Boundary element methods in dynamic analysis

Dimitri E Beskos
Department of Civil Engineering, University of Patras, Patras 26 110, Greece

A review of boundary element methods for the numerical solution of dynamic

problems of linear elasticity is presented. The integral formulation and the
corresponding numerical solution of three- and two-dimensional elastodynamics
from the direct boundary element method viewpoint and in both the frequency
and time domains are described. The special case of the anti-plane motion
governed by the scalar wave equation is also considered. In all the cases both
harmonic and transient dynamic disturbances are taken into account. Special
features of material behavior such as viscoelasticity, inhomogeneity, anisotropy,
and poroelasticity are briefly discussed. Some other nonconventional boundary
element methods as well as the hybrid scheme that results from the combination
of boundary and finite elements are also reviewed. All these boundary element
methodologies are applied to: soil-structure interaction problems that include
the dynamic analysis of underground and above-ground structures, foundations,
piles, and vibration isolation devices; problems of crack propagation and wave
diffraction by cracks; and problems dealing with the dynamics of beams, plates,
and shells. Finally, a brief assessment of the progress achieved so far in dynamic
analysis is made and areas where further research is needed are identified.

INTRODUCTION classical work in elastodynamics or indirectly through the em-

The boundary element method (BEM) has emerged during
the last fifteen years as one of the most effective numerical
methods for the solution of a wide class of problems in applied
mechanics [51, 26, 52]. The two main advantages of the BEM,
namely the reduction of the dimensionality of the problem by
one and the high accuracy of the method for a wide class of
problems are more pronounced in linear elastodynamics, espe-
cially when the domain of interest is infinite or semi-infinite
and/or there are stress concentrations or cracks.
Domain type of numerical methods, such as the finite ele-
ment method (FEM) and the finite difference method (FDM),
require a discretization of not just the surface of the domain of
interest (as it is the case with the BEM) but its interior as well,
thereby increasing the modelling requirements and the size of
the problem for comparable accuracy and creating problems
due to wave reflections at artificial boundaries for infinite or
semi-infinite domains. On the other hand, the BEM discretizes
only the surface of the domain of interest, takes automatically
into account the radiation condition at infinity for infinite or
semi-infinite domains, and can accurately treat problems in-
cluding stress concentrations without additional devices. And
all these advantages become more significant in problems char-
acterized by three spatial dimensions. For a more comprehen-
sive discussion on the advantages and disadvantages of the
BEM the interested reader can consult Reference 39.
The conventional direct BEM as applied to elastodynamics,
under the assumptions of zero body forces and initial condi-
tions, start with a surface integral representation of the dis-
placement field, which can be obtained either directly from the
ployment of the dynamic reciprocal theorem or the method of
weighted residuals. This integral representation provides the
displacement field in terms of boundary values of displacements
and tractions with the aid of the fundamental solution or free
space Green's function. After its application at the boundary
through a limiting process, this equation becomes a boundary
integral equation which is solved numerically for the unknown
boundary displacements and tractions. These boundary values
are subsequently used to compute the displacements and trac-
tions at any interior point of the domain with the aid of the
original integral representation of the solution. The cases of
nonzero body forces and/or nonzero initial conditions require
the additional computation of some volume integrals which,
however, contain known integrands.
Among the existing classical works in elastodynamics that
include integral equation techniques one can mention here the
books of Love [178], Morse and Feshbach [206], Pao and Mow
[234], Achenbach [5], Eringen and Suhubi [113], Graff [122],
Miklowitz [199], and the articles of Wheeler and Sternberg
[314], Pao and Varatharajulu [235] and Pao [236]. General and
special books dealing with the BEM as applied to elasto-
dynamics are those of Brebbia and Walker [51], Banerjee and
Butterfield [26], Brebbia, Telles, and Wrobel [52], Kitahara
[152], Wolf [321], and Beskos and Manolis [41].
Although the basic integral equation formulations for elas-
todynamics were known for many years, their systematic use for
obtaining numerical solutions is a rather recent event. Ap-
parently the 1963 paper of Banaugh and Goldsmith [24] dealing
with steady-state plane elastodynamics represents the first ap-
plication of the BEM in dynamics, although the works of

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 2 Beskos: Boundary element methods in dynamic analysis Appl Mech Rev vol 40, no 1, Jan 1987

Friedman and Shaw [116] in 1962 and Banaugh and Goldsmith 1. ELASTODYNAMIC INTEGRAL FORMULATIONS
[23] in 1963 in acoustics can also be thought of as works in
anti-plane elastodynamics as they both deal with the scalar In this section the classical integral formulation of the elas-
wave equation. Rizzo's [249] pioneering paper on elastostatics todynamic problem, in both the time and the frequency domain
in 1967 introduced the direct BEM and marked essentially the is reviewed. The following developments are based on Wheeler
beginning of a systematic development and a wide application and Sternberg [315], De Hoop [87], and Eringen and Suhubi
of the method in applied mechanics. [113] for the time domain and on Doyle [96], Cruse and Rizzo
[77], and Eringen and Suhubi [113] for the frequency domain
Employment of the direct BEM in conjunction with Laplace
case. In the following, summation convention is assumed over
transform enabled Cruse and Rizzo [77] and Cruse [78] in 1968
repeated indices, commas indicate spatial differentiation, and
to solve for the first time a transient half-plane wave propa-
dots indicate differentiation with respect to time t, Greek
gation problem, while an improved version of their work was
subscripts take the values 1 and 2, and Latin subscripts take the
later used by Manolis and Beskos [184-186] and Manolis [187]
values 1 to 3.
in solving some transient elastic wave scattering problems.
Niwa et al [216, 217] and Kobayashi and Nishimura [156, Consider a homogeneous, isotropic and linearly elastic body
157] studied the steady-state solution of some plane elasto- of volume V bounded by a regular surface S. The equations of
dynamic problems and were also able to obtain the transient motion of this body are of the form
response with the aid of Fourier transform. The work of
Dominguez [89, 90] represents the first attempt to study in the (Cl - cl)uUj + cfyj, + bj = Uj, (1.1)
frequency domain the dynamic response of rigid surface or
embedded foundations in both the two- and three-dimensions where «. = u,(x, t) is the displacement vector with x being the
by the BEM. position vector, bj is the body force vector per unit mass, and
c1 and c2 are the dilatational and shear wave velocities, respec-
Among the first papers on free-vibration analysis one can
tively, which are given in terms of the Lame elastic constants A
mention here those of Tai and Shaw [282], De Mey [88], and
and /i by the relations
Hutchinson [130] in connection with the scalar wave equation
governing acoustics or anti-plane elastodynamics, those of Vivoli c?-(X + 2,)/p, (i2)
[310] and Vivoli and Filippi [311] and Niwa et al [219] in
connection with plate vibration, and those of Niwa et al cl = ju./p,
[220-223] in connection with general plane elastodynamic prob- with p being the mass density of the body. The constitutive
lems. equation of the above body reads
The first time domain BEM formulation was that of
Friedman and Shaw [116] in 1962 in connection with t,j -9(c{- 2cl)um,J,j + pcl(utJ + ujj, (1.3)
acoustics-anti-plane elastodynamics. The work of Cole et al
[73] despite the fact that it presents a general time domain
where 8,. • is the Kronecker's delta and the stress tensor ?,• • is
formulation is restricted from the application viewpoint again
connected with the stress vector / (n)/ by the relation
to anti-plane elastodynamics. Niwa et al [218] and Karabalis
and Beskos [139] were the first to develop a general two- and
L 4
'<..>.• = ' i ; " ; > ( )
three-dimensional elastodynamic methodology, respectively, in
time domain by the BEM.
with n being the outward normal vector on a differential ele-
A very wealthy source of information pertaining to the BEM ment of the surface S.
and its applications in elastodynamics is a number of general or The stresses and the displacements in a well posed boundary
special review type of articles such as those of Shippy [273], and initial value problem should satisfy the boundary condi-
Dominguez and Alarcon [92, 95], Geers [119], Banerjee et al tions
[27-29], Manolis et al [189], Kobayashi [163, 164, 166, 169],
Cruse [79], Brebbia [54], Karabalis and Beskos [144, 146],
Dravinski [107], and Tassoulas [286].
The first two sections of this review article on elasto- «,(x,/) = 4 ( x , ( ) ; x e X „ ,
dynamics by the BEM deal with the integral formulation and where S = SrU Su and the initial conditions
numerical solution, respectively, in both the frequency and time
domains of the three-dimensional, the plane, and the anti-plane »,(x,0 + ) = « o ; ( x ) ; x e K
elastodynamic problems. The framework of presentation is that
of the direct BEM, while some other boundary element method- «,.(x,0+)=y0,.(x);xe V
ologies for elastodynamic problems are treated in section 3.
Section 4 describes applications of the method in dynamic If the Helmholtz decomposition of the displacement vector u
soil-structure interaction problems including underground and and body force b are assumed of the form
overground structures, foundations, piles, vibration isolation
devices, and problems that can be effectively solved by hybrid
schemes that combine the BEM with the FEM. More realistic b = v / + V XF,
soil models including viscoelasticity, inhomogeneity, anisotropy,
and poroelasticity are also briefly discussed in this section. where V stands for the gradient operator and X indicates cross
The treatment of problems involving crack propagation and product. Equation (1.1) becomes equivalent to the system of the
wave diffraction by cracks in elastic media is taken up in wave equations
section 5 and that of the dynamic analysis of beams, plates and
shells is described in section 6. Section 7 presents a variety of 1 T
' V (1.8)
numerical examples to illustrate the BEM and some of its c2V2*p + F = 4-,
elastodynamic applications. Finally, a progress assessment and
a list of areas that need further research are made in section 8. where V 2 is the Laplacian operator.

