Theoretical and experimental analysis on the interaction properties between tracks and sediments considering sand content for unmanned underwater tracked bulldozer

• Autorzy: Li Yong , He Dingchang , Si Qiaorui

Identyfikatory

DOI

10.24425/bpasts.2021.136036

• Języki publikacji: EN

Abstrakty

EN

The unmanned underwater tracked bulldozer (UUTB) is an indispensable equipment for dredging and cleaning obstacles on the river bed in the flood season. The investigation on the interaction properties between the UUTB tracks and sediments provides foundation for the evaluation of operation performance when it works on the inland river bed. Based on the current worldwide research, the sediments mixed by sand, bentonite and water with sand content 0%, 10% and 20% were configured in this study to replace the real sediments on the inland river bed in China. The current pressure-sinkage model and shear stress-shear displacement model were discussed. Three different tracks were tested for the pressure-sinkage and the shear stress-shear displacement on the platform. The relationship between pressure and sinkage under sand content 0%, 10% and 20% are revealed based on the experimental results. The modulus of cohesive deformation and friction deformation of the sediments under said sand content are presented. The curves of shear stress and shear displacement are also obtained, which demonstrates the properties between the tracks and configured sediments under sand content 0%, 10% and 20%. The relationship between the tractive force and slip ratio with three different tracks under said sand content is also presented based on the quantitative analysis, which provides reference for the dynamics control and performance evaluation of UUTB on the inland river bed.

Słowa kluczowe

EN

unmanned underwater tracked bulldozer; underwater robot; river bed sediment; shear stress; pressure-sinkage

PL

spychacz gąsienicowy bezzałogowy podwodny; robot podwodny; osad z koryta rzeki; naprężenie ścinające; spadek ciśnienia

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2021
• Tom: Vol. 69, nr 1
• Strony: art. no. e136036
• Opis fizyczny: Bibliogr. 49 poz., rys., tab.

Twórcy

autor

Li Yong

• Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, 212013, P. R. China

autor

He Dingchang

• Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, 212013, P. R. China

autor

Si Qiaorui

• Research Center of Fluid Machinery Engineering and Technology, Jiangsu University, Zhenjiang, 212013, P. R. China

