A new triaxial apparatus was designed and manufactured. It is able to applysurcharge and combined vacuum-surcharge pressures on soil samples, and allows for monitoring ofexcess pore-water pressure, axial strain or set...A new triaxial apparatus was designed and manufactured. It is able to applysurcharge and combined vacuum-surcharge pressures on soil samples, and allows for monitoring ofexcess pore-water pressure, axial strain or settlement, and volumetric strain during the process ofconsolidation. Tests were performed using the apparatus on undisturbed soft clayey soil samples,which were collected from Wenzhou, Zhejiang Province, China, at average natural water content 72. 5%. The consolidation behavior of theclay has no rigorous difference, whether it is consolidatedunder the vacuum, surcharge, or combined vacuum-surcharge preloading. The study shows that somephysical properties of the soft clayey soils are changed and mechanical properties are improved tosupport excessive loads transferred to the soil foundation due to construction.展开更多
As a rapid and effective ground improvement method is urgently required for the booming land reclamation in China＇s coastal area, this study proposes a new combined method of electroosmosis, vacuum preloading and sur...As a rapid and effective ground improvement method is urgently required for the booming land reclamation in China＇s coastal area, this study proposes a new combined method of electroosmosis, vacuum preloading and surcharge preloading. A new type of electrical prefabricated vertical drain （ePVD） and a new electroosmotic drainage system are suggested to allow the application of the new method. This combined method is then field-tested and compared with the conventional vacuum combined with surcharge preloading method. The monitoring and foundation test results show that the new method induces a settlement 20% larger than that of the conventional vacuum combined with surcharge preloading method in the same treatment period, and saves approximately half of the treatment time compared with the vacuum combined with surcharge preloading method according to the finite element prediction of the settlement. The proposed method also increases the vane shear strength of the soil significantly. The bearing capacity of the ground improved by use of the new proposed method raises 118%. In comparison, there is only a 75% rise when using the vacuum combined with surcharge preloading method during the same reinforcement period. All results indicate that the proposed combined method is effective and suitable for reinforcing the soft clay ground. Besides, the voltage applied between the anode and cathode increases exponentially versus treatment time when the output current of power supplies is kept constant. Most of the voltage potential in electroosmosis is lost at electrodes, leaving smaller than 50% of the voltage to be effectively transmitted into the soil.展开更多
Problems continue to be encountered concerning the traditional vacuum preloading method in field during the treatment of newly deposited dredger fills.In this paper,an improved multiple-vacuum preloading method was de...Problems continue to be encountered concerning the traditional vacuum preloading method in field during the treatment of newly deposited dredger fills.In this paper,an improved multiple-vacuum preloading method was developed to consolidate newly dredger fills that are hydraulically placed in seawater for land reclamation in Lingang Industrial Zone of Tianjin City,China.With this multiplevacuum preloading method,the newly deposited dredger fills could be treated effectively by adopting a novel moisture separator and a rapid improvement technique without sand cushion.A series of model tests was conducted in the laboratory for comparing the results from the multiple-vacuum preloading method and the traditional one.Ten piezometers and settlement plates were installed to measure the variations in excess pore water pressures and moisture content,and vane shear strength was measured at different positions.The testing results indicate that water dischargeetime curves obtained by the traditional vacuum preloading method can be divided into three phases:rapid growth phase,slow growth phase,and steady phase.According to the process of fluid flow concentrated along tiny ripples and building of larger channels inside soils during the whole vacuum loading process,the fluctuations of pore water pressure during each loading step are divided into three phases:steady phase,rapid dissipation phase,and slow dissipation phase.An optimal loading pattern which could have a best treatment effect was proposed for calculating the water discharge and pore water pressure of soil using the improved multiple-vacuum preloading method.For the newly deposited dredger fills at Lingang Industrial Zone of Tianjin City,the best loading step was 20 kPa and the loading of 40-50 k Pa produced the highest drainage consolidation.The measured moisture content and vane shear strength were discussed in terms of the effect of reinforcement,both of which indicate that the multiple-vacuum preloading method has a better treatment effect not only in decreasing the moisture content and increasing the bearing capacity,but also in increasing the process uniformity at different depths of foundation.展开更多
To assess the effectiveness of vacuum preloading combined electroosmotic strengthening of ultra-soft soil and study the mechanism of the process, a comprehensive experimental investigation was performed. A laboratory ...To assess the effectiveness of vacuum preloading combined electroosmotic strengthening of ultra-soft soil and study the mechanism of the process, a comprehensive experimental investigation was performed. A laboratory test cell was designed and applied to evaluate the vacuum preloading combined electroosmosis. Several factors were taken into consideration, including the directions of the electroosmotic current and water induced by vacuum preloading and the replenishment of groundwater from the surrounding area. The results indicate that electroosmosis together with vacuum preloading improve the soil strength greatly, with an increase of approximately 60%, and reduce the water content of the soil on the basis of consolidation of vacuum preloading, howeve~ further settlement is not obvious with only 1.7 mm. The reinforcement effect of vacuum preloading combined electroosmosis is better than that of electroosmosis after vacuum preloading. Elemental analysis using X-ray fluorescence proves that the soil strengthening during electroosmotic period in this work is mainly caused by electroosmosis-induced electrochemical reactions, the concentrations of Al2O3 in the VPCEO region increase by 2.2%, 1.5%, and 0.9% at the anode, the midpoint between the electrodes, and the cathode, respectively.展开更多