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 Appl Mech Rev vol 40, no 1, Jan 1987 Beskos: Boundary element methods in dynamic analysis 3

Two-dimensional approximations of the above three-dimen- mental solution is chosen to be the singular solution of (1.1) for
sional elastodynamic case are the following: any infinite body due to a concentrated body force of the form
(a) Anti-plane strain, which is defined as
pb(x,t) =b(t)8(x-i)e, (1.22)
"a = 0, u3^u3(xux2,t) (1.9)
where x and 4 are points in the body, S is the Dirac delta
Use of (1.9) in (1.3) results in the stresses function, e is the direction in which the above force is applied,
(1.10) and b(t) is its time variation. The solution of (1.1) for the b
given by (1.22) is of the form
while (1.1) on account of (1.9) reduces to
«,. = «?.<?;, (1.23)
c|"3,«o + *3 = " 3 - (1.11)
where the fundamental singular solution or Stokes' displace-
(b) Plane strain, which is defined as
ment tensor «?• is given by [113]
(1.12)
"a = "a(*l>*2>0> «3=0.
1J/
Use of (1.12) in (1.3) results in the stresses u?j{x,t;l\b)
Airp I ^4)/:f^-^ C\

C 2c u S
'«0 = P{ 1 - l) y,y afl + P4(»a,fl + "/},«) S,
b\ t - ~ \ - - ^ b \ t - - b\t-~
= Xu r y S a / j + M("„,/) + M/i,fl), (1-13)
'33 = p ( c r - 2 c | ) « y , Y = Awy y , (1.24)
while (1.1), on account of (1.12) and (1.2), reduces to
where
O + M) «tt,„/s + /*"/?,«« + Pbfj = pup. (1.14)
r, = x, - £,., r1 = (xi - £,•)(*,• - £,-). (1.25)
Equation (1.14) on the assumption that
The function b(t - s), as used in (1.17), is assumed to be time
u( xx, x2 , t) = V<p + V X i//i3 retarded, ie, it is nonzero only if t — s > 0. The Stokes' stress
(1.15)
b ^ , ^ , / ) = V / + V X.Fi 3 tensor tfjk related to «?• can be obtained through substitution
of (1.24) into the constitutive equation (1.3) and has the sym-
becomes equivalent to the system of equations bolic form
c2V2<p+f=(p, tfjk = ttJk{x,t-i\b), (1.26)
(1.16)
2
4v ip+F=4>, with an explicit expression that can be found in Reference 113.
The pair of fundamental singular solutions { w°., tfjk } possesses
where i 3 is the unit vector along the x3 direction. the properties of causality, translation, and symmetry (only «?•)
(c) Plane stress, which is defined as and is called the Stokes' state of quiescent past [113].
Using Stokes' state of quiescent past as one of the two
taP = tap(xltX2,t), t3J-0, b3=0, (1.17)
distinct elastodynamic states in Betti's reciprocal theorem, the
other one being the actual state, one can derive the solution of
with the additional assumption that ta/3 and uap represent
the elastodynamic problem described by Eqs (1.1), (1.5), and
average values over the thickness along the x3 direction. Use of
(1.6) in the form of Love's integral representation [113]
(1.17) in (1.3) results in the stresses
<UK(4.0
' a / s = A ' " Y , A / ? +/*("«,/? + "/?,„)> (l.!8)
while (1.1), on account of (1.17) and (1.2), reduces to = / { ufk [x, t, $|f (n , 0 (x, 0 ] - '(°n).-*[x, t; 5|«,.(x, 0 ] } dS(x)
( A' + ft) ua ap + nup<aa + pbp = pu,i, (1.19)
+ pju°k[x, t; $|ft,(x, /)] dV(x) + pj [ v0i(x)Uik(x, t; 0
where J
Jy Y
X' = 2XJLI/(X + 2/x). (1.20) + u0,(x)U,k(x,t;i)]dV(x), (1.27)
where
In addition, one has in this case that
1 if £eV
«33=-[V(X+2/l)K (1.21)
K0 = 0,5 i f £ e S (S smooth) (1.28)
A comparison of Eqs. (1.13) and (1.14) with Eqs. (1.18) and 0 if 4<£ VUS
(1.19) reveals that the case of plane stress can be easily obtained
from that of plane strain by simply replacing A by A' as given and the Green's tensor Utk can be obtained from ufk of (1.24)
by (1.20). by setting b(t) = S(t). For the case of zero body forces and
initial conditions Eq. (1.27) for a point | on S becomes the
boundary integral equation
1.1. Time domain integral representation
In order to establish an integral representation solution of \uk(Z,t) - f {u?k[x,t;li\tw(x,t)]
Eq. (1.1), it is first necessary to specify the required fundamen-
tal solution that will be used. In this formulation, the funda- t° [x > f;t|i* I .(x > /)]}^(x). (1.29)

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 4 Beskos: Boundary element methods in dynamic analysis Appl Mech Rev vol 40, no 1, Jan 1987

In two-dimensions the integral representation of the elas- which is just the Fourier transform of Eq. (1.22). Then the
todynamic solution takes the form [113] fundamental solution of (1.34) takes the form [113]
x
£(4K(U)=/{U -^iW*-0] "< = "'^' (1 38
- )
where

"<* ( x - « > " ) = 7 ^ (75<7^''<'',,)> (1 39

' )
+ p j Vpa[x, t; Hbpix, t)\ clD(x) H up C2

with Y and X having the forms

+ p/["o/8W^«(x,/;0 c\
J
° F- I1
+ uop{x)Vlia{x,t;i)]dD(x), (1.30)
/ ,.2 \ / 2 \ iu>r/c
C C C
2 I l l
«(£) " 3 U> ' ) = / c { y33 [x, /, t|/<„)3(x, 0 ] ,,2 i , ..«.„-. l u r , r

(1.40)
„2 T \ „iur/c
W
-a(n)33[x,t;i\u3(x,t)]}dC(x) x=(__ 2^1fi + 1 '
w2r2 icor I r
+ pJ / y 3 3 [ x , ^ ] / > 3 ( x , 0 ] ^ ( x ) ,2 \ I 3 c 2 3 \ ei<*r/cx
D
- T ^ - ^ + l
+ pf[v03(x)V33(x,r,£) to r /cor ; r
D
Insertion of Eq. (1.38) into Eq. (1.35) yields the traction com-
+ w03(x) f>33(x, t;i)] dD{x), (1.31) panion tensor ?>.. The fundamental solution pair { u*-, i*}, as
defined above, possesses the properties of space translation and
where D is the two-dimensional regular region and C its symmetry (only u*).
boundary, x = {xltx2}, £ = {£i, £ 2 } . "„(*> /) corresponds to F o r t h e c a s e o f ' p i a n e s t r a m E q s . (i.34)-(1.36) are still valid
plane motion and w3(x, 0 to anti-plane motion and w i t h ^ y-> and m b e i n g rep iaced by «, /8, and y, respectively,
w h i l e t h e fun
» U /• fl/,C Al = /"°° »° TT /• ti/,C /11 r/r in n damental solution «*. is again given by (1.39) with
«,-*lx>'. * P W J - ]_gau"<i-x>l' W>1 dxi m D
> ilm
m in in place
place of of 4ir
4IT andand with with
oo y

