COB-2023-1831

A STUDY ON THE EFFECTS OF POST-INSTALLATION FIBER

REINFORCEMENTS IN STRUCTURAL RESPONSE OF METALLIC
TRUSSES

Bárbara Thaís Jacques Minosso

Mechanical Engineering Department, Federal University of Rio Grande do Sul
Rua Sarmento Leite, 425, Porto Alegre, RS. 90050-170, Brazil.
[email protected]

Rogério José Marczak

Mechanical Engineering Department, Federal University of Rio Grande do Sul
Rua Sarmento Leite, 425, Porto Alegre, RS. 90050-170, Brazil.
[email protected]

Abstract. Carbon fiber-reinforced epoxy composites have numerous applications being commonly used in applications
with high structural demand. These materials can be manufactured through several processes, in the case of cylindrical
tubes, one of the common processes is filament winding (FW). Many reticulated structures are manufactured using metal
beams with a circular cross-section, without provision for future expansions in the project. Aiming for the reusability of
these structures and increasing their service life, FW can be used to form an outer layer of fiber reinforced (FR)
composite on the individual bars of existing structures in order to strengthen the structures and increase their load-
bearing capacity. With the reinforcements, the isotropic beams become layered beams, changing the calculations of these
structures. Based on this information, the objective of this work is to evaluate the mechanical behavior of steel tubes
reinforced through FW with Toray T700-12K-50C carbon fiber and UF3369 epoxy resin system from TCR Composites, Comentado [BT1]: Define “TCR”
compare their mechanical behavior with the original structure, and quantify the increase in load capacity. Analysis was (é o nome da empresa, não sei se tem definição)
carried out through finite element models of spatial truss structures using beam elements. Different angles of fiber
orientation were tested. The results show that the largest gain occurs with the orientation [±25°] and the value of the
frequencies does not have significant changes.

Keywords: composite tube, fiber reinforced material, truss, mechanical response, filament winding.

1. INTRODUCTION

Metallic structures formed by thin-walled tubular three-dimensional gantry elements are often used in mechanical
and civil construction. Examples of these structures can be cited: towers, bridges, roofs of bus terminals, airports, stadiums
and distribution centers, and crane structures, among others. Thin-walled piping is used due to its architectural appearance,
greater durability, and better performance to the exposure of dynamic actions (Santos, 2023).
Carbon fiber/epoxy composites materials have better mechanical properties compared to metallic materials, such as
high specific strength, lightness, high corrosion and fatigue resistance, low thermal conductivity, and high energy
absorption. These advantages are responsible for the significant increase in the use of these materials in various sectors,
such as automotive, aerospace, naval, offshore and civil construction (Das et al., 2019; Huang et al., 2020). In general,
cylindrical carbon fiber reinforced polymer (CFRP) structures have been used in trusses, platforms, pressure vessels, and
reservoirs (Mian et al., 2013).
According to Wang et al. (2020), the hybrid metal/composite configuration comes to be a balance point between
performance and cost of the structure. This is related to the combination of properties, for example, the plastic deformation
of the metal can cause a progressive deformation of the FR composite more stable and the high rigidity of the composite
can increase the curvature stiffness of the metal as well as increase the energy absorption of the hybrid structure.
Among the manufacturing processes that can be used to produce tubular cylindrical structures, the filament winding
(FW) process stands out. In this process, continuous fiber filaments impregnated with resin are rolled along a rotating
chuck, forming a composite layer on the surface. The main advantage of this method is the automation of the process,
which enables high precision in the positioning of the fibers, optimization of properties, increased structural efficiency,
mass production, and low cost with material and manufacturing (Das et al., 2019; Azeem et al., 2022)
B.T.J. Minosso, R.J. Marczak
A Study on the Effects of Post-Installation Fiber Reinforcements in Structural Response of Metallic Trusses

This work aims to evaluate the behavior of existing metal structures exposed to deformations under increased load.
Finite element analysis is used to obtain the results and compare the original structures with the reinforced structures in
order to predict the viability of the process.