A laboratory test was performed to assess the effectiveness of vacuum preloading incorporated with electroosmotic (EOM) treatment on silty clay (combined method) for reclamation projects like new disposal ponds, where...A laboratory test was performed to assess the effectiveness of vacuum preloading incorporated with electroosmotic (EOM) treatment on silty clay (combined method) for reclamation projects like new disposal ponds, where the horizontal electrode configurations beneath the soil layer were possible and the drainage pipes and the prefabricated vertical drains (PVDs) system could be easily installed in advance before the sludge dragged from sea bed or river bed was filled into the site. Three groups of tests were conducted on the silty clay from Qinhuai River in Nanjing, China. The model is able to apply vacuum pressure at the bottom of the soil layer and a direct current electric field simultaneously. It is also possible to measure the pore pressures at different depths of soil column, and the changes in settlement and volume with the elapsed time. In this study, the vacuum preloading method, vacuum preloading applied at the bottom (VAB method), was applied and the cathodes were installed beneath the soil layer. The results obtained indicate substantial reduction in water content, and increases in dry density and undrained shear strength in comparison with those obtained by the vacuum preloading only, particularly at the positions close to the anode. The combined method utilizes the vertical drainage flow created by the electroosmosis integrating the horizontal drainage flow created mostly by the vacuum pressure. The total drainage flow can be calculated as a result of the vertical drainage flow by electroosmosis only and the horizontal drainage flow by the vacuum preloading only. The way of placement of the cathode and the anode in the combined method also overcomes the disadvantage of EOM method itself, i.e. the appearance of cracks between the anode and the surrounding soil. Moreover, it is observed that the vacuum preloading plays a primary role in earlier stage in deduction of free pore water; meanwhile, the electroosmotic method is more efficient in later stage for absorbing water in the diffused double layers of soil.展开更多
In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly desi...In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.展开更多
This paper presents model tests(macro aspect)and microstructure tests(micro aspect)for investigating the consolidation behavior of Tianjin dredged clay using the prefabricated vertical drain air-booster vacuum preload...This paper presents model tests(macro aspect)and microstructure tests(micro aspect)for investigating the consolidation behavior of Tianjin dredged clay using the prefabricated vertical drain air-booster vacuum preloading(PAVP)and tube air-booster vacuum preloading(TAVP)methods.The mechanism of air-booster vacuum preloading(AVP)using a spring-like system is explained.The main difference between these two methods is the air-boosting equipment.A new anticlogging air-booster prefabricated vertical drain(PVD)is used in the PAVP technique and a self-designed air-booster tube is used in the TAVP technique.In the model tests,a comparison of the variables that are monitored during reinforcement(vacuum pressure,surface settlement,water discharge,and pore-water pressure)and after reinforcement(water content,dry density,and vane shear strength)is conducted.The results indicate that the consolidation behavior of Tianjin dredged clay using the PAVP method is better than that using the TAVP method.PAVP more efficiently mitigates the issue of water-draining PVD clogging and significantly accelerates drainage consolidation.In addition,in the microstructure tests,a comparison of the variables that are monitored after reinforcement(via scanning electron microscopy(SEM)and mercury intrusion porosimetry(MIP))is conducted,and the results further explain the model test results.展开更多
Vacuum preloading has been widely used to improve soft soils in coastal areas of China.An increasing amount of evidence from field operations has shown that conventional vacuum preloading is prone to clogging in prefa...Vacuum preloading has been widely used to improve soft soils in coastal areas of China.An increasing amount of evidence from field operations has shown that conventional vacuum preloading is prone to clogging in prefabricated vertical drains(PVDs)and demands a large volume of sand fills.In recent years,air-boosted vacuum preloading has been developed to overcome these limitations;however,this method still requires more data to verify its performance.In this study,a field test for air-boosted vacuum preloading was conducted,and a large-strain two-dimensional(2D)finite element(FE)model was developed and validated against the field test data.Then,a series of FE parametric analyses was performed to assess key factors,i.e.the air injection pressure,the injection spacing,and the characteristics of cyclic injection,which affect the performance of the air-boosted vacuum preloading.The results showed that the ground settlement and lateral displacement of the soils increased due to an increase in the injection pressure,a decrease in the injection spacing,or increases in the number and duration of the injection cycles.Based on the parametric analyses,an empirical formula for ground settlement prediction was proposed and compared with a case history reported in the literature,showing good agreement.展开更多
The mechanical properties of residual coal pillars under the influence of upward mining disturbances significantly affect the safety of residual mining activities on working faces.This study conducted low-frequency di...The mechanical properties of residual coal pillars under the influence of upward mining disturbances significantly affect the safety of residual mining activities on working faces.This study conducted low-frequency disturbance dynamic uniaxial compression tests on coal specimens using a self-developed dynamic-static load coupling electro-hydraulic servo system,and studied the strength evolutions,surface deformations,acoustic emission(AE)characteristic parameters,and the failure modes of coal specimens with different static preloading levels were studied.The disturbance damage is positively correlated with the coal specimen static preload level.Specifically,the cumulative AE count rates of the initial accelerated damage stage for the coal specimens with static preloading level of 60%and 70%of the uniaxial compressive strength(UCS)were 2.66 and 3.19 times that of the 50%UCS specimens,respectively.Macroscopically,this behaviour manifested as a decrease in the compressive strength,and the mean strengths of the disturbance-damaged coal specimens with 60%and 70%of UCS static preloading decreased by 8.53%and 9.32%,respectively,compared to those of the specimens under pure static loading.The crack sources,such as the primary fissures,strongly control the dynamic response of the coal specimen.The difference between the dynamic responses of the coal specimens and that of dense rocks is significant.展开更多
