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X International Conference on Structural Dynamics, EURODYN 2017

X International Conference on Structural Dynamics, EURODYN 2017
Dynamics of the scissors-type Mobile Bridge
Dynamics of the scissors-type Mobile Bridge
Yuki Chikahiroaa , Ichiro Ariob, b,∗∗, Piotr Pawlowskicc , Cezary Graczykowskicc ,
Yuki Chikahiro a
Masatoshi , Ichiro
NakazawaArio d∗,,Jan
b,
d Piotr Pawlowskic , Cezary
Holnicki-Szulc Graczykowski
cc , Syuichi Onoee
c,

Masatoshiaa Shinshu
Nakazawa d c
, Jan Holnicki-Szulc , Syuichi Ono e
University, 4-17-1 Wakasato, Nagano 380-8553, Japan
Shinshu University, 4-17-1 Wakasato, Nagano 380-8553, Japan
bb Hiroshima
a Shinshu
University, 1-4-1 Kagamiyama, Higashi-hiroshima 739-8527,
Hiroshima University,
University, 1-4-14-17-1 Wakasato,
Kagamiyama, Nagano 380-8553,
Higashi-hiroshima Japan Japan
739-8527, Japan
cc Institute of b Hiroshima
Fundamental Technological Research,
Institute ofFundamental University,
Technological 1-4-1Polish
Research, Polish Academy
Kagamiyama, of
of Sciences,
Sciences, ul.
ul. Pawinskiego
Academy Higashi-hiroshima 739-8527,5B,
Pawinskiego Warszawa
Japan
5B, Warszawa02-106,
02-106, Poland
Poland
c Institute dd Tohoku Gakuin University, 13-1 Chuou 1, Tagajo 985-8537, Japan
of Fundamental Technological Research,
Tohoku Gakuin Polish 13-1
University, Academy of Sciences,
Chuou 1, Tagajo ul. Pawinskiego
985-8537, Japan5B, Warszawa 02-106, Poland
ee Japan Construction
d Tohoku Gakuin
Japan Construction Method
Method and
and Machinery
University, Research
13-1 Chuou
Machinery Institute,
1, Tagajo
Research Fuji
Fuji 417-0801,
985-8537,
Institute, Japan Japan
417-0801, Japan
e Japan Construction Method and Machinery Research Institute, Fuji 417-0801, Japan

