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Vibration Analysis in the Presence of Uncertainties Using Universal Grey System

Theory

Article in Journal of Vibration and Acoustics · January 2018

DOI: 10.1115/1.4038940

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 Vibration Analysis in the Presence of Uncertainties Using Universal
Grey System Theory

X. T. Liu 1
University of Miami
Department of Mechanical and Aerospace Engineering, University of Miami, Coral
Gables, FL 33146

d
xintianster@gmail.com

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S. S. Rao 2
University of Miami

ed
Department of Mechanical and Aerospace Engineering, University of Miami, Coral
Gables, FL 33146

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srao@miami.edu
ASME Fellow

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ABSTRACT

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The uncertainty present in many vibrating systems has been modeled in the past using

several approaches such as probabilistic, fuzzy, interval, evidence, and grey system based
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approaches depending on the nature of uncertainty present in the system. In most

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practical vibration problems, the parameters of the system such as stiffness, damping and
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mass, initial conditions and/or external forces acting on the system are specified or
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known in the form of intervals or ranges. For such cases, the use of interval analysis

appears to be most appropriate for predicting the ranges of the response quantities such as
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natural frequencies, free vibration response and forced vibration response under specified
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external forces. However, the accuracy of the results given by the interval analysis suffers
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from the so-called dependency problem which causes an undesirable expansion of the
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intervals of the computed results, which in some cases, can make the results unacceptable

for practical implementation. Unfortunately there has not been a simple approach that can
1
Research visiting scholar, from School of Automotive Engineering, Shanghai University of Engineering
Science, Shanghai 201620, China.
2
Corresponding author.

VIB -17-1088 Rao 1

improve the accuracy of the basic interval analysis. This work considers the solution of

vibration problems using universal grey system (or number) theory for the analysis of

vibrating systems whose parameters are described in terms of intervals or ranges. The

computational feasibility and improved accuracy of the methodology, compared to

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interval analysis, are demonstrated by considering one and two degree-of-freedom

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systems. The proposed technique can be extended for the uncertainty analysis of any

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multi-degree of freedom system without much difficulty.

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1 INTRODUCTION

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Need for uncertainty approaches in vibration analysis: It is well recognized that

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uncertainty analysis plays an important role in predicting the performance characteristics

accurately and achieving improved designs of engineering systems, including vibrating

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systems. In most practical vibrating situations, the exact values of parameters such as
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stiffness, damping and mass, initial conditions and/or external forces are not known. The
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parameters of stiffness elements such as coil diameter, wire diameter, number of turns
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and shear modulus of the material of a helical spring or length, width, thickness and

material properties such as Young’s modulus and Poisson’s ratio of a beam or plate are
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subject to manufacturing tolerances and variabilities. Another parameter, the damping

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constant of a viscous damper, for example, varies due to the tolerances on diameters of
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piston and cylinder as well as the clearance between the cylinder and piston and the
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viscosity of the fluid due to the unavoidable variations associated with the production

process and the fluctuations in the operating temperature of the damper. The boundary

conditions of a beam or a plate may not be completely fixed or completely simply

VIB -17-1088 Rao 2

supported so that the condition needs to be considered to lie between a fixed end and a

simply supported end. The initial conditions of the system are subject to variation due to

human error and fluctuations in measuring instruments. The loads due to eccentricity or

unbalance in rotating elements such as disks and shafts are subject to manufacturing

d
errors and tolerances. The exact values of external loads acting on a vibrating system are

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not known in most cases. For example, the earthquake loads acting on a structure or

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machine are not known in advance; only data on the magnitudes of past loads are

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available. The properties of materials used for the various subsystems and components

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are not known precisely because they are known to exhibit scatter in experiments. All the

uncertainties indicated above support the need of using an uncertainty-based approach for

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the analysis and design of vibrating systems.

Uncertainty approaches used in vibration analysis: The theories of probability are well
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established and their use requires information on the probability distributions of the
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random or uncertain variables of the system. The practical difficulties involved in using
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the probabilistic approaches include: (i) the exact probability distributions of the
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uncertain parameters are not known, and (ii) even if acceptable probability distributions

of individual parameters are assumed, the joint distribution function of all the random
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parameters and its evaluation using multiple integrations on the space corresponding to
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the operating conditions of the vibrating system proves to be extremely difficult. In spite
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of the difficulties, probabilistic approaches have been used in many vibration applications
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by assuming normal distribution and/or other approximations in the [1-3]. Normal

distribution for random variables and Gaussian process for random vibration was

assumed for the dynamic modeling of structures during optimization by Rao [2]. Cavalini

VIB -17-1088 Rao 3

et al [3] presented an analysis of uncertainties affecting the load capability of a 4-pad

tilting pad journal bearing in which the load is applied on a specific pad using a stochastic

method. In view of the limitations associated with the use of probabilistic methods,

several other uncertainty models include fuzzy theory [4], interval analysis [5], evidence

d
theory [6] and grey system theory [7] have been developed. The fuzzy and possibility

ite
theory can be applied to problems involving imprecise data or variables and linguistic

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statements. It is based on the use of membership functions to indicate the degree or level

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of support to a given statement. A fuzzy finite element approach was developed by Chen

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and Rao for the vibration analysis of imprecisely–defined systems [8]. A fuzzy finite

element procedure was presented for the calculation of uncertain frequency response

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functions of damped structures by Moens and Vandepitte [9]. In Ref. [10], Qiu and Rao

presented a fuzzy approach for the analysis of unbalanced nonlinear rotor system.
rip

Evidence theory methods have been applied in the modeling and design of uncertain
sc

mechanical systems by Rao and Annamdas [11].

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In interval analysis, each uncertain variable or parameter is assumed to be an interval

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number with specified lower and upper bounds. Reference [12] presented an overview of

the uncertainty models used in vibration control and fuzzy analysis of structural systems
ed

until 1997. It noted that uncertainty modeling and analysis were becoming an integral
pt

part of system definition and modeling in many fields of engineering. Dimarogonas

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presented an interval analysis approach for solving the eigenvalue problems associated
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with vibrating systems having uncertainties in the form of ranges [13]. Noting that the

application of interval analysis theory directly for the solution of the eigenvalue problem

leads to divergence of results, he suggested the use of Monte Carlo method for numerical

VIB -17-1088 Rao 4

solution. A major limitation of interval analysis is the dependency problem. Because of

this problem, any response quantity computed using one or more interval or uncertain

parameters, will have a wider or larger range compared to the correct range, if any

interval parameter appears more than once in the evaluation (expression) of the response.

d
To overcome the dependency problem, several investigators proposed different schemes

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such as truncation approach [14] and parameterization of intervals [15]. However, the

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application of interval analysis for the uncertainty analysis of any engineering system for

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accurate solutions requires a proper understanding of the physics of the problem at hand

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and developing a suitable method to alter or adjust the basic interval analysis process.

Luo, Huang and Fan used the universal grey transfer matrix method for calculating the

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natural frequencies of lumped mass systems involving stiffnesses and masses in interval

form. They expressed the transfer matrix based frequency equation in symbolic form
rip

using Maple and found the natural frequencies using universal grey theory [16]. Rao and
sc

Jin presented the analysis of coupled bending-torsional vibration of beams in the presence
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of uncertainties which were modeled by the normal interval method, interval-

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discretization method, truncation-based interval method and universal grey system

method [17]. The resulting vibration problem was formulated and solved as a system of
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nonlinear interval equations. The results were shown to be in agreement with those given
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by the Monte Carlo simulation approach. It is to be noted that universal grey system
ce

approach was used only to derive the coefficients of the frequency equation; the natural
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frequencies were determined by solving the frequency equation using an interval analysis

based technique in [17].

VIB -17-1088 Rao 5

Scope of the present work: This work presents a universal grey system (number) theory -

based approach for the vibration analysis of systems whose parameters are known in the

form of intervals or ranges. The basic mathematical properties of both universal grey

numbers and interval numbers are presented. The forced response of a damped single

d
degree of freedom system subjected to harmonic base excitation, in terms of the

ite
displacement and force transmissibilities, and the free vibration response of a two degree

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of freedom system under initial conditions are given as examples to illustrate the

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methodology. For comparison, the results of deterministic analysis and interval analysis

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are also included. The universal grey number theory and interval analysis use the same

interval values, while the deterministic analysis is based on the central values of the

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interval numbers. More meaningful and accurate results can be achieved with the present

approach, compared to of the normal interval analysis, are shown. The computational
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aspects and the additional interpretations involved with the present approach in finding
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the solution of vibration problems near resonance are discussed.

