1. Hybrid Testing 2.0 Quake Summit 2012 Thomas Frankie frankie2@illinois.edufrankie2@illinois.edu Michael Bletzinger mbletzin@illinois.edu

2. Hybrid Simulation @ MUST-SIM ProjectAnalytical Model NEESR-SG: Seismic Simulation and Design of Bridge Columns under Combined Actions and Implications On System Response, David Sanders (University of Nevada, Reno), Abdeldjelil Belarbi (University of Missouri –Rolla), Amr Elnashai (University of Illinois), Jian Zhang (University of California, Los Angeles), Shirley Dyke (Washington University) NEESR-SG: Controlled Rocking of Steel-Framed Buildings with Replaceable Energy Dissipating Fuses, Gregory G. Deierlein, Sarah L. Billington, Helmut Krawinkler (Stanford University), Jerome F. Hajjar (University of Illinois) NEES (Shared Use): Performance Evaluation of Semi-rigid Steel Frames Using Hybrid Simulation, Amr Elnashai (University of Illinois), Zifa Wang (Institute of Engineering Mechanics, China Earthquake Administration) NEESR: Framework for Development of Hybrid Simulation in an Earthquake Impact Assessment Context, Bill Spencer, (University of Illinois), et. Al.

3. Hybrid Simulation Case Examined  4-span curved bridge  RC Piers of various lengths  Two scales of experimental specimens  Multi-directional earthquake loading  6DOF control NEESR-SG-0530737

4. Video

5. Hybrid Simulation Procedure Computational component {u} {F} Measure forces Simulation Coordinator Experimental componentFzMy My Fy Fx Mx Target Disp. Measured forces Calc Forces

6. Preparing for the CABER Three Pier Test  General Solution Strategy  CABER Testing Evolution –Analytical –Analytical Modularized –Analytical and 1 small scale –All small scale –Large Scale

7. Coordinate Transformation and Scaling  Coordinate systems, notation, and units vary by site and program  Experimental: Cartesian to actuator space  Scaling and similitude relationships vary for different parameters  Currently: –Plugin loads and uses transformation functions –Calculations occur at full scale –(Commands) x (Displacement scale factors) sent to modules –(Measured forces and moments) / (Scale factors) used in the PSD algorithm. X Z Y LBCB (experimental) X Y Z UI-SimCor (overall model) [displacement, rotation, force, moment] Analytical: [1, 1, 1, 1] Experimental: (1/3 scale, N-mm to lb-in) [1/3/25.4, 1, 1/9/4.448222e3, 1/27/4.448222e3/25.4]

8. Mapping from Model Space to Experiment Space Z Y X Z Y X  Control points passed through SimCor  Displacement-based 6DOF, derivation of transformation challenge  At times, use more control points than locations with readings/data

9. Substructure Failure  Stroke and force capacity of equipment  Failure of experimental specimen  Diverging solution in numerical model  Many hybrid tests don’t truly “finish” - Use updated stiffness data to provide simulated force feedback - Trigger “end of life” scenario - Back up analytical models to replace experimental specimens

10. Data synchronization  Capturing control (commands), instrumentation (sensors) and visual (photo) data  Necessary for –Viewing and understanding of behavior during a test –Post-processing and development of meaningful complementary data and media  Solution for PSD tests –PSD hybrid tests enables data collection at brief hold periods –Data is inherently synchronized because specimen is not moving A triggering service is needed to inform all acquisition devices

11. Hybrid Tests Will Pause ProblemExampleRecovery Internet link failure Response from substructure module times out. Re-establish the link. Continue test from failure point Control system limit fault Actuator force exceeds limits Pause simulation. Fix the conditions of the fault. Continue test from fault point Acquisition system failure Camera freezes.Pause simulation. Fix or replace the system. Continue test from failure point Application failure Krypton DMM crashesPause simulation. Restart application Continue test from failure point Test takes to long Operators can only work until midnight Store simulation state. Continue simulation the next day.

12. Why Hybrid Testing 2.0  Hybrid testing experiences show the need for a general upgrade to UI-SimCor  LbcbPlugin is a prototype for this upgrade –MATLAB/Java application developed at the MUST- SIM facility. –Site specific features. Robust Communications Test specific customizations Trigger server Menu driven configuration management. –Derived from UI-SimCor

13. LbcbPlugin Communications  Multi-Threaded –Each communication link has its own Java thread  Pause and resume logic –Communication errors detected through timeouts triggers test pause Test resumes once link is re- established –Limit faults and other errors handled through decline processing Tripped limits and user decline directives trigger test pauses

14. LbcbPlugin Customization Customization Plugin Type Purpose Command & Response Transformation Custom transformations for commands and responses exchanged with UI-SimCor Derived DOFCustomize the control loop by adding additional commands based on current responses

15. LbcbPlugin Triggering  Runs a triggering server –Acquisition devices connect to the server  Response monitoring detect problems  Two levels of triggering  Piggyback aggregated Data on trigger message

16. Upgrading UI-SimCor  Requirements –Scalability –Flexible Customization –Robust Communications  New version will be a Java application. –Optional MATLAB components –LbcbPlugin features will be merged with UI-SimCor –Wizards and menus will serve as configuration management GUIs. –Client implemented in other languages LabVIEW, Visual Basic

17. TCP/IP Network Original UI-SimCor Architecture Stiffness Evaluation Static Equilibrium Dynamic Equilibrium Main Routine Object n of MDL_RF class MDL n Simulation Monitor Client Object 1 of MDL_RF class MDL 1 Simulation Monitor Client API Component n Server Component 1 Server API FEDEASLab Vector 2 DOF Mapping Disp. Force Objects of MDL_AUX class AUX Client Equipment API DAQ Camera Server Simulation Control Command Measurement Command Measurement

18. Scalability Example – CABER Simulation

19. Scalability Example – Caber Small Scale TCP Msgs

20. Scalability Example – CABER Large Scale TCP Msgs

21. Scalability Example – CABER Large Scale with Backup Modules TCP Msgs

22. Summary ChallengeCurrent WorkaroundsUpcoming Features Model tailoring for site and specimen issues LbcbPlugin customization UI-SimCor Transformation & Scaling Wizards and menus in new UI-SimCor. MATLAB code customization plugins Tests will pauseLbcbPlugin robust links & decline processing UI-SimCor restart feature Robust communications in new UI-SimCor First substructure failure ends test Simplify analytical modelModel switching during simulations. Additional research needed Data synchronization and aggregation LbcbPlugin Trigger Server Trigger Server

23. Participation Needed  Need stake holders to tryout upcoming versions –Help test and document development versions –Implement clients in other languages –Become informal advisory committee –RC Frames project has already been “volunteered” Informal Advisory Committee MemberUniversity Oh-Sung KwonUniversity of Toronto Amr ElnashaiUniversity of Illinois Bill SpencerUniversity of Illinois Questions?