Search Results (353)

The structural stability of lava tubes is a critical factor for their potential use in lunar base construction. Previous studies could not reflect the details of lava tube boundaries and perform accurate mechanical analysis. To this end, this study proposes a robust method to construct a high-precision, real-scene 3D model based on ground lava tube point cloud data. By employing finite element analysis, this study investigated the impact of real-world cross-sectional geometry, particularly the aspect ratio, on structural stability under surface pressure simulating meteorite impacts. A high-precision 3D reconstruction was achieved using UAV-mounted LiDAR and SLAM-based positioning systems, enabling accurate geometric capture of lava tube profiles. The original point cloud data were processed to extract cross-sections, which were then classified by their aspect ratios for analysis. Experimental results confirmed that the aspect ratio is a significant factor in determining stability. Crucially, unlike the monotonic trends often suggested by idealized models, analysis of real-world geometries revealed that the greatest deformation and structural vulnerability occur in sections with an aspect ratio between 0.5 and 0.6. For small lava tubes buried 3 m deep, the ground pressure they can withstand does not exceed 6 GPa. This process helps identify areas with weaker load-bearing capacity. The analysis demonstrated that a realistic 3D modeling approach provides a more accurate and reliable assessment of lava tube stability. This framework is vital for future evaluations of lunar lava tubes as safe habitats and highlights that complex, real-world geometry can lead to non-intuitive structural weaknesses not predicted by simplified models. Full article

Conventional filters for air filtration typically feature compact nonwoven structures, which not only lead to high pressure drop, significant energy consumption, and a decay in filtration efficacy, but are also uncleanable, resulting in substantial pollution upon disposal. In this study, filters with high-voltage electrostatic loading capability were developed with a dopamine binding layer to facilitate the establishment of an Ag conductive layer on the surface of ultraloose woven structure fabrics (pore size: 73.7 μm). The high-voltage-loaded woven structure filtration (VLWF) system was constructed with a negative-ion zone, a high-voltage filtration zone, and a grounded filter. The morphological, chemical, and electrical properties of the filters and the filtration performance of the VLWF system were evaluated. The single-pass filtration efficiencies for PM_2.5 and E. coli were 67.4% and 97.0%, respectively. Notably, the pressure drop was reduced to 6.2 Pa, and the quality factor reached 0.1810 Pa⁻¹ with no detectable ozone release. After three cycles of ultrasonic cleaning, approximately 58.4% of filtration efficiency was maintained without any increase in air resistance. The removal of PM_2.5 and microorganisms by this system was not solely reliant on blocking and electrostatic attraction but may also involve induced repulsion and biostructure inactivation. By integrating the ultraloose woven structure with high-voltage assistance, this VLWF system effectively balanced the requirements for high filtration efficacy and low air resistance. More importantly, this VLWF system provided a cleanable filter model that reduced the pollution associated with conventional disposable filters and lowered costs for customers. Full article

Background/Objectives: A material incompatibility has been established between self-etching adhesives and amine-containing dual-cure resin composite materials used for core buildups. This study aims to compare the dentin bond strength of several amine-containing and amine-free core materials using self-etching adhesives with different pHs. Methods: Extracted human molars were mounted in acrylic and ground flat with 320-grit silicon carbide paper. Next, 520 specimens (n = 10/group) were assigned to a dual-cure core buildup material group (10 amine-containing, 2 amine-free, and 1 reference light-cure only bulk fill flowable composite) and assigned to a self-etching adhesive subgroup (pH levels of approximately 1.0, 3.0, and 4.0). Within 4 h of surface preparation, the adhesive corresponding to the specimen’s subgroup was applied and light-cured. Composite buttons for the assigned dual-cure core material of each group were placed using a bonding clamp apparatus, allowed to self-cure for 2 h at 37 °C, and then unclamped. An additional group with one adhesive (pH = 3.0) was prepared in which the dual-cure core materials were light-cured. The bonded specimens were stored in water at 37 °C for 24 h. The specimens were mounted on a testing clamp and de-bonded in a universal testing machine with a load applied to a circular notched-edge blade at a crosshead speed of 1 mm/min until bond failure. The maximum load divided by the area of the button was recorded as the shear bond strength. The data was analyzed via 2-way ANOVA. Results: The analysis of bond strength via 2-way ANOVA determined statistically significant differences between the adhesives, the core materials, and their interaction (p < 0.01). There was a general trend in shear bond strength for the adhesives, where pH 4.0 > 3.0 > 1.0. The amine-free core materials consistently demonstrated higher shear bond strengths as compared to the other core materials when chemically cured only. Light-curing improved bond strength for some materials with perceived incompatibility. Conclusions: The results of this study suggest that an incompatibility can exist between self-etching adhesives and dual-cure resin composite core materials. A decrease in the pH of the utilized adhesive corresponded to a decrease in the bond strength of dual-cure core materials when self-curing. This incompatibility may be minimized with the use of core materials formulated with amine-free chemistry. Alternatively, the dual-cure core materials may be light-cured. Full article

