Search Results (115)

Autonomous subterranean mobility remains one of the least unified domains in robotics because locomotion emerges from coupled interactions among deformable geomaterials, structural mechanics, energy dissipation, and environment-dependent sensing constraints. This foundational pioneer technical review synthesizes 35 years of research on burrowing and underground robotic systems through a terradynamic and multiphysics perspective. Following PRISMA guidelines, 143 peer-reviewed studies were analyzed across granular soils, cohesive sediments, saturated media, fractured geomaterials, and extraterrestrial regolith analogs. The review evaluates six dominant locomotion classes, including peristaltic, undulatory, fluidization-assisted, excavation-based, tip-extension, and hybrid architectures. Results demonstrate that locomotion performance is governed primarily by regulation of substrate response rather than propulsion generation alone. Across all architectures, mobility depends on the coupled evolution of confinement-dependent stress redistribution, yielding mechanics, pore-pressure dynamics, fracture propagation, structural stability, thermomechanical loading, and energy partitioning. The analysis further reveals a convergence toward stress-regulated locomotion, where successful systems minimize drag accumulation, control force-chain evolution, and adapt to changing terradynamic conditions. Major unresolved challenges include the absence of transferable scaling laws, standardized benchmarking methodologies, predictive terradynamic models, and multi-medium autonomy. The review concludes by proposing the foundations of a unified multiphysics terradynamic robotics paradigm capable of linking robot design, substrate mechanics, control, and deployment across terrestrial and planetary subsurface environments. Full article

Seabed scour-induced degradation of the pile–soil system, together with the coupled action of seismic, wind and wave loads, poses great challenges to the long-term service safety of jacket-type offshore wind turbines. In this study, an integrated structural numerical model is established with consideration of nonlinear pile–soil interaction. By coupling OpenFAST (Version 3.5.0) and OpenSees (Version 3.7.0), accurate wind and wave load generation and refined calculation of structural dynamic responses are achieved. Then, the dynamic performance of jacket-type offshore wind turbines under combined wind–wave–seismic loads is analyzed at different scour depths (0D, 1D, 2D and 3D, where D is the pile diameter). Structural response characteristics before and after seismic excitation are emphatically compared under two typical sea states: collinear wind–wave condition (COD-2.2) and non-collinear wind–wave condition (MIS-2.4). The results show that seismic excitation substantially amplifies structural dynamic responses. Meanwhile, strong seismic interference weakens the influence of wind–wave directionality to a certain degree, lowering the response difference between the COD-2.2 and MIS-2.4 cases. It is further found that scour depth remains the dominant factor controlling pile internal forces and foundation lateral deformation even when seismic effects are incorporated. Moreover, under the selected Chi-Chi ground motion, scour aggravation markedly increases the seismic response amplification and internal force concentration of the structure. This research provides a theoretical reference for the multi-hazard resilience design and assessment of wind turbine foundations under complex marine environments. Full article

The present work focuses on the nonlinear seismic response of transmission tower systems when subjected to successive earthquake ground motions. To this end, nonlinear time-history analyses were carried out by applying multiple ground motion records in sequence, thereby replicating realistic scenarios in which structures endure repeated seismic loading during and following major earthquakes. The structural behavior was examined through two distinct modeling frameworks: a pinned configuration, where tower members are considered to resist axial forces only, and an SSI-based model, which captures the interaction between the structure and the supporting soil. Both frameworks were assessed in terms of several critical response quantities, namely peak displacements, permanent displacements following each seismic event, acceleration demands, and base shear forces developed at the foundation level. The comparative evaluation of the two models brought to light considerable discrepancies in the computed response, confirming that the dynamic characteristics of the soil and its coupling with the structure have a pronounced effect on the overall seismic performance of transmission towers. In addition, it was shown that the cumulative effect of successive seismic excitations drives a gradual buildup of deformations, yielding displacement demands that far exceed those obtained from conventional single-earthquake analyses. These outcomes point to the necessity of incorporating SSI and multi-sequence seismic loading into both the design and the seismic assessment of transmission infrastructure, as approaches relying solely on single-event excitation are likely to significantly underestimate the true seismic demand imposed on such structures. Full article

