As power demand across communities increases, focus has been given to the maintenance of power lines against harsh environments such as wind-induced vibration (WIV). Currently, Inspection robots are used for maintenance efforts while fixed tuned mass dampers (FTMDs) are used to prevent structural damages. However, both solutions are facing many challenges. Inspection robots are limited by their size and considerable power demand, while FTMDs are narrowband and unable to adapt to changing wind characteristics, and thus are unable to reposition themselves at the antinodes of the vibrating loop. In view of these shortcomings, we propose a mobile damping robot (MDR) that integrates inspection robots' mobility and FTMDs WIV vibration control to help maintain power lines. In this effort, we model the conductor and the MDR by using Hamilton's principle and we consider the two-way nonlinear interaction between the MDR and the cable. The MDR is driven by a Proportional-Derivative controller to the optimal vibration location (i.e, antinodes) as the wind characteristics vary. The numerical simulations suggest that the MDR outperforms FTMDs for vibration mitigation. Furthermore, the key parameters that influence the performance of the MDR are identified through a parametric study. The findings could set up a platform to design a prototype and experimentally evaluate the performance of the MDR. / Master of Science / Power lines are civil structures that span more than 160000 miles across the United States. They help electrify businesses, factories and homes. However, power lines are subject to harsh environments with strong winds, which can cause Aeolian vibration. Vibration in this context corresponds to the oscillation of power lines in response to the wind. Aeolian vibration can cause significant structural damages that impact public safety and result in a significant economic loss. Today, different solutions have been explored to limit the damages to these key structures. For example, the lines are commonly inspected by foot patrol, helicopters, or inspection robots. These inspection techniques are labor intensive and expensive. Furthermore, Stockbridge dampers, mechanical vibration devices, can be used to reduce the vibration of the power line. However, Stockbridge dampers can get stuck at location called nodes, where they have zero efficiency. To tackle this issue, we propose a mobile damping robot that can re-adjust itself to points of maximum vibration to maximize vibration reduction. In this thesis, we explore the potential of this proposed solution and draw some conclusions of the numerical simulations.

The resilience of power infrastructure against environmental challenges, particularly wind-induced vibrations, is crucial for ensuring the reliability and longevity of overhead power lines. This dissertation extends the development of the Mobile Damping Robot (MDR) as a novel solution for mitigating wind-induced vibrations through adaptive repositioning and energy harvesting capabilities. Through comprehensive experimental and numerical analyses, the research delineates the design, optimization, and application of the MDR, encompassing its dynamic adaptability and energy harvesting potential in response to varying wind conditions. The study begins with the development and validation of a linearized model for the MDR, transitioning to advanced nonlinear models that more accurately depict the complex interactions between the robot, cable system, and environmental forces. A global stability analysis provides crucial insights into the operational limits and safety parameters of the system. Further, the research explores a multi-degree-of-freedom system model to evaluate the MDR's efficacy in real-world scenarios, emphasizing its energy harvesting efficiency and potential for sustainable operation. Findings from this research show the clear promise for the development of the MDR with the consideration of the nonlinear dynamics in play between the robot, the cable, and the wind. This work lays a foundational framework for future innovations in infrastructure maintenance, paving the way for the practical implementation of mobile damping technologies in energy systems. / Doctor of Philosophy / Across the United States, over 160,000 miles of power lines crisscross the landscape, powering everything from small homes to large industrial complexes. These critical infrastructures, however, are constantly battered by the elements, particularly by strong winds capable of inducing Aeolian vibrations. Such vibrations lead to oscillations in the power lines due to wind forces, potentially causing severe structural damage, compromising public safety, and incurring considerable economic costs. In response to these challenges, various mitigation strategies have been employed. Traditional methods include regular inspections carried out by foot patrols, helicopters, or sophisticated inspection robots, though these approaches are notably resource-intensive and costly. Additionally, mechanical devices like Stockbridge dampers are utilized to dampen the vibrations, but they suffer from efficiency issues when misaligned with the vibration nodes. This dissertation extends the study to an innovative solution to overcome these limitations: a mobile damping robot designed to navigate along power lines and autonomously position itself at the points of highest vibration amplitude, thereby optimizing vibration dampening. This study delves into the feasibility and effectiveness of such a solution, supported by thorough numerical simulations. The aim is to demonstrate how this advanced approach could redefine maintenance strategies for power lines, enhancing their resilience against wind-induced vibrations and reducing the reliance on laborious inspection methods and static damping devices with limited efficiency.

