کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1717676 1520081 2016 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
In situ identification of shearing parameters for loose lunar soil using least squares support vector machine
ترجمه فارسی عنوان
شناسایی درون زمین از پارامترهای برش برای خاک لانه خورشید با استفاده از کمترین مربعات، دستگاه بردار را پشتیبانی می کند
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
چکیده انگلیسی

A method is presented for the online prediction of the terrain-shearing parameters for a wheeled Unmanned Ground Vehicles (UGVs) traversing on an unknown terrain. The method uses a trained multiple-output least squares support vector machine (LS_SVM) to map engineering data and predict the terrain-shearing parameters such as cohesion, internal friction angle and shear deformation modulus without requiring information on wheel sinkage. The predicted terrain-shearing parameters can be used to predict vehicle drawbar pull which can be used for trafficability prediction, traction control and performance optimization. Experiments were performed using a single-wheel soil bin to measure the sinkage, drawbar pull and torque for a griddle net wheel under different slip ratio. An additional experiment was performed under a continuous slip ratio from 0.2 to 0.6 with a wheel load of 50 N to validate the method. The experimental results show that the multiple output LS_SVM model can accurately predict the terrain-shearing parameters using the slip ratio, torque and wheel load without the need of wheel sinkage.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Aerospace Science and Technology - Volume 53, June 2016, Pages 154–161
نویسندگان
, , , , ,