law with the suspension deflection, the sprung mass velocity, and the unsprung mass velocity as the feedback variables. The introduced reinforcement learning algorithm learns the appropriate feedback gain during the interaction process with the system, and then uses the learned feedback gain to carry out system simulation and experimental analysis. The paper compares the reinforcement learning algorithm with other classical semi-active control algorithms under the input of random, bump and sinusoidal pavement, and the analysis results show that the reinforcement learning algorithm introduced in the paper has excellent control effect in the full frequency band and can provide good comfort for terrain vehicles under the condition of low power consumption. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 1491 / Design and Verification of a Creeping Mars Rover Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Design and Verification of a Creeping Mars Rover Authors: Wangjun Zhang, Yang Jia, and Zhuo Tao Abstract: Aiming at the possible wheel sinkage, difficulty in climbing and underpinning of Mars rover with traditional passive suspension due to the complex terrain of Mars surface, the characteristics of the inchworm motion are imitated, and a creeping Mars rover is designed, include the design of sinkage and extrication, slope-climbing, anti-underpinning, and wheel-lifting. The key parameters of the mobile system of creeping rover are identified and the key parameter values of different rover lift heights and the displacement value of a creeping cycle are calculated. and the results show that the creeping rover can solve the above problems encountered by the passive suspension rover. Ground tests and flight tests have been carried out on the designed creeping rover, and the ground tests have verified the ability of wheel sinkage and extrication, obstacle-overcoming, and slope-climbing. As an example of the application of the creeping rover, the “Zhurong” Mars rover has undergone flight tests, and its successful operation on the surface of Mars shows that the design measures of the creeping are effective. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 1534 / Foothold Selection Considering Constraint and Slippage Evaluation for Legged Robots Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Foothold Selection Considering Constraint and Slippage Evaluation for Legged Robots Authors: Yufei Liu, Lei Jiang, Chong Tian, Boyang Xing, Zhirui Wang, Bo Su, Tong Yan, Liang Ding, and Haibo Gao Abstract: Legged robots over a rugged terrain can be accomplished by taking the environment and control constraint models into account when planning foothold and robot movements. In this paper, the foot-terrain slippage evaluation model for 3-DOF leg based on dynamics model is proposed. The authors evaluate the geometrical characteristics of each cell on the local elevation map, checks slippage state constraints and kinematic constraints. Then, we employ reinforcement learning and imitation learning to develop the relationship between the local elevation map, robot state, and robot behavior. The method can help to select the foothold considered geometrical characteristics on the elevation map and the robot state can be determined. The experiments were carried out on legged robots walking over rough terrain in both simulation and real robotic platforms. And the experimental results have demonstrated the effectiveness of the proposed method. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 1561 / Prominent Problems and Thoughts of “Paddy Soil-Terrain Machine System”... Title: Prominent problems and thoughts of "paddy soil-terrain machine system" based on disturbed saturated paddy soil conditions in South China Authors: Guozhong Zhang, Hongchang Wang, Jun Du, Kaiquan Ding, Wanru Liu, Nanrui Tang, and Yong Zhou Abstract: There is a large number of paddy fields in South China. During rice sowing and transplanting, agronomy requires the topsoil to be soft, viscous, muddy, mixed with water and disturbed-saturated mud, after soaking, tilling and rotary harrowing. At this time, the soil has a high fluidity, high adhesion and low shear strength. Thus, it would be productive to research the contact relationship between the soil contacting parts and the soil surface, so as to improve the operational efficiency of the tillage and planting machinery of paddy field in this soil condition. For this purpose, the disturbed-saturated soil formation process is described, the coupling mechanism between soil-engaging components and such soil conditions is clarified and the current state and prospects of research on soil-tool interactions under paddy field conditions is analyzed. This paper is expected to serve as a useful reference for future work in studying the surface characteristic parameters of soil contacting parts; the coupling correlation mechanism of "contact-rheologyresistance" among the structural shape, motional parameters and the disturbed paddy field soil, creating favorable conditions at the soil-tool contact interface for drag force reduction in the paddy field soil, the design and the optimization of paddy field equipment in South China, and the research on the technology of reducing viscosity and drag force of paddy field machinery. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 1655 / Modeling of Lunar Rover Vehicle Wheel-Soil Interaction Using Fem-Dem Method Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Modeling of Lunar Rover Vehicle Wheel-Soil Interaction Using Fem-Dem Method Authors: Kaidi Zhang, Yunqing Zhang, Junwei Shi, and Weili Kong Abstract: Apollo Lunar Rover Vehicle (LRV) used wire mesh wheels to adapt to the loose and soft soil conditions on the lunar surface, aimed to meet the mobility performance of LRV on the moon. Therefore, it is of great significance to study the wheel-soil interaction characteristics of the wire mesh wheel to improve the maneuverability and traction performance of LRVs. This paper proposed a coupled analysis method of wire mesh wheel-soil based on the DEM-FEM method. Firstly, a lunar terrain DEM model was established, which conforming to the physical characteristics of the lunar soil. Then, a FEM model of the flexible wire mesh wheel with large deformation characteristics was developed, which was verified by stiffness tests. In addition, the mobility performance of the wheel model developed were studied under different slip rates and sideslip angles, respectively. The simulation results were compared and validated with NASA experiment data. The results can provide technical support for the coupling simulation of wire mesh wheels and the traction characteristics of LRV. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 2034 / A Comprehensive Lumped Parameter Approach for the Dynamic Simulation... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: A Comprehensive Lumped Parameter Approach for the Dynamic Simulation of Agricultural Tractors in Real Operating Conditions Authors: Marco Polastri, Damiano Chiarabelli, Silvia Gessi, Massimo Martelli, Emiliano Mucchi, and Pietro Marani Abstract: Vehicle dynamics is of primary importance for the determination of the vertical load on wheels and consequently on their traction capability. This is even more true if the vehicle is travelling on an uncompacted soil and influenced by a variable load applied to the hitch, as it is for a ploughing tractor. In this framework, the authors present a comprehensive lumped parameter approach for performance assessment of agricultural tractors in real operating conditions. The proposed methodology integrates in a modular context different numerical models related to the main subsystems of a modern tractor, i.e. diesel engine, hydro-mechanical transmission, full multibody frame and tire mechanics. In particular, the engine and transmission modules reproduce powertrain characteristics and control strategy, the multibody module characterizes the dynamic behaviour of the vehicle detailing the interaction between the tractor rigid bodies, and the tire model predicts tractive capability and resistance to motion on soft soil. It also provides the possibility to properly reproduce real load cycles and their influence on the vehicle setup. The presented lumped parameter model is intended as a powerful simulation tool, capable of considering a large number of phenomena affecting tractor performance, both in terms of fuel consumption and longitudinal response due to load distribution. The predictive capabilities of the proposed modelling approach are presented by simulating a realistic ploughing operation, focusing on tire-soil interaction. Considering the cascade phenomena from the wheel-ground interaction to the engine, passing through the dynamic of vehicle bodies and their mass transfer, numerical results are presented in terms of tractive capability and its effect on fuel consumption. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 2149 / Investigation of the Shear Stress Dynamics on Silty Loam Soil and Measurement... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Investigation of the Shear Stress Dynamics on Silty Loam Soil and Measurement of Traction-Wheel Slip Relationship of a Tractor Tire Authors: César Arévalo and Stefan Böttinger Abstract: The Hohenheim Tire Model (HTM) was developed and validated at the University of Hohenheim. It simulates the specific behavior of large-volume agricultural tires and is used in conjunction with multi-body models of tractors and other agricultural machines. Special focus is placed on driving dynamics and comfort. Currently the HTM is being expanded for implementation on soft soils. Therefor the soil's shear response using Bevameter tests and the relationship traction-wheel slip using a single wheel tester are investigated. In field tests, the effect of shear rate on soil mechanical parameters was examined. The shear device of the Bevameter was used to conduct experiments in a soil bin with silty loam at eight shear rates and five vertical loads. The Mohr-Coulomb failure criterion was calculated and the measured values were fitted to the Wong-Preston and the Janosi-Hanamoto approaches. The shear stress-shear displacement curves show two different behaviors with respect to shear rate. At high shear rates, the shear stress reaches a peak and then drops to a residual value, which is typical for cohesive soils. At low shear rates, the trend of the curves is exponential, which is typical for granular soils. The cohesion and angle of internal friction values are comparable to those from literature. The angle of internal friction has no correlation with shear rate while the cohesion shows a low correlation. Traction-wheel slip curves for the tractor tire 480/70 R24 with two tire loads (17 and 22 kN) and at 2 km∙h-1 were measured under identical conditions as the shear experiments. For the higher tire load, there is a tendency toward a larger tractive force. The curves of both wheel loads have equal gross traction coefficients. For the prediction of the traction force, the parameters obtained in the shear tests and the method of Wong and Preston-Thomas are used. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 2190 / Tyre Parameterization Tests: Dynamic vs. Static Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Tyre Parameterization Tests: Dynamic vs. Static Authors: Carl Becker and Schalk Els Abstract: Agricultural vehicles are used more on asphalt roads and needs to be safe in an evasive maneuver or during an emergency brake scenario. The designers of these vehicles require tyre parameterization data to obtain accurate and representative simulation results of these vehicles. The standard laboratory tyre testing procedures are not always possible on very large tyres. The limitations in the form of the actual size of the tyre and the required loads on the tyre cannot always be accommodated by the current equipment available to conduct dynamic tests. This study investigates how the tyre parameterization results compare between a dynamic/rolling tyre test and a static/non-rolling tyre. This is in an attempt to parameterize tyre models using largely or only static test data. Tests are conducted on a smaller agricultural tyre where dynamic tyres test results are compared to static tests. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 2539 / Model Predictive Control of a Robot Driven Vehicle for Testing of Advanced Driver... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Model Predictive Control of a Robot Driven Vehicle for Testing of Advanced Driver Assist Systems Authors: Mike Huang, Haixuan Qiu, Chunyu Yang, Lian Xia, Zhaomin Lin, Yanqing Wang, Zongqing Xu, and Mingfu Tang Abstract: Advanced Driver Assist Systems (ADAS) are becoming more prevalent and more sophisticated in passenger vehicles, with features such as automatic lane keeping, pedestrian detection, and emergency breaking. In line with the increased production deployment of ADAS, testing of these systems are becoming more rigorous with more scenarios needing to be considered every year, see, for example, the ADAS testing conducted by Euro NCAP. To fit the need of placing test vehicles and environment factors in very specific and repeatable scenarios, physical driving robots are commonly used. While most current tests set up the test vehicle in near steady state conditions, e.g., constant speed and straight, in the future, more complex, possibly dynamic scenarios will need to be tested. This paper presents a Model Predictive Control (MPC) strategy for controlling a vehicle along dynamic paths and is easily deployable across different vehicles. Experiment results demonstrating the controller capability for both an electric and a conventional vehicle is presented. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 2632 / Energy Consumption Analysis of Door Opening with a Mobile Manipulator... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Energy Consumption Analysis of Door Opening with a Mobile Manipulator in the Nuclear Power Plants Authors: Changyou Ma, Binbin Yan, Xu Xiong, Haibo Gao, and Liang Ding Abstract: The problem of rescue is necessary for the mobile manipulator in Nuclear power plants (NPPs), however, the research on energy consumption is of great importance to the mobile manipulator in the process of rescue. In this paper, we focus on the energy consumption of nuclear power plant rescue robot about the task of door-opening, and present a method of path planning of the door opening. The energy consumption model is derived to evaluate the performances of modular manipulators. Extensive door-opening capture experiments have been carried out. The compares of the manipulator summation energy consumption of the different holding positions of knob radius rk, and the energy consumption of each joint in the same path planning are studied. Experimental results show that the minimum summation of manipulator energy consumption is the end-effector grasps the position of door knob, which is the value of rk (40mm), and the third joint of the average energy consumption is the maximal in the same path planning. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 2643 / An Improved Simultaneous Localization and Mapping Method Base on LeGO-LOAM and Motion Compens Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: An Improved Simultaneous Localization and Mapping Method Base on LeGO-LOAM and Motion Compensation Authors: Mengyang Li, Xinsheng Wang, Xiyue Wang, and Shuang Liu Abstract: With the rapid development of mobile robot, the premise of all decisions and planning is to perceive the surrounding environment, especially in complex environments such as wild and mountainous areas. The mainstream Simultaneous Localization and Mapping (SLAM) algorithm Lightweight and Ground-Optimized Lidar Odometry and Mapping (LeGO-LOAM) can be well adapted to this complex environment, but it does not take into account the motion compensation of the point cloud, which leads to a decrease in perception accuracy. LeGO-LOAM adopts the way of feature point and feature point matching for posture estimation. Due to the vertical launch angle of every scanning laser radar being fixed, the radar motion will lead to distortion between the matching feature points, which can cause incorrect pose estimation. Therefore, based on LeGO-LOAM, this paper proposes a motion compensation algorithm (LeGO-LOAM-MC). Compared with the current mainstream of laser slam algorithm LeGO-LOAM, the result shows LeGO-LOAM-MC has a smoother mapping effect, smaller path drift, the maximum error is reduced by 29.1%, the mean error is reduced by 31.0%, the median error is reduced by 31.3%, the standard deviation is reduced by 37.0%, the root mean square error is reduced by 32.1%, and the sum of squares due to error is reduced by 53.9%. The experimental results show the superior performance of the proposed algorithm. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 3351 / Benchmarking of Compression Testing Devices in Snow Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Benchmarking of Compression Testing Devices in Snow Authors: Mohit Shenvi, Corina Sandu, and Costin Untaroiu Abstract: Traction testing of tires for 'severe snow use' certification is performed according to ASTM F1805 in the Unites States and Canada. The ASTM standard provides guidelines for the preparation and compaction of the snow required for the testing and its evaluation using the CTI (Compliance Testing Incorporated) penetrometer. However, the CTI penetrometer provides a measure of the degree of compactness of the snow. From a computational perspective, this information in itself is not sufficient for modeling and/or validation of a snow model for virtual snow traction testing, which is important in the design stage of tires. This work attempts to compare the relative compression testing performance of three devices, namely a CTI penetrometer (rounded cone tip impactor), a standard Clegg Hammer (flat surface impactor), and an in-house developed device inspired by the Russian Snow Penetrometer (cone tip impactor). The approach used here includes a comparison of the available direct and indirect outputs of all the devices and a statistical analysis of these. The observed differences may be due to differences in the mass and drop height between the devices. The findings of this work provide a baseline for further research into the optimal mass and drop height for the evaluation of compacted snow properties. From a modeling perspective, the values generated using the Clegg impact hammer could be useful. However, it tends to underestimate the elastic modulus, when its results are compared to the laboratory technique, and to overestimate the ram resistance when compared to the in-house device. Further improvements to the in-house device may improve its ability to measure the snow properties most relevant to the modeling of snow. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 4054 / Field Validation of Egress Process for Planetary Rover Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Field Validation of Egress Process for Planetary Rover Authors: Zhaolong Dang, Jirong Zhang, and Baichao Chen Abstract: After the planetary spacecraft landed on the surface, the rovers carried on the spacecraft will be powered up and arrived to the planetary surface after complex self-testing procedures. In order to validation of these procedures, the test conditions should be built in the proving ground. The technical systems of field validation for egress process of planetary rover are shown in this paper. Firstly, the Chinese rover egress procedures are described. The typical procedures include several steps such as the unlocked the fixed mechanisms of the rover body, powered up the rover through the lander, unlocked the rover typical mechanism (mast, manipulator), communicated with the earth or relay orbiter, etc. After the rover performance were reviewed, the rover can be controlled and walked to the planetary surface. Secondly, the field validation systems are given including such as the low gravity system, the integrated testing system, the rover model with its assistant equipment, the simulated lander, etc. Thirdly, the conditions of field tests are described including the slope of terrain surface, the obstacle distribution, the position of simulated lander, etc. The test results of Chinese lunar and Martian rover were shown. Finally, the egress process of Chinese rovers on Moon and Mars are described. The technical systems of field validation wear built firstly for Chinese lunar rover Chang’e-3 Yutu and improved for Chinese Martian rover Zhurong. The technical systems work well and can be used for the development of planetary rover in the future. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 4243 / Soil Compaction Monitoring Technique Using Deep Learning Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Soil Compaction Monitoring Technique Using Deep Learning Authors: Shota Teramoto and Taizo Kobayashi Abstract: It is commonly known that the dynamic behavior of a vibratory drum of a soil compaction machine changes with soil stiffness. Although real-time monitoring techniques of compaction quality by measuring the acceleration of the vibratory drum have already been put into practice use, their applicability depends on the soil type and condition. In this study, to extend the range of applicability and improve accuracy, we propose a deep learning-based technique that allows the regression estimation of soil stiffness from the acceleration responses of a vibration drum. To collect a large amount of noise-free training data, the acceleration responses of a vibratory drum were simulated by numerically solving the equations of the motion mass-spring-damper system. We also conducted a field experiment to verify the proposed technique. The experimental results show that the estimated values of soil stiffness correlate with the measured values, with the correlation coefficient of approximately 0.79. Thus, the proposed method has potential as a new real-time monitoring technique for soil compaction quality. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 4260 / The Running Gear Construction Impact on Obstacles Overcoming by Light High-Mobility UGV Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: The Running Gear Construction Impact on Obstacles Overcoming by Light High-Mobility UGV Authors: Daniela Szpaczyńska, Marian Łopatka, and Piotr Krogul Abstract: Rubber tracked running gears are widely used in high-mobility Unmanned Ground Vehicles (UGV) to increase obstacle negotiation possibility in urban and rural terrain. The paper proposes a method of assessing the configuration of the light UGV\`s tracked running gear in terms of the ability to overcome terrain obstacles. Five types of obstacles have been proposed: a road ditch, a lying log, a curb, a crop rows and a wavy meadow profile. Then designed four types of running gear with the same geometrical and mass parameters, differing in the way of applying the running wheels (rigid construction, consisted of sprocket, idler and four road wheels, two bogies solution, system with two bogies elastically mounted to frame and rocker-bogie construction). To compare the selected solutions, simulation in the multi-body environment program and the equations based on the Bekker theory was performed. The simulation results showed an improvement in the driving properties with the use of elastically suspended elements. Better copying of the shape of the obstacle by the running gear contributes to the required tractive effort at lower slip values. At the same time, the negative impact of elastically suspended elements on the platform's stability was indicated. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 4409 / Design of Self-Driving Bulldozer System Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Design of Self-Driving Bulldozer System Authors: Junhua Yang, Biao Zhang, Haokai Tang, Binghua Shen, Linlin Ou, Xinyi Yu, Yuanjing Feng, Yu Feng, and Libo Zhou Abstract: To improve the efficiency of manual operations in the coal bunker, a completely automatic system based on multi-sensor perceptual positioning and map-based clearance planning is proposed. Firstly, the perceptual positioning link combines semantic segmentation to improve the traditional feature extraction and restricts the loop keyframe by using brute force matching, which improves the localization ability of simultaneous localization and mapping (SLAM) in the coal bunker. Compared with the incremental map maintenance strategy, a neighboring strategy is proposed to update the map in the dynamic environment of the coal bunker. Secondly, in response to the requirements of the coal bunker cleaning operation, based on the SLAM positioning results, we formulate behavior planning combined with a hierarchical finite state machine (FSM) and a grid map-based motion planning. The proposed clearing plan combines the geometric characteristics of crawler rakes, reduces the error of trajectory tracking, and improves the smoothness of trajectory curvature. The system can realize accurate real-time positioning in the bunker environment, and successfully complete the requirements of cleaning. In addition, a high simulation environment based on the unreal engine is built to verify the effectiveness and robustness of the system. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 4744 / Terrain Classification Using Mars Raw Images Based on Deep Learning Algorithms... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Terrain Classification Using Mars Raw Images Based on Deep Learning Algorithms with Application to Wheeled Planetary Rovers Authors: Junlong Guo, Xingyang Zhang, Yunpeng Dong, Zhao Xue, and Bo Huang Abstract: Scene information plays a crucial role in motion control, attitude perception, and path planning for wheeled planetary rovers (WPRs). Terrain recognition is the fundamental component of scene recognition. Due to the rich information, visual sensors are usually used in terrain classification. However, teleoperation delay prevents WPRs from using visual information efficiently. End-to-end learning method of deep learning (DL) that does not need complex image preprocessing was proposed to deal with this issue. This paper first built a terrain dataset (consists of loose sand, bedrock, small rock, large rock, and outcrop) using real Mars images to directly support You Only Look Once (YOLOv5) to test its performance on terrain classification. Because the capability of end-to-end training scheme is positively correlated with dataset, the performance of YOLOv5 can be significantly improved by exploiting orders of magnitude more data. The best combination of hyperparameters and models was achieved by slightly tuning YOLOv5, and data augmentation was also applied to optimize its accuracy. Furthermore, its performance was compared with two other end-to-end network architectures. Deep learning algorithms can be used in the future planetary exploration missions, such as WPRs autonomy improvement, traversability analysis, and avoiding getting trapped. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 4774 / Steadily Learn to Drive with Virtual Memory Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Steadily Learn to Drive with Virtual Memory Authors: Yuhang Zhang, Yao Mu, Shengbo Li, Yangang Ren, Liye Tang, Yujie Yang, and Chen Chen Abstract: Reinforcement learning has shown great potential in developing high-level autonomous driving systems. However, for high-dimensional tasks, current RL methods suffer from low data efficiency and oscillation in the training process. This paper proposes an algorithm called Learn to drive with Virtual Memory (LVM) to overcome these problems. LVM compresses the high-dimensional information into compact latent states and learns a latent dynamic model to summarize the agent's experience. Various imagined latent trajectories are generated as virtual memory by the latent dynamic model. The policy is learned by propagating gradient through the learned latent model with the imagined latent trajectories and thus leads to high data efficiency. Furthermore, a double critic structure is designed to reduce the oscillation during the training process. The effectiveness of LVM is demonstrated by an image-input autonomous driving task, in which LVM outperforms the existing method in terms of data efficiency, learning stability, and control performance. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 4782 / Experimental Study of Track-Soil Interactions of the Steering Performance of Tracked... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Experimental Study of Track-Soil Interactions of the Steering Performance of Tracked Robots over Soft Deformable Terrains Authors: Qiaowen Wang, Wenhui Wang, Shipeng Lyu, and Zhenzhong Jia\*\ Southern University of Science and Technology (SUSTech), Shenzhen, 518055, China\ \*Corresponding author: Abstract: The research of track-soil interaction modeling over soft deformable terrains is an important direction in terramechanics. Wong proposed a general theory of skidsteering tracked vehicle model by focusing on the trackterrain interaction of the bottom surface of tracks while neglecting the resistance and the bulldozing effect contributed by the laterally accumulated soil to the side of tracked vehicle. The phenomenon becomes nonnegligible and sometimes significant during small radius turn maneuvers, which are quite common in robot motion planning. In order to investigate this quite important and complicated interaction process and establish a complete track-terrain interaction model, we build an instrumented experimental platform. In this platform, the RGB-D information for deformable terrains can be measured and analyzed to obtain several important soil parameters in real-time, including the contours of the soils in contact with the supporting wheels, and the cross-section shapes of the accumulated soils. We apply image segmentation, mapping depth images, point cloud drawing and postprocessing to divide the tracked vehicle and the soil in point cloud images. We reconstruct the morphology of the soil accumulated on the side of vehicles during small radius steering maneuvers, and then obtain aforementioned parameters in order to explain the bulldozing effect. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 4812 / Multi-Fidelity Machine Learning Modeling for Wheeled Locomotion on Soft Soil Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Multi-Fidelity Machine Learning Modeling for Wheeled Locomotion on Soft Soil Authors: Vladyslav Fediukov\* /a,b, Felix Dietrich /b, and Fabian Buse /a a/ Institute of System Dynamics and Control, German Aerospace Center (DLR), Weßling, Germany \ b/ Institut für Informatik, TU München, Garching b. München, Germany \*Corresponding author: Abstract: Wheeled vehicles are the most convenient and widespread locomotion machines for the majority of research, industrial or private tasks. A perceptible share of wheeled vehicles is used on soft soil. Modeling wheel locomotion in these situations is challenging, because of the non-proportional relation between applied shear stress and the soil’s deformation. Currently, various conventional simulation approaches are used to describe wheel–soil interaction, ranging from detailed numerical methods with particle-level simulations to simpler empirical models, where a big part of physical formulas are set up a priori, empirically. The ultimate wheel locomotion modelling tool should have high-quality onboard predictions but within a reasonable time. The trade-off is unachievable with the current simulation tools. In this project, we argue that using Machine Learning (ML) we can build a tool with the quality of high-fidelity and speed of lower-fidelity simulations. To fit this requirement, we are combining data from several models with different fidelities, in order to build a multi-fidelity ML model. In the model, forces and torques acting on the wheel are predicted using input data like the wheel’s trajectory, surface and soil characteristics. The quality of this model will be validated by Terramechanics Robotics Locomotion Laboratory (TROLL) at Deutsche Zentrum für Luft- und Raumfahrt (DLR), a robotic single-wheel test bed designed to perform wheel–soil interaction experiments automatically. Early results show that, in simplified scenarios, our proposed method can be used to create efficient, multi-fidelity numerical models for locomotion prediction, including uncertainty estimation for the predictions. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 4827 / Introducing Polibot: A High Mobility Tracked Robot with Innovative Passive Suspensions Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Introducing Polibot: A High Mobility Tracked Robot with Innovative Passive Suspensions Authors: Giulio Reina, Rocco Galati, Andrea Grazioso, Angelo Ugenti, and Giacomo Mantriota Abstract: In the context of autonomous off-road mobility, tracked robots feature larger contact areas compared to equivalent wheeled vehicles, which turn into improved traction especially on soft terrains. This paper discusses a novel tracked robot, named Polibot, that is outfitted with passive articulated suspensions. The multibody model is developed within the MSC Adams environment leveraging on the Adams Tracked Vehicle (ATV) Toolkit. The different subsystems composing the vehicle assembly are outlined, with specific attention to the modeling strategies of the swing arms constituting the suspension system, as well as the characterization of the track belt and inertial properties. Efforts in validating the multibody twin against the real prototype are also presented, showing a good agreement in experiments performed on asphalt. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 5060 / Bionic Quadruped Robot for Mars Surface Exploration Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Bionic Quadruped Robot for Mars Surface Exploration Authors: Long Qiao, Guangming Chen, Lutz Richter, and Aihong Ji Abstract: Mars surface exploration has attracted significant attention of scientists for exploiting new resources and space. To perform explorations on Mars surface, various structures of planetary rovers have been proposed. The Mars surface contains loose granular materials and various sizes of rocks. Traditional wheeled, crawler and legged structures of Mars rovers are mainly designed to walk on granular materials terrain, which are incapable of adapting to rocky surfaces. To improve the adaptations for both granular and rocky surfaces, this paper introduces a quadruped legged robot inspired by the locomotion of desert animal lizard that can walk on granular and rocky surfaces. The main feature is that the structure of the proposed robot possesses bionic multi-toe foot and flexible active spine. To verify the robot locomotion, kinematics on foot, leg and spine of the quadruped robot are analyzed. Furthermore, robot motions are analytically predicted with respect to two types of gaits. Combining control framework for adapting to both granular and rocky surfaces, a prototype of Mars robot has been manufactured. Experimental tests demonstrated that the bionic robot can walk on granular surfaces, and can also climb on rocky surface using the multi-joint toe with claw. Therefore, this bionic quadruped robot can have higher adaptability for Mars surface environment. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 5408 / Ride Comfort Comparison Between Suspension Modes: Input Towards Designing Difference... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Ride Comfort Comparison Between Suspension Modes: Input Towards Designing Difference Threshold Experiments During Driving Authors: Cor-Jacques Kat, Kylian Praet, Miguel Dhaens, and Schalk Els Abstract: Ride comfort is an important topic for on- and off-road suspension design. Difference thresholds of whole-body vibration is important to determine perceptibility of changes in a vehicle’s dynamics. Difference thresholds can be used to guide ride comfort improvements. Difference thresholds have been estimated for vertical and multi-axial seat vibration in laboratory settings. In order to determine the applicability of these laboratory difference thresholds and/or to estimate difference thresholds during driving, it is required that changes can be made in the vehicle’s vibration that is transmitted to the occupants i.e. the stimulus. Ride comfort is quantified by the weighted vertical seat pad vibration and compared between four suspension modes of a vehicle over three roads from ten repeat runs. Significant differences in the median weighted vertical seat pad vibration were found between Mode 1 and the other three modes over Road 1 and Road 2. No significant differences were found over Road 3. The significant differences over Road 1 are in the range of the median relative difference threshold reported in literature. Over Road 2 the differences are below the reported 25th percentile relative difference thresholds. Some combinations of the suspension modes and roads result in ride comfort differences. The suspension mode and road combinations could be used to verify the applicability of available difference thresholds during driving. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 5800 / Interaction Modeling and Dynamic Control Strategy for C-Shaped Leg with Sandy Terrain... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Interaction Modeling and Dynamic Control Strategy for C-Shaped Leg with Sandy Terrain in Terradynamics Authors: Chuanxiao Yang, Zhiyue Xin, Xiong Hu, Shibin Sun, Liang Ding, and Dewei Tang Abstract: High trafficability and robustness on terrain surfaces composed of granular substrates can be obtained through configurations of C-shaped legs. Recently, C-shaped configuration has been widely used in the locomotion mechanism design of the legged mobile robots on harsh grounds, especially for sandy terrains. In case of rotational gait, based on the stress-macro deformation relationship according to the Resistive Force Theory (RFT) in terradynamics, an interaction model between a C-shaped leg and the sandy terrain is established in this paper. Considering the influence of velocity field of C- leg particle systems on Fourier linear coefficient in fitting precondition, the inversion characters of mechanical parameters through integral derivation and linearized expression of the model are established. Then, the experimental data samples are employed to identify the mechanical parameters of the sandy terrain, followed by checking its validity through setting a limit for the tolerance between predicted results and experimental data. Furthermore, mechanical behaviors under swing gaits are analyzed, for which some basic dynamic control strategies are suggested in this study. In this work, the outputs of driving torque within the range of a feasible region experienced at the joint are explored. It is concluded that the mechanical properties dominated by the sandy terrain and leg geometry can be revealed by the identified parameters, some driving outputs can be evaluated through interaction models in terradynamics. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 5979 / Research on Drag Reduction Performance of Sliding Plate of Rice Direct Seeding Machine... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Research on Drag Reduction Performance of Sliding Plate of Rice Direct Seeding Machine Based on Non Smooth Structure of Loach Surface Authors: Hongchang Wang, Zhen Jiang, Kaiquan Ding, Guozhong Zhang, Abouelnadar Salem, and Yuan Gao Abstract: Sliding plate was the key soil-engaging component of rice direct seeding and planting machinery. It has the problems of large sliding resistance and serious soil adhesion. which has a serious negative impact on the operation efficiency and quality of rice planting machinery. Reducing the soil adhesion and resistance between sliding plate and soil can significantly improve the operation effect of the whole machine and reduce power consumption. Loach moves freely and flexibly in the mud and has highly efficient lubrication and drag reduction effects. The movement state of sliding plate was similar to that of loach, as well as the working environment and conditions. Therefore, the sliding plate of rice direct seeding machine was selected as the research object and the loach as the bionic prototype. The macroscopic and microscopic structure characteristics of the scales were observed, the results showed that the body surface of the loach was covered by scales, and the scales had a ridged non-smooth structure. The simulation analysis of the drag reduction performance of the non-smooth structure based on Fluent was carried out, the results show that the maximum drag reduction rate was 2.55% at the speed of 1m/s. The bionic sliding plate of rice direct-seeding machine was constructed based on the non-smooth structure of loach body surface, and its working performance was simulated and analyzed. The single factor test results show that at the speed of 1m/s, the drag reduction rate of ribbed height in the range of 3.5mm to 4.5mm was relatively high, the drag reduction rate of ribbed width in the range of 4mm-5mm was relatively high; the drag reduction rate was relatively high when the distance between ribs was in the range of 4mm5mm. The results of orthogonal test show that the order of primary and secondary factors of bionic structure parameters affecting drag reduction rate was ribbed spacing > ribbed width > ribbed height. The optimal parameter combination was ribbing height 4mm, ribbing width 4.5mm, ribbing spacing, and the optimal drag reduction rate was 4.21%. The results of this study can provide theoretical support for bionic design of soil engaging components of rice planting machinery in wet and soft paddy field. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 6174 / Factors Affecting Bevameter Soil Characterization Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Factors Affecting Bevameter Soil Characterization Authors: Schalk Els, Herman Hamersma, Ray Kruger Abstract: The Bekker-Wong soil-wheel interaction model has been widely adopted in the terramechanics community. This approach requires data measured with a Bevameter. The Bevameter test includes a pressure-sinkage test and a shear strength test. Although the original intention of the Bevameter method is to closely replicate the interaction between the wheel/track and the soil, tests are often done at lower vertical loads with smaller contact areas to keep tests within practical experimental limits. The traditional Bevameter shear strength test, which uses a rotational shear ring with grousers, tends to overpredict the drawbar pull of vehicles by 30 to 40% \[(Chang and Baker, 1973, Shoop, 1993)]. Translational shear arguably more closely resembles the shear mechanism that occurs between a wheel/track and the soil. The literature indicates that terramechanics investigations are significantly influenced by soil condition and preparation. This study investigates (a) the influence of soil preparation on the pressure-sinkage and shear-displacement relationship of sandy soil, (b) the influence of the shearing mechanism on shear strength, and (c) the influence of shear contact area on shear strength. Experimental results indicate that soil preparation has a substantial influence on the pressure-sinkage relationship. The shearing mechanism was investigated by comparing traditional rotational shear with translational shear. The findings indicate that the shearing mechanism may explain the overprediction of shear strength typical of rotational shear tests. The shear contact area also exhibits a significant influence on the measured shear strength. Further investigation into the shear mechanism and size and shape of the shear contact area is recommended. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 6316 / Perceptive Locomotion of Legged Robot Coupling Model Predictive Control and Terrain Mapping Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Perceptive Locomotion of Legged Robot Coupling Model Predictive Control and Terrain Mapping Authors: Boyang Xing, Bo Su, Lei Jiang, Yufei Liu, Zhirui Wang, Jianxin Zhao, and Tianqi Qiu Abstract: Legged robots promise an advantage over traditional wheeled systems, however, most legged robots are still confined to structured and flat environments. In this paper, we present a motion planner for the perceptive rough-terrain locomotion with quadruped robots. One of the main reasons for this is the difficulty in planning complex whole-body motions while taking into account the terrain conditions. This problem is very high-dimensional as it considers the robots dynamics together with the terrain model in a suitable problem formulation. In this work, we propose a novel trajectory and foothold optimization method that plans dynamically both foothold locations and motions (coupled planning). It jointly optimizes body motion, step duration and foothold selection, considering the terrain topology. Our model predictive controller tracks compliantly trunk motions while avoiding slippage. We test our method and comparative evaluations over a set of terrains of progressively increasing difficulty. To this end, we present a novel pose optimization approach that enables the robot to climb over significant obstacles. We experimentally validate our approach with the quadrupedal robot Panda5 autonomously traversing obstacles such steps, inclines, and stairs. The locomotion planner re-plans the motion at every step to cope with disturbances and dynamic environments. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 6718 / Research on Vehicle Running Performance on Paved Roads Covered with Falling Volcanic Ash Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Research on Vehicle Running Performance on Paved Roads Covered with Falling Volcanic Ash Authors: Junya Yamakawa, Ryosuke Eto, Yasuhiro Ichikado, Mitsuhiro Yoshimoto, Tatsuji Nishizawa, Tomohiro Kubo, and Hiroyuki Yamada Abstract: Japan has many active volcanoes, and a large eruption can cause ash fall over a wide area. The accumulation of volcanic ash on paved roads affects the driving of vehicles. Therefore, we collected data by driving over volcanic ash spread on paved roads with a vehicle equipped with instruments that can measure the force applied to the running tires. Three types of volcanic ash with different grain sizes and thicknesses of 1 cm, 5 cm, and 10 cm were used. Experiments were conducted at constant speeds of 10 to 40 km/h and at rapid acceleration and deceleration. Data were collected not only on flat straight roads but also on curved roads with a radius of 30 m. In addition to the tire's longitudinal and side forces and the normal load, the camber angle, rotational speed, and ground speed were measured. The slip ratio can be obtained from the difference between the tire rotation speed and the ground speed. Further, since the ground speed of the tire is measured in two directions, the longitudinal and lateral directions of the tire, the sideslip angle of the tire can be calculated. From these data, the characteristics of rolling resistance, driving force, and side force on an ash-fall road surface can be obtained. This paper describes the driving roads on which the experiments were conducted and the effects of volcanic ash on driving by processing the tire data obtained. As the thickness of the volcanic ash increases, the rolling resistance increases, but as the driving speed increases, the rolling resistance tends to decrease. The relationship between the sideslip angle and lateral force can be obtained by processing the data for turn, and these effects are investigated using Gaussian process regression, which takes into account several variables such as sideslip angle, camber angle and normal load. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 6796 / Nonparametric Terrain Estimation Based on the Interaction Simulation Between Planetary... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS Title: Nonparametric Terrain Estimation Based on the Interaction Simulation Between Planetary Penetrator and Soil Authors: Xintao Yang, Han Huang, Zhixin Xiang, Qinghao Yan, Haozhe Wang, and Shucai Xu Abstract: Penetration detection is an important way to method for in-situ scientific exploration of planets, which is used to indirectly detect the mechanical properties of the planetary subsurface soil. In this paper, four ovoid-nosed penetrators with different radius penetrating different compactness of planetary soil under different impact velocity were simulated using nonlinear finite element (FE) method through Hypermesh/Ls-dyna. A nonparametric estimation method for estimating the mechanical properties of planetary soil is presented. Three main characteristic parameters in the process of penetrator penetration were adopted in the method, including maximum acceleration am, penetration depth z, and maximum deflection angle θm. Twenty identification parameters for identifying planetary soils properties were derived based on these three characteristic parameters. The terrain consisted of simulant soil classified nonparametrically and artificially defined as three states (low, medium and high compactness) based on different harnesses, and five identification criteria (slack, ideal, partially strict, relatively strict and strict) were put forward. Four superior identification parameters were derived through the analysis of the evaluation indexes (recognition rate, accurate rate and conservative rate) under different identification criteria. and are selected as the optimal identification parameters and verified by simulation test, the accurate success rate and conservative success rate of the final estimation are 58.3% and 91.7%, respectively, which indicated that the nonparametric estimation method in this work can be used to evaluate the mechanical properties of planetary soil effectively. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 7018 / A Review of Modeling and Validation Techniques for Tire-Deformable Soil Interactions Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/IKFA4933 Title: A Review of Modeling and Validation Techniques for Tire-Deformable Soil Interactions Authors: Varsha Swamy, Rashna Pandit, Alba Yerro-Colom, Corina Sandu, Denise Rizzo, and Katherine Sebeck Abstract: The mobility of vehicles in off-road environments is critical for many applications. Understanding and predicting the tire-soil interaction is a challenge, especially when the terrain is largely deformable and plastic, and non-linear behavior is expected. This paper presents an overview of the bibliographic references on tires–deformable soil interactions and identifies the gaps present in the literature. The capabilities and challenges of different modeling methods used to assess the traction performance of a vehicle on deformable soil (i.e., analytical, semi-empirical, and numerical are discussed. Also, since the performance of the vehicle highly depends on the soil characteristics, a summary of the different material models used for non-cohesive and cohesive soil and the methods that have been used to characterize the soil is presented. The soil behavior and strength also depend on the water content and permeability along with the soil type. To highlight this, the available works on tire-wet soil interactions are discussed. Lastly, the different tire models and the validation methods that have been used for the soil, tire, and tire-deformable soil interaction are summarized. To conclude, this bibliographic review highlights that there is very limited work in the physics-based study of trafficability in wet soils, in particular in cohesive soil. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 7092 / A Time Domain Passivity Controller for Teleoperation of Four Wheeled Differential... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/BSME8486 Title: A Time Domain Passivity Controller for Teleoperation of Four Wheeled Differential Mobile Robot on Slippery Surface Authors: Hui Xi, Yanjing Li, Pengyu Sun, Weihua Li, and Jianfeng Wang Abstract: Four wheeled differential mobile robots have been widely used in many fields. However, on the slippery surfaces (e.g., marble floor), the tire-terrain contact surfaces may induce phenomena of slipping especially when it turns, which brings big challenges for its teleoperation. Aiming at this difficulty, a time-domain passive controller (TDPC) is proposed in this study to compensate for the active energy generated by the environment termination induced by the tire-terrain interaction, and then a stable teleoperator is designed under the coordination of master robot's position and slave robot's velocity. Experiments with a commercial four wheeled mobile robots on the marble floor are conducted to validate the proposed approach. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 7199 / Vehicle Dynamic Factor Characterized by Actual Velocity and Combined Influence... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/ARAO9883 Title: Vehicle Dynamic Factor Characterized by Actual Velocity and Combined Influence of the Transmission and Driveline System Authors: Vladimir Vantsevich, David Gorsich, Jesse Paldan, Jordan Whitson, Brian Butrico, and Oleg Sapunkov Abstract: A vehicle’s dynamic factor characterizes the potential that can be created by the powertrain that may be utilized to overcome the rolling resistance, grade resistance, and accelerate the vehicle. The dynamic factor is commonly given as a function of the vehicle's theoretical velocity and computed using the powertrain characteristics without taking into account the effect of the driveline configuration which can impact the tire slippages and vehicle’s actual velocity. The velocity reduction due to tire slip can considerably impact the vehicle speed for off-road vehicles operating with large traction requirements. In this paper, a new approach to interpretation of the dynamic factor is presented which is based on the vehicle's actual velocity and driveline characteristics. The computation of the actual velocity accounts for the individual tire slippages of vehicles with multiple driving axles, which is influenced by the ground condition and power splitting characteristics of the driveline. A comparison of the conventional and proposed approach is given for a 4x4 off-road vehicle. A set of factors for vehicle design are proposed based on integral qualities of the ideal and actual dynamic factor to characterize the combined influence of the transmission and driveline system to utilize the engine power for vehicle acceleration performance. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 7233 / Study of Passive Steering Mechanism for Mars Surface Exploration Rovers Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/RDKV9886 Title: Study of Passive Steering Mechanism for Mars Surface Exploration Rovers Authors: Asahi Oe, Shin-Ichiro Nishida, and Shintaro Nakatani Abstract: In planetary exploration, rovers are used to move across the surface to obtain high-resolution topographic elevation maps, as well as to conduct mining and rock sampling. However, because of the harsh planetary environment, surface exploration poses many technical challenges. In this study, we assume an unmanned exploration rover that is small enough to be carried on a Japanese launch vehicle, and its weight is limited by the payload capacity of the launch vehicle. It is also important that the rover is not prone to failure. The surface of Mars is covered with fine sand called regolith, and this sand can get between the mechanisms and cause them to fail. Therefore, a rover with lightweight and simple mechanisms is needed. In addition, Mars has a large slope, and there are not only rocky terrain but also uneven terrain such as depressions and craters. For smooth exploration, the rover must travel a safe and efficient path to avoid tipping over or getting stuck. However, wheel slippage on the regolith makes it difficult to follow the target path precisely and can result in getting stuck. If an active steering mechanism is omitted in order to configure a simple and lightweight traveling system, and if the path following is attempted to be performed by the difference in rotation speed between left and right traveling mechanisms such as wheels and crawlers when traveling on a curved path, the ground of the traveling system is forced to skid, which places a severe load on the traveling system. Therefore, this study proposes a lightweight, simple, and passive mechanism that reduces skidding and provides good path-following performance. The proposed mechanism uses a passive Ackermann mechanism without actuators, and the steering is performed by the difference in rotational speed between the left and right wheels. Since there is no actuator for steering, the mechanism is lightweight and simple. In order to suppress steering in unintended directions, a weak spring is added in the direction that returns the steering angle to a straight line. This paper describes the results of a prototype wheeled rover mechanism incorporating the proposed mechanism in the size assumed and confirming its ability to follow a target path by running experiments on soil simulating the surface of Mars. The experimental results show that the proposed mechanism has a higher ability to follow the target path than a rover without a steering mechanism. In addition, the rover's ability to follow the target path was improved by correcting the steering angle with respect to the rotational speeds of the left and right wheels. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 7399 / Tire-Soil Tangential Force Reinforcement Learning Modeling Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/RHBE9228 Title: Tire-Soil Tangential Force Reinforcement Learning Modeling Authors: Yingchun Qi,\* Jiaqi Zhao, Ye Zhuang, Weiguang Fan, Hui Ye, and Jianzhong Zhu *\*Corresponding author: , Jilin University, Changchun, Jilin, China* Abstract: Tire-soil tangential interaction involves complex terramechanics. When modeling the tire-soil tangential forces, a great amount of experiments is needed to identify the parameters in the currently available models. The efficiency and accuracy of the current models is still time and cost consuming. The control of the terrain vehicle is introduced gradually to the off-road vehicles. Such application requires more accurate and real-time tire-soil force models. Therefore, the machine learning technique, the reinforcement learning algorithm, is introduced to the tire-soil tangential force modelling. First, the tire-soil rolling experiment is carried out under longitudinal and lateral slip condition with the tire-soil test facility. The tire-soil forces vs slip ratios test data is obtained on the sand and mud road surfaces. The reinforcement learning model, which including the physical interpretation and the uncertainty (with Gaussian Process), is proposed. The model parameters is identified through the supervised learning (training) by the model from the acquired experimental data. The model accuracy could be improved gradually with the iterative off-line learning (training). The trained model could calculate the force-vs-slip ratio relationship with high accuracy and efficiency. The proposed model could also be updated with the new data learning. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 7878 / A Method for Fast Obtaining of Soil Shear Strength Index Based on Dem Free-Fall Cone... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/PFQD4535 Title: A Method for Fast Obtaining of Soil Shear Strength Index Based on Dem Free-Fall Cone Penetration Simulation Authors: Jincheng Diao, Jingwei Gao, Xiaobo Song, and Baojun Di Abstract: Soil shear strength is an important index of soil mechanical properties, which is of great significance in fields such as rock and soil stress analysis, agricultural machinery farming, seabed exploration, and vehicle trafficability evaluation. In order to improve the problems existing in the existing methods of obtaining soil shear strength index, such as low accuracy, demanding experimental site conditions and long periodicity, this paper constructed a model of free-fall cone penetration into the soil based on the discrete element method (DEM) simulation, and the corresponding relationship between moisture content and penetration depth was obtained. In addition, the corresponding relationship between the moisture content and the soil shear strength index was obtained from the triaxial compression test. Combining these two relational equations, this paper finally summarized the equation about the relationship between the penetration depth in the simulation and the soil shear strength index in the test. It was verified that the errors of internal friction angle (φ) and internal cohesion (c) obtained by the equation were only 3.45% and 6.68%. It shows that the DEM free-fall cone penetration simulation can replace the triaxial compression test to obtain soil shear strength index with very low error, and it is a quick and accurate new method to acquire the soil mechanical parameters. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 8131 / Parameters Calibration of Red Clay Soil in Hilly Area of Southwest China for Discrete... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/BOCW9283 Title: Parameters Calibration of Red Clay Soil in Hilly Area of Southwest China for Discrete Element Simulation Based on Repose Angle Test Authors: Le Yang, Qinghui Lai, Liangliang Zhao, Peihang Li, Zhihong Zhang, and Zhaoyang Chen Abstract: Its southwest's rugged and mountainous terrain has thick soil, which causes high resistance, poor efficiency, and sometimes even the impossibility to operate agricultural equipment. Using discrete element simulation, a cutting-edge technical technique, it is possible to optimize the agricultural machinery elements that come into contact with the soil in order to reduce drag and increase efficiency. Although there are presently no precise and trustworthy discrete element modeling parameters for red clay, the physical characteristics of red clay in the hilly and mountainous regions of the southwest are unique. As a result, in this study, the soil moisture content was 12.5%1% and 18.3%1%, respectively, for the actual working environment of the soil moisture content of 10%–20% in the hilly and mountainous areas of southwest China, and the experiment's measurement of the accumulation angle was 38.54°. This subject of the study was clay. To calibrate the appropriate model's physical characteristics, use the Hertz-Mindlin with JKR contact model in the EDEM simulation software. Prior to simulating the accumulation angle of soil particles, the intrinsic physical parameter values of the red loam soil are first obtained through actual experiments. The range of soil contact mechanical parameters in the GEMM database is then used to determine the optimal value interval of the contact parameters determined by the steepest slope test. In order to determine the regression model of the soil accumulation angle, the quadratic regression rotation orthogonal combination test is used to obtain the second-order regression model of the accumulation angle and the significant parameters. The significant parameters are then optimized using the actual accumulation angle as the target. In the end, it was found that the following contact mechanics characteristics worked well together in the EDEM simulation test: JKR surface energy 8 J/m2, restitution coefficient 0,35, dynamic friction coefficient 0,13, and static friction coefficient 0,56. The relative inaccuracy determined by the actual physical test is 1.80%, and the stacking angle is 39.24°. The study's findings demonstrate that the method has a high degree of calibration accuracy and is both reasonable and useful for calibrating soil discrete element simulation parameters. The pertinent calibration parameters can serve as a technological foundation for investigating machine-soil interaction and machine-tool optimization research in southwest China's hilly and mountainous regions. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 8349 / The Effect of Integrating a Bio-Inspired Convex Structure with a Low-Surface Energy... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/GULN6927 Title: The Effect of Integrating a Bio-Inspired Convex Structure with a Low-Surface Energy Polymer on Soil Adhesion and Friction Authors: Abouelnadar Salem, Guozhong Zhang, and Hongchang Wang Abstract: The capacity of soil-burrowing animals to move freely in sticky soil is a motivational trait for developing soil engaging tools with high operational efficiency. The hydrophobicity and morphological profiles of soil animals' skin were reported to be the key pillars in producing their anti-adhesive mechanisms. Ultra-high molecular weight polyethylene (UHMW-PE) possess outstanding corrosion resistance, hydrophobicity, and chemical stability, which qualify it as a potential choice in soil adhesion reduction. Hence, this study aimed to investigate the feasibility of integrating a domed surface inspired by the micro-convex structure of the dung beetle skin with the UHMW-PE as a surface coating for soil engaging components in terms of soil adhesion reduction. The sliding resistance of three sliding plates (flat plate of carbon steel, flat plate of UHMW-PE, and domed plate of UHMW-PE), entirely identical in the projected area, was evaluated in two soil textures of silty clay and sandy clay loam, at four moisture levels of 18, 23, 28, and 33% and four drag speeds of 0.15, 0.2, 0.25, and 0.3 m s-1 using a completely randomized design. The dimensions of the embossed domes on the tested plate surface and their distribution pattern were established based on the previously published structural optimization of the bioinspired convex surface. In each treatment, the tested plate was dragged for 0.7 m of the soil bin length, and the sliding resistance was recorded continuously using the distributed stress and strain test and analysis system (DH3820 N). The coefficients of adhesion and friction were calculated according to the Mohr-Coulomb failure criterion. The variance analysis revealed that all investigated parameters significantly affected coefficients of adhesion and friction. In addition, as compared to flat steel plates, UHMW-PE coated plates exhibited much lower adhesion in all treatments, paving the way for practical applications in soil adhesion reduction and soilengaging component optimization. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 8654 / Construction of a Soil Clods Recognition Bench-Scale Experiment for Discrete Element... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/VBXY3767 Title: Construction of a Soil Clods Recognition Bench-Scale Experiment for Discrete Element Method Modeling of Tilling Phenomena Authors: Shuto Ishii, Isami Suto, Hiroaki Tabe, Keisuke Nagato, Moju Zhao, Yoshifumi Ueshige, Takashi Iritani, and Masayuki Nakao Abstract: The development of rotary claws in tiller machines has been evaluated using actual equipment and analysis based on the discrete element method (DEM), which is an effective method for modeling the movement of granular materials. The required functions of the rotary claw are to break the soil into small pieces and plow the soil flat. However, evaluation by testing using actual equipment is difficult for precise measurements, and a considerable amount of time is required for one test. Additionally, DEM simulations have difficulty reproducing the soil behavior owing to the large number of parameters that determine their accuracy. Therefore, a comparison with the experimental results is necessary when determining DEM parameters. This research aims to develop a soil clod recognition method and an evaluation system for evaluating tractor performance. The evaluation system was designed to measure the soil shape before and after tilling with a 1/4-scale tillage claw. To capture the changes in the soil shape and distribution and size of the soil clods, we developed an image processing method. This method uses pointcloud data obtained from a depth camera to calculate the difference before and after tilling. The experimental parameters were the soil moisture content and claw rotation speed. Their effects on the formation and decomposition of the soil clods were evaluated. To confirm the feasibility of the results obtained from the proposed evaluation system, DEM simulations were performed under identical conditions to compare the distribution and size of the soil clods and changes in soil shape. The experimental results showed that the location, number, and size of scattered soil clods varied with the moisture content of the soil, and rotational speed of the claw. Based on the experimental results, a comparison was made with the results of the DEM analysis to clarify the differences between the two. The developed model experiment system for soil clods and the image processing method made it possible to quantitatively compare soil dispersal between the experiment and the DEM, which may accelerate the search for parameters for the DEM to reproduce the tilling. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 8658 / Investigation of the Relationship between the Cone Index and the Physical and... Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/VNZQ2520 Title: Investigation of the Relationship between the Cone Index and the Physical and Mechanical Parameters of the Soil of Typical Surfaces of the Movement of Agricultural Tractors and Machines Authors: Sergey Zhukov, Vladimir Makarov Vladimir Belyakov Alexander Belyaev Abstract: The development of high-performance mobile transport complexes for agricultural purposes is largely based on the results of scientific research. The main direction is to study the mobility properties of robotic complexes in specific natural and climatic conditions of the area. The purpose of this work is to determine the cone index CI for typical surfaces of agricultural machinery movement, based on the physical and mechanical characteristics of agricultural soils. In 2020 year, a large-scale experimental and theoretical study of agricultural soils was conducted for 7 months using a soil penetrometer and equipment for measuring soil density and humidity. The peculiarity of this work is that the study has a spatiotemporal character of changes in the mechanical parameters of soils. Thus, the cone index CI is determined during the agricultural season for five typical plots: the first plot is fallow land located on a slope; the second plot is virgin land; the third section is a plowed field; the fourth section is a dirt road and the fifth section is a dirt road covered with broken bricks. Thus, the study showed a change in the cone index for each site during the year: the first site – 4.8-10.93 kPa; the second site – 5.13-5.32 kPa; the third site – 4.14-4.57 kPa; the fourth site - 4.43 – 11.20 kPa; the fifth site – 5.57 – 5.81 kPa. The data were also approximated and a mathematical model for calculating the cone index from the deformation modulus E, (MPa) was obtained. The obtained mathematical dependencies can be used in the future as the basis for mapping the mobility of any region of the world, as well as in the compilation of the algorithm of the mobile robotic complex. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 9352 / 3D-DEM Simulation and Post-Process Method of Wheel-Terrain Interaction for Planetary Rovers Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/WWUX2021 Title: 3D-DEM Simulation and Post-Process Method of Wheel-Terrain Interaction for Planetary Rovers Authors: Qingning Lan, Zhengyin Wang, Huaiguang Yang, Liang Ding, and Haibo Gao Abstract: Understanding the physical essence of wheel-terrain interaction is critical to establish the terramechanics model. The discrete element method (DEM) can be used to simulate a series of wheel-terrain interaction quickly and efficiently, which can be convenient to analyze the physical information of the interaction. This paper simulates the interaction of slipping wheel running on soil simulant using 3D-DEM. The information of particles and wheel is obtained from the wheel-terrain interaction. The consequent velocity and stress field of soil simulant is obtained by smoothening the velocity of discrete soil particles and contact interaction force between particles. A method to calculate the fraction field of soil simulant in the particle bed with boundary is proposed to obtain the consequent fraction field distribution. The simulation results are consistent with experimental results. This study can provide instructions for the establishment of physical terramechanics model. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 9768 / Design and Traction Performance Test of Bionic Paddy Wheel Based on Cattle Hoof Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/OTPF6196 Title: Design and Traction Performance Test of Bionic Paddy Wheel Based on Cattle Hoof Authors: Lan Li, Jing Li, Baofeng Xie, Fei Lin, and Long Xue Abstract: In order to improve the traction performance of the micro-tiller wheel on the paddy soil surface, a bionic paddy wheel was designed with a cattle hoof as the bionic prototype, and its diameter and wheel width were 0.46 m and 0.08 m, respectively. The traction performance test was carried out in a soil bin test-bed with a moisture content of 36 %. The vertical loads were 82.57 N, 131.40 N and 179.42 N, respectively. The driving speeds were 0.3 m/s, 0.5 m/s and 0.7 m/s, respectively. The drawbar pull was in the range of 10 – 120 N. The results showed that at the driving speed of 0.7 m/s, with the increase of the vertical load, the driving torque and the drawbar pull are increasing. The vertical load has a significant effect on the change of driving torque and maximum drawbar pull. Under the vertical load of 179.42 N and different driving speeds, when the slip ratio is less than 0.37, the efficiency coefficient begins to grow rapidly, and the greater the driving speed is, the greater the growth rate is. When the slip ratio is about 0.37, the efficiency coefficient reaches the maximum and then begins to decrease. Driving speed has a significant effect on the maximum efficiency coefficient of wheels. This paper can provide a reference for the traction performance of the micro-tiller wheel on the paddy soil surface and the design of the new bionic paddy wheel. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # 9913 / Acquisition of Flipper Motion in Step-Climbing of Tracked Robot Using Reinforcement Learning Paper presented at the 11th Asia-Pacific Regional Conference of the ISTVS https\:/doi.org/10.56884/SGWJ1011 Title: Acquisition of Flipper Motion in Step-Climbing of Tracked Robot Using Reinforcement Learning Authors: Ryosuke Eto and Junya Yamakawa Abstract: Remotely piloted robots have been expected for disaster operations to prevent secondary disasters to rescuers. The robots are required to have a high performance to overcome obstacles such as debris and bumps. Tracked robots with flipper arms on the front, back, left, and right sides can improve their ability to overcome bumps by changing the flipper angles, and are thus expected to be used as rescue robots. However, the six degrees of freedom of the left and right crawlers and four flipper arms require a high level of skill to maneuver the robot. Therefore, a semi-autonomous control system that automatically controls the flipper arms according to the terrain is expected. In this study, we proposed a method to determine the front and rear flipper angles in step-climbing using reinforcement learning with Double Deep Q Network. The input data were the step height, distance to the step, and current front and rear flipper angles. The outputs were amounts of front and rear flipper angle variations. The behavior of the robot and rewards were calculated using a quasi-static model that considers the slips between the step, floor, and crawler. Positive rewards were given for successful step stepping over steps and negative rewards for unsuccessful steps. Furthermore, the flipper motions at which slippage decreased were obtained by subtracting the sum of the squared values of the slippage rates from the rewards. As the results, it was confirmed that the robot slips less when the body is lifted by the rear flipper than when it runs over along the step shape. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: # Abstract-only submissions Abstract-only submissions to the 11th ISTVS Asia-Pacific Regional Conference *The repository of conference recordings is: . The password for the repository was sent by email to registered attendees.* ### 0196 / Analysis on Climbing Mode of Zhurong Rover Zhen Chen, Meng Zou, Dong Pan, Baofeng Yuan, and Lining Chen Video: Abstract: Due to the complex situation on the surface of Mars and the long delay of signal transmission between Mars and the Earth, many rovers of different countries have experienced the situation of reduced mobility or even failed exploration missions due to climbing process on Mars. In order to avoid such a situation, this paper takes ‘Zhurong’ Rover as an example. Four kinds of climbing modes that it can use are analyzed namely normal climbing, Z-type climbing, oblique climbing, bionic wriggle climbing. The advantages and disadvantages of four kinds of climbing modes and their applicable scope are compared. When the slope is small, normal climbing should be used. When the slope is moderate, Z-type and oblique climbing should be used. When the slope is large, bionic wriggle climbing should be used. Through the experiment, the critical value of the rover climbing slope is 23°, when the rover climbing slope is greater than 23°, the normal can not climbing normally which should be backward downhill. In addition, the current criterion other than the slope criterion is given to improve the climbing efficiency and safety of the rover under different climbing modes. The critical value of the current is 1.92 A. the research results can provide experimental data and reference for the in-orbit use of ‘Zhurong’ Rover. ### 1704 / Comparative Analysis of Hydrodynamical Efficiency of Full-Submerged Archimedes Screws of Rotary-Screw Propulsion Units of Snow and Swamp-Going Amphibious Vehicles with Single and Tandem Propulsor Design Svetlana Karaseva, Aleksey Papunin, Vladimir Belyakov, Vladimir Makarov, and Dmitry Malahov Video: ; Abstract. The paper considers the problems of increasing of efficiency of amphibious vehicles with rotary-screw propulsion units (RSP). The results of computer simulation of hydrodynamical interaction of full-submerged Archimedes screws of rotary-screw propulsion units with water area in travelling and mooring modes are presented. The computer simulation was done for geometrically similar Archimedes screws with single and tandem design. During simulation the hydrodynamical characteristics of Archimedes screws of RSP with the most typical for snow and swamp-going vehicles geometrical characteristics were studied. The three-run Archimedes screws with helix angles in the range from 24 to 39 degrees were considered. The non-dimensional dependences of thrust coefficient, torque coefficient and propulsive coefficient on advance ratio for travelling mode (performance curves) and of relative quality coefficient on rotation speed of Archimedes screw for mooring mode got by the results of computer simulation are given and analyzed. The advantages of tandem design of RSP in comparison with single design with relation to realization of overwater characteristics of snow and swamp-going amphibious vehicles are highlighted and quantitative estimated. ### 2398 / Modeling Tire-Soil Compression Resistance on Artificial Soil Using A Scaling Law of Pressure—Soil Sinkage Relationship Pius Jjagwe, Mehari Tekeste, and Nisreen Alkalifa Video: Abstract: Semi-empirical traction models utilize soil parameters estimated from ASABE cone and flat plate soil sinkage data; however, limited studies exist that apply the scaling law of the soil measurement tool to a full-scale tire to soil system at various initial soil conditions. This study investigated the effects of three scaled plates (size and shape) and two density conditions on pressure-sinkage relationships on an artificial soil. Elliptical shape tire-soil and contact area of 484 cm2 were estimated from a vertical loading a tire (235/75R15, tire inflation pressure of 179 kPa, and 8 kN vertical load) soil bin test on an artificial soil. Pressure-sinkage data was collected on an artificial soil column at 1.21 Mg/m3 (loose) and 1.41 Mg/m3 (dense, 75% of Proctor Density) initial conditions using circular, rectangular, and square, each at three scaled areas (n = 0.5, n = 0.25, and n = 0.125, where n =1 is the tire-soil estimated area from the single tire soil bin test). A scaling law with a strong correlation was established between the geometry scale and the energy in compressing the soil. The plate pressure data from n = 0.125 exhibited an asymptotically decreased pressure with depth, similar to the soil cone penetrometer data. The pressure-sinkage data from n = 0.5 exhibited similar trend as Reece-Bekker-Wong models but varied by the initial soil bulk density. Using ground-contact pressure of the tested tire and pressure-sinkage prediction model (n = 0.5), the loose soil resulted in a 38% increase in simulated sinkage compared to the dense soil. The study demonstrated applying a scaling law to simulate the tire-soil system on soft and dense soils. Semi-empirical prediction of motion resistance ratio using data from single-tire soil bin on soft and dense soils will be presented. ### 2681 / Research on High Traction Bionic Wheel Based on Traction Characteristics of Jerboa Foot Hao Pang, Liangliang Zhao, Huailiang Wang, and Rui Zhang Abstract: The lunar surface is covered with loose lunar soil, and the bearing capacity and shear resistance of the lunar soil are relatively low. Therefore, when the wheels roll on the lunar soil, the lunar soil particles flow easily, which reduces the passing performance of the mobile system. Jerboa has superior traction in sandy terrain. In this paper, the 3D reconstruction of the jerboas foot is firstly carried out, and three models of jerboas feet with different postures are established according to the posture changes of the jerboas foot. The discrete element numerical simulation of the sand jumping process was carried out to explore the interaction mechanism of the jerboas feet and sand when jumping in the sand.The simulation shows that jerboas toenails play a role in improving traction during the sand jumping process, and the trapezoidal toe gap structure with narrow upper and lower lower feet plays a role in sand-fixing and current-limiting in the process of foot-sand interaction. The key structure to improve the traction performance of jerboas foot was extracted through simulation analysis, and a high-traction bionic lunar rover wheel was designed by using the jerboa's foot as a bionic prototype. The wheel structure was optimized by discrete element numerical simulation. Taking Yutu wheel as the control wheel, the traction performance of the bionic wheel was verified by the wheel soil test on the bench. ### 2928 / Bearing Capacity Analysis of Bionic Walking Wheel for Manned Lunar Rover. Rui Zhang, Liangliang Zhao, Yupei Du, Bin Zhao, Hao Pang, Lige Wen, Weijun Wang, Hua Zhang, Zhenyu Hu, Zhenyu Hu, and Meng Zou Abstract: The special curved shape of African ostrich sole can limit current and fix sand and improve the bearing capacity of wheel. In the case of limited size and mass of lunar rover wheels, the use of flexible wheels can reduce the occurrence of slippage and subsidence on the soft surface of the lunar rover, and the bearing capacity of the existing flexible wheels cannot meet the requirements of heavy load. Therefore, an innovative rigid-flexible coupling bionic walking wheel was proposed, which was composed of the bionic main monomer and the integrated rim hub formed by the array of rigid-flexible coupling sub-monomers of the flexible imitation ostrich sole morphology and rigid limit structure. In order to fully analyze the mechanical properties of the rigid-flexible coupling bionic walking wheel under different loads, the Apollo elastic wheel of the same size was proposed as the control group. Based on the lunar soil thrust received by the wheel when driving on the lunar surface, the lateral force received when turning and the huge impact force received when driving, The static load and impact load of vertical load, tangential force and lateral force are simulated by finite element method. The thickness of the sheet (1.5mm) was determined by vertical load simulation, taking into account elasticity and stiffness. Through the simulation of lateral force, tangential force and impact load, it is found that the control wheel outside the bionic wheel has plastic deformation. The results show that the rigid-flexible coupling bionic walking wheel can bear larger load and impact. This research has certain reference value for the follow-up development of heavy flexible metal wheel. ### 2960 / Terramechanics Model Augmentation Using Machine Learning Eric Karpman, Jozsef Kovecses, and Marek Teichmann Abstract: Thus far, terramechanics simulations for real time applications have focused largely on the well-established semi-empirical models as these are the only ones that are fast enough to be run in real time. For wheel-soil interaction these are the models hallmarked by the names of Bekker and Wong, and for other earthworking maneuvers the Fundamental Earthmoving Equation (FEE) proposed by Reece is commonly used. One major drawback to these models is that they are formulated with a steady state assumption which makes their accuracy in dynamic simulations questionable. More flexible simulation alternatives include the Finite Element Method (FEM) and the Discrete Element Method (DEM) - both of which are extremely computationally demanding which can be prohibitive in many practical applications. In this work, we propose a method for utilizing advances in machine learning to augment the forces predicted by existing models in an effort to improve their accuracy in dynamic simulations. This is done by running virtual experiments using DEM simulations and comparing the soil reaction forces at each time step to those that would be predicted by the semi-empirical models. The difference between the actual recorded forces and those predicted by the models are used to train a neural network. The objective is for the neural network to learn how much to add or subtract from the forces predicted by the steady state model under any given dynamic conditions. Once trained, the neural network could be used in combination with the semi-empirical models to run more accurate terramechanics simulations without the need to run computationally expensive DEM or FEM simulations. As a proof of concept for this approach, we will illustrate how it can be applied to the augmentation of the Fundamental Earthmoving Equation in the simulation of a blade cutting