CVG 5175

Numerical Methods for

Geotechnical Engineers

CVG 5175
 CVG 5175

Stress
● Labeling axes x, y, z:

σz
τzy
τzx
τy z
τx z σy
σx τyx
τxy
 CVG 5175

Stress Notation
● Labeling axes x, y, z:

σx τx y τxz
[
[σ ]= τ y x
τz x
σy
τz y
τy z
σz ]
 CVG 5175

Stress Notation
● The first index represents the plane on which
the stress acts
● The second index represents the direction
along which the stress acts
● The stress tensor can be represented by σ or
[σ]
● It is important to choose a sign convention to
indicate the direction of positive signs
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Stress Notation
● we will use either of the stress notations

σ1 1 σ1 2 σ1 3 σx x σx y σx z σx τx y τxz
[ ][ ][
σ= σ 21 σ 2 2 σ 2 3 ≡ σ y x σ y y σ y z ≡ τ y x σ y τ y z
σ 31 σ 3 2 σ 33 σ z x σ z y σz z τz x τz y σ z ]
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State of Stress
● If the stresses on 3 orthogonal planes through
P are known, the stresses through any other
plane is can be determined
● “State of Stress” refers to the stress on ALL
planes through P
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State of Stress
● [σ] is a symmetrical matrix: only 6 components
are independent
● Sometimes [σ] is expressed in vector format
{σ} with only the 6 independent components
σx x

{}
σy y
{σ }= σ z z
τx y
τyz
τz x
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Stress Transformation
● How to find stresses on an arbitrary plane
through P?

z
τyz τxz

C τxy
σy
σn σx
τyx
τny
y
τnx B
σz
A
τzy
x τzx
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Stress Transformation
● x' ⟂ ABC plane
● x' ⟂ y'⟂ z'
● y' and z' are on plane ABC
z
x'

y'
y
B

A
z'
x
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Stress Transformation
● The orientation of each new coordinate axis
(x’, y’, z’) can be known if we know the angles
that a new axis (primed symbol) makes with
the original x, y, and z axes.
● In the following figure α, β, and γ indicate the
angles x′ axis makes with x, y, and z axes.
 CVG 5175

Stress Transformation
● The direction cosines of x':
– l1=cos α, l2=cos β, l3 = cos γ.
– m1, m2, m3, are the cosines of y'
– n1, n2, n3 are the cosines of z'
z
x'
NOTE: x',y', z' are ⟂ to each other
C

γ
y' α β
y
B
x
y
A
z'
 CVG 5175

Stress on a Plane
● Stress transformation
T
[σ ' ]=[a][σ ][a]
state of stress in state of
x' y' z' system stress in
x y z system

][ ][ ][ ]
σx' τ x' y' τx' z' l1 l 2 l 3 σ τ τ xz l 1 m1 n1
[
x xy
τy' x' σ y' τ y ' z ' = m1 m 2 m3 τ yx σ y τ yz l 2 m 2 n 2
τz ' x ' τ z ' y' σ z' n 1 n 2 n3 τ zx τ zy σz l m n
3 3 3

Unknown stress known values known values of known values

components of direction stress components of direction
on 3 ⟂ planes cosines on 3 ⟂ planes cosines
passing through P passing through P
 CVG 5175

Stress Transformation
● If the components of the stress vector acting
on x’ plane are required,do the following:

T
[ σ x ' , τ x ' y ' , τ x ' z ' ] =[ l 1 l 2 l 3 ] [σ ][a ]
 CVG 5175

Principal Stresses
● At any point P, there are 3 orthogonal planes
on which only normal stresses exist (no shear)
● These normal stresses are called normal
stresses (σ1, σ2, σ3)
● We need to know their magnitude and
orientation
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Principal Stresses
● The magnitudes of the three principal stresses
are the roots of the following cubic equation.
(the characteristics)
3 2
σ − I 1 σ + I 2 σ− I 3 =0

