Evaluation of the mechanical properties of self compacting concrete using current estimating models. Estimating the modulus of elasticity, tensile strength, and modulus of rupture of self compacting concrete

This study includes an analysis of the applicability of current models used for estimating the mechanical properties of conventional concrete to self-compacting concrete. The mechanical properties evaluated are: modulus of elasticity, tensile strength, and modulus of rupture. An extensive database which included the dosifications and the mechanical properties of 627 mixtures from 138 different references, was used. The models considered are: ACI, EC-2, NZS 3101:2006 (New Zealand code) and the CSA A23.3-04 (Canadian code). The precision in estimating the modulus of elasticity and tensile strength is acceptable for all models; however, all models are less precise in estimating the modulus of rupture.

Mechanical actuator for biomimetic propulsion and the effect of the caudal fin elasticity on the swimming performance

This paper presents a mechanical actuator for the biomimetic propulsion of swimming devices and the experimental study of the effect of the caudal fin elasticity on the overall performance. The design of the proposed drive allows the DC motor to operate at constant speed, so all the power of the motor is spent only for the motion of the caudal fin. A prototype of the actuator, in which the caudal fin serves as a driving element, is manufactured and tested in both laboratory and natural conditions. The swimming speed, the thrust efficiency and the maneuverability are evaluated for caudal fins with different stiffness. The caudal fin whose rigidity varies relative to both vertical and horizontal cross-section, exhibits the best performance. The achieved results also confirm that the proposed actuator could be of great interest to applications in the field of underwater operation, ocean investigation and environmental protection.

Boundary elements in potential and elasticity theory

A general theory that describes the B.I.E. linear approximation in potential and elasticity problems, is developed. A method to tread the Dirichlet condition in sharp vertex is presented. Though the study is developed for linear elements, its extension to higher order interpolation is straightforward. A new direct assembling procedure of the global of equations to be solved, is finally showed.

Quality grading of cork stoppers based on porosity, density and elasticity.

An objective control method for grading cork stoppers is presented using a cork stopper quality index based on porosity, density and elasticity, these being the properties which have the greatest influence on the closure capacity of the stopper. The elasticity of the cork stopper is measured through the relaxation ratio, which is defined by the relationship between the relaxation force exerted by the cork in the bottleneck and the compressive force exerted by a caliper to fit the stopper in the bottle. The relaxation ratio, defined in this way, represents the part of the compression force which is applied to the stopper on insertion and which is recovered in the form of the relaxation force to achieve closure. The calculation of the relaxation ratio involves the measurement of the relaxation force of the fitted stopper. This force has been measured rigorously and precisely using a device developed in the Cork Laboratory at the INIA-CIFOR and which is presented for the first time in this paper.

The p-Adaptive Biem Approach for Two-Dimensional Elasticity Analysis

This paper presents the development and application of the p-adaptive BIEM version in elastostatics. The basic concepts underlying the p-adaptive technique are summarized and discussed. Some Pascal pseudocodes which show the way how such a technique can be implemented easily in microcomputers are also provided. Both the applicability and the accuracy of the method proposed here are illustrated through a numerical example.

Optimal boundary geometry in an elasticity problem: a systematic adjoint approach

In different problems of Elasticity the definition of the optimal gcometry of the boundary, according to a given objective function, is an issue of great interest. Finding the shape of a hole in the middle of a plate subjected to an arbitrary loading such that the stresses along the hole minimizes some functional or the optimal middle curved concrete vault for a tunnel along which a uniform minimum compression are two typical examples. In these two examples the objective functional depends on the geometry of the boundary that can be either a curve (in case of 2D problems) or a surface boundary (in 3D problems). Typically, optimization is achieved by means of an iterative process which requires the computation of gradients of the objective function with respect to design variables. Gradients can by computed in a variety of ways, although adjoint methods either continuous or discrete ones are the more efficient ones when they are applied in different technical branches. In this paper the adjoint continuous method is introduced in a systematic way to this type of problems and an illustrative simple example, namely the finding of an optimal shape tunnel vault immersed in a linearly elastic terrain, is presented.

