Earthquake Engineering

Research at UC Berkeley
and
Recent Developments at
CSI Berkeley
BY
Ed Wilson
Professor Emeritus of Civil Engineering
University of California, Berkeley

October 24 - 25, 2008
Summary of Presentation
1. UC Berkeley in the in the period of 1953 to 1991
2. The Faculty
3. The SAP Series of Computer Programs
4. Dynamic Field Testing of Structures
5. The Load-Dependent Ritz Vectors LDR Vectors - 1980
6. The Fast Nonlinear Analysis Method FNA Method - 1990
7. A New Efficient Algorithm for the Evaluation of All
Static and Dynamic Eigenvalues of any Structure - 2002
9. Final Remarks and Recommendations
All Slides can be copied from we site edwilson.org
Early Finite Element Research at Berkeleyby Ray
Clough and Ed Wilson
The Development of Earthquake Engineering Software at
Berkeley by Ed Wilson - Slides
Early Finite Element Research
at Berkeleyby Ray
Clough and Ed
Wilson
The Development of Earthquake
Engineering Software at
Berkeley by Ed Wilson - Slides


edwilson.org

Copy Papers and Slides

Early Finite Element Research at UC Berkeley
by Ray Clough and Ed Wilson




The Development of Earthquake Engineering Software at Berkeley
by Ed Wilson - Slides


Dynamic Research at UC Berkeley
Retired Faculty Members by Date Hired
1946 Bob Wiegel Coastal Engineering - Tsunamis
1949 Ray Clough Computational and Experimental Dynamics
1950 Harry Seed Soil Mechanics - Liquefaction
1953 J oseph Penzien Random Vibrations Wind, Waves & Earthquake
1957 J ack Bouwkamp Dynamic Field Testing of Real Structures
1963 Robert Taylor Computational Solid and Fluid Dynamics
1965 J ames Kelly Base I solation and Energy Dissipation
1965 Ed Wilson Numerical Algorithms for Dynamic Analysis
196? Beresford Parlett Mathematics - Numerical Methods
196? Bruce Bolt Seismology Earthquake Ground Motions
Professor Ray W. Clough

1942 BS University of Washington
1943 - 1946 U. S. Army Air Force
1946 - 1949 MIT - D. Science - Bisplinghoff
1949 - 1986 Professor of CE U.C Berkeley
1952 and 1953 Summer Work at Boeing
National Academy of Engineering
National Academy of Science
Presidential Medal of Science
The Franklin Institute Medal April 27, 2006


Doug, Shirley and Ray Clough
The Franklin I nstitute Awards April 27, 2006
Joe Penzien

1945 BS University of Washington
1945 US Army Corps of Engineers
1946 Instructor - University of Washington
1953 MIT - D. Science
1953 - 88 Professor UCB
1990 - 2006 International Civil Engineering
Consultants Principal with
Dr. Wen Tseng
Professor Joe Penzien First Director of EERC at UC Berkeley
The Franklin I nstitute Awards April 27, 2006
Berkeley, CA, February 26, 2004
Computers and Structures, Inc., is pleased
to release the latest revision to Dynamics
of Structures, 2nd Edition by Professors
Clough and Penzien. A classic, this
definitive textbook has been popular with
educators worldwide for nearly 30 years.
This release has been updated by the
original authors to reflect the latest
approaches and techniques in the field of
structural dynamics for civil engineers.

csiberkeley.com
Ask for Educational Discount
New Printing of the Clough and Penzien Book
Ed Wilson - edwilson.org

1955 BS University of California
1955 - 57 US Army 15 months in Korea
1958 MS UCB
1957 - 59 Oroville Dam Experimental Project
1960 First Automated Finite Element Program
1963 D Eng UCB
1963 - 1965 Research Engineer, Aerojet - 10g Loading
1965 - 1991 Professor UCB 29 PhD Students
1991 - 2008 Senior Consultant To CSI Berkeley
where 95% of my work is in Earthquake Engineering
My Book 23 Chapters
csiberkeley.com
Ask for Educational Discount
NI NETEEN SI XTI ES I N BERKELEY
1. Cold War - Blast Analysis
2. Earthquake Engineering Research
3. State And Federal Freeway System
4. Manned Space Program
5. Offshore Drilling
6. Nuclear Reactors And Cooling Towers

