Maximum Correntropy Criterion-Based UKF for Loosely Coupling INS and UWB in Indoor Localization

Indoor positioning is a key technology in today’s intelligent environments,and it plays a crucial role in many application areas.This paper proposed an unscented Kalman filter(UKF)based on the maximum correntropy criterion(MCC)instead of the minimummean square error criterion(MMSE).This innovative approach is applied to the loose coupling of the Inertial Navigation System(INS)and Ultra-Wideband(UWB).By introducing the maximum correntropy criterion,the MCCUKF algorithm dynamically adjusts the covariance matrices of the system noise and the measurement noise,thus enhancing its adaptability to diverse environmental localization requirements.Particularly in the presence of non-Gaussian noise,especially heavy-tailed noise,the MCCUKF exhibits superior accuracy and robustness compared to the traditional UKF.The method initially generates an estimate of the predicted state and covariance matrix through the unscented transform(UT)and then recharacterizes the measurement information using a nonlinear regression method at the cost of theMCC.Subsequently,the state and covariance matrices of the filter are updated by employing the unscented transformation on the measurement equations.Moreover,to mitigate the influence of non-line-of-sight(NLOS)errors positioning accuracy,this paper proposes a k-medoid clustering algorithm based on bisection k-means(Bikmeans).This algorithm preprocesses the UWB distance measurements to yield a more precise position estimation.Simulation results demonstrate that MCCUKF is robust to the uncertainty of UWB and realizes stable integration of INS and UWB systems.

Estimating shear strength of high-level pillars supported with cemented backfilling using the HoekeBrown strength criterion

Deep metal mines are often mined using the high-level pillars with subsequent cementation backfilling(HLSCB)mining method.At the design stage,it is therefore important to have a reasonable method for determining the shear strength of the high-level pillars(i.e.cohesion and internal friction angle)when they are supported by cemented backfilling.In this study,a formula was derived for the upper limit of the confining pressure σ3max on a high-level pillar supported by cemented backfilling in a deep metal mine.A new method of estimating the shear strength of such pillars was then proposed based on the Hoek eBrown failure criterion.Our analysis indicates that the horizontal stress σhh acting on the cemented backfill pillar can be simplified by expressing it as a constant value.A reasonable and effective value for σ3max can then be determined.The value of s3max predicted using the proposed method is generally less than 3 MPa.Within this range,the shear strength of the high-level pillar is accurately calculated using the equivalent MohreCoulomb theory.The proposed method can effectively avoid the calculation of inaccurate shear strength values for the high-level pillars when the original HoekeBrown criterion is used in the presence of large confining pressures,i.e.the situation in which the cohesion value is too large and the friction angle is too small can effectively be avoided.The proposed method is applied to a deep metal mine in China that is being excavated using the HLSCB method.The shear strength parameters of the high-level pillars obtained using the proposed method were input in the numerical simulations.The numerical results show that the recommended level heights and sizes of the high-level pillars and rooms in the mine are rational.

Three-dimensional limit variation analysis on the ultimate pullout capacity of the anchor cables based on the Hoek-Brown failure criterion

Only simplified two-dimensional model and a single failure mode are adopted to calculate the ultimate pullout capacity(UPC)of anchor cables in most previous research.This study focuses on a more comprehensive combination failure mode that consists of bond failure of an anchorage body and failure of an anchored rock mass.The three-dimensional ultimate pullout capacity of the anchor cables is calculated based on the Hoek-Brown failure criterion and variation analysis method.The numerical solution for the curvilinear function in fracture plane is obtained based on the finite difference theory,which more accurately reflects the failure state of the anchor cable,as opposed to that being assumed in advance.The results reveal that relying solely on a single failure mode for UPC calculations has limitations,as changes in parameter values not only directly impact the UPC value but also can alter the failure model and thus the calculation method.