Bibliografia

• [1] C.B. Yang, M. Dong, L. Gu, Q. Li, X.D. Gao, “Study on soil thrust of crawler plate considering the shape of shoe thorn”, J. Beijing Inst. Technol. 35(11), 1118‒1121 (2015).
• [2] C.B. Yang, Research on the adhesion characteristics and optimization of high-speed track and soft ground, Beijing Institute of Technology, 2015.
• [3] X. Lü, Q. Zhou, and B. Fang, “Hydrodynamic performance of distributed pump-jet propulsion system for underwater vehicle,” J. Hydrodyn. 26(4), 523–530 (2014).
• [4] A. Yasui, K.Sunobe, and T. Murata “Development of underwater bulldozer systems”, J. Terramech. 10(4), 13‒20 (1973).
• [5] G. Yamauchi, K. Nagatani, T. Hashimoto, and K. Fujino “Slip-compensated odometry for tracked vehicle on loose and weak slope”, J. Hydrodyn. 4(2), 2197‒4225 (2017).
• [6] F. Xu, Q.H. Rao, and W.B. Ma, “Predicting the sinkage of a moving tracked mining vehicle using a new rheological formulation for soft deep-sea sediment”, J. Hydrodyn. 36, 230‒237 (2018).
• [7] S. Hong, J.S. Choi, H.W. Kim, M.C. Won, S.C. Shin, J.S. Rhee, and H.N. Par, “A path tracking control algorithm for underwater mining vehicles”, J. Mech. Sci. Technol. 23(8), 2030‒2037 (2009).
• [8] S.M. Yoon, S. Hong, S.J. Park, J.S. Choi, H.W. Kim, and T.K. Yeu, “Track velocity control of crawler type underwater mining robot through shallow-water test”, J. Mech. Sci. Technol. 26(10), 3291‒3298 (2012).
• [9] K. Herzog, E. Schulte, M.A. Atmanand, and W. Schwarz, “Slip Control System for a Deep-Sea Mining Machine”, IEEE Trans. Autom. Sci. Eng. 4(2), 282‒286 (2007).
• [10] H. Grebe and E.S. Schulte, Determination of soil parameters based on the operational data of a ground operated tracked vehicle, pp. 149‒156, International Society of Offshore and Polar Engineers, 2005.
• [11] E. Schulte and W. Schwarz, “Simulation of Tracked Vehicle Performance on Deep Sea Soil Based on Soil Mechanical Laboratory Measurements in Bentonite Soil”, in Proceedings of The Eighth ISOPE Ocean Mining Symposium, 2009, pp. 276‒284.
• [12] L.Q. Song, “Geotechnical Properties of Oceanic Sediments in Polymetallic Nodules Belts”, Acta Oceanol. Sin., 19(2), 57‒67 (2000).
• [13] X.L. Chen, J.Z. Lu, T.W. Cui, L.Q. Tian, L.Q. Chen, and W.J. Zhao, “Coupling remote sensing retrieval with numerical simulation for SPM study—Taking Bohai Sea in China as a case”, Int. J. Appl. Earth Obs. Geoinf. 12(2), 203‒211 (2010).
• [14] S.J. Liu, C. Liu, and Y. Dai, “Research and development of deep-sea mining equipment”, Chin. J. Mech. Eng. 50(2), 8‒18 (2014).
• [15] Y. Dai and S.J. Liu, “Dynamic analysis of integrated linkage operation mode of deep-sea mining system”, J. Huazhong Univ. Sci. Tech.-Natural Sci. 40(S2), 39‒43 (2012).
• [16] Y. Dai and S.J. Liu, “Theoretical design and dynamic simulation of new mining paths of tracked miner on deep seafloor”, J. Cent. South Univ. 20(04), 918‒923 (2013).
• [17] Y. Dai and S.J. Liu, “Dynamic Analysis of the Seafloor Pilot Miner Based on Single-Body Vehicle Model and Discretized Track-Terrain Interaction Model”, China Ocean Eng. 24(01), 145‒160 (2010).
• [18] Y. Dai, H. Liu, T. Zhang, and S.J. Liu, “A study on the driving performance of seabed crawler mining vehicle”, Chinese Sci. Technol. Paper 10(10), 1203‒1208 (2015).
• [19] L. Li and S.L. Li, “Simulation of deep-sea surface Marine mud and study on surface mechanical properties”, Eng. Mech. 27(11), 213‒220 (2010).
• [20] M. Wang, X. Wang, and Y. Sun, “Tractive performance evaluation of seafloor tracked trencher based on laboratory mechanical measurements”, Int. J. Nav. Archit. Ocean Eng. 8(2), 177‒187 (2016).
• [21] M. Wang, X. Wang, and Y. Sun, “Traction Potential Analysis of Self-Propelled Seafloor Trencher Based on Mechanical Measurements in Bentonite Soil”, J. Harbin Inst. Technol. 24(1), 71‒80 (2017).
• [22] C. Yang, G. Yang, and Z. Liu, “A method for deducing pressure– sinkage of tracked vehicle in rough terrain considering moisture and sinkage speed”, J. Terramech. 79, 99‒113 (2018).
• [23] P. Siemaszko and Z. Meyer, “Static load test cure analysis based on soil field investigations”, Bull. Pol. Ac.: Tech. 67(2), 329‒337 (2019).
• [24] A. Sawicki, J. Mierczynski, and W. Swidzinski, “Basic set of experiments for determination of mechanical properties of sand”, Bull. Pol. Ac.: Tech. 62(1), 129‒137 (2014).
