Underground Space最新文献_第10页

Cutting-edge approaches to specific energy prediction in TBM disc cutters: Integrating COSSA-RF model with three interpretative techniques TBM盘式铣刀比能预测的前沿方法：将COSSA-RF模型与三种解释技术相结合

IF 8.2 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-03-10 DOI: 10.1016/j.undsp.2024.11.004

Jian Zhou , Zijian Liu , Chuanqi Li , Kun Du , Haiqing Yang

Specific energy (SE) is an important index to measure crushing efficiency in mechanized tunnel excavation. Accurate prediction of the SE of tunnel boring machine disc cutters is important for optimizing the crushing process, reducing energy consumption, and minimizing machine wear. Therefore, in this paper, the sparrow search algorithm (SSA), combined with six chaotic mapping strategies, is utilized to optimize the random forest (RF) model for predicting SE, referred to as the COSSA-RF prediction models. For this purpose, an SE prediction database was established for training and validating model performance, encompassing 160 sets of experimental data, each with six input parameters: uniaxial compressive strength (UCS), Brazilian tensile strength (BTS), disc cutter diameter (D), cutter tip width (T), cutter spacing (S), and cutter penetration depth (P), along with a target parameter, SE. The evaluation results indicate that the COSSA-RF models demonstrate superior performance compared to other four machine learning models. In particular, the Chebyshev map-SSA-RF (CHSSA-RF) model achieves the most satisfactory prediction accuracy among all models, resulting in the highest coefficient of determination R² and dynamic variance-weighted global performance indicator values (0.9756 and 0.0814) and the lowest values of root mean square error (RMSE), mean absolute error (MAE), and mean absolute percentage error (MAPE) (6.4742, 4.0003, and 20.41%). Lastly, the results of interpretability analysis of the best model through SHapley Additive exPlanations, local interpretable model-agnostic explanations, and Vivid methods show that the importance of input parameters ranked as follows: UCS, BTS, P, S, T, and D. Moreover, interactions between parameters (UCS and BTS, BTS and P, and BTS and S) significantly influence the model predictions.

比能（SE）是衡量机械化隧道开挖破碎效率的重要指标。准确预测隧道掘进机盘式铣刀的切削效率对优化破碎工艺、降低能耗、减少机器磨损具有重要意义。因此，本文利用麻雀搜索算法（SSA），结合6种混沌映射策略，对预测SE的随机森林（RF）模型进行优化，简称COSSA-RF预测模型。为此，我们建立了一个SE预测数据库，用于训练和验证模型的性能，该数据库包含160组实验数据，每组数据有6个输入参数：单轴抗压强度（UCS）、巴西抗拉强度（BTS）、盘式刀具直径(D)、刀具尖端宽度(T)、刀具间距(S)和刀具穿透深度(P)，以及目标参数SE。评估结果表明，与其他四种机器学习模型相比，COSSA-RF模型表现出优越的性能。其中，Chebyshev map-SSA-RF （CHSSA-RF）模型的预测精度在所有模型中最令人满意，其决定系数R2和动态方差加权全局性能指标值最高（0.9756和0.0814），均方根误差（RMSE）、平均绝对误差（MAE）和平均绝对百分比误差（MAPE）最低（6.4742、4.0003和20.41%）。最后，通过SHapley加性解释、局部可解释模型不可知解释和Vivid方法对最佳模型的可解释性分析结果表明，输入参数的重要性依次为：UCS、BTS、P、S、T和d，参数之间的交互作用（UCS与BTS、BTS与P、BTS与S）显著影响模型预测。

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引用次数: 0

Tunneling beneath the pile-raft foundations of high-speed railways: Progressive arching deformation and pile settlement behavior 高速铁路桩筏基础下隧道开挖：渐进式拱变形与桩沉降行为

IF 8.3 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-03-04 DOI: 10.1016/j.undsp.2024.12.004

Botao Hu , Yao Shan , Yu Zhao , Binglong Wang , Shunhua Zhou , Giovanni S. Alberti , Wenjie Ma , Bettina Detmann , Laurent Briançon

