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· Numerical Methods in Geomechanics
NATO ADVANCED STUDY INSTITUTES SERIES
Proceedings of the Advanced Study Institute Programme, which aims
at the dissemination of advanced knowledge and the formation of contacts among scientists from different countries
The series is published by an international board of publishers in conjunction with NATO Scientific Affairs Division
A Life Sciences Plenum Publishing Corporation
B Physics London and New York
C Mathematical D. Reidel Publishing Company and Physical Dordrecht, Boston and London Sciences
D Behavioural and Social Sciences Martinus Nijhoff Publishers
E Engineering and The Hague, London and Boston
Materials Sciences
F Computer and Springer Verlag
Systems Sciences Heidelberg
G Ecological Sciences
Series C - Mathematical and Physical Sciences
Volume 92 - Numerical Methods in Geomechanics
Numerical Methods
in Geomechanics Proceedings of the NATO Advanced Study Institute, University of Minho, Braga, Portugal, held at Vimeiro, August 24 - September 4, 1981
edited by
J. B. MARTINS School of Engineering, University of Minho, Braga, Portugal
D. Reidel Publishing Company
Dordrecht: Holland / Bo~ton: U.S.A. / London: England
Publbhed in cooperation with NATO Scientific Affair~ Divi~ion
library of Congress Cataloging in Publication Data
NATO Advanced Study Institute (1981 : Vimeiro, Lisbon, Portugal) Numerical methods in geomechanics.
(NATO advanced study institutes series. Series C, Mathematical and physical sciences; v. 92)
Includes bibliographical references and index. 1. Soil mechanics-Mathematics-Congresses. 2. Rock mechanics
Mathematics-Congresses. 3. Numerical calculations-Congresses. I. Martins, J. B. (J. Barreiros) II. Title. III. Series. TA710.AIN37 1981 624.1'513 82-13263 ISBN-13: 978-94-009-7897-3 e-ISBN-13: 978-94-009-7895-9 001: 10.1007/978-94-009-7895-9
Published by D. Reidel Publishing Company P.O. Box 17, 3300 AA Dordrecht, Holland
Sold and distributed in the U.S.A. and Canada by Kluwer Boston Inc., 190 Old Derby Street, Hingham, MA 02043, U.S.A.
In all other countries, sold and distributed by Kluwer Academic Publishers Group, P.O. Box 322,3300 AH Dordrecht, Holland
D. Reidel Publishing Company is a member of the Kluwer Group
All Rights Reserved Copyright (C) 1982 by D. Reidel Publishing Company, Dordrecht, Holland Softcover reprint of the hardcover 1st edition 1982 No part of ttie material protected by this copyright notice may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying, recording or by any informational storage and retrieval system, without written permission from the copyright owner
COITEITS
Preface List of Participants Lecture Program
CHAPTER I - FUNDAMENTALS
1 Field Equations
ix xi xv
E.R. Arantes e Oliveira 3
2 Basic Formulation of Static and Dynamic Behaviour of Soil and Other Porous Media
O. C. ZienkieuJicz 39
3 Generalized Plasticity and Some Models for Geomechanics
O.C. Zienkiewicz 57
4 Constitutive Equations for Soil Media Jean H. Proevost 79
5 Constitutive Modeling and Soil-Structure Interaction
C.S. Desai 103
6 Rock Mass Behaviour and Its Mathematical Modelling
K. KovaY'i 145
CHAPTER II - FINITE ELEMENTS TECHNIQUES
1 Numerical Analysis of Shallow Foundations I.M. Smith
2 Numerical Analysis of Deep Foundations I.M. Smith
165
167
187
3 Finite Element Analysis of Coupled Deformation and Fluid Flow in Porous Media
Ranbir S. Sandhu
4 Finite Elements and Slope Stability D.J. Naylor
CONTENTS
203
229
CHAPTER III - MATHEMATICAL PROGRAMMING METHODS 245
1 Plastic Analysis in Geomechanics by Mathematical Programming
John MUnro 247
2 Optimization Methods for Parametric Identification of Geotechnical Systems
G. Maier and G. Gioda 273
3 Embankments and Slopes by Mathematical Programming
J.B. Martins
CHAPTER IV - BOUNDARY ELEMENT TECHNIQUES
1 Fundamentals of Boundary Elements
305
335
C.A. Brebbia 337
2 Boundary Elements in Groundwater Flow Problems L.C. Wrobel and C.A. Brebbia 355
3 Boundary Element Formulation to Solve No-Tension Problems in Geomechanics
W.S. Venturini and C.A. Brebbia 375
4 Elastoplastic Analysis Using Boundary Elements J.C.F. Telles and C.A. Brebbia 389
CHAPTER V - SEISMIC PROBLEMS
1 Seismic Site and Soil-Structure Interaction Analysis
John Lysmer
407
409
CONTENTS
2 Liquefaction of Sandy Soils Jose FoZque
CHAPTER VI - STATISTICAL METHODS
