• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• Structural Engineering and Mechanics
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• 제26권6호
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• pp.687-707
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• 2007

High-tech facilities engaged in the production of semiconductors and optical microscopes are extremely expensive, which may require time-domain analysis for seismic resistant design in consideration of the most critical directions of seismic ground motions. This paper presents a framework for generating three-dimensional critical seismic ground acceleration time histories compatible with the response spectra specified in seismic design codes. The most critical directions of seismic ground motions associated with the maximum response of a high-tech facility are first identified. A new numerical method is then proposed to derive the power spectrum density functions of ground accelerations which are compatible with the response spectra specified in seismic design codes in critical directions. The ground acceleration time histories for the high-tech facility along the structural axes are generated by applying the spectral representation method to the power spectrum density function matrix and then multiplied by envelope functions to consider nonstationarity of ground motions. The proposed framework is finally applied to a typical three-story high-tech facility, and the numerical results demonstrate the feasibility of the proposed approach.

• Nuclear Engineering and Technology
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• 제43권4호
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• pp.361-374
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• 2011

Two types of numerical modeling techniques were considered for the dynamic response of a structure subjected to a ground acceleration. One technique is based on the equation of motion relative to ground motion, and the other is based on the equation of absolute motion of the structure and the ground. The analytic background of the former is well established while the latter has not yet been extensively verified. The latter is called a large mass method, which allocates an appropriate large mass to the ground so that it causes the ground to move according to a given acceleration time history. In this paper, through the use of a single degree-of-freedom spring-mass system, the equations of motion of the two techniques were analyzed and useful theorems are provided on the large mass method. Using simple examples, the numerical results of the two modeling techniques were compared with analytic solutions. It is shown that the theorems provide a clear insight on the large mass method.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1999년도 가을 학술발표회 논문집
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• pp.365-370
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• 1999

In this paper, dynamic response analysis on the ground movement applied traffic load by 2D finite element procedure has been studied. In particular, The paper deal with pointing acceleration method that applied AFIMEX Code as like 2D-FLUSH using equivalent linear method. As the result, it is found that dynamic response analysis by pointing acceleration method expressed ground movement by traffic load exactly.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 춘계학술대회논문집
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• pp.642-647
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• 2001

Dynamic response of ground due to train loads is analyzed. A numerical procedure based on finite element method is used to solve two-dimensional ground response. Dynamic train loads assumed in analysis is the point acceleration on train rail with magnitude of 2330 gal and thickness of surface of soil layer assumed is 60cm. In order to consider the effect of acceleration point, dynamic responses such as response acceleration and displacement are computed as a function of distance from acceleration point on rail. In addition, simple methods which reduce dynamic effects on ground are also proposed.

• Earthquakes and Structures
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• 제3권5호
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• pp.675-694
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• 2012

The 2008 Iwate-Miyagi Nairiku earthquake ($M_w$ 6.9, $M_{jma}$ 7.2) occurred on 14 June 2008 in Japan. The amplification and asymmetric waveform of the vertical acceleration at the ground surface recorded by accelerometers at station IWTH25, situated 3 km from the source, were remarkable in two ways. First, the vertical acceleration was extremely large (PGA = 38.66 $m/s^2$ for the vertical component, PGA = 42.78 $m/s^2$ for the sum of the three components). Second, an unusual asymmetric waveform, which is too far above the zero acceleration axis, as well as large upward spikes were observed. Using a multidegree-of-freedom (MDF) system consisting of a one-dimensional continuum subjected to vertical acceleration recorded at a depth of 260 m below ground level, the present paper clarifies numerically that these singular phenomena in the surface vertical acceleration records occurred as a result of the jumping and collision of a layer in vertical motion. We herein propose a new mechanism for such jumping and collision of ground layers. The unexpected extensive landslides that occurred in the area around the epicenter are believed to have been produced by such jumping under the influence of vertical acceleration.

• Nuclear Engineering and Technology
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• 제50권8호
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• pp.1402-1411
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• 2018

Nuclear-related facilities can be detrimentally affected by ground vibrations due to the collapse of adjacent cooling towers in nuclear power plants. To reduce this hazard risk, a design-oriented acceleration response spectrum (ARS) was proposed to predict the dynamic responses of nuclear-related facilities subjected to ground vibrations. For this purpose, 20 computational cases were performed based on cooling tower-soil numerical models developed in previous studies. This resulted in about 2664 ground vibration records to build a basic database and five complementary databases with consideration of primary factors that influence ground vibrations. Afterwards, these databases were applied to generate the design-oriented ARS using a response spectrum analysis approach. The proposed design-oriented ARS covers a wide range of natural periods up to 6 s and consists of an ascending portion, a plateau, and two connected descending portions. Spectral parameters were formulated based on statistical analysis. The spectrum was verified by comparing the representative acceleration magnitudes obtained from the design-oriented ARS with those from computational cases using cooling tower-soil numerical models with reasonable consistency.

