Estimation of soil properties and deformations in staged constructions based on mcmc method

This paper presents a Bayesian probabilistic framework to assess soil properties and model uncertainty to better predict excavation-induced deformations using field deformation data. The potential correlations between deformations at different depths are accounted for in the likelihood function needed in the Bayesian approach. The proposed approach also accounts for inclinometer measurement errors. The posterior statistics of the unknown soil properties and the model parameters are computed using the Delayed Rejection (DR) method and the Adaptive Metropolis (AM) method. As an application, the proposed framework is used to assess the unknown soil properties of multiple soil layers using deformation data at different locations and for incremental excavation stages. The developed approach can be used for the design of optimal revisions for supported excavation systems. © 2010 ASCE.

CLF based designs with robustness to dynamic input uncertainties

The problem of robust stabilization of nonlinear systems in the presence of input uncertainties is of great importance in practical implementation. Stabilizing control laws may not be robust to this type of uncertainty, especially if cancellation of nonlinearities is used in the design. By exploiting a connection between robustness and optimality, "domination redesign" of the control Lyapunov function (CLF) based Sontag's formula has been shown to possess robustness to static and dynamic input uncertainties. In this paper we provide a sufficient condition for the domination redesign to apply. This condition relies on properties of local homogeneous approximations of the system and of the CLF. We show that an inverse optimal control law may not exist when these conditions are violated and illustrate how these conditions may guide the choice of a CLF which is suitable for domination redesign. © 1999 Elsevier Science B.V. All rights reserved.

Europium-directed self-assembly of a luminescent supramolecular gel from a tripodal terpyridine-based ligand.

Eu(III), the last piece in the puzzle: Europium-induced self-assembly of ligands having a C(3)-symmetrical benzene-1,3,5-tricarboxamide core results in the formation of luminescent gels. Supramolecular polymers are formed through hydrogen bonding between the ligands. The polymers are then brought together into the gel assembly through the coordination of terpyridine ends by Eu(III) ions (blue dashed arrow: distance between two ligands in the strand direction).

Coupling model uncertainty for coupled rainfall/runoff and surface water quality models in river problems

Coupled hydrology and water quality models are an important tool today, used in the understanding and management of surface water and watershed areas. Such problems are generally subject to substantial uncertainty in parameters, process understanding, and data. Component models, drawing on different data, concepts, and structures, are affected differently by each of these uncertain elements. This paper proposes a framework wherein the response of component models to their respective uncertain elements can be quantified and assessed, using a hydrological model and water quality model as two exemplars. The resulting assessments can be used to identify model coupling strategies that permit more appropriate use and calibration of individual models, and a better overall coupled model response. One key finding was that an approximate balance of water quality and hydrological model responses can be obtained using both the QUAL2E and Mike11 water quality models. The balance point, however, does not support a particularly narrow surface response (or stringent calibration criteria) with respect to the water quality calibration data, at least in the case examined here. Additionally, it is clear from the results presented that the structural source of uncertainty is at least as significant as parameter-based uncertainties in areal models. © 2012 John Wiley & Sons, Ltd.

Model-based control of thermoacoustic instabilities in partially premixed lean combustion - A design case study

Self-excited oscillation is becoming a major issue in low-emission, lean partially premixed combustion systems, and active control has been shown to be a feasible method to suppress such instabilities. A number of robust control methods are employed to obtain a feedback controller and it is observed that the robustness to system uncertainty is significantly better for a low complexity controller in spite of the norms being similar. Moreover, we demonstrate that closed-loop stability for such a complex system can be proved via use of the integral quadratic constraint method. Open- and closed-loop nonlinear simulations are provided. © 2013 Copyright Taylor and Francis Group, LLC.

A role of monitoring to reduce the uncertainty in the performance of pile foundations

In typical conventional foundation design, the inherent variability of soil properties, model uncertainty and construction variability are not modeled explicitly. A main drawback of this is that the effect of each variability on the probability of an unfavorable event cannot be evaluated quantitatively. In this paper, a method to evaluate the uncertainty-reduction effect on the performance of a vertically-loaded pile foundation by monitoring the pile performance (such as pile load testing or placing sensors in piles) is proposed. The effectiveness of the proposed method is examined based on the investigation of a 120-pile foundation placed on three different ground profiles. The computed results show the capability of evaluating the uncertainty-reduction effect on the performance of a pile foundation by monitoring. © 2014 Taylor & Francis Group, London.

Design and control of a climbing robot based on hot melt adhesion

Robust climbing in unstructured environments has been one of the long-standing challenges in robotics research. Among others, the control of large adhesion forces is still an important problem that significantly restricts the locomotion performance of climbing robots. The main contribution of this paper is to propose a novel approach to autonomous robot climbing which makes use of hot melt adhesion (HMA). The HMA material is known as an economical solution to achieve large adhesion forces, which can be varied by controlling the material temperature. For locomotion on both inclined and vertical walls, this paper investigates the basic characteristics of HMA material, and proposes a design and control of a climbing robot that uses the HMA material for attaching and detaching its body to the environment. The robot is equipped with servomotors and thermal control units to actively vary the temperature of the material, and the coordination of these components enables the robot to walk against the gravitational forces even with a relatively large body weight. A real-world platform is used to demonstrate locomotion on a vertical wall, and the experimental result shows the feasibility and overall performances of this approach. © 2013 Elsevier B.V. All rights reserved.