Sharif Digital Repository

In this paper, the results of recent studies on inelastic seismic response of MDOF shear-building structures are presented. In the last few decades, the concept of response modification factor R has been introduced and developed to account for inelastic nonlinear behaviour of structures under earthquakes. In this paper, an attempt has been made to adjust and extend this concept through introducing a modifying factor RT. This factor is used for dynamic analysis of MDOF structures, including the calculation of inelastic response spectra. Sensitivity analysis was carried out to identify the parameters that have influence on RT. It has been demonstratec that RT is predominantly a function of... 

In this paper, the results of recent studies on inelastic seismic response of MDOF shear- building structures are presented. In the last few decades, the concept of response modification factor R has been introduced and developed to account for inelastic nonlinear behaviour of structures under earthquakes. In this paper, an attempt has been made to adjust and extend this concept through introducing a modifying factor Rt This factor is used for dynamic analysis of MDOF structures, including the calculation of inelastic response spectra. Sensitivity analysis was carried out to identify the parameters that have influence on RT- It has been demonstrated that Rt is predominantly a function of... 

Structures with inappropriate distributions of strength and stiffness have performed poorly in recent earthquakes, and most of the observed collapses have been related to some extent to configuration problems or a wrong conceptual design. Shear building models of multi-story structures are considered in this study and are subjected to a group of severe earthquakes. It is shown that the strength distribution patterns suggested by the seismic codes do not lead to a uniform distribution and minimum amount of ductility, drift, and damage. A new pattern is proposed that is a function of the period of the structure and the target ductility. An iterative approach is also developed to determine the... 

The actuation mechanism of the tip of an endoscopic instrument is a major problem in designing miniature scale motorized instruments, especially when a high level of functionality and multi degrees of freedom (DOF) are concerned. We evaluated the different possible actuation methods for an endoscopic needle holder and proposed a new design of hybrid local-actuation, including a micro DC motor and a piezoelectric (PZT) actuator. The DC motor provided the long movement course required for opening-closing function of the gripper while the PZT guaranteed the high gripping force required for holding the needle. A compact serial configuration was considered for the actuators, producing an overall... 

The main aim of this article is to find the optimum positions of the stabilizers that reduces the vibration and leads to the largest weight on bit (WOB) in drill strings. In this work, the potential energy of drill strings has been derived by considering the drill string weight and WOB. The potential energy of this continuous system is considered as a multi-degree-of-freedom system by the mode summation method. The equilibrium position of the system and its stability is determined by finding the roots of the first derivative and the sign of the second derivative of the potential energy, respectively. Using this formulation, the best positions of stabilizers that lead to the largest WOB can... 

A bilateral nonlinear adaptive impedance controller is proposed for the control of multi-degrees-of-freedom (DOF) teleoperation systems. In this controller, instead of conventional position and/or force tracking, the impedance of the nonlinear teleoperation system is controlled. The controller provides asymptotic tracking of two impedance models in Cartesian coordinates for the master and slave robots. The proposed bilateral controller can be used in different medical applications, such as telesurgery and telerehabilitation, where the impedance of the robot in interaction with human subject is of great importance. The parameters of the two impedance models can be adjusted according to the... 

A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-degrees-of-freedom (DOFs) dual-user haptic teleoperation systems subjected to communication delays. Using this strategy, reference impedance models are realized for the trilateral teleoperation system represented by a three-port network to facilitate cooperation of two human operators in order to perform a remote physical task. For this purpose, an impedance model defines the desired haptic interaction between the two human operators, while another impedance model specifies the desired behavior of the slave robot in terms of tracking the mater robots' trajectories during... 

A non-linear robust adaptive bilateral impedance controller is proposed to provide the absolute stability of multi-DOF teleoperation systems with communication delays, in addition to the force and position tracking performance. The proposed controller realises two desired (or reference) impedance models for the master and slave robots using a new non-linear robust version of the model reference adaptive control scheme. Using the absolute stability criterion, the robustness condition of the teleoperation system against communication delays is obtained, resulting in suitable adjustments of parameter values in the desired impedance models. In addition, using the Lyapunov stability theorem, the... 

In this paper, a new method is proposed for identification of inelastic shear frame structures with hesteresis, using data collected on their dynamic response. It uses the. Prandtl-Ishlinskii rate independent model for hysteresis, which was originally used in the field of plasticity and ferromagnetism. The proposed identification method is capable, of identifying the. mass, damping and restoring force of a frame, structure, which can be. used in forming the. equations of motion of the.frame. By solving the equations of motion, the. dynamic response is predicted. The method is based on the.combined use. of Quadratic Programming (QP) and Genetic Algorithms (GA). First, assuming a set of... 

In this paper, a technique for the study of nonlinear performance of structures in different levels of earthquakes is developed. In this method, the Incremental Dynamic Analysis (IDA) curves are not achieved from nonlinear dynamic analysis of multi-degree-of-freedom (MDF) structure. However, the procedure of constructing these curves is based on modelling of the entire structure with several single-degrees-of-freedom (SDF) structures and evaluating them through the modal pushover analysis method. An innovative idea for approximating pushover curves that is based on error distribution is introduced in this investigation. Furthermore, the total input energy applied towards the SDF oscillator,... 

This study aims to optimize, design, and predict the MTMDs performance in SDOF systems using spectral analysis, and then apply their results to MDOF structures. Given the importance of spectral analysis in the design of new engineering structures, achieving a method for designing TMDs based on this theory can be of great importance for structural designers. In this study, several convenient combinations of MTMDs in an SDOF system are first considered to minimize the maximum displacement. For calculating the frequency ratios of dampers, an innovative technique is adopted in which the values of different modal responses obtained from the spectral analysis are approached together. This... 

For studying the behavior of structure in an earthquake, it is advisable to model the structure as a multi-degrees of freedom system, consisting of numerous single-degree of freedom substructures and pay attention to soil-structure interaction. System identification is divided into two categories: namely time domain method and frequency domain approach. In this paper, a localized substructure identification of shear building considering the soil-structure interaction is presented using a frequency domain approach. In order to deal with noise-corrupted data, a spectral smoothing technique with Parzen's window reduction method is adapted. It is shown that better convergence and accuracy can be... 

In this paper, the effectiveness of using nonlinear fluid/structure interaction for controlling the seismic response of the structures under near-field earthquake is investigated. For this purpose an SDOF Structure is considered which is equipped with the circular cylindrical liquid tank. Considering its fundamental mode of vibration, the structure is an idealised model of multi-degree of freedom system. Under 72 horizontal near-field earthquake excitations, the dynamic response of this system is examined studying three liquid sloshing modes. The dynamic response is investigated in the neighbourhood of 1:1 resonance between first unsymmetrical sloshing mode and SDOF structural mode. For this...