Time‐domain response of linear hysteretic systems to deterministic and random excitations

The causal and physically realizable Biot hysteretic model proves to be the simplest linear model able to describe the nearly rate‐independent behaviour of engineering materials. In this paper, the performance of the Biot hysteretic model is analysed and compared with those of the ideal and causal hysteretic models. The Laguerre polynomial approximation (LPA) method, recently proposed for the time‐domain analysis of linear viscoelastic systems, is then summarized and applied to the prediction of the dynamic response of linear hysteretic systems to deterministic and random excitations. The parameters of the LPA model generally need to be computed through numerical integrals; however, when this model is used to approximate the Biot hysteretic model, closed‐form expressions can be found. Effective step‐by‐step procedures are also provided in the paper, which prove to be accurate also for high levels of damping. Finally, the method is applied to the dynamic analysis of a highway embankment excited by deterministic and random ground motions. The results show that in some cases the inaccuracy associated with the use of an equivalent viscous damping model is too large. Copyright © 2005 John Wiley & Sons, Ltd.     

Time‐domain viscoelastic analysis of earth structures

In this paper two causal models that approximate the nearly frequency‐independent cyclic behaviour of soils are analysed in detail. The study was motivated by the need to conduct time‐domain viscoelastic analysis on soil structures without adopting the ad hoc assumption of Rayleigh damping. First, the causal hysteretic model is introduced in which its imaginary part is frequency independent the same way that is the imaginary part of the popular non‐causal constant hysteretic model. The adoption of an imaginary part that is frequency independent even at the zero‐frequency limit, in conjunction with the condition that the proposed model should be causal, yields a real part that is frequency dependent and singular at zero frequency. The paper shows that the causal hysteretic model, although pathological at the static limit, is the mathematical connection between the non‐causal constant hysteretic model and the physically realizable Biot model. The mathematical structure of the two causal models is examined and it is shown that the causal hysteretic model is precisely the high‐frequency limit of the Biot model. Although both models have a closed‐form time‐domain representation, only the Biot model is suitable for a time‐domain viscoelastic analysis with commercially available computer software. The paper demonstrates that the simplest, causal and physically realizable linear hysteretic model that can approximate the cyclic behaviour of soil is the Biot model. The proposed study elucidates how the dynamic analysis of soil structures can be conducted rigorously in terms of the viscoelastic properties of the soil material and not with the ad hoc Rayleigh damping approach which occasionally has been criticized that tends to overdamp the higher vibration modes. The study concludes that under pulse‐type motions the Rayleigh damping approximation tends to overestimate displacements because of the inappropriate viscous type of dissipation that is imposed. Under longer motions that induce several cycles, the concept of equivalent viscous damping is more appropriate and the Rayleigh damping approximation results to a response that is comparable to the response computed with a rigorous time‐domain viscoelastic finite element analysis. Copyright © 2000 John Wiley & Sons, Ltd.     

A faster simulation method for the stochastic response of hysteretic structures subject to earthquakes

A semi-analytical forward-difference Monte Carlo simulation procedure is proposed for the determination of the lower order statistical moments and the joint probability density function of the stochastic response of hysteretic non-linear multi-degree-of-freedom structural systems subject to nonstationary gaussian white noise excitation, as an alternative to conventional direct simulation methods. The method generalizes the so-called Ermak-Allen algorithm developed for simulation applications in molecular dynamics to structural hysteretic systems. The proposed simulation procedure rely on an assumption of local gaussianity during each time step. This assumption is tantamount to various linearizations of the equations of motion. The procedure then applies an analytical convolution of the excitation process, hereby reducing the generation of stochastic processes and numerical integration to the generation of random vectors only. Such a treatment offers higher rates of convergence, faster speed and higher accuracy. The procedure has been compared to the direct Monte Carlo simulation procedure, which uses a fourth-order Runge-Kutta scheme with the white noise process approximated by a broad band Ruiz-Penzien broken line process. The considered system was a multi-dimenensional hysteretic shear frame, where the constitutive equation of the hysteretic shear forces are described by a bilinear hysteretic model. The comparisons show that significant savings in computer time and accuracy can be achieved.     

