NHERI@UCSD: Tools for Shake Table Users Ozgur Ozcelik, Ph.D. Research Scientist University of California, San Diego December 3, 28 NHERI @ UCSD Workshop, 3-4 December, 28
Outline Shake table simulation and input motion generation tools Instrumentation Sensor Inventory and DAQ System Tele-presence and Video Recording System Camera Inventory Site Drones Live Video Streaming Capabilities WireCast System DaCast service for zero latency live video streaming IT Infrastructure Visible and invisible IT networks Our Websites and Social Media Presence Resources for Researchers NHERI @ UCSD Workshop, 3-4 December, 28 2
Shake Table Simulation and Input Motion Generation Tools Two different types of tools can be provided ) Shake Table Simulation Tools For pre-test evaluations and checks 2) Input Motion Generation Tools For performing actual dynamic tests on the shake table using the motions generated by these tools NHERI @ UCSD Workshop, 3-4 December, 28 3
() Shake Table Simulation Tools a. Forward Simulation Tool Pre-test studies using the real controller and a validated model of the shake table The forward model is like the real system (i.e., when servo-valves are commanded, table motion results) b. Inverse Simulation Tool Checking the suitability of ground motions to be reproduced on the table in term of the table s physical limits (e.g., disp., etc.) In the inverse model, cause and effect are reversed (i.e., the system motion is input to the model, servo-valve openings result) NHERI @ UCSD Workshop, 3-4 December, 28 4
Shake Table Forward Simulation Tool PC Simulation Mode MTS 469D Controller The forward model can be used for Evaluating signal tracking performance Offline tuning of the controller controller Forward Model Simulation Model of LHPOST NHERI @ UCSD Workshop, 3-4 December, 28 5 inp function() plant out
Shake Table Forward Simulation Tool NHERI @ UCSD Workshop, 3-4 December, 28 6
Shake Table Forward Simulation Tool Forward Model can be enhanced by using an extensive dynamic library PRIME MOVERS cmd displ veloc flow spl press aux rtn press actuator cmd displ veloc spl press flow rtn press ideal actuator cmd displ veloc spl press rtn press flow ideal actuator (continuous-time) displ cmd veloc flow spl press aux rtn press inverse actuator displ cmd veloc spl press flow rtn press ideal inverse actuator cmd displ veloc spl press rtn press compliant actuator aux cmd displ veloc spl press rtn press aux compliant actuator (single-area) cmd torque fbk veloc cmd veloc fbk displ out torque out Rockwell PowerFlex 7S AC Drive and Motor -DOF PAYLOADS HYDRAULICS displ veloc accel saccel payload displ veloc accel saccel payload (continuous-time) displ veloc accel ref saccel s inverse payload accel saccel rigid/modal dynamics accel saccel rigid/modal dynamics (continuous-time) accel saccel inverse rigid/modal dynamics controller displ veloc accel base dynamics displ veloc accel base dynamics (continuous-time) veloc veloc friction friction (continous-time) veloc veloc damper inp damper (continuous-time) displ bouc-wen damper function() out press demand outflow accumulator press demand outflow accumulator (continuous-time) press demand outflow hydraulic system press demand outflow hydraulic system (continous-time) press demand bpress outflow blowdown system plant 6-DOF PAYLOADS INTEGRATORS DIFFERENTIATORS MISC xyz rpw displ xyz displ rpw veloc xyz veloc rpw accel xyz accel rpw DCM 6 DOF rigid body payload displ xyz displ rpw veloc xyz veloc rpw accel xyz accel rpw xyz rpw DCM displ inverse 6 DOF rigid body payload veloc xyz veloc rpw displ xyz displ rpw accel xyz accel rpw xyz rpw DCM veloc inverse 6 DOF rigid body payload accel xyz accel rpw displ xyz displ rpw veloc xyz veloc rpw xyz rpw DCM accel inverse 6 DOF rigid body payload xyz xyz rpw veloc xyz veloc rpw rpw DCM specimen spring/damper accel xyz xyz accel rpw rpw 6 DOF resonance accel xyz accel rpw DCM veloc rpw xyz rpw accel_xyz modal point mass T_ +z - 2 -z - bilinear integrator T -z - backward euler integrator Tz - -z - forward euler integrator T_ +z - 2 -z - bilinear integrator with clipping T -z - backward euler integrator with clipping Tz - -z - forward euler integrator with clipping displ accel veloc accel double integrator 2_ -z - T+z - bilinear derivative -z - T euler derivative inp inp out second-order lowpass filter inp out first-order lowpass filter out second-order inverse lowpass filter Z -D integer delay Z -D fractional dela NHERI @ UCSD Workshop, 3-4 December, 28 7
