ISTVS Research Grants Program 1st Award Progress Presentation
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Transcript of ISTVS Research Grants Program 1st Award Progress Presentation
Sep, 2016 - 1
Advanced Vehicle
Dynamics Laboratory
A Technical Survey on Equipment
and Techniques for Testing and
Parametrization of Soft Soil for
Vehicular Applications
Virginia Tech: Mr. Rui He, Prof. Corina Sandu
University of Pretoria: Mr. Glenn Guthrie, Prof. Schalk Els
8th American Regional conference of ISTVS, Troy, MI, USA
Sep, 2016 - 2
Advanced Vehicle
Dynamics Laboratory
Context
Work funded by the first ISTVS research grant “Systematic
Testing and Parameterization of Soft Soil for Vehicular
Applications”, co-PIs Corina Sandu, Virginia Tech and
Schalk Els, University of Pretoria
Work Goals
• Task 1: Perform literature survey for equipment and techniques used
to characterize soft soil (year 1: 2015-2016)
• Task 2: Compile a list of resources (equipment, facilities, capabilities,
and expertise available within the community (year 2: 2016-2017)
• Task 3: Build a soil properties database from literature and any other
source available to serve the ISTVS community (year 3: 2017-2018)
• Task 4: Propose additions and changes for the ISTVS standards for
testing and parameterization of soft soil (2018)
Sep, 2016 - 3
Advanced Vehicle
Dynamics Laboratory
Context
Work on-going for Task 1. Currently performing
comprehensive literature survey to find research and soil
data that is already available in the literature.
Data is being systematically collected, analyzed, and the
relevant information fed into tables and databases.
Longer document with research work will be made available
to the ISTVS community; illustrative examples of on-going
work are presented today
Sep, 2016 - 4
Advanced Vehicle
Dynamics Laboratory
Approach and Content for Task 1
Soil properties and testing
• Determine common physical soil properties and corresponding
measurement techniques
• Summarize empirical models to assess vehicle mobility, parameters
required and corresponding measurement techniques
• Theoretical model parameters and corresponding measurement
techniques
Compressive stress and deformation
Shear stress and deformation
For each item:
• Brief description (if available from current ISTVS standards)
• Table containing information gathered from the literature
• References
Sep, 2016 - 5
Advanced Vehicle
Dynamics Laboratory
Definition
• ISTVS 1977 standard [1]
Typical Measuring Instruments
• Bulk density soil sampling kit
• High accuracy scale
Physical Properties Bulk Density
Bulk density soil sampling kit,
AMS
/
: the mass of the sample after
it has been dried to constant weight
: volume of the sample
d s
s
W V
W
V
Unit volume of soil divided
into its components
Sep, 2016 - 6
Advanced Vehicle
Dynamics Laboratory
Physical PropertiesBulk Density Table
Bulk density (Dry density)
If defined in 1977
ISTVS standard Yes/No Yes /d sW V
Experimental
Methodology
Measuring
Instruments Soil Type References
Gamma attenuation
method
Two-probe
density gauge Sandy loam [3]
Gamma attenuation
method
Two-probe
density gauge Sand, loamy sand, sandy loam [4]
Direct measurement Core sampler Sandy loam, sand, Loamy sand [4]
Direct measurement Core sampler Clay loam [6]
Sand replacement
method
Sand pouring
cylinder Sand [5]
Sep, 2016 - 7
Advanced Vehicle
Dynamics Laboratory
Water Content
Definition
• ISTVS 1977 standards [1]
Typical Measurement Methods
• Thermogravimetric measurement (reference method)
Measure the weight of a wet sample before and after oven drying at
105℃ for 24 h.
Provide calibration of other soil water content sensors.
