Abstract: This paper describes a sliding mode controller for
autonomous underwater vehicles (AUVs). The dynamic of AUV
model is highly nonlinear because of many factors, such as
hydrodynamic drag, damping, and lift forces, Coriolis and centripetal
forces, gravity and buoyancy forces, as well as forces from thruster.
To address these difficulties, a nonlinear sliding mode controller is
designed to approximate the nonlinear dynamics of AUV and
improve trajectory tracking. Moreover, the proposed controller can
profoundly attenuate the effects of uncertainties and external
disturbances in the closed-loop system. Using the Lyapunov theory
the boundedness of AUV tracking errors and the stability of the
proposed control system are also guaranteed. Numerical simulation
studies of an AUV are included to illustrate the effectiveness of the
presented approach.
Abstract: Plate is one of the popular structural elements used in a wide range of industries and structures. They may be subjected to blast loads during explosion events, missile attacks or aircraft attacks. This study is to investigate dynamic responses of the rectangular plate subjected to explosive loads. The effects of material properties and plate thickness on responses of the plate are to be investigated. The compressive pressure is applied to the surface of the plate. Different amounts of thickness in the range from 1mm to 30mm are considered for the plate to evaluate the changes in responses of the plate with respect to plate thickness. Two different properties are considered for the steel. First, the analysis is performed by considering only the elastic-plastic properties for the steel plate. Later on damping is considered to investigate its effects on the responses of the plate. To do analysis, numerical method using a finite element based package ABAQUS is applied. Finally, dynamic responses and graphs showing the relation between maximum displacement of the plate and aim parameters are provided.
Abstract: Nowadays, energy dissipation devices are commonly
used in structures. High rate of energy absorption during earthquakes
is the benefit of using such devices, which results in damage
reduction of structural elements, specifically columns. The hysteretic
damping capacity of energy dissipation devices is the key point that it
may adversely make analysis and design process complicated. This
effect may be generally represented by Equivalent Viscous Damping
(EVD). The equivalent viscous damping might be obtained from the
expected hysteretic behavior regarding to the design or maximum
considered displacement of a structure. In this paper, the hysteretic
damping coefficient of a steel Moment Resisting Frame (MRF),
which its performance is enhanced by a Buckling Restrained Brace
(BRB) system has been evaluated. Having foresight of damping
fraction between BRB and MRF is inevitable for seismic design
procedures like Direct Displacement-Based Design (DDBD) method.
This paper presents an approach to calculate the damping fraction for
such systems by carrying out the dynamic nonlinear time history
analysis (NTHA) under harmonic loading, which is tuned to the
natural system frequency. Two MRF structures, one equipped with
BRB and the other without BRB are simultaneously studied.
Extensive analysis shows that proportion of each system damping
fraction may be calculated by its shear story portion. In this way,
contribution of each BRB in the floors and their general contribution
in the structural performance may be clearly recognized, in advance.
Abstract: In this paper numerical studies have been carried out
to examine the pre-ignition flow features of high-performance solid
propellant rocket motors with two different port geometries but with
same propellant loading density. Numerical computations have been
carried out using a validated 3D, unsteady, 2nd-order implicit, SST k-
ω turbulence model. In the numerical study, a fully implicit finite
volume scheme of the compressible, Reynolds-Averaged, Navier-
Stokes equations is employed. We have observed from the numerical
results that in solid rocket motors with highly loaded propellants
having divergent port geometry the hot igniter gases can create preignition
pressure oscillations leading to thrust oscillations due to the
flow unsteadiness and recirculation. We have also observed that the
igniter temperature fluctuations are diminished rapidly thereby
reaching the steady state value faster in the case of solid propellant
rocket motors with convergent port than the divergent port
irrespective of the igniter total pressure. We have concluded that the
prudent selection of the port geometry, without altering the propellant
loading density, for damping the total temperature fluctuations within
the motor is a meaningful objective for the suppression and control of
instability and/or thrust oscillations often observed in solid propellant
rocket motors with non-uniform port geometry.
Abstract: A new design of aerostatic thrust bearing is proposed
for high static stiffness. The bearing body, which is mead of polymer
covered with metallic membrane, is held by a circular ring. Such a
support helps form a concave air gap to grasp the air pressure. The
polymer body, which can be made rapidly by either injection or
molding is able to provide extra damping under dynamic loading. The
smooth membrane not only serves as the bearing surface but also
protects the polymer body. The restrictor is a capillary inside a silicone
tube. It can passively compensate the variation of load by expanding
the capillary diameter for more air flux. In the present example, the
stiffness soars from 15.85 N/μm of typical bearing to 349.85 N/μm at
bearing elevation 9.5 μm; meanwhile the load capacity also enhances
from 346.86 N to 704.18 N.
