The majority of pressure tunnels are designed with pervious concrete lining, considering limited parameters (quantity and opening) equidistributed cracks. In general, according to the requirements of building specifications admissible seepage losses from tunnel shall not exceed 1% of HPP design discharge. As shown by the operation of HPP’s the value of seepage losses is in reality much higher than the acceptable one. The Inguri HPP pressure tunnel (15 km in length and 9.5 m in diameter) passes in complex geological conditions. The maximum value of pressure at the beginning and end of tunnel is, correspondingly, 110–175 m, while the water level variability in the reservoir is 90 m. The main characteristic of the structure of diversion tunnel is that in the main part of its length it is represented as a single complex: concrete lining (0.5 m thick) with strengthened grouting zone (6 m deep). Such design decision replaced more traditional structures, e.g. strengthened concrete, combined or metal linings. The internal pressure of tunnel is borne by the monolithic mass formed by reinforcement grouting. Thereby lining operation is completely dependent on the parameters characteristic for the zone of strengthened grouting (resilient backpressure and perviousness), which must satisfy design values. Thus reinforcement grouting, along with filling grouting are integral parts of pressure tunnel, without which the operation of structure is practically impossible. At the initial stage of operation (in 1985, at the low level in the reservoir and under the impact of the increase of pressures from massif the loss of lining stability (of the wall and inverted arch) occurred. Presently, based on general assessment the seepage losses developed from tunnel reach up to 10 m3/sec, which thrice exceed the design ones. As a result of rehabilitation works (massif grouting and shotcrete lining) conducted in 2006 in certain sections of tunnel seepage losses were temporarily reduced. Subsequently seepage losses increased again due to the development of erosive leakage processes in massif. In the present work calculations were conducted of the seepage parameters and stress condition of the “tunnel-massif” system during filling and discharge of reservoir using a static-seepage coupled scheme, in which a complex geological structure of massif (anisotropy, presence of cracks), the deformation of massif and seepage body force developed in it are taken into consideration. The processes developed during operational period, including depression surface enlarged and the loss of concrete lining stability, are also analyzed. Inguri HPP is Georgia’s powerful energy object (capacity – 1300 MW, design head – 450 m). Clearly the reduction of seepage losses has a great impact on power generation. In future the rehabilitation of tunnel is envisaged, as alternative options of which shotcrete lining is viewed, the same with strengthening grouting zone and stressed lining (with expanding cement). The present work presents part of the research.

Stability of a gantry crane was a challenge in its structure design. A new risk-based stability assessment approach was proposed in this paper. Analytical method was introduced firstly, and then finite element method was adopted to evaluate the stability of square bar. In order to verify the finite element models, results of buckling analysis were compared with the results of analytical method. Secondly, this finite element analysis was applied in stability assessment of a gantry crane, and through parameterized analysis risk elements were identified. Finally, risk-based stability assessment was applied to this gantry crane, and neural network algorithm was adopted to evaluate the risk elements which were defined by finite element analysis. The evaluating results were well consistetent with statistical data, which indicated this risk-based stability assessment approach was reliable which showed a potential in engineering application.

This paper discusses the static and dynamic stability analysis of rack or frame computer/server products during shipping and relocation. The static stability is the ability of server products to resist tipping over on a typical raised floor in a datacenter or when it is installed in its operational product environment. The dynamic stability is the ability to resist tipping over when a velocity change occurs during re-location either on flat or inclined planes. The product consists of a frame or a rack in which components such as processor units, input-output units and power supplies are installed. The static stability analysis presented here calculates the tip over threshold angle, which is the maximum angle of an inclined plane on which the product can be placed without tipping over. The location of the installed components in a frame, the dimension and weight of the installed components, and the dimension of the product dictate the overall static stability of the product. Specifically, those parameters affect the location of the center of gravity of the product and the tip over threshold angle. The tip over threshold angle is a critical parameter influencing the dynamic stability of the product.. The dynamic stability of an unpackaged product moving on casters can be calculated using the conservation of mechanical energy principle. Finite element modeling is a good way to evaluate the dynamic stability of a product during manual handling or mechanical handling; for instance, on a forklift. The objective of the finite element modeling is to provide guidelines on the maximum speed, minimum radius curvature, and safe turning speed of a forklift when transporting a product. The main objective of the analysis presented here is to provide a method for analyzing the static and dynamic stability of a rack style computer server product during shipping, relocation, and handling.

