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Article history: Two integration algorithms, namely the implicit return mapping and explicit sub-stepping schemes, are
Received 30 March 2013 adopted in the anisotropic bounding surface plasticity model for cyclic behaviours of saturated clay and
Received in revised form 26 July 2013 are implemented into finite element code. The model is a representative of a series of bounding surface
Accepted 26 July 2013
models that have typical characteristics, including isotropic and kinematic hardening rules and a rota-
Available online 23 August 2013
tional bounding surface to capture complex but important cyclic behaviours of soils, such as cyclic shake-
down and degradation. However, there is no explicit current yield surface in the model to which the
Keywords:
conventional implicit algorithm returns the stress state back or the sub-stepping integration corrects
Bounding surface plasticity model
Implicit integration
the drift of the stress state. Hence, necessary modifications have been made for both of the integration
Explicit integration schemes. First, the image stress point is mapped or corrected to the bounding surface instead of mapping
Cyclic behaviour back or correcting the stress state to the yield surface. Second, the unloading–loading criterion is checked
Saturated clay to determine the image stress point rather than checking the yield criterion after giving the trial stress
state in a conventional way. Comparative studies on the accuracy, stability and efficiency of the two inte-
gration schemes are conducted not only at the element level but also in solving boundary value problems
of monotonic and cyclic bearing behaviours of rigid footings on saturated clay. For smaller strain incre-
ments, there is no significant difference in the accuracy between the two integration schemes, but the
explicit integration shows a higher efficiency and accuracy. For relatively larger increments, the implicit
return mapping algorithm presents good accuracy and more robustness, while the sub-stepping algo-
rithm shows deteriorating accuracy and suffers the convergence problem. With the tolerance used in
the present model, the bearing capacity of the rigid footing predicted by the return mapping algorithm
is closer to the available analytical and numerical solutions, while the bearing capacity predicted by
the sub-stepping algorithm shows a marginal increase.
Ó 2013 Elsevier Ltd. All rights reserved.
1. Introduction the cornerstone that controls the accuracy, stability and efficiency
of the calculations.
The response simulation of offshore structures embedded in Existing approaches for stress integration of elasto-plastic con-
seabed soils under cyclic loading still faces significant obstacles. stitutive models are generally classified as implicit and explicit
First, it requires efficient and accurate constitutive models that schemes. Implicit algorithms that are based on the closest point
reflect important cyclic behaviours of seabed soils, such as the hys- projection or the return mapping [4–10] require a consistent
teretic property, initial anisotropy, cyclic shakedown and stiffness tangent operator that corresponds to the final stress state of the
degradation as well as the accompanying accumulation of plastic integration increment. This arrangement means that an iterative
strain and pore pressure [1–3]. However, to capture all of these calculation of the final stress state is needed. Explicit algorithms
important but complex behaviours makes the constitutive model such as the algorithm with automatic error control and sub-
more lengthy and complicated. Moreover, in order to be applicable stepping [11–14] require a continuum tangent operator that corre-
to offshore geotechnical calculations, the constitutive model sponds only to the initial stress state of the integration increment
requires efficient and robust numerical implementations, whereas while using the adaptive sub-stepping to control the error. Both of
the integration scheme of the incremental constitutive relations is the algorithms have been developed in classic elasto-plastic
models but are still less reported for cyclic plasticity models.
Manzari and Nour [7] first attempted to use an implicit algorithm
⇑ Corresponding author. Tel.: +86 2227401510.
in the bounding surface model for cyclic behaviours of soil. The
E-mail address: liuhx@tju.edu.cn (H. Liu).
results demonstrated the robustness of the implicit integration in
0266-352X/$ - see front matter Ó 2013 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.compgeo.2013.07.012
28 C. Hu, H. Liu / Computers and Geotechnics 55 (2014) 27–41
the bounding surface model. However, one drawback of the model et al. [23] is generalised to the multiaxial stress space. Within the
is the unrealistic description of cyclic loading because it is based on framework of critical state soil mechanics, this model has been
the fully isotropic hardening rule. Rouainia and Wood [8] pre- shown to accurately simulate important characteristics of satu-
sented an implicit return mapping integration in a modified bubble rated clay under cyclic loading such as initial anisotropy, reversal
model based on a kinematic hardening rule, but it was only tested flow, cyclic shakedown and stiffness degradation by combining
by a soil element. Borja et al. [9] used an implicit scheme to solve a isotropic with kinematic hardening rules and adopting a rotational
two-surface model. However, the algorithm was run on the strain bounding surface. A brief description of the model is presented
space in order to consider the nonlinear hyper-elasticity. Zhao et al. below.
[15] argued that there were difficulties in the application of the im- In terms of notation, tensors are written in bold face characters
plicit integration scheme to cyclic plasticity models and described to allow them to be easily distinguished from scalars. All of the
the explicit integration of two complex constitutive models. How- presented stress quantities are effective. The symbol ‘:’ denotes
ever, they did not provide the performance of the algorithm in ana- an inner product of two second-order tensors (e.g., c:d = cijdij) or
lysing the cyclic behaviour of the soil. Andrianopoulos et al. [16] a double contraction of the adjacent indices of tensors of rank
proposed an explicit integration in the bounding surface model two and higher (e.g., C : ee ¼ C ijkl eekl ). The symbol ‘’ denotes the
to analyse the earthquake liquefaction of noncohesive soils. Kronecker product of two second-order tensors (e.g., c d = cijdkl).
