Non-singular time domain BEM with applications to 3D inertial soil–structure interaction

A direct time domain boundary element method is presented based on the Stokes fundamental solutions, discretized in both time and space, and an efficient time step-by-step solution that minimizes the accumulation of errors. A non-singular numerical integration procedure, in the Cauchy sense, is proposed for the generation of the associated influence matrices. This methodology is shown to be efficient for the solution of a number of computationally intensive problems in the area of soil–structure interaction. In addition, an algorithm for the direct calculation of the response of massive foundations to externally applied forces and/or obliquely incident seismic waves is introduced. The accuracy and computational efficiency of the proposed methodologies is established through a number of comparison studies.     

Three-dimensional dynamic soil–structure interaction analysis in the time domain

A new numerical procedure is proposed for the analysis of three-dimensional dynamic soil–structure interaction in the time domain. In this study, the soil is modelled as a linear elastic solid, however, the methods developed can be adapted to include the effects of soil non-linearities and hysteretic damping in the soil. A substructure method, in which the unbounded soil is modelled by the scaled boundary finite-element method, is used and the structure is modelled by 8–21 variable-number-node three-dimensional isoparametric or subparametric hexahedral curvilinear elements. Approximations in both time and space, which lead to efficient schemes for calculation of the acceleration unit-impulse response matrix, are proposed for the scaled boundary finite-element method resulting in significant reduction in computational effort with little loss of accuracy. The approximations also lead to a very efficient scheme for evaluation of convolution integrals in the calculation of soil–structure interaction forces. The approximations proposed in this paper are also applicable to the boundary element method. These approximations result in an improvement over current methods. A three-dimensional Dynamic Soil–Structure Interaction Analysis program (DSSIA-3D) is developed, and seismic excitations (S-waves, P-waves, and surface waves) and externally applied transient loadings can be considered in analysis. The computer program developed can be used in the analysis of three-dimensional dynamic soil–structure interaction as well as in the analysis of wave scattering and diffraction by three-dimensional surface irregularities. The scattering and diffraction of seismic waves (P-, S-, and Rayleigh waves) by various three-dimensional surface irregularities are studied in detail, and the numerical results obtained are in good agreement with those given by other authors. Numerical studies show that the new procedure is suitable and very efficient for problems which involve low frequencies of interest for earthquake engineering. Copyright © 1999 John Wiley & Sons Ltd     

Dynamic 3-D soil–railway track interaction by BEM–FEM

A study on the dynamic response of a railway track is presented via a 3-D formulation based on the frequency domain Boundary Element Method (BEM) and the Finite Element Method (FEM). The railway track consists of a group of surface, massive, rigid footings resting on a viscoelastic half-space and connected by an overlaying rail structure. The BEM, employing the full-space fundamental solutions and quadrilateral elements, is used for the simulation of the elastic half-space while the FEM is used to model the rigid footings and the rail superstructure. The loading function consists of a set of externally applied, harmonic or transient loads. Frequency as well as transient, by way of FFT, results are presented for various modes of vibration. Various numerical studies assess the through-the-soil interaction of the adjacent footings, the influence of soil damping, the effect of the overlaying structure on the frequency content of the system, and the effective simulation of an infinitely long railway track by a truncated one.     

A hybrid time frequency domain formulation for non-linear soil–structure interaction

Methods that combine frequency and time domain techniques offer an attractive alternative for solving Soil–Structure-interaction problems where the structure exhibits non-linear behaviour. In the hybrid-frequency-time-domain procedure a reference linear system is solved in the frequency domain and the difference between the actual restoring forces and those in the linear model are treated as pseudo-forces. In the solution scheme explored in this paper, designated as the hybrid-time-frequency-domain (HTFD) procedure, the equations of motion are solved in the time domain with due consideration for non-linearities and with the unbounded medium represented by frequency-independent springs and dampers. The frequency dependency of the impedance coefficients is introduced by means of pseudo-forces evaluated in the frequency domain at the end of each iteration. A criterion of stability for the HTFD approach is derived analytically and its validity is sustained numerically. As is often the case, the criterion takes the form of a limit of unity on the spectral radius of an appropriately defined matrix. Inspection of the terms in this matrix shows that convergence can be guaranteed by suitable selection of the reference impedance. The CPU times required to obtain converged solutions with the HTFD are found, in a number of numerical simulations, to be up to one order of magnitude less than those required by the alternative hybrid-frequency-time-domain approach. © 1998 John Wiley & Sons, Ltd.     