Typical Measuring Instruments
• High accuracy scale
100
: mass of water present in the sample
: mass of sample after it has been dried to constant weight
w
s
w
s
Ww
W
W
W
Sep, 2016 - 8
Advanced Vehicle
Dynamics Laboratory
Water Content
Water Content (Moisture Content)
If defined in 1977 ISTVS
standard Yes/No Yes 100w
s
Ww
W
Experimental
Methodology Measuring Instruments Soil Type References
Thermogravimetric
measurement High accuracy scale All types [7]
Dielectric measurement Dielectric sensor All types [8]
Resistivity measurement Electrode N/A [9]
Neutron scattering
technique Soil moisture neutron probe
Sand, silt loam, silty
clay loam, sandy loam,
clay loam, clay
[10]
Measurement of soil
thermal
properties
Temperature sensors,
heated needle, heat-pulse
sensors
Sandy loam, sand [11]
Acoustic wave methods Transmitter
Sandy clay loam, loam,
silt loam, silt, silty clay,
sandy clay, clay loam,
silty clay loam, clay
[12]
Sep, 2016 - 9
Advanced Vehicle
Dynamics Laboratory
Definition [13]:
Typical Measuring Instruments
• Pycnometer
• Digital weighing scale
Typical Measurement Methods
• Pycnometer method (ASTM, 1958, p.
80; u.S. Dep. Agric., 1954, p. 122)
Specific Gravity
Specific gravity sample and pycnometer
[( ) ( )]
: weight of pycnometer plus soil sample corrected to oven-dry water content
: weight of pycnometer filled with air
: weight of pycnometer filled with soil and water
: weig
s as
s a sw w
s
a
sw
w
W WG
W W W W
W
W
W
W
ht of pycnometer filled with water at temperature observed
Sep, 2016 - 10
Advanced Vehicle
Dynamics Laboratory
Specific Gravity
Specific Gravity
If defined in 1977
ISTVS standard Yes/No No
[( ) ( )]
: weight of pycnometer plus
soil sample corrected to oven-dry
water content
: weight of pycnometer
filled with air
: weight of pycnometer
filled with soil and water
: weig
s as
s a sw w
s
a
sw
w
W WG
W W W W
W
W
W
W
ht of pycnometer
filled with water
at temperature observed
[13]
Experimental
Methodology
Measuring
Instruments Soil Type References
Pycnometer method Pycnometer Clay [5], [14], [15]
Pycnometer method Pycnometer
Pycnometer method Ultra-Pycnometer Loam, clay loam, clay, silty clay,
clay, [16]
Sep, 2016 - 11
Advanced Vehicle
Dynamics Laboratory
Definition [17]
• Based on particle size distribution curve
Typical Measurement Methods
• Sieving
• Pipette
• Hydrometer
Typical Measuring Instruments
• Drying trays, wooden rolling pin, etc.
• Beakers, centrifuges, etc.
• Standard hydrometer, electric stirrer, etc.
Average Grain Size
Schematic diagram of ASTM 152 H-type hydrometer [18]
50 : Diameters of the soil particles that have a percentage finer by weight of 50%D
Sep, 2016 - 12
Advanced Vehicle
Dynamics Laboratory
Average Grain Size
Average Grain Size
If defined in 1977 ISTVS
standard Yes/No No
50 : Diameters of the soil particles that have
a percentage finer by weight of 50% [17]
D
Experimental
Methodology
Measuring
Instruments Soil Type References
Pipette method Beakers, centrifuges,
etc. Clay, sand [18], [19]
Hydrometer method Standard hydrometer,
electric stirrer, etc.
