data/validation/wong_layer3_reference.csv

case_id,kind,wheel_radius_m,wheel_width_m,grouser_height_m,grouser_count,soil_n,soil_k_c_kN,soil_k_phi_kN,soil_c_kPa,soil_phi_deg,vertical_load_n,slip,exp_drawbar_pull_n_lo,exp_drawbar_pull_n_hi,exp_sinkage_m_lo,exp_sinkage_m_hi,exp_torque_nm_lo,exp_torque_nm_hi,exp_dp_over_w_lo,exp_dp_over_w_hi,citation
wong_2008_ch4_fixture_s0_05,characterisation,0.10,0.06,0.0,0,1.0,1.4,820.0,1.0,45.0,50.0,0.05,-0.5,1.5,0.026,0.029,1.65,1.86,-0.01,0.03,Wong 2008 §4.2 worked-example fixture (JSC-1A canonical Bekker params); pinned at kernel v1.
wong_2008_ch4_fixture_s0_20,characterisation,0.10,0.06,0.0,0,1.0,1.4,820.0,1.0,45.0,50.0,0.20,5.5,7.7,0.026,0.029,2.30,2.55,0.10,0.16,Wong 2008 §4.2 worked-example fixture (JSC-1A canonical Bekker params); pinned at kernel v1.
wong_2008_ch4_fixture_s0_50,characterisation,0.10,0.06,0.0,0,1.0,1.4,820.0,1.0,45.0,50.0,0.50,12.5,14.9,0.026,0.029,3.05,3.30,0.24,0.31,Wong 2008 §4.2 worked-example fixture (JSC-1A canonical Bekker params); pinned at kernel v1.
pragyan_class_smooth_s0_20,published_rover_class,0.135,0.10,0.0,0,1.0,1.4,820.0,0.17,46.0,70.2,0.20,4.5,18.5,0.012,0.030,2.5,5.5,0.05,0.30,Apollo nominal regolith (Heiken et al. 1991) × Pragyan-class smooth wheel; DP/W and sinkage bounded by ±25% Bekker-Wong model-form error (Ishigami 2007; Ding 2011).
pragyan_class_smooth_s0_50,published_rover_class,0.135,0.10,0.0,0,1.0,1.4,820.0,0.17,46.0,70.2,0.50,15.0,30.0,0.012,0.030,4.5,7.0,0.20,0.45,Apollo nominal regolith × Pragyan-class smooth wheel at high slip; lunar-rover testbed (Ding 2011 Fig 8) reports DP/W in this band on JSC-1A / FJS-1.
yutu2_class_grousered_s0_20,published_rover_class,0.165,0.150,0.012,14,1.0,1.4,820.0,0.17,46.0,36.4,0.20,3.0,12.0,0.006,0.020,1.5,3.5,0.08,0.30,Apollo nominal regolith × Yutu-2-class grousered wheel at lunar per-wheel load 36.4 N (135 kg / 6 wheels / 1.62 m·s⁻²).
grouser_lift_unity_smooth_s0_60,closed_form_limit,0.10,0.10,0.0,14,1.0,1.4,820.0,0.17,46.0,40.0,0.6,8.7,12.7,0.012,0.020,2.05,2.65,0.20,0.32,Smooth-wheel limit (h_g=0 N_g=14): grouser shear factor collapses to unity; BW kernel regression check at slip=0.6; bounds pinned at v1 kernel output ±10%.