The accuracy, stability and efficiency of integration schemes are
important issues in large-scale numerical simulation. However, 2.1. Bounding surface formulation
comparative studies on the performance of the two integration
algorithms in a complex cyclic plasticity model are rather limited. For the initial consolidation process, the form of the bounding
The conclusions from different researchers in solving boundary va- surface in the model proposed by Hu et al. [23] is the same as
lue problems are not uniform. Potts and Ganendra [17] compared the form adopted by Dafalias [24], which can be written in the con-
the accuracy of return mapping implicit and sub-stepping explicit ventional triaxial p–q stress space as
schemes in the Cam-clay model and stated that the sub-stepping
algorithm was more accurate for a specific incremental size and ðq Þ2
ap
2 p
F¼p pc þ ¼0 ð1Þ
for the analysis of a cavity expansion problem. Manzari and Pra- M 2 a2
chathananukit [18] compared the closest point projection implicit where p and q are mean effective and deviatoric stresses, respec-
integration with the sub-stepping explicit integration in a two-sur- tively, and the superimposed bar indicates that the variables are re-
face model and implemented them into finite element code. It was lated to the bounding surface; M is the slope of the critical state line
observed that for a relatively large strain increment, the implicit and equals Me for extension and Mc for compression; pc and a define
algorithm remained stable and accurate, while the explicit algo- the size and inclination of the bounding surface, respectively, and
rithm faced convergence difficulties. Sołowski et al. [19] ran both their initial values are denoted by p0 and a0. The concept of the
implicit and sub-stepping explicit integrations in the Barcelona ba- model is shown graphically in Fig. 1 in the p–q stress space.
sic model of unsaturated soil at a single stress point. However, it The generalisation of Eq. (1) in the multiaxial stress space is ob-
was concluded that for a larger strain increment, the implicit tained by standard methods [25,26], as follows:
scheme offered faster convergence but might cause inaccurate
computations. These findings highlight the importance of compar- 3
2 p
F¼p pc þ aÞ : ðs p
½ðs p aÞ ¼ 0 ð2Þ
ative studies on the accuracy, stability and efficiency of the two 2ðM 2 a2 Þ
integration schemes.
where s and a are deviatoric and anisotropic tensors, respectively,
The bounding surface plasticity model with a vanishing elastic qffiffiffiffiffiffiffiffiffiffiffiffiffi
region is more attractive for large-scale mathematical modelling and a ¼ 32 a : a is a measure of the degree of soil anisotropy.
related to cyclic loading because it is not necessary to address It can be seen from Eq. (2) that the bounding surface passes
the evolvement of more than two yield surfaces (such as in the through the origin of the stress space. However, for the sequence
two-surface and multi-surface plasticity models [20–22]) and the shearing after the initial consolidation process, the model [23]
smooth translation from nonlinear elastic to elasto-plastic behav- has assumed that the bounding surface translates according to
iours. A recently developed anisotropic bounding surface model the kinematic hardening rule, which will be briefly explained in
[23] has been shown to realistically present the stress–strain the following section (the details can be found in Ref. [23]). As a re-
behaviours of the soils, including the cyclic shakedown and degra- sult, the endpoint of the bounding surface, which coincides with
dation. The present work is to implement the developed model the origin of the stress space in the initial consolidation process,
with a vanishing elastic region [23] into a commercial finite ele- will translate to a new position in the stress space. We denote
ment code with two integration schemes, i.e., the return mapping the endpoint as n (Fig. 1). Hence, the translating bounding surface
and sub-stepping integration schemes. However, there is no expli- in the multiaxial stress space is expressed as
cit current yield surface in the model to which the conventional
implicit algorithm returns the stress state back or the sub-stepping
integration corrects the drift of the stress state. Several necessary q CSL
modifications should be made for both of the integration schemes.
The performance, including the accuracy, robustness and efficiency Subsequent bounding
of the two integration schemes, is investigated in detail both at the surface Fm
element level and in solving boundary value problems that involve
Initial bounding K0 line
monotonic and cyclic bearing behaviours of rigid footings on nor- surface F0 ξFm A
mally consolidated saturated clay. ξF0
α0
o p0 p
2. Outline of the anisotropic bounding surface model
CSL
In this section, the anisotropic bounding surface plasticity mod-
el with a vanishing elastic region for saturated clay proposed by Hu Fig. 1. Schematic of the rotational bounding surface in the p–q space.
C. Hu, H. Liu / Computers and Geotechnics 55 (2014) 27–41 29
the stress path does not change direction. For example, m = 0 means
Case 2: When the stress path changes direction, Fm translates along
the initial consolidation process, and m = 1 means the first loading
the line that connects the stress reversal point and the image point
or unloading event; stress tensors r and n are expressed in terms
to form Fm+1. The endpoint n of the current bounding surface Fm+1 is
of the volumetric and deviatoric components, which are defined as
then expressed as
1 1 (
¼
p trðrÞ; s ¼ r p
I; np ¼ trðnÞ; ns ¼ n np I ð3cÞ npðmþ1Þ ¼ nðmÞ
p
Þ
þ ðp p
3 3 ð5bÞ
ns
ðmþ1Þ
¼ n þ ðs sÞ
ðmÞ
s
where I is a second-rank identity tensor, and the subscripts p and s
denote the volumetric and deviatoric components of a tensor, where (p,s) and ðp ; sÞ are the newly formed stress reversal point and
respectively. its image stress state, respectively; ðnðmþ1Þ
ðnÞ ðnÞ
; nsðmþ1Þ Þ; npðmþ1Þ ; nsðmþ1Þ
p
ðnþ1Þ ðnþ1Þ
and npðmþ1Þ ; nsðmþ1Þ denote the endpoints of the bounding surfaces
2.2. Hardening rules
of the 0th, nth and (n + 1)th loading substeps in the (m + 1)th load-
ðnÞ ðnþ1Þ
The characteristics of isotropic, kinematic hardening and even ing event, respectively; pcðmþ1Þ and pcðmþ1Þ are the sizes of the bound-
rotational hardening rules are included in the model proposed by ing surfaces of the nth and (n + 1)th loading substeps in the
Hu et al. [23]. In this section, the evolution for each of them is de- ðmþ1Þ ðmþ1Þ
(m + 1)th loading event, respectively; and ðop ; os Þ is the
scribed briefly and generalised into multiaxial stress space.
homological centre o of Fm+1, i.e., the coordinates of the last stress
reversal point and the mapping centre. Details of the mapping cen-
2.2.1. Isotropic hardening tre and the image stress state are introduced in Section 2.3.
As in the original two-dimensional model [23], the scalar hard-
ening variable pc controls isotropic hardening and determines the 2.2.3. Rotational hardening
size of the bounding surface, which depends not only on the irre- The model proposed by Hu et al. [23] has assumed that the
versible volumetric strain rate e_ pv but also on the damage parame- initial anisotropy due to anisotropic consolidation is accounted
ter H, which is related to the deviatoric plastic strain rate e_ p in the for by adopting a rotational bounding surface at the start of
multiaxial stress space. The evolution equation for the size pc is gi- shearing but without further rotation in the subsequent shearing,
ven as and the stress-induced anisotropy is considered by the above-men-
( ðnþ1Þ ðnÞ tioned kinematic hardening rule.
pc v0 e_ pv Hðnþ1Þ
¼ pc exp
ð4Þ Similar to the definition adopted by Liang and Ma [26], Ling et al.
