Analyzing the effects of vertical acceleration and deceleration in multi-phase, debris-flow sediment-column experiments / by Christine Marie Williams.

Water-saturated debris flows are among some of the most destructive mass movements. Their complex nature presents a challenge for quantitative description and modeling. In order to improve understanding of the dynamics of these flows, it is important to seek a simplified dynamic system underlying their behavior. Models currently in use to describe the motion of debris flows employ depth-averaged equations of motion, typically assuming negligible effects from vertical acceleration. However, in many cases debris flows experience significant vertical acceleration as they move across irregular surfaces, and it has been proposed that friction associated with vertical forces and liquefaction merit inclusion in any comprehensive mechanical model. The intent of this work is to determine the effect of vertical acceleration through a series of laboratory experiments designed to simulate debris flows, testing a recent model for debris flows experimentally. In the experiments, a mass of water-saturated sediment is released suddenly from a holding container, and parameters including rate of collapse, pore-fluid pressure, and bed load are monitored. Experiments are simplified to axial geometry so that variables act solely in the vertical dimension. Steady state equations to infer motion of the moving sediment mass are not sufficient to model accurately the independent solid and fluid constituents in these experiments. The model developed in this work more accurately predicts the bed-normal stress of a saturated sediment mass in motion and illustrates the importance of acceleration and deceleration.

Comparison of two suspension control strategies for multi-axle heavy truck

Two simple and effective control strategies for a multi-axle heavy truck, modified skyhook damping (MSD) control and proportional-integration-derivative (PID) control, were implemented into functional virtual prototype (FVP) model and compared in terms of road friendliness and ride comfort. A four-axle heavy truck-road coupling system model was established using FVP technology and validated through a ride comfort test. Then appropriate passive air suspensions were chosen to replace the rear tandem suspensions of the original truck model for preliminary optimization. The mechanical properties and time lag of dampers were taken into account in simulations of MSD and PID semi-active dampers implemented using MATLAB/Simulink. Through co-simulations with Adams and MATLAB, the effects of semi-active MSD and PID control were analyzed and compared, and control parameters which afforded the best comprehensive performance for each control strategy were chosen. Simulation results indicate that compared with the passive air suspension truck, semi-active MSD control improves both ride comfort and road-friendliness markedly, with optimization ratios of RMS vertical acceleration and RMS tyre force ranging from 10.1% to 44.8%. However, semi-active PID control only reduces vertical vibration of the driver’s seat by 11.1%, 11.1% and 10.9% on A, B and C level roads respectively. Both strategies are robust to the variation of road level.

Stiffness-damping matching method of an ECAS system based on LQG control

A novel method of matching stiffness and continuous variable damping of an ECAS (electronically controlled air suspension) based on LQG (linear quadratic Gaussian) control was proposed to simultaneously improve the road-friendliness and ride comfort of a two-axle school bus. Taking account of the suspension nonlinearities and target-height-dependent variation in suspension characteristics, a stiffness model of the ECAS mounted on the drive axle of the bus was developed based on thermodynamics and the key parameters were obtained through field tests. By determining the proper range of the target height for the ECAS of the fully-loaded bus based on the design requirements of vehicle body bounce frequency, the control algorithm of the target suspension height (i.e., stiffness) was derived according to driving speed and road roughness. Taking account of the nonlinearities of a continuous variable semi-active damper, the damping force was obtained through the subtraction of the air spring force from the optimum integrated suspension force, which was calculated based on LQG control. Finally, a GA (genetic algorithm)-based matching method between stepped variable damping and stiffness was employed as a benchmark to evaluate the effectiveness of the LQG-based matching method. Simulation results indicate that compared with the GA-based matching method, both dynamic tire force and vehicle body vertical acceleration responses are markedly reduced around the vehicle body bounce frequency employing the LQG-based matching method, with peak values of the dynamic tire force PSD (power spectral density) decreased by 73.6%, 60.8% and 71.9% in the three cases, and corresponding reduction are 71.3%, 59.4% and 68.2% for the vehicle body vertical acceleration. A strong robustness to variation of driving speed and road roughness is also observed for the LQG-based matching method.

