Abstract: The paper focuses on the enhanced stiffness modeling
of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the
virtual joint technique that describes the compliance of manipulator elements by a set of localized six-dimensional springs separated by
rigid links and perfect joints. In contrast to the conventional
formulation, which is valid for the unloaded mode and small
displacements, the proposed approach implicitly assumes that the loading leads to the non-negligible changes of the manipulator posture and corresponding amendment of the Jacobian. The
developed numerical technique allows computing the static
equilibrium and relevant force/torque reaction of the manipulator for
any given displacement of the end-effector. This enables designer
detecting essentially nonlinear effects in elastic behavior of
manipulator, similar to the buckling of beam elements. It is also proposed the linearization procedure that is based on the inversion of
the dedicated matrix composed of the stiffness parameters of the
virtual springs and the Jacobians/Hessians of the active and passive
joints. The developed technique is illustrated by an application example that deals with the stiffness analysis of a parallel
manipulator of the Orthoglide family
Abstract: Application of wood in rural construction is diffused
all around the world since remote times. However, its inclusion in
structural design deserves strong support from broad knowledge of
material properties. The pertinent literature reveals the application of
optical methods in determining the complete field displacement on
bodies exhibiting regular as well as irregular surfaces. The use of
moiré techniques in experimental mechanics consists in analyzing the
patterns generated on the body surface before and after deformation.
The objective of this research work is to study the qualitative
deformation behavior of wooden testing specimens under specific
loading situations. The experiment setup follows the literature
description of shadow moiré methods. Results indicate strong
anisotropy influence of the generated displacement field. Important
qualitative as well as quantitative stress and strain distribution were
obtained wooden members which are applicable to rural
constructions.
Abstract: In the traditional theory of non-uniform torsion the
axial displacement field is expressed as the product of the unit twist
angle and the warping function. The first one, variable along the
beam axis, is obtained by a global congruence condition; the second
one, instead, defined over the cross-section, is determined by solving
a Neumann problem associated to the Laplace equation, as well as for
the uniform torsion problem.
So, as in the classical theory the warping function doesn-t punctually
satisfy the first indefinite equilibrium equation, the principal aim of
this work is to develop a new theory for non-uniform torsion of
beams with axial symmetric cross-section, fully restrained on both
ends and loaded by a constant torque, that permits to punctually
satisfy the previous equation, by means of a trigonometric expansion
of the axial displacement and unit twist angle functions.
Furthermore, as the classical theory is generally applied with good
results to the global and local analysis of ship structures, two beams
having the first one an open profile, the second one a closed section,
have been analyzed, in order to compare the two theories.
Abstract: In this paper, experimental testing and numerical analysis were used to investigate the effect of tube thickness on the face bending for concrete filled hollow sections connected to other structural members using Extended Hollobolts. Six samples were tested experimentally by applying pull-out load on the bolts. These samples were designed to fail by column face bending. The main variable in all tests is the column face thickness. Finite element analyses were also performed using ABAQUS 6.11 to extend the experimental results and to quantify the effect of column face thickness. Results show that, the column face thickness has a clear impact on the connection strength and stiffness. However, the amount of improvement in the connection stiffness by changing the column face thickness from 5mm to 6.3mm seems to be higher than that when increasing it from 6.3mm to 8mm. The displacement at which the bolts start pulling-out from their holes increased with the use of thinner column face due to the high flexibility of the section. At the ultimate strength, the yielding of the column face propagated to the column corner and there was no yielding in its walls. After the ultimate resistance is reached, the propagation of the yielding was mainly in the column face with a miner yielding in the walls.
Abstract: Stick models are widely used in studying the
behaviour of straight as well as skew bridges and viaducts subjected
to earthquakes while carrying out preliminary studies. The
application of such models to highly curved bridges continues to
pose challenging problems. A viaduct proposed in the foothills of the
Himalayas in Northern India is chosen for the study. It is having 8
simply supported spans @ 30 m c/c. It is doubly curved in horizontal
plane with 20 m radius. It is inclined in vertical plane as well. The
superstructure consists of a box section. Three models have been
used: a conventional stick model, an improved stick model and a 3D
finite element model. The improved stick model is employed by
making use of body constraints in order to study its capabilities. The
first 8 frequencies are about 9.71% away in the latter two models.
