Experimental investigation on adaptive robust controller designs applied to a free-floating space manipulator

This paper aims to formulate and investigate the application of various nonlinear H(infinity) control methods to a fiee-floating space manipulator subject to parametric uncertainties and external disturbances. From a tutorial perspective, a model-based approach and adaptive procedures based on linear parametrization, neural networks and fuzzy systems are covered by this work. A comparative study is conducted based on experimental implementations performed with an actual underactuated fixed-base planar manipulator which is, following the DEM concept, dynamically equivalent to a free-floating space manipulator. (C) 2011 Elsevier Ltd. All rights reserved.

Timoshenko versus Euler beam theory: Pitfalls of a deterministic approach

The selection criteria for Euler-Bernoulli or Timoshenko beam theories are generally given by means of some deterministic rule involving beam dimensions. The Euler-Bernoulli beam theory is used to model the behavior of flexure-dominated (or ""long"") beams. The Timoshenko theory applies for shear-dominated (or ""short"") beams. In the mid-length range, both theories should be equivalent, and some agreement between them would be expected. Indeed, it is shown in the paper that, for some mid-length beams, the deterministic displacement responses for the two theories agrees very well. However, the article points out that the behavior of the two beam models is radically different in terms of uncertainty propagation. In the paper, some beam parameters are modeled as parameterized stochastic processes. The two formulations are implemented and solved via a Monte Carlo-Galerkin scheme. It is shown that, for uncertain elasticity modulus, propagation of uncertainty to the displacement response is much larger for Timoshenko beams than for Euler-Bernoulli beams. On the other hand, propagation of the uncertainty for random beam height is much larger for Euler beam displacements. Hence, any reliability or risk analysis becomes completely dependent on the beam theory employed. The authors believe this is not widely acknowledged by the structural safety or stochastic mechanics communities. (C) 2010 Elsevier Ltd. All rights reserved.

Glulam beams reinforced with FRP externally-bonded: theoretical and experimental evaluation

The glued- laminated lumber (glulam) technique is an efficient process for the rational use of wood. Fiber-reinforced polymer (FRPs) associated with glulam beams provide significant improvements in strength and stiffness and alter the failure mode of these structural elements. In this context, this paper presents guidance for glulam beam production, an experimental analysis of glulam beams made of Pinus caribea var. hondurensis species without and with externally-bonded FRP and theoretical models to evaluate reinforced glulam beams (bending strength and stiffness). Concerning the bending strength of the beams, this paper aims only to analyze the limit state of ultimate strength in compression and tension. A specific disposal was used in order to avoid lateral buckling, once the tested beams have a higher ratio height-to-width. The results indicate the need of production control so as to guarantee a higher efficiency of the glulam beams. The FRP introduced in the tensile section of glulam beams resulted in improvements on their bending strength and stiffness due to the reinforcement thickness increase. During the beams testing, two failure stages were observed. The first was a tensile failure on the sheet positioned under the reinforcement layer, while the second occurred as a result of a preliminary compression yielding on the upper side of the lumber, followed by both a shear failure on the fiber-lumber interface and a tensile failure in wood. The model shows a good correlation between the experimental and estimated results.

Behavior of Socket Base Connections Emphasizing Pedestal Walls

To evaluate the main design models for socket base connections of precast concrete structures, an experimental investigation was carried out on specimens of this connection with smooth and rough interfaces in contact with cast-in-place concrete. The specimens consisted of pedestal walls and were submitted to loads with large eccentricities. Based on the experimental results, two rational design models are proposed for this connection. One of these models accounts for the friction and is applied to socket bases with smooth interfaces. The main behavior model was verified for sockets with this type of interface and the design of the longitudinal walls as corbels is also suggested in this case. Because the behavior of the rough interface specimens was very close to a monolithic connection, the other proposed model is an adaptation of the bending theory to calculate the vertical reinforcement of socket bases with rough interfaces.

Theoretical and experimental study of the thermal degradation of Eucalyptus timber

Thermal action on timber causes it to degrade through combustion of its chemical components, which leads to the release of vapors, combustible gases and surface char. This diminishes its load capacity, due to the reduction of its cross section by charring and to changes in its mechanical properties of strength and stiffness as a function of its exposure to high temperatures. This paper reports the charring rates observed on Eucalyptus structural beams and presents a numerical and experimental study of the behavior of these beams when exposed to fire, in which the properties of strength and stiffness were evaluated as a function of rising temperatures, allowing an analysis of the effect of the section factor on the internal rise in temperature of structural Eucalyptus beams.

Leak detection by inverse transient analysis in an experimental PVC pipe system

Leakage reduction in water supply systems and distribution networks has been an increasingly important issue in the water industry since leaks and ruptures result in major physical and economic losses. Hydraulic transient solvers can be used in the system operational diagnosis, namely for leak detection purposes, due to their capability to describe the dynamic behaviour of the systems and to provide substantial amounts of data. In this research work, the association of hydraulic transient analysis with an optimisation model, through inverse transient analysis (ITA), has been used for leak detection and its location in an experimental facility containing PVC pipes. Observed transient pressure data have been used for testing ITA. A key factor for the success of the leak detection technique used is the accurate calibration of the transient solver, namely adequate boundary conditions and the description of energy dissipation effects since PVC pipes are characterised by a viscoelastic mechanical response. Results have shown that leaks were located with an accuracy between 4-15% of the total length of the pipeline, depending on the discretisation of the system model.

Modeling and experimental study of nucleate boiling on a vertical array of horizontal plain tubes

An investigation of nucleate boiling on a vertical array of horizontal plain tubes is presented in this paper. Experiments were performed with refrigerant RI 23 at reduced pressures varying from 0.022 to 0.64, tube pitch to diameter ratios of 1.32, 1.53 and 2.00, and heat fluxes from 0.5 to 40 kW/m(2). Brass tubes with external diameters of 19.05 mm and average roughness of 0.12 mu m were used in the experiments. The effect of the tube spacing on the local heat transfer coefficient along the tube array was negligible within the present range of experimental conditions. For partial nucleate boiling, characterized by low heat fluxes, and low reduced pressures, the tube positioning shows a remarkable effect on the heat transfer coefficient. Based on these data, a general correlation for the prediction of the nucleate boiling heat transfer coefficient on a vertical array of horizontal tubes under flooded conditions was proposed. According to this correlation, the ratio between the heat transfer coefficients of a given tube and the lowest tube in the array depends only on the tube row number, the reduced pressure and the heat flux. By using the proposed correlation, most of the experimental heat transfer coefficients obtained in the present study were predicted within +/- 15%. The new correlation compares reasonably well with independent data from the literature. (C) 2008 Elsevier Inc. All rights reserved.