Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators

In this paper, the architectures of three degrees of freedom (3-DoF) spatial, fully parallel manipulators (PMs), whose limbs are structurally identical, are obtained systematically. To do this, the methodology followed makes use of the concepts of the displacement group theory of rigid body motion. This theory works with so-called 'motion generators'. That is, every limb is a kinematic chain that produces a certain type of displacement in the mobile platform or end-effector. The laws of group algebra will determine the actual motion pattern of the end-effector. The structural synthesis is a combinatorial process of different kinematic chains' topologies employed in order to get all of the 3-DoF motion pattern possibilities in the end-effector of the fully parallel manipulator.

The design, development, and manufacture of large wood/composite wind turbine rotors

Discusses a study conducted to determine the best development path for large wind turbine rotor design. Shape and number of blades, degrees of freedom allowed, and control strategy are considered. Manufacture and costs are also discussed. Two-bladed, stall-regulated, teetered rotors are more cost effective than three-bladed rotors. Single-bladed rotors can be even more cost-effective. No new manufacturing techniques are required. The most cost-effective rotor includes a hub constructed in wood/composite materials, bonded to the blades. There is strong incentive for the blade manufacturer to supply the complete rotor. (from author's abstract)

Centrifuge tests investigating inclined grout micro-piles as a method of liquefaction remediation for existing buildings

This paper presents a series of centrifuge tests carried out to investigate the performance of non-structural inclined micro-piles as a potential liquefaction remediation method for existing buildings. Both a single-degree-of-freedom frame structure and a two-storey, two-degree-of-freedom frame structure were used as model buildings in these tests. Centrifuge tests were carried out with and without micro-piles in the foundation soil for each structure. Results primarily from the tests with the SDOF structure are presented in this paper. It is found that the micro-piles have some beneficial effect by increasing shear strains in the soil in their vicinity and hence causing dilation in these zones. However, they also increase structural accelerations by transmitting accelerations from deep in the soil and the beneficial effects from increased dilation are outweighed by the detrimental migration of pore pressures.

Centrifuge modelling-based verification of response spectra design methods for some vulnerable structures

Residential RC framed structures suffered heavily during the 2001 Bhuj earthquake in Gujarat, India. These types of structures also saw severe damage in other earthquakes such as the 1999 Kocaeli earthquake in Turkey and 921 Ji-Ji earthquake in Taiwan. In this paper the seismic response of residential structures was investigated using physical modelling. Idealised soft storey and top heavy, two degrees of freedom (2DOF) portal frame structures were developed and tested on saturated and dry sand models at 25 g using the Schofield Centre 10-m Beam Centrifuge. It was possible to recreate observed field behaviour using these models. As observed in many of the recent earthquakes, soft storey structures were found to be particularly vulnerable to seismic loads. Elastic response spectra methods are often used in the design of simple portal frame structures. The seismic risk of these structures can be significantly increased due to modifications such as removal of a column or addition of heavy water tanks on the roof. The experimental data from the dynamic centrifuge tests on such soft storey or top-heavy models was used to evaluate the predictions obtained from the response spectra. Response spectra were able to predict seismic response during small to moderate intensity earthquakes, but became inaccurate during strong earthquakes and when soil structure interaction effects became important. Re-evaluation of seismic risk of such modified structures is required and time domain analyses suggested by building codes such as IBC, UBC or NEHRP may be more appropriate. © Springer 2006.

Centrifuge modelling of inclined micro-piles for liquefaction remediation of existing buildings

This paper describes four centrifuge tests investigating the performance of non-structural inclined micro-piles as a liquefaction remediation method for existing buildings. Two soil profiles with the same superstructure founded on each were tested under earthquakes of different magnitudes and durations. The first profile consisted of a deep, homogeneous layer of loose, liquefiable sand. The second comprised a shallow layer of loose sand overlying dense sand. Centrifuge tests were carried out with and without inclined micro-piles in each soil profile. The superstructure was modelled as an idealised single degree of freedom (SDOF) system. It is found that the micro-piles have no detrimental effect on the performance of the structure during and after earthquakes. It is also possible that their presence may decrease structural settlements in earthquakes which cause liquefaction to a depth less than that of the improved zone. However, no conclusive evidence is obtained to show that the micro-piles significantly restrain lateral soil movement due to monotonic shearing from the structure or impede the migration of excess pore pressures from the free field to the foundation zone. Both these processes have critical effects on structural settlement. The use of inclined micro-piles for liquefaction remediation should therefore be considered with caution.

