Geographically distributed hybrid testing & collaboration between geotechnical centrifuge and structures laboratories

Distributed Hybrid Testing(DHT) is an experimental technique designed to capitalise on advances in modern networking infrastructure to overcome traditional laboratory capacity limitations. By coupling the heterogeneous test apparatus and computational resources of geographically distributed laboratories, DHT provides the means to take on complex, multi-disciplinary challenges with new forms of communication and collaboration. To introduce the opportunity and practicability afforded by DHT, here an exemplar multi-site test is addressed in which a dedicated fibre network and suite of custom software is used to connect the geotechnical centrifuge at the University of Cambridge with a variety of structural dynamics loading apparatus at the University of Oxford and the University of Bristol. While centrifuge time-scaling prevents real-time rates of loading in this test, such experiments may be used to gain valuable insights into physical phenomena, test procedure and accuracy. These and other related experiments have led to the development of the real-time DHT technique and the creation of a flexible framework that aims to facilitate future distributed tests within the UK and beyond. As a further example, a real-time DHT experiment between structural labs using this framework for testing across the Internet is also presented.     

Model-based framework for multi-axial real-time hybrid simulation testing

Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction (CSI). One approach to reducing experimental errors considers a multi-input, multi-output (MIMO) controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation (maRTHS) testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-offreedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box (LBCB) located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the frame is represented physically in the laboratory as a cantilevered steel column. For realtime execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controlled at the interface between substructures.     

Performance evaluation of a distributed hybrid test framework to reproduce the collapse behavior of a structure

A hybrid numerical and experimental simulation to collapse was conducted on a one‐half scale moment‐resisting frame building with two experimental substructures at different locations. An extensible hybrid test framework was used that adopts a generalized interface to encapsulate each numerical or tested substructure, through which only boundary displacements and forces are exchanged. Equilibrium and compatibility between substructures are enforced by an iterative quasi‐Newton procedure, while adopting a predictor‐and‐corrector method to avoid loading reversals on physically tested substructures. To overcome difficulties in controlling stiff axial and rotational deformations at the boundaries, the flexible test scheme employs either open‐loop or closed‐loop control at the boundaries: enforcing either compatibility or equilibrium, or both requirements at critical boundaries. The effectiveness of the extensible framework and its capability to simulate structural behavior through collapse is demonstrated by a geographically distributed test that reproduced the collapse behavior of a four‐story, two‐bay, steel moment frame previously tested on an earthquake simulator. A comparison of both experiments highlights the viability of the hybrid test as an effective tool for the performance evaluation of structural systems from the onset of damage through collapse. Copyright © 2011 John Wiley & Sons, Ltd.     

Software framework for distributed experimental–computational simulation of structural systems

Supported by the recent advancement of experimental test methods, numerical simulation, and high‐speed communication networks, it is possible to distribute geographically the testing of structural systems using hybrid experimental–computational simulation. One of the barriers for this advanced testing is the lack of flexible software for hybrid simulation using heterogeneous experimental equipment. To address this need, an object‐oriented software framework is designed, developed, implemented, and demonstrated for distributed experimental–computational simulation of structural systems. The software computes the imposed displacements for a range of test methods and co‐ordinates the control of local and distributed configurations of experimental equipment. The object‐oriented design of the software promotes the sharing of modules for experimental equipment, test set‐ups, simulation models, and test methods. The communication model for distributed hybrid testing is similar to that used for parallel computing to solve structural simulation problems. As a demonstration, a distributed pseudodynamic test was conducted using a client–server approach, in which the server program controlled the test equipment in Japan and the client program performed the computational simulation in the United States. The distributed hybrid simulation showed that the software framework is flexible and reliable. Copyright © 2005 John Wiley & Sons, Ltd.     

