Impedances of embedded rigid strip foundations

This paper is concerned with the dynamic response of rigid strip foundations of arbitrary geometry embedded in a homogeneous elastic half-space. The embedded rigid foundation is modelled by an equivalent domain in a uniform half-space which is subjected to an appropriate body force field. The components of the impedance matrix are determined through the solution of a linear simultaneous equation system which is established by invoking rigid body displacements of discrete locations within the equivalent domain and appropriate equilibrium consideration. It is found that high numerical efficiency and flexibility can be achieved using the body force model when compared to boundary integral formulations through the selection of appropriate displacement influence functions and a ‘parent domain’ in the analysis. Numerical results are presented to illustrate the influence of the embedment ratio, frequency of excitation, foundation geometry and Poisson's ratio on the vertical, horizontal, rocking and coupled impedances of a single embedded foundation. The effect on the impedance due to the presence of an adjacent embedment is investigated for various distances between foundations and embedment ratios.     

Harmonic wave response of two 3-D rigid surface foundations

A boundary element methodology is developed for studying the response of a system of two rigid, massless or massive, surface foundations of arbitrary plan-forms to various harmonic waves under three-dimensional conditions. The method employs the frequency domain Green's function for the surface of the elastic half-space, thereby restricting the discretization only to the soil-foundation interfaces, and isoparametric quadratic quadrilateral boundary elements for increased accuracy. Extensive comparison studies with other known numerical solutions confirm the high accuracy of the proposed method. Detailed parametric studies are conducted in order to study the harmonic wave response of two square foundations as a function of the kind of incident wave, the angles of wave incidence, the wave frequency, the separation distance between the foundations and the amount of mass in each foundation and compare it against that of a single foundation for assessing the through the soil coupling effect.     

Stochastic response of rigid foundations

While the study of kinematic interaction (i.e. the dynamic response of massless foundations to seismic loads) calls, in general, for advanced analytical and numerical techniques, an excellent approximation was proposed recently by Iguchi.^1,2 This approximation was used by the authors to analyse embedded foundations subjected to spatially random SH-wave fields, i.e. motions that exhibit some degree of incoherence. The wave fields considered ranged from perfectly coherent motions (resulting from seismic waves arriving from a single direction) to chaotic motions, resulting from waves arriving simultaneously from all directions. Additional parameters considered were the shape of the foundation (cylindrical or rectangular) and the degree of embedment. It was found that kinematic interaction usually reduces the severity of the motions transmitted to the structure, and that incoherent motions do not exhibit the frequency selectivity (i.e. narrow valleys in the foundation response spectra) that coherent motions do.     

Dynamic finite strip analysis of surface foundations

The finite strip method is used to study the dynamic response of surface strip foundations. This method is simple to use and versatile. The two-dimensional problem is effectively reduced to an equivalent one-dimensional problem. The choice of trigonometric series for the displacement functions results in the uncoupling of the terms of the series and a significant reduction in the semi-bandwidth of the complex set of equations, making the method well suited to small computers. Non-homogeneous soil profiles are treated as a matter of course. The finite strip solutions are shown to be in general agreement with other theoretical methods of analysis.     

Dynamics of rigid strip foundations embedded in orthotropic elastic soils

This study is concerned with the dynamic response of an arbitrary shaped rigid strip foundation embedded in an orthotropic elastic soil. The foundation is subjected to time-harmonic vertical, horizontal and moment loadings. The boundary-value problem related to an embedded foundation is analysed by using the indirect boundary integral equation method. The kernel functions of the integral equations are displacement and traction Green's functions of an anisotropic elastic half plane. Exact analytical solutions are used for the Green's functions. The boundary integral equation is solved by using numerical techniques. Selected numerical results are presented for the impedances of rectangular and semi-circular rigid strip foundations embedded in four types of anisotropic soils. A discussion on the influence of soil anisotropy and frequency of excitation on the impedances is presented. The versatility of the analysis is demonstrated by considering the through soil interaction between two semi-circular strip foundations.     

Dynamic response of rigid foundations of arbitrary shape

An approximate numerical procedure for calculation of the harmonic force-displacement relationships for a rigid foundation of arbitrary shape placed on an elastic half-space is presented. This procedure is used to evaluate the vertical, rocking and horizontal compliance functions for rigid rectangular foundations and the vertical compliance for a rigid square foundation with an internal hole. Several comparisons between the results obtained by the proposed approach and other methods are also presented.     

Dynamic response of 3-D rigid surface foundations by time domain boundary element method

The dynamic response of three-dimensional rigid surface foundations of arbitrary shape is numerically obtained. The foundations are placed on a linear elastic, isotropic and homogeneous half-space representing the soil medium and are subjected to either external dynamic forces or seismic waves of various kinds and directions, with a general transient time variation. The problem is formulated in the time domain by the boundary element method and the response is obtained by a time step-by-step integration. Two examples dealing with three-dimensional rectangular foundations are presented in detail, together with comparisons with other methods, in order to document the accuracy of the method. The main advantages of the proposed method are that, unlike frequency domain techniques, it provides directly the transient response and forms the basis for extension to the case of non-linear behaviour.     