Correlation failure analysis of an uncertain hysteretic vibration system

In this paper, a numerical method for correlation sensitivity analysis of a nonlinear random vibration system is presented. Based on the first passage failure model, the probability perturbation method is employed to determine the statistical characteristics of failure modes and the correlation between them. The sensitivity of correlation between failure modes with respect to random parameters characterizing the uncertainty of the hysteretic loop is discussed. In a numerical example, a two-DOF shear structure with uncertain hysteretic restoring force is considered. The statistical characteristics of response, failure modes and the sensitivity of random hysteretic loop parameters are provided, and also compared with a Monte Carlo simulation.     

Development of fragility curves using high‐dimensional model representation

Fragility curves represent the conditional probability that a structure's response may exceed the performance limit for a given ground motion intensity. Conventional methods for computing building fragilities are either based on statistical extrapolation of detailed analyses on one or two specific buildings or make use of Monte Carlo simulation with these models. However, the Monte Carlo technique usually requires a relatively large number of simulations to obtain a sufficiently reliable estimate of the fragilities, and it is computationally expensive and time consuming to simulate the required thousands of time history analyses. In this paper, high‐dimensional model representation based response surface method together with the Monte Carlo simulation is used to develop the fragility curve, which is then compared with that obtained by using Latin hypercube sampling. It is used to replace the algorithmic performance‐function with an explicit functional relationship, fitting a functional approximation, thereby reducing the number of expensive numerical analyses. After the functional approximation has been made, Monte Carlo simulation is used to obtain the fragility curve of the system. Copyright © 2012 John Wiley & Sons, Ltd.     

Bivariate Gaussian mixture–based equivalent linearization method for stochastic seismic analysis of nonlinear structures

To address challenges in stochastic seismic analysis of nonlinear structures, this paper further develops a recently proposed Gaussian mixture–based equivalent linearization method (GM‐ELM). The GM‐ELM uses a Gaussian mixture distribution model to approximate the probabilistic distribution of a nonlinear system response. Using properties of the Gaussian mixture model, GM‐ELM can decompose the non‐Gaussian response of a nonlinear system into multiple Gaussian responses of linear single–degree of freedom oscillators. With the set of the equivalent linear systems identified by GM‐ELM, response statistics as crossing rate and first‐passage probability can be computed conveniently using theories of linear random vibration analysis. However, the original version of GM‐ELM may lead to an inaccurate estimate because of the heuristic parameters of the linear system introduced to supplement insufficient information. To overcome this limitation and define unique equivalent linear systems, this paper proposes a further developed version of GM‐ELM, which uses a mixture of bivariate Gaussian densities instead of univariate models. Moreover, to facilitate the use of elastic response spectra for estimating the mean peak responses of a nonlinear structure, a new response spectrum combination rule is proposed for GM‐ELM. Two numerical examples of hysteretic structural systems are presented in this paper to illustrate the application of the bivariate GM‐ELM to nonlinear stochastic seismic analysis. The analysis results obtained by the bivariate GM‐ELM are compared with those obtained by the univariate GM‐ELM, the conventional equivalent linearization method, the tail equivalent linearization method, and Monte Carlo simulation. The supporting source code and data are available for download at https://github.com/yisangri/GitHub‐bGM‐ELM‐code.git     

Dynamic analysis method of a combined energy dissipation system and its experimental verification

A combined energy dissipation system is developed in this paper. In this system lead rubber dampers and their parallel connection with oil dampers are used in the braces of a structural frame. A dynamic analysis method of the system, including the modelling of the lead rubber damper and the oil damper, is proposed. In the analysis method, the restoring force characterestics of the lead rubber damper is simulated by the Bouc–Wen hysteretic model, and the behaviour of the oil damper is simulated by a velocity and displacement‐related model in which the contributions of the oil damper to the damping force and stiffness of the system are considered. A series of shaking table tests of a three‐storey steel frame with the combined energy dissipation system are carried out to evaluate the performance of the system and to verify the analysis method. The test and analysis show that the performance of the combined energy dissipation system is quite satisfactory and there is a good agreement between the analysis and test results, which indicates that the analysis method proposed in this paper is valid and suitable for the dynamic analysis of the combined energy dissipation system. Copyright © 2002 John Wiley & Sons, Ltd.     

