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REAL-TIME DYNAMIC HYBRID TESTING OF STRUCTURAL SYSTEMSAndrei REINHORN 1 , Mettupalayam V. SIVASELVAN 2 , Zach LIANG 2 andXiaoyun SHAO 3ABSTRACTThe development and implementation of a novel structural testing method involving thecombined use of shake tables, actuators, and computational engines for the seismic simulationof structures is presented herein. The hybrid simulation is intended to discover throughphysical testing the behavior of parts or whole substructure assemblies for which knowledge islimited, while the known parts of the structural system can be simulated analytically. Theresult of the hybrid simulation provides information of the entire system without need forwhole system testing. The structure to be simulated is divided into one, or more, experimentaland computational substructures. The interface forces between the experimental andcomputational substructures are imposed by actuators and resulting displacements andvelocities are fed back to the computational engine. The earthquake ground motion is appliedto the experimental substructures by shake tables. The unique aspect of the above hybridsystem is force-based substructuring. The hybrid simulation can be implemented as pseudodynamicor real time dynamic methods. While the former has a long history of applications,while the latter was developed recently owing to the availability of newest technologies andinvestments done by the George E Brown Network for Earthquake Engineering Simulations.Keywords: Hybrid testing; Dynamics; Experimentation; Analysis, Control.1. INTRODUCTIONSimulation of structures under seismic loads is usually performed eitherexperimentally or computationally. Experimental results are used to develop andcalibrate computational models of structural components and assemblies. Thesecomputational models are used to predict the response of structures. Furtherexperiments are then performed to validate and refine the computational models.Structural simulation is thus an iterative process involving alternate stages ofexperimentation and computation.1 Clifford C. Furnas Professor2 Project Engineer, G. E. Brown Network for Earthq. Eng. Simulation (NEES),3 Ph.D. Candidate,Dept. of Civil, Structural and Environmental Eng. University at Buffalo259
This paper describes a new method of real-time dynamic seismic simulation ofstructures which involves combined use of experimentation and computation andsome of the above iteration can potentially be performed online. The newdevelopment was facilitated by the new George E. Brown Network for EarthquakeEngineering Simulation (NEES) deployment which provides unique opportunities forintegrated experimentation and computing.This novel structural simulation method involves the combined use of shaketables, actuators, and computational engines. The structure to be simulated is dividedinto one or more experimentalINTERFACE FORCESACTIVE FEEDBACK FROMand computational substructures.SIMULATED STRUCTUREAPPLIED BY ACTUATORSThe interface forces between theAGAINST REACTION WALLexperimental and computationalsubstructures are imposed byactuators and resultingdisplacements and velocities areREACTIONfed back to the computationalWALLengine (See Figure 1). TheSIMULATEDSTRUCTUREearthquake ground motion canFULL OR NEARbe applied to the experimentalFULL SCALE TESTEDSHAKING TABLESSUBSTRUCTURE(100 ton)substructures by actuators asinterpreted displacements(Pseudo-Dynamic Technique) orby one or more shakes tablesFig.1. Real-Time Hybrid Seismic Testing SystemFigure (Substructure 1. Substructure Dynamic Testing) testing.(Real-Time Dynamic Hybrid Technique). The unique aspect of the latter, the realtimedynamic hybrid system is the force-based sub-structuring. Since the shake tablesinduce inertia forces in the experimental substructures, the actuators have to beoperated in dynamic force control as well. The resulting experimental-computationalinfrastructure is more versatile than previously deployed techniques.2. COMPUTATIONAL ISSUESThe simulation of structural dynamic response became a routine in the design ofmodern construction. Most simulations are done using computational tools whichwere verified by alternative analysis techniques or by experiments. The response ofinelastic structures or other non linear systems is very difficult to assess. The timedomain numerical simulation of structures under dynamic excitation is usually carriedout by using either the modal superposition method (for elastic structures), or bydirect integration methods. Appropriate assumptions have to be made in order topredict and calculate the response of the simulated structure. In particular, the directintegration methods utilized in dynamic testing are actually performed step-by-step.Not only the analytical errors are accumulated gradually, but the selection ofsampling periods also affects the accuracy and stability of this integration process.More modern techniques based on State Space Approach (Sivaselvan and Reinhorn,260
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PERFORMANCE-BASED SEISMIC DESIGNCON
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CONTENTSTable of Contents..........