Real-Time Bayesian Analysis of Ground Motion Envelopes for Earthquake Early Warning

Current earthquake early warning systems usually make magnitude and location predictions and send out a warning to the users based on those predictions. We describe an algorithm that assesses the validity of the predictions in real-time. Our algorithm monitors the envelopes of horizontal and vertical acceleration, velocity, and displacement. We compare the observed envelopes with the ones predicted by Cua & Heaton's envelope ground motion prediction equations (Cua 2005). We define a "test function" as the logarithm of the ratio between observed and predicted envelopes at every second in real-time. Once the envelopes deviate beyond an acceptable threshold, we declare a misfit. Kurtosis and skewness of a time evolving test function are used to rapidly identify a misfit. Real-time kurtosis and skewness calculations are also inputs to both probabilistic (Logistic Regression and Bayesian Logistic Regression) and nonprobabilistic (Least Squares and Linear Discriminant Analysis) models that ultimately decide if there is an unacceptable level of misfit. This algorithm is designed to work at a wide range of amplitude scales. When tested with synthetic and actual seismic signals from past events, it works for both small and large events.

Identifying Heel Contact and Toe-Off Using Forceplate Thresholds With a Range of Digital-Filter Cutoff Frequencies

Analysis of human gait requires accurate measurement of foot-ground contact, often determined using either foot-ground reaction force thresholds or kinematic data. This study examined the differences in calculating event times across five vertical force thresholds and validated a vertical acceleration-based algorithm as a measure of heel contact and toe-off.

Influência da suspensão na segurança e no conforto de um pulverizador autopropelido

Para avaliar o comportamento da suspensão do pulverizador autopropelido, foram desenvolvidos modelos físicos e matemáticos em função da excitação ocasionada pelas irregularidades do solo. Neste trabalho, estas irregularidades são representadas por obstáculos de uma pista normalizada segundo a norma ISO 5008. As equações do movimento são obtidas a partir dos modelos matemáticos de meio veículo. As simulações numéricas são executadas nos softwares Matlab® e Simulink®. A partir da entrada conhecida, podem-se determinar as características dos elementos da suspensão para obter níveis desejáveis de conforto e segurança. Foram analisadas quatro diferentes configurações do sistema, variando-se a relação de rigidez a partir de um modelo considerado padrão. Constatou-se que o aumento da relação de rigidez resulta na redução da aceleração vertical e no aumento do curso da suspensão, melhorando o conforto e diminuindo a segurança.

Water waves generated by local disturbance: Serre's model validity

Water waves generated by landslides were long menace in certain localities and the study of this phenomenon were carried out at an accelerated rate in the last decades. Nevertheless, the phase of wave creation was found to be very complex. As such, a numerical model based on Boussinesq equations was used to describe water waves generated by local disturbance. This numerical model takes in account the vertical acceleration of the particles and considers higher orders derivate terms previously neglected by Boussinesq, so that in the generation zone, this model can support high relative amplitude of waves.

Avaliação de dados de altimetria do satélite Geosat a partir de comparação com dados do levantamento gravimétrico marinho Equant

O objetivo principal deste trabalho é avaliar o uso dos dados de altimetria de satélites para mapear a superfície do potencial gravitacional (geóide) no mar. Esta avaliação se faz por comparações da resolução e precisão entre os dados de altimetria processados numa superfície equipotencial (o mar) e dados obtidos a partir de levantamentos convencionais. Uma vez processada a superfície equipotencial, quantidades tais como a anomalia "ar livre" juntamente com o desvio vertical podem ser calculadas. Os dados altimétricos ("altura do mar") utilizados neste trabalho foram coletados pelo satélite GEOSAT. Este satélite rastreou diversas áreas oceânicas do globo processando 44 ciclos em dois anos. Alguns pesquisadores utilizaram os valores médios da "altura do mar" deste satélite para melhoramentos em precisão e resolução dos registros. Estes valores tratados estão disponíveis em NOAA (National Oceanic and Atmospheric Administration) sendo deste modo repassados à UFPa para utilização nesta tese. Os dados de gravimetria marinha utilizados neste trabalho são aqueles obtidos do levantamento "Equatorial Atlantic" (EQUANT I e II) resultantes de uma pesquisa conjunta entre várias instituições com objetivos científicos de conhecer o comportamento da margem equatorial Brasileira. Para comparação e integração entre os dois tipos de dados obtidos através de fontes distintas (medidas de satélite e do navio), poder-se-ia obter a aceleração vertical numa superfície equipotencial partindo-se de um tratamento algébrico dos dados coletados por rastreamento altimétrico do satélite Geosat ou alternativamente poder-se-ia processar transformações dos dados de gravimetria marinha em uma superfície equipotencial equivalente. Em decorrência de diferenças no espaçamento entre as linhas dos levantamentos, ou seja, as linhas das trajetórias do satélite estão largamente espaçadas em comparação com aquelas do levantamento marinho, optou-se por transformar os dados gravimétricos do navio em uma superfície equipotencial. Neste tipo de transformação, consideraram-se vários fatores tais como efeitos "aliasing", nível de ruídos nos levantamentos do navio, redução ao geóide (correção "ar livre"), bem como erros computacionais durante as transformações. Com a supressão parcial desses efeitos (enfatizando o "aliasing") encontrou-se forte correlação entre os dois conjuntos de dados verificando-se um nível de coerência satisfatório a partir do comprimento de onda de 11 km. Comparando-se este resultado com o nível de resolução do satélite Geosat largamente estudado por outros pesquisadores enfatiza-se que de fato a resolução dos valores médios (2 anos) do satélite Geosat aproxima-se da resolução dos levantamentos do Equant I e Equant II.