Face-based Selection of Corners in 3D Substructuring

In most recent substructuring methods, a fundamental role is played by the coarse space. For some of these methods (e.g. BDDC and FETI-DP), its definition relies on a 'minimal' set of coarse nodes (sometimes called corners) which assures invertibility of local subdomain problems and also of the global coarse problem. This basic set is typically enhanced by enforcing continuity of functions at some generalized degrees of freedom, such as average values on edges or faces of subdomains. We revisit existing algorithms for selection of corners. The main contribution of this paper consists of proposing a new heuristic algorithm for this purpose. Considering faces as the basic building blocks of the interface, inherent parallelism, and better robustness with respect to disconnected subdomains are among features of the new technique. The advantages of the presented algorithm in comparison to some earlier approaches are demonstrated on three engineering problems of structural analysis solved by the BDDC method.

Effects of constraint curvature on structural instability: tensile buckling and multiple bifurcations

Bifurcation of an elastic structure crucially depends on the curvature of the constraints against which the ends of the structure are prescribed to move, an effect which deserves more attention than it has received so far. In fact, we show theoretically and we provide definitive experimental verification that an appropriate curvature of the constraint over which the end of a structure has to slide strongly affects buckling loads and can induce: (i.) tensile buckling; (ii.) decreasing- (softening), increasing- (hardening), or constant-load (null stiffness) postcritical behaviour; (iii.) multiple bifurcations, determining for instance two bifurcation loads (one tensile and one compressive) in a single-degree-of-freedom elastic system. We show how to design a constraint profile to obtain a desired postcritical behaviour and we provide the solution for the elastica constrained to slide along a circle on one end, representing the first example of an inflexional elastica developed from a buckling in tension. These results have important practical implications in the design of compliant mechanisms and may find applications in devices operating in quasi-static or dynamic conditions.

Response probability distribution of built-up vibro-acoustic systems

The vibro-acoustic response of built-up structures, consisting of stiff components with low modal density and flexible components with high modal density, is sensitive to small imperfections in the flexible components. In this paper, the uncertainty of the response is considered by modeling the low modal density master system as deterministic and the high modal density subsystems in a nonparametric stochastic way, i.e., carrying a diffuse wave field, and by subsequently computing the response probability density function. The master system's mean squared response amplitude follows a singular noncentral complex Wishart distribution conditional on the subsystem energies. For a single degree of freedom, this is equivalent to a chi-square or an exponential distribution, depending on the loading conditions. The subsystem energies follow approximately a chi-square distribution when their relative variance is smaller than unity. The results are validated by application to plate structures, and good agreement with Monte Carlo simulations is found. © 2012 Acoustical Society of America.

Physical consequences of a nonparametric uncertainty model in structural dynamics

One of the main claims of the nonparametric model of random uncertainty introduced by Soize (2000) [3] is its ability to account for model uncertainty. The present paper investigates this claim by examining the statistics of natural frequencies, total energy and underlying dispersion equation yielded by the nonparametric approach for two simple systems: a thin plate in bending and a one-dimensional finite periodic massspring chain. Results for the plate show that the average modal density and the underlying dispersion equation of the structure are gradually and systematically altered with increasing uncertainty. The findings for the massspring chain corroborate the findings for the plate and show that the remote coupling of nonadjacent degrees of freedom induced by the approach suppresses the phenomenon of mode localization. This remote coupling also leads to an instantaneous response of all points in the chain when one mass is excited. In the light of these results, it is argued that the nonparametric approach can deal with a certain type of model uncertainty, in this case the presence of unknown terms of higher or lower order in the governing differential equation, but that certain expectations about the system such as the average modal density may conflict with these results. © 2012 Elsevier Ltd.

Twisting transition between crystalline and fibrillar phases of aggregated peptides

We study two distinctly ordered condensed phases of polypeptide molecules, amyloid fibrils and amyloidlike microcrystals, and the first-order twisting phase transition between these two states. We derive a single free-energy form which connects both phases. Our model identifies relevant degrees of freedom for describing the collective behavior of supramolecular polypeptide structures, reproduces accurately the results from molecular dynamics simulations as well as from experiments, and sheds light on the uniform nature of the dimensions of different peptide fibrils. © 2012 American Physical Society.

A clinical system for three-dimensional extended-field-of-view ultrasound.