Evaluation of the influence of visual parameters on wave transmission velocity in sawn chestnut timber

Non-destructive, visual evaluation and mechanical testing techniques were used to assess the structural properties of 374 samples of chestnut (Castanea sativa). The principal components method was applied to establish and interpret correlations between variables obtained of modulus of elasticity, bending strength and density. The static modulus of elasticity presented higher correlation values than those obtained using non-destructive methods. Bending strength presented low correlations with the non-destructive parameters, but there was some relation to the different knot ratios defined. The relationship was stronger with the most widely used ratio, CKDR. No significant correlations were observed between any of the variables and density.

Caracterización de la madera de Castanea sativa Mill. de procedencia española

La madera de castaño de procedencia española no está presente como material estructural en la norma europea EN 1912, y por lo tanto no está asignada a ninguna clase resistente como sí lo están otras especies españolas. Por ello, en el presente trabajo se realizó una caracterización de madera aserrada de castaño de Asturias con fines estructurales, realizando los ensayos según la norma UNE EN 408:2004, y calculando sus valores característicos según la norma UNE EN 384:2010. Los valores obtenidos permitieron asignar una clase resistente de las establecidas en la norma UNE EN 338:2010. Fueron evaluadas un total de 260 probetas de dos secciones (40x100 y 40x150 mm) siendo asignada una clase resistente D24, resultando la densidad y la resistencia a flexión los parámetros limitantes y observándose un valor de módulo de elasticidad superior al correspondiente a dicha clase. La relación entre los módulo de elasticidad longitudinal y transversal obtenidos experimentalmente fue de 10 aproximadamente, mientras que la normativa establece, como valor genérico, 16. Se observó que la singularidad de la madera que provocó un mayor porcentaje de rotura fue la presencia de nudos, presentando estas probetas un valor de resistencia significativamente menor. Chestnut timber from Spain is not included as a structural timber in the European standard EN 1912 nor is it assigned to any strength class like other Spanish species. Therefore, a characterization of structural chestnut timber from Asturias was made according to the UNE EN 408:2004, and the characteristic values were calculated according to the UNE EN 384:2010. The values obtained allowed the assignment of a strength class according to UNE EN 338:2010. 260 samples of two sections (40x100 and 40x150 mm) were tested and a D24 strength class was assinged. Density and bending strength were the limiting parameters, and the value of modulus of elasticity was higher than the values asssigned to D24. The relationship between modulus of elasticity and the shear modulus obtained was approximately equal to 10, while this value in the UNE EN 384:2010 is set at 16. The characteristic of the wood which caused a higher percentage of failure was the presence of knots, resulting in significantly lower resistance values.

Polypropylene fiber-reinforced self-compacting concrete for the reconstruction of the cathedral of La Laguna, Canary Island, Spain

High performance materials are needed for the reconstruction of such a singular building as a cathedral, since in addition to special mechanical properties, high self compact ability, high durability and high surface quality, are specified. Because of the project’s specifications, the use of polypropylene fiber-reinforced, self-compacting concrete was selected by the engineering office. The low quality of local materials and the lack of experience in applying macro polypropylene fiber for structural reinforcement with these components materials required the development of a pretesting program. To optimize the mix design, performance was evaluated following technical, economical and constructability criteria. Since the addition of fibers reduces concrete self-compactability, many trials were run to determine the optimal mix proportions. The variables introduced were paste volume; the aggregate skeleton of two or three fractions plus limestone filler; fiber type and dosage. Two mix designs were selected from the preliminary results. The first one was used as reference for self-compactability and mechanical properties. The second one was an optimized mix with a reduction in cement content of 20 kg/m3and fiber dosage of 1 kg/m3. For these mix designs, extended testing was carried out to measure the compression and flexural strength, modulus of elasticity, toughness, and water permeability resistance

Análisis de parámetros de fendas para la estimación de las propiedades mecánicas de vigas de madera de Pinus sylvestris L. Analysis of parameters for assessing drying fissures to estimate their influence on the mechanical properties of Pinus sylvestris L. wooden beams

