• Smart Structures and Systems
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• v.20 no.4
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• pp.483-498
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• 2017

Real-Time Hybrid Simulation (RTHS) is a powerful and cost-effective dynamic experimental technique. To implement a stable and accurate RTHS, time delay present in the experiment loop needs to be compensated. This delay is mostly introduced by servo-hydraulic actuator dynamics and can be reduced by applying appropriate compensators. Existing compensators have demonstrated effective performance in achieving good tracking performance. Most of them have been focused on their application in cases where the structure under investigation is subjected to inputs with relatively low frequency bandwidth such as earthquake excitations. To advance RTHS as an attractive technique for other engineering applications with broader excitation frequency, a discrete-time feedforward compensator is developed herein via various optimization techniques to enhance the performance of RTHS. The proposed compensator is unique as a discrete-time, model-based feedforward compensator. The feedforward control is chosen because it can substantially improve the reference tracking performance and speed when the plant dynamics is well-understood and modeled. The discrete-time formulation enables the use of inherently stable digital filters for compensator development, and avoids the error induced by continuous-time to discrete-time conversion during the compensator implementation in digital computer. This paper discusses the technical challenges in designing a discrete-time compensator, and proposes several optimal solutions to resolve these challenges. The effectiveness of compensators obtained via these optimal solutions is demonstrated through both numerical and experimental studies. Then, the proposed compensators have been successfully applied to RTHS tests. By comparing these results to results obtained using several existing feedforward compensators, the proposed compensator demonstrates superior performance in both time delay and Root-Mean-Square (RMS) error.

• Earthquakes and Structures
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• v.13 no.2
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• pp.165-176
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• 2017

Multi-Axial Testing System (MATS) is a 6-DOF loading system located at National Center for Research on Earthquake Engineering (NCREE) in Taiwan for advanced seismic testing of structural components or sub-assemblages. MATS was designed and constructed for a large variety of structural testing, especially for the specimens that require to be subjected to vertical and longitudinal loading simultaneously, such as reinforced concrete columns and lead rubber bearings. Functionally, MATS consists of a high strength self-reacting frame, a rigid platen, and a large number of servo-hydraulic actuators. The high strength self-reacting frame is composed of two post-tensioned A-shape reinforced concrete frames interconnected by a steel-and-concrete composite cross beam and a reinforced concrete reacting base. The specimen can be anchored between the top cross beam and the bottom rigid platen within a 5-meter high and 3.25-meter wide clear space. In addition to the longitudinal horizontal actuators that can be installed for various configurations, a total number of 13 servo-hydraulic actuators are connected to the rigid platen. Degree-of-freedom control of the rigid platen can be achieved by driving these actuators commanded by a digital controller. The specification and information of MATS in detail are described in this paper, providing the users with a technical point of view on the design, application, and limitation of MATS. Finally, future potential application employing advanced experimental technology is also presented in this paper.

• Structural Engineering and Mechanics
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• v.83 no.1
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• pp.93-108
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• 2022

Real-time hybrid simulation (RTHS) was applied to investigate the train-bridge interaction of a high-speed railway system, where the railway bridge was selected as the numerical substructure, and the train was physically tested. The interaction between the two substructures was reproduced by a servo-hydraulic shaking table. To accurately reproduce the high-frequency interaction responses ranging from 10-25Hz using the hydraulic shaking table with an inherent delay of 6-50ms, an adaptive time series (ATS) compensation algorithm combined with the linear quadratic Gaussian (LQG) was proposed and implemented in the RTHS. Testing cases considering different train speeds, track irregularities, bridge girder cross-sections, and track settlements featuring a wide range of frequency contents were conducted. The performance of the proposed ATS+LQG delay compensation method was compared to the ATS method and RTHS without any compensation in terms of residual time delays and root mean square errors between commands and responses. The effectiveness of the ATS+LQG method to compensate time delay in RTHS with high-frequency responses was demonstrated and the proposed ATS+LQG method outperformed the ATS method in yielding more accurate responses with less residual time delays.

• Steel and Composite Structures
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• v.28 no.5
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• pp.517-525
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• 2018

The specimens made by Z2CND18.12N austenitic stainless steel were conducted on a 100 kN closed loop servo hydraulic tension-compression testing machine with a digital controller. Uniaxial tension and uniaxial ratcheting effect tests were carried out at $25^{\circ}C$. Moreover, Uniaxial tension tests were conducted at $150^{\circ}C$, $250^{\circ}C$ and $350^{\circ}C$. Based on these experimental data, the prediction models of stress-strain curve and the relationship of ratcheting strain and number of cycles were established by the algorithm principle of BP neural network. The results indicated that the predicted results of neural network model were in well agreement with experimental data. It was found that the BP neural network model had high validity and accuracy.

• Steel and Composite Structures
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• v.22 no.2
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• pp.353-368
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• 2016

This paper extends our recent work on the fatigue behavior of stud shear connectors in steel and recycled tyre rubber-filled concrete (RRFC) composite beams. A series of 16 fatigue push-out tests were conducted using a hydraulic servo testing machine. Three different recycled tyre rubber contents of concrete, 0%, 5% and 10%, were adopted as main variable parameters. Stress amplitudes and the diameters of studs were also taken into consideration in the tests. The results show that the fatigue lives of studs in 5% and 10% RRFC were 1.6 and 2.0 times greater of those in normal concrete, respectively. At the same time, the ultimate residual slips' values of stud increased in RRFC to highlight its better ductility. The average ultimate residual slip value of the studs was found to be equal to a quarter of studs' diameter. It had also been proved that stress amplitude was inversely proportional to the fatigue life of studs. Moreover, the fatigue lives of studs with large diameter were slightly shorter than those of smaller ones and using larger ones had the risk of tearing off the base metal. Finally, the comparison between test results and three national codes was discussed.