● I1, I2, I3 are called stress invariants

 CVG 5175

Principal Stresses
● First Invariant

I 1=σ 11 +σ 2 2 +σ 3 3
I 1=σ k k
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Principal Stresses
● Second Invariant

I 2 = σ 11 σ 1 2 + σ 2 2 σ 2 3 + σ 11 σ 13
∣ ∣∣ ∣∣
σ 2 1 σ 2 2 σ 3 2 σ 3 3 σ 31 σ 33 ∣
2 2 2
I 2 =σ 11 σ 2 2 +σ 2 2 σ 3 3 +σ 1 1 σ 3 3−σ −σ −σ
12 23 13

1
I 2 = (σ i i σ j j −σ i j σ j i )
2
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Principal Stresses
● Third Invariant

I 3 =det (σ i j )
I 3 =σ 1 1 σ 2 2 σ 3 3 +2 σ 1 2 σ 2 3 σ 31−σ σ 3 3−σ σ 11−σ σ
2
12
2
23
2
13
2
22
 CVG 5175

Principal Stresses
● If the principal stresses are known:

I 1=σ 1 +σ 2 +σ 3
I 2 =σ 1 σ 2 +σ 2 σ 3 +σ 3 σ 1
I 3 =σ 1 σ 2 σ 3
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Principal Stresses
● The values of stress invariants do not change
if coordinate system is rotated
● Stress invariants used in developing stress-
strain relations and failure criteria
 CVG 5175

Example
● A stress tensor at a point is given
– find principal stresses and their directions

[ ]
−10 9 5
σ ij = 9 0 0
5 0 8
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Example
● The principal directions are known if the
corresponding direction cosines are
calculated.(l1,l2,l3,m1,m2,m3,n1,n2,n3)
● A set of 3 simultaneous equations must be
solved 3 times:

(σ x −σ ) ηx + τ xy η y + τ xz ηz =0
τ yx ηx +(σ y −σ) η y + τ yz ηz =0
τ zx ηx + τ zy η y +(σ z −σ )ηz =0
 CVG 5175

Example
– σ can be replaced by the known value of σ1 in all 3
equations
– when σ is replaced by σ1 in all equations:
● l1=ηx, l2=ηy, l3=ηz
– when σ is replaced by σ2 in all equations:
● m1=ηx, m2=ηy, m3=ηz
– when σ is replaced by σ3 in all equations:
● n1=ηx, n2=ηy, n3=ηz
 CVG 5175

Octahedral Planes
● An octahedral plane is a plane whose normal
makes equal angles with each of the principal
axes of stress
● Therefore, the planes with normal n in the
principal stress coordinate system are
octahedral planes.

∣ ∣
n=(n1, n 2, n3 )=
1
√3
(1,1,1)
 CVG 5175

Octahedral Stress
● The normals stress acting on the octahedral
planes is
1
()
σ oct =
3
(σ 1 +σ 2 +σ 3 )=(1/3) I 1
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Octahedral Shear Stress

● Shear stress acting on the octahedral plane:
1
( )[
1/ 2
τ oct =
3
2 2 2 2 2 2
(σ x −σ y ) +(σ y −σ z ) +(σ z −σ x ) +6 ( τ xy + τ yz + τ zx ) ]
● In terms of principal stresses:
1
τ oct =()
3
[ 2 2 2 1/ 2
(σ 1−σ 2) +(σ 2−σ 3 ) +(σ 3−σ 1 ) ]
or
τ oct =
1
()
3
2
√
√ 2 I −6 I 2 = 3 J 2
2
1
 CVG 5175

Octahedral Stresses
● What are they useful for?
– Practically invariants (function of the Invariants)
– Useful to establish failure criteria
 CVG 5175

Octahedral Plane/Stress
σ3

Tprinc
σoct

n
τoct
σ1

σ2
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Deviator Stress Tensor

● It can be convenient to develop models
dividing stress in two components:
– Spherical (or hydrostatic) part of stress tensor
– Deviatoric part of stress tensor