Vacuum combined surcharge preloading is an effective method which has been used in ground treatment. This study presents the analytical solution of vertical drains with vacuum combined surcharge preloading. The surcha...Vacuum combined surcharge preloading is an effective method which has been used in ground treatment. This study presents the analytical solution of vertical drains with vacuum combined surcharge preloading. The surcharge was considered to be time-dependent preloading due to its reflection of the real situation.Moreover,the free strain,instead of equal strain hypothesis of the surface,was adopted for the mathematical rigor. Both vertical and horizontal drainages,along with the well resistance were considered.Besides,the time-dependent surcharge preloading was resolved with the impulse theorem which has been presented in the study,and the solutions for pore water pressure and degree of consolidation were derived by applying the approach of separation of variables.Furthermore,the solution is compared with previous solutions and numerical solutions,and the results verify the correctness of the proposed model.展开更多
The rapid development of high-speed transportation infrastructure such as highway and high-speed railway has resulted in the advancement of soft soil improvement techniques. Vacuum preloading combined with vertical dr...The rapid development of high-speed transportation infrastructure such as highway and high-speed railway has resulted in the advancement of soft soil improvement techniques. Vacuum preloading combined with vertical drains has been proved to be an effective method in the treatment of soft foundation. A three-dimensional numerical analysis of the coupled methods was presented, in which the smear zone and the well resistance were taken into account. The variations of the basic soil parameters including the permeability coefficient and the coefficient of volume compressibility were considered in the numerical model. The result of the numerical model was then compared to the measured value. The results indicate that the decrease of coefficient of volume compressibility accelerates the consolidation of the soil while the influence of hydraulic conductivity is insignificant. A cube drain presents the closest result to the real situation compared to the other equivalent methods of prefabricated vertical drain (PVD). The case study indicates that the numerical model with variation of soil parameters is closer to the measured value than the numerical model without variation of soil parameters.展开更多
It is very important to control any risk of instability of embankment during vacuum construction, the simulation vacuum preloading method using tri-axial apparatus is proposed to predict the behavior of soft soil impr...It is very important to control any risk of instability of embankment during vacuum construction, the simulation vacuum preloading method using tri-axial apparatus is proposed to predict the behavior of soft soil improvement in the laboratory, as well as to make this method become familiar and easier in the future. The tri-axial apparatus is used instead of the large-scale one, which has been performed by Bergado (1998) and Indaratna (2008). The tri-axial test on small size specimen can be carried out in one week compared to the large-scale apparatus takes one month for big specimen. In addition, the lateral deformation as well as the shear strength increase with time can determine accurately.展开更多
This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is design...This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.展开更多
The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The composition of the OWV system includes: a DSP motion card, a wheel motor, and its driver. In addition, a t...The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The composition of the OWV system includes: a DSP motion card, a wheel motor, and its driver. In addition, a tilt and a gyro, for sensing the angle and angular velocity of the body slope, are used to realize self-balancing controls. OWV, a kind of unicycle robot, can be dealt with as a mobile-inverted-pendulum system for its instability. However, for its possible applications in mobile carriers or robots, it is worth being further developed. In this study, first, the OWV system model will be derived. Next, through the simulations based on the mathematical model, the analysis of system stability and controllability can be evaluated. Last, a concise and realizable method, through system pole-placement and linear quadratic regulator (LQR), will be proposed to design the SBC. The effectiveness, reliability, and feasibility of the proposal will be con- firmed through simulation studies and experimenting on a physical OWV.展开更多
This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle mode...This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.展开更多
Based on the characteristics and reinforcement mechanism of vacuum preloading applied in high way soft foundation, the theoretical calculation method of vacuum preloading was presented. According to the equivalent met...Based on the characteristics and reinforcement mechanism of vacuum preloading applied in high way soft foundation, the theoretical calculation method of vacuum preloading was presented. According to the equivalent method derived from sand drain foundation subjected to plane and axisymmetric conditions, the three dimensional problem was transformed into plane strain problem. The modified Komala-Huang model was used to model the rheological behavior and the damage theory was also introduced to consider the effect of damage caused by construction disturbance. Numerical simulations were carried out for a high way test section. The results show that simulations of the viscoelastic-plastic-damage model are in good agreement with the field measurements. It suggests that the calculation method, simplified load and boundary condition used in this study are reasonable.展开更多