Synchrotron radiation,an intense x-ray source for high pressure diffraction studies

The Wilson electron synchrotron at Cornell University has recently undergone modifications which enable it to produce a highly collimated X-ray beam of 10¹⁵ photons (s mrad. 10% bandwidth)^?1 in the range from 1 to 40 keV (12.4 to 0.31 Å wavelength). It is expected that a monochromatic beam produced from this source will have at least a hundred times the intensity of the X-rays from a rotating anode source. It is hoped that the use of a position-sensitive detector will improve the detection efficiency by another factor of a hundred over photographic film. If these improvements are realized, it should be possible to conduct real-time or nearly real-time diffraction experiments in the diamond anvil cell. The technique will be used to collect data for experiments in which slower data collecting would mean missing transient phenomena. The technique will also be useful for making studies during conditions that cause deterioration of the experimental apparatus such as graphitization of the diamonds or creep of the metal parts.     

Comparison between VELACS numerical ‘class A’ predictions and centrifuge experimental soil test results

The numerical ‘class A’ predictions performed within the framework of the VELACS Project are compared to the experimental results recorded in the centrifuge experiments. The comparisons are made in terms of: (1) the root mean square error of the predictions with respect to the mean of the experimental results; and (2) the size of a confidence interval centered at the predicted value which contains the estimated true value of the experimental results with a 75% probability. An assessment of the capability of various groups of constitutive soil models to predict excess pore pressures induced by dynamic loading is also presented.     

Real‐time hybrid experiments with Newmark integration,MCSmd outer‐loop control and multi‐tasking strategies

Real‐time hybrid testing is a promising technique for experimental structural dynamics, in which the structure under consideration is split into a physical test of key components and a numerical model of the remainder. The physical test and numerical analysis proceed in parallel, in real time, enabling testing of critical elements at large scale and at the correct loading rate. To date most real‐time hybrid tests have been restricted to simple configurations and have used approximate delay compensation schemes. This paper describes a real‐time hybrid testing approach in which non‐linearity is permitted in both the physical and numerical models, and in which multiple interfaces between physical and numerical substructures can be accommodated, even when this results in very stiff coupling between actuators. This is achieved using a Newmark explicit numerical solver, an advanced adaptive controller known as MCSmd and a multi‐tasking strategy. The approach is evaluated through a series of experiments on discrete mass–spring systems. Copyright © 2006 John Wiley & Sons, Ltd.     

隔震桥梁子结构拟动力实验中加载速率的影响因素研究

本研究运用DSP高速数字信号处理器的实时信号处理与控制技术,研究了基于速度控制法、OS数值积分法和相应的实验误差控制法的子结构拟动力实验系统。该试验系统对动力加载装置采用速度控制,在加载过程中考虑了加载速率对实验结果的影响,使隔震橡胶支座的速度相关性能在试验中得到充分体现,同时采用OS数值积分法,充分地减少了试验的时滞误差,提高了试验精度。并通过不同加载速率的子结构拟动力实验研究了天然橡胶支座、高阻尼橡胶隔震支座和超高阻尼橡胶隔震支座对桥梁的隔震效果,在对实验结果进行分析对比后,定量地研究了不同的加载速率对隔震桥梁子结构拟动力实验结果的影响。     

Validation of a new endochronic liquefaction model for granular soil by using centrifuge test data

The application of a new liquefaction constitutive model, based on the endochronic theory applied to densification of sandy soil, to a set of centrifuge tests from the University of British Columbia, is presented in this paper. The model employed herein takes into account, in a unified formulation, contractive and dilative behaviours, and considers the soil collapse as well. First of all, the model is calibrated by means of undrained cyclic simple shear stress test data. The constitutive law of the soil is implemented in the bidimensional coupled finite element code CMLIQ (Cyclic Mobility and LIQuefaction), developed by the authors. Three centrifuge tests are analysed, the seismic loading and the geometry being the same for all of them, namely an improved slope with drain devices or denser soil at some locations. Comparisons between the data provided by the numerical model and the experimental measurements are shown, and, as a result, the accuracy of the model is explored and evaluated.     