NI NETEEN SI XTI ES I N BERKELEY
1. Period Of Very High Productivity
2. No Formal Research I nstitute
3. Free Exchange Of I nformation Gave
programs to profession prior to publication
4. Worked Closely With Mathematics Group
5. Students Were Very Successful



UC Students
Berkeley During The Late 1960s And
Early 1970s Graduate Study Was Like
Visiting An I ntellectual Candy Store

Thomas Hughes
Professor, University of Texas
S A P
STRUCTURAL ANALYSIS
PROGRAM
ALSO A PERSON

Who Is Easily Deceived Or Fooled

Who Unquestioningly Serves Another

"The slang name S A P was selected to
remind the user that this program, like
all programs, lacks intelligence.

I t is the responsibility of the engineer to
idealize the structure correctly and
assume responsibility for the results.

Ed Wilson 1970
From The Foreword Of
The First SAP Manual
The SAP Series of Programs
1969 - 70 SAP Used Static Loads to Generate Ritz Vectors
1971 - 72 Solid-Sap Rewritten by Ed Wilson
1972 -73 SAP I V Subspace I teration Dr. J gen Bathe
1973 74 NON SAP New Program The Start of ADI NA
Lost All Research and Development Funding
1979 80 SAP 80 New Linear Program for Personal Computers
1983 1987 SAP 80 CSI added Pre and Post Processing
1987 - 1990 SAP 90 Significant Modification and Documentation
1997 Present SAP 2000 Nonlinear Elements More Options
With Windows I nterface
FIELD MEASUREMENTS
REQUIRED TO VERIFY
1. MODELING ASSUMPTIONS
2. SOIL-STRUCTURE MODEL
3. COMPUTER PROGRAM
4. COMPUTER USER
MECHANICAL
VIBRATION
DEVICES
CHECK OF RIGID
DIAPHRAGM
APPROXIMATION
FIELD MEASUREMENTS OF
PERIODS AND MODE SHAPES
MODE T
FIELD
T
ANALYSIS
Diff. - %

1 1.77 Sec. 1.78 Sec. 0.5
2 1.69 1.68 0.6
3 1.68 1.68 0.0
4 0.60 0.61 0.9
5 0.60 0.61 0.9
6 0.59 0.59 0.8
7 0.32 0.32 0.2
- - - -
11 0.23 0.32 2.3
15 th Period
T
FIELD
= 0.16 Sec.
FIRST DIAPHRAGM
MODE SHAPE

Load-Dependent Ritz Vectors
LDR Vectors - 1980


DYNAMIC EQUILIBRIUM
EQUATIONS

M a + C v + K u = F(t)

a = Node Accelerations
v = Node Velocities
u = Node Displacements
M = Node Mass Matrix
C = Damping Matrix
K = Stiffness Matrix
F(t) = Time-Dependent Forces
PROBLEM TO BE SOLVED
M a + C v + K u = fi g(t)i
For 3D Earthquake Loading
THE OBJ ECTIVE OF THE ANALYSIS
IS TO SOLVE FOR ACCURATE
DISPLACEMENTS and MEMBER FORCES
= - Mx ax - My ay - Mz az
E
METHODS OF DYNAMIC ANALYSIS
For Both Linear and Nonlinear Systems

STEP BY STEP INTEGRATION - 0, dt, 2 dt ... N dt
USE OF MODE SUPERPOSITION WITH EIGEN OR
LOAD-DEPENDENT RITZ VECTORS FOR FNA
For Linear Systems Only
TRANSFORMATION TO THE FREQUENCY
DOMAIN and FFT METHODS
RESPONSE SPECTRUM METHOD - CQC - SRSS
STEP BY STEP SOLUTION METHOD
1. Form Effective Stiffness Matrix

2. Solve Set Of Dynamic Equilibrium
Equations For Displacements At
Each Time Step

3. For Non Linear Problems
Calculate Member Forces For
Each Time Step and Iterate for
Equilibrium - Brute Force Method
MODE SUPERPOSITION METHOD
1. Generate Orthogonal Dependent
Vectors And Frequencies

