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Smart Systems for Smart Structures

Research · January 2017

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Naveed Anwar Thaung Htut Aung

Asian Institute of Technology Asian Institute of Technology
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National University of Sciences and Technology
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 Smart Systems for
Smart Structures
By Naveed Anwar, Thaung Htut Aung, Fawad Najam

Smart structures and systems have the ability to alter the

controlling parameters to modify the response based on
fluctuation of excitement and demand, resulting in desirable
performance.

32 Technology | December 2016

 Smart Systems for Smart Structures

Authors:

WHAT IS A “SMART” STRUCTURE?

T
aipei 101 (formerly known as the Taipei
World Financial Center) is a landmark Naveed Anwar, Ph.D.
Executive Director,
101-story skyscraper in Xinyi District, AIT Solutions
Taipei, Taiwan. Its construction started in 1999 Director, Asian Center
and finished in 2004. The building was officially for Engineering Computations
and Software (ACECOMS),
classified as the world’s tallest building in 2004, and Affiliate Faculty,
held that title until 2009 after the completion of Burj Structural Engineering,
Khalifa in Dubai. Besides being an icon of modern Asian Institute of Technology

Taiwan, Taipei 101 tower is also considered an icon

of the evolution of technology and Asian tradition.
However, this supertall building is also famous for
Figure 1: The Taipei 101 Tower and its Tuned
a special feature in its structural design i.e. a steel Mass Damper (from 92nd to the 87th floor)
pendulum-type tuned mass damper suspended Thaung Htut Aung
from its 92nd to the 87th floor. This pendulum The conventional approach towards structural Deputy Projects Director,
AIT Solutions
sways to offset movements in the building caused design is to provide them with sufficient strength Asian Institute of Technology
by shakings from strong earthquakes and winds, to withstand loads that are manageable and
resulting in reduced vibrations. With its innovative with the ability to deform in a ductile manner for
design feature and use of control damper at such extreme events. Structures designed following
a large scale, Taipei 101 symbolizes the great this approach may have several limitations.
success of modern technology, and has also With constant load-carrying and energy-
become as a famous tourist attraction soon after dissipating capacities, conventionally designed Fawad Najam
Ph.D. Candidate, Structural
its completion. It is rightly an example of what is structures may not be able to adapt to changing Engineering
called a “smart” structure. environmental conditions, loads and excitations. Asian Institute of Technology

Technology | December 2016 33

 They have to rely on their inherent damping
(which may not be sufficient) to dissipate energy
induced by generally unpredictable external
excitations such as earthquakes, wind, blasts
Smart structures either increase the capacity when
etc. Such shortcomings in the traditional design needed to meet the demand, or reduce the demand
approach opened a whole new paradigm dealing to match the capacity, or accomplish both.
with possible ways to make structures “smart”
(figures 2 and 3). If the loading is fluctuating
both in magnitude and direction with time,
why shouldn’t the capacity of structures be also
responsive to that? Smart Smart Smart Smart Smart
Cities Buildings Structures Devices Materials
Latest advancements in material sciences and
nanotechnology have resulted in conception Figure 2: Smart technologies for future
of a variety of new materials with extra-ordinary
and innovative properties. Besides having ultra-
high-strength and high ductility, such “smart”
materials also have the ability to alter their
properties with changing external actions. When Stiffness
employed intelligently, these materials lead to
structures with self-monitoring and adaptive Strength
features and responsive behaviors, referred to
as “smart” structures (figure 4). Thus, a smart
structural system has the ability to sense any Ductility
change in external actions, diagnose any problem
at critical locations, measure and process data,
and take appropriate actions to improve system Damping
performance while preserving structural integrity,
safety, and serviceability (Cheng et al. 2008).

In a typical smart structure, devices and/or systems Figure 3: The key players in smart structure technology
are attached to achieve specific performance
objectives. These devices may include energy-
dissipating systems, active or passive control 1 Ability to sense any change in external action
systems, and health monitoring and data
acquisition systems. For resistance against seismic
actions, the term smart systems can be used for 2 Diagnose any problem at critical locations
base-isolation systems, control systems, material-
based damping systems, as well as the devices
which are used to separate apart the natural 3 Measure and process data
period of structure from the predominant period
of earthquake ground motions. The structural
performance can be greatly modified by the use 4 Take appropriate actions to improve system performance
whilepreserving structural integrity, safety, and serviceability
of such technologies which are rapidly becoming
an attractive option to enhance safety and Figure 4: Key features of a Smart Structural System
serviceability. The use of smart systems also results

