Fig. 2

Overview of the multiscale model. The mesoscale and macroscale models are simulated in real-time coupled to each other while the microscale model is simulated off-line for the purpose of model testing and calibration. The mesoscale model combines a coarse particle and continuum representation of the soil inside the active zone. The active soil is aggregated into a single body, present in the macroscale model, with frictional-cohesive couplings with the resting terrain and the rigid multibody equipment