Pumping stations serve as the foundation platform for large-scale vertical fluid machinery, and their structural dynamics directly govern the vibration levels and long-term reliability of the installed pump units. In low-head vertical pumping stations, the interaction among the massive underwater substructure, flexible above-ground powerhouse, and surrounding backfill soil creates a complex dynamic system whose behavior remains insufficiently characterized. This study presents a comprehensive dynamic analysis of a large-scale vertical pumping station using a high-fidelity three-dimensional finite element model that incorporates the powerhouse superstructure, submerged concrete substructure, and backfill soil. Modal analysis under four boundary condition scenarios—varying in soil participation and interface contact conditions—systematically quantifies the influence of soil–structure interaction on natural frequencies and mode shapes. Resonance verification against three primary excitation sources—rotational frequency (4.917 Hz), blade passage frequency (24.583 Hz), and rotor–stator interaction frequency (196.667 Hz)—is extended from the first 50 modes to the 400th mode to assess potential high-order resonance risks. Results show that the roof slab, with its large span and low stiffness, exhibits the highest vibration susceptibility. For the rotational frequency, modes 4–12 fall below the 20% code-specified safety margin but rapidly exceed the threshold thereafter. For the blade passage frequency, the separation ratio decreases progressively with increasing mode order within the first 50 modes, and the extended analysis up to the 400th mode shows that the separation ratio remains well above 20% throughout modes 51–400. Consequently, no substantial resonance risk exists for the blade passage frequency within the entire computed range. The rotor–stator interaction frequency remains safely separated with margins exceeding 95%. These findings demonstrate the profound influence of soil–structure interaction and confirm that, despite a decreasing trend in frequency separation at higher orders, the blade passage frequency poses no substantial resonance risk up to the 400th mode. This work provides a rigorous analytical framework for vibration-informed design and optimization of pump foundation systems, with direct implications for the reliability and operational safety of large-scale vertical fluid machinery. Full article

To address the challenge of balancing high density with low elastic modulus in physical model tests of liquefiable foundations, this study proposes a novel concrete similitude material and numerically investigates the dynamic response of saturated silt-pile systems. Based on Buckingham π theorem, the mixture of barium sulfate and blast furnace slag was optimized by changing the ratio of sand to stone powder under the condition of 1 g, with Portland cement, natural sand, barium sulfate powder and blast furnace slag powder as raw materials. Subsequently, 3D numerical simulations using MIDAS GTS NX 2023 v1.1 evaluated pile-soil interactions under varying seismic intensities. The results show that the optimal mixture achieves a density of 2.083 g/cm³ and an elastic modulus of 0.65 GPa, accurately simulating C30 concrete at a 1:30 scale. Simulations indicate that shallow soils liquefy first under 0.2 g seismic loading. Pile groups significantly delay liquefaction and reduce excess pore water pressure by 15–20% compared to free-field conditions. Furthermore, they regulate acceleration bilaterally: before liquefaction, piles restrict soil shear deformation, reducing surface acceleration amplification from 6.0 to 3.2; after liquefaction, their rigidity alters wave propagation, diminishing the soil’s vibration isolation effect. These material innovations and elucidated anti-liquefaction mechanisms provide a robust scientific foundation for large-scale shaking table tests and the seismic resilience evaluation of pile-supported structures. Full article

Seismic loading can significantly affect the safety and serviceability of structures supported by piles, making seismic performance a key consideration in pile foundation design. The coupling between slope effect and dynamic loading can significantly alter pile–soil interaction and consequently influence the response of laterally loaded piles. In the present study, a dynamic extension of the static p-y curve model for piles near clay slopes is developed for analyzing the response of laterally loaded piles under dynamic loading, based on adjustment of the real stiffness component, and the spring and dashpot model. A computational program based on the Beam on Dynamic Winkler Foundation (BDWF) model is developed for analyzing the dynamic response of piles near a slope. Comparison with finite element simulation results shows that the complex stiffness scheme provides accurate response predictions, thereby validating the effectiveness of the proposed model. Finally, parametric analyses are carried out to investigate the effects of loading parameters (excitation frequency and load amplitude), pile parameters (pile diameter, pile length, and adhesion coefficient), boundary conditions (pile-head and pile-tip constraints), and slope parameter (slope angle). The pile–soil system exhibits a characteristic frequency governed by the soil shear-wave velocity and pile diameter, while being essentially independent of slope angle and pile length. Near this frequency, the pile-head stiffness and damping ratio change significantly. The proposed method provides a practical tool for steady-state dynamic analysis of laterally loaded piles near clay slopes. Full article

