Buckling of a Long, Axially Compressed, Thin Cylindrical Shell With Random Initial Imperfections

1972 ◽  
Vol 39 (4) ◽  
pp. 1066-1071 ◽  
Author(s):  
R. A. Van Slooten ◽  
T. T. Soong
Keyword(s):  
Cylindrical Shell ◽  
Spectral Density ◽  
Carrying Capacity ◽  
Initial Imperfection ◽  
Maximum Load ◽  
Load Carrying Capacity ◽  
Thin Cylindrical Shell ◽  
Initial Imperfections ◽  
Power Spectral ◽  
Load Carrying

The effect of random geometric imperfections on the maximum load-carrying capacity of an axially compressed thin cylindrical shell is studied. Following a perturbation approach, equations are derived which relate the first and second-order statistics of the maximum load to the statistics of the initial imperfections. Assuming that the imperfections are represented by Gaussian stationary and ergodic random processes, it is shown that the mean maximum load is expressible in quadrature forms involving the power spectral density of the initial imperfection. Furthermore, the maximum load is seen to be equal to its mean value with probability one. A simple asymptotic formula for the maximum load is derived assuming the variance of the initial imperfection is small. In this case the critical load depends only upon the imperfection variance and the power spectral density at a given wave number. For the types of imperfections considered, it is found that random axisymmetric imperfections reduce the load-carrying capacity of the cylindrical shell more than nonaxisymmetric imperfections.

Maximum load carrying capacity of mobile manipulators: optimal control approach

Robotica ◽  
2009 ◽  
Vol 27 (1) ◽  
pp. 147-159 ◽  
Author(s):  
M. H. Korayem ◽  
A. Nikoobin ◽  
V. Azimirad
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Carrying Capacity ◽  
Nonholonomic Constraints ◽  
Maximum Load ◽  
Mobile Manipulators ◽  
Load Carrying Capacity ◽  
Maximum Payload ◽  
Load Carrying

SUMMARYIn this paper, finding the maximum load carrying capacity of mobile manipulators for a given two-end-point task is formulated as an optimal control problem. The solution methods of this problem are broadly classified as indirect and direct. This work is based on the indirect solution which solves the optimization problem explicitly. In fixed-base manipulators, the maximum allowable load is limited mainly by their joint actuator capacity constraints. But when the manipulators are mounted on the mobile bases, the redundancy resolution and nonholonomic constraints are added to the problem. The concept of holonomic and nonholonomic constraints is described, and the extended Jacobian matrix and additional kinematic constraints are used to solve the extra DOFs of the system. Using the Pontryagin's minimum principle, optimality conditions for carrying the maximum payload in point-to-point motion are obtained which leads to the bang-bang control. There are some difficulties in satisfying the obtained optimality conditions, so an approach is presented to improve the formulation which leads to the two-point boundary value problem (TPBVP) solvable with available commands in different softwares. Then, an algorithm is developed to find the maximum payload and corresponding optimal path on the basis of the solution of TPBVP. One advantage of the proposed method is obtaining the maximum payload trajectory for every considered objective function. It means that other objectives can be achieved in addition to maximize the payload. For the sake of comparison with previous results in the literature, simulation tests are performed for a two-link wheeled mobile manipulator. The reasonable agreement is observed between the results, and the superiority of the method is illustrated. Then, simulations are performed for a PUMA arm mounted on a linear tracked base and the results are discussed. Finally, the effect of final time on the maximum payload is investigated, and it is shown that the approach presented is also able to solve the time-optimal control problem successfully.

Development of Z-Factor for Circumferential Part-Through Surface Cracks in Dissimilar Metal Welds

2008 ◽  
Author(s):  
D.-J. Shim ◽  
G. M. Wilkowski ◽  
D. L. Rudland ◽  
F. W. Brust ◽  
Kazuo Ogawa
Keyword(s):  
Correction Factor ◽  
Carrying Capacity ◽  
Limit Load ◽  
Maximum Load ◽  
Load Carrying Capacity ◽  
Surface Cracks ◽  
Crack Driving Force ◽  
Dissimilar Metal ◽  
Load Carrying ◽  
J Estimation

Section XI of the ASME Code allows the users to conduct flaw evaluation analyses by using limit-load equations with a simple correction factor to account elastic-plastic fracture conditions. This correction factor is called a Z-factor, and is simply the ratio of the limit-load to elastic-plastic fracture mechanics (EPFM) maximum-load predictions for a flaw in a pipe. The past ASME Section XI Z-factors were based on a circumferential through-wall crack in a pipe rather than a surface crack. Past analyses and pipe tests with circumferential through-wall cracks in monolithic welds showed that the simplified EPFM analyses (called J-estimation schemes) could give good predictions by using the toughness, i.e., J-R curve, of the weld metal and the strength of the base metal. The determination of the Z-factor for a dissimilar metal weld (DMW) is more complicated because of the different strength base metals on either side of the weld. This strength difference can affect the maximum load-carrying capacity of the flawed pipe by more than the weld toughness. Recent work by the authors for circumferential through-wall cracks in DMWs has shown that an equivalent stress-strain curve is needed in order for the typical J-estimation schemes to correctly predict the load carrying capacity in a cracked DMW. In this paper, the Z-factors for circumferential surface cracks in DMW were determined. For this purpose, a material property correction factor was determined by comparing the crack driving force calculated from the J-estimation schemes to detailed finite element (FE) analyses. The effect of crack size and pipe geometry on the material correction factor was investigated. Using the determined crack-driving force and the appropriate toughness of the weld metal, the Z-factors were calculated for various crack sizes and pipe geometries. In these calculations, a ‘reference’ limit-load was determined by using the lower strength base metal flow stress. Furthermore, the effect of J-R curve on the Z-factor was investigated. Finally, the Z-factors developed in the present work were compared to those developed earlier for through-wall cracks in DMWs.