Submitted by Renata Lopes (renatasil82@gmail.com) on 2017-02-24T14:44:47Z No. of bitstreams: 1 marceloribeiro.pdf: 3015247 bytes, checksum: 325fa8dffab659edce18dc9c5f1f485c (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2017-02-24T15:39:52Z (GMT) No. of bitstreams: 1 marceloribeiro.pdf: 3015247 bytes, checksum: 325fa8dffab659edce18dc9c5f1f485c (MD5) / Made available in DSpace on 2017-02-24T15:39:52Z (GMT). No. of bitstreams: 1 marceloribeiro.pdf: 3015247 bytes, checksum: 325fa8dffab659edce18dc9c5f1f485c (MD5) Previous issue date: 2013-04-01 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / A construção de edifícios, especialmente os mais esbeltos, requer uma análise apurada do comportamento dinâmico da estrutura. Tais estruturas são sujeitas a movimentos induzidos pelo vento, entre outras forças, o que pode causar efeitos indesejáveis tais como desconforto para os usuários ou até mesmo causar o colapso estrutural. Neste cenário, os sistemas de controle são utilizados a fim de atenuar a vibração excessiva. Dentre estes sistemas, aqueles que utilizam respostas dinâmicas das estruturas para a determinação das forças de controle, de um modo geral, quando adequadamente construídos, têm um desempenho satisfatório. Pode-se destacar o sistema de controle com retroalimentação. No entanto, o uso desses controladores em edifícios requer uma certa quantidade de testes e simulações, uma vez que os problemas em qualquer fase do processo de controle pode transformar um controlador ativo em um excitador, o que obviamente não é desejável. Neste trabalho foi realizada uma análise numérica de um modelo de sistema estrutural sujeito a forças dinâmicas de vento, onde as vibrações foram controladas por meio de um sistema de controle ativo. As forças de excitação foram obtidas por análise da fluidodinâmica computacional e as forças de controle foram obtidas aplicando a técnica de controle ótimo. Esta etapa constitui uma das primeiras fases do projeto de um controle. / The construction of buildings, especially the most slender, requires a detailed analysis of the structural dynamic behavior. Such structures are subject to movements induced by the wind and other forces, which can cause undesirable effects such as discomfort for the user or even cause the structural collapse. In this scenario, control systems are used to mitigate excessive vibration. Among these systems, those using dynamic responses of the structures to determine control forces, in general, when properly constructed, have satisfactory performance as control systems with feedback. However, the use of these controllers in buildings requires a certain amount of tests and simulations, since problems at any stage of the control process, may transform an active controller into an excitator, which is obviously undesirable. In this work a numerical analysis of a structural model subject to dynamic wind forces was performed. The excitation forces were obtained by computational uid dynamics analysis and control forces were obtained by applying the technique of optimal control. The present analysis is one of the first phases of a control design.