Due to the unclear mechanisms behind tunneling-induced deformation of pile-raft foundations, there are strict global restrictions on tunneling beneath embankments of high-speed railways. This study conducted a series of two-dimensional tunneling model tests to investigate the tunneling-induced deformation characteristics and mechanisms of pile-raft foundations. Soil displacement field and pile settlement were measured using particle image velocimetry and displacement transducers. The changes in soil displacement and the flexure of the pile-raft foundation in response to varying tunnel-pile distances, ground surface loads, and tunnel volume loss were analyzed. The results indicate that the tunneling-disturbed zone can be categorized into a loosened zone and an arch zone as identified by the propagation and separation of shear bands, with significant soil settlement occurring in the loosened zone. The maximum settlement of piles in a pile-raft foundation is greater than that in greenfield due to the larger loosened zone. However, the settlement width at the ground surface in pile-raft foundations is reduced due to the blocking effect of the piles. According to the relative position between the piles and the formed arch structure, three patterns of tunneling-ground-pile systems can be identified. As the tunnel-pile distance increases, the maximum settlement of the piles decreases. Increasing surface loads hardly affects the maximum settlement value of the pile, while the tunneling-induced arch zone expands significantly. This study provides a fundamental understanding of pile settlement behavior for tunneling beneath the pile-raft foundations of high-speed railways.

由于隧道引起桩筏基础变形的机制尚不清楚，全球对高速铁路路堤下隧道施工有严格的限制。通过一系列二维隧道模型试验，研究桩筏基础的隧道致变形特征及机理。采用颗粒图像测速仪和位移传感器测量了土体位移场和桩沉降。分析了土体位移和桩筏基础挠曲随隧道桩距、地表荷载和隧道体积损失的变化规律。结果表明：以剪切带的扩展和分离为特征，隧道扰动区可分为松散区和拱区，松散区土体沉降明显；桩筏基础由于松动区较大，桩的最大沉降量大于绿地基础。而桩筏基础由于桩的阻塞作用，使地基表面沉降宽度减小。根据桩与已成形的拱结构之间的相对位置，可以识别出三种隧道-地基-桩体系模式。随着隧道桩距的增大，桩的最大沉降减小。增加表面荷载对桩的最大沉降值影响不大，而隧道拱区扩展明显。本研究为高速铁路桩筏基础下隧道的桩沉降行为提供了基础认识。

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引用次数: 0

Field monitoring and instrumentation in microtunnelling/pipe jacking: A review and future directions 微隧道/顶管的现场监测与仪器：综述与未来发展方向

IF 8.2 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-02-25 DOI: 10.1016/j.undsp.2024.12.003

Asad Wadood , Bryan A. McCabe , Brian B. Sheil

The popularity of trenchless techniques as a means of utility pipeline installation in urban environments, specifically microtunnelling/pipe-jacking, has increased in recent years due to its minimally-disruptive nature and reduced carbon footprint in comparison to conventional open-cut excavation methods. The response of pipes during the jacking process is complex and is governed by several factors, including ground conditions, the amount and distribution of lubrication, pipe and annulus size, pipeline misalignments and jacking force eccentricity, among others. Design practice remains based on empirical equations and previous drives through similar geology, resulting in uncertainty in jacking force estimates, thereby restricting adoption of the technique. In order to improve our understanding of the pipe-jacking process, pipes incorporating sensors providing real-time measurements of earth pressures, pore water pressures, axial strains and hoop strains can be used; but the number of such studies reported in the literature is small and the potential of instrumentation on routine projects is largely untapped. Moreover, jacking pipe monitoring practice lags behind the state-of-the-art instrumentation techniques used for monitoring other geotechnical infrastructure. The purpose of this paper is to provide a thorough review of learnings from instrumented pipe-jacking case studies and other supporting research, as well as to propose potential solutions to research gaps in the current state of design practice and field monitoring of pipe jacking projects.