Suppressing or limiting the differential action of the differential mechanism is the mostly adopted technique to avoid the skidding of a driving wheel of a vehicle riding on a poorly adherent surface. The devices carrying out this function unbalance the traction force distribution in the differential, generating a yaw torque acting on the vehicle as a secondary effect. If the unbalancing action is electronically controlled, this yaw torque can be used to affect the attitude of car as a torque vectoring technique. In this paper, a purpose built differential is presented and its technical features are highlighted, including the electrohydraulic actuation. Moreover, its torque vectoring capabilities are discussed, basing on the numerical simulation campaign performed deploying this device in a 7 DOFs model of a race car with low ground effect. The results of these simulations are compared with the behavior of the same vehicle equipped with a common passive locking differential, to show that the proposed one and its control logic (which relies on only measurable inputs) are able of improving the handling of the vehicle, in terms of both vehicle stability and linearity with the driver’s inputs. Therefore, this system could be considered as a completion of the common ESC (“Electronic Stability Control) systems to control the vehicle attitude when using the brake system is an inefficient solution.

In this study non-linear thermal buckling of circular shallow arches made of functionally graded materials subjected to a linear temperature gradient is investigated. For this purpose, a functionally graded circular shallow arch is considered that its strain-displacement relation follows the Donnells nonlinear shallow shell theory. The material properties are varied smoothly through the arch thickness according to the power law distribution of the volume fraction of constituent materials. Also, material properties are considered temperature-dependent. The classical single layer theory assumptions that are reasonable for slender arches are implemented. To investigate the large deformations of such arch, the von-Karman type geometrical nonlinearity is utilized that is suitable for moderately large class of rotations. The virtual displacement principle and calculus of variation are employed to derive the governing equilibrium equations and complete set of boundary conditions of the FGM arch. The adjacent equilibrium criterion is employed for the stability analysis of the FGM arch. An analytical approach is accomplished and a closed-forms solution for thermal bifurcation points of the FGM shallow arches is presented. Also critical bifurcation loads corresponding to the critical temperatures with the presence of non-linear pre-buckling deformations is obtained. Illustrative results examine the effect of various involved parameters such as power law index, opening angle, geometric parameter (or otherwise length to thickness ratio). Obtained numerical results represent that, in most cases, thermal bifurcation for the FGM arches occurs in the high temperatures and the critical buckling temperatures are approximately high even for slender FGM arches. Also effective of ceramic or metal rich area at the bottom surface of the FGM arch is investigated and results are presented for both cases and are compared together. Varieties between this two cases due to contrast between material and structural stretching-bending coupling effect. Results presented illustrative the ceramic rich area at the bottom surface cause the higher critical buckling temperatures for the FGM arches.

The paper presents the motion simulation of a Wing in Ground craft with a Lippisch configuration which is stable in terms of static stability. The influence of wind and wave perturbations on the dynamic stability of the flight are investigated. The analysis of safety and stability used two different approaches. Based on frequency domain simulation, the first approach derived from the classical stability theory utilizes the aerodynamic coefficients and their linearized derivatives. The second approach based on time domain simulation uses the coefficients with full respect to the nonlinear character of aerodynamics in ground effect. The trajectory is used to evaluate the dynamic stability and flight safety of the craft. From the results for typical perturbations, the limitations of the classical stability theory for the flight safety of Wing in Ground craft are shown. The results show the necessity of the automatic control system even for a satisfying stable craft predicted by the linear theory. The demand of high performance together with the hard constraints for states and control inputs are challenging for the controller design. A proportional-integral-derivative controller is studied to secure the flight safety of small craft under different perturbation and a methodology for designing a control system for operation under various weather conditions is illustrated.

Performance parameters such as critical speed and stability are affected by various design parameters such as supply pressure, clearance between shaft and rotor (air film thickness), bearing diameter and length etc. for externally pressurized gas lubricated bearing. Literature about effects of supply pressure is generally analyzed with clearances which are lower than 100 μm. Externally pressurized gas lubricated bearings with small clearance have some practical disadvantages such as difficulties in manufacturing process and price. So, externally pressurized air bearing may become widespread with usage of higher values of clearance in the bearing. However, there is limited number of study investigating the dynamics of externally pressurized air bearing with high values of clearance. In this study the effect of supply pressure was investigated on the dynamic of an externally pressurized gas lubricated bearing with increased clearance. The flow between shaft and rotor was modeled using Reynold’s Equation which is known fluid equation of motion. And this model was solved by Alternating Direction Implicit (ADI) numerical solution method. Dynamics of the rotor was investigated for different elevated (increased) clearances.

