Experimental and analytical studies on the response of freestanding laboratory equipment to earthquake shaking

This paper presents results of a comprehensive experimental program on the seismic response of full‐scale freestanding laboratory equipment. First, quasi‐static experiments are conducted to examine the mechanical behavior of the contact interface between the laboratory equipment and floors. Based on the experimental results, the response analysis that follows adopts two idealized contact friction models: the elastoplastic model and the classical Coulomb friction model. Subsequently, the paper presents shake table test results of full‐scale freestanding equipment subjected to ground and floor motions of hazard levels with corresponding displacements that can be accommodated by the shake table at the UC Berkeley Earthquake Engineering Research Center. For the equipment tested, although some rocking is observed, sliding is the predominant mode of response, with sliding displacements reaching up to 60 cm. Numerical simulations with the proposed models are performed. Finally, the paper identifies a physically motivated intensity measure and the associated engineering demand parameter with the help of dimensional analysis and presents ready‐to‐use fragility curves. Copyright © 2008 John Wiley & Sons, Ltd.     

Bench–shelf system dynamic characteristics and their effects on equipment and contents

Economic losses during past earthquakes are strongly associated with damage and failure to nonstructural equipment and contents. Among the vast types of nonstructural elements, one important category, is scientific equipment in biological or chemical laboratories. These equipment are often mounted on heavy ceramic bench‐tops of bench–shelf systems, which in turn may amplify the dynamic motions imposed. To investigate the seismic response of these types of systems, a series of shake table and field experiments were conducted considering different representative bench and shelf‐mounted equipment and contents. Results from shake table experiments indicate that these equipment are generally sliding‐dominated. In addition, the bench–shelf system is observed to be very stiff and when lightly loaded, has a fundamental frequency between 10 and 16 Hz. An approximate 50% reduction in the first and second fundamental frequencies is observed considering practical loading conditions. Insight into a broader range of system response is provided by conducting eigenvalue and time history analyses. Non‐linear regression through the numerical data indicate acceleration amplification ratios Ω range from 2.6 to 1.4 and from 4.3 to 1.6, for fixed–fixed and pinned–pinned conditions, respectively. Both the experimental and numerical results support the importance of determining the potential dynamic amplification of motion in the context of accurately determining the maximum sliding displacement of support equipment and contents. Copyright © 2006 John Wiley & Sons, Ltd.     

Seismic response analysis of multidrum classical columns

This paper presents a numerical investigation on the seismic response of multidrum classical columns. The motivation for this study originates from the need to understand: (a) the level of ground shaking that classical multidrum columns can survive, and (b) the possible advantages or disadvantages of retrofitting multidrum columns with metallic shear links that replace the wooden poles that were installed in ancient times. The numerical study presented in this paper is conducted with the commercially available software Working Model 2D?, which can capture with fidelity the sliding, rocking, and slide‐rocking response of rigid‐body assemblies. This paper validates the software Working Model by comparing selected computed responses with scarce analytical solutions and the results from in‐house numerical codes initially developed at the University of California, Berkeley, to study the seismic response of electrical transformers and heavy laboratory equipment. The study reveals that relative sliding between drums happens even when the g‐value of the ground acceleration is less than the coefficient of friction, µ, of the sliding interfaces and concludes that: (a) typical multidrum classical columns can survive the ground shaking from strong ground motions recorded near the causative faults of earthquakes with magnitudes M_w=6.0–7.4; (b) in most cases multidrum classical columns free to dislocate at the drum interfaces exhibit more controlled seismic response than the monolithic columns with same size and slenderness; (c) the shear strength of the wooden poles has a marginal effect on the sliding response of the drums; and (d) stiff metallic shear links in‐between column drums may have an undesirable role on the seismic stability of classical columns and should be avoided. Copyright © 2005 John Wiley & Sons, Ltd.     