Flexible substructure online hybrid test system using conventional testing devices

This paper presents a substructure online hybrid test system that is extensible for geographically distributed tests.This system consists of a set of devices conventionally used for cyclic tests to load the tested substructures onto the target displacement or the target force.Due to their robustness and portability,individual sets of conventional loading devices can be transported and reconfigured to realize physical loading in geographically remote laboratories.Another appealing feature is the flexible displacement-force mixed control that is particularly suitable for specimens having large disparities in stiffness during various performance stages.To conduct a substructure online hybrid test,an extensible framework is developed,which is equipped with a generalized interface to encapsulate each substructure.Multiple tested substructures and analyzed substructures using various structural program codes can be accommodated within the single framework,simply interfaced with the boundary displacements and forces.A coordinator program is developed to keep the boundaries among all substructures compatible and equilibrated.An Internet-based data exchange scheme is also devised to transfer data among computers equipped with different software environments.A series of online hybrid tests are introduced,and the portability,flexibility,and extensibility of the online hybrid test system are demonstrated.     

Identification and imaging of soil and soil-pile deformation in the presence of liquefaction

1 Introduction Soil and soil-structure systems exhibit complex response patterns during earthquake-induced liquefaction. These patterns depend on geotechnical properties, in-situ stress conditions and interaction with subsurface structural elements. Seismic records of full- scale systems during case histories provide a valuable source of information on the associated response mechanisms. However, the response of these systems is commonly monitored at sparsely distributed locations only, mostly…     

Effect of earthquake‐induced axial load fluctuations on asymmetric frame–wall–rocking foundation systems

Fluctuations in axial load imposed on a rocking footing will affect its moment capacity, the shape of its moment–rotation hysteresis, and potentially the system's seismic performance. Structural asymmetry increases the likelihood of axial load variation during earthquake excitations. To investigate this issue, a unique centrifuge testing program was carried out on low‐rise frame–wall–rocking foundation systems. In this paper, the seismic behaviors of asymmetric and symmetric models from this test program are systematically compared. Experimental results reveal that placing the lateral force resisting shear wall outboard produces significant axial load fluctuation, which in turn greatly deteriorate the lateral load‐carrying capacity of a foundation rocking dominated frame–wall system, particularly in its weak direction. However, it strengthens the system when loading is towards the shear wall, leading to a highly asymmetric hysteretic response. During earthquake loading, all asymmetric rocking foundation systems observe smaller peak roof accelerations, but larger peak and permanent roof drifts compared with the symmetric systems. Despite these differences in response, the axial load fluctuation and structural asymmetry do not significantly change the relative energy dissipated by the rocking foundations and inelastic structural components within each frame–wall–rocking foundation model. Copyright © 2015 John Wiley & Sons, Ltd.     

Shear wave velocity measurements and soil–pile system identifications in dynamic centrifuge tests

This paper presents a pre-shaking technique for measuring the $V_{s}$ profile of sand deposits and determining the natural frequencies of the sand bed and soil-structure system in a centrifuge model at an acceleration of 80 g. The pre-shaking technique is a non-destructive test. It uses a shaker as a wave generation source and a vertical array of accelerometers embedded in the sand bed and the accelerometers attached to the pile head as receivers. The pre-shaking method can be easily used for in-flight subsurface exploration ( $V_{s}$ profile measurements) and in-flight system identification of soil-structure systems (natural frequency measurements). A soil–pile centrifuge model is used to demonstrate the versatility of pre-shaking during a routine centrifuge shaking table test. This paper discusses the testing setup, testing procedures, related SI techniques, and signal processing for the soil–pile system. The natural frequencies measured by the pre-shaking tests are consistent with theory-based results. This technique can be conducted at any time before and after major earthquake events occur in a test.     

