Program

13:30	Masatsugu Otsuki, Shingo Ozaki, Genya Ishigami, Takao Maeda, Masataku Sutoh and Taizo Kobayashi Introduction of Hourglass mission to investigate characteristics of granular materials in low gravity environment (abstract) PRESENTER: Masatsugu Otsuki
13:45	Genya Ishigami, Shingo Ozaki, Masatsugu Otsuki, Hideaki Miyamoto, Koji Wada, Masataku Sutoh, Takao Maeda and Taizo Kobayashi Granular Flow in Reduced Gravity: Analysis and Insights from Centrifuge Experiments at the International Space Station (abstract) PRESENTER: Genya Ishigami
14:00	Takuya Omura and Genya Ishigami Granular Scaling Laws for Accurate Prediction of Wheel Mobility on Slopes in Low-gravity Environments (abstract) PRESENTER: Takuya Omura
14:15	Tomomi Tanaka, Keisuke Takehana, James Hurrell, Kentaro Uno and Kazuya Yoshida Evaluation of the Multi-Pass Effect of an Exploration Rover by Single Wheel Testing Assuming Lunar Gravity and Soil (abstract) PRESENTER: Tomomi Tanaka
14:30	Junnosuke Kamohara, Vinicius Ares, James Hurrell, Keisuke Takehana, Antoine Richard, Shreya Santra, Kentaro Uno, Eric Rohmer and Kazuya Yoshida Modeling of Terrain Deformation by a Grouser Wheel for Lunar Rover Simulator (abstract) PRESENTER: Junnosuke Kamohara
14:45	Keisuke Takehana, Kenta Sawa, Kentaro Uno, Shreya Santra and Kazuya Yoshida Evaluation of Grouser Wheel Traction Performance at High-Speed by Single-Wheel Test (abstract) PRESENTER: Keisuke Takehana

13:30-15:00 Session 1B: Machine-terrain Interaction and Vehicle Engines (TuP1-Rm2)

Chair:

Peter Prof. Kiss

Location: Room 2

13:30	Toyohiro Katou, Yuta Hirayama, Yasumaru Hirai, Muneshi Mitsuoka, Koki Nakatani, Kenji Kaida, Mutsumi Hidekawa and Takashi Okayasu Measurement and visualization of soil cutting and throwing behavior by a rotary tillage blade (abstract) PRESENTER: Toyohiro Katou
13:45	Naoki Morisawa, Masaya Imanishi, Masaki Yanagishita, Teiichirou Chiba, Hiroshi Yamamoto, Takeshi Hashimoto and Daisuke Endo Study on Classification of Excavated Soil Using Internal Sensor Data of Hydraulic Excavator (abstract) PRESENTER: Naoki Morisawa
14:00	Takatomo Fujii, Takashi Kurosu, Osamu Oikawa, Takashi Okayasu, Toyohiro Katou, Yuta Hirayama and Yukinori Tsukimoto Experimental verification of particle behavior during crushing and mixing of deteriorated asphalt pavement layers by stabilizer (abstract) PRESENTER: Takatomo Fujii
14:15	Dániel Szőllősi and Peter Prof. Kiss The combination of exhaust gas recirculation and water injection in a modern diesel engine (abstract) PRESENTER: Dániel Szőllősi
14:30	Dawid Tatarynow, Rafał Longwic, Jarosław Pytka, Michał Kuszneruk and Przemysław Sander Ecological performance in the WLTC test of a diesel-hydrogen dual-fuel CI engine (abstract) PRESENTER: Dawid Tatarynow
14:45	Michał Kuszneruk, Rafał Longwic, Jarosław Pytka, Dawid Tatarynow and Sławomir Tarkowski Comparison of the energy performance of a diesel engine fueled by alternative fuels along with the addition of hydrogen (abstract) PRESENTER: Michał Kuszneruk