2. MECHANICAL PROPERTIES

The structure of FW cylinders is more complex than classic laminate, due to the formation of zones where the fibers
intertwine, forming a winding pattern. Due to the difficulty of including these undulations in the composite design, the
Classic Theory of Laminates has been used for the design and analysis of cylindrical structures of FW. (Hernández-
Moreno et al., 2008, Mian et al., 2013).
In the case of an orthotropic material, the stress-strain relationships have the form (Jones, 1999):

 1  C11 C12 C13 0 0 0  1 

  C C22 C23 0 0 0  
 2   12  2 
 3  C13 C23 C33 0 0 0   3 
   , (1)
 23   0 0 0 C44 0 0
  23 
 13   0 0 0 0 C55 0    13 
    
 12   0 0 0 0 0 C66    12 

Considering a curved surface shell element, it is assumed that each element of the mesh is a thin plate. Thus, the
problem can reduced to a laminated plate subjected to axial forces in two directions.
The Classical Theory of Laminates considers thin laminates charged in the plane, with all stress components in the
off-plane direction (3 direction) being zero, i.e. 𝜎 = 𝜏 = 𝜏 = 0. Thus, orthotropic stress-strain relationships Eqs. (1)
are reduced to

 1  Q11 Q12 0   1  (2)

   Q Q 0  2  ,
 2   12 22
 
 12   0 0 Q66   12 

or, inversely

  1   S11 S12 0   1  (3)

    S S 22 0   2  ,
 2   12  
 12   0 0 S 66   12 

where
E1 E2  21 E1 (4)
Q11  , Q22  , Q12  , Q66  G12 ,
1   12 21 1   12 21 1   12 21

and

1  12 1 1 (5)
S11  , S12   , S 22  , S 66  ,
E1 E1 E2 G12

being 𝐸 , 𝐸 , 𝐺 and 𝜈 the engineering constants of the material.

In a laminate it is common that the main axes of the blade do not coincide with the reference axes of the laminate.
Therefore, to obtain the properties of the composite material, the unidirectional mechanical properties must be
transformed through the transformation matrix given by
 27th ABCM International Congress of Mechanical Engineering
December 4-8, 2023. Florianópolis, SC, Brazil

 m2 n2 2mn  (6)

T    n 2 m 2 2mn  ,
  mn mn m 2  n 2 

where 𝑚 = cos 𝜃 and 𝑛 = sin 𝜃, where 𝜃 is the measured angle between the x-axis and the 1-axis.
The global stiffness matrix, or transform, of the layer is obtained by the equation

(7)
 Q xy
 T Q12 T  ,
1

where  Q 12 is the local stiffness matrix of the layer.

In FW laminates, each layer is formed by two plies, +𝜃 and −𝜃, and is therefore balanced. With the winding pattern
it is possible to divide the laminate into unit cells, which correspond to a single diamond-shape region, which can be
divided into two parts separated by the undulation zone where roving cross over. Disregarding the undulation zone, the
rhombus is divided into two triangles, one of laminate ±𝜃 and other ∓𝜃. Because it is balanced, the stacking sequence
does not interfere with the properties. Hernández-Moreno et al. (2008) proposed the use of the rule of mixtures to find
the properties of a layer, considering that each ply corresponds to 50% of the volume of the layer,

2 (8)
Q ij fw
  V Q  k ij k
,
k 1

where Qij  fw
is the stiffness matrix of a FW layer, Vk and Qij   is the volume and stiffness matrix of the unidirectional
k

ply k , respectively.
The deformations at any point of the laminate can be found through the deformation in the middle plane and the
curvatures of the laminate through the relation

 x   x  x 
0 (9)
     0   z   ,
 y  y  y
 xy   xy   xy 
0

where  x ,  y ,  xy and  x ,  y ,  xy are the deformations and curvatures in the middle plane, respectively, and z is a general
0 0 0

point through the thickness of the laminate.

The resulting forces and moments are given as

(10)
 N   A B   
0

M    B D    ,
    

where  and  are the deformations and curvatures in the midline, N and M are the resulting forces and moments
0

per unit length and A , B and D are the stiffness matrices of the laminate, with for uncoupled laminates, defined as

n (11)
 A    Q   z  z k 1  ,
k

ij ij k
k 1

1 (12)
 B    Q   z
n

ij
2
ij
k

k
2 2

 z k 1 ,
k 1

1 (13)
 D    Q   z
n

ij
3
ij
k 3
k
3

 z k 1 ,
k 1

where
B.T.J. Minosso, R.J. Marczak
A Study on the Effects of Post-Installation Fiber Reinforcements in Structural Response of Metallic Trusses

Aij extensional stiffness of the laminate;

Bij bending-extension coupling stiffness;
Dij flexural stiffness;
Qij overall stiffness layer; and
z k position of the layer k relative to the reference plane, obtained from the stacking sequence, as illustrated in Figure 1.

