Earthquake shaking table

There are several different experimental techniques that can be used to test the response of structures to verify their seismic performance, one of which is the use of an earthquake shaking table (a shaking table, or simply shake table). This is a device for shaking structural models or building components with a wide range of simulated ground motions, including reproductions of recorded earthquakes time-histories.

While modern tables typically consist of a rectangular platform that is driven in up to six degrees of freedom (DOF) by servo-hydraulic or other types of actuators, the earliest shake table, invented at the University of Tokyo in 1893 to categorize types of building construction, ran on a simple wheel mechanism.[1] Test specimens are fixed to the platform and shaken, often to the point of failure. Using video records and data from transducers, it is possible to interpret the dynamic behaviour of the specimen. Earthquake shaking tables are used extensively in seismic research, as they provide the means to excite structures in such a way that they are subjected to conditions representative of true earthquake ground motions.

They are also used in other fields of engineering to test and qualify vehicles and components of vehicles that must respect heavy vibration requirements and standards (i.e. aerospace,[2][3] military standards[4] etc.).

A world list of shaking tables

This is a dynamic list and may never be able to satisfy particular standards for completeness. You can help by expanding it with reliably sourced entries.

Below is an attempt to create a definitive list of shaking tables around the world that are used for seismic testing. The list is almost certainly not complete and not all the data has been verified by the shaking table owners. If you operate a shaking table please help by correcting and updating and adding to this list.

This list was originally based on information from the following documents: Experimental Facilities for Earthquake Engineering Simulation Worldwide, Directory of International Earthquake Engineering Research Facilities and papers by Chowdhury,[5] Duarte,[6] Kamimura and Nakashima [7] and EERI.[8]

Shaking Tables around the world
RegionCountryStateLocationSize (m)Payload (metric tonnes)Degrees of FreedomX Horiz Disp (mm)Y Horiz Disp (mm)Z Vert Disp (mm)X Horiz Vel (mm/s)Y Horiz vel (mm/s)Z Vert vel (mm/s)X Horiz accel (m/s2)Y Horiz accel (m/s2)Z Vert accel (m/s2)Max Freq (Hz)Details checked
AfricaAlgeria-CGS Laboratory, Alger [9]6.1 x 6.1606±150±250±100±1100±1100±1000±10±10±810030/6/2010
AfricaSouth Africa-University of Witwatersrand, Johannesburg[10]4 x 4101±750n/an/a±1000n/an/a±10n/an/a4017/7/2009
AsiaChina-China Academy of Building Research, Beijing [11][12]6.1 x 6.1606±150±250±100±1000±1200±800±15±10±850?
AsiaChina-Guangzhou University [13]3 x 3206±100±100±50±1000±1000±1000±26±26±505010/7/2008
AsiaChina-Nanjing University of Technology [12]3 x 5153±120±120±120±500±500±500±10±10±1050?
AsiaChina-Tongji University, Shanghai [12]4 x 4256±100±50±50±1000±600±600±40±20±4050?
AsiaChina-Xi'a University of Architecture & Technology2 x 2?????????????
AsiaSingapore-Nanyang Technological University3 x 3101±120n/an/a±650n/an/a±20n/an/a5023/7/2008
AsiaHong Kong-City University of Hong Kong??????????????
AsiaHong Kong-Hong Kong Polytechnic University [14]3 x 310???????10????
AsiaIndiaDelhiJamia Millia Islamia, New Delhi [15]5 x 5201±500n/an/a???±20n/an/a100?
AsiaIndiaAssamIIT Guwahati [16]2.5 x 2.551±500n/an/a???±20n/an/a100?
AsiaIndiaKarnatakaCPRI Bangalore,[17] Karnataka3 x 3106???????????
AsiaIndiaKarnatakaIISc, Bangalore [18]1 x 10.56±220±220±100±570±570±570±30±30±205023/7/2008
AsiaIndiaTamil NaduSERC, Chennai (1 of 3),[17] Tamil Nadu4 x 4303???????????
AsiaIndiaTamil NaduSERC, Chennai (2 of 3),[17] Tamil Nadu2 x 253???????????
AsiaIndiaTamil NaduSERC, Chennai (3 of 3),[19] Tamil Nadu3 x 3106???????????
AsiaIndiaTamil NaduIndira Gandhi Centre for Atomic Research(IGCAR), Chennai,Tamil Nadu3 x 3106±100±100±100300300?±14.715±14.7159.81100?
AsiaIndiaUttarakhandIIT Roorkee,[17][20] Uttarakhand3.5 x 3.5202?n/a??n/a??n/a???
AsiaIndiaUttar PradeshIIT Kanpur,[21] Uttar Pradesh1.2 x 1.841±75n/an/a±1500n/an/a±50n/an/a5025/6/2009
AsiaIndiaWest BengalBengal Engineering and Science University, Shibpur,[22] West Bengal1.5 x 1.5?1?n/an/a?n/an/a?n/an/a?19/11/2009
AsiaIran-International Institute of Earthquake Engineering and Seismology(IIEES)1.4 x 1.221±35n/an/a?n/an/a±40n/an/a??
AsiaIran-Iran University of Science & Technology (IUST)2 x 0.551±60n/an/a?n/an/a±6.5n/an/a??
AsiaIran-Sharif University of Technology (SUT))4 x 4303±125±200?±500±800?±50±40?507/19/2011
AsiaJapan-Aichi Institute of Technology11 x 61361±150??±1000??±10??50?
AsiaJapan-Building Research Institute3 x 4203???????????
AsiaJapan-Central Research Institute of Electric Power Industry [23]5 x 5601±500n/an/a±1500n/an/a±10n/an/a3012/3/2008
AsiaJapan-NIED ‘E-Defence’ Laboratory, Miki City [24]20 x 1512006±1000±1000±500±2000±2000±700±9±9±15503/3/2008
AsiaJapan-Fujita Corporation4 x 4251±500n/an/a±1500n/an/a±10n/an/a50?
AsiaJapan-Hazama Corp Ltd.6 x 4803±300±150±100±1150??±20±3±250?
AsiaJapan-Hitachi Engineering Corp4 x 4201±150??±750??±20??30?
AsiaJapan-Ishikawajima Harima Heavy Ind Corp.4.5 x 4.5356±100±100±67±750±750±500±15±15±1050?
AsiaJapan-JDC Corp.?206±300??±1000??±10??50?
AsiaJapan-Kawasaki Heavy Industries Corp.?303±75??±400??±10??50?
AsiaJapan-Kajima Corp. Ltd. (1 of 2) [25]5 x 5506±200±200±100±1000±1000±500±20±20±20603/3/2008
AsiaJapan-Kajima Corp. Ltd. (2 of 2)4 x 4202±150n/a±75±1140n/a±4450±20n/a±1050?
AsiaJapan-Kumagai-Gumi Corp Ltd5 x 5646±80±260±50±600±1500±500±30±10±1070?
AsiaJapan-Kyoto University5 x 3146±300??±1500??±10??50?
AsiaJapan-Kyoto University Disaster Prevention Research Centre [26]3.5 diameter?6???????????
AsiaJapan-Ministry of Construction6 x 81002±75n/a?±600n/a?±7n/a?30?
AsiaJapan-Mitsubishi Electric Corp.?402±100??±700??±25??30?
AsiaJapan-Mitsubishi Heavy Industries Corp.?1003±50??±1500??±20??50?
AsiaJapan-National Research Institute of Agriculture Engineering6 x 4453±150??±750??±10??40?
AsiaJapan-NIED (Nat. Inst. for Disaster Prevention) (1 of 2)6 x 611003±1000??±2000??±10??15?
AsiaJapan-NIED (Nat. Inst. for Disaster Prevention) (2 of 2)12 x 125001±220??±900??±10??50?
AsiaJapan-Nishimatsu Construction Corp5.5 x 5.5656±500??±1500??±20??50?
AsiaJapan-Nuclear Power Engineering Corporation15 x 159082±200n/a±100±750n/a±375±18n/a±930?
AsiaJapan-NYK Corporation2.6 x 2.6206±200??±600??±20??80?
AsiaJapan-Obayashi-Gumi Corporation5 x 5463±600??±2000??±30??50?
AsiaJapan-Okumura Corp.?606±125??±1000??±30??70?
AsiaJapan-Penta-Ocean Construction Co. Ltd. (1 of 2)?606±300??±1000??±5??70?
AsiaJapan-Penta-Ocean Construction Co. Ltd. (2 of 2)?606±200??±750??±10??70?
AsiaJapan-Port and Airport Research Institute3.4 x 3.4552±200n/a±100±750±500n/a±8±15n/a50?
AsiaJapan-Public Works Research Institute (PWRI) [27]8 x 83006±600±600±300±2000±2000±1000±20±20±105010/5/2008
AsiaJapan-Sanryo Heavy Industries Corporation6 x 690.73???????????
AsiaJapan-Shimizu Corporation4 x 4203±200??±1000??±10??50?
AsiaJapan-Taisei Corp Ltd4 x 4202±200??±450??±10??50?
AsiaJapan-Tobishima Corp Ltd4 x 4202±75?????±15??30?
AsiaJapan-Tobishima Corp Ltd?206±200??±800??±10??30?
AsiaJapan-Tokyu Const. Corp.4 x 4306±500±200±100±1500±1000?±10??30?
AsiaJapan-Toshiba Electric Co.5 x 5202±750n/a±380±400n/a±250±10n/a±730?
AsiaSouth Korea-Hyundai Institute of Construction Technology Development (1 of 2) [28]2 x 252±75±75n/a±500±500n/a±10±10n/a?5/2/2009
AsiaSouth Korea-Hyundai Institute of Construction Technology Development (2 of 2) 5 x 3301±100n/an/a±500n/an/a±10n/an/a?5/2/2009
AsiaSouth Korea-Korea Institute of Machinery and Metals, Changwon4 x 4306±200±200±134±750±750±500±15±15±1050?
AsiaKorea-Pusan National University (1 of 3) [29]5 x 53002±300±200n/a±1000±1000n/a±20±20n/a6024/7/2008
AsiaKorea-Pusan National University (2 of 3) [29]5 x 56002±300±200n/a±1000±1000n/a±30±30n/a6024/7/2008
AsiaKorea-Pusan National University (3 of 3) [29]4 x 43006±300±200±150±1500±1500±1000±20±20±406024/7/2008
AsiaMalaysia-Sabah University1.5 x 1.5?????????????
AsiaTaiwan-National Center for Research in Earthquake Engineering [30]5 x 5506±250±100±100±1000±600±500±10±30±105012/3/2008
OceaniaAustraliaVictoriaUniversity of Melbourne2 x 23????????????
OceaniaAustraliaNew South WalesUniversity of Technology, Sydney3 x 3101?????????5015/12/2009
North AmericaCanadaOntarioRoyal Military College of Canada,[31] Kingston2.7 x 2.751???????????
North AmericaCanadaBritish ColumbiaUniversity of British Columbia (EERF Lab), Vancouver4 x 4306???????????
North AmericaCanadaQuébecUniversity of Sherbrooke ? x ??????????????
EuropeFrance-Commissariat à l'Energie Atomique et aux Energies Alternatives (CEA), AZALEE (1 of 3) [32]6 x 61006±125±125±100±700±700±700±10±10±255027/01/2011
EuropeFrance-Commissariat à l'Energie Atomique et aux Energies Alternatives (CEA), VESUVE (2 of 3) [32] 4 x 3201±125n/an/a±1000n/an/a±10n/an/a5027/01/2011
EuropeFrance-Commissariat à l'Energie Atomique et aux Energies Alternatives (CEA), TOURNESOL (3 of 3) [32] 2 x 2103±125n/a±100±2000n/a±1300±10n/a105027/01/2011
EuropeFrance-FCBA Institut technologique,[33] Bordeaux6 x 6101±125n/an/a±800n/an/a±20n/an/a5002/2011
EuropeGreece-Aristotle University of Thessaloniki1.2 x 1.2152±50n/a±50?n/a??n/a?30?
EuropeGreece-National Technical University of Athens [34]4 x 4106±100±100±100±1000±1000±1000±20±20±4010012/3/2008
EuropeItaly-Ansaldo Nucleare, Genoa [35]3.5 x 3.563±70??±860?????60?
EuropeItaly-Department of Structures for Engineering and Architecture, University of Naples [36] - Shake Table4 x 4202±250±250n/a±1000±1000n/a1010n/a50-
EuropeItaly-ENEA (Casaccia R. C.) - System 1 [37] Shake Table (1 of 2)4 x 4306±125±125±125±500±500±500±30±30±305013/6/2015
EuropeItaly-ENEA (Casaccia R. C.) - System 2 [37] Shake Table (2 of 2)2 x 256±150±150±150±1000±1000±1000±50±50±5010013/6/2015
EuropeItaly-CESI S.p.A., Static & Dynamic Testing Laboratories, Seriate (BG)4 x 4306±100±100±100±440±440±440±50±50?12013/6/2015
EuropeItaly-European Centre for Training & Research in Earthquake Engineering (EUCENTRE) [38] - Shake Table5.6 x 71401±500--±2200--59--50-
EuropeItaly-European Centre for Training & Research in Earthquake Engineering (EUCENTRE) [38] - Bearing Testing System1.6 x 4.45000 (vertical load)5±500±265140±2200±600±25018--20-
EuropeItaly-European Centre for Training & Research in Earthquake Engineering (EUCENTRE) [38] - Damper Testing System1.5 x 2501±250--±1180--10--20-
EuropeMacedonia-Institute of Earthquake Engineering and Engineering Seismology (IZIIS), University of SS. Cyril and Methodius in Skopje (1 of 2) [39]5 x 5405n/a±125±60n/a±1000±500n/a±30±158020/9/2011
EuropeMacedonia-Institute of Earthquake Engineering and Engineering Seismology (IZIIS), University of SS. Cyril and Methodius in Skopje (2 of 2) [39]1.4 x 2.581±100n/an/a?n/an/a±20n/an/a807/7/2008
EuropeThe Netherlands-European Space Agency (ESA) ESTEC Test Centre,[40] Noordwijk5.5 x 5.522.56±70±70±70±800±800±800±50±50±502-10023/7/2008
EuropePortugal-Laboratorio Nacional de Engenharia Civil (LNEC), Lisbon5.6 x 5.6403±175±175±175±200±200±200±18±11±620?
EuropeRussia-Hydroproject Research Institute5 x 5503±70±70±40±600??±20±20?40?
EuropeSpain-CEDEX, Madrid [41][42]3 x 3106±100±100±50???±10±10±206013/6/2015
Europe Turkey - Istanbul Technical University, ITU-STEELab (Structural and Earthquake Engineering Laboratory), Istanbul [43][44][45] 2.35x2.35 30 1 ±325 - - ±1250 - - ±20 - - 8
EuropeTurkey-Bogazici University, Istanbul (1 of 2) [46]3 x 3101±120n/an/a±650n/an/a±20n/an/a503/3/2008
EuropeTurkey-Bogazici University, Istanbul (2 of 2) [46]0.7 x 0.70.13±120±120±120±1200±1200±1200±100±100±100403/3/2008
EuropeTurkey-Middle East Technical University, Ankara [47]2 x 1?????????????
EuropeUK-University of Bristol (EERC) [48]3 x 3176±150±150±150±1100±1100±1100±60±60±6010029/2/2008
AsiaPakistan-Earthquake Engineering Center, University of Engineering & Technology Peshawar [49]6.0 x 6.0606±300±300±300±1100±1100±1100±14.7±14.7±14.750
North AmericaMexicoMexico D. F.Universidad Nacional Autónoma de México (UNAM), México City [50]4 x 4205±150±150±75±1100±1100±450±10±10±106010/9/2008
North AmericaUSAColoradoANCO Engineers, Inc Boulder, Colorado [51]3 x 3103±200±200±200±2000±2000±2000±30±30±304016/10/2012
North AmericaUSAAlabamaNASA3 x 4.516±2440??±100???????
North AmericaUSAOhioNASA Mechanical Vibration Facility (MVF), Glenn's Space Power Facility,[52] Sandusky 6.7 diameter346±15±15?±338±338????15023/6/2015
North AmericaUSAAlabamaWyle Laboratories (1 of 3) [53]6.1 x 5.5272±152??±890??±60??10016/10/2012
North AmericaUSAAlabamaWyle Laboratories (2 of 3) [53]2.7 x 2.74.53±250±250±250±1120±1120±1120±45±45±4510016/10/2012
North AmericaUSAAlabamaWyle Laboratories (3 of 3) [53]2.4 x 2.44.52±305n/a±228±1168n/a±838±70n/a±807016/10/2012
North AmericaUSANorth CarolinaDuke University [54]1.2 x 1.251±75n/an/a±500n/an/a±50n/an/a6015/4/2008
North AmericaUSACalifornia University of California at Berkeley [55]6.1 x 6.1856±127±127±51±762±762±254±30±30±204030/4/2008
North AmericaUSACalifornia California State University, Fresno [56]2.4 x 2.0?1±125n/an/a?n/an/a?n/an/a?19/11/2009
North AmericaUSACalifornia University of California at San Diego [57]12.2 x 7.620001±750n/an/a±1800n/an/a±10n/an/a207/7/2008
North AmericaUSAConnecticutUniversity of Connecticut [58]1.5 x 1.511±150n/an/a?n/an/a±20n/an/a508/5/2008
North AmericaUSAIllinois University of Illinois at Urbana / Champaign3.7 x 3.751±50??±381??±30??50?
North AmericaUSANew YorkUniversity at Buffalo (State University of New York) (2 identical tables of 3) [59]3.6 x 3.6506±150±150±75±1250±1250±500±12±12±1210012/3/2008
North AmericaUSANew YorkUniversity at Buffalo (State University of New York) (3 of 3) [59]3.7 x 3.7505±150n/a±75±762n/a±500±12n/a±235012/3/2008
North AmericaUSANew YorkRensselaer Polytechnic Institute[60]1.7 x 2.651±130n/an/a±270n/an/a±20n/an/a508/5/2008
North AmericaUSANevadaUniversity of Nevada at Reno (3 identical biaxial tables) [61]4.3 x 4.5452±300±300n/a±1270±1270n/a±20±20n/a508/2/2010
North AmericaUSANevadaUniversity of Nevada at Reno (6 axis table) [62]2.75 x 2.75506±75±300±100???±20±40±105013/3/2008
North AmericaUSANevadaDynamic Certification Laboratories [63]2.0 diameter4.56±140±120±150±1000±1000±1200±98±98±10810017/7/2012
North AmericaUSATexasRice University [64]0.465m² 71±75n/an/a±1400n/an/a±20n/an/a508/5/2008
North AmericaUSAIllinoisCivil Engineering Research Lab U.S. Army, Champaign3.6 x 3.6453±300??±1300?????250?
North AmericaUSAVirginiaThe George Washington University - Virginia Campus [65]3 x 3?6???????????

