Stochastic model for simulation of near‐fault ground motions

A parameterized stochastic model of near‐fault ground motion in two orthogonal horizontal directions is developed. The major characteristics of recorded near‐fault ground motions are represented. These include near‐fault effects of directivity and fling step; temporal and spectral non‐stationarity; intensity, duration, and frequency content characteristics; directionality of components; and the natural variability of ground motions. Not all near‐fault ground motions contain a forward directivity pulse, even when the conditions for such a pulse are favorable. The proposed model accounts for both pulse‐like and non‐pulse‐like cases. The model is fitted to recorded near‐fault ground motions by matching important characteristics, thus generating an ‘observed’ set of model parameters for different earthquake source and site characteristics. A method to generate and post‐process synthetic motions for specified model parameters is also presented. Synthetic ground motion time series are generated using fitted parameter values. They are compared with corresponding recorded motions to validate the proposed model and simulation procedure. The use of synthetic motions in addition to or in place of recorded motions is desirable in performance‐based earthquake engineering applications, particularly when recorded motions are scarce or when they are unavailable for a specified design scenario. Copyright © 2016 John Wiley & Sons, Ltd.     

Response of tall buildings to base rocking induced by Rayleigh waves

By now, it is well known that long‐period surface waves can induce resonant response in high‐rise buildings, in particular those located in sedimentary basins. Rayleigh wave passage has been reported to induce rocking motion at the base of the buildings which can increase displacement demands significantly. However, the building behavior to base rocking has not been extensively studied because commercially available instruments do not record rotational components of ground motion, and thus, rocking time histories have not been available to the analysts. In a recent study, we proposed an effective method for estimating the rocking associated with Rayleigh waves, which takes into account their frequency‐dependent phase velocities. In the present work, we select a number of recorded seismic motions which include surface waves on sedimentary basins from recent well‐recorded earthquake events. Then, we proceed to identify and extract the recorded surface waves by using the technique mentioned above. Using realistic soil‐structure analytical models that have been proposed in the published literature for high‐rise buildings, we study their response to Rayleigh waves as they respond to both translational and rocking motions. Of particular interest is to compare the response of such structures with and without the presence of rotational motions due to surface waves. Using the roof displacement and the building interstory drift as response quantities, our results indicate that demands are controlled by rotational (rocking) motions associated with Rayleigh waves.     

Simulation of orthogonal horizontal ground motion components for specified earthquake and site characteristics

A method for generating an ensemble of orthogonal horizontal ground motion components with correlated parameters for specified earthquake and site characteristics is presented. The method employs a parameterized stochastic model that is based on a time‐modulated filtered white‐noise process with the filter having time‐varying characteristics. Whereas the input white‐noise excitation describes the stochastic nature of the ground motion, the forms of the modulating function and the filter and their parameters characterize the evolutionary intensity and nonstationary frequency content of the ground motion. The stochastic model is fitted to a database of recorded horizontal ground motion component pairs that are rotated into their principal axes, a set of orthogonal axes along which the components are statistically uncorrelated. Model parameters are identified for each ground motion component in the database. Using these data, predictive equations are developed for the model parameters in terms of earthquake and site characteristics and correlation coefficients between parameters of the two components are estimated. Given a design scenario specified in terms of earthquake and site characteristics, the results of this study allow one to generate realizations of correlated model parameters and use them along with simulated white‐noise processes to generate synthetic pairs of horizontal ground motion components along the principal axes. The proposed simulation method does not require any seed recorded ground motion and is ideal for use in performance‐based earthquake engineering. Copyright © 2011 John Wiley & Sons, Ltd.     

CHARACTERISTICS OF TORSIONAL GROUND MOTIONS

Due to the inherent difficulty in directly recording the rotational ground motions, torsional ground motions have to be estimated from the recorded spatially varying translational motions. In this paper, an empirical coherency function, which is based on the recorded motions at the SMART-1 array, is suggested to model the spatial variation of translational motions. Then, the torsional ground motion power spectral density function is derived. It depends on the translational motion power spectral density function and the coherency function. Both the empirical coherency function and the torsional motion power spectral density function are verified by the recorded motions at the SMART-1 array. The response spectra of the torsional motions are also estimated. Discussion on the relations between the torsional motion response spectrum and the corresponding translational motion response spectrum is made. Numerical results presented can be used to estimate the torsional ground motion power spectral density function and response spectrum.     

