Stiffness of sands through a laboratory test database

Deformations of sandy soils around geotechnical structures generally involve strains in the range small (0·01%) to medium (0·5%). In this strain range the soil exhibits non-linear stress-strain behaviour, which should be incorporated in any deformation analysis. In order to capture the possible variability in the non-linear behaviour of various sands, a database was constructed including the secant shear modulus degradation curves of 454 tests from the literature. By obtaining a unique S-shaped curve of shear modulus degradation, a modified hyperbolic relationship was fitted. The three curve-fitting parameters are: an elastic threshold strain γe, up to which the elastic shear modulus is effectively constant at G0; a reference strain γr, defined as the shear strain at which the secant modulus has reduced to 0·5G0; and a curvature parameter a, which controls the rate of modulus reduction. The two characteristic strains γe and γr were found to vary with sand type (i.e. uniformity coefficient), soil state (i.e. void ratio, relative density) and mean effective stress. The new empirical expression for shear modulus reduction G/G0 is shown to make predictions that are accurate within a factor of 1·13 for one standard deviation of random error, as determined from 3860 data points. The initial elastic shear modulus, G0, should always be measured if possible, but a new empirical relation is shown to provide estimates within a factor of 1·6 for one standard deviation of random error, as determined from 379 tests. The new expressions for non-linear deformation are easy to apply in practice, and should be useful in the analysis of geotechnical structures under static loading.

Biologically inspired visual odometer for navigation of a flying robot

Experimental research in biology has uncovered a number of different ways in which flying insects use cues derived from optical flow for navigational purposes, such as safe landing, obstacle avoidance and dead reckoning. In this study, we use a synthetic methodology to gain additional insights into the navigation behavior of bees. Specifically, we focus on the mechanisms of course stabilization behavior and visually mediated odometer by using a biological model of motion detector for the purpose of long-range goal-directed navigation in 3D environment. The performance tests of the proposed navigation method are conducted by using a blimp-type flying robot platform in uncontrolled indoor environments. The result shows that the proposed mechanism can be used for goal-directed navigation. Further analysis is also conducted in order to enhance the navigation performance of autonomous aerial vehicles. © 2003 Elsevier B.V. All rights reserved.