Figure 1. Stacking sequence and layer position.

From the stiffness matrices [𝐴], [𝐵], and [𝐷] it is possible to identify the engineering constants of the laminate in the
plane state of stress with Eq. (14) and for the tension bending state with Eq. (15).

1 1 1 A 1
A 1 (14)
E1  , E2  , G12  , 12  12
, 21  12
,
A 
1

11
h A 1

22
h A  1

66
h A 1

11
A 1

22

12 12 12 D  1
D  1 (15)
E1  , E2  , G12  , 12  12
, 21  12
,
D 
1

11
h
3
D  1

22
h
3
D  1

66
h
3
D  1

11
D  1

22

With these constants it is possible to present a laminate material in the form homogeneous material, and the properties
of the material are defined by these constants (Smolnicki e Stabla, 2019).

3. FINITE ELEMENT METHOD

Beam elements are widely used in structural engineering to model lattice structures. According to Bathe (2014), the
most effective way to evaluate the stiffness matrices of these elements is through the use of the principle of virtual work,
which is the basic relationship used for the formulation of elements by the displacement method.
According to Hughes (1987), the virtual work equation (or variational equation) is given by

∫ 𝑤 𝑢 𝑑𝑥 = ∫ 𝑤𝑓𝑑𝑥 + 𝑤(0)ℎ, (16) Comentado [BT2]: The presentation of equation (16) appears
confusing or nonsensical
(não sei o que alterar aqui, ou seria melhor deixar fora?)
where 𝑢 is the real solution and 𝑤 are the virtual displacements. The Eq. (16) can be written in a simplified way as

𝑎(𝑤, 𝑢) = (𝑤, 𝑓) + 𝑤(0)ℎ, (17)

Solving by Garlerkin’s method, approximate solutions are obtained. 𝑤 are virtual displacements and remains equal,
while 𝑢 turns into 𝑢 = 𝑣 + 𝑔 . Performing the necessary substitutions in order to use approximate formulations, Eq.
(17) becomes

𝑎(𝑤 , 𝑣 ) = (𝑤 , 𝑓) + 𝑤 (0)ℎ − 𝑎(𝑤 , 𝑔 ), (18)

Equation (18) is used to define 𝑣 , which is the unknown part of 𝑢 . The right-hand side of this equation consists of
the totality of terms associated with the given data.
 27th ABCM International Congress of Mechanical Engineering
December 4-8, 2023. Florianópolis, SC, Brazil

Galerkin’s method leads to a coupled system of linear equations, in which the variational set consists of all linear
combinations of given functions denoted by 𝑁 , which are known as interpolation functions and 𝐴 = 1,2, … , 𝑛, where 𝑛
is the number of degrees of freedom.
Performing the necessary substitutions, Eq. (18) becomes Eq. (19), where everything is known except 𝑑 .

∑ 𝑎(𝑁 , 𝑁 )𝑑 = (𝑁 , 𝑓) + 𝑁 (0)ℎ − 𝑎(𝑁 , 𝑁 )𝑔, (19)

Rearranging the terms

𝐾 = 𝑎(𝑁 , 𝑁 ), (20)

𝐹 = (𝑁 , 𝑓) + 𝑁 (0)ℎ − 𝑎(𝑁 , 𝑁 )𝑔, (21)

Soon, Comentado [BT3]: “Soon,” Does this make sense?

(não sei qual palavra ficaria mais adequada aqui)
∑ 𝐾 𝑑 =𝐹 , (22)

which can be written in matrix notation as

[𝐾]{𝑑} = {𝐹}, (23)

where [𝐾] is the stiffness matrix, {𝑑} is the displacement vector, and {𝐹} is the force vector.