The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental studies.The research problem in this work is to stabilize the mobile robot with self-control and to c...The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental studies.The research problem in this work is to stabilize the mobile robot with self-control and to carry the sensitive things without failing in a long span period.The main objective of this study is to focus on the mathematical modelling of mobile robot from laboratory scale to real world applications.The numerical expression with mathematical modelling is very important to control the mobile robot system with linearization.The fundamental concepts of dynamic system stability were utilized for maintaining the stability of the constructed mobile robot system.The controller design is also important for checking the stability and the appropriate controller design is proportional,integral,and derivative-PID controller and Linear Quadratic Regulator(LQR).The steady state error could be reduced by using such kind of PID controller.The simulation of numerical expression on mathematical modeling was conducted in MATLAB environments.The confirmation results from the simulation techniques were applied to construct the hardware design of mobile robot system for practical study.The results from simulation approaches and experimental approaches are matched in various kinds of analyses.The constructed mobile robot system was designed and analyzed in the control system design laboratory of Yangon Technological University(YTU).展开更多
We studied consecutive impact loading on woven high-modulus polyethylene rope, which is used in robotics fields. An impact tester was developed to conduct the experiments. Five consecutive impact loads (five drops) we...We studied consecutive impact loading on woven high-modulus polyethylene rope, which is used in robotics fields. An impact tester was developed to conduct the experiments. Five consecutive impact loads (five drops) were applied to the rope and the stiffness of the loading part that corresponds to each drop was evaluated. The stiffness of the woven ropes was affected strongly by consecutive impact loading. The change in stiffness is undesirable in some applications such as in robotic fields. Therefore, we have proposed a method that can optimize changes in stiffness by applying a preload before impact testing (preload treatment). The experimental results show that preload is an efficient way to reduce changing rope stiffness. We have also proposed an empirical equation that can estimate the rope stiffness after arbitrary preload treatment, and this equation is a function of the number of drops and the static preload level. The equation can be used to determine the preload treatment conditions to stabilize the stiffness of the woven ropes before they are used in engineering fields.展开更多
By using the soil static and dynamic universal triaxial and torsional shear apparatus, a series of combined cyclic shear tests are performed to simulate the rotation in the principal stress direction induced by ocean ...By using the soil static and dynamic universal triaxial and torsional shear apparatus, a series of combined cyclic shear tests are performed to simulate the rotation in the principal stress direction induced by ocean wave. The tests include the cyclic preloading tests and liquefaction tests in the second loading on saturated loose sand with a relative density of 30%. The all tests are consolidated under isotropic condition. The effect of the cyclic preloading on the resistance to liquefaction of saturated loose sands under the condition of continuous rotation in the principal stress direction is investigated. Experimental data indicate that the void ratio of saturated sands has a negligible reduction after cyclic preloading. With the increase of the intensity of cyclic preloading (in the amplitude and in the number of cycles), the resistance to liquefaction in the second loading is increased continuously under the condition that the liquefaction does not occur during the cyclic preloading. The reason is that the construction of more stable structure due to the uniformity of the void and the better interlocking of the particles when the cyclic preloading is applied to the saturated sand.展开更多
Municipal sludge is a sedimentation waste produced during the wastewater process in sewage treatment plants.Among recent studies,pilot and field tests showed that chemical conditioning combined with vacuum preloading ...Municipal sludge is a sedimentation waste produced during the wastewater process in sewage treatment plants.Among recent studies,pilot and field tests showed that chemical conditioning combined with vacuum preloading can effectively treat municipal sludge.To further understand the drainage and consolidation characteristics of the conditioning sludge during vacuum preloading,a large deformation nonlinear numerical simulation model based on the equal strain condition was developed to simulate and analyze the pilot and field tests,whereas the simulation results were not satisfactory.The results of the numerical analysis of the pilot test showed that the predicted consolidation degree was greater than that measured by the field tests,which is attributed to the relatively low permeability layer formed during the preloading process of the prefabricated vertical drain.To better reflect the consolidation process of the conditioned sludge,a simplified analysis method considering the low permeability layer around the prefabricated vertical drain was proposed.The initial permeability coefficient of the low permeability layer is determined via numerical simulations using finite difference method.The predicted settlement curve was in good agreement with the measured results,which indicated that the numerical simulation based on the equal strain condition considering the relatively low permeability layer can better analyze the consolidation process of ferric chloride-conditioning sludge with vacuum preloading.展开更多
文摘A new triaxial apparatus was designed and manufactured. It is able to applysurcharge and combined vacuum-surcharge pressures on soil samples, and allows for monitoring ofexcess pore-water pressure, axial strain or settlement, and volumetric strain during the process ofconsolidation. Tests were performed using the apparatus on undisturbed soft clayey soil samples,which were collected from Wenzhou, Zhejiang Province, China, at average natural water content 72. 5%. The consolidation behavior of theclay has no rigorous difference, whether it is consolidatedunder the vacuum, surcharge, or combined vacuum-surcharge preloading. The study shows that somephysical properties of the soft clayey soils are changed and mechanical properties are improved tosupport excessive loads transferred to the soil foundation due to construction.
