terramechanics

Unitree Go2 walking on sand and snow: two-way coupled MPM terrain in NVIDIA Warp / Newton, with a fast Warp terrain model for PPO fine-tuning.

Deep learning model to replace terramechanics computations in Chrono simulator.

ML-accelerated tradespace exploration tool for lunar micro-rover design

Production Gate v0.2 — Dual Bekker truth before hardware. URDF + owned soils. PASS not required.

Simulation and pre-registered field protocol for predicting rover traversability on Arabian linear and star dunes from open elevation data, with explicit separation of published, simulated and planned results.

Open-source, physically realistic construction-site simulator: GPU MPM soil (NVIDIA Newton), hydraulic excavator dig-swing-load, three.js + Jolt browser site, open-licensed real machine models

Interactive teaching model of tractor wheel traction, sinkage and subsoil stress. Set soil texture on the USDA triangle, add Atterberg limits and cone index, then vary wheel load, inflation pressure, moisture and slip.

Reproducible physics-based bounds on vertical lander penetration during Enceladus touchdown.

Smart trekking-pole terrain probe: inverse RFT terrain-strength estimation, human mobility risk, and active probing — simulation-first research prototype (ESP32 + Python)

Central tyre inflation for a 25-30 t wheeled armoured vehicle on soft soil: Wasson-spine dossier, Bekker/Wong terramechanics, tyre load-speed envelope, ISO 6358 pneumatics, IEC 61131-3 controller, trade study

Physics-first UGV traversability: Bekker–Wong–Janosi gates, NASA/Wong literature soils, residual adapters, ROS pickup. Research software — not field-certified.

Advanced, offline, single-file Tractor–Soil Interaction Simulator: field-calibrated Brixius/ASABE traction, 2WD/MFWD/4WD tractor library, bias & radial tyres, soil texture–moisture–cone-index inputs, subsoil stress & compaction (SCSI), Bekker–Wong cross-check, validation against published field data.

Agricultural tire simulation: Bekker-Wong traction on soft soil, Archard road wear, 2D FEM footprint (scikit-fem), DOE and soil parameter calibration