/
'(n),-Jx,r,S|Z>(0]^ 3 onC, Y=KQ\
(1.32) c\ ( -icor
CO
^ h - | . (1-41)
/
where
Banaugh [25] has presented integral representations for time ^o> *i> and K2 are Bessel functions of the second kind
a n d zer
domain elastodynamics based on the displacement potential o , first, and second order, respectively,
F o r the
formulation given by Eqs (1.8). case of anti-plane strain, Eq. (1.11) in the Fourier
transform domain becomes the Helmholtz equation

1.2. Frequency domain integral representation

L
2 "l.aa + Z> 3 =-co 2 S 3 . (1.42)

The Fourier transform /(x, co) of a function /(x, t) is de- The fundamental solution of Eq. (1.42) is then [113]
fined as ib-, (co ) / to r \
/(x,w)=/" f(x,t)e-'"'dt, (1.33) M
" 4pc r^u1, (1,43)
wbere H is the H a n k e l function of the first M n d md zero
where to is the Fourier transform parameter or circular P
frequency and i = y — 1. Apphcation of Fourier transform on ' .,. . . . , . . c e _ .,
E „ ,, , , , , , ,, ( , . • .. ... ,, ,. r By utilizing& the transformed domain form of Betti s recipro- r
Eqs (1.1) and (1.3)—(1.5) in conjunction with the assumption of , / , , . . , . .
• •'• , ,•/• / • •*• i AU- u -i cal theorem, where one of the two required states is the
zero imtial conditions (nonzero initial conditions can be easily ,-*-*-,, , , • i , i.•
treated) and quiescent past leads to < ujj>.'v )• th u e 0 ^ l e r o n e b e m ? t h e a , c t " a l s t , a t e ' o n e c a n ° b t m n a
solution to the Fourier transformed elastodynamic problem in
( ci ~ c2 ) "/, /; + c2 Uj, a + bj= — co2 Uj, (1.34) the form of the integral identity [113]

-tiJ = p{cl - 2cl) um<Ju + pcKu^j + ujj, (1.35) £(t) _ U ) = J - n ) ; ( x ) _^(X) 5> w ) d5(x)

x X s
V ) , ( - <•>) = ',•>«; = J P,( . w); x e 5,, (1.36)
«,(x, co) = q,.(x, U);xeS„. ~ / / ' ( x > ^ ( x ' ^' w> d 5 ( x >
An integral representation of the solution of (1.34) requires /• -
the estabhshment of a fundamental solution. This is defined as ~ / P 6 /( x > u ) "y/( x ' ^ w ) rfK x
( ). (I- 4 4 )
the displacement field in an infinite body due to a concentrated
body force of the form where
p/J,(x,«)=fc(w)fi(x-€)*,-. (1.37) ujj-urj/Hto), itj-irjMu). (1.45)

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 Appl Mech Rev vol 40, no 1, Jan 1987 Beskos: Boundary element methods in dynamic analysis 5

On the assumption of zero body forces and points £, on the
smooth boundary S, Eq. (1.44) reduces to
2 «/( 6) = / [ «/( x ) 0',( x ' £. w ) - '(n>;(x) "j,-(x, L w)] </5(x),
which is the boundary integral equation in the Fourier trans-
form or frequency domain and applies to either three-dimen-
sional or plane-strain cases in conjunction, of course, with the
appropriate for each case fundamental solutions.
Use of Green's second identity permits one to formulate
(1.42) under zero body forces in the integral form [113]
du3
dS(x),
on ~5n~
where
u'J3 = «3*3/fc3 ( w ) .
The boundary integral equation for the anti-plane strain case is
then obtained from (1.47) by assuming £ to be on S and taking
e(t) = 1/2.
Equations (1.46) and (1.47) can provide the solution to a
given dynamic problem in terms of the frequency parameter w.
The time domain solution can then be obtained by a numerical
inversion of the transformed solution. Of course, if the dynamic
disturbance is zero (free vibration problem) or varies harmoni-
cally with time (steady-state problem) no such inversion is
necessary.
An alternative to Fourier transform is the Laplace transform
with respect to time, which for a function /(x, t) is denned as
/-CO
displacements and tractions over each time interval, and (//') a
discretization of the boundary S of the domain of interest into
a number of flat triangular or quadrilateral elements over each
of which a constant distribution of displacements and tractions
is assumed. On the basis of these discretizations a time stepping
(1.46) solution of Eq. (1.29) can be established for the boundary
displacements and tractions over each element and for each
time step. It should be pointed out that more involved time and
space discretization schemes have also been developed and are
briefly described in subsection 2.3 of this section.
In order to illustrate the procedure, one should first consider
the time discretization of a continuous traction vector t(n)i into
a sequence of N rectangular impulses of time duration A t so
that he can write for the time interval (q - 1) A / < t < qk. t;
(1.47) q = 1,2,..., 7Y the expression
'(•»/(*.')« <U(x){H[t-(q-l)bt]-H(t-qbt)},
(2.1)
(1.48)
where
<?„)/ = '(„),•[*.(9-0.5) A / ] , (2.2)
and H stands for the Heaviside function. Substitution of b(t)
in Eq. (1.24) by t(n)i(x, t) as given in (2.1) yields, eg, for q = 1,
the following time discretized expression for ufk
«,9*(x.';tl'U)
1 //3r,'-,
Hit-- H\t-j\F2
Airp 1
1 r,rk
X ' U » ) + 3 " V " ' - T '(-)/ $>' - T (2-3)

f(x,s)= f(x,t)e- dt, (1.49) 1 /«,

# ' - - ' ( . » . • * . '
c
2,
where s is the, in general complex, Laplace transform parame-
ter. It can be easily proven [113] that one can go from the where
Fourier transform (or real frequency) domain to the Laplace
transform (or complex frequency) domain by simply replacing [t2-{r/cfi)2]/2, iiO<t-(r/cfi)zbt
F
to by is. fi-
[2r(Ar) - ( A / ) 2 ] / 2 , ii kt < t - (r/cp)

2. ELASTODYNAMIC NUMERICAL SOLUTIONS £ = 1,2. (2.4)

It is obvious that an analytic solution of the boundary
integral equations established in the previous section in the time
or frequency domains is only possible for very simple geome-
tries and time variations of the related functions. For the
general case of arbitrary geometries and time variations of the
functions involved, a numerical solution of these equations is
imperative. Towards this goal a spatial discretization is neces-
sary in both the time and the frequency domain approaches.
However, in contrast to the static-like frequency domain prob-
lem, the time domain one requires an additional discretization
in time. The specific numerical approaches described in this
section are based on Karabalis and Beskos [33,139] for the time
domain and Cruse [78] and Manolis and Beskos [185] for the
frequency domain three-dimensional cases. Some information is
also provided with regard to two-dimensional cases.
2.1. Time domain approach
The time domain BEM in three-dimensions, as described in
References 33, 275,139-142, and 144-146 consists of two basic
steps: (»') a discretization of the real time axis into a sequence of
equally spaced time intervals with a constant variation of
A similar discretization in time of the boundary displacement
vector M,(X, t) and direct substitution of it into the expression
for t°„)jk of Eq. (1.26) in the place of b(t) will result in a time
discretized form of the Stokes' stress tensor.
According to the spatial discretization scheme adopted here
for illustration purposes, the surfaces S of the domain V is
discretized into an M number of flat quadrilateral elements
over which tractions and displacements are assumed to be
constant. Thus, in view of (2.3), the boundary integral equation
(1.29), when written for every boundary element R (R =
1,2,..., M), will yield a system of M algebraic equations for
each time step N of the form
N M
^[T»-'i+l-s]{uN-"+q-s}}, (2.5)
N R
where ( u - } is the displacement vector at time step TV, {/*•*}
is the traction vector at time step k, and the superscripts R and
J indicate, respectively, the "receiver" and "source" elements.
The pair of tensors {[G"'s],[T'h!]} represents the time and
space discretized equivalent of the Stokes' state of quiescent