15:00-15:30Poster & Coffee Break

Poster Presentations

0178 Takeshi Fukumoto, Ken Yamamoto, Makoto Katsura and Hiroaki Katsuragi. Model to estimate the force exerted on the sphere rolling on the sandy road
1649 Ohta Kuramoto, Jorge Ruben Casir Ricano and Kenji Nagaoka. Dynamic mode decomposition for PIV-based sand flow field beneath traveling wheel
3352 Z Lei. SPH modelling to understand wheel locomotion in uneven terrain
3456 Diana Jimenez, Siamak Arbatani, Jozsef Kövecses and Marek Teichman. Tire-Soil Interactions for Large Deformation Problems
4046 Zhicheng Jia, Jingfu Jin, Xinju Dong, Yingchun Qi, Meng Zou and Lianbin He. Study on Mobility and Strategy of Mars Rover with Faulty-Driven Wheel
4142 Koichiro Fukami, Naoki Matsuo, Keiko Nakano and Kimiyasu Takahashi. Root system analysis after a vibrating roller compaction in dry direct seeding of rice field
4375 Tomoya Nishiyama, Tatsuki Honjo, Yugo Hosizawa, Ryota Hayashi, Koji Yoshida and Tetsuya Kinugasa. Development of a Multi-Legged Robot Capable of Ground Stiffness Detection
6086 Mai Shimizu and Shingo Ozaki. Traveling analysis of wheel for lunar exploration rover based on extended terramechanics model: Examination of similarity law of gravity
6422 Arthur Candalot, James Hurrell, Manel Malik Hashim, Brigid Hickey, Mickael Laine and Kazuya Yoshida. Sinkage Study in Granular Material for Space Exploration Legged Robot Gripper
9028 Vladyslav Fediukov, Felix Dietrich, Fabian Buse and Jana Huhne. Uncertainty quantification for wheeled locomotion machine learning predictions on soft soil

15:30-17:00 Session 2A: Extraterrestrial Terramechanics 2 (TuP2-Rm1)

Chair:

Taizo Kobayashi

Location: Room 1

15:30	Kei Tsuchiya, Kon Seiji, Masahiro Katayama, Tomoya Arai and Shingo Ozaki Development of Evaluation Technology for Tire Traveling Performance on Soft Soil of Lunar Surface (abstract) PRESENTER: Kei Tsuchiya
15:45	Yujin Lim and Viet D. Le An Image Analysis Method for obtaining Wheel Performance of Rover using Wheel Tread Traces Remained on Lunar Simulant Soil (abstract) PRESENTER: Yujin Lim
16:00	Tomoyasu Nakano, Takuya Omura and Genya Ishigami DEM-Based Analysis and Optimization of an Excavation Bucket Drum for In-Situ Resource Utilization (abstract) PRESENTER: Tomoyasu Nakano
16:15	Luning Bakke, Zhenhao Zhou, Alexandra Kissel, Ruochun Zhang and Dan Negrut Using simulation to characterize RASSOR excavation in lunar environments (abstract) PRESENTER: Luning Bakke
16:30	Karlis Slumba, Brendan Scott, Mark Jaksa and Samuel Ximenes Hammering Energy Requirements for Surveying Lunar Surface with Dynamic Cone Penetrometers and Seismic Methods. (abstract) PRESENTER: Karlis Slumba
16:45	Taizo Kobayashi, Atsushi Kakogawa, Shinichi Ito, Masafumi Nakagawa, Takeshi Tsuji, Shingo Ozaki, Satoshi Matsumura, Akihiko Kondo, Masanori Takigawa, Keitaro Kitamura, Takahito Hiramatsu, Hisatoshi Sano, Takeshi Yoneoka, Junichiro Odaka, Kenji Hosobori, Taichi Ikenaga and Ryu Taniguchi Development of an Unmanned Exploration Robot for Lunar Surface Geotechnical Investigation (abstract) PRESENTER: Taizo Kobayashi

15:30-17:00 Session 2B: Driving Systems (TuP2-Rm2)

Chair:

Paweł Tomiło

Location: Room 2

15:30	Clifford Witte and Michael Parker Cold-weather Performance Analysis on the US Army’s Polaris Alpha Side-by-Side (abstract) PRESENTER: Clifford Witte
15:45	Masahisa Watanabe, Keisuke Kazama and Kenshi Sakai Dynamical Modeling of the Power Hop Phenomenon in an Agricultural Tractor with Front Axle Suspension (abstract) PRESENTER: Masahisa Watanabe
16:00	Massimo Martelli, Pietro Marani, Silvia Gessi and Damiano Chiarabelli Enhanced open-loop control of automatic gear shifting in hydromechanical CVT for agricultural tractors (abstract) PRESENTER: Massimo Martelli
16:15	Noriaki Mizukami, Masanori Aragane and Mami Nishida Development of Foot in Balloon Biped Robot using Buoyancy Force for Traveling Soft Ground (abstract) PRESENTER: Noriaki Mizukami
16:30	Jorge Lopera, Fernando Casanova, Adolfo Leon Gomez Perlaza and Carlos Daniel Muñoz Delgado ENERGY METHOD TO COMPARE PERFORMANCE OF NEW TYPES OF SUGAR CANE TRANSPORT EQUIPMENT (abstract) PRESENTER: Jorge Lopera
16:45	Jorge Lopera APPLICATION OF A ROCKIE BOGIE SUSPENSION FOR A NEW TYPE OF SUGAR CANE TRANSPORT SYSTEM (abstract)