Shake Table Inverse Simulation Tool Ddof Vdof Adof Fdof Dact Vact Allows the user to take a desired motion profile (uni- or tri-axial) and ref ref Aacc Fact flow press svcmd Aspc Verify that the system can meet the demands in terms of displacement, velocity, acceleration,, oil flow and pressure. Fspc aux inverse table model NHERI @ UCSD Workshop, 3-4 December, 28 8
(2) Input Motion Generation Tools These tools are needed for Input ground motion preparations for shake table testing Ramp function, sine-sweep, sine-beat, random time histories Pseudo-random THs Response spectrum compatible THs Base-line correction of THs NHERI @ UCSD Workshop, 3-4 December, 28 9
Input Motion Generation Tools Ramp Time Histories Displ Accel Veloc.5 - Standard Mode.5 2.5 Displ Accel Veloc.5 Minimum Jerk Mode.5 2.5 Displ Accel Veloc.5.5 2 Haversine Mode.5 We want to make sure that a smooth displacement ramp waveform is generated which has smooth and predictable maximum velocity, acceleration, and jerk (3 rd time derivative of displacement). -2.5 -.5 -.5 4 2 Jerk - Jerk Jerk - -2-2.5-2.5-3.5 Time (sec) Time (sec) Time (sec) NHERI @ UCSD Workshop, 3-4 December, 28
Input Motion Generation Tools Square/Triangle/Sine THs Square Time History with Scale Taper - 2 3 4 Square Time History with Append Taper When we want to generate a periodic function, Make sure that beginnings and ends must be tapered Triangle Time History with Scale Taper Sine Time History with Scale Taper - 2 3 4 Time (sec) - 2 3 4 - Triangle Time History with Append Taper 2 3 4 Sine Time History with Append Taper - 2 3 4 Time (sec) - 2 3 4 Sine Time History with Spline Taper - 2 3 4 Time (sec) NHERI @ UCSD Workshop, 3-4 December, 28
Input Motion Generation Tools Sine Sweep THs 5 Sine Sweep Time History Magnitude -5 2 3 4 5 6 7 Frequency Profile 3 25 2 Sweep can be linear or logarithmic Taper up and down can be specified Taper shape can be linear, haversine or spline Frequency (Hz) 5 5 2 3 4 5 6 7 Time (sec) NHERI @ UCSD Workshop, 3-4 December, 28 2
Input Motion Generation Tools Sine Beat THs Sine Beat Time History.8.6.4.2 -.2 -.4 Number of beats Number of cycles per beat Pause between beats in sec can be specified -.6 -.8-2 4 6 8 2 4 6 8 Time (sec) NHERI @ UCSD Workshop, 3-4 December, 28 3
Input Motion Generation Tools Random THs 4 Random Time History 2 Power Spectral Density Normal Probability Density Function 3 desired actual.6 2.5 - -2 egu 2 /Hz -2 Probability Density.4.3.2-3. -4-4 2 3 2-2 2 Time (sec) Frequency (Hz) Amplitude Creating a non-repeating random TH by passing uniform WN through a filter with desired spectral shape and bandwidth NHERI @ UCSD Workshop, 3-4 December, 28 4
Input Motion Generation Tools Pseudo-random THs with Desired Spectral Density 3 Pseudorandom Time History 2.5 Power Spectral Density Normal Probability Density Function 2 2 desired actual.6.5 - -2 egu 2 /Hz.5 Probability Density.4.3.2-3.5. -4 2 4 6 2 4 6-2 - 2 Time (sec) Frequency (Hz) Amplitude A different version of this tool can also be used for generating response spectrum compatible acceleration THs. NHERI @ UCSD Workshop, 3-4 December, 28 5
Input Motion Generation Tools Compressing Dynamic Range of THs 4 3 2 Time Histories original compressed x.28 Magnitude 5 5 Spectra original compressed.7.6.5 Normal Probability Density Functions original compressed - -2-3 Phase (rad) 2 3 4 5 Frequency (Hz) 4 2-2 Probability Density.4.3.2. -4 2 3 Time (sec) -4 2 3 4 5 Frequency (Hz) -2 2 Amplitude The compressed signal still has the desired RMS amplitude and flat magnitude response spectrum. NHERI @ UCSD Workshop, 3-4 December, 28 6
Input Motion Generation Tools Baseline Correction Non-Baseline-Corrected Time History Baseline-Corrected Time History Highpass-Lowpass Filter Frequency Response.2 Accel Accel - 2 4 6 8.4-5.2.8 Veloc.2 -.2 2 4 6 8 Veloc -.2 5 Magnitude.6.4 Displ.5 2 4 6 8 Displ.2 -.2 5.2 5 5 Time (sec) Time (sec) Frequency (Hz) Modifies acceleration records so that it begins and ends at zero displacement, velocity, and acceleration by series of operations High-pass/low-pass filtering, detrending, padding the beginning and end with zeros NHERI @ UCSD Workshop, 3-4 December, 28 7
Instrumentation The instrumentation inventory consists of 2 MEMS type accelerometers +/- 5g DC to 2 Hz Sensitivity 2mV/g 8 linear potentiometers (ranging 2 in to 2 in) 35 string potentiometers (ranging 2 in to 6 in) spring potentiometers (range in) 24 load cells (up to 2, lbs) 32 soil pressure transducers Load jacks (various) GPS system with a network of antennae (two mobile and one reference), provides dynamic displacement monitoring in three coordinates, operates at 5 Hz All sensors are calibrated (accredited in-house calibration is available)! NHERI @ UCSD Workshop, 3-4 December, 28 8