Non-linear soil–structure interaction analysis based on the boundary-element method in time domain with application to embedded foundation

The various boundary-element methods, well established in the frequency domain, are developed in the time domain for a foundation embedded in a layered halfspace. They are the weighted-residual technique and the indirect boundary-element method, based on a weighted-residual equation, and the direct boundary-element method based on a reciprocity equation, both equations involving time and space. In the indirect approach, formulating the weighted-residual equation over the last time step only results in the truncated indirect boundary-element formulation which requires a reduced computational effort. In all cases, convolution integrals occur. The truncated indirect boundary-element method leads to a highly reliable algorithm, as is verified when a linear analysis in the time domain is compared to the corresponding one in the frequency domain. This boundary-element formulation, which is non-local in space and time, represents a rigorous generally applicable method taking into account a layered halfspace in a non-linear soil-structure interaction analysis. As an example, the non-linear soil-structure interaction analysis of a structure embedded in a halfspace with partial uplift of the basemat and separation of the side wall is investigated.     

Wave propagation in layered media by time domain BEM

A time domain boundary element in a cylindrical co-ordinate system is developed for the analysis of wave propagation in a layered half-space. The field quantities (displacements and tractions) are expressed as products of Fourier series in the circumferential direction and as linear polynomials in the other spatial directions. An integral equation is written for each layer as an independent domain, and these equations are then assembled into a general equation by virtue of compatibility and equilibrium conditions between the interfaces. Examples of three-dimensional wave propagation in the layered half-spaces due to various forms of surface and inner-domain excitations are reported to demonstrate the accuracy and versatility of the method.     

A discontinuous Galerkin method for seismic soil–structure interaction analysis in the time domain

A technique for modeling transient wave propagation in unbounded media is extended and applied to seismic soil–structure interaction analysis in the time domain. The technique, based on the discontinuous Galerkin method, requires lower computational cost and less storage than the boundary element method, and the time‐stepping scheme resulting from Newmark's method in conjunction with the technique is unconditionally stable, allowing for efficient and robust time‐domain computations. To extend the technique to cases characterized by seismic excitation, the free‐field motion is used to compute effective forces, which are introduced on the boundary of the computational domain containing the structure and the soil in the vicinity of the structure. A numerical example on a dam–foundation system subjected to seismic excitation demonstrates the performance of the method. Copyright © 2003 John Wiley & Sons, Ltd.     

A mixed method for transient analysis of soil–structure interaction under SH-motion

A Fourier transform approach is applied to the transient analysis of dynamic soil–structure interaction under SH-motion. The governing equations are formulated in the frequency domain using a Finite Element–Boundary Element (FE–BE) coupling method. After solving the transformed problem, the transient solution is obtained using the discrete inverse Fourier transform with a fast Fourier transform algorithm. Two examples are presented in order to show the numerical performance of the proposed technique.     

Axisymmetric soil–structure interaction by global–local finite elements

A version of the global–local finite element method is presented for studying dynamic steady-state soil–structure interaction wherein the soil medium extends to infinity. Herein, only axisymmetric behaviour is considered. In this approach, conventional finite elements are used to model the structure and some portion of the surrounding soil medium considered to be homogeneous and isotropic. A complete set of outgoing waves in the form of spherical harmonics for the entire space is used to represent the behaviour in the half-space beyond the finite element mesh and these are termed the global functions. Full traction and displacement continuity is enforced at the finite element mesh interface with the outer region. On the free surface of the half-space in the outer field, traction-free surface conditions are enforced by demanding that a sequence of integrals of the weighted-average tractions must vanish. Numerical examples are presented for the response of different shaped foundations, resting on the free surface or at various submerged levels, due to a normal seismic plane compressional wave. Plots of differential scattering cross-sections show the angular distribution of the energy (its directional nature) of the scattered field.     

Wave propagation and soil–structure interaction on a cliff crest during the 1999 Athens Earthquake

During the 1999 Athens Earthquake the town of Adàmes, located on the eastern cliff of the Kifissos river canyon, experienced unexpectedly heavy damage. Despite the significant amplification potential of the slope geometry, topography effects cannot alone explain the uneven damage distribution within a 300 m zone behind the crest, characterized by a rather uniform structural quality. This paper illustrates the important role of soil stratigraphy, material heterogeneity, and soil–structure interaction on the characteristics of ground surface motion. For this purpose, we first perform elastic two-dimensional wave propagation analyses utilizing available geotechnical and seismological data, and validate our results by comparison with aftershock recordings. We then conduct non-linear time-domain simulations that include spatial variability of soil properties and soil–structure interaction effects, to reveal their additive contribution in the topographic motion aggravation.     

