The ρ-family of algorithms for time-step integration with improved numerical dissipation

The dynamic analysis of complex non-linear structural systems by the finite element approach requires the use of time-step algorithms for solving the equations of motion in the time domain. Both an implicit and an explicit version of such a time-step algorithm, called the ρ-method, the parameter ρ being used for controlling numerical damping in the higher modes, are presented in this paper. For the implicit family of algorithms unconditional stability, consistency, convergence, accuracy and overshoot properties are first discussed and proved. On the basis of the algorithmic damping ratio (dissipation) and period elongation (dispersion) the ρ-method is then compared with the well-known implicit algorithms of Hilber, Newmark, Wilson, Park and Houbolt. An explicit version of the algorithm is also derived and briefly discussed. This shows numerical properties similar to the central difference method. Both versions of the algorithm have been implemented in a general purpose computer program which has been often used for both numerical tests and practical applications.     

Limitations on linear multistep methods for structural dynamics

When solving the equations of structural dynamics using direct time integration methods, algorithmic damping is useful to control spurious high-frequency oscillations. Ideally, an algorithm should possess asymptotic annihilation of the high-frequency response, i.e. spurious oscillations are eliminated after one time step. Numerous one-step algorithms, spectrally equivalent to linear multistep (LMS) methods, have been developed which include controlled numerical dissipation. This paper proves that the only unconditionally stable, second-order accurate, 3-step LMS method possessing asymptotic annihilation is Houbolt's method, which is known to be overly dissipative in the low-frequency regime. Thus, using LMS methods, obtaining asymptotic annihilation with little low-frequency dissipation requires at least a 4-step method.     

Control strategy for variable damping element considering near‐future excitation influence

A control strategy is proposed for variable damping elements (VDEs) used together with auxiliary stiffness elements (ASEs) that compose a time‐varying non‐linear Maxwell (NMW) element, considering near‐future excitation influence. The strategy first composes a state equation for the structural dynamics and the mechanical balance in the NMW elements. Next, it establishes a cost function for estimating future responses by the weighted quadratic norms of the state vector, the controlled force and the VDEs' damping coefficients. Then, the Euler equations for the optimum values are introduced, and also approximated by the first‐order terms under the autoregressive (AR) model of excitation information. Thus, at each moment t_k, the strategy conducts the following steps: (1) identify the obtained seismic excitation information to an AR model, and convert it to a state equation; and (2) determine VDEs' damping coefficients under the initial conditions at t_k and the final state at t_k+L, using the first‐order approximation of the Euler equations. The control effects are examined by numerical experiments. Copyright © 2000 John Wiley & Sons, Ltd.     

Lanczos method for dynamic analysis of damped structural systems

In this paper we extend the Lanczos algorithm for the dynamic analysis of structures⁷ to systems with general matrix coefficients. The equations of dynamic equilibrium are first transformed to a system of first order differential equations. Then the unsymmetric Lanczos method is used to generate two sets of vectors. These vectors are used in a method of weighted residuals to reduce the equations of motion to a small unsymmetric tridiagonal system. The algorithm is further simplified for systems of equations with symmetric matrices. By appropriate choice of the starting vectors we obtain an implementation of the Lanczos method that is remarkably close to that in Reference 7, but generalized to the case with indefinite matrix coefficients. This simplification eliminates one of the sets of vectors generated by the unsymmetric Lanczos method and results in a symmetric tridiagonal, but indefinite, system. We identify the difficulties that may arise when this implementation is applied to problems with symmetric indefinite matrices such as vibration of structures with velocity feedback control forces which lead to symmetric damping matrices. This approach is used to evaluate the vibration response of a damped beam problem and a space mast structure with symmetric damping matrix arising from velocity feedback control forces. In both problems, accurate solutions were obtained with as few as 20 Lanczos vectors.     

Consistent lumped-parameter models for unbounded soil: Frequency-independent stiffness,damping and mass matrices

A systematic procedure to develop consistent (symmetric) stiffness, damping and mass matrices with real coefficients to represent any unbounded soil is developed. These property matrices are based on the lumped-parameter models of Reference 1. Either stiffness and damping matrices corresponding to first-order differential equations involving the internal degrees of freedom and those on the structure-soil interface result or, alternatively, in addition mass matrices are introduced, corresponding to second-order differential equations, which reduce the number of internal degrees of freedom by a factor 2. The stiffness, damping and mass matrices can easily be incorporated in a general-purpose structural dynamics program working in the time domain, whereby the structure can even be non-linear.     