2. Form Uncoupled Modal Equations
And Solve Using An Exact Method
For Each Time Increment.

3. Recover Node Displacements
As a Function of Time

4. Calculate Member Forces
As a Function of Time
GENERATION OF LOAD
DEPENDENT RITZ VECTORS
1. Approximately Three Times Faster Than
The Calculation Of Exact Eigenvectors
2. Results In Improved Accuracy Using A
Smaller Number Of LDR Vectors
3. Computer Storage Requirements
Reduced
4. Can Be Used For Nonlinear Analysis To
Capture Local Static Response
STEP 1. INITIAL CALCULATION
A. TRIANGULARIZE STIFFNESS MATRIX


B. DUE TO A BLOCK OF STATIC LOAD VECTORS, f,
SOLVE FOR A BLOCK OF DISPLACEMENTS, u,

K u = f

C. MAKE u STIFFNESS AND MASS ORTHOGONAL TO
FORM FIRST BLOCK OF LDL VECTORS V
1

V
1
T
M V
1
= I
STEP 2. VECTOR GENERATION
i = 2 . . . . N Blocks
A. Solve for Block of Vectors, K X
i
= M V
i-1


B. Make Vector Block, X
i
, Stiffness and
Mass Orthogonal - Y
i


C. Use Modified Gram-Schmidt, Twice, to
Make Block of Vectors, Y
i
, Orthogonal
to all Previously Calculated Vectors - V
i
STEP 3. MAKE VECTORS
STIFFNESS ORTHOGONAL
A. SOLVE Nb x Nb Eigenvalue Problem

[ V
T
K V ] Z = [ w
2
] Z

B. CALCULATE MASS AND STIFFNESS
ORTHOGONAL LDR VECTORS

V
R
= V Z =

u
10 AT 12" = 240"
100 pounds
FORCE
TIME
DYNAMIC RESPONSE OF BEAM
MAXIMUM DISPLACEMENT
Number of Vectors Eigen Vectors Load Dependent
Vectors
1 0.004572 (-2.41) 0.004726 (+0.88)
2 0.004572 (-2.41) 0.004591 ( -2.00)
3 0.004664 (-0.46) 0.004689 (+0.08)
4 0.004664 (-0.46) 0.004685 (+0.06)
5 0.004681 (-0.08) 0.004685 ( 0.00)
7 0.004683 (-0.04)
9 0.004685 (0.00)
( Error in Percent)
MAXIMUM MOMENT
Number of Vectors Eigen Vectors Load Dependent
Vectors


1 4178 ( - 22.8 %) 5907 ( + 9.2 )
2 4178 ( - 22.8 ) 5563 ( + 2.8 )
3 4946 ( - 8.5 ) 5603 ( + 3.5 )
4 4946 ( - 8.5 ) 5507 ( + 1.8)
5 5188 ( - 4.1 ) 5411 ( 0.0 )
7 5304 ( - .0 )
9 5411 ( 0.0 )
( Error in Percent )
LDR Vector Summary
After Over 20 Years Experience Using the
LDR Vector Algorithm
We Have Always Obtained More Accurate
Displacements and Stresses
Compared to Using the Same Number of
Exact Dynamic Eigenvectors.
SAP 2000 has Both Options
The Fast Nonlinear Analysis Method
The FNA Method was Named in 1996

Designed for the Dynamic Analysis of
Structures with a Limited Number of Predefined
Nonlinear Elements
FAST NONLINEAR ANALYSIS
1. EVALUATE LDR VECTORS WITH
NONLINEAR ELEMENTS REMOVED AND
DUMMY ELEMENTS ADDED FOR STABILITY
2. SOLVE ALL MODAL EQUATIONS WITH
NONLINEAR FORCES ON THE RIGHT HAND SIDE
USE EXACT INTEGRATION WITHIN EACH TIME
STEP