Abstract
Abstract
Abstract
We
We have
have experienced
experienced manymany times
times aa phenomenon
phenomenon in in which
which aa bridge
bridge is is washed
washed away away due
due to to aa typhoon,
typhoon, heavy
heavy rain
rain in
in the
the rainy
rainy season,
season, localized
localized
torrential
We
torrential rain,
rain, tsunami,
have experienced
tsunami, and
and other
many times flood
other disasters,
disasters, or
a phenomenon
flood in in
or which
which
in which aa bridge
a bridge
bridgeis is damaged
washed
is damaged awayby an
an earthquake
bydue to a typhoon,
earthquake or
or aaheavy
tremor.
tremor. There
rain in the
There is accordingly
is rainy season,increasing
accordingly localized
increasing
demand
demand for
torrential new
rain,
for technology
newtsunami, and
and science
and other
technology to
to restore
flood disasters,
science restoreor bridges that
thatahave
in which
bridges been
bridge
have been washed
washed away
is damaged by anor
away damaged.
damaged. The
orearthquake or a paper
The tremor.
paper presents
There is
presents aa new type
type of
accordingly
new of emergency
increasing
emergency
TM
bridge,
bridge, called
demand for new
called Mobile Bridge
technology
Mobile BridgeandTM (MB),
sciencewhich
(MB), can
can be
to restore
which be quickly
bridges thatconstructed
quickly have been in
constructed case
case of
washed
in damages
away
of after
after aa natural
or damaged.
damages The paper
natural disaster. The
Thea concept
presents
disaster. new typeof
concept ofofthe bridge
bridge is
emergency
the is
TM
based
bridge, on the
called application
Mobile of
Bridge scissor-type
based on the application of scissor-type mechanism,
(MB), which can be which
mechanism, quicklyprovides
which constructed
provides its
its rapid deployment.
in case
rapid of damages
deployment. Up to
to now
Upafter several
a natural
now several experimental
disaster. MBs
MBs of
The concept
experimental ofdifferent
of the bridge
different size
is
size
were
were constructed
based constructed and
and tested.
on the application The
The presented
of scissor-type
tested. research
mechanism,
presented reviews
researchwhich
reviews fundamental
provides its rapid
fundamental numerical and
and experimental
deployment.
numerical Up to now several
experimental results for
for the
the MB
resultsexperimentalMB MBsversion
versionof 4.0 (MB4.0).
different
4.0 size
(MB4.0).
Experimental
were
Experimental testing
constructed and included
testing tested. The
included strain and
and acceleration
presented
strain measurements
research reviews
acceleration in
in free
fundamental
measurements and
and forced
freenumerical andloading
forced conditions.
experimental
loading resultsFrom
conditions. these
for the
From MBresults,
these versionit
results, was
it 4.0 possible
was(MB4.0).
possible
to
to estimate
estimate basic
Experimental basic dynamic
testing included
dynamic characteristics of
of the
the bridge.
strain and acceleration
characteristics bridge. Besides,
Besides, in
measurements in order
in freeto
order provide
toand forced
provide aa basis
loading
basis for development
forconditions.
development of
of new
From these
new construction methods
results, it was
construction for
possible
methods for
structural
to estimatereinforcement
structural basic dynamic
reinforcement and
and suppression
suppression of
characteristics of vibrations,
of the bridge.various
vibrations, Besides,
various numerical
in order analyses
numerical to provide
analyses were
were conducted.
a basis The
The conducted
for development
conducted. of new
conducted research allows
construction
research for
for aa better
allowsmethods for
better
and
and safer
safer design
structural of
of the
the movable
reinforcement
design and
and foldable
and suppression
movable full-scale
full-scale bridge,
of vibrations,
foldable variousthe
bridge, the MB.
numerical
MB. analyses were conducted. The conducted research allows for a better
�
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The Published
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Ltd.
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organizing committee
committee of of EURODYN
EURODYN 2017. 2017.
Peer-review
Peer-review underunder responsibility
responsibility of organizing
of the the organizing committee
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of EURODYN 2017. 2017.
Keywords:
Keywords: Deployable bridge; Scissors-type bridge; Emergency bridge; Light-weight structure;
Deployable bridge; Scissors-type bridge; Emergency bridge; Light-weight structure; Temporary
Temporary bridge
bridge
Keywords: Deployable bridge; Scissors-type bridge; Emergency bridge; Light-weight structure; Temporary bridge

1.
1. Introduction
Introduction
1. Introduction
We have
We have many
many kinds
kinds of
of natural
natural disasters
disasters such
such asas earthquakes,
earthquakes, floods,
floods, tsunamis,
tsunamis, and and landslides.
landslides. Japan
Japan has has aa long
long history
history of of
We have disasters,
devastating
devastating many kinds
disasters, of natural
which
which have disasters
have killed
killed such asof
thousands
thousands ofearthquakes,
people
people and floods, tsunamis,
and heavily
heavily destroyed and
destroyed landslides. In
infrastructure.
infrastructure. Japan
In 1995,
1995, hasthea long
the great history
great Hanshin-
Hanshin- of
devastating
Awaji disasters,
earthquake took which
place have killed
destroying thousands
many of
buildings people
and and heavily
infrastructure. destroyed
Portions infrastructure.
of the country
Awaji earthquake took place destroying many buildings and infrastructure. Portions of the country are still recovering from the In
are 1995,
still the great
recovering Hanshin-
from the
Awaji
Tohokuearthquake
Tohoku earthquaketook
earthquake and place
and tsunami
tsunami destroying
in 2011.many
in 2011. In buildings
In recent
recent years,and
years, there
thereinfrastructure.
were
were many Portionsbridges
many damaged
damaged of the country
bridges by
by several aretyphoons
several still recovering
typhoons in localfrom
in local areasthe
areas of
of
Tohoku
Japan, earthquakeTohoku
Japan, Hokkaido,
Hokkaido, and tsunami
Tohoku and in 2011. In Natural
and Kagoshima.
Kagoshima. recent years,
Natural therecan
disasters
disasters were
can many
occur
occur damaged
anywhere
anywhere in bridges
in the
the worldby and
world several
and posetyphoons
pose threat in
aa threat to local
to our areas In
our lives.
lives. of
In
Japan,
the Hokkaido,
aftermath of a Tohoku
natural and Kagoshima.
disaster, rapid Natural
restoration disasters
of the can occur
infrastructure anywhere
is required. in the world
Repairing and
the pose
damaged
the aftermath of a natural disaster, rapid restoration of the infrastructure is required. Repairing the damaged infrastructure is of the a threat to
infrastructureour lives.
is of In
the
the aftermath
utmost
utmost of a natural
importance,
importance, because
becausedisaster,
this notrapid
this not onlyrestoration
only aids of thebut
aids evacuation
evacuation infrastructure
but also allowsisrelief
also allows required.
relief to be Repairing
to be provided
provided to tothe damaged
local
local infrastructure is of the
communities.
communities.
utmost importance,
However,
However, many because
many risks
risks and this not onlyare
and restrictions
restrictions aids
are evacuation
present
present withinbut
within the also
the allows
disaster
disaster relief
zones.
zones. to be
Even
Even if aaprovided
if to local
prefabricated
prefabricated communities.
bridge
bridge is
is used
used inin an
an emergency,
emergency,
it However,
it takes
takes aa week
weekmanyor risks and
or more
more untilrestrictions
until it
it is
is in are present
in aa usable
usable state.within
state. the disaster
Because
Because heavy zones. Even
heavy machinery
machinery if aemergency
and
and prefabricated
emergency bridgemay
vehicles
vehicles is used
may be in
be an emergency,
unable
unable to
to access
access
it
thetakes
site, a week
recovery or more
work until
may it
be is in
delayed.a usable
In state.
certain Because
situations, heavy
the machinery
emergency and
bridge emergency
may be
the site, recovery work may be delayed. In certain situations, the emergency bridge may be needed even where no professional vehicles
needed evenmay wherebe unable
no to access
professional
the site, recovery
structural
structural engineers
engineers work
are may
are be delayed.
available.
available. Besides,
Besides,In new
certain
new situations,
secondary
secondary the emergency
hazards
hazards caused
caused by by bridge
localized
localized maydamage
be needed
damage are even where
are likely
likely to
to impedeno professional
impede any
any rescue
rescue
structural
operations.engineers
operations. These are available.
These situations
situations raise
raise the Besides,
the question
questionnewof secondary
of “what
“what useful hazards
useful caused
activities
activities can by
can be localized
be performeddamage
performed in
in the are likely to
the immediate
immediate impede of
aftermath
aftermath any
of rescue
aa natural
natural
operations.
disaster”.
disaster”. These situations raise the question of “what useful activities can be performed in the immediate aftermath of a natural
disaster”.