Non-monotonic optimal damper placement via steepest direction search

An efficient and systematic procedure is proposed for finding the optimal damper positioning to minimize the dynamic compliance of a 3-D shear building model. The dynamic compliance is expressed in terms of the transfer function amplitudes of the local interstorey drifts evaluated at the undamped fundamental natural frequency. The dynamic compliance is minimized subject to a constraint on the sum of the damping coefficients of added dampers. Optimality criteria are derived and the optimal damper positioning is determined via an original steepest direction search algorithm. This algorithm enables one to find an optimal damper positioning sequentially for gradually increasing damper capacity levels. A non-monotonic design path with respect to the total damper capacity level often appears in the application of this algorithm. A new augmented algorithm via parameter switching is devised to find this non-monotonic design path. Copyright © 1999 John Wiley & Sons, Ltd.     

加肋圆柱曲板房顶的非线性垂直地震响应

因纵横向加肋密度不同, 故把题述房顶当做各向异性弹性体［１］ , 则问题的控制方程组为两个四阶偏微分方程（ 有一个是非线性） , 代满足边界条件的振型函数入内并用富氏级数的正交性并结合逐次逼近法, 化控制方程组为一个非线性ｖａｎ ｄｅｒ Ｐｏｌ 方程, 得出问题的解析解, 并且讨论了解的跳跃即动力稳定丧失出现的情况。     

Improved numerical dissipation for time integration algorithms in structural dynamics

A new family of unconditionally stable one-step methods for the direct integration of the equations of structural dynamics is introduced and is shown to possess improved algorithmic damping properties which can be continuously controlled. The new methods are compared with members of the Newmark family, and the Houbolt and Wilson methods.     

Estimation of structural parameters in time domain: A substructure approach

A substructure approach is used to estimate the stiffness and damping coefficients of structures from measurement of dynamic responses. The structures are decomposed into smaller subsystems for which state and observation equations are formulated and solved by the method of extended Kalman filter with a weighted global iteration algorithm. Substructural identification methods with and without overlapping members are proposed. In both methods, the convergence of the structural parameters to the optimal values is improved significantly with less computation time as compared to a complete structural approach. Numerical simulation studies are performed for three types of structures, namely a shear building, a plane frame building and a plane truss bridge. The effects of measurement noise and response observations required for identification of system parameters are also investigated.     

Optimal pumping locations of skimming wells

Abstract

A real-life problem involving pumping of groundwater from a series of existing wells along a river flood plain underlain with geologically saline water is examined within a conceptual framework. Unplanned pumping results in upconing of saline water. Therefore, it is necessary to determine optimal locations of fixed capacity pumping wells in space and time from a set of pre-selected candidate wells that minimize total salinity concentration in space and time. The nonlinear, non-convex, combinatorial problem involving zero—one decision variables is solved in a simulation—optimization (S/O) framework. Optimization is accomplished by using simulated annealing (SA)—a search algorithm. The computational burden is primarily managed by replacing the numerical model with a surrogate simulator—artificial neural network (ANN). The computational burden is further reduced through intuitive algorithmic guidance. The model results suggest that the skimming wells must be operated from optimal locations such that they are staggered in space and time to obtain least saline water.     

A note on classical damping matrices

An alternative damping matrix that leads to classical normal modes and that depends explicitly on a set of prescribed modal damping ratios is presented. The alternative damping matrix can be thought of as a factorized Caughey series that allows for a simple explicit solution for the coefficients of the series and thus avoids the need to solve a potentially ill‐conditioned system of algebraic equations. The relation between the proposed damping matrix and Rayleigh, Caughey and modal damping matrices is examined. Copyright © 2008 John Wiley & Sons, Ltd.     

A split operator approach to reactive transport with the forward particle tracking Eulerian Lagrangian localized adjoint method

A forward particle tracking Eulerian Lagrangian localized adjoint method (ELLAM) is applied to the multicomponent reactive transport problem using a split operator approach. Two split operator algorithms are compared, the Strang algorithm and the sequential non-iterative algorithm (SNIA). The reaction equations are integrated using a coupled predictor corrector algorithm with adaptive time stepping. Reaction time steps are adjusted at the inflow boundary to reflect the actual time of transport inside the solution domain.Results show that split operator ELLAM formulations are competitive with direct or fully coupled ELLAM solutions for reactive transport problems. The SNIA algorithm is more accurate than the Strang splitting algorithm when large time steps are used. The reaction algorithm employed dominates computational effort in runs with large time step sizes. To illustrate the use of the method in practical problems, the model is fitted to aerobic aniline degradation data from laboratory scale column experiments. Model inversion is achieved using non-linear regression with a shuffled complex evolution optimization algorithm and parameter uncertainty is assessed using a Bayesian uncertainty analysis procedure.     

