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xi CHAPTER 1: INTRODUCTION 1 Objectives 2 CHAPTER 2: LITERATURE REVIEW 3 Traction Prediction Methods 6 Analytical Models  6 Semi-Empirical  8 Empirical Modeling  9 Traction Equations 9 Wheel States 9 Weight Transfer  12 Wismer – Luth Equations  15 Brixius Equations  18 CHAPTER 3: MATERIALS AND METHODS 22 Soil Characteristics and Cone Index  27 Tractor Ballasting 27 Calibration 29 Load Cell for Measuring 2WD Test Tractor Drawbar Force  29 Torque Sensors for Measuring 2WD Axle Torque  33 Ultrasonic Distance Sensors  36 Measurement Uncertainty  37 Experimental Design  38 Data Preparation 40

Determining the effects of tire pressure and soil condition on the Brixius equations for predicting net tractive force