<p>In this thesis the dynamic response of wide-flange steel beams and columns to blast loading was experimentally evaluated. A total of twenty six steel members were field tested using live explosives, where the charge size ranged from 50 to 250 kg of ANFO and the ground stand-off distance from 7.0 to 10.3 m. Blast wave characteristics, including incident and reflected pressures were recorded. In addition, time-dependant displacements, accelerations, and strains at different locations along the steel members were measured, and the post-blast damage and mode of failure of the test specimens were observed. This study also presented detailed analysis of the experimental data. The blast load characteristics were compared with those obtained using the Technical Manual UFC 3-340-02 model (UFCM). The spatial and temporal variations of strain rate were computed from the recorded strain time histories and analyzed. In addition, time-dependant deformations were analyzed to study the contributing modes of vibration in the dynamic response using Power Spectral Density (PSD) function. Moreover, the effect of the axial load on the maximum deformations, vibration periods, strain rates, and contributing modes in the dynamic response were study by comparing the beam results with the column results tested in the same blast shots.</p> <p>The experimental results were compared with those obtained from an equivalent Single-Degree-of-Freedom (SDOF) model, which included material nonlinearity, strain rate effect, and <em>P-δ</em> effect. To account for strain rate effect on member stiffness and strength, its full moment-curvature response is determined by dividing its cross-section into a number of layers and a strain rate-dependent stress-strain relationship, based on the Cowper-Symonds strain rate model, was used to capture the nonlinear stress distribution over the section. The <em>P-δ</em> effect was modelled using the equivalent lateral load (ELL) method to simulate the secondary moment due to axial load. To determine the effects of higher modes of vibration and the variation of steel member mechanical properties along its length on its dynamic response, the test steel members were also analyzed using Multi-Degree-of-Freedom (MDOF) models, based on Finite Element Modelling (FEM). These dynamic models were also used to investigate the effect of axial-bending interaction and dynamic stability of columns. In addition, the results of the dynamic models were used to evaluate the results of the Moment Magnification Factor (MMF) commonly used in the interaction formulas to design steel beam columns under blast. Moreover, the effect of strain rate caused by the blast loading on the local stability of steel columns was also evaluated insofar as it might lead to a shift in the governing mode of failure.</p> <p>Results showed the UFCM pressure predictions compared reasonably well with the measured pressure in the positive phase in terms of both the peak pressure and overall time variations. Results also showed that when proper accounting for secondary-moment due to axial load and strain rate effect on the member resistance function, the SDOF model adequately captured both the overall response, such as the time-dependant deformations and internal forces, and instability behaviour of steel columns under blast loading. It is also shown that using MMF method overestimates the column capacity for ductility ratios <em>µ</em> greater than one, irrespective of the axial load to Euler elastic buckling load ratio (<em>P</em>/<em>P</em>_e). Also for <em>P</em>/<em>Pe</em> > 0.5, even if <em>µ</em> >1.0, the UFC method still overestimates the actual column capacity. The results of the dynamic models were used to generate stability diagrams for the assessment of the critical load and Pressure-Impulse (PI) diagrams for checking the column performance against the allowable deflection limits, which can be implemented in design standard of steel structures under blast loading.</p> / Doctor of Philosophy (PhD)

no / The paper deals with the problem of predicting the maximum response statistics of Multi-Degree-of-Freedom (MDoF) linear structures subjected to non-stationary non-white noises. The extension of two different censored closures of Gumbel type, originally proposed by the authors for the response of Single-Degree-of-Freedom oscillators, it is presented. The improvement associated with the introduction in the closure of a consistent censorship factor, accounting for the response bandwidth, it is pointed out. Simple and effective step-by-step procedures are formulated and described in details. Numerical applications on a realistic 25-storey moment-resisting frame along with comparisons with classical approximations and Monte Carlo simulations are also included.