Foundation constraints are commonly defined according to the deformation characteristics of the supporting system; however, structural deformation is also strongly affected by external loads. Compared with inland bridges, sea-crossing bridges experience much larger horizontal loads under combined wind–wave actions, and whether foundations in hard-soil conditions can be simplified as rigidly fixed still requires verification. In this study, the m-method is used to determine the equivalent spring stiffness of each soil layer from soil parameters, and a spring-based soil–foundation interaction model is established. This spring-based model is taken as the reference to evaluate the applicability of the rigidly fixed foundation assumption. Using the Qiongzhou Strait highway–railway combined cable-stayed bridge as the engineering background, both rigidly fixed and spring-based foundation models are developed to simulate foundation constraints. The dynamic responses of a single bridge tower and of the entire bridge system under combined wind–wave loading are computed. The influences of foundation constraints on tower-top displacement, foundation reaction forces, and bending moments are investigated. The maximum discrepancy between the two approaches reaches 7.83%, providing a rational basis for selecting foundation constraint conditions in dynamic analysis and design of sea-crossing bridges. Full article

Agrivoltaics (AV) has emerged as an integrated land-use innovation capable of simultaneously addressing food, energy, and water challenges, yet its systemic implications for farming system sustainability remain insufficiently synthesized. This review adopts a farming system dynamics perspective to examine how AV systems reorganize biophysical, ecological, and socio-economic interactions across agroecosystems. Drawing upon agroecological principles, pathways of sustainable intensification and ecological intensification, and resource-loop strategies in circular economy, we identify the key elements and cause-and-effect relationships that shape AV system performance. Evidence indicates that the co-location of photovoltaics (PV) structures and crop cultivation generates new system properties, altered light distribution, moderated microclimates, redistributed soil moisture, and diversified production functions that influence productivity, resource-use efficiency, ecological services, and farm resilience. Using causal loop analysis, we conceptualize four central feedback dynamics: (i) PV–crop trade-offs and spatial-sharing relationships; (ii) microclimate modifications and crop physiological responses; (iii) ecological performance and landscape-level interactions; and (iv) circularity loops connecting resource conservation, renewable-energy substitution, soil processes, and material flows. This feedback collectively determines eco-efficiency outcomes, including enhanced land-equivalent productivity, improved water-use efficiency, strengthened regulating services, and reductions in external energy dependence. At the farming-system scale, AV diversifies income streams and stabilizes yields under climatic variability, whereas at the landscape scale, it fosters multifunctionality by supporting regenerative resource flows and ecological resilience. Building on these insights, we propose an integrated framework that links agroecological elements with dynamic feedback structures to guide context-specific AV design, management, and governance. This system-oriented synthesis provides a foundation for future research and policy efforts aimed at optimizing AV as a circular, resilient, and sustainable farming system innovation. Full article

This study investigates the nonlinear seismic response of elevated rectangular metallic silos subjected to sequential earthquake events, incorporating soil–structure interaction (SSI) and the influence of granular material fullness levels. Using three-dimensional (3D) finite element modeling and real seismic sequences recorded within short time windows, the study evaluates the effects of repeated earthquakes on maximum displacement, residual deformation and base shear. The analysis explicitly incorporates flexible elastic foundation systems to account for SSI effects, which significantly influence dynamic behavior. While considerable research exists on cylindrical silos, the seismic performance of rectangular configurations under multiple consecutive earthquakes remains poorly understood. The research systematically compares structural behavior and deformation patterns under single earthquake events versus multiple consecutive seismic sequences. The results demonstrate that consecutive seismic events produce significantly more severe structural responses than individual earthquake occurrences, with sequential earthquakes leading to amplified residual deformations (30–45% higher), increased stress concentrations in critical regions, and progressive degradation of structural capacity. These findings indicate that conventional single-event seismic design approaches may underestimate the vulnerability of rectangular silos in seismically active areas by approximately 30–40%, highlighting the critical importance of considering multiple-event scenarios in performance-based assessment and design procedures. Full article