Simulation of orthogonal horizontal components of near‐fault ground motion for specified earthquake source and site characteristics

A procedure to generate horizontal pairs of synthetic near‐fault ground motion components for specified earthquake source and site characteristics is presented. Some near‐fault ground motions contain a forward directivity pulse; others do not, even when the conditions for such a pulse are favorable. The proposed procedure generates pulse‐like and non‐pulse‐like motions in appropriate proportions. We use our recent stochastic models of pulse‐like and non‐pulse‐like near‐fault ground motions that are formulated in terms of physically meaningful parameters. The parameters of these models are fitted to databases of recorded pulse‐like and non‐pulse‐like motions. Using these empirical “observations,” predictive relations are developed for the model parameters in terms of the earthquake source and site characteristics (type of faulting, earthquake magnitude, depth to top of rupture plane, source‐to‐site distance, site characteristics, and directivity parameters). The correlation coefficients between the model parameters are also estimated. For a given earthquake scenario, the probability of occurrence of a directivity pulse is first computed; pulse‐like and non‐pulse‐like motions are then simulated according to the predicted proportions using the empirical predictive models. The resulting time series are realistic and reproduce important features of recorded near‐fault ground motions, including the natural variability. Moreover, the statistics of their elastic response spectra agree with those of the NGA‐West2 dataset, with the additional feature of distinguishing between pulse‐like and non‐pulse‐like cases and between forward and backward directivity scenarios. The synthetic motions can be used in addition to or in place of recorded motions in performance‐based earthquake engineering, particularly when recorded motions are scarce.     

Wavelet‐based characterization of design ground motions

With the recent emergence of wavelet‐based procedures for stochastic analyses of linear and non‐linear structural systems subjected to earthquake ground motions, it has become necessary that seismic ground motion processes are characterized through statistical functionals of wavelet coefficients. While direct characterization in terms of earthquake and site parameters may have to wait for a few more years due to the complexity of the problem, this study attempts such characterization through commonly available Fourier and response spectra for design earthquake motions. Two approaches have been proposed for obtaining the spectrum‐compatible wavelet functionals, one for input Fourier spectrum and another for input response spectrum, such that the total number of input data points are 30–35% of those required for a time‐history analysis. The proposed methods provide for simulating ‘desired non‐stationary characteristics’ consistent with those in a recorded accelerogram. Numerical studies have been performed to illustrate the proposed approaches. Further, the wavelet functionals compatible with a USNRC spectrum in the case of 35 recorded motions of similar strong motion durations have been used to obtain the strength reduction factor spectra for elasto‐plastic oscillators and to show that about ±20% variation may be assumed from mean to 5 and 95% confidence levels due to uncertainty in the non‐stationary characteristics of the ground motion process. Copyright © 2002 John Wiley & Sons, Ltd.     

Apparent translational component for rotational ground motions

Even though the rotational ground motion may contribute significantly to the response of certain structures, their effects are generally ignored in seismic design, because of non-availability of appropriate instruments for direct recording of the rotational components. Like many others, a simplified framework was proposed by the authors elsewhere (Rodda and Basu in Int J Earthq Impact Eng 1(3):253–288, 2016) to extract the rotational motion as a temporal derivative of an apparent translational component (ATC) followed by scaling with an apparent velocity. ATC was defined such that its time derivative is closely correlated with the respective rotational motion. But the a priori knowledge of rotational motion is required in estimating the ATC for rocking component. An empirical procedure has been proposed here to bypass the requirement of rotational motion a priori. This paper also assesses the definition of ATC through examining the similitude between the time derivative of ATC and the respective rotational motion (benchmark) quantitatively. Similitude is assessed on smoothened response spectra (by Hamming window) of the time derivative of ATC and that of rotational motion. A new definition of spectral contrast angle (SCA) based on distance correlation has been proposed to assess the spectral similitude. To differentiate the similar from non-similar spectra, SCA corresponding to an acceptable degree of similarity is proposed by studying a large ensemble of ground motions from the PEER database. This similitude study is further extended using relative energy build up and energy spectra.     

