> For the complete documentation index, see [llms.txt](https://2025.istvs.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://2025.istvs.org/submissions/papers/4755.md). # 4755 - RELATIONSHIP BETWEEN SEASONAL VEHICLE PERFORMANCE AND TERRAIN PROPERTIES FOR PREPARED SOILS {% hint style="info" %} Paper presented at ISTVS 2025 | 55th Conference of the International Society for Terrain-Vehicle Systems {% endhint %} **Authors:** *Susan Frankenstein, Allan Wheeler, Bruce Elder* **Keywords:** Soil freeze/thaw; peat; rut depth **Abstract:** Laboratory and field studies were conducted over three years on fine grained and peat soils measuring the effects of soil properties on vehicle performance, namely drawbar pull, and motion resistance. Tests were conducted for unfrozen, frozen, and thawed states using eight different vehicles both wheeled and tracked. In the laboratory, soil moisture and temperature could be controlled. In both the field and laboratory, the soils were tilled then smoothed before testing. The soil was characterized pre and post testing using a variety of strength instruments. Rut depths associated with motion resistance tests were recorded. This paper discusses the effects of measured soil properties on rut depth as a function of soil state as well as compares results to existing algorithms. When possible, comparison of soil properties from different measurement techniques are compared. --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://2025.istvs.org/submissions/papers/4755.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.