ðnþ1Þ ðnÞ
H ¼ H exp ðbe_ A Þ [27] and Huang et al. [28], the initial anisotropic tensor a0 induced in
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
the initial anisotropic consolidation is obtained through the devia-
with e_ A ¼ 2 _p
e : e_ p and v0 ¼ 1þe0
.
3 kj
toric tensor s0 and the preconsolidated stress condition p0 as
ðnþ1Þ
In Eq. (4), pc and H(n+1) denote the size and damage for the
ðnÞ s0
current load increment of the bounding surface, respectively; pc a0 ¼ ð6aÞ
(n) p0
and H denote the size and damage for the previous load incre-
ment of the bounding surface, respectively; e0 denotes the void ra- For the K0 consolidated samples, K 0 ¼ r03 =r01 , and the initial
tio after consolidation; and k and j are the slopes of the primary anisotropic tensors are given as follows:
compression and swelling lines in the e-lnp relations, respectively.
2ð1 K 0 Þ K0 1 1 K0
It can be observed that H decreases with the accumulated deviator- a011 ¼ ; a022 ¼ a033 ¼ ; a0 ¼ 3 ð6bÞ
ic plastic strain eA, which monotonically increases during the defor- 1 þ 2K 0 1 þ 2K 0 1 þ 2K 0
mation process and is always positive. The decrease in H induces a Hence, the inclination of the bounding surface a, which is used
shrinkage of the bounding surface to reflect the degradation in to account for the initial anisotropy, can be obtained.
stiffness and the reduction in strength. Further details of H and eA
can be found in Ref. [23]. 2.3. Flow rule and mapping rule
2.2.2. Kinematic hardening The plastic strain increments are governed by the associated
The model assumes that the bounding surface isotropically flow rule
hardens around the discrete homological centre (e.g., the stress : r_
n :r
n _
reversal point). Once the stress reversal point occurs, the bounding e_ p ¼ hKin ; K ¼ ¼ ð7Þ
Kp Kp
surface should translate along the line that connects the stress
reversal point and the image stress point. It can be seen that the where K is the loading index; hi is the symbol of Macauly brackets;
kinematic hardening role arises from two parts. The first part is Kp and K p are the plastic moduli at the current and image stress
the movement of the bounding surface due to its isotropic harden- points, respectively; and n ¼ f@F=@ pI; @F=@sg ¼ fn s g denotes
p I; n
ing around the discrete homological centre. The second part is the the tensor of the stress gradient on the bounding surface at the
translation of the bounding surface when the stress path changes current stress state.
direction. As a result, two cases should be noted in determining To define the image point at the bounding surface in a simple
the location of the bounding surface. way, the radial mapping rule proposed by Dafalias [24] is adopted.
30 C. Hu, H. Liu / Computers and Geotechnics 55 (2014) 27–41
2.4. Elastic and plastic moduli where the subscript n + 1 indicates the variables that are related to
the current increment. The trial stress is obtained from the follow-
The elastic components of deviatoric and volumetric strain rates ing equations:
are obtained following the standard relationships
ð0Þ 1 þ e0
s_ p_ pnþ1 ¼ pn exp Dev ;nþ1 ; sð0Þ ð0Þ
nþ1 ¼ sn þ 2Gnþ1 Denþ1 ð12bÞ
e_ e ¼ ; e_ ev ¼ ð10aÞ j
2G K
Integrating Eq. (10a) with p and Deev ; the secant bulk modulus can
Similar to the critical state models [12,15,18], the tangential
be derived as
bulk and shear moduli in the present model are assumed to depend
1þe0
linearly on the mean effective stress and to satisfy the following ð0Þ pn exp j Dev ;nþ1 pn
equation
K nþ1 ¼ ð12cÞ
Dev ;nþ1
3ð1 2mÞ and the secant shear modulus can be expressed as
G¼ K ð10bÞ
2ð1 þ mÞ
ð0Þ 3ð1 2v Þ ð0Þ
where m is the constant Poisson’s ratio. Gnþ1 ¼ K ð12dÞ
2ð1 þ v Þ nþ1
The plastic component of the strain rate is based on the form gi-
ven to the plastic modulus (see Eq. (7)). The plastic modulus can be It should be noted that, in the case Dev ;nþ1 ¼ 0, we have
given by the consistency condition on the bounding surface as ð0Þ ð0Þ 3ð1 2v Þ 1 þ e0
rffiffiffiffiffiffiffiffiffiffiffiffi! pnþ1 ¼ pn ; snþ1 ¼ sn þ 2 p Denþ1 ð13Þ
2b 3 2ð1 þ v Þ n j
^ pc
Kp ¼ p p v0 2
n ^s : ^s ð11aÞ
M a2 2
3.2. Plastic correction
The plastic modulus of the current stress state can be obtained
by employing the interpolation rule as [23] In the process of the plastic correction, two characteristics of
c the bounding surface model should be noted. First, due to the elas-
; s; epv ; ep Þðb 1Þ
K p ¼ K p þ qðp ð11bÞ
tic region vanishing in the bounding surface model, the plastic flow
8 occurs immediately for any stress increment within the bounding
< jK m K p j
> for first loading
surface. Second, in contrast to the conventional plastic models that
; s; epv ; ep Þ ¼ j1u K m K p j for unloading
with qðp ð11cÞ
> consider the unloading elastic, the present model can capture the
:
j1r K m K p j for reloading reverse plastic flow by adopting the discrete stress reversal point
as the mapping origin in the radial mapping rule. Hence, two mod-
where Km is the bounding plastic modulus on the last stress rever-
ifications of the conventional return mapping algorithm are corre-
sal, and
spondingly made. For the first characteristic, the trial image stress
2 state is mapped onto the bounding surface instead of mapping
fu Mc
¼ p =gÞ
ð1 þ n ð11dÞ back or correcting the stress state to the yield surface. In fact, sim-
fr Me
ilar to the work by Borja et al. [9], the condition of consistency on
in which c, fr and g are positive model parameters, whose physical the bounding surface implies the condition of consistency on the
meaning and calibration are given in the literature [23]. yield surface (referring to the current stress point). The details
can be found in Appendix A. For the second characteristic, the load-
3. A return mapping integration for the anisotropic bounding ing–unloading criterion is checked to distinguish the mapping ori-
surface model gin and the homological centre and then to determine the location
of the bounding surface to obtain the trial image stress point,
In this section, a conventional implicit integration scheme rather than judging whether the stress point is inside the yield
based on the return mapping algorithm [6] is modified and surface.