EQUIVALENT LINEARIZATION OF GENERALLY PINCHING HYSTERETIC,DEGRADING SYSTEMS

Many types of structural systems that undergo cycles of inelastic deformation under severe natural hazard loadings exhibit ‘pinching’ of hysteresis loops. In this paper, a generally pinching hysteretic restoring force model—an extension of the Bouc–Wen differential hysteresis model—is used in stochastic equivalent linearization of single-degree-of-freedom structural systems. The severity and rate of pinching are controlled by the hysteretic energy dissipation and the pinching level can be specified to match experimental data. Under white noise excitations, estimates of reponse statistics from linearization are shown to compare favourably with those from Monte Carlo simulation. Numerical studies on the sensitivity of the accuracy of response statistics obtained by linearization to changes in the hysteresis parameters showed that, for a range of practical cases, the linearization method can be used in lieu of simulation and that, in low-frequency systems, some hysteresis parameters may be set to a constant value a priori to reduce the number of model parameters that needs to be estimated or identified, and to simplify further random vibration analysis and/or performance evaluation studies.     

Low cyclic fatigue and hysteretic behavior of U‐shaped steel dampers for seismically isolated buildings under dynamic cyclic loadings

Energy dissipation devices are necessary for base‐isolated buildings to control the deformation in the isolation system and to dissipate the earthquake‐induced energy. U‐shaped steel dampers (also known as U‐dampers) dissipate energy through plastic deformation of specially designed U‐shaped steel elements. This type of device can be installed at several locations in the isolation system. U‐dampers have been widely used in Japan for different types of isolated structures, such as hospitals, plants and residential buildings, since the 1995 Kobe Earthquake. Previous research has used static tests to estimate the performance of U‐dampers. However, the ultimate plastic deformation capacities and hysteretic behaviors of full‐scale U‐dampers under dynamic excitations still remain unclear. In addition, it is unclear whether the initial temperature has an effect on the hysteretic behavior and plastic deformation capacity of U‐dampers. In this paper, two series of dynamic loading tests of U‐dampers were conducted to evaluate the issues described earlier. The major findings of the study are (i) the loading speed has little effect on the plastic deformation capacity of U‐dampers; (ii) method to evaluate the ultimate plastic deformation capacities of U‐shaped steel dampers of different sizes is established using a Manson–Coffin relation‐based equation that is based on the peak‐to‐peak horizontal shear angle γ_t, which is defined as the lateral deformation amplitude (peak‐to‐peak amplitude) divided by the height of the dampers; (iii) the loading rate and the initial temperature have a minimal effect on the hysteretic behavior of the U‐dampers; and (iv) a bilinear model is proposed to simulate the force‐deformation relationships of the U‐dampers. Copyright © 2014 John Wiley & Sons, Ltd.     

Using CFD in a GLUE framework to model the flow and dispersion characteristics of a natural fluvial dead zone

Monte Carlo simulations of a two‐dimensional depth‐averaged distributed bed‐roughness flow model, TELEMAC‐2D, are used to model a detailed tracer dispersion test in a complex reach of the River Severn in the Generalized Likelihood Uncertainty Estimation (GLUE) framework. A time efficient, zero equation, spatially distributed eddy viscosity model is derived from physical reasoning and used to close the flow equations. It is shown to have the property of low numerical diffusion, avoiding recourse to a globally large value of the eddy viscosity. For models of complex river flows, there are typically so many degrees of freedom in the specification of distributed parameters owing to the limitations of field data collection, that the identification of a unique model structure is unlikely. The data used here to constrain the model structure come from a continuous tracer injection experiment, comprising six spatially distributed time series of concentration measurements. Several hundred Monte‐Carlo simulations of different model structures were investigated and it was found that multiple model structures produced feasible simulations of the tracer mixing, giving rise to the phenomenon of equifinality. Rather than optimizing the model structure on the basis of the constraining data, we derive relative possibility measures that express our relative degree of belief in each model structure. These measures can then be used as weights for assessing predictive uncertainty when using a range of model structures, to estimate the flow distribution under varying stages, or for providing maps indicating fully distributed confidence limits in the risk assessments process. Such an approach is used here, and helps to identify the circumstances under which two‐dimensional modelling can be useful. The framework is not limited to the model structures that are developed herein, and more advanced process representation techniques can be included as computational efficiency increases. Copyright © 2001 John Wiley & Sons, Ltd.     