4. FORCE AND ENERGY EQUILIBRIUM ARE
STATISFIED AT EACH TIME STEP BY ITERATION
3.
Isolators
BASE ISOLATION
BUILDING
IMPACT
ANALYSIS
FRICTION
DEVICE
CONCENTRATED
DAMPER
NONLINEAR
ELEMENT
GAP ELEMENT
TENSION ONLY ELEMENT
BRIDGE DECK ABUTMENT
P L A S T I C
H I N G E S
2 ROTATIONAL DOF
ALSO DEGRADING STIFFNESS ARE Possible
Mechanical Damper
Mathematical Model
F = C v
N

F = ku
F = f (u,v,u
max
)
LINEAR VISCOUS DAMPING
DOES NOT EXIST IN NORMAL STRUCTURES
AND FOUNDATIONS
5 OR 10 PERCENT MODAL DAMPING
VALUES ARE OFTEN USED TO JUSTIFY
ENERGY DISSIPATION DUE TO NONLINEAR
EFFECTS
IF ENERGY DISSIPATION DEVICES ARE USED
THEN 1 PERCENT MODAL DAMPING SHOULD
BE USED FOR THE ELASTIC PART OF
THE STRUCTURE - CHECK ENERGY
PLOTS
103 FEET DIAMETER - 100 FEET HEIGHT
ELEVATED WATER STORAGE TANK
NONLINEAR
DIAGONALS
BASE
ISOLATION
COMPUTER MODEL
92 NODES
103 ELASTIC FRAME ELEMENTS
56
NONLINEAR DIAGONAL ELEMENTS
600 TIME STEPS @ 0.02 Seconds
COMPUTER TIME
REQUIREMENTS
PROGRAM
( 4300 Minutes )
ANSYS INTEL 486 3 Days
ANSYS CRAY 3 Hours ( 180 Minutes )
SADSAP INTEL 486
2 Minutes
( B Array was 56 x 20 )
Nonlinear Equilibrium Equations
Summary Of FNA Method


Calculate Load-Dependant Ritz Vectors for
Structure With Nonlinear Elements Removed.

These Vectors Satisfy the Following
Orthogonality Properties
2
O = | | K
T
| |
T
M I =
The Solution Is Assumed to Be a Linear
Combination of the LDR Vectors. Or,



Which Is the Standard
Mode Superposition Equation
n
n n
t y t Y t u ) ( ) ( ) ( | |
Remember the LDR Vectors Are a Linear
Combination of the Exact Eigenvectors;
Plus, the Static Displacement Vectors.
No Additional Approximations Are Made.
A typical modal equation is uncoupled.
However, the modes are coupled by the
unknown nonlinear modal forces which
are of the following form:



The deformations in the nonlinear elements
can be calculated from the following
displacement transformation equation:
f F
n n n
= |
o = A u
Since the deformations in
the nonlinear elements can be expressed
in terms of the modal response by


Where the size of the array is equal to
the number of deformations times the
number of LDR vectors.

The array is calculated only once prior
to the start of mode integration.

THE ARRAY CAN BE STORED IN RAM
) ( ) ( t Y t u |
o | ( ) ( ) ( ) t A Y t BY t = =
B
B
B
The nonlinear element forces are
calculated, for iteration i , at the end
of each time step t
Equation Modal of Solution New
Loads Modal Nonlinear
History Element of Function
Elements Nonlinear
in ns Deformatio
+ ) (
) (
t
T ) (
N
) (
) (
t
Y
Y B f
P
BY
1
) (


i
t
i i
i
t
i i
t
t
o
FRAME WITH
UPLIFTING
ALLOWED

UPLIFTING
ALLOWED
Four Static Load Conditions
Are Used To Start The
Generation of LDR Vectors
EQ DL Left Right
TIME - Seconds
DEAD LOAD
LATERAL LOAD
LOAD
0 1.0 2.0 3.0 4.0 5.0
NONLINEAR STATIC ANALYSIS
50 STEPS AT dT = 0.10 SECONDS
Advantages Of The FNA Method
1. The Method Can Be Used For Both
Static And Dynamic Nonlinear Analyses

