This document describes standards compiled by the International Society for Terrain-Vehicle Systems (ISTVS) Standardization Committee. The standards are grouped into sections including: A) a glossary of terrain-vehicle terms; B) descriptions of soil-test devices associated with soil-vehicle tests; and C) abbreviations and symbols. The standards are intended to provide consistent terminology for concepts related to off-road vehicle mobility. Comments from readers are solicited to improve and adopt the final standards.
The document summarizes standards being developed by the International Society for Terrain-Vehicle Systems (ISTVS) for terminology and test procedures related to off-road vehicle operations. It provides definitions for over 170 terms related to terrain characteristics, vehicle properties, and soil/snow testing devices. The goal is to standardize terminology to improve communication between researchers. Members are invited to provide feedback on the proposed definitions and procedures.
This document presents definitions for terms related to terrain and vehicle characteristics developed by the Standardization Committee of the International Society for Terrain-Vehicle Systems (ISTVS). The definitions are divided into categories including terrain geometry characteristics with 25 terms defined, and vehicle physical characteristics with 57 terms defined related to vehicles, tires, and tracks. The committee is developing standard terminology for use in the field of off-road vehicle operations to improve communication between investigators and welcomes feedback on the proposed terms and definitions.
Research presentation as a part of ISTVS Research Grants Program.
Virginia Tech: Mr. Rui He, Prof. Corina Sandu
University of Pretoria: Mr. Glenn Guthrie, Prof. Schalk Els
This document discusses recent accomplishments and future plans in planetary robotics. It summarizes the MER, MSL/Curiosity, and Chinese lunar missions. Current research focuses on improved autonomy through techniques like visual odometry, machine learning from terrain sensors, and differential wheel control. Upcoming missions include the Mars 2020 rover and ExoMars 2020 rover with flexible wheels. Challenges include ensuring mobility in unknown environments through testing and predictive modeling of wheel-soil interactions.
This document describes standards compiled by the International Society for Terrain-Vehicle Systems (ISTVS) Standardization Committee. The standards are grouped into sections including: A) a glossary of terrain-vehicle terms; B) descriptions of soil-test devices associated with soil-vehicle tests; and C) abbreviations and symbols. The standards are intended to provide consistent terminology for concepts related to off-road vehicle mobility. Comments from readers are solicited to improve and adopt the final standards.
The document summarizes standards being developed by the International Society for Terrain-Vehicle Systems (ISTVS) for terminology and test procedures related to off-road vehicle operations. It provides definitions for over 170 terms related to terrain characteristics, vehicle properties, and soil/snow testing devices. The goal is to standardize terminology to improve communication between researchers. Members are invited to provide feedback on the proposed definitions and procedures.
This document presents definitions for terms related to terrain and vehicle characteristics developed by the Standardization Committee of the International Society for Terrain-Vehicle Systems (ISTVS). The definitions are divided into categories including terrain geometry characteristics with 25 terms defined, and vehicle physical characteristics with 57 terms defined related to vehicles, tires, and tracks. The committee is developing standard terminology for use in the field of off-road vehicle operations to improve communication between investigators and welcomes feedback on the proposed terms and definitions.
Research presentation as a part of ISTVS Research Grants Program.
Virginia Tech: Mr. Rui He, Prof. Corina Sandu
University of Pretoria: Mr. Glenn Guthrie, Prof. Schalk Els
This document discusses recent accomplishments and future plans in planetary robotics. It summarizes the MER, MSL/Curiosity, and Chinese lunar missions. Current research focuses on improved autonomy through techniques like visual odometry, machine learning from terrain sensors, and differential wheel control. Upcoming missions include the Mars 2020 rover and ExoMars 2020 rover with flexible wheels. Challenges include ensuring mobility in unknown environments through testing and predictive modeling of wheel-soil interactions.
8th ISTVS Americas Conference
Presentation by Dr. Thomas D. Gillespie, Professor Emeritus, The University of Michigan; Director of Product Planning, Mechanical Simulation Corporation.