∗ Corresponding
∗ Corresponding author.
author. Tel.&
Tel.& fax:
fax: +81-82-424-7792
+81-82-424-7792
∗ E-mail
E-mail address:
Corresponding [email protected]
address:author. Tel.& fax: +81-82-424-7792
[email protected]
E-mail address: [email protected]
1877-7058 
1877-7058 cc 2017
2017 The
The Authors.
Authors. Published
Published by
by Elsevier
Elsevier Ltd.
Ltd.
1877-7058
Peer-review
1877-7058
Peer-review ©2017
2017
under
cunder The
The Authors.
responsibility
Authors.
responsibility of the Published
ofPublished
the organizing
organizing by Ltd.
Elsevier
committee
by Elsevier
committee Ltd.
of EURODYN
of EURODYN 2017.
2017.
Peer-review
Peer-review under
under responsibility
responsibility of the organizing
of the organizing committee
committee of EURODYNof2017.
EURODYN 2017.
10.1016/j.proeng.2017.09.339
2920 Yuki Chikahiro et al. / Procedia Engineering 199 (2017) 2919–2924
2 Ichiro et al. / Procedia Engineering 00 (2017) 000–000

In the field of bridge engineering several studies have discussed the merits of modular bridges [1] and the use of lightweight
materials, such as FRP [2] or air tubes [3]. Although these propositions allow the rapid construction of bridges, there remain
various problems regarding the creation of large construction yards and the use of heavy industrial machines. However, any rescue
technology should have a low level of complexity and high degree of resilience to enable its deployment by unqualified personnel.
Hence, up to now, we propose a new type of foldable and deployable bridge called the Mobile Bridge (MB) (Japan Patent No.2006-
037668 [4], PCT WO2015/193930A1 [5] as shown in Fig. 1). The MB can be deployed and folded quickly owing to a scissor
mechanism 1 , and it therefore provides highly efficient construction and easy transportation. The idea for this new bridge comes
from academic studies on buckling based on Origami (Japanese traditional paper craft) [6], [7].
In previous studies of the MB [8] - [10], the mechanism and design concept were evaluated by numerical FE analysis followed
by a fundamental static-loading test using a small experimental bridge. Now, the current research reviews field testing of the latest
MB during real river crossing and its fundamental experimental and numerical results for the full-scale MB. Experimental testing
included strain and acceleration measurements in free and forced loading conditions. From these results, it was possible to estimate
basic dynamic characteristics of the bridge. Besides, in order to provide a basis for development of new methods for structural
reinforcement and suppression of vibrations, various numerical models were created. The conducted research allows for a better
and safer design of the MB.