Later the difference increases to 80% in 50th mode. The viaduct was
subjected to all three components of the El Centro earthquake of May
1940. The numerical integration was carried out using the Hilber-
Hughes-Taylor method as implemented in SAP2000. Axial forces
and moments in the bridge piers as well as lateral displacements at
the bearing levels are compared for the three models. The maximum
difference in the axial forces and bending moments and
displacements vary by 25% between the improved and finite element
model. Whereas, the maximum difference in the axial forces,
moments, and displacements in various sections vary by 35%
between the improved stick model and equivalent straight stick
model. The difference for torsional moment was as high as 75%. It is
concluded that the stick model with body constraints to model the
bearings and expansion joints is not desirable in very sharp S curved
viaducts even for preliminary analysis. This model can be used only
to determine first 10 frequency and mode shapes but not for member
forces. A 3D finite element analysis must be carried out for
meaningful results.
Abstract: As the world move to the accomplishment of Performance Based Engineering philosophies in seismic design of Civil Engineering structures, new seismic design provisions require Structural Engineers to perform both static and dynamic analysis for the design of structures. While Linear Equivalent Static Analysis is performed for regular buildings up to 90m height in zone I and II, Dynamic Analysis should be performed for regular and irregular buildings in zone IV and V. Dynamic Analysis can take the form of a dynamic Time History Analysis or a linear Response Spectrum Analysis. In present study, Multi-storey irregular buildings with 20 stories have been modeled using software packages ETABS and SAP 2000 v.15 for seismic zone V in India. This paper also deals with the effect of the variation of the building height on the structural response of the shear wall building. Dynamic responses of building under actual earthquakes, EL-CENTRO 1949 and CHI-CHI Taiwan 1999 have been investigated. This paper highlights the accuracy and exactness of Time History analysis in comparison with the most commonly adopted Response Spectrum Analysis and Equivalent Static Analysis.
Abstract: In recent years, tuned mass damper (TMD) control systems for civil engineering structures have attracted considerable attention. This paper emphasizes on the application of particle swarm application (PSO) to design and optimize the parameters of the TMD control scheme for achieving the best results in the reduction of the building response under earthquake excitations. The Integral of the Time multiplied Absolute value of the Error (ITAE) based on relative displacement of all floors in the building is taken as a performance index of the optimization criterion. The problem of robustly TMD controller design is formatted as an optimization problem based on the ITAE performance index to be solved using the PSO technique which has a story ability to find the most optimistic results. An 11- story realistic building, located in the city of Rasht, Iran is considered as a test system to demonstrate effectiveness of the proposed method. The results analysis through the time-domain simulation and some performance indices reveals that the designed PSO based TMD controller has an excellent capability in reduction of the seismically excited example building.
Abstract: The culture of riding heavy motorcycles originates
from advanced countries and mainly comes from Europe, North
America, and Japan. Heavy duty motorcycle riders are different from
people who view motorcycles as a convenient mean of transportation.
They regard riding them as a kind of enjoyment and high-level taste.
The activities of riding heavy duty motorcycles have formes a
distinctive landscape in domestic land in Taiwan. Previous studies
which explored motorcycle culture in Taiwan still focused on the
objects of motorcycle engine displacement under 50 cc.. The study
aims to study the heavy duty motorcycles of engine displacement over
550 cc. and explores where their attractiveness is. For finding the
attractiveness of heavy duty motorcycle, the study chooses Miryoku
Engineering (Preference-Based Design) approach. Two steps are
adopted to proceed the research. First, through arranging the letters
obtained from interviewing experts, EGM (The Evaluation Grid
Method) was applied to find out the structure of attractiveness. The
attractive styles are eye-dazzling, leisure, classic, and racing
competitive styles. Secondarily, Quantification Theory Type I analysis
was adopted as a tool for analyzing the importance of attractiveness.
The relationship between style and attractive parts was also discussed.
The results could contribute to the design and research development of
heavy duty motorcycle industry in Taiwan.
Abstract: This paper studies dynamic stability of homogeneous
beams with piezoelectric layers subjected to periodic axial
compressive load that is simply supported at both ends lies on a
continuous elastic foundation. The displacement field of beam is
assumed based on Bernoulli-Euler beam theory. Applying the
Hamilton's principle, the governing dynamic equation is established.
The influences of applied voltage, foundation coefficient and
piezoelectric thickness on the unstable regions are presented. To
investigate the accuracy of the present analysis, a compression study
is carried out with a known data.