Le phénomène d'instabilité de la structure de fluide se produit fréquemment dans le système d'écoulement polyphasé des régimes sous-critiques de Reynolds, et le phénomène de vibrations de câbles de sustentation de ponts provoquées par la pluie (sigle RWIV en anglais) est considéré comme un exemple en génie civil pour caractériser l'instabilité causée par les interactions fluide-structure. Le RWIV est supposée être un nouveau type de vibrations; régulièrement accompagné de deux phénomènes significatifs: le ruisseau supérieur vibre circonférentiellement et la fréquence du vortex de Von Karman se déplace vers une valeur beaucoup plus faible par rapport à la fréquence attendue. Les phénomène est observé habituellement sur les haubans du pont à hauban immobilisé. En raison des mécanismes de couplage complexes, le mécanisme de RWIV n'a pas été complètement décrit par les chercheurs précédents. La plupart ont mis l'accent sur les observations sur le terrain et les aspects expérimentaux en soufflerie, mais rarement sur la simulation numérique. Pour élaborer un cadre numérique systématique, nous abordons le modèle non couplé, le modèle faiblement couplé, le modèle couplé, et le modèle multiphasique multi-échelle (MMM). L'objectif est de mettre en place un modèle numérique avec une grande exactitude et précision pour RWIV, et de reconnaître et clarifier le mécanisme de RWIV, diverses enquêtes numériques ont été réalisés dans cette thèse.Pour simuler les effets de la pluie/l’eau pluviale (eng. rainwater) comme un ruisseau artificiel (fixé / solide mobile attaché / oscillé le long de la circonférence de hauban immobilisé) lorsque RWIV se produit, la méthode séparée est mise en œuvre sur la base des équations incompressibles de Navier-Stokes en combinaison avec la simulation monotone intégré des grandes échelles (MILES) pour évaluer les sous-grille termes de pression. Les effets des ruisseaux artificiels de différentes positions le long de la circonférence de hauban immobilisé sur la structure de formation de tourbillons derrière le hauban, la distribution de pression à travers le hauban, et la force aérodynamique fréquence dominante du hauban sont analysés. Cependant, les enquêtes indiquent les positions de ruisseau artificiel le long de la circonférence du hauban affectent très faiblement la fréquence du vortex de Von Karman proche le sillage du hauban.Pour capturer l'évolution dynamique de la morphologie de l’eau pluviale , le modèle semi-couplé simplifie les équations incompressibles de Navier-Stokes avec la théorie de lubrification sur l'hypothèse qu'un mince film d'eau environnante autour du hauban. Les enquêtes indiquent que l’eau pluviale rassemble aux endroits près des points de séparation, et forme deux ruisseaux symétriques le long de la circonférence du hauban. Cependant, la vibration circonférentielle du ruisseau supérieur et les phénomènes de décalage de fréquence accompagnant RWIV ne peuvent être résolus et expliqués clairement.Afin d'améliorer le modèle de semi-couplé à suivre l'évolution de la morphologie de l’eau pluviale, la méthode du Volume-de-Fluide (VOF) combinée avec les équations incompressibles de Navier-Stokes est utilisée dans le modèle couplé. L ‘évolution hautement non linéaire du ruisseau de la pluie le long de la circonférence du hauban immobilisé et les caractéristiques aérodynamiques du hauban de séjour peuvent être obtenus et analysés. Les résultats indiquent que le ruisseau de la pluie est formé près des points de séparation le long de la circonférence du hauban; la zone de pression négative le long de la circonférence du hauban est pré-requise pour la formation de ruisseau supérieur. / A fluid structure instability phenomenon frequently occurs in the subcritical Reynolds regimes multiphase flow system, and rain--wind-induced vibration (RWIV) is taken as an example in civil engineering to characterize the aeroelastic instability caused by fluid-structure interactions. RWIV is hypothesized to be a new type of vibration; regularly accompanied by two significant phenomena: the circumferentially vibrating upper rivulet and the Von Karman vortex shedding frequency shift to a much lower value compared with the convectional evaluation; and customarily observed from the stay cables of cable--stayed bridge. Due to the complicated interactions mechanisms in the liquid-gas-solid system, the mechanism of RWIV has not been thoroughly solved and recognized by the previous researchers. Most have focused on the research topic from the field observation, the analytical dynamic model, and the wind tunnel experiment aspects, but rarely on numerical investigation aspect. To develop a systematic numerical framework, including the separated model, the semi-coupled model, the coupled model, and the multiphase multi-scale model (MMM) distinguished by different ways to simulate the rain effects when RWIV occurs, to establish highly accurate and precise numerical model for RWIV, and to recognize and clarify the mechanism of RWIV, various numerical investigations have been made in this thesis.To simulate the rain effects as an artificial rivulet (fixed/moving solid attaching/oscillating along the circumference of stay cable) when RWIV occurs, the separated method is implemented based on the incompressible Navier-Stokes equations in combination with the monotone integrated large eddy simulation (MILES) to evaluate the sub-grid stress terms. The effects of various artificial rivulet positions along the circumference of stay cable on the vortex shedding structure behind the cable, pressure distribution around the cable, and the aerodynamic force of the cable are analyzed. However, investigations indicate the positions of artificial rivulet along the circumference of cable extremely weakly affect Von Karman vortex shedding frequency near the wake of the cable.To capture the dynamic rainwater morphology evolution, the semi-coupled model simplifies the incompressible Navier-Stokes equations with the lubrication theory on the assumption that a thin water film surrounding around the cable. The investigations indicate the rainwater gathers at the locations near the separation points, and forms two symmetrical rivulets along the circumference of cable. However, both the circumferentially vibrating upper rivulet and the frequency shift phenomena accompanying RWIV cannot be solved and explained detailedly and clearly. To improve the semi-coupled model on tracking the rainwater morphology evolution, volume-of-fluid (VOF) method combined with incompressible Navier-Stokes equations is employed in the coupled model. Both the high-nonlinear rainwater rivulets evolution along the circumference of cable and the aerodynamic characteristics of stay cable can be obtained and analyzed. The results indicate rainwater rivulet are formed near the separation points along the circumference of cable; the negative pressure zone along the circumference of cable provides a prerequisite for the formation of upper rivulet. However, the computational efficiency is reduced due to the smaller droplets scatter in the surrounding air, furthermore, the assumptions, surrounding the stay cable with the constant volume of rainwater, cannot reflect the real physical conditions (i.e., rain infall process) and cannot obtain the real aerodynamic force from physical aspect.