4. NATURAL FREQUENCIES

The system of equations constituting the equations of motion for an undamped system can be written as

[𝑀]{𝑢̈ } + [𝐾]{𝑢} = {𝐹}, (24)

where [𝑀] and [𝐾] are the matrices of mass and stiffness, respectively and {𝑢}, {𝑢̈ } and {𝐹} are the vectors of
displacement, acceleration, and force, respectively.
The problem of free vibrations requires {𝐹} = 0 and has as its solution

{𝑢} = {𝑎}sin(𝜔𝑡 − 𝛼), (25)

where {𝑎} is the amplitude of motion vector, 𝜔 is the natural frequency, 𝑡 is the time, and 𝛼 is the angular acceleration.
Making the substitutions and rearranging the terms

[𝐾] − 𝜔 [𝑀] {𝑎} = {0}, (26)

The nontrivial solution of Eq. (26), for which not all 𝑎 = 0, requires that the determinant of the matrix factor {𝑎} be
equal to zero, therefore

[𝐾] − 𝜔 [𝑀] = 0, (27) Comentado [BT4]: Replace “,” by “.” in Eq. (27).
(será mesmo?)
The expansion of the determinant of Eq. (27) results in a polynomial equation of degree 𝑛 in 𝜔 , this equation is
known as the characteristic equation of the system. The roots of this equation provide the natural frequencies 𝜔 , for
𝑖 = 1,2, … , 𝑛, being 𝑛 the modes of vibration (Paz, 2019).
The natural frequency of a system refers to the frequency of the first mode of the structure without applied loads and
can be obtained through the elementary equation:

𝑓= , (28)

where 𝑓 is the natural frequency, in Hz, and 𝜔 is called the circular or angular natural frequency, measured in (rad/s)
(Paz, 2019).

5. MODELING
B.T.J. Minosso, R.J. Marczak
A Study on the Effects of Post-Installation Fiber Reinforcements in Structural Response of Metallic Trusses

In this study, existing structures in structural steel, with their original dimensions and thicknesses were numerically
modeled in ANSYS® software using beam elements, BEAM189. For the reinforcement, a new beam structure was Comentado [BT5]: “… using beam elements, BEAM189.”
modeled, having as the internal diameter of the tubes the dimension of the outer diameter of the steel tubes. The thickness Explain if this element part of a commercial software.
of the composite material considered is 1 mm, corresponding to two layers of FW. It was considered perfect connection (adicionei o software antes, precisa mais informações?)
in steel and composite. The 3 previously selected settings were used to identify the best configuration for each case. The
structures were loaded with the original loads in order to identify the resistance gain with the reinforcement. The first
vibration modes and their respective frequencies were also evaluated.

5.1 Materials

The metal structures under study are made of structural steel. For the numerical analysis, the mechanical properties of
the steel given by NBR 8800/08 were considered. This standard establishes the basic requirements that must be obeyed
in the design at ambient temperature of steel structures. Table 1 presents the mechanical properties of structural steel
(ABNT, 2008).

Table 1. Mechanical properties of structural steel (ABNT, 2008).

Properties Symbol Value

Elastic modulus 𝐸 (GPa) 200
Transversal elastic modulus 𝐺 (GPa) 77
Poisson’s ratio 𝜈 0.3
Yield stress 𝜎 (MPa) 250
Ultimate tensile stress 𝜎 (MPa) 400
Density 𝜌 (kg/m³) 7850

For the reinforcement, the pre-impregnated fiber (towpreg) of Toray T700-12K-50C carbon fiber and UF3369 epoxy
resin from the manufacturer TCR Composites was chosen as composite material. The excellent stress-strain ratio of the
carbon fiber was taken into account. For the present study, the lamina properties of this material were used (Table 2),
with a volumetric fiber content ≈ 72% obtained by Almeida et al. (2016).

Table 2. Mechanical properties of composite (Almeida et al., 2016).

Properties Symbol Value

Longitudinal elastic modulus 𝐸 (GPa) 129.3
Transversal elastic modulus 𝐸 (GPa) 9.11
Poisson’s ratio in plane 1-2 𝜈 =𝜈 0.32
Poisson’s ratio in plane 2-3 𝜈 0.35
In-plane shear modulus 𝐺 = 𝐺 (GPa) 5.44
Transverse shear modulus in plane 2-3 𝐺 (GPa) 2.10
Longitudinal tensile strength 𝑋 (MPa) 1409.9
Transversal tensile strength 𝑌 (MPa) 42.5
Longitudinal compressive strength 𝑋 (MPa) -740.0
Transversal compressive strength 𝑌 (MPa) -140.3
In-plane shear strength 𝑆 (MPa) 68.9
Density(1) 𝜌 (kg/m³) 1626
(1)
Calculated from the rule of mixtures.

