{"id":"https://openalex.org/W2991177072","doi":"https://doi.org/10.1109/access.2019.2956164","title":"Deformable Terrain Model for the Real-Time Multibody Simulation of a Tractor With a Hydraulically Driven Front-Loader","display_name":"Deformable Terrain Model for the Real-Time Multibody Simulation of a Tractor With a Hydraulically Driven Front-Loader","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2991177072","doi":"https://doi.org/10.1109/access.2019.2956164","mag":"2991177072"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2956164","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2956164","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08915777.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08915777.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015338046","display_name":"Suraj Jaiswal","orcid":"https://orcid.org/0000-0001-5077-9823"},"institutions":[{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"education","lineage":["https://openalex.org/I63548447"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Suraj Jaiswal","raw_affiliation_strings":["Department of Mechanical Engineering, Lappeenranta University of Technology, Lappeenranta, Finland"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Lappeenranta University of Technology, Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047800482","display_name":"Pasi Korkealaakso","orcid":"https://orcid.org/0000-0001-7823-5035"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pasi Korkealaakso","raw_affiliation_strings":["Mevea Ltd., Lappeenranta, Finland"],"affiliations":[{"raw_affiliation_string":"Mevea Ltd., Lappeenranta, Finland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003680174","display_name":"Rafael \u00c5man","orcid":"https://orcid.org/0000-0002-3294-1185"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rafael Aman","raw_affiliation_strings":["Valtra Inc., Suolahti, Finland"],"affiliations":[{"raw_affiliation_string":"Valtra Inc., Suolahti, Finland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060551860","display_name":"Jussi Sopanen","orcid":"https://orcid.org/0000-0003-4371-1606"},"institutions":[{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"education","lineage":["https://openalex.org/I63548447"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jussi Sopanen","raw_affiliation_strings":["Department of Mechanical Engineering, Lappeenranta University of Technology, Lappeenranta, Finland"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Lappeenranta University of Technology, Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015072356","display_name":"Aki Mikkola","orcid":"https://orcid.org/0000-0003-2762-8503"},"institutions":[{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"education","lineage":["https://openalex.org/I63548447"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Aki Mikkola","raw_affiliation_strings":["Department of Mechanical Engineering, Lappeenranta University of Technology, Lappeenranta, Finland"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Lappeenranta University of Technology, Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5015338046"],"corresponding_institution_ids":["https://openalex.org/I63548447"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.4999,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.9182507,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"172694","last_page":"172708"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/loader","display_name":"Loader","score":0.8902007937431335},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.8587221503257751},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.673021674156189},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.6146655678749084},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5630110502243042},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5614895820617676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5058200359344482},{"id":"https://openalex.org/keywords/hydraulic-motor","display_name":"Hydraulic motor","score":0.4646069407463074},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.43737921118736267},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4066208302974701},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3492637276649475},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33668071031570435},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3042728304862976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2801764905452728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09063485264778137}],"concepts":[{"id":"https://openalex.org/C2779041774","wikidata":"https://www.wikidata.org/wiki/Q650550","display_name":"Loader","level":2,"score":0.8902007937431335},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.8587221503257751},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.673021674156189},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.6146655678749084},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5630110502243042},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5614895820617676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5058200359344482},{"id":"https://openalex.org/C29450929","wikidata":"https://www.wikidata.org/wiki/Q3183265","display_name":"Hydraulic motor","level":2,"score":0.4646069407463074},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.43737921118736267},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4066208302974701},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3492637276649475},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33668071031570435},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3042728304862976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2801764905452728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09063485264778137},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2956164","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2956164","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08915777.