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2. BRIEF OVERVIEW OF GREY SYSTEM THEORY

2.1 Background and definitions

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The grey system theory was first introduced by Deng in 1982 for the analysis of systems
pt

in which the values of the parameters are partially known and partially unknown [18].
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The term grey system originated from the commonly used term black box for describing
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a system whose internal details are completely unknown. Thus the word black is

associated with unknown information and, its complement white is used to denote

completely known information. Accordingly, the word grey is used to denote partially

VIB -17-1088 Rao 6

known information. In a grey system, the partially known parameters are termed grey

numbers. A general grey number is defined similar to an interval number and arithmetic

operations with grey numbers are defined, although similar to those of interval numbers

in some cases, they are defined differently in certain cases.

d
A grey number is a number whose value is unknown among a set of continuous

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numbers that have clearly defined lower and upper bounds. A grey number, x , can be

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[ ] { }
expressed as x = x, x = t | x≤t ≤ x , where t denotes the information with x− and x + as the

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lower and upper bounds of the information, respectively. Thus a grey number is

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represented in terms of its possible range of variation. In this sense, a grey number is

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same as an interval number and hence the arithmetic operations of grey numbers are
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similar to those of interval numbers. However, unlike interval numbers, grey numbers
rip

can also be defined in terms of discrete numbers [19]. Hence continuous intervals will not

be able to reveal the information available in discrete grey numbers. Consider a discrete
sc

grey number, x , which is defined, for example, as the choice of one number among 3, 8,
nu

10 and 15. Thus the representation of the grey number as x = [3, 8,10, 15] implies that
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each of the four numbers has a chance or probability of 0.25 to become a white number.

If it is written as an interval number as x = [3, 15] , it implies the probability of each

ed
pt

number in the range of 3 to 15 getting selected as a white number is zero. To combine the
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interval type of grey numbers and discrete grey numbers, the extended grey numbers are
Ac

defined. A grey number is termed an extended grey number if its representation includes

both continuous and/or discrete values, such as x = [3 ~ 10,12, 15] . A grey number x ,

involving a range of continuous real numbers such as [ x , x ] , is called a universal grey

VIB -17-1088 Rao 7

   x 
number when it is rewritten in the form x =  x ,  , 1  ; and the arithmetic operations of
  x 

universal grey numbers are defined using a similar notation. The universal grey numbers

do not exhibit the dependency problem because of the way they are defined along with

d
the basic mathematical operations defined for these numbers. Thus the universal grey

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numbers exhibit all the desirable characteristics of interval numbers without the

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undesirable accumulation of error associated with interval number-based arithmetic

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operations.

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2.2 Applications

Grey system theory has been applied to many practical problems such as meteorological

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disaster risk analysis, flood disaster risk analysis, risk analysis of construction projects,
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and power demand forecasting, although there have been very few applications in
rip

engineering. Liu and Lin [7] presented several applications of grey system theory to
sc

practical problems. The advances in grey systems research is summarized by Liu and
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Forrest in 2010 [19]. Gong and Forrest edited a special issue on meteorological disaster
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risk analysis and assessment on the basis of grey system theory in 2014 [20]. Zou et al

[21] considered flood disaster risk analysis based on maximum entropy and attribute
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interval recognition theory. Zavadskas et al [22] addressed the problem of risk

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assessment of construction projects. Hsu and Chen [23] applied an improved grey
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prediction model for power demand forecasting.

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2.3 Basic mathematical properties

Universal grey numbers:

The most general representation of an universal grey number, such as x , is of the form

x = ( x0 , [x1 , x 2 ]) (1)

VIB -17-1088 Rao 8

where x0 , x1 and x2 denote a multiplying factor, lower bound measure, and upper bound

measure, respectively. The number x given in Eq. (1) can also be represented as an

interval number as x = [x0 x1 , x0 x2 ] , where x0 x1 and x1 x2 denote the lower and upper

bounds of x , respectively. Denoting x = ( x0 , [x1 , x2 ]) and y = ( y0 , [ y1 , y 2 ]) as two

d
ite
universal grey numbers, the basic arithmetic operations of universal grey number can be

ed
defined as follows:

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  x x + y 0 y1 x0 x 2 + y 0 y 2  
x + y = (x0 , [x1 , x 2 ]) + ( y 0 , [ y1 , y 2 ]) =  x0 + y 0 ,  0 1 ,   (2)
  0 x + y 0 x 0 + y 0 

Co
  x x − y 0 y1 x0 x 2 − y 0 y 2  
x − y = (x0 , [x1 , x 2 ]) − ( y 0 , [ y1 , y 2 ]) =  x0 − y 0 ,  0 1 ,   (3)
− −

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 
tN x 0 y 0 x 0 y 0 

x ⋅ y = ( x0 , [x1 , x 2 ]) ⋅ ( y 0 , [ y1 , y 2 ]) = ( x0 ⋅ y 0 , [x1 y1 , x 2 y 2 ]) (4)

rip

x÷ y=
(x0 , [x1, x2 ]) =  x0 ,  x1 , x2   (5)
( y0 , [y1, y2 ])  y0  y1 y2  
sc
nu

The arithmetic operations of universal grey numbers satisfy the associative, commutative
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and distributive properties.

Interval numbers:
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A general interval number, such as x , is represented as x = [x1 , x2 ] or x = x, x [ ]

pt

where x1 (or x ) and x2 (or x ) denote the lower and upper bounds, respectively, of the
ce

interval number x . If x , y and z indicate three different interval numbers as

Ac

x = [x1 , x2 ] , y = [ y1 , y 2 ] and z = [z1 , z 2 ] , the basic interval arithmetic operations between

two numbers can be defined as

x + y = [x1 , x 2 ] + [ y1 , y 2 ] = [x1 + y1 , x 2 + y 2 ] (6)

VIB -17-1088 Rao 9

 x − y = [x1 , x 2 ] − [ y1 , y 2 ] = [x1 − y 2 , x 2 − y1 ] (7)

x ⋅ y = [x1 , x 2 ] ⋅ [ y1 , y 2 ] = [min(x1 y1 , x1 y 2 , x 2 y1 , x 2 y 2 ), max(x1 y1 , x1 y 2 , x 2 y1 , x 2 y 2 )] (8)

1 1  x x x x   x x x x 
= [x1 , x 2 ] ⋅  ,  = min 1 , 1 , 2 , 2 , max 1 , 1 , 2 , 2 
x
x÷ y = (9)
y  y 2 y1    y 2 y1 y 2 y1   y 2 y1 y 2 y1 

d
It is to be noted that the division operation is defined only if 0 ⊄ [ y1 , y 2 ] , in other words,

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ed
only if the range or interval of y does not include zero. The interval operations of

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addition and multiplication are both associative and commutative. The property of

distributive law is not satisfied for interval numbers in all the cases. However, the

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following characteristic, known as subdistributive property (instead of the distributive

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property), holds true for interval numbers: tN
x ⋅ (y + z) ⊂ x ⋅ y + x ⋅ z (10)
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where a dot denotes multiplication. This characteristic is considered to be the main reason
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for the dependency problem in interval analysis [24]. It can be shown that the universal

grey numbers do not exhibit the dependency problem.

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3. VIBRATION ANALYSIS USING GREY SYSTEM THEORY

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To illustrate the applications of universal grey number theory for vibration analysis,
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two examples are considered - a damped single degree of freedom system subjected to
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harmonic base excitation and a two degree of freedom system undergoing free vibration.
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For each example, the results given by the universal grey number theory are compared
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with those obtained by the interval analysis and the deterministic method.

3.1 Response of a damped single degree of freedom system

Case 1: The response of a single degree of freedom system with uncertain parameters

is considered. The spring-mass-damper system is assumed to be subjected to a harmonic

VIB -17-1088 Rao 10

base motion as shown in Fig.1. The deterministic approach, interval analysis and

universal grey number theory are used for the analysis with the corresponding versions of

the equations for the response quantities. For the numerical uncertainty analysis, the

intervals of the uncertain parameters of the system are assumed as k = [9900,10100]N/m,

d
m = [38,42] kg, the range of c is defined in terms of the damping ratio ( ζ ) whose mean

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value is assumed to vary from 0 to 0.5. The uncertain base excitation frequency is

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assumed as an interval, ω = [ ω , ω ] and the mean frequency ratio is defined as

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 ω +ω 

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r =  .

ωn +ωn 

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+x
rip
sc

m
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+y
Y(t)=Y sin (ωt)
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k c
+y
ed

0 t
pt

Base
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Figure 1 A spring-mass-damper system subjected to base excitation

Ac

VIB -17-1088 Rao 11

 F(t)=F0 sin(ωt)
+x

d
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k c

ed
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Figure 2 A spring-mass-damper system subjected to harmonic force

(i) Deterministic analysis:

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The equation of motion of the system is given by (Fig. 1):
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mx + c(x − y ) + k (x − y ) = 0 (11)

sc

where y (t ) = Y sin ωt is the harmonic motion of the base at frequency ω . Equation (11)
nu

can be rewritten as,

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mx + cx + kx = ky + cy = kY sin ωt + cωY cos ωt = A sin (ωt − α ) (12)

The steady state solution of Eq. (12) can be expressed as

ed

x p ( x ) = X sin (ωt − φ ) (13)

pt

where X is the amplitude of motion of the mass and φ is the phase angle:
ce

1
Ac

 k 2 + (cω ) 2
2
X =  Y (14)
( )
 k − mω 2 + (cω ) 
2 2

 mcω 3 
φ = tan −1  
( )
3 3 
 k k − mω + c ω 
2
(15)

VIB -17-1088 Rao 12

For this system, the amplitude of motion of the mass (or machine) is of interest. In this

content, the displacement transmissibility of the system is determined as

X  k 2 + (cω )2 2
Td = =  (16)
( )
Y  k − mω 2 2 + (cω )2 
 

d
The use of the mean values of the interval data for the system parameters gives m = 40

ite
kg, k = 10000 N/m and c = 126.4911 N-s/m (for ζ = 0.1 ), Thus the natural frequency of

ed
the system is given by ω n = k / m = 15.8114 rad/s.