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 6 Beskos: Boundary element methods in dynamic analysis
past. The displacement tensor [G",s], for example, is given as
1 ( r (3r,n
4lTp
X H\t Fl-H\t--\F2 d(s)
B" B"
-ft -L!-d(s) + ^ [ J * _ ^ J 5L L / ( J ) I
c{ J{s) r c2~ J(S)\ r r ) j
where (s) is the area of the element s and r is the distance
from the center of the element R to each point of the element
s. The coefficients B", B" and B" are used in order to specify
the limits of spatial integration of the various quantities in-
volved in Eq. (2.6) according to the kind of wave they represent
[33,139]. An explicit expression for the traction tensor T/jjf can
be found in References 33 and 145.
The spatial integrations indicated in Eq. (2.6) can be easily
accomplished through a standard Gaussian quadrature scheme
with satisfactory results. However, an improved spatial integra-
tion device is used, eg, in References 33, 139, and 145 where
each "source" element is divided into a number of subelements
and thus the integrations indicated in Eq. (2.6) are performed
over the area (s) of each subelement in the usual way. In the
case of singular elements, ie, when R = s or equivalently r —> 0
in Eq. (2.5), a special analytical integration is employed. It is
first observed that, due to the nature of the travelling waves,
singularities can only occur during the first time step at which
the tractions {tq,s} are applied over the source elements s.
Then use is made of polar coordinates and the resulting expres-
sion for G)^ for r —» 0 turns out to be free of singularities [33,
139]. The tensor T}jj° can also be free of singularities as r-*0
under certain conditions [33, 145].
"Writing Eq. (2.5) for the M elements of the discretized
boundary surface, a step-by-step time marching solution of the
resulting system of equations can be established. The total
number of the discrete kernel computations can be substantially
reduced if the causality, symmetry, and time translation proper-
ties of the discretized fundamental solution pair are properly
taken into account.
A similar procedure can be established for the two-dimen-
sional case. There are basically two ways of formulating the
two-dimensional time domain BEM as explained by Manolis
[187]. One way is to use the BEM of the three-dimensional case
with the corresponding fundamental solution pair cast into a
form appropriate for the case of plane strain as described in
Niwa et al [218] and Manolis [187]. The other way is to
formulate a BEM in two-dimensions with a two-dimensional
fundamental solution pair [187]. In the first case the integration
is carried out over an area segment moving with time, while in
the second one, it is carried out over a line segment and over
the time. In addition, in the first case singularities appear only
once, ie, during the first time step, while in the second, they
appear at every time step [187]. However, as it was later shown
by Mansur and Brebbia [193, 195], Spyrakos and Beskos [34,
275, 141, 276-279], and most recently by Antes [18], Spyrakos
and Antes [280], and Fukui [117] even in the purely two-dimen-
sional BEM formulation the singularities appear only once on
the first time step if the time integration can be carried out first
analytically.
It should be mentioned that, while in the works of Karabalis
and Beskos [33, 139-142, 144-146] and Spyrakos and Beskos
[34, 275-279] use is made of fundamental solutions expressed in
terms of the Heaviside function, in all the other works on the
subject, fundamental solutions expressed in terms of the delta
function are utilized. The former approach, which is easier, can
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Appl Mech Rev vol 40, no 1, Jan 1987
be used to determine the response of a structure either in a
step-by-step time marching fashion or through superposition of
impulse responses which results in a very economic scheme [33,
34, 139, 278]. Of course, only a step-by-step marching scheme
can be extended to the nonlinear case. The approximation
involved in using the Heaviside function can be effectively
eliminated by taking sufficiently small time steps.
In connection with the case of the anti-plane motion, which
(2.6) is governed by the wave equation and has the integral represen-
tation (1.31), one can consult the wealth of papers devoted to
linear acoustics, eg, those of Friedman and Shaw [116] and
Shaw [269, 270, 272], and more recently the work of Mansur
and Brebbia [190-192, 194] and Misljenovic [200-202] on the
wave equation.
Finally, in connection with the three-dimensional time do-
main BEM, the work of Tanaka and Tanaka [284], char-
acterized by just a formulation without numerical results, those
of Karabalis and Beskos [33, 275, 139-142,144-146], and those
of Manolis et al [188,189] and Banerjee et al [28, 29] should be
mentioned.
2.2. Frequency domain approach
The numerical solution of the frequency domain boundary
integral equation (1.46) is simpler than that of the time domain
BEM described in the previous subsection. The reason is, of
course, the ehmination of the time variable in the frequency
domain formulation and the transformation of the problem into
a static-like form. Thus, only a spatial discretization is needed
for the numerical solution of Eq. (1.46).
The basic steps of the spatial discretization procedure are
the same as those of the time domain formulation. Thus, the
surface S of the domain V is discretized into a number M of
flat triangular or quadrilateral elements characterized by a
constant variation of displacements and tractions over each one
of them. These constant values are assumed to be associated
with the nodal point at the center of each element. Higher order
elements can also be employed and one can consult subsection
2.3 for that purpose. On the assumption of constant elements,
Eq. (1.46) can be written in matrix form as
{**}= 23 ([<?']{'*}-t^Ks*}). (2.7)
where { W} and {Is} are the Fourier transformed displacement
and traction vectors, respectively, on the element s and the G/;-
and Tfj terms of the discretized fundamental solution pair are,
respectively, given by
G
h = f "//( x >£><°) * ( x ) , TTj-f
J
i;j(x,i,u)ds(x).
(s)
(2.8)
Use of variable size boundary elements in conjunction with
an adaptive procedure has recently been reported by Karabalis
and Mohammadi [143], This scheme increases the accuracy
considerably without additional computational effort.
Standard numerical integration procedures can be followed
in Eqs. (2.8) for nonsingular elements s, ie, when R + s, or
r i= 0, while the integrations have to be done analytically for
singular elements, ie, when ^i = s o r r - » 0 [84].
The case of the plane strain motion is treated numerically in
a way quite analogous to that of the three-dimensional case and
one should consult, eg, Manohs and Beskos [185, 38] and
Tullberg [292, 293] for the Laplace transform approach, Niwa
et al [216, 217] and Kobayashi and Nishimura [157] for the
 Appl Mech Rev vol 40, no 1, Jan 1987
Fourier transform approach, and Niwa et al [220, 221-223] and
Brebbia and Chuang [53] for the case of free and steady-state
vibration problems. For the case of the anti-plane motion in the
frequency domain, which is governed by the Helmholtz equa-
tion, one can consult for its numerical treatment the work of,
eg, Banaugh and Goldsmith [23], Schuster and Smith [262], and
Shaw [269, 270, 272] on linear acoustics.
Examples of three-dimensional elastodynamic analysis in the
frequency domain are the works of Dominguez [89, 90, 94],
Ottenstreuer and Schmid [232, 233], Theocaris et al [288],
Sladek and Sladek [274], Rizzo et al [250-253], Banerjee et al
[28-30] Kitahara and Nakagawa [151, 208], Ahmad and
Manolis [11], and Dasgupta et al [83, 84].
Comparison studies regarding the performance of the time
domain, Fourier transform, and Laplace transform approaches
in two- and three-dimensions can be found in Manolis [187]
and Mohammadi and Karabalis [205], respectively.
2.3. Special computational aspects
Both the time and frequency domain BEM formulations
described in the previous two subsections utilize constant ele-
ments, ie, flat surface elements for three-dimensions or straight
segments for two-dimensions with a constant variation of dis-
placements and tractions over them. In addition, displacements
and tractions are assumed to remain constant during every time
interval in a time domain formulation. Use of constant ele-
ments is popular because of their simplicity. The accuracy of
the BEM can, however, be improved with the introduction of
higher order elements, ie, elements characterized by a certain
variation (eg, linear or parabolic) of displacements and trac-
tions over them and a curved geometry which can easily accom-
odate complex boundary surfaces. In addition, displacements
and tractions can have a certain variation with time (eg, linear)
into every time interval in a time domain approach. Among the
BEM formulations employing higher order elements one can
mention here those of Manolis and Beskos [186] for two-dimen-
sions and Rizzo et al [250-253, 268, 247], Kitahara and
Nakagawa [151, 208], and Ahmad and Manolis [11] for three-
dimensions in the frequency domain and Mansur and Brebbia
[193, 195] for two-dimensions and Manolis et al [188,189] and
Banerjee et al [28-30] for three-dimensions in the time domain.
A problem that requires special attention in a higher order
element formulation is the treatment of corners and edges,
which does not appear in a constant element formulation which
results in a discretized smooth surface. Special integration
schemes characterized by the division of an element into subele-
ments are used in a higher order element formulation for the
singular cases. As reported in Rizzo et al [250-253] a complete
removal of singular integrals (regularization) from the frequency
domain BEM formulation is also possible with obvious gains in
accuracy. This regularization technique has also been proposed
by Bui et al [59, 60],
A special computational problem in the Fourier transformed
domain is that of the fictitious eigenfrequencies. These are
frequencies corresponding to the eigenvalues of an interior (or
exterior) problem that makes its boundary integral equation to
fail to render a unique solution for the associated exterior (or
interior) problem. Various techniques for isolating these unde-
sirable frequencies have been proposed first by Schenck [260],
Burton and Miller [63], Ursell [296], Jones [135], Tai and Shaw
[282], Kleinman and Roach [153], Meyer et al [198], and Terai
[287] in acoustics and then by Kobayashi and Nishimura [155,
157, 159] and Rizzo et al [250-253, 247] in two- and three-
dimensional elastodynamics, respectively. The mathematically
oriented techniques for the treatment of fictitious eigenfrequen-
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Beskos: Boundary element methods in dynamic analysis 7
cies in elastodynamics recently proposed by Jones [136, 137]
can also be mentioned.
Frequency domain BEM formulations require a numerical
inversion of the transformed solution in order to obtain it in the
time domain. Sometimes the dynamic input may be too com-
plicated to be transformed analytically. These two facts clearly
demonstrate the need for accurate and efficient algorithms for
direct and inverse numerical computation of Fourier and
Laplace transforms. As far as the Fourier transform is con-
cerned, use should be made of the fast Fourier transform of
Cooley and Tukey [76] as described, eg, in Brigham [56], For
the numerical evaluation of direct and inverse Laplace trans-
forms there exist various algorithms available. A comprehensive
comparative study by Beskos et al [31, 209] revealed that for
elastodynamic problems among eight well known algorithms
the best is that of Durbin [108], which is based on the sine and
cosine transforms, and, in addition, utilizes the fast Fourier
transform.
In summary, one can say that the most advanced computa-
tional schemes for three-dimensional elastodynamic analysis
presently available are those of Manolis et al [188, 189],
Banerjee et al [28-30], and Ahmad and Manolis [11] in both the
time and the frequency domains, and of Rizzo et al [250—253,
247] in the frequency domain. These schemes are characterized
by good documentation, generality, and high accuracy.
2.4. Fundamental solutions in elastodynamics
The two- and three-dimensional BEM formulations in the
time and frequency domains described in section 1 are char-
acterized by the employment of fundamental solutions defined
for a homogeneous, isotropic, and linearly elastic body of
infinite extent. These solutions are also called the infinite or free
space Green's functions if the disturbance is of the Dirac delta
function type. Although the form of these functions is rather
simple, additional computation effort is required when they are
employed for the solution of problems involving the half-plane
or the half-space whose free surface requires a discretization.
For all practical purposes, however, a limited portion of this
surface around the structure of interest has to be discretized.
Alternatively, one can employ special Green's functions that
satisfy the traction free boundary conditions on the free surface
of the half-space or half-plane so that a surface discretization is
not necessary. Half-space Green's functions in the time domain
have been constructed by Johnson [134] and Buchen [58] for
three and two dimensions, respectively, and in the frequency
domain by Kobayashi and Nishimura [154], and Dravinski [97]
and Kobayashi [159] for three and two dimensions, respectively.
The classical papers of Lamb [176] and Lapwood [177] on
Green's functions for the half-space and half-plane, respec-
tively, should also be mentioned. Use of the half-space and
half-plane Green's functions despite the reduction in discreti-
zation increases the computational effort due to the high com-
plexity of these functions. A surface discretization in conjunc-
tion with the infinite space or plane Green's function can result
in a more economical scheme [159, 38, 84,173]. Construction of
the Green's function for the half-plane for the special case of
the anti-plane motion can be easily accomplished by the method
of images [5]. The method of images has recently been em-
ployed successfully for the construction of approximate Green's
function for the half-plane by Kontoni et al [173].
When the half-space is nonhomogeneous due to the presence
of horizontal layers, use of special Green's functions for this
case greatly facilitates the applications. Among the various
Green's functions in the frequency domain for the layered
half-space available in the literature one can mention those of
 8 Beskos: Boundary element methods in dynamic analysis Appl Mech Rev vol 40, no 1, Jan 1987