Seismic response of sliding equipment and contents in base‐isolated buildings subjected to broadband ground motions

Base isolation has been established as the seismic design approach of choice when it comes to protecting nonstructural contents. However, while this protection technology has been widely shown to reduce seismic demands on attached oscillatory equipment and contents (EC), its effectiveness in controlling the response of freestanding EC that are prone to sliding has not been investigated. This study examines the seismic behavior of sliding EC inside base‐isolated buildings subjected to broadband ground motions. The effect of isolation system properties on the response of sliding EC with various friction coefficients is examined. Two widely used isolation models are considered: viscously damped linear elastic and bilinear. The study finds isolation to be generally effective in reducing seismic demands on sliding EC, but it also exposes certain situations where isolation in fact increases demands on EC, most notably for low friction coefficients and high earthquake intensities. Damping at the isolation level is effective in controlling the EC sliding displacements, although damping over about 20% is found to be superfluous. The study identifies a physically motivated dimensionless intensity measure and engineering demand parameter for sliding equipment in base‐isolated buildings subjected to broadband ground motions. Finally, the paper presents easy‐to‐use design fragility curves and an example that illustrates how to use them. Copyright © 2014 John Wiley & Sons, Ltd.     

An approach for shake table performance evaluation during repair and retrofit actions

Large‐scale, servo‐hydraulic shake tables are a central fixture of many earthquake engineering and structural dynamics laboratories. Wear and component failure from frequent use may lead to control problems resulting in reduced motion fidelity, necessitating repairs and replacement of major components. This paper presents a methodology to evaluate shake table performance pre‐ and post‐repair, including the definition of important performance metrics. The strategy suggested is presented in the context of the rebuilding of a 4.9 × 3.1 m, 350‐kN‐capacity uniaxial shake table. In this case, the rebuild consisted of characterization of wear to table components, replacement of worn bearing surfaces, and replacement of hydraulic accumulators. To assess the effectiveness of the repair actions, sinusoidal and triangular waves, white noise, and earthquake histories were run on the table before and after the rebuild. The repair actions were successful in reducing the position and velocity dependence of friction, improving the ability of control algorithms to accurately reproduce earthquake motions. The maximum and average response spectral misfits in the period range of 0.1–2 seconds were reduced from approximately 50% to 15%, and from 5% to less than 2.5%, respectively.     

Shake table investigation on the seismic performance of hospital equipment supported on wheels/casters

This paper presents an experimental investigation on the seismic response of medical equipment supported on wheels and/or casters. Two pieces of equipment were tested: a large ultrasound machine and a cart carrying smaller medical equipment. In the first phase, the resistance of the wheels and casters of the equipment was characterized through a controlled‐displacement procedure on the shake table. In the second phase, an extensive shake table test program was carried out to investigate the seismic response of the equipment. The input signals for the shake table tests included floor motions of a four‐story steel braced‐frame hospital designed to satisfy seismic requirements of a site in the Los Angeles area. The results of 96 shake table tests reported in this study include the seismic performance of the equipment under both unlocked and locked conditions, located on various floor levels of the building. It was observed that engaging the casters' locking mechanism does not necessarily decrease the relative displacement. The displacement response was sensitive to the excitation intensity and the orientation of the equipment with respect to the input excitation. Based on the experimental observations, appropriate structural engineering demand parameters associated with the relative displacement and relative velocity demands of the equipment are proposed and used to develop conditional probability curves. Finally, in an effort to extend the results of this experimental study to similar equipment on wheels/casters, the performance of a simple numerical model in predicting the peak seismic demands is evaluated. Copyright © 2016 John Wiley & Sons, Ltd.     

