Soft wet grounds such as mud, sand, or forest soils, are difficult to navigate because it is hard to predict the response of the yielding ground and energy lost in deformation. In this article, we address the control of quadruped robots' static gait in deep mud. We present and compare six controller versions with increasing complexity that use a combination of a creeping gait, a foot-substrate interaction detection, a model-based center of mass positioning, and a leg speed monitoring, along with their experimental validation in a tank filled with mud, and demonstrations in natural environments. We implement and test the controllers on a Go1 quadruped robot and also compare the performance to the commercially available dynamic gait controller of Go1. While the commercially available controller was only sporadically able to traverse in 12 cm deep mud with a 0.35 water/solid matter ratio for a short time, all proposed controllers successfully traversed the test ground while using up to 4.42 times less energy. The results of this article can be used to deploy quadruped robots on soft wet grounds, so far inaccessible to legged robots.

Rainfall-induced debris slides are a major geological hazard in the Himalayan region, where slopes often comprise heterogeneous debris-a complex mixture of rock and soil. The complex nature makes traditional soil or rock testing methods inadequate for assessing such debris's engineering behaviour and failure mechanisms. Alternatively, reduced-scale flume experiments may aid in understanding the failure process of debris slopes. Here, we present findings from reduced-scale laboratory flume experiments performed under varying slope angles (ranging from shallow to steep), initial volumetric water contents (ranging from dry to wet), and rainfall intensities (ranging from light to heavy) using debris materials with a median grain size (D50) 20.7 mm sampled from a rainfall-induced debris slide site in the Himalayas. Hydrological variables, including volumetric water content and matric suction, were monitored using sensors, while slope displacement was tracked indirectly, and rainfall was monitored using rain gauges. The entire failure process was captured via video recording, and index and shear strength tests were performed to characterize the debris material. Our results reveal that the failure of debris slopes is not driven by sudden increases in pore water pressure but by the loss of unsaturated shear strength due to reduced matric suction and a decreased frictional strength from reduced particle contact between grains during rainfall. We also find that the saturation of debris slope by rainfall was quick irrespective of the slope angles and initial moisture contents, revealing the proneness of debris slopes to rainfall-induced failures. These findings provide critical insights into the stability of debris materials and have important implications for improving risk assessment and mitigation strategies for rainfall-induced debris slides in the Himalayas and similar regions worldwide.

To address the issues of high porosity and low strength in calcium sand of artificial islands, this study focuses on improving the calcium sand's mechanical properties. The effects of WER curing methods and coconut fiber modification on the UCS and microscopic mechanisms of calcium sand are investigated. The results indicate that both fiber incorporation and the increase in WER ratio can enhance the unconfined compressive strength of calcareous sand, with the addition of a certain amount of coconut coir fiber showing a more significant strength increase. The optimal recommended dosage of WER is 15%, which results in an UCS of 1218 kPa, an increase of nearly 4.27 times compared to 9% WER dosage. Coconut coir fiber has good tensile strength that can improve the compressive strength of calcareous sand after curing. The UCS of calcareous sand cured with a fiber content of 0.3% to 0.5% is increased by 1247 kPa to 1792 kPa compared to cured soil with no fiber. The strong binding nature of WER addresses the issue of large porosity in calcareous sand. Together with the penetrating coconut coir fibers, it forms a three-dimensional reticular framework structure, thereby enhancing the compressive performance of the calcareous sand-cured soil mass.

This study presents experimental results from scale model tests on laterally loaded bridge pile foundations in soils subjected to seasonal freezing. A refined finite-element model (FEM) was established and calibrated based on data obtained from the experiments. Furthermore, the model was utilized to investigate the impact of soil scouring depth on the lateral behavior of bridge pile foundations embedded in seasonally frozen soils. The findings indicate that soil freezing significantly enhances the lateral bearing capacity of the pile-soil interaction (PSI) system while reducing lateral deflection of the pile foundation. However, soil freezing results in increased damage to the pile foundation and upward movement of the plastic zone toward the ground surface. Under unfrozen conditions, significant plastic deformations occur on the ground surface and even inside the piles due to the extrusion effect. Additionally, increasing soil scouring depth significantly reduces the lateral bearing capacity of the PSI system while also increasing lateral deflection of the pile foundation for a given load level. Notably, when the scouring depth exceeds 2 m in unfrozen soils, the entire pile experiences obvious deformation and inclination, exhibiting a short-pile behavior that negatively affects the lateral stability of the pile under lateral loads.