2. MB based on Origami and Multi-Folding Technology

The scissors mechanism in its most basic form consists of two linear elements joined at their centres by a pivot providing a
hinge-connection. In the fully deployed state the two members are in the shape of the character ‘X’ creating the deployed single
scissor unit. This basic scissor unit is connected to the next unit by two hinges as shown in Fig. 1. The structure is deployable
and has a large ratio of length of change from the fully extended state to the folded state. In the non-deployed or compact state the
structure can be easily transported or stored for future reuse.
This concept of a scissor type mechanism was suggested by E. P. Pinero, an architect from Spain [11]. He applied this idea to
a deployable roof structure and obtained a patent in 1961. After this successful application, T. R. Zeigler and F. Escring focused
on the geometric layout design of the scissor units and put forward deployable domes using the mechanism [12], [13]. Recently
M. Saito [14] has analyzed the strength and stability of scissor structures reinforced with a string system. Indeed, scissor type
structures are increasingly used in a wide range of mechanical and space engineering fields [15].
Our current study for the MB plays an important role as an innovative product in the bridge engineering field. The scissors
mechanism enables the MB to be constructed and easily transported because of the compact pre-assemble configuration. These
fundamental concepts of the design of the MB result in following advantages:

1. The MB uses the patented technology [4], [5] based on a scissor mechanism for deploying an emergency bridge system set
within a modular and pre-assembling or less-assembling design.
2. The MB is a compact transportable bridge system, robotic bridge, which is suitable for transportation on a car trailer or lorry.
3. The MB system has a completely novel design and offers extraordinary performance that cannot be matched by the older block
assembly approach.

In addition, the MB can be deployed in a wide range of areas not only in emergency situation but also for normal operation. For
example, many existing old bridges are in a poor technical state due to improper maintenance or overloading. Smaller bridges can
be kept operational using the MB serving as temporary bridge. This provides the advantage of keeping bridges operational without
interrupting traffic and increasing further damage to the existing bridge.

Fig. 1. New concept of a scissor bridge based on Origami-folding idea.

1 Although the upper and lower chords are the main elements that resist sectional forces in an ordinary truss bridge, the MB lacks chords but can be transported

and constructed quickly using a scissor mechanism.

 Yuki Chikahiro et al. / Procedia Engineering 199 (2017) 2919–2924 2921
Ichiro et al. / Procedia Engineering 00 (2017) 000–000 3

(a) Expansion process of the MB4.0 (b) First test of the MB4.0
Fig. 2. Tests of foldable, movable and deployable bridge “Mobile bridgeTM ” at 24th March 2015.

Table 1. Configurations under a car loading for the MB4.0

Item Details Remarks

Length 3 m ∼ 20.8 m 6 units
Span 0 m ∼ 17. 3 m 5 units
Load for the deck 40 kN per a unit For a car
Width Outside: 2.5 m ∼ 3.0 m Inside: 2 m
Height Standing: 5 m Carrying: 3.1 m, inside: 2 m
Weight About 130 kN -
Workers 2-3 persons -
Expanding time 5-10 min. -
Construction time 1 hour -
Appear Hiroshima 25th April 2013
Test place Hongo river at Fukuyama 24th March 2015