Statistical and Probabilistic Methods in Geomechanics
A. HaZdar
APENDICES
LECTURE - Liquefaction of Soils During Earthquakes
I.M. IdriS8
RESEARCH PRESENTATIONS* IN PANELS 1 Dynamic, Cyclic and Transient Aspects in
Soil Engineering M.P. Luong
2 Buried Structures-S~rounding Soil Interac tion
M.P. Luong
3 Bearing Capacity and Shape Factors for Shallow Foundations
M.P. Luong
4 Coefficient of Potential Rupture for Earth Structures
M.P. Luong
NAME INDEX
SUBJECT INDEX
* written papers
vii
455
471
473
505
507
531
541
547
557
567
573
PREFACE
This volume contains the edited texts of the lectures and written discussions prepared for the NATO sponsored Advanced Study Institute (ASI) on "Numerical Methods in Geomechanics" promoted by the University of Minho, Braga, Portugal and held at Vimeiro Hotel (Torres Vedras) - August 24 to September 4, 1981.
The object of the NATO-AS I has been to gather, as lecturers ,a wide range of scientists and engineers specialized on the above branch of knwoledgement in order to cover the whole variety of approaches for the solution of the set of problems concerning Geomechanics. In this way we could make available to the students, most of them researchers in this field, a large number of concepts, views and techniques for the solution of the problems they are concerned with. At the same time it was possible to disclose relationships between apparently different techniques for the solution of the same problem. For example some plasticity problems may be solved either by the usual finite elements technique or by mathematical programming or by the boundary elements method. Therefore, a link exi s ts amongs t thos e me thods. However, there has been in the pas t lack of effort to spring out these links, since there is a tendency for the researchers to stress the method they are working with and to forget about other methods, at least in what concerns their fundamentals.
Bringing together scientists from distinct schools of thought, this ASI has provided a forum for an interchange of views and of experiences amongst the lecturers and panelists themselves.lnthis way a stimulating and rewarding experience was given to each participant, mainly to the students,mostof them preparing their doctoral theses.
Therefore, we hope these proceedings will be a way of reV1 v1ng the "spirit of Vimeiro" giving an opportunity to the students to apply some important new concepts put forward at this ASI, and to the lecturers and panelists to try, in their new experiments, to apply each others concepts and methods in order to make a correct comparison and to find the reasons for agreement or disagreement between results.
ix I
J. B. Mtutin. (ed.). Numerlctll Method. in GeomeclumicB. ix-x. Copyright e 1982 by D. Reidel Publishing Company.
x PREFACE
We hope further that the Proceedings will give to all professionals an up-to-date and broad view of the methods available to solve geomechanical problems and a forward looking for future developments.
In fact many lecturers have brought to this Advanced Institute a number of quite new ideas for the solution of geomechanical problems which are particularly difficult, since they concern materials made bv Nature and not bv Man. with a most complex constitution and dealing with rather intrincated geometric shapes.
So, we wish to express our appreciation to those lecturers who put so great interest in this ASI.
In organizing the Chapters of these proceedings we have found some difficulties due to the fact that some lecturers have written their lectures in one final paper covering a somewhat large range of subjects. Therefore, the chapters do not follow exactly the order of the lectures and probably some people may feel that a better arrangement could be done.
We are greatfull to my Colleague Carlos Bernardo from U .M. who from the very begining was a full-time organizer of this Advanced Institute and to the staff of the University of Minho whose dedication allowed to overcome the many difficulties that always arrive in organizations such as this one.
Thanks are also due to the Vice-Chancelor of the U .M. for the facilities made available for the Institute.
Finally we extend our deep appreciation to the NATO Division of Scientific Affairs whose generous financial support made possible this NATO-ASI and the publication of these Proceedings.