Response of fixed offshore platforms to wave and current loading including soil–structure interaction

Fixed offshore platforms supported by pile foundations are required to resist dynamic lateral loading due to wave forces. The response of a jacket offshore tower is affected by the flexibility and nonlinear behaviour of the supporting piles. For offshore towers supported by clusters of piles, the response to environmental loads is strongly affected by the pile–soil–pile interaction. In the present study, the response of fixed offshore platforms supported by clusters of piles is investigated. The soil resistance to the pile movement is modelled using dynamic p–y curves and t–z curves to account for soil nonlinearity and energy dissipation through radiation damping. The load transfer curves for a single pile have been modified to account for the group effect. The wave forces on the tower members and the tower response are calculated in the time domain using a finite element package (ASAS). Several parameters affecting the dynamic characteristics of the platform and the platform response have been investigated.     

Structural control considering soil–structure interaction effects

A discussion of the effects of Soil-Structure Interaction (SSI) on the formulation of active structural control algorithms is presented. Two approaches for incorporating SSI effects in linear optimal control theory are developed: one which performs the control analysis on a structure with a fixed base and then considers the effects of SSI on the controlled structural response; and another which performs the control analysis using a structural equation of motion reformulated to include SSI effects. The two control formulations are studied and compared using a single-degree-of-freedom structure supported through a rigid foundation resting on a linear, elastic half-space. Results show that control effectiveness is affected by the approach used in formulating the equations of motion of the interacting system.     

Stability of the time‐domain analysis method including a frequency‐dependent soil–foundation system

A number of methods have been proposed that utilize the time‐domain transformations of frequency‐dependent dynamic impedance functions to perform a time‐history analysis. Though these methods have been available in literature for a number of years, the methods exhibit stability issues depending on how the model parameters are calibrated. In this study, a novel method is proposed with which the stability of a numerical integration scheme combined with time‐domain representation of a frequency‐dependent dynamic impedance function can be evaluated. The method is verified with three independent recursive parameter models. The proposed method is expected to be a useful tool in evaluating the potential stability issue of a time‐domain analysis before running a full‐fledged nonlinear time‐domain analysis of a soil–structure system in which the dynamic impedance of a soil–foundation system is represented with a recursive parameter model. Copyright © 2015 John Wiley & Sons, Ltd.     

Kinematic soil–structure interaction for long-span cable-supported bridges

A general procedure is presented to study the dynamic soil–structure interaction effects on the response of long-span suspension and cable-stayed bridges subjected to spatially varying ground motion at the supporting foundations. The foundation system is represented by multiple embedded cassion foundations and the frequency-dependent impedance matrix for the multiple foundations system takes into account also the cross-interaction among adjacent foundations through the soil. To illustrate the potential implementation of the analysis, a numerical example is presented in which the dynamic response of the Vincent–Thomas suspension bridge (Los Angeles, CA) subjected to the 1987 Whittier earthquake is investigated. Although both kinematic and inertial effects are included in the general procedure, only the kinematic effects of the soil–structure interaction are considered in the analysis of the test case. The results show the importance of the kinematic soil–foundation interaction on the structural response. These effects are related to the type, i.e. SH-, SV-, P- or Rayleigh waves and to the inclination of the seismic wave excitation. Moreover, rocking components of the foundation motion are emphasized by the embedment of the foundation system and greatly alter the structural response.     

Plain strain soil–structure interaction model for a building supported by a circular foundation embedded in a poroelastic half-space

A simple theoretical model for soil–structure interaction in water saturated poroelastic soils is presented, developed to explore if the apparent building–foundation–soil system frequency changes due to water saturation. The model consists of a shear wall supported by a rigid circular foundation embedded in a homogenous, isotropic poroelastic half-space, fully saturated by a compressible and inviscid fluid, and excited by in-plane wave motion. The motion in the soil is governed by Biot's theory of wave propagation in fluid saturated porous media. Helmholtz decomposition and wave function expansion of the two P-wave and the S-wave potentials is used to represent the motion in the soil. The boundary conditions along the contact surface between the soil and the foundation are perfect bond (i.e. welded contact) for the skeleton, and either drained or undrained hydraulic condition for the fluid (i.e. pervious or impervious foundation). For the purpose of this exploratory analysis, the zero stress condition at the free surface is relaxed in the derivation of the foundation stiffness matrix, which enables a closed form solution. The implications of this assumption are discussed, based on published comparisons for the elastic case. Also, a closed form representation is derived for the foundation driving forces for incident plane (fast) P-wave or SV wave. Numerical results and comparison with the full-scale measurements are presented in the companion paper, published in this issue.     

