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Appendix

University of Florida Institutional Repository
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Material Information

Title:
Appendix
Series Title:
Design, Development and Implementation of a Structural Dynamic Research Laboratory
Physical Description:
Technical Reports
Creator:
Martinez, Justin

Subjects

Subjects / Keywords:
Data related to thesis / dissertation
Genre:
Spatial Coverage:

Notes

Abstract:
Supplemental documents for the work entitled, "Design, Development and Implementation of a Structural Dynamic Research Laboratory" are provided here.
Acquisition:
Collected for University of Florida's Institutional Repository by the UFIR Self-Submittal tool. Submitted by Justin Martinez.
Publication Status:
Unpublished

Record Information

Source Institution:
University of Florida Institutional Repository
Holding Location:
University of Florida
Rights Management:
All rights reserved by the source institution.
System ID:
IR00003553:00001

  • STANDARD VIEW
  • MARC VIEW
MISSING IMAGE

Material Information

Title:
Appendix
Series Title:
Design, Development and Implementation of a Structural Dynamic Research Laboratory
Physical Description:
Technical Reports
Creator:
Martinez, Justin

Subjects

Subjects / Keywords:
Data related to thesis / dissertation
Genre:
Spatial Coverage:

Notes

Abstract:
Supplemental documents for the work entitled, "Design, Development and Implementation of a Structural Dynamic Research Laboratory" are provided here.
Acquisition:
Collected for University of Florida's Institutional Repository by the UFIR Self-Submittal tool. Submitted by Justin Martinez.
Publication Status:
Unpublished

Record Information

Source Institution:
University of Florida Institutional Repository
Holding Location:
University of Florida
Rights Management:
All rights reserved by the source institution.
System ID:
IR00003553:00001


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Full Text

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General Building Profile Scale: 3 4 = 1'-0" 6-Story Building Model Approved By: University of Florida Civil Engineering Sheet 1 of 6 Project: Drawing: Justin Martinez Drawn By: Dr. Jennifer Rice 67.00 10.00 10.00 10.00 10.00 10.00 10.00 33.00 16.50 21.00 ITEM FLOOR PLATES BASE PLATE COLUMNS CROSS BRACING ADAPTER PLATE QUANTITY 6 1 36 36 72 NOTE: ALL CONNECTIONS ARE BOTED WITH #1/4 20 THREADED ROD, UNLESS OTHERWISE NOTED ALL UNITS IN SHOP DRAWINGS ARE IN INCHES ADAPTOR PLATE CROSS BRACING BASE PLATE

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Typical Floor Plate Scale: 1-1/2" = 1'-0" 6-Story Building Model Approved By: University of Florida Civil Engineering Sheet 2 of 6 Project: Drawing: Justin Martinez Drawn By: Dr. Jennifer Rice ITEM FLOOR PLATES QUANTITY 6 Sheet Parts List: 21.00 1.00 14.50 1.00 14.50 0.50 1.00 0.50 0.375 1.25 8.875 0.375 1.25 1.00 4.02 12.96 4.02 12.96 2.53 12.96 2.27 2.27 NOTE: ALL HOLES ARE TO BE THREADED FOR #1/4 20 THREADED BOLT, UNLESS OTHERWISE NOTED. NORMAL GRADE STEEL TO BE USED FOR FLOOR PLATES 1.00 0.50 0.50 THROUGH HOLE FOR 1 2 BOLT, TYP. 8.875 33.00

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Base Floor Plate Scale: 3" = 1'-0" 6-Story Building Model Approved By: University of Florida Civil Engineering Sheet 3 of 6 Project: Drawing: Justin Martinez Drawn By: Dr. Jennifer Rice ITEM BASE PLATE QUANTITY 1 Sheet Parts List: 9.00 15.00 9.00 3.00 5.00 5.00 NOTE: THE MOUNTING HOLES ON THE BASE PLATE ARE THE ONLY CHANGE FROM THE TYPICAL FLOOR PLATES DETAILED ON SHEET 2. THESE ARE THROUGH HOLES FOR 1 2 BOLTS 5.00 3.00

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Typical Column Scale: 3 4 = 1'-0" 6-Story Building Model Approved By: University of Florida Civil Engineering Sheet 4 of 6 Project: Drawing: Justin Martinez Drawn By: Dr. Jennifer Rice 9.25 ISOMETRIC VIEW ADAPTOR PLATE* W/ ORIENTED COLUMN *NOTE: ADAPTOR PLATE IS DIMENSIONED ON SHEET 6 OF 6 NOTES: 1. 100 ksi yield stength to be used for columns 2. Adaptor plates are to be fabricated with snug fit clearance hole to insert column piece. 3. Ends of column piece are to be chamfered on all sides 4. Columns are to fit through holes in plates, the combination of clearance hole and chamfer will form the weld scarf. 5. Using this weld scarf, column and adapter plate are to be welded together with a full penetration weld all around 6. Once welded, surface of plate is to be finished to provide smooth surface for connection of column assembly to floor plates. 0.50 0.25 WEAK AXIS STRONG AXIS ITEM COLUMNS QUANTITY 36 Sheet Parts List: FREE FIT HOLE FOR 1 4 BOLT, TYP. 0.375 10.00 0.375 END CHAMFER SNUG FIT CLEARANCE HOLE IN ADAPTOR PLATE WELD SCARF