非开挖技术作为城市环境中公用管道安装的一种手段，特别是微隧道/顶管，近年来越来越受欢迎，因为与传统的露天开挖方法相比，它具有最小的破坏性和更少的碳足迹。顶进过程中管道的响应是复杂的，受多种因素的影响，包括地面条件、润滑量和分布、管道和环空尺寸、管道错位和顶进力偏心等。设计实践仍然基于经验方程和以前在类似地质条件下的驱动，导致顶升力估计的不确定性，从而限制了该技术的采用。为了提高我们对顶管过程的理解，可以使用带有传感器的管道，这些传感器可以实时测量土压力、孔隙水压力、轴向应变和环向应变；但在文献中报道的此类研究数量很少，仪器在常规项目中的潜力在很大程度上尚未开发。此外，顶管监测实践落后于用于监测其他岩土基础设施的最先进的仪器技术。本文的目的是全面回顾从仪器顶管案例研究和其他支持性研究中获得的经验教训，并提出潜在的解决方案，以弥补目前设计实践和顶管项目现场监测中的研究空白。

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引用次数: 0

Test and field application of fracture evolution of large-span tunnel under NPR bolt compensation support system NPR 螺栓补偿支撑系统下大跨度隧道断裂演化试验与现场应用

IF 8.2 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-02-15 DOI: 10.1016/j.undsp.2024.12.002

Jun Yang , Kexue Wang , Wenhui Bian , Yanbo Zhang , Xiaohui He , Yi Fang , Zhicheng Sun

Shallow-buried large-span tunnels may bend or collapse owing to loads, and their surface structures present considerable safety issues. At Huashanyilu station on Qingdao Metro Line 6 in China, theoretical studies and interior model tests were conducted to effectively increase the bearing capacity of the tunnel. The anchoring bearing mechanism of the high prestress compensating support system was revealed, and the system was built using a negative Poisson’s ratio (NPR) bolt at its core. We compared and analyzed the fracture evolution characteristics of the compensating and conventional support systems under various loads. The results showed that the compensating support system effectively increased the support strength and residual safety factor of the bearing arch, whereas the use of a high-prestress NPR anchor reduced the early deformation of the surrounding rock. The coupling failure modes of the arch tension extrusion failure and arch foot shear fracture occurred when the tunnel surrounding the rock was overloaded. The compensatory support system produces a bearing arch that is extremely resistant to external loads with minimal deformation of the tunnel surface and arch frame, excellent surrounding rock integrity, and a low stress rate. The radial and tangential peak stresses exceeded those of the passive support system, and the structural block fell when it became unstable. The maximum displacement of the arch stays constant at −5.7 mm after tunnel excavation. NPR bolts have remarkable applications in this field. The conclusions of this study have a significant impact on the regulation of the stability of the surrounding rock in large-span tunnels.

浅埋大跨度隧道在荷载作用下可能发生弯曲或坍塌，其表面结构存在较大的安全问题。在中国青岛地铁6号线华山驿路站进行了理论研究和室内模型试验，以有效提高隧道的承载能力。揭示了高预应力补偿支护体系的锚固承载机理，并采用负泊松比锚杆构建了高预应力补偿支护体系。对比分析了补偿支护系统和常规支护系统在不同载荷作用下的断裂演化特征。结果表明：补偿支护系统有效提高了承载拱的支护强度和残余安全系数，而采用高预应力NPR锚杆则降低了围岩的早期变形；巷道围岩超载时，拱张挤破坏与拱脚剪切破坏的耦合破坏模式。补偿支撑系统产生的承重拱具有极强的抗外部载荷能力，隧道表面和拱架变形最小，围岩完整性好，应力率低。径向和切向峰值应力均超过被动支护体系峰值应力，结构块体失稳时发生垮塌。隧道开挖后拱的最大位移保持不变，为- 5.7 mm。NPR螺栓在这一领域有着显著的应用。研究结论对大跨度隧道围岩稳定性的调控具有重要意义。

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引用次数: 0

Overall smoke control performance using naturally ventilated shafts in tunnel fires with multiple fire sources 自然通风竖井在多火源隧道火灾中的整体防烟性能

IF 8.2 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-02-13 DOI: 10.1016/j.undsp.2024.10.005