Climate change and densification of cities are two major global challenges. Inthe building and construction industry, there are great expectations that tall timberbuildings will constitute one of the most sustainable solutions. First, verticalurban growth is energy and resource-efficient. Second, forest-based productsstore carbon and have one of the highest mechanical strength to density ratios.If the structural substitution of concrete and steel with wood in high-rise buildingsawakens fears of fire safety issues, engineers and researchers are particularlyworried about the dynamic response of the trendy tall timber buildings.Indeed, due to the low density of wood, they are lighter, and for the same height,they might be more sensitive to wind-induced vibrations than traditional buildings.To satisfy people’s comfort on the top floors, the serviceability design oftall timber buildings must consider wind-induced vibrations carefully. Architectsand structural engineers need accurate and verified calculation methods,useful numerical models and good knowledge of the dynamical properties oftall timber buildings. Firstly, the research work presented hereby attempts to increase the understandingof the dynamical phenomena of wind-induced vibration in tall buildings andevaluate the accuracy of the semi-empirical models available to estimate alongwindaccelerations in buildings. Secondly, it aims at, experimentally and numerically,studying the impact of structural parameters – masses, stiffnesses anddamping – on the dynamics of timber structures. Finally, it suggests how talltimber buildings can be modeled to correctly predict modal properties and windinducedresponses. This research thesis confirms the concerns that timber buildings above 15-20stories are more sensitive to wind excitation than traditional buildings with concreteand steel structures, and solutions are proposed to mitigate this vibrationissue. Regarding the comparison of models from different standards to estimatewind-induced accelerations, the spread of the results is found to be very large.From vibration tests on a large glulam truss, the connection stiffnesses are foundto be valuable for predicting modal properties, and numerical reductions withsimple spring models yield fair results. Concerning the structural models of conceptualand real tall timber buildings, numerical case studies emphasize the importanceof accurately distributed masses and stiffnesses of structural elements,connections and non-structural building parts, and the need for accurate dampingvalues. / Klimatförändringar och förtätning av städer är två stora globala utmaningar. Inom bygg- och anläggningsbranschen finns det stora förväntningar på att höga trähus ska utgöra en av de mest hållbara lösningarna. Dels är vertikal förtätning i städer energi- och resurseffektiv, dels lagrar skogsbaserade produkter kol och har dessutom ett av de högsta förhållanden mellan mekanisk styrka och densitet. Om den strukturella ersättningen av stål och betong med trä i höghus väcker farhågor ur brandsäkerhetssynpunkt, är ingenjörer och forskare särskilt oroliga för den dynamiska responsen i de trendiga högre trähusen. På grund av träets låga densitet blir de lättare, och för samma höjd kan de vara känsligare för vindinducerade vibrationer än traditionella byggnader. För att tillfredsställa människors komfort på de översta våningarna måste projektören av höga trähus noga överväga vindinducerade vibrationer i bruksgränstillstånd. Arkitekter och byggnadsingenjörer behöver noggranna och verifierade beräkningsmetoder, användbara numeriska modeller och goda kunskaper om höga träbyggnaders dynamiska egenskaper. För det första avser detta forskningsarbete att öka förståelsen för den dynamiska effekten av vindinducerade vibrationer i höga byggnader och utvärdera noggrannheten hos de semi-empiriska modeller som finns tillgängliga för att uppskatta byggnadens accelerationer i vindriktningen. För det andra syftar det till att, experimentellt och numeriskt, studera effekterna av strukturella parametrar – massor, styvheter och dämpning – på