developed into the anisotropic bounding surface model described To map the image stress state back onto the bounding surface, it
above. Then, the model is implemented into a commercially avail- is necessary to meet all of the incremental constitutive relations, as
able finite element code. follows:
C. Hu, H. Liu / Computers and Geotechnics 55 (2014) 27–41 31
1 þ e0 The general form of the consistent tangent operator Cknþ1 is de-
pnþ1 ¼ pn exp ðDev ;nþ1 Depv ;nþ1 Þ ð14aÞ
j rived as
Depv ;nþ1 ¼ Knþ1 n
p;nþ1 ð14bÞ @ Dpknþ1 @ Dsknþ1
Cknþ1 ¼ k
Iþ ð15Þ
snþ1 ¼ sn þ 2Gnþ1 ðDenþ1 Depnþ1 Þ ð14cÞ @ Denþ1 @ Deknþ1
Depnþ1 ¼ Knþ1 n
s;nþ1 ð14dÞ To evaluate the consistent tangent operator, Eqs. 14a, 14c, and 14e,
p
pc;nþ1 ¼ pc;n expðv0 Dev ;nþ1 ÞHnþ1 ð14eÞ which directly relate to p, s, ev and e, are written in the differential
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi! form, as follows:
2 p 8
Hnþ1 ¼ Hn exp b De : Depnþ1 ð14fÞ
< Dp ¼ KðDev np DK Dnp KÞ
>
3 nþ1
Ds ¼ 2GðDe ns DK Dn s KÞ
2 3 >
: Dp ¼ pc v0 Dp þ bpc Dep : Ds þ p
^nþ1 Þ p
ðp ^nþ1 pc;nþ1 þ ^snþ1 : ^snþ1 ¼ 0 ð14gÞ v0 Dev 32bpc
Dep : De
2ðM 2 a2 Þ c K 3G DeA c DeA
Table 1
Stress updating procedure of the return mapping scheme.
Step Description
1 Initialize k = 0
( pð0Þ pð0Þ ð0Þ ð0Þ ð0Þ
Dev ;nþ1 ¼ Denþ1 ¼ Knþ1 ¼ 0; pc;nþ1 ¼ pc;n ; Hnþ1 ¼ Hn
ð0Þ ð0Þ ð0Þ ð0Þ
bnþ1 ¼ bn ; K p;nþ1 ¼ K p;n ; nnþ1 ¼ nn ; onþ1 ¼ on
2 Calculate the trial stress using the elastic predictor based on given Dev ;nþ1 and Denþ1
ð0Þ ð0Þ ð0Þ
pnþ1 ¼ pn exp 1þej Dev ;nþ1 ; snþ1 ¼ sn þ 2Gnþ1 Denþ1
0
ðkÞ
the related image stress tensor r ðkÞ ðkÞ ðkÞ
nþ1 and internal variables (i.e., nnþ1 , K p;nþ1 and Knþ1 )
ENDIF
4 Evaluate the following residuals
8 h i
ðkÞ 1þe0 pðkÞ
>
> pnþ1 pn exp j Dev ;nþ1 Dev ;nþ1
>
>
>
> pðkÞ ðkÞ
>
>
> Dev ;nþ1 Knþ1 n ðkÞ
p;nþ1
>
>
> sðkÞ s 2GðkÞ De
> pðkÞ
>
> nþ1 n nþ1 nþ1 Denþ1
>
>
> pðkÞ
> ðkÞ
ðkÞ
>
> De Knþ1 n
> nþ1
>
s;nþ1
>
> ðkÞ 1þe pðkÞ ðkÞ
< pc;nþ1 pc;n exp kj0 Dev ;nþ1 Hnþ1
ðkÞ
Rnþ1 ¼ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
> ðkÞ pðkÞ pðkÞ
> Hnþ1 Hn exp b 23 Denþ1 : Denþ1
>
>
>
>
>
> ðkÞ
> ðkÞ K
ðkÞ
b
ðkÞ
K
ðkÞ
>
> bnþ1 bn Knþ1 p;nþ1 ðkÞnþ1 p;nþ1
>
> Anþ1
>
>
>
> 2
>
> ^ðkÞ Þ p
ðp ^ðkÞ ðkÞ 3 ^ðkÞ ^ðkÞ
nþ1 pc;nþ1 þ 2ðM 2 a2 Þ snþ1 : snþ1
>
> nþ1
>
> qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
>
> ðkÞ ðkÞ ðkÞ ðkÞ 3 ^ðkÞnþ1 ^ðkÞnþ1
:K p ^ p
p;nþ1 v n
nþ1 c;nþ1 2b
0 p;nþ1 M 2 a2
s 2 nþ1 :s nþ1
4 ðkÞ
IF kRnþ1 k2 6 Tolerance, which is set to 105, THEN EXIT
ELSE GOTO Step 5
5 ðkÞ
Solve the following linear equation to obtain dU nþ1 , i.e., the unknown increment plastic strain and internal variables
@R ðkÞ ðkÞ ðkÞ p
ð@U Þnþ1 dU nþ1 ¼ Rnþ1 with dU ¼ fdp; ds; dDev ; dDep ; dpc ; db; dK; dK p ; dHg
6 Update the stress and internal variables
ðkþ1Þ ðkÞ ðkÞ
U nþ1 ¼ U nþ1 þ dU nþ1
Set k = k + 1, and GOTO Step 3
ENDIF
: r_
n 2Gn s : e_ þ K n p e_ v a consistency correction scheme similar to the scheme proposed
K¼ ¼ ð18Þ
Kp K p þ 2Gn s : n s þ Kðn p Þ2 by Sloan et al. [12] is adopted. This choice was made because the
consistency of the bounding surface ensures the condition of con-
sistency on the yield surface (details can be seen in Appendix A). In
4.2. Stress integration procedure with the sub-stepping algorithm Step 10, the coefficients 0.9 and 1.1 act merely as safety factors,
which are adjustable to suit the specific models [12]. According
The second part of the explicit algorithm, i.e., the integration of to the suggestion by Sloan et al. [12] and Zhao et al. [15], the
the rate equations, works in the following way: once a strain incre- bounding surface tolerance (FTOL) is set to 109.