Precise point positioning–real-time kinematic (PPP-RTK) enables users to achieve rapid centimeter-level absolute positioning accuracy within a few epochs. The interpolation of ionospheric delay corrections at the user end, extracted from reference stations, constitutes a key aspect of the process, which depends not solely on the precision of the interpolation model. This study investigates the recommended number of selected reference stations and proposes a method to mitigate the potential loss of observations due to missing ionospheric corrections. According to the experimental results, the number of reference stations should be determined based on the reference network size. Under normal conditions (terrain is relatively flat and the atmospheric conditions are inactive) where reference stations are approximately evenly distributed in all directions, and using low-order surface interpolation model, for networks with 50 km spacing, four or five reference stations are recommended, while for 100 km networks, six or seven stations are enough to calculate precise corrections. Adding more stations beyond these thresholds provides limited improvement in interpolation accuracy and increases the communication load. In addition, an interpolation basis recovery algorithm is proposed to preserve otherwise excluded satellite observations through intelligent handling of correction data gaps at individual reference stations. Experimental validation demonstrates that the recovered ionospheric delay corrections obtained through the algorithm deviate from the ground-truth interpolated values of no more than ±1 cm, an accuracy level deemed adequate for PPP-RTK applications. Furthermore, approximately 3% of the observations, which would otherwise have been discarded due to the missing corrections from a specific reference station, are retained by the algorithm. Full article

The aerodynamic loading of four as well as of six tilted flat plates-panels arranged in tandem and in close proximity to the ground is examined through force and pressure measurements. In the four-plate set up, conducted in an open-circuit wind tunnel, a movable floor is used to vary the ground clearance, and a one-component force balance is employed to measure the drag coefficient Cd of each plate for tilt angles 10° to 90° and for two head-on wind directions, 0° and 180°. An increase in the ground clearance from 20% to 60% of the plates’ chord length, results in a Cd increase of over 40% in the downstream plates, and up to 20% in the leading one. For tilt angles below 40°, the drag on the first plate is up to 25% higher under the 180° wind direction compared to the opposite direction. Pressure distributions are also presented on a series of six much larger plates, examined in a closed-circuit wind tunnel at tilt angles ±30°. While the windward surfaces exhibit relatively uniform pressure distributions, regions of low pressure develop on their suction side, near the plates’ tips leading edge, tending to become uniform streamwise. Full article

Smart construction technology integrates artificial intelligence, Internet of Things, UAVs, and building information modeling to improve productivity and quality in construction. In road embankment earthworks, ground compaction quality is critical for structural stability and maintenance. This study proposes a methodology combining UAV photogrammetry with intelligent compaction quality management systems to evaluate surface flatness and compaction homogeneity in real-time. High-resolution UAV images were used to generate digital elevation models, from which surface roughness was extracted using terrain element analysis and fast Fourier transform. Local terrain changes were interpreted through contour gradient, outline gradient, and tangential gradient curvature analysis. Field tests were conducted at a pilot site using a vibratory roller, followed by four compaction quality assessments: plate load test, dynamic cone penetration test, light falling weight deflectometer, and compaction meter value. UAV-based flatness analysis revealed that, when surface flatness met the standard, a strong correlation was observed, with results from conventional field tests and intelligent compaction data. The proposed method effectively identified poorly compacted zones and spatial inhomogeneity without interrupting construction. These findings demonstrate that UAV-based terrain analysis can serve as a nondestructive real-time monitoring tool and contribute to automated quality control in smart construction environments. Full article