Luco and Apsel [181, 19], Kausel and Peek [147,148], Bouchon above boundary integral equations are solved numerically, in a
[50], Franssens [115], and Chapel and Tsakalidis [65]. Beskos manner analogous to that employed in connection with the
et al [40] have recently employed with success for layered direct BEM, to obtain the fictitious densities <p, from which u
half-plane problems the infinite plane Green's function in con- and tj can be determined from (3.1) and (3.2). The frequency
junction with discretization of the free surface as well as the domain indirect BEM results in equations of the same form as
layer interfaces. This approach, although more expensive, has that of (3.4) and (3.5) but without convolution and with the
the advantage of treating layers of arbitrary geometry and not understanding that «?. and tfj are now in the frequency do-
just horizontal ones. main and all the quantities involved are functions of the
The presence of anisotropy in the half-space or plane makes frequency <o.
the construction of Green's functions very difficult. To this In recent years, Wong [325, 326], Sanchez-Sesma [254, 255],
author's best knowledge, Green's functions for the transversely and Dravinski [97-107] have developed a special indirect BEM
isotropic half-space due to Payton [239-242] are only available. in the frequency domain for the solution of wave scattering
problems under conditions of plane or anti-plane strain
harmonic motion. Their approach, eg, for the case of plane
3. OTHER BOUNDARY METHODS strain motion with zero body forces consists in first expressing
In the previous two sections the direct BEM in both the the displacement field in terms of two displacement potentials
frequency and time domains was presented in some detail. This <p and i// according to (1.15)! and then trying to solve Eqs.
BEM approach is called direct because it deals with quantities (1.16) in the frequency domain, ie,
of physical significance, such as displacements and tractions,
[ v 2 + (co/ C l ) 2 ]<p(x,co)=0
and appears to be the most widely used BEM approach not
(3.6)
only in elastodynamics but in all the other mechanics applica-
[ v 2 + (<o/c22)]>Kx,co)=0
tions of the method. The indirect BEM on the other hand,
which formulates the problem in terms of some fictitious quan- by an indirect BEM [97]. To this end <p and \p are expressed as
tities or source densities of no physical significance, is not so integrals of the unknown fictitious densities qx and q2 distrib-
popular, despite the fact that it has a longer history than the uted over the surface 5 of the form
direct one and is closely related to classical work on integral
equation methods. <p(x,w) = /? 1 (OG 1 (M,w)<tt(e)
In addition to these two BEM approaches, some other (3.7)
boundary techniques have also been developed during the last
*(x,w)=/?2($)G2(x, {,«)<«($)
few years and appear to be very promising. This section dis- J
s
cusses first the indirect BEM and one modified version of it and
subsequently proceeds with a brief presentation of some other where Gx and G2 are the Green's functions corresponding to
boundary methods as applied to elastodynamics. Eqs. (3.6). Expression of the boundary conditions in terms of <p
and <|/ and the use of (3.7) enable one to obtain boundary
integral equations that are solved numerically for the fictitious
3.1. Indirect boundary element methods densities qx and q2 from which <p and i//, and hence u, can be
determined. The application of the boundary conditions is done
Consider the motion of an isotropic, homogeneous and through collocation and the solution for the qx and q2 is
linearly elastic domain V enclosed within a surface 5 with body accomplished in the least-squares sense. In order to avoid
forces b and zero initial conditions. Introduction of fictitious singularities due to the presence of Gx and G2, the integration
sources of unknown density <p(|, t) on S permits one to is done not on S but on an auxiliary surface S* very close to S.
express the displacement and traction fields uy(x, t) and f.(x, t), For problems involving the half-plane, the Gl and G2 em-
respectively, as the integrals of the unit solutions related to <p ployed in the formulation are those that satisfy the zero traction
and b over S and V, respectively, ie, in the form [26] boundary condition at the free half-plane surface.
This methodology has been successfully applied for the
uJ(x,t)-/ufJ*qJ >idS(i)+JufJ*bidVU),J (3.1) solution of a variety of half-plane elastodynamic problems of
s v diffraction of SH, SV, P, and Rayleigh waves by surface or
subsurface irregularities including canyons, alluvial deposits,
tj(x, t) = jf/° * <p, dS($) + jfi * b, dV{ 0, (3.2) and inclusions or openings which are of importance to seismol-
ogy and nondestructive testing.
where the asterisk (* ) indicates a convolution integral in the
sense, eg,
3.2. Generalized boundary methods
J
/"«?. * <p, dS(£) = J f'drfufjix,
J
T; £, t)cp,(i, t - T) dS(£).
s o s According to these methods, the solution of the elas-
(3.3) todynamic problem formulated in the frequency domain is
performed on the boundary, but without the use of singular
By letting x approach a point x 0 on the boundary from inside integral equations. This is accomplished by expressing the solu-
S, Eqs. (3.1) and (3.2) become the boundary integral equations tion as a linear combination of functions that satisfy the
governing differential equation of the problem and form a
(x
Uj 0 , t) = / « ° * <p, dS(0 + ju»j * b, dS( t ) , (3.4) c-complete system. The coefficients of this representation of the
solution are then obtained by enforcing the satisfaction of the
boundary conditions on the boundary in the least squares sense.
tj(x0, t) - - * 9 , - ( x o . 0 +{tfj * <p, dS(k) + { tjj * b, dV(i), It is obvious that the major difficulty here is the construction of
J Js Jy c-complete systems of solution for various cases of motion in a
systematic and rigorous manner and this has been overcome to
(3.5) a large degree by the pioneering work of Herrera [126]. The