Out-of-plane shaking table tests of full-scale historic adobe corner walls retrofitted with timber elements

Historic adobe structures pose a high seismic risk mainly because of the poor out-of-plane bending response of their walls that may produce fatalities and significant economic, cultural, and heritage losses. In this paper, we propose a retrofitting technique that increases the wall strength for both in-plane and out-of-plane directions. This technique consists of vertical and horizontal timber elements symmetrically installed on each face of the wall to form a confining wood frame, supplemented with vertical tensors that pre-compress the wall. This study evaluates the performance of this retrofitting technique with a two-set experimental program on full-scale historic adobe walls. On the first set, four specimens were subjected to a static overturning test with boundary conditions representing the confinement effect at both ends by orthogonal walls. On the second set, three full-scale specimens, one unretrofitted and two retrofitted, were subjected to four ground motion records on a shaking table to assess the out-of-plane dynamic behavior of typical corner walls. The unretrofitted specimen collapsed during the second motion (peak ground acceleration [PGA] = 0.39 g), while both retrofitted walls survived all four motions (maximum PGA of 0.75 g) proving the high effectiveness of the proposed retrofitting. The addition of base anchors as a variation of the retrofitting technique significantly reduced the rocking effects and the residual drifts of the system, thus improving its overall seismic performance. Further research is needed to develop guidelines for seismic retrofit of heritage buildings including multistory full-scale tests of specimens with various types of openings and retrofitting strategies that minimize their architectural impact.     

Shake table testing of un‐reinforced brick masonry building test model isolated by U‐FREI

This paper presents a detailed study on feasibility of un‐bonded fiber reinforced elastomeric isolator (U‐FREI) as an alternative to steel reinforced elastomeric isolator (SREI) for seismic isolation of un‐reinforced masonry buildings. Un‐reinforced masonry buildings are inherently vulnerable under seismic excitation, and U‐FREIs are used for seismic isolation of such buildings in the present study. Shake table testing of a base isolated two storey un‐reinforced masonry building model subjected to four prescribed input excitations is carried out to ascertain its effectiveness in controlling seismic response. To compare the performance of U‐FREI, same building is placed directly on the shake table without isolator, and fixed base (FB) condition is simulated by restraining the base of the building with the shake table. Dynamic response characteristic of base isolated (BI) masonry building subjected to different intensities of input earthquakes is compared with the response of the same building without base isolation system. Acceleration response amplification and peak response values of test model with and without base isolation system are compared for different intensities of table acceleration. Distribution of shear forces and moment along the height of the structure and response time histories indicates significant reduction of dynamic responses of the structure with U‐FREI system. This study clearly demonstrates the improved seismic performance of un‐reinforced masonry building model supported on U‐FREIs under the action of considered ground motions. Copyright © 2015 John Wiley & Sons, Ltd.     

Energy capacity and seismic performance of RC waffle-flat plate structures under two components of far-field ground motions: Shake table tests

The bidirectional response of a portion of a reinforced concrete (RC) waffle-flat plate (WFP) structure subjected to far-field ground motions is studied through shake table tests. The test specimen is a scaled portion of a prototype structure designed under current building codes and located in a region of moderate seismicity of the Mediterranean area. The specimen was subjected to a sequence of tests of increasing acceleration amplitude that respectively represented very frequent, frequent, design, and very rare earthquakes at the site. The test structure performed well (basically in the elastic domain) under very frequent and frequent earthquakes, approached the boundary between the performance levels of life safety and near collapse under the design earthquake, and collapsed under the very rare earthquake. Damage concentrated at column bases and at the transverse beams of the exterior plate-to-column connection. Columns dissipated about 10% of the total energy that contributes to damage, and the rest was dissipated by the exterior plate-column connection. The total energy input on the structure until collapse under the bidirectional seismic action was very close to the value obtained in previous studies on a similar specimen tested under unidirectional ground motions. The capacity curve estimated from the experimental base shear vs top displacement relationship suggests it is best to use a behavior factor of at most q = 2 when designing WFP structures with the reduced-spectrum force-based approach.     