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(ii) Interval analysis:

If the parameters of the system are uncertain, and are expressed as interval numbers as

[ ] [ ] [ ] [ ]
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[ ]
k = k , k , c = c, c , m = m, m , ω = ω , ω and Y = Y , Y , Eq. (16), for example, can be
tN
expressed in interval form as
rip

[T ] =

 [ ] ([ ][ ])
2
k , k + c, c ω , ω
2 2

([ ] [ ][ ] ) ([ ][ ])
sc

,T d (17)
 2 
d
2 2
 k , k − m, m ω , ω + c, c ω , ω 
nu

and the natural frequency as

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ωn =
k [k , k ] = [15.35299,16.30305]
m
=
[m, m] (18)
ed

(iii) Universal grey system analysis:

pt

If the uncertain parameters of the system are modeled as universal grey numbers as
ce

 k   c   m   ω    Y 
k =  k ,  ,1  , c =  c,  ,1  , m =  m,  ,1  , ω =  ω ,  ,1  , and Y =  Y ,  ,1  ,
Ac

 k   c   m   ω    Y 

Eq. (16), for example, can be rewritten as universal grey system relation:

VIB -17-1088 Rao 13

  2 2 
   k      c    ω    
 
 k ,  ,1  +   c,  ,1  ω ,  ,1   
  Td      k      c    ω   
 Td ,  ,1  =   (19)
 T     2
2 2
  d       k     m    ω       c    ω    
 k , ,1  −  m, ,1  ω , ,1  +   c, ,1  ω , ,1  
    k     m    ω       c    ω    
    

d
The natural frequency can be computed as (in rad/s)

ite
 k 
 k ,  ,1 

ed
k 
=  = [15.50729,16.14083] rad/s
k
ωn = (20)
m  m 
 m,  ,1 

py
 m 

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The uncertainty in the input parameters is assumed as ± 5 percent in the mass ( m ),

± 1 percent in the stiffness ( k ), and ± 2.4 percent in the damping constant ( c ). The

ot
tN
variations of interval displacement transmissibility Td with the mean frequency ratio,

 ω +ω 
rip

r =   , are shown in Figs. 3 (a) and (b) for two different mean values of the

ωn +ωn 
sc

damping ratio, ζ = 0.1 and 0.5, respectively. These figures show the variabilities in the
nu

response of the system ( Td ) given by the interval analysis and universal grey system
Ma

theory compared to the deterministic results. Normally the variabilities in the response

quantities of the system are expected to be of order similar to those of the input
ed

parameters. The intervals of the natural frequency of the system (which involves just two
pt

interval numbers, m and k and two arithmetic operations) exhibit a reasonable

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variations of - 2.9/+3.11 percent in the result given by the interval analysis (Eq. (18)) and
Ac

– 1.92/+2.08 percent in the result given by the universal grey system theory (Eq. (20))

compared to its deterministic value. Figures 3(a) and (b) indicate that the variabilities in

the displacement transmissibility (which involves more computations) given by the

VIB -17-1088 Rao 14

interval analysis are substantially larger compared to those predicted by the universal

grey system theory. For example, compared to the deterministic analysis, the interval

analysis predicts variabilities of – 24.71/+ 38.12 percent for r = 1.5 and ζ = 0.3 ; and –

24.61/+ 34.70 percent for r = 3.0 and ζ = 0.5 . On the other hand, the universal grey

d
ite
system theory gives the variabilities in Td about the deterministic values of – 5.71/+9.73

percent for r = 1.5 and ζ = 0.3 ; and – 0.37/+ 2.64 percent for r = 3.0 and ζ = 0.5 . It can

ed
py
be seen that the predicted variations in the displacement transmissibility are unreasonably

large and hence the results given by the interval analysis do not appear to be accurate

Co
compared to those given by the universal grey system theory.

ot
tN
12.5
Displacement transmissbility Td

rip

10.0
ζ =0.1
sc

Interval analysis
7.5 Universal grey number theory
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Mean (deterministic) Value (D)

5.0
Ma

D
2.5
ed

0.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0
pt

r
ce

Figure 3(a) Variation of displacement transmissibility with frequency ratio

Ac

for ζ = 0.1

VIB -17-1088 Rao 15

 3.0

Displacement transmissbility Td
2.5 ζ =0.5
Interval analysis
Universal grey number theory
2.0
Mean (deterministic) Value (D)

1.5 D

d
ite
1.0

ed
0.5

py
0.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0

Co
r

Figure 3(b) Variation of displacement transmissibility with frequency ratio

for ζ = 0.5
ot
tN
rip

The numerical values of the intervals of Td computed for different values of the mean
sc

damping ratio are shown in Tables 1(a) - (c) for several values of the mean frequency
nu

ratio r . Tables 1(a), 1(b) and 1(c) show the results of the deterministic analysis (Eq. (16)),
Ma

interval analysis (Eq. (17)) and universal grey system theory (Eq. (19)), respectively.

Table 1 (a) Displacement transmissibility Td using deterministic analysis

ed

ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

pt

mean r
ce

0 1.0 1.0 1.0 1.0

0.50 1.33333 1.33204 1.32207 1.30384
Ac

1.00 NAN 10.04988 3.48010 2.23607

1.50 0.80000 0.80319 0.82541 0.85749
2.00 0.33333 0.33918 0.38118 0.44721
2.50 0.19048 0.19612 0.23570 0.29662

VIB -17-1088 Rao 16

 3.00 0.12500 0.13041 0.16712 0.22149

Table 1 (b) Intervals of displacement transmissibility Td using interval analysis

Mean r ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

d
0 1.0 1.0 1.0 1.0

ite
0.50 [1.27025, 1.41455] [1.26789, 1.41442] [1.24976, 1.41340] [1.21708, 1.41151]

ed
1.00 [NaN, NAN] [4.81688, 11.83115] [2.63559, 4.15205] [1.77893, 2.72407]
1.50 [0.61066, 1.09316] [0.61210, 1.09928] [0.62242, 1.14006] [0.63828, 1.19373]

py
2.00 [0.27108, 0.41596] [0.27442, 0.42618] [0.29898, 0.49745] [0.33923, 0.60419]

Co
2.50 [0.15806, 0.23154] [0.16143, 0.24099] [0.18573, 0.30499] [0.22482, 0.39884]
3.00 [0.10471, 0.15017] [0.10799, 0.15907] [0.13110, 0.21686] [0.16699, 0.29834]

ot
Table 1 (c) Intervals of displacement transmissibility Td using universal grey system
tN
analysis@
rip

Mean r ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

sc

0 1.0 1.0 1.0 1.0

nu

0.50 [1.30849, 1.35117] [1.30746, 1.34967] [1.29945, 1.33812] [1.28463, 1.31720]

1.00 [17.55795, 25.250] [9.03733, 9.11726] [3.33192, 3.60113] [2.16192, 2.32781]
Ma

1.50 [0.74677, 0.89138] [0.75072, 0.89318] [0.77831, 0.90569] [0.81832, 0.92358]

2.00 [0.31661, 0.36073] [0.32269, 0.36624] [0.36609, 0.40610] [0.43382, 0.46941]
ed

2.50 [0.18190, 0.20433] [0.18773, 0.20969] [0.22837, 0.24770] [0.29027, 0.30708]

3.00 [0.11967, 0.13356] [0.12527, 0.13870] [0.16286, 0.17406] [0.21792, 0.22735]
pt

@
In Band: (For r = 1.00 ); ζ = 0 : [6.04251, 1334.86292]; ζ = 0.1 : [5.39286, 10.26191]
ce
Ac

Observations:

VIB -17-1088 Rao 17

• It can be seen that for all non-zero values of r , the interval analysis results exhibit

a much wider range of variation of the response characteristic Td (displacement

transmissibility), compared to those given by the universal grey system theory.