Abstract: According to the masonry standard the compressive
strength is basically dependent on factors such as the mortar strength
and the relative values of unit and mortar strength. However
interlocking brick has none or less use of mortar. Therefore there is a need to investigate the behavior of masonry walls using interlocking
bricks. In this study a series of tests have been conducted; physical
properties and compressive strength of brick units and masonry walls
were constructed from interlocking bricks and tested under constant
vertical load at different eccentricities. The purpose of the
experimental investigations is to obtain the force displacement curves, analyze the behavior of masonry walls. The results showed
that the brick is categorized as common brick (BS 3921:1985) and severe weathering grade (ASTM C62). The maximum compressive stress of interlocking brick wall is 3.6 N/mm2 and fulfilled the requirement of standard for residential building.
Abstract: In nature, electromagnetic fields always appear like
atmosphere static electric field, the earth's static magnetic field and
the wide-rang frequency electromagnetic field caused by lightening.
However, besides natural electromagnetic fields (EMF), today human
beings are mostly exposed to artificial electromagnetic fields due to
technology progress and outspread use of electrical devices. To
evaluate nuisance of EMF, it is necessary to know field intensity for
every frequency which appears and compare it with allowed values.
Low frequency EMF-s around transmission and distribution lines are
time-varying quasi-static electromagnetic fields which have
conservative component of low frequency electrical field caused by
charges and eddy component of low frequency magnetic field caused
by currents. Displacement current or field delay are negligible, so
energy flow in quasi-static EMF involves diffusion, analog like heat
transfer. Electrical and magnetic field can be analyzed separately.
This paper analysis the numerical calculations in ELF-400 software
of EMF in distribution substation in shopping center. Analyzing the
results it is possible to specify locations exposed to the fields and
give useful suggestion to eliminate electromagnetic effect or reduce it
on acceptable level within the non-ionizing radiation norms and
norms of protection from EMF.
Abstract: A suspension bridge is the most suitable type of structure for a long-span bridge due to rational use of structural materials. Increased deformability, which is conditioned by appearance of the elastic and kinematic displacements, is the major disadvantage of suspension bridges. The problem of increased kinematic displacements under the action of non-symmetrical load can be solved by prestressing. The prestressed suspension bridge with the span of 200 m was considered as an object of investigations. The cable truss with the cross web was considered as the main load carrying structure of the prestressed suspension bridge. The considered cable truss was optimized by 47 variable factors using Genetic algorithm and FEM program ANSYS. It was stated, that the maximum total displacements are reduced up to 29.9% by using of the cable truss with the rational characteristics instead of the single cable in the case of the worst situated load.
Abstract: Analytical seismic response of multi-story building
supported on base isolation system is investigated under real
earthquake motion. The superstructure is idealized as a shear type
flexible building with lateral degree-of-freedom at each floor. The
force-deformation behaviour of the isolation system is modelled by
the bi-linear behaviour which can be effectively used to model all
isolation systems in practice. The governing equations of motion of
the isolated structural system are derived. The response of the system
is obtained numerically by step-by-method under three real recorded
earthquake motions and pulse motions associated in the near-fault
earthquake motion. The variation of the top floor acceleration, interstory
drift, base shear and bearing displacement of the isolated
building is studied under different initial stiffness of the bi-linear
isolation system. It was observed that the high initial stiffness of the
isolation system excites higher modes in base-isolated structure and
generate floor accelerations and story drift. Such behaviour of the
base-isolated building especially supported on sliding type of
isolation systems can be detrimental to sensitive equipment installed
in the building. On the other hand, the bearing displacement and base
shear found to reduce marginally with the increase of the initial
stiffness of the initial stiffness of the isolation system. Further, the
above behaviour of the base-isolated building was observed for
different parameters of the bearing (i.e. post-yield stiffness and
characteristic strength) and earthquake motions (i.e. real time history
as well as pulse type motion).
Abstract: Prestressing in structure increases ratio of load-bearing capacity to weight. Suspendomes are single-layer braced domes reinforced with cable and strut. Prestressing of cables alter value and distribution of stress in structure. In this study two configuration, diamatic and lamella domes is selected. Investigated domes have span of 100m with rise-to-span ratios of 0.1, 0.2, and 0.3. Single layer domes loaded under service load combinations according to ISO code. After geometric nonlinear analysis, models are designed with tubular and I-shaped sections then reinforced with cable and strut and converted to suspendomes. Displacements and stresses of some groups of nodes and elements in all of single-layer domes and suspendomes for three load combinations, symmetric snow, asymmetric snow and wind are compared. Variation due to suspending system is investigated. Suspendomes are redesigned and minimum possible weight after addition of cable and strut is obtained.