A failure criterion for shale considering the anisotropy and hydration based on the shear slide failure model

A failure criterion fully considering the anisotropy and hydration of shale is essential for shale formation stability evaluation.Thus,a novel failure criterion for hydration shale is developed by using Jaeger’s shear failure criterion to describe the anisotropy and using the shear strength reduction caused by clay minerals hydration to evaluate the hydration.This failure criterion is defined with four parameters in Jaeger’s shear failure criterion(S_(1),S_(2),a andφ),three hydration parameters(k,ω_(sh)andσ_(s))and two material size parameters(d and l0).The physical meanings and determining procedures of these parameters are described.The accuracy and applicability of this failure criterion are examined using the published experimental data,showing a cohesive agreement between the predicted values and the testing results,R^(2)=0.916 and AAREP(average absolute relative error percentage)of 9.260%.The error(|D_(p)|)is then discussed considering the effects ofβ(angle between bedding plane versus axial loading),moisture content and confining pressure,presenting that|Dp|increases whenβis closer to 30°,and|D_(p)|decreases with decreasing moisture content and with increasing confining pressure.Moreover,|D_(p)|is demonstrated as being sensitive to S1and being steady with decrease in the data set whenβis 0°,30°,45°and 90°.

3D limit analysis of rock slopes based on equivalent linear failure criterion with tension cut-off

Hoek-Brown (HB) failure criterion is widely used to predict the strength of intact or heavily jointed rock mass. For stability analysis of rock slopes governed by the HB failure criterion, the equivalent linearity to Mohr-Coulomb (MC) criterion is often adopted, leading to the well-known equivalent Mohr-Coulomb method (EMCM). Existing studies on EMCM analysis mainly consider the shear strength of rock material, while consideration of the tensile strength is rare. This contradicts the fact that the underlying tensile strength of rock mass has considerable impact on the rock slope stability in real world. In this regard, this paper proposes a limit analysis-based approach that can account for tension in the three-dimensional (3D) stability analysis of HB rock slope. This approach is established on the equivalent linearity of the HB criterion with consideration of tensile strength, known as the equivalent tension cut-off MC method (ETMCM), and using a horn-like 3D mechanism of limit analysis. The safety factor solutions given by the proposed approach are validated by previous studies and numerical results. Parametric studies are conducted to investigate the effect of rock tensile strength on slope stability. Results show that the consideration of tension leads to a more conservative safety factor and a sharper curvature of the failure surface, and these impacts tend to be more obvious with the increases in slope inclination and slope width. Finally, the stability of the HB rock slope under seepage conditions is studied using the proposed approach. The results indicate that the effect of tensile strength is highly remarkable in seepage circumstances.

Numerical simulation study on shear resistance of anchorage joints considering tensile-shear fracture criterion of 2G-NPR bolt

2G-NPR bolt (the 2nd generation Negative Poisson’s Ratio bolt) is a new type of bolt with high strength, high toughness and no yield platform. It has signifcant efects on improving the shear strength of jointed rock mass and controlling the stability of surrounding rock. To achieve an accurate simulation of bolted joint shear tests, we have studied a numerical simulation method that takes into account the 2G-NPR bolt's tensile–shear fracture criterion. Firstly, the indoor experimental study on the tensile–shear mechanical properties of 2G-NPR bolt is carried out to explore its mechanical properties under diferent tensile–shear angles, and the fracture criterion of 2G-NPR bolt considering the tensile–shear angle is established. Then, a three-dimensional numerical simulation method considering the tensile–shear mechanical constitutive and fracture criterion of 2G-NPR bolt, the elastoplastic mechanical behavior of surrounding rock and the damage and deterioration of grouting body is proposed. The feasibility and accuracy of the method are verifed by comparing with the indoor shear test results of 2G-NPR bolt anchorage joints. Finally, based on the numerical simulation results, the deformation and stress of the bolt, the distribution of the plastic zone of the rock mass, the stress distribution and the damage of the grouting body are analyzed in detail. The research results can provide a good reference value for the practical engineering application and shear mechanical performance analysis of 2G-NPR bolt.

