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“Computational Civil Engineering 2005”, International Symposium 245In the special case when ω = ω 1 one of the undamped natural frequencies,one of the roots0θ i= θ = and equation (13) reduces to:190[ ]{ ψ } = { }ω c (14)1 1Γ 15. CONCLUSIONSIn conclusion:1. For each frequency of excitation there are as many characteristic phaseangle as there are number of degree of freedom, corresponding to certain sets offorces.2. For each characteristic phase lag there is a corresponding mode shapewhich varies with frequency. At the undamped natural frequencies one of the modeshapes is identical to the corresponding undamped principal mode.3. The mode shapes depend on the shape of the damping matrix and not onthe intensity of damping.4. In each mode the response at the coordinates are all in phase, but lag0behind the excitation force by an angle θ. At the undamped frequncy θ = 90 forone of the modes which is the principal mode.References1. Ibanez, P., Identification of dynamic structural models from experimental data. Univ. of Calif. AtLos Angeles Engrg. Report, UCLA–ENG-7725, Univ. Of California at Los Angeles, Los Angeles,California, 19722. Zaveri K., Phil M., Modal Analysis of Large Structures. Multiple Exciter Systems. Bruel & Kjaer,1984.3. Kennedy C. C., Pancu C. D. P., Use of Vectors in Vibration Measurement and Analysis, J.Aeronautical Sciences, Vpl. 14, No. 11, 1947, pp. 603-6254. Stahle C. V. Jr. Phase Separation Technique for Ground Vibration Testing, Aerospace Engineering,19625. Comisu Cristian., Contribuţii la studiul caracteristicilor dinamice ale tablierelor de poduri custructură compusă (mixtă)”, Facultatea de Construcţii Iaşi, martie 19986. Comisu Cristian., Identificarea în concept dinamic a stării tehnice a podurilor cu structură mixtăoţel-beton, Editura Societăţii Academice “Matei-Teiu Botez”, Iaşi, 240 pg., ISBN:973-7962-12-5,20037. Cristian Claudiu Comisu, Constantin Ionescu, Metodologia de investigare analitico-experimentalăşi de identificare în concept dinamic a tablierelor de poduri. Studii de caz. Simpozion cu participareinternaţională “Computational Civil Engineering 2004” Iaşi, 11 iunie 2004.
“Computational Civil Engineering 2005”, International SymposiumIaşi, România, May 27, 2005Structures with active hinges, a step to Structural RoboticsFideliu Păuleţ-Crăiniceanu 11 "Gh. Asachi" Technical University of Iaşi, RomâniaSummaryPreviously, the concept of Structural Robotics had been founded and defined [1].The need for this new term is based on tremendous development of many fields ofactivity as Computer Science and new materials, seen from the last 30 years of theXX th Century.As a reaction to this development, researches in structural active control followed.Main faced problems were the high costs and the reliability. Imaging that theactual stage would be surpassed, concepts like Structural Active Control, definedby J.T.P. Yao in 1972, [2] or Intelligent Building, defined by T. Kobori in 1988,[3], it appears that they are not enough for covering the needs of the future society.The reason of limitations in terms of [2] and [3] is the concern that, especiallylarge structures should have a high degree of integration of active devices and the"independence" of the structures must be extremely increased. Intervention ofhumans in “structure’s life” will surely be almost avoided. Therefore a newphilosophy was proposed, the Structural Robotics.Firstly, this paper describes some steps that led to the actual development in activeand passive control of civil engineering structures. The author is expressing theidea that the use of Structural Active Hinges could lead to the wanted future'sstructures. The control for these structures shall be decentralized when referring toactive devices systems and centralized for the whole structure.According to the society's needs, robotic structures, or structure with active hinges,will be active members of the human society. The human intervention on thesetypes of structures will be reduced and replaced with robots and artificialintelligence.A robotic and robotized structure will never be a "final" structure because it willbe self-adaptable and self-developing as a function of the changes in structures'loads, functions, or natural environment. The robot-structure will "think" inadvance for calling robots needed in building, rebuilding, repairing orwithdrawing parts of the structure.As a consequence of robotic structures, civil engineers should prepare to stronglycooperate with all the members of the civil society for globalization and integrationof their work.
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