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Table 1 A small library of soils with particle parameters pre-calibrated to desired bulk parameters using a triaxial test

From: A multiscale model of terrain dynamics for real-time earthmoving simulation

Soil name Bulk parameters Particle parameters
\(\phi _\text {b}\) \(c_\text {b}\) \(\psi _\text {b}\) \(E_\text {b}\) \(\mu _\text {t}\) \(\mu _\text {r}\) \(c_\text {p}\)
gravel-1 \(44^\circ \) 0 \(11^\circ \) 4.6 0.4 0.3 0
sand-1 \(39^\circ \) 0 \(9^\circ \) 4.5 0.3 0.1 0
sand-2 \(32^\circ \) 0 \(8^\circ \) 3.5 0.3 0.02 0
wet-sand-1 \(33^\circ \) 8.7 \(8^\circ \) 4.0 0.3 0.1 30
dirt-1 \(40^\circ \) 2.1 \(13^\circ \) 6.5 0.4 0.1 2.5
dirt-2 \(37^\circ \) 4.9 \(10^\circ \) 4.6 0.4 0.1 12.7
dirt-3 \(35^\circ \) 21 \(10^\circ \) 5.8 0.4 0.1 63.7
fs-strong \(42^\circ \) 0 \(13^\circ \) 3.8 0.5 0.1 0
fs-weak \(35^\circ \) 0 \(8^\circ \) 2.8 0.3 0.05 0
cfs-strong \(32^\circ \) 7.1 \(7^\circ \) 4.6 0.3 0.05 23
cfs-medium \(32^\circ \) 4.3 \(7^\circ \) 4.2 0.3 0.05 12
cfs-weak \(21^\circ \) 4.8 \(6^\circ \) 3 0.15 0.025 23
cfs-weakest \(12^\circ \) 2.4 \(1^\circ \) 1 0.06 0.01 23
cs-weak \(5^\circ \) 3.1 \(2^\circ \) 0.7 0.0 0.0 50
frictionless \(6^\circ \) 0 \(1^\circ \) 0.25 0.0 0.0 0
Units deg kPa deg MPa    kPa