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Lidar-Based Mobile Mapping System for an Indoor Environment 基于激光雷达的室内环境移动测绘系统
IF 0.4 Pub Date : 2022-06-01 DOI: 10.2478/sjce-2022-0014
J. Brindza, P. Kajánek, J. Erdélyi
Abstract The article deals with developing and testing a low-cost measuring system for simultaneous localisation and mapping (SLAM) in an indoor environment. The measuring system consists of three orthogonally-placed 2D lidars, a robotic platform with two wheel speed sensors, and an inertial measuring unit (IMU). The paper describes the data processing model used for both the estimation of the trajectory of SLAM and the creation of a 3D model of the environment based on the estimated trajectory of the SLAM. The main problem of SLAM usage is the accumulation of errors caused by the imperfect transformation of two scans into each other. The data processing developed includes an automatic evaluation and correction of the slope of the lidar. Furthermore, during the calculation of the trajectory, a repeatedly traversed area is identified (loop closure), which enables the optimisation of the trajectory determined. The system was tested in the indoor environment of the Faculty of Civil Engineering of the Slovak University of Technology in Bratislava.
摘要:本文讨论了在室内环境下开发和测试一种低成本的同时定位和测绘(SLAM)测量系统。测量系统由三个正交放置的二维激光雷达、一个带有两个轮速传感器的机器人平台和一个惯性测量单元(IMU)组成。本文描述了用于估计SLAM轨迹和基于估计的SLAM轨迹创建环境三维模型的数据处理模型。SLAM使用的主要问题是由于两次扫描之间的不完全转换导致的误差累积。所开发的数据处理包括激光雷达斜率的自动评估和校正。此外,在轨迹计算过程中,识别出一个反复穿越的区域(环路闭合),这使得确定的轨迹优化成为可能。该系统在布拉迪斯拉发斯洛伐克科技大学土木工程学院的室内环境中进行了测试。
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引用次数: 0
Wave Run-Ups and Overtopping Affected by Oblique Wave Approaches and Currents 受斜波接近和水流影响的浪涌和过顶
IF 0.4 Pub Date : 2022-06-01 DOI: 10.2478/sjce-2022-0010
M. Špano, A. Bornschein, R. Pohl, J. Říha, H. Schüttrumpf
Abstract To quantify the effect of a current on the height of a wave’s run-up and overtopping combined with an oblique wave approach, the “FlowDike” hydraulic research project was carried out. Tests were performed on two dike slopes of 1:3 and 1:6. Waves were generated across (perpendicular to) the physical model and also inclined in-plane to the stream axis. Oblique waves were generated both towards and along the flow’s direction. The effect of the current and of the wave direction on the height of the wave run-up and amount of the wave overtopping was expressed by means of a combined correction factor for the wave’s inclination and flow velocity. The results of the research confirmed that the flow velocity had only a small effect.
摘要为了量化水流对波浪爬高和漫顶高度的影响,结合斜波方法,开展了“FlowDike”水力学研究项目。试验在两个1:3和1:6的堤防边坡上进行。波浪在物理模型上产生(垂直于),也在平面内倾斜于流轴。朝着水流的方向和沿着水流的方向都产生了倾斜的波浪。水流和波浪方向对波浪爬高和漫顶量的影响通过波浪倾斜度和流速的组合校正因子来表示。研究结果证实,流速的影响很小。
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引用次数: 0
A Comparison of Variational Projection and Cartographic Projection by Ritz’s Method 里兹法变分投影与地图投影的比较
IF 0.4 Pub Date : 2022-06-01 DOI: 10.2478/sjce-2022-0011
Andrea Ábrahámová, Margita Vajsablova
Abstract The application of alternative mathematical methods in creating cartographic projections is an interesting factor, which affects the optimization of distortions and their distribution in the projected territory. This article presents the methodology for the creation and comparison of conformal cartographic projections formed by alternative mathematical methods of minimizing the integral criterion for scale distortion in Slovakia. The creation of the variational projection is based on the Airy-Kavraiskii criterion of evaluating the projection on the displayed area by solving Laplace's equation. The second projection is created by solving Poisson's equation using Ritz's method. Our analysis showed that the variational projection of Slovakia achieves more satisfactory distortion values than the cartographic projection created using Ritz's method. The advantage of Ritz's method is that it is possible to choose a boundary condition for a predefined undistorted convex closed curve. In this paper, we have also derived specific members of the map equations for cartographic projection based on solving Poisson's equation by Ritz's method.