soil, and also for the augmentation of the Bekker-Wong wheel-soil model. ### 3004 / Obstacle Avoidance of Mobile Robots Using Modified Artificial Potential Field Algorithm Based on Vortex and PID Adjustment Zhuoran Sheng and Song Wang Abstract: In recent years, autonomous mobile robot has become a key research direction in academia due to their good application prospects. The ability to autonomously avoid obstacles and reach a preset target point is the basic requirement of an intelligent mobile robot. As a common obstacle avoidance algorithm for mobile robots, artificial potential field algorithm (APF) has defects such as local minima problem and GNRON problem. Aiming at the shortcomings of the traditional APF algorithm, this paper proposes an improved artificial potential field algorithm based on point vortex and PID adjustment. The implementation of the improved algorithm is based on the two following main points. Firstly, an irrotational point vortex flow field is added to the original repulsion field of the obstacle to form a composite potential field. Properties of point vortex are used to provide additional virtual deflection force to the robot to avoid getting stuck. Secondly, aiming at GNRON problem, the strength of vortex and the range of action of the vortex repulsive composite potential field are adjusted in real time by means of PID adjustment. In order to verify the feasibility of the improved algorithm proposed in this paper, it is compared with the traditional APF algorithm in 7 cases of environment with different obstacle layouts. The results show that the improved algorithm can be effectively applied to a variety of obstacle environments, and successfully solve the local minima problem and GNRON problem of the traditional APF algorithm. The mobile robot can flexibly and efficiently avoid obstacles and reach the end point. ### 3290 / Why we need alternative ground robots to traverse sandy and rocky extraterrestrial terrain, and how we can progress towards them Chen Li and Kevin Lewis Video: ; Abstract: Robotic spacecrafts and vehicles have helped expand human’s reach in many planetary exploration missions. Most mobile ground robotic vehicles for planetary exploration use wheeled or modified wheeled platforms, and they have been extraordinarily successful at completing intended mission goals. However, due to the limitations of wheeled locomotion, these robotic vehicles have been largely limited to relatively benign, solid terrain with sparse obstacles, and they have avoided extreme terrain with loose soil/sand and cluttered large rocks. Unfortunately, such challenging terrain is often among the most scientifically interesting for planetary geology. Many animals traverse such challenging terrain seemingly at ease, but robots have not matched their locomotor performance and robustness. This lack is largely due to a lack of understanding of the fundamental principles of how effective locomotion (or lack thereof) is generated from controlled interaction with complex terrain, on the same level of flight aerodynamics and underwater vehicle hydrodynamics. Fundamental understanding of legged and limbless locomotor-ground interaction gained over the past few decades has already enabled stable and efficient bio-inspired robot locomotion on relatively flat ground with small, scattered obstacles. Recent progress in the new field of terradynamics of locomotor-terrain interaction has also elucidated the principles of legged and limbless locomotion on loose soil/sand via a diversity of surface and subsurface locomotor modes, as well as over cluttered large obstacles via destabilizing locomotor transitions across different modes overcoming obstacles comparable to or larger than robots themselves. Such bio-inspired multi-legged and limbless robots using terradynamic principles will provide versatile, robust alternative platforms for traversing scientifically important extreme extraterrestrial terrain and expand the reach in planetary exploration. ### 4136 / DEM Analysis of the Dynamics of Granular Media Considering with Interparticle Forces under Low Gravity Condition Takuru Nishino, Kenta Takase, Shingo Ozaki, Takao Maeda, Mitsuhisa Baba, and Masatsugu Otsuki Video: Abstract: For future satellite and planetary explorations, it is important to understand the dynamic interaction between the soft ground and the mechanical system under low gravity. One of the key points in understanding the interactions in low gravity environments is the competition between gravity and the forces acting between particles. The typical forces between particles or between particle and object are considered to be electrostatic and van der Waals forces. These forces are very small compared to gravity under 1G environment on Earth and have little effect on the dynamics. However, it has been suggested that in low gravity environments on small bodies, these forces can compete with gravity and affect the dynamics of granular media. In this study, the analysis using discrete element method (DEM) of rod penetration into granular media and pad impact was performed. First, various parameters were determined for the interparticle forces. The parameters were determined by considering the relationship between the force and the particle size. Next, DEM analyses were performed under four different interparticle force conditions (none, constant, electro-static, and van der Waals) and several levels of gravity environments, to compare reaction forces, sinkage, and particle dispersal. Comparison of the reaction forces, sinkage, and particle dispersal obtained from the analysis confirms the influence of interparticle forces under low gravity condition. ### 4170 / Development and Traveling Performance Analysis of Driving Test Rover in Sandy Terrain Masataku Sutoh, Yuji Katsumata, and Sachiko Wakabayashi Video: ; Abstract: The interests on the lunar exploration and utilization are recently increasing in worldwide. The Japan Aerospace Exploration Agency, JAXA, also plans to conduct a lunar polar exploration mission, in which lunar volatiles such as water ice are investigated using a rover, and various activities toward human lunar exploration in the future. Towards these missions, it is essential to analyze the traveling performances of vehicles operating in an environment similar to the surface of the Moon which is covered with loose regolith. In this study, the development and performance analysis of a driving test rover are described. We first developed a driving test rover for motion analysis of vehicles traveling on sandy terrain. This four-wheeled rover has a driving system compatible with ground vehicles on Earth. In addition to the lunar exploration, this rover is also used to analyze the motion behaviors of the vehicles on Earth. Subsequently, we conducted traveling tests using the rover in an indoor sand field having an area of approximately 400 m2. The motion of the rover was three-dimensionally measured on flat and inclined terrains using a motion capture system equipped in the field. Furthermore, numerical simulations were conducted using the dynamic model of the rover based on the wheel-terrain interaction. From the experimental and simulation results, a similar tendency was observed regarding the motion behaviors of the rover. ### 4323 / Development and Demonstration of Robotic Investigation Tool for Terrain Mechanical Property Yuzuki Morita and Genya Ishigami Video: ; Abstract: The Artemis Program led by NASA and the Global Exploration Roadmap summarized by the International Space Exploration Coordination Group has been focusing on the construction of lunar infrastructure in the coming decades. Terrain parameter estimation is essential for the design phase of infrastructure construction in rough terrain. A robotic platform should perform the estimation because of the harsh environment on the moon. While the classical terramechanics model holds several terrain parameters such as cohesion, internal friction, or shear modulus, the resistive force theory needs one lumped parameter called scaling factor, which is basically identified with a flat-plate sinkage test. We developed a handheld investigation tool for the terrain scaling factor that can also be mounted on a mobile robot. The tool consists of a flat plate with a precise linear actuator for intruding the plate into the soil. A force sensor attached between the plate and the actuator measures the resistive force generated during the plate intrusion. The scaling factor is then determined by the relationship between the force and intrusion depth. In our work, we first conducted a laboratory control test of the tool and verified that the tool consistently identifies the scaling factor under different density and grain size distribution conditions. Subsequently, we mounted the tool on a four-wheeled robotic mobile platform and remotely operated the robot deployed on a sandy field, where the robot experimentally demonstrated a terrain parameter investigation. The demonstration confirmed that all of the scaling factors determined by the robotic tool were within the range of the data obtained in the laboratory control experiment. ### 5636 / Numerical Analysis of Multi-Pass Effect Based on the Extended Terramechanics Theory Shingo Nakano and Shingo Ozaki Video: Abstract: In recent years, various off-road vehicles have been used for disaster response and space exploration. In the future, it is expected that off-road vehicles will become even more important. Along with this, there is also a need to improve the traveling performance of off-road vehicles. Currently, multibody dynamics analysis is promising as a preliminary examination method that is indispensable for research, however, to improve the analysis accuracy, the interaction between the ground and wheels, such as deformation of the ground surface shape and multipath effect, have to be appropriately considered. Therefore, in this study, we focus on the terramechanics theory and propose an extended model that combines cellular automata and conventional theory. In the proposed model, the stress distribution between the road surface and the wheel is evaluated by the conventional Bekker-Wong-Reece model, and change in the bulk density and soil property is evaluated based on the cellular automaton. The purpose of this study is to establish a methodology for MBD analysis that can take into account the deformation of the terrain surface and the change in soil state variables due to wheel traveling. Then, we performed the numerical analysis of traveling on flat ground with the single-wheel model and small rover model. Here, we used the general-purpose simulation software Simscape, and implemented the proposed model into it. As a result, we successfully showed the effectiveness of the proposed methodology by the systematic analysis. ### 5943 / Research on Bionic Anti-Skid Tires Suitable for Icy and Snow-Covered Roads Rui Zhang, Yu Han, and Hao Pang Abstract: In the icy and snowy environment, the tire surface of the vehicle, as a key component of the vehicle's interaction with the icy and snow-covered ground, plays a vital role in improving the vehicle's passability. Reindeer run on ice and snow all year round, and their excellent foot attachment characteristics are obvious. A bionic tire tread structure was designed according to the structural characteristics of the reindeer's sole and the geometry of the reindeer's sole, and the tire structure was optimized by the finite element method (CAE). The simulation results show that the hard ice-breaking part of the tire will cut into the ice layer and generate greater friction with the ice surface, and the soft material part of the tire adheres to the snow, reducing the effect of the snow layer on the tire's traction. Finally, the CAE models of the bionic wheel and the conventional snow wheel are established. Wheel simulations show that the driving traction of a wheel with a bionic tread is 85.4% greater than that of a conventional snow tire. The above studies show that the bionic structure greatly improves the adhesion performance of the wheel surface. In addition, the bionic hair can play a better role in combination with the bionic wheel contour based on the curve of the reindeer's foot. This paper can provide new inspiration and methods for the design of tires on icy and snowy roads. ### 7349 / Research on Energy-Saving Underactuated Bionic Biped Robot Youhao Diao, Zhiqiang Zhuang, and Xuebo Wang Abstract: There is still a certain gap between the current biped walking machines and humans in terms of walking efficiency and walking naturalness. important scientific value. Taking the human lower limb musculoskeletal system as the learning model, the bionic design of the biped robot based on the passive walking principle is carried out, and the physical prototypes of the fully passive walking machine and the underactuated walking machine are developed. Completed the development of a knee-free completely passive bionic walker with bionic knee joint, bionic foot, bionic subtalar joint and metatarsophalangeal joint, and carried out Adams-based simulation analysis for the virtual prototype to verify the feasibility of its walking. The experimental results show that the walking efficiency of the new kneeless fully passive bionic walking machine is increased by 50%, while achieving continuous and stable walking. In this paper, through the in-depth analysis of the human body's delicate and complex muscle-skeletal system and high-efficiency and energy-saving movement patterns, the inspiration is obtained, and then the mechanical body of the biped walking machine based on the passive walking principle is finely and subtly designed. Design brings bionic design inspiration. ### 7739 / Modeling of the Shear Displacement for Tracked Vehicles in Transient Maneuvers Yang Jiao and Jozsef Kovecses Abstract: Many design specifications of tracked vehicles are given in terms of the steady-state characteristics. They are indeed quite important to tracked vehicles because of the nature of their operations. However, in some situations such as starting or steering, the transient state performance of these tracked vehicles could also be of great significance. The main trend solution to model the traction force of off-road vehicles is to use shear stress and shear displacement curve by assuming the track soil interaction behaves like the one in the direct shear box test. Therefore, the approximation of shear displacement is quite important in order to accurately predict the shear stress