2. The Method Is Very Efficient And
Requires A Small Amount Of
Additional Computer Time As
Compared To Linear Analysis

2. The Method Can Easily Be Incorporated
Into Existing Computer Programs For
LINEAR DYNAMIC ANALYSIS.
A COMPLETE EI GENVECTOR
SUBSPACE FOR THE LI NEAR
AND NONLI NEAR DYNAMI C
ANALYSI S OF STRUCTURES
Definition Of Natural Eigenvectors
The total number of Natural Eigenvectors
that exist is always equal to the total number
of displacement degrees-of-freedom of the
structural system. The following three types
of Natural Eigenvectors are possible:
Rigid Body Vectors
Dynamic Vectors
Static Vectors
= =
1 1
0 T e
(a) Beam Model
(b) Rigid Body Mode
(c) Rigid Body Mode
(d) Dynamic Mode
(e) Static Mode
(f) Static Mode
(g) Static Mode
100
100
I = 1.0 E=10,000
M=0.05
M=0.10
M=0.05
= =
2 2
0 T e
31 . 6 995 . 0
3 3
= = T e
0
4 4
= = T e
0
5 5
= = T e
0
6 6
= = T e
EXAMPLE OF SIX DEGREE OF FREEDOM SYSTEM
How Do We Solve a System That Has
Both Zero and I nfinite Frequencies?
definite positive and r nonsingula now is where
Or,

Equation of Sides Both To Add
definite - semi positive
and singular be may K and M both where

Equation m Equilibriu Dynamic and Static
K
Mu(t) R(t) u(t) K (t) u M
Mu(t) R(t) u(t) M K (t) u M
Mu(t)
FG(t) R(t) Ku(t) (t) u M

+ = +
+ = + +
= = +



] [
Solve Static and Dynamic Equilibrium
Equations by Mode Superposition
M and I K
that so d Normallize are and Orthogonal Mass
and Stiffness are Modes All Modes. Dynamic
and Static Body, - Rigid Contain Can Where
(t) Y (t) u and Y(t) u(t) Let
T T
= =
= =


The Modal Equations Can Now Be Written As
R(t) Y(t) I (t) Y
T
= + ] [

SOLUTI ON OF TYPI CAL MODAL EQUATI ON

) ( = ] [1 + t (t) Y (t) Y
T
n n n n n
Fg | + +

FOR DYNAMIC MODES, USE PIECE-WISE EXACT SOLUTION
FOR RIGID-BODY MODES, Direct INTEGRATION


FOR STATIC MODES, THE SOLUTION IS
) ( = t (t) Y
T
n n
Fg |

) ( = t (t) Y
T
n n
Fg |
Calculation of Frequencies from
Natural Eigenvalues
n
n
n
n
T
e
t
e
2
and
1
=
+
=
Eigenvalues for Simple Beam

Mode Natural Eigenvalue Frequency Period



1 100 0
2 100 0
3 0.826 0.995 6.31
4 0 0
5 0 0
6 0 0

n
+

2
n
n
T
e
t
=

1
e
+
=
n
n





01 . 0 =
CALCULATI ON OF NATURAL
EI GENVECTORS
M K =
Use Recurrence Equation Of Following Form
Blocks , 1
) 1 ( ) (
N i
i i
= =

F V K
The First Load Block Must Be The Static Load
Patterns Acting on The Structure
F F =
) 0 (

Subsequent Load Blocks Are Calculated From
) 1 ( ) (

=
i i
MV F
Iteration Is Not Required
The Natural Eigenvector Algorithm (2)
: ts Requiremen Following The Satisfy To Modified
be Must Block in Vectors Candidate All
(i)
V
Must be made Stiffness Orthogonal to All
Previously Calculated Vectors By the Modified
Gram-Schmidt Algorithm
If a Vector Is the Same As a Previously
Calculated Vector It Must Be Rejected
as Designated is Block Vectors New The
(i)
V
The Natural Eigenvector Algorithm (3)
VZ
Z M
V
= u
+ =
Where

: Method Jocobi The By Probem Eigenvalue
Subspace Following The Solving By
Orthogomal Mass Made Then Are Vectors These
by Defined Are Vectors Candidate All
A Static Vector Has A Zero Eigenvalue And
An Infinite Frequency
A Truncated Set of Natural
Eigenvalues Contains Linear
Combinations of the Dynamic and
Static Eigen Vectors That Are
Excited by the Loading
Therefore, They Are a Set of
Load Dependent Ritz Vectors

