A phased approach to enable hybrid simulation of complex structures

Hybrid simulation has been shown to be a cost-effective approach for assessing the seismic performance of structures. In hybrid simulation,critical parts of a structure are physically tested,while the remaining portions of the system are concurrently simulated computationally,typically using a finite element model. This combination is realized through a numerical time-integration scheme,which allows for investigation of full system-level responses of a structure in a cost-effective manner. However,conducting hybrid simulation of complex structures within large-scale testing facilities presents significant challenges. For example,the chosen modeling scheme may create numerical inaccuracies or even result in unstable simulations; the displacement and force capacity of the experimental system can be exceeded; and a hybrid test may be terminated due to poor communication between modules(e.g.,loading controllers,data acquisition systems,simulation coordinator). These problems can cause the simulation to stop suddenly,and in some cases can even result in damage to the experimental specimens; the end result can be failure of the entire experiment. This study proposes a phased approach to hybrid simulation that can validate all of the hybrid simulation components and ensure the integrity largescale hybrid simulation. In this approach,a series of hybrid simulations employing numerical components and small-scale experimental components are examined to establish this preparedness for the large-scale experiment. This validation program is incorporated into an existing,mature hybrid simulation framework,which is currently utilized in the Multi-Axial Full-Scale Sub-Structuring Testing and Simulation(MUST-SIM) facility of the George E. Brown Network for Earthquake Engineering Simulation(NEES) equipment site at the University of Illinois at Urbana-Champaign. A hybrid simulation of a four-span curved bridge is presented as an example,in which three piers are experimentally controlled in a total of 18 degrees of freedom(DOFs). This simulation illustrates the effectiveness of the phased approach presented in this paper.     

A hybrid multi-model approach to river level forecasting

Abstract

This paper presents four different approaches for integrating conventional and AI-based forecasting models to provide a hybridized solution to the continuous river level and flood prediction problem. Individual forecasting models were developed on a stand alone basis using historical time series data from the River Ouse in northern England. These include a hybrid neural network, a simple rule-based fuzzy logic model, an ARMA model and naive predictions (which use the current value as the forecast). The individual models were then integrated via four different approaches: calculation of an average, a Bayesian approach, and two fuzzy logic models, the first based purely on current and past river flow conditions and the second, a fuzzification of the crisp Bayesian method. Model performance was assessed using global statistics and a more specific flood related evaluation measure. The addition of fuzzy logic to the crisp Bayesian model yielded overall results that were superior to the other individual and integrated approaches.     

Iterative implicit integration procedure for hybrid simulation of large nonlinear structures

A fully implicit iterative integration procedure is presented for local and geographically distributed hybrid simulation of the seismic response of complex structural systems with distributed nonlinear behavior. The purpose of this procedure is to seamlessly incorporate experimental elements in simulations using existing fully implicit integration algorithms designed for pure numerical simulations. The difficulties of implementing implicit integrators in a hybrid simulation are addressed at the element level by introducing a safe iteration strategy and using an efficient procedure for online estimation of the experimental tangent stiffness matrix. In order to avoid physical application of iterative displacements, the required experimental restoring force at each iteration is estimated from polynomial curve fitting of recent experimental measurements. The experimental tangent stiffness matrix is estimated by using readily available experimental measurements and by a classical diagonalization approach that reduces the number of unknowns in the matrix. Numerical and hybrid simulations are used to demonstrate that the proposed procedure provides an efficient method for implementation of fully implicit numerical integration in hybrid simulations of complex nonlinear structures. The hybrid simulations presented include distributed nonlinear behavior in both the numerical and experimental substructures. Copyright © 2010 John Wiley & Sons, Ltd.     