The prediction of dynamic responses of offshore wind turbine foundations under wind-wave-current multi-field coupled loads is the cornerstone of safety in offshore wind power engineering. The currently widely adopted equivalent load application method, while computationally efficient, simplifies loads into concentrated forces applied at the pile top and tower top, neglecting fluid-structure dynamic interaction mechanisms, which leads to deviations in response predictions. To overcome this limitation, this paper proposes a high-precision bidirectional fluid-structure interaction numerical framework. The fluid domain employs computational fluid dynamics (CFD) to construct an air-seawater two-phase flow model, utilizing the standard k-ε turbulence model and nonlinear wave theory to accurately simulate complex marine environments. The solid domain establishes a wind turbine-stratified seabed system via the finite element method (FEM), describing soil-rock mechanical properties based on the Mohr-Coulomb constitutive model. Comparative studies indicate that the equivalent static method significantly underestimates the displacement response of pile foundations, particularly under the extreme shutdown conditions examined in this study. This value should be interpreted as a case-specific observation rather than a universal deviation, and the discrepancy may vary with sea state, wind speed, current velocity, and wind–wave misalignment, thereby leading to non-conservative estimates of stress distribution. In contrast, the fluid-structure interaction method can reveal key physical processes such as local flow acceleration and wake–interference effects around the tower and the parked rotor under shutdown conditions, and the nonlinear interaction and resistance-increasing mechanisms between waves and currents. This model provides a reliable tool for safety assessment and damage evolution analysis of wind turbine foundations under extreme marine conditions, promoting the transformation of offshore wind power structure design from empirical formulas to mechanism-driven approaches. Full article

Although soil nematodes are central to belowground energy flow, how vegetation and soil aggregate characteristics interactively regulate the nematode community structure and energy dynamics remains poorly understood. We investigated 80 soil samples from five vegetation types—Prunus armeniaca L. (AV), Pinus tabuliformis Carrière (PT), Caragana korshinskii (CK), Medicago sativa L. (MS), and native grass Stipa bungeana (SB)—and four aggregate sizes (LMA > 2 mm, MMA 0.25–2 mm, SMA 0.053–0.25 mm, and MA < 0.053 mm) on the Loess Plateau. Vegetation types showed clear functional differentiation, in which AV dominated bacterivore diversity and energy flux in LMA, CK enhanced fungivore and herbivore energy flow, SB supported omnivore–carnivore energy flux, and PT exhibited suppressed communities. Fauna analysis of the EI (enrichment index)–SI (structural index) plot revealed aggregate-dependent food web structuring, where all vegetation types clustered in quadrant C (structured, low enrichment) in small aggregates, while PT and MS shifted to quadrant D (structured, enriched) in larger aggregates. SEM showed that energy flux and energy uniformity are driven by nematode abundance (p < 0.01) and diversity (p < 0.01), respectively, with soil aggregates promoting uniformity (p < 0.05) but suppressing total flux (p < 0.05), thus revealing a trade-off between energy throughput and distribution equity. CK maximizes total energy flux, while AV maintains high energy uniformity; as such, they could be keystone restoration species in the study area. This study provides mechanistic insights into soil food web energetics and offers an empirical foundation for optimizing vegetation restoration strategies on the Loess Plateau. Full article

The deformation of surrounding soil primarily governs the behavior of underground structures. Consequently, variations in their external geometry significantly affect their overall seismic response. Moreover, large soil deformations and structural uplift caused by liquefaction severely threaten their seismic safety. While most previous studies have focused on conventional rectangular subway stations, the seismic performance of novel varying-span structures remains largely unexplored. In this study, nonlinear dynamic time-history analyses are conducted to investigate the soil–structure interaction (SSI) of large unequal-span subway stations in liquefiable sites. Furthermore, the seismic responses of both the structure and the surrounding soil are systematically evaluated under various burial depths of the liquefiable layer. Finally, a U-shaped foundation reinforcement method is proposed to mitigate structural uplift. The results show that unequal-span structures suppress liquefaction in lateral soil, whereas significant liquefaction occurs beneath the base slab and cantilevered middle slabs. The burial depth of the liquefiable layer has a negligible effect on the liquefaction state directly under the center span. Regarding structural response, global uplift follows a spatial pattern that peaks at the center span and gradually attenuates laterally. Although the proposed U-shaped reinforcement effectively reduces both total and differential uplift, it does not fundamentally change the underlying liquefaction mechanism. Specifically, reinforcing the soil under cantilevered sections minimizes differential uplift while enhancing the overall economic efficiency of the seismic design. These findings provide a scientific basis for optimizing the seismic resilience of complex underground structures, contributing to the development of resource-efficient and disaster-resilient urban underground infrastructure in liquefaction-prone regions. Full article