The use of global positioning systems, or GPS, as a means of logistical organization for fleet vehicles has become more widespread in recent years. The system has the ability to track vehicle location, report on diagnostic trouble codes, and keep tabs on maintenance schedules. This helps to improve the safety and productivity of the vehicles and their operators. Additionally, the increasing use of yaw and roll stability control in commercial trucks has contributed to an increased level of safety for truck drivers. However, these systems require the vehicle to begin a yaw or roll event before they assist in maintaining control. This thesis presents a new method for utilizing the GPS signal in conjunction with a new fuzzy logic-based stability index, the Total Safety Margin (TSM), to create a superior active safety system. This thesis consists of four main components: An overview of GPS technology is presented with coverage of several automotive-based applications. The proposed implementation of GPS in the new Hardware-in-the-Loop (HIL) driving simulator under development at the Virginia Tech Center for Vehicle Systems and Safety (CVeSS) is presented. The three degree-of-freedom (3DOF), linear, single track equation set used in the Matlab simulations is derived from first principles. Matlab and TruckSim 7® simulations are performed for five vehicle masses and three forward velocities in a ramp-steer maneuver. Using fuzzy logic to develop the control rules for the Total Safety Margin (TSM), TSM matrices are built for both the Matlab and TruckSim 7® results based on these testing conditions. By comparing these TSM matrices it is shown that the two simulation methods yield similar results. A discussion of the development and implementation of the aforementioned HIL driving simulator is presented, specifically the steering subsystem. Using Matlab/Simulink, dSPACE ControlDesk, and CarSim RT® software it is shown that the steering module is capable of steering the CarSim RT® simulation vehicle accurately within the physical range of the steering sensor used. / Master of Science

Master of Science / Department of Civil Engineering / Hani G. Melhem / The objective of this research is to use structure ambient random vibration response to detect damage level and location. The use of ambient vibration is advantageous because excitation is caused by service conditions such as normal vehicle traffic on a highway bridge, train passage on a railroad bridge, or wind loads on a tall building. This eliminates the need to apply a special impact or dynamic load, or interrupt traffic on a bridge in regular service. This research developed an approach in which free vibration of a structure is extracted from the response of this structure to a random excitation in the time domain (acceleration versus time) by averaging out the random component of the response. The result is the free vibration that includes all modes based on the sampling rate on time. Then this free vibration is transferred to the frequency domain using a Fast Fourier Transform (FFT). Variations in frequency response are a function of structural stiffness and member end-conditions. Such variations are used as a measure to identify the change in the structural dynamic properties, and ultimately detect damage. A physical model consisting of a 20 × 20 × 1670 -mm long steel square tube was used to validate this approach. The beam was tested under difference supports conditions varying from a single- to three-span continuous configuration. Random excitation was applied to the beam, and the dynamic response was measured by an accelerometer placed at various locations on the span. A numerical model was constructed in ABAQUS and the dynamic response was obtained from the finite element model subjected to similar excitation as in the physical model. Numerical results were correlated against results from the physical model, and comparison was made between the different span/support configurations. A subsequent step would be to induce damage that simulates loss of stiffness or cracking condition of the beam cross section, and that would be reflected as a change in the frequency and other dynamic properties of the structure. The approach achieved good results for a structure with a limited number of degrees of freedom. Further research is needed for structures with a larger number of degrees of freedom and structures with damage in symmetrical locations relative to the accelerometer position.

Sensitive devices are affected by extreme vibration excitations during operation so require isolation from high levels of vibration excitations. When these excitation characteristics of the devices are well known, the vibration isolation can be achieved accurately. However, it is possible to have expected profile information of the excitations with respect to frequency. Therefore, it is practical and useful to implement this information in the design process for vibration isolation. In this thesis, passive vibration isolation technique is examined and a computer code is developed which would assist the isolator selection process. Several sample cases in six degree of freedom are designed for a sample excitation and for sample assumptions defined for an inertial measurement unit. Different optimization methods for design optimizations are initially compared and then different designs are arranged according to the optimization results using isolators from catalogues for these sample cases. In the next step, the probable designs are compared according to their isolator characteristics. Finally, one of these designs are selected for each case, taking into account both the probable location deviations and property deviations of isolators.