34 Technology | December 2016

 1 Structures subjected to extraordinary vibrations

2 Important structures with critical functionality

and high safety requirements

3 Flexible structures with high serviceability requirements

Figure 5: Applications for Smart Structure Devices

in saving materials and construction effort which tend to serve as a source of additional energy
leads to economical designs. Although such dissipating capacity, corresponding to (a). On the
systems can be applied to any structural type, other hand, base-isolation systems are intended
occupancy or conditions, these can be extremely to cut-off or reduce the energy transmission of
useful for performance enhancement of certain earthquake ground motions to the structure,
special cases as follows (figure 5). corresponding to (b). Lastly, various systems are
available that apply a control force or alter vibration
a. Structures subjected to extraordinary characteristics resulting in increased difference
vibrations, such as extreme winds between predominant period of ground motion
or strong earthquakes. and natural period of structure, corresponding
b. Important structures with critical to (c). A brief review of various damping systems
functionality and high safety and base-isolation systems being used around the
requirements, such as hospitals, globe, will be presented here.
schools, and nuclear plants.
c. Flexible structures with high serviceability
requirements (affecting occupants’
DAMPING SYSTEMS FOR
comfort), such as high towers, sky- DYNAMIC RESPONSE CONTROL
scrappers, long-span bridges etc.
When it comes to modifying the structural
The potential control measures can widely vary properties for better response control, adding
depending upon the nature of applied actions as damping through additional energy-dissipating
well as the type of desired response parameter. mechanisms is more practical compared to other
For example, in case of seismic actions, there options (changing the mass and/or stiffness). The
can be following ways to reduce or suppress the reason lies in the fact that most of tall structures
lateral displacement of a structure. exhibit small amounts of damping and their
response is primarily governed by the restoring
a. Increasing the damping ratio ξ (or energy and inertial force components instead of damping
dissipating capacity) of the system force. A significant effort and high cost is required
to practically introduce control forces resulting
b. Reducing the intensity of ground motion
in reasonable changes in restoring and inertial
üg (t) experienced by the system
force components. On the other hand, a much
c. Increasing the difference between forcing
less effort is required to add control force resulting
frequency ω and the natural frequency
in additional damping. Therefore, modifying
of system ωn (which again depends on
the structure’ mass or stiffness is less practical
mass and stiffness of system) to avoid
compared to the use of additional damping
resonance amplification of response
source. Most of control systems for suppressing
vibrational response against winds and
These approaches have resulted in a number of earthquakes are mainly composed of dampers
practical solutions for seismic control and response with minor impact on structure’s overall mass and
suppression. For example, various control devices stiffness. Figure 7 presents a wide spectrum of
(mass dampers/drivers, tendons, braces etc.) such devices and techniques.

Technology | December 2016 35

 Damping Systems for Dynamic Response Control

Passive Control Systems Semi-Active Control Systems Active Control Systems Hybrid Control Systems

Semi-active Tuned Mass Dampers Active Mass Damper (AMD)

Tuned Mass Dampers (TMDs) Systems Hybrid Mass Dampers (HMDs)

Tuned Liquid Dampers (TLDs) Semi-active Tuned Liquid Dampers Active Tendon Systems Hybrid Base-Isolation Systems

Sloshing Dampers Semi-active Friction Dampers Hybrid Damper-Actuator Bracing

Active Brace Systems Control

Column Dampers Semi-active Vibration Absorbers Diagonal Braces Intelligent Hybrid Control Systems

Friction Devices Semi-active Stiffness Control

K-Braces
Devices

Metallic Yield Devices Electrorheological (ER) Dampers X-Braces

Viscoelastic Dampers Magnetorheological (MR) Dampers Pulse Generation Systems

Fluid Viscous Dampers (FVDs) Semi-active Viscous Fluid Damper

Figure 6: Various damping systems for dynamic response control

Passive Control Systems

Passive energy-dissipating systems use various only against specific forcing frequency (and
mechanical devices which react to structural time period) which is set to be the frequency
vibrations resulting in dissipating a portion of corresponding to fundamental-mode of vibration
their kinetic energy (figure 8). This results in of structure. This is based on the assumption that
suppression of structural response and ultimately maximum oscillatory response is dominated
reduced damage in both drift- and acceleration- by first mode. However, for taller structures,
sensitive components. These systems requiring no higher modes can also significantly contribute
external power source are capable of generating (especially in force responses) which may need
large damping forces with increasing structural to be suppressed. In such cases, more than one
response. Some passive control systems, such dampers may be considered for each significant
as tuned mass dampers (TMDs) or tuned liquid mode of vibration.
dampers (TLDs), are tuned to be effective