Ground reaction forces (GRFs) are the primary interaction forces that enable a legged robot to maintain balance and perform locomotion. Most quadruped robot controllers estimate GRFs indirectly using joint torques and a kinematic model, which depend on assumptions and are highly sensitive to modeling errors. In contrast, direct sensing of contact forces at the feet provides more accurate and immediate feedback. Beyond force magnitude, tactile sensing also enables richer contact interpretation, such as detecting force direction and surface properties. In this work, we show how tactile sensor information can be used inside the feedback of the control loop to achieve compliance of legged robots during ground contact. The three main contributions are (i) a fast and computationally efficient 3D force reconstruction method tailored for spherical tactile sensors, (ii) a tactile admittance controller that adjusts leg motions to achieve the desired GRFs and compliance, and (iii) experimental validation on a quadruped robot, demonstrating enhanced load distribution and balance during external perturbations and locomotion. The results show that the peak ground reaction forces were reduced by 55% while balancing on a beam. During a locomotion scenario involving sudden touchdown after a fall, the tactile admittance controller reduced oscillations and regained stability compared to proportional–derivative (PD) control. Full article

High-temperature fretting wear typically occurs on mechanical contact surfaces in high-temperature environments, with displacement amplitudes generally in the micrometer range (≤300 μm), such as the turbine disks and blades in aerospace engines, and the piston rings in automotive engines. The study performed tangential fretting wear tests between superalloy specimens and Si₃N₄ balls under 700 °C to investigate the influence of ground and milled surface morphologies on the high-temperature fretting wear behavior. The experimental results show distinct wear mechanisms for the two surface types: ground specimens exhibit adhesive and oxidative wear, while milled specimens experience fatigue and abrasive wear. Both wear modes intensify with increasing load and fretting frequency. A comprehensive surface morphology characterization method, combining fractal dimension (FD) and surface roughness, is proposed. The study reveals that the roughness parameters Sa and Ra are strongly correlated with the Coefficient of Friction, while FD is strongly correlated with the wear volume. This study provides a novel approach to characterizing the evolution of surface morphology during high-temperature fretting wear. Full article

Due to the spatial constraints of underground environments, the spacing between dual-line tunnels in urban metro systems is often limited, leading to potential mutual interference during the operation of trains in closely spaced parallel tunnels. In this study, a twin-tunnel model was developed using PFC2D to simulate the variations in displacement, velocity, porosity, and strain of the T2 structure and its surroundings under eight conditions (F_i = 62.4–131.5 kN, i = 1, 2, 3…, 8), elucidating the static and dynamic responses of the adjacent tunnel structure and its surroundings. The results indicate that the vertical response of T2 sleepers is significantly larger than the horizontal response under the same load. Increasing train loads induce non-uniform deformation in T2 liners, and excessive overloading may result in microcracks or structural failure. The velocity and displacement at the ground surface are substantially more significant than those in the surrounding areas closer to the vibration source, primarily due to the surface amplification effect. The surroundings of the adjacent tunnel experience uneven compressive forces, potentially causing liner separation. Under the A₇ condition, the static and dynamic responses of the tunnel structure and its surroundings sharply decreased due to the combined effects of pressure and train load dynamics. This phenomenon is attributed to the interplay between the pressure effect and the dynamic amplification effect of the train load. It is recommended that the operational train load in practical engineering should not exceed the A₄ condition (92.0 kN). This study can provide a reference for analyzing the static and dynamic responses of twin-tunnel structures under metro overloading conditions. Full article