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Cross Bracing Scale: 3 4 = 1'-0" 6-Story Building Model Approved By: University of Florida Civil Engineering Sheet 5 of 6 Project: Drawing: Justin Martinez Drawn By: Dr. Jennifer Rice 17.50 0.75 0.25 0.375 NOTE: 1. CROSS BRACING IS 0.25" THICK A36 STEEL 2. ALL HOLES ARE THROUGH HOLES FOR 1 4 BOLT CROSS-BRACING REQUIRED FOR ALL FLOORS, 6 EACH FLOOR (36 TOTAL) FRONT VIEW SIDE VIEW ITEM BRACING QUANTITY 36 Sheet Parts List:

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Column Adaptor Plate Scale: 1'-1/6" = 1'-0" 6-Story Building Model Approved By: University of Florida Civil Engineering Sheet 6 of 6 Project: Drawing: Justin Martinez Drawn By: Dr. Jennifer Rice 2.00 2.00 0.375 0.375 0.50 0.50 ITEM ADAPTER PLATE QUANTITY 72 Sheet Parts List: CENTER COLUMN SHOWN BELOW NOTE: 1. HOLES IN ADAPATOR PLATE ARE THROUGH HOLES FOR 1 4 BOLT AND WILL BE ALIGNED WITH THREADED HOLES IN FLOOR PLATES. 2. ADAPTOR PLATE IS 0.375" THICK



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University of Florida Civil Engineering Structural Division SIM Lab Group Professor: Dr. Rice Graduate RA: Justin Martinez 7 Story Structural Modal: Modal Frequency Analysis Structural Components: Columns Material: 1095 Spring Steel h8in Dimensions: t.05in w3in Moment of Inertia: Icol wt3 12 0.000031in4 Mod. Elastisity: E30106 psi Column Stiffness With Effective Length: k col EIcol Keffh ()3 11.437 lbf in Column Stiffness: k col 12EIcol h ()3 21.973 lbf in General Parameters: L12in ...column spacing g386.1 in sec2 ...gravity in in/sec^2 ndof7 ...number of degrees of freedom idof1ndof ...index variable for dofs nmodendof7 ...number of modes imode1nmode ...index variable for modes

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Structual Parameters: ORIGIN1 (floor 1) (floor 7) Wt w_floor w_floor w_floor w_floor w_floor w_floor w_floor 4.2 4.2 4.2 4.2 4.2 4.2 4.2 lbf ...each stories mass H h h h h h h h 8 8 8 8 8 8 8 in Igcol Icol Icol Icol Icol Icol Icol Icol 0.00003 0.00003 0.00003 0.00003 0.00003 0.00003 0.00003 in4 ...each story hieght and Ig, starting from bottom down to the top floor Inter-Story Stiffness: colsperfloor2 ...two columns at each floor kidofcolsperfloor 12EIgcolidof H ()idof 3 midofWtidofg ...stiffness at each floor (fix-fix connection) ...each stories stiffness and mass k 43.94531 43.94531 43.94531 43.94531 43.94531 43.94531 43.94531 lbf in m 0.000011 0.000011 0.000011 0.000011 0.000011 0.000011 0.000011 kipsec2 in

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Compute the first 10 natural frequencies of the building by treating it as a shear building Note: This analysis is to be conducted treating the beam system to be rigid and only the columns to contribute to the stiffness. Stiffness and Mass matricies: K k1k2 k2 0 0 0 0 0 k2 k2k3 k3 0 0 0 0 0 k3 k3k4 k4 0 0 0 0 0 k4 k4k5 k5 0 0 0 0 0 k5 k5k6 k6 0 0 0 0 0 k6 k6k7 k7 0 0 0 0 0 k7 k7 K 0.088 0.044 0 0 0 0 0 0.044 0.088 0.044 0 0 0 0 0 0.044 0.088 0.044 0 0 0 0 0 0.044 0.088 0.044 0 0 0 0 0 0.044 0.088 0.044 0 0 0 0 0 0.044 0.088 0.044 0 0 0 0 0 0.044 0.044 kip in M m10 0 0 0 0 0 0 m20 0 0 0 0 0 0 m30 0 0 0 0 0 0 m40 0 0 0 0 0 0 m50 0 0 0 0 0 0 m60 0 0 0 0 0 0 m7 M 0.000011 0 0 0 0 0 0 0 0.000011 0 0 0 0 0 0 0 0.000011 0 0 0 0 0 0 0 0.000011 0 0 0 0 0 0 0 0.000011 0 0 0 0 0 0 0 0.000011 0 0 0 0 0 0 0 0.000011 kip s i n

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Eigen Vales Produced for Natural Frequency Calculations: Make Matrix [D] for standard form [D]{ } = { } DM1 K sorteigenvalsD () () imodeeigenvecD imode 176.56 1543.08 4039.83 7235.11 10576.41 13486.01 15460.8 1 s2 10.107 0.21 0.304 0.384 0.447 0.491 0.514 20.304 0.491 0.491 0.304 0 0.304 0.491 30.447 0.447 0 0.447 0.447 0 0.447 1 1 2 1 3 1 Check Unit Length... Normailize Eigen Values by the Maximum Eigen Value for theorectical Mode Shape Plots: max 10.514 min 10.107 max 20.491 min 20.491 max 30.447 min 30.447 Absolute Max: max 10.514 max 40.491 min 40.514 max 50.491 min 50.491 max 60.514 min 60.491 max 70.514 min 70.491 m1 1max 1 m2 2max 1 m3 3max 1 m4 4max 1 m1 0.209 0.409 0.591 0.747 0.871 0.956 1 m2 0.591 0.956 0.956 0.591 0 0.591 0.956 m3 0.871 0.871 0 0.871 0.871 0 0.871 m4 1 0.209 0.956 0.409 0.871 0.591 0.747 m5 5max 1 m6 6max 1 m7 7max 1 m5 0.956 0.591 0.591 0.956 0 0.956 0.591 m6 0.747 1 0.591 0.209 0.871 0.956 0.409 m7 0.409 0.747 0.956 1 0.871 0.591 0.209