• [25] C. Janarthanan, K.Gopkumar, V.Sundaramoorthi, N.R. Ramesh, and G.A. Ramadass, “Influence of Grouser Geometrical Parameters of Deep-Sea Crawler Vehicle on Soft Clays”, J. Hydrodyn. 47:899‒912 (2018).
• [26] H. Mao, F. Kumi, and Q. Li, “Combining X-ray computed tomography with relevant techniques for analysing soil-root dynamics-an overview”, Acta Agric. Scand. Sect. B – Soil Plant Sci. 66(1), 1‒19 (2015).
• [27] T. Kato and M. Kamichika, “Determination of a crop coefficient for evapotranspiration in a sparse sorghum field”, Irrig. Drain., 55(2), 165‒175 (2010).
• [28] S. Hong, H.W. Kim, T. Yue, J.S. Choi, T.H. Lee, and J.K. Lee, “Technologies for Safe and Sustainable Mining of Deep-Seabed Minerals”, J. Hydrodyn. 65:95‒143 (2019).
• [29] Z.Y. Zuo, X.G. Li, C. Xu, “Responses of barley Albina and Xantha mutants deficient in magnesium chelatase to soil salinity”, Plant Soil Environ. 63(8), 348‒354 (2017).
• [30] C.L. Qi, Q.H. Rao, Q. Liu, and W.B. Ma, “Traction rheological properties of simulative soil for deep-sea sediment”, J. Hydrodyn. 37:61‒71 (2019).
• [31] B. Ali Abubaker, H.F. Yan, and L. Hong, “Enhancement of Depleted Loam Soil as Well as Cucumber Productivity Utilizing Biochar Under Water Stress”, Commun. Soil Sci. Plant Anal. 50(1), 49‒64 (2019).
• [32] W. Wei, Y. Xu, and S. Li, “Developing suppressive soil for root diseases of soybean with continuous long-term cropping of soybean in black soil of Northeast China”, Acta Agric. Scand. Sect. B – Soil Plant Sci. 65(3), 7 (2015).
• [33] J.Z. Li, S.J. Liu, and Y. Dai, “Effect of grouser height on tractive performance of tracked mining vehicle”, J. Hydrodyn. 39:2459‒2466 (2017).
• [34] D. Knez and A. Calicki, “Looking for a new source of natural proppants in Poland”, Bull. Pol. Ac.: Tech. 66(1), 3‒8 (2018).
• [35] M. Mitew-Czajewska, “Parametric study of deep excavation in clays”, Bull. Pol. Ac.: Tech. 66(5), 747‒754 (2018).
• [36] J. Liu, X.M. Liu, and J.M. Xie, “Influence of copper on transport and dissipation of lambda-cyhalothrin and cypermethrin in soils”, Pedosphere 23(3), 395‒401 (2013).
• [37] L.L. Chu, Y.H. Kang, and S.Q. Wan, “Effect of different water application intensity and irrigation amount treatments of microirrigation on soil-leaching coastal saline soils of North China”, J. Integr. Agric. 15(9), 2123‒2131 (2016).
• [38] J.Y. Wong, Theory of Ground Vehicles. John Wiley & Sons Inc, 2001.
• [39] J.Y. Wong, Terramechanics and Off-road Engineering. Elsevier, 2010.
• [40] J.Y. Wong, M. Garber, and J. Preston-Thomas, “Theoretical prediction and experimental substantiation of the ground pressure distribution and tractive performance of tracked vehicles”, Proc. Inst. Mech. Eng. Part D-J. Automob. Eng. (4), 265‒285 (1988).
• [41] E. Schulte, R. Handschuh, and W. Schwarz, “Transferability of soil mechanical parameters to traction potential calculation of a tracked vehicle”, in Proceedings of the Fifth Ocean Mining Symposium, 2003, pp. 123‒131.
• [42] Z. Janosi and B. Hanamoto, “Analytical determination of drawbar pull as a function of slip on tracked vehicles in deformable soils”, 1st Intern. Conference on Terrain-Vehicles Systems, 1961, pp. 1131‒1152.
• [43] M. Wang, C. Wu, and T. Ge, “Calibration and validation of tractive performance for seafloor tracked trencher”, J. Terramech. 66, 13‒25 (2016).
• [44] M. Wang, X.Y. Wang, Y.H. Sun, and Z.M. Gu, “Tractive performance evaluation of seafloor tracked trencher based on laboratory mechanical measurements”, Int. J. Nav. Archit. Ocean Eng. 8, 177‒187 (2016).
• [45] M.G. Bekker, Theory of land locomotion: the mechanics of vehicle mobility, pp. 221‒262, The University of Michigan Press, 1956.
• [46] M.G. Bekker, Theory of Land Locomotion, University of Michigan Press, 1962.
• [47] M.G. Bekker, Introduction to Terrain-vehicle Systems, University of Michigan Press, 1969.
• [48] A.R. Reece, “Principles of soil-vehicle mechanics”, Proc. Inst. Mech. Eng. Automob. Div. 180(1), 45‒66 (1965).
• [49] Y. Xu, H.Y. Wu, and L.B. Zuo, “Influence of shale tooth height of tracked vehicle on traction performance and its parameter determination”, Trans. Chinese Soc. Agric. Eng. 28(11), 68‒74 (2012).

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).