Un-equivocal criteria could be established assuring a perfectly stable operation of the shaft in a restricted, but nevertheless technically interesting range of operational conditions. It enables bearing designers to choose all physical and operational parameters in order to avoid the so called “half speed whirl”. This study hopes to bring enough new elements to attenuate the ill merited reputation of such bearings. Therefore the relevant dimensionless numbers were identified and quantified. What was done for an L/D=1, can be applied to any other bearing configuration, provided the quasi-steady reaction forces, acting on the shaft, are known for the entire range of eccentricities 0<ε<0.9.

Implementation of a new bogie concept is an integrated part of the vehicle design which must follow a rigorous testing and validation procedure. Use of multibody simulation helps to reduce the amount of time and effort required in selecting a new concept design by analysing results of simulated dynamic behaviour of the proposed design. However, the multibody simulation software mainly looks at the dynamics of a single vehicle; hence, forces from the train configuration operational dynamics are often absent in such simulations. Effects of longitudinal-lateral and longitudinal-vertical interactions between rail vehicles have been found to affect the stability of long trains [1,2]. The effect of wedge design on the vertical dynamics of a bogie has also been discussed in [3,4]. It is important to apply the lateral and vertical forces from a train simulation into a single multibody model of a wagon to check its behaviour when operating in train configuration. In this paper, a novel methodology for the investigation of new bogie designs has been proposed based on integrating dynamic train simulation and the multibody vehicle modelling concept that will help to efficiently achieve the most suitable design of the bogie. The proposed methodology suggests that simulation of any configuration of bogie needs to be carried out in three stages. As the first stage, the bogie designs along with the wagon configurations need to be presented as a multibody model in multibody simulation software to test the suitability of the concept. The model checking needs to be carried out in accordance with the wagon model acceptance procedure established in [5]. As the second stage, the wagon designs need to be tested in train configurations using a longitudinal train dynamics simulation software such as ‘CRE-LTS’ [2], where a train set consisting of the locomotives and wagons will be simulated to give operational wagon parameters such as lateral and vertical coupler force components. As the third stage, the detailed dynamic analysis of bogies and wagons needs to be performed with a multibody software such as ‘Gensys’ where lateral and vertical coupler force components from the train simulation (second stage) will be applied on the multibody model to replicate the worst case scenario. The proposed methodology enhances the selection procedure of any alternate bogie concept by the application of simulated train and vehicle dynamics. The simulated case studies show that simulation of wagon dynamic behaviour in multibody software combined with data obtained from longitudinal train simulation is not only possible, but it can identify issues with a bogie design that can otherwise be overlooked.

Nowadays, the integration of micro-actuators in the micro-systems poses a significant problem due to the complex designs as well as due to the contact power supply systems (e.g., via micro-batteries or via wires). A way to overcome this problem is to provide remote power supply and control to the bistable micro-actuators. It is mainly done by RF (radio-frequency) or optical means. As a consequence, the stability of the two positions of this kind of micro-actuators and the switching time evolution between them have to be studied to determine the robustness of the contactless bistable micro-actuators. In this work, these system parameters were analysed by the ANOVA (Analysis Of Variance) method during a longlife test for 8 different configurations (Design of Experiments) of bistable micro-actuators controlled by laser. Transient and permanent regimes were observed for the stability of the positions, for the standard deviation around the positions and for the switching time as well. In each case, the transient regime represented only 3% of the total duration of the longlife test. A very good stabilisation was observed in the permanent regime whereas a decrease of the stroke was observed in the transient regime. As a consequence, during this regime, the switching time was reduced compared with the regular values (few seconds, optical power dependent). In the permanent regime, a progressive increase of this factor was noted that indicated the progressive fatigue of the bistable micro-actuator. A second indicator of the micro-actuator fatigue was given by the increase of the standard deviation of the stable position after cycle number 9000. Above this point, the micro-actuator was vibrating during the functioning even if the stability remained acceptable.