Abstract: A lot of research made during these last 15 years
showed that the quantification of the springback has a significant role
in the industry of sheet metal forming. These studies were made with
the objective of finding techniques and methods to minimize or
completely avoid this permanent physical variation. Moreover, the
use of steel and aluminum alloys in the car industry and aviation
poses every day the problem of the springback. The determination in
advance of the quantity of the springback allows consequently the
design and manufacture of the tool. The aim of this paper is to study
experimentally the influence of the blank holder force BHF and the
radius of curvature of the die on the springback and their influence on
the strain in various zone of specimen.
The original of our purpose consist on tests which are ensured by
adapting a U-type stretching-bending device on a tensile testing
machine, where we studied and quantified the variation of the
springback according to displacement.
Abstract: This paper describes dynamic analysis using proposed
fast finite element method for a shock absorbing structure including a
sponge. The structure is supported by nonlinear concentrated springs.
The restoring force of the spring has cubic nonlinearity and linear
hysteresis damping. To calculate damping properties for the structures
including elastic body and porous body, displacement vectors as
common unknown variable are solved under coupled condition. Under
small amplitude, we apply asymptotic method to complex eigenvalue
problem of this system to obtain modal parameters. And then
expressions of modal loss factor are derived approximately. This
approach was proposed by one of the authors previously. We call this
method as Modal Strain and Kinetic Energy Method (MSKE method).
Further, using the modal loss factors, the discretized equations in
physical coordinate are transformed into the nonlinear ordinary
coupled equations using normal coordinate corresponding to linear
natural modes. This transformation yields computation efficiency. As
a numerical example of a shock absorbing structures, we adopt double
skins with a sponge. The double skins are supported by nonlinear
concentrated springs. We clarify influences of amplitude of the input
force on nonlinear and chaotic responses.
Abstract: Experimental study on the influence of fibre content
on crack behaviour and propagation in synthetic-fibre reinforced
beams has been reported in this paper. The tensile behaviour of
metallic fibre concrete is evaluated in terms of residual flexural
tensile strength values determined from the load-crack mouth
opening displacement curve or load-deflection curve obtained by
applying a centre-point load on a simply supported notched prism.
The results achieved demonstrate that an increase in fibre content has
an almost negligible effect on compressive and tensile splitting
properties, causes a marginal increment in flexural tensile strength
and increasesthe Re3 value.
Abstract: Reno-pin contact test is a method that is controlled by
DC motor used to characterize electronic chips. This method is used in
electronic and telecommunication devices. A new electric
performance testing system is developed in which the testing method
is controlled by using Piezoelectric Transducer (PZT) instead of DC
motor which reduces vibration and noise. The vertical displacement of
the Reno-pin is very short in the Reno-pin contact testing system. Now
using a flexible guide in the new Reno-pin contact system, the vertical
movement of the Reno-pin is increased many times of the existing
Reno-pin contact testing method using DC motor. Using the present
electric performance testing system with a flexible hinge and PZT
instead of DC motor, manufacturing of electronic chips are able to
characterize chips with low cost and high speed.
Abstract: This paper presents the elastic buckling of
homogeneous beams with a pair of piezoelectric layers surface
bonded on both sides of the beams. The displacement field of beam is
assumed based on the Engesser-Timoshenko beam theory.
Applying the Hamilton's principle, the equilibrium equation is
established. The influences of applied voltage, dimensionless
geometrical parameter and piezoelectric thickness on the critical
buckling load of beam are presented. To investigate the accuracy of
the present analysis, a compression study is carried out with a known
data.
Abstract: In the crack growth analysis, the Stress Intensity
Factor (SIF) is a fundamental prerequisite. In the present study, the
mode I stress intensity factor (SIF) of three-dimensional penny-
Shaped crack is obtained in an isotropic elastic cylindrical medium
with arbitrary dimensions under arbitrary loading at the top of the
cylinder, by the semi-analytical method based on the Rayleigh-Ritz
method. This method that is based on minimizing the potential
energy amount of the whole of the system, gives a very close results
to the previous studies. Defining the displacements (elastic fields) by
hypothetical functions in a defined coordinate system is the base of
this research. So for creating the singularity conditions at the tip of
the crack the appropriate terms should be found.