基金financially supported by the National Natural Science Joint High Speed Railway Key Program Foundation of China(Grant No.U1134207)the Program for Changjiang Scholars and Innovative Research Team in University(Grant No.IRT1125)the Key Science and Technology Program of the Science and Technology Department of Zhejiang Province(Grant No.2009C03001)
文摘As a rapid and effective ground improvement method is urgently required for the booming land reclamation in China＇s coastal area, this study proposes a new combined method of electroosmosis, vacuum preloading and surcharge preloading. A new type of electrical prefabricated vertical drain （ePVD） and a new electroosmotic drainage system are suggested to allow the application of the new method. This combined method is then field-tested and compared with the conventional vacuum combined with surcharge preloading method. The monitoring and foundation test results show that the new method induces a settlement 20% larger than that of the conventional vacuum combined with surcharge preloading method in the same treatment period, and saves approximately half of the treatment time compared with the vacuum combined with surcharge preloading method according to the finite element prediction of the settlement. The proposed method also increases the vane shear strength of the soil significantly. The bearing capacity of the ground improved by use of the new proposed method raises 118%. In comparison, there is only a 75% rise when using the vacuum combined with surcharge preloading method during the same reinforcement period. All results indicate that the proposed combined method is effective and suitable for reinforcing the soft clay ground. Besides, the voltage applied between the anode and cathode increases exponentially versus treatment time when the output current of power supplies is kept constant. Most of the voltage potential in electroosmosis is lost at electrodes, leaving smaller than 50% of the voltage to be effectively transmitted into the soil.
基金the National Natural Science Foundation of China(NSFC)(Grant Nos.51378344 and 51578371)Tianjin Research Program of Application Foundation and Advanced Technology(Grant No.14JCYBJC21700)Beijing-Tianjin-Hebei Special Projects of Cooperation(Grant No.16JCJDJC40000) for their financial supports
文摘Problems continue to be encountered concerning the traditional vacuum preloading method in field during the treatment of newly deposited dredger fills.In this paper,an improved multiple-vacuum preloading method was developed to consolidate newly dredger fills that are hydraulically placed in seawater for land reclamation in Lingang Industrial Zone of Tianjin City,China.With this multiplevacuum preloading method,the newly deposited dredger fills could be treated effectively by adopting a novel moisture separator and a rapid improvement technique without sand cushion.A series of model tests was conducted in the laboratory for comparing the results from the multiple-vacuum preloading method and the traditional one.Ten piezometers and settlement plates were installed to measure the variations in excess pore water pressures and moisture content,and vane shear strength was measured at different positions.The testing results indicate that water dischargeetime curves obtained by the traditional vacuum preloading method can be divided into three phases:rapid growth phase,slow growth phase,and steady phase.According to the process of fluid flow concentrated along tiny ripples and building of larger channels inside soils during the whole vacuum loading process,the fluctuations of pore water pressure during each loading step are divided into three phases:steady phase,rapid dissipation phase,and slow dissipation phase.An optimal loading pattern which could have a best treatment effect was proposed for calculating the water discharge and pore water pressure of soil using the improved multiple-vacuum preloading method.For the newly deposited dredger fills at Lingang Industrial Zone of Tianjin City,the best loading step was 20 kPa and the loading of 40-50 k Pa produced the highest drainage consolidation.The measured moisture content and vane shear strength were discussed in terms of the effect of reinforcement,both of which indicate that the multiple-vacuum preloading method has a better treatment effect not only in decreasing the moisture content and increasing the bearing capacity,but also in increasing the process uniformity at different depths of foundation.
基金Project(2009B13014) supported by the Fundamental Research Funds for the Central Universities of ChinaProject(IRT1125) supported by the Program for Changjiang Scholars and Innovative Research Team in University,China
文摘To assess the effectiveness of vacuum preloading combined electroosmotic strengthening of ultra-soft soil and study the mechanism of the process, a comprehensive experimental investigation was performed. A laboratory test cell was designed and applied to evaluate the vacuum preloading combined electroosmosis. Several factors were taken into consideration, including the directions of the electroosmotic current and water induced by vacuum preloading and the replenishment of groundwater from the surrounding area. The results indicate that electroosmosis together with vacuum preloading improve the soil strength greatly, with an increase of approximately 60%, and reduce the water content of the soil on the basis of consolidation of vacuum preloading, howeve~ further settlement is not obvious with only 1.7 mm. The reinforcement effect of vacuum preloading combined electroosmosis is better than that of electroosmosis after vacuum preloading. Elemental analysis using X-ray fluorescence proves that the soil strengthening during electroosmotic period in this work is mainly caused by electroosmosis-induced electrochemical reactions, the concentrations of Al2O3 in the VPCEO region increase by 2.2%, 1.5%, and 0.9% at the anode, the midpoint between the electrodes, and the cathode, respectively.