摘要在创建地图投影中应用替代数学方法是一个有趣的因素,它影响失真及其在投影区域中的分布的优化。本文介绍了在斯洛伐克,通过最小化比例失真积分标准的替代数学方法形成的保角地图投影的创建和比较方法。变分投影的创建基于Airy-Kavraiskii准则,该准则通过求解拉普拉斯方程来评估显示区域上的投影。第二个投影是通过使用里兹方法求解泊松方程来创建的。我们的分析表明,斯洛伐克的变分投影比使用里兹方法创建的地图投影获得了更令人满意的失真值。Ritz方法的优点是可以为预定义的无畸变凸闭合曲线选择边界条件。本文在用里兹方法求解泊松方程的基础上,导出了地图投影地图方程的具体成员。
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引用次数: 0
Investigation of the Liquefaction Potential of Coal Ash Due to Seismic Loading 粉煤灰在地震荷载作用下的液化潜力研究
IF 0.4 Pub Date : 2022-06-01 DOI: 10.2478/sjce-2022-0013
I. Slávik
Abstract Coal ash is a geomaterial with a metastable structure. This type of geomaterial is significantly susceptible to liquefaction as a result of seismic loads. An investigation of ash that is susceptible to liquefaction due to a seismic load can use the CPT penetration test. This method of investigating liquefaction was developed based on numerous penetration tests of sandy or silty–sandy soils and was developed at the Workshop on the Evaluation of Soil Liquefaction Resistance, NCEER, Salk Lake City, Utah, USA, 1996. In the present article, the results of the CPT penetration test conducted at the Rosina ash tailings pond in Žilina in Slovakia, are analyzed using the NCEER methodology. The safety factor for ash liquefaction was expressed based on the penetration resistance values measured in the CPT tests using the ‘LiquefyPro’ software. The safety factor in the liquefaction of the ash sediment was expressed by changing the level of seeping water in the body of the tailings pond, the unit weight of coal ash, and the seismic acceleration.
摘要粉煤灰是一种具有亚稳态结构的岩土材料。由于地震荷载,这种类型的土工材料极易液化。对因地震荷载而易液化的灰的调查可以使用CPT渗透试验。该液化调查方法是在砂质或粉砂质土壤的大量渗透试验的基础上开发的,并在1996年美国犹他州索尔克湖市NCEER土壤液化阻力评估研讨会上开发。本文采用NCEER方法对在斯洛伐克日利纳的罗西纳灰尾矿库进行的CPT渗透试验结果进行了分析。灰液化的安全系数是根据CPT试验中使用“LiquefyPro”软件测得的渗透阻力值表示的。粉煤灰液化的安全系数通过改变尾矿库体内的渗水位、粉煤灰的单位重量和地震加速度来表示。
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引用次数: 0
Smart-Readiness Assessment of a Complex Residential Building in Ukraine 乌克兰一座复杂住宅建筑的智能准备评估
IF 0.4 Pub Date : 2022-06-01 DOI: 10.2478/sjce-2022-0009
Olexandr Adegov, S. Shekhorkina, M. Babenko, Maryna Lyahovetska-Tokareva, Olexandr Kudryavcev
Abstract Smart building concepts are a relevant topic for the Ukrainian building sector. Although the current policy is mostly dedicated to the improvement of the current energy-saving situation in the building stock, the concept discussed could provide valuable inputs in the realization of the existing strategy. For an assessment of the expected positive impact of the implementation of smart indicators on building operation and renovation processes, as well as the predictions of scenarios of the range of the application of smart instruments, the research presented proposes a thorough analysis of the building stock in Ukraine and, in a real pilot case, the assessment of smart-readiness indicators (SRI) for a complex multi-family building. The case scenarios used, which are derived on the basis of SRI and a processed questionnaire among the habitants, are considered as the reference foundation for a practical application and disseminating the concept for similar cases.
智能建筑概念是乌克兰建筑部门的一个相关主题。虽然目前的政策主要致力于改善当前建筑存量的节能状况,但所讨论的概念可以为实现现有战略提供有价值的投入。为了评估智能指标对建筑运营和翻新过程的预期积极影响,以及对智能仪器应用范围的预测,该研究提出了对乌克兰建筑存量的彻底分析,并在一个真实的试点案例中,对复杂的多户建筑的智能就绪指标(SRI)进行评估。所使用的案例场景是基于SRI和经过处理的居民问卷得出的,可以作为实际应用和传播类似案例概念的参考基础。
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引用次数: 0
Theoretical Correlations Between the Cumulative Absolute Velocity and Performance Point for a Seismic Analysis of Framed Structures 框架结构地震分析中累积绝对速度与性能点的理论关联
IF 0.4 Pub Date : 2022-03-01 DOI: 10.2478/sjce-2022-0003
Kahil Amar, Hannachi Naceur Eddine, H. Mohand, M. Ahmed
Abstract The present paper investigates the effect of the harmfulness of a potential earthquake on structural and seismic risks. It takes into account the magnitude, epicentral distance, and pseudo depth at the hypocenter as well as the soil classification in order to generate synthetic seismic motions to be considered as signal inputs for a structural seismic analysis. The most typical typology of dwellings and buildings that are widely existing in Algeria, i.e., a reinforced concrete frame structure, is considered for the case study. The results show that the theoretical models developed in this study are able to predict the performance point (spectral displacement) according to the cumulative absolute velocity. They also show that(CAV-Sd) (Sd being the spectral displacement of the performance point defined by a pushover analysis) is slightly influenced by the value of the ultimate displacements of the structures and the soil parameters (shear velocity Vs).