El principal objetivo de este estudio es evaluar la influencia de las fendas de secado en las propiedades mecánicas de vigas de madera. Para esto, se utilizan 40 vigas de Pino silvestre (Pinus sylvestris L) de 4200 mm de longitud y 150x200 mm de sección que fueron ensayadas según norma EN 408. Las fendas se registran detalladamente atendiendo a su longitud y posición en cada cara de la viga, y midiendo el espesor y la profundidad cada 100mm a lo largo de la viga. Solo el 10% de la muestra es rechazada por las fendas, según los criterios establecidos por la norma española de clasificación visual UNE 56544. Para evaluar la influencia de las fendas en las propiedades mecánicas, se usan tres parámetros globales basados en el área, el volumen o la profundad de la fenda, y dos locales basados en la profundidad máxima y la profundidad en la zona de rotura. Además se determina la densidad de las piezas. Estos parámetros se comparan con las propiedades mecánicas (tensión de rotura, módulo de elasticidad y energía de rotura) y se encuentra escasa relación entre ellos. Las mejores correlaciones se encuentran entre los parámetros relacionados con la profundidad de las fendas, tanto con el módulo de elasticidad como con la tensión de rotura. The aim of this study is the evaluation of the influence of drying fissures on the mechanical properties of timber beams. For that purpose, 40 sawn timber pieces of Scots pine (Pinus sylvestris L.) with 150x200 mm in cross-section and 4200 mm in length have been tested according to EN 408, obtaining MOR and MOE. The fissures were registered in detail measuring their length and position in each face of the beam, and the thickness and depth every 100 mm in length. Only 10 % of the pieces were rejected because fissures, according to UNE 56544 Spanish visual grading standard. To evaluate the influence of fissures in mechanical properties three global parameters: Fissures Area Ratio or ratio between the area occupied by fissures and the total area in the neutral axis plane of the beam; Fissures Volume Ratio or ratio between volume of fissures and the total volume of the beam; Fissures Average Depth and two local parameters were used: Fissures Maximum Depth in the beam, and Fissures Depth in the broken zone of the beam. Also the density of the beams was registered. These parameters were compared with mechanical properties (tensile strength, elasticity modulus, and rupture energy) and the relationship between them had not been founded. The best relationship was founded between the elasticity modulus y the tensile strength with the parameters which included the depth of the fissures.

Clasificación visual estructural de la madera de pino radiata procedente de Cataluña

Se han clasificado visualmente, según la norma española UNE 56544; 150 piezas de madera aserrada de pino radiata procedentes de Cataluña (España) con una sección de 80x150 mm y una longitud de 2.500 mm. Esta norma establece dos calidades visuales (ME-1 y ME-2) para piezas con grueso menor o igual que 70 mm y una única calidad visual (MEG) para gruesos mayores de 70 mm. Con el fin de conocer el efecto frontera entre la pequeña y la gran escuadría se clasificaron las piezas según ambas categorías. Se determinó la tensión de rotura en flexión, el módulo de elasticidad en flexión y la densidad de cada pieza mediante el ensayo de acuerdo con la norma UNE-EN 408 siguiendo los ajustes definidos en la norma UNE-EN 384. Un 53 % de las piezas se clasificaron como MEG con una resistencia característica a flexión de 28 N/mm2 y un valor medio del módulo de elasticidad de 9.900 N/mm2. Por otra, un 42 % de las piezas se clasificaron como ME-2 y sólo un 3 % como ME-1; en este caso las propiedades mecánicas de la calidad ME-2 no se alejan mucho de las de la calidad MEG. El elevado porcentaje de piezas rechazadas (47 % frente a la MEG) se debe principalmente al defecto de alabeo responsable de un 39 % de rechazo. Si no se considera el alabeo en la clasificación el porcentaje de rechazo desciende al 17 % y las propiedades mecánicas de la calidad MEG presentan un valor característico de resistencia a flexión de 21 N/mm2 y un módulo de elasticidad de 9.100 N/mm2. A sample of 150 pieces of radiata pine sawn timber with 180x120 mm in cross-section and 2.500 mm in length sourcing from Catalonia (Spain) were visually graded according to Spanish standard UNE 56544. This standard establish two visual grades (ME-1 and ME-2) for timber pieces with thickness equal or less than 70 mm, and one grade (MEG) for thickness bigger than 70 mm. In order to know the border effect between small and larger cross-section the pieces were graded in both categories. The modulus of rupture, modulus of elasticity and density were obtained by test according to EN 408 standard and the adjustments of EN 384. A 53 % of pieces were classified as MEG with a characteristic bending strength of 28 N/mm2 and a mean value of MOE of 9.900 N/mm2. On the other hand, a 42 % of pieces were classified as ME-2 and only a 3 % as ME-1; in this case the mechanical properties of ME-2 are not far from MEG properties. The high percentage of rejected pieces (47 % vs MEG) is mainly due to the twist defect with a 39 % of rejected pieces. If twist is not considered in the grading process the reject percentage decreases to 17 % and the mechanical properties of MEG grade present a characteristic value of bending strength of 21 N/mm2 and a MOE of 9.100 N/mm2.