A linear systems approach to watershed transport simulation

Models that simulate loadings of pollutants from agricultural landscapes to surface waters often operate at time scales that are relatively coarse (e.g. daily) compared with how fast water moves in streams, suggesting a commensurate physical scale that is substantially larger than typical agricultural fields. In general, as pollutants enter water and move downstream, longitudinal dispersive effects and travel time de‐synchronization tend to cause flattening and broadening of concentration peaks—an effect with implications for potential impacts on ecological and human health, and for which adequate representation is thus important for risk assessment. In‐stream transport is often approximated in practice using numerical implementation of the one‐dimensional advection–dispersion equation (ADE), with streams discretized into linked homogeneous segments. However, when a daily time step is employed, limitations inherent in the finite difference methodology may constrain simulated dispersion in lotic waters to unrepresentative or unrealistic magnitudes. In this paper, a convolution‐based approach to surface water transport is suggested as an alternative to the ADE, for use in combination with daily input loading models. This approach offers the advantage of greater flexibility in representing longitudinal mixing by using impulse response functions (IRF) to represent inter‐segment transport. Networks of stream segments are represented using nested convolutions, implemented using forward and inverse discrete Fourier transform to simplify calculations. Enhanced representational flexibility arises from the freedom afforded the modeller in selecting each segment's IRF, which may be chosen to represent dispersive regimes ranging from pure advection (plug flow) to compete mixing, and beyond to the sort of long‐tailed mixing characterized by fractal inverse frequency power‐law scaling. The approach is explored in proof‐of‐concept exercises that make use of atrazine monitoring data sets collected over common time periods from upstream and downstream locations within the same watersheds. Published 2014. This article is a U.S. Government work and is in the public domain in the USA.     

A new integration scheme for application to seismic hybrid simulation

Hybrid simulation is a powerful test method for evaluating the seismic performance of structural systems. This method makes it feasible that only critical components of a structure be experimentally tested. This paper presents a newly proposed integration algorithm for seismic hybrid simulation which is aimed to extend its capabilities to a wide range of systems where existing methods encounter some limitations. In the proposed method, which is termed the variable time step (VTS) integration method, an implicit scheme is employed for hybrid simulation by eliminating the iterative phase on experimental element, the phase which is necessary in regular implicit applications. In order to study the effectiveness of the VTS method, a series of numerical investigations are conducted which show the successfulness of the VTS method in obtaining accurate, stable and converged responses. Then, in a comparative approach, the improved accuracy of the VTS method over commonly used integration methods is demonstrated. The stability of the VTS method is also studied and the results show that it provides conditional stability; however, its stability limit is well beyond the accuracy limit. The effect of time delay on the VTS method results is also investigated and it is shown that the VTS method is quite successful in handling this experimental error.     

Integration of gauge and radar rainfall to enable best simulation of hydrological parameters

This study is about use of spatially distributed rain in physically based hydrological models. In recent years, spatially distributed radar rainfall data have become available. The distributed radar rain is used to precisely model hydrologic processes and it is more realistic than the past practice of distribution methods like Thiessen polygons. Radar provides a highly accurate spatial distribution of rainfall and greatly improves the basin average rainfall estimates. However, quantification of the exact amount of rainfall from radar observation is relatively difficult. Thus, the fundamental idea of this study is to apply hourly gauge and radar rainfall data in a distributed hydrological model to simulate hydrological parameters. Hence the comparison is made between the outcomes of the WetSpa model from radar rainfall distribution and gauge rainfall distributed by the Thiessen polygon technique. The comparative plots of the hydrograph and the results of hydrological components such as evapotranspiration, surface runoff, soil moisture, recharge and interflow, reflect the spatially distributed radar input performing well for model outflow simulation.

EDITOR D. Koutsoyiannis

ASSOCIATE EDITOR F. Pappenberger     

基于AUKF的框架结构离线模型更新混合试验方法

模型更新混合试验在传统混合试验方法的基础上更新与试验构件具有相同恢复力特性的构件,扩展了混合试验方法的应用范围。本文旨在提高模型更新混合试验的精度,降低试验的成本并简化模型更新混合试验方法的流程。自适应UKF(AUKF)算法在传统UKF的基础上加入方差自适应模块,能够减轻初始参数设定对参数识别结果的影响,本文基于AUKF提出一种模型更新混合试验方法。对以Bouc-Wen为恢复力模型的防屈曲约束支撑(BRB)进行低周反复加载虚拟试验,通过Matlab编制AUKF算法程序进行参数识别,验证了AUKF算法的高效准确性。对一榀8层4跨带BRB的钢框架进行混合试验数值仿真,结果表明离线模型更新试验结果较在线模型更新更接近真实结果,且简化了试验流程。     

Evaluation of integration methods for hybrid simulation of complex structural systems through collapse

