![]() ![]() We report on the code structure and highlight its use of mixed data types for reducing the memory footprint and increasing simulation speed. ![]() Chrono::GPU adopts a smooth contact formulation and implements various common contact force models, such as the Hertzian model for normal force and the Mindlin friction force model, which takes into account the history of tangential displacement, rolling frictional torques, and cohesion. ![]() The solver supports the integration of granular material with geometries defined by triangle meshes, as well as co-simulation with the multi-physics simulation engine Chrono. We report on an open-source, publicly available C++ software module called Chrono::GPU, which uses the Discrete Element Method (DEM) to simulate large granular systems on Graphics Processing Unit (GPU) cards. The models and scripts used in this contribution are available as open source for unfettered use and distribution in a public repository. The calibration is performed using PyMC, which is a Python package that interactively communicates with Chrono to calibrate SCM. The SCM and CRM simulations are run in the open‐source software Chrono. These conclusions are reached in conjunction with two tests: a single wheel test, and a full rover simulation. We show that (i) the resulting SCM terrain, while leading to fast terramechanics simulations, serves as a good proxy for the more complex CRM terrain and (ii) the SCM‐over‐CRM simulation speedup is roughly one order of magnitude. The approach embraced is as follows: a virtual bevameter test is run in simulation using CRM terrain to generate “ground truth” data in a Bayesian framework, this data is subsequently used to calibrate the SCM terrain. The latter employs the “continuous representation model” (CRM), which regards the deformable terrain as an elasto‐plastic continuum that is spatially discretized using the smoothed particle hydrodynamics method. Here, we advance the idea of running a virtual bevameter test using a high‐fidelity terramechanics simulation. In practice, the SCM parameters are obtained via a bevameter test, which requires a complex apparatus and experimental procedure. The soil contact model (SCM) is widely used in practice for off‐road wheeled vehicle mobility studies when simulation speed is important and highly accurate results are not a main concern. ![]()
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