Silty clay, silt clay
loam, sandy clay [18], [20], [21]
Laser-diffraction
techniques
Laser diffraction
particle-size analyzer
Clay, silty clay, silty
clay loam, clay loam,
sandy clay loam, silt
loam
[18], [22]
X-ray attenuation SediGraph Silt loam [18], [23]
Particle counting Electrical sensing zone
(ESZ) instrument
Silt loam, silt clay
loam, clay loam [18], [24]
Sep, 2016 - 13
Advanced Vehicle
Dynamics Laboratory
Definition [1]
• Based on particle size distribution
curve
Typical Measurement Methods
• The same as that for average grain size
Typical Measuring Instruments
• The same as that for average grain size
Coefficient of Uniformity
60
10
60
10
: Diameters of the soil particles that have a percentage finer by weight of 60%
: Diameters of the soil particles that have a percentage finer by weight of 10%
c
DU
D
D
D
A sample particle size distribution curve [17]
Sep, 2016 - 14
Advanced Vehicle
Dynamics Laboratory
Coefficient of Uniformity
Coefficient of Uniformity
If defined in 1977
ISTVS standard
Yes/No
Yes
60
10
60
10
: Diameters of the soil particles that have
a percentage finer by weight of 60%
: Diameters of the soil particles that have
a percentage finer by weight of 10%
c
DU
D
D
D
Experimental
Methodology
Measuring
Instruments Soil Type References
The same as that for
Average Grain Size
The same as that for
Average Grain Size
The same as that for
Average Grain Size
The same as that for
Average Grain Size
Sep, 2016 - 15
Advanced Vehicle
Dynamics Laboratory
Empirical Models
Model
Name
If defined in
1977 ISTVS
standard
Yes/No
Expression/Definition References
Mobility
Index for
tracked
vehicle
No contact pressure factor weight factor
Mobility Index = bogie factor -clearance factortrack factor grouser factor
engine factor transmission factor
[2]
Vehicle
Cone
index of
tracked
vehicle for
one pass
Yes 1
39.2VCI 7.0 0.2MI ( )
MI 5.6
[2]
Vehicle
Cone
index of
tracked
vehicle for
50 pass
Yes 50
125.79VCI 19.27 0.43MI ( )
MI 7.08
[2]
Soil-tire
Numeric No
1/2
3/2
CI 1
1 ( / 2 )
( )
CI
c
s
cs
bdN
W h b d
G bdN
W h
bdN
W
[2]
Sep, 2016 - 16
Advanced Vehicle
Dynamics Laboratory
Empirical Models
Parameter
Name
If defined in 1977
ISTVS standard
Yes/No
Expression/Definition References
Cone index (CI) Yes
Penetration resistance force per
unit base area for static
penetrometer
[1], [2], [26]
Remolding index
(RI): Yes
The ratio of the cone index of
a soil after remolding to that
before remolding
[1]
Rating cone index
(RCI): Yes RCI RI CI [1]
Penetration
resistance
(pressure)
No Penetration resistance force per
unit base area [28]
Penetration
resistance (force) No
The force applied to the
penetrometer by the soil
causing the penetrometer to
decelerate from its initial
velocity to zero velocity for
hammer type dynamic
penetrometer
[26]
Ramm pressure No ( ) /Ramm
Whnp W Q A
z [25]
Typical Testing Methods
• Penetration test
Cone penetrometer
Empirical Parameters
Determined
• Cone Index (CI)
• Remolding Index (RI)
• Rating Cone Index (RCI)
US Army Corps of Engineers Cone
Penetrometer
Sep, 2016 - 17
Advanced Vehicle
Dynamics Laboratory
Empirical Models
Experimental
Methodology
Measuring
Instruments
Parameter
Determined Soil Type References
Penetration
test
Rammsonde
cone
penetrometer
Ramm pressure Snow [25]
Penetration
test
Dynamic
cone
penetrometer
Penetration
resistance (force) Clay loam [26]
Penetration
test
Cone
penetrometer
Penetration
resistance
(pressure)
All types [27]
Penetration
test
Penetrometer
–shearometer
Penetration
resistance
(epressure)
Sandy clay loam [28]
Penetration
test
Cone
penetrometer CI Sandy loam [29]
Penetration
test
Vane-cone
penetrometer CI Snow [30]
Sep, 2016 - 18
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Compressive Stress
Model
Name
If defined in 1977
ISTVS standard
Yes/No
Expression/Definition References
Reece’s
model No ,
n
r r c
zp k k ck k b
b
[31]
Bernstein’s
model No np kz [31]
Bekker’s
model Yes ,n ck
p kz k kb
[1]
N2M model No 0
1 11 expm m
m m m
m
C s s zp z
B B C B
[34]
Wong’s
model for
muskeg
No 24 /m hp kz m z D [35]
Repetitive
loading
model
No ( ), +u u u u o u up p k z z k k A z [35]
Sep, 2016 - 19
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Compressive Stress
Sinkage plate of three shapes and sizes [38]
Tractor-mounted
Bevameter [38]
Typical Testing Methods
• Bevameter test
Selection of plate size or plate shape
is based on the tire and track to be
simulated.