This work deals with the complete stability analysis in the case of two dimensional fluid flows searching for steady and Hopf bifurcations. The stability analysis starts with the computation of steady bifurcations. It is realized by first considering the monitoring of an indicator which is a scalar function. The indicator is computed via a perturbation method: the Asymptotic Numerical Method. Steady bifurcation point corresponds to the zero of this indicator. From this singular point, all the steady bifurcated branches are computed by using the perturbation method. Then the stability analysis is pursued with the computation of Hopf bifurcations by a hybrid method. This latter consists in coupling a continuation method with a direct Newton solver. The continuation method allows the bifurcation indicator to be determined using alternating reduced order and full size steps resolution. The quantities coming from the bifurcation indicator are used as initial approximations for the direct method iterations. Then an augmented system whose solutions are Hopf bifurcation is solved by a direct method of Newton kind. The examples of the one side and two sides lid driven cavities show the reliability and the efficiency of the proposed numerical tools.

Over the last 50 years, master-slave teleoperation has become a widespread and successful field of research. This discipline explores how to perform tasks using a robot on an environment with haptic feedback about robot-environment interaction being provided to the human operator. Most of the master and slave manipulators used in teleoperation are electrically actuated. However, in some particular applications such as inside an MRI for image-guided surgery, ferromagnetic materials including electrical wiring is prohibited. Thus, non-ferromagnetic actuators like pneumatic or hydraulic actuators are a solution to this problem. This specific application also requires teleoperation in the sense of “tele-actuation” because of the lack of space inside the MRI chamber to put the robot’s actuators and the presence of electrical components in pneumatic servovalves. In this paper, we study the case of a teleoperation system composed of two identical pneumatic cylinders (as the master and the slave) equipped with servovalves, making a symmetric teleoperation system. This serves as a one-degree-of-freedom system to outline the design and analysis in terms of teleoperation transparency and stability. Simulation and experimental results check the validity of the theory without and with classical transmission delays.

The chatter of motorcycles is a self-excited vibration that may appear during braking. This vibration can be very strong and the accelerations of both the rear and front unsprung masses can reach 5–10g with frequencies in the range 17–22Hz , seriously hindering the rider’s control of the vehicle. Very few studies exist on this topic, and the first work that compares experimental data to numerical simulation and addresses the fundamental mechanisms of the chatter genesis has been recently published. In the current paper authors present the continuation of the research, and in particular the results of a parametric analysis performed to identify the most important design and motion parameters when it comes to chatter stability. The analysis is carried out by simulating chatter with a validated nonlinear motorcycle multibody model which captures the most important vehicle features.

The paper is devoted to the analysis of robotic manipulator behavior under internal and external loadings. The main contributions are in the area of stability analysis of manipulator configurations corresponding to the loaded static equilibrium. In contrast to other works, in addition to usually studied the end-platform behavior with respect to the disturbance forces, the problem of configuration stability for each kinematic chain is considered. The proposed approach extends the classical notion of the stability for the static equilibrium configuration that is completely defined the properties of the Cartesian stiffness matrix only. The advantages and practical significance of the proposed approach are illustrated by several examples that deal with serial kinematic chains and parallel manipulators. It is shown that under the loading the manipulator workspace may include some specific points that are referred to as elastostatic singularities where the chain configurations become unstable.

A mass-conserving formulation of the Reynolds equation has been recently developed using the concept of complementarity [1]. The mathematical derivation of the Linear Complementarity Problem (LCP) implemented in the solver favoured in [1] overcomes the drawbacks previously associated with the use of such complementarity formulations for the solution of cavitation problems in which reformation of the liquid film occurs. In the present paper, the proposed methodology, already successfully applied to solve textured bearing and squeeze problems in the presence of cavitation in a one dimensional domain and for incompressible fluids [1], has been extend to a two dimensional domain and the fluid compressibility has been included in the formulation. The evolution of the cavitated region and the contact pressure distribution are studied for a number of different configurations. Some of the results obtained with the proposed scheme are critically analysed and compared with the predictions obtained using alternative formulations (including full CFD calculations). The stability of the proposed algorithm and its flexibility in terms of the implementation of different compressibility laws is highlighted.