Presented at the 13th European Conference of the ISTVS, Rome, 21-23 October 2015. Prepared by Laney Zhou of Elsevier for the International Society for Terrain-Vehicle Systems.
U.S. Army Cold Regions Research and Engineering Laboratory, Ron Liston Seminar: The 5 February 2014 Ron Liston Seminar was presented by Tim Cary (CRREL/BSB) and Heidi Howard (CERL) as a follow-up to their co-chairmanship or the 7th Americas Conference of the ISTVS in November 2013, Tampa, Florida.
This document summarizes analog field testing opportunities for space exploration in Hawaii. It describes Hawaii as a terrestrial analog for Mars and the moon due to its diverse geology and terrain. It provides a timeline of previous analog tests conducted by NASA, the Canadian Space Agency, and the German Aerospace Center between 2008-2012. These tests involved rovers, drills, oxygen production systems and other technologies on two analog sites on Mauna Kea to simulate lunar and Martian missions. It outlines the assets that make Hawaii a premier location for continued analog field testing.
Anoop Varghese(1), John Turner(1), Thomas Way(2), Clarence Johnson(3), Brian Steenwyk(1)
1 Bridgestone Americas Tire Operations
2 National Soil Dynamics Lab
3 Auburn University
Ali Azimi(1,2), Daniel Holz(2), József Kövecses(1), Jorge Angeles(1), Marek Teichmann(2)
1 Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montreal, Canada
2 CM-Labs Simulations Inc., Montreal, Canada
This document summarizes the design of a flexible wheel for lunar rovers. Requirements included withstanding lunar environmental conditions while providing traction, control and comfort. A terramechanics approach was used to model wheel performance. A mass-spring-damper dynamic model was developed. Multiple concept designs were generated and converged. A prototype was built and tested, showing vertical stiffness higher than required, comparable damping to tires, and lateral stiffness needing improvement. Drawbar pull predictions matched experimental results, validating the model. Further optimization of geometric parameters will improve performance.
Carmine Senatore*, Paramsothy Jayakumar†, and Karl Iagnemma*
*Massachusetts Institute of Technology, Cambridge, MA, USA
†U.S. Army TARDEC Warren, MI, USA
William Smith(1), Daniel Melanz(2), Carmine Senatore(3), Karl Iagnemma(3), Huei Peng(1)
1 University of Michigan
2 University of Wisconsin
3 Massachusetts Institute of Technology
Corina Sandu, Scott Naranjo, Saied Taheri, Virginia Tech
U.S. Army Quad Member:
Dr. Paramsothy Jayakumar, TARDEC
Industry Quad Members:
Dr. Brant Ross, MotionPort, Mr. Daniel Christ, Michelin Americas Research Co
The document presents a method for 3D road profiling using stereography. Current techniques use static sensors or dynamic vehicle-mounted sensors combined with an IMU/INS system. The presented method uses stereography to capture overlapping 3D point grids at each sample, which are pieced together using feature tracking and registration techniques. This reduces the need for a high-accuracy, expensive IMU/INS system. The method is shown to provide reasonable accuracy for road profiling using inexpensive cameras.
Mohammad “Mehran” Motamedi, Chuang Su, Michael Craft, Saied Taheri and Corina Sandu, Center for Tire Research (CenTiRe) Mechanical Engineering Department Virginia Tech
This document describes the development of a real-time non-linear vehicle preview model to improve an existing vehicle dynamics control strategy. The preview model predicts the future state of the vehicle based on its current state and inputs over a specified time horizon. It accounts for lateral load transfer but assumes constant speed, steer rate, and center of gravity. Experimental results showed the preview model solved fast enough with good accuracy. When used with an existing running root mean square strategy, it improved vehicle handling with no unwanted switching of the suspension mode. Future work includes improving suspension force estimations and applying the model to other control methods.