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Use to find natural parameters of system..... Natural Circular FrequenciesNatural PeriodsNatural Frequencies imodeimode Timode2 imode f_KeffLimode1 Timode 13.288 39.282 63.56 85.059 102.842 116.129 124.341 1 s T 0.473 0.16 0.099 0.074 0.061 0.054 0.051 s f_KeffL 2.11 6.25 10.12 13.54 16.37 18.48 19.79 1 s Weight needed at each floor level = w_floor.0042kip Compare experimental frequencies to those calculated using stiffness for a fixed connection vs. effective length: Fixed Conn. (orig.calcs) K(Pin) < K(effL) < K(Fix) k_fix 12EIcol h ()3 21.973 lbf in k_effL EIcol Keffh ()3 11.437 lbf in Actual Natural Frequencies: where: Keff.543 Keff = .437 f_exp 1.53 4.71 7.33 10.8 13 15.2 16.8 1 s f_Kfixed 2.1 6.3 10.1 13.5 16.4 18.5 19.8 1 s Effective Stiffness: kidofcolsperfloor EIgcolidof KeffH ()idof 3

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Use to find natural parameters of system..... Natural Circular FrequenciesNatural PeriodsNatural Frequencies imodeimode Timode2 imode f_KeffLimode1 Timode 9.586 28.34 45.855 61.367 74.196 83.782 89.707 1 s T 0.655 0.222 0.137 0.102 0.085 0.075 0.07 s f_KeffL 1.53 4.51 7.3 9.77 11.81 13.33 14.28 1 s Compare to Experimental Results: True stiffness coefficient is between 3 and 12 (pin and fixed connection) f_exp 1.53 4.71 7.33 10.8 13 15.2 16.8 1 s F 1 Keff3 6.246 True stiffness coefficient

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University of Florida Civil Engineering Structural Division SIM Lab Group Professor: Dr. Rice Graduate RA: Justin Martinez 6 Story Structural Modal: Modal Frequency Analysis Structure Dimensions: Column Properties: Columns Material: Rectangular Columns Dimensions: h9.5in t.25in w.5in Moment of Inertia: Icol wt3 12 Mod. Elastisity: E30106 psi Column Stiffness: k col 12EIcol h ()3 273.363 lbf in General Parameters: g386.1 in sec2 ...gravity in in/sec^2 ndof6 ...number of degrees of freedom idof1ndof ...index variable for dofs nmodendof6 ...number of modes imode1nmode ...index variable for modes Structual Parameters: ORIGIN1 Plate Dimensions: Weight of Plates b121in b233in t plate 1.0in steel .282 lbf in3 ...density of steel V plate b1b2 t plate w plate steel V plate 195.426lbf w_floorw plate w system w plate 7 1368lbf

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Buckling Load Calculation: F y 100ksi High strength steel K1.2 By inspection (factor for design) Atw 0.125in2 Area of section r Icol A 0.072in Radius of Gyration Kh r 157.963 Slenderness rationLimits: 300 tension & 200 compression f e 2E Kh r 2 11.866ksi Unreduced buckling stress 4.71 E 100ksi 81.58 compare to... Kh r 157.963 use Fcr = 0.877Fe f cr 0.877f e f cr 10.407ksi Critical buckling stress P cr f cr A P cr 1300.827lbf Critical buckling load (Check with self weight) (floor 1) (floor 6) Wt w_floor w_floor w_floor w_floor w_floor w_floor 195.426 195.426 195.426 195.426 195.426 195.426 lbf H h h h h h h 9.5 9.5 9.5 9.5 9.5 9.5 in Igcol Icol Icol Icol Icol Icol Icol 0.001 0.001 0.001 0.001 0.001 0.001 in4 Inter-Story Stiffness: colsperfloor6 ...two columns at each floor kidofcolsperfloor 12EIgcolidof H ()idof 3 midofWtidofg ...stiffness at each floor (fix-fix connection) ...each stories stiffness and mass k 1640.18078 1640.18078 1640.18078 1640.18078 1640.18078 1640.18078 lbf in m 0.000506 0.000506 0.000506 0.000506 0.000506 0.000506 kipsec2 in

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Compute the first 10 natural frequencies of the building by treating it as a shear building Note: This analysis is to be conducted treating the beam system to be rigid and only the columns to contribute to the stiffness. formStiffk () Kii kiki1 Kii1 ki1 Ki1 i ki1 ilastk () if Kii ki ilastk () = if i1lastk () for K return KformStiffk () Automated Stiffness Matrix Midofidof midof Automated Mass Matrix Stiffness and Mass matricies: K 3.28 1.64 0 0 0 0 1.64 3.28 1.64 0 0 0 0 1.64 3.28 1.64 0 0 0 0 1.64 3.28 1.64 0 0 0 0 1.64 3.28 1.64 0 0 0 0 1.64 1.64 kip in M 195.42 0 0 0 0 0 0 195.42 0 0 0 0 0 0 195.42 0 0 0 0 0 0 195.42 0 0 0 0 0 0 195.42 0 0 0 0 0 0 195.42 lb Dynamic Analysis Code Natural Circular FrequenciesNatural PeriodsNatural Frequencies imodeimode Timode2 imode f_KeffLimode1 Timode 13.723 40.372 64.674 85.218 100.81 110.542 1 s T 0.458 0.156 0.097 0.074 0.062 0.057 s f_KeffL 2.18 6.43 10.29 13.56 16.04 17.59 1 s Compare to ADINA FEM results:



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INSTRUCTION MANUAL University of Florida Smart Infrastructure Management Lab 6DOF Shake Table Professor: Dr. Jennifer Rice Graduate RA: Justin Martinez

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 2 Dr. Rice Table of Contents Background About Table ................................ ................................ ................................ ................................ ............... 3 Specifications ................................ ................................ ................................ ................................ ............ 4 Operation Instructions Powering ON ................................ ................................ ................................ ................................ ............. 8 Shutting Down ................................ ................................ ................................ ................................ ......... 12 Starting a New Test ................................ ................................ ................................ ................................ 14 Modifying an Existing Test ................................ ................................ ................................ ...................... 25 Reference Troubleshooting ................................ ................................ ................................ ................................ ...... 27 Important Checks ................................ ................................ ................................ ................................ .... 27 Tech Support ................................ ................................ ................................ ................................ ........... 27

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 3 Dr. Rice Background ABOUT THE SHAKE TABLE General : 6 DOF Seismic Shake Table System designed to simulate real time seismic events. The table is configured for Vertical and Horizontal inputs on all axes. This system includes the table and actuators, servo controller with Multi Axis Simulation Table (MAST) software The system will achie ve the following performance under fully loaded conditions 2,200 lb (1 Tonne) payload with C.G. at 2.2 feet (1 meter) from base) and o ffset from center (Yaw Moment) 0.75 feet (0.23 Meters). Vertical Acceleration: 2.0 g. Non combined stroke: 3 inch Vertical (Z), 6 inch Lateral (X), 6 inch Longitudinal (Y) Peak Velocity As Quoted: 20 in/sec Horizontal X & Y, 20 in/sec Vertical Z Peak Velocity with Options: 40 in/sec X and Y,40 in/sec Z Note: the system is sized to work in conjunction with University of Florida existing HPS and accumulators to provide adequate flow capacity for design seismic events. Performance with options may require additional flow and performance accumulation.

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 4 Dr. Rice TABLE SPECIFICATIONS 6 DOF Shake Table, machined from solid, designed for high resonant frequency Table dimensions: 48 in x 48 in x 6 in (1.2 m x 1.2 m x 0.15 m) Table construction: Aluminum, with stainless steel thread inserts on 6 in x 6 in (150 x 150 mm) pattern 1 st mode resonance 161 Hz Table Weight: 800 lbs (364 kg) Vertical (Z) Hydraulic Linear Actuator fatigue rated, hydrostatic bearings one piece 2.75 inch (69.85 mm) alloy piston rod, and internal concentrically mounted displacement transducer. Static Force, 11,040 lbs ( 49 kN) @ 3,000 psid (210 bar) Piston Area 3.68 in 2 (23.74 cm 2 ), equal area Bearings, Hydrostatic 4 Pads with polymer back up bearings Stroke, 3 inches (75 mm), +/ 1.5 in (38 mm) +/ 0.3 in (15 mm) Mounting, extended tail sh aft housing with adjustable backlash free swivel base and swivel rod end Manifold, Integral dual servo valve manifold with Moog 761 series valve pattern with isolated pilot porting. Supplied with one blanking plate. Includes one quart (0.93 liter) close coupled accumulators on pressure and return lines. Servo Valve, one each, Moog G761 rated at 19.5 gpm (74 lpm) at 1000 psid (70 bar). The unit will be shipped with all mating connectors and with charted transducer calibration data. Lateral (X) Hydraulic Linear Actuator fatigue rated, hydrostatic bearings one piece 2.75 inch (69.85 mm) alloy piston rod, and internal concentrically displacement transducer. Static Force, 11,040 lbs ( 49 kN) @ 3,000 psid (210 bar) Piston Area 3.68 in 2 (23.74 cm 2 ), equal area Bearings, Hydrostatic 4 Pads with polymer back up bearings Stroke, 6 in (150 mm), +/ 3 in (75 mm) +/ 0.3 in (15 mm) Mounting, adjustable backlash free swivel base and swivel rod end Manifold, Integral dual servo valve manifold with Moog 761 series valve pattern with isolated pilot porting. Supplied with one blanking plate. Includes one quart (0.93 liter) close coupled accumulators on pressure and return lines. Servo Valve, one each, Moog G761 rated at 19.5 gpm (74 lpm) at 1000 psid (70 bar). The unit will be shipped with all mating connectors and with charted transducer calibration data.

