Yang, Y. S., Tsai, K. C., Hsieh, S. H., & Elnashai, A. S. (2009). “Collaborations between NCREE in Taiwan and MAE Center in USA on Transnational Distributed Hybrid Simulation on Earthquake Engineering,” Proceedings of the High Performance Computing (HPC) Asia 2009, Kaohsiung, Taiwan, March 3-5, 2009, pp. 619-626.

Collaborations between NCREE in Taiwan and MAE Center in USA on Transnational Distributed Hybrid Simulation on Earthquake Engineering Yuan-Sen Yang1, Keh-Chyuan Tsai2, Shang-Hsien Hsieh2, Amr S. Elnashai3 1

National Taipei University of Technology / National Center for Research on Earthquake Engineering, Taiwan 2 National Taiwan University / National Center for Research on Earthquake Engineering, Taiwan 3 Mid-America Earthquake Center / University of Illinois at Urbana Champaign, USA

E-mail: 1 [email protected]

Abstract This paper presents a bridging approach that permits distributed hybrid earthquake engineering simulations across two different Hybrid Simulation Environments, namely ISEEdb developed by National Center for Research on Earthquake Engineering (NCREE) and UI-SimCor developed by the MidAmerica Earthquake Center (MAE) located at the University of Illinois at Urbana Champaign (UIUC). The approach allows the two different environments to run a distributed hybrid simulation collaboratively. In this paper, the software design and implementation of the bridging approach are discussed. A simulation example is provided to validate and demonstrate the proposed bridging approach. The performance of the bridging approach is discussed based on the timing statistics of the example. A new hybrid simulation algorithm is then proposed and prototyped collaboratively as a follow-up research between these two research centers. This paper is a brief introduction of the recent collaborations between the two centers, and is a combination of two recent publications [14,15].

1. Introduction As the scale and the complexity of modern earthquake engineering experiments increase, existing laboratories, often with limited resources (e.g., space and equipments), inevitably face difficulties to accommodate such experiments. To address this issue, the Hybrid Simulation (HS) approach is proposed and several distributed HS Environments (D-HSEs), such as ISEE [1,2], UI-SimCor [3,4], and OpenFresco [5,6], have been developed recently. An HS divides a test

structure into physical parts and analytical parts. Only the physical sub-structures need to be constructed and tested in the laboratory while the analytical parts are modeled and analyzed by computers. With the support of D-HSEs, the results of both the laboratory tests and analytical computations are integrated in HS to study the behavior of the test structure. Because HS takes advantage of modern structural analysis technology to simulate parts of the test structure with reasonable accuracy, the need for laboratory resources to study the behavior of the test structure can be greatly reduced. Furthermore, the aforementioned modern D-HSEs employ network technology to achieve collaborative hybrid simulations among two or more laboratories at different geographical locations. The sharing and integration of resources among laboratories further increase the capability of an HS to tackle large-scale and complex earthquake engineering experiments.

2. Formatting your paper In the case where collaborative hybrid simulations are desired among laboratories using different D-HSEs, two solutions may be considered. The first one is to achieve agreement among all collaborating laboratories on adopting the same D-HSE. This may seem to be a straight-forward solution. However, it may not be an easy task to achieve the agreement and for a laboratory to adopt a new D-HSE. The second solution is to enable the communication and collaboration between different D-HSEs. This may seem to be a difficult task because different D-HSEs can not by default collaborate or share their resources with each other although they may employ similar software frameworks and simulation procedures. However, this solution is worth investigating because it allows each laboratory to use its own D-HSE that has been familiar to its

Yang, Y. S., Tsai, K. C., Hsieh, S. H., & Elnashai, A. S. (2009). “Collaborations between NCREE in Taiwan and MAE Center in USA on Transnational Distributed Hybrid Simulation on Earthquake Engineering,” Proceedings of the High Performance Computing (HPC) Asia 2009, Kaohsiung, Taiwan, March 3-5, 2009, pp. 619-626.

members, and even optimized in term of reliability, robustness, and efficiency. Therefore, the objective of this research is to develop a bridging approach to enable communication and collaboration between two D-HSEs, namely NCREE-ISEEdb [1] developed by the National Center for Research on Earthquake Engineering (NCREE) and UI-SimCor developed by Mid-America Earthquake (MAE) Center at University of Illinois at Urbana Champaign (UIUC) [3,4]. The rest of this paper is organized as follows. The two D-HSEs, NCREE-ISEEdb and UI-SimCor, are briefly reviewed first. Then, a bridging approach for NCREE-ISEEdb and UI-SimCor is discussed. One of software simulations performed to validate and demonstrate the bridging approach is presented. Finally, some conclusions are drawn. Finally a new hybrid simulation proposed and prototyped collaboratively by the authors is then introduced.

