Discrete element method(DEM)has been widely utilised to model the mechanical behaviours of granular materials.However,with simplified particle morphology or rheology-based rolling resistance models,DEM failed to descr...Discrete element method(DEM)has been widely utilised to model the mechanical behaviours of granular materials.However,with simplified particle morphology or rheology-based rolling resistance models,DEM failed to describe some responses,such as the particle kinematics at the grain-scale and the principal stress ratio against axial strain at the macro-scale.This paper adopts a computed tomography(CT)-based DEM technique,including particle morphology data acquisition from micro-CT(mCT),spherical harmonic-based principal component analysis(SH-PCA)-based particle morphology reconstruction and DEM simulations,to investigate the capability of DEM with realistic particle morphology for modelling granular soils’micro-macro mechanical responses with a consideration of the initial packing state,the morphological gene mutation degree,and the confining stress condition.It is found that DEM with realistic particle morphology can reasonably reproduce granular materials’micro-macro mechanical behaviours,including the deviatoric stressevolumetric straineaxial strain response,critical state behaviour,particle kinematics,and shear band evolution.Meanwhile,the role of multiscale particle morphology in granular soils depends on the initial packing state and the confining stress condition.For the same granular soils,rougher particle surfaces with a denser initial packing state and a higher confining stress condition result in a higher degree of shear strain localisation.展开更多
Geological environments of rock mass projects are always very complicated, and further investigations on rock mechanical characteristics are needed. There are considerable distinctions in rock mechanical characteristi...Geological environments of rock mass projects are always very complicated, and further investigations on rock mechanical characteristics are needed. There are considerable distinctions in rock mechanical characteristics under unloading and loading conditions. A series of tests are conducted to study the stress-strain relationship of rock masses under loading and unloading conditions. Also, the anisotropy, the size effect, and the rheological property of unloading rock mass are investigated. The tests presented in the paper include model test and granite rheological test, which are conducted considering geological condition, rock mass structure, in-situ stress field of the permanent shiplock of the Three Gorges Project. The main differences between loading and unloading rock masses are stress paths, yield criteria, deformation and strength parameters, etc.. Different structural plane directions affect unloading rock mass evidently. With increasing size, the tensile strength, the compressive strength, the deformation modulus, the Poisson's ratio and the anisotropy of rock mass all decrease. For sandstone samples with parallel bedding planes, the cohesion c increases but the internal friction angle ? decreases under unloading condition when compared with the values under loading condition. While for samples with vertical bedding planes, the trend is adverse. The rheological property of rocks has close relationship with the tensile stresses of rock masses. When the sandstone samples are tested under high stress condition, their rheological properties are very obvious with the unloading of confining pressure, and three typical rheological stages are shown. Rheological rate changes with the variations in axial stress and confining pressure.展开更多
The development of a miniature triaxial apparatus is presented.In conjunction with an X-ray microtomography(termed as X-ray fiCT hereafter)facility and advanced image processing techniques,this apparatus can be used f...The development of a miniature triaxial apparatus is presented.In conjunction with an X-ray microtomography(termed as X-ray fiCT hereafter)facility and advanced image processing techniques,this apparatus can be used for in situ investigation of the micro-scale mechanical behavior of granular soils under shear.The apparatus allows for triaxial testing of a miniature dry sample with a size of 8 mm x 16 mm(diameter x height).In situ triaxial testing of a 0.4-0.8 mm Leighton Buzzard sand(LBS)under a constant confining pressure of 500 kPa is presented.The evolutions of local porosities(i.e.,the porosities of regions associated with individual particles),particle kinematics(i.e.,particle translation and particle rotation)of the sample during the shear are quantitatively studied using image processing and analysis techniques.Meanwhile,a novel method is presented to quantify the volumetric strain distribution of the sample based on the results of local porosities and particle tracking.It is found that the sample,with nearly homogenous initial local porosities,starts to exhibit obvious inhomogeneity of local porosities and localization of particle kinematics and volumetric strain around the peak of deviatoric stress.In the post-peak shear stage,large local porosities and volumetric dilation mainly occur in a localized band.The developed triaxial apparatus,in its combined use of X-ray|iCT imaging techniques,is a powerful tool to investigate the micro-scale mechanical behavior of granular soils.展开更多
In real-world scenarios,the uncertainty of measurements cannot be handled efficiently by traditional model predictive control(MPC).A stochastic MPC(SMPC)method for handling the uncertainty of states in autonomous driv...In real-world scenarios,the uncertainty of measurements cannot be handled efficiently by traditional model predictive control(MPC).A stochastic MPC(SMPC)method for handling the uncertainty of states in autonomous driving lane-keeping scenarios is presented in this paper.A probabilistic system is constructed by considering the variance of states.The probabilistic problem is then transformed into a solvable deterministic optimization problem in two steps.First,the cost function is separated into mean and variance components.The mean component is calculated online,whereas the variance component can be calculated offline.Second,Cantelli’s inequality is adopted for the deterministic reformulation of constraints.Consequently,the original probabilistic problem is transformed into a quadratic programming problem.To validate the feasibility and effectiveness of the proposed control method,we compared the SMPC controller with a traditional MPC controller in a lane-keeping scenario.The results demonstrate that the SMPC controller is more effective overall and produces smaller steady-state distance errors.展开更多
基金supported by the General Research Fund from the Research Grant Council of the Hong Kong SAR,China(Grant Nos.CityU 11201020 and CityU 11207321)the National Science Foundation of China(Grant No.42207185)+1 种基金the Contract Research Project from the Geotechnical Engineering Office of the Civil Engineering Development Department of Hong Kong SAR,China(Project Ref.No.CEDD STD-30-2030-1-12R)the BL13W beamline of Shanghai Synchrotron Radiation Facility(SSRF)。
文摘Discrete element method(DEM)has been widely utilised to model the mechanical behaviours of granular materials.However,with simplified particle morphology or rheology-based rolling resistance models,DEM failed to describe some responses,such as the particle kinematics at the grain-scale and the principal stress ratio against axial strain at the macro-scale.This paper adopts a computed tomography(CT)-based DEM technique,including particle morphology data acquisition from micro-CT(mCT),spherical harmonic-based principal component analysis(SH-PCA)-based particle morphology reconstruction and DEM simulations,to investigate the capability of DEM with realistic particle morphology for modelling granular soils’micro-macro mechanical responses with a consideration of the initial packing state,the morphological gene mutation degree,and the confining stress condition.It is found that DEM with realistic particle morphology can reasonably reproduce granular materials’micro-macro mechanical behaviours,including the deviatoric stressevolumetric straineaxial strain response,critical state behaviour,particle kinematics,and shear band evolution.Meanwhile,the role of multiscale particle morphology in granular soils depends on the initial packing state and the confining stress condition.For the same granular soils,rougher particle surfaces with a denser initial packing state and a higher confining stress condition result in a higher degree of shear strain localisation.