Theoretical Parameters Determined
• Bekker’s pressure-sinkage parameters,
𝑛, 𝑘𝑐 and 𝑘∅
• Reece’s pressure-sinkage parameters,
𝑛, 𝑘′𝑐 and 𝑘′∅
• Unloading or reloading function
parameters, 𝑘𝑜 and 𝐴𝑢
Sep, 2016 - 20
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Compressive Stress
Experimental
Methodology
Measuring
Instruments
Parameter
Determined Soil Type References
Sinkage test
Penetration-shear
device, combined
[1], sinkage plates
Parameters of
Reece’s model, n ,
rk ; parameters of
Bernstein’s model,
n , k
Loam [31]
Penetration
test
Rammsonde cone,
bevameter, Rammsonde cone
on bevameter
Parameters of
Bekker’s model,
n , k , k , ck
Snow [25]
Sinkage test PNFI Bcvameter N/A N/A [32]
Sinkage test Portable soil plate
penetrometer N/A Loam [33]
Sinkage test
Grenoble Sinkage
equipment with
circular plate
powered by
hydraulic ram
Parameters of
N2M model, m ,
mC , ms , and 0s
Silty sand, sand, silt [34]
Sep, 2016 - 21
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Compressive Stress
Experimental
Methodology
Measuring
Instruments
Parameter
Determined Soil Type References
Sinkage test
Vehicle-mounted
bevameter,
portable automatic
data-processing
system
Parameters of Wong’s model for
muskeg, k and
mm ; Parameters
of repetitive
loading model,
uk , ok and uA
Muskeg [35]
Sinkage test Bevameter
Parameters of
Bekker’s model,
n , k , ck
Sand, silt [36]
Sinkage test Tractor-mounted
bevameter
Parameters of
Bekker’s model,
n , k , ck
Loam [38]
Sep, 2016 - 22
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Shear Stress
Shear Stress and Deformation Models
• Mohr-coulomb criterion
• Shear stress-shear displacement relationship
Typical Testing Methods
• Direct shear test
• Tri-axial compression test
• Unconfined compression test
• Vane shear test
• Bevameter test
Sep, 2016 - 23
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Shear Stress
Shear Model
Name
If defined
in 1977
ISTVS
standard
Yes/No
Expression/Definition Soil type References
Mohr-Coulomb
Criterion Yes tanc
All types
assuming soil
as plastic
medium
[1]
Janosi-Hanomoto
model for shear
stress-shear
displacement
profile without a
hump
No /( tan )(1 e )j Kc
Loose sand,
saturated clay,
dry fresh snow,
and most of
the disturbed
soils.
[2]
Wong’s model for
shear stress-shear
displacement
profile with a
hump
No
(1 / )( tan )( / )e wj K
wc j K
Organic terrain
(muskeg) with
a mat of living
vegetation on
the surface and
saturated peat
beneath
[2]
Wong’s model for
shear stress-shear
displacement
profile with a
hump
No
(1 / ) ( / )
( tan ) [1 1/ ( (1 1/ )) 1
e ] 1 ew w
r r
j K j K
c K K e
Compact sand,
silt and loam,
and frozen
snow
[2]
Sep, 2016 - 24
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Shear Stress
Direct Shear Test
• In-situ & laboratory test
• Shearing speed between
0.05~2mm/min
• Small shearing speed and shear
displacement in comparison to
that with vehicles
Parameters Determined
• Cohesion, 𝑐
• Angle of friction, 𝜑
• Shear deformation modulus, 𝐾
Schematic of a direct shear box apparatus [56]
Sep, 2016 - 25
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Shear Stress
Tri-axial Compression Test
• Laboratory test
• Three test regimes: consolidated
undrained (CU), consolidated
drained (CD), and unconsolidated
undrained (UU)
• Not applicable to soft cohesive soil
that will fail under its own weight
Parameters Determined
• Cohesion, 𝑐
• Angle of soil friction, 𝜑
Schematic of triaxial compression test
apparatus. [57]
Theoretical Models - Shear Stress
Sep, 2016 - 26
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Shear Stress
Unconfined Compression Test
• Laboratory test
• Undrained test
• A special case of the tri-axial compression test,
with later or confining pressure being zero
• Aimed at fully saturated soil with zero angle of
soil friction, e.g. Clay soil
Parameters Determined
• Cohesion, 𝑐
Unconfined compression load frame /
test system, Geocomp
Sep, 2016 - 27
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Shear Stress
Vane Shear Test
• In-situ & laboratory test
• Aimed at undrained, saturated
clay.
