To achieve robust and accurate state estimation for robot navigation, we propose a novel Visual Inertial Odometry(VIO) algorithm with line features upon the theory of invariant Kalman filtering and Cubature Kalman Fil...
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Building a subgrade on the slope foundation is common for highway constructions in China. Under different hydrogeological conditions, the stability and differential settlement are the main problems for the constructio...
Building a subgrade on the slope foundation is common for highway constructions in China. Under different hydrogeological conditions, the stability and differential settlement are the main problems for the construction of the subgrade. In order to study the parameters that influence the stability and deformation of subgrade, based on the cross-section of a mountainous region highway, those simulations were conducted to study the influence of subgrade height, subgrade width, embankment slope angle, and slope foundation angle on the stability and pattern of embankment. The results showed that the allowable filling height is 15 m; otherwise, there is a large risk of the slope sliding. Further, it was found that the maximum vertical deformation on the right shoulder of the embankment increases with an increase in the angles of the slope of the foundation. These results provide references for future highway constructions and design works in mountainous areas.
Through dynamic compaction tests with tamping energies of 1500, 2000, and 2500 kN•m of an embankment section in the PingShan–ZanHuang Expressway, the compression deformation behavior of the tamping settlement, soil d...
Through dynamic compaction tests with tamping energies of 1500, 2000, and 2500 kN•m of an embankment section in the PingShan–ZanHuang Expressway, the compression deformation behavior of the tamping settlement, soil deformation around the tamping rammer, consolidation depth, and dynamic stress of dynamic compaction were comprehensively tested. Comparative analyses of field data under three different tamping energies suggested that the optimal tamping energy, number of strikes, and vertical effective tamping depth for this embankment are 2000 kN•m, six, and 5 m, respectively. The field test data proving that dynamic compaction has a significant effect on this embankment.
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