ment is given, the set of the stress increment and the increments
of the internal variables can be calculated based on the current stress 4.3. The continuum tangent operator
state. Then, update the stress and internal variables and use them to
obtain another set of increments of the stress and internal variables. The Jacobian stiffness matrix must be given and updated after
If the difference between two sets of solutions cannot satisfy the pre- the successful stress integration, and then, must be passed to the
scribed tolerance, the strain increment is subdivided automatically global finite element routine. Here, the Jacobian stiffness matrix
into a smaller sub-increment. For a given strain increment, the inte- is the continuum tangent operator and is derived following the
gration is accomplished in one or more sub-increments. The proce- same procedure in solving the classical elasto-plastic modulus,
dure of the sub-stepping integration for the anisotropic bounding i.e., substituting the consistency, flow rule and hardening laws into
surface model is listed in Table 2. We define the pseudo time T the incremental relations between the stress and strain. The con-
(0 6 T 6 1) for each strain increment e_ over a time step [tn, tn+1]. At tinuum Jacobian stiffness matrix is represented as
the same time, the sub-increment is denoted by e_ s with a pseudo
time DTm (0 6 DTm 6 1), in which the subscript n and the superscript Þ ðn
ðDe : n : De Þ
Dep ¼ De ð19Þ
m denote the numbers of increments and sub-increments, respec- Kp þ n
: De : n
tively, and the superscript s refers to the sub-increment.
In Step 2 of Table 2, the total given strain increment is used to
determine the strain sub-increment. In Step 3, the unloading-load- 5. Performance of the integration schemes
ing criterion is checked to determine the locations of the bounding
surface and the mapping rule because they are different for the In this section, the generalised three-dimensional bounding
unloading and loading events. In Step 8, similar to correcting the surface plasticity model with a vanishing elastic region is imple-
drift of the stress to the yield surface in the conventional sub-step- mented into the commercial software ABAQUS. Then, the perfor-
ping algorithm, the image stress point is enforced to be on the mance of the implicit and explicit integration schemes described
bounding surface. To keep the total strain increment unchanged, above, i.e., the accuracy, stability and efficiency, is assessed
C. Hu, H. Liu / Computers and Geotechnics 55 (2014) 27–41 33
Table 2
Procedure of the sub-stepping integration scheme in the model.
Step Description
1 Set T ¼ 0; m ¼ 0 and DT ðmÞ ¼ 1 for a given total strain increment e_ ¼ e_ þ e3v I over a time step [tn, tn+1] with the initial stress and the internal variables
ð0Þ ð0Þ ð0Þ ð0Þ ð0Þ ð0Þ
pc;nþ1 ¼ pc;n ; bnþ1 ¼ bn ; Hnþ1 ¼ Hn ; K p;nþ1 ¼ K p;n ; nnþ1 ¼ nn ; onþ1 ¼ on
s
2 e
IF T<1, THEN: e_ s ¼ e_ s þ 3v I ¼ DT ðmÞ e_ , ENDIF
3 Distinguish the unloading process from the loading event
n :r_ ðkÞ
n ðkÞ ðkÞ
IF cos h ¼ nþ1
ðkÞ
n k2 kr_
< LTOL, which is set to 1012, THEN: re-determine the locations of the bounding surface nnþ1 and the mapping origin onþ1 with Eqs. (5) and
kn k
nþ1 2
ðkÞ
ðkÞ
(9), respectively; re-calculate bnþ1 by substituting Eq. (8) into Eq. (3), the related image stress tensor r ðkÞ ðkÞ ðkÞ
nþ1 and internal variables (i.e., nnþ1 , K p;nþ1 and Knþ1 )
ENDIF
4 Calculate the first order (j = 1) and second order (j = 2) trial stresses and the plastic strain increments
r_ j ¼ 2Gj e_ s þ K j e_ sv I hKj ið2Gj n s;j þ K j n p;j IÞ
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
e_ p;s p;j ; e_ p;s
v ;j ¼ Kj n
_s
j ¼ Kj ns;j ; eA;j ¼ 2=3e_ p;sj : ej
_ p;s
And then calculate the trial hardening parameters
ðpc;nþ1 Þj ¼ ðpc;nþ1 Þj1 expðv0 e_ p;s
ðmÞ ðmÞ ðmÞ
_s
v ;j ÞðHnþ1 Þj1 expðbeA;j Þ
8 h i ðmÞ
>
> ðpc;nþ1 Þ
> ðnðmÞ
< p;nþ1 Þ ¼ op
ðmÞ ðmÞ
þ ðnp;nþ1 Þ op
ðmÞ
ðmÞ
j
j j1 ðpc;nþ1 Þ
j1
> h i ðpðmÞ Þ
>
> ðmÞ ðmÞ ðmÞ ðmÞ c;nþ1 j
: ns;nþ1 j ¼ os þ ðns;nþ1 Þj1 os ðp
ðmÞ
Þ c;nþ1 j1
p;j ; pc;j ; np;j and ns;j for the first order (j =1) trial evaluated at the stress state r
s;j ; n m1
In the above equations, the values of Gj ; K j ; Kj ; n , while for the second order (j
=2) trial evaluated at the temporary updated stress-state rm1 þ r_ 1
5 Compute the new stress and the hardening parameters and temporarily store them
^ðmÞ ^ðmÞ
h i
ðm1Þ ðmÞ ðmÞ
rnþ1 ¼ rnþ1 þ 0:5ðr_ 1 þ r_ 2 Þ; p c;nþ1 ¼ 0:5 ðpc;nþ1 Þ1 þ ðpc;nþ1 Þ2
^ h i ^ h i
ðmÞ ðmÞ ðmÞ ðmÞ ðmÞ ðmÞ
n p;nþ1 ¼ 0:5 ðnp;nþ1 Þ þ ðnp;nþ1 Þ ; n s;nþ1 ¼ 0:5 ðns;nþ1 Þ1 þ ðns;nþ1 Þ2
1 2
6 Determine the relative error Rm ¼ maxðRr ; Rpc ; Rnp ; Rns Þ
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi2ffi
ðmÞ ðmÞ
½ðpc;nþ1 Þ ðpc;nþ1 Þ
Rr ¼ 0:5 ðr1 ^rðmÞ2 Þ:ð^rðmÞ
_ _ _ 1 r_ 2 Þ
; Rpc ¼ 0:5 1
^ðmÞ 2
2
rnþ1 :rnþ1 ðp c;nþ1 Þ
sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi2ffi sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ðmÞ ðmÞ ðmÞ ðmÞ ðmÞ ðmÞ
½ðnp;nþ1 Þ ðnp;nþ1 Þ ½ðns;nþ1 Þ ðns;nþ1 Þ :½ðns;nþ1 Þ ðns;nþ1 Þ
Rnp ¼ 0:5 ^
1
2
2
; Rns ¼ 0:5 1
^
ðmÞ
2
^
ðmÞ
1 2
ðmÞ n s;nþ1 : n s;nþ1
ð n p;nþ1 Þ
IF Rm > STOL, which is a user-specified value and equals 105, THEN the substep has failed and a smaller pseudo-time needs to be computed by means of an
extrapolation. First compute
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
q ¼ maxð0:9 STOL=Rm ; 0:1Þ
And then set
DT(m) = max (qDT, DTmin)
with DT min ¼ 103
GOTO Step 2
ENDIF
7 The substep is successful. So update the stresses and internal variables
^ ^ ^ ^
rðmÞ ðmÞ ðmÞ ðmÞ ðmÞ ðmÞ ðmÞ ðmÞ
nþ1 ¼ r nþ1 ; pc;nþ1 ¼ p c;nþ1 ; np;nþ1 ¼ n p;nþ1 ns;nþ1 ¼ n s;nþ1
8 ðmÞ
Calculate the ratio b and use Eq. (8) to determine the image stress point r nþ1
A
b¼
ðpop Þ2 þ1:5=ðM 2 a2 Þ½ðsos Þðpop Þa:½ðsos Þðpop Þa
ðmÞ
IF jF nþ1 r ðmÞ ðmÞ ðmÞ
nþ1 ; pc;nþ1 nnþ1 j > FTOL, which is set to10-9, THEN: GOTO Step 9.
through simulating the conventional laboratory tests, including the analyses of rigid footings on saturated clay under both monotonic
triaxial shear tests, the stress-controlled cyclic triaxial tests and and cyclic loading. The element types used in Sections 5.1–5.5
the strain-controlled cyclic triaxial tests, and performing coupled include the 8-node trilinear displacement element and the
34 C. Hu, H. Liu / Computers and Geotechnics 55 (2014) 27–41
pore-pressure element C3D8P, and the element types used in Sec- 0.8
tion 5.6 include the 8-node biquadratic displacement element and 5 increments
Compression
50 increments
the pore-pressure element CPE8P [30].
0.4 500 increments
q /p0
0.0
The first problem of interest involves an undrained conventional
triaxial test on a normally consolidated clay. The model parameters
reported by Stipho [31] for Kaolin clay are used and listed in Table 3, Extension
-0.4
which were also used for calibrating the constitutive models by
Liang and Ma [26] and Ling et al. [27]. Triaxial shear tests, including
compression and extension tests on both isotropically and aniso- -0.8
-10 -8 -6 -4 -2 0 2 4 6 8 10
tropically consolidated specimens, are simulated using a cubical ele-
Axial strain ε1 /%
ment with the size 102 mm 102 mm 102 mm. The initial
conditions for the two cases (K0 = 1 and K0 = 0.67) are the initial void (a) Stress-strain relations
ratio e0 = 1.6 and the mean effective stress p0 = 210 kPa (e.g., r1 =
r2 = r3 = 210 kPa) or p0 = 163 kPa (e.g., r1 = 210 kPa, r1 = 210, 5 increments
0.8
r2 = r3 = 140 kPa). The element is fixed at the bottom with constant 50 increments CSL
lateral pressure, and then, it is subjected to the axial strain at the top 500 incremens
with a magnitude of 10% and 10% for compression and extension, 0.4
respectively.
q /p0
The tests are performed with different strain increments to a
0.0
maximum axial strain of 10%. Fig. 2 shows the stress–strain re-
sponse, the effective stress path and the pore pressure–strain curve
of both the compression and extension tests when using the return -0.4
mapping algorithm for K0 = 1. As seen in Fig. 2, all of the simula- CSL
tions are close to each other, even at a relatively larger strain incre- -0.8
ment of 2%. This finding demonstrates the stability and accuracy of 0.0 0.2 0.4 0.6 0.8 1.0
the implicit integration. The behaviour of the combination of the p /p0
consistent tangent operator and the Newton–Raphson procedure (b) Effective stress path
for local iteration at a moderate strain increment of 0.2% is demon-
strated in Table 4, in which the residual norms are shown for typ- 0.8
ical load increments. This result clearly indicates that the quadratic 5 increments
50 increments Compression
rate of asymptotic convergence is achieved. 0.6 500 incremens
Fig. 3 shows the corresponding simulation of the triaxial exten-
sion test for K0 = 0.67 using the sub-stepping algorithm. Similar to
0.4
the return mapping rule, the sub-stepping integration provides a
u /p0
Table 4 1.0
Iteration process of the return mapping integration (Kaolin clay, K0 = 1, 50
increments): residual norms for typical load increments at integration point 3.
q /p0
2 3.113E+1 2.9041E+2 2.8171E+2 2.8151E+2
3 3.629E1 3.7213E+0 3.6824E+0 3.6815E+0 0.6
4 2.684E3 7.1423E2 7.0854E2 7.0840E2
5 4.137E6 1.3622E4 1.3574E4 1.3572E4 Experimental data
6 – 4.9551E7 4.9825E7 4.9829E7 0.4 500 increments (Explicit)
500 increments (Implicit)
0.2
-0.8 0 2 4 6 8 10
Axial strain ε1 /%
-0.6
(a) Stress-strain relations
-0.4
-0.2 0.8
500 increments (Explicit)
100 increments 500 increments (Implicit)
0.0
250 increments 0.6
500 increments
q /p0
0.2
0.4
0.4
K0 line
0 2 4 6 8 10 0.2
Axial strain ε1 /%
(a) Stress-strain relations 0.0
0.0 0.2 0.4 0.6 0.8 1.0
p /p0
-0.8
(b) Effective stress path
-0.6
Fig. 4. Comparison between the predicted results and experimental data [31].