文摘A laboratory test was performed to assess the effectiveness of vacuum preloading incorporated with electroosmotic (EOM) treatment on silty clay (combined method) for reclamation projects like new disposal ponds, where the horizontal electrode configurations beneath the soil layer were possible and the drainage pipes and the prefabricated vertical drains (PVDs) system could be easily installed in advance before the sludge dragged from sea bed or river bed was filled into the site. Three groups of tests were conducted on the silty clay from Qinhuai River in Nanjing, China. The model is able to apply vacuum pressure at the bottom of the soil layer and a direct current electric field simultaneously. It is also possible to measure the pore pressures at different depths of soil column, and the changes in settlement and volume with the elapsed time. In this study, the vacuum preloading method, vacuum preloading applied at the bottom (VAB method), was applied and the cathodes were installed beneath the soil layer. The results obtained indicate substantial reduction in water content, and increases in dry density and undrained shear strength in comparison with those obtained by the vacuum preloading only, particularly at the positions close to the anode. The combined method utilizes the vertical drainage flow created by the electroosmosis integrating the horizontal drainage flow created mostly by the vacuum pressure. The total drainage flow can be calculated as a result of the vertical drainage flow by electroosmosis only and the horizontal drainage flow by the vacuum preloading only. The way of placement of the cathode and the anode in the combined method also overcomes the disadvantage of EOM method itself, i.e. the appearance of cracks between the anode and the surrounding soil. Moreover, it is observed that the vacuum preloading plays a primary role in earlier stage in deduction of free pore water; meanwhile, the electroosmotic method is more efficient in later stage for absorbing water in the diffused double layers of soil.
基金supported by the National Natural Science Foundation of China(61573184)the Specialized Research Fund for the Doctoral Program of Higher Education(20133218110013)+1 种基金the Six Talents Peak Project of Jainism Province(2012-XRAY-010)the Fundamental Research Funds for theCentral Universities(NE2016101)
文摘In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.
基金Project supported by the National Key Research and Development Program of China(No.2017YFC0805402)the Open Project of the State Key Laboratory of Disaster Reduction in Civil Engineering(No.SLDRCE17-01),Chinathe National Natural Science Foundation of China(No.51908406)。
文摘This paper presents model tests(macro aspect)and microstructure tests(micro aspect)for investigating the consolidation behavior of Tianjin dredged clay using the prefabricated vertical drain air-booster vacuum preloading(PAVP)and tube air-booster vacuum preloading(TAVP)methods.The mechanism of air-booster vacuum preloading(AVP)using a spring-like system is explained.The main difference between these two methods is the air-boosting equipment.A new anticlogging air-booster prefabricated vertical drain(PVD)is used in the PAVP technique and a self-designed air-booster tube is used in the TAVP technique.In the model tests,a comparison of the variables that are monitored during reinforcement(vacuum pressure,surface settlement,water discharge,and pore-water pressure)and after reinforcement(water content,dry density,and vane shear strength)is conducted.The results indicate that the consolidation behavior of Tianjin dredged clay using the PAVP method is better than that using the TAVP method.PAVP more efficiently mitigates the issue of water-draining PVD clogging and significantly accelerates drainage consolidation.In addition,in the microstructure tests,a comparison of the variables that are monitored after reinforcement(via scanning electron microscopy(SEM)and mercury intrusion porosimetry(MIP))is conducted,and the results further explain the model test results.
基金the National Key Research and Development Program of China(Grant No.2017YFC0805402)the Tianjin Construction Commission Science and Technology Project(financial support No.2017E6-0015)the China Scholarship Council(CSC)(Grant No.201906250153)for their Grant of the study in this paper。
文摘Vacuum preloading has been widely used to improve soft soils in coastal areas of China.An increasing amount of evidence from field operations has shown that conventional vacuum preloading is prone to clogging in prefabricated vertical drains(PVDs)and demands a large volume of sand fills.In recent years,air-boosted vacuum preloading has been developed to overcome these limitations;however,this method still requires more data to verify its performance.In this study,a field test for air-boosted vacuum preloading was conducted,and a large-strain two-dimensional(2D)finite element(FE)model was developed and validated against the field test data.Then,a series of FE parametric analyses was performed to assess key factors,i.e.the air injection pressure,the injection spacing,and the characteristics of cyclic injection,which affect the performance of the air-boosted vacuum preloading.The results showed that the ground settlement and lateral displacement of the soils increased due to an increase in the injection pressure,a decrease in the injection spacing,or increases in the number and duration of the injection cycles.Based on the parametric analyses,an empirical formula for ground settlement prediction was proposed and compared with a case history reported in the literature,showing good agreement.