The aeronautic industry requires high speed and high power spindles to obtain high material removal rates during long rough milling operations. The weakness of HSM spindle is the bearings, although high precision hybrid ball bearings have been developed to achieve this critical application. Inadequate use of spindles inevitably leads to shortened lifetimes. Choosing the operating conditions is a required step before machining applications. It can be achieved through either experimental tests or numerical modeling that leads to stability lobe diagrams. Stability of cuts relies on the dynamic behavior of the spindle, which is particularly due to the eigenfrequencies of the tool-shaft assembly. The frequencies depend on bearing stiffness that can change under operating conditions. That is why the impact of cutting conditions and bearing parameters on its stiffness are studied in the paper. A five degrees of freedom model of angular ball bearing is briefly presented. A complete bearing model is introduced. The originality of the approach is the complete technological modeling, notably of the radial expansions of inner and outer rings of bearing. A non-linear expression is established from continuum mechanics model. The influence of geometry of bearing, operating conditions and design parameters of spindle on the bearing stiffness are established and analysed. Then, modal analyses of the tool-spindle assembly are carried out in relation to the varying bearing stiffness. Finally, significance of the approach is demonstrated through the analyses of Frequency Response Function.

Knee orthotic devices are widely proposed by physicians and medical practitioners for preventive or therapeutic objectives in relation with their effects, usually known as to stabilize joint or restrict ranges of motion. The objectives of this work are to characterize the mechanical performance of knee orthoses using a Finite Element Model of a braced human leg. The interface properties of the model are calibrated against experimental data measured by full-field measurements of 3D displacement over the surface of a patient’s leg. The results show that the mechanical action of knee braces is essentially limited by skin/fabric and skin/muscles sliding. Finally, the model leads to a better understanding of the knee/brace interaction, and of the role of the brace components on the stability of the injured knee. Thanks to this computational tool, novel brace designs can be tested and evaluated for an optimal mechanical efficiency of the devices.

In different manufacturing applications the assessment of the health conditions of a machine tool, together with the quality and stability of the process, requires the capability of dealing with response variables described in terms of profile data. In the frame of in-process monitoring of sensor signals this is the case, for instance, of monitoring either series production of large lots of parts or machining processes characterized by cyclic signals, where both the condition of the machine components and the final quality of the worked piece may be correlated with the stability of repeating signal profiles in time. However, as far as real time data acquisition is concerned, and when measurements are performed with high sampling frequency, data are likely to be auto-correlated, and hence it is of fundamental importance to develop adaptive monitoring tools robust with respect to non-steady state conditions. The paper deals with the utilization of profile monitoring approaches for in-process monitoring of manufacturing operations and investigates their applicability to the problem of monitoring auto-correlated signals. In particular Principal Component Analysis (PCA) is applied in combination with an adaptive approach based on a moving time window for continuously revise the reference model is evaluated and discussed. A real case study is used to test the performances of the method: the task is to detect tool chipping and breakage in end milling operations by means of real-time monitoring of cutting force signals. The evolution of tool wear imposes a trend in observed signals which leads to the need for an adaptive approach to properly isolate the breakage event from the slow pattern change due to wear mechanism.

To predict the effect of the environment on the durability of composites or polymers [3], we often have to consider coupled physical phenomena (thermo-diffuso-chemico-mechanic). Therefore, strongly coupled problems with a large number of characteristic times have to be considered. From a numerical point of view, solving these problems with the finite elements method requires the use of an incremental time scheme in which stability conditions lead to a large number of degrees of freedom and a large computation time.

This paper investigates the dynamic stability of an axially moving web which translates with periodically varying speeds and is subjected to partially distributed tensions on two opposite edges. The web is modeled as a rectangular plate simply supported at two opposite edges where the tension is applied, and free at the other two edges. The plate is assumed to possess internal damping, which obeys the Kelvin-Voigt model. The moving speed of the plate is expressed as the sum of a constant speed and a periodical perturbation with a zero mean. Due to the periodically varying speed of the moving plate, terms with time-dependent coefficients appear in the equations of motion, which may bring about parametric instability under certain situations. First, the in-plane stresses of the plate due to the partially distributed edge tensions is determined exactly by the theory of plane elasticity. Then, the dependence on the spatial coordinates in the equations of motion is eliminated by the Galerkin method, which results in a set of discretized system equations in time. Finally, the method of multiple scales is utilized to solve this set of system equations analytically if the periodical perturbation of the moving speed is much smaller as compared with the average speed of the plate, from which the stability boundaries of the moving plate are obtained. Numerical results reveal that only combination resonances of the sum-type appear between modes having the same symmetry class in the transverse direction. Unstable regions of main resonances are generally larger than those of sum-type resonances.