BENCH-SCALE SHAKE TABLES Elevate Structural Education and Research

While the dynamic behavior of buildings and bridges is of fundamental importance in modern structural design, undergraduate engineering students must also understand how these structures respond when acted upon by time-varying loads. To help undergraduate engineering students comprehend structural dynamics and control principles, Quanser developed a number of bench- scale instructional shake tables on which students can perform hands-on experiments. These experiments allow students to see how structures respond to an earthquake loading, plus they can modify the dynamic characteristics of test cases, select different earthquake inputs, measure and analyze structural responses.

“It has been a lot of fun working with Quanser ’s equipment and teaching students things they wouldn’t otherwise have a chance to see.” Dr. Shirley Dyke, Professor of Mechanical and Civil Engineering, Purdue University, USA

Proudly partnering with:

UCIST

The single-axis Shake Table I-40 is ideal for teaching a variety of courses. It is a cost-effective experiment that offers plug-and-play convenience while providing accurate positioning and robust actuation.

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Optional add-on Damper 2 Floor Active AMD 02 Mass Damper 1 FloorActive AMD 01 and pendulum Flexible beam STRUCTURE SMART shaker Multi-axial HEXAPOD Optional add-on Heavy-load planarshaker XY SHAKE TABLEIII Optional add-on Heavy-load linearshaker SHAKE TABLEII Optional add-on Linear shaker SHAKE TABLEI–40 PRODUCTS There are turn-key seven earthquake engineering Their experiments. key attributes technical and specificationsare presented here. This section provides adetailed overview the of cutting- laboratory edge systems available for teaching research. or SHAKE TABLESANDSMARTSTRUCTURES FOR TEACHINGANDRESEARCH *

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v 1.6 FOR MORE INFO,VISITWWW.QUANSER.COM/PRODUCTS/STRUCTURAL_DYNAMICS trademarks or registered trademarks their of respective owners. ©2016 Quanserservices Inc. mentioned All rights herein reserved are trademarks or registered trademarks Quanser of Products Inc. and/or and/or its affiliates. services pictured Other product and referred and tohereincompany and theirnames accompanying mentioned herein specifications are may be subject to change without notice. Products and/or DESCRIPTION includes two dynamic modes. valuable for teaching and research in structural dynamics asit controlled tominimize the building deflection. AMD 02 is particularly mechanism is mounted at the top the of second is floor.cart The structure is flexible along its facade. Acart driven by a rack pinion an accelerometer on each floor to measure their acceleration. The building-like structure consisting two of floors is instrumented with the benefitsof employing AMD on a twostructure. floor A tall This advanced active mass experiment is useful tostudy can be used asastandalone or asan add-on toany shake table. The is cart controlled tominimize the building deflection. The AMD and is free tomove along in the same direction asthe structure. rack and pinion mechanism is mounted at the top the of structure earth. The structure is flexible along its facade. Acart driven a by accelerometer tomeasure the acceleration relative the of “roof” to strong wind. It is atall building-like structure, instrumented with an to suppress in tall structures against earthquakes and This experiment is similar in nature toactive mass dampers used a standalone or asan add-on toany shake table. various control concepts. TheSmart Structure can be used as students how todampen vibrations the of structure using theof structure. This experimental platform teaches undergraduate inertial load is used toactively compensate the swaying motion servomotor driving an eccentric load. Alarge pendulum with an This stand-alone structure consists aflexible of beam and a motion platform precise, responsive and low-maintenance. driven is by superior electrical motors which make this six DOF most commercially availableStewart platforms, the Hexapod , structural dynamics, rehabilitation and more. Unlike grade platform is suitable for research in earthquake simulation, space. Featuring six Degrees Freedom of (DOF), this industrial moving heavy loads at high accelerations, within asmall work- This multi-axial shake table is aparallel robotic device capable of the xaxis, while asingle motor is used toactuate the yaxis. has three linear motors, two them of operate in parallel toactuate linear motor technology, eliminating the need for hydraulics.research relating It toearthquake loss reduction. It is powered using particularof interest. It is also useful for structural dynamics more advanced analysis with the introduction multi-dynamics of high accelerations and velocities for heavy loads. It presents TheShake XY Table III is ahigh-power system that can deliver can be coupled for dual axis, x-yoperation. bench-scale table moves along asingle axis, however, two tables community services aswell asK-12 education. This portable, Shake Table II has been used in outreach programs involving several structures toincrease the complexity the of experiment. Table II offers a widetable-top surface which can accommodate Consortium tomore than 100 institutional members, theShake InstructionalShake Tables (UCIST) and recommended by the Developed in cooperation with the University Consortium on and effortless interface with computer. inexpensive platform facilitates an easy-connect setup for aquick while it enables you tomonitor and analyze the response. This The provided software eliminates any need for hand codingeasily run through aGraphical User Interface environment. Table I-40is aportable yet powerful shake table which can be engineering and other topics related toCivil Engineering.Shake canbe used toteach structural dynamics and control, earthquake TheShake Table I-40system is asingle-axis seismic device that Japan and Taiwan. Please Note: The Hexapod is not available for purchase in America, North