Error Estimation
1. Dynamic Load Participation Ratio
2. Static Load Participation Ratio

Therefore, this allows the LDR Algorithm
to Automatic Terminate Generation when
Error Limits are Satisfied
The dynamic load participation ratio for load
case F
j
is defined as the ratio of the kinetic
energy captured by the truncated set of
vectors to the total kinetic energy. Or


r
j
T
j
N
n
j
T
n n
dj
f M f
f
1
1
2
) (

=
| e
For earthquake loading, this is identical to
the mass participation factor in the three
different directions A minimum of 90
percent is recommended
The static load participation ratio for load
case Fj is defined as the ratio of the strain
energy captured by the truncated set of
vectors to the total strain energy due to the
static load vectors. Or,


r
j
T
j
N
n
j
T
n
sj
f u
f

=
=
1
2
) (|
Always equal to 1.0 for LDR vectors
FI NAL REMARKS
Existing Dynamic Analysis Technology allows us to
design earthquake resistant structures economically .
However, many engineers are using Static Pushover
Analysis to approximate earthquake forces.

Advances in Computational Aero and Fluid Dynamics are
not being used by the Civil Engineering Profession to
Design Safe Structures for wind and wave loads.

Many engineers are still using approximate wind tunnel
results to generate Static Wind Loads.


In a large earthquake the
safest place to be is on the top
of a high-rise building
Over 25 Stories
COMPUTERS
1958 TO 2008

IBM 701 - Multi-Processors

The Current Speed of a $1,000 Personal Computer
is 1,500 Times Faster than the
$10,000,000 Cray Computer of 1975
C = COST OF THE COMPUTER
1957 1997
time
S = MONTHLY SALARY OF ENGINEER
C/S = 5,000
C/S = 0.5
A FACTOR OF 10,000 REDUCTION IN 40 YEARS
$
$1,500
$7,500
$4,000,000
$800
Floating-Point Speeds of Computer Systems
Definition of one Operation A = B + C*D 64 bits - REAL*8

Year
Computer
or CPU
Operations
Per Second
Relative
Speed
1963 CDC-6400 50,000 1
1967 CDC-6600 100,000 2
1974 CRAY-1 3,000,000 60
1981 IBM-3090 20,000,000 400
1981 CRAY-XMP 40,000,000 800
1990 DEC-5000 3,500,000 70
1994 Pentium-90 3,500,000 70
1995 Pentium-133 5,200,000 104
1995 DEC-5000 upgrade 14,000,000 280
1998 Pentium II - 333 37,500,000 750
1999 Pentium III - 450 69,000,000 1,380
2003 Pentium IV 2,000 220,000,000 4,400
2006 AMD - Athlon 440,000,000 8,800
YEAR CPU
Speed
MHz
Operations
Per Second
Relative
Speed
COST
1980 8080 4 200 1 $6,000
1984 8087 10 13,000 65 $2,500
1988 80387 20 93,000 465 $8,000
1991 80486 33 605,000 3,025 $10,000
1994 80486 66 1,210,000 6,050 $5,000
1996 Pentium 233 10,300,000 52,000 $4,000
1997 Pentium II 233 11,500,000 58,000 $3,000
1998 Pentium II 333 37,500,000 198,000 $2,500
1999 Pentium III 450 69,000,000 345,000 $1,500
2003 Pentium IV 2000 220,000,000 1.100,000 $2.000
2006 AMD - Athlon 2000 440,000,000 2,200,000 $950
Cost of Personal Computer Systems
Ed Wilson at
UCLA Meet
April 17, 1954

Ed set a 880
yard record of
1 Minute and
54 Seconds.
President
Robert .
Sproul
I n the last 50 years, Ed is getting Slower and
Computer are getting Faster
The Future Of Personal Computers
Multi-Processors Will Require
New Numerical Methods
and
Modification of Existing Programs
Speed and Accuracy are I mportant