Assessing entrainment of bed material in a debris‐flow event: a theoretical approach incorporating Monte Carlo method

Entrainment of underlying bed sediment by a debris flow can significantly increase the debris‐flow magnitude. To study this phenomenon, a theoretical approach to assessing bed‐sediment entrainment is presented. The approach is based on a static approximation that bed‐sediment entrainment occurs when the shearing stress of the flow is sufficiently high to overcome the basal resistance of the bed sediment. In order to delineate erodible zones in a channel, we analyze the critical condition of this static equilibrium model, and subsequently propose a new concept of a critical line to detect the entrainment reaches in a channel. Considering the spatial and temporal uncertainties of the input parameter, the approach is further incorporated within a Monte Carlo method, and the distribution of entrainment zones and post‐entrainment volumes can be analyzed. This approach is illustrated by back‐analysis of the 2010 Yohutagawa debris‐flow event, Japan. Results from 10 000 trials of Monte Carlo simulation are compared with the in situ surveys. It is shown that the present approach can be satisfactorily used to delineate erodible zones and estimate possible entrainment volume of the event. Discussion regarding the sensitivities and limitations of the approach concludes the paper. Copyright © 2015 John Wiley & Sons, Ltd.     

Practical causal hysteretic damping

A number of experiments indicate that the internal damping corresponding to the energy dissipation of many materials is essentially frequency independent. Accordingly, an analysis model that can express such characteristics (called a hysteretic damping model) in the time domain is needed. Although a great number of investigations into this subject have been carried out, there are a few practical methods. In this paper, a simple hysteretic damping model which satisfies the causality condition is presented using an extension of the complex stiffness transfer method that the author has proposed. Compared with the energy proportional damping model and the Biot model, the applicability and the efficiency of this model to time history response analyses were confirmed well by example problems. Copyright © 2006 John Wiley & Sons, Ltd.     

Steel frames with bracing mechanism and hysteretic dampers

A new earthquake resistant structural system for multi‐storey frame structures, based on a dual function of its bracing components, is developed. This consists of a hysteretic damper device and a cross‐bracing mechanism with a kinetic closed circuit, working only in tension, so that cable members can be used for this purpose. Solutions are presented regarding the connections' design of three types of structural frame system, that are concerned throughout the study: braced moment free frame, braced moment resisting frame with moment free supports, and with moment resisting supports. The dynamic behaviour of the system is investigated on the basis of an SDOF model, and based on the response spectra method an approximate design approach of the controlled structures is shown. From the time history analysis of the structural systems for the El Centro earthquake the areas of appropriate stiffness relations of the frames to the hysteretic dampers and the cable braces are deduced, so that the energy dissipation of the system may be controlled by the damper‐cable bracing mechanism. Based on the results of these studies, a predesign approach is developed for the implementation of the control system in frame structures. Copyright © 2003 John Wiley & Sons, Ltd.     

Incremental dynamic analysis for estimating seismic performance sensitivity and uncertainty

