The application of vacuum preloading to prefabricated vertical drains (PVDs) with different lengths is widely used in practical engineering to investigate their consolidation at the same depths of even and multilayer subsoils from the seabed. In a laboratory, model experiment was conducted using even subsoil and embedded PVDs with lengths of 0.6 and 1.2 m. The obtained results showed that in the even subsoil, the 1.2 m PVDs maintained a higher vacuum pressure in the shallow layer and demonstrated better consolidation behavior as compared to those of the 0.6 m PVDs. In the upper subsoil layer, the average vane shear strengths of these two systems increased to 18.2 and 22.6 kPa, respectively. The degree of consolidation of the upper subsoil layers in the two model experiments calculated from the pore water pressures under boundary drainage conditions were 51% and 68%, respectively. For practical verification purposes, similar experiments were conducted for multilayer subsoil by inserting PVDs with lengths of 6 and 15 m into different test sites. As a result, the vane shear strengths of the upper 6 m subsoil layers increased to 26.3 and 33 kPa, while the degree of consolidation were 72.1% and 80.9%, respectively, although some irregularities were observed at different depths.

As robots used in more and more fields, people are more striated with their safety. As the core of the mobile robot, the reliability of the control system is very important to the whole system. In this paper, a modular design of robot control system architecture is modeled by the xMAS (eXecutable MicroArchitectural Specication) and then verified using ACL2, proving the funtionality correctness. As the formalization of xMAS model in ACL2 is not complete, we first improve the formalization process in ACL2 and then establish xMAS model of the UART serial port module, abstract some key properties and verify them. Combination of the theorem prover ACL2 and xMAS model, which is a great way to solve the verification problem of robot control system, could also provide an effective reference method for the correctness verification of robot control system.