17:00-18:00Break

18:00-20:00Banquet (Hall A)

Wednesday, October 30th

View this program: with abstracts session overview talk overview

09:00-10:15 Session 3A: Extraterrestrial Terramechanics 3 (WeA1-Rm1)

Chair:

Kojiro Iizuka

Location: Room 1

09:00	Daisuke Fujiwara and Kojiro Iizuka PROPOSING TURNING MOTION OF THE SMALL AND LIGHTWEIGHT PUSH-ROLLING ROVER WITH MIMIMAL CONFIGURATION (abstract) PRESENTER: Daisuke Fujiwara
09:15	Tomohiro Watanabe and Kojiro Iizuka Experimental Investigation of Increased Bearing Capacity When Imparting Vibration to Loose Ground in Low Atmospheric Pressure (abstract) PRESENTER: Tomohiro Watanabe
09:30	Tsukasa Mochizuki, Daisuke Fujiwara, Kojiro Iizuka, Takaaki Sakata and Tatsuhiko Suga Suppress Slip While Crossing Loose Slopes Using Reverse Rotation Behavior of Rovers With Function of Independent Contraction/Expansion Mechanism (abstract) PRESENTER: Tsukasa Mochizuki
09:45	Chaitanya Sonalkar, Adwait Verulkar and Corina Sandu Model-based online optimal control for vehicles in reduced gravity. (abstract) PRESENTER: Chaitanya Sonalkar
10:00	Paweł Tomiło Proposal of Hybrid Locomotion Lunar Rover with Crawling Mechanism (abstract)

09:00-10:15 Session 3B: Autonomous Robotic Systems (WeA1-Rm2)

Chair:

Massimo Martelli

Location: Room 2

09:00	Ryosuke Eto, Hayatake Sato and Junya Yamakawa Step-Climbing Motion Acquisition of Tracked Robot with Flippers without Using Environment Information by Reinforcement Learning (abstract) PRESENTER: Ryosuke Eto
09:15	Andries J. Peenze, A. Glenn Guthrie and P. Schalk Els Real-time implementation of non-linear controllers and predictors for off-road vehicle dynamics on embedded systems (abstract) PRESENTER: Andries J. Peenze
09:30	Mattias Lehto, Håkan Lideskog and Magnus Karlberg Log detection for autonomous forwarding using auto-annotated data from a real-time virtual environment (abstract) PRESENTER: Mattias Lehto
09:45	Herman Hamersma, Christian van Aswegen, Glenn Guthrie and Schalk Els UAV-Based Three-Dimensional Rough Terrain Modelling (abstract) PRESENTER: Schalk Els
10:00	Charles Noren, Burhanuddin Shirose, Bhaskar Vundurthy, Sebastian Scherer and Matthew Travers An interaction-aware two-level robotic planning and control system for vegetation override (abstract) PRESENTER: Charles Noren

10:15-10:45Coffee Break

10:45-12:00 Session 4A: DEM-FEM Simulation (WeA2-Rm1)

Chair:

Shinichiro Miyai

Location: Room 1

10:45	Markus Pogulis and Martin Servin Adaptive particle refinement in terramechanical DEM simulation (abstract) PRESENTER: Markus Pogulis
11:00	Dr. Ayush Nuwal, Ajay Kumar and Professor John Economou Evaluation of off-road uninhabited ground vehicle mobility using discrete element method and scalability investigation (abstract) PRESENTER: Dr. Ayush Nuwal
11:15	Hiroki Yanagawa and Genya Ishigami DEM-SPH analysis for interaction mechanics of tracked vehicle on wet sand (abstract) PRESENTER: Hiroki Yanagawa
11:30	Zhenwen Zhou, Xiang Lei, Dehai Guan, Yan Zhang, Gabriel Lodewijks and Guangming Chen Traversing Abilities Simulation of A Biomimetic Robot on Granular Soil Terrain (abstract) PRESENTER: Guangming Chen
11:45	Eric Karpman, Jozsef Kovecses and Marek Teichmann Practical Applications of Hybrid Terramechanics Model Using Machine Learning (abstract) PRESENTER: Eric Karpman