基金Projects(51925402,52334005,52304094)supported by the National Natural Science Foundation of ChinaProject(20201102004)supported by the Shanxi Science and Technology Major Project,China。
文摘The mechanical properties of residual coal pillars under the influence of upward mining disturbances significantly affect the safety of residual mining activities on working faces.This study conducted low-frequency disturbance dynamic uniaxial compression tests on coal specimens using a self-developed dynamic-static load coupling electro-hydraulic servo system,and studied the strength evolutions,surface deformations,acoustic emission(AE)characteristic parameters,and the failure modes of coal specimens with different static preloading levels were studied.The disturbance damage is positively correlated with the coal specimen static preload level.Specifically,the cumulative AE count rates of the initial accelerated damage stage for the coal specimens with static preloading level of 60%and 70%of the uniaxial compressive strength(UCS)were 2.66 and 3.19 times that of the 50%UCS specimens,respectively.Macroscopically,this behaviour manifested as a decrease in the compressive strength,and the mean strengths of the disturbance-damaged coal specimens with 60%and 70%of UCS static preloading decreased by 8.53%and 9.32%,respectively,compared to those of the specimens under pure static loading.The crack sources,such as the primary fissures,strongly control the dynamic response of the coal specimen.The difference between the dynamic responses of the coal specimens and that of dense rocks is significant.
基金National Natural Science Foundation of China(No.51578214)
文摘Vacuum combined surcharge preloading is an effective method which has been used in ground treatment. This study presents the analytical solution of vertical drains with vacuum combined surcharge preloading. The surcharge was considered to be time-dependent preloading due to its reflection of the real situation.Moreover,the free strain,instead of equal strain hypothesis of the surface,was adopted for the mathematical rigor. Both vertical and horizontal drainages,along with the well resistance were considered.Besides,the time-dependent surcharge preloading was resolved with the impulse theorem which has been presented in the study,and the solutions for pore water pressure and degree of consolidation were derived by applying the approach of separation of variables.Furthermore,the solution is compared with previous solutions and numerical solutions,and the results verify the correctness of the proposed model.
基金Project(2010THZ021)supported by Tsinghua University,ChinaProject(50978139)supported by the National Natural Science Foundation of ChinaProject(2012CB719804)supported by the National Basic Research Program of China
文摘The rapid development of high-speed transportation infrastructure such as highway and high-speed railway has resulted in the advancement of soft soil improvement techniques. Vacuum preloading combined with vertical drains has been proved to be an effective method in the treatment of soft foundation. A three-dimensional numerical analysis of the coupled methods was presented, in which the smear zone and the well resistance were taken into account. The variations of the basic soil parameters including the permeability coefficient and the coefficient of volume compressibility were considered in the numerical model. The result of the numerical model was then compared to the measured value. The results indicate that the decrease of coefficient of volume compressibility accelerates the consolidation of the soil while the influence of hydraulic conductivity is insignificant. A cube drain presents the closest result to the real situation compared to the other equivalent methods of prefabricated vertical drain (PVD). The case study indicates that the numerical model with variation of soil parameters is closer to the measured value than the numerical model without variation of soil parameters.
文摘It is very important to control any risk of instability of embankment during vacuum construction, the simulation vacuum preloading method using tri-axial apparatus is proposed to predict the behavior of soft soil improvement in the laboratory, as well as to make this method become familiar and easier in the future. The tri-axial apparatus is used instead of the large-scale one, which has been performed by Bergado (1998) and Indaratna (2008). The tri-axial test on small size specimen can be carried out in one week compared to the large-scale apparatus takes one month for big specimen. In addition, the lateral deformation as well as the shear strength increase with time can determine accurately.
文摘This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.
文摘The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The composition of the OWV system includes: a DSP motion card, a wheel motor, and its driver. In addition, a tilt and a gyro, for sensing the angle and angular velocity of the body slope, are used to realize self-balancing controls. OWV, a kind of unicycle robot, can be dealt with as a mobile-inverted-pendulum system for its instability. However, for its possible applications in mobile carriers or robots, it is worth being further developed. In this study, first, the OWV system model will be derived. Next, through the simulations based on the mathematical model, the analysis of system stability and controllability can be evaluated. Last, a concise and realizable method, through system pole-placement and linear quadratic regulator (LQR), will be proposed to design the SBC. The effectiveness, reliability, and feasibility of the proposal will be con- firmed through simulation studies and experimenting on a physical OWV.
文摘This study mainly concerns a motion model and the main control algorithm of two-wheel self-balancing vehicle models.Details of the critical parameters fetching and output value of two-wheel self-balancing vehicle models are introduced,including those concerning balance control,speed control and direction control.An improved cascade coupling control scheme is proposed for two-wheel vehicles,based on a proportional-integral-derivative(PID)control algorithm.Moreover,a thorough comparison between a classic control system and the improved system is provided,and all aspects thereof are analyzed.It is determined that the control performance of the two-wheel self-balancing vehicle system based on the PID control algorithm is reliable,enabling the vehicle body to maintain balance while moving smoothly along a road at a fast average speed with better practical per-formance.
