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This paper evaluates seismic performance of a three-span high-speed railway (HSR) simply supported bridge-track system equipped with multi-joints rotational friction damper (MRFD) using pseudodynamic hybrid simulation. In hybrid simulation, a simplified nonlinear model based on the reference of high-speed railway model is used as a numerical substructure. The experimental substructure is a rotational friction damper (RFD) specimen consisting of two rotational joints. The feedback-force of the RFD specimen is multiplied in different multiples to consider the different clamping force of MRFD with more rotational joints. Results of cyclic tests indicate that the RFD specimen has a good ability to mitigate seismic damage of bridge-track system. Then, pseudodynamic hybrid simulations were performed in the longitudinal direction of the bridge to examine the seismic performance of MRFD. The effect of various ground motions and the influence of different clamping forces of MRFD were investigated. Test results confirmed the applicability of MRFD in HSR bridge-track system.

The investigation on vehicle–bridge interaction systems (VBIS) plays an important role in evaluating the performance of bridges and/or vehicles. However, due to the limitations of traditional simulation methods and testing methods, the impact of vehicle jumping (VJ) on the VBIS has never been precisely disclosed. In order to accurately and comprehensively reveal the impact of VJ on the dynamic performance of VBIS, one real-time hybrid simulation method (RHSM) for VBIS considering the impact of VJ (VBIS-VJ) is proposed in this paper. In the proposed method, the vehicle system is chosen as the experimental substructure loaded by servo-hydraulic actuator loading system in real-time, whilst the bridge system is chosen as the numerical substructure numerically simulated in one computer. During the vehicle jumping, the vehicle and bridge vibrate freely respectively, otherwise, the experimental substructure and numerical substructure are synchronized at the coupling points in terms of force equilibrium and deformation compatibility in RHSM for VBIS-VJ. Firstly, the principle and numerical models of RHSM for VBIS-VJ are proposed. Furthermore, numerical simulations of RHSM for VBIS-VJ are conducted for verifying the feasibility of the proposed method. Finally, the influence of jumping position, jumping height, and driving speed on the VBIS is disclosed by hybrid simulations. It is shown that compared with the ever-known investigation methods, the proposed method could economically and accurately disclose the dynamic performance of VBIS-VJ. It is shown from the simulation results that compared with the referenced results, the quantitative errors of the proposed method with quarter vehicle model and half vehicle model are less than 2.5152% and 3.5599% respectively, which prove the effectiveness and accuracy of proposed RHSM for VBIS-VJ. The peak displacement of the bridge at a quarter-span and mid-span exceeds the three-quarters span by about 1.9–2.9mm. The influence of jumping position of a quarter span and midspan of bridge is much huger than that in the three-quarters span. The dynamic response of bridge increases with the increase the jumping height, but the deformation of the bridge is reduced when the jumping height is more than 0.05m. Meanwhile, the requirements for experimental loading equipment are acquired through the hybrid simulations, which could be used as a reference for selecting the loading system of the RHSM for VBIS-VJ.

This paper reports on the control structure of the pneumatic biped "Lucy." The robot is actuated with pleated pneumatic artificial muscles which have interesting characteristics that can be exploited for legged machines. They have a high power-to-weight ratio, an adaptable compliance and they can reduce impact effects.

The current control architecture focuses on the trajectory generator and the tracking controller, which is divided into a computed torque controller, a delta-p unit, a PI position controller and a pressure bang-bang controller. The trajectory generator provides polynomial joint trajectories while the computed torque, combined with the delta-p unit, calculates the required muscle pressure levels. The PI and bang-bang controller work at a pressure level to cope with modeling errors and to set the pressures in each muscle. The control design is divided into single support and double support, where specifically the computed torque differs for these two phases.

The proposed control architecture is evaluated with a full hybrid dynamic simulation model of the biped. This simulator combines the dynamical behavior of the robot with the thermodynamical effects that take place in the muscle-valves system. The observed hardware limitations of the real robot and expected model errors are taken into account in order to give a realistic qualitative evaluation of the control performance and to test the robustness.

A preliminary implementation of the presented controller on the real biped, representing a walking motion of the robot while both feet are in the air, is discussed. This first implementation shows already promising results concerning tracking performance of the proposed control architecture. It confirms that the pneumatic tracking system can be used for a dynamic application such as a biped walking robot.

Modeling and simulation is pervasive throughout many different disciplines. As computing technology has provided more capability, the systems being modeled and simulated have grown larger and more complex. Often times, these large systems are managed as interacting subsystems. When it is necessary for the simulation to allow disparate subsystems to maintain their independence, then a hybrid model of the subsystems should be used. Furthermore, to ease the burden of verification and validation of simulation results, a proven system theoretical modeling specification should be used. However, many communities have already adopted nonsystem theoretical software solutions and established a group of domain experts familiar with these tools. This paper provides two things: a formal approach to building a hybrid model, and a discussion of how to incorporate a nonsystem theoretical software implementation into a proven framework. The first is done through the implementation of a Knowledge Interchange Broker (KIB) as an Interaction Model (IM). The second is accomplished by exemplifying the use of the IM in an agent-environment hybrid model. In the hybrid model, the agent is implemented in the Discrete-event System (DEVS) specification and the environment is implemented in the Geographical Resources Analysis Support System (GRASS) using a Composable Cellular Automaton (CCA) specification. This concept has been successfully applied to both example models and an interdisciplinary research project where the interactions between human activities and landscape processes are studied.

During seismic action, frame columns are under reversed load. Unexpected damage of column elements may occur because of the continuous variation of axial force due to overturning moment caused by the earthquake and vertical seismic force which affect the stability of the whole structure. Therefore, the influence of the variable axial force should be considered in evaluating accurate characteristics of force and deformation of frame columns under cyclic loading. This paper presents an evaluation of hybrid simulation test method on substructure with columns under variable axial loads.