3. First test of crossing a river

We review the release of the first test of full-scale of novel scissor-like bridge structure, “Mobile bridge version 4.0 (MB4.0)” [16]
- [18] inspired by traditional Japanese origami. A research team at Hiroshima University’s Institute of Engineering, carried out a
field test in conditions resembling real situation of deployment of the bridge. The test of the MB4.0 over a real river named Hongo
river demonstrated its capability for practical use on 24th April 2015 in Fukuyama in Japan. The width of Hongo river was surveyed
approximately 17m.
During the test the MB4.0 arrived to one side of the river carried by a heavy trailer. The bridge is equipped with a out-rigger
system, which enables automatic removal from the transport trailer after connecting to a hydraulic pump. In the next step, the
bridge, which is transported in the horizontal position is rotated by 90 degrees to the pre-deployment state. The expansion process
can be easily controlled and it took only five minutes for the bridge to be fully deployed. The MB4.0 reached safely the other side
of the Hongo river without any technical problems and was operated by a very limited technical crew, as shown in Fig. 2. The
total time from the arrival of the MB4.0 on site to its full expansion is approximately one hour. No works, including preparation
of foundations on the other side of the river were carried out during the test. The deployment of the bridge also did not involve
use of a crane or any other construction machines, which are typically involved in such situations. This is especially important for
time-sensitive situations such as natural disasters.
In the current research, we developed the MB4.0 as a type of robotic bridge by improving its mobility and functionality and
decreasing its weight. Thus, the MB4.0 has become more transportable and easier to set up at temporary construction sites without
any foundation, construction works or heavy machine operations. As a result, it is also much more cost efficient. The current model,
the MB4.0, has the length of about 20 m and the height of 2 m, as shown in Table 1. Main structural members of the bridge are
made of extruded aluminum alloy while the frame for the hydraulic deployment system is constructed of steel SS400.
42922 Yuki Chikahiro
Ichiro et al. / Engineering
et al. / Procedia Procedia Engineering 199 (2017) 2919–2924
00 (2017) 000–000

(a) The MB4.0 without reinforcement (b) The MB4.0 with reinforcement
Fig. 3. FE numerical model and experimental setup of the MB4.0.

Table 2. Numerical and experimental results for frequency analysis of the MB4.0.

Horizontal direction(Hz) Vertical direction(Hz)

Case Boundary condition Numerical Experimental Numerical Experimental
analysis testing analysis testing
1 Cantilever condition 0.6 - 0.9 -
2 Both-ends supported condition 1.2 1.6 4.6 3.7
3 Both-ends supported condition 2.1 - 6.1 -
with reinforcement

4. Fundamental dynamics of MB4.0

4.1. Numerical and experimental conditions

In case of the deployable structures, apart from static analysis of different configurations of expansion, it is very important to
investigate the dynamic behavior of the system. High compliance and flexibility of the scissors-type bridge may influence user’s
comfort and safety in case of heavy dynamic loads such as human induced impacts, wind gusts or earthquakes. Hence, in order to
make clear the fundamental dynamics of the MB, that is natural frequency and vibration mode, we carried out numerical simulation
and experimental testing for the MB4.0.
In the numerical simulation, FE numerical model is set up by numerical software of ABAQUS 6.12 as shown in Fig. 3 (a)
and (b). The model is represented in 3D considering folding deck-boards system by use of beam elements. The pivot part which
is connecting two components is allowed to rotate without any friction. Detail modeling method can be found in our previous
paper[10]. The material of the main frame members are made of combination of the aluminum alloy AN01 and steel SS400. The
steel member is set on the leftmost unit of the diagonally right up member. Another member is made of the aluminum alloy. In
addition to the fundamental analysis of dynamics of the bridge, we evaluated numerically the effect of reinforcing of the structure
by additional strut member. The reinforcing member is applied in the middle of the upper hinge part of the bridge.
In the experimental testing, we measured the acceleration of the MB4.0 under both-ends supported condition using triaxial
acceleration sensors, which were positioned on the lower hinge parts in the middle of the MB4.0 as shown in Fig. 3 (b). Vibrations
of the MB4.0 were measured in free and forced loading conditions.

4.2. Numerical and experimental result

The considered problem was eigenvalue analysis aimed at finding natural frequencies of free vibrations and the corresponding
vibration modes. Herein, the preliminary results of the eigenvalue analysis of the MB4.0 and its vibration modes are presented
as shown in Table 2 and Fig. 4 ∼ Fig. 6. The experimental results were calculated by FFT (Fast Fourier Transformation) using
measured accelerations. The eigenvalues for horizontal and vertical direction under both-ends supported condition are 1.6 Hz and
3.7 Hz, respectively. These results indicate that in case of the MB4.0 the vibrations in horizontal direction are stronger than in
vertical direction.
 Yuki Chikahiro et al. / Procedia Engineering 199 (2017) 2919–2924 2923
Ichiro et al. / Procedia Engineering 00 (2017) 000–000 5

(a) 1st mode for horizontal direction (b) 1st mode for vertical direction
Fig. 4. Vibration modes in cantilever condition.

(a) 1st mode for horizontal direction (b) 1st mode for vertical direction
Fig. 5. Vibration modes in both-ends supported condition.

(a) 1st mode for horizontal direction (b) 1st mode for vertical direction
Fig. 6. Vibration modes in both-ends supported condition with reinforcement.

