The steel lining of huge facilities is a significant structure,which experiences extreme environments and needs to be inspected periodically after manufacture.However,due to the complexity(crisscross welds,curved surf...The steel lining of huge facilities is a significant structure,which experiences extreme environments and needs to be inspected periodically after manufacture.However,due to the complexity(crisscross welds,curved surface,etc.)of their inside environments,high demands for stable adhesion and curvature adaptability are put forward.This paper presents a novel wheeled magnetic adhesion robot with passive suspension applied in nuclear power containment called NuBot,and mainly focuses on the following aspects:(1)proposing the wheeled locomotion suspension to adapt the robot to the uneven surface;(2)implementing the parameter optimization of NuBot.A comprehensive optimization model is established,and global optimal dimensions are properly chosen from performance atlases;(3)determining the normalization factor and actual dimensional parameters by constraints of the steel lining environment;(4)structure design of the overall robot and the magnetic wheels are completed.Experiments show that the robot can achieve precise locomotion on both strong and weak magnetic walls with various inclination angles,and can stably cross the 5 mm weld seam.Besides,its maximum payload capacity reaches 3.6 kg.Results show that the NuBot designed by the proposed systematic method has good comprehensive capabilities of surface-adaptability,adhesion stability,and payload.Besides,the robot can be applied in more ferromagnetic environments and the design method offers guidance for similar wheeled robots with passive suspension.展开更多
Viscoelastic dampers(VEDs) are one of the most common passive control devices used in new and retrofit building projects which reduce the structure responses and dissipate seismic energy during an earthquake.Various...Viscoelastic dampers(VEDs) are one of the most common passive control devices used in new and retrofit building projects which reduce the structure responses and dissipate seismic energy during an earthquake.Various methods to design this kind of dampers have been proposed based on the desired level of additional damping,eigenvalue assignment,modal strain energy,linear quadratic regulator control theories,and other approaches.In the current engineering practice,the popular method is the one based on the modal strain energy that uses the inter-story lateral stiffness as one of the main variables for damper design.However,depending on the configuration of the structure,in some cases the resulting interstory lateral stiffness can be very large.Consequently,the dampers size would also be large producing much more damping than that effectively necessary,resulting in an increase of the overall cost of the supplemental damping system and causing excessive stress on the structural elements connected to the dampers.In this paper an alternative practical design method for structures with VEDs is proposed.This method uses the inter-story shear forces as one of the main variables to accomplish the damper design compared to what was done in previous studies.Nonlinear time-history analyses were conducted on a 7-story reinforced concrete(RC) structure to check the reliability and effectiveness of the proposed method.Comparisons on the seismic performance between the structure without dampers and that equipped with VEDs were carried out.It is concluded that the proposed method results in a very suitable size of dampers,which are able to improve the performance of the structure at all levels of earthquake ground motions and satisfying the drift requirement prescribed in the codes.展开更多
基金Supported by Shanghai Nuclear Star Nuclear Power Technology Co.,Ltd,National Natural Science Foundation of China(Grant No.51735009)State Key Lab of Mechanical System and Vibration Project(Grant No.MSVZD202008).
文摘The steel lining of huge facilities is a significant structure,which experiences extreme environments and needs to be inspected periodically after manufacture.However,due to the complexity(crisscross welds,curved surface,etc.)of their inside environments,high demands for stable adhesion and curvature adaptability are put forward.This paper presents a novel wheeled magnetic adhesion robot with passive suspension applied in nuclear power containment called NuBot,and mainly focuses on the following aspects:(1)proposing the wheeled locomotion suspension to adapt the robot to the uneven surface;(2)implementing the parameter optimization of NuBot.A comprehensive optimization model is established,and global optimal dimensions are properly chosen from performance atlases;(3)determining the normalization factor and actual dimensional parameters by constraints of the steel lining environment;(4)structure design of the overall robot and the magnetic wheels are completed.Experiments show that the robot can achieve precise locomotion on both strong and weak magnetic walls with various inclination angles,and can stably cross the 5 mm weld seam.Besides,its maximum payload capacity reaches 3.6 kg.Results show that the NuBot designed by the proposed systematic method has good comprehensive capabilities of surface-adaptability,adhesion stability,and payload.Besides,the robot can be applied in more ferromagnetic environments and the design method offers guidance for similar wheeled robots with passive suspension.
基金National Key Research and Development Program of China under Grant No.2016YFC0701101the National Nature Science Foundation of China under Grant No.51678449
文摘Viscoelastic dampers(VEDs) are one of the most common passive control devices used in new and retrofit building projects which reduce the structure responses and dissipate seismic energy during an earthquake.Various methods to design this kind of dampers have been proposed based on the desired level of additional damping,eigenvalue assignment,modal strain energy,linear quadratic regulator control theories,and other approaches.In the current engineering practice,the popular method is the one based on the modal strain energy that uses the inter-story lateral stiffness as one of the main variables for damper design.However,depending on the configuration of the structure,in some cases the resulting interstory lateral stiffness can be very large.Consequently,the dampers size would also be large producing much more damping than that effectively necessary,resulting in an increase of the overall cost of the supplemental damping system and causing excessive stress on the structural elements connected to the dampers.In this paper an alternative practical design method for structures with VEDs is proposed.This method uses the inter-story shear forces as one of the main variables to accomplish the damper design compared to what was done in previous studies.Nonlinear time-history analyses were conducted on a 7-story reinforced concrete(RC) structure to check the reliability and effectiveness of the proposed method.Comparisons on the seismic performance between the structure without dampers and that equipped with VEDs were carried out.It is concluded that the proposed method results in a very suitable size of dampers,which are able to improve the performance of the structure at all levels of earthquake ground motions and satisfying the drift requirement prescribed in the codes.