Abstract: This paper deals with nonlinear vibration analysis
using finite element method for frame structures consisting of elastic
and viscoelastic damping layers supported by multiple nonlinear
concentrated springs with hysteresis damping. The frame is supported
by four nonlinear concentrated springs near the four corners. The
restoring forces of the springs have cubic non-linearity and linear
component of the nonlinear springs has complex quantity to represent
linear hysteresis damping. The damping layer of the frame structures
has complex modulus of elasticity. Further, the discretized equations in
physical coordinate are transformed into the nonlinear ordinary
coupled differential equations using normal coordinate corresponding
to linear natural modes. Comparing shares of strain energy of the
elastic frame, the damping layer and the springs, we evaluate the
influences of the damping couplings on the linear and nonlinear impact
responses. We also investigate influences of damping changed by
stiffness of the elastic frame on the nonlinear coupling in the damped
impact responses.
Abstract: This paper discusses the propagation of sound waves in
air, specifically in narrow rectangular pathways of an occluded-ear
simulator for acoustic measurements. In narrow pathways, both the
speed of sound and the phase of the sound waves are affected by the
damping of the air viscosity. Herein, we propose a new finite-element
method (FEM) that considers the effects of the air viscosity. The
method was developed as an extension of existing FEMs for porous,
sound-absorbing materials. The results of a numerical calculation for a
three-dimensional ear-simulator model using the proposed FEM were
validated by comparing with theoretical lumped-parameter modeling
analysis and standard values.
Abstract: Structure-borne noise is an important aspect of
offshore platform sound field. It can be generated either directly by
vibrating machineries induced mechanical force, indirectly by the
excitation of structure or excitation by incident airborne noise.
Therefore, limiting of the transmission of vibration energy
throughout the offshore platform is the key to control the structureborne
noise. This is usually done by introducing damping treatment
to the steel structures. Two types of damping treatment using onboard
are presented. By conducting a Statistical Energy Analysis
(SEA) simulation on a jack-up rig, the noise level in the source room,
the neighboring rooms, and remote living quarter cabins are
compared before and after the damping treatments been applied. The
results demonstrated that, in the source neighboring room and living
quarter area, there is a significant noise reduction with the damping
treatment applied, whereas in the source room where air-borne sound
predominates that of structure-borne sound, the impact is not
obvious. The conclusion on effective damping treatment in the
offshore platform is made which enable acoustic professionals to
implement noise control during the design stage for offshore crews’
hearing protection and habitant comfortability.
Abstract: In this paper, analysis of an infinite beam resting on
multilayer tensionless extensible geosynthetic reinforced granular
fill-poor soil system overlying soft soil strata under moving load with
constant velocity is presented. The beam is subjected to a
concentrated load moving with constant velocity. The upper
reinforced granular bed is modeled by a rough membrane embedded
in Pasternak shear layer overlying a series of compressible nonlinear
winkler springs representing the underlying the very poor soil. The
multilayer tensionless extensible geosynthetic layer has been
assumed to deform such that at interface the geosynthetic and the soil
have some deformation. Nonlinear behaviour of granular fill and the
very poor soil has been considered in the analysis by means of
hyperbolic constitutive relationships. Governing differential
equations of the soil foundation system have been obtained and
solved with the help of appropriate boundary conditions. The solution
has been obtained by employing finite difference method by means of
Gauss-Siedal iterative scheme. Detailed parametric study has been
conducted to study the influence of various parameters on the
response of soil–foundation system under consideration by means of
deflection and bending moment in the beam and tension mobilized in
the geosynthetic layer. These parameters include magnitude of
applied load, velocity of load, damping, ultimate resistance of poor
soil and granular fill layer. Range of values of parameters has been
considered as per Indian Railway conditions. This study clearly
observed that the comparisons of multilayer tensionless extensible
geosynthetic reinforcement with poor foundation soil and magnitude
of applied load, relative compressibility of granular fill and ultimate
resistance of poor soil has significant influence on the response of
soil–foundation system.