Prediction and Verifcation of Forming Limit Diagrams Based on a Modifed Shear Failure Criterion

The forming limit diagram plays an important role in predicting the forming limit of sheet metals.Previous studies have shown that,the method to construct the forming limit diagram based on instability theory of the original shear failure criterion is efective and simple.The original shear instability criterion can accurately predict the left area of the forming limit diagram but not the right area.In this study,in order to improve the accuracy of the original shear failure criterion,a modifed shear failure criterion was proposed based on in-depth analysis of the original shear failure criterion.The detailed improvement strategies of the shear failure criterion and the complete calculation process are given.Based on the modifed shear failure criterion and diferent constitutive equations,the theoretical forming limit of TRIP780 steel and 5754O aluminum alloy sheet metals are calculated.By comparing the theoretical and experimental results,it is shown that proposed modifed shear failure criterion can predict the right area of forming limit more reasonably than the original shear failure criterion.The efect of the pre-strain and constitutive equation on the forming limits are also analyzed in depth.The modifed shear failure criterion proposed in this study provides an alternative and reliable method to predict forming limit of sheet metals.

Two-dimensional face stability analysis in rock masses governed by the Hoek-Brown strength criterion with a new multi-horn mechanism

The face stability problem is a major concern for tunnels excavated in rock masses governed by the Hoek-Brown strength criterion.To provide an accurate prediction for the theoretical solution of the critical face pressure,this study adopts the piecewise linear method(PLM)to account for the nonlinearity of the strength envelope and proposes a new multi-horn rotational mechanism based on the Hoek-Brown strength criterion and the associative flow rule.The analytical solution of critical support pressure is derived from the energy-work balance equation in the framework of the plastic limit theorem;it is formulated as a multivariable nonlinear optimization problem relying on 2m dependent variables(m is the number of segments).Meanwhile,two classic linearized measures,the generalized tangential technique(GTT)and equivalent Mohr-Coulomb parameters method(EMM),are incorporated into the analysis for comparison.Surprisingly,the parametric study indicates a significant improvement in support pressure by up to 13%compared with the GTT,and as expected,the stability of the tunnel face is greatly influenced by the rock strength parameters.The stress distribution on the rupture surface is calculated to gain an intuitive understanding of the failure at the limit state.Although the limit analysis is incapable of calculating the true stress distribution in rock masses,a rough approximation of the stress vector on the rupture surface is permitted.In the end,sets of normalized face pressure are provided in the form of charts for a quick assessment of face stability in rock masses.

Correction of dynamic Brazilian disc tensile strength of rocks under preloading conditions considering the overload phenomenon and invoking the Griffith criterion

Dynamic tensile failure is a common phenomenon in deep rock practices,and thus accurately evaluating the dynamic tensile responses of rocks under triaxial pressures is of great significance.The Brazilian disc(BD)test is the suggested method by the International Society for Rock Mechanics and Rock Engineering(ISRM)for measuring both the static and dynamic tensile strengths of rock-like materials.However,due to the overload phenomenon and the complex preloading conditions,the dynamic tensile strengths of rocks measured by the BD tests tend to be overestimated.To address this issue,the dynamic BD tensile strength(BTS)of Fangshan marble(FM)under different preloading conditions were measured through a triaxial split Hopkinson pressure bar(SHPB).The fracture onset in BD specimen was captured through a strain gage around the disc center.The discrepancy between the traditional tensile strength(TTS,determined by the peak load P_(f) of the BD specimen)and the nominal tensile strength(NTS,obtained from the load P_(i) when the diametral fracture commences in the tested BD specimen)was applied to quantitatively evaluating the overload phenomenon.The Griffith criterion was used to rectify the calculation of the tensile stress at the disc center under triaxial stress states.The results demonstrate that the overload ratio(s)increases with the loading rate(σ)and decreases with the hydrostatic pressure(σ_(s)).The TTS corrected by the Griffith criterion is independent of theσ_(s)due to the overload phenomenon,while the NTS corrected by the Griffith criterion is sensitive to both the andσ.Therefore,it is essential to modify the tensile stress in dynamic confined BD tests using both the overload correction and the Griffith criterion rectification to obtain the accurate dynamic BTS of rocks.

