Due to the time-dependent effect of rockfill dams, the conventional time-invariant finite element method (FEM) can hardly meet practical engineering requirements. This paper proposes an updating Bayesian FEM method for accurate long-term deformation analysis. A combined FEM model is introduced accounting for both instantaneous and creep behaviors. The FEM model is then updated using a Bayesian algorithm, unscented Kalman filter (UKF). The UKF calibrates the prior FEM predictions by incorporating real-time measurement data, thus iteratively reducing discrepancies between model predictions and actual observations. To further enhance the algorithm accuracy, a power-law-based fading memory factor is proposed to mitigate measurement noise in standard UKF. For parameter identification, a slice approach of the high-dimensional covariance confidence ellipsoid is developed. The methodology is validated in Qingyuan rockfill dam, in Guangdong province, China. Results show that the updated FEM is more consistent with the actual monitoring data. The fading memory improves standard UKF performance with a lower relative root-mean-square error (RRMSE). Additionally, the slice method reveals that a specific three-parameter configuration behaves better than the others. The proposed approach can also be extended to other fields including slope and tunneling.

To enhance the path-tracking accuracy of unmanned articulated road roller (UARR) operating on low-adhesion, slippery surfaces, this paper proposes a hierarchical cascaded control (HCC) architecture integrated with real-time ground adhesion coefficient estimation. Addressing the complex nonlinear dynamics between the two rigid bodies of the vehicle and its interaction with the ground, an upper-layer nonlinear model predictive controller (NMPC) is designed. This layer, based on a 4-degree-of-freedom (4-DOF) dynamic model, calculates the required steering torque using position and heading errors. The lower layer employs a second-order sliding mode controller (SOSMC) to precisely track the steering torque and output the corresponding steering wheel angle. To accommodate the anisotropic and time-varying nature of slippery surfaces, a strong-tracking unscented Kalman filter (ST-UKF) observer is introduced for ground adhesion coefficient estimation. By dynamically adjusting the covariance matrix, the observer reduces reliance on historical data while increasing the weight of new data, significantly improving real-time estimation accuracy. The estimated adhesion coefficient is fed back to the upper-layer NMPC, enhancing the control system's adaptability and robustness under slippery conditions. The HCC is validated through simulation and real-vehicle experiments and compared with LQR and PID controllers. The results demonstrate that HCC achieves the fastest response time and smallest steady-state error on both dry and slippery gravel soil surfaces. Under slippery conditions, while control performance decreases compared to dry surfaces, incorporating ground adhesion coefficient observation reduces steady-state error by 20.62%.