Distributed Control by Lagrangian Steepest Descent

Often adaptive, distributed control can be viewed as an iterated game between independent players. The coupling between the players' mixed strategies, arising as the system evolves from one instant to the next, is determined by the system designer. Information theory tells us that the most likely joint strategy of the players, given a value of the expectation of the overall control objective function, is the minimizer of a Lagrangian function of the joint strategy. So the goal of the system designer is to speed evolution of the joint strategy to that Lagrangian minimizing point, lower the expectated value of the control objective function, and repeat. Here we elaborate the theory of algorithms that do this using local descent procedures, and that thereby achieve efficient, adaptive, distributed control.Comment: 8 page

Complexity analysis of blast-induced vibrations in underground mining, a case study

Blasting in geological bodies is an industrial process acting in an environment characterized by high uncertainties (natural joints, faults, voids, abrupt structural changes), which are transposed into the process parameters (e.g. energetic transfer to rock mass, hole deviations, misfires, vibrations, fly-rock, etc.). The approach to this problem searching for the “optimum” result can be ineffective. The geological environment is marked out by too many uncertainties, to have an “optimum” suitable to different applications. Researching for “Robustness” in a blast design gives rise to much more efficiency. Robustness is the capability of the system to behave constantly under varying conditions, without leading to unexpected results. Since the geology varies from site to site, setting a robust method can grant better results in varying environments, lowering the costs and increasing benefits and safety. Complexity Analysis (C.A.) is an innovative approach to systems. C.A. allows analyzing the Complexity of the Blast System and the criticality of each variable (drilling, charging and initiation parameters). The lower is the complexity, the more robust is the system, and the lower is the possibility of unexpected results. The paper presents the results obtained thanks to the C.A. approach in an underground gypsum quarry (Italy), exploited by conventional rooms and pillars method by drilling and blasting. The application of C.A. led to a reliable solution to reduce the charge per delay, hence reducing the impact of ground vibration on the surrounding structures. The analysis of the correlation degree between the variables allowed recognizing empirical laws as well. Keywords: Drilling and blasting, Complexity analysis, Vibrations contro

Updating of the Hierarchical Rock Mass Rating (HRMR) system and a new subsystem developed for weathered granite formations

The RMR system is still very much applied in rock mechanics engineering context. It is based on the evaluation of six weights to obtain a final rating. To obtain the final rating a considerable amount of information is needed concerning the rock mass which can be difficult to obtain in some projects or project stages at least with accuracy. In 2007 an alternative classification scheme based on the RMR, the Hierarchical Rock Mass Rating (HRMR) was presented. The main feature of this system was the adaptation to the level of knowledge existent about the rock mass to obtain the classification of the rock mass since it followed a decision tree approach. However, the HRMR was only valid for hard rock granites with low fracturing degrees. In this work, the database was enlarged with approximately 40% more cases considering other types of granite rock masses including weathered granites and based on this increased database the system was updated. Granite formations existent in the north of Portugal including Porto city are predominantly granites. Some years ago a light rail infrastructure was built in the city of Porto and surrounding municipalities which involved considerable challenges due to the high heterogeneity levels of the granite formations and the difficulties involved in their geomechanical characterization. In this work it is intended to provide also a contribution to improve the characterization of these formations with special emphasis to the weathered horizons. A specific subsystem applicable to the weathered formations was developed. The results of the validation of these systems are presented and show acceptable performances in identifying the correct class using less information than with the RMR system

Miniature Trailing Edge Effector for Aerodynamic Control

Improved miniature trailing edge effectors for aerodynamic control are provided. Three types of devices having aerodynamic housings integrated to the trailing edge of an aerodynamic shape are presented, which vary in details of how the control surface can move. A bucket type device has a control surface which is the back part of a C-shaped member having two arms connected by the back section. The C-shaped section is attached to a housing at the ends of the arms, and is rotatable about an axis parallel to the wing trailing edge to provide up, down and neutral states. A flip-up type device has a control surface which rotates about an axis parallel to the wing trailing edge to provide up, down, neutral and brake states. A rotating type device has a control surface which rotates about an axis parallel to the chord line to provide up, down and neutral states

The effect of grain size, surface roughness, and joint compressive strength on shear strength along discontinuities of Hungarian sandstones