3. Hybrid simulation environments: NCREE-ISEEdb and UI-SimCor NCREE-ISEEdb stands for the Internet-based Simulation for Earthquake Engineering - Database Approach. As shown in Fig. 1, NCREE-ISEEdb consists of three essential parts that are Data Center, Command Generation Module (CGM), and Facility Control Modules (FCMs). CGM serves as not only the simulation coordinator that manipulates all FCMs but also the analysis engine in NCREE-ISEEdb. It is a numerical simulation program, e.g., OpenSees [7] or PISA3D [8], employing user-defined elements for bridging the physical part with the numerical part of a hybrid simulation. If OpenSees is selected as the analysis engine, for example, the numerical substructures are modeled using the finite elements, such as the BeamColumnElement elements, while the physical sub-structures are modeled by the PseudoGen elements derived from the Element class. FCMs control the actuators acting on the physical sub-structures in the laboratory. For testing and validating an experiment in advance, FCMs may be simulated numerically. Data Center serves as the mediator of network communication between CGM and FCMs. It encapsulates a set of interactions between CGM and FCMs in Structured Query Language (SQL). Therefore, it can be easily used to monitor the experimental progress and access the data. It also provides good flexibility for NCREE-ISEEdb to accommodate new functional modules as long as they speak NCREEISEEdb SQL.

Figure 1: the software framework of NCREE−ISEEdb There are four key parts in UI-SimCor: Main Routine, MDL_RFs (restoring force modules), MDL_AUX, and Components. A Component can be either a physical sub-structure tested in the laboratory or a numerical one modeled by an analysis engine, such as FEDEASLab [9] (Filip and Margarita, 2004) and ZEUS-NL [10]. The Simulation Coordinator of UISimCor is a software program that consists of Main Routine and MDL_RFs. Main Routine coordinates the processing of hybrid simulation through manipulating MDL_RFs. An MDF_RF represents a Component in the Simulation Coordinator program. In the current version (Version 2.6) of UI-SimCor, the communication between an MDL_RF and a Component can be carried out by either LabVIEW2 protocol [4] or NEESgrid Teleoperation Control Protocol (NTCP) [11].

4. An approach for bridging NCREEISEEdb and UI-SimCor The general bridging approach is based on an abstract framework of D-HSE. The abstract framework is a generalization model of NCREE-ISEEdb and UISimCor based on their similarity. The abstract framework includes four essential modules: Commander, Remote Sub-structure, Communication, and Executor, as shown in Fig. 2.

Yang, Y. S., Tsai, K. C., Hsieh, S. H., & Elnashai, A. S. (2009). “Collaborations between NCREE in Taiwan and MAE Center in USA on Transnational Distributed Hybrid Simulation on Earthquake Engineering,” Proceedings of the High Performance Computing (HPC) Asia 2009, Kaohsiung, Taiwan, March 3-5, 2009, pp. 619-626.

Figure 2: an abstract framework of a distri buted hybrid simulation environment A Commander runs dynamic time integration and computes the structural responses (typically, displacements) of each physical test specimen. The Main Routine in UI-SimCor or the Analysis Engine in NCREE-ISEEdb is a Commander. Typically there is only one Commander in a hybrid simulation. A Remote Sub-structure represents a sub-structure settled on a remote site. The MDL_RF in UI-SimCor or the user-defined element class in NCREE-ISEEdb is a Remote Sub-structure. A Remote Sub-structure may represent a physical test specimen installed in a laboratory, or a part of a structure numerically simulated by a remote computer. In each time step, a Remote Sub-structure receives requests from the Commander and then forwards it to its corresponding Executor (which will be introduced later). It then receives the responses from the Executor and sends back to the Commander. A Communication indicates what messages should be transferred and describes how to transfer the messages between Remote Sub-structures and Executors. Although the communication methods or protocols of distributed hybrid simulation platforms are different, the essential messages between a Remote Sub-structure and an Executor are similar. The essential messages are mainly composed of displacements and reacting forces. An Executor executes all operations requested from its corresponding Remote Sub-structure and then replies with the outcome of the operations. For a Remote Sub-structure representing a physical test specimen in a laboratory, an Executor is responsible for controlling the equipment (e.g., hydraulic actuators). In addition to controlling a physical test specimen, an Executor may simulate a part of a structure numerically for special purposes.