Explicitly Context-Aware Publish/Subscribe with Context-Invariant Subscriptions

Although context could be exploited to improve the performance, elasticity and adaptation in most distributed systems that adopt the publish/subscribe (P/S) model of communication, only very few works have explored domains with highly dynamic context, whereas most adopted models are context agnostic. In this paper, we present the key design principles underlying a novel context-aware content-based P/S (CA-CBPS) model of communication, where the context is explicitly managed, focusing on the minimization of network overhead in domains with recurrent context changes thanks to contextual scoping. We highlight how we dealt with the main shortcomings of most of the current approaches. Our research is some of the first to study the problem of explicitly introducing context-awareness into the P/S model to capitalize on contextual information. The envisioned CA-CBPS middleware enables the cloud ecosystem of services to communicate very efficiently, in a decoupled, but contextually scoped fashion.

Safety assessment of underground vehicles passing over highly resilient straight tracks in the presence of a broken rail

In this paper, vehicle-track interaction for a new slab track design, conceived to reduce noise and vibration levels has been analyzed, assessing the derailment risk for trains running on curved track when encountering a broken rail. Two different types of rail fastening systems with different elasticities have been analysed and compared. Numerical methods were used in order to simulate the dynamic behaviour of the train-track interaction. Multibody system (MBS) modelling techniques were combined with techniques based on the finite element method (FEM). MBS modelling was used for modelling the vehicle and FEM for simulating the elastic track. The simulation model was validated by comparing simulated results to experimental data obtained in field testing. During the simulations various safety indices, characteristic of derailment risk, were analysed. The simulations realised at the maximum running velocity of 110 km/h showed a similar behaviour for several track types. When reducing the running speed, the safety indices worsened for both cases. Although the worst behaviour was observed for the track with a greater elasticity, in none of the simulations did a derailment occur when running over the broken rail.

Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion

All-terrain robot locomotion is an active topic of research. Search and rescue maneuvers and exploratory missions could benefit from robots with the abilities of real animals. However, technological barriers exist to ultimately achieving the actuation system, which is able to meet the exigent requirements of these robots. This paper describes the locomotioncontrol of a leg prototype, designed and developed to make a quadruped walk dynamically while exhibiting compliant interaction with the environment. The actuation system of the leg is based on the hybrid use of series elasticity and magneto-rheological dampers, which provide variable compliance for natural-looking motion and improved interaction with the ground. The locomotioncontrol architecture has been proposed to exploit natural leg dynamics in order to improve energy efficiency. Results show that the controller achieves a significant reduction in energy consumption during the leg swing phase thanks to the exploitation of inherent leg dynamics. Added to this, experiments with the real leg prototype show that the combined use of series elasticity and magneto-rheologicaldamping at the knee provide a 20 % reduction in the energy wasted in braking the knee during its extension in the leg stance phase.

On the biomimetic design of agile-robot legs

The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented.