[Motions].

Seismic Fragility Assessment of Steel SMRF Structures under Various Types of Near Fault Forward Directivity Ground Motions

In this paper, the seismic collapse probability of special steel moment-resisting frame (SSMRF) structures under near fault pulse-like and far fault ordinary ground motions is evaluated through fragility analysis. For this purpose, five sample frames with 3 to 15 stories are designed and imposed to the ground motion excitations with different characteristics. Fragility curves are derived for th...

Wavelet-based Analysis for Pulse Period of Earthquake Ground-motions

Pulse period of earthquake records has been known as a key parameter in seismology and earthquake engineering. This paper presents a detailed characterization of this parameter for a special class of earthquake records called pulse-like ground motions. This type of motions often resulting from directivity effects is characterized by a strong pulse in the velocity time history of motion, in norm...

Analysis of 3D Passive Walking Including Turning Motions for the Finite-width Rimless Wheel

The focus of studies in the field of passive walking has often been on straight walking, while less attention has been paid to the field of turning motions. In this paper, the passive motions of a finite width rimless wheel as the simplest 3D model of passive biped walkers was investigated with a focus on turning motions. For this purpose, the hybrid model of the system consisting of continuous...

Structure of proper motions in a sunspot penumbra

A WAVELET-BASED PROCEDURE FOR MINING OF PULSE-LIKE GROUND MOTIONS FEATURES ON RESPONSE SPECTRA

The main objective of this paper is to present a wavelet-based procedure to characterize principle features of a special class of motions called pulse-like ground motions. Initially, continues wavelet transform (CWT) which has been known as a powerful technique both in earthquake engineering and seismology field is applied easily in automated detecting of strong pulse of earthquakes. In this pr...

Analytical Dynamic Modelling of Heel-off and Toe-off Motions for a 2D Humanoid Robot

The main objective of this article is to optimize the walking pattern of a 2D humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. To this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. Then, using these trajectories and the inverse kinematics, the position tra...