In the past three decades, the city of Addis Ababa, a capital city of Africa, has grown significantly in population, facilities, and infrastructure. The area involved in the recent urbanization is prone to slow natural subsidence phenomena that can be accelerated due to anthropogenic factors such as groundwater overexploitation and loading of unconsolidated soils. The main aim of this study is to identify and monitor the areas most affected by subsidence in a context, such as that of many areas of emerging countries, characterized by the lack of geological and technical data. In these contexts, advanced remote sensing techniques can support the assessment of spatial and temporal patterns of ground instability phenomena, providing critical information on potential conditioning and triggering factors. In the case of subsidence, these factors may have a natural or anthropogenic origin or result from a combination of both. The increasing availability of SAR data acquired by the Sentinel-1 mission around the world and the refinement of processing techniques that have taken place in recent years allow one to identify and monitor the critical conditions deriving from the impressive recent expansion of megacities such as Addis Ababa. In this work, the Sentinel-1 SAR images from Oct 2014 to Jan 2021 were processed through the PS-InSAR technique, which allows us to estimate the deformations of the Earth’s surface with high precision, especially in urbanized areas. The obtained deformation velocity maps and displacement time series have been validated using accurate second-order geodetic control points and compared with the recent urbanization of the territory. The results demonstrate the presence of areas affected by a vertical rate of displacement of up to 21 mm/year and a maximum displacement of about 13.50 cm. These areas correspond to sectors that are most predisposed to subsidence phenomena due to the presence of recent alluvial deposits and have suffered greater anthropic pressure through the construction of new buildings and the exploitation of groundwater. Satellite interferometry techniques are confirmed to be a reliable tool for monitoring potentially dangerous geological processes, and in the case examined in this work, they represent the only way to verify the urbanized areas exposed to the risk of damage with great effectiveness and low cost, providing local authorities with crucial information on the priorities of intervention. Full article

The development of prosthetic limbs has benefited individuals who suffered amputations due to accidents or medical conditions. During the development of conventional prosthetics, several challenges have been observed regarding the functional limitations, the restricted degrees of freedom compared to an actual human limb, and the biocompatibility issues between the surface of the prosthetic limb and the human tissue or skin. These issues could result in mobility impairments due to failed mimicry of the actual stress distribution, causing discomfort, chronic pain, and tissue damage or possible infections. Especially in cases where underlying conditions exist, such as diabetes, possible trauma, or vascular disease, a failed adaptation of the prosthetic limb could lead to complete abandonment of the prosthetic part. To address these challenges, the insertion of topologically optimized parts with a biomimetic approach has allowed the optimization of the mimicry of the complex functionality behavior of the natural body parts, allowing the development of lightweight efficient anthropomorphic structures. This approach results in unified stress distribution, minimizing the practical limitations while also adding an aesthetic that aids in reducing any possible symptoms related to social anxiety and impaired social functioning. In this paper, the development of a novel anthropomorphic designed prosthetic foot with a novel Thermoplastic Polyurethane-based composite (TPU-Ground Tire Rubber 10 wt.%) was studied. The final designs contain advanced sustainable polymeric materials, gyroid lattice geometries, and Finite Element Analysis (FEA) for performance optimization. Initially, a static evaluation was conducted to replicate the phenomena at the standing process of a conventional replicated above-knee prosthetic. Furthermore, dynamic testing was conducted to assess the mechanical responses to high-intensity exercises (e.g., sprinting, jumping). The evaluation of the dynamic mechanical response of the prosthetic limb was compared to actual plantogram-derived foot pressure data during static phases (standing, light walking) and dynamic phenomena (sprinting, jumping) to address the optimal geometry and density, ensuring maximum compatibility. This innovative approach allows the development of tailored prosthetic limbs with optimal replication of the human motion patterns, resulting in improved patient outcomes and higher success rates. The proposed design presented hysteretic damping factor and energy absorption efficiency adequate for load handling of intense exercises (0.18 loss factor, 57% energy absorption efficiency) meaning that it is suitable for further research and possible upcycling. Full article