The Elastic-Softening Failure of Floating Beams

1988 ◽  
Vol 32 (01) ◽  
pp. 37-43
Author(s):  
Paul C. Xirouchakis
Keyword(s):  
Carrying Capacity ◽  
Maximum Load ◽  
Point Load ◽  
Negative Stiffness ◽  
Load Carrying Capacity ◽  
Perfectly Plastic ◽  
Load Carrying ◽  
Elastic Perfectly Plastic ◽  
The Moment ◽  
Elastic Softening

The solution is presented for an infinite elastic-softening floating beam under a point load. The response depends on two nondimensional parameters: the negative stiffness coefficient that characterizes the descending part of the moment-curvature curve, and the nondimensional softening region half-length. The solution exhibits two important features that the elastic-perfectly plastic solution does not show. First, in certain ranges of parameters, the elastic-softening beam has a clearly defined maximum load carrying capacity. Second, in some other ranges of parameters, the elastic-softening beam has a minimum load or residual strength. The beam stiffens up upon further deformation due to the reactions of the water foundation. Critical softening parameters are calculated that separate stable from unstable behavior.

scholarly journals Whey protein sweetened with Stevia rebaudiana Bertoni (Bert.) increases mitochondrial biogenesis markers in the skeletal muscle of resistance-trained rats

2019 ◽  
Vol 16 (1) ◽  
Author(s):  
Yago Carvalho Lima ◽  
Mirian Ayumi Kurauti ◽  
Gabriel da Fonseca Alves ◽  
Jonathan Ferezini ◽  
Silvano Piovan ◽  
...  
Keyword(s):  
Skeletal Muscle ◽  
Whey Protein ◽  
Mitochondrial Biogenesis ◽  
Carrying Capacity ◽  
Stevia Rebaudiana ◽  
Maximum Load ◽  
Protein Supplementation ◽  
Load Carrying Capacity ◽  
Leaf Extracts ◽  
Load Carrying

Abstract Background A combination of resistance training and whey protein supplementation is a common practice among athletes and recreational exercisers to enhance muscle growth and strength. Although their safety as food additives is controversial, artificial sweeteners are present in whey protein supplements. Thus, natural sweeteners extracted from the leaves of Stevia rebaudiana are a potential alternative, due to their safety and health benefits. Here, we investigated the effects of whey protein sweetened with S. rebaudiana on physical performance and mitochondrial biogenesis markers in the skeletal muscle of resistance-trained rats. Methods Forty male Wistar rats were distributed into four groups: sedentary rats, trained rats, trained rats receiving whey protein and trained rats receiving whey protein sweetened with S. rebaudiana leaf extracts. Resistance training was performed by climbing a ladder 5 days per week, during 8-weeks. The training sessions consisted of four climbs carrying a load of 50, 75, 90, and 100% of the maximum load-carrying capacity which we determined before by performing a maximum load-carrying test for each animal. After this period, we collected plasma and tissues samples to evaluate biochemical, histological and molecular (western blot) parameters in these rats. Results Dietary supplementation with whey protein sweetened with S. rebaudiana significantly enhanced the maximum load-carrying capacity of resistance-trained rats, compared with non-sweetened whey protein supplementation. This enhanced physical performance was accompanied by an increase in the weight of the gastrocnemius and soleus muscle pads. Although the muscle pad of the biceps brachii was not altered, we observed a significant increase in PGC-1α expression, which was followed by a similar pattern in TFAM protein expression, two important mitochondrial biogenesis markers. In addition, a higher level of AMPK phosphorylation was observed in these resistance-trained rats. Finally, supplementation with whey protein sweetened with S. rebaudiana also induced a significant decrease in retroperitoneal adipocyte diameter and an increase in the weight of brown adipose tissue pads in resistance-trained rats. Conclusion The addition of Stevia rebaudiana leaf extracts to whey protein appears to be a potential strategy for those who want to increase muscular mass and strength and also improve mitochondrial function. This strategy may be useful for both athletes and patients with metabolic disorders, such as obesity and type 2 diabetes.

