This paper investigates the problem of path tracking control for autonomous ground vehicles(AGVs),where the input saturation,system nonlinearities and uncertainties are considered.Firstly,the nonlinear path tracking s...This paper investigates the problem of path tracking control for autonomous ground vehicles(AGVs),where the input saturation,system nonlinearities and uncertainties are considered.Firstly,the nonlinear path tracking system is formulated as a linear parameter varying(LPV)model where the variation of vehicle velocity is taken into account.Secondly,considering the noise effects on the measurement of lateral offset and heading angle,an observer-based control strategy is proposed,and by analyzing the frequency domain characteristics of the derivative of desired heading angle,a finite frequency H_∞index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error.Thirdly,sufficient conditions are derived to guarantee robust H_∞performance of the path tracking system,and the calculation of observer and controller gains is converted into solving a convex optimization problem.Finally,simulation examples verify the advantages of the control method proposed in this paper.展开更多
As the continuation study on amplification of in-plane seismic ground motion by underground group cavities in layered half-space, this study extends to the case of poroelastic half-space with dry poroelastic and satur...As the continuation study on amplification of in-plane seismic ground motion by underground group cavities in layered half-space, this study extends to the case of poroelastic half-space with dry poroelastic and saturated poroelastic soil layers. The influence of poroelastic layers on the amplification of seismic ground motion is studied both in frequency domain and time domain using indirect boundary element method (IBEM). It is shown that for the example of a saturated poroelastic site in Tianjin under the excitation of Taft wave and E1 Centro wave, the amplification of seismic ground motion in poroelastic case is slightly smaller than that in the elastic case, and the amplification of PGA (peak ground acceleration) and its PRS (peak response spectrum).. can be increased up to 38.8% and 64.6%; the predominant period of response spectra in poroelastic case becomes shorter to some extent compared with that in the elastic case. It is suggested that the effect of underground group cavities in poroelastic half-space on design seismic ground motion should be considered.展开更多
The non-axisymmetrical vibration of elastic circular plate resting on a layered transversely isotropic saturated ground was studied. First, the 3-d dynamic equations in cylindrical coordinate for transversely isotropi...The non-axisymmetrical vibration of elastic circular plate resting on a layered transversely isotropic saturated ground was studied. First, the 3-d dynamic equations in cylindrical coordinate for transversely isotropic saturated soils were transformed into a group of governing differential equations with 1-order by the technique of Fourier expanding with respect to azimuth, and the state equation is established by Hankel integral transform method, furthermore the transfer matrixes within layered media are derived based on the solutions of the state equation. Secondly, by the transfer matrixes, the general solutions of dynamic response for layered transversely isotropic saturated ground excited by an arbitrary harmonic force were established under the boundary conditions, drainage conditions on the surface of ground as well as the contact conditions. Thirdly, the problem was led to a pair of dual integral equations describing the mixed boundaryvalue problem which can be reduced to the Fredholm integral equations of the second kind solved by numerical procedure easily. At the end of this paper, a numerical result concerning vertical and radical displacements both the surface of saturated ground and plate is evaluated.展开更多
This study focuses on the consolidation behavior and mathematical interpretation of partially-saturated ground improved by impervious column inclusion.The constitutive relations for soil skeleton,pore air and pore wat...This study focuses on the consolidation behavior and mathematical interpretation of partially-saturated ground improved by impervious column inclusion.The constitutive relations for soil skeleton,pore air and pore water for partially saturated soils are proposed in the context of partially-saturated ground improved by impervious column inclusion.Settlement equation and dissipation equations of excess pore air/water pressures for a partially saturated improved ground are then derived.The semi-analytical solutions for ground settlement and pore pressure dissipation are then obtained through the Laplace transform and validated by the existing solutions for two special cases in the literature and the numerical results obtained from the finite difference method.A series of parametric studies is finally conducted to investigate the influence of some key factors on consolidation of partially saturated ground improved by impervious column inclusion.Based on the parametric study,it can be found that a higher value of the area replacement ratio or modulus of the pile results in a longer dissipation time of excess pore air pressure(PAP),a shorter dissipation time of excess pore water pressure(PWP),and a lower normalized settlement.展开更多