摘要本文研究了潜在地震的危害性对结构和地震风险的影响。它考虑了震级、震中距离、震源处的伪深度以及土壤分类,以生成合成地震运动,将其视为结构地震分析的信号输入。案例研究考虑了阿尔及利亚广泛存在的最典型的住宅和建筑类型,即钢筋混凝土框架结构。结果表明,本研究开发的理论模型能够根据累积绝对速度预测性能点(谱位移)。他们还表明,(CAV Sd)(Sd是由推挤分析定义的性能点的谱位移)受结构极限位移值和土壤参数(剪切速度Vs)的影响较小。
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引用次数: 0
Impact of Changes in Short-Term Rainfall on Design Floods: Case Study of the Hnilec River Basin, Slovakia 短期降雨变化对设计洪水的影响——以斯洛伐克Hnilec河流域为例
IF 0.4 Pub Date : 2022-03-01 DOI: 10.2478/sjce-2022-0008
Gabriel Földes, M. Labat, S. Kohnová, K. Hlavčová
Abstract The research aims to analyze changes in the predicted short-term rainfall intensities at the Telgárt climatological station and the subsequent use of these predicted rainfall intensities for estimating design floods. The area of interest selected is the upper Hnilec River basin in Slovakia. The research is divided into two parts: In the first part, the authors have focused on analyzing future seasonal changes and the trend of shortterm rainfall intensities and estimating the scaling exponents of short-term rainfall. In the second part, the observed and predicted short-term rainfall intensities have been applied to estimate the design floods in the study area, using the Soil Conservation Service – Curve Number method (SCS CN). The results indicate that for the future periods, there will be a shift in the rainfall maxima of about one week to an earlier period in July compared to the historical period. The changes in the short-term rainfall trends were detected in the 60-, 120- and 180-minute rainfall durations at the 90% significance level. The results of the design discharges predict higher values in the near future in the case of the 10- and 20-year return periods and higher values in the 50- and 100-year return periods for the remote future.
摘要本研究旨在分析Telgárt气候站预测的短期降雨强度的变化,以及随后使用这些预测的降雨强度来估计设计洪水。所选的感兴趣区域是斯洛伐克的Hnilec河上游流域。本研究分为两个部分:第一部分,作者重点分析了未来季节变化和短期降雨强度的趋势,并估计了短期降雨的标度指数。在第二部分中,使用土壤保持服务-曲线数法(SCS CN),将观测和预测的短期降雨强度应用于估计研究区域的设计洪水。结果表明,与历史时期相比,未来一段时间内,7月的最大降雨量将从一周左右提前。短期降雨趋势的变化是在60、120和180分钟的降雨持续时间内以90%的显著性水平检测到的。设计流量的结果预测,在10年和20年重现期的情况下,在不久的将来会有更高的值,在遥远的未来,在50年和100年重现期会有更大的值。
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引用次数: 2
Effecting the Rheological Properties of Composites for 3D Printing Technology in Construction 建筑3D打印技术对复合材料流变性能的影响
IF 0.4 Pub Date : 2022-03-01 DOI: 10.2478/sjce-2022-0006
Adam Uhlík, Mário Buch, S. Unčík
Abstract The article deals with the factors that lead to the beginnings of the solidification and hardening of materials used in 3D home printing technology in construction. At the beginning, the composition of the materials as well as their essential fresh and hardened properties and the performance assumptions of such a mixture are described. Subsequently, the article discusses the main aspects of the rheology and hydration of cement composites and the use of additives such as superplasticizers, viscosity modifiers, and acceleration and retardation additives, which directly affect the onset of the setting of such materials and the strength of the resulting mixtures. Finally, we describe the printing and curing process of the extruded material, which is divided into 4 main phases from the pumping and extrusion of the material through the initial deposition of layers to a sufficient increase in strength in the required time.