In order to study the cement-industrial waste-based synergistic curing of silt soil, orthogonal design tests were used to prepare a new curing agent using cement, fly ash, blast furnace slag, and phosphogypsum as curing materials. In order to evaluate the cement-industrial waste-cured soils, unconfined compressive strength tests, fluidity tests, wet and dry cycle tests, and electron microscope scanning tests were carried out. The mechanical properties and microstructure of the cement-industrial slag were revealed and used to analyze the curing mechanism. The results showed that, among the cement-industrial wastes, cement and blast furnace slag had a significant effect on the unconfined compressive strength of the specimens, and the optimal ratio for early strength was cement-fly ash-slag-phosphogypsum = 1:0.11:0.44:0.06; the optimal ratio for late strength was cement-fly ash-slag-phosphogypsum = 1:0.44:0.44:0.06. In the case of a 140% water content, the 28d compressive strengths of curing agent Ratios I and II were 550.3 kPa and 586.5 kPa, respectively. When a polycarboxylic acid water-reducing agent was mixed at 6.4%, the mobilities of curing agent Ratios I and II increased by 32.1% and 35.8%, and the 28d compressive strengths were 504.1 kPa and 548.8 kPa, respectively. When calcium chloride was incorporated at 1.5%, the early strength of the cured soil increased by 33% and 29.1% compared to that of the unadulterated case year on year, and the mobility was almost unchanged. From microanalysis, it was found that the cement-industrial waste produced the expansion hydration products calcium alumina (AFt) and calcium silicate (C-S-H) during the hydration process. The results of this study provide a certain basis and reference value for the use of marine soft soil as a fluid filling material.

This study explores the influence of the water-cement ratio and fiber content in engineered cementitious composite (ECC) on the mechanical characteristics of foamed lightweight soil (FLS) through experimental analysis. Two types of cementitious materials-ECC and ordinary Portland cement (OPC)-were utilized to create FLS specimens under identical parameters to examine their mechanical performance. Results indicate that ECC-FLS exhibits superior toughness, plasticity, and ductility compared to OPC-FLS, validating the potential of ECC as a high-performance material for FLS. To assess the influence of the ECC water-cement ratio, specimens were constructed with varying ratios at 0.2, 0.25, and 0.3, while maintaining other parameters as constant. The experimental results indicate that as the water-cement ratio of ECC increases, the flexural strength, compressive strength, flexural toughness, and compressive elastic modulus of the lightweight ECC-FLS gradually increase, exhibiting a better mechanical performance. Moreover, this study investigates the effect of basalt fiber content in ECC on the mechanical properties of FLS. While keeping other parameters constant, the volume content of basalt fibers varied at 0.1%, 0.3%, and 0.5%, respectively. The experimental results demonstrate that within the range of 0 to 0.5%, the mechanical properties of FLS improved with increasing fiber content. The fibers in ECC effectively enhanced the strength of FLS. In conclusion, the adoption of ECC and appropriate fiber content can significantly optimize the mechanical performance of FLS, endowing it with broader application prospects in engineering practices. ECC-FLS, characterized by excellent ductility and crack resistance, demonstrates versatile engineering applications. It is particularly suitable for soft soil foundations or regions prone to frequent geological activities, where it enhances the seismic resilience of subgrade structures. This material also serves as an ideal construction solution for underground utility tunnels, as well as for the repair and reconstruction of pavement and bridge decks. Notably, ECC-FLS enables the resource utilization of industrial solid wastes such as fly ash and slag, thereby contributing to carbon emission reduction and the realization of a circular economy. These attributes collectively position HDFLS as a sustainable and high-performance construction material with significant potential for promoting environmentally friendly infrastructure development.

Triggered by continuous heavy rainfall, a catastrophic large-scale high-locality landslide occurred in Hengshanbei mountain slope of Shangxi Village, Longchuan County, Guangdong Province, China, on June 14, 2022, at 12:10 (UTC + 8). The landslide had an estimated volume of about 1.45 x 105 m3 and resulted in severe damage to the region. To investigate the causative mechanisms of this landslide, a comprehensive study was conducted, involving geological and hydrological surveys of the research area, combined with field investigations, satellite imagery, drone photography, data analysis of rainfall and landslide displacement monitoring, and laboratory experiments. The research focused on analyzing the process of landslide formation and development, trigger factors, destruction characteristics, and instability mechanisms. Additionally, the study employed the Mohr-Coulomb strength theory to explain stress variations during the landslide process. Findings indicated that: (1) the slope soil structure was loose with well-developed pores, mainly composed of kaolinite with strong water absorption properties, causing softening and disintegration of the soil when encountering water, resulting in reduced cohesion and internal friction angle, and overall poor soil properties; (2) continuous heavy rainfall infiltrated the slope through soil pores and eroded channels, increasing pore water pressure and reducing effective stress, subsequently reducing anti-sliding force and increasing sliding force; as well as (3) unfavorable terrain conditions, such as high landslide starting point and high-locality, significant height, and steep slope, lead to landslides running farther and being of larger scale. The study further highlighted that the intrinsic properties of the slope soil were the decisive internal cause of the landslide, while continuous heavy rainfall and adverse terrain were external triggering factors. These findings provide essential insights for understanding and preventing similar landslide disasters.

