Program

20th International and 9th Americas Conference of the ISTVS

Session 2-1-A

Design - I

Time: 11:20 - 11:40

Chair: TBA

Evaluation of Step-Climbing Performance of Tracked Robot with Flippers

Ryosuke Eto and Junya Yamakawa | 039


Design and Characterization of a 4-Bar Mechanism to Balance Normal Loads in a Single-Wheel Testbed

Adriana Daca, Amir Ali Forough Nassiraei, and Krzysztof Skonieczny | 044


Utility Truck: Morphing Boom Equipment for Terrain Mobility

Parth Y. Patel, Vladimir Vantsevich, and Jordan Whitson | 049


A Reconfigurable Test Platform for Developing Autonomous Articulated Pendulum-Arm Suspension Forest Machines

Gustav Sten, Björn Möller, and Lei Feng | 070


Rigid Wheel Design and Evaluation for Lightweight Snow Rover

Austin Lines, Joshua Elliott, and Laura Ray | 088


Session 2-1-B

Design - II

Time: 11:40 - 12:00

Chair: TBA

Design of Bionic Wheel Surface Based on the Adhesion Characteristic of Ostrich Foot

Rui Zhang, Hao Pang, Wenchao Dong, Tao Li, Songsong Ma, and Jianqiao Li | 020


Efficiency Determinants of Rotary-Screw Propulsion Units of Snow and Swamp-Going Amphibious Vehicles in Afloat Motion

Svetlana Karaseva, Vladimir Makarov, and Dmitry Malahov | 097


Study on Excavation Performance of a Multistage Type Rock Excavation

Sho Miyanaga, Takahisa Shigemastu, Yudai Ihara, Shinichi Kawamura, and Yoshihiro Ohnishi | 112


Evolution of Central Tire Inflation Systems Technologies and Their Impact on Vehicle Efficiency on Soft Soil

Patrik Vervaet ✝, Julien Metzger, Benjamin Fafart, Laurent Gamet, and Bastien Poulet | 115


Session 2-1-C

Control and Estimation - II

Time: 12:00 - 12:20

Chair: TBA

Single and Full Field Strain Measurement on the Inside of an Agricultural Tyre During Drum Tests

Theunis Botha, Megan Pegram, and Schalk Els | 021

(Abstract only)


Anti-lock Braking System Improvement on Rough Terrain by Measuring Unsprung Vertical Acceleration

Wietsche Penny, Theunis Botha, and Schalk Els | 032

(Abstract only)


A Detailed Approach to Autonomous Vehicle Control Through ROS and Pixhawk Controllers

Brian Quinn, Jordan Bates, Alexander Stott, Michael Parker, and Sally Shoop | 069


Forest Terrain Object Detection Based on RGB and Depth Information

Songyu Li and Håkan Lideskog | 075


Mobility Modes and Control of a Passively-Articulated Multi-Segment Wheeled Vehicle

Joshua Elliott, Austin Lines, and Laura Ray | 105


Session 2-1-D

Modelling and Simulation - I

Time: 12:20 - 12:40

Chair: TBA

Validation of Travel Simulation Model for a Crawler Excavator and Influence of Vehicle Posture on Traveling Behavior

Takumi Aoki, Nobutaka Tsujiuchi, Akihito Ito, Hirokazu Kohara, and Hiroaki Ando | 004


Simulation Study for Overturning and Rollover Performance of a Multi-Purpose Agricultural Machine

Seok-Joon Hwang and Ju-Seok Nam | 007


Vehicle Modeling in Unreal Engine 4

Francis Sapienza, Michael Parker, Sally Shoop, and Mark Bodie | 073


A Position-Based Discrete Element Method for Wheel-Soil Modelling

Eric Karpman, Daniel Holz, Jozsef Kovecses, Parna Niksirat, and Krzysztof Skonieczny | 080

(Abstract only)


A Split Tire-Soil Traction Model for Analysis of Tire Characteristic Slippage and Tire Database

Jordan Whitson, Jesse Paldan, Vladimir Vantsevich, David Gorsich, and Michael Letherwood | 082


Session 2-1-E

Modelling and Simulation - II

Time: 12:40 - 13:00

Chair: TBA

DEM Analysis of Contact Forces and Tractive Performance of Rigid Wheel in Granular Media

Bohumir Jelinek, George Mason, John Peters, Farshid Vahedifard, and Jody Priddy | 084


Towards High-Fidelity Analysis on Wheeled Mobile Robot on Soft Terrain using Hardware-in-the-Loop Simulator

Sora Ishikawa and Genya Ishigami | 087


End-to-End Learning for Off-Road, Deformable Terrain Navigation Using the CHRONO Open-Source Simulation Platform

Simone Benatti, Aaron Young, Asher Elmquist, Jay Taves, Alessandro Tasora, Radu Serban, and Dan Negrut | 092


Proprioceptive Sensing of Terrain Forces by Compliant, Four-Wheeled Roving Modules

Adam Gronewold, Joshua Elliott, Christopher Lyke, Austin Lines, Marguerite Généreux, Grace Player, Andrew Skow, Philip Mulford, and Laura Ray | 093


Terrain Classification and Parameter Estimation Techniques: A Review

Hannah White, Jyotirmoy Mukherjee, Andrea L'Afflitto, and Corina Sandu | 108

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