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REAL-TIME DYNAMIC HYBRID TESTING OF
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PREFACEThe workshop on “Seismic D
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LIST OF PARTICIPANTSSergio M. Alcoc
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RESOLUTIONSThe International Worksh
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CONCLUSIONS AND RECOMMENDATIONSThe
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nonlinear dynamic) and when they sh
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exists to develop testing protocols
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to be sent soon to the 28 members o
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factor γ I is 1.4 or 1.2 for essen
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i. The well-known relation µ θ -
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γ s =1.15. Values less than 1.0 me
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efore (factor α in Eq.(4)). Materi
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the force demand from the analysis,
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OVERVIEW OF A COMPREHENSIVE FRAMEWO
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ground motion Intensity Measure (IM
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2.2 Simulation of Engineering Deman
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describing the economic losses asso
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practice the localized gravity load
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Whereas financial and insurance org
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AN OUTLINE OF AIJ GUIDELINES FOR PE
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(7) a method of performance evaluat
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where, T: natural period of structu
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6. DAMAGE AND LIMIT DEFORMATIONSThe
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The limit inter-story deformations
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DirectionX-directionY-directionSkew
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HAZARD, GROUND MOTIONS AND PROBABIL
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of events with [X1>x 1 , X 2 >x 2 ,
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2.4 Option C: Sufficient IMs: Estim
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predictions and hence required samp
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PEER has put forward PBSA methodolo
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3.2.1 A DCF Displacement-Based Form
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parameter k (the slope of the hazar
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POST-EARTHQUAKE FUNCTION OF HIGHWAY
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ln( EDP) a b ln ( IM )= + (1)Probab
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terms of global and local bridge pe
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Figure 3. Bridge column component d
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5.2 Method B: MDOF Residual Displac
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calculated using a 2 dimensional mu
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MODELING CONSIDERATIONS IN PROBABIL
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location. Transverse reinforcement
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2.50.1000Spectral Accel. (g)2.01.51
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Results indicate that 33% of the re
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4.1.2 Elastic vs. Inelastic ModelsF
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The increased dispersion leads to h
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AN ANALYSIS ON THE SEISMIC PERFORMA
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The survey stood on the condition t
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who decide the design force levels
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It is interesting to clarify whethe
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concluded that the dependence of in
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Table 10. Problems of performance-b
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DEVELOPMENT OF NEXT-GENERATION PERF
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ground shaking hazard, probable str
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Vulnerability of buildings to losse
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Peak Interstory Drfit Ratio0.120.10
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Conditional Probability ofDamage St
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Probability of Non-Exceedance10.80.
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APPLICATIONS OF PERFORMANCE-BASED E
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PRACTICAL ADAPTATION FOR STAKEHOLDE
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cost premium for the more expensive
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The future techniques will improve
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Benefit-cost ratio(BCR) 2.5UC Berke
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motivation to change the way they w
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CHANGING THE PARADIGM FOR PERFORMAN
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Ideally, the preliminary design of
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ModelM1M2M3Table 1. Description of
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Sample results from the response-hi
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In FEMA 273/356, the intersection o
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(M8 and M9) and the isolated frames
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THE ATC-58 PROJECT PLAN FOR NONSTRU
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The development of next-generation
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for these flexible nonstructural co
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spectra is several times larger tha
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The variability is associated with
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functions for a wide variety of non
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SIMPLIFIED PBEE TO ESTIMATE ECONOMI
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One can show (Porter et al. 2004) t
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( )FDM| EDP= xdm = 1 −FRdm , + 1,
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1. Facility definition. Same as in
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Table 1. Approximation of seismic r
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The EAL values shown in Figure 3 mi
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ASSESSMENT OF SEISMIC PERFORMANCE I
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where e -λτ is the discounted fac
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IDR 3[rad]σPFAIDR34(g)σ PFA4media
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Figure 3a, shows an example of frag
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P(C LVCC i |IM )1.00.80.60.40.20.00
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E [ L T | IM ]$ 10 M$ 8 M$ 6 M$ 4 M
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SEISMIC RESILIENCE OF COMMUNITIES
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2. RESILIENCE CONCEPTSResilience fo