Notes: This list is restricted to shaking tables bigger than 2m by 2m or with a capacity of more than 4 tonnes (i.e. tables suitable for seismic testing).

References

  1. ↑ Reitherman, Robert (2012). Earthquakes and Engineers: An International History. Reston, VA: ASCE Press. pp. 126–127. ISBN 9780784410714.
  2. ↑ NASA’s Space Power Facility
  3. ↑ Retrieved 17/6/2015
  4. ↑ United States Department of Defense, ed. (31 Oct 2008). "MIL-STD-810G, Department of Defense Test Method Standard for Environmental Engineering Considerations and Laboratory Tests" (PDF).
  5. ↑ Chowdhury AH (1983). Shaking table testing facilities around the world. Proceedings of the 4th Engineering Mechanics Division Specialty Conference: Recent Advances in Engineering Mechanics and their Impact on Civil Engineering Practice., West Lafayette, Indiana, USA. Vol. 1, pp. 617-620.
  6. ↑ Duarte RT (1994). Report of the EAEE Working Group 11: Development of shaking table testing techniques. Proceedings of the 10th European Conference on Earthquake Engineering, Vienna, Austria. Vol. 4, pp. 3135-3144.
  7. ↑ Kamimura K, Nakashima M (1983). Seismic test facilities for building structures in Japan. Proceedings of the 4th Engineering Mechanics Division Specialty Conference: Recent Advances in Engineering Mechanics and their Impact on Civil Engineering Practice., West Lafayette, Indiana, USA. Vol. 1, pp. 638-641.
  8. ↑ EERI (1995). Assessment of earthquake engineering research and testing capabilities in the United States. Earthquake Engineering Research Institute, Committee on Experimental Research, Oakland, CA. Publication No. WP-01, pp. 1-23.
  9. ↑ Presentation on Current activities in Algeria Retrieved 30/6/2010
  10. ↑ Press release about Hydraform Donating Earthquake Shake Table to Wits University Retrieved 22/10/2009
  11. ↑ China Academy of Building Research - Major Laboratories Retrieved 10/7/2008
  12. 1 2 3 Shaking table blog Retrieved 10/7/2008
  13. ↑ Earthquake Engineering Research Test Center Retrieved 10/7/2008
  14. ↑ Centre for urban hazards mitigation Retrieved 24/7/2008
  15. ↑
  16. ↑ IIT Guwahati, Department of Civil Engineering,Assam
  17. 1 2 3 4 Earthquake Resistant design practice and research in India, The Structural Engineer, 18 March 2008
  18. ↑ Development of a digitally-controlled three-axis earthquake shake table,Karnataka Retrieved on 10/7/2008
  19. ↑ SERC Chennai Advanced Seismic Testing and Research Laboratory Retrieved on 22/10/09
  20. ↑ IIT Roorkee, Department of Earthquake Engineering
  21. ↑ IIT Kanpur, Department of Civil Engineering
  22. ↑ School of Disaster Mitigation Engineering (SDME)
  23. ↑ CRIEPI Hybrid Seismic Testing System Shaking table Retrieved 12/3/2008
  24. ↑ The NIED ‘E-Defence’ Laboratory in Miki City Retrieved on 3/3/2008
  25. ↑ Kajima’s English Website Retrieved on 3/3/2008
  26. ↑ MTS website Retrieved on 3/3/2008
  27. ↑ Public Works Research Institute large 3D shaking table Retrieved on 10/5/2008
  28. ↑ See p 14 of document - Hyundai Institute of Construction Technology Development Retrieved on 10/1/2009
  29. 1 2 3 KOCED Multi platform seismic simulation facility Retrieved on 1/12/2010
  30. ↑ NCREE's English Website Retrieved on 29/2/2008
  31. ↑ Retrieved on 13/6/2015
  32. 1 2 3 Seismic Mechanic Studies Laboratory Retrieved 27/11/2011
  33. ↑ Retrieved on 13/6/2015
  34. ↑ NTUA Laboratory for Earthquake Engineering Retrieved on 12/3/2008
  35. ↑ Retrieved on 13/6/2015
  36. ↑ Retrieved 29/11/2013
  37. 1 2 ENEA DySCo virtual lab facilities Retrieved 05/05/2015
  38. 1 2 3 EUCENTRE TREES Lab Retrieved 06/09/2008
  39. 1 2 Institute of Earthquake Engineering and Engineering Seismology, IZIIS Retrieved on 20/09/2011
  40. ↑ HYDRA multi-axis vibration test facility Retrieved 23/7/2008
  41. ↑ CEDEX Structures laboratory Retrieved on 23/11/2009
  42. ↑ Retrieved on 13/6/2015
  43. ↑ "YEM".
  44. ↑ "ITU".
  45. ↑ "Milliyet".
  46. 1 2 Bogazici University Shaking Table Laboratory Retrieved on 3/3/2008
  47. ↑ Retrieved 13/6/2015
  48. ↑ Bristol University Earthquake Engineering Research Centre Retrieved on 29/2/2008
  49. ↑ NWFP UET Earthquake Research and Education Centre
  50. ↑ Instituto de Ingeniería, UNAM, Mesa Vibradora Laboratorios
  51. ↑ ANCO Engineers shaking tables Retrieved on 15/10/2012
  52. ↑ NASA Mechanical Vibration Facility (MVF)
  53. 1 2 3 Wyle Laboratories shaking tables Retrieved on 16/10/2012
  54. ↑ Duke University Structural Dynamics and the Seismic Response Control Laboratory Retrieved on 15/4/2008
  55. ↑ University of California, Berkeley, Earthquake Simulator Laboratory Retrieved on 30/4/2008
  56. ↑ Department of Civil Engineering Retrieved 19/11/2009
  57. ↑ UCSD Large High Performance Outdoor Shake Table Retrieved 12/3/2008
  58. ↑ University of Connecticut Advanced Hazards Mitigation Lab Retrieved 8/5/2008
  59. 1 2 University at Buffalo’s Structural Engineering and Earthquake Simulation Laboratory (SEESL) Retrieved on 13/3/2008
  60. ↑ Rensselaer Polytechnic Institute, Structural Engineering Laboratories Retrieved 8/5/2008
  61. ↑ NEES Equipment Site at the University of Nevada, Reno Retrieved 12/3/2008
  62. ↑ NEES Equipment Site at the University of Nevada, Reno Retrieved 8/2/2010
  63. ↑ Dynamic Certification Laboratories Retrieved 17/7/2012
  64. ↑ Rice University, Dynamic Systems Laboratory Retrieved 8/5/2008
  65. ↑ Retrieved 8/13/2013
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