文摘Based on the characteristics and reinforcement mechanism of vacuum preloading applied in high way soft foundation, the theoretical calculation method of vacuum preloading was presented. According to the equivalent method derived from sand drain foundation subjected to plane and axisymmetric conditions, the three dimensional problem was transformed into plane strain problem. The modified Komala-Huang model was used to model the rheological behavior and the damage theory was also introduced to consider the effect of damage caused by construction disturbance. Numerical simulations were carried out for a high way test section. The results show that simulations of the viscoelastic-plastic-damage model are in good agreement with the field measurements. It suggests that the calculation method, simplified load and boundary condition used in this study are reasonable.
基金fully supported by Government Research Funds for 2021-2022 Academic Year.
文摘The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental studies.The research problem in this work is to stabilize the mobile robot with self-control and to carry the sensitive things without failing in a long span period.The main objective of this study is to focus on the mathematical modelling of mobile robot from laboratory scale to real world applications.The numerical expression with mathematical modelling is very important to control the mobile robot system with linearization.The fundamental concepts of dynamic system stability were utilized for maintaining the stability of the constructed mobile robot system.The controller design is also important for checking the stability and the appropriate controller design is proportional,integral,and derivative-PID controller and Linear Quadratic Regulator(LQR).The steady state error could be reduced by using such kind of PID controller.The simulation of numerical expression on mathematical modeling was conducted in MATLAB environments.The confirmation results from the simulation techniques were applied to construct the hardware design of mobile robot system for practical study.The results from simulation approaches and experimental approaches are matched in various kinds of analyses.The constructed mobile robot system was designed and analyzed in the control system design laboratory of Yangon Technological University(YTU).
文摘We studied consecutive impact loading on woven high-modulus polyethylene rope, which is used in robotics fields. An impact tester was developed to conduct the experiments. Five consecutive impact loads (five drops) were applied to the rope and the stiffness of the loading part that corresponds to each drop was evaluated. The stiffness of the woven ropes was affected strongly by consecutive impact loading. The change in stiffness is undesirable in some applications such as in robotic fields. Therefore, we have proposed a method that can optimize changes in stiffness by applying a preload before impact testing (preload treatment). The experimental results show that preload is an efficient way to reduce changing rope stiffness. We have also proposed an empirical equation that can estimate the rope stiffness after arbitrary preload treatment, and this equation is a function of the number of drops and the static preload level. The equation can be used to determine the preload treatment conditions to stabilize the stiffness of the woven ropes before they are used in engineering fields.
基金the National Natural Science Foundation of China (Nos. 50579006 and 50639010)
文摘By using the soil static and dynamic universal triaxial and torsional shear apparatus, a series of combined cyclic shear tests are performed to simulate the rotation in the principal stress direction induced by ocean wave. The tests include the cyclic preloading tests and liquefaction tests in the second loading on saturated loose sand with a relative density of 30%. The all tests are consolidated under isotropic condition. The effect of the cyclic preloading on the resistance to liquefaction of saturated loose sands under the condition of continuous rotation in the principal stress direction is investigated. Experimental data indicate that the void ratio of saturated sands has a negligible reduction after cyclic preloading. With the increase of the intensity of cyclic preloading (in the amplitude and in the number of cycles), the resistance to liquefaction in the second loading is increased continuously under the condition that the liquefaction does not occur during the cyclic preloading. The reason is that the construction of more stable structure due to the uniformity of the void and the better interlocking of the particles when the cyclic preloading is applied to the saturated sand.
基金acknowledge the financial support from The National Natural Science Foundation No.Gk321002Foundation of Nanjing Hydraulic Research Institute No.Y320012.
文摘Municipal sludge is a sedimentation waste produced during the wastewater process in sewage treatment plants.Among recent studies,pilot and field tests showed that chemical conditioning combined with vacuum preloading can effectively treat municipal sludge.To further understand the drainage and consolidation characteristics of the conditioning sludge during vacuum preloading,a large deformation nonlinear numerical simulation model based on the equal strain condition was developed to simulate and analyze the pilot and field tests,whereas the simulation results were not satisfactory.The results of the numerical analysis of the pilot test showed that the predicted consolidation degree was greater than that measured by the field tests,which is attributed to the relatively low permeability layer formed during the preloading process of the prefabricated vertical drain.To better reflect the consolidation process of the conditioned sludge,a simplified analysis method considering the low permeability layer around the prefabricated vertical drain was proposed.The initial permeability coefficient of the low permeability layer is determined via numerical simulations using finite difference method.The predicted settlement curve was in good agreement with the measured results,which indicated that the numerical simulation based on the equal strain condition considering the relatively low permeability layer can better analyze the consolidation process of ferric chloride-conditioning sludge with vacuum preloading.