Explicit solution techniques have been widely used in geotechnical engineering for simulating the coupled hydro-mechanical(H-M) interaction of fluid flow and deformation induced by structures built above and under sat...Explicit solution techniques have been widely used in geotechnical engineering for simulating the coupled hydro-mechanical(H-M) interaction of fluid flow and deformation induced by structures built above and under saturated ground, i.e. circular footing and deep tunnel. However, the technique is only conditionally stable and requires small time steps, portending its inefficiency for simulating large-scale H-M problems. To improve its efficiency, the unconditionally stable alternating direction explicit(ADE)scheme could be used to solve the flow problem. The standard ADE scheme, however, is only moderately accurate and is restricted to uniform grids and plane strain flow conditions. This paper aims to remove these drawbacks by developing a novel high-order ADE scheme capable of solving flow problems in nonuniform grids and under axisymmetric conditions. The new scheme is derived by performing a fourthorder finite difference(FD) approximation to the spatial derivatives of the axisymmetric fluid-diffusion equation in a non-uniform grid configuration. The implicit Crank-Nicolson technique is then applied to the resulting approximation, and the subsequent equation is split into two alternating direction sweeps,giving rise to a new axisymmetric ADE scheme. The pore pressure solutions from the new scheme are then sequentially coupled with an existing geomechanical simulator in the computer code fast Lagrangian analysis of continua(FLAC). This coupling procedure is called the sequentially-explicit coupling technique based on the fourth-order axisymmetric ADE scheme or SEA-4-AXI. Application of SEA-4-AXI for solving axisymmetric consolidation of a circular footing and of advancing tunnel in deep saturated ground shows that SEA-4-AXI reduces computer runtime up to 42%-50% that of FLAC’s basic scheme without numerical instability. In addition, it produces high numerical accuracy of the H-M solutions with average percentage difference of only 0.5%-1.8%.展开更多
This paper proposes that on the basis of near-source saturation characteristic of ground motion, the peak ground motion acceleration and the acceleration response spectra of diffuse earthquakes affecting the nuclear f...This paper proposes that on the basis of near-source saturation characteristic of ground motion, the peak ground motion acceleration and the acceleration response spectra of diffuse earthquakes affecting the nuclear facility site can be determined by the statistic method. In view of the problem of insufficient statistic samples due to fewer qualified strong earth- quake records on the bedrock site, it also proposes that according to the features of ground motion response of the soil, the acceleration records on the soil site can be transformed into the equivalent acceleration records on rock site for a simultane- ous statistic analysis together with the records on rock site. Consequently, we have obtained by this method the near-source peak acceleration and the acceleration response spectra of small and moderate earthquakes on the site that could meet the need of nuclear facility and made a comparative analysis to the results from relevant researches. This new method for deter- mining diffuse earthquakes is only preliminarily verified in the paper and further research is needed for practical application.展开更多
Laser pulse nonlinear transmission measurements through saturable absorbers of known absorption parameters allow the measurement of their energy density. On the other hand, nonlinear transmission measurements of laser...Laser pulse nonlinear transmission measurements through saturable absorbers of known absorption parameters allow the measurement of their energy density. On the other hand, nonlinear transmission measurements of laser pulses of known energy density through absorbing media allow their absorption parameter determination. The peak energy density w0P of second harmonic pulses of a mode-locked titanium sapphire laser at wavelength λP = 400 nm is determined by nonlinear energy transmission measurement TE through the dye ADS084BE (1,4-bis(9-ethyl-3-car-bazovinylene)-2-methoxy-5-(2’-ethyl-hexyloxy)-benzene) in tetrahydrofuran. TE(w0P) calibration curves are calculated for laser pulse peak energy density reading w0P from measured pulse energy transmissions TE. The ground-state absorption cross-section σP and the excited-state absorption cross-section σex at λP, and the number density N0 of the retinal Schiff base isoform RetA in pH 7.4 buffer of the blue-light adapted recombinant rhodopsin fragment of the histidine kinase rhodopsin HKR1 from Chlamydomonas reinhardtii were determined by picosecond titanium sapphire second harmonic laser pulse energy transmission measurement TE through RetA as a function of laser input peak energy density w0P. The complete absorption cross-section spectrum展开更多