• All the upper bound values given by the universal grey number theory for non-

d
ite
zero values of r are expected to be larger than the value given by the

deterministic analysis for any combination of r and ζ values. However, from

ed
Tables 1(a) and 1(c), one can see that at resonance ( r = 1 ) for ζ = 0.0 and 0.1, the

py
values of Td given by the deterministic approach are larger than the corresponding

Co
values given by the universal grey number theory. However, it can be shown that

ot
an upper bound value of Td given by the universal grey number theory within the
tN
band corresponding to the average value of r = 1.0 is larger than the value given
rip

by the deterministic approach (except for ζ = 0.0 ).

sc

• For this, first we note that the frequency ratio, in the presence of uncertainty in the
nu

forcing frequency, ω , and the natural frequency, ω n = k / m (both k and m are

Ma

uncertain), has been defined as

ω +ω
r = raverage = ω average /(ω n ) average = (21)
ed

ωn + ωn
pt

For this problem, the variabilities about the base values of uncertain parameters
ce

are assumed to be ± 2% in ω (forcing frequency), ± 1% in k (stiffness), ± 5%

Ac

in m (mass) and ± 2.4% in c (viscous damping constant). The range of r

computed as per the above expression is 0.9504 to 1.0504. This shows that the

mean value of r = 1.0 used in the Tables 1(a) – (c) or Figs. 3(a) and (b) actually

VIB -17-1088 Rao 18

 represents a band around 1.0 from 0.9504 to 1.0504 (shown in Fig. 4(a)). The

same behavior is exhibited in the case of T f also.

• Each of the Fig. 3(a) and (b), particularly Fig. 3(b), shows that the peak of the

upper bound curve of universal grey theory occurs slightly to the right or left (i.e.,

d
ite
at a slightly larger or smaller value of r ) compared to the location of the peak of

the deterministic curve (exactly at r = 1.0 ).

ed
• The values of the displacement transmissibility Td are calculated, using a step size

py
of 0.01, at the discrete values of r = 0.9504 , 0.9604, . . . , 1.0504 within the band

Co
corresponding to the mean frequency r = 1.0 . The maximum values of

ot
Td = 1334.86292 and 10.26191 (both occurred at r = 0.9804 ) for ζ = 0 and 0.1,
tN
respectively. The value of Td = 1334.86292 can be considered to be extremely
rip

large compared to the values encountered in practical problems. Thus the

sc

universal grey number theory, in reality, predicts the upper bound values of Td
nu

larger than the corresponding values given by the deterministic approach (except

at r = 1.0 with ζ = 0 ).
Ma

Note: The expressions for the displacement transmissibility, Eq. (16) for the deterministic
ed

analysis, Eq. (17) for interval analysis, and Eq. (19) for universal grey system analysis are
pt

also valid for the force transmissibility ( T f ) of a single degree of freedom system with a
ce

fixed base as shown in Fig. 2. For this case, the force transmissibility is defined as the
Ac

ratio of the force transmitted through the spring and damper to the base (or foundation) of

the system ( FT ) and the amplitude of the harmonic force applied to the mass ( Fo ):

VIB -17-1088 Rao 19

 1

FT  k + (cω ) 
2 2 2
Tf = =  (deterministic relation) (22)
( )
Fo  k − mω 2 + (cω )2 
2

Case 2: In some applications, the force transmitted to the mass, FT , due to the base

excitation is of interest (as in the case of a package, containing a precision electronic

d
ite
instrument, undergoing harmonic motion due to road roughness during ground

ed
transportation). Here the force transmissibility of the system is defined as

py
1 1

F  m 2 + (mcω )2  2  1 + (2ζr )2 2
Tf = T = ω 2   = r 2
  (23)
kY ( 2
)
 k − mω 2 + (cω ) 
2
( )
 1 − r 2 + (2ζr ) 
2 2

Co
The variation of the force transmissibility ( T f ) with the mean frequency ratio ( r ) is

ot
shown in Figs. 4 (a) and (b) for three different values of the mean damping ratio
tN
( ζ = 0.1 and ζ = 0.5 ). It can be observed that the interval analysis predicts the variability
rip

in the force transmissibility (compared to the value given by the deterministic analysis) of
sc

– 35.84/+ 57.90 percent for r = 3.0 and ζ = 0.5 . The universal grey system theory, on
nu

the other hand, yielded a variability of – 3.20/+ 2.29 percent for r = 3.0 and ζ = 0.5 .
Ma

This shows that interval analysis predicts very large intervals compared to the

variabilities involved in the input parameters of the system. The universal grey system
ed

theory appears to be a more meaningful method for the modeling and analysis of
pt

uncertain systems when the uncertain parameters are available in the form of interval
ce

numbers. Tables 2(a) – (c) give the numerical values of the force transmissibility ( T f )
Ac

given by the deterministic approach, interval analysis and universal grey system theory,

respectively.

VIB -17-1088 Rao 20

 15
Universal grey number theory,

Force transmissibility (Tf )

Tf (at r =1.03) =14.29102
12 Deterministic approach,
Tf (at r =1.00) =10.04988
9
ζ =0.1
Interval analysis

d
Universal grey number theory
6

ite
Mean (deterministic) value (D)
D

ed
3

py
0
Banding corresponding to r =1.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0
r =0.9504 r =1.0504 r

Co
r =raverage= r+r
2

Figure 4(a) Variations of force transmissibility with frequency ratio for ζ = 0.1

ot
tN
4.0
rip
Force transmissibility (Tf )

3.5
ζ =0.5
sc

3.0
D
nu

2.5

2.0
Ma

1.5

1.0
ed

Interval analysis
0.5 Universal grey number theory
pt

Mean (deterministic) value (D)

0.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0
ce

r
Ac

Figure 4(b) Variations of force transmissibility with frequency ratio for ζ = 0.5

VIB -17-1088 Rao 21

The results are given for four values of the mean damping ratio ( ζ = 0, 0.1, 0.3, 0.5) for

seven values of the mean frequency ratio (r = 0, 0.5,1.0,1.5, 2.0, 2.5, 3.0) .

Observations:

1. It can be seen that for all non-zero values of r , the intervals of T f given by the

d
ite
interval analysis are wider than those predicted by the universal grey system

ed
theory.

2. All the upper bound values given by the universal grey number theory are

py
expected to be larger than the value given by the deterministic analysis for any

Co
combination of r and ζ values. However, from Tables 2(a) and 2(c), one can see

ot
that at resonance ( r = 1.0 ) for ζ = 0.0 , 0.1 and 0.3, the values of T f given by the
tN
deterministic approach are larger than the corresponding values given by the
rip

universal grey number theory. This behavior is similar to the case of Td . Hence
sc

the values of the force transmissibility ( T f ) are calculated, using a step size of
nu

0.01, at the discrete values r = 0.9504 , 0.9604, . . . , 1.0504 within the band
Ma

corresponding to the mean frequency r = 1.0 , and found that the maximum values

of T f = 1333.86293 , 11.29102 and 3.50749 occurred at r = 0.98 , 1.03 and 0.98,

ed

respectively. The value of T f = 1333.86293 can be considered to be extremely

pt

large compared to the values encountered in practical problems. Thus the

ce

universal grey number theory, in reality, predicts the upper bound values of T f
Ac

larger than the corresponding values given by the deterministic approach (except

at r = 1.0 and ζ = 0 ).

VIB -17-1088 Rao 22

 Table 2(a) Force transmissibility ( T f ) using deterministic analysis

Mean r ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

0 0.00000 0.00000 0.00000 0.00000
0.50 0.33333 0.33301 0.33052 0.32596

d
1.00 NaN 10.04988 3.48010 2.23607

ite
1.50 1.80000 1.80717 1.85717 1.92936
2.00 1.33333 1.35673 1.52472 1.78885

ed
2.50 1.19048 1.22573 1.47314 1.85387

py
3.00 1.12500 1.17371 1.50404 1.99339

Co
Table 2(b) Force transmissibility ( T f ) using interval analysis

ot
Mean r ζ =0 ζ = 0.1 tN ζ = 0.3 ζ = 0.5
0 0 0 0 0
0.50 [0.27025, 0.41455] [0.26975, 0.41451] [0.26589, 0.41421] [0.25894, 0.41366]
rip

1.00 [NaN, NaN] [4.09923, 13.86906] [2.24292, 4.86724] [1.51389, 3.19329]

1.50 [1.16929, 2.88327] [1.17204, 2.89941] [1.19179, 3.00698] [1.22216, 3.14853]
sc

2.00 [0.92276, 1.95045] [0.93414, 1.99834] [1.01776, 2.33255] [1.15477, 2.83306]

nu

2.50 [0.84072, 1.69642] [0.85861, 1.76563] [0.98787, 2.23456] [1.19579, 2.92214]

3.00 [0.80198, 1.58433] [0.82715, 1.67821] [1.00408, 2.28796] [1.27898, 3.14753]
Ma

Table 2(c) Force transmissibility ( T f ) using universal grey number theory@

ed

ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

pt

Mean r
ce

0 0 0 0 0
0.50 [0.30849, 0.35117] [0.30825, 0.35078] [0.30636, 0.34778] [0.30287, 0.34234]
Ac

1.00 [16.55795,26.2500] [8.59800, 9.39524] [3.39603, 3.46387] [2.19523, 2.24754]

1.50 [1.74677, 1.89138] [1.75601, 1.89521] [1.82056, 1.92175] [1.91415, 1.95969]
2.00 [1.31661, 1.36073] [1.34187, 1.38152] [1.52235, 1.53187] [1.77071, 1.80399]
2.50 [1.18190, 1.20433] [1.21980, 1.23591] [1.45995, 1.48385] [1.80993, 1.88602]

VIB -17-1088 Rao 23

 3.00 [1.11967, 1.13356] [1.17204, 1.17721] [1.47734, 1.52382] [1.92957, 2.03898]
@
In Band: (For r = 1.0 ); ζ = 0 : [5.04251, 1333.86293]; ζ = 0.1 : [7.48291, 11.29102];
ζ = 0.3 : [3.40122, 3.50749]

3.2 A two degree of freedom system: Free vibration analysis

d
The free vibration analysis of the two degree of freedom system shown in Fig. 5 is

ite
considered to illustrate the application of the uncertainty models based on interval

ed
analysis and universal grey system theory along with the deterministic analysis. The

py
masses, spring stiffnesses, damping constants, base excitation, excitation frequency and

Co
initial conditions of the system are assumed to be uncertain quantities, each defined by an

interval of values. For numerical computational, the interval parameters are assumed as:

ot
m1 = [1.99,2.01] kg, m2 = [3.976,4.024] kg, k1 = [7.944,8.056] N/m, k 2 = [3.968,4.032]
tN
N/m, c2 = [1.982,2.018] N-s/m. Other parameters are k 3 = [0,0] N/m, c1 = [0,0] N-s/m,
rip

c3 = [0,0] N-s/m, x1 (0 ) = [0.045,0.055] m, x1 (0 ) = [0,0] m/s, x2 (0 ) = [0,0] m, and

sc

x 2 (0 ) = [0.099,0.101] m/s.
nu
Ma

x1(t) x2(t)
ed

f1(t) f2(t)
k1 k2 k3
pt
ce

m1 m2
c1 c2 c3
Ac

Figure 5 A damped two degree of freedom system

VIB -17-1088 Rao 24

(i) Deterministic analysis

The (deterministic) equations of motion of the damped two degree freedom system

shown in Fig.5 are given in Appendix A. The mean values of the interval data are used in

the deterministic analysis computations. Thus the natural frequencies (in rad/s) and the

d
ratios r1 and r2 are given by

ite
ω1 = 0.79229 , ω 2 = 2.52434 (24)

ed
r1 = 2.68614 , r2 = −0.18614 (25)

py
Substitution of the mean values of the stated intervals of the initial conditions and the

Co
computed mean values of the natural frequencies and the values of r1 and r2 into Eqs.

ot
(A.15) to (A.18) leads to the free vibration response of the system can be expressed as
tN
  
x1 (t ) = x1(1) (t ) + x1( 2 ) (t )
rip

= (− 0.04406 ) cos(0.79229t − 1.49719 ) + (− 0.04875) cos(2.52434t + 0.28682 ) (26)

  
sc

x2 (t ) = x2(1) (t ) + x2( 2 ) (t )
nu

= (− 0.11836 ) cos(0.79229t − 1.49719 ) + 0.00907 cos(2.52434t + 0.28682 ) (27)

Ma

(ii) Interval analysis

The natural frequencies can be expressed in terms of interval parameters (based on the
ed

deterministic equation, (A.8)) as

pt

ω12 , ω 22 =
([ ] [ ])[ ] ([ ] [ ])[
1  k 1 , k 1 + k 2 , k 2 m 2 , m 2 + k 2 , k 2 + k 3 , k 3 m1 , m1  ]

[ ][ ] 
ce

2 m1 , m1 m 2 , m 2 
Ac

([ ] [ ])[ ] ([ ] [ ])[ ] 2
1  k , k 1 + k 2 , k 2 m 2 , m 2 + k 2 , k 2 + k 3 , k 3 m1 , m1 
  1
2  [
m1 , m1 m 2 , m 2 ][ ] 


VIB -17-1088 Rao 25

 1

([ ] [ ])([ ] [ ]) [
 k , k 1 + k , k 2 k , k 2 + k , k 3 − k , k 2
− 4 1
] 
2 2

[ ][ ]
2 2 3 2
(28)
 m 1 , m 1 m 2 , m 2 

For the interval parameters assumed, Eq. (28) gives the natural frequencies (in rad/s) as

ω1 = [0.64167,0.92064] , ω 2 = [2.48080,2.56714] (29)

d
ite
The free vibration solution of the system can be expressed in interval form (as the

ed
interval free vibration response) as
  
x1 (t ) = x1(1) (t ) + x1( 2 ) (t )

py
= [− 0.06163,−0.03386]cos([0.64167,0.92064]t + [− 1.55951,−1.40047])

Co
+ [− 0.06277,−0.03787]cos([2.48080,2.56714]t + [0.24206,0.34320]) (30)

  
x2 (t ) = x2(1) (t ) + x2( 2 ) (t )
ot
tN
= [− 0.17504,−0.08573]cos([0.64167,0.92064]t + [− 1.55951,−1.40047])
rip

+ [0.00150,0.02111]cos([2.48080,2.56714]t + [0.24206,0.34320]) (31)

sc

Equations. (30) and (31) are shown plotted in Figs. 6 and 7 along with the free vibration
nu

responses given by the deterministic analysis and the universal grey system theory. It is
Ma

evident from Figs. 6 and 7, even qualitatively, that the lower and upper bounds of the

response predicted by the interval analysis are far away from the bounds given by the
ed

grey system theory. This indicates that the results of interval analysis are not accurate
pt

while the results predicted by the universal grey system theory appear to be meaningful,
ce

particularly they are in line with the levels of uncertainty present in the input parameters
Ac

of the system.

VIB -17-1088 Rao 26

 Interval analysis (U-I and L-I)
Universal grey number approach (U-U and L-U)
Mean (deterministic) Value (D)
8

U-I
6

D
4

U-U

d
2
x (t)

ite
1

-2

ed
L-U
-4
L-I

py
-6

-8

Co
0 2 4 6 8 10 12 14 16 18 20
t
Figure 6 Free vibration response of the system ( x1 )

ot
Interval analysis (U-I and L-I)
tN
Universal grey number approach (U-U and L-U)
Mean (deterministic) Value (D)
20
rip

15
U-I
10
sc

U-U
x (t)
2

5
nu

0
D
L-U
-5
Ma

L-I
-10

-15
ed

-20
0 2 4 6 8 10 12 14 16 18 20
pt

t
Figure 7 Free vibration response of the system ( x2 )
ce
Ac

(iii) Universal grey numbers-based analysis

The natural frequencies can be expressed, in forms of universal grey parameters, as

ω12 , ω 22 =

VIB -17-1088 Rao 27

    k 1    k 2    m    k   k    m 
   k 1 ,  ,1  +  k 2 ,  ,1   m 2 ,  2 ,1  +   k 2 ,  2 ,1  +  k 3 ,  3 ,1   m1 ,  1 ,1  
1    k 1    k 2    m2    k 2   k 3     m1   
 
2   m   m  
 m1 ,  1 ,1  m 2 ,  2 ,1 
   m1   m2   
 

d
2
    k    k    m    k   k    m 

ite
   k 1 ,  1 ,1  +  k 2 ,  2 ,1   m 2 ,  2 ,1  +   k 2 ,  2 ,1  +  k 3 ,  3 ,1   m1 ,  1 ,1  
1    k 1    k 2    m2    k 2   k 3     m1   
   

ed
2 
   m   m  
 m1 ,  1 ,1  m 2 ,  2 ,1 
   m1   m2  
 

py
1
   k   k     k   k    k 
2
 2
   k 1 ,  1 ,1  +  k 2 ,  2 ,1    k 2 ,  2 ,1  +  k 3 ,  3 ,1   −  k 2 ,  2 ,1  

Co
    k 1   k 2     k 2   k 3    k 2   (32)
− 4 
   m   m  
 m 1 ,  1 ,1  m 2 ,  2 ,1 
  m 1   m2  


ot
 tN 

For the interval data assumed, Eq. (32) gives the natural frequencies as

ω1 = [0.78529,0.79843] , ω 2 = [2.49292,2.55239]
rip

(33)

The free vibration solution of the system can be expressed in interval form as the interval
sc

free vibration response (given by universal grey system theory) as

nu

  
x1 (t ) = x1(1) (t ) + x1( 2 ) (t )
Ma

= [− 0.04442,−0.04372]cos([0.78529,0.79843]t + [− 1.50417,−1.49036])
ed

+ [− 0.05326,−0.04428]cos([2.49292,2.55239]t + [0.26306,0.31554]) (34)

pt

  
x2 (t ) = x2(1) (t ) + x2( 2 ) (t )
ce

= [− 0.11867,−0.11818]cos([0.78529,0.79843]t + [− 1.50417,−1.49036])
Ac

+ [0.00828,0.00987]cos([2.49292,2.55239]t + [0.26306,0.31554]) (35)