The properties of the carbon fiber/epoxy composite material were obtained with the aid of script in MATLAB
following the equations of the previous topic. The thickness of each FW layer considered was 𝑡 ≈ 0.5 mm, and each
layer corresponds to 2 plies, +𝜃 and −𝜃. The objective was to identify the best angles for numerical analysis. The graph
in Figure 2 shows the elastic constants according to the angle of orientation of the fibers for a total of 2 layers of FW. The
modulus of stiffness, bending, traction and torsion are shown in Figure 3, for a tube with an internal diameter of 33,4 mm.
 27th ABCM International Congress of Mechanical Engineering
December 4-8, 2023. Florianópolis, SC, Brazil

Figure 2. Composite material properties vs orientation angle.

Figure 3. Stiffness modulus vs orientation angle: a) bending and torsion, (b) tension.

Based on the graphs in Figure 3, 3 different configurations were selected for the next step: [±25°] , [±30°] and
[±45°] . The ideal orientation for traction and bending is 0°, while for torsion it is 45°, however, due to the limitations
of the manufacturing process the angle of 25° was adopted instead of 0°.
The mechanical properties of the composite with these winding configurations are presented in Table 3.

Table 3. Mechanical properties used in the simulations.

Value
Properties
[±25°] [±30°] [±45°]
𝐸 (GPa) 66.254 48.120 18.926
𝐸 = 𝐸 (GPa) 10.345 11.256 18.926
𝜈 1.3428 1.2929 0.7395
𝜈 =𝜈 0.35 0.35 0.35
𝐺 =𝐺 =𝐺 (GPa) 21.839 26.399 33.386

6. RESULTS AND DISCUSSIONS

The first case analyzed is the result of layout optimization performed by Santos (2023). It is a cantilever truss structure
with a concentrated load applied at end B. Two load conditions are tested: 1) 𝐹 = 120 kN e 𝐹 = 0, and 2) 𝐹 = 0 e
𝐹 = 60 kN. The geometry of the structure and load conditions are shown in Figure 4. The mass of the structure in steel
is 4431 kg, the mass of the reinforcing material, 122 kg, resulting in a total mass of 4553 kg.
B.T.J. Minosso, R.J. Marczak
A Study on the Effects of Post-Installation Fiber Reinforcements in Structural Response of Metallic Trusses

Figure 4. Cantilever structure optimized by Santos (2023).

For both loads, the displacements obtained are shown in Table 4, where it is possible to identify that the Steel+[±25°]
configuration presents better performance, having the lowest displacement, with a reduction of approximately 4% in
relation to the original structure.

Table 4. Resulting displacements for the different loading conditions.

Displacement (mm)
Configuration
Condition 1 Reduction % Condition 2 Reduction %
Steel 45.756 - 82.461 -
Steel+[±25°] 43.833 4.20 78.521 4.78
Steel+[±30°] 44.344 3.08 79.406 3.70
Steel+[±45°] 45.19 1.24 80.872 1.93

The frequencies for the first four vibration modes are presented in Table 5. Through them it is possible to evaluate the
frequency variation of each mode according to the angular orientation of the reinforcement. It can be verified that the
Steel+[±45°] configuration presents the worst results, reducing the value of the natural frequency of the structure, while
the Steel+[±25°] configuration is the one that presents the best performance, since it increased the natural frequency by
at least 0.8%.

Table 5. Vibration mode of cantilever beam.

Frequencies (Hz)
Vibration Mode
Steel Steel+[±𝟐𝟓°]𝟐 Steel+[±𝟑𝟎°]𝟐 Steel+[±𝟒𝟓°]𝟐
Mode I 4.7713 4.8146 4.786 4.7393
Mode II 8.6911 8.8278 8.7603 8.6486
Mode III 10.137 10.376 10.281 10.127

