DIS/Earthmoving



  • User-friendly data input using Excel spreadsheets.
  • Full vehicle can be modeled including: undercarriage, cabin, segmented or continuous track, road wheels, idlers, sprocket, tires, suspension system, steering system, drive-line, manipulator (stick, boom and bucket) and engine.
  • Single and double pin segmented tracks. Pin and segment axial stiffness/damping can be specified by the user to account for the pin bushing.
  • Continuous tracks can be modeled using brick elements for modeling the rubber matrix and longitudinal and transverse thin beam elements for modeling the track reinforcements.
  • Simple tire model: a tire can be modeled using a one-node lumped model with distributed contact using a non-linear penalty stiffness/damping formulation.
  • Detailed tire model: a tire can be modeled using brick elements for modeling the rubber matrix and circumference and meridian thin beam elements for modeling the tire reinforcements.
  • Non-linear rotational spring stiffness, damping and friction characteristics can be specified for the road arms.
  • Sprocket tooth stiffness and damping can be specified.
  • Engine gear angular velocity can be specified using tabular data, splines, and/or trigonometric/exponential functions.
  • Discrete element modeling (DEM) for prediction vehicle mobility and digging responses. DEM can be used to model the vehicle traveling on granular and semi-solid terrains such as sand, gravel, mud or snow. It can also be used to model the various types of digging materials.
    • Arbitrary particle geometry and sizes. Particles geometry can be represented using: polygonal surfaces, superquadrics or glued-spheres.
    • Eulerian search grid for fast contact search and detection.
    • Inter-particle normal contact force can be specified by the user and can include attractive and repulsive forces.
    • Coulomb or EHD friction models can be used as the inter-particle tangential contact force.
  • DIS/Earth-Moving can be used to study vehicle stability and dynamics loads when undergoing in the following types of maneuvers:
    • Excavation and digging.
    • Acceleration.
    • Braking/deceleration.
    • Turning.
    • Obstacle avoidance.
    • Traveling on side slope roads.
    • Traveling on longitudinally sloped roads.
    • Going over road bumps and potholes.
    • Traveling on rough roads.
    • Traveling on granular terrains such as sand and gravel.
    • Traveling on semi-solid terrains such as mud and snow.
  • Explicit-time integration solver. A predictor-corrector algorithm is used that is based on the trapezoidal integration rule. The solver can maintain the system total energy and momentum with negligible drift over very long simulation times.
  • Rigid multibody dynamics.
    • Total rotation matrix relative to the inertial frame to measure the rotation of the rigid bodies. The rotational equations of motion are written in the body frame and solved for the vector of incremental rotation angles.
  • Joint models. A penalty formulation is used to model joints including: spherical, revolute, cylindrical, and prismatic joints.
  • Contact model.
    • A penalty formulation is used to model normal contact. A nonlinear penalty normal contact force can be used that is a nonlinear function of penetration and penetration rate. The formulation can model various types of contacts including Hertzian contact.
    • Contact surfaces can be general polygonal surfaces; superquadric surfaces or analytical surfaces (such as elliptical cylinder and torus).
    • Fast hierarchical bounding boxes contact point search for contact search and detection for polygonal surfaces.
  • Friction.
    • Coulomb friction is approximated using an asperity-based model.
    • Elasto-hydrodynamic (EHD) friction/lubircation model.
  • Controls.
    • PID controllers.
    • Control laws can be scripted using built-in scripting languages.
  • Scripting.
    • JAVA script.
    • Python script
  • Support for parallel processing using CPUs and GPUs.
  • Integrated graphical pre-processor and post-processor.
    • Object-oriented architecture.
    • Hierarchical tree editor.
    • Near photo-realistic visualization.
    • Real-time virtual-reality visualization.
  • Data import formats:
    • VRML 2.0
    • Still Images: bmp, jpeg, png, and gif
  • Data export formats
    • VRML 2.0
    • AVI movies.