Modelagem matemática e comportamento dinâmico da suspensão passiva de um pulverizador agrícola autopropelido

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Isokinetic analysis of ankle and ground reaction forces in runners and triathletes

OBJECTIVE: To analyze and compare the vertical component of ground reaction forces and isokinetic muscle parameters for plantar flexion and dorsiflexion of the ankle between long-distance runners, triathletes, and nonathletes. METHODS: Seventy-five males with a mean age of 30.26 (±6.5) years were divided into three groups: a triathlete group (n=26), a long-distance runner group (n = 23), and a non-athlete control group. The kinetic parameters were measured during running using a force platform, and the isokinetic parameters were measured using an isokinetic dynamometer. RESULTS: The non-athlete control group and the triathlete group exhibited smaller vertical forces, a greater ground contact time, and a greater application of force during maximum vertical acceleration than the long-distance runner group. The total work (180º/s) was greater in eccentric dorsiflexion and concentric plantar flexion for the non-athlete control group and the triathlete group than the long-distance runner group. The peak torque (60º/s) was greater in eccentric plantar flexion and concentric dorsiflexion for the control group than the athlete groups. CONCLUSIONS: The athlete groups exhibited less muscle strength and resistance than the control group, and the triathletes exhibited less impact and better endurance performance than the runners.

Fault diagnosis of an automotive suspension system

With the development of the embedded application and driving assistance systems, it becomes relevant to develop parallel mechanisms in order to check and to diagnose these new systems. In this thesis we focus our research on one of this type of parallel mechanisms and analytical redundancy for fault diagnosis of an automotive suspension system. We have considered a quarter model car passive suspension model and used a parameter estimation, ARX model, method to detect the fault happening in the damper and spring of system. Moreover, afterward we have deployed a neural network classifier to isolate the faults and identifies where the fault is happening. Then in this regard, the safety measurements and redundancies can take into the effect to prevent failure in the system. It is shown that The ARX estimator could quickly detect the fault online using the vertical acceleration and displacement sensor data which are common sensors in nowadays vehicles. Hence, the clear divergence is the ARX response make it easy to deploy a threshold to give alarm to the intelligent system of vehicle and the neural classifier can quickly show the place of fault occurrence.

Footbridge system identification using wireless inertial measurement units for force and response measurements

With the main focus on safety, design of structures for vibration serviceability is often overlooked or mismanaged, resulting in some high profile structures failing publicly to perform adequately under human dynamic loading due to walking, running or jumping. A standard tool to inform better design, prove fitness for purpose before entering service and design retrofits is modal testing, a procedure that typically involves acceleration measurements using an array of wired sensors and force generation using a mechanical shaker. A critical but often overlooked aspect is using input (force) to output (response) relationships to enable estimation of modal mass, which is a key parameter directly controlling vibration levels in service.

This paper describes the use of wireless inertial measurement units (IMUs), designed for biomechanics motion capture applications, for the modal testing of a 109 m footbridge. IMUs were first used for an output-only vibration survey to identify mode frequencies, shapes and damping ratios, then for simultaneous measurement of body accelerations of a human subject jumping to excite specific vibrations modes and build up bridge deck accelerations at the jumping location. Using the mode shapes and the vertical acceleration data from a suitable body landmark scaled by body mass, thus providing jumping force data, it was possible to create frequency response functions and estimate modal masses.

The modal mass estimates for this bridge were checked against estimates obtained using an instrumented hammer and known mass distributions, showing consistency among the experimental estimates. Finally, the method was used in an applied research application on a short span footbridge where the benefits of logistical and operational simplicity afforded by the highly portable and easy to use IMUs proved extremely useful for an efficient evaluation of vibration serviceability, including estimation of modal masses.