Kun He , Ying Zhen Li , Haukur Ingason , Xudong Cheng

This study investigates the overall smoke control performance using shafts in a naturally ventilated tunnel in the case of multiple fire sources. Detailed comparisons were also made with the corresponding single fire source scenarios. The results show that the interaction between multiple fire sources affects smoke control performance, resulting in a lower smoke layer height compared to the corresponding single fire scenario. For the multiple fire sources scenarios, the smoke layer height in the fire section first decreases and then keeps stable, as the fire center spacing increases. The smoke layer height in the fire section is 20%–25% lower than that in a single fire source scenario for a given total heat release rate. The minimum smoke layer height at the adjacent non-fire tunnel section is much lower than that in the fire section due to the disturbance of the first group of shafts. For a small tunnel fire such as a car fire, the critical safety distances for firefighters and evacuees increase as the fire source spacing decreases. For a large tunnel fire such as a bus fire, the effect of fire source spacing on the critical safety distance is limited, while the shaft interval plays an important role. The fire source spacing and the number of fire sources have limited influences on the smoke spread length due to the small differences in the induced air flow velocity and overall smoke exhaust rate through shafts. When the fire sources are located under one shaft, the number of shafts required for complete smoke exhaust is the least and the total smoke spread length is the shortest. For a given fire location, the smoke spread length increases significantly with an increasing shaft interval. This study contributes to the design of natural ventilation shafts in tunnels possibly with multiple fire sources.

本文研究了多火源情况下自然通风隧道中竖井的整体防烟性能。并与相应的单一火源情景进行了详细比较。结果表明，多个火源之间的相互作用影响了烟雾控制性能，导致烟雾层高度低于相应的单一火灾场景。对于多火源场景，随着火源中心间距的增大，火灾段烟层高度先降低后保持稳定。在总放热率相同的情况下，火灾段的烟层高度比单火源场景低20% ~ 25%。由于第一组竖井的扰动，相邻非火灾隧道段的最小烟层高度远低于火灾隧道段的最小烟层高度。对于小型隧道火灾，如汽车火灾，消防员和疏散人员的临界安全距离随着火源间距的减小而增大。对于客车火灾等大型隧道火灾，火源间距对临界安全距离的影响有限，而竖井间距则起着重要作用。火源间距和火源数量对烟蔓延长度的影响有限，因为诱导气流速度和通过竖井的总排烟率差异较小。当火源位于一个竖井以下时，完全排烟所需的竖井数最少，总烟蔓延长度最短。对于给定的火灾地点，随着竖井间距的增加，烟雾扩散长度显著增加。本研究为可能存在多火源的隧道自然通风井的设计提供了理论依据。

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引用次数: 0

Evaluation of greenhouse gas emissions in subway tunnel construction 地铁隧道施工温室气体排放评价

IF 8.2 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-02-11 DOI: 10.1016/j.undsp.2024.12.001

Yalin Guo , Chen Dong , Zheng Chen , Shulei Zhao , Wenhao Sun , Wei He , Lei Zhang , Yiyuan Wang , Nan Hu , Chun Guo

This study evaluates the greenhouse gas (GHG) emissions associated with the construction of subway tunnels, aiming to identify the primary sources of emissions and provide insights into emission reduction strategies. Using the civil engineering construction of specific tunnels of a subway line in Guangdong Province, China, as a case study, this research quantitatively analyzes the composition of GHG emissions across three stages: upstream building materials production, building materials transportation, and on-site construction. The results indicate that upstream building materials production and on-site construction collectively account for over 95% of the total GHG emissions during tunnel construction. The analysis further reveals that a small proportion of building materials and construction machinery accounts for the majority of total GHG emissions during tunnel construction, aligning with the Pareto principle. The findings emphasize the importance of accurate evaluation of high-impact building materials and construction machinery, particularly in contexts where basic energy consumption data are limited. Strategies such as utilizing recycled materials and enhancing machinery efficiency can lead to significant emission reductions. For instance, achieving a recycling rate of 10% to 30% for steel and concrete can reduce total GHG emissions from tunnel construction by 5.51% to 9.94%, while improving machinery efficiency by 10% to 30% can reduce emissions by up to 2.29%. These findings provide a scientific basis for low-carbon subway tunnel construction.