-0.4
q /p0
-0.2 the result from Potts and Ganendra [17], in which the errors from
both stress point algorithms increase first and then decrease with
0.0 100 increments
250 increments
the strain increment size. The possible reason is that a relatively
0.2 500 increments large-scale strain increment was adopted by Potts and Ganendra.
It is also observed that the difference in accuracy for the two inte-
0.4 grations is not significant. The sub-stepping algorithm shows
slightly better accuracy for smaller increment sizes but faster dete-
0.4 0.5 0.6 0.7 0.8 0.9 1.0
rioration for larger increment sizes.
p /p0
(b) Effective stress path
5.3. Stress-controlled cyclic triaxial tests
Fig. 3. Model simulation by the sub-stepping in undrained triaxial tests with
variable magnitude of strain increment. In this section, the performance of the two integrations for
stress-controlled cyclic behaviours is investigated. Values of the
model constants are those that are appropriate for prediction of
element level, which is described in Section 5.1, then applying the the Newfield clay, as listed in Table 3. The specimen is hydrostat-
axial strain at a magnitude of 104 in the direction of the r1 axis ically consolidated with the confining pressure p0 = 400 kPa.
(i.e., the z-axis) to bring the soil element into the triaxial compres- The stress–strain response and the stress path of the Newfield
sion state and then to impose a sequence of specified strain incre- clay, which is subjected to one-way cyclic axial loading with a
ments by simultaneously applying displacements in the directions magnitude of 150 kPa by using the implicit integration scheme,
of r1 and r2 (i.e., the x-axis). For each strain probe, the exact solu- are presented in Fig. 7. It is found that the stress path almost be-
tion is obtained by dividing the desired displacement increment comes stable and the accumulation rate of the plastic strains de-
into 1000 sub-increments. The model constants are listed in Table creases. This finding means that the cyclic shakedown is
3. In the sub-stepping integration, the local stress tolerance (STOL) obtained at the cyclic stress level. The simulation results using
and the bounding surface tolerance (FTOL) are set to 105 and 109, the increment sizes of Dq = 1.5 kPa and Dq = 0.75 kPa are close
respectively. each other. Again, the accuracy and stability of the return mapping
Figs. 5 and 6 present the iso-error maps for the loading from the algorithm are verified in predicting the cyclic behaviour of the sat-
initial isotropic stress state using the return mapping and sub- urated clay. Similar analysis is also conducted by using the sub-
stepping algorithms, respectively. It is observed that, in the strain stepping algorithm.
increment range of 0–1%, the relative error becomes larger with To investigate the efficiency of the two integration algorithms,
an increasing strain increment both for the return mapping and more simulation of the stress-controlled cyclic loading at different
the sub-stepping algorithms. This result does not coincide with cyclic levels with various stress increments is performed. The CPU
36 C. Hu, H. Liu / Computers and Geotechnics 55 (2014) 27–41
1.0 180
Δq = 1.5 kPa
0 Δq = 0.75 kPa
150
0.8 1.50
7.50
0.4 9.00 60
10.5
12.0
30
0.2
0
0.00 0.05 0.10 0.15 0.20 0.25
0.0
0.0 0.2 0.4 0.6 0.8 1.0 Axial strain ε1 /%
5.00
6.25
30
0.4
7.50
8.75 0
0.2 300 325 350 375 400
10.0
Volumetric stress p /kPa
Table 5
Comparison of the efficiency of the two integration schemes in stress-controlled
time required for each analysis is summarised in Table 5, in which cyclic triaxial tests.
NC means ‘‘not convergent’’. It is observed that predicting the Case qd (kPa) Increments Return mapping Sub-stepping
cyclic behaviour of saturated clay by using the sub-stepping CPU time (s) CPU time (s)
integration requires less CPU time than by using the return 1 70 17,000 1167.4 1077.6
mapping integration. At a relatively large stress increment size, the 2 70 1700 65.9 59.1
sub-stepping integration cannot make itself convergent. These 3 100 17,000 1116.1 1058.3
conclusions are consistent with the study by Manzari and 4 100 1700 63.4 60.4
5 150 3400 131.2 122.5
Prachathananukit [18], in which a two-surface model for 6 150 1700 62.4 NC
predicting the monotonic behaviour of sands was adopted. 7 200 3400 131.2 121.6
8 200 1700 61.7 NC
100 100
50 50
0 0
-50 -50
-100 -100
-1.0 -0.5 0.0 0.5 1.0 90 120 150 180 210
Axial strain ε1 /% Volumetric stress p /kPa
(a) (a)
50 50
0 0
-50 -50
-100 -100
-1.0 -0.5 0.0 0.5 1.0 90 120 150 180 210
Axial strain ε1 /% Volumetric stress p/ kPa
(b) (b)
Fig. 9. The predicted stress path for strain-controlled cyclic triaxial tests using the
Fig. 8. The predicted stress–strain relations for strain-controlled cyclic triaxial tests
sub-stepping algorithm.
using the sub-stepping algorithm.
Kaolin clay is performed. As illustrated in Fig. 10, the finite element Table 6
model is composed of 7220 elements and 8400 nodes. Dimensions Comparison of the efficiency of the two integration schemes in strain-controlled
of the soil and the footing are 10 m 10 m 10 m and 0.68 m cyclic triaxial tests.
0.68 m, respectively. The lateral boundaries of the soil are fixed Case e1d (%) Increments Return mapping Sub-stepping
in both the X and Y directions but are allowed to move in the Z CPU time (s) CPU time (s)
direction, and the bottom boundary is locked in all directions. 1 0.3 6400 323.5 305.5
The model constants of the soil are listed in Table 3. One additional 2 0.3 3200 156.3 130.4
parameter in the coupled analysis is the permeability kp. In the 3 0.5 6400 357.4 319.2
4 0.5 3200 150.5 131.9
present work, its value is set to 109 m/s, which is a typical value
5 1.0 16,500 1038 968.7
suggested by Potts and Zdravkovic [32] in the coupled consolida- 6 1.0 8250 409.1 342.7
tion finite element analysis. Considering that the footing is re- 7 1.5 6400 362 332.1
garded as a rigid body, the displacement increments are actually 8 1.5 3200 164.6 131.4
applied at the soil boundaries that are in contact with the footing.
