the tire-mechanics models have been developed for the study of wheel movement on the road or soil surface while these models are unlikely to describe the motion of wheels on uneven surfaces. due to dynamical complexity of this phenomena and the importance of this subject for farm conditions and the wheel carrier devices, the present research aimed to investigate the effects of several parameter...

This paper studies the dynamics of foot–ground interaction in hexapod locomotion systems. For that objective the robot motion is characterized in terms of several locomotion variables and the ground is modelled through a non-linear springdashpot system, with parameters based on the studies of soil mechanics. Moreover, it is adopted an algorithm with footforce feedback to control the robot locom...

Segregation in a dense solid-liquid multiphase flow is complicated by its interactions between phases. In this paper, the segregation of dense solid-liquid flow was simulated using the Finite Volume Method. A Euler-Euler multiphase simulation was conducted for the dense solid-liquid flow. The flow in the viscous regime was evaluated using kinetic theory describing the flow of smooth, slightly i...

Introduction Knowledge of snow parameters is important for climatology, meteorology, hydrology, flood prevention and hydropower industry. Liquid water in a snow pack shows a dominant effect on reflection, absorption and transmission of electromagnetic waves especially in microwave region. Liquid water in snow plays a major role in metamorphism, mechanics and hydrology of snow, and in soil engin...

The paper presents a one-dimensional hydro-mechanical analysis of rainfall infiltration in a loose volcanic ash and the utilisation of a factor of safety for the implementation of an early-warning system. Three different rainy seasons with different rainfall patterns were analysed . The analysis aims to understand the influence of the antecedent rainfall on the wetting front, the pore-water pre...

In this paper, a graphical dynamic simulator is developed that can simulate actively-coordinated wheeled vehicle systems on uneven faceted terrain. Based on the considerations of model delity and computational efciency, a simple geometric model for wheel-terrain contact is proposed. In addition, a computationallye cient algorithm for contact detection is developed. We also devise a contact forc...