Furthermore, there are some auxiliary modules other than the above essential modules in UI-SimCor or NCREE-ISEEdb, such as modules for data acquisitions, camera control and instant visualization. The auxiliary modules in UI-SimCor and NCREE-ISEEdb work in different ways. The data acquisition module in UISimCor (i.e., MDL_AUX) is passively triggered by the Commander, while that in NCREE-ISEEdb (i.e., DAQ module) actively monitors the progress of a hybrid simulation and triggers itself at proper time. The compatibility of these auxiliary modules across UISimCor and ISEE Database Approach has not implemented yet in this work. Figure 3 depicts the basic idea of an approach on bridging NCREE-ISEEdb and UI-SimCor. In this case, the Analysis Engine of NCREE-ISEEdb is selected to carry the dynamic time integration of the hybrid simulation. A Translator module is designed to help message exchange between different Communication modules of different D-HSE. The Translator module for bridging NCREEISEEdb 2.0 and UI-SimCor 2.6 was developed in this work using MATLAB. The m-files of MATLAB for sending and receiving messages to and from both NCREE-ISEEdb and UI-SimCor were implemented. All these m-files of MATLAB are packaged and named ISEEdbSQL for MATLAB. They not only allow for bi-directional communication between NCREEISEEdb and UI-SimCor but also open the door for NCREE-ISEEdb to access the powerful functionalities of MATLAB.

Figure 3: the basic concept of the bridging approach

Yang, Y. S., Tsai, K. C., Hsieh, S. H., & Elnashai, A. S. (2009). “Collaborations between NCREE in Taiwan and MAE Center in USA on Transnational Distributed Hybrid Simulation on Earthquake Engineering,” Proceedings of the High Performance Computing (HPC) Asia 2009, Kaohsiung, Taiwan, March 3-5, 2009, pp. 619-626.

Compared to the direct communication approach employed by UI-SimCor and OpenFresco [12] that Communication modules of these two D-HSEs can communicates directly, the bridging approach aforementioned is indirect, which the Translator can be regarded as an additional level between Communication modules. Additional overhead of network operations is required in the bridging approach. To minimize the overhead, it is suggested to place the Translator on the same computer of one of the Communication modules. The advantage of the bridging approach is that developers do not need to modify any original software of the D-HSEs if the bridging approach is employed. All procedures and technical details regarding to message translation and compatibility of the two DHSEs are encapsulated in the Translator module. It eases the maintenance of the compatibility between different D-HSEs if the communication protocols or message contents is changed.

5. Demonstration Example A software simulation of a distributed hybrid simulation using NCREE-ISEEdb and UI-SimCor environments was performed to validate and demonstrate the bridging approach. A distributed hybrid simulation of a bridge carried out among NCREE (in Taiwan), National Taiwan University (in Taiwan) and Carleton University (in Canada) [13] was reproduced in a software manner. The bridge structure is divided into four parts: Pier 1 (P1), Pier 2 (P2), Pier 3 (P3) and the rest of the structure, as shown in Fig. 4. In this software simulation, the three Piers were simulated by three Components of UI-SimCor based on OpenSees models. Dynamic time integration and numerical simulation of the rest of the structure were carried out by the OpenSees-based Analysis Engine of NCREE-ISEEdb. A 10-second bi-directional ground motion with time increments of 0.02 seconds was used. There were 500 time steps in the distributed hybrid simulation. The software configuration is very similar to Fig. 3. The time sequence diagram of the distributed hybrid simulation is shown in Fig. 5. The P3 part in Fig. 5 is the same as the P1 and P2, and was removed due to limited page width of this paper.