The quantities that characterize the free vibration response of the system, namely, the

natural frequencies, (ω1 , ω 2 ) , the ratios of the amplitudes of the two masses in the two

VIB -17-1088 Rao 28

modes (r1 , r2 ) , phase angles of the two modes (φ1 , φ2 ) , and the amplitudes of the two

modes ( X 1(1) , X 1( 2 ) ) , as given by the deterministic approach, interval analysis and

universal grey system theory, are summarized in Table 3. The ranges of each of these

quantities given by the interval and universal grey theories as well as their variabilities

d
ite
from the respective deterministic values (as percentage variations below and above the

ed
deterministic value) are also given in Table 3. It can be observed that, in most cases, the

variabilities given by the interval analysis are substantially larger compared to not only

py
those given by the universal grey system theory but also the ranges of the input uncertain

Co
parameters of the system. These results also show that the universal grey system theory

ot
gives reasonable ranges for the response characteristics that appear to be consistent with
tN
the ranges of the input uncertain parameters of the system.
rip

Table 3 Intervals of response quantities and their variations from the means
sc

Interval analysis Universal grey system theory

Deterministic
nu

Quantity (Deviations from deterministic (Deviations from deterministic

analysis
value) value)
(0.64167, 0.92064) [0.78529, 0.79843]
ω1
Ma

0.79229
(- 19.0015, + 16.2131) percent (-0.883, +0.775) percent
(2.4808, 2.56714) [2.49292, 2.55239]
ω2 2.52434
(-1.7248, + 1.6954) percent (-1.245, +1.111) percent
ed

(2.53184, 2.83988) [2.67159, 2.70334]

r1 2.68614
(-5.7443, +5.7234) percent (-0.542, +0.640) percent
(-0.33628, -0,03949) [-0.18692, -0.18538]
pt

r2 -0.18614
(-80.6600, +78.7870) percent (-0.419, +0.408) percent
(-1.55951, -1.40047) [-1.50417, -1.49036]
ce

φ1 -1.49719
(-9.1625, +6.4601) percent (-0.466, +0.456) percent
(0.24206, 0.34320) [0.26306, 0.31554]
φ2
Ac

0.28682
(-15.6056, +19.6569) percent (-8.284, +10.013) percent
(-0.06163, -0.03386) [-0.04442, -0.04372]
X 1(1) -0.04406
(-39.88, +23.15) percent (-0.817, +0.772) percent
(-0.06277, -0.03787) [-0.05326, -0.04428]
X 1( 2 ) -0.04875
(-28.76, +22.32) percent (-9.251, +9.169) percent

VIB -17-1088 Rao 29

4. CONCLUSIONS

1. The application of universal grey system theory is presented for the analysis of

vibrating systems involving uncertainties. The method is applicable to any

engineering system involving uncertainties whose parameters are given in the form

d
of ranges similar to the tolerances specified for the manufacture of mechanical

ite
parts.

ed
2. Although interval analysis appears to be a natural choice for solving problems

py
involving parameters specified in the form of ranges, it has inherently a limitation

Co
known as the dependency problem which invariably leads to wider ranges of

response quantities such as natural frequencies and amplitudes of free and forced

ot
tN
response of a vibrating system. Many researchers developed special modification

techniques, mostly based on the physics of the problem at hand, to overcome the
rip

problem of “expanded intervals” of the response quantities. In this work, the

sc

universal grey numbers and their arithmetic operations have been shown to be free
nu

of the dependency problem. In addition, the distributive property for arithmetic

Ma

operations with universal grey numbers is valid (can be proved for any general

universal grey numbers). This implies that, unlike interval arithmetic operations,
ed

the order or sequence of arithmetic operations used in evaluating a lengthy

pt

mathematical expression will not influence the computed results or values.

ce

3. The universal grey number theory has been applied to two vibration problems in
Ac

this work – a damped single degree of freedom system, with consideration of

displacement and force transmissibilities as response quantities, and a two degree

of freedom system in free vibration condition. The system parameters such as mass,

VIB -17-1088 Rao 30

 stiffness and damping, the external excitations, and the initial conditions are

assumed to be the uncertain parameters that are defined in the form of ranges. In

all the cases, the universal grey number theory predicted reasonable ranges or

intervals for the response quantities of the vibrating system, such as natural

d
frequencies, displacement/force transmissibility over a wide range of damping and

ite
frequency ratios, and free vibration response of the two degree of freedom system.

ed
The ranges predicted have been consistent with the ranges or uncertainties present

py
in the input parameters of the system. On the other hand, the interval analysis gave

Co
ranges of all the response quantities that are disproportionately larger in relation to

the intervals in the uncertain input parameters of the system.

ot
tN
4. Based on the present study, the universal grey system theory appears to be the only

one that can be used for the analysis of uncertain engineering systems (that needs
rip

no modifications to the approach) when probability distributions of the uncertain

sc

variables are not available but intervals or tolerances are available on the input or
nu

uncertain parameters of the system.

Ma

ACKNOWLEDGMENT

The authors would like to thank the anonymous reviewer for bringing Reference
ed

[16] to their attention.

pt
ce

NOMENCLATURE

c, ci (i =1,2)
Ac

viscous damping constants

F0 , F (t ) Force amplitude, forcing function
k , ki stiffnesses
m, mi masses
r, ri frequency ratio, ratio of amplitudes of masses in mode i
t time

VIB -17-1088 Rao 31

Td , (T f ) displacement (force) transmissibility
x(t ), xi (t ) displacement of mass m or mass mi
X , (Y ) amplitude of displacement of mass (base)
 
x (t ), X (i ) displacement vector, vector of amplitudes in mode i
φ , φi phase angles

d
REFERENCES

ite
[1] Elishakoff, I., 2017, Probabilistic Methods in Ttheory of Structures, World Scientific.

ed
[2] Rao, S. S., 1984, “Multiobjective Optimization in Structural Design in the Presence of

py
Uncertain Parameters and Stochastic Process,” AIAA Journal, 22(11), pp. 1670-1678.

Co
[3] Cavalini, A. A., Jr., Dourado, A. S., Lara-Molina, F. A., and Steffen, V. V., Jr., 2016,

“Uncertainty Analysis of a Tilting-Pad Journal Bearing Using Fuzzy Logic

ot
Techniques,” Journal of Vibration and Acoustics, 138(6), pp.061016-10.
tN
[4] Kaufmann, A., and Gupta, M. M., 1991, Introduction to Fuzzy Arithmetic, Van
rip

Nostrand Reinhold, New York.

sc

[5] Moore, R. E., Kearfott, R. B., and Cloud, M. J., 2009, Introduction to Interval
nu

Analysis, Society for Industrial and Applied Mathematics (SIAM), Philadelphia, PA.
Ma

[6] Dempster, A. P., 1967, “Upper and Lower Probabilities Induced by a Multi-valued

Mapping,” The Annals of Mathematical Statistics, 38, pp. 325-339.

ed

[7] Liu, S., and Lin, Y., 2006, Grey Information Theory and Practical Applications,
pt

Springer-Verlag, London.
ce

[8] Chen, L, and Rao, S. S., 1997, “Fuzzy Finite Element Approach for the Vibration
Ac

Analysis of Imprecisely-Defined Systems,” Journal of Finite Elements in Analysis

and Design, Vol. 27, pp. 69-83.

[9] Moens, D., and Vandepitte, D., 2005, “A Fuzzy Finite Element Procedure for the

Calculation of Uncertain Frequency-Response Functions of Damped Structures, Part I

VIB -17-1088 Rao 32

 - Procedure,” Journal of Sound and Vibration, 288(3), pp. 431-462.

[10] Qui, Y., and Rao, S. S., 2005, “A Fuzzy Approach for the Analysis of Unbalanced

Nonlinear Rotor Systems,” Journal of Sound and Vibration, 284(1), pp. 299-323.

[11] Rao, S. S., and Annamdas, K. K., 2013, “Application of Evidence Theories in the

d
ite
Modeling and Design of Uncertain Engineering Systems,” Journal of Mechanical

ed
Design, 135, pp. 0610061-06100610.

py
[12] Ayyub, B. M., Guran, A., and Haldar, A. (Eds.), 1997, Uncertainty Modeling in

Vibration, Control and Fuzzy Analysis of Structural Systems, World Scientific.

Co
[13] Dimarogonas, A. D., 1995, “Interval Analysis of Vibrating Systems,” Journal of

ot
Sound and Vibration, 183(4), pp. 739-749.
tN
[14] Rao, S. S., and Berke, L., 1997, “Analysis of Uncertain Structural Systems Using
rip

Interval Analysis,” AIAA Journal, 35(4), pp. 727-734.

