> For the complete documentation index, see [llms.txt](https://2021.istvs.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://2021.istvs.org/program.md).

# Program

### Session 2-1-A

### Design - I

**Time: 11:20 - 11:40**

**Chair: TBA**

<br>

#### 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**

<br>

***

### Session 2-1-B

### Design - II

**Time: 11:40 - 12:00**

**Chair: TBA**

<br>

#### 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**

<br>

***

### Session 2-1-C

### Control and Estimation - II

**Time: 12:00 - 12:20**

**Chair: TBA**

<br>

#### 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**

<br>

***

### Session 2-1-D

### Modelling and Simulation - I

**Time: 12:20 - 12:40**

**Chair: TBA**

<br>

#### 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**

<br>

***

### Session 2-1-E

### Modelling and Simulation - II

**Time: 12:40 - 13:00**

**Chair: TBA**

<br>

#### 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**