On the stability of a non-convolutional perfectly matched layer for isotropic elastic media

The multi-axial perfectly matched layer (M-PML) is a material boundary condition for wave propagation problems in unbounded domains. It is obtained by extending the formulation of the split-field perfectly matched layer to a more general absorptive medium, for which damping profiles are specified along all dimensions of the problem. Under the hypothesis of small damping, it has been demonstrated that the stability of the system of partial differential equations of the M-PML can be related to the ratio of the damping profiles, and stable M-PML terminations for isotropic and orthotropic elastic media have been constructed. In the present work, we use the Routh–Horwitz determinants to demonstrate that the conclusions regarding the stability of M-PML for isotropic media for small damping are in fact valid for the more general case of damping coefficients of any (positive) value. The effectiveness of the M-PML is demonstrated by constructing stable terminations for the abovementioned media. The stability analysis is presented for 2-D in-plane (P-SV) wave propagation in elastic isotropic continua.     

Solution of random structural system subject to nonstationary excitation: transforming the equation with random coefficients to one with deterministic coefficients and random initial conditions

This paper deals with the lower order (first four) nonstationary statistical moments of the response of linear systems with random stiffness and random damping properties subject to random nonstationary excitation modeled as white noise multiplied by an envelope function. The method of analysis is based on a Markov approach using stochastic differential equations (SDE). The linear SDE with random coefficients subject to random excitation with deterministic initial conditions are transformed to an equivalent nonlinear SDE with deterministic coefficients and random initial conditions subject to random excitation. In this procedure, new SDE with random initial conditions, deterministic coefficients and zero forcing functions are introduced to represent the random variables. The joint statistical moments of the response are determined by considering an augmented dynamic system with state variables made up of the displacement and velocity vectors and the random variables of the structural system. The zero time-lag joint statistical moment equations for the augmented state vector are derived from the Itô differential formula. The statistical moment equations are ordinary nonlinear differential equations where hierarchy of moments appear. The hierarchy is closed by the cumulant neglect closure method applied at the fourth order statistical moment level. General formulation is given for multi-degree-of-freedom (MDOF) systems and the performance of the method in problems with nonstationary excitations and large variabilities is illustrated for a single-degree-of-freedom (SDOF) oscillator.     

Seismic data interpolation using frequency‐domain complex nonstationary autoregression

We have developed a novel method for missing seismic data interpolation using f‐x‐domain regularised nonstationary autoregression. f‐x regularised nonstationary autoregression interpolation can deal with the events that have space‐varying dips. We assume that the coefficients of f‐x regularised nonstationary autoregression are smoothly varying along the space axis. This method includes two steps: the estimation of the coefficients and the interpolation of missing traces using estimated coefficients. We estimate the f‐x regularised nonstationary autoregression coefficients for the completed data using weighted nonstationary autoregression equations with smoothing constraints. For regularly missing data, similar to Spitz f‐x interpolation, we use autoregression coefficients estimated from low‐frequency components without aliasing to obtain autoregression coefficients of high‐frequency components with aliasing. For irregularly missing or gapped data, we use known traces to establish nonstationary autoregression equations with regularisation to estimate the f‐x autoregression coefficients of the complete data. We implement the algorithm by iterated scheme using a frequency‐domain conjugate gradient method with shaping regularisation. The proposed method improves the calculation efficiency by applying shaping regularisation and implementation in the frequency domain. The applicability and effectiveness of the proposed method are examined by synthetic and field data examples.     

Seismic structural control using semi-active tuned mass dampers

This paper focuses on how to determine the instantaneous damping of the semi-active tuned mass damper (SATMD) with continuously variable damping. An off-and-towards-equilibrium (OTE) algorithm is employed to examine the control performance of the structure/SATMD system by considering the damping as an assumptive control action. The damping modification of the SATMD is carried out according to the proposed OTE algorithm, which is formulated based on analysis of the structural movement under external excitations, and the measured responses of the structure at every time instant. As examples two numerical simulations of a five-storey and a ten-storey shear structures with a SATMD on the roof are conducted. The effectiveness on vibration reduction of MDOF systems subjected to seismic excitations is discussed. Analysis results show that the behavior of the structure with a SATMD is significantly improved and the feasibility of applying the OTE algorithm to the structural control design of SATMD is also verified.     