Figure 4: elevation of the bridge system in the distributed hybrid simulation

The software simulation validates and demonstrates the feasibility of the bridging approach. The dynamic response of the bridge of the software simulation is very close to a pure numerical simulation. The slight differences come from different nonlinear analyses (i.e., the pure numerical simulation adopts Newton-based iteration method, while the software simulation of the hybrid simulation uses a non-iterative method as a typical hybrid simulation does). The software simulation was performed on a laptop computer with a 2.0GHz CPU and 2GB main memory. Each of the Translators, UI-SimCor Components, the Analysis Engine and the Data Center runs as an independent process. All the network operations were performed virtually within the operating system. Because there is no physical network transmission, the time cost of the network operations in the test represents the software performance. Table 1 lists the timing statistics of the software simulation. The timing statistics was measured by a Translator. Each time step in average cost 0.369 seconds. About half of them (52.9%) were on querying displacement data from the Data Center, which includes the time cost on repeatedly checking the displacement data availability in the Data Center. The remaining time was almost on waiting the responses from UI-SimCor’s Component, which includes OpenSees numerical simulation time cost of each pier. Compared to querying time, a Translator spends little time cost (only 3%) on sending data. By assuming that the communication overhead is about the same on the four network operations, it is estimated that the overhead induced by the Translator is only a small portion of the overall communication time in the test. Table 1: timing statistics of the example Translator’s work

Translator querying displacements from ISEE Data Center (including repeatedly checking database, Analysis Engine’s time integration, etc.) Translator sending displacements to UI-SimCor Component Translator querying resisting forces from UI-SimCor Component (including Component’s numerical simulation) Translator sending resisting forces to ISEE Data Center Total time

Average time cost per time step (sec.)

Percentage

0.1953

52.9%

0.0013

0.4%

0.1630

44.1%

0.0096

2.6%

0.3692

100%

Yang, Y. S., Tsai, K. C., Hsieh, S. H., & Elnashai, A. S. (2009). “Collaborations between NCREE in Taiwan and MAE Center in USA on Transnational Distributed Hybrid Simulation on Earthquake Engineering,” Proceedings of the High Performance Computing (HPC) Asia 2009, Kaohsiung, Taiwan, March 3-5, 2009, pp. 619-626.

substructures. In some cases, there are many unknown parts in a structure, and it is not practical to construct specimens for all of these parts because of high experimental cost of multiple substructure hybrid simulation. An idea of online updating of numerical models during a hybrid simulation is proposed by Elnashai and Yang (Yang et al. 2009) to improve the consistency among substructures in a hybrid simulation, as shown in Fig. 6. Conceptually, researchers learn more about the structural behaviors of the experimental substructures during the progress of the test, and have more information to tune the presumed parameters of the numerical models.

Figure 5: the basic concept of the bridging approach In addition to the above example, some examples using different combinations of bridged software modules of the NCREE-ISEEdb and UI-SimCor environments were tested but were not presented in this paper. Most of the examples completed successfully while a few of them did not. Further tests and careful examinations with auxiliary module compatibility are needed in the future.

6. Online Updating Hybrid Simulation This work proposes a framework of a new method to run a hybrid simulation, which is named online updating hybrid simulation. An online updating hybrid simulation is a hybrid simulation which numerical model parameters of its numerical substructure(s) is adjustable and is instantly updated based on the instantaneously-measured responses of experimental substructures. This work is a collaborative work between the National Center for Research on Earthquake Engineering (NCREE) and the MidAmerica Earthquake (MAE) Center, which is located at University of Illinois at Urbana Champaign, USA. The MAE Center group plans to develop in the near term neural network-based approach to updating the response of the repetitive analytical components in hybrid simulation (e.g., beam-column connections) based on the instantaneously-measured response of the experimental component. NCREE is planning on developing algorithms for the updating of material models used in finite element analysis using measured data, during the same test. One of the problems that researchers using hybrid simulation methods are encountering is the inconsistency of numerical models of repetition

Figure 6: an online updating hybrid simulation with one physical substructure and many roughly identical online updatin g numerical substructures To distinguish with an online updating hybrid simulation, a hybrid simulation without online hybrid simulation is called conventional hybrid simulation in the rest of this paper. The flowchart of a conventional hybrid simulation can be shown as Fig. 7. The procedure of an online updating hybrid simulation is basically based on a conventional one, except that there is an additional parameter analysis module, and the original numerical substructure module is modified so that it allows updates of some of its numerical parameters (as shown in Fig. 8). The parameter analysis module calculates a set of parameters for the numerical model based on the experimental data. The pari +N1 is a set of calculated parameters for the numerical model at time step i+1. The modified numerical substructure module updates the numerical N model according to pari +1 and calculates its resisting ~N ~N force ri +1 regarding to the displacement ui +1 .

