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This study aims to investigate the influence of tendon layout, pre-stressing force, bond condition and concrete spalling on the structural behaviour of two-way post-tensioned flat slabs at elevated temperatures.

Fire tests of four scale specimens of two-way post-tensioned concrete flat slabs were performed and analysed. Three of them were provided with bonded tendons, while the other was unbonded for comparison. The fabrication of specimens, phenomena observed during testing, temperature distributions, deflections and occurrence of concrete spalling were examined.

Different degrees of concrete spalling observed at the soffit had significant effects on the temperature distribution and stress redistribution. This was the major reason for the progressive concrete spalling observed, resulting in loss of structural integrity and stiffness.

The structural behaviour of two-way post-tensioned concrete flat slabs at elevated temperatures is less understood compared to their one-way counterparts. Therefore, the present study has focused on the structural behaviour of two-way post-tensioned concrete flat slabs with bonded tendons in fire, a field in which relatively little information on experimental work can be found.

Fibre reinforced polymer (FRP) materials are currently used for concrete structures in areas where corrosion problems are serious. Recent applications of FRP rebars in normal reinforced concrete structures in fact cannot fully utilise the strength of FRP. A more rational use of FRP would be in the area of prestressed concrete (PC) structures. In spite of the superb strength provision of FRP tendons over steel tendons, use of FRP PC members is often questioned by practising design engineers. This is largely due to the brittleness of FRP tendons and lack of ductility in FRP RC structures. Recent research has demonstrated some important findings in promoting the confidence of adopting FRP RC beams. This paper reviews some recent work on the use of FRP in PC structures. Future possible research areas are also highlighted.

Presents a non‐linear numerical model for the computations of post‐tensioned plane structures. Generally curved prestressing tendons and reinforcing bars are embedded into the concrete and they are modelled independently of the concrete mesh using one‐dimensional curvilinear elements. Among the losses which influence the decrease in the prestress force, it is possible to compute the losses caused by friction between tendons and the concrete, the losses which result from the concrete deformation and the losses in the anchorage zone. The computation for post‐tensioned structures is organized in phases: the phase preceding prestressing (Phase I), the prestressing phase (Phase II) and the phase following prestressing (Phase III). The load is applied incrementally until failure. The model is tested on a number of examples.

To provide an insight in one relatively simple and efficient numerical model for analysing reinforced and prestressed concrete structures, and to raise a discussion leading to the creation of one universal and robust 3D algorithm.

A new numerical model for analysing reinforced and prestressed concrete structures is developed and main theoretical details are described to aid the understandings. The approach is clear, easily readable and the body of the text is divided into logical sections starting from theoretical explanations ending in the large number of different practical examples.

Provides information about developing new and relatively simple numerical model for analysing reinforced and prestressed concrete structures, indicating what can be improved. Recognises the lack of knowing real behaviour of 3D concrete and starts a discussion on it.

The knowledge of the 2D and especially 3D concrete behaviour is still poor and the concrete model developers use many simplifications. So, many new experiments should be performed and better numerical models should be developed. There is large area for researchers but having in mind that experiments are very expensive.

Obtained results of the 3D analysis of reinforced and prestressed concrete structures can stand as a benchmark for future researches in this field especially to the young researchers and concrete model developers.

This paper presents new and very simple numerical model for analysing reinforced and prestressed concrete structures. Paper could be very valuable to the researchers in this field as a benchmark for their analyses.

The partially prestressed concrete beam with unbonded tendon is still an active field of research because of the difficulty in analyzing and understanding its behavior. The finite-element (FE) simulation of such beams using numerical software is very scarce in the literature and therefore this study is taken to demonstrate the modeling aspects of unbonded partially prestressed concrete (UPPSC) beams. This study aims to present the three-dimensional (3-D) nonlinear FE simulations of UPPSC beams subjected to monotonic static loadings using the numerical analysis package ANSYS.

The sensitivity study is carried out with three different mesh densities to obtain the optimum elements that reflect on the load–deflection behavior of numerical models, and the model with optimum element density is used further to model all the UPPSC beams in this study. Three half-symmetry FE model is constructed in ANSYS parametric design language domain with proper boundary conditions at the symmetry plane and support to achieve the same response as that of the full-scale experimental beam available in the literature. The linear and nonlinear material behavior of prestressing tendon and conventional steel reinforcements, concrete and anchorage and loading plates are modeled using link180, solid65 and solid185 elements, respectively. The Newton–Raphson iteration method is used to solve the nonlinear solution of the FE models.

The evolution of concrete cracking at critical loadings, yielding of nonprestressed steel reinforcements, stress increment in the prestressing tendon, stresses in concrete elements and the complete load–deflection behavior of the UPPSC beams are well predicted by the proposed FE model. The maximum discrepancy of ultimate moments and deflections of the validated FE models exhibit 13% and −5%, respectively, in comparison with the experimental results.

The FE analysis of UPPSC beams is done using ANSYS software, which is a versatile tool in contrast to the experimental testing to study the stress increments in the unbonded tendons and assess the complete nonlinear response of partially prestressed concrete beams. The validated numerical model and the techniques presented in this study can be readily used to explore the parametric analysis of UPPSC beams.

The developed model is capable of predicting the strength and nonlinear behavior of UPPSC beams with reasonable accuracy. The load–deflection plot captured by the FE model is corroborated with the experimental data existing in the literature and the FE results exhibit good agreement against the experimentally tested beams, which expresses the practicability of using FE analysis for the nonlinear response of UPPSC beams using ANSYS software.