(a) (b)

(a) (b)
(a) (b) (c) Direction of Vibration

Typical types of TMDs: (a) simple pendulum, (b) mass on rubber bearings, (c) Tuned liquid dampers: sloshing damper with meshes and rods and column
(a) pendulum with
(b)damper (c) damper with orifice
Direction of Vibration

Typical types of TMDs: (a) simple pendulum,Moment

(b) mass on rubber bearings, (c) Tuned liquid dampers: sloshing damper Rods
with meshes and rods and column
pendulum withConnections
damper to Beam damper with orifice
Beam Braces VE
Moment Rods Damper
Column

Beam Brace
ColumnColumn

Connections to
Beam Brace Braces VE
Damper
Column

Links
Brace
Brace Yielding
Friction
Damper Links Damper Brace
Slotted Slip Yielding
Friction Hinges Rod Rings
Damper
Joints Damper Brace
Slotted Slip Yielding Damper Pinned Connections
Direction of Vibration Hinges
Friction Damper
Joints Direction of Vibration Rod Rings

A typical X-braced friction damper Tyler’s yielding steel bracing Yielding

systemDamper Installation of a typical
Direction of Vibration Friction Damper Direction of Vibration Pinned Connections
viscoelastic (VE) damper
A typical X-braced friction damper Tyler’s yielding steel bracing system Installation of a typical
viscoelastic (VE) damper

Figure 7: Some passive control systems

Semi-active Tuned Semi-active Tuned Semi-active Friction Semi-active Vibration
Mass Dampers Liquid Dampers Dampers Absorbers
36 Technology Semi-active
| DecemberTuned
2016 Semi-active Tuned Semi-active Friction Semi-active Vibration
Mass Dampers Liquid Dampers Dampers Absorbers
Electrorheological Semi-active Stiffness Magnetorheological Semi-active Viscous
 Direction of Vibration Friction Damper Direction of Vibration
Yielding Damper Pinned Connections

A typical X-braced friction damper Tyler’s yielding steel bracing system Installation of a typical
viscoelastic (VE) damper

Semi-active Tuned Semi-active Tuned Semi-active Friction Semi-active Vibration

Mass Dampers Liquid Dampers Dampers Absorbers

Electrorheological Semi-active Stiffness Magnetorheological Semi-active Viscous

Dampers Control Devices Dampers Fluid Damper

Figure 8: Common semi-active control systems

Semi-active Control Systems vibrations against winds and earthquakes, as

well as ambient oscillations
Ability to to improve structural
Semi-active dampers possess
Effective some
Adaptability to adapting
Suitability to
serviceability.Suppress
These systems offer the advantages
Control
capabilities andonare often referred Use for any
to as controllable Responses
Ground Motion of suppressing responses against a wide range
Structure Control Against Wide
or intelligent Characteristics
systems. They have an additional
Response Objectives Range of (figure 10). A typical fully
of forcing frequencies
adaptive system which collects and process the adaptive active Frequencies
control system consists of three
information about response of main structure types of elements (a) sensors (b) actuator, and
and modifies the damper’s property based on (c) controller with a control system. The output
this information (figure 9). A typical semi-active from sensors is feed in to controller (usually in
control system comprises of vibration measuring the form of electrical signals) for processing the
sensors, control computer, control actuator and information. The controller analyzes the data and
a passive damper. The computer processes the generates suitable commands for the actuator,
vibration measurements coming from sensors based on analysis.
and generates the command for control actuator
to modify the properties of passive damper
according to requirement. In this way, semi-active
Hybrid Systems
dampers economically combine the advantage of Active control systems have two main limitations.
both passive and active control systems. First, they require significant amounts of external
power supply and complex sensing and signal-
Active Control Systems processing units resulting in high costs. Second,
they require actuators capable of producing
Passive systems are limited in their ability to large control forces. These limitations resulted
adapt according to varying external excitations. in development of hybrid control systems
Moreover, some passive systems (e.g. TMD and which combine the simple and reliable working
TLDs) are only useful within a narrow range of mechanism of passive systems with the cutting-
frequency and may not be useful for response edge technologies for development of smart
contributions from more than one vibration algorithms for active control.
mode. On the other hand, semi-active devices
are limited by the capacity of their component
passive devices. Active response control systems BASE ISOLATION SYSTEMS FOR
meet these limitations by using electrohydraulic SEISMIC RESPONSE CONTROL
actuators which directly generate the optimum
amount of control force based on actual Base isolation is a well-established technique of
measured response of main structure. This passive control approach which tend to reduce
control force serves as additional damping the energy transfer from ground acceleration
force and helps in suppressing both response to structure. A structure mounted on a material