Featured Application The shockwave soil-loosening device developed in this paper can effectively improve the aeration of the soil in crops' root zones. It can also significantly reduce the amount of carbon released during the tillage and soil-loosening process, which helps reduce agricultural carbon. We can expand this equipment into a shockwave hole fertilization device to conduct efficient hole-digging and fertilization operations on woody crops.Abstract When the soil at the plant roots is poorly ventilated due to few pores, the root system will grow short and shallow, leading to poor growth. In this paper, we developed a shockwave soil-loosening device. It can first drill a hollow drill bit containing multi-directional holes into the soil near the roots of the crops and then generate high-pressure gas to impact the soil outside the drill bit to increase the soil pores. Therefore, this can quickly improve soil aeration. We conducted numerical simulations of shockwave loosening to explore how 3.4 atm shockwaves are emitted from the drill bit's porous nozzles and analyze the behavior and efficiency of shockwave loosening. We also performed visual observation experiments of shockwave multi-directional impact in a transparent acrylic water tank. Furthermore, we used eight pressure sensors to automatically measure the range of shockwave impact and found that when the storage tank volume was 5000 cm3, we could achieve a soil loosening range of 30 cm. Finally, this shockwave-loosening mechanism ensures that the soil surface will not be damaged during the loosening process, thus avoiding large-scale tillage disturbance of the soil. This will reduce carbon emissions stored in soil and released into the atmosphere.

Recently, significant progress has been made in conceptually describing the dynamic aspects of coarse particle entrainment, which has been explored experimentally for open channel flows. The aim of this study is to extend the application of energy criterion to the low mobility aeolian transport of solids (including both natural sediment and anthropogenic debris such as plastics), ranging from incomplete (rocking) to full (rolling) entrainments. This is achieved by linking particle movements to energetic flow events, which are defined as flow structures with the ability to work on particles, setting them into motion. It is hypothesized that such events should impart sufficient energy to the particles, above a certain threshold value. The concept's validity is demonstrated experimentally, using a wind tunnel and laser distance sensor to capture the dynamics of an individual target particle, exposed on a rough bed surface. Measurements are acquired at a high spatiotemporal resolution, and synchronously with the instantaneous air velocity at an appropriate distance upwind of the target particle, using a hot film anemometer. This enables the association of flow events with rocking and rolling entrainments. Furthermore, it is shown that rocking and rolling may have distinct energy thresholds. Estimates of the energy transfer efficiency, normalized by the drag coefficient, range over an order of magnitude (from about 0.001 to 0.0048 for rocking, up to about 0.01, for incipient rolling). The proposed event-based theoretical framework is a novel approach to characterizing the energy imparted from the wind to the soil surface and could have potential implications for modelling intermittent creep transport of coarse particles and related aeolian bedforms.

Historic quay walls in many Dutch cities are supported by an array of vertical timber piles which run through soft soil deposits and rest on a sand layer, providing end-bearing support. As these structures experience horizontal loads, the foundation piles are loaded in bending. This is the dominant loading case of pile foundations of dams, lock heads, and sometimes bridge abutments as well. To accurately model and evaluate the timber pile foundations, a proper estimate of their bending properties is essential. Therefore the mechanical properties of existing spruce foundation piles, retrieved from a historic quay wall (1905) at Overamstel in Amsterdam, Netherlands, were studied. Six piles were subjected to a four-point bending experiment. The outer fiber stress was kept constant between the point loads, leading to a failure at the weakest cross section. Measurements of the curvature and force distribution were taken along the pile length during loading. In addition, biological decay in the outer layer of the timber piles, also referred to as the soft shell, was identified with microdrillings. Internal strains were measured successfully by gluing fiber-optic wires inside the soft shell of the timber piles. The experiments indicated significant variations in modulus of elasticity and modulus of rupture across the tested population, but indicated a strong correlation. Modulus of elasticity averaged 16.5 GPa with a variation coefficient of 0.30, whereas the modulus of rupture averaged 23.2 N/mm2 with a variation coefficient of 0.26. Bacterial deterioration was found to be independent of both the outer pile diameter and the location along the timber pile. The soft shell had an average thickness of 21 mm, but it did not contribute significantly to the structural strength of the piles. This study could present a template for assessing the remaining service life not only of historic quay walls but also of other timber pile foundations under bending loads.