Conditional simulation of spatially variable seismic ground motions based on evolutionary spectra

This paper proposes a computational procedure for the conditional simulation of spatially variable seismic ground motions for long span bridges with multiple supports. The seismic ground motions, with part of their time histories measured at some supports, are regarded as zero‐mean nonstationary random processes characterized by predefined evolutionary power spectral density. To conditionally simulate unknown seismic ground motion time histories at other supports, the Kriging method is first described briefly for the conditional simulation of a random vector comprised of zero‐mean Gaussian variables. The multivariate oscillatory processes characterized by the evolutionary power spectral density matrix are then introduced, and the Fourier coefficients of the oscillatory processes and their covariance matrix are derived. By applying the Kriging method to the random vector of the Fourier coefficients and using the inverse Fourier transform, unknown nonstationary seismic ground motion time histories can be simulated. A numerical example is selected to demonstrate capabilities of the proposed simulation procedure, and the results show that the procedure can ensure unbiased time‐varying correlation functions, especially the cross correlation between known and unknown time histories. The procedure is finally applied to the Tsing Ma suspension bridge in Hong Kong to generate ground accelerations at its multiple supports using limited seismic records. Copyright © 2012 John Wiley & Sons, Ltd.     

A brief theory and computing of seismic ground rotations for structural analyses

The seismic ground rotations are important with respect to spatial structural models, which are sensitive to the wave propagation. The rotational ground motion can lead to significant increasing of structural response, instability and unusual damages of buildings. Currently, the seismic analyses often take into account the rocking and torsion motions separately using artificial accelerograms. We present an exact analytical method, proposed by Nazarov [15] for computing of three rotational accelerograms simultaneously from given translational records. The method is based on spectral representation in the form of Fourier amplitude spectra of seismic waves, corresponding to the given three-component translational accelerogram. The composition, directions and properties of seismic waves are previously determined in the form of a generalized wave model of ground motion. It is supposed that seismic ground motion can be composed by superposition of P, SV, SH- and surface waves. As an example, the dynamic response analysis of 25-story building is presented. Here recorded (low-frequency) and artificial (high-frequency) accelerograms were used; each of them includes three translational and three rotational components. In this structural analysis, we have clarified primarily conditions under which rotational ground motion should be taken into account. Next, we have calculated three rotational components of seismic ground motion. Then they were taken as additional seismic loads components for further seismic analysis of the building. Note, soil–structure interaction (SSI) is not considered in this study. For computing, we use the special software for structural analyses and accelerogram processing (FEA Software STARK ES and Odyssey software, Eurosoft Co., Russia). It was developed and is used in engineering practice in the Central Research Institute of Building Constructions (TsNIISK, Moscow, Russia).     

Estimation of hysteretic energy demand using concepts of modal pushover analysis

Hysteretic energy dissipation in a structure during an earthquake is the key factor, besides maximum displacement, related to the amount of damage in it. This energy demand can be accurately computed only through a nonlinear time‐history analysis of the structure subjected to a specific earthquake ground acceleration. However, for multi‐story structures, which are usually modeled as multi‐degree of freedom (MDOF) systems, this analysis becomes computation intensive and time consuming and is not suitable for adopting in seismic design guidelines. An alternative method of estimating hysteretic energy demand on MDOF systems is presented here. The proposed method uses multiple ‘generalized’ or ‘equivalent’ single degree of freedom (ESDOF) systems to estimate hysteretic energy demand on an MDOF system within the context of a ‘modal pushover analysis’. This is a modified version of a previous procedure using a single ESDOF system. Efficiency of the proposed procedure is tested by comparing energy demands based on this method with results from nonlinear dynamic analyses of MDOF systems, as well as estimates based on the previous method, for several ground motion scenarios. Three steel moment frame structures, of 3‐, 9‐, and 20‐story configurations, are selected for this comparison. Bias statistics that show the effectiveness of the proposed method are presented. In addition to being less demanding on the computation time and complexity, the proposed method is also suitable for adopting in design guidelines, as it can use response spectra for hysteretic energy demand estimation. Copyright © 2008 John Wiley & Sons, Ltd.     