Centrifuge modelling for evaluation of seismic behaviour of stone masonry structure

Many surviving ancient monuments are freestanding stone masonry structures, which appear to be vulnerable to horizontal dynamic loads such as earthquakes. However, such structures have stood for thousands of years despite numerous historic earthquakes. This study proposes a scaled-down dynamic centrifuge modelling test to study how these masonry structures resist seismic loading. The test is proposed for seismic risk assessments to evaluate risk of damage from a future seismic event. The seismic behaviour of a 3-storey, freestanding stone block structure has been modelled and tested within a centrifuge. Models were made at 3 different scales and dynamic tests were conducted using different centrifugal acceleration fields so that the behaviours could be transformed to an equivalent full-scale prototype and compared. Data from 2 earthquakes and a sweeping signal were used to simulate the effects of earthquake ground motion within the centrifuge. The acceleration and frequency responses at each storey height of the model were recorded in different centrifugal acceleration fields. Similar behaviours appeared when the results of the small-scale models were transformed to a full-size prototype scale. This confirms that the seismic behaviour of stone masonry structures can be predicted using scaled-down models.     

The application of Karhunen–Loéve,or principal component analysis method,to study the non‐linear seismic response of structures

The Karhunen–Loéve (K–L) method is used to interpret dynamic response data obtained from shaking table and pseudodynamic tests conducted on civil engineering structures subjected to earthquake loading. It is shown how the K–L method can be used to monitor on‐line, or a posteriori, the structural response of non‐linear dynamical systems. Results from these analyses make it possible to quantitatively verify the number and participation factors of non‐linear modes and how they correspond to physical behaviour of the structure. Comments are made regarding the use of this technique in various fields including numerical calculations, experiments and control. Copyright © 2000 John Wiley & Sons, Ltd.     

Real‐time distributed hybrid testing: coupling geographically distributed scientific equipment across the Internet to extend seismic testing capabilities

Large‐scale testing and qualification of structural systems and their components is crucial for the development of earthquake engineering knowledge and practice. However, laboratory capacity is often limited when attempting larger experiments due to the sheer size of the structures involved. To overcome traditional laboratory capacity limitations, we present a new earthquake engineering testing method: real‐time distributed hybrid testing. Extending current approaches, the technique enables geographically distributed scientific equipment including controllers, dynamic actuators and sensors to be coupled across the Internet in real‐time. As a result, hybrid structural emulations consisting of physical and numerical substructures need no longer be limited to a single laboratory. Larger experiments may distribute substructures across laboratories located in different cities whilst maintaining correct dynamic coupling, required to accurately capture physical rate effects. The various aspects of the distributed testing environment have been considered. In particular, to ensure accurate control across an environment not designed for real‐time testing, new higher level control protocols are introduced acting over an optimised communication system. New large time‐step prediction algorithms are used, capable of overcoming both local actuation and distributed system delays. An overview of the architecture and algorithms developed is presented together with results demonstrating a number of current capabilities. Copyright © 2013 John Wiley & Sons, Ltd.     

Fully coupled finite element model for dynamics of partially saturated soils

Understanding the response of partially saturated earth structures under various static and dynamic loads is important for the design and construction of economical and safe geotechnical engineering structures. In this study, the numerical approach is used to understand the dynamics of partially saturated soils. The mathematical equations governing the dynamics of partially saturated soils are derived based on the theory of mixtures and implemented within a finite element framework. The stress–strain behavior of the soil is represented by an elasto-plastic constitutive model for unsaturated soil based on bounding surface concept and the moisture-suction behavior is modeled using van Genuchten model. Fully coupled finite element simulations are performed to study the response of partially saturated soil embankment under earthquake loading and validated with centrifuge test results available in the literature. The predicted displacement responses are in good agreement with the measured responses. The pore water pressure, pore air pressure, matric suction, the degree of saturation in various elements and the response of the embankment under different initial moisture content are also discussed.     