本研究评估了与地铁隧道建设相关的温室气体（GHG）排放，旨在确定主要排放源并为减排策略提供见解。以广东省某地铁线路特定隧道的土木工程施工为例，定量分析了上游建材生产、建材运输和现场施工三个阶段的温室气体排放构成。结果表明，上游建材生产和现场施工合计占隧道施工温室气体排放总量的95%以上。分析进一步表明，在隧道施工过程中，一小部分建筑材料和工程机械占了温室气体排放总量的大部分，符合帕累托原则。研究结果强调了准确评价高影响建筑材料和建筑机械的重要性，特别是在基本能源消耗数据有限的情况下。利用回收材料和提高机械效率等战略可以显著减少排放。例如，钢铁和混凝土的回收率达到10%至30%，可以将隧道施工的温室气体排放总量减少5.51%至9.94%，而将机械效率提高10%至30%，则可以减少高达2.29%的排放。研究结果为低碳地铁隧道建设提供了科学依据。

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引用次数: 0

Experimental study on the modulus of soil reaction for plastic pipes buried in lightweight cellular concrete backfill 轻量泡沫混凝土回填体埋置塑料管土反力模量试验研究

IF 8.2 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-01-23 DOI: 10.1016/j.undsp.2024.11.003

Yu-qiu Ye , Jie Han , Brad Dolton , Md Wasif Zaman , Robert L. Parsons

The modulus of soil reaction, representing the stiffness of a soil surrounding pipes, is a critical parameter in the design of buried flexible pipes. This study conducted plate loading tests on corrugated polyvinyl chloride, smooth polyvinyl chloride, and high-density polyethylene pipes buried in lightweight cellular concrete (LCC) backfills at densities of 400, 475, 550, and 650 kg/m³ to investigate the pipe deformation behavior and moduli of soil reaction. In addition, this study examined the effects of the narrow trench condition on the pipe deformation and modulus of soil reaction. In these tests, the vertical and horizontal diameter changes of pipes under the vertical pressures applied through a hydraulic jack were measured. Test results reveal that the average moduli of soil reaction of plastic pipes within a wide trench backfilled by the LCCs at densities of 400, 475, 550, and 650 kg/m³ were back-calculated as 66, 99, 133, and 205 MPa, respectively, using the modified Iowa formula. Furthermore, the back-calculated moduli of soil reaction for LCCs exhibited linear relationships with their densities and unconfined compressive strengths and were higher than the recommended values for the commonly used soil backfills. Based on the vertical deformation criterion of 5% pipe diameter, the ultimate bearing capacities of flexible pipes buried in wide LCCs at densities of 475, 550, and 650 kg/m³ exceeded 500 kPa. The LCC with a narrow trench exhibited a lower modulus of soil reaction and ultimate bearing capacity but a larger pipe diameter change.

土反力模量代表管道周围土体的刚度，是埋地柔性管道设计中的关键参数。本研究对轻质泡沫混凝土（LCC）充填体中埋置密度为400、475、550和650 kg/m3的波纹聚氯乙烯、光滑聚氯乙烯和高密度聚乙烯管材进行板载试验，研究管材的变形行为和土体反应模量。此外，研究了窄沟条件对管道变形和土体反力模量的影响。在这些试验中，测量了通过液压千斤顶施加垂直压力下管道的垂直和水平直径变化。试验结果表明，采用修正的爱荷华公式，在密度为400、475、550和650 kg/m3的宽沟槽内回填塑料管道的平均土反力模量分别为66、99、133和205 MPa。此外，lcc的反算模量与其密度和无侧限抗压强度呈线性关系，且高于常用土填体的推荐值。根据5%管径竖向变形准则，在475、550和650 kg/m3密度下，宽幅lcc中埋管的极限承载力均超过500 kPa。窄沟槽结构的土反力模量和极限承载力较低，但管径变化较大。

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引用次数: 0

Experimental investigation and limit analysis of shield tunnel face failure mechanism in sand 砂中盾构隧道工作面破坏机理试验研究及极限分析

IF 8.2 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-01-17 DOI: 10.1016/j.undsp.2024.11.002