Abstract: In this paper, a summary of analytical and
experimental studies into the behavior of a new hysteretic damper,
designed for seismic protection of structures is presented. The Multidirectional
Torsional Hysteretic Damper (MRSD) is a patented
invention in which a symmetrical arrangement of identical cylindrical
steel cores is so configured as to yield in torsion while the structure
experiences planar movements due to earthquake shakings. The new
device has certain desirable properties. Notably, it is characterized by
a variable and controllable-via-design post-elastic stiffness. The
mentioned property is a result of MRSD’s kinematic configuration
which produces this geometric hardening, rather than being a
secondary large-displacement effect. Additionally, the new system is
capable of reaching high force and displacement capacities, shows
high levels of damping, and very stable cyclic response. The device
has gone through many stages of design refinement, multiple
prototype verification tests and development of design guide-lines
and computer codes to facilitate its implementation in practice.
Practicality of the new device, as offspring of an academic sphere, is
assured through extensive collaboration with industry in its final
design stages, prototyping and verification test programs.
Abstract: This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.
Abstract: A mathematical model of the additional effects of the
liquid in the hydrodynamic gap is presented in the paper. An
incompressible viscous fluid is considered. Based on computational
modeling are determined the matrices of mass, stiffness and damping.
The mathematical model is experimentally verified.
Abstract: The article presents two mathematical models of the
interaction between a rotating shaft and an incompressible fluid. The
mathematical model includes both the journal bearings and the
axially traversed hydrodynamic sealing gaps of hydraulic machines.
A method is shown for the identification of additional effects of the
fluid acting on the rotor of the machine, both for a linear and a nonlinear
model. The interaction is expressed by matrices of mass,
stiffness and damping.
Abstract: The use of energy dissipation systems for seismic applications has increased worldwide, thus it is necessary to develop practical and modern criteria for their optimal design. Here, a direct displacement-based seismic design approach for frame buildings with hysteretic energy dissipation systems (HEDS) is applied. The building is constituted by two individual structural systems consisting of: 1) a main elastic structural frame designed for service loads; and 2) a secondary system, corresponding to the HEDS, that controls the effects of lateral loads. The procedure implies to control two design parameters: a) the stiffness ratio (α=Kframe/Ktotal system), and b) the strength ratio (γ=Vdamper/Vtotal system). The proposed damage-controlled approach contributes to the design of a more sustainable and resilient building because the structural damage is concentrated on the HEDS. The reduction of the design displacement spectrum is done by means of a damping factor (recently published) for elastic structural systems with HEDS, located in Mexico City. Two limit states are verified: serviceability and near collapse. Instead of the traditional trial-error approach, a procedure that allows the designer to establish the preliminary sizes of the structural elements of both systems is proposed. The design methodology is applied to an 8-story steel building with buckling restrained braces, located in soft soil of Mexico City. With the aim of choosing the optimal design parameters, a parametric study is developed considering different values of હ and . The simplified methodology is for preliminary sizing, design, and evaluation of the effectiveness of HEDS, and it constitutes a modern and practical tool that enables the structural designer to select the best design parameters.
Abstract: The article deals with the tool in Matlab GUI form
that is designed to analyse a mechatronic system sensitivity and
tolerance. In the analysed mechatronic system, a torque is transferred
from the drive to the load through a coupling containing flexible
elements. Different methods of control system design are used. The
classic form of the feedback control is proposed using Naslin method,
modulus optimum criterion and inverse dynamics method. The
cascade form of the control is proposed based on combination of
modulus optimum criterion and symmetric optimum criterion. The
sensitivity is analysed on the basis of absolute and relative sensitivity
of system function to the change of chosen parameter value of the
mechatronic system, as well as the control subsystem. The tolerance
is analysed in the form of determining the range of allowed relative
changes of selected system parameters in the field of system stability.
The tool allows to analyse an influence of torsion stiffness, torsion
damping, inertia moments of the motor and the load and controller(s)
parameters. The sensitivity and tolerance are monitored in terms of
the impact of parameter change on the response in the form of system
step response and system frequency-response logarithmic
characteristics. The Symbolic Math Toolbox for expression of the
final shape of analysed system functions was used. The sensitivity
and tolerance are graphically represented as 2D graph of sensitivity
or tolerance of the system function and 3D/2D static/interactive graph
of step/frequency response.