where it is assumed that x 0 is not a corner or edge of S. The

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 Appl Mech Rev vol 40, no 1, Jan 1987
method has been used successfully for the solution of a variety
of wave diffraction problems in two-dimensions by England
et al [110, 111] and Sanchez-Sesma et al [256, 258], and in
three-dimensions by Sanchez-Sesma [257].
Another boundary method is the edge function method
originally developed by Quinlan [246] for elastostatic problems.
This method employs in the solution representation not only
functions that simply satisfy the governing differential equation,
but also functions that in addition have the property of rapidly
decaying with increasing distance from the edges of the
boundary which is approximated by fiat surfaces. The difficulty
here lies in the construction of these special asymptotic func-
tions, but once these have been constructed the problem can be
easily solved with fewer functions than in the previous method.
The edge function method has seen a limited application to
problems of free vibration of plates and shallow shells [215,
228],
3.3. The T-marrix approach
A variety of two- and three-dimensional elastic wave scatter-
ing problems in the frequency domain have been successfully
solved in recent years by the so-called r-matrix approach, first
developed by Waterman [312, 313] for acoustic and electromag-
netic waves and later extended by Waterman [314] and Varadan
and Pao [307] for elastic waves. According to this method the
known incident field, the unknown scattered field and the
Green's function of the problem are expanded in terms of a set
of basis functions, eg, spherical functions, and the integral
representation of the problem is used to construct the transition
or T-matrix which connects the unknown coefficients of the
scattered field expansion with the known ones of the incident
field expansion. The elements of the T-matrix, which consists of
boundary integrals with known integrands (combinations of the
basis functions) are evaluated numerically by the Gauss-
Legendre quadrature formula. More on the method and its
applications can be found in the works of Kristensson and
Strom [174], Bostrom et al [47-49], and especially Varadan et al
[299-306, 243, 175].
3.4. The Bom approximation
Recently, the well known Born approximation in quantum
mechanics for wave diffraction problems has been successfully
applied to plane elastodynamic problems in the frequency do-
main by Mai and Knopoff [183], Gubernatis et al [123, 124]
Chu, Askar, and Cakmak [67-71, 21], Hudson and Heritage
[127], and Kanwal [138]. The method consists in formulating
the problem in integral form as in the direct BEM and then
solving the resulting boundary integral equation in an iterative
fashion. Thus the solution for the displacement field is finally
obtained as a finite sum of successive approximate solutions
(Born series). Very recently, Schuster [263-265] has proposed
two efficient schemes based on the concept of the Born ap-
proximation, namely a perturbed Born series approach and a
hybrid BEM + Born series technique for the solution of acous-
tic (or anti-plane strain in elastodynamics) wave scattering
problems.
3.5. Dynamic BEM based on the concept of mass matrix
During the last few years Nardini and Brebbia [210-214, 55]
were able to develop a new method for free and forced dynamic
analysis of structures which reduces the problem to the solution
of a second order ordinary matrix differential equation with
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Beskos: Boundary element methods in dynamic analysis 9
respect to time of the form
[M]{U}+[K]{U} = {F}, (3.8)
which is the standard form resulting from a finite element or
finite difference formulation of the problem. In Eq. (3.8), how-
ever, the mass matrix [M], the stiffness matrix [K], the external
load vector { F}, and the displacement vector {U} are all
associated with boundary nodal points only, thereby consider-
ably reducing the size of the problem. The formulation starts
with the generalized Maxwell-Betti reciprocal theorem which
finally leads to the boundary integral expression [213]
cki«,- + J/<**/"/ dS-f J ufa dS + p( cki% + Jf t£,U dS
s s \ s
"jkVj/i <«?)*/ = () (3.9)
where u*k and tfk constitute the static fundamental solution
pair of the problem, <*/(/) is defined through the relation
«,.(S,/)=«/(')/'(«) (3-10)
7
with / ( | ) satisfying the static equation
°llm,m + 8„fJ = 0 (3.11)
an
for the unbounded domain and tyji d vi, are the displace-
ment solution and the corresponding tractions to Eq. (3.11).
Discretization of the boundary S in boundary elements suc-
ceeds in writing (3.9) in the matrix form
[H]{U}-[G]{P}+p([H]{^}-[G]{r,}){&}=0.
(3.12)
Finally use of the transformation
{a} = [E]{U}
brings (3.12) into the form given by (3.8) with
[M]=p([H]{^}-[G]{71})[E],
[K]=[H], (3.13)
{F}=[G]{P}.
For the free vibration problem one has {F} = 0 and (3.8)
reduces to the eigenvalue problem
([K]-u2[M]){Uo}=0, (3.14)
where
{U} = {U0}e>«'. (3.15)
This method, which combines the advantages of both the BEM
and the FEM or FDM, has been successfully used for the
solution of various free and forced vibration problems in two-
dimensions. Very recently, a similar method has been reported
by Ahmad and Banerjee [10].
4. DYNAMIC SOIL^STRUCTURE INTERACTION
The very rich and important class of dynamic soil-structure
interaction problems represents a showcase of the most success-
ful applications of the BEM. Indeed the BEM is the ideal
method for treating infinite or semi-infinite elastic bodies which
model the soil medium, because it reduces the spatial dimen-
sionality of the problem by one and automatically takes into
account the radiation condition at infinity, thereby eliminating
the need of nonreflecting boundaries which are essential acces-
sories of domain type of methods such as the FEM or the
 10 Beskos: Boundary element methods in dynamic analysis
FDM. Treatment of the structure can be done either by the
BEM or better by the FEM. In the latter case care must be
exercised in appropriately combining the BEM with the FEM.
This section describes the following applications of the BEM in
dynamic soil-structure interaction.
4.1. Dynamic behavior of underground structures
Both frequency and time domain techniques have been
utilized in conjunction with the BEM in order to determine the
steady-state or transient response of tunnels and caverns of
arbitrary shape to seismic waves or other external loads in a
two- or three dimensional context. Both lined and unlined
cavities in the infinite or half-plane medium have been consid-
ered.
The most important case of seismic waves impinging on
lined tunnels is treated as a wave diffraction problem by em-
ploying the BEM for both the soil and the liner which are then
coupled together at their interface through compatibility and
equilibrium. For infinite soil extent one of the infinite space
Green's function given in section 1 is used, while for the case of
the half-plane or half-space, either special Green's functions
satisfying the traction free boundary conditions, or the infinite
space Green's function can be used. In the former case no
surface discretization is required but such discretization is cer-
tainly needed in the latter eventhough it is restricted to a rather
small finite portion of the free surface around the region of
interest.
Among those works dealing with the use of the BEM in
dynamic analysis of underground structures one can mention
those of Niwa et al [216, 217], Kobayashi and Nishimura
[155-158, 160, 164, 169], Tan [283], Manolis and Beskos [184,
187], Kitahara et al [149], Hamada et al [125], Kontoni et al
[173], and Vardoulakis et al [308] for two-dimensional frequency
domain cases, Ohtsu and Vesugi [230] for anti-plane motion in
the frequency domain, Niwa et al [218] and Manolis [187] for
two-dimensional time domain cases, Rice and Sadd [248] for
anti-plane motion in the time domain, Rizzo et al [250-253],
Kitahara and Nakagawa [151, 208], Banerjee et al [28-30] for
three-dimensional frequency domain cases, and Manolis [188]
and Banerjee et al [28-30] for three-dimensional time domain
cases.
4.2. Wave diffraction by surf ace topography
Problems of wave diffraction by surface irregularities, such
as trenches, canyons, near surface inclusions, or soil layers of
finite extent, are of major importance in geophysics, seismology,
and civil engineering. These problems have been treated in a
two-dimensional context by either the conventional frequency
domain direct BEM by Wong et al [323, 324] and Toki and Sato
[291] or by other special frequency domain boundary methods
such as those outlined in section 3 [325, 326, 97-107, 254-256,
258, 110, 111, 67-71, 21]. Recently, three-dimensional appli-
cations involving P and SH waves have also been considered
[127, 257, 226]. Various kinds of waves, such as SH, resulting in
anti-plane strain motion [323, 324, 98,102,104,67-70, 254-256,
110, 111, 291] and P, SV, and Rayleigh waves, resulting in
plane-strain motion [325, 326, 97-101, 103, 105, 107, 71, 21,