Mengzhe Huo , Weizhong Chen , Jingqiang Yuan , Guojun Wu , Yunfa Li , Yubiao Liu

Shield tunneling in urban underground space necessitates tight control over support pressure at the tunnel face and a thorough insight into ground collapse mechanisms. This study conducts a model test and a theoretical validation to clarify the mechanisms of face failure and subsequent ground collapse in sand during earth pressure balanced shield (EPBS) tunneling operations. The experiment investigates the changes in soil pressure and surface subsidence patterns during shield tunneling and collapse stages, to elucidate the entire process of ground collapse triggered by shield tunneling disturbances. A novel methodology was proposed to ensure effective verification of the rotational failure mechanism, focusing on the collapse pit morphology and the critical collapse pressure. The results indicate that: (1) precise control over the shield tunneling and screw conveyor rotation speeds is essential for tunnel face stability; (2) the sand with low moisture content is prone to stepwise ground collapse under shield tunneling disturbances; (3) soil pressure measurements at the cutterhead are more indicative of face failure and imminent ground collapse than those from the soil chamber; (4) there is a consistent alignment between the rotational failure mechanism and observed collapse pit morphology, albeit with slight variations due to tunneling disturbances; (5) the experimentally determined critical collapse pressure is higher than the theoretical prediction, indicating an underestimation of risks in the current model. The study advances the understanding of the face failure mechanisms in shield tunnels, thereby providing insights into the design and safety of shield tunneling within engineering practices.

在城市地下空间进行盾构隧道施工，需要严格控制巷道工作面支护压力，深入了解地表塌陷机理。本文通过模型试验和理论验证，阐明了平衡土压盾构（EPBS）隧道掘进过程中工作面破坏及后续塌方的机理。通过对盾构掘进和塌陷阶段土压力变化和地表沉降规律的研究，阐明盾构掘进扰动引发地面塌陷的全过程。提出了一种新的方法，以确保有效验证旋转破坏机制，重点关注塌陷坑形态和临界坍塌压力。结果表明：(1)精确控制盾构掘进速度和螺旋输送机转速对巷道工作面稳定至关重要；(2)含水率低的砂土在盾构扰动作用下易发生逐级塌陷；(3)刀盘处的土压力测量比土室处的土压力测量更能指示工作面破坏和即将发生的地面塌陷；(4)旋转破坏机制与观测到的塌陷坑形态之间存在一致的一致性，尽管由于掘进干扰而略有变化；(5)实验确定的临界坍塌压力高于理论预测，表明当前模型低估了风险。该研究促进了对盾构隧道工作面破坏机制的认识，从而为盾构隧道的设计和安全提供了工程实践的见解。

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引用次数: 0

Multidimensional seismic fragility analysis of subway station structures using the adaptive bandwidth kernel density estimation and Copula function 基于自适应带宽核密度估计和Copula函数的地铁车站结构多维地震易损性分析

IF 8.2 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-01-09 DOI: 10.1016/j.undsp.2024.10.004

Chunyi Cui , Jingtong Zhao , Minze Xu , Chengshun Xu , Hailong Liu , Kunpeng Wang

Structural damages during an earthquake are typically controlled by seismic demands, which are represented by the combination of amplitude of ground motion and cyclic load effects. Since traditional methods normally assume the lognormal distributions of seismic demands and resistance parameters, uncertainties are inevitably induced in the seismic fragility analysis. In this paper, the Copula function and adaptive bandwidth kernel density estimation method (ABKDE) are used to establish a novel multidimensional seismic fragility analysis framework. Based on the results of incremental dynamic analysis for subway station structures, ABKDE is adopted to establish single-parameter seismic fragility curves for both the maximum inter-story drift ratio (MIDR) and cumulated dissipated hysteretic energy (CDHE), respectively. Subsequently, the Copula function is used to formulate a bivariate seismic fragility function considering the correlations among seismic demand measures and establish the corresponding fragility curves. Finally, comparative analyses are conducted to evaluate seismic fragility curves using Copula-based dual and single-parameter damage models as well as the traditional damage models. It is found that the seismic fragility analysis method using the Copula function has the ability to gain a comprehensive consideration of the MIDR and CDHE during the damage process of subway station structures. Moreover, this newly developed seismic fragility analysis framework can capture the influence of the correlation between deformation and energy under various peak ground accelerations on structural damage. Thus, this framework can provide a scientific basis for predicting structural damage in subway stations subjected to varying intensities of ground motion while considering multiple damage indicators.

