Mechanical Engineering

Three-dimensionsal granular flow continuum modeling via material point method with hyperelastic nonlocal granular fluidity
The accurate and efficient modeling of granular flows and their interactions with external bodies is an open research problem. …
Amin Haeri, Krzysztof Skonieczny
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Comparison of wheel load application methods in single-wheel testbeds
This work reviews wheel load application methods in single-wheel testbeds (SWTBs), used widely to study terramechanics. Normal force …
Adriana Daca, Amir Ali Forough Nassiraei, Dominique Tremblay, Krzysztof Skonieczny
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Experimental evaluation of cone index gradient as a metric for the prediction of wheel performance in reduced gravity
Traversing granular regolith in reduced gravity remains a challenge for wheeled rovers. Earth-based testing cannot fully predict rover …
Adriana Daca, Dominique Tremblay, Krzysztof Skonieczny
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Discrete element modelling for wheel-soil interaction and the analysis of the effect of gravity
The discrete element method (DEM) is widely seen as one of the more accurate, albeit more computationally demanding approaches for …
Eric Karpman, Jozsef K{\"o}vecses, Daniel Holz, Krzysztof Skonieczny
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Grousers improve drawbar pull by reducing resistance and generating thrust at the front of a wheel
Grousers are commonly used to increase wheel traction, though how grousers exactly influence wheel thrust and resistance, and thus …
Amir Ali Forough Nassiraei, Krzysztof Skonieczny
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Considering slip-track for energy-efficient paths of skid-steer rovers
Skid-steer rovers consume a lot more power in point turns compared to straight line motion. As energy is the integral of power over …
Meysam Effati, Jean-Sebastien Fiset, Krzysztof Skonieczny
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Parametric study and design guidelines for rigid wheels for planetary rovers
This paper addresses the design of rigid wheels for planetary rovers in loose, granular soil. Wheel surface features, such as grousers, …
Hiroaki Inotsume, Scott Moreland, Krzysztof Skonieczny, David Wettergreen
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Rapid automated soil preparation for testing planetary rover-soil interactions aboard reduced-gravity aircraft
Mitigating potential hazards for planetary rovers posed by soft soils requires testing in representative environments such as with …
Krzysztof Skonieczny, Parna Niksirat, Amir Ali Forough Nassiraei
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Measurement and modeling for two-dimensional normal stress distribution of wheel on loose soil
On the Moon or Mars, typical target environments for exploration rovers are covered with fine sand, so their wheels easily slip on such …
Shoya Higa, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida
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Push-pull locomotion for vehicle extrication
For applications in which unmanned vehicles must traverse unfamiliar terrain, there often exists the risk of vehicle entrapment. …
Colin Creager, Kyle Johnson, Mark Plant, Scott Moreland, Krzysztof Skonieczny
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