in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

Flanged shear walls are used extensively in moderate- and high-rise buildings to resist lateral loads induced by earthquakes. The seismic performance of many buildings is, therefore, closely linked to the behavior of the reinforced concrete walls. They must be carefully designed to provide not only adequate strength, but also sufficient ductility to avoid brittle failure under strong lateral lo...

in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

The present paper investigates the potential application of graphene sheets with attached nanoparticles as resonant sensors by introducing a nonlocal shear deformation plate model. To take into account an elastic connection between the nanoplate and the attached nanoparticle, the nanoparticle is considered as a mass-spring system. Then, a combination of pseudo-spectral and integral quadrature m...

in this paper a new method based on strut-and-tie model (stm) is proposed to determine the shear capacity of simply supported rc deep beams and an efficiency factor for concrete with considering the effect of web reinforcements. it is assumed that, the total carried shear force by rc deep beam provided by two independent resistance, namely diagonal concrete strut due to strut-and-tie mechanism ...

in this paper we investigate a nonlinear evolution model described by the rosenau-kdv equation. we propose a three-level average implicit finite difference scheme for its numerical solutions and prove that this scheme is stable and convergent in the order of o(τ2 + h2). furthermore we show the existence and uniqueness of numerical solutions. comparing the numerical results with other methods in...

This paper proposes a simplified analytical model for seismic response prediction of concentrically braced frames. In the proposed approach, a multistory frame model is reduced to an equivalent shear-building one by performing a static pushover analysis. The conventional shear-building model has been improved by introducing supplementary springs to account for flexural displacements in addition...