• Earthquakes and Structures
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• 제6권2호
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• pp.141-161
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• 2014

This article presents a new generation of empirical ground motion models for the prediction of response spectral accelerations in soil conditions, specifically developed for the Vrancea intermediate-depth seismic source. The strong ground motion database from which the ground motion prediction model is derived consists of over 800 horizontal components of acceleration recorded from nine Vrancea intermediate-depth seismic events as well as from other seventeen intermediate-depth earthquakes produced in other seismically active regions in the world. Among the main features of the new ground motion model are the prediction of spectral ordinates values (besides the prediction of the peak ground acceleration), the extension of the magnitudes range applicability, the use of consistent metrics (epicentral distance) for this type of seismic source, the extension of the distance range applicability to 300 km, the partition of total standard deviation in intra- and inter-event standard deviations and the use of a national strong ground motion database more than two times larger than in the previous studies. The results suggest that this model is an improvement of the previous generation of ground motion prediction models and can be properly employed in the analysis of the seismic hazard of Romania.

• Nuclear Engineering and Technology
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• 제53권12호
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• pp.4179-4188
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• 2021

This study identifies efficient earthquake intensity measures (IMs) for seismic performances and fragility evaluations of the reactor containment building (RCB) in the advanced power reactor 1400 (APR1400) nuclear power plant (NPP). The computational model of RCB is constructed using the beam-truss model (BTM) for nonlinear analyses. A total of 90 ground motion records and 20 different IMs are employed for numerical analyses. A series of nonlinear time-history analyses are performed to monitor maximum floor displacements and accelerations of RCB. Then, probabilistic seismic demand models of RCB are developed for each IM. Statistical parameters including coefficient of determination (R²), dispersion (i.e. standard deviation), practicality, and proficiency are calculated to recognize strongly correlated IMs with the seismic performance of the NPP structure. The numerical results show that the optimal IMs are spectral acceleration, spectral velocity, spectral displacement at the fundamental period, acceleration spectrum intensity, effective peak acceleration, peak ground acceleration, A95, and sustained maximum acceleration. Moreover, weakly related IMs to the seismic performance of RCB are peak ground displacement, root-mean-square of displacement, specific energy density, root-mean-square of velocity, peak ground velocity, Housner intensity, velocity spectrum intensity, and sustained maximum velocity. Finally, a set of fragility curves of RCB are developed for optimal IMs.

• Earthquakes and Structures
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• 제14권6호
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• pp.577-587
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• 2018

The quantitative assessment of the seismic collapse risk of a structure requires the usage of an optimal intensity measure (IM) which can adequately characterise the severity of the ground motion. Research suggests that the average spectral acceleration ($Sa_{avg}$) may be an efficient and sufficient alternate IM as compared to the more traditional first mode spectral acceleration, $Sa(T_1)$, particularly during seismic collapse risk estimation. This study primarily presents a comparative evaluation of the sufficiency of the average spectral acceleration with respect to ground motion duration, and secondarily assesses the impact of ground motion duration on collapse risk estimation. By assembling a suite of 100 historical ground motions, incremental dynamic analysis of 60 different inelastic single-degree-of-freedom (SDF) oscillators with varying periods and ductility capacities were analysed, and collapse risk estimates obtained. Linear regression models are used to comparatively quantify the sufficiency of $Sa_{avg}$ and $Sa(T_1)$ using four significant duration metrics. Results suggests that an improved sufficiency may exist for $Sa_{avg}$ when the period of the SDF system increases, particularly beyond 0.5, as compare to $Sa(T_1)$. In reference to the ground motion duration measures, results indicated that the sufficiency of $Sa_{avg}$ is more sensitive to significant duration definitions that consider almost the full wave train of an accelerogram ($SD_{a5-95}$ and $SD_{v5-95}$). In order to obtain a reduced variability of the collapse risk estimate, the 5-95% significant duration metric defined using the Arias integral ($SD_{a5-95}$) should be used for seismic collapse risk estimation in conjunction with $Sa_{avg}$.