摘要本文论述了导致建筑3D家庭打印技术中使用的材料开始固化和硬化的因素。首先,描述了材料的组成及其基本的新鲜和硬化性能,以及这种混合物的性能假设。随后,文章讨论了水泥复合材料流变学和水化的主要方面,以及添加剂的使用,如高效减水剂、粘度改进剂、加速和延迟添加剂,它们直接影响这些材料的凝结开始和所得混合物的强度。最后,我们描述了挤出材料的印刷和固化过程,该过程分为4个主要阶段,从材料的泵送和挤出到层的初始沉积,再到在所需时间内充分提高强度。
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引用次数: 0
Numerical Study on the Effect of Water Waves and Depths on Inclined Braces with Respect to the Stability of VLFS Platforms in the Caspian Sea 波浪和水深对里海VLFS平台稳定性影响的数值研究
IF 0.4 Pub Date : 2022-03-01 DOI: 10.2478/sjce-2022-0005
Ali Moasami, Bahador Fatehi-Nobarian, Y. Hassanzadeh
Abstract Very large floating structures (VLFSs) have various applications, such as recreational applications, port facilities, etc. A surge in the population, the advantages of building floating structures compared to traditional methods of land extraction from the sea, and the development of construction technologies, have led to engineers paying attention to very large floating structures. Bracing systems are capable of controlling and reducing the horizontal responses of a floating platform, but they have no major impact on its vertical responses. In the present study, the semi-floating platform was numerically designed to be least affected by the three factors of wave force, horizontal torsion, and horizontal displacement. In order to optimize the design, the semi-floating platform was simulated and subjected to the three wave directions with collision angles of 40, 45 and 55 degrees in the environmental conditions of the Caspian Sea and by exerting the wave effect in a Flow-3D model. Examination of the platform’s movements has demonstrated that the arrangement of an eight-way restraint system with a 40-degree restraint angle responds better to the impact of waves and is more economical compared to other designs.
摘要超大型浮式结构(VLFS)具有各种应用,如娱乐应用、港口设施等。人口的激增、建造浮式结构与传统的海上陆上提取方法相比的优势,以及建筑技术的发展,使工程师们开始关注超大浮式结构。支撑系统能够控制和降低浮动平台的水平响应,但对其垂直响应没有重大影响。在本研究中,对半浮式平台进行了数值设计,使其受波浪力、水平扭转和水平位移三个因素的影响最小。为了优化设计,在Flow-3D模型中对半浮式平台进行了模拟,并在里海环境条件下对其进行了碰撞角分别为40、45和55度的三个波浪方向的作用。对平台运动的检查表明,与其他设计相比,具有40度约束角的八向约束系统的布置对波浪的冲击反应更好,也更经济。
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引用次数: 0
A New Approach for Determining the Curvature Ductility of Reinforced Concrete Beams 确定钢筋混凝土梁曲率延性的新方法
IF 0.4 Pub Date : 2022-03-01 DOI: 10.2478/sjce-2022-0002
Saeid Foroughi, S. B. Yuksel
Abstract This paper presents a numerical parametric study of the moment-curvature and curvature ductility of doubly-reinforced beams with different parameters. The effects of the strength of the concrete and the amount of the reinforcement, including the tensile and compression reinforcement on the complete moment-curvature behavior and the curvature ductility factor of the beam sections, have been studied. A new predictive formula for the ductility factor of beam sections that considers the different parameters has been developed. In a continuation of the study, the flexural ductility of beams designed with different parameters according to the ductility factor proposed by different researchers was investigated. Based on the results of the numerical analysis, the proposed predictions for the curvature ductility factor were verified by comparisons with other predictive formulas. The proposed formula offers fairly accurate and consistent predictions for the curvature ductility factor of beam sections. It is shown that the concrete’s compression strength and the amount of reinforcing steel, including the compression reinforcement ratios, have an effect on the curvature ductility factor of beam sections.
摘要本文对不同参数下双筋梁的弯矩曲率和曲率延性进行了数值参数化研究。研究了混凝土强度和配筋量(包括抗拉配筋和抗压配筋)对梁截面完全弯矩-曲率特性和曲率延性系数的影响。提出了一种考虑不同参数的梁截面延性系数预测公式。在此基础上,根据不同研究人员提出的延性系数,对不同设计参数下的梁的抗弯延性进行了研究。在数值分析结果的基础上,通过与其他预测公式的比较,验证了所提出的曲率延性系数预测公式的正确性。提出的公式对梁截面的曲率延性系数提供了相当准确和一致的预测。结果表明,混凝土的抗压强度和配筋量(包括抗压配筋率)对梁截面的曲率延性系数有影响。
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引用次数: 0
期刊
Slovak Journal of Civil Engineering
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