{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T09:34:11Z","timestamp":1773912851219,"version":"3.50.1"},"reference-count":54,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2024,3,10]],"date-time":"2024-03-10T00:00:00Z","timestamp":1710028800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Special Fund from China Merchant Industry (CMI)","award":["2019000075"],"award-info":[{"award-number":["2019000075"]}]},{"name":"the Institute of Deep-sea Science and Engineering (IDSSE)","award":["2019000075"],"award-info":[{"award-number":["2019000075"]}]},{"name":"the Chinese Academy of Sciences","award":["2019000075"],"award-info":[{"award-number":["2019000075"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Trafficability gives tracked vehicles adaptability, stability, and propulsion for various purposes, including deep-sea research in rough terrain. Terrain characteristics affect tracked vehicle mobility. This paper investigates the soil mechanical interaction dynamics between rubber-tracked vehicles and sedimental soils through controlled laboratory-simulated experiments. Focusing on Bentonite and Diatom sedimental soils, which possess distinct shear properties from typical land soils, the study employs innovative user-written subroutines to characterize mechanical models linked to the RecurDyn simulation environment. The experiment is centered around a dual-tracked crawler, which in itself represents a fully independent vehicle. A new three-dimensional multi-body dynamic simulation model of the tracked vehicle is developed, integrating the moist terrain\u2019s mechanical model. Simulations assess the vehicle\u2019s trafficability and performance, revealing optimal slip ratios for maximum traction force. Additionally, a mathematical model evaluates the vehicle\u2019s tractive trafficability based on slip ratio and primary design parameters. The study offers valuable insights and a practical simulation modeling approach for assessing trafficability, predicting locomotion, optimizing design, and controlling the motion of tracked vehicles across diverse moist terrain conditions. The focus is on the critical factors influencing the mobility of tracked vehicles, precisely the sinkage speed and its relationship with pressure. The study introduces a rubber-tracked vehicle, pressure, and moisture sensors to monitor pressure sinkage and moisture, evaluating cohesive soils (Bentonite\/Diatom) in combination with sand and gravel mixtures. Findings reveal that higher moisture content in Bentonite correlates with increased track slippage and sinkage, contrasting with Diatom\u2019s notable compaction and sinkage characteristics. This research enhances precision in terrain assessment, improves tracked vehicle design, and advances terrain mechanics comprehension for off-road exploration, offering valuable insights for vehicle design practices and exploration endeavors.<\/jats:p>","DOI":"10.3390\/s24061779","type":"journal-article","created":{"date-parts":[[2024,3,11]],"date-time":"2024-03-11T04:51:12Z","timestamp":1710132672000},"page":"1779","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions"],"prefix":"10.3390","volume":"24","author":[{"given":"Omer","family":"Rauf","sequence":"first","affiliation":[{"name":"Institute of Deep-Sea Science and Engineering, Chinese Academy of Sciences, Sanya 572000, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"}]},{"given":"Yang","family":"Ning","sequence":"additional","affiliation":[{"name":"Institute of Deep-Sea Science and Engineering, Chinese Academy of Sciences, Sanya 572000, China"}]},{"given":"Chen","family":"Ming","sequence":"additional","affiliation":[{"name":"Institute of Deep-Sea Science and Engineering, Chinese Academy of Sciences, Sanya 572000, China"}]},{"given":"Ma","family":"Haoxiang","sequence":"additional","affiliation":[{"name":"Institute of Deep-Sea Science and Engineering, Chinese Academy of Sciences, Sanya 572000, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,10]]},"reference":[{"key":"ref_1","unstructured":"Wong, J.Y. 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