地震过程中的结构损伤通常由地震需求控制，地震需求由地震动幅值和循环荷载效应的组合来表示。由于传统方法通常假设地震需求和抗力参数的对数正态分布，因此在地震易损性分析中不可避免地会产生不确定性。本文采用Copula函数和自适应带宽核密度估计方法（ABKDE）建立了一种新的多维地震易损性分析框架。基于地铁车站结构增量动力分析结果，采用ABKDE分别建立了最大层间位移比（MIDR）和累积耗散滞回能（CDHE）的单参数地震易损性曲线。随后，利用Copula函数，考虑地震需求测度之间的相关性，构造了二元地震易损性函数，并建立了相应的易损性曲线。最后，对比分析了基于copula的双参数和单参数损伤模型与传统损伤模型对地震易损性曲线的评价。研究发现，采用Copula函数的地震易损性分析方法能够综合考虑地铁车站结构损伤过程中的MIDR和CDHE。此外，新开发的地震易损性分析框架可以捕捉不同峰值地面加速度下变形与能量的相关性对结构损伤的影响。因此，该框架可为考虑多种损伤指标的变烈度地震动下地铁车站结构损伤预测提供科学依据。

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引用次数: 0

3D location estimation and tunnel mapping of autonomous driving robots through 3D point cloud registration on underground mine rampways 基于矿井坡道三维点云配准的自动驾驶机器人三维位置估计与隧道映射

IF 8.2 1区工程技术 Q1 ENGINEERING, CIVIL

Underground Space

Pub Date : 2025-01-07 DOI: 10.1016/j.undsp.2024.10.003

Heonmoo Kim, Yosoon Choi

In this study, we developed a three-dimensional (3D) location estimation and tunnel mapping system to locate an autonomous robot in the rampway of an underground mine using 3D point cloud registration. A 3D point cloud of the mine tunnel was measured using a 3D light detection and ranging (LiDAR) sensor and registered using the iterative closest point (ICP) algorithm to estimate the 3D pose of the robot. This was combined with two-dimensional LiDAR, inertial measurement unit, and encoder sensors to estimate the 3D trajectory of the robot. Additionally, the 3D tunnel mapping was performed using the 3D trajectory of the robot and the 3D point cloud data of the tunnel. A comparison of the tunnel maps created using conventional surveying equipment and the robot indicated a mapping error of 0.2275 m and localization error of 0.2465 m confirming the excellent overall tunnel mapping and localization performance. The tunnel mapping areas were further compared by selecting areas with relatively high and low ICP matching accuracies; the calculated errors were 0.6186 and 0.2257 m in the areas with low and high accuracies, respectively. Furthermore, the accuracy of the ICP matching tended to be low in areas where the change in the pitch angle of the robot was large.

在本研究中，我们开发了一个三维（3D）位置估计和隧道测绘系统，利用三维点云配准在地下矿山坡道中定位自主机器人。利用三维光探测和测距（LiDAR）传感器测量了矿井隧道的三维点云，并使用迭代最近点（ICP）算法进行了配准，以估计机器人的三维姿态。这与二维激光雷达、惯性测量单元和编码器传感器相结合，以估计机器人的3D轨迹。此外，利用机器人的三维轨迹和隧道的三维点云数据进行三维隧道映射。将传统测量设备和机器人绘制的隧道地图进行对比，结果表明，机器人绘制的隧道地图误差为0.2275 m，定位误差为0.2465 m，整体隧道测绘和定位性能优异。通过选择ICP匹配精度较高和较低的区域，对隧道制图区域进行比较；在低精度区和高精度区，计算误差分别为0.6186和0.2257 m。此外，在机器人俯仰角变化较大的区域，ICP匹配的精度往往较低。

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