• Smart Structures and Systems
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• v.4 no.5
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• pp.667-684
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• 2008

Numerous devices exist for reducing or eliminating seismic damage to structures. These include passive dampers, semi-active dampers, and active control devices. The performance of structural systems with these devices has often been evaluated using numerical simulations. Experiments on structural systems with these devices, particularly at large-scale, are lacking. This paper describes a real-time hybrid testing facility that has been developed at the Lehigh University NEES Equipment Site. The facility enables real-time large-scale experiments to be performed on structural systems with rate-dependent devices, thereby permitting a more complete evaluation of the seismic performance of the devices and their effectiveness in seismic hazard reduction. The hardware and integrated control architecture for hybrid testing developed at the facility are presented. An application involving the use of passive elastomeric dampers in a three story moment resisting frame subjected to earthquake ground motions is presented. The experiment focused on a test structure consisting of the damper and diagonal bracing, which was coupled to a nonlinear analytical model of the remaining part of the structure (i.e., the moment resisting frame). A tracking indictor is used to track the actuator ability to achieve the command displacement during a test, enabling the quality of the test results to be assessed. An extension of the testbed to the real-time hybrid testing of smart structures with semi-active dampers is described.

• Computers and Concrete
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• v.20 no.3
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• pp.339-350
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• 2017

Dynamic behaviours of reinforced concrete (RC) bending beams subjected to monotonic loading with different loading rates were studied. A dynamic experiment was carried out with the electro-hydraulic servo system manufactured by MTS (Mechanical Testing and Simulation) Systems Corporation to study the effect of loading rates on the mechanical behaviours of RC beams. The monotonic displacement control loading, with loading rates of 0.1 mm/s, 0.5 mm/s, 1 mm/s, 5 mm/s and 10 mm/s, was imposed. According to the test results, the effects of loading rates on the failure model and load-displacement curve of RC beams were investigated. The influences of loading rates on the cracking, ultimate, yield and failure strengths and displacements, ductility and dissipated energy capability of RC beams were studied. Then, the three-dimensional finite element models of RC beams, with the rate-dependent DP (Drucker-Prager) model of concrete and three rate-dependent model of steel reinforcement, were described and verified using the experimental results. Finally, the dynamic mechanical behaviours and deformation behaviours of the numerical results were compared with those of the experimental results.

• Earthquakes and Structures
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• v.18 no.3
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• pp.337-348
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• 2020

Experimental testing has been considered as one of the most straightforward approaches to realize the structural behavior for earthquake engineering studies. Recently, novel and advanced experimental techniques, which combine numerical simulation with experimental testing, have been developed and applied to structural testing practically. However, researchers have to take the risk of damaging specimens or facilities during the process of developing and validating new experimental methods. In view of this, a small-scale structural laboratory has been designed and constructed in order to verify the effectiveness of newly developed experimental technique before it is applied to large-scale testing for safety concerns in this paper. Two orthogonal steel reaction walls and one steel T-slotted reaction floor are designed and analyzed. Accordingly, a large variety of experimental setups can be completed by installing servo-hydraulic actuators and fixtures depending on different research purposes. Meanwhile, a state-of-the-art digital controller and multiple real-time computation machines are allocated. The integration of hardware and software interfaces provides the feasibility and flexibility of developing novel experimental methods that used to be difficult to complete in conventional structural laboratories. A simple experimental demonstration is presented which utilizes part of the hardware and software in the small-scale structural laboratory. Finally, experimental layouts of future potential development and application are addressed and discussed, providing the practitioners with valuable reference for experimental earthquake engineering.

• Structural Engineering and Mechanics
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• v.44 no.6
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• pp.753-762
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• 2012

The ratcheting characteristics of cylindrical shell under cyclic axial loading are investigated. The specimens are subjected to stress-controlled cycling with non-zero mean stress, which causes the accumulation of plastic strain or ratcheting behavior in continuous cycles. Also, cylindrical shell shows softening behavior under symmetric axial strain-controlled loading and due to the localized buckling, which occurs in the compressive stress-strain curve of the shell; it has more residual plastic strain in comparison to the tensile stress-strain hysteresis curve. The numerical analysis was carried out by ABAQUS software using hardening models. The nonlinear isotropic/kinematic hardening model accurately simulates the ratcheting behavior of shell. Although hardening models are incapable of simulating the softening behavior of the shell, this model analyzes the softening behavior well. Moreover, the model calculates the residual plastic strain close to the experimental data. Experimental tests were performed using an INSTRON 8802 servo-hydraulic machine. Simulations show good agreement between numerical and experimental results. The results reveal that the rate of plastic strain accumulation increases for the first few cycles and then reduces in the subsequent cycles. This reduction is more rapid for numerical results in comparison to experiments.

• Steel and Composite Structures
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• v.28 no.1
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• pp.1-11
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• 2018

In this paper, local ratcheting behavior of 1045 steel plates with circular cutout was investigated. Experimental tests were carried out by a Zwick/Roell HB 100 servo hydraulic machine. In order to measure the local strain at notch root, a data acquisition system with strain gauge was used. Various notch diameters and distances of strain gauges mounted from the notch root were found influential in the magnitude of local ratcheting strain. It was found that the local maximum principal stress plays a crucial role in increasing the local plastic deformation. Numerical simulation was done by ABAQUS software using nonlinear isotropic/kinematic hardening model. Material parameters of hardening model were attained from several stabilized cycles of flat specimens subjected to symmetric strain cycles. The nonlinear kinematic hardening model along with the Neuber's rule was employed to assess local ratcheting at the notch root of steel plates. The results of the numerical simulations agreed closely with those measured values in this study. Both ratcheting progress and mean stress relaxation occurred simultaneously at the notch root.