基金Supported by the National Natural Science Foundation of China (90610029, 50679079, 50909052)
文摘Geological environments of rock mass projects are always very complicated, and further investigations on rock mechanical characteristics are needed. There are considerable distinctions in rock mechanical characteristics under unloading and loading conditions. A series of tests are conducted to study the stress-strain relationship of rock masses under loading and unloading conditions. Also, the anisotropy, the size effect, and the rheological property of unloading rock mass are investigated. The tests presented in the paper include model test and granite rheological test, which are conducted considering geological condition, rock mass structure, in-situ stress field of the permanent shiplock of the Three Gorges Project. The main differences between loading and unloading rock masses are stress paths, yield criteria, deformation and strength parameters, etc.. Different structural plane directions affect unloading rock mass evidently. With increasing size, the tensile strength, the compressive strength, the deformation modulus, the Poisson's ratio and the anisotropy of rock mass all decrease. For sandstone samples with parallel bedding planes, the cohesion c increases but the internal friction angle ? decreases under unloading condition when compared with the values under loading condition. While for samples with vertical bedding planes, the trend is adverse. The rheological property of rocks has close relationship with the tensile stresses of rock masses. When the sandstone samples are tested under high stress condition, their rheological properties are very obvious with the unloading of confining pressure, and three typical rheological stages are shown. Rheological rate changes with the variations in axial stress and confining pressure.
基金This study was supported by the General Research Fund(No.CityU 11272916)from the Research Grant Council of the Hong Kong SAR,Research from the National Science Foundation of China(Grant No.51779213)+2 种基金the Open-Research from State Key Laboratory of Civil Engineering Disaster Prevention of Tongji University(No.SLDRCE15-04)the BLI3W beam-line of Shanghai Synchrotron Radiation Facility(SSRF)The authors would like to thank Dr.Edward Ando in Universite Grenoble Alpes for providing his PhD thesis.
文摘The development of a miniature triaxial apparatus is presented.In conjunction with an X-ray microtomography(termed as X-ray fiCT hereafter)facility and advanced image processing techniques,this apparatus can be used for in situ investigation of the micro-scale mechanical behavior of granular soils under shear.The apparatus allows for triaxial testing of a miniature dry sample with a size of 8 mm x 16 mm(diameter x height).In situ triaxial testing of a 0.4-0.8 mm Leighton Buzzard sand(LBS)under a constant confining pressure of 500 kPa is presented.The evolutions of local porosities(i.e.,the porosities of regions associated with individual particles),particle kinematics(i.e.,particle translation and particle rotation)of the sample during the shear are quantitatively studied using image processing and analysis techniques.Meanwhile,a novel method is presented to quantify the volumetric strain distribution of the sample based on the results of local porosities and particle tracking.It is found that the sample,with nearly homogenous initial local porosities,starts to exhibit obvious inhomogeneity of local porosities and localization of particle kinematics and volumetric strain around the peak of deviatoric stress.In the post-peak shear stage,large local porosities and volumetric dilation mainly occur in a localized band.The developed triaxial apparatus,in its combined use of X-ray|iCT imaging techniques,is a powerful tool to investigate the micro-scale mechanical behavior of granular soils.
基金the Science and Technology Commission of Shanghai Municipality(No.19511103503)。
文摘In real-world scenarios,the uncertainty of measurements cannot be handled efficiently by traditional model predictive control(MPC).A stochastic MPC(SMPC)method for handling the uncertainty of states in autonomous driving lane-keeping scenarios is presented in this paper.A probabilistic system is constructed by considering the variance of states.The probabilistic problem is then transformed into a solvable deterministic optimization problem in two steps.First,the cost function is separated into mean and variance components.The mean component is calculated online,whereas the variance component can be calculated offline.Second,Cantelli’s inequality is adopted for the deterministic reformulation of constraints.Consequently,the original probabilistic problem is transformed into a quadratic programming problem.To validate the feasibility and effectiveness of the proposed control method,we compared the SMPC controller with a traditional MPC controller in a lane-keeping scenario.The results demonstrate that the SMPC controller is more effective overall and produces smaller steady-state distance errors.