This study examines the performance of integration methods for hybrid simulation of large and complex structural systems in the context of structural collapse due to seismic excitations. The target application is not necessarily for real-time testing, but rather for models that involve large-scale physical sub-structures and highly nonlinear numerical models. Four case studies are presented and discussed. In the first case study, the accuracy of integration schemes including two widely used methods, namely, modified version of the implicit Newmark with fixed-number of iteration (iterative) and the operator-splitting (non-iterative) is examined through pure numerical simulations. The second case study presents the results of 10 hybrid simulations repeated with the two aforementioned integration methods considering various time steps and fixed-number of iterations for the iterative integration method. The physical sub-structure in these tests consists of a single-degree-of-freedom (SDOF) cantilever column with replaceable steel coupons that provides repeatable highlynonlinear behavior including fracture-type strength and stiffness degradations. In case study three, the implicit Newmark with fixed-number of iterations is applied for hybrid simulations of a 1:2 scale steel moment frame that includes a relatively complex nonlinear numerical substructure. Lastly, a more complex numerical substructure is considered by constructing a nonlinear computational model of a moment frame coupled to a hybrid model of a 1:2 scale steel gravity frame. The last two case studies are conducted on the same porotype structure and the selection of time steps and fixed number of iterations are closely examined in pre-test simulations. The generated unbalance forces is used as an index to track the equilibrium error and predict the accuracy and stability of the simulations.     

Predictive stability indicator: a novel approach to configuring a real‐time hybrid simulation

Real‐time hybrid simulation (RTHS) is an effective and versatile tool for the examination of complex structural systems with rate dependent behaviors. To meet the objectives of such a test, appropriate consideration must be given to the partitioning of the system into physical and computational portions (i.e., the configuration of the RTHS). Predictive stability and performance indicators (PSI and PPI) were initially established for use with only single degree‐of‐freedom systems. These indicators allow researchers to plan a RTHS, to quantitatively examine the impact of partitioning choices on stability and performance, and to assess the sensitivity of an RTHS configuration to de‐synchronization at the interface. In this study, PSI is extended to any linear multi‐degree‐of‐freedom (MDOF) system. The PSI is obtained analytically and it is independent of the transfer system and controller dynamics, providing a relatively easy and extremely useful method to examine many partitioning choices. A novel matrix method is adopted to convert a delay differential equation to a generalized eigenvalue problem using a set of vectorization mappings, and then to analytically solve the delay differential equations in a computationally efficient way. Through two illustrative examples, the PSI is demonstrated and validated. Validation of the MDOF PSI also includes comparisons to a MDOF dynamic model that includes realistic models of the hydraulic actuators and the control‐structure interaction effects. Results demonstrate that the proposed PSI can be used as an effective design tool for conducting successful RTHS. Copyright © 2016 John Wiley & Sons, Ltd     

A complex analysis approach to the motion of uniform vortices

A new mathematical approach to kinematics and dynamics of planar uniform vortices in an incompressible inviscid fluid is presented. It is based on an integral relation between Schwarz function of the vortex boundary and induced velocity. This relation is firstly used for investigating the kinematics of a vortex having its Schwarz function with two simple poles in a transformed plane. The vortex boundary is the image of the unit circle through the conformal map obtained by conjugating its Schwarz function. The resulting analysis is based on geometric and algebraic properties of that map. Moreover, it is shown that the steady configurations of a uniform vortex, possibly in presence of point vortices, can be also investigated by means of the integral relation. The vortex equilibria are divided in two classes, depending on the behavior of the velocity on the boundary, measured in a reference system rotating with this curve. If it vanishes, the analysis is rather simple. However, vortices having nonvanishing relative velocity are also investigated, in presence of a polygonal symmetry. In order to study the vortex dynamics, the definition of Schwarz function is then extended to a Lagrangian framework. This Lagrangian Schwarz function solves a nonlinear integrodifferential Cauchy problem, that is transformed in a singular integral equation. Its analytical solution is here approached in terms of successive approximations. The self-induced dynamics, as well as the interactions with a point vortex, or between two uniform vortices are analyzed.     

