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The result is a computationally efficient model for earthmoving operations that resolve the motion of the soil, using a fast iterative solver, and provide realistic forces and dynamic for the equipment, using a direct solver for high numerical precision. Numerical simulations of excavation and bulldozing operations are performed to test the model and measure the computational performance. Reference data is produced using coupled discrete element and multibody dynamics simulations at relatively high resolution. The digging resistance and soil displacements with the real-time multiscale model agree with the reference model up to 10\u201325%, and run more than three orders of magnitude faster.<\/jats:p>","DOI":"10.1186\/s40323-021-00196-3","type":"journal-article","created":{"date-parts":[[2021,5,12]],"date-time":"2021-05-12T15:05:44Z","timestamp":1620831944000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["A multiscale model of terrain dynamics for real-time earthmoving simulation"],"prefix":"10.1186","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0787-4988","authenticated-orcid":false,"given":"Martin","family":"Servin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tomas","family":"Berglund","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Samuel","family":"Nystedt","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,5,12]]},"reference":[{"issue":"1","key":"196_CR1","doi-asserted-by":"publisher","first-page":"246","DOI":"10.1111\/cgf.12272","volume":"33","author":"J Bender","year":"2014","unstructured":"Bender J, Erleben K, Trinkle J. 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