10:45-12:00 Session 4B: Wheel/Tire-terrain Interaction 1 (WeA2-Rm2)

Chair:

Schalk Els

Location: Room 2

10:45	Alexandru Vilsan, Nikhil Ravichandran, Chaitanya Sonalkar and Corina Sandu Soil instrumentation for measuring normal stress distribution under off-road tire (abstract) PRESENTER: Alexandru Vilsan
11:00	Kenji Nagaoka and Seigo Sakai Spatio-Temporal Analysis of Sand-Density Distribution Beneath Traveling Wheel Based on Particle Image Velocimetry (abstract) PRESENTER: Kenji Nagaoka
11:15	Kenji Nagaoka and Yuto Yoshida A Novel Soil Stress Estimation Method of Wheel-Soil Interaction Using Photoelasticity (abstract) PRESENTER: Kenji Nagaoka
11:30	Carl Becker and Schalk Els LATERAL TYRE CHARACTERIZATION: ROLLING TYRE VS STATIC TYRE TESTING (abstract) PRESENTER: Carl Becker
11:45	Thomas Bernd Kabutz and Schalk Els A novel measurement method to aid development of soft soil tyre-terrain interaction models (abstract) PRESENTER: Thomas Bernd Kabutz

12:00-13:00Lunch Break

(Bento box will be served)

13:00-13:30Poster presentation & Coffee Break

Poster program:

0178 Takeshi Fukumoto, Ken Yamamoto, Makoto Katsura and Hiroaki Katsuragi. Model to estimate the force exerted on the sphere rolling on the sandy road
1649 Ohta Kuramoto, Jorge Ruben Casir Ricano and Kenji Nagaoka. Dynamic mode decomposition for PIV-based sand flow field beneath traveling wheel
3352 Z Lei. SPH modelling to understand wheel locomotion in uneven terrain
3456 Diana Jimenez, Siamak Arbatani, Jozsef Kövecses and Marek Teichman. Tire-Soil Interactions for Large Deformation Problems
4046 Zhicheng Jia, Jingfu Jin, Xinju Dong, Yingchun Qi, Meng Zou and Lianbin He. Study on Mobility and Strategy of Mars Rover with Faulty-Driven Wheel
4142 Koichiro Fukami, Naoki Matsuo, Keiko Nakano and Kimiyasu Takahashi. Root system analysis after a vibrating roller compaction in dry direct seeding of rice field
4375 Tomoya Nishiyama, Tatsuki Honjo, Yugo Hosizawa, Ryota Hayashi, Koji Yoshida and Tetsuya Kinugasa. Development of a Multi-Legged Robot Capable of Ground Stiffness Detection
6086 Mai Shimizu and Shingo Ozaki. Traveling analysis of wheel for lunar exploration rover based on extended terramechanics model: Examination of similarity law of gravity
6422 Arthur Candalot, James Hurrell, Manel Malik Hashim, Brigid Hickey, Mickael Laine and Kazuya Yoshida. Sinkage Study in Granular Material for Space Exploration Legged Robot Gripper
9028 Vladyslav Fediukov, Felix Dietrich, Fabian Buse and Jana Huhne. Uncertainty quantification for wheeled locomotion machine learning predictions on soft soil

13:30-15:00 Session 5A: Mobility ＆ Trafficability Characterization 1 (WeP1-Rm1)

Chair:

Lutz Richter

Location: Room 1

13:30	Michael Parker, Clifford Witte and Susan Frankenstein Mobility During the Transition Seasons in the Arctic (abstract) PRESENTER: Clifford Witte
13:45	György Pillinger, Ahmed Elawad Eltayeb Ahmed and Peter Kiss Spectral determination of soil moisture content based on the dry colour of the soil (abstract) PRESENTER: György Pillinger
14:00	Kersti Vennik, Priit Põdersalu, Tamur Kusnets and Tõnu Tõnutare Trafficability conditions for military wheeled trucks on cultivated fields (abstract) PRESENTER: Kersti Vennik
14:15	John Rushing, Brad Hansen and Michael Parker IMPROVED TRAFFICABILITY OVER SOFT SOILS USING GROUND MATTING (abstract) PRESENTER: John Rushing
14:30	Marian Rybansky, Filip Dohnal, Martin Hubacek, Jaromir Capek and Vladimir Kovarik The impact of changes in the river regime on the mobility of off-road vehicles (abstract) PRESENTER: Marian Rybansky
14:45	John Rushing, Lulu Edwards, Haley Bell and Margarita Ordaz RAPID ASSESSMENT TOOLS FOR ESTIMATING TRAFFICABILITY ON LOW-VOLUME ROADS (abstract) PRESENTER: John Rushing