Abstract: Today’s VLSI networks demands for high speed. And
in this work the compact form mathematical model for current mode
signalling in VLSI interconnects is presented.RLC interconnect line
is modelled using characteristic impedance of transmission line and
inductive effect. The on-chip inductance effect is dominant at lower
technology node is emulated into an equivalent resistance. First order
transfer function is designed using finite difference equation, Laplace
transform and by applying the boundary conditions at the source and
load termination. It has been observed that the dominant pole
determines system response and delay in the proposed model. The
novel proposed current mode model shows superior performance as
compared to voltage mode signalling. Analysis shows that current
mode signalling in VLSI interconnects provides 2.8 times better
delay performance than voltage mode. Secondly the damping factor
of a lumped RLC circuit is shown to be a useful figure of merit.
Abstract: Fluid viscous damping systems are well suited for
many air vehicles subjected to shock and vibration. These damping
system work with the principle of viscous fluid throttling through the
orifice to create huge pressure difference between compression and
rebound chamber and obtain the required damping force. One
application of such systems is its use in aircraft door system to
counteract the door’s velocity and safely stop it. In exigency
situations like crash or emergency landing where the door doesn’t
open easily, possibly due to unusually tilting of fuselage or some
obstacles or intrusion of debris obstruction to move the parts of the
door, such system can be combined with other systems to provide
needed force to forcefully open the door and also securely stop it
simultaneously within the required time i.e. less than 8 seconds. In
the present study, a hydraulic system called snubber along with other
systems like actuator, gas bottle assembly which together known as
emergency power assist system (EPAS) is designed, built and
experimentally studied to check the magnitude of angular velocity,
damping force and time required to effectively open the door.
Whenever needed, the gas pressure from the bottle is released to
actuate the actuator and at the same time pull the snubber’s piston to
operate the emergency opening of the door. Such EPAS installed in
the suspension arm of the aircraft door is studied explicitly changing
parameters like orifice size, oil level, oil viscosity and bypass valve
gap and its spring of the snubber at varying temperature to generate
the optimum design case. Comparative analysis of the EPAS at
several cases is done and conclusions are made. It is found that
during emergency condition, the system opening time and angular
velocity, when snubber with 0.3mm piston and shaft orifice and
bypass valve gap of 0.5 mm with its original spring is used, shows
significant improvement over the old ones.
Abstract: The aim of this paper is to perform experimental
modal analysis (EMA) of reinforced concrete (RC) square slabs.
EMA is the process of determining the modal parameters (Natural
Frequencies, damping factors, modal vectors) of a structure from a
set of frequency response functions FRFs (curve fitting). Although,
experimental modal analysis (or modal testing) has grown steadily in
popularity since the advent of the digital FFT spectrum analyzer in
the early 1970’s, studying all types of members and materials using
such method have not yet been well documented. Therefore, in this
work, experimental tests were conducted on RC square slab
specimens of dimensions 600mm x 600mmx 40mm. Experimental
analysis was based on freely supported boundary condition.
Moreover, impact testing as a fast and economical means of finding
the modes of vibration of a structure was used during the
experiments. In addition, Pico Scope 6 device and MATLAB
software were used to acquire data, analyze and plot Frequency
Response Function (FRF). The experimental natural frequencies
which were extracted from measurements exhibit good agreement
with analytical predictions. It is showed that EMA method can be
usefully employed to investigate the dynamic behavior of RC slabs.
Abstract: This paper presents small signal stability study carried
over the 140-Bus, 31-Machine, 5-Area MEPE system and validated
on free and open source software: PSAT. Well-established linearalgebra
analysis, eigenvalue analysis, is employed to determine the
small signal dynamic behavior of test system. The aspects of local
and interarea oscillations which may affect the operation and
behavior of power system are analyzed. Eigenvalue analysis is carried
out to investigate the small signal behavior of test system and the
participation factors have been determined to identify the
participation of the states in the variation of different mode shapes.
Also, the variations in oscillatory modes are presented to observe the
damping performance of the test system.
Abstract: In this paper, the dynamic characteristics of a threelobe
journal bearing lubricated with micropolar fluids are determined
by the linear stability theory. Lubricating oil containing additives and
contaminants is modelled as micropolar fluid. The modified
Reynolds equation is obtained using the micropolar lubrication theory
.The finite difference technique has been used to determine the
solution of the modified Reynolds equation. The dynamic
characteristics in terms of stiffness, damping coefficients, the critical
mass and whirl ratio are determined for various values of size of
material characteristic length and the coupling number. The
computed results show that the three-lobe bearing lubricated with
micropolar fluid exhibits better stability compared with that
lubricated with Newtonian fluid. According to the results obtained,
the effect of the parameter micropolar fluid is remarkable on the
dynamic characteristics and stability of the three-lobe bearing.