Rapid and accurate prediction of seismic response and fragility for bridge pile-group foundations (PGFs) is crucial for assessing seismic resilience. However, the high computational cost of traditional high-fidelity nonlinear analysis limits the application of probabilistic seismic risk analysis. To address this, an integrated deep learning framework is proposed that employs a unidirectional, multi-layer LSTM network for end-to-end prediction of structural responses directly from ground motions. The proposed model features two innovations. First, its multi-output capability enables simultaneous prediction of complete response time histories and peak values for key engineering demand parameters—bending moment, curvature, and pile cap displacement. Second, the network incorporates sliding time windows and residual connections to capture complex nonlinear soil–structure interaction. These predictions are integrated into a probabilistic seismic demand model to generate fragility curves. The framework is validated using a high-fidelity OpenSees model of a real bridge PGF subjected to 1000 ground motions. Results demonstrate the model’s excellent predictive accuracy: for peak bending moment, the mean predicted-to-actual ratio ranges from 0.97 to 1.03, with standard deviation below 0.12; the derived fragility curves show excellent agreement with benchmarks, achieving an average R² of 0.985 across four damage states. More importantly, the framework reduces the time for a complete fragility assessment (200 incremental dynamic analyses) from approximately 12 h to about 1 s—a 40,000× speed-up—making data-driven rapid and large-scale seismic risk assessment a reality. The proposed framework provides engineers with a practical design tool for rapidly evaluating alternative foundation configurations and informing seismic design decisions, thereby integrating advanced data-driven methods directly into the engineering design workflow. Full article

Elemental migration and enrichment are important processes influencing tea plant growth and the assembly of rhizosphere bacterial communities within the rock–soil–plant continuum. This study explores how soil parent materials (granite, quartz schist, and sericite schist) are potentially associated with these processes and their observed associations with the elemental composition of tea leaves. Exploratory statistical analyses revealed distinct, lithology-specific biogeochemical patterns that serve as a foundation for hypothesis generation. In granite soils, chlorite correlated with the mobility of Cr, Pb, Cu, Ni, Mg, and Na, coinciding with shifts in the relative abundances of Verrucomicrobia, Armatimonadetes, and Chloroflexi. In quartz schist, kaolinite exhibited notable correlations with the dynamics of Pb, Cr, Ni, Zn, and As, which were statistically linked to Planctomycetes, Proteobacteria, and Acidobacteria. Complex mineral–microbe interactions were observed in sericite schist soils, where clay minerals (e.g., chlorite, illite) were closely associated with the migration of multiple elements (Pb, K, Ca, Cd, As, Al, Fe, Zn), paralleling structural variations in communities of Actinobacteria, Planctomycetes, Chloroflexi, and Proteobacteria. Potassium (K), calcium (Ca), and manganese (Mn) showed bioaccumulation tendencies in tea leaves across all lithologies, with an enrichment capacity order of Ca > K > Mn > Mg > Na > Al. Exploratory Classification and Regression Tree (CART) analysis suggested that the migration of K, Ca, Cu, Zn, and Hg corresponded most closely with their soil concentrations. Manganese (Mn) exhibited a mineral-associated trend, with kaolinite content as a potential correlate, while cadmium (Cd) migration was statistically linked to the relative abundance of Armatimonadetes. These findings highlight potential candidate relationships between mineralogy, microbes, and elemental mobility rather than confirming causal mechanisms, emphasizing the need for further validation in larger or experimental datasets. Full article

Sustainable agriculture in arid and semi-arid regions critically depends on the interactions between soil physical properties, water dynamics, and mechanized field operations. In this context, soil physical attributes, such as texture, bulk density, aggregate stability, and soil water potential, play a crucial role in determining soil–water–machine interactions. Soil attributes such as texture, bulk density, aggregate stability, and soil water potential govern both water movement and retention, as well as traction efficiency, draft energy, and compaction under mechanized traffic. Deviations from the optimal soil moisture range in sandy or calcareous soils increase wheel slip, energy consumption, and soil structural degradation, resulting in uneven infiltration and reduced water-use efficiency. This review synthesizes recent research on these coupled processes, emphasizing how soil mechanics and hydraulics collectively influence irrigation performance and mechanization energy requirements. The novelty of this study lies in presenting an integrated soil–machine–water conceptual framework that captures the continuous interactions and interdependencies among soil physical state, machine behavior, and water movement. By highlighting these dynamic relationships, this review provides a systems-level perspective on energy and water interactions in dryland agroecosystems, offering a foundation for predicting the environmental implications of mechanized operations under arid conditions. Overall, the review demonstrates that sustainable mechanized agriculture in arid regions requires integrated management of soil physical state, machine operation, and irrigation timing, where maintaining soil moisture within an optimal operational range is the key factor for reducing energy losses, preventing soil compaction, and improving water productivity. Full article