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Abstract Real‐time hybrid simulation (RTHS) involves dividing a structural system into numerical and experimental substructures. The experimental substructure is challenging to model analytically and is therefore modeled physically in the laboratory. Analytical substructures are conventionally modeled using the finite element method. The two substructures are kinematically linked, and the governing equations of motion are solved in real‐time. Thus, the state determination of the analytical substructure needs to occur within the timestep, which is of the order of a few milliseconds. All structural systems are supported by a soil‐foundation system and any evaluation of the efficacy of response modification devices placed in the structure should consider soil‐foundation structure interaction (SFSI) effects. SFSI adds compliance to a structural system, thereby altering the natural frequencies. Additionally, nonlinear behavior in the soil can result in residual deformations in the foundation and structure, as well as provide added damping. These effects can occur under both wind and earthquake loading. To overcome the barrier of the large computational effort required to model SFSI effects in real‐time using the conventional finite element approach, a neural network (NN) model is combined with an explicit‐based analytical substructure and experimental substructure with dampers to create a framework for performing RTHS with SFSI effects. The framework includes a block of long‐short term memory (LSTM) layers that is combined with a parallel rectified linear unit (ReLU) to form a NN model of the soil‐foundation system. RTHS of a tall 40‐story steel building equipped with nonlinear viscous dampers and subjected to a windstorm are performed to illustrate the framework. It was found that a number of factors have an effect on the quality of RTHS results. These include: (i) the discretization of the wind loading into bins of basic wind speed; (ii) the extent of the NN model training as determined by the root mean square error (RMSE); (iii) noise in the restoring forces produced by the NN model and its interaction with the integration algorithm; and, (iv) the bounding of outliers of the NN model's output. Guidelines for extending the framework for the RTHS of structures subjected to seismic loading are provided. 

Real-time hybrid simulation (RTHS) divides a structural system into analytical and experimental substructures that are coupled through their common degrees of freedom. This paper introduces a framework to enable RTHS to be performed on 3D nonlinear models of tall buildings with rate dependent nonlinear response modification devices, where the structure is subjected to multi-directional wind and earthquake natural hazards. A 40-story tall building prototype with damped outriggers is selected as a case study. The analytical substructure for the RTHS consists of a 3-D nonlinear model of the structure, where each member in the building is discretely modeled in conjunction with the use of a super element. The experimental substructure for the RTHS consists of a full-scale rate-dependent nonlinear viscous damper that is physically tested in the lab, with the remaining dampers in the outrigger system modeled analytically. The analytically modeled dampers use a stable explicit non-iterative element with an online model updating algorithm, by which the covariance matrix of the damper model’s state variables does not become ill-conditioned. The damper model parameters can thereby be updated in real-time using measured data from the experimental substructure. The explicit MKR-α method is optimized and used in conjunction with the super element to efficiently integrate the condensed equations of motion of a large complex model having more than 1000 nonlinear elements, thus enabling multi-axis earthquake and wind hybrid nonlinear simulations to be performed in real-time. An adaptive servo-hydraulic actuator control scheme is used to enable precise real-time actuator displacements in the experimental substructure to be achieved that match the target displacements during a RTHS. The IT real-time architecture for integrating the components of the framework is described. To assess the framework, 3D RTHS of the 40-story structure were performed involving multi-axis translational and torsional response to multi-directional earthquake and wind natural hazards. The RTHS technique was applied to perform half-power tests to experimentally determine the amount of supplemental damping provided by the damped outrigger system for translational and torsional modes of vibration of the building. The results from the study presented herein demonstrate that RTHS can be applied to large nonlinear large structural systems involving multi-axis response to multi-directional excitation. 

The central difference is a popular algorithm used to integrate the equations of motion, yet suffers from two drawbacks: (1) it is only conditionally stable and requires a small-time step to maintain numerical stability; (2) it is nondissipative, and high-frequency spurious oscillations may appear and compromise the accuracy of the solution. These drawbacks are detrimental to applying the algorithm to the real-time hybrid simulation of large, complex nonlinear structural systems. In this paper, the conventional central difference algorithm is modified to overcome these drawbacks, and the modified algorithm is applied to the real-time hybrid simulation of complex structural systems. 

In modern practice, precast segmental tunnel linings are typically installed via a tunnel boring machine (TBM), which advances by thrusting against the previously installed segmental ring. The forces applied through the thrust jack pads can induce significant bursting and spalling tensile stresses and strains in the segment, and improperly designed segments can suffer from cracking as a result. An experimental study has been conducted to evaluate the progression of damage from initial cracking to ultimate capacity for full-scale precast tunnel liner segments under thrust jack loading. The baseline segment design is composed of steel fiber reinforced concrete (SFRC), and the impact of supplemental conventional steel bar reinforcement and load application eccentricity were also investigated. Six full-scale tests were performed with a thrust jack load per pad up to 22.2 MN (which is ~3.8 times the maximum expected installation thrust force). At the maximum expected thrust jack load during installation (5.78 MN per pad), the segments were virtually undamaged, and hairline cracking initiated between the load pads on only one test. At the TBM’s ultimate jacking capacity (9.55 MN per pad) surface cracking was observed between and under the load pads; however, the crack width remained below 0.2 mm for all specimens. The formation of cracking limit states was accurately predicted by pre-test linear and nonlinear finite element (FE) models. At overload conditions, the baseline SFRC-only segment exhibited a radial bursting failure. The inclusion of supplemental conventional reinforcement does not reduce the level of cracking damage or strain development below the TBM’s ultimate jacking capacity; however, at overload conditions, the supplemental reinforcement mitigates cracking and prevents a radial bursting failure at 20.3 MN per pad. A load eccentricity of 38 mm towards the extrados surface increased the transverse strain and the formation of transverse cracking at a lower load level. 

The system under investigation is a 2-story reinforced concrete building. Nonlinear viscous dampers were placed at the 1st and 2nd stories. The building was subjected to the maximum considered earthquake hazard levels. The outcome of the tests is to assess a newly developed explicit non-iterative formulation for the nonlinear viscous damper model and the ability of the unscented Kalman filter to identify and update the damper parameters in order to improve the model’s prediction of the damper force. The data collected from the tests can be reused by replaying the real-time hybrid simulation offline, where all of the response quantities of the building can be retrieved. 

The system under investigation is a 40 story building. Real-time hybrid simulations (RTHSs) were performed on the building, where the entire façade of the structure is subjected to wind loading over a 360 second duration. Nonlinear viscous dampers between the outrigger truss and perimeter columns are placed at stories 20th and 30th. The outcome of the tests is to assess the ability of the damped outrigger system to suppress undesirable floor accelerations. The data collected from the tests can be reused by replaying the real-time hybrid simulation offline, where all of the response quantities of the building can then be retrieved. The data can be reused to study the response of tall buildings with outriggers and passive dampers subjected to wind natural hazards. 

The system under investigation is a 40 story building. Real-time hybrid simulations (RTHSs) were performed on the building, where the structure is separately subjected to multi-natural hazards consisting of a 110 mph sustained wind storm and 43 second earthquake. Nonlinear viscous dampers between the outrigger truss and perimeter columns are placed at stories 20th and 30th. The outcome of the tests was to assess the ability of the damped outrigger system to suppress undesirable floor wind accelerations and reduce earthquake story drift and damage. The data collected from the tests can be reused by replaying the real-time hybrid simulation offline, where all of the response quantities of the building can be retrieved. The data can be reused to study the response of tall buildings with outriggers and passive dampers subjected to wind and earthquake natural hazards.