This paper reports on two sets of centrifuge model tests of wind turbines in dry sand and saturated sand subjected to earthquake sequences.The wind turbine system is composed of a single pile foundation and a wind tur...This paper reports on two sets of centrifuge model tests of wind turbines in dry sand and saturated sand subjected to earthquake sequences.The wind turbine system is composed of a single pile foundation and a wind turbine.All tests were applied with liquefaction experiments and analysis projects(LEAP)waves to simplify the analysis.The objectives of the tests are to investigate:(1)the influence of earthquake history on the seismic response of wind turbines;(2)the influence of earthquake history on the dynamic pile-soil interaction;and(3)the influence of two different foundation types on the seismic response of wind turbines.The tests indicated that earthquake history has a significant influence on the natural frequency of the pile and the soil around the pile in the saturated sand,but has no obvious influence on the dry sand.The shear modulus of the soil and the acceleration amplification factor of the pile top in both tests increased and the maximum bending moment envelope of the single pile foundation shrunk.The stiffness of the p-y curve in saturated sand was increased by the earthquake history,while that in dry sand was not significantly affected.展开更多
The design of underground spaces in urban areas must account not only for the current overburden load but also for future surface loads,such as from construction of high-rise buildings above underground structures.In ...The design of underground spaces in urban areas must account not only for the current overburden load but also for future surface loads,such as from construction of high-rise buildings above underground structures.In saturated ground,the surface load will generate an additional mechanical response through stress changes and ground displacement,as well as a hydraulic response through pore pressure changes.These hydro-mechanical(H-M)changes can severely influence tunnel stability.This paper examines the effect of surface loading on the H-M response of a typical horseshoe-shaped tunnel in saturated ground.Two tunnel models were created in the computer code Fast Lagrangian Analysis of Continua(FLAC).One model represented weak and low permeability ground(stiff clay),and the other represented strong and high permeability ground(weathered granite).Each of the models was run under two liner permeabilities:permeable and impermeable.Two main cases were compared.In Case 1,the surface load was applied 10 years after tunnel construction.In Case 2,the surface load was applied after the steady state pore pressure condition was achieved.The simulation results show that tunnels with impermeable liners experienced the most severe influence from the surface loading,with high pore pressures,large inward displacement around the tunnels,and high bending moments in the liner.In addition,the severity of the response increased toward steady state.This induced H-M response was worse for tunnels in clay than for those in granite.Furthermore,the long-term liner stabilities in Case 1 and Case 2 were similar,indicating that the influence of the length of time between when the tunnel was completed and when the surface load was applied was negligible.These findings suggest that under surface loading,in addition to the ground strength,tunnel stability in saturated ground is largely influenced by liner permeability and the long-term H-M response of the ground.展开更多
基金supported by the National Natural Science Foundation of China(62173029,62273033,U20A20225)the Fundamental Research Funds for the Central Universities,China(FRF-BD-19-002A)。
文摘This paper investigates the problem of path tracking control for autonomous ground vehicles(AGVs),where the input saturation,system nonlinearities and uncertainties are considered.Firstly,the nonlinear path tracking system is formulated as a linear parameter varying(LPV)model where the variation of vehicle velocity is taken into account.Secondly,considering the noise effects on the measurement of lateral offset and heading angle,an observer-based control strategy is proposed,and by analyzing the frequency domain characteristics of the derivative of desired heading angle,a finite frequency H_∞index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error.Thirdly,sufficient conditions are derived to guarantee robust H_∞performance of the path tracking system,and the calculation of observer and controller gains is converted into solving a convex optimization problem.Finally,simulation examples verify the advantages of the control method proposed in this paper.
基金supported by National Natural Science Foundation of China under grant No. 50978183Key Project for Applied Basic Research of Tianjin Municipality under Grant No. 12JCZDJC29000
文摘As the continuation study on amplification of in-plane seismic ground motion by underground group cavities in layered half-space, this study extends to the case of poroelastic half-space with dry poroelastic and saturated poroelastic soil layers. The influence of poroelastic layers on the amplification of seismic ground motion is studied both in frequency domain and time domain using indirect boundary element method (IBEM). It is shown that for the example of a saturated poroelastic site in Tianjin under the excitation of Taft wave and E1 Centro wave, the amplification of seismic ground motion in poroelastic case is slightly smaller than that in the elastic case, and the amplification of PGA (peak ground acceleration) and its PRS (peak response spectrum).. can be increased up to 38.8% and 64.6%; the predominant period of response spectra in poroelastic case becomes shorter to some extent compared with that in the elastic case. It is suggested that the effect of underground group cavities in poroelastic half-space on design seismic ground motion should be considered.
