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Distributed field mapping for mobile sensor teams using a derivative-free optimisation algorithm

Abstract

The authors propose a distributed field mapping algorithm that drives a team of robots to explore and learn an unknown scalar field using a Gaussian Process (GP). The authors' strategy arises by balancing exploration objectives between areas of high error and high variance. As computing high error regions is impossible since the scalar field is unknown, a bio-inspired approach known as Speeding-Up and Slowing-Down is leveraged to track the gradient of the GP error. This approach achieves global field-learning convergence and is shown to be resistant to poor hyperparameter tuning of the GP. This approach is validated in simulations and experiments using 2D wheeled robots and 2D flying miniature autonomous blimps.

article Article

date_range 2024

language English

link Link of the paper

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Lin Tony

Guo Jia

Al-Abri Said

Zhang Fumin

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Assessment of reinforced concrete building damages following the Kahramanmaraş earthquakes in Malatya, Turkey (February 6, 2023)

Abstract

Earthquakes of magnitude Mw = 7.7 and Mw = 7.6 hit the city of Kahramanmaraş (Turkey) on 6 February 2023. These earthquakes caused serious damage in 11 provinces in Turkey resulting in over 50,000 deaths and huge economic losses with the collapse of thousands of buildings. Two consecutive devastating earthquakes have severely damaged the reinforced concrete building stock located in Malatya. There are many reasons reinforced concrete structures suffer damage under the influence of seismic loads. These reasons can be listed as material and section properties that do not comply with earthquake codes, workmanship defects, ground parameters that are not considered and design errors, as seen in field investigations after earthquakes in Turkey in the past. In this research, a field study was conducted on reinforced concrete buildings damaged after the earthquakes in Malatya province. The causes of structural damages in reinforced concrete buildings between 6–26 years of age were assessed in terms of design and material defects. The structural damages were mainly caused due to insufficient stirrups in structural members, short column, strong beam–weak column, failures of infill walls, soft story type collapse, poor concrete quality, and reinforcement corrosion. In addition to the field investigation, the spectrum relationships created using raw acceleration data obtained from DEMP (Disaster and Emergency Management Presidency) stations in Malatya province were compared with the design response spectra.

article Article

date_range 2024

language English

link Link of the paper

Collapsed buildings

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