This document discusses simulations of rover traverses on Matijevic Hill on Mars. It presents equations for soil mechanics, describes the ARTEMIS simulation using a deformable soil model, and analyzes the results. The simulation assigned soil properties to terrain based on images and mobility reports. A sensitivity study found that the longitudinal shear modulus (kx) and cohesion (c) most influence slip. The simulation predicted average slip of 2% for two sections, with different soil parameters for each. Resistances and drawbar pull were also calculated for different drives.
Kayser-Threde GmbH developed the Sample Processing and Distribution Subsystem (SPDS) for the ExoMars rover mission to handle and distribute rock and soil core samples from Mars. The SPDS includes mechanisms to transport samples from the drill to analytical instruments, crush samples into powder, dose powdered samples into containers for analysis, and position samples in front of instruments. Recent testing of the SPDS mechanisms together in ambient and simulated Mars conditions was successful in processing various rock and icy sample types and meeting requirements. Some improvements were identified for future designs, such as adding hammering to the crusher and increasing powder agitation. The SPDS development supports the 2018 ExoMars rover mission and sample handling for future planetary missions.
Understanding Inductive Bias in Machine LearningSUTEJAS
This presentation explores the concept of inductive bias in machine learning. It explains how algorithms come with built-in assumptions and preferences that guide the learning process. You'll learn about the different types of inductive bias and how they can impact the performance and generalizability of machine learning models.
The presentation also covers the positive and negative aspects of inductive bias, along with strategies for mitigating potential drawbacks. We'll explore examples of how bias manifests in algorithms like neural networks and decision trees.
By understanding inductive bias, you can gain valuable insights into how machine learning models work and make informed decisions when building and deploying them.
8th ISTVS Americas Conference
Presentation by Dr. Thomas D. Gillespie, Professor Emeritus, The University of Michigan; Director of Product Planning, Mechanical Simulation Corporation.
Presented at the 13th European Conference of the ISTVS, Rome, 21-23 October 2015. Prepared by Laney Zhou of Elsevier for the International Society for Terrain-Vehicle Systems.
U.S. Army Cold Regions Research and Engineering Laboratory, Ron Liston Seminar: The 5 February 2014 Ron Liston Seminar was presented by Tim Cary (CRREL/BSB) and Heidi Howard (CERL) as a follow-up to their co-chairmanship or the 7th Americas Conference of the ISTVS in November 2013, Tampa, Florida.
This document summarizes analog field testing opportunities for space exploration in Hawaii. It describes Hawaii as a terrestrial analog for Mars and the moon due to its diverse geology and terrain. It provides a timeline of previous analog tests conducted by NASA, the Canadian Space Agency, and the German Aerospace Center between 2008-2012. These tests involved rovers, drills, oxygen production systems and other technologies on two analog sites on Mauna Kea to simulate lunar and Martian missions. It outlines the assets that make Hawaii a premier location for continued analog field testing.
Anoop Varghese(1), John Turner(1), Thomas Way(2), Clarence Johnson(3), Brian Steenwyk(1)
1 Bridgestone Americas Tire Operations
2 National Soil Dynamics Lab
3 Auburn University
Ali Azimi(1,2), Daniel Holz(2), József Kövecses(1), Jorge Angeles(1), Marek Teichmann(2)
1 Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, Montreal, Canada
2 CM-Labs Simulations Inc., Montreal, Canada
This document summarizes the design of a flexible wheel for lunar rovers. Requirements included withstanding lunar environmental conditions while providing traction, control and comfort. A terramechanics approach was used to model wheel performance. A mass-spring-damper dynamic model was developed. Multiple concept designs were generated and converged. A prototype was built and tested, showing vertical stiffness higher than required, comparable damping to tires, and lateral stiffness needing improvement. Drawbar pull predictions matched experimental results, validating the model. Further optimization of geometric parameters will improve performance.