Yang, Y. S., Tsai, K. C., Hsieh, S. H., & Elnashai, A. S. (2009). “Collaborations between NCREE in Taiwan and MAE Center in USA on Transnational Distributed Hybrid Simulation on Earthquake Engineering,” Proceedings of the High Performance Computing (HPC) Asia 2009, Kaohsiung, Taiwan, March 3-5, 2009, pp. 619-626. u~i N+1 Initial state

Numerical substructure

~r N i+1

Time integration

End of test?

Yes

End D

Experimental substructure

No

De

Figure 7: Flowchart of a conventional hybrid simulation

tail

w vie

Update current status

~ ri +E1

l ai et

u~iE+1

w vie

u~iN+1 pari N+1, j +1

Numerical model updating

u~iN+1 N i +1

pari +N1

~ ri +N1

Initial state

u~i+E1 , ~ ri+E1

Time integration

Update current status

u~iE+1

Parameter analysis

End of test?

Yes

End

No

Experimental substructure

~ ri+E1

Figure 8: Online updating hybrid simulation flowchart The numerical model updating module carries out a N loop to check and tune the parameters pari +1 if it is necessary, as shown in Fig. 9. The j is the loop number in the numerical model updating module. The check may include: (1) Upper and lower bounds of pari +N1 : Researchers may pre-set upper and lower bounds of the parameters to ensure that the calculated parameters is within a reasonable range. (2) Consistency of resisting force history: As mentioned, it is assumed the change of the numerical parameters pari +N1 leads to a small change of resisting force history. If the change of pari +N1 leads to an unreasonable change of resisting force history, the pari +N1 may need to be tuned. The error of the resisting force history should be recorded, so that the accuracy or reliability of the online updating hybrid simulation can be evaluated. To prevent the loop in the numerical model updating become an unlimited loop, a maximal number of loop checking may be needed. However, it increases the risk that the resisting force history may be inconsistent.

~ ri +N1

u~0N~ i ~ r0 N~ i pari +N1, 0

par

~ ri +N1.Trial

~ r0 ~Ni +1, j r0 N~ i , ~

Figure 9: Flowchart of the numerical model updating * *The upper part of the figure is a small copy of Fig. 8. The small unrecognizable words in the upper part can be seen in Fig. 8). Full-size figure can be found in report [1].

The implementation and verification of the proposed online updating hybrid simulation are underway. Further details of the online updating hybrid simulation method can be found at [15].

7. Design of a preliminary test A simple test example is roughly sketched to preliminarily verify the online updating hybrid simulation. The preliminary test is a software simulation. The structure is divided into three parts: (1) Adjustable numerical substructure: This part of substructure is the numerical substructure which some of the parameters can be updated. (2) Experimental substructure: This part of substructure is to simulate the behavior of an experimental specimen. The numerical model should be more sophisticated than the adjustable numerical substructure to represent that the actually specimen’s behavior is complicated than its numerical model. (3) Remaining part: The remaining part of the structure is numerically simulated, which numerical model does not change during the hybrid simulation. Figure 10 shows the structure of the test example. It is a two dimensional bridge structure with two piers. To simplify the test, the mass and vertical loads are lumped to the tops of the piers. The optimization module finds a reasonably optimized set of parameters so that the experimental substructure’s numerical model approaches the experimental result. The second stage is to check the consistency of resisting force history. It is required that the updated numerical model using the optimized

Yang, Y. S., Tsai, K. C., Hsieh, S. H., & Elnashai, A. S. (2009). “Collaborations between NCREE in Taiwan and MAE Center in USA on Transnational Distributed Hybrid Simulation on Earthquake Engineering,” Proceedings of the High Performance Computing (HPC) Asia 2009, Kaohsiung, Taiwan, March 3-5, 2009, pp. 619-626.

parameters does not change the resisting force history significantly. The consistency of the resisting force history is based on the strain energy error. Refer to report [15] for details. isolator