• • KEY FEATURES • • • • •  • • • • • • • • • • • • • • • • • • • •  •  •  •  •  •  •  •  • Integrated safety features and limits • • • • • • • •  • • • •  •  • Ball-screw mechanism for robust actuation •  • • • • • • • • • • • • •  • Can be run with simple standalone software operation usingShake TableSoftware; I-40 or Synchronize motion profiles with multipletables and/or other data acquisitionsystems Easy integrationEasy your of structures, sensors and actuators Clean and low maintenance a partner the of National Network for Earthquake EngineeringSimulation (NEES) Flexible operation and control design from MATLAB®/Simulink® via QUARC® Flexible operation and control design from MATLAB®/Simulink® via QUARC®  load consisting two of rigid beams and around crossbeam Dual-axis operation Open architecture design Variable load cart mass Fully documented system models and parameters Precisely machined solid aluminum cart High resolution optical encoders, tosense the position cart High quality DC servo motor and gearbox Open architecture design Variable load cart mass Fully documented system models and parameters Precisely machined solid aluminum cart High resolution optical encoder, tosense the position cart High quality DC servo motor and gearbox Open architecture design Fully documented system models and parameters Precisely machined solid aluminum parts High resolution optical encoder High quality DC servo motor and gearbox Flexible operation and control design from MATLAB®/Simulink® via QUARC®Base plate instrumented with aprecise strain gage Fully documented system models and parameters Flexible operation and control design from MATLAB®/Simulink® via QUARC® integrationEasy your of structures, sensors and actuators Extensive data acquisition and control capability Linear motors for reliable and quiet operation Turnkey and easy-to-use Clean and low maintenance Complete, cost-effective turnkeysystems provided Fully documented system models and parameters from LabVIEW™ via QRCP Flexible operation and control design from MATLAB®/Simulink® via QUARC® or Designed and built for the University Consortium on InstructionalShake Tables (UCIST)  Fully documented system models and parameters Integrated safety features and limits Complete, cost-effective turnkeysystem Compact, portable, clean and low maintenance High-resolution optical encoders tomeasure the joint positions Fully documented system models and parameters Precise, stiff and heavy-duty machined components Flexible operation and control design from MATLAB®/Simulink® via QUARC®Built-in software safety watchdog including run-away detection and integration collisionEasy avoidance third of party structures, sensors and actuators High performance amplifier (built-in) Optional six DOF force/torque sensor interfaceEasy through USB connection High mechanism screw ball precision Integrated safety features and limits Supports scaling and playback earthquake of data Supports scaling and playback earthquake of data Single (x)or Dual (x-y)axis configurations Simple, software operation usingShake Table IISoftware (requires QUARC and LabVIEW Run-Time) Safety brake logic circuit and built-in mechanical brakes, limit switches Highly-flexible operation and control design using MATLAB®/Simulink® via QUARC® Precise and accurate positioning: high-resolution encoder and low-backlash guide Shared lab resources contributed by alarge community like-minded of users

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SHAKE TABLES AND SMART STRUCTURES FOR TEACHING AND RESEARCH This section provides a detailed overview of the cutting- edge laboratory systems available for teaching or research. There are seven turn-key earthquake engineering experiments. Their key attributes and technical specifications are presented here. To request a demonstration or quotation, please visit www.quanser.com WORKSTATION COMPONENTS TECHNICAL SPECIFICATIONS • Shake Table I-40 Shake table overall dimensions (L x W x H) 57.5 cm x 12.7 cm x 7.62 cm Lead screw pitch 1 cm/rev • VoltPAQ-X1 amplifier Shake table mass 5.88 kg Servo motor power 70 W • Q2-USB data acquisition device Stage dimensions /payload area (L x W) 43.2 cm x 10.2 cm Amplifier maximum continuous current 3 A • QUARC® control software Maximum travel ±2 cm Motor maximum torque 3.53 N.m Maximum payload at 1.0 g¹ 1.5 kg Lead screw encoder resolution (quadrature) 8192 counts/rev Optional: Maximum acceleration with 1.5 kg payload¹ 1.0 g Effective stage position resolution 1.22 µm • 1-Floor Active Mass Damper (AMD 01)* Maximum velocity with 1.5 kg payload¹ 0.417 m/s Accelerometer range ±49 m/s² with VoltPAQ-X1 or VoltPAQ-X2 amplifier Operational bandwidth¹ 10 Hz Accelerometer sensitivity 1.0 g/V