基金Project supported by the National Natural Science Foundation of China(No.50678108)the Natural Science Foundation of Zhejiang Province(No.Y106264 )
文摘The non-axisymmetrical vibration of elastic circular plate resting on a layered transversely isotropic saturated ground was studied. First, the 3-d dynamic equations in cylindrical coordinate for transversely isotropic saturated soils were transformed into a group of governing differential equations with 1-order by the technique of Fourier expanding with respect to azimuth, and the state equation is established by Hankel integral transform method, furthermore the transfer matrixes within layered media are derived based on the solutions of the state equation. Secondly, by the transfer matrixes, the general solutions of dynamic response for layered transversely isotropic saturated ground excited by an arbitrary harmonic force were established under the boundary conditions, drainage conditions on the surface of ground as well as the contact conditions. Thirdly, the problem was led to a pair of dual integral equations describing the mixed boundaryvalue problem which can be reduced to the Fredholm integral equations of the second kind solved by numerical procedure easily. At the end of this paper, a numerical result concerning vertical and radical displacements both the surface of saturated ground and plate is evaluated.
基金The financial support from National Natural Science Foundation of China (Grant Nos. 12172211 and 52078021)Shanghai Key Laboratory of Rail Infrastructure Durability and System Safety, China (Grant No. R201904)
文摘This study focuses on the consolidation behavior and mathematical interpretation of partially-saturated ground improved by impervious column inclusion.The constitutive relations for soil skeleton,pore air and pore water for partially saturated soils are proposed in the context of partially-saturated ground improved by impervious column inclusion.Settlement equation and dissipation equations of excess pore air/water pressures for a partially saturated improved ground are then derived.The semi-analytical solutions for ground settlement and pore pressure dissipation are then obtained through the Laplace transform and validated by the existing solutions for two special cases in the literature and the numerical results obtained from the finite difference method.A series of parametric studies is finally conducted to investigate the influence of some key factors on consolidation of partially saturated ground improved by impervious column inclusion.Based on the parametric study,it can be found that a higher value of the area replacement ratio or modulus of the pile results in a longer dissipation time of excess pore air pressure(PAP),a shorter dissipation time of excess pore water pressure(PWP),and a lower normalized settlement.
基金the support from the University Transportation Center for Underground Transportation Infrastructure at the Colorado School of Mines for partially funding this research under Grant No. 69A3551747118 of the Fixing America's Surface Transportation Act (FAST Act) of U.S. DoT FY2016
文摘Explicit solution techniques have been widely used in geotechnical engineering for simulating the coupled hydro-mechanical(H-M) interaction of fluid flow and deformation induced by structures built above and under saturated ground, i.e. circular footing and deep tunnel. However, the technique is only conditionally stable and requires small time steps, portending its inefficiency for simulating large-scale H-M problems. To improve its efficiency, the unconditionally stable alternating direction explicit(ADE)scheme could be used to solve the flow problem. The standard ADE scheme, however, is only moderately accurate and is restricted to uniform grids and plane strain flow conditions. This paper aims to remove these drawbacks by developing a novel high-order ADE scheme capable of solving flow problems in nonuniform grids and under axisymmetric conditions. The new scheme is derived by performing a fourthorder finite difference(FD) approximation to the spatial derivatives of the axisymmetric fluid-diffusion equation in a non-uniform grid configuration. The implicit Crank-Nicolson technique is then applied to the resulting approximation, and the subsequent equation is split into two alternating direction sweeps,giving rise to a new axisymmetric ADE scheme. The pore pressure solutions from the new scheme are then sequentially coupled with an existing geomechanical simulator in the computer code fast Lagrangian analysis of continua(FLAC). This coupling procedure is called the sequentially-explicit coupling technique based on the fourth-order axisymmetric ADE scheme or SEA-4-AXI. Application of SEA-4-AXI for solving axisymmetric consolidation of a circular footing and of advancing tunnel in deep saturated ground shows that SEA-4-AXI reduces computer runtime up to 42%-50% that of FLAC’s basic scheme without numerical instability. In addition, it produces high numerical accuracy of the H-M solutions with average percentage difference of only 0.5%-1.8%.
基金supported by the Special Funds for Sciences and Technology Research (No. 200708003 and No. 200808008)National Natural Science Foundation of China (No. 90715020)
文摘This paper proposes that on the basis of near-source saturation characteristic of ground motion, the peak ground motion acceleration and the acceleration response spectra of diffuse earthquakes affecting the nuclear facility site can be determined by the statistic method. In view of the problem of insufficient statistic samples due to fewer qualified strong earth- quake records on the bedrock site, it also proposes that according to the features of ground motion response of the soil, the acceleration records on the soil site can be transformed into the equivalent acceleration records on rock site for a simultane- ous statistic analysis together with the records on rock site. Consequently, we have obtained by this method the near-source peak acceleration and the acceleration response spectra of small and moderate earthquakes on the site that could meet the need of nuclear facility and made a comparative analysis to the results from relevant researches. This new method for deter- mining diffuse earthquakes is only preliminarily verified in the paper and further research is needed for practical application.