Melting of electronic/excitonic crystals in 2D semiconductor moirépatterns:A perspective from the Lindemann criterion

Using the Lindemann criterion,we analyzed the quantum and thermal melting of electronic/excitonic crystals recently discovered in two-dimensional(2D)semiconductor moirépatterns.We show that the finite 2D screening of the atomically thin material can suppress(enhance)the inter-site Coulomb(dipolar)interaction strength,thus inhibits(facilitates)the formation of the electronic(excitonic)crystal.Meanwhile,a strong enough moiréconfinement is found to be essential for realizing the crystal phase with a wavelength near 10 nm or shorter.From the calculated Lindemann ratio which quantifies the fluctuation of the site displacement,we estimate that the crystal will melt into a liquid above a critical temperature ranging from several tens Kelvin to above 100 K(depending on the system parameters).

Assessing Criteria Weights by the Symmetry Point of Criterion (Novel SPC Method)–Application in the Efficiency Evaluation of the Mineral Deposit Multi-Criteria Partitioning Algorithm

Information about the relative importance of each criterion or theweights of criteria can have a significant influence on the ultimate rank of alternatives.Accordingly,assessing the weights of criteria is a very important task in solving multi-criteria decision-making problems.Three methods are commonly used for assessing the weights of criteria:objective,subjective,and integrated methods.In this study,an objective approach is proposed to assess the weights of criteria,called SPCmethod(Symmetry Point of Criterion).This point enriches the criterion so that it is balanced and easy to implement in the process of the evaluation of its influence on decision-making.The SPC methodology is systematically presented and supported by detailed calculations related to an artificial example.To validate the developed method,we used our numerical example and calculated the weights of criteria by CRITIC,Entropy,Standard Deviation and MEREC methods.Comparative analysis between these methods and the SPC method reveals that the developedmethod is a very reliable objective way to determine the weights of criteria.Additionally,in this study,we proposed the application of SPCmethod to evaluate the efficiency of themulti-criteria partitioning algorithm.The main idea of the evaluation is based on the following fact:the greater the uniformity of the weights of criteria,the higher the efficiency of the partitioning algorithm.The research demonstrates that the SPC method can be applied to solving different multi-criteria problems.

Experimental Study and Failure Criterion Analysis of Rubber Fibre Reinforced Concrete under Biaxial Compression-Compression

In order to examine the biaxial compression-compression properties of rubber fibre reinforced concrete(RFRC),an experimental study on RFRC under different lateral compressive stresses was carried out by considering different rubber replacement rates and polypropylene fibre contents.The failure modes and mechanical property parameters of different RFRC working conditions were obtained from the experiment to explore the effects of rubber replacement rate and polypropylene fibre content on the biaxial compression-compression properties of RFRC.The following conclusions were drawn.Under the influence of lateral compressive stress,the biaxial compression-compression failure mode gradually developed from a columnar pattern to a flaky pattern,suggesting that the incorporation of rubber and polypropylene fibres into the concrete resulted in a significant change in the development of cracks.For different rubber replacement rates and polypropylene fibre contents,the vertical compressive stress exhibited the same developing trend under the influence of lateral compressive stress.Specifically,the lateral compressive stress imposed the minimum effect on the vertical compressive stress when the rubber replacement rate and polypropylene fibre content were 20%and 0.4%,respectively,and imposed the maximum effect when the rubber replacement rate and polypropylene fibre content were 20%and 0%,respectively.With the increase of rubber replacement rate,the vertical peak stress was significantly reduced,which implies that an appropriate amount of polypropylene fibres can increase the vertical peak stress to a certain extent.Then,the biaxial compression-compression mechanism of RFRC was analysed from the microscopic level by using scanning electron microscope(SEM).Meanwhile,based on Kupfer’s biaxial compression-compression failure criterion and the octahedral stress space,a biaxial compression-compression failure criterion for RFRC was proposed,which was proven to have good applicability.The research results of this study provide important theoretical basis for the engineering application and development of RFRC.