Analysis of implicit HHT‐α integration algorithm for real‐time hybrid simulation

Real‐time hybrid simulation is a viable experiment technique to evaluate the performance of structures equipped with rate‐dependent seismic devices when subject to dynamic loading. The integration algorithm used to solve the equations of motion has to be stable and accurate to achieve a successful real‐time hybrid simulation. The implicit HHT α‐algorithm is a popular integration algorithm for conducting structural dynamic time history analysis because of its desirable properties of unconditional stability for linear elastic structures and controllable numerical damping for high frequencies. The implicit form of the algorithm, however, requires iterations for nonlinear structures, which is undesirable for real‐time hybrid simulation. Consequently, the HHT α‐algorithm has been implemented for real‐time hybrid simulation using a fixed number of substep iterations. The resulting HHT α‐algorithm with a fixed number of substep iterations is believed to be unconditionally stable for linear elastic structures, but research on its stability and accuracy for nonlinear structures is quite limited. In this paper, a discrete transfer function approach is utilized to analyze the HHT α‐algorithm with a fixed number of substep iterations. The algorithm is shown to be unconditionally stable for linear elastic structures, but only conditionally stable for nonlinear softening or hardening structures. The equivalent damping of the algorithm is shown to be almost the same as that of the original HHT α‐algorithm, while the period elongation varies depending on the structural nonlinearity and the size of the integration time‐step. A modified form of the algorithm is proposed to improve its stability for use in nonlinear structures. The stability of the modified algorithm is demonstrated to be enhanced and have an accuracy that is comparable to that of the existing HHT α‐algorithm with a fixed number of substep iterations. Both numerical and real‐time hybrid simulations are conducted to verify the modified algorithm. The experimental results demonstrate the effectiveness of the modified algorithm for real‐time testing. Copyright © 2011 John Wiley & Sons, Ltd.     

Damping‐adjusted combination rule for the response spectrum analysis of base‐isolated buildings

The classical response spectrum method continues to be the most popular approach for designing base‐isolated buildings, therefore avoiding computationally expensive nonlinear time‐history analyses. In this framework, a new method for the seismic analysis and design of building structures with base isolation system (BIS) is formulated and numerically validated, which enables one to overcome the main shortcomings of existing techniques based on the response spectrum method. The main advantages are the following: first, reduced computational effort with respect to an exact complex‐valued modal analysis, which is obtained through a transformation of coordinates in two stages, both involving real‐valued eigenproblems; second, effective representation of the damping, which is pursued by consistently defining different viscous damping ratios for the modes of vibration of the coupled BIS‐superstructure dynamic system; and third, ease of use, because a convenient reinterpretation of the combination coefficients leads to a novel damping‐adjusted combination rule, in which just a single response spectrum is required for the reference value of the viscous damping ratio. The proposed approach is specifically intended for design situations where (i) the dynamic behaviour of seismic isolators can be linearised and (ii) effects of nonproportional damping, as measured by modal coupling indexes, are negligible in the BIS‐superstructure assembly. Copyright © 2012 John Wiley & Sons, Ltd.     

TIME EVOLUTION OF LOCAL SCOUR AT OBSTACLES PROTRUDING FROM CHANNEL SIDE WALLS

1 mnCnONLocal scour close to bridge piers and abUtInnts has long been a subect of concem for engineers, sinceit can We total or partial collapse of bridges. Until to the Present, local scour has been assessed, moshy,on the basis of resultS of labOratOry stodis. These sthes were cwhed out for steady flows lashng longenough as to gUarantee the develoPment of equlllbrium scour i.e., the develoPmen of scour holes whosedePth and 8haPe no lOnger significanti evolve with hme.In nta, such long l…     

Recursive evaluation of interaction forces of unbounded soil in the time domain

The interaction forces representing the contribution of the linear unbounded soil to the equations of motion of a nonlinear soil-structure-interaction analysis are specified in the form of convolution integrals. They can be evaluated recursively in the time domain. In this procedure, the forces at a specific time are computed from the displacements at the same time and from the most recent forces and most recent past displacements. It is, in principle, only approximate. When the dynamic-stiffness coefficients can be expressed as the ratios of two polynomials in frequency, the appropriately chosen recursive equations are exact. Two possibilities of choosing a recursive equation are discussed.

• (i) The impulse-invariant method, where the unknown recursive coefficients are calculated by solving a system of equations which are established by equating the rigorous and recursive formulations for a discretized unit impulse displacement.
• (ii) In the segment approach, the dynamic-stiffness coefficients in the time domain are interpolated piecewise. Applying the z-transformation analytically then results in an explicit recursive equation without solving a system of equations.

The recursive evaluation of the convolution integrals in the time domain leads to a dramatic reduction in the computational effort up to two and three orders of magnitude and in the storage requirement. This makes the time-domain analysis using the substructure method computationally competitive with the corresponding direct (non-recursive) frequency-domain procedure of determining the complex response which is, however, applicable only to a linear (total) system.