When we compare the experimental results with the numerical results, the frequency in the horizontal direction shows good
accuracy, but results in the vertical direction are slightly different. This discrepancy may result from the method of modeling of
deck boards. In our simulation, deck boards are positioned on each lower hinge of the bridge as simply supported. However, in
reality, deck boards are foldable and connected to the main structure in more complex way to realize the fully automatic deployment
of the bridge as shown in Fig. 2 (a). Therefore it is considered that numerical results show higher values of resonant frequencies
due to higher stiffness comparing to experimental values in the vertical direction. It is also found that modeling method of the deck
boards does not affect the results in the horizontal direction.
When we apply the reinforcing member at the middle of the top level of the bridge, the eigen-frequencies both in horizontal and
vertical direction increase from the non-reinforced state. These results indicate that by applying reinforcing members the stiffness
of the MB4.0 is increased due to reduction of the effect of bending moments in the main structural members. Hence by applying
the proper reinforcement to the MB after deployment, control of bridge’s stability can be improved resulting in a higher level of
safety.

5. Conclusions

This paper presented the new design of the full-scale MB4.0 with integrated lower deck boards and field experiment related
to crossing of a real river in Japan. After demonstrating structural safety of the bridge, we carried out fundamental numerical
simulation and experimental testing to investigate the dynamics of the MB4.0. The results lead to the following conclusions:
 2924 Yuki Chikahiro et al. / Procedia Engineering 199 (2017) 2919–2924
6 Ichiro et al. / Procedia Engineering 00 (2017) 000–000

• We succeeded to develop the full-scale scissor type bridge for vehicles and demonstrated its usability based on the field
experiment over a real river.
• During the test, the robotic bridge was deployed within one hour without any works carried out on foundations, and vehicles
could easily travel across it. This was safely achieved with very few people and without any technical problems.
• The eigenvalue analysis and experimental measurements revealed the basic vibration modes of the MB4.0 and indicated that
the bridge is prone to vibrations in horizontal direction due to smaller corresponding stiffness in this direction.
• By applying reinforcing member, the stiffness of the MB4.0 was improved for both horizontal and vertical direction due to
reduction of the effect of bending moment in the main structural members of the bridge.

Acknowledgement

This research has been supported by Bilateral Programs between Japan Society for the Promotion of Science (JSPS) and Polish
Academy of Sciences (PAN) in 2016 - 2018. The river’s test of the finance had supported by the developmental grant from Minister
of Economy, Trade and Industry in Japan in 2014 - 2015 to the collaborated company. It is great pleasure to build up the MB4.0
and support the experiment by collaborate companies: Hoshi-kei-kinzoku Industry Co., Ltd. and Sankyo Tateyama, lnc Sankyo
Material Co., Ltd.

References

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[2] G. Sedlacek and H. Trumpf, Development of a light-weight emergency bridge, International Conference on High Performance Materials in Bridges, 2003, pp.
150-161.
[3] R. H. Luchsinger, A. Pedretti, P. Steingruber and M. Pedretti, The new structural concept Tensairity: Basic principles, Progress in structural engineering,
mechanics and computation, 2004, pp. 323-328.
[4] I. Ario, Structure with the expanding and folding equipment as a patent (No.2006-037668) registered in 2012, Japan.
[5] SCISSORS-TYPE RETRACTABLE STRUCTURE, Patent Publication Number: WO2015/193930A1.including registration of EP, 2015.
[6] G. W. Hunt and I. Ario, Twist buckling and the foldable cylinder: an exercise in origami, Int. J. of Nonlinear Mechanics, 40(6), 2005, pp. 833-843.
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[16] I. Ario, Y. Chikahiro, I. Tanikura, S. Onno, M. Nakazawa, S. Nakatani, K. Yamada, S. Nakamura, Y. Tanaka, R. Tsubaki, S. Matsumoto, K. Adachi, Consider
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[19] I. Ario, Y. Hama, Y. Chikahiro, K. Adachi, A. Watoson, Origami inspired deployable & movable bridge for disaster relief, FootBridge 2017 Berlin, 2017.9,
Accepted.
[20] K. Adachi, I. Ario, Y. Chikahiro, S. matsumoto, Scissoring origami inspired deployable bridge for a disaster, FootBridge 2017 Berlin, 2017.9, Accepted.
[21] Y. Chikahiro, I. Ario, K. Adachi, S. Shimizu, P. Pawlowski, C. Graczykowski, J. Holnicki-Szulc, Dynamic property of deployable emergency bridge using
scissors mechanism, FootBridge 2017 Berlin, 2017.9, Accepted.