广义破裂活动准则

岩石破裂及其后续活动是最基本的构造变形方式,然而,经典的破裂准则(Coulomb-Mohr准则、Griffith准则和以Byerlee律为代表的滑动摩擦律)在实际应用中存在不同方面的局限。文章在经典破裂准则的基础上,从产生破裂(扩张破裂和剪切破裂)的物理本质出发,结合广义剪切活动准则和长期的研究实践,通过理论分析,提出了“广义破裂活动准则”。该准则用统一的无量纲因子(破裂活动趋势因子)来表达扩张破裂活动和剪切破裂活动,可以用来定量判断任意介质、在任意三轴应力状态下、任意方位界面(包括先存薄弱面和非薄弱面)发生破裂活动的可能性以及破裂的类型,把Coulomb-Mohr准则、Byerlee律和Griffith准则统一起来,将破裂(fracturing)扩展到破裂活动(fracturing activity)。该准则在与破裂活动相关的资源勘探开发(如页岩气、干热岩等)、灾害(如地震与滑坡等)预测和防治中具有广阔的应用前景。

基于代理模型估值不确定度的昂贵多目标优化问题研究

针对代理模型辅助的多目标优化算法中个体不确定度之间相互冲突的问题,本文提出个体每个目标估值不确定的填充准则,同时,为了减少训练模型消耗的计算资源,提出基于非支配排序的样本选择算法。为了验证该算法的可行性,采用DTLZ和WFG测试函数进行测试,得出结果与近些年发表5种具有代表性的同类型算法进行对比,结果说明该算法可以有效的解决昂贵高维高目标优化问题。

“双高”电力系统:一种新的稳定判据和稳定性分类探讨

随着能源变革和电力电子技术发展,高比例新能源和高比例电力电子设备(简称“双高”)在电力系统中比例增高,带来新的稳定问题。该文对“双高”电力系统的失稳影响因素和稳定判据进行深入剖析,探索“双高”电力系统的失稳机理,提出系统阻抗角稳定性分析方法。基于所提出的稳定性分析方法,从系统有功功率、无功功率平衡基本运行规则出发,构建“双高”电力系统的阻抗角稳定判据,通过搭建仿真模型验证所提稳定判据的有效性和正确性。同时,对IEEE 提出的稳定性分类进行探讨,在遵循传统稳定性分类原则基础上,基于所构建的稳定判据,尝试提出一种新的稳定性分类方法,希望有助于厘清“双高”电力系统稳定性问题,为后续系统规划、稳定性控制提供指导。

考虑结构面震动劣化效应的岩质边坡块体动力稳定性评价

为解决岩质边坡块体在地震作用下的动力稳定性评价问题,基于结构面的循环剪切数值试验研究结构面的震动劣化效应,从而构建结构面震动劣化数学模型;结合坐标投影原理提出考虑结构面强度震动劣化效应的块体动力稳定性系数计算方法;基于数值分析法研究地震波波动特性对岩质边坡块体稳定性的影响,并进一步基于突变理论提出位移动力响应放大系数突变判据,最后形成一套以块体动力稳定性系数时程曲线和位移动力响应放大系数共同评价块体动力稳定性的评价体系,拓展地震作用下块体动力稳定性评价新思路。研究表明,结构面震动劣化效应不仅受循环剪切幅值、循环剪切次数及相对运动速度影响,还与起伏角度密切相关;通过算例证实了考虑结构面震动劣化的块体动力稳定性系数计算方法的准确性,所提出的以块体动力稳定性系数时程曲线和位移动力响应放大系数的共同评价体系更加安全可靠,将促进块体动力稳定性理论的发展,对边坡地质灾害的防治具有重要的科学意义和应用价值。

基于混合势函数的永磁同步风力发电机暂态稳定性分析

永磁同步发电机(permanent magnetic synchronous generator,PMSG)作为海上风力发电的主要设备,是风电技术的重要发展方向。然而,PMSG在运行过程中,受到大扰动干扰会导致其暂态稳定性下降。因此,针对PMSG风机大扰动下的暂态稳定性阈值难以判定的问题,本文基于混合势函数理论,建立了PMSG风机系统简化后的混合势函数模型,并推导出PMSG风机在大扰动后的暂态稳定判据。通过仿真后的网侧电流波形和网侧功率波形验证了暂态稳定判据的准确性,并调整各参数数值以分析PMSG风机暂态稳定性与风机参数、故障深度、故障时间和风速的关联性。