Ground motion selection for simulation‐based seismic hazard and structural reliability assessment

This paper examines four methods by which ground motions can be selected for dynamic seismic response analyses of engineered systems when the underlying seismic hazard is quantified via ground motion simulation rather than empirical ground motion prediction equations. Even with simulation‐based seismic hazard, a ground motion selection process is still required in order to extract a small number of time series from the much larger set developed as part of the hazard calculation. Four specific methods are presented for ground motion selection from simulation‐based seismic hazard analyses, and pros and cons of each are discussed via a simple and reproducible illustrative example. One of the four methods (method 1 ‘direct analysis’) provides a ‘benchmark’ result (i.e., using all simulated ground motions), enabling the consistency of the other three more efficient selection methods to be addressed. Method 2 (‘stratified sampling’) is a relatively simple way to achieve a significant reduction in the number of ground motions required through selecting subsets of ground motions binned based on an intensity measure, IM. Method 3 (‘simple multiple stripes’) has the benefit of being consistent with conventional seismic assessment practice using as‐recorded ground motions, but both methods 2 and 3 are strongly dependent on the efficiency of the conditioning IM to predict the seismic responses of interest. Method 4 (‘generalized conditional intensity measure‐based selection’) is consistent with ‘advanced’ selection methods used for as‐recorded ground motions and selects subsets of ground motions based on multiple IMs, thus overcoming this limitation in methods 2 and 3. Copyright © 2015 John Wiley & Sons, Ltd.     

The effects of torsion and motion coupling in site response estimation

Soil amplification characteristics are investigated using data from the Chibaken‐Toho‐Oki earthquake and its aftershocks recorded at Chiba dense array in Japan. The frequency‐dependent amplification function of soil is calculated using uphole‐to‐downhole spectral ratio analysis, considering the horizontal components of shear wave. The identified spectral ratios consistently demonstrate the splitting of peaks in their resonance frequencies and low amplification values in comparison with a 1D model. The torsional behaviour and horizontal ground motion coupling are clarified as the reasons for these phenomena at the site. To prove the hypothesis, the torsional motion is directly evaluated using the data of the horizontal dense array in different depths at the site. The comparison between Fourier spectra of torsional motion and identified transfer functions reveals the peaks at the same frequencies. The wave equation including torsion and horizontal motion coupling is introduced and solved for the layered media by applying wave propagation theory. Using the developed model, the effects of torsional motion with horizontal motion coupling on soil transfer function are numerically examined. Splitting and low amplification at resonance frequencies are confirmed by the results of numerical analysis. Furthermore, the ground motion in two horizontal directions at the site is simulated using site geotechnical specification and optimizing the model parameters. The simulated and recorded motions demonstrate good agreement that is used to validate the hypothesis. In addition, the spectral density of torsional ground motions are compared with the calculated one and found to be well predicted by the model. Finally, the results are used to explain the overestimation of damping in back‐calculation of dynamic soil properties using vertical array data in small strain level. Copyright © 2003 John Wiley & Sons, Ltd.     

Estimation of Nonlinear Time-dependent Soil Behavior in Strong Ground Motion Based on Vertical Array Data