OBJECTIVE: This work is concerned with the creation of three-dimensional (3D) extended-field-of-view ultrasound from a set of volumes acquired using a mechanically swept 3D probe. 3D volumes of ultrasound data can be registered by attaching a position sensor to the probe; this can be an inconvenience in a clinical setting. A position sensor can also cause some misalignment due to patient movement and respiratory motion. We propose a combination of three-degrees-of-freedom image registration and an unobtrusively integrated inertial sensor for measuring orientation. The aim of this research is to produce a reliable and portable ultrasound system that is able to register 3D volumes quickly, making it suitable for clinical use. METHOD: As part of a feasibility study we recruited 28 pregnant females attending for routine obstetric scans to undergo 3D extended-field-of-view ultrasound. A total of 49 data sets were recorded. Each registered data set was assessed for correct alignment of each volume by two independent observers. RESULTS: In 77-83% of the data sets more than four consecutive volumes registered. The successful registration relies on good overlap between volumes and is adversely affected by advancing gestational age and foetal movement. CONCLUSION: The development of reliable 3D extended-field-of-view ultrasound may help ultrasound practitioners to demonstrate the anatomical relation of pathology and provide a convenient way to store data.

Characterization and control of a pneumatic microactuator with an integrated inductive position sensor

As the intelligence and the functionality of microrobots increase, there is a growing need to incorporate sensors into these robots. In order to limit the outer dimensions of these microsystems, this research investigates sensors that can be integrated efficiently into microactuators. Here, a pneumatic piston-cylinder microactuator with an integrated inductive position sensor was developed. The main advantage of pneumatic actuators is their high force and power density at microscale. The outside diameter of the actuator is 1.3 mm and the length is 15 mm. The stroke of the actuator is 12 mm, and the actuation force is 1 N at a supply pressure of 1.5 MPa. The position sensor consists of two coils wound around the cylinder of the actuator. The measurement principle is based on the change in coupling factor between the coils as the piston moves in the actuator. The sensor is extremely small since one layer of 25 μm copper wire is sufficient to achieve an accuracy of 10 μm over the total stroke. Position tests with a PI controller and a sliding mode controller showed that the actuator is able to position with an accuracy up to 30 μm. Such positioning systems offer great opportunities for all devices that need to control a large number of degrees of freedom in a restricted volume. © 2007 Elsevier B.V. All rights reserved.

Natural frequency and damping ratio of a vertically vibrated surface foundation

It is possible and common to obtain equivalent natural frequency and damping for a soil-foundation system from results of experimental or numerical analysis assuming the system has a single degree of freedom. Three approaches to extract natural frequency and damping were applied to the vertically vibrated soil-foundation system. The sensitivity of the computed natural frequency and damping to the soil properties was evaluated through parametric studies. About 10-20% of discrepancy in values of natural frequency was observed due to different approaches. The results help to assess the reliability of equivalent soil properties determined from the reported natural frequency of the system. Finally the results obtained using theoretical predictions with linear soil properties measured in situ were compared to those calculated from experimental data. The prediction and experimental results showed good agreements if the embedment of the foundation is neglected with stepped sine test but considered with impulse test. © 2010 Elsevier Ltd.

Shock amplification, curve veering and the role of damping

The circumstances are investigated under which high peak acceleration can occur in the internal parts of a system when subjected to impulsive driving on the outside. Previous work using a coupled beam model has highlighted the importance of veering pairs of modes. Such a veering pair can be approximated by a lumped system with two degrees of freedom. The worst case of acceleration amplification is shown to occur when the two oscillators are tuned to the same frequency, and for this case closed-form expressions are derived to show the parameter dependence of the acceleration ratio on the mass ratio and coupling strength. Sensitivity analysis of the eigenvalues and eigenvectors indicates that mass ratio is the most sensitive parameter for altering the veering behaviour in an undamped system. Non-proportional damping is also shown to have a strong influence on the veering behaviour. The study gives design guidelines to allow permissible acceleration levels to be achieved by the choice of the effective mass and damping of the indirectly driven subsystem relative to the directly driven subsystem. © 2013 Elsevier Ltd.

Numerical simulations supporting the process design of ring rolling processes

In conventional Finite Element Analysis (FEA) of radial-axial ring rolling (RAR) the motions of all tools are usually defined prior to simulation in the preprocessing step. However, the real process holds up to 8 degrees of freedom (DOF) that are controlled by industrial control systems according to actual sensor values and preselected control strategies. Since the histories of the motions are unknown before the experiment and are dependent on sensor data, the conventional FEA cannot represent the process before experiment. In order to enable the usage of FEA in the process design stage, this approach integrates the industrially applied control algorithms of the real process including all relevant sensors and actuators into the FE model of ring rolling. Additionally, the process design of a novel process 'the axial profiling', in which a profiled roll is used for rolling axially profiled rings, is supported by FEA. Using this approach suitable control strategies can be tested in virtual environment before processing. © 2013 AIP Publishing LLC.