127, 257, 258] have been treated. The work of Kobori and
Shinozaki [170-172] dealing with the effects of irregular site
conditions on the structure seismic response should also be
mentioned.
Very recently the interesting engineering problem of passive
or active vibration isolation of structures from ground trans-
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Appl Mech Rev vol 40, no 1, Jan 1987
mitted surface wave by means of open or infilled trenches has
also been solved by the frequency domain direct BEM by Emad
and Manolis [109] and Beskos et al [35, 36, 38, 40] in two-
dimensions and by Dasgupta et al [83, 84] in three-dimensions.
It is interesting to mention that in all the above references the
source of disturbance, eg, foundation or blast loading, is treated
as part of the whole problem and no assumption is made about
the kind of wave that comes from the source and is diffracted
by the trench as it is the case, eg in References 97-99, 325, and
326.
4.3. Foundations
In this section the direct BEM in the frequency or time
domain as applied to the most important dynamic soil-struc-
ture interaction problem, that of the dynamic analysis of foun-
dations, is taken up. In the following, as an example, the
procedure for obtaining the dynamic response of three-dimen-
sional surface rigid massless foundations of arbitrary shape to
external forces will be briefly outlined. The starting point in the
formulation of the problem is the boundary integral equation
governing the soil behavior in the time [Eq. (1.27)] or the
frequency [Eq. (1.46)] domain. This equation is supplemented
by the compatibility equation
{u}=[S]{D} (4.1)
and the equilibrium equation
{P}-[K]{t} (4.2)
at the soil-foundation interface, where {u} is the displacement
vector corresponding to the centers of the interface boundary
elements, { Z>} is the rigid body displacement vector of the
foundation, { P } is the vector of the externally applied loads,
and (t} is the vector of the unknown interface tractions. The
above equations are assumed to be valid at the N time step for
a time domain formulation or to be transformed quantities for
a frequency domain formulation. Solution of the system of Eqs.
(1.27) or (1.46), (4.1), and (4.2) results in obtaining the vectors
{D} and {/}. The problem of the foundation response to
obliquely incident seismic waves is solved by a similar approach
which starts with the relation
{ « } - { « , • } + {«,}, (4.3)
indicating that the total displacement field {u } is the superposi-
tion of the incident and the scattered fields {»,} and {us},
respectively.
Dominguez [89, 90] was apparently the first to treat two- and
three-dimensional surface or embedded rigid foundations sub-
jected to external forces or seismic waves by the frequency
domain direct BEM. Karabalis and Beskos [33, 139] (three-
dimensional case) and Spyrakos and Beskos [34, 278] (two-
dimensional case) were also the first to study the same problems
and in addition to consider the effect of the flexibility of the
foundation on the response, by the time domain direct BEM.
Among other works on the subject one can mention References
1-4, 13-15, 91, 93, 128, 129, 316, 317, 261, 293, and 309 and
References 128, 129, 143, 205, 232, 233, 251, and 259 for
treating the soil-foundation interaction problem in the
frequency domain under conditions of plain strain and three-
dimensionality, respectively, and References 275-280, and 141
and 139-142, 144-146, and 275 for treating it in the time
domain under conditions of plain strain and three-dimensional-
ity, respectively. Very recently, two- and three-dimensional
flexible embedded foundations have been considered by
Spyrakos et al [277] in the time domain and Gaitanaros and
Karabalis [118] in the frequency domain, respectively. Matsuoka
 Appl Mech Rev vol 40, no 1, Jan 1987
et al [197] and Gomez-Lera et al [120] have developed special
axisymmetric fundamental solutions for the effective treatment
of the steady-state motion of axisymmetric foundations.
The determination of the response of a three-dimensional
superstructure founded on a half-space soil medium to obhque
seismic waves is described in detail in the comprehensive work
of Luco and Wong [179, 189], while a brief description of the
same subject can also be found in Karabalis and Beskos [146],
4.4. Dynamic analysis of piles
The dynamic analysis of piles and pile groups embedded in
the half-space has been recently treated in the frequency do-
main by Aubry and Chapel [22], Davies et al [85], and Sen et al
[266] for homogeneous soil, and Sen et al [267], Davies et al
[86], and Chapel and Crepel [66] for nonhomogeneous (layered)
soil medium. While References 85, 266, 267, and 86 deal with
external forces, References 22 and 66 deal with seismic excita-
tions. The pile structures encountered in this problem are
idealized as beams experiencing both axial and transverse mo-
tion and their behavior is conveniently described by the dy-
namic stiffness matrix approach, while the soil medium is
assumed to be a linear elastic semi-infinite body whose behavior
is described through a BEM formulation. Application of com-
patibility and equilibrium conditions at the pile-soil interface
enables one to determine the contact stresses and from then on
the whole behavior of the pile.
4.5. Combination of BEM and FEM
In many dynamic soil-structure interaction problems it is
advantageous to combine the BEM with the FEM in an effort
to produce an optimum numerical hybrid scheme which is
characterized by the main advantages of the two methods and
by reduction or even complete elimination of their respective
disadvantages. Thus, for example, the structure can be treated
by the FEM as being a finite body with a small volume to
surface ratio, while the soil by the BEM due to its semi-infinite
extent. The FEM can also be used for the modelling of not just
the structure but a small finite portion of the soil surrounding
the medium as well. In this way one is able in a time domain
formulation to consider nonlinear behavior of the structure
a n d / o r the surrounding soil.
Toki and Sato [289, 290], Underwood and Geers [295],
Bielak et al [44, 45], Murakami and Luco [207], Mita and
Takanashi [203], Miura et al [204], Kitahara et al [150], Goto
et al [122], Kobayashi et al [161,162], Mathews and Geers [196],
and Ohtsu [231] have utilized certain combinations of the BEM
with the FEM for the solution of two-dimensional soil-struc-
ture interaction problems in the frequency domain.
Ottenstreuer [233], Kobayashi et al [165,166,168], and
Gaitanaros and Karabalis [118] have considered three-dimen-
sional soil-foundation problems in the frequency domain, while
Spyrakos and Beskos [34, 277, 279] and Karabalis and Beskos
[33, 142] considered two- and three-dimensional ones, respec-
tively, in the time domain, with the aid of the BEM for the soil
medium and the FEM for the foundation. The high complexity
of the problems considered by Kobayashi et al [165, 166, 168]
clearly demonstrates the potential of this hybrid methodology.
4.6. More realistic soil models
When the BEM is used for modelling the soil medium the
usual assumption of a homogeneous, isotropic, and linear elas-
tic half-plane or half-space is made. However, the idealistic soil
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Beskos: Boundary element methods in dynamic analysis 11
model might be inadequate in many cases involving strong
inhomogeneites, anisotropy, energy dissipation, or porosity
effects even in the linear range of material behavior. More
realistic linear soil models are those that can incorporate some
or all of these additional characteristics. A thorough discussion
on this subject can be found in Karabalis and Beskos [146] on
which the following comments are based.
Linear viscoelastic material behavior can be very easily
taken into account in a frequency BEM formulation with the
aid of the correspondence principle [185, 209, 162, 168, 169],
Along these lines, an approximate way of taking into account
soil viscoelasticity, which is very much used in practice, is to
replace the elastic constants X and p by the complex ones
X * = X ( l + 2/g), u* = (i(l + 2ig), (4.4)
where g is the hysteretic damping coefficient which is assumed
independent of frequency [38, 144], Time BEM formulations
taking into account viscoelastic material behavior have been
also reported [114]. These formulations, however, are restricted
to finite bodies and they cannot be used for the semi-infinite
soil medium. Of course, fundamental solutions for a viscoelastic
material constructed in the frequency domain can be used in
the time domain in numerical form with the aid of a numerical
transform inversion [320].
Soil inhomogeneity due to layering is a subject that has
received considerable attention during the last few years. For
the case of horizontal soil layers fundamental solutions in the
frequency domain have been recently constructed by Luco and
Apsel [181, 19], Kausel [147, 148], and Wolf and Darbre [316,
317]. For the case of layers with arbitrary geometry a discretiza-
tion of their interfaces in a BEM formulation is probably the