To avoid any interface elements in the 3D finite element analysis,
the soil-footing interface is treated as completely smooth with free
horizontal displacements at the contact nodes. where Dw is the equivalent footing pressure applied over the time
Note that most of the available analyses on the bearing capacity period t; and cw is the unit weight of water. Sheng et al. [37] consid-
of the square footing are for the clay with a uniform strength and ered that the soil behaves essentially in an undrained manner when
under undrained conditions [33–36]. To compare them, two spe- the loading rate x equals 104. Thus, in the present work, the loading
cial steps in the present analysis are necessary. First, in the geostat- rate x is set to 105. In ABAQUS, the option of automatic time incre-
ic step, the soil is hydrostatically consolidated under a pressure of menting is open because the fixed increments could prevent the
110 kPa to obtain clay with a uniform strength. In the bounding solution from converging. As a result, the numbers of increments
surface plasticity model, which is based on critical state theory, in the explicit and implicit integration schemes are usually differ-
for a given group of critical state parameters (j; k; M), the initial ent. In a coupled analysis, the pore pressure tolerance (i.e., UTOL
undrained strength of saturated clay after consolidation is deter- in ABAQUS), which specifies the allowable pore pressure change
mined by the initial size of the bounding surface (i.e., the pre-con- per increment, has a greater influence on the global convergence
solidation pressure pc). Second, in the coupled analysis step, fast than the displacement tolerance. In the present work, by trial and
loading is necessary to retain an undrained condition. Here, the error, tolerances in the pore pressure and in the displacement are
loading rate defined by Sheng et al. [37] is adopted set to 5 kPa and 105, respectively.
Dw=t The normalised load–displacement curves by using the two
x¼ ð21Þ integration schemes are presented in Fig. 11. It can be observed
kp cw
that each of the two algorithms produces a reasonable analysis
38 C. Hu, H. Liu / Computers and Geotechnics 55 (2014) 27–41
Table 8
Comparison of the efficiency of the two integration schemes for the square footing
under monotonic loading.
Fig. 10. Finite element model used in simulating the square footing under
monotonic loading.
7.50
6.25
5.00
Fig. 12. Finite element model used in simulating the strip footing under cyclic
P/(Asu )
3.75 loading.
2.50
Εxplicit the other results except for Skempton’s expression. The CPU usage
1.25 Ιmplicit
of the analysis by using the two integrations is listed in Table 8.
0.00 Again, it is found that the sub-stepping integration is more efficient
0.00 0.02 0.04 0.06 0.08 0.10 0.12 0.14 than the implicit integration at the specified increment size.
Centriod displacement /m
Fig. 11. Normalized load–displacement response of the rigid square footing on 5.6. FEM analysis of a strip footing under long-term cyclic loading
normally consolidated Kaolin clay.
Table 7
Comparison of the bearing capacity factor of the square footing.
0.15 algorithm returns the stress state back or to which the sub-step-
0.20 ping integration corrects the drift of the stress state; several mod-
ifications have been made for both of these integration schemes.
0.25 First, the image stress point is mapped or corrected to the bound-
0.30
ing surface instead of mapping back or correcting the stress state to
the yield surface. Second, the unloading–loading criterion is
0.35 checked to determine the image stress point rather than checking
0 50 100 150 200
the yield criterion after giving the trial stress state in a conven-
Number of cycles tional way.
To assess the performance of the integration algorithms in the
Fig. 13. The settlement accumulation of the strip footing under cyclic loading.
present model, a series of numerical simulations of conventional
triaxial tests, stress-controlled and strain-controlled cyclic triaxial
tests as well as boundary value problems that involve monotonic
20
and cyclic bearing behaviours of rigid footings on normally consol-
idated saturated clay were conducted. The results indicate that
there is no significant difference in the accuracy between the im-
Load per unit area /kPa
From the mapping rule and geometric similarity between the with
two surfaces, we have:
e1 ¼ 2C 4 pc 3CC 6 ; e2 ¼ 3Cbs;
¼ op þ bðp op Þ
p np ¼ op þ bðpp op Þ e3 ¼ C 4 ; e4 ¼ ð2C 4 pc 3CC 6 ÞC 5 þ 3CC 10 ðB10Þ
and ðA1Þ
s ¼ os þ bðs os Þ ns ¼ os þ bðps os Þ
From Eq. (14i), we obtain
where (pp, ps) denotes the corresponding endpoint of fm. f1 Dp þ f 2 : Ds þ f3 Dpc þ f4 Db þ f6 DK p ¼ 0 ðB11Þ
Substituting Eq. (A1) into the formation of the bounding surface
(i.e., Eq. (3)), obtain with
8
< f1 ¼ Z 0 pc n
p b þ 2M 2 CC 4 bpc v0 þ 3CC 4 C 6 bpc bq^ ; f 2 ¼ 3CC 4 bpc v0 a þ 3CC 4 bpc bq^ ^s
ðB12Þ
: f ¼ ðZ C n p C 5 þ CC 4 pc v0 ð2M2 C 5 3C 1 Þ þ 3CC 4 C 9 pc bq^ ; f6 ¼ 1
3 0 4 p C 4 pc v0 Þ; f4 ¼ Z 0 pc n
( 2
F m ¼ b fm ¼ 0 In the above equations, we define
fm ¼ ðp pp Þ2 ðp pp Þ pbc þ 2ðM23a2 Þ ½s ps ðp pp Þa : ½s ps ðp pp Þa ¼ 0 8
> 1 K p bK p K r
ðA2Þ > C ¼ M2 a2 ;C 1 ¼ ðs os Þa;C 2 ¼ A ;C 3 ¼ A ½1 b þ bðb 1Þ
>
>
>
>
< C4 ¼ p np ;C 5 ¼ p op ;C 6 ¼ ^s : a;C 7 ¼ np op ;C 8 ¼ ~n : a;C 9 ¼ ^s : ~s
By taking the time-derivative of Fm, the following expression is
derived: > C 10 ¼ ^s : ðs os Þ; n~ ¼ ðns os Þ ðnp op Þa; ~s ¼ ðs os Þ ðp op Þa
>
>
>
> qffiffi
>
: Z ¼ v 2bC q ; q
F_ m ¼ b f_ m þ 2bfm b_ ¼ 0
2
ðA3Þ 0 0 p
n
¼ 32^s : ^s
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