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 5 Dr. Rice Longitudinal (Y) Hydraulic Linear Actuator fatigue rated, hydrostatic bearings one piece 3.75 inch (95.3 mm) alloy piston rod, and internal concentrically mounted displacement transducer. Force, 17,560 lbs ( 78 kN) @ 3,000 psid (210 bar) Piston Area 5.85 in 2 (37.74 cm 2 ), equal area Bearings, Hydrostatic 4 Pads with polymer back up bearings Stroke, 6 in (150 mm), +/ 3 in (75 mm) +/ 0.3 in (15 mm) Mounting, adjustable backlash free swivel base and swivel rod end Manifold, Integral Triple servo valve manifold with Moog 761 series valve patterns with isolated pilot porting. Supplied with one blanking plate. Includes one quart (0.93 liter) close coupled accumulators on pressure and return lines. Servo Valve, Two each, Moog G761 rated at 19.5 gpm (74 lpm) at 1000 psid (70 bar), 39 gpm (148 lpm) total. The unit will be shipped with all mating co nnectors and with charted transducer calib ration data. Hydraulic Service Manifold rated at 60 gpm (227 lpm) and 3000 psi (210 bar), free standing. Full flow 10 micron filtration 1 quart (0.94 liter) accumulator on pressure and return. Three switched modes, Off/Low/High with ramping between pressure levels. 24VDC control voltage Separate Isolated Pilot and Hydrostatic bearing pressure source with 3 micron filtration, one pint accumulator Outlet Header Manifold with 6 sets of 16(1 in) p&r ports, 6 sets of 4(1/4 in) pilot and bearing ports, 6 set of Hose Set. Sized to match ports of HSM above. Connects HSM to actuators at variable length assu ming HSM is mounted in the pit. SC6000 Multi station Portable Control System housed in a desk top 8U (14 in x 19 in wide) enclosure with all control and computer hardware with test control and application software. Including the following elements: Industrial Grade Computer System includes: processor 2GB DDR2 RAM Dual Gigabit Ethernet LAN ports VGA port 4X USB ports DVDRW

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 6 Dr. Rice Full Range 550W Removable Redundant Power Supply USB mouse and keyboard 4 each Ser vo Control Boards, to control 6 actuators without mode switch. Each board includes: 2X Servo amplifiers with PID controls and command channel 4X Transducer amplifiers 2X Valve Drivers 2X External analog inputs 2X Monitor points 4X Tamp analog filtered outputs 2X Monitor point analog filtered outputs 1X Servo System Patch Panel Interface 1X External System(s) Patch Panel Interface Data Acquisition System, includes: ADC boards 8X auxiliary 10V analog inputs with anti aliasing filters Process Control System, includes: Full range 900W medical grade IO power supply 18.45 Amps 24VDC 10 Amps 5VDC 5.5Amps (8Amps) +/ 15VDC 1.6Amps +/ 24VDC Removable and reconfigurable auxiliary excitation IO rack module Removable and reconfigurable E STOP and HPS Remote Control IO rack module Removable and reconfigurable Test Station 1 Control IO rack module Cables, 25 foot long, included: a. Servo Valve b. LVDT c. Differential Pressure Transducer d. Hyd Service Manifold e. Hyd Power Supply f. Emergency Stop S hore Western Control Software, includes:

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 7 Dr. Rice M ultipurpose function generators and display panels including: Actuator Waveform Generator basic tree based generic FG, includes sine and all classic wave shapes plus digitized data. 1 Axis Cyclic Waveform Generator single channel single feedback FG with pk mean control and limited RTAC ( real time adaptive control). 1 Axis RTAC Cyclic Waveform Generator single channel FG capable of mixed mode control with RTAC. Uniaxial RTAC Time History Generator single channel arbitrary waveform generation with RTAC compensation. RTAC (Real Time Adaptive Control) is a process element that will minimize the error on a sinusoidal, arbitrary or digitized real time wave shape. The process is cont inuous, real time, and adapts to the system dynamics. The end result is a resultant feedback wave shape that is close in amplitude and phase with the desired drive or program signal. The system may be locked or allowed to continuously adapt depending on test objectives. RTAC supports cascaded, inner and outer loop, with no real restrictions. Typical scenarios are stroke PID inner loop, with load or acceleration outer loop General purpose displays including: scope real time graph allows starting/sto pping zooming/panning of multiple data acquisition channels Fourier Spectrum provides graphical FFT for a single channel X vs. Y plot plots two channels in opposing axes Utilities including: a. Card Block Diagrams provide graphical interface to view and configure controller servo loop settings. b. Control Panels user generated panels configured using generic GUI components. c. Block Programming allows the creation of flow based programs which can be run as subroutines for other block programs or assigne d to control panel buttons. d. Calibration Panels for feedback and command calibration.

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 8 Dr. Rice Operation Instructions POWERING ON : P rogram (computer) 1. Double click the Shore western Start Up' icon on the desktop. This will automatically start the software modules 2. Four windows will appear but the only one we will be concerned with is the SWCS Client Application This is where we will be able to operate the table. Wait until the default username and password is logged in after which the image above should appear A series of panels will appear depending on what the previous test had for its display. H ydraulic power supply 3. Turn on the water entering the coolant system by turning the lever on the copper pipe attached to the wall. Turn to the parallel position. Off Position On Position

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 9 Dr. Rice READ THE FOLLOWING 2 STEPS BEFORE PROCEEDING 4. Power up the Hydraulic Power Unit by turning the handle to the 'ON' position. Give it a moment (5 sec) and then press the green start button. (You will now hear the loud part of the power unit) 5. Using the allen key, increase the pressure by tightening the pressure screw until the screw has fully penetrated the pipe.(See sketch attached to the unit for details) Low Pressure High Pressure Note: The unit will make a different sound when the screw is completely tightened, when this occurs back out the screw until the sound changes back to what it was before. (This is because the pressure valve (screw) is set to max out at 3000psi but the motor can only handle 2800 2900psi. Therefore there n eeds to be a little gap when tightening the screw.) Check the pressure gage to verify the system is running at ~2800psi before continuing to step 6.