Experimental and analytical studies on the performance of hybrid isolation systems

This paper presents experimental and analytical results on the seismic response of a rigid structure supported on isolation systems that consist of either lead rubber or sliding bearings. Shake table tests are conducted with various levels of isolation damping that is provided from the bearings and supplemental viscous fluid dampers. The table motions originated from recorded strong ground motions that have been compressed to the extent that the mass of the model structure corresponds to the mass of a typical freeway overcrossing. Experimental data are used to validate mechanical idealizations and numerical procedures. The study concludes that supplemental damping is most effective in suppressing displacements of rigid structures with moderately long isolation periods (T_I≤3 sec) without affecting base shears. Friction damping is most effective in suppressing displacement amplifications triggered by long duration pulses—in particular, pulses that have duration close to the isolation period. Copyright © 2001 John Wiley & Sons, Ltd.     

Investigation of the sliding behavior between steel and mortar for seismic applications in structures

The friction developed between a steel base plate and a mortar base contributes shear resistance to the building system during a seismic event. In order to investigate the possible sliding behavior between the base plate and the mortar, a shake table study is undertaken using a large rigid mass supported by steel contact elements which rest on mortar surfaces connected to the shake table. Horizontal input accelerations are considered at various magnitudes and frequencies. The results provide a constant friction coefficient during sliding with an average value of approximately 0.78. A theoretical formulation of the friction behavior is also undertaken. The theoretical equations show that the sliding behavior is dependent on the ratio of the friction force to the input force. The addition of vertical accelerations to the system further complicates the sliding behavior as a result of the varying normal force. This results in a variable friction resistance which is a function of the amplitude, phase, and frequency of the horizontal and vertical input motions. In general, this study showed a consistent and reliable sliding behavior between steel and mortar. Copyright © 2009 John Wiley & Sons, Ltd.     

Simulation of floor response spectra in shake table experiments

Among several different experimental techniques, used to test the response of structures and to verify their seismic performance, the shake table testing allows to reproduce the conditions of true effects of earthquake ground motions in order to challenge complex model structures and systems. However, the reproduction of dynamic signals, due to the dynamics of the shake table and of the specimen, is usually imperfect even though closed‐loop control in a shake table system is used to reduce these errors and obtain the best fidelity reproduction. Furthermore, because of the dynamic amplifications in the specimen, the signal recorded at desired locations could be completely different from the expected effect of shake table motion. This paper focuses on the development of practical shake table simulations using additional ‘open loop’ feedforward compensation in form of inverse transfer functions (i.e. the ratio of the output structural response to an input base motion in the frequency domain) in order to obtain an acceptable reproduction of desired acceleration histories at specific locations in the specimen. As the first step, a well‐known global feedforward procedure is reformulated for the compensation of the table motion distortions due to the servo‐hydraulic system. Subsequently, the same concept is extended to the table‐structure system to adjust the shake table input in order to achieve a desired response spectrum at any floor of the specimen. Implementations show how such a method can be used in any experimental facility. Copyright © 2010 John Wiley & Sons, Ltd.     

Seismic stability of two interconnected steel structures freely standing on the floor

Nuclear fuel fabrication and reprocessing facilities have glove boxes that are extensively used as a primary containment for radiological material. These equipment are maintained under negative pressure using ventilation system and possess high degree of leak tightness. Sometimes, they are used as a standalone structure and many a times, interconnected to each other. Normally, they are not anchored to the floor, which raises serious concerns about their seismic performance. To check seismic stability of the glove boxes and evaluate safety margins in design, tri directional fullscale shake table experiments of two interconnected glove boxes had been carried out. Two configurations were compared; in first, both the boxes were connected through flexible linkage (material transfer tunnel) and in second both were rigidly connected via structural members. Objective of experiments was to observe effects of seismic excitation on leak tightness, structural integrity and overall stability of two interconnected glove boxes. Subsequently, nonlinear finite element analysis was carried out to establish and develop analysis methodology. Experimental results were utilized for model benchmarking. Furthermore, a numerical method was developed to determine safe upper bounds on sliding displacements. This paper highlighted critical findings emanated from experimental results and examined their effect on seismic stability. Enhanced seismic stability in case of rigidly connected boxes was observed. Rigid body motions (mainly sliding and low magnitude rocking) dominated the response with very limited effect of elastic motions. Methodology used for modelling and analyzing glove boxes under seismic loading using finite element methods was also presented.     