scholarly journals GEOMETRICALLY NON-LINEAR FINITE ELEMENT RELIABILITY ANALYSIS OF STEEL PLANE FRAMES WITH INITIAL IMPERFECTIONS / PLIENINIŲ RĖMŲ SU DEFEKTAIS GEOMETRIŠKAI NETIESINĖ BAIGTINIŲ ELEMENTŲ PATIKIMUMO ANALIZĖ

2012 ◽  
Vol 18 (1) ◽  
pp. 81-90 ◽  
Author(s):  
Zdeněk Kala
Keyword(s):  
Statistical Analysis ◽  
Carrying Capacity ◽  
Sampling Method ◽  
Latin Hypercube Sampling ◽  
Load Carrying Capacity ◽  
Initial Imperfections ◽  
Load Carrying ◽  
Eurocode 3 ◽  
Non Linear ◽  
Plane Frames

The random load carrying capacity of steel plane frames with bracing stiffness is studied. The load carrying capacity is evaluated using the geometrically non-linear FEM analysis. The incremental stiffness matrix of a slightly curved element utilized in the non-linear incremental analysis is listed. Initial imperfections are considered as random variables. Statistical analysis and Sobol sensitivity analysis are performed using the Latin Hypercube Sampling method. The effect of initial random imperfections on the load carrying capacity is studied, whilst assuming constant slenderness of the columns. The evaluation parameters are the pair of non-random values of elastic bracing stiffness, and system length of the columns. The paper illustrates that the load carrying capacity is very sensitive to initial crookedness of the columns in the event that the non-sway (symmetric) and sway (anti-symmetric) buckling modes coincide. In this case, the design load carrying capacity obtained from statistical analysis according to the EN 1990 (2002) standard is relatively very small (of low safety). Results show that the reliability of design of a steel frame according to EUROCODE 3 (1993) is significantly misaligned. The significance of the first and the second buckling forces as indicators of sensitivity of the load carrying capacity to the imperfections is discussed. Santrauka Tiriama plieninio plokščio rėmo su standžiaisiais ryšiais laikomoji galia. Ji vertinama atliekant geometriškai netiesinę BEM analizę. Aptariama šiek tiek išlinkusio elemento laipsniškai didėjanti standumo matrica, atliekant netiesinį iteracinį skaičiavimą. Atsitiktiniu dydžiu laikomas pradinis defektas. Statistinė ir Sobolio (Sobol) jautrumo analizė atliekama pritaikant LHS metodą (Latin Hypercube Sampling Method). Nagrinėjamas pradinio atsitiktinio defekto poveikis laikomajai galiai darant prielaidą, kad pastovus dydis yra liauna kolona. Vertinimo kriterijus yra ne atsitiktinių didžių pora, t. y. tampriai standus ryšiai ir konstrukcijos kolonų aukštis. Straipsnyje aptariama kolonos pradinio kreivio įtaka laikomajai galiai, atsižvelgiant į klupumo formas, kai nelinksta (simetrinė apkrova) ir linksta (nesimetrinė apkrova). Laikomosios galios projektavimo apkrovos, šiuo atveju gautos iš statistinės analizės pagal EN 1990 (2002) standartą, yra palyginti nedidelės. Gauti rezultatai rodo, kad plieninio rėmo patikimumas pagal Eurocode 3 (1993) labai nesutampa. Nagrinėjama defektų įtaka laikomajai galiai atsižvelgiant į pirmą ir antrą klupimo jėgą.

Determining maximum load carrying capacity of planar flexible-link robot: closed-loop approach

Robotica ◽  
2010 ◽  
Vol 28 (7) ◽  
pp. 959-973 ◽  
Author(s):  
M. H. Korayem ◽  
R. Haghighi ◽  
A. H. Korayem ◽  
A. Nikoobin ◽  
A. Alamdari
Keyword(s):  
Carrying Capacity ◽  
Closed Loop ◽  
Sliding Mode ◽  
Maximum Load ◽  
Open Loop ◽  
Nonlinear Observer ◽  
Flexible Manipulator ◽  
Load Carrying Capacity ◽  
Maximum Payload ◽  
Load Carrying

SUMMARYMaximum load carrying capacity (MLCC) of flexible robot manipulators is computed based on closed-loop approach. In open-loop approach, controller is not considered, so the end effector deviation from the predefined path is significant and the accuracy constraint restrains the maximum payload before actuators go into saturation mode. In order to improve the MLCC, a method based on closed-loop strategy is presented. Since in this case the accuracy is improved the actuators constraint is not a major concern and full power of actuators can be used. Since controller can play an important role in improving the maximum payload, a sliding mode based partial feedback linearization controller is designed. Furthermore, a fuzzy variable layer is used in sliding mode design to boost the performance of the controller. However, the control strategy required measurements of elastic variables velocity that are not conveniently measurable. So a nonlinear observer is designed to estimate these variables. Stability analysis of the proposed controller and state observer are performed on the basis of Lyapunov's direct method. In order to verify the effectiveness of the presented method, simulation is done for a two-link flexible manipulator. The obtained maximum payload in open-loop and closed-loop cases is compared and the superiority of the method is illustrated and the results are discussed.

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