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 10 Dr. Rice P rogram (computer) 6. Navigate to the Master Panel. This should be the upper right corner window. If the 'E STOP' LED button on the desk is green then continue to step 7 Click the 'Interlocks On' then 'Reset Interlock Button' in the Master Panel then press the red button on the interlock pad and it should now tu rn button at the top of the window to turn it to just a arning BE SURE TO READ UP TO STEP # 10 FOR BETTER UNDERSTANDING OF THE PROCEDURE 7. There should be a yellow warning in the top portion of the window. To get rid of this press the 'Interlocks On' button to turn it red (Interlocks Off), this will disengage the interlocks for 30 seconds to allow for the next 3 step s

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 11 Dr. Rice 8. Click the yellow Auto balance button and then the 'Continue' button in the following dialogue box. Click: Then: 9. E ngage the low & high pressure solenoid values by clicking the 'LOW THEN HIGH PRESSURE' buttons in order with a few seconds in between each. They should both turn green. 10. Finally place the table in 'HOME' position, now the table is ready for use. Note steps 8 11 must be done in 30 seconds otherwise yo u will have to start from step 7 again. Note: You may get an error like below: If so, u nclick HIGH THEN LOW PRESSURE (they should both be turned back to red buttons ). S tart over at step #7 and be sure to complete before the 30 second mark.

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 12 Dr. Rice S HUTTING DOWN Important!! Be sure to save all work prior to shut down. Work will not be saved otherwise. Program 1. Navigate to the Master Panel This is located in the top right of the 4 windows inside the program. Select 'Park' to put the table in a parked position. Power down the HIGH THEN LOW pressure valves by clicking those buttons red. Power supply 5. Power down the Hydraulic Power Unit Press the red stop button (Once this is complete the majority of the loud noise will be off but there will still be a buzzing tone). Give it a moment (5 sec) and then turn the handle to the 'OFF' position. 6. Using the Allen key, lower pressure by loosening the pressure screw until fully extended. (See sketch attached to the unit for details) High Pressure Low Pressure

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 13 Dr. Rice 7. Turn off the water entering the coolant system by turning t he lever on the copper pipe attached to the wall. Turn to the perpendicular position. TO On Position Off Position Program 8 Close the SWCS Client Application by clicking the top right "X" to normally close a window. Then confirm the exiting of the application. 9 Close the Application Manager by clicking the 'Kill Box Master' button (this closes the Controller Mater COS window if visible) then click 'OK' 10 Close the System Master module by clicking the top right "x" to normally close a window. Then confirm the exiting of the application. 1 2

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 14 Dr. Rice STARTING A NEW TEST Note: There are existing tests configured that can be duplicated for other tests to eliminate the set up process. "Trial 1" is a sine wave imposed on all "Displacement TH" is a displacement time history of an earthquake. "El Centro" is an a cceleration time history of an earthquake. If wanting to start a new test from scratch (Virgin Panel) follow these steps: First follow the steps (1 2 ) in the Powering On section to start up the program. Steps 1 14 in this section can be done without turning on the hydraulic power unit. 1. Make sure the 'Default' test is selected in the drop down menu at the top of the window 2. Click the 'Options' button in the upper left corner of the empty panel. 3. Click the 'Multi Axis Function Generator' option. This will bring up an emp ty control station in the upper left panel for new test modifications.

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 15 Dr. Rice 4. To enlarge this viewport click the plus sign with the green box in the upper left quadrant It should look like this below. Setup test 5. Select the 'Set Up Test' button at the top middle of the window. Click the 'Select' button to create a new folder/location for all the files associated with this new test to be placed. Click 'Selected' when done, then 'OK'. 1 2 3

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 16 Dr. Rice 6. Now this progress by clicking the 'Save' button at the top middle of the window. RENAME THIS TEST TO A NEW NAME. DO NOT NAME IT AS DEFAULT!!! THEN CLICK 'SAVE'. Notice the 'Default' set up will still be active, click the drop down arrow and select the new name of the test you just saved. Now you should see the new test name at the top middle of the screen where 'Default' used to be. Setup Panel 7. Select the 'Set Up Panel' button at the top middle of the window. Change to saved test to continue modifying. test will stay active

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 17 Dr. Rice 8. a. Change the controller to Box 1 and input the number of channels (axis's) you want (6). b. c. Select 'Group 1' in the DAQ group. A list of "Available Channels" will appear and will consist of LVDT's/Accels for each actuator and 6 Cartesian DOF Fo r Displacement Controlled Tests the Cartesian DOF (X,Y,Z) Channels will be the only ones you have to worry about, these are located at the very bottom of the list. d. Available Channel to the Selected Channels box. e. B elow, chose the 'X' Channel for the Command Channel selection and do the same for the Digital and Analog Feedbacks. f. Repeat these steps (8a 8e) for all of the 6 (X, Y, Z, Theta X, Theta Y, Theta Z) buttons following the same pattern as before for Availabl e Channel, Command Channel and Digital/Analog Feedback selections. Be sure to save you progress periodically by clicking the save button at the top middle of the window then clicking SAVE again in the dialogue box that pops up. Make sure the saved name is the correct one. Note: These will start out as blank buttons 8 e 8a 8 d 8a 8 8

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 18 Dr. Rice 9. If working with a "Acceleration Contro lled Test" Below, chose the 'X1' Channel for the Command Channel selection. For the Digital Loop Feedback Channel select the "X1 Accel" channel and for the Analog Loop Feedback select the "X1 LVDT" channel. Do this for all of the 6 (X1, X2, Y, Z1, Z2, Z3) buttons following the same pattern as before for Availabl e Channels, Command Channel and Digital/Analog Feedback selections. a. Change the controller to Box 1 and input the number of channels (axis's) you want (6). b. c. Select 'Group 1' in the DAQ group. A list of "Available Channels" will appear and will consist of LVDT's/Accels for each actuator and 6 Cartesian DOF. For Acceleration Con trolled Tests the LVDT and Accel Channels will be the ones you are dealing with. d. to the Selected Channels box (as shown below) e. Chose the 'X1' Channel for the Command Channel selection. For the Digital Loop Feedback Channel select the "X1 Accel" channel and for the Analog Loop Feedback select the "X1 LVDT" channel. f. Repeat these steps (9a 9e) for all of the 6 (X1, X2, Y, Z1, Z2, Z3) buttons following the same pattern as before for Available Channel, Command Channel and Digital/Analog Feedback selections. when done. Be sure to save you progress periodically by clicking the save button at the top middle of the window then clicking SAVE again in the dialogue box that pops up. Make sure the saved name is the correct one Note: These will start out as blank buttons 8 e 8a 8 d 8a 8 8

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 19 Dr. Rice 10. F or each channel (each button o n the main window panel) go through the global set up process : a. C lick the "C" button outside of the function generator box b. A djust Soft Start Stop : 5 sec & 3 sec c. Ramp Time : 3 sec d. Error : 0 .01 in e. Jacobean : (1*10^0) for Displacement or (.1*10^ 2) for Acceleration f. Proportional gain : 0.1 10^ 1 when done. 10a

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 20 Dr. Rice 11. Next adjust the graph scope settings : a. C lick "C" in the upper right hand corner of the graph section. Click Set Up. b. Label your left and right Y axis's "Inches" and "Degrees" respectively by clicking the black "+". The name can be anything for these axes; the "Caption" input will show up in the graph itself. X Axis will stay in "time" units. below) c. Double click each DOF to the left of the graph and change each c olor for visual identification. Also when done. (see below) This Graph Setup Window will This Feedback Channel Properties Window will appear after double clicking each DOF button in the graph above: 11a 11b 11c 11b

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 21 Dr. Rice 12. For each DOF button (X,Y,Z /Theta X,Y,Z) motion parameters can now be inputted. Under function type select the type of motion desired for this new test. Selecting 'HOLD' will disengage that particular axis of translation or rotation. 13. For each DOF button (X,Y,Z/Theta X,Y,Z) input t he desired amplitude and frequency, STAY CONSERVATIVE WITH THESE PARAMETERS, AMPLITUDE SHOULD BE NO MORE THAN 1.5 IN AND ROTATIONS SHOULD BE NO MORE THAN 3 DEG. 14. Go through the Powering On steps to turn on the machine starting from step 3 1 0 CONVERGENCE PROCESS Convergence is needed to match the command generated by the system with the actual motion of the table which can vary depending on various inconsistencies in the system ( Ex. oil temperature) 15. Before running the table, click the 'T' and disable tuning (unclick enabled) for all the DOF (buttons). 12... 13... Buttons

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 22 Dr. Rice 16. Start convergence process clicking the 'RUN' button at the top left of the window. This will start put the table in the motion prescribed in step 13 17. Each DOF will be converged individually so start with X translation : a. C licking the 'X Axis button if not already clicked b. Click the "C" button in the Function Generator box and check the 'Plot Command' option to plot the motion command in the graph below. The command plot will be a black line.(shown below) c. Click the "T" button in the Function Generator box and adjust the Jacobean to either (1*10^0) for a Displacement controlled test or (.1*10^ 2) for Accelerati on controlled. d. Adjust the Proportional Gain parameter to Proportional gain: 0.1 10^ 1. e. Check the Enable box to enable X convergence. Also uncheck all but the X DOF in the graph window below to only see the X response plot. 17c... 17d... 17e... 17a 17b/c

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 23 Dr. Rice 18. Convergence process; Note: This is an iteration process that is guess/check oriented and will feel a bit strange at first with no experience a. ncrease the proportional gain s lightly until the signal waves can be distinguis hed in the feedback loop graph. (You are looking at the black line. It will grow in amplitude as time passes. The PGain effects how dynamic of a change the signal can have) b. When peaks and crests from the command signal can be distinguished in the graph s top the test c. Adjust the phase angle to match the two signal peaks by d ouble click ing the X DOF to the left of the graph and adjust the phase angle depending on how out of phase the black command signal and the actual motion signal are (start by increasing the number by 10 if needed) d. Start the test up again after the phase angle has been adjusted and see the shift in the plot. e. If needed increase the proportional gain a bit more (2 clicks) to compare the two signals more properly. f. Stop the test and adjust the phase angle once more to get the signa l peaks to match up in phase. This window will app ear when the X DOF is double clicked 18a/e 18b/f 18c 18d 18f