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quantification tools could be used
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structure remains elastic. This is
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of Figure 7a will be used. It is as
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Nigg, J. M. (1998). Empirical findi
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acceleration with a 475-year return
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limit states, the suggestions given
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∆NSLsi= SϑH(5)iTFor column-sway
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Pinto et al., 2004). The probabilit
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The main difficulty in assigning a
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Crowley, H., R. Pinho, and J. J. Bo
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analytical models generally have si
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Figure 2. Structure of the response
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can be used as a random variable of
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4. DERIVATION OF THE VULNERABILITY
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5. CONCLUSIONSDerivation of vulnera
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REFERENCESAbrams, D. P., A. S. Elna
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In general, these types of bench-mo
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where & x&(t ) = acceleration at th
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science building. The lateral load-
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emain the same, the magnitude of sl
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of sliding thresholds, are desirabl
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Page 226 and 227: was developed to accommodate these
Page 228 and 229: tested by Meinheit and Jirsa are us
Page 230 and 231: where D is the maximum drift and N
Page 232 and 233: in predicting damage as well as rep
Page 234 and 235: 4.2.2 Modeling the Data Using Stand
Page 236 and 237: that the defining demand using a no
Page 238 and 239: • The influence on the dynamic re
Page 240 and 241: deviations σ and correlation coeff
Page 242 and 243: The first three modes of vibration
Page 244 and 245: Details about the ten records selec
Page 246 and 247: to allow a quantitative assessment
Page 248 and 249: Cornell A. C., F. Jalayer, R. Hambu
Page 250 and 251: limited possibilities of overcoming
Page 252 and 253: uildings, up to five stories high (
Page 254 and 255: Efficiency η, %100806040203D-RWBW-
Page 256 and 257: Table 1. Performance criteria for c
Page 258 and 259: Because the analytical model strong
Page 260 and 261: REFERENCESAguilar, G., R. Meli, R.
Page 262 and 263: tests of its type ever conducted. T
Page 264 and 265: end work-point to work-point). And
Page 266 and 267: Fig. 5 shows the actual application
Page 268 and 269: 3Roof Disp. (mm)250200150100500-50-
Page 270 and 271: Base Shear (kN)Base Shear (kN)40002
Page 272 and 273: 8. CONCLUSIONSBased on the test and
Page 276 and 277: :::::2004) can be formulated using
Page 278 and 279: The structure to be simulated is di
Page 280 and 281: measurements, to the modeling of th
Page 282 and 283: Figure 8. Two stories (left) and hy
Page 284 and 285: ROLES OF LARGE-SCALE TEST FOR ASSES
Page 286 and 287: mid-height in the third story, at w
Page 288 and 289: cycles were repeated for each ampli
Page 290 and 291: the tests with ALC panels were excl
Page 292 and 293: the relationship between the moment
Page 294 and 295: attachment details adopted for inst
Page 296 and 297: FULL-SCALE LABORATORY TESTING: STRA
Page 298 and 299: economic losses resulting from the
Page 300 and 301: 4. OBJECTIVES AND OUTCOME OF STRUCT
Page 302 and 303: 15001000500Shear [kN]0-8.0 -6.0 -4.
Page 304 and 305: 5.1 3D Tests on a Torsionally Unbal
Page 306 and 307: Non-linear substructuring was recen
Page 308 and 309: PERFORMANCE BASED ASSESSMENT — FR
Page 310 and 311: 4 x 50 m = 200 mC1 C2 C3h u = 7 mh
Page 312 and 313: some procedures are (contrary to th
Page 314 and 315: 5 th floor disp. [cm]0.60.0-0.6CC =
Page 316 and 317: While the global drift of the build
Page 318 and 319: the use of such connections in eart
Page 320 and 321: I d = 0.25elastic limitmaximum resi
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ON GROUND MOTION DURATION AND ENGIN
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time between the first and last acc
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FyFyFyFFFkk0.03kδδδcover a large
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T5b, T13a, T13b, T20a and T20b can
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Tabled results show that in the cas
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0 0.25 0.5 0.75 1Dkin PfSa[g]0 0.25
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ON DRIFT LIMITS ASSOCIATED WITH DIF
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BehaviourElasticInelasticCollapseDa
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Other factors such as the applied l
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4. MOMENT RESISTING FRAMES4.1 Ducti
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5Ductility factor432100 0.2 0.4 0.6
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5.1 Flexural Structural WallsAn exa
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MODAL PUSHOVER ANALYSIS: SYMMETRIC-
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Floor963SeattleNonlinear RHAFEMA1st
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The peak modal demands r n are then
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9BostonSeattleLos AngelesFloor63RSA
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5. EVALUATION OF MPA: UNSYMMETRIC-P
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Without additional conceptual compl
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AN IMPROVED PUSHOVER PROCEDURE FOR
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for a response governed by the fund
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2.2 Modal ScalingThe principal aim
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2.3 Pushover-History AnalysisSubsti
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(3) Calculate cumulative scale fact
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46.4 58 58 58 58 58 58 58 58 58 58
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EXTENSIONS OF THE N2 METHOD — ASY
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The strength reduction factor due t
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The relations apply to SDOF systems
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in X-direction pushover curves prac
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As an example, an idealized force-d
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The IN2 curve can be used in the pr
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HORIZONTALLY IRREGULAR STRUCTURES:
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Dutta and Das (2002, 2002b and refs
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They tested the procedure on three
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Table 1. Properties of the 4 WallsW
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The following is a summary of two s
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ectangular concrete deck supported
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REFERENCESAlmazan, J. L., and J. C.