Simple formulations of ground impedance functions for rigid surface foundations

A differential equation is formulated for the dynamic response of ground medium by using a simplified ground model. Applying Galerkin's procedure for weighted residual, this equation leads to a governing equation only at the ground surface. The equation indicates that the ground surface behavior can be computed even further by a simplified model. By solving the governing equation for the boundary conditions along the surface, expressions in simple closed forms are developed for the dynamic response analysis of a massless rigid foundation that rests on the ground surface. Despite their significant simplicity, the developed expressions compute the values very close to those computed by far more complex rigorous solutions. They are found to be capable of capturing the important characteristics of the dynamic ground behavior well.     

A note on the dynamic response of rigid embedded foundations

The problem of the dynamic response of rigid embedded foundations subjected to the action of external forces and seismic excitation is analysed. It is shown that to calculate the response of rigid embedded foundations, or the response of flat rigid foundations subjected to non-vertically incident seismic waves, it is necessary to obtain not only the impedance matrix for the foundation, but also the forces induced by the incident seismic waves. Under these general conditions, rocking and torsional motion of the foundation is generated in addition to translation. The case of a two-dimensional rigid foundation of semi-elliptical cross-section is used as an example to illustrate the effects of the embedment depth and angle of incidence of the seismic waves on the response of the foundation.     

Simplified analysis of dynamic response of rigid foundations with arbitrary geometries

A simple, efficient numerical procedure is presented for the analysis of the steady-state dynamic response of rigid foundations of arbitrary shape on a homogeneous, isotropic elastic half-space. The contact area of the foundation and soil medium is discretized into square subregions. The influence of the rigid square subregion is approximated by that of an equivalent rigid circular base with the same contact area. This approximation is a better representation of a rigid square subregion than a uniformly stressed subregion used in earlier approaches. Simple expressions are used to determine the influence of the subregion on itself and on the rest of the subregions, without the expense of numerical integration procedures. The present method is demonstrated to converge rapidly. The accuracy of this method is examined by comparison with available published theoretical and experimental results.     

Dynamic response of a group of flexible foundations to incident seismic waves

The dynamic response of a finite number of flexible surface foundations subjected to harmonic incident Rayleigh or SH waves is presented. The foundations are assumed to be resting on an elastic half-space. The results show that the foundation stiffness has a marked effect on the vertical response, while there is only a minor effect on the horizontal displacements. In general, the dynamic response decreases with increasing foundation stiffness. In cases of Rayleigh wave incidence, the existence of an adjacent foundation generates a certain amount of horizontal response in the direction perpendicular to the incident wave and subsequently causes the system to undergo a torsional motion; while in cases of horizontally incident SH waves, a vertical response has been observed and its magnitude is comparable to the response in the direction of the incident wave.     

Dynamic response of surface foundations on layered media

The steady-state dynamic responses of both flexible and rigid massless foundations with complex geometries on layered media are studied by the finite layer method. The discussion covers both the horizontal and vertical responses including the rocking mode of vibration. The effect of various parameters, namely, the size of the domain, the number of harmonic terms and the material damping of the soil media, on the convergence and accuracy of the results is investigated. Non-homogeneous soil profiles are treated as a matter of course. The results obtained are compared with solutions by other theoretical methods.     

Winkler model for lateral response of rigid caisson foundations in linear soil

A generalized spring multi-Winkler model is developed for the static and dynamic response of rigid caisson foundations of circular, square, or rectangular plan, embedded in a homogeneous elastic. The model, referred to as a four-spring Winkler model, uses four types of springs to model the interaction between soil and caisson: lateral translational springs distributed along the length of the caisson relating horizontal displacement at a particular depth to lateral soil resistance (resultant of normal and shear tractions on the caisson periphery); similarly distributed rotational springs relating rotation of the caisson to the moment increment developed by the vertical shear tractions on the caisson periphery; and concentrated translational and rotational springs relating, respectively, resultant horizontal shear force with displacement, and overturning moment with rotation, at the base of the caisson. For the dynamic problem each spring is accompanied by an associated dashpot in parallel. Utilising elastodynamic theoretical available in the literature results for rigid embedded foundations, closed-form expressions are derived for the various springs and dashpots of caissons with rectangular and circular plan shape. The response of a caisson to lateral static and dynamic loading at its top, and to kinematically-induced loading arising from vertical seismic shear wave propagation, is then studied parametrically. Comparisons with results from 3D finite element analysis and other available theoretical methods demonstrate the reliability of the model, the need for which arises from its easy extension to multi-layered and nonlinear inelastic soil. Such an extension is presented in the companion papers by the authors [Gerolymos N, Gazetas G. Development of Winkler model for lateral static and dynamic response of caisson foundations with soil and interface nonlinearities. Soil Dyn Earthq Eng. Submitted companion paper; Gerolymos N, Gazetas G. Static and dynamic response of massive caisson foundations with soil and interface nonlinearities—validation and results. Soil Dyn Earthq Eng. Submitted companion paper.].     

Dynamic interaction between flexible strip foundations

This paper is concerned with the dynamic response of a system of flexible strip foundations resting in smooth contact with a homogeneous isotropic viscoelastic half space. An arbitrary number of foundations with different flexibilities and geometries subjected to time-harmonic distributed loadings are considered in the formulation. The response of each strip foundation is governed by the classical plate theory and its transverse deflection is represented by an admissible function containing a set of generalized co-ordinates. A coupled variational-Green's function scheme is employed to establish the equations of motion of the strip foundation system. The numerical stability and convergence of the solution scheme are established. The influence of the foundation flexibility, distance between adjacent foundations and frequency of motion on the response of the foundation system is investigated in the numerical study.     

Dynamic interaction between rigid foundations in a layered half-space

A computationally efficient boundary integral equation technique to calculate the dynamic response of a group of rigid surface foundations bonded to a layered viscoelastic half-space and subjected to external forces and seismic waves is presented. The technique relies on an iterative scheme which minimizes in-core memory requirements and takes advantage of any geometrical symmetry of the foundations. Extensive results for the case of two rigid square foundations placed at different separations and bonded to a viscoelastic half-space are presented. It was found that the choice of discretization of the foundations has a marked effect on the calculated impedance functions for extremely small separations. Illustrative results for a case of several closely-spaced foundations bonded to a layered half-space are also presented.     

B-Spline impulse response functions (BIRF) for transient SSI analysis of rigid foundations

This work presents a simplified, yet accurate model of rigid foundation-soil systems for the dynamic analysis of structures including SSI effects. The simplified model is based on closed form solutions that reproduce the characteristic B-spline impulse response functions (BIRF) of 3D continuous soil-foundation systems, as obtained from rigorous boundary element method (BEM) analysis. The proposed simplified model is used within the framework of B-spline impulse response techniques and can be coupled directly to other solution techniques, such as the finite element method (FEM). Validation and application studies demonstrate the accuracy and versatility of the simplified model for the direct time domain solution of dynamic SSI problems involving rigid square surface foundations of any size. The proposed model, although simplified, demonstrates similar high accuracy to that of more rigorous solutions based on domain discretizations.     

Dynamic behaviour of rigid foundations of arbitrary shape on a halfspace

An approximate method for computation of the compliance functions of rigid plates resting on an elastic or visco-elastic halfspace excited by forces and moments in all degrees of freedon is presented. The method is based on a Green's function approach. These functions are given for all degrees of freedom in form of well-behaved integrals. The numerical procedure is described and is used to evaluate the vertical, horizontal, rocking and torsion compliance functions of rectangular plates with side ratios 1 ≤ b/a ≤ 10 and non-dimensional frequency 0≤a₀≤10. It is shown how this method can be extended to problems concerning a linear visco-elastic halfspace and a halfspace with variable stiffness.     

On rigid foundations subjected to seismic waves

In the analysis of structural foundations for seismic loads, it is customary to distinguish two types of soil-structure interaction effect: kinematic interaction (or wave passage), and inertial interaction. The former refers to the phenomenon of wave scattering, which occurs because the foundation is much stiffer than the surrounding soil and cannot accommodate to its distortions. Inertial interaction, on the other hand, is caused by feedback of kinetic energy of the structure into the soil. This paper is concerned only with the first phenomenon. The rigorous analysis of rigid, embedded foundations subjected to seismic disturbances requires, in general, substantial computational effort. Indeed, a typical analysis would normally require models with finite elements and/or boundary elements. Although such methods may be used to find an accurate solution to the problem of kinematic interaction, their use is not always warranted, given the many uncertainties involved and the multitude of assumptions that must be considered. Hence, approximate solutions are attractive for this problem. One such approximate method is the remarkably simple algorithm proposed by Iguchi.³ This paper presents first an appraisal of this method by way of a comparison with accurate numerical solutions for cylindrical foundations; next the algorithm is applied to rectangular (prismatic) foundations. It is found that Iguchi's method gives results that are adequate for engineering purposes, even if not entirely accurate.     

Dynamic interaction between 3-D rigid surface foundations and comparison with the ATC-3 provisions

The dynamic behaviour of a system of three-dimensional, massless, rigid, surface foundations of arbitrary shape perfectly bonded to the elastic half-space is numerically studied with the frequency domain boundary element method. This method employs the dynamic Green's function for the surface of the half-space and this results in a discretization of only the soil-foundation interfaces. In addition, use of isoparametric quadratic quadrilateral boundary elements increases the accuracy of the method, which is confirmed by comparison with other known numerical solutions. Externally applied loads, harmonically varying with time, are considered. The through the soil coupling effect between the foundations as a function of distance and frequency is assessed through extensive parametric studies involving two and four rigid foundations being isolated or interconnected. It is found that the assertion of ATC-3 regulations that omission of coupling effects leads to conservative results is not always correct for all frequencies.