Optimal Sensor-less Control of a Mobile Robot Using Velocity Estimation and LQR-Based Trajectory Tracking

Abstract

GPA-system is a cost-effective foundation specifically for structures subjected to uplift forces. This experimental investigation examines the efficacy of granular pile anchors (GPAs) in enhancing the uplift capacity of soft cohesive soils, addressing a critical gap in geotechnical engineering for structures requiring tensile resistance. Through systematic laboratory testing of large-scale models, the study evaluates the performance of both individual and grouped GPA configurations (1-12 piles) under centric uplift forces, while assessing the improvement offered by geogrid encasement. Key findings reveal that GPA systems substantially increase uplift resistance, with capacity progression from 881 N for a single pile to 12,023 N for a 12-pile configuration. The research identifies an optimal threshold at 8 piles, beyond which additional capacity gains become marginal. Notably, group systems demonstrate exceptional efficiency (>100%) due to unique soil-pile interaction mechanisms that differ fundamentally from conventional compressive pile behavior. Geogrid reinforcement proves particularly effective, enhancing capacity by 8-52% across configurations while substantially improving displacement characteristics and modifying failure modes. These findings advance the understanding of GPA technology for tensile applications, offering engineers a viable, cost-effective alternative to traditional deep foundation solutions. The results contribute significantly to the development of design methodologies for structures requiring uplift resistance in weak soil conditions.