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Rosenblueth, E. (1957). “Consider
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instantaneous period of vibration a
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value of the maximum plastic deform
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(a) elastic-perfectly plastic type(
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where a is the constant peculiar to
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Referring to Eq. (15), the natural
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-The effective period obtained by u
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eal damage data, rather than theore
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liquefaction-induced damage. This i
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Figure 5. Selected damage distribut
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Figure 6. Idealized capacity spectr
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I’ for the ductile case, as expec
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This study has shown that a modific
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thickness of the inner wall is usua
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4. EARTHQUAKE GROUND MOTION INPUT A
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5.2 Performance Levels and Limit St
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where λ I jis the occurrence rate
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intensity VI because the number of
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and thus are not considered in seis
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The values of the displacement modi
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constant amplitude loading (CA) or
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deterioration. These are the type o
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members, is the main feature of the
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RESULTS, DISCUSSIONS AND CONCLUSION
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systems, where FEMA estimations are
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The case study is a Hospital in the
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Table 1. Dimensions and amount of r
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4.2 Incremental AnalysisBase shear
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When adding jackets to columns, the
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storyShear in interior Column [ton]
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PERFORMANCE-BASED SEISMIC ASSESSMEN
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2. HYBRID FRAME BUILDINGSTwo precas
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15’ - 0” 15’ - 0”Hybrid fra
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and maximum residual inter-story fr
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As the first step in understanding
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Table 3. Comparison of calculated m
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NEW MODEL FOR PERFORMANCE BASED DES
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(a) interior beam-column joint(b) k
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yxVN =VADjDBABLD jDOV cOVCN= VLV bV
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3.3.2 B-modeThe equilibrium conditi
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3.6 Failure ModeBased on the calcul
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Name ofSpecimenTable 2. Comparison
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EARTHQUAKE ACTIONS IN SEISMIC CODES
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examination of the risk implication
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Bozorgnia and Campbell (2004) find
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structure, the results of inelastic
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hazard curves will often vary throu
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large uncertainties associated with
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A PRAGMATIC APPROACH FOR PERFORMANC
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Relative Height20118160.8140.6 1210
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Yield Strength Coefficient, Cy2.01.
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Yield Strength Coefficient, Cy*1.61
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2.6 Preliminary DesignIn the preced
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4. CONCLUSIONSIn the space availabl
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EXAMINATION OF THE EQUIVALENT VISCO
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of the bilinear model with the ener
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3. STUDY PARAMETERS AND ASSESSMENT
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decided to investigate the accuracy
Page 514 and 515:
DISPLACEMENT(m)DISPLACEMENT (m)DISP
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The results for all 100 earthquake
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CONTRASTING PERFORMANCE-BASED DESIG
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Conceptual design is greatly facili
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2. The availability of cost-of-repa
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There are many questions to be answ
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assess expected NSASS losses. For t
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3.2.2 Design for Tolerable Mean Ann
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THE PERFORMANCE REQUIREMENTS IN JAP
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2.1 Law Enforcement and InspectionT
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Splices and development of reinforc
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as for the rising part of continuou
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compressive stress of concrete is t
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MOLIT Notification No. 1461 outline
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AUTHOR INDEXH. Akiyama.............
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F. Taucer .........................
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PEER 2003/06PEER 2003/05PEER 2003/0
Page 548 and 549:
PEER 2001/13PEER 2001/12Modeling So
Page 550:
PEER 1999/04 Adoption and Enforceme
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