The current methods for inspecting tall or deep structures such as towers, chimneys, silos, and wells suffer from certain constraints. Manual and assisted inspection methods including humans, drones, wall climbing robots, and others are either costly, have a limited operation time, or affected by field conditions, such as temperature and radiation. This study aims to overcome the presented challenges through a teleoperated soft continuum manipulator capable of inspecting tall or deep structures with high resolution, an unlimited operation time and the ability to use different arms of the manipulator for different environments and structure sizes.

The teleoperated manipulator uses one rotary and two tendon actuators to reach and inspect the interior of a tall (or deep) structure. A sliding part along the manipulator’s body (arm constrainer and tendon router) induces a variable-length bending segment, allowing an inspection camera to be placed at different distances from the desired location.

The experiments confirmed the manipulator’s ability to inspect different locations in the structure’s interior. The manipulator also demonstrated a submillimeter motion resolution vertically and a 2.5 mm per step horizontally. The inspection time of the full structure was 48.53 min in the step-by-step mode and was calculated to be 4.23 min in the continuous mode.

The presented manipulator offers several design novelties: the arm’s thin-wide cross-section, the variable-length bending segment in a fixed-length body, the external rolling tendon routing and the ability to easily replace the arm with another of different material or dimensions to suite different structures and environments.

The fire-safe structural design and construction of unbonded post-tensioned (UPT) flat plate concrete structures has recently come under debate in the UK, and questions are being raised regarding the response to fire of post-tensioned concrete slabs. Related to these concerns is the real world response of continuous UPT tendons inside such structures both during and after a fire, which is largely unknown and depends on many potentially important factors which are not currently accounted for in standard fire tests. Several credible concerns exist for UPT concrete structures in fire, most notably the potential for premature tendon rupture due to localized heating which may result from a number of possible causes (discussed herein). The research presented in this paper deals specifically with the time-temperature-stress-strength interdependencies of stressed UPT tendons under localized transient heating, as may be experienced by tendons in a real UPT building in a real fire. Nineteen high temperature stress relaxation tests on UPT tendons of realistic length and parabolic longitudinal profile are reported. It is shown that localized heating of UPT tendons is likely to induce premature tendon rupture during fire, even in structures which meet the prescriptive concrete cover requirements imposed by available design codes.

Introduction The development of the pre‐stressed concrete form of construction for pressure vessels has made rapid strides in recent years. Vessels of this type possess obvious advantages for nuclear power stations, and those currently under construction in this country employ such vessels for the reactor containment. During the construction of one station — for which this Company was appointed Inspecting Authority — an unusual corrosion problem arose which may well be pertinent to other pre‐stressed concrete structures. The post‐tensioning method of pre‐stressing using tendons stretched through the concrete and anchored at the outer face of the vessel was employed. About nine months after installation of the tendons in the bottom caps of the two vessels, it was discovered that serious corrosion had occurred. The C.E.G.B. subsequently set up a Working Party on which all interested bodies were represented, in order to look into the causes and recommend preventative measures. Extensive investigations were made both on site and in the laboratory. The following briefly summarises the case and the investigations carried out.

This is Part II of a two part paper dealing with the current state of knowledge of the fire-safe structural design and construction of unbonded post-tensioned (UPT) flat plate concrete structures. Part I provided detailed results of nineteen transient high temperature stress relaxation tests on restrained UPT tendons of realistic length and parabolic longitudinal profiles. Experimentation identified several credible concerns for UPT concrete structures in fire, most notably the potential for premature tendon rupture due to localized heating, which may result from a number of possible causes in a real structure. The real world response of continuous UPT tendons both during and after heating is largely unknown, and is dependent on factors which are not currently accounted for either in standard fire tests or by available prescriptive design guidance. This second part of the paper presents and applies a numerical model to predict the time-temperaturestress-strength interdependencies of stressed UPT tendons under localized transient heating, as may be experienced by tendons in a real concrete building in a real fire. The model is used, along with previously developed and validated computational models for heat transfer and prestress relaxation in UPT tendons, to assess existing prescriptive concrete cover requirements for UPT slabs. It is shown that localized heating of UPT tendons is likely to induce premature tendon rupture during fire, and that current prescriptive code procedures based on concrete cover alone are, in general, insufficient to prevent this. Based on the data presented it appears that minimum code prescribed concrete covers for UPT structures require revision if premature tendon rupture during fire is to be avoided.

The purpose of this paper is to study the preload range of tendon-driven manipulator and the relationship between preload and damping. The flexible joint manipulator (FJM) with joint flexibility is safer than traditional rigid manipulators. A FJM having an elastic tendon is called an elastic tendon-driven manipulator (ETDM) and has the advantages of being driven by a cable and having a more flexible joint. However, the elastic tendon introduces greater residual vibration, which makes the control of the manipulator more difficult. Accurate dynamic modeling is effective in solving this problem.

The present paper derives the relationship between the preload of the ETDM and the friction moment through the analysis of the forces of cables and pulleys. A dynamic model dominated by Coulomb damping is established.

The linear relationship between a decrease in the damping moment of the system and an increase in the ETDM preload is verified by mechanics analysis and experiment, and a curve of the relationship is obtained. This study provides a reference for the selection of ETDM preload.

The method to identify ETDM damping by vibration attenuation experiments is proposed, which is helpful to obtain a more accurate dynamic model of the system and to achieve accurate control and residual vibration suppression of ETDM.