In this study, the joint shear strength of low-strength Hungarian sandstones of different grain size and surface roughness was investigated. The direct shear tests along discontinuities were performed under constant normal load. Previously, the direct shear test basic rock mechanic parameters of the investigated intact rocks were determined, such as the UCS value. The goal of the investigation is to determine the effect of the surface properties, such as surface roughness, grain size, and surface quality, on the joint shear strength of Hungarian sandstones. The failure curves derived from the experimental results of direct shear tests under laboratory conditions, and the empirical results according to Barton and Choubey (1977) were compared

Characterization of rock slopes through slope mass rating using 3D point clouds

Rock mass classification systems are widely used tools for assessing the stability of rock slopes. Their calculation requires the prior quantification of several parameters during conventional fieldwork campaigns, such as the orientation of the discontinuity sets, the main properties of the existing discontinuities and the geo-mechanical characterization of the intact rock mass, which can be time-consuming and an often risky task. Conversely, the use of relatively new remote sensing data for modelling the rock mass surface by means of 3D point clouds is changing the current investigation strategies in different rock slope engineering applications. In this paper, the main practical issues affecting the application of Slope Mass Rating (SMR) for the characterization of rock slopes from 3D point clouds are reviewed, using three case studies from an end-user point of view. To this end, the SMR adjustment factors, which were calculated from different sources of information and processes, using the different softwares, are compared with those calculated using conventional fieldwork data. In the presented analysis, special attention is paid to the differences between the SMR indexes derived from the 3D point cloud and conventional field work approaches, the main factors that determine the quality of the data and some recognized practical issues. Finally, the reliability of Slope Mass Rating for the characterization of rocky slopes is highlighted.This work was partially funded by the University of Alicante (vigrob-157 Project and GRE1404 Project), the Generalitat Valenciana (Projects GV/2011/044 and ACOMP/2014/136), the Spanish Ministry of Economy and Competitiveness (MINECO) and EU FEDER under Projects TEC2011-28201-C02-02 and TIN2014-55413-C2-2-P

Dissolution influences on gypsum rock under short and long-term loading: Implications for dams

Dissolution of soluble substrates such as gypsum presents a major hazard to dams in many parts of the world. This research simulates hypothesised conditions beneath the Mosul Dam, northwest Iraq, where collapse of a karstic system associated with continuous fresh water supply from its reservoir is a recognised problem. Gypsum rocks from northern Iraq and similar rocks from Bantycock gypsum mine, UK, were analysed for short-term mechanical response following immersion (5 to 50 weeks) and long-term loading during immersion (maximum 50 weeks). New experimental devices were developed from a conventional oedometer. Cylinder samples provided a proxy for massive gypsum strata. Samples were permanently submerged at atmospheric water pressure, with groundwater recharge, flow and dissolution simulated by regular changes of water. Stress on each sample was progressively increased to a maximum of 2688 kPa. Small increases in strain were recorded by the end of each test but no failures occurred within 60 days. However, notable failure due to atmospheric water pressure and axial stress occurred over long time periods. Visible physical changes included a decrease in sample mass and volume. Similar change was recorded in ultrasonic velocities. These indicate that gypsum collapse risk beneath dams requires prolonged exposure to dissolution. The modified device performed well and was robust, and demonstrates that such a modification can provide a simple low cost system for conducting laboratory creep tests on weak rocks

Modelling geotechnical heterogeneities using geostatistical simulation and finite differences analysis

Modelling a rock mass in an accurate and realistic way allows researchers to reduce the uncertainty associated with its characterisation and reproduce the intrinsic spatial variability and heterogeneities present in the rock mass. However, there is often a lack of a structured methodology to characterise heterogeneous rock masses using geotechnical information available from the prospection phase. This paper presents a characterization methodology based on the geostatistical simulation of geotechnical variables and the application of a scenario reduction technique aimed at selecting a reduced number of realisations able to statistically represent a large set of realisations obtained by the geostatistical approach. This type of information is useful for a further rock mass behaviour analysis. The methodology is applied to a gold deposit with the goal of understanding its main differences to traditional approaches based on a deterministic modelling of the rock mass. The obtained results show the suitability of the methodology to characterise heterogeneous rock masses, since there were considerable differences between the results of the proposed methodology, mainly concerning the theoretical tunnel displacements, and the ones obtained with a traditional approach.This research work has been developed in the scope of the Doctoral Programme in Civil Engineering at the University of Minho, Portugal. It was supported by the Portuguese Science and Technology Foundation (FCT), under grant No. SFRH/BD/89627/2012 inserted in the LNEC project named P2I-RockGeoStat, and by the Chilean Commission for Scientific and Technological Research, under grant CONICYT/FONDECYT/REGULAR/N◦1170101.info:eu-repo/semantics/publishedVersio