• Shake Table II Shake table overall dimensions (L x W x H) 61 cm x 46 cm x 13 cm Lead screw pitch 1.27 cm/rev • AMPAQ-PWM amplifier Shake table mass 27.2 kg Servo motor power 400 W • Q8-USB data acquisition device Stage dimensions/payload area (L x W) 46 cm x 46 cm Amplifier maximum continuous output current 3.75 A Maximum travel ±7.6 cm Motor maximum torque 4.82 N.m • QUARC® control software Maximum payload at 2.5 g¹ 7.5 kg Lead screw encoder resolution (quadrature) 8192 counts/rev Optional: Maximum acceleration with 7.5 kg payload¹ 2.5 g Effective stage position resolution 1.55µm • 1 or 2-Floor Active Mass Damper Maximum velocity with 7.5 kg payload¹ 0.665 m/s Accelerometer range ±49 m/s² (AMD 01 or AMD 02)* with VoltPAQ-X1 or Operational bandwidth¹ 10 Hz Accelerometer sensitivity 1.0 g/V VoltPAQ-X2 amplifier.

• XY Shake Table III Shake table overall dimensions (L x W x H) 106.7 cm x 106.7 cm x 20.3 cm Linear motor maximum peak power 4554 W • 230 VAC Integrated Power System Shake table mass 550 kg Linear motor maximum current 36.0 A peak • Rack-mount Shake Table III-ready PC Stage dimensions/payload area (L x W) 71.1 cm x 71.1 cm 12.0 A continuous Stage mass 175.5 kg (x), 95.22 kg (y) Amplifier maximum peak current 40 A (x), 30 A (y) • Q8 Real-Time Control Board Maximum travel ±10.8 cm (x), ±10.8 cm (y) Amplifier maximum continuous current 20 A (x), 15 A (y) • QUARC® control software Maximum payload at 1.0 g¹ 100 kg Maximum operating peak current limits 36 A (x), 30 A (y) Optional: Maximum acceleration with 100 kg payload¹ 1.0 g (x), 1.0 g (y) Encoder resolution (quadrature) 1,000,000 count/m Maximum velocity with 100 kg payload¹ 1.55 m/s (x), 1.29 m/s (y) Effective stage position resolution 1 µm • 1 or 2-Floor Active Mass Damper Maximum force with 100 kg payload¹ 2626 N (x), 2189 N (y) Accelerometer range ±49 m/s² (AMD 01 or AMD 02)* with VoltPAQ-X1 Operational bandwidth¹ 10 Hz (x), 10 Hz (y) Accelerometer sensitivity 1.0 g/V or VoltPAQ-X2 amplifier.

• Hexapod Hexapod overall dimensions (L × W × H) 110 cm x 110 cm x 75 cm Actuator maximum force 403 N • Hexapod-ready PC Hexapod mass 100 kg Actuator travel ±15.0 cm • QUARC® control software Platform boundary radius/payload area 25 cm Lead screw encoder resolution (quadrature) 10,000 counts/rev Arm length 37.5 cm Optional: Workspace2 ±13 cm (x), ±7.5 cm (y), ±7.5 cm (z) • Force/torque sensor ±20 deg (roll), ±23 deg (pitch), ±27 deg (yaw) • 1 or 2-Floor Active Mass Damper Maximum payload¹ 100 kg (AMD 01 or AMD 02)* with VoltPAQ-X1 Maximum acceleration¹ 1 g 1 or VoltPAQ-X2 amplifier. Maximum joint speed 0.67 m/s Operational bandwidth¹ 0-10 Hz Lead screw pitch 1 cm/rev

• Smart Structure Smart Structure overall dimensions (L x W x H) 25.5 cm x 11.5 cm x 85.5 cm (with pendulum in upright position) • VoltPAQ-X1 amplifier Smart Structure mass 2.6 kg • Q2-USB data acquisition device Rigid beam length 29.2 cm Flexible beam length 44.0 cm • QUARC® control software Encoder resolution 4096 counts/rev Strain gage sensitivity 2.54 cm/V