1

1

2

2

5

3

3

4

7

4

5

6

8 9

i

Notation of node i

j

Notation of element j Lumped mass Rotational spring

Figure 10: Elevation of a bridge structure for a test In addition to the aforementioned hypothetic bridge structure, an example of a bridge or building structure with a number of identical isolators is being prototyped. An isolated structure is typically supported by a number of isolators. The basic mechanical behaviors of an isolator can be tested at laboratories. Full-scale test of an isolator typically requires a large experimental facility because the gravity load an isolator bears is very large. A multi-axial testing system at NCREE, named MATS, was completed in 2008, which can apply up to 40 MN (mega-Newton) (about 4000 metric tons) of vertical loads and 4 MN of horizontal loads with 1.2 meters of horizontal displacement in dynamics. The capacity allows MATS to run a performance test a full-scale isolator. However, it is not likely to run a hybrid simulation with more than one full-scale isolator due to the high cost of the experimental facility like MATS. The online updating hybrid simulation is a possible solution. Figures 11 and 12 present hypothetic online updating hybrid simulation on a bridge structure using isolators and an isolated building, respectively. The design and implementation of the software simulation of the two tests will be carried out in the near future.

isolator

improve the numerical m odel(s)

We keep learning more about the substructure than before

Figure 11: A hypothetic online updating hybrid simulation of an isolated bridge

improve the numerical models

We keep learning more about the substructure than before

Figure 12: A hypothetic online updating hybrid simulation of a building with base isolations The software development for the preliminary test will be started in the following work. The following software simulations are aimed to be carried out using ISEE and UI-SimCor hybrid simulation environment are aimed to be employed [1,3,4] : (1) A numerical simulation of the two-pier bridge and/or an isolated building structure subjecting to a ground motion. Both piers are simulated by simple numerical models. However, this test may be skipped because it is not heavily related to the focus of this work. (2) A software-based hybrid simulation of the two-pier bridge and/or an isolated building structure using a conventional hybrid simulation approach, which one of the pier is simulated by a sophisticated numerical model, while the other one is simulated by a simple numerical model. (3) A hybrid simulation of the two-pier bridge and/or an isolated building structure using the proposed online updating hybrid simulation, which one of the pier is simulated by a sophisticated numerical model, while the other one is initially simulated by a simple numerical model and updated online during the test. (4) A sophisticated numerical model representing the real (or ideal) responses of the structure. Both piers are simulated by the sophisticated numerical model. The following data will be monitored or be gathered for statistics: (1) The dynamic responses of the piers and the bridge system and/or an isolated building structure, (2) The elapsed time of running these simulations, (3) The history of adjustable parameters of the online updating hybrid simulation, (4) The resisting force consistency error monitored during the online updating hybrid simulation, and The influence of the consistency error tolerance to the online updating hybrid simulation result.

Yang, Y. S., Tsai, K. C., Hsieh, S. H., & Elnashai, A. S. (2009). “Collaborations between NCREE in Taiwan and MAE Center in USA on Transnational Distributed Hybrid Simulation on Earthquake Engineering,” Proceedings of the High Performance Computing (HPC) Asia 2009, Kaohsiung, Taiwan, March 3-5, 2009, pp. 619-626.

8. Summary An approach for bridging two different hybrid earthquake engineering simulation environments has been introduced and demonstrated in this paper. The approach allows NCREE-ISEEdb and UI-SimCor to complete a collaborative distributed hybrid simulation. More validation tests on the approach using more complicated realistic examples with more careful timing statistics and performance studies are currently being conducted by the authors. A follow up research collaboration on developing a new hybrid simulation method, called online updating hybrid simulation, is being developed between the NCREE and the MAE Center.

Acknowledgement The financial support from National Science Council under Grant Number NSC95-2923-I-492-001, and the support of UI-SimCor and ZEUS-NL usages from Mid-America Earthquake Center (supported by the US National Science Foundation under Award Number EEC-9701785) are gratefully acknowledged.