Real-time hybrid simulation of structures equipped with viscoelastic-plastic dampers using a user-programmable computational platform

A user-programmable computational/control platform was developed at the University of Toronto that offers real-time hybrid simulation (RTHS) capabilities. The platform was verified previously using several linear physical substructures. The study presented in this paper is focused on further validating the RTHS platform using a nonlinear viscoelastic-plastic damper that has displacement, frequency and temperature-dependent properties. The validation study includes damper component characterization tests, as well as RTHS of a series of single-degree-of-freedom (SDOF) systems equipped with viscoelastic-plastic dampers that represent different structural designs. From the component characterization tests, it was found that for a wide range of excitation frequencies and friction slip loads, the tracking errors are comparable to the errors in RTHS of linear spring systems. The hybrid SDOF results are compared to an independently validated thermalmechanical viscoelastic model to further validate the ability for the platform to test nonlinear systems. After the validation, as an application study, nonlinear SDOF hybrid tests were used to develop performance spectra to predict the response of structures equipped with damping systems that are more challenging to model analytically. The use of the experimental performance spectra is illustrated by comparing the predicted response to the hybrid test response of 2DOF systems equipped with viscoelastic-plastic dampers.     

A new approach to numerical simulation of source development of earthquake

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Online numerical simulation: A hybrid simulation method for incomplete boundary conditions

Hybrid simulation is a powerful and cost‐effective simulation technique to evaluate structural dynamic performance. However, it is sometimes rather difficult to guarantee all the boundaries on the physical substructures, especially when the boundary conditions are very complex, due to limited laboratory resources. Lacking of boundary conditions is bound to change the stress state of the structure and eventually result in an inaccurate evaluation of structural performance. A model updating‐based online numerical simulation method is proposed in this paper to tackle the problem of incomplete boundary conditions. In the proposed method, 2 sets of finite element models with the same constitutive model are set up for the overall analysis of the whole structure and the constitutive model parameter estimation of the physical substructure, respectively. The boundary conditions are naturally satisfied because the response is calculated from the overall structural model, and the accuracy is improved as the material constitutive parameters are updated. The effectiveness of the proposed method is validated via numerical simulations and actual hybrid tests on a RC frame structure, and the results show that the negative effect of incomplete boundary conditions is almost eliminated and the accuracy of hybrid simulation is very much improved.     

A hybrid approach to compute seismic travel times in three-dimensional tetrahedral meshes

We propose an optimized method to compute travel times for seismic inversion problems. It is a hybrid method combining several approaches to deal with travel time computation accuracy in unstructured meshes based on tetrahedral elementary cells. As in the linear travel time interpolation method, the proposed approach computes travel times using seismic ray paths. The method operates in two sequential steps: At a first stage, travel times are computed for all nodes of the mesh using a modified version of the shortest path method. The difference with the standard version is that additional secondary nodes (called tertiary nodes) are added temporarily around seismic sources in order to improve accuracy with a reasonable increase in computational cost. During the second step, the steepest travel time gradient method is used to trace back ray paths for each source–receiver pair. Travel times at each receiver are then recomputed using slowness values at the intersection points between the ray path and the traversed cells. A number of numerical tests with an array of different velocity models, mesh resolutions and mesh topologies have been carried out. These tests showed that an average relative error in the order of 0.1% can be achieved at a computational cost that is suitable for travel time inversion.     

Fast and accurate earthquake location within complex medium using a hybrid globallocal inversion approach

A novel hybrid approach for earthquake location is proposed which uses a combined coarse global search and fine local inversion with a minimum search routine,plus an examination of the root mean squares(RMS) error distribution.The method exploits the advantages of network ray tracing and robust formulation of the Fréchet derivatives to simultaneously update all possible initial source parameters around most local minima(including the global minimum) in the solution space,and finally to determine the likely global solution.Several synthetic examples involving a 3-D complex velocity model and a challenging source-receiver layout are used to demonstrate the capability of the newly-developed method.This new global-local hybrid solution technique not only incorporates the significant benefits of our recently published hypocenter determination procedure for multiple earthquake parameters,but also offers the attractive features of global optimal searching in the RMS travel time error distribution.Unlike the traditional global search method,for example,the Monte Carlo approach,where millions of tests have to be done to find the final global solution,the new method only conducts a matrix inversion type local search but does it multiple times simultaneously throughout the model volume to seek a global solution.The search is aided by inspection of the RMS error distribution.Benchmark tests against two popular approaches,the direct grid search method and the oct-tree important sampling method,indicate that the hybrid global-local inversion yields comparable location accuracy and is not sensitive to modest level of noise data,but more importantly it offers two-order of magnitude speed-up in computational effort.Such an improvement,combined with high accuracy,make it a promising hypocenter determination scheme in earthquake early warning,tsunami early warning,rapid hazard assessment and emergency response after strong earthquake occurrence.     