which is directly related to the traction performance of a tracked vehicle. In this work, we propose a general representation of the shear displacement along a discretized track model. This is done by analyzing the shear displacement accumulation at each special point along the track in every time step. Then a new shear displacement model is proposed based on the general representation. The performance of this model is compared with Wong’s shear displacement model and Solis and Longoria’s (SL) shear displacement model. Wong’s model has the simplest form but has difficulty in predicting transient state shear displacement. SL model achieves a better performance in transient state by estimating the shear displacement at each discretized track element with an ordinary differential equation. In order to validate the new model and compare the performance of the three models, a simplified track soil interaction DEM model is developed by using a commercial DEM simulation software ′EDEM′. The shear force obtained from the DEM simulation is used as a reference for the results obtained by using semi-empirical shear force model with different shear displacement models. As proved by the comparison, the new method shows a clear advantage in dynamic shear displacement prediction over Wong’s method. The difference between the SL model and the new model is not as large but also obvious in some particular test cases. ### 8104 / Determination of the Necessary Indicators of Vehicles and the Movement Surface for Calculating the Mobility Criterion Alina Markovnina, Umar Vakhidov, Vladimir Belyakov, and Vladimir Makarov Abstract: This article discusses wheeled vehicles moving on mixed pavements consisting of various types of soil, and indicates the driving conditions typical for such pavements. The main tasks of traffic control are analyzed and it is revealed that the main indicator of the possibility of a vehicle moving in difficult road conditions is the reserve of traction force. The paper presents the general aspects of the methodology for calculating the mobility criterion, according to which it is possible to determine the possibility or impossibility of overcoming a terrain by a given machine. A system of indicators is described that characterizes the possibility of driving a car in given road conditions. The schemes of interaction of the wheel mover with the track bed during rectilinear, curvilinear motion and during maneuvering when bypassing discrete and water obstacles are given. The paper shows various patterns of surface deformation when passing by several axles of a vehicle. The influence of profile obstacles on the cross-country ability and the value of the loss of mobility in terms of cross-country ability are considered. The relationship between the magnitude of the traction force and the magnitude of the obstacle that the vehicle can overcome is determined. ### 8362 / A High-Fidelity Dynamics Simulation Method for Legged Robot Based on Foot–Terrain Interaction Model Jianghua Ge, Jianghu Wu, and Xiaofei Zhu Abstract: The usage of legged robot for extraterrestrial exploration is a research hotspot at present, and the emulation method to simulate the landing and roving process can effectively improve the design efficiency and verify the control, but due to the complex terrain environment on the surface of the celestial body, it is a challenge to realize the unification of simulation accuracy and efficiency, therefore, the foot–terrain interaction process is an important factor to limit the simulation effect. In this paper, an ADAMS-based simulation system for legged robot dynamics is proposed to achieve high precision simulation of legged robot by introducing a foot–terrain interaction model. The main work includes three aspects: the derivation of dynamic impact model, static pressure model and tangential walking model for legged robot rover in complex terrain based on foot–terrain interaction mechanics model, the development of foot–terrain contact interaction solution module for legged robot rover based on the aforementioned three models and the secondary development of foot–terrain interaction model solution module based on ADAMS user subroutine. The simulations of landing and patrols were carried out to verify that the designed legged robot can effectively meet the landing and patrols functions. Compared with the CONTACT simulation method of ADAMS, the ADAMS high-fidelity dynamics simulation system can verify the probe dynamics requirements with higher accuracy and provide reference for foot pad design and motion control optimization of the legged robot. ### 8685 / Design and Testing of Parallel Embedded Six-Axis Force Sensors for Paddy Walking Wheels Zaiman Wang, Jianfei He, Erli Zhang, Miao Su, Yue Huang, Wenwu Yang, Minghua Zhang, Weiqin Jia, Yuanli Huang, Yifan Ma, Dongyang Yu, Peizhao Zhong, Zhihao Zeng, and Ziyou Guo Abstract: The operational load spectrum of paddy power machinery can effectively reflect the machine-paddy soil interactions. In response to the problems of difficult operational performance data measurement and lack of observation means for paddy power machinery under complex working conditions in paddy fields, a paddy wheel parallel embedded six-axis force sensor test system is developed and mounted on the field soil through test device and paddy power chassis for performance testing. The test system consists of six-axis force sensors, angle sensors, signal amplifiers, slip ring components, a data acquisition system, data analysis software, and cables. During operation, the five six-axis force sensors transmit electrical signals from the real-time measurement of six-axis forces to the signal amplifier and slip-ring components, and the slip-ring transmits the signals transmitted by the signal amplifier to the cable, which in turn transmits them to the data acquisition system, where the measurement data are processed and displayed in real-time by the data processing software on the host computer. To verify the accuracy of the measurement data of the parallel embedded six-axis force sensor of the paddy wheel in the complex working environment of a paddy field, the bench performance experiment of the field soil test device was carried out to reveal the relationship between the driving force and rolling resistance of the paddy wheel under different rotational speed and different depth of soil entry conditions, and to investigate the influencing factors affecting the operating performance of the paddy field power chassis. The test results show that the measurement data of the six-axis force sensor test system of the paddy walking wheel is accurate, the relative error is less than 0.2%FS of the measurement accuracy, and the principle and method of the test system are reliable; the six-axis force sensor test system can be used for the load spectrum data acquisition of paddy power machinery field operation. ### 9092 / Examining the Simulation-to-Reality Gap of a Wheel Loader Interacting with Deformable Terrain Koji Aoshima, Daniel Lindmark, and Martin Servin Video: Abstract: Simulators are essential for developing autonomous control of off-road vehicles and heavy equipment. They allow automatic testing under safe and controllable conditions, and the generation of large amounts of synthetic and annotated training data necessary for deep learning to be applied. Limiting factors are the computational speed and how accurately the simulator reflects the real system. When the deviation is too large, a controller transfers poorly from the simulated to the real environment. On the other hand, a finely resolved simulator easily becomes too computationally intense and slow for running the necessary number of simulations or keeping realtime pace with hardware in the loop. We investigate how well a physics-based simulator can be made to match its physical counterpart, a full-scale wheel loader instrumented with motion and force sensors performing a bucket filling operation. The simulated vehicle is represented as a rigid multibody system with nonsmooth contact and driveline dynamics. The terrain model combines descriptions of the frictional-cohesive soil as a continuous solid and particles, discretized in voxels and discrete elements. Strong and stable force coupling with the equipment is mediated via rigid aggregate bodies capturing the bulk mechanics of the soil. The results include analysis of the agreement between a calibrated simulation model and the field tests, and of how the simulation performance and accuracy depend on spatial and temporal resolution. The system’s degrees of freedom range from hundreds to millions and the simulation speed up to ten times faster than realtime. Furthermore, it is investigated how sensitive a deep learning controller is to variations in the simulator environment parameters. ### 9219 / Penetration Dynamics of Asteroid Exploration Landing Based on DEM Yongbin Wang, Shiqing Wu, Shutong Chen, Xinghua Liu, Huan Liu, He Jia, Xuyan Hou, Shaomin Liang, Shunying Ji, and Zijian Zhang Abstract: Asteroid exploration is one of the hot areas of deep space exploration in recent years. In this paper, a landing attachment system for asteroid landing detection is proposed, which can complete the landing and attachment of the lander on the asteroid surface. Based on the discrete element method, this paper analyzes the landing impact and penetration dynamics in the process of land penetration. In this paper, the triaxial compression performance of simulated lunar soil is tested, and the physical and mechanical parameters of simulated lunar soil are studied, so as to realize the parameter matching between meso parameters of bulk medium and macro mechanical properties of soil. The penetration process of the detached body is studied. The penetration characteristics under different incident angles, velocities and shapes of the spear body are studied. The characteristics of the depth, velocity and acceleration of the anchor body with time are obtained. The landing impact dynamic characteristics of the anchoring device are obtained. This study provides a new analysis method for the study of asteroid detection anchoring and attachment, and has reference significance for the design of asteroid and other planetary landing and attachment detection. ### 9260 / Experimental Analysis and Numerical Modeling of Bulldozing Force with Varied Soil Moisture Content Naohiro Sato and Genya Ishigami Video: ; Abstract: Bulldozing/earthmoving works on loose soil are typical operations of construction machines. The bulldozing force acting on a machine blade from soil often impedes the machine mobility. The interaction forces depend on the mechanical property and/or bulk characteristics of soil such as moisture content (i.e., dry or wet sand). The Distinct Element Method (DEM) has been widely employed in precise and high-fidelity simulation for varied types of soil particles interacting with machines. However, the DEM requires accurate V\&V (verification and validation), and in particular, such a process for a soil having different moisture content remains an open issue. Therefore, the main scope of this paper is to reveal key parameters in the DEM simulation that appropriately corresponds to specific moisture content. First, we conduct bulldozing experiments under different levels of soil moisture and investigate how the bulldozing force varies with moisture content. The experimental results show that the bulldozing force significantly increases as the moisture content saturation exceeds around 60 %. Subsequently, we employ a DEM simulation to calculate the bulldozing force under different moisture content. Here, we focus on the adhesive forces acting between soil particles because past research suggested that the moisture in the soil is largely subject to the adhesive forces. The adhesive force model of the DEM consists of two parameters, i.e., a scaling magnitude w\.r.t. particle weight and the maximum adhesive distance of two soil particles. The values for those two parameters are then adjusted such that the maximum bulldozing force calculated in the DEM coincides with that of the experiments in different moisture content. Finally, we reveal the quantitative relationship of the key parameters corresponding to the various moisture content in the soil. The results imply that the DEM simulation is applicable to moist soil environments by carefully adjusting the adhesive force parameters. ### 9273 / Force China Analysis on Wheel-Soil Interaction Using Photoelastic Method Yuto Yoshida, Sota Yuasa, and Kenji Nagaoka Video: Abstract: This paper presents a force chain analysis of soil-wheel interaction using a photoelastic method. So far, soil-wheel interaction has been experimentally studied by several approaches; such as an analysis of the empirical relationship between wheel’s mobility performance and wheel design parameters, measurement of soil reaction acting the wheel surface, the soil flow analysis based on a particle image velocimetry method. However, the stress distribution of a soil particle layer is difficult to be directly observed. In this study, we propose a photoelastic method to visualize the stress distributions by which photoelastic particles are used as terrain, simulating soil particles. The photoelastic disks and their layer which simulate soil are shown in Fig. 1. The photo elastic particles can visualize the applied stresses as interference fringes of light (see Fig. 1). As a result, dynamic change of stress distribution and stress propagation in the terrain can be observed. In particular, the fringe and the stress propagate between the particles and form force chains in the terrain. We developed a single-wheel testbed as an experimental apparatus for wheel-soil interaction using the photoelastic method, as shown in Fig. 2. This apparatus can quantitatively provide the relationship between the particle stresses and the interference fringes based on the brightness gradient. Moreover, we investigated the effects of mixing with different filler particles to simulate various wheel slip-sinkage states. In this paper, we first show the force chain analyses of particles beneath a single traveling wheel. Fig. 3 shows an example of the force chain visualization. Then, orientational orders of the force chains are quantitatively evaluated for small and large wheel slippage. The experimental results confirmed the photoelastic method shows the dynamic change of the stress distributions and propagation in terrain.
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