Shake‐table experiment on reinforced concrete structure containing masonry infill wall

A hypothetical 5‐storey prototype structure with reinforced concrete (RC) frame and unreinforced masonry (URM) wall is considered. The paper focuses on a shake‐table experiment conducted on a substructure of this prototype consisting of the middle bays of its first storey. A test structure is constructed to represent the selected substructure and the relationship between demand parameters of the test structure and those of the prototype structure is established using computational modelling. The dynamic properties of the test structure are determined using a number of preliminary tests before performing the shake‐table experiments. Based on these tests and results obtained from computational modelling of the test structure, the test ground motions and the sequence of shakings are determined. The results of the shake‐table tests in terms of the global and local responses and the effects of the URM infill wall on the structural behaviour and the dynamic properties of the RC test structure are presented. Finally, the test results are compared to analytical ones obtained from further computational modelling of the test structure subjected to the measured shake‐table accelerations. Copyright © 2006 John Wiley & Sons, Ltd.     

DYNAMIC RESPONSE OF EQUIPMENT IN STRUCTURES WITH SLIDING SUPPORT

The dynamic behaviour of a single degree-of-freedom (DOF) equipment mounted on a sliding primary structures subjected to harmonic and earthquake ground motions is studied numerically. To deal with the discontinuity nature of sliding structural systems, in this work the fictitious spring model is adopted. With the problem formulated in a state space form, an incremental numerical scheme capable of dealing with multi-DOF sliding structural systems is proposed for solving the time history responses. Numerical examples excited by harmonic and real earthquake ground motions are considered in order to study the following three effects: (1)the variation of the frictional coefficient of the sliding support, (2)subharmonic resonance and (3)effect of tuning (i.e. when the frequency of the equipment is coincident with or close to the fundamental frequency of the primary structure) on the mounted equipment. The dynamic characteristics of the mounted equipment are highlighted in the analysis of the numerical examples. © 1997 by John Wiley & Sons, Ltd.     

Validation of nonlinear time history analysis models for single‐storey concentrically braced frames using full‐scale shake table tests

The concentrically braced frame (CBF) structure is one of the most efficient steel structural systems to resist earthquakes. This system can dissipate energy during earthquakes through braces, which are expected to yield in tension and buckle in compression, while all other elements such as columns, beams and connections are expected to behave elastically. In this paper, the performance of single‐storey CBFs is assessed with nonlinear time‐history analysis, where a robust numerical model that simulates the behaviour of shake table tests is developed. The numerical model of the brace element used in the analysis was calibrated using data measured in physical tests on brace members subjected to cyclic loading. The model is then validated by comparing predictions from nonlinear time‐history analysis to measured performance of brace members in full scale shake table tests. Furthermore, the sensitivity of the performance of the CBF to different earthquake ground motions is investigated by subjecting the CBF to eight ground motions that have been scaled to have similar displacement response spectra. The comparative assessments presented in this work indicate that these developed numerical models can accurately capture the salient features related to the seismic behaviour of CBFs. A good agreement is found between the performance of the numerical and physical models in terms of maximum displacement, base shear force, energy dissipated and the equivalent viscous damping. The energy dissipated and, more particular, the equivalent viscous damping, are important parameters required when developing an accurate displacement‐based design methodology for CBFs subjected to earthquake loading. In this study, a relatively good prediction of the equivalent viscous damping is obtained from the numerical model when compared with data measured during the shake table tests. However, it was found that already established equations to determine the equivalent viscous damping of CBFs may give closer values to those obtained from the physical tests. Copyright © 2012 John Wiley & Sons, Ltd.     

