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Dynamic mode decomposition for PIV-based sand flow field beneath traveling wheel
http://hdl.handle.net/10228/0002001351
http://hdl.handle.net/10228/000200135126017edb-52d3-425a-9b93-95a48c90d9dd
| 名前 / ファイル | ライセンス | アクション |
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10443096.pdf (953 KB)
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| アイテムタイプ | 共通アイテムタイプ(1) | |||||||||||||
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| 公開日 | 2025-02-18 | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | Dynamic mode decomposition for PIV-based sand flow field beneath traveling wheel | |||||||||||||
| 言語 | en | |||||||||||||
| 著者 |
Kuramoto, Ohta
× Kuramoto, Ohta
× Casir Ricano, Jorge Ruben
× 永岡, 健司
WEKO
30315
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| 著作権関連情報 | ||||||||||||||
| 権利情報 | Copyright (c) 2024 International Society for Terrain-Vehicle Systems. All rights reserved. | |||||||||||||
| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | Grouser wheels are effective for robotic mobility in soft, loose terrain. So far, particle image velocimetry (PIV) has been widely used to observe sand flow beneath a traveling wheel. Although the PIV-based spatial velocity field at a moment in time has been discussed, but few studies have discussed its time evolution, or spatio-temporal dynamics. This could be due to the fact that the sand flow vector field is complex high-dimensional dynamics and a mixture of spatial and temporal information. Thus, we apply dynamic mode decomposition (DMD) to the sand flow data obtained by the PIV method to reduce its dimension and decompose it into major modes. A mode is a characteristic pattern or correlation. The DMD can extract temporal and spatial information separately, allowing the dynamics to be analyzed by the major modes. We first conducted PIV experiments using the traveling wheel on sand at high-slip (slip ratio is approximately 70%) and low-slip (slip ratio is approximately 20%) conditions. Then, the DMD was applied to decompose the PIV-based sand velocity data into major modes. As a result, the obtained modes were mainly divided into two dynamics, one representing the inter-grouser sand flow trapped in the grouser motion and the other representing soil compaction and failure, affecting deeper soil. It was found that the low-slip condition included both modes, whereas the high-slip one did only inter-grouser sand flow. The DMD analysis confirmed that two major modes can explain wheel-soil interaction. | |||||||||||||
| 言語 | en | |||||||||||||
| 備考 | ||||||||||||||
| 内容記述タイプ | Other | |||||||||||||
| 内容記述 | 21st International and 12th Asia-Pacific Regional Conference of the ISTVS, ISTVS2024, October 28–31, 2024, Yokohama, Japan | |||||||||||||
| 言語 | en | |||||||||||||
| 書誌情報 |
p. 1649, 発行日 2024-10-28 |
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| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Dynamic mode decomposition | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | PIV | |||||||||||||
| キーワード | ||||||||||||||
| 主題Scheme | Other | |||||||||||||
| 主題 | Wheel-soil interaction | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 資源タイプ | ||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||||
| 資源タイプ | conference paper | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | AM | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||||
| DOI | ||||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | https://doi.org/10.56884/I7J6SFB3 | |||||||||||||
| ISBN | ||||||||||||||
| 識別子タイプ | ISBN | |||||||||||||
| 関連識別子 | 978-1-942112-57-0 | |||||||||||||
| 会議記述 | ||||||||||||||
| 会議名 | 21st International and 12th Asia-Pacific Regional Conference of the ISTVS, ISTVS2024 | |||||||||||||
| 回次 | 21 | |||||||||||||
| 開始年 | 2024 | |||||||||||||
| 開始月 | 10 | |||||||||||||
| 開始日 | 28 | |||||||||||||
| 終了年 | 2024 | |||||||||||||
| 終了月 | 10 | |||||||||||||
| 終了日 | 31 | |||||||||||||
| 開催国 | JPN | |||||||||||||
| 研究者情報 | ||||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100001220_ja.html | |||||||||||||
| 論文ID（連携） | ||||||||||||||
| 値 | 10443096 | |||||||||||||
| 連携ID | ||||||||||||||
| 値 | 12457 | |||||||||||||
