SUMMARYThe current contribution presents a new sinkage sensor specified for an unmanned ground vehicle to find the exact sinkage zone of a wheel interacting with the soil particles. This sensor will be wrapped around the wheel, and consequently, contact analog outputs will be used in soil deposition and bulldozing effect prediction. Furthermore, the new sensor will be used for a novel soil flow calculation estimating the total mass variation of the control volume of soil particles beneath the wheel. Accordingly, the spiral model simulating the displacement of the particle is implemented to calculate the soil deposition.

中文翻译：

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一种用于沙地机器人火星探测器的新型传感器，使用螺旋土壤流动模型预测临界土壤流动

总结目前的贡献提出了一种新的下沉传感器，专门用于无人驾驶地面车辆，以找到车轮与土壤颗粒相互作用的确切下沉区域。该传感器将缠绕在车轮上，因此，接触模拟输出将用于土壤沉积和推土效果预测。此外，新传感器将用于新的土壤流量计算，估计车轮下方土壤颗粒控制体积的总质量变化。因此，采用模拟颗粒位移的螺旋模型来计算土壤沉降。