Reliable estimation of geotechnical parameters is often based on reconstruction of a complete loading process of subsoil on a specimen in laboratory tests. Unfortunately laboratory equipment available in many laboratories is sometimes limited to just a triaxial apparatus – the use of which generates diffi culties whenever a non-axisymmetric problem is analysed. The author suggests two simple operations that may be done to improve the quality of simulation in triaxial tests. The fi rst one is based on the use of triaxial extension along the segments of the stress path p’-q-θ for which the Lode’s angle values are positive. The second one consists in a mod-ifi cation of the equivalent stress value in such a way that the current stress level in the specimen complies with results of FEM analysis.
This paper presents a design of a tracked in-pipe inspection mobile robot with an adaptive drive positioning system. The robot is intended to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically. The paper covers a design process of a virtual prototype, focusing on track adaptation to work environment. A mathematical description of a kinematic model of the robot is presented. Operation of the prototype in pipes with a cross-section greater than 210 mm is described. Laboratory tests that validate the design and enable determination of energy consumption of the robot are presented.