This study investigates the ground reaction force of lever-spring landing gear (LSLG) equipped with compressible elastomer shock absorbers (ESA) during the landing process. First, a numerical dynamic model of the LSLG was developed in MATLAB/Simulink, revealing that runway roughness exerts a negligible influence on the ground reaction force during landing. The load characteristics established fundamental references for subsequent FEA-based structural design. Furthermore, an FEA model integrating the LSLG and the aircraft was developed with parameters calibrated for elastic units. The multibody dynamics simulation (MBDS) quantified the vertical ground reaction force and the structural stresses of LSLG, demonstrating two critical relationships: (1) the overload coefficient correlated with the sinking velocity yet exhibits no correlation with aircraft mass and (2) the peak of oscillating force attenuated faster with heavier landing weight at higher sinking velocities. A nonlinear multi-variables function was fitted to predict the maximum vertical ground reaction force. Subsequently, experimental validation via a landing gear drop test (LGDT) showed a maximum error of 8.39% between the results of the LGDT and the MBDS, confirming the accuracy of simulation and the fitting surface function for force prediction. The study further validates the feasibility and reliability of using the MBDS to model and study the LSLG with ESAs. Full article

To address the intense mining pressure and dynamic accidents, such as shield collapse during mining in shallow coal seams crossing the Maoliang terrain, this study focuses on Panel 30206 of the Yanghuopan Coal Mine. Through theoretical analysis, numerical simulation, and field measurements, the stress transfer patterns and dynamic changes in shield loads during mining were analyzed, and the mechanism of dynamic mining pressure and calculation method for maximum support resistance were determined. The results show that when the working face enters the load-affected zone of the Maoliang terrain, the base load ratio of the overburden increases. The fracturing of the roof strata causes a synchronized motion between the key stratum and the overlying surface layer. The fracture and instability of the key stratum under mining-induced terrain loads significantly increase the shield resistance and intensify the mining pressure, with a hysteresis effect. Field measurements indicate a maximum shield working resistance of 8974 kN at Panel 30206, showing a 3.25% deviation from the theoretical value of 9266 kN, with a 25 m lag behind the peak load in the Maoliang terrain. This research provides criteria for support selection and ground control in Maoliang terrain mining, ensuring safe production. Full article

This paper aims to solve the problems of poor mobility, passability, and stability in heavy-duty vehicles, and proposes an active suspension system control strategy based on position–force feedback optimal control to coordinately enhance vehicle passability and wheel grounding performance. Firstly, a two-degrees-of-freedom one-sixth vehicle active suspension model and a valve-controlled hydraulic actuator system model are constructed, and the advantages of impedance control in robot compliance control are integrated to analyze their applicability in hydraulic active suspension. Next, a position feedback controller and force feedback LQG optimal controller for fuzzy PID control are designed, the fuzzy PID-LQG (FPL) integrated method is applied to the hydraulic active suspension system, and the dynamic load of the wheel is tracked by impedance control to obtain the spring mass displacement correction. Then, a suspension system model under the excitation of a C-class road surface and a 0.11 m raised road surface is constructed, and the dynamic simulation and comparison of active/passive suspension systems are carried out. The results show that, compared with PS and LQR control, the body vertical acceleration, suspension dynamic deflection, and wheel dynamic load root-mean-square value of the proposed FPL integrated control active suspension are reduced, which can effectively reduce the body vibration and wheel dynamic load and meet the design objectives proposed in this paper, effectively improving vehicle ride comfort, handling stability, passability, and wheel grounding performance. Full article

Traditional visual simultaneous localization and mapping (SLAM) systems typically generate sparse or semi-dense point cloud maps, which are insufficient for effective navigation and path planning. Constructing navigation maps through dense depth estimation generally entails high computational costs, and depth estimation is prone to errors in weakly textured regions such as road surfaces. Furthermore, traditional visual SLAM methods rely on local relative coordinate systems, making it extremely challenging to merge mapping results from different coordinate frames in navigation systems lacking global positioning constraints. To address these limitations, this paper presents a multi-submap fusion mapping method based on semantic ground fitting and incorporates global navigation satellite system (GNSS) to provide global positioning information via occupancy grid maps. The method emphasizes the integration of low-cost sensors into a unified system, aiming to create an accurate and real-time mapping solution that is cost-effective and highly applicable. Simultaneously, a multi-submap management mechanism is introduced to dynamically store and load maps, updating only the submaps surrounding the vehicle. This ensures real-time map updates while minimizing computational and storage resource consumption. Extensive testing of the proposed method in real-world scenarios, using a self-built experimental platform, demonstrates that the generated grid map meets the accuracy requirements for navigation tasks. Full article