• Not suitable for the cases where
the shear strengths in the
horizontal and vertical directions
are hugely different.
Parameters Determined
• Cohesion, 𝑐 Schematic of a shear vane. [17]
Sep, 2016 - 28
Advanced Vehicle
Dynamics Laboratory
Test and Parameters Determined
Bevameter Test
• In-situ test
• Torsional/translational shear
test
• Selection of the size of shear
annulus, grouser number and
grouser height depends on
the size and grouser feature
of the track to be simulated
Parameters Determined Schematic of a bevameter [37]
𝑐 𝜑 𝐾 𝐾𝑤 𝐾𝑟
Cohesion Angle of soil
friction
Shear
deformation
modulus
The shear
displacement where
the peak shear stress
occurs
The ratio of the
residual stress
to the peak
shear stress
Sep, 2016 - 29
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Shear Stress
Experimental
Methodology
Measuring
Instruments
Parameter
Determined Soil Type References
Direct shear test Modified direct shear
box Friction angle, Sand [39], [40]
Direct shear test Modified direct shear
apparatus
Cohesion, c , and
friction angle, Clay loam [6], [41], [44]
Direct shear test Direct shear testing
machine
Shear deformation
modulus, K Loam [42]
Direct shear test Direct shear box
Cohesion, c ,
friction angle, ,
and shear
deformation
modulus, K
Mojave Martian
Simulant
(MMS)
[43]
Triaxial test Triaxial test
apparatus. Friction angle, Sand [45], [47]
Triaxial test Triaxial test
apparatus.
Cohesion, c , and
friction angle, Clay [45], [46], [47]
Unconfined
compression
test
Unconfined
compression test
apparatus.
Cohesion, c Clay [49], [50], [51]
Sep, 2016 - 30
Advanced Vehicle
Dynamics Laboratory
Theoretical Models - Shear Stress
Experimental
Methodology
Measuring
Instruments
Parameter
Determined Soil Type References
Vane shear test Miniature vane shear Cohesion, c Clay [52]
Vane shear test Shear vane Cohesion, c
Sandy clay,
loam, clay,
sandy loam
[53]
Vane shear test Shear vane Cohesion, c Clay loam, clay,
silt clay loam [54]
Torsional shear
test Bevameter
Cohesion, c ,
friction angle, ,
and shear
deformation
modulus, K
Loam [55]
Torsional
shear test Bevameter, grouser
Cohesion, c , and
friction angle, Sand, silt [36]
Translational
shear test
Penetration-shear
device, combined [1],
grouser plates
Cohesion, c ,
friction angle, ,
and shear
deformation
modulus, K
Loam [31]
Sep, 2016 - 31
Advanced Vehicle
Dynamics Laboratory
Closing Remarks
Thanks to ISTVS for providing the opportunity to conduct this joint
research
The study is still in the early stages and the process of gathering
information is ongoing
We are soliciting input from the community regarding test equipment
and soil data
Future Work Task 2. Compile a list of resources (equipment, facilities,
capabilities, and expertise available within the community)
Prepare a full report/conference/journal review paper with findings
Sep, 2016 - 32
Advanced Vehicle
Dynamics Laboratory
References
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Sep, 2016 - 33
Advanced Vehicle
Dynamics Laboratory
References
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Sep, 2016 - 34
Advanced Vehicle
Dynamics Laboratory
References
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properties." Biosystems engineering 90.4 (2005): 381-396.
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33. Dawidowski, J. B., J. E. Morrison Jr, and M. Snieg. "Measurement of soil layer strength with plate sinkage and uniaxial
confined methods." Transactions of the ASAE 44.5 (2001): 1059.
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