This thesis presents a parallel-series two-bridge DC/DC converter topology with the ability to operate with ZVS over a wide input and load range. The intended application is power conditioning systems (PCS) of photovoltaic (PV) arrays used in hybrid renewable energy system architectures. The proposed topology provides two degrees of freedom which allows the PV-PCS to regulate the DC-link voltage, while tracking the maximum power point (MPP) of the PV array. This topology distributes the main power into two bridges and the phase-shift between the two bridges and provides another degree of freedom for the PCS to track the MPP. The proposed topology is also able to achieve soft-switching over a wide range. The power conditioning system shows a modular structure to efficiently transfer the power to the load as the main power is divided between two bridges. In addition, the proposed control scheme provides complete decoupling between the input side controller from the output side controller in order to perform MPPT and regulate the the DC-link voltage simultaneously. A 2kW Experimental prototype has been provided to validate the feasibility and performance of the converter. Experimental results prove that the converter is able to regulate the DC-link voltage and track the maximum power extracted from the PV array simultaneously. / Thesis (Master, Electrical & Computer Engineering) -- Queen's University, 2012-04-18 19:51:43.405

This thesis recounts the experimental study of the dynamic response of a blast resistant glazing system to explosive loading. A combination of triaxial force sensors, pressure gauges, and laser displacement gauges capture the response in detail over a wide range of scenarios. The scenarios include low level blast loading to characterize the reaction at points around the perimeter of the window, moderate level blast loading to examine the repeatability of the blast scenario, and high level blast loading to capture the response during failure as the tensile membrane forms. The scenarios are modeled via an analytical Single-Degree-of-Freedom model as well as finite element modeling in ANSYS Explicit Dynamics. In addition, this study investigates some of the differences between experimental data and the predictions made by modeling.

Cooperative control enables combinations of sensor data from multiple autonomous underwater vehicles (AUVs) so that multiple AUVs can perform smarter behaviors than a single AUV. In addition, in some situations, a human-driven underwater vehicle (HUV) and a group of AUVs need to collaborate and preform formation behaviors. However, the collective dynamics of a fleet of heterogeneous underwater vehicles are more complex than the non-trivial single vehicle dynamics, resulting in challenges in analyzing the formation behaviors of a fleet of heterogeneous underwater vehicles. The research addressed in this dissertation investigates the collective dynamics and control of a fleet of heterogeneous underwater vehicles, including multi-AUV systems and systems comprised of an HUV and a group of AUVs (human-AUV systems). This investigation requires a mathematical motion model of an underwater vehicle. This dissertation presents a review of a six-degree-of-freedom (6DOF) motion model of a single AUV and proposes a method of identifying all parameters in the model based on computational fluid dynamics (CFD) calculations. Using the method, we build a 6DOF model of the EcoMapper and validate the model by field experiments. Based upon a generic 6DOF AUV model, we study the collective dynamics of a multi-AUV system and develop a method of decomposing the collective dynamics. After the collective dynamics decomposition, we propose a method of achieving orientation control for each AUV and formation control for the multi-AUV system. We extend the results and propose a cooperative control for a human-AUV system so that an HUV and a group of AUVs will form a desired formation while moving along a desired trajectory as a team. For the post-mission stage, we present a method of analyzing AUV survey data and apply this method to AUV measurement data collected from our field experiments carried out in Grand Isle, Louisiana in 2011, where AUVs were used to survey a lagoon, acquire bathymetric data, and measure the concentration of reminiscent crude oil in the water of the lagoon after the BP Deepwater Horizon oil spill in the Gulf of Mexico in 2010.