Instrumentation NHERI @ UCSD Workshop, 3-4 December, 28 9
Data Acquisition System 2 Data acquisition nodes (a distributed system) with 64 channels and 6-bit resolution each (total of 768 channels) 7 are in active use now (total of 448 channels) Each channel can be configured to accept any type of sensor (strain gauges, displacement transducers, accelerometers, pressure cells, load cells, etc.) PXI 884 Controller PXI 625 DAQ SXCI 52 Modules with TBs PXI 5 Chassis NHERI @ UCSD Workshop, 3-4 December, 28 2
Telepresence/Video Recording System Axis P365 (3 Cameras) Provide delay-time viewing via web site Provide time-lapse for projects IDVR-Pro H.264 HD CCTV DVR (32 Coax) Trigger-based recording for synchronization with data 6 channels of digital video recording with immediate playback capabilities (synchronized with data) NUUO Hybrid Video Recorder/IP NVR Trigger-based recording for synchronization with data 6 channels of digital video recording with immediate playback capabilities (synchronized with data) NHERI @ UCSD Workshop, 3-4 December, 28 2
Coax Cams 8p HD 32 Coax Cameras NHERI @ UCSD Workshop, 3-4 December, 28 22
GoPro Cameras We have 5 GoPro cameras available (GoPro2, GoPro3+, and Hero4) True HD Recently, they are equipped with external battery packs for longer recording time (approx. 24 hours with single charge, it used to be hour) Also, for synchronization purpose they are fitted with a central start/stop feature NHERI @ UCSD Workshop, 3-4 December, 28 23
Site Drones We have 2 drones Both DJIs (Phantom Pro4 and Mavic Pro) Ave. flight time 28 and 2 mins, respectively 2 and 2.3 effective megapixels, respectively 4K and HD video recording modes They can take 36o pictures Live video streaming via social media platforms NHERI @ UCSD Workshop, 3-4 December, 28 24 24
Wirecast System for Live Video Streaming 4 cameras can be hooked Has its own live streaming software Live production such as switching between multiple cameras while dynamically mixing with remote live guests, movies, images, audio etc. Streaming over popular social media platforms (YouTube, Facebook, Twitter etc.) NHERI @ UCSD Workshop, 3-4 December, 28 25
Control Center Houses host computer for shake table control Camera control system Data acquisition system Data and safety video streaming system FlexTest GT System Real-time hybrid testing system Host and real-time target computers NHERI @ UCSD Workshop, 3-4 December, 28 26
Meeting/Conference Room NHERI @ UCSD Workshop, 3-4 December, 28 27
NHERI@UCSD Site IT Infrastructure -GB Campus Wide Area Network Internet2 participant 82.g Campus Wireless Network WPA-2 Enterprise security Provide guest wireless account for visitors/researchers Site dedicated GB LAN Video/Data backup systems NHERI @ UCSD Workshop, 3-4 December, 28 28
Data/Video Backup System On-site data backup system (daily) 6 TB Off-site data backup system (daily) 6 TB Publish curated data/metadata in DesignSafe Data Depot Web interface of DesignSafe For large files use Globus bulk data transfer NHERI @ UCSD Workshop, 3-4 December, 28 29
IT Infrastructure The site has two different network systems: The general site network visible to the outside world The DAQ and Video intranet invisible to outside world NHERI @ UCSD Workshop, 3-4 December, 28 3
General Site IT Network (visible) NHERI @ UCSD Workshop, 3-4 December, 28 3
DAQ and VIDEO Intranet (invisible) NHERI @ UCSD Workshop, 3-4 December, 28 32
NHERI@UCSD Websites http://ucsd.designsafe-ci.org NHERI @ UCSD Workshop, 3-4 December, 28 33 33
NHERI@UCSD Websites http://nheri.ucsd.edu NHERI @ UCSD Workshop, 3-4 December, 28 34
NHERI@UCSD Social Media Presence (Youtube, Twitter, Facebook) NHERI @ UCSD Workshop, 3-4 December, 28 35 35
Questions? Ozgur Ozcelik oozcelik@eng.ucsd.edu NHERI @ UCSD Workshop, 3-4 December, 28
Dynamic Test Protocol NHERI@UCSD vs. Nevada Reno Table UCSD. Tune the bare table with TVC (bare table), 2. Train AIC to get an estimate of the inverse model of the plant (bare table) 3. Apply iteration with OLI at.x (bare table), 4. Use the converged drive file from OLI iterations to perform the actual test (loaded table). Nevada Reno. Tune the bare table with TVC (bare table), 2. Put the specimen on the table, 3. No tuning of 469D with the specimen on the table (loaded table), 4. Measure a model with AIC (loaded table), 5. In OLI, run.25x (that s a single motion on the specimen), 6. In OLI, run.5x (that s a single motion on the specimen), 7. In OLI, run.75x (that s a single motion on the specimen), 8. (up until the verge of collapse) NHERI @ UCSD Workshop, 3-4 December, 28 37