To improve our understanding of nonlinear elastic properties of soils, a method is proposed of estimation of stress-strain relations of soils in situ in strong ground motion based on vertical array data. Strong motion records provided by seismic vertical arrays allow estimation of nonlinear stress-strain relations in soil layers at different depths, from the surface down to the location of the deepest device. As an example, records obtained during the main shock of the 1995 Kobe earthquake at Port-Island, SGK, and TKS sites were used to estimate the stress-strain relations in the soil profiles. For different layers, different types of nonlinear stress-strain relations were selected, according to the profiling data. To account for temporal changes in the soil behavior, consecutive parts of records were examined, and for successive time intervals, the relations were found showing the best-fit approximation to the observed data. At Port Island and SGK sites, where the strongest accelerations were recorded, the obtained stress-strain relations showed systematic changes in the upper layers (0–14 m), such as, a progressive reduction of the slopes of the stress-strain curves due to liquefaction at Port Island and reduction and recovery of the slopes at SGK and TKS sites. At the three sites, the stress-strain relations remained stable in layers below 11–14 m. Thus, the proposed approach gives us a representation of the soil behavior in layers at different depths in strong ground motion; it allows calculation of the propagation of arbitrary seismic signals in the studied profiles and estimation of nonlinear components in the ground response by the nonlinear system identification technique. The method can also be applied to evaluate the ground response at sites where profiling data are available and an imposed motion can be estimated.     

Enrichment of seismic ground motion databases using Karhunen–Loève expansion

Best estimate seismic analysis are generally based on time‐domain simulations of structural responses. The seismic load is then modeled by a stochastic process representing ground motion. For this purpose, the analyst can use recorded accelerograms or work with synthetically generated ones. The number of ground motion time‐histories available for a given scenario and site condition is limited and generally not sufficient for carrying out more advanced probabilistic structural response analysis. It is then necessary to have at our disposal methods that allow for generating synthetic accelerograms that realistically characterize earthquake ground motions. However, most of the methods proposed in literature for generating synthetic accelerograms do not accurately reproduce the natural variability of ground motion parameters (such as PGA, cumulative absolute velocity, and Arias intensity) observed for recorded time histories. In this paper, we introduce a new method for generating synthetic ground motion, based on Karhunen‐Loève decomposition and a non‐Gaussian stochastic model. The proposed method enables the structural analyst to simulate ground motion time histories featuring the properties mentioned above. To demonstrate its capability, we study the influence of the simulation method on different ground motion parameters and on soil response spectra. We finally compute fragility curves to illustrate the practical application of the proposed method. Copyright © 2012 John Wiley & Sons, Ltd.     

Estimating non‐linear site response by single period approximation

Site effects characterize the filtering mechanisms within the soil sedimentary layers overlying bedrock. In regions of high seismicity such as California where strong motion records are relatively abundant, site coefficients can be developed by regression of recorded ground shaking parameters. In regions of low‐to‐moderate seismicity or of high seismicity but with a paucity of recorded strong motion data, such empirical models cannot be obtained in the same way. This study describes the theoretical development of a simple, rational manual procedure to calculate site coefficients, based on a single period approximation (SPA), and to construct displacement response spectra (RSD) for soil sites. The proposed simplified model, which takes into account the non‐linear behaviour of soil that is dependent on the level of shaking, impedance contrast at the soil–bedrock interface and the plasticity of soil material, has been verified by comparison with results obtained from non‐linear shear wave analyses and data recorded during the 1994 Northridge earthquake. The proposed model is believed to be a convenient tool for calculating non‐linear site responses and constructing site‐specific response spectra, which has the potential of being incorporated into code provisions. Copyright © 2006 John Wiley & Sons, Ltd.     

Identification of modal parameters of non‐classically damped linear structures under multi‐component earthquake loading

A method for parametric system identification of classically damped linear system in frequency domain is adopted and extended for non‐classically damped linear systems subjected up to six components of earthquake ground motions. This method is able to work in multi‐input/multi‐output (MIMO) case. The response of a two‐degree‐of‐freedom model with non‐classical damping, excited by one‐component earthquake ground motion, is simulated and used to verify the proposed system identification method in the single‐input/multi‐output case. Also, the records of a 10 storey real building during the Northridge earthquake is used to verify the proposed system identification method in the MIMO case. In this case, at first, a single‐input/multi‐output assumption is considered for the system and modal parameters are identified, then other components of earthquake ground motions are added, respectively, and the modal parameters are identified again. This procedure is repeated until all four components of earthquake ground motions which are measured at the base level of the building are included in the identification process. The results of identification of real building show that consideration of non‐classical damping and inclusion of the multi‐components effect of earthquake ground motions can improve the least‐squares match between the finite Fourier transforms of recorded and calculated acceleration responses. Copyright © 2006 John Wiley & Sons, Ltd.     