Incremental dynamic analysis (IDA) is presented as a powerful tool to evaluate the variability in the seismic demand and capacity of non‐deterministic structural models, building upon existing methodologies of Monte Carlo simulation and approximate moment‐estimation. A nine‐story steel moment‐resisting frame is used as a testbed, employing parameterized moment‐rotation relationships with non‐deterministic quadrilinear backbones for the beam plastic‐hinges. The uncertain properties of the backbones include the yield moment, the post‐yield hardening ratio, the end‐of‐hardening rotation, the slope of the descending branch, the residual moment capacity and the ultimate rotation reached. IDA is employed to accurately assess the seismic performance of the model for any combination of the parameters by performing multiple nonlinear timehistory analyses for a suite of ground motion records. Sensitivity analyses on both the IDA and the static pushover level reveal the yield moment and the two rotational‐ductility parameters to be the most influential for the frame behavior. To propagate the parametric uncertainty to the actual seismic performance we employ (a) Monte Carlo simulation with latin hypercube sampling, (b) point‐estimate and (c) first‐order second‐moment techniques, thus offering competing methods that represent different compromises between speed and accuracy. The final results provide firm ground for challenging current assumptions in seismic guidelines on using a median‐parameter model to estimate the median seismic performance and employing the well‐known square‐root‐sum‐of‐squares rule to combine aleatory randomness and epistemic uncertainty. Copyright © 2009 John Wiley & Sons, Ltd.     

An identification methodology for a class of hysteretic structures

This paper presents a method of identification for determining non-linear dynamic models for certain hysteretic structures. Particular attention is given to modelling and identifying the hysteretic behaviour of structures from strong-motion earthquake data. In this method, the response is separated into mode-like components which are analogous to those of a linear system. Based on modelling of the generalized restoring force of each mode-like component, both non-hysteretic and hysteretic non-linear models are incorporated into the general methodology. A non-hysteretic model provides an initial estimate for a final hysteretic model. The approach is applicable even when data are available from only a small number of locations in the structure. The structural model identified from this method provides a means to predict the response to future events and, ultimately, to examine the damage to a structure as a result of an earthquake.     

Seismic fragility and reliability of structures isolated by friction pendulum devices: seismic reliability‐based design (SRBD)

The paper deals with the seismic reliability of elastic structural systems equipped with friction pendulum isolators (friction pendulum system). The behavior of these systems is analyzed by employing a two‐degree‐of‐freedom model accounting for the superstructure flexibility, whereas the friction pendulum system device behavior is described by adopting a widespread model that considers the variation of the friction coefficient with the velocity. With reference to medium soil condition, the uncertainty in the seismic inputs is taken into account by considering a set of artificial records, obtained through Monte Carlo simulations within the power spectral density method, with different frequency contents and characteristics depending on the soil dynamic parameters and scaled to increasing intensity levels. The sliding friction coefficient at large velocity is also considered as random variable modeled through a uniform probability density function. Incremental dynamic analyses are developed in order to evaluate the probabilities exceeding different limit states related to both r.c. superstructure and isolation level defining the seismic fragility curves through an extensive parametric study carried out for different structural system properties. Finally, considering the seismic hazard curves related to a site near L'Aquila (Italy), the seismic reliability of the r.c. superstructure systems is evaluated, and seismic reliability‐based design abacuses are derived with the aim to define the radius in plan of the friction pendulum devices in function of the structural properties and reliability level expected. Copyright © 2016 John Wiley & Sons, Ltd.     

Choice between series and parallel connections of hysteretic system and viscous damper for seismic protection of structures

Supplemental viscous damping devices are generally envisioned to be connected in parallel to the inelastic parent structure or hysteretic damping devices. This gives rise to higher base shear, and often greater ductility demand of the hysteretic system. The series connection of the viscous and hysteretic system (the inelastic structure or a damper) is an alternative approach. In this paper, comparisons between the series and parallel connections of the hysteretic system and viscous dampers are done through response spectra analyses of single degree of freedom structures. Ductility demand of the hysteretic system and the total base shear are chosen as the response quantities. For the series model, a semi‐implicit solution scheme for classical Maxwell model is modified to include the inelasticity of the time‐independent hysteretic spring. It is observed that the series connection of the 2 dampers gives lower base shear than does the parallel connection. For long‐period and low‐damping structures, the ductility demand of the hysteretic system in series connection is higher than that in parallel connection. Increasing the viscous damping in series connection reduces the ductility demand substantially, lower than that obtained in parallel connection. Practical methods for implementing the series and parallel connections, in line with roof isolation, are also suggested.     