A faster simulation method for the stochastic response of hysteretic structures subject to earthquakes

A semi-analytical forward-difference Monte Carlo simulation procedure is proposed for the determination of the lower order statistical moments and the joint probability density function of the stochastic response of hysteretic non-linear multi-degree-of-freedom structural systems subject to nonstationary gaussian white noise excitation, as an alternative to conventional direct simulation methods. The method generalizes the so-called Ermak-Allen algorithm developed for simulation applications in molecular dynamics to structural hysteretic systems. The proposed simulation procedure rely on an assumption of local gaussianity during each time step. This assumption is tantamount to various linearizations of the equations of motion. The procedure then applies an analytical convolution of the excitation process, hereby reducing the generation of stochastic processes and numerical integration to the generation of random vectors only. Such a treatment offers higher rates of convergence, faster speed and higher accuracy. The procedure has been compared to the direct Monte Carlo simulation procedure, which uses a fourth-order Runge-Kutta scheme with the white noise process approximated by a broad band Ruiz-Penzien broken line process. The considered system was a multi-dimenensional hysteretic shear frame, where the constitutive equation of the hysteretic shear forces are described by a bilinear hysteretic model. The comparisons show that significant savings in computer time and accuracy can be achieved.     

Fast and accurate earthquake location within complex medium using a hybrid globallocal inversion approach

A novel hybrid approach for earthquake location is proposed which uses a combined coarse global search and fine local inversion with a minimum search routine, plus an examination of the root mean squares (RMS) error distribution. The method exploits the advantages of network ray tracing and robust formulation of the Fréchet derivatives to simultaneously update all possible initial source parameters around most local minima (including the global minimum) in the solution space, and finally to determine the likely global solution. Several synthetic examples involving a 3-D complex velocity model and a challenging source-receiver layout are used to demonstrate the capability of the newly-developed method. This new global-local hybrid solution technique not only incorporates the significant benefits of our recently published hypocenter determination procedure for multiple earthquake parameters, but also offers the attractive features of global optimal searching in the RMS travel time error distribution. Unlike the traditional global search method, for example, the Monte Carlo approach, where millions of tests have to be done to find the final global solution, the new method only conducts a matrix inversion type local search but does it multiple times simultaneously throughout the model volume to seek a global solution. The search is aided by inspection of the RMS error distribution. Benchmark tests against two popular approaches, the direct grid search method and the oct-tree important sampling method, indicate that the hybrid global-local inversion yields comparable location accuracy and is not sensitive to modest level of noise data, but more importantly it offers two-order of magnitude speed-up in computational effort. Such an improvement, combined with high accuracy, make it a promising hypocenter determination scheme in earthquake early warning, tsunami early warning, rapid hazard assessment and emergency response after strong earthquake occurrence.     

A method for estimating specimen tangent stiffness for hybrid simulation

Researchers have long recognized the importance and potential benefits of utilizing the tangent stiffness matrix of a test specimen in hybrid simulations employing implicit and mixed‐integration schemes. However, the computation of the tangent stiffness matrix during testing has proved to be challenging, particularly for test specimens with more than one degree of freedom (dof). This paper presents a new methodology that is more straightforward and simpler than existing techniques for computing the tangent stiffness matrix of a multi‐dof test specimen. The proposed method is combined with the operator‐splitting method (OSM), and the capabilities, advantages and limitations of the new formulation are demonstrated through several examples. The accuracy, stability, and error propagation characteristics of the modified OSM are also studied theoretically as well as numerically. The research results show that the proposed algorithm provides results that are better than those produced via the regular OSM alone, especially for damped structures undergoing highly inelastic behavior during testing. Copyright © 2008 John Wiley & Sons, Ltd.     

钢框架结构典型震害的计算机模拟研究

为模拟钢框架结构的典型震害,本文基于ANSYS软件建立了钢框架结构简化模型。该模型可以考虑楼板对钢框架结构整体性能的影响,并且进一步考虑了楼板与钢梁之间的滑移、节点域变形,以及梁柱节点焊缝的断裂等因素。应用本文建立的钢框架结构模型对北岭地震中Blue Cross大厦的震害进行了模拟,与实际震害对比的结果表明,该模型能够比较精确地模拟地震作用下钢框架结构的响应。钢框架结构模型对节点焊缝断裂的钢框架结构震害研究有着重要的意义。