Kinematic internal forces in deep foundations with inclined piles

[EN] This paper presents a parametric study that looks into the influence of pile rake angle on the kinematic internal forces of deep foundations with inclined piles. Envelopes of maximum kinematic bending moments, shear forces and axial loads are presented along single inclined piles and 2X2 symmetrial square pile groups with inclined elements subjected to an earthquake generated by vertically-incident shear waves.

Kinematic interaction factors of deep foundations with inclined piles.

[EN]The beneficial or detrimental role of battered piles on the dynamic response of piled foundations has not been yet fully elucidated. In order to shed more light on this aspect, kinematic interaction factors of deep foundations with inclined piles, are provided for single battered piles, as well as for 2X2 and 3X3 groups of piles subjected to vertically incident plane shear S waves.

Numerical Model for the Dynamic Analysis of Pile Foundations

Programa de doctorado: Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería Instituto Universitario (SIANI)

Diseño, implementación y verificación de un controlador para robots educativos

[EN] This project briefly analyzes the scope and applications of Industrial Robotics, as well as the importance that this technical discipline has gained in the past decades. In addition, it proposes a modern platform to assist in teaching this discipline in colleges and universities. This new educational platform for the teaching of Industrial Robotics is based on the robotic systems from Rhino Robotics Ltd., using the existing robotic arms and replacing the control electronics by a newer, modern and yet backwards-compatible controller. In addition to the controller, this platform also provides new, up-to-date software utilities that are more intuitive than those provided with the old system. The work to be done consists essentially in receiving commands from a personal computer which the controller must interpret in order to control the motors of the robotic arm. The controller itself will be implemented as an embedded system based on microcontrollers. This requires the implementation of a communication protocol between the personal computer and the microcontroller, the design of a command interpreter, the design of the electronics for motor control using PWM and H-bridges, and the implementation of control techniques (more precisely, PID control). Hence, this project combines software and hardware design and integration techniques with motor control techniques and feedback control methods from Control Engineering, along with the kinematic analysis of the Rhino XR-4 robotic arm. 

Advances in the study of soil-structure interaction effects on the dynamic response of piled structures

[EN]This Ph. D. thesis presents a simple and stable procedure for the estimation of periods and dampings of pile shear buildings taking soil-structure interaction into account. The coupled-system response is obtained by using a substructuring model. A boundary element-finite element coupling formulation is used to compute impedances and kinematic interaction factors of the pile group configurations under investigation. The proposed procedure is applied to perform parametric analyses to determine the influence of the main parameters of soil-structure interaction problems on the dynamic response of the superstructure. The scope of this thesis also encompasses the study of foundations including battered piles.