January 1982 J.B. Martins
LIST OF PARTICIPANTS
Abascal, J.D. Escuela Superior de Ingenieros
Industriales Sevilla-12, Spain
Alarcon, E. Escuela Politecnica Superior de
Ingenieros Industriales Madrid - 6, Spain
Anand, S.C. Department of Civil Engineering Clemson University Clemson, S. Carolina, USA 29631
Barros, M.H.F. Departamento de Engenharia Civil Universidade de Coimbra 3000 Coimbra, Portugal
Barroso, M.J.G. Laboratorio Nacional de Engenharia
Civil 1700 Lisboa, Portugal
Beliveau, J.G. Department of Civil Engineering Universite de Sherbrooke Sherbrooke, Quebec, Canada J1K 2R1
Benitez, F.e. Escuela Politecnica Superior de
Ingenieros Industriales Madrid - 6, Spain
Bolle, A. Institut du Genie Civil- Bat C 2 Universite de Liege B - 4000 Liege, Be Igium
Borm, G. Lersthul fur Fe1smechanik Universitat Fridericiana zu
Karlsruhe D- 7500 Karlsruhe 1, West Germany
Brebbia, C.A. Department of Civil Engineering The University Southampton, England S095NH
Carballo, F .A. Escuela Superior de Ingenieros
Industriales Sevilla - 12, Spain
Cavilhas, J.L.A. Hidrotecnica Portuguesa Ed HP Guine, Prior Ve1ho Lisboa, Portugal
Cerejeira, J.M.G. OMAN - Centro de Estudos e Projectos R. Eugenio de Castro, 8 - 89 Esq9 Almada, Portugal
Chapel, F.M. Laboratoire de Mecanique des Sols Ecole Centrale des Arts et
Manufactures 92290 Chatenay - Ma1abry, France
Civelek, M.B. Department of Civil Engineering Bogazi~i University P.K. 2 Bebek, Istanbul, Turkey
Cividini, A. 1st. di Scienza e Tecnica delle
Construzioni Politecnico 20133 Milano, Italy
Cormeau, I. Consultant Control Data Belgium
N.V.-S.A. Leopold III Lan III 1130 Brussels, Belgium
Correia, A.G. lnstituto Superior Tecnico 1000 Lisboa, Portugal
xi
xii
Cozzarelli, F.A. Department of Civil Engineering State University of New York at
Buffalo Buffalo, N.Y., USA 14214
Cruz, J.M.L. Hidrotecnica Portuguesa Ed HP Guine, Prior Velho Lisboa, Portugal
Cunha, A.J.V.P. Laboratorio Nacional de Engenharia
Civil 1700 Lisboa, Portugal
Davies, T.G. Department of Civil Engineering State University of New York at
Buffalo Buffalo, N.Y., USA 14214
Desai, C.S. Department of Civil Engineering Virginia Polytechnic Institute and
State University Blacksburg, Virginia, USA 24061
Doblare, M. Escuela Politecnica Superior de
Ingenieros Industriales Madrid - 6, Spain
Durgunoglu, T. Earthquake Engineering Research
Institute Bogazi~i University P.K. 2 Bebek, Istanbul, Turkey
Ferreira, A.M.S. Geotecnia Universidade Nova de Lisboa 1800 Lisboa, Portugal
Figueiras, J.A. University College of Swansea Swansea, England SA2 8PP
Fonseca, A.M.A. CECUP - Centro de Engenharia Ci vii Universidade do Porto R. dos Bragas 4000 Porto, Portugal
Gaspar, J.E.T. Cubiertas Y MZOV S.A. Ayala 42 Madrid 1, Spain
Georgiou, P. Computational Mechanics Centre Southampton, Englang SOl OAA
LIST OF PARTICIPANTS
Gioda, G. 1st. di Scienza e Tecnica delle
Construzioni Po Ii tecnico 20133 Milano, Italy
Gonzalez, J.M.V. Instituto Superior Tecnico 1000 Lisboa, Portugal
Grossmann, N. Laboratorio Nacional de Engenharia
civil 1700 Lisboa, Portugal
Gumusoglu, M.C. Department of Engineering Geology
and Rock Mechanics Tesvikiye, Istanbul, Turkey
Gus smann, P. Institut fur Grundbau und
Bodenmechanik Pfaffernwaldring 35 7 Stuttgart 80, West Germany
Haahr, F. Soil Mechanics and Foundation
Engineering Technical University of Denmark Maglebjergvej 1 DK - 2800 Lingby, Denmark
Haldar, A. Georgia Institute of Technology Atlanta, Georgia, USA 30332
Halonen, O. Technical Research Centre of
Finland Geotechnical Laboratory Lampomiehenkuja 2 B SF - 02150, Espoo 15, Finland
Heuze, F.E. Lawrence Li vermore National Lab. University of California Livermore, Calif., USA 94550
Idriss, I.M. Woodward-Clyde Consultants Three Embarcadero Center, S. 700 S. Francisco, Calif., USA 94111
Jaudenes, M.D.R. Cubiertas Y MZOV S.A. Ayala 42 Madrid 1, Spain
Katzir, M. Foundation and Soil Ltd 44 Revivim St, Box 10107 Tel-Aviv 69274, Israel
UST OF PARTICIPANTS
Kausel, E.A.M. Department of Civil Engineering Massachusetts Institute of Technology Cambridge, Mass., USA 02139
Kelly, W.E. Department of Civil Environmental
Engineering University of Rhode Island Kingston, Rhode Island, USA 02881
Kovari, K. Institut fur Strassen-, Eisenbahn-
und Felsbau ETH - Honggerberg CH - 8093 Zurich, Switzerland
Lemoine, M.E. Koninklijke/Shell Exploratie en
Produktie Laboratorium Volmerlaan 6 2288 GD Rijswijk, Holland
Loret, B. Laboratoire de Mecanique des Solides Ecole Poly technique 91128 Palaiseau, France
Luong, M.P. Laboratoire de Mecanique des Solides Ecole Poly technique 91128 Palaiseau, France
Lysmer, L. Department of Civil Engineering University of California Berkeley, Calif., USA 94720
Maier, G. 1st. di Scienza e Tecnica delle
Construzioni Politecnico 20133 Milano, Italy
Marques, J.C. University of Swansea Swansea SA2 8PP, England
Martins, J.B. Unidade Pedagogica de Engenharia Universidade do Minho 4700 Braga, Portugal
Matos,A.B.C. F.E.U.P. Universidade do Porto 4000 Porto, Portugal
Matos, A.C. F.E.U.P. Universidade do Porto 4000 Porto, Portugal
Mohiuddin, G.M. Gesellschaft fur Reaktorsicherhei t Postfach 101650 5000 Koln 1, West Germany
Morancho, A.L.
xiii
Departamento de Geotecnia Universidad Politecnica de Barcelona Barcelona 17, Spain
Mota, C.A.M. Constru~oes Tecnicas SARL Av. 24 de Julho 24 1200 Lisboa, Portugal
Munro, J. Department of Civil Engineering Imperial College London SW7 2BU, England
Natau, O. Lehrstuhl fur Felsmechanick Universitat Fridericiana zu
Karlsruhe D- 7500 Karlsruhe, West Germany
Naylor, D.J. University College of Swansea Swansea SA2 8PP, England
Neves, E.M. Laboratorio Nacional de Engenharia
Civil 1700 Lisboa, Portugal
Neves, M.L.S.O. Constru~oes Tecnicas SARL Av. 24 de Julho 24 1200 Lisboa, Portugal
Nordal, S. Institut fur Geoteknikk og
Fundamenteringslaere N - 7034 Trondheim - NTH, Norway
Oliveira, E.R.A. Universidade Tecnica de Lisboa 1100 Lisboa, Portugal
Ottosen, N.S. Riso National Laboratory Postbox 49 DK - 4000 Roskilde, Denmark
Paixao, J.C.L. F.E.U.P. Universidade do Porto 4000 Porto, Portugal
Prater, E.G. Institut fur Strassen-, Eisenbahn
und Felsbau ETH - Honggerberg CH - 8093 Zurich, Switzerland
xiv
Prevost, J.H. Princeton University Princeton, New Jersey, USA 08544
Quaresma, C.F. Departamento de Engenharia Civil Universidade de Coimbra 3000 Coimbra, Portugal
Quiroga, A.S. Departamento Analisis de las
Estruturas Universidad de Santander Santander, Spain
Ratigan, J.L. Geotechnical Engineering University of California Berkeley, Calif., USA 94720
Reis, E.B. F.E.U.P. Universidade do Porto 4000 Porto, Portugal
Rodrigues, F.M.C.P. Laboratorio Nacional de Engenharia
Civil 1700 Lisboa, Portugal
Rucker, W. Bundesanstalt fur Materialprufung Unter den Eichen 87 1000 Berlin 45, West Germany