träkonstruktioners dynamik. Slutligen undersöks hur höga träbyggnader kan modelleras för att korrekt förutsäga modala egenskaper och vindinducerade respons. Denna forskningsuppsats bekräftar farhågorna om att träbyggnader över 15-20 våningar är mer känsliga för vindexcitation än vanliga byggnader med betong- och stålstomme. Några lösningar föreslås för att mildra detta vibrationsproblem. När det gäller jämförelsen av modeller från olika standarder för att beräkna vindinducerade accelerationer visar sig spridningen av resultaten vara mycket stor. Från tester på ett stort limträfackverk visar sig förbandsstyvheterna vara viktiga för att förutsäga modala egenskaper och numeriska reduktioner med enkla fjädermodeller ger rättvisande resultat. När det gäller de strukturella modellerna av konceptuella och verkliga höga träbyggnader, betonar numeriska fallstudier vikten av exakt fördelade massor och styvheter hos byggnadselement, förband och icke-strukturella byggnadsdelar, samt behovet av exakta dämpningsvärden. / Le changement climatique et la densification des villes sont deux défis mondiaux majeurs. Dans le domaine de la construction, les bâtiments en bois de grande hauteur sont perçus comme l'une des solutions les plus durables. D'une part la croissance urbaine verticale est économe en énergie et en ressources, d'autre part les produits forestiers stockent le carbone et ont l'un des rapports résistance mécanique/densité les plus élevés. Si la substitution structurelle du bois au béton ou à l’acier dans les immeubles de grande hauteur suscite des craintes pour les problèmes de sécurité incendie, les ingénieurs et les chercheurs s'inquiètent particulièrement de la réponse dynamique des immeubles en bois de grande hauteur à la mode. En effet, du fait de la faible densité du bois, ils sont plus légers, et à hauteur égale, ils pourraient être plus sensibles aux vibrations induites par le vent que les immeubles traditionnels. Pour satisfaire le confort des personnes aux étages supérieurs, la conception des bâtiments en bois de grande hauteur doit tenir compte judicieusement des vibrations induites par le vent. Les architectes et les ingénieurs en structure ont besoin de méthodes de calcul précises et vérifiées, de modèles numériques utiles et d'une bonne connaissance des propriétés dynamiques des bâtiments en bois de grande hauteur. Premièrement, les travaux de recherche présentés ici tentent d’approfondir la compréhension des phénomènes dynamiques des vibrations induites par le vent dans les immeubles de grande hauteur et d'évaluer la précision des modèles semi-empiriques disponibles pour calculer les accélérations dans la direction du vent. Deuxièmement, ils visent à étudier expérimentalement et numériquement les impacts des paramètres structuraux – masses, rigidités et amortissements – sur la dynamique des structures bois. Finalement, ils suggèrent comment modéliser les bâtiments en bois de grande hauteur pour prédire correctement les propriétés modales et les réponses induites par le vent. Cette thèse de recherche confirme les inquiétudes selon lesquelles les bâtiments en bois de plus de 15-20 étages sont plus sensibles à l'excitation du vent que les bâtiments traditionnels en béton armé ou en acier, et des solutions sont proposés pour atténuer ce problème vibratoire. Concernant la comparaison de différentes méthodes normalisées pour estimer les accélérations induites par le vent, la grande dispersion des résultats n'est pas négligeable. À partir d'essais expérimentaux sur un grand poteau-treillis en lamellé-collé, les rigidités de connexion s’avèrent importantes pour prédire les propriétés modales et les réductions numériques avec de simples modèles à ressort donnent des résultats acceptables. Concernant la précision des modèles structuraux de bâtiments en bois de grande hauteur conceptuels ou réels, des études de cas numériques soulignent l'importance des répartitions exactes des masses et des rigidités des éléments structuraux, des connexions et des éléments de construction non structuraux, ainsi que la nécessité de valeurs d'amortissement précises.