Verification of precarious rock methodology using shake table tests of rock models

Precariously balanced rocks in seismically active regions are effectively upper-limit strong motion seismoscopes that have been in place for thousands of years. Thus, estimates of the dynamic toppling acceleration of these rocks (through rigid body rocking) can provide constraints on the peak ground accelerations experienced during past earthquakes. We have developed a methodology that uses a two-dimensional numerical code to calculate the dynamic rocking response of precarious rocks to realistic ground acceleration time histories. Statistical analyses of the dynamic response of these rocks to a range of synthetic seismograms, as well as strong motion records, can provide important information about the ground motion attenuation curves and seismic hazard maps. We use shake table tests to investigate the dynamic rocking response of 13 wooden rectangular blocks of various sizes and aspect ratios subjected to realistic seismograms and compare the results with those of numerical tests. Our results indicate good agreement between the shake table and numerical results.     

Shake table experimental study of cable-stayed bridges with two different design strategies of H-shaped towers

As one of the main load-carrying components of cable-stayed bridges,bridge towers are typically required to remain elastic even when subjected to severe ground motions with a 2%-3%probability of exceedance in 50 years.To fulfill this special requirement imposed by current seismic design codes,reinforcement ratios in the bridge towers have to be kept significantly higher than if limited ductility behavior of the tower is allowed.In addition,since the foundation capacity is closely related to the moment and shear capacities of the bridge tower,a large increase in bridge construction cost for elastically designed cable-stayed bridge is inevitable.To further investigate the possibility of limited ductility bridge tower design strategies,a new 1/20-scale cable-stayed bridge model with H-shaped bridge towers designed according to strong strut-weak tower column design was tested.The shake table experimental results are compared with a previous strong tower column-weak strut designed full bridge model.A comparison of the results show that ductility design with plastic hinges located on tower columns,i.e.,strong strut-weak tower column design,is another effective seismic design strategy that results in only small residual displacement at the top of the tower column,even under very severe earthquake excitations.     

Experimental study of the effect of restraining rim design on the extreme behavior of pendulum sliding bearings

While the performance of sliding isolators has been extensively validated under typical levels of ground motion, there have been very few experimental studies on the extreme behavior of sliding isolation bearings when the displacement limit is reached. However, to appropriately design isolated systems, from selecting the displacement capacity of the bearing to sizing the superstructure members, the behavior of the bearing as it reaches, and in some cases exceeds, the displacement limit should be well understood. A series of shake table tests to investigate the extreme behavior of double pendulum sliding bearings under strong ground motions were conducted at McMaster University. One major difference in sliding bearings around the world is how the motion of the bearing is restrained at the bearing's displacement capacity. Scaled bearings with four different types of restraining rim designs were included, representing typical sliding restraining rims found in Europe, Japan, and the United States. Experimental observation shows that the restraining rim has a significant influence on the extreme behavior of sliding isolation bearing. Key response parameters such as impact force and uplift are evaluated and compared between the different sliding bearing designs. While the bearing with no rim bearing imparts the lowest forces to the superstructure, it loses its functionality at a lower amplitude input than all the other rim types. For the other rim designs, the impact forces are significantly higher but they remained operational although damaged.     

Dynamic characteristics and seismic behavior of prefabricated steel stairs in a full‐scale five‐story building shake table test program

This paper investigates the dynamic characteristics and seismic behavior of prefabricated steel stairs in a full‐scale five‐story building shake table test program. The test building was subjected to a suite of earthquake input motions and low‐amplitude white noise base excitations first, while the building was isolated at its base, and subsequently while it was fixed to the shake table platen. This paper presents the modal characteristics of the stairs identified using the data recorded from white noise base excitation tests as well as the physical and measured responses of the stairs from the earthquake tests. The observed damage to the stairs is categorized into three distinct damage states and is correlated with the interstory drift demands of the building. These shake table tests highlight the seismic vulnerability of modern designed stair systems and in particular identifies as a key research need the importance of improving the deformability of flight‐to‐building connections. Copyright © 2015 John Wiley & Sons, Ltd.