13:30-15:00 Session 5B: Wheel/Tire-terrain Interaction 2 (WeP1-Rm2)

Chair:

Corina Sandu

Location: Room 2

13:30	Jasleen Kaur Bheora, Varsha S Swamy, Mason Destiny, Alba Yerro, Corina Sandu, Katherine Sebeck and David Gorsich The role of tire-soil interface characteristics on performance parameters through experimental and numerical investigation (abstract) PRESENTER: Jasleen Kaur Bheora
13:45	Destiny Mason, Varsha S Swamy, Corina Sandu, Alba Yerro, David Gorsich and Katie Sebeck Assessing sensitivities of off-road pneumatic tire on clay: A finite element investigation on tire operational and design parameters (abstract) PRESENTER: Destiny Mason
14:00	Takahiro Fuke, Sora Ishikawa and Genya Ishigami Accurate Rover Mobility Analysis Using HILS-DRFT with Real-Time Parameter Tuning Approach (abstract) PRESENTER: Takahiro Fuke
14:15	Mahdi Maleki and Jozsef Kovecses Efficient Tire-Terrain Interaction Modelling: Effect of Flexibility on Traction (abstract) PRESENTER: Mahdi Maleki
14:30	Shingo Ozaki, Tomoya Arai and Mai Shimizu Extended terramechanics model considering ground surface deformation and its application to wheel traveling analysis (abstract) PRESENTER: Shingo Ozaki
14:45	Tomoya Arai, Kei Tsuchiya, Seiji Kon, Masahiro Katayama and Shingo Ozaki Study on applicability of extended terramechanics model to various traveling modes of wheels (abstract) PRESENTER: Tomoya Arai

15:00-15:30Coffee Break

15:30-16:45 Session 6A: Mobility ＆ Trafficability Characterization 2 (WeP2-Rm1)

Chair:

Genya Ishigami

Location: Room 1

15:30	Mohit Shenvi, Corina Sandu and Costin Untaroiu IMPROVEMENT OF FORMULATIONS OF CLEGG IMPACT HAMMER AND RAMMSONDE PENETROMETER FOR USE IN COMPACTED SNOW (abstract) PRESENTER: Corina Sandu
15:45	Naoki Iikawa and Hiroaki Katsuragi Tip angle dependence for resistive force into dry granular materials at shallow cone penetration (abstract) PRESENTER: Naoki Iikawa
16:00	Klara Cibulova and Martin Priesner Proposal of a New Manual for Telescopic Penetrometer (abstract) PRESENTER: Klara Cibulova
16:15	Jarosław Pytka, Anna Zalewska Tytłak, Paweł Tomiło, Michal Kuszneruk and Dawid Tatarynow Year-round measurements of the soil cone index on grass airfields for ground performance of airplane (abstract) PRESENTER: Paweł Tomiło

15:30-16:45 Session 6B: Modeling of Off-road Vehicles (WeP2-Rm2)

Chair:

Dror Rubinstein

Location: Room 2

15:30	Eric Karpman, Wing Hang Ho, Jozsef Kovecses and Marek Teichmann Semi-Empirical Terramechanics Model for Variable Terrain Height in 3D (abstract) PRESENTER: Eric Karpman
15:45	Yang Jiao, Jozsef Kovecses and Marek Teichmann Evaluation of the dynamic sinkage and its effect on the compaction force prediction of off-road vehicles (abstract) PRESENTER: Yang Jiao
16:00	Micah M. Borrero and Orian Welling Modeling the Resistive Forces on Vehicles in Deep Snow (abstract) PRESENTER: Micah M. Borrero
16:15	Oz Ben-Yosef and Dror Rubinstein An Efficient and High-Fidelity Track Model for Dynamic Simulation of Off-Road Tracked Vehicles (abstract) PRESENTER: Dror Rubinstein
16:30	Dávid Körmöczi and Peter Prof. Kiss Photogrammetry based mobility mapping for small scale model vehicle (abstract) PRESENTER: Dávid Körmöczi

16:45-17:00Break

17:00-17:30 Closing ceremony

Chair:

Junya Yamakawa

Location: Room 1

Thursday, October 31st

View this program: with abstracts session overview talk overview

08:00-18:00 Technical Tour