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Small Diameter Wheels Sinkage Equation


Kaustubh Sameer

Question

I am looking to use one of the equations outlined in  "A pressure-sinkage model for small-diameter wheels on compactive, deformable terrain", G. Meirion-Griffith, M. Spenko, Journal of Terramechanics, Volume 50, Issue 1, February 2013, Pages 37-44.
 
The equation I am seeking to use is the diameter and width dependent model for wheel sinkage (z0): 
image.png.aed7af5c551da414bc63c25e54195cfa.png
Currently when attempting to solve this equation the resulting answer for sinkage that I get is unfeasible. Initially I am simply trying to substitute the values presented within the paper to achieve the result given. 
 
The terrain variables I initially used are for a clay/silt mix as were given in this table within the paper:
image.png.dca50afb8ae049bb0747fdbdd6ea6a44.png
The vehicle variables used were the ones given for the vehiucle used in real world tests presented within the paper (the VIV robot):
image.png.8b33d64ee8b69c4033e7e2dcc4fb2371.png

When using these variables and attempting to solve for a point of convergence by plotting all possible values of sinkage, the resulting graph was found:
image.png.981379eef18757fba5c9f984c60e2f50.png
As the line does not cross 0 this presents no solutions for this set of variables. I believe my mistake may be to do with the units I have used but I am not certain as within the paper it specificies to use the units as I have outlined in the tables above.
 
Any insight into this would be greatly appreciated!
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