[σ ]=[ p ]+[ s]
[σ] = stress tensor at a point

[p] = hydrostatic part of stress tensor

[s] = deviatoric part of stress tensor

 CVG 5175

Deviator Stress Tensor

● The mean stress is the hydrostatic part of the
stress tensor:
1 1
σ m= ()
3
(σ x +σ y +σ z )= I 1
3
● The hydrostatic part of the stress tensor
becomes:

[ ]
σm 0 0
[ p]= 0 σ m 0
0 0 σm
 CVG 5175

Deviator Stress Tensor

● The deviatoric part of the stress tensor can be
found by subtracting [p] from [s]:

[ ]
s x s xy s xz
[ s ]=s i j = s yx s y s yz
s zx s zy s z

[ ]
(σ x −σ m ) τ xy τ xz
[ s ]= τ yx (σ y −σ m ) τ yz
τ zx τ zy (σ z −σ m )
 CVG 5175

Deviator Stress Tensor

● In terms of principal stresses

[ ]
(σ 1−σ m ) 0 0
[ s ]= 0 (σ 2−σ m ) 0
0 0 (σ 3−σ m )
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Deviator Stress Tensor

● The deviatoric stress tensor invariants are:
– First invariant of sij: J 1 =0
1 2
– Second invariant of sij: J 2= ( I 1 −3 I 2 )
3
– Third invariant of sij: 1 3
J 3= ( 2 I 1−9 I 1 I 2 +27 I 3 )
27
 CVG 5175

Eigenvalue and
eigenvectors
● The three roots of the characteristic equation
are called EIGENVALUES
● The associated principal stress vectors in
space are called EIGENVECTORS
● There are 3 eigenvectors, each corresponding
to a principal stress
● Each eigenvector has 3 components (i.e.
direction cosines) indicating the direction of
one of the principal stresses (l1, l2, l3),
(m1,m2,m3), (n1, n2, n3)
 CVG 5175

Using MATLAB
 CVG 5175

Using MATLAB
 CVG 5175

Using MATLAB
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Using OCTAVE
 CVG 5175

QtOctave Interface
 CVG 5175

QtOctave Interface
 CVG 5175

Example of simple
arithmetic using MATLAB
●One version of the Hoek-Brown failure
criterion for jointed rock mass is defined by:
σ 1=σ 3 +(m σ c σ 3 +(σ c )2 )1/ 2
where
- σ1 and σ3 are the maximum and minimum
principal stresses at failure
- m is the value of the Hoek-Brown constant
for the rock mass. For limestone, m has a
value approximately 7.
- σc is the uniaxial compressive strength of the
intact rock .
 CVG 5175

Example of simple
arithmetic using MATLAB
 CVG 5175

Example of simple
arithmetic using MATLAB
 CVG 5175

What about OCTAVE?

● Try the same steps in OCTAVE.
– What are the similarities?
– What are the differences?
 CVG 5175

Summation Covention
● Dot Product
u=u 1 e 1 +u 2 e 2 +u 3 e 3
v=v 1 e 1 +v 2 e 2 +v 3 e 3
u⋅v=u1 v 1 +u 2 v 2 +u 3 v 3
u⋅v=ui v i
● According to the summation convention,
whenever a subscript occurs twice in the same
term, it is understood that the subscript is to
be summed from 1 to 3.
ui v i =u1 v 1 +u 2 v 2 +u 3 v 3
 CVG 5175

Summation Convention
● The advantage of the summation convention
is more apparent when solving systems of
equations:
a1 1 x 1 +a1 2 x 2 +a 13 x 3=b1
a 2 1 x 1 +a 2 2 x 2 +a 23 x 3=b 2
a 31 x 1 +a 3 2 x 2 +a 3 3 x 3=b 3
 CVG 5175

Summation Convention
● As a first step of abbreviation, it can be
rewritten as

a1 j x j =b1
a 2 j x j =b 2
a3 j x j =b3
 CVG 5175

Summation Convention
● Finally, they can be rewritten in a more
compact form:
a i j x j =bi
● The i index appears in each term once: “free
index”
● j appears twice in the first term (aijxi): “dummy
index”