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:96b7beee9897408a9caefb0e962e2e13","is_oa":true,"landing_page_url":"https://doaj.org/article/96b7beee9897408a9caefb0e962e2e13","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 172694-172708 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2956164","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2956164","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08915777.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1856894660","display_name":null,"funder_award_id":"316106","funder_id":"https://openalex.org/F4320321108","funder_display_name":"Academy of Finland"},{"id":"https://openalex.org/G3609107129","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321108","funder_display_name":"Academy of Finland"},{"id":"https://openalex.org/G4814762081","display_name":null,"funder_award_id":"#316106","funder_id":"https://openalex.org/F4320321108","funder_display_name":"Academy of Finland"}],"funders":[{"id":"https://openalex.org/F4320321108","display_name":"Academy of Finland","ror":"https://ror.org/05k73zm37"},{"id":"https://openalex.org/F4320328501","display_name":"Business Finland","ror":"https://ror.org/05bgf9v38"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2991177072.pdf","grobid_xml":"https://content.openalex.org/works/W2991177072.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1003506","https://openalex.org/W41341799","https://openalex.org/W364988151","https://openalex.org/W611790969","https://openalex.org/W949916808","https://openalex.org/W1485513406","https://openalex.org/W1540365193","https://openalex.org/W1548645842","https://openalex.org/W1686971938","https://openalex.org/W1779739958","https://openalex.org/W1973313523","https://openalex.org/W1986469871","https://openalex.org/W1999250663","https://openalex.org/W2003230895","https://openalex.org/W2007404874","https://openalex.org/W2010842411","https://openalex.org/W2012477764","https://openalex.org/W2032279784","https://openalex.org/W2038483892","https://openalex.org/W2051010935","https://openalex.org/W2077130495","https://openalex.org/W2081415325","https://openalex.org/W2082658839","https://openalex.org/W2084399420","https://openalex.org/W2091683090","https://openalex.org/W2094052055","https://openalex.org/W2109050412","https://openalex.org/W2118828963","https://openalex.org/W2142980510","https://openalex.org/W2163637712","https://openalex.org/W2296346695","https://openalex.org/W2318170410","https://openalex.org/W2500149537","https://openalex.org/W2588500615","https://openalex.org/W2740157533","https://openalex.org/W2803232063","https://openalex.org/W2803516627","https://openalex.org/W2811278563","https://openalex.org/W2907199111","https://openalex.org/W2947030316","https://openalex.org/W4254440941","https://openalex.org/W6612522786","https://openalex.org/W6632327575","https://openalex.org/W6742128093","https://openalex.org/W6752598043"],"related_works":["https://openalex.org/W1481744926","https://openalex.org/W2966785860","https://openalex.org/W1999175223","https://openalex.org/W317258516","https://openalex.org/W2891602905","https://openalex.org/W2361718900","https://openalex.org/W2393234651","https://openalex.org/W2541762249","https://openalex.org/W2625310146","https://openalex.org/W2353958553"],"abstract_inverted_index":{"A":[0],"real-time":[1,50,132,182,209],"multibody":[2,63,84],"model":[3,54,65,143,213],"of":[4,15,32,42,61,69,93,134,140,184],"an":[5,29],"off-road":[6],"vehicle":[7],"can":[8,56,214],"be":[9,215],"used":[10,150],"to":[11,46,151],"analyze":[12],"the":[13,33,38,59,67,94,101,131,141,158,163,177,181,185,192,197,203],"dynamics":[14,68],"tasks,":[16],"such":[17],"as":[18],"loading":[19],"and/or":[20],"transferring":[21],"material":[22,111],"from":[23,112],"deformable":[24,52,114],"ground.":[25],"This":[26],"analysis":[27],"requires":[28],"accurate":[30],"description":[31],"mechanics,":[34],"hydraulic":[35,91,198],"actuators,":[36],"and":[37,66,108,125,153,160,172,189,220],"terrain.":[39],"The":[40,90,105,137,207],"objective":[41],"this":[43,74],"paper":[44],"is":[45,78,97,120,149,167,187],"introduce":[47],"a":[48,62,70,76,82,113,145],"novel,":[49],"capable,":[51],"terrain/soil":[53],"that":[55,148],"interact":[57],"with":[58,202],"mechanics":[60],"system":[64,186],"hydraulics":[71],"model.":[72],"To":[73],"end,":[75],"tractor":[77,106,142,211],"modeled":[79,98,121],"by":[80,99,122],"using":[81,100],"semi-recursive":[83],"formulation":[85],"based":[86],"on":[87],"velocity":[88],"transformation.":[89],"actuation":[92],"tractor's":[95],"front-loader":[96],"lumped":[102],"fluid":[103],"theory.":[104],"loads":[107],"transfers":[109],"sand":[110,115,155,165,170],"field":[116,166],"(the":[117],"ground),":[118],"which":[119],"combining":[123],"mesh-based":[124],"particle-based":[126],"soil":[127,135],"representation":[128],"approaches":[129],"for":[130],"simulation":[133,212],"deformation.":[136],"work":[138,179],"cycle":[139],"follows":[144],"3D":[146],"maneuver":[147],"load":[152],"transfer":[154],"material.":[156],"During":[157],"digging":[159],"dumping":[161],"operations,":[162],"static":[164,204],"converted":[168],"into":[169],"particles":[171],"vice":[173],"versa":[174],"respectively.":[175],"For":[176],"presented":[178],"cycle,":[180],"capability":[183],"analyzed":[188],"determined.":[190],"Furthermore,":[191],"dynamic":[193],"actuator":[194,205],"forces":[195],"in":[196,217],"cylinders":[199],"are":[200],"compared":[201],"forces.":[206],"introduced":[208],"capable":[210],"utilized":[216],"product":[218,222],"development":[219],"other":[221],"processes.":[223]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}