Anisotropic permeability in fractured reservoirs from frequency‐dependent seismic Amplitude Versus Angle and Azimuth data

Attempts have previously been made to predict anisotropic permeability in fractured reservoirs from seismic Amplitude Versus Angle and Azimuth data on the basis of a consistent permeability‐stiffness model and the anisotropic Gassmann relations of Brown and Korringa. However, these attempts were not very successful, mainly because the effective stiffness tensor of a fractured porous medium under saturated (drained) conditions is much less sensitive to the aperture of the fractures than the corresponding permeability tensor. We here show that one can obtain information about the fracture aperture as well as the fracture density and orientation (which determines the effective permeability) from frequency‐dependent seismic Amplitude Versus Angle and Azimuth data. Our workflow is based on a unified stiffness‐permeability model, which takes into account seismic attenuation by wave‐induced fluid flow. Synthetic seismic Amplitude Versus Angle and Azimuth data are generated by using a combination of a dynamic effective medium theory with Rüger's approximations for PP reflection coefficients in Horizontally Transversely Isotropic media. A Monte Carlo method is used to perform a Bayesian inversion of these synthetic seismic Amplitude Versus Angle and Azimuth data with respect to the parameters of the fractures. An effective permeability model is then used to construct the corresponding probability density functions for the different components of the effective permeability constants. The results suggest that an improved characterization of fractured reservoirs can indeed be obtained from frequency‐dependent seismic Amplitude Versus Angle and Azimuth data, provided that a dynamic effective medium model is used in the inversion process and a priori information about the fracture length is available.     

Multidegrees‐of‐freedom effective force testing: a feasibility study and robust stability assessment

This paper presents a feasibility study of multidegrees‐of‐freedom effective force testing (MDOF‐EFT). The study is intended to facilitate the development of a force feedback controller and investigation of performance as well as robustness of MDOF‐EFT. First, the dynamics of MDOF‐EFT systems are analytically investigated. Analytical transfer functions of the control plant, the valve‐to‐force relations, showed that the plant is dynamically coupled and the natural frequencies of test structures are the transmission zeros of the plant. Using a set of model parameters from a previous study, a case study that includes controller design, numerical simulations and robust stability assessment is performed. A decoupling loop shaping (DLS) controller consisting of a pseudo inverse of the plant and second‐order loop shaping controllers is adopted as the force feedback controller. It is shown that the DLS controller provides a stable control system while successfully decoupling the control loops and compensating the control‐structure interaction. Numerical simulations demonstrate that the DLS controller enables tracking of static and dynamic forces for multiple actuators. Robust stability of MDOF‐EFT with the DLS controller is assessed using Monte Carlo simulation. The stochastic simulation results show that the DLS controller is stable and robust, providing sufficient stability margins for uncertain models with maximum 50% errors in the estimated system parameters. This paper demonstrates that MDOF‐EFT is feasible with the DLS controller and can be implemented in experimental laboratories. Copyright © 2013 John Wiley & Sons, Ltd.     

Damage identification of a 3D full scale steel–concrete composite structure with partial‐strength joints at different pseudo‐dynamic load levels

Partial‐strength composite steel–concrete moment‐resisting (MR) frame structures represent an open research field in seismic design from both a theoretical and an experimental standpoint. Among experimental techniques, vibration testing is a well‐known and powerful technique for damage detection, localization and quantification, where actual modal parameters of a structure at different states can be determined from test data by using system identification methods. However, the identification of semi‐rigid connections in framed structures is limited, and hence this paper focuses on a series of vibration experiments that were carried out on a realistic MR frame structure, following the application of pseudo‐dynamic and quasi‐static cyclic loadings at the European laboratory for structural assessment of the Joint Research Centre at Ispra, Italy, with the scope of understanding the structural behaviour and identifying changes in the dynamic response. From the forced vibration response, natural frequencies, damping ratios, modal displacements and rotations were extracted using the circle fitting technique. These modal parameters were used for local and global damage identification by updating a 3D finite element model of the intact structure. The identified results were then correlated with observations performed on the structure to understand further the underlying damage mechanisms. Finally, the latin hypercube sampling technique, a variant of the Monte Carlo method, was employed in order to study the sensitivity of the updated parameters of the 3D model to noise on the modal inputs. Copyright © 2009 John Wiley & Sons, Ltd.