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 24 Dr. Rice 19. Once the phase for the X DOF is matched with the command signal, the motion signal must fully converge. This is done by adjusting the proportional gain values, along with the filter window size in various combinations. First increase the proportional gain little by li ttle until it looks like the signal is growing in amplitude. Note: You may have to stop and start the test to get the adjusted parameters to register. If there is noise/instability in the signal then adjust the Filter Window Size. A thumb rule for the filter window size; lower limit will be about 40 50% less than the upper limit so start low with like a 4 LL and 10 UL. Again this process takes experience and will seem a bit random at first. Each DOF could take up to 30 mins to converge depending on th e complexity of the signal. 20. motion for this X Translation. Then Click the "C" button in the function generator and choose 'Setup Drive File'. A window will pop up with a signal function. Choose 'Save Learned Drive' at the top of the window to save this X Translation Signal. Save this X signal in the folder that you created for this particular test. Once saved, you can either choo se 'Preload Learned Drive' if this is the same session in which you captured the drive or if you are coming back to the test from a previous day, you can choose 'Load Learned Drive' and select the X signal file name to load. Click 'OK' and now the converg ed signal will be loaded and ready for use. You can now click the "T" in the function generator box and uncheck the 'Enable Box' to disable further converging. 21. Repeat steps (15 20) for the remaining DOF (Y,Z/Theta X,Y,Z) until all 6 DOF have converged and have been saved in the test files location you created at the beginning of the test setup. Once all DOF have converged, then the test is ready for use. Be sure all Tuning options "T" are disabled and no longer converging. AND SAV E YOUR WORK!

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 25 Dr. Rice MO DIFYING AN EXISTING TEST: Note: There are existing tests configured that can be duplicated for other tests to eliminate the set up process. "Trial 1" is a sine wave imposed on all "Displacement TH" is a displacement time history of an earthquake. "El Centro" is an acceleration time history of an earthquake. First follow the Powering On steps (1 2 ) to turn on the table program. 1. Choose one of the tests you would like to modify by clicking the drop down menu at the top middle of the window. Adjust the parameters you wish to change: 2. For each DOF button (X,Y,Z /Theta X,Y,Z) motion parameters can now be modified. Under function type select the type of motion desired for this new test. Selecting 'HOLD' will disengage that particular axis of translation or rotation. 3. For each DOF button (X,Y,Z/Theta X,Y,Z) input the desired amplitude and frequency, STAY CONSERVATIVE WITH THESE PARAMETERS, TRANSLATIONS SHOULD BE NO MORE THAN 1.5 IN AND ROTATIONS SHOULD BE NO MORE THAN 3 DEG.

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 26 Dr. Rice 4. Now Save this progress by clicking the 'Save' button at the top middle of the wind ow. RENAME THIS TEST TO A NEW NAME. DO NOT OVERWRITE THE EXISTING FILE!!! THEN CLICK 'SAVE'. Notice the 'Existing File' set up will still be active, click the drop down arrow and select the new name of the test you just saved. Now you should see the new test name at the top middle of the screen where the 'Existing File' used to be. 5. Go through the Powering On steps ( 3 1 0 ) to turn on the machine. CONVERGENCE PROCESS Convergence is needed to match the command generated by the system with the actual motion of the table which can vary depending on various inconsistencies in the system 6. Go thorough Co nvergence P rocess steps ( 15 20 ) of the Creating a New Test Section. 7. Repeat the convergence for the remaining DOF (Y,Z/Theta X,Y,Z) until all 6 DOF have converged and have been saved in the test files location you created at the beginning of the test setup. 8. Once all DOF have converged, then the test is ready for experiments Be sure all Tuning options "T" are now disabled and no longer converging. AND SAVE YOUR WORK! Change to saved test to continue modifying. test will stay active

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 27 Dr. Rice IMPORTING GENERATED SIGNAL TO SWCS PROGRAM 1. Generate time history in external program and save as a universal text file (.txt). 2. Open SWCS Program on the desktop. SET UP 3. SAVE session a new name. 4. Save and reselect newly saved file to work in it. 5. generated signal. 6. CONVERT FILE Note: Make sure the active DOF button is selected before proceeding with the following steps. 7. 8. 9. 10. This brings up a conversio n dialog box. 11. original signal. 12. file appropr iately. 13. Fill out the name/description however you would like to give yourself as much detail about this time history for your future reference. 14. the o riginal generated signal.) 15. Displacement, Unit: (Whatever unit you want for this test, probably inches). 16. ime history to a .swaf file type. (You should get a IMPORT FILE 17. 18. All the information will be loaded and you can see the time hist ory in both the time and frequency domain in a plot at the button. (Toggle between sample distance and sample time to see the two.) 19. Make sure the filter button is unclicked. (You already filtered your signal when you generated it before.) 20. 21. Toggle between the raw/modified waveform to ensure the applied excitation matches what was originally created with the exception for the first/last second of the time history (soft start). 22. Verify all loade d information is correct (Time: Sec and Displacement: In). 23. 24. the record is in the correct duration. Then c lick 25. You may now run the signal and go through the convergence process detailed in the convergence section of the manual.

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University of Florida Civil Engineering Shake Table Instruction Manual SIMLab Group Page 28 Dr. Rice Reference TROUBLESHOOTING : Capture Drive only when convergence has been met. IMPORTANT CHECKS : o Oil temperature, not to exceed 140 degrees. Check periodically. o Press the red stop button on the power supply but leave the coolant running for 30 minutes after a long test. After 30 mins. Turn the handle to the off position. o Torque all bolts to 150 lb in at least twic e per semester or once a month i f used actively. TECHSUPPORT : Nigel Lindon Re Test, Inc. Email: nigel.linden@re test.com Phone: 612 747 8378