Influence of irregular topography and random soil properties on coherency loss of spatial seismic ground motions

Coherency functions are used to describe the spatial variation of seismic ground motions at multiple supports of long span structures. Many coherency function models have been proposed based on theoretical derivation or measured spatial ground motion time histories at dense seismographic arrays. Most of them are suitable for modelling spatial ground motions on flat‐lying alluvial sites. It has been found that these coherency functions are not appropriate for modelling spatial variations of ground motions at sites with irregular topography (Struct. Saf. 1991; 10 (1):1–13). This paper investigates the influence of layered irregular sites and random soil properties on coherency functions of spatial ground motions on ground surface. Ground motion time histories at different locations on ground surface of the irregular site are generated based on the combined spectral representation method and one‐dimensional wave propagation theory. Random soil properties, including shear modulus, density and damping ratio of each layer, are assumed to follow normal distributions, and are modelled by the independent one‐dimensional random fields in the vertical direction. Monte‐Carlo simulations are employed to model the effect of random variations of soil properties on the simulated surface ground motion time histories. The coherency function is estimated from the simulated ground motion time histories. Numerical examples are presented to illustrate the proposed method. Numerical results show that coherency function directly relates to the spectral ratio of two local sites, and the influence of randomly varying soil properties at a canyon site on coherency functions of spatial surface ground motions cannot be neglected. Copyright © 2010 John Wiley & Sons, Ltd.     

Multi‐angle,multi‐damage fragility curves for seismic assessment of bridges

The scope of this study is to investigate the effect of the direction of seismic excitation on the fragility of an already constructed, 99‐m‐long, three‐span highway overpass. First, the investigation is performed at a component level, quantifying the sensitivity of local damage modes of individual bridge components (namely, piers, bearings, abutments, and footings) to the direction of earthquake excitation. The global vulnerability at the system level is then assessed for a given angle of incidence of the earthquake ground motion to provide a single‐angle, multi‐damage probabilistic estimate of the bridge overall performance. A multi‐angle, multi‐damage, vulnerability assessment methodology is then followed, assuming uniform distribution for the angle of incidence of seismic waves with respect to the bridge axis. The above three levels of investigation highlight that the directivity of ground motion excitation may have a significant impact on the fragility of the individual bridge components, which shall not be a priori neglected. Most importantly, depending on the assumptions made for the component to the system level transition, this local sensitivity is often suppressed. It may be therefore necessary, based on the ultimate purpose of the vulnerability or the life cycle analysis, to obtain a comprehensive insight on the multiple damage potential of all individual structural and foundation components under multi‐angle excitation, to quantify the statistical correlation among the distinct damage modes and to identify the components that are both most critical and sensitive to the direction of ground motion and carefully define their limit states which control the predicted bridge fragility. Copyright © 2015 John Wiley & Sons, Ltd.     

Prediction of site factors by a non‐parametric approach

The problem addressed in this paper is the estimation of the (de)amplification of ground motion at soil sites (compared to rock sites) as a function of the intensity of the ground motion. A non‐parametric empirical approach, called the Conditional Average Estimator (CAE) method, has been used, which is different from all existing approaches. Site factors (SFs) for sites characterized with V_s30 between 180 and 360 m/s were predicted for the peak ground acceleration (PGA) and the spectral accelerations by using a combined database of recorded ground motions. Based on the results of the study, site factors for PGA and selected spectral accelerations are proposed, separately for weaker and stronger ground motions. Comparisons are made with the SFs used in two standards (Eurocode 8 and ASCE 7‐10) and with SFs proposed in the literature, including four Next Generation Attenuation (NGA) ground‐motion prediction equations. The study reveals that (i) SFs depend strongly on the ground‐motion intensity. In the case of stronger ground motions, they decrease with increasing acceleration. (ii) The SFs predicted in this study agree reasonably well with the existing SFs in the case of weak ground motion. For higher intensities of ground motion, they are generally smaller than the existing ones. Copyright © 2014 John Wiley & Sons, Ltd.