• AMD 01 Structure overall dimensions (L x W x H) 32 cm x11 cm x 63 cm • VoltPAQ-X1 amplifier Structure mass 2.85 kg • Q2-USB data acquisition device Flexible structure height 50 cm Cart rack height 13 cm • QUARC® control software Flexible structure natural frequency 2.5 Hz Flexible structure linear stiffness 500 N/m Cart travel ±9.5 cm Cart encoder resolution 4096 counts/rev Accelerometer sensitivity 1.0 g/V

• AMD 02 Structure overall dimensions (L x W x H) 32 cm x11 cm x 113 cm • VoltPAQ-X2 amplifier Structure mass 4.45 kg • Q2-USB data acquisition device Flexible structure height 50 cm Cart rack height 13 cm • QUARC® control software 1st floor flexible structure linear stiffness (relative to the ground) 500 N/m 2nd floor flexible structure linear stiffness (relative to the first floor) 500 N/m Cart travel ±9.5 cm Cart encoder resolution 4096 counts/rev Accelerometers sensitivity 1.0 g/V

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*Quanser Shake Tables can be expanded by adding test building-like structures with active mass damper. This makes the Shake Table workstations adaptable for real-life earthquake studies and enables experiments in the absence of your own building models. 1 Please contact Quanser for full operational bandwidth specification 2 Assuming other five DOF’s held at home position 3 For availability, please contact [email protected] RELIABLE AND ROBUST TURN-KEY WORKSTATIONS

Quanser’s Shake Tables come complete with all components you need: the Shake Table platform, amplifier, data acquisition device and control software. The comprehensive documentation includes User Manuals, Laboratory Guides with dynamic models and operating procedures, and pre-designed controllers. The value of these turn-key solutions is extended further by their open architecture and scalable design, allowing you to add sensors, or use your own test structures.

2-floor Active PC or laptop running one of the following software options Mass Damper (optional) Shake Table II software1

for MATLAB/Simulink

for NI LabVIEW2

Accelerometer Acceleration feedback

Encoder Position feedback Shake Table II Q8-USB DAQ device

Current driving motor Control signal to amplifier

AMPAQ-PWM amplifier 1 requires QUARC and LabVIEW Run-Time (free version available at ni.com) 2 for availability, contact [email protected]

HOW LEADING EDUCATORS AND RESEARCHERS USE QUANSER SHAKE TABLES

At the University of Cincinnati’s School of Aerospace Professor Bicanic and his team of graduate students at the Systems, Professor Kelly Cohen has taken full University of Rijeka, Croatia, are studying how vibrations effect advantage of the Shake Table I-40’s versatility, using structures with gaps between blocks, such as brick walls, or it to teach vibration control to his undergraduates. even arrangements of graphite rods in a nuclear reactor core, Dr. Cohen has also integrated the Shake Table I-40 within a remote lab and testing various compensation techniques. By running two XY Shake setup that offsite students can use. Once they log on, they can tune Table III systems synchronously, they can examine the effects of vibrations different control parameters, view the measured response on the graphical on different structures, or on the same structures with different damping interface and examine the results in real time via webcam. Dr. Cohen can measures. They can also study the effect of propagation by introducing also view their data once it’s saved. signal delays to one table, with the second table replicating the same motion with a short delay, and test various compensation techniques Professor Haibei Xiong, Dean of Tongji University’s College of A research group at Barcelona TECH’s Civil Engineering, finds fiveShake Table II’s her college acquired Control, Dynamics and Applications Lab, led a worthy addition to the lab. With multiple earthquake by Dr. Francesc Pozo,works on a system that simulators, they can study complex structural dynamics and can help better protect buildings and infrastructure from earthquakes. earthquake engineering concepts, conduct multi-point shaking experiments The roll-n-cage (RNC) anti-vibration device placed between the building on bridge structures, and also work on testing bigger structures, using and the ground can reduce motion induced in buildings and bridges by several shake tables with synchronized motion to share the load. earthquakes or other vibration sources. To model the RNC isolator, and test its performance, Dr. Pozo and his group use the Quanser Hexapod.

About Quanser: Quanser is the world leader in education and research for real-time control design and implementation. We specialize in outfitting engineering control laboratories to help universities captivate the brightest minds, motivate them to success and produce graduates with industry-relevant skills. Universities worldwide implement Quanser’s open architecture control solutions, industry-relevant curriculum and cutting-edge work stations to teach Introductory, Intermediate or Advanced controls to students in Electrical, Mechanical, Mechatronics, Robotics, Aerospace, Civil, and various other engineering disciplines. For more information, please visit quanser.com

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