[15] Elishakoff, I., and Thakker, K., 2014, “Overcoming Overestimation Characteristic to
sc

Classical Interval Analysis,” AIAA Journal, 52(9), pp. 2093-2097.

nu

[16] Luo, Y. X., Huang, H. Z., and Fan, X. F., 2006, “The Universal Grey
Ma

Transfer Matrix Method and Its Application in Calculating the Natural Frequencies
ed

of Systems,” Strojniski vestnik – Journal of Mechanical Engineering, Vol. 52, No. 9,

pp. 592-598.
pt
ce

[17] Rao, S. S., and Jin, H. L., 2014, “Analysis of Coupled Bending-Torsional Vibration

of Beams in the Presence of Uncertainties”, Journal of Vibration and Acoustics,

Ac

136(5), pp. 0510041-0510048.

[18] Deng, J. L., 1982, “The Control Problem of Grey Systems,” Systems & Control

Letters, 1(5), pp. 288-294.

VIB -17-1088 Rao 33

[19] Liu, S. F., and Forrest, J. Y. L., 2010, Advances in Grey Systems Research, Springer,

Berlin.

[20] Gong, Z., and Forrest, J. Y. L., “Editorial: Special Issue on Meteorological Disaster

Risk analysis and Assessment: On Basis of Grey Systems Theory,” Natural

d
ite
Hazards, Vol. 71, 2014, pp. 995-1000.

ed
[21] Zou, Q., Zhou, J. Z., Zhou, C., and Chen S. S., “Flood Disaster Risk analysis Based

py
on Maximum Entropy and Attribute Interval Recognition Theory,” Water Science,

2012.

Co
[22] Zavadskas, E. K., Turskis, Z., and Tamosaitience, J., “Risk Assessment of

ot
Construction Projects,” Journal of Civil Engineering and Management, Vol. 16, No.
tN
1, 2010, pp. 33-46.
rip

[23] Hsu, C. C., and Chen, C. Y., “Application of Improved Grey Prediction Model for

Power Demand Forecasting,” Energy Conversion and Management, Vol. 44, No. 14,
sc

2003, pp. 2241-2249.

nu
Ma

[24] Neumaier, A., Interval Methods for Systems of Equations, Cambridge University Press,

Cambridge, UK, 1990.

ed

Appendix A
pt

Deterministic analysis of a two degree of freedom system

ce

The equations of motion of a damped two degree freedom system are given by:
Ac


[m]x(t ) + [c]x (t ) + [k ]x(t ) = f (t ) (A.1)

where the mass, damping, and stiffness matrices, respectively, are given by

[m] = 
m1 0
(A.2)
0 m2 

VIB -17-1088 Rao 34

 c + c2 − c2 
[c] =  1 (A.3)
 − c2 c2 + c3 

k1 + k 2 − k2 
[k ] =  (A.4)
 − k2 k 2 + k3 

 
and x (t ) and f (t ) are the displacement and force vectors, respectively,

d
ite
  x (t )   f (t )
x (t ) =  1  , f (t ) =  1  (A.5)
 x2 (t )  f 2 (t )

ed
The free vibration equations, with harmonic motion, are given by

py
− m1ω 2 + (k1 + k 2 ) − k2   X 1  0 
  =  

Co
 (A.6)
 − k2 − m 2 ω + (k 2 + k 3 )  X 2  0
2

ot
The natural frequencies of the system are given by the roots of the equation:

{
m1 m 2 ω 4 − {(k1 + k 2 )m 2 + (k 2 + k 3 )m1 }ω 2 + (k1 + k 2 )(k 2 + k 3 ) − k 22 = 0 }
tN
(A.7)
rip

as

1  (k1 + k 2 )m2 + (k 2 + k3 )m1  1  (k1 + k 2 )m2 + (k 2 + k3 )m1   (k1 + k2 )(k2 + k3 ) − k 

sc

2 2
2
ω12 , ω22 =      − 4
2

2 m1m2  2  m1m2   m1m2 
nu

(A.8)
Ma

The natural modes corresponding to ω1 and ω 2 can be expressed as

  X (1)   X (1)   ( 2 )  X 1( 2 )   X 1( 2 ) 
ed

X (1) =  1(1)  =  1 (1)  , X =  ( 2)  =  ( 2) 

(A.9)
 X 2  r1 X 1   X 2  r2 X 1 
pt

where
ce

X 2(1) − m1ω12 + (k1 + k 2 ) k2

r1 = = = (A.10)
Ac

X 1(1) k2 − m2ω1 + (k 2 + k3 )
2

X 2( 2) − m1ω 22 + (k1 + k 2 ) k2
r2 = = = (A.11)
X 1( 2) k2 − m2ω 2 + (k 2 + k3 )
2

The free vibration response of the two masses can be expressed as

VIB -17-1088 Rao 35

   
x1 (t ) = x1(1) (t ) + x1( 2) (t ) = X 1(1) cos(ω1t + φ1 ) + X 1( 2) cos(ω 2t + φ2 ) (A.12)

  
x2 (t ) = x2(1) (t ) + x2( 2) (t ) = r1 X 1(1) cos(ω1t + φ1 ) + r2 X 1( 2) cos(ω 2t + φ2 ) (A.13)

where the unknown constants X 1(1) , X 1( 2) , φ1 , and φ2 can be determined from the initial

conditions:

d
ite
x1 (t = 0) = x1 (0) , x1 (t = 0 ) = x1 (0 ) , x2 (t = 0 ) = x2 (0 ) , x 2 (t = 0) = x 2 (0) (A.14)

ed
to obtain

py
1
1  {− r2 x1 (0) + x2 (0)}2  2
= {r2 x1 (0) − x2 (0)} +
2
X 1(1)  (A.15)
r2 − r1  ω12 

Co
1

1 
{ ( ) ( )} {r1 x1 (0) − x2 (0)}2  2

ot
= − + +
2
X 1( 2 )  1 1
r x 0 x 0  (A.16)
r2 − r1 
2
ω22 
tN
 − r2 x1 (0 ) + x2 (0 ) 
φ1 = tan −1   (A.17)
ω1 [r2 x1 (0 ) − x2 (0 )]
rip

r1 x1 (0 ) − x 2 (0 ) 
sc


φ 2 = tan −1   (A.18)
ω 2 [− r1 x1 (0 ) + x 2 (0 )]
nu
Ma
ed
pt
ce
Ac

VIB -17-1088 Rao 36

 Figure Caption List

Figure 1 A spring-mass-damper system subjected to base excitation

Figure 2 A spring-mass-damper system subjected to harmonic force

Figure 3(a) Variation of displacement transmissibility with frequency ratio

d
for ζ = 0.1

ite
Figure 3(b) Variation of displacement transmissibility with frequency ratio

ed
for ζ = 0.5

py
Figure 4(a) Variations of force transmissibility with frequency ratio for ζ = 0.1

Co
Figure 4(b) Variations of force transmissibility with frequency ratio for ζ = 0.5

ot
Figure 5 A damped two degree of freedom system
tN
Figure 6 Free vibration response of the system ( x1 )
rip

Figure 7 Free vibration response of the system ( x2 )

sc
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VIB -17-1088 Rao 37

 Table Headings

Table 1 (a) Displacement transmissibility Td using deterministic analysis

Table 1 (b) Intervals of displacement transmissibility Td using interval analysis

d
Table 1 (c) Intervals of displacement transmissibility Td using universal grey system

ite
analysis@

ed
Table 2(a) Force transmissibility ( T f ) using deterministic analysis

py
Table 2(b) Force transmissibility ( T f ) using interval analysis

Co
Table 2(c) Force transmissibility ( T f ) using universal grey number theory@

ot
Table 3 Intervals of response quantities and their variations from the means
tN
rip
sc
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Ma
ed
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Ac

VIB -17-1088 Rao 38

 Table 1 (a) Displacement transmissibility Td using deterministic analysis

mean r ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

0 1.0 1.0 1.0 1.0
0.50 1.33333 1.33204 1.32207 1.30384

d
1.00 NAN 10.04988 3.48010 2.23607

ite
1.50 0.80000 0.80319 0.82541 0.85749
2.00 0.33333 0.33918 0.38118 0.44721

ed
2.50 0.19048 0.19612 0.23570 0.29662

py
3.00 0.12500 0.13041 0.16712 0.22149

Co
ot
tN
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Ac

VIB -17-1088 Rao 39

 Table 1 (b) Intervals of displacement transmissibility Td using interval analysis

Mean r ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

0 1.0 1.0 1.0 1.0
0.50 [1.27025, 1.41455] [1.26789, 1.41442] [1.24976, 1.41340] [1.21708, 1.41151]

d
1.00 [NaN, NAN] [4.81688, 11.83115] [2.63559, 4.15205] [1.77893, 2.72407]

ite
1.50 [0.61066, 1.09316] [0.61210, 1.09928] [0.62242, 1.14006] [0.63828, 1.19373]
2.00 [0.27108, 0.41596] [0.27442, 0.42618] [0.29898, 0.49745] [0.33923, 0.60419]

ed
2.50 [0.15806, 0.23154] [0.16143, 0.24099] [0.18573, 0.30499] [0.22482, 0.39884]

py
3.00 [0.10471, 0.15017] [0.10799, 0.15907] [0.13110, 0.21686] [0.16699, 0.29834]