Aiming the reduction of the displacement of the structure by 10% and taking into account that the thickness of the
steel is 8 mm and 1 mm of composite may not be enough for a significant gain in stiffness, a new analysis was carried
out, increasing the number of FW layers of the reinforcement. The [±25°] configuration was used, since it showed better
performance among the three configurations under study. The maximum desired displacements are 40.484 mm for
condition 1 and 71.09 mm for condition 2. For both cases of loading, this condition was met using 3 FW layers, whose
final thickness is equivalent to 1.5 mm. Evaluating the natural frequencies of the structure, an increase of 2.73% compared
to the original structure is perceived.
The second case of this study is a footbridge with a span of approximately 30m. Originally optimized in the study by
Ghasemi et al. (2023), the structure was considered with the dimensions of tubular sections obtained by the BGP method,
which presented lower total weight. The objective is to analyze the possibility of deploying the structure in a place where
it is not possible to install the central support base. Once considered as a bi-supported beam, the footbridge was simulated
numerically in order to identify its behavior in the face of deflection and the vibration modes of the structure. Afterwards,
the structure went through the reinforcements following the same way as the previous case, evaluating its behavior before
the reinforcement of the steel with carbon fiber/epoxy.
The structure with the representation of the boundary conditions is presented in Figure 5. The structure is loaded with
wind loads laterally, being 1.5 kN at deck and 0.34 kN at base, and with the moving load generated by pedestrians.
According to the standards, the mobile load considered for bridges due to the transit of people should be 5 kN/m²
distributed in the pipes that support the floor. The mass of the structure in steel is 6048.6 kg, the mass of the reinforcing
material, 391.12 kg, resulting in a total mass of 6439.8 kg.
 27th ABCM International Congress of Mechanical Engineering
December 4-8, 2023. Florianópolis, SC, Brazil

Figure 5. Footbridge structure adapted of Ghasemi et al. (2023).

Table 6 shows the resulting displacements caused by the applied load. It can be seen that the Steel+[±25°]
configuration is the one that presented the best performance, with a reduction of 34.48% in the displacement compared
to the steel structure. However, comparing the different angles of orientation of the reinforcement, there was no significant
difference.

Table 6. Resulting displacements for the structure without central base.

Configuration Displacement (mm) Reduction %

Steel 16.892 -
Steel+[±25°] 11.071 34.46
Steel+[±30°] 11.329 32.93
Steel+[±45°] 11.772 30.31

The vibration modes of the structure and their respective frequencies were obtained through modal analysis and are
presented in Table 7. It can be concluded that as in the structure previously analyzed, the Steel+[±25°] configuration
showed better performance, increasing the natural frequency of the structure, whereas the Steel+[±45°] configuration
caused the reduction of the values of the natural frequencies of the structure, this is related to fact that there was both the
change in stiffness and in the mass of the structure, because there was no significant increase in stiffness for these
reinforcement orientations, there was a reduction in the natural frequency.

Table 7. Vibration mode of structure.

Frequencies (Hz)
Vibration Mode
Steel Steel+[±𝟐𝟓°]𝟐 Steel+[±𝟑𝟎°]𝟐 Steel+[±𝟒𝟓°]𝟐
Mode I 6.9089 7.002 6.923 6.792
Mode II 20.392 20.727 20.475 20.062

7. CONCLUSION

This study allowed to identify the stiffness gain when the metal structure is reinforced by CFRP. For cases under
traction and bending, the lower the winding angle of the FW fibers, the greater the longitudinal elasticity modulus and,
consecutively, the stiffness modulus, which is proven through the analytical analysis of the mechanical properties of the
CFRP and by comparing the behavior of the structure against different angles of orientation of the reinforcement.
Comparing the results of the different structures, it is clear that the load gain for the same FW configurations is directly
related to the original configurations of the steel structure. The first case presented a steel thickness of 8 mm, presenting
a small reduction of displacements with the standardized load, which indicates that the thickness of 1 mm referring to 2
FW layers is not sufficient for a significant gain. On the other hand, the second case, whose maximum thickness is 4 mm,
2 FW layers are enough to raise the rigidity of the structure, providing a considerable load gain.
As for the vibration frequencies, the results show little variation in values, being directly related to the mass gain of
the structure, which counter-balances the stiffness gain.
B.T.J. Minosso, R.J. Marczak
A Study on the Effects of Post-Installation Fiber Reinforcements in Structural Response of Metallic Trusses

8. ACKNOWLEDGEMENTS

We thank the CAPES for the financial support to present this paper. The second author acknowledges CNPq grant
317140/2021-3.

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10. RESPONSIBILITY NOTICE

The authors are the only responsible for the printed material included in this paper.