A Servohydraulically-controlled Deformation Apparatus for Rock Deformation under Conditions of Ultra-high Pressure Metamorphism

—A deformation apparatus has been developed to study the mechanical behaviour of high pressure and ultra-high pressure metamorphic rocks. It is based on the conventional Griggs design and the molten salt cell concept introduced by H. E. Green II. Both, the axial loading and the confining pressure are servohydraulically controlled. Alternatively, a self-made multilayer pressure vessel or a commercial stripwound construction are used. The pressure cell is improved with respect to systems described previously by the use of different salt mixtures with low eutectic temperatures, by a mechanically stable arrangement of the thermocouples, and by an optimization of the frictional characteristics of the axial loading system. The apparatus has been successfully used in deformation experiments on cylindrical aragonite and coesite samples 3 to 4 mm in diameter and 6 to 10 mm in length at confining pressures up to 3.7 GPa and temperatures up to 1170°C.     

Online hybrid test by internet linkage of distributed test‐analysis domains

Online hybrid tests (called the online tests), particularly when combined with substructuring techniques, are able to conduct large‐scale tests. An extension of this technique is to combine multiple loading tests conducted in remote locations and to integrate the tests with large numerical analysis codes. In this study, a new Internet online test system is developed in which a physical test is conducted in one place, the associated numerical analysis is performed in a remote location, and the two locations communicate over the Internet. To implement the system, a technique that links test and analysis domains located at different places is proposed, and an Internet data exchange interface is devised to allow data communication across Internet. A practical method that utilizes standard protocols implemented by operating systems for sharing files and folders is adopted to ensure stable and robust communication between remotely located servers that commonly protect themselves by strict firewalls. To combine the online test with a finite element program formulated in an incremental form and adopting an implicit integration scheme, a tangent stiffness prediction procedure is proposed. In this procedure, a tangent stiffness is estimated based on a few previous steps of experimental data. Using the system devised, tests on a base‐isolated structure were carried out. Here, the base‐isolation layer was taken as the tested part and tested in Kyoto University, Japan, and the superstructure was modelled by means of a finite element program and analysed in a computer located in Osaka University. A series of physical Internet online tests were carried out, with the integration time interval and the method of tangent stiffness prediction as the major parameters. The tests demonstrated that the Internet communication was very stable and robust, without malfunctions. The proposed method of stiffness prediction was effective even when the experimental hysteresis curves exhibited complex behaviour, thereby ensuring accurate simulation for the earthquake response of the entire structure. Copyright © 2005 John Wiley & Sons, Ltd.     

Damage identification of a 3D full scale steel–concrete composite structure with partial‐strength joints at different pseudo‐dynamic load levels

Partial‐strength composite steel–concrete moment‐resisting (MR) frame structures represent an open research field in seismic design from both a theoretical and an experimental standpoint. Among experimental techniques, vibration testing is a well‐known and powerful technique for damage detection, localization and quantification, where actual modal parameters of a structure at different states can be determined from test data by using system identification methods. However, the identification of semi‐rigid connections in framed structures is limited, and hence this paper focuses on a series of vibration experiments that were carried out on a realistic MR frame structure, following the application of pseudo‐dynamic and quasi‐static cyclic loadings at the European laboratory for structural assessment of the Joint Research Centre at Ispra, Italy, with the scope of understanding the structural behaviour and identifying changes in the dynamic response. From the forced vibration response, natural frequencies, damping ratios, modal displacements and rotations were extracted using the circle fitting technique. These modal parameters were used for local and global damage identification by updating a 3D finite element model of the intact structure. The identified results were then correlated with observations performed on the structure to understand further the underlying damage mechanisms. Finally, the latin hypercube sampling technique, a variant of the Monte Carlo method, was employed in order to study the sensitivity of the updated parameters of the 3D model to noise on the modal inputs. Copyright © 2009 John Wiley & Sons, Ltd.