Sadgorski, W. Bayer Landesamt fur Wasserwirtschaft Dienstgebande Torring Str. 2 8000 Munchen 80, West Germany
Sandhu, R.S. Department of Civil Engineering The Ohio State University Columbus, Ohio, USA 43210
Shaw, R.P. Department of Engineering Science University of New York at
Buffalo New York, USA 14214
Silva, A.J. University of Rhode Island Narragansett Rhode Island, USA 02882
Silva, M.A.G. Gabinete da Area de Sines R. Artilharia 1 1200 Lisboa, Portugal
LIST OF PARTICIPANTS
Smith, I.M. Simon Engineering Laboratories University of Manchester Manchester M13 9PL, England
Soeiro, F.A. Bureau d'Etudes et de Recherches
Geotechniques Engineering 6 Rue des Colonels Renard 75017 Paris, France
Sousa, L.M.R. Laboratorio Nacional de Engenharia
Civil 1700 Lisboa, Portugal
Swoboda, C. Universitat Innsbruck Technikerstrasse 13 A - 6020 Innsbruck, Austria
Taylor, B.B. Department of Civil Engineering University of Waterloo Ontario, Canada N2L 3GL
Veiga, E.V. Universidade do Minho 4700 Braga, Portugal
Vilar, C. Universidade do Minho 4700 Braga, Portugal
Wolfe, W.E. The Ohio State University 2070 Neil Avenue Columbus, Ohio, USA 43210
Wynendaele, H. Katholieke Universiteit te Leuven Celestijnenlaan 200 A 3030 Haverlee, Belgium
Zacas, M. Geomechaniki S.A. 25 Bairaktari Str. Athens (607), Greece
Zeman, A.J. Shore Processes Section Hydraulic Research Division National Water Research Institute P.O. Box 5050 Burlington, Ontario, Canada
Zienkiewicz, O.C. Applied Science Building University College of Wales Swansea SA2 8PP, England
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STIlUCTUIlE OF TIlE DISCUSSION PAlll!LS
PAlll!LISTS SUBJECTS
LECTURERS OTHER Ml!MBERS
Constitutive Laws for Soils C.Desai, Blacksburg, U.S.A. F.A.Cozarelli, Buffalo, U.S.A. (Statics) J.Prevost, Princeton, U.S.A.
Constitutive Laws for Soils O.C.Zienckiewicz, Swansea, U.K. M.P.Luong, Palaiseau, France (Dynamics)
Foundations I.M.Smith, Manchester, U.K. M.P.Luong, Palaiseau, France T.Davies, Buffalo, U.S.A.
Rock Masses Behaviour K.Kovari, Zurich, Switzerland F.E.Heuze, Livermore, calif~U.S.A.1 T • Durgunoglu , Istanbul, Turkey i G. Swoboda, Innsbruck, Austria .1
Underground Openings G.Borm, Karlrsruhe, Germany F.E.Heuze, Livermore, Calif.,U.S.A., O.Natau, Karlrsruhe, Germany S.C.Anand, Clemson, S.Carol.,U.S.A.,
T.Durgunoglu, Istanbul, Turkey
Seepage and Consolidation R. S. Sandhu, Columbus, U. S.A. G.Gioda, Milano, Italy
Identification by Mathem. G.Maier, Milano, Italy G.Gioda, Milano, Italy
Programming
Plastic Analysis by Mathem. J • Munro , London, U.K. G.Gioda, Milano, Italy I Programming
R.P.Shaw, Buffalo, U.S.A. I
H.Winendaele, Haverlee, Belgium I Boundary Element Methods C.Brebbia, Southampton, U.K. E.Alarcon, Madrid, Spain I
J .Dominguez, Sevilla, Spain
I P .Georgiou, Southampton, U.K.
Soil-Structure Interaction M.P.Luong, Palaiseau, France I
(Statics) C.Desai, Blacksburg, U.S.A. M.B.Civelek, Istanbul, Turkey S.C.Anand, Clemson, S.Carol.,U.S.A.
Soil-Structure Interaction Jean-Guy Beliveau, Quebec, Canada
(Dynamics) J .Lysmer, Berkeley, U. S.A. E.Kausel, Massachusetts, U.S.A. M. B.Civelek, Istanbul, Turkey
Seismic Analysis J.Lysmer, Berkeley, U.S.A. I.M.Idriss, S.Franc., Calif.,U.S.A.
Soil Liquefaction I.M.Idriss, S.F.,Calif., U.S.A. J .Folque, Lisbon, Portugal
Statistical and Probabilistic A. Haldar, At lanta, Georgia, U.S.A. Methods in Geomechanics
xvi