Ability to
Effective Suitability to Suppress
Adaptability to
Control on Use for any Responses
Ground Motion
Structure Control Against Wide
Characteristics
Response Objectives Range of
Frequencies

Figure 9: Advantages of active control systems

Technology | December 2016 37

 Base Isolation Systems for Seismic Response Control

Elastomeric Lead-Plug High-Damping Friction Pendulum Pot-type

Bearings Bearings Rubber Bearings Bearings Bearings

Steel Plates

Lead Core
Steel Shims

Elastomeric bearing with steel shims Lead-plug bearing

Top Plate with Stainless Surface
Bearing Material

Steel Concave
Surface

Piston with Teflon-Coated Elastomer Base Pot

Housing Plate Articulated Slider Surface at the top

A typical friction pendulum bearing A typical pot bearing

Figure 10: Various base isolation systems for seismic response control

having significantly low lateral stiffness (compared sensors, which are electrical or mechanical devices
to vertical) receives significantly lower amounts of which respond to changes in physical conditions
seismic energy compared to a fixed-base structure. and convert those changes in to electrical
The presence of low lateral stiffness material signals. The most commonly used sensors in all
filters out high frequencies in random excitations smart structure technologies include position
resulting in an improved seismic protection transducers (either linear variable differential
especially for low- to mid-rise buildings. The transformer, LVDT, or rotary variable differential
most important component of any base isolation transformer, RVDT), velocity transducers (e.g.
system are bearings (also referred to as isolators). electromagnetic linear velocity transducers
There are two common types of bearings (a) and tachometers), accelerometers (capacitive,
elastomeric- and (b) sliding-type bearings. piezoelectric, and thermal) and force transducers
Elastomeric bearings are mostly composed (strain gauge–based, piezoelectric, or spring-
of rubber or its derivatives while the sliding- displacement load cells).
type bearings uses friction to provide intended Figure 12 shows the working mechanism of a
behavior. Figure 11 shows some common base typical data acquisition system for seismic demand
isolation systems and their components. control of structures with a digital controller.
The main components include sensors, a signal
conditioning unit (for filtering or amplifying the
SENSING AND DATA recorded signal) and the control computer (which
ACQUISITION SYSTEMS FOR analyzes the data and generate commands for
SMART STRUCTURES actuator to activate). The control computer system
comprises of signal processing units, memory
One of the basic elements of any smart structure devices and analog-digital converters. Nowadays
is its ability to sense and collect data from real several software packages are also available which
world. In case of seismic design, this data can be help in collecting and graphical visualization of
ground acceleration or any response quantity. data without any special skill requirement.
The primary component for data acquisition are

38 Technology | December 2016

 Smart
SmartStructure
Structure
Signal Control
ControlComputer
Computer
Signal Conditioner
Conditioner
Sensors Amplifier
Sensors Amplifier A/D
Filter A/D Data
Filter Data
Recorder
Observer
Multiplexer Observer Recorder
Multiplexer
Controller
Controller Display
Display
Actuator(s) D/A
D/A
Actuator(s)

Figure11: Components of a data acquisition and digital control system for smart seismic structures

CONCLUDING REMARKS
Rapid technological advancements and efficient infrastructure. Although these technologies still
devices are nowadays providing attractive have a long way to go to become a regular fixture
alternatives for improving safety, serviceability, and in most buildings, recent rapid developments in
performance (against wind and seismic demands) the field of proficient computing tools, sensors,
of both new and conventional structural systems. fast processing units and efficient numerical
The use of control and monitoring devices is solvers will result in numerous new ways and
becoming common to design smart structures lead to exponential growth of these techniques,
which not only rely on their own strength to resulting in intelligent, adaptive, smart and safer
withstand wind and seismic demands but also structures.
on these devices or systems to dissipate dynamic
energy without undergoing significant story
drifts and floor accelerations. In addition to and REFERENCES
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Yao, J.T-P. (1972) Concept of structural control. ASCE Journal of Structural Division,
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the world, to construct resilient and durable

Technology | December 2016 39

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