References [1] Y.S. Yang, S.H. Hsieh, K.C. Tsai, S. J. Wang, K. J. Wang, W. C. Cheng, and C. W. Hsu, ”ISEE: Internetbased Simulation for Earthquake Engineering Part I: Database Approach,” Earthquake Engineering and Structural Dynamics, 36(15), pp. 2291-2306, 2007. [2] K.J. Wang ,K.C. Tsai, S.J. Wang, W.C. Cheng, and Y.S. Yang, “ISEE: Internet-based Simulation for Earthquake Engineering Part II: the Application Protocol Approach,” Earthquake Engineering and Structural Dynamics, 36(15), pp. 2307-2323, 2007. [3] O.S. Kwon, N. Nakata, A.S. Elnashai, and B. Spencer “A Framework for Multi-site Distributed Simulation and Application to Complex Structural Systems,” Journal of Earthquake Engineering, 9(5), pp. 741-753, 2005. [4] O.S. Kwon, N. Nakata, K.S. Park, A.S. Elnashai, and B. Spencer, “UI-SimCor Users Manual and Examples for UI-SimCor v2.6 and NEES-SAM v2.0,” Department of Civil and Environmental Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois, February 2007. [5] Y. Takahashi and G.L. Fenves “Software Framework for Distributed Experimental-computational Simulation of Structural Systems,” Earthquake Engineering and Structural Dynamics, 35(3), pp. 267-394, 2006. [6] A. Schellenberg and S. Mahin “Integration of Hybrid Simulation with the General-purpose Computational

Framework OpenSees,” Proceedings of the 8th US National Conference on Earthquake Engineering (in CDROM), Paper No. 1378, San Francisco, CA, U.S.A, April 18-22, 2006. [7] F. McKenna and G.L. Fenves, “An Object-oriented Software Design for Parallel Structural Analysis,” Proceedings of ASCE Structures Congress 2000, Philadelphia, Pennsylvania, USA, May 8-10, 2000. Software available at http://opensees.berkeley.edu/ [8] B.Z. Lin and K. C. Tsai, “Development of an Objectoriented Nonlinear Static and Dynamic 3D Structural Analysis Program,” Report No. CEER/R92-04, Center for Earthquake Engineering Research, College of Engineering, National Taiwan University, Taiwan, 2003. Software available at http://pisa.ncree.org/ [9] F.C. Filippou and M. Constantinides (2004), “FEDEASLab Getting Started Guide and Simulation Examples,” Technical Report NEESgrid-2004-22, NEESgrid. [10] A.S. Elnashai, V.K. Papanikolaou, D. Lee, “Zeus NL A System for Inelastic Analysis of Structures,” MAE Center CD Release 04-01, MAE Center, UIUC, USA, Jan., 2004. Software available at http://www.ideals.uiuc.edu/ [11] L. Pearlman, M. D’Arcy, E. Johnson, C. Kesselman, and P. Plaszczak, “NEESgrid Teleoperation Control Protocol (NTCP),” Technical Report NEESgrid-2004-23, NEESgrid, 2004. Report available at http://it.nees.org/ [12] A. Schellenberg, H.K. Kim, Y. Takahashi , G.L. Fenves, S.A. Mahin, “OpenFresco Framework for Hybrid Simulation: LabVIEW Experimental Control Example,” Technical Report, NEESit, 2007. Report available at http://neesforge.nees.it/projects/openfresco. [13] Y.S. Yang, S.J. Wang, K.J. Wang, M.L. Lin, Y.T. Weng, W.C. Cheng, Y.Y. Chang, K.C. Tsai, D.T. Lau, S.H. Hsieh, F.P. Lin and S.Y. Lin, “Network System for A Transnational Collaborative Pseudo-dynamic Experiment on A DSCFT-pier Bridge System,” Proceedings of the 8th National Conference on Earthquake Engineering (in CDROM), Paper No. 810, , San Francisco, CA, USA , April 17-21, 2006. [14] Y.S. Yang, C.T. Yang, L.X. Lin, S.H. Hsieh, K.C. Tsai, “Bridging NCREE-ISEEdb and UI-SimCor for Networked Hybrid Simulations,” Proceedings of the 6th NEES Annual Meeting: the Value of Earthquake Engineering, Network for Earthquake Engineering Simulation, Portland, Oregon, USA, June 18-20, 2008. [15] Y.S. Yang, K.C. Tsai, A.S. Elnashai, O.S. Kwon, S.L. Lin, “Preliminary Study on Online Updating Hybrid Simulation,” NCREE Technical Report 09-001, National Center for Research on Earthquake Engineering, Taipei, Taiwan, 2009.

Collaborations between NCREE in Taiwan and MAE ...

displacements and reacting forces. An Executor executes all ... Furthermore, there are some auxiliary modules other than the above essential modules ... camera control and instant visualization. The auxiliary modules in UI-SimCor and NCREE-ISEEdb work in different ways. The data acquisition module in UI-. SimCor (i.e. ...

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