The use of robotics has recently seen significant growth in various domains such as unmanned ground/underwater/aerial vehicles, smart manufacturing, and humanoid robots. However, one of the most important and essential capabilities required for long term autonomy, which is the ability to operate robustly and safely in real-world environments, in contrast to industrial and laboratory setup is largely missing. Designing robots that can operate reliably and efficiently in cluttered and changing environments is non-trivial, especially for high degree-of-freedom (DoF) systems, i.e. robots with multiple actuators. On one hand, the dexterity offered by the kinematic redundancy allows the robot to perform dexterous manipulation tasks in complex environments, whereas on the other hand, such complex system also makes controlling and planning very challenging. To address such two interrelated problems, we exploit robot motion synthesis from three perspectives that feed into each other: end-pose planning, motion planning and motion adaptation. We propose several novel ideas in each of the three phases, using which we can efficiently synthesise dexterous manipulation motion for fixed-base robotic arms, mobile manipulators, as well as humanoid robots in cluttered and potentially changing environments. Collision-free inverse kinematics (IK), or so-called end-pose planning, a key prerequisite for other modules such as motion planning, is an important and yet unsolved problem in robotics. Such information is often assumed given, or manually provided in practice, which significantly limiting high-level autonomy. In our research, by using novel data pre-processing and encoding techniques, we are able to efficiently search for collision-free end-poses in challenging scenarios in the presence of uneven terrains. After having found the end-poses, the motion planning module can proceed. Although motion planning has been claimed as well studied, we find that existing algorithms are still unreliable for robust and safe operations in real-world applications, especially when the environment is cluttered and changing. We propose a novel resolution complete motion planning algorithm, namely the Hierarchical Dynamic Roadmap, that is able to generate collision-free motion trajectories for redundant robotic arms in extremely complicated environments where other methods would fail. While planning for fixed-base robotic arms is relatively less challenging, we also investigate into efficient motion planning algorithms for high DoF (30 - 40) humanoid robots, where an extra balance constraint needs to be taken into account. The result shows that our method is able to efficiently generate collision-free whole-body trajectories for different humanoid robots in complex environments, where other methods would require a much longer planning time. Both end-pose and motion planning algorithms compute solutions in static environments, and assume the environments stay static during execution. While human and most animals are incredibly good at handling environmental changes, the state-of-the-art robotics technology is far from being able to achieve such an ability. To address this issue, we propose a novel state space representation, the Distance Mesh space, in which the robot is able to remap the pre-planned motion in real-time and adapt to environmental changes during execution. By utilizing the proposed end-pose planning, motion planning and motion adaptation techniques, we obtain a robotic framework that significantly improves the level of autonomy. The proposed methods have been validated on various state-of-the-art robot platforms, such as UR5 (6-DoF fixed-base robotic arm), KUKA LWR (7-DoF fixed-base robotic arm), Baxter (14-DoF fixed-base bi-manual manipulator), Husky with Dual UR5 (15-DoF mobile bi-manual manipulator), PR2 (20-DoF mobile bi-manual manipulator), NASA Valkyrie (38-DoF humanoid) and many others, showing that our methods are truly applicable to solve high dimensional motion planning for practical problems.

<p> A numerical algorithm has been developed to solve the sloshing motion of liquid in a Tuned Liquid Damper (TLD) outfitted by slat screens under large and random amplitude of excitation. It is based on the finite-difference method. The free surface has been reconstructed using volume of fluid method. Donor-acceptor technique has been used for tracking the volume fraction field. The effect of slat screen has been included and modeled using the partial cell treatment method. </p> <p> The algorithm is an integrated fluid-structure model where the response of the structure is determined considering the effects of TLD. The structure is assumed as a single degree of freedom system (SDOF) and its response is calculated using the Duhamel integral method. </p> <p> The algorithm has been validated against experimental data for the cases with and without screens. An excellent agreement was obtained between numerical and experimental results. </p> <p> An extensive parametric study has been carried out investigating the effect of slat screens and screen pattern on the TLD performance and on the structure response. A new parameter termed as slat ratio was introduced to characterize the slat screens based on their pattern. Results indicated that screen pattern has a significant effect on the TLD performance and it could lead up to 33 % reduction in structure response. It was found that decreasing the slat ratio will increase the damping effect of a TLD outfitted by slat screen. </p> <p> The validity of the most commonly used approach, Baines and Peterson model, to calculate pressure drop of slat screens has been investigated. A conelation factor as a function of Reynolds number and solidity ratio of screen has been proposed to improve the results of this model. A new concept termed as effective solidity ratio has been proposed to account for the physical significant of screen pattern on TLD performance. </p> / Thesis / Doctor of Philosophy (PhD)