Carmine Senatore*, Paramsothy Jayakumar†, and Karl Iagnemma*
*Massachusetts Institute of Technology, Cambridge, MA, USA
†U.S. Army TARDEC Warren, MI, USA
William Smith(1), Daniel Melanz(2), Carmine Senatore(3), Karl Iagnemma(3), Huei Peng(1)
1 University of Michigan
2 University of Wisconsin
3 Massachusetts Institute of Technology
Corina Sandu, Scott Naranjo, Saied Taheri, Virginia Tech
U.S. Army Quad Member:
Dr. Paramsothy Jayakumar, TARDEC
Industry Quad Members:
Dr. Brant Ross, MotionPort, Mr. Daniel Christ, Michelin Americas Research Co
The document presents a method for 3D road profiling using stereography. Current techniques use static sensors or dynamic vehicle-mounted sensors combined with an IMU/INS system. The presented method uses stereography to capture overlapping 3D point grids at each sample, which are pieced together using feature tracking and registration techniques. This reduces the need for a high-accuracy, expensive IMU/INS system. The method is shown to provide reasonable accuracy for road profiling using inexpensive cameras.
Mohammad “Mehran” Motamedi, Chuang Su, Michael Craft, Saied Taheri and Corina Sandu, Center for Tire Research (CenTiRe) Mechanical Engineering Department Virginia Tech
This document describes the development of a real-time non-linear vehicle preview model to improve an existing vehicle dynamics control strategy. The preview model predicts the future state of the vehicle based on its current state and inputs over a specified time horizon. It accounts for lateral load transfer but assumes constant speed, steer rate, and center of gravity. Experimental results showed the preview model solved fast enough with good accuracy. When used with an existing running root mean square strategy, it improved vehicle handling with no unwanted switching of the suspension mode. Future work includes improving suspension force estimations and applying the model to other control methods.
This document discusses simulations of rover traverses on Matijevic Hill on Mars. It presents equations for soil mechanics, describes the ARTEMIS simulation using a deformable soil model, and analyzes the results. The simulation assigned soil properties to terrain based on images and mobility reports. A sensitivity study found that the longitudinal shear modulus (kx) and cohesion (c) most influence slip. The simulation predicted average slip of 2% for two sections, with different soil parameters for each. Resistances and drawbar pull were also calculated for different drives.
Kayser-Threde GmbH developed the Sample Processing and Distribution Subsystem (SPDS) for the ExoMars rover mission to handle and distribute rock and soil core samples from Mars. The SPDS includes mechanisms to transport samples from the drill to analytical instruments, crush samples into powder, dose powdered samples into containers for analysis, and position samples in front of instruments. Recent testing of the SPDS mechanisms together in ambient and simulated Mars conditions was successful in processing various rock and icy sample types and meeting requirements. Some improvements were identified for future designs, such as adding hammering to the crusher and increasing powder agitation. The SPDS development supports the 2018 ExoMars rover mission and sample handling for future planetary missions.
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Understanding Inductive Bias in Machine LearningSUTEJAS
This presentation explores the concept of inductive bias in machine learning. It explains how algorithms come with built-in assumptions and preferences that guide the learning process. You'll learn about the different types of inductive bias and how they can impact the performance and generalizability of machine learning models.
The presentation also covers the positive and negative aspects of inductive bias, along with strategies for mitigating potential drawbacks. We'll explore examples of how bias manifests in algorithms like neural networks and decision trees.
By understanding inductive bias, you can gain valuable insights into how machine learning models work and make informed decisions when building and deploying them.
CHINA’S GEO-ECONOMIC OUTREACH IN CENTRAL ASIAN COUNTRIES AND FUTURE PROSPECTjpsjournal1
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pipeline politics, and winning states, according to this study, thanks to important instruments like the
Shanghai Cooperation Organisation and the Belt and Road Economic Initiative. According to this study,
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governments. This success may be attributed to the effective utilisation of key tools such as the Shanghai
Cooperation Organisation and the Belt and Road Economic Initiative.
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