Three-dimensional nonlinear analysis for seismic soil–pile-structure interaction

A three-dimensional method of analysis is presented for the seismic response of structures constructed on pile foundations. An analysis is formulated in the time domain and the effects of material nonlinearity of soil on the seismic response are investigated. A subsystem model consisting of a structure subsystem and a pile-foundation subsystem is used. Seismic response of the system is found using a successive-coupling incremental solution scheme. Both subsystems are assumed to be coupled at each time step. Material nonlinearity is accounted for by incorporating an advanced plasticity-based soil model, HiSS, in the finite element formulation. Both single piles and pile groups are considered and the effects of kinematic and inertial interaction on seismic response are investigated while considering harmonic and transient excitations. It is seen that nonlinearity significantly affects seismic response of pile foundations as well as that of structures. Effects of nonlinearity on response are dependent on the frequency of excitation with nonlinearity causing an increase in response at low frequencies of excitation.     

Dynamic soil–structure interaction of a single-span bridge

Experimental and analytical studies were conducted to determine dynamic soil–structure interaction characteristics of a single-span, prestressed-concrete bridge with monolithic abutments supported by spread footings. The experimental programme, consisting of harmonic forced vibration excitation of the bridge in the transverse and longitudinal directions, revealed the presence of four modes in the frequency band, 0 to 11 Hz, and the onset of a fifth mode at 14 Hz, the highest frequency attained during the tests. The fundamental mode at 4.7 Hz was the primary longitudinal bending mode of the deck and had a relatively low damping ratio (ζ₁), that was approximately 0.025 of critical. The second and third modes at 6.4 Hz and 8.2 Hz were the primary twisting modes of the deck which involved substantial transverse rocking, transverse translation and torsion of the footings. As expected, the damping ratios associated with these two modes, ζ₂ = 0.035 and ζ₃ = 0.15, were directly related to the relative amounts of deck and footing motion. The fourth mode at 10.6 Hz was the second twisting mode of the deck and involved relatively little motion of the footings and abutment walls, which was consistent with the low damping, ζ₄ = 0.02, observed in this mode. The response data at 14 Hz suggested that the fifth mode beyond this frequency was the second longitudinal bending mode of the deck involving longitudinal translation and bending of the abutment walls. A three-dimensional finite element model of the bridge, with Winkler springs attached to the footings and abutment walls to represent the soil–structure interaction, was able to reproduce the experimental data (natural frequencies, mode shapes and bridge response) reasonably well. Although the stiffnesses assigned to the Winkler springs were based largely on the application of a form of Rayleigh's principle to the experimental data, these stiffnesses were similar to theoretical foundation stiffnesses of the same size footings on a linearly elastic half space and theoretical lateral stiffnesses of a rigid retaining wall against a linearly elastic backfill.     

Dynamic soil–structure interaction analysis via coupled finite-element–boundary-element method

In this paper, a study on the transient response of an elastic structure embedded in a homogeneous, isotropic and linearly elastic half-plane is presented. Transient dynamic and seismic forces are considered in the analysis. The numerical method employed is the coupled Finite-Element–Boundary-Element technique (FE–BE). The finite element method (FEM) is used for discretization of the near field and the boundary element method (BEM) is employed to model the semi-infinite far field. These two methods are coupled through equilibrium and compatibility conditions at the soil–structure interface. Effects of non-zero initial conditions due to the pre-dynamic loads and/or self-weight of the structure are included in the transient boundary element formulation. Hence, it is possible to analyse practical cases (such as dam–foundation systems) involving initial conditions due to the pre-seismic loads such as water pressure and self-weight of the dam. As an application of the proposed formulation, a gravity dam has been analysed and the results for different foundation stiffness are presented. The results of the analysis indicate the importance of including the foundation stiffness and thus the dam–foundation interaction.     

Single beam analogy for describing soil–pile group interaction

Most laterally loaded piles are flexible in the sense that they are not deformed over their entire lengths. Instead, pile deflections become negligible below an ‘active pile length’ L_a. This L_a is an important parameter that governs the overall behavior of a rigidly capped pile group. In the present approach, piles closely grouped together beneath a superstructure are viewed as a single equivalent upright beam whose stiffness matrix determines L_a. This idea is verified for different cases of pile spacing, and is further extended for nonlinear behavior of soils surrounding grouped piles.     

Dynamic soil–structure interaction of coupled shear walls by boundary element method

For a class of civil engineering structures, that can be accurately represented by ‘coupled shear walls’ (CSWs), a discrete model for the analysis of the dynamic interaction with the underlying soil is proposed. The CSWs, with one or more rows of openings, rest on a rigid foundation embedded in the elastic or viscoelastic half-space. A hierarchical finite element model based on an equivalent continuum approach is adopted for the structure. A frequency-domain boundary element method is used to represent the half-space. Finally, the set of equations governing the response of the coupled soil-structure system to harmonic lateral loads acting on the structure is also given. The frequency deviation effect with respect to the fixed-base structure and the effects of radiation and material damping in the soil are presented for different characteristics of the structure and different soil properties.