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VIB -17-1088 Rao 40

 Table 1 (c) Intervals of displacement transmissibility Td using universal grey system

analysis@

Mean r ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

0 1.0 1.0 1.0 1.0

d
0.50 [1.30849, 1.35117] [1.30746, 1.34967] [1.29945, 1.33812] [1.28463, 1.31720]

ite
1.00 [17.55795, 25.250] [9.03733, 9.11726] [3.33192, 3.60113] [2.16192, 2.32781]

ed
1.50 [0.74677, 0.89138] [0.75072, 0.89318] [0.77831, 0.90569] [0.81832, 0.92358]
2.00 [0.31661, 0.36073] [0.32269, 0.36624] [0.36609, 0.40610] [0.43382, 0.46941]

py
2.50 [0.18190, 0.20433] [0.18773, 0.20969] [0.22837, 0.24770] [0.29027, 0.30708]
3.00 [0.11967, 0.13356] [0.12527, 0.13870] [0.16286, 0.17406] [0.21792, 0.22735]

Co
@
In Band: (For r = 1.00 ); ζ = 0 : [6.04251, 1334.86292]; ζ = 0.1 : [5.39286, 10.26191]

ot
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VIB -17-1088 Rao 41

 Table 2(a) Force transmissibility ( T f ) using deterministic analysis

Mean r ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

0 0.00000 0.00000 0.00000 0.00000
0.50 0.33333 0.33301 0.33052 0.32596

d
1.00 NaN 10.04988 3.48010 2.23607

ite
1.50 1.80000 1.80717 1.85717 1.92936
2.00 1.33333 1.35673 1.52472 1.78885

ed
2.50 1.19048 1.22573 1.47314 1.85387

py
3.00 1.12500 1.17371 1.50404 1.99339

Co
ot
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VIB -17-1088 Rao 42

 Table 2(b) Force transmissibility ( T f ) using interval analysis

Mean r ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

0 0 0 0 0
0.50 [0.27025, 0.41455] [0.26975, 0.41451] [0.26589, 0.41421] [0.25894, 0.41366]

d
1.00 [NaN, NaN] [4.09923, 13.86906] [2.24292, 4.86724] [1.51389, 3.19329]

ite
1.50 [1.16929, 2.88327] [1.17204, 2.89941] [1.19179, 3.00698] [1.22216, 3.14853]
2.00 [0.92276, 1.95045] [0.93414, 1.99834] [1.01776, 2.33255] [1.15477, 2.83306]

ed
2.50 [0.84072, 1.69642] [0.85861, 1.76563] [0.98787, 2.23456] [1.19579, 2.92214]

py
3.00 [0.80198, 1.58433] [0.82715, 1.67821] [1.00408, 2.28796] [1.27898, 3.14753]

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VIB -17-1088 Rao 43

 Table 2(c) Force transmissibility ( T f ) using universal grey number theory@

Mean r ζ =0 ζ = 0.1 ζ = 0.3 ζ = 0.5

0 0 0 0 0
0.50 [0.30849, 0.35117] [0.30825, 0.35078] [0.30636, 0.34778] [0.30287, 0.34234]

d
1.00 [16.55795,26.2500] [8.59800, 9.39524] [3.39603, 3.46387] [2.19523, 2.24754]

ite
1.50 [1.74677, 1.89138] [1.75601, 1.89521] [1.82056, 1.92175] [1.91415, 1.95969]
2.00 [1.31661, 1.36073] [1.34187, 1.38152] [1.52235, 1.53187] [1.77071, 1.80399]

ed
2.50 [1.18190, 1.20433] [1.21980, 1.23591] [1.45995, 1.48385] [1.80993, 1.88602]

py
3.00 [1.11967, 1.13356] [1.17204, 1.17721] [1.47734, 1.52382] [1.92957, 2.03898]
@
In Band: (For r = 1.0 ); ζ = 0 : [5.04251, 1333.86293]; ζ = 0.1 : [7.48291, 11.29102];

Co
ζ = 0.3 : [3.40122, 3.50749]

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VIB -17-1088 Rao 44

 Table 3 Intervals of response quantities and their variations from the means

Interval analysis Universal grey system theory

Deterministic
Quantity (Deviations from deterministic (Deviations from deterministic
analysis
value) value)
(0.64167, 0.92064) [0.78529, 0.79843]
ω1 0.79229
(- 19.0015, + 16.2131) percent (-0.883, +0.775) percent
(2.4808, 2.56714) [2.49292, 2.55239]
ω2

d
2.52434
(-1.7248, + 1.6954) percent (-1.245, +1.111) percent

(2.53184, 2.83988)
r1 2.68614
(-5.7443, +5.7234) percent
(-0.33628, -0,03949)
ite
[2.67159, 2.70334]
(-0.542, +0.640) percent
[-0.18692, -0.18538]

ed
r2 -0.18614
(-80.6600, +78.7870) percent (-0.419, +0.408) percent
(-1.55951, -1.40047) [-1.50417, -1.49036]
φ1 -1.49719

py
(-9.1625, +6.4601) percent (-0.466, +0.456) percent
(0.24206, 0.34320) [0.26306, 0.31554]
φ2 0.28682

Co
(-15.6056, +19.6569) percent
(-0.06163, -0.03386)
X 1(1) -0.04406
(-39.88, +23.15) percent
(-0.06277, -0.03787)
(-8.284, +10.013) percent
[-0.04442, -0.04372]
(-0.817, +0.772) percent
[-0.05326, -0.04428]

ot
X 1( 2 ) -0.04875
(-28.76, +22.32) percent
tN (-9.251, +9.169) percent
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VIB -17-1088 Rao 45

 +x

d
ite
+y

ed
Y(t)=Y sin (ωt)
k c

py
+y

Co
0 t
Base

ot
Figure 1 A spring-mass-damper system subjected to base excitation
tN
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VIB -17-1088 Rao 46

 F(t)=F0 sin(ωt)
+x

d
m

ite
ed
k c

py
Co
Figure 2 A spring-mass-damper system subjected to harmonic force

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VIB -17-1088 Rao 47

 12.5

Displacement transmissbility Td
10.0

d
ζ =0.1

ite
Interval analysis
7.5 Universal grey number theory
Mean (deterministic) Value (D)

ed
5.0

py
D
2.5

Co
0.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0

ot
r
tN
Figure 3(a) Variation of displacement transmissibility with frequency ratio

for ζ = 0.1
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VIB -17-1088 Rao 48

 3.0

Displacement transmissbility Td
2.5 ζ =0.5
Interval analysis
Universal grey number theory
2.0
Mean (deterministic) Value (D)

1.5 D

d
ite
1.0

ed
0.5

py
0.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0

Co
r

Figure 3(b) Variation of displacement transmissibility with frequency ratio

for ζ = 0.5
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VIB -17-1088 Rao 49

 15
Universal grey number theory,

Force transmissibility (Tf )

Tf (at r =1.03) =14.29102
12 Deterministic approach,
Tf (at r =1.00) =10.04988
9
ζ =0.1
Interval analysis

d
Universal grey number theory
6

ite
Mean (deterministic) value (D)
D

ed
3

py
0
Banding corresponding to r =1.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0
r =0.9504 r =1.0504 r

Co
r =raverage= r+r
2

Figure 4(a) Variations of force transmissibility with frequency ratio for ζ = 0.1

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VIB -17-1088 Rao 50

 4.0

Force transmissibility (Tf )

3.5

3.0 ζ =0.5

2.5 D

2.0

d
ite
1.5

1.0

ed
Interval analysis
0.5 Universal grey number theory

py
Mean (deterministic) value (D)
0.0
0.0 0.5 1.0 1.5 2.0 2.5 3.0

Co
r

Figure 4(b) Variations of force transmissibility with frequency ratio for ζ = 0.5

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VIB -17-1088 Rao 51

 x1(t) x2(t)
f1(t) f2(t)
k1 k2 k3

d
m1 m2

ite
c1 c2 c3

ed
py
Co
Figure 5 A damped two degree of freedom system

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VIB -17-1088 Rao 52

 Interval analysis (U-I and L-I)
Universal grey number approach (U-U and L-U)
Mean (deterministic) Value (D)
8

U-I
6

D
4

U-U

d
2
x (t)

ite
1

-2

ed
L-U
-4
L-I

py
-6

-8

Co
0 2 4 6 8 10 12 14 16 18 20
t
Figure 6 Free vibration response of the system ( x1 )

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VIB -17-1088 Rao 53

 Interval analysis (U-I and L-I)
Universal grey number approach (U-U and L-U)
Mean (deterministic) Value (D)
20

15
U-I
10
U-U
x (t)
2

d
D

ite
0
L-U
-5
L-I

ed
-10

py
-15

-20
0 2 4 6 8 10 12 14 16 18 20

Co
t
Figure 7 Free vibration response of the system ( x2 )

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VIB -17-1088 Rao 54

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