文摘Laser pulse nonlinear transmission measurements through saturable absorbers of known absorption parameters allow the measurement of their energy density. On the other hand, nonlinear transmission measurements of laser pulses of known energy density through absorbing media allow their absorption parameter determination. The peak energy density w0P of second harmonic pulses of a mode-locked titanium sapphire laser at wavelength λP = 400 nm is determined by nonlinear energy transmission measurement TE through the dye ADS084BE (1,4-bis(9-ethyl-3-car-bazovinylene)-2-methoxy-5-(2’-ethyl-hexyloxy)-benzene) in tetrahydrofuran. TE(w0P) calibration curves are calculated for laser pulse peak energy density reading w0P from measured pulse energy transmissions TE. The ground-state absorption cross-section σP and the excited-state absorption cross-section σex at λP, and the number density N0 of the retinal Schiff base isoform RetA in pH 7.4 buffer of the blue-light adapted recombinant rhodopsin fragment of the histidine kinase rhodopsin HKR1 from Chlamydomonas reinhardtii were determined by picosecond titanium sapphire second harmonic laser pulse energy transmission measurement TE through RetA as a function of laser input peak energy density w0P. The complete absorption cross-section spectrum
基金Basic Science Center Program for Multiphase Media Evolution in Hypergravity of the National Natural Science Foundation of China under Grant No.51988101the National Natural Science Foundation of China under Grant No.51808490。
文摘This paper reports on two sets of centrifuge model tests of wind turbines in dry sand and saturated sand subjected to earthquake sequences.The wind turbine system is composed of a single pile foundation and a wind turbine.All tests were applied with liquefaction experiments and analysis projects(LEAP)waves to simplify the analysis.The objectives of the tests are to investigate:(1)the influence of earthquake history on the seismic response of wind turbines;(2)the influence of earthquake history on the dynamic pile-soil interaction;and(3)the influence of two different foundation types on the seismic response of wind turbines.The tests indicated that earthquake history has a significant influence on the natural frequency of the pile and the soil around the pile in the saturated sand,but has no obvious influence on the dry sand.The shear modulus of the soil and the acceleration amplification factor of the pile top in both tests increased and the maximum bending moment envelope of the single pile foundation shrunk.The stiffness of the p-y curve in saturated sand was increased by the earthquake history,while that in dry sand was not significantly affected.
基金The authors wish to acknowledge support from the Center for Underground Construction and Tunneling at Colorado School of Mines for allowing the use of FLAC in the simulations performed in this paper.
文摘The design of underground spaces in urban areas must account not only for the current overburden load but also for future surface loads,such as from construction of high-rise buildings above underground structures.In saturated ground,the surface load will generate an additional mechanical response through stress changes and ground displacement,as well as a hydraulic response through pore pressure changes.These hydro-mechanical(H-M)changes can severely influence tunnel stability.This paper examines the effect of surface loading on the H-M response of a typical horseshoe-shaped tunnel in saturated ground.Two tunnel models were created in the computer code Fast Lagrangian Analysis of Continua(FLAC).One model represented weak and low permeability ground(stiff clay),and the other represented strong and high permeability ground(weathered granite).Each of the models was run under two liner permeabilities:permeable and impermeable.Two main cases were compared.In Case 1,the surface load was applied 10 years after tunnel construction.In Case 2,the surface load was applied after the steady state pore pressure condition was achieved.The simulation results show that tunnels with impermeable liners experienced the most severe influence from the surface loading,with high pore pressures,large inward displacement around the tunnels,and high bending moments in the liner.In addition,the severity of the response increased toward steady state.This induced H-M response was worse for tunnels in clay than for those in granite.Furthermore,the long-term liner stabilities in Case 1 and Case 2 were similar,indicating that the influence of the length of time between when the tunnel was completed and when the surface load was applied was negligible.These findings suggest that under surface loading,in addition to the ground strength,tunnel stability in saturated ground is largely influenced by liner permeability and the long-term H-M response of the ground.