考虑软化和扩容的圆形巷道围岩Z-P准则弹塑性解

巷道围岩受应力作用表现出的软化、扩容行为对巷道的变形和破环有重大影响。为了研究软化、扩容特性对巷道围岩稳定性的影响,根据岩体的软化特性,建立理想的弹性软化模型,将围岩分为弹性区、塑性软化区和破裂区;基于Zienkiewicz-Pande准则和非关联流动法则,考虑围岩的软化、扩容特性,推导出含中间主应力的圆形巷道弹塑性解析解;将Z-P准则与M-C、D-P等准则进行比较,分析了软化模量、扩容等因素对巷道围岩的影响。结果表明:Z-P准则可良好地适用于发生软化、扩容的巷道;中间主应力系数为0.4时,围岩塑性区范围最小,围岩位移最小,塑性区内应力最大;软化模量越大,围岩破裂区半径越大;剪胀角越大,塑性区位移越大,破裂区半径越大;支护阻力越大,巷道塑性区范围越小,且提高支护阻力能有效控制巷道围岩的变形。

采动力学与岩层控制关键理论及工程应用

研究岩体采动力学响应和岩层控制技术对促进煤炭安全高效开采、保障能源稳定供给具有重要意义,是实现煤炭资源科学开采的理论基础。矿山岩体灾害(围岩变形、冲击地压等)频发,其形成-演化-发生全过程与采动力演化分布、岩层运动、开采扰动和能量演化密切相关。基于实用矿山压力控制理论,提出并阐述了采场岩层控制进展与控制准则,建立了定量分析的力学模型和设计方法,发展了针对性的岩体灾害控制技术,并创新研制了配套试验研究装备。采动力学与岩层控制理论将岩层控制分为采场岩层控制和巷道围岩控制;提出控制或利用采动岩层运动改变致灾条件,给出“给定变形”和“限定变形”准则;调控“3S”因素准则(围岩应力环境、围岩结构属性、围岩支护结构)改变围岩自稳能力。以岩体灾害控制为目标,提出了以“应力主控”为核心的释能主控技术;建立了岩体灾害控制大小原理和弱面判据(安全系数K、冲击危险性系数U);研发了采场矿压机械模拟试验系统、采动力试验系统和蠕变及动力扰动冲击加载试验系统,实现了实验室尺度还原采动力作用下岩体变形-破裂-运动过程,为研究采动力作用下岩体力学响应提供了试验装备;分别从采场岩层控制、地质软岩巷道控制、工程软岩巷道控制及冲击地压控制4个方向进行了工程案例研究,相关研究成果在工程应用中得到了验证。

道路沥青疲劳与断裂特性研究进展及发展趋势

疲劳开裂是沥青路面的主要病害之一,其产生与发展直接制约着道路基础设施生命周期的服役水平与行车舒适安全。近年来,沥青疲劳特性及其对路面抗疲劳性能的贡献日益得到关注,聚焦和解析沥青尺度的疲劳与断裂特性对我国未来沥青路面实现长寿命耐久服役具有重要意义。目前评价沥青疲劳与断裂性能的室内测评手段及数据建模分析方法较多,但尚未形成统一的测评技术体系。随着近年来的不断探索,在试验测评方法方面,逐渐形成了以线性振幅扫描试验为代表的沥青疲劳性能加速测评手段,且其与传统时间扫描疲劳试验均体现出较好的一致性;而在数据分析与建模方法方面,线黏弹特性、耗散能、虚应变能分析以及断裂力学相关方法被逐步应用,驱动沥青疲劳和断裂特性的评价与研究体系逐步从经验走向精准。本文主要从疲劳与断裂测评手段、损伤及失效行为特征判别、疲劳寿命预测方法三方面系统地梳理和归纳沥青疲劳与断裂特性研究方向的最新进展,同时分析了目前沥青尺度疲劳与断裂特性研究尚且存在的问题,展望了未来研究发展趋势,为我国抗疲劳长寿命沥青路面理论与技术的不断发展提供了参考。