only solution. However, this approach requires a lot of com-
puter memory and so far has been applied only to two-dimen-
sional problems in the frequency domain involving one [1, 4,
309], three [102], or more (up to 18 horizontal) [40] top layers.
Another way of treating inhomogeneous bodies in elas-
todynamics is by employing the fundamental solution of the
homogeneous body in the formulation and regarding the result-
ing volume integrals as equivalent body forces. This idea was
first proposed and applied by Butterfield [64] to the solution of
potential flow problems and first described without applications
by Tanaka and Tanaka [285] in connection with elastodynamic
problems. Niwa et al [224, 225, 227] were the first to success-
fully apply this idea to some plane elastodynamic problems by
employing the homogeneous elastostatic fundamental solution
in their formulation. However, this method, which requires an
interior discretization in addition to the boundary one, is practi-
cally restricted to finite bodies and hence cannot be used for the
semi-infinite soil medium.
Soil anisotropy can, in principle, very easily handled by the
BEM if the appropriate fundamental solution is known. The
fundamental solution for at least one particular kind of ani-
sotropy, that of the transverse isotropy, is available in the time
domain in the works of Payton [239-242]. Use of Payton's [242]
fundamental solution in a time domain direct BEM has very
recently enabled Kobayashi et al [167] to solve some simple
anisotropic half-plane problems. The work of Niwa et al [227]
treats the anisotropic case in the same manner as the in-
homegeneity described previously in connection with Ref-
erences 224 and 225.
While in all the previous three cases of inhomogeneity,
anisotropy, and viscoelasticity the main problem was the con-
struction of the appropriate fundamental solution and the BEM
formulation was the same as in the case of homogeneous,
isotropic, elastic material, the case involving fully saturated
 12 Beskos: Boundary element methods in dynamic analysis
poroelastic soil model of the Biot [46] type requires a knowledge
of not just the fundamental solution but in addition the integral
formulation of the problem. Information concerning the funda-
mental solution of the problem can be found in Paul [237, 238]
and Burridge and Vargas [62], while a BEM formulation that
employs the Laplace transform with respect to time is available
in a recent paper by Predeleanu [244]. However, no one has yet
attempted to proceed towards obtaining a numerical solution
by the BEM.
5. DYNAMIC PROBLEMS IN FRACTURE MECHANICS
This section deals with two important areas of dynamic
fracture mechanics, namely the spontaneous crack propagation
and the wave diffraction by cracks. In both cases the cracks are
assumed to exist in linearly elastic bodies of infinite or semi-
infinite extent. Both classes of problems have been successfully
solved by the BEM as it is briefly described in the following
subsections:
5.1. Crack propagation
In an effort to develop earthquake source mechanisms many
geophysicists during the last few years were very busy studying
the phenomenon of spontaneous rupture propagation in linear
elastic infinite bodies by the direct time domain BEM. Ap-
parently the first one to determine by this approach the dis-
placement and stress field due to the propagation of two
dimensional cracks was Burridge [61] whose analysis was, how-
ever, limited to the case of fixed velocity of crack-tip propa-
gation. Later Das and Aki [80] solved two-dimensional (plane
and anti-plane motion) crack propagation problems with the
time domain direct BEM in conjunction with a critical
stress-jump fracture criterion which enables one to determine
during the solution process the rupture velocity from the condi-
tions of strength distribution on the crack. Das [81, 82] ex-
tended this method to three-dimensions and shear cracks of
arbitrary shape. A similar work on the subject of a theoretical
nature without numerical results is that of Archambeau and
Minster [20].
5.2. Wave diffraction by cracks
In recent years a considerable amount of research has been
directed towards the solution of problems involving wave
diffraction by flaws (cracks or inclusions) in elastic media in an
effort to improve nondestructive evaluation techniques. The
BEM is ideally suited for this class of problems and it has been
successfully applied in special forms for the solution of two-
and three-dimensional problems in the frequency domain and
for unbounded or partially bounded elastic bodies by Achenbach
et al [6-9, 57,16,17, 281], McMaken [182], and Van der Hijden
and Neerhoff [297, 298], among others. One such special BEM
[6, 7, 57] consists of representing the scattered displacement
field u in terms of two displacement fields <p and 4> that satisfy
(3.6) and can be expressed in integral form according to (3.7),
with <7i and q2 having the physical meaning of dislocation
densities. Subsequent use of the boundary conditions of the
problem leads to a system of singular integral equations with
the integration defined along the axis of the crack. Due to the
very simple geometry of most of the cracks the integration path
is usually a straight line segment and the integration is done
numerically by employing special quadrature rules [112] which
treat the whole straight boundary as a single boundary element.
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Appl Mech Rev vol 40, no 1, Jan 1987
6. DYNAMIC ANALYSIS OF BEAMS, MEMBRANES,
PLATES, AND SHELLS
While in all previous sections the applicability of the BEM
to exact elastodynamic analysis was amply demonstrated, this
section serves to show that the BEM can also successfully be
used in conjunction with approximate elastodynamic theories,
such as those governing the dynamic behavior of beams, plates,
and shallow shells. A review article on this subject that has been
recently written by Beskos [37] can be consulted for more
details.
Free and forced flexural vibrations of Bernoulli-Euler type
of beams have been very recently numerically studied with the
aid of the direct BEM by Providakis and Beskos [245], The free
vibration case was treated as an eigenvalue problem, while the
forced vibration one was treated with the aid of Laplace trans-
form with respect to time. The effects of a constant axial force,
viscoelastic damping, and an elastic foundation on the response
were also considered. For example, the governing differential
equation for free flexural beam vibrations is
j-j-\4y = 0, \4 = mo>2/EI, (6.1)
where y is the transverse displacement, co is the frequency, m
is the mass per unit length of the beam, and EI is its flexural
rigidity. The integral representation of the problem takes the
form [245]
y{H)=[SG-MF+OE-yD\'Q,
(6.2)
<?(£) = [SG'~ MF' + BE' -yD']'0,
where #(£) = dy(i;)/di;, G = G(x, £, A) is the free space Green's
function of the problem, primes indicate differentiation with
respect to £, / is the length of the beam and
M=M(x) = - EI( d2y/dx2),
5 = 5(x)= -El(d3y/dx3),
F=F(x,£,\)=dG/dx, (6.3)
2 2
E=E(x,£,\) = -El(d G/dx ),
D = D(x,£,\) = ~El(d3G/dx3).
Eqs (6.2) are evaluated at the boundary points £ = 0 and £ = /
and through application of the specific boundary conditions of
the problem one finally obtains the eigenvalue problem
[H(\)]{y}=0 (6.4)
to be solved for the eigenfrequencies A and eigenmodes {y}.
The main conclusion of this work was that for one-dimensional
problems the BEM loses its major advantage of dimensionality
reduction and appears to be at best equally efficient with special
FEM's (dynamic stiffness matrix methods in frequency [72] or
Laplace transform domain [32]).
The governing differential equation for membrane free vibra-
tions has the form
V2w + K2w = 0, K2 = u2(m/s) (6.5)
where w is the transverse displacement, co is the frequency, m
is the surface density, and s is the surface tension. Equation
(6.5) is a Helmholtz equation like Eq. (1.42), which governs free
anti-plane elastodynamic motion or linear acoustics and its
integral representation was discussed in section one. Numerical
results concerning free vibration analysis of membranes can be
found in Hutchinson [130, 133], while additional information
can be drawn from acoustics, eg, the work of Tai and Shaw
[282].
 Appl Mech Rev vol 40, no 1, Jan 1987 Beskos: Boundary element methods in dynamic analysis 13

The governing differential equation of free flexural vibra-

tions of thin elastic plates is

V 4 w- X4w = 0, mu2/D, (6.6)

H / ^ = 0.75
where w is the lateral plate deflection, m is the mass per unit
surface, <o is the frequency, and D is the flexural rigidity of the
plate. The following brief outline of the direct BEM formula-
tion of the problem is based on Wong and Hutchinson [322]
and Niwa et al [219]. For more details the review article of
Beskos [37] can be consulted. Equation (6.6) can be reduced to /""*^^^^ >
an integral form by using the Rayleigh- Green identity with K
corners, ie,

f (Gv4w~-w\/4G) dV
JV

dw
Vn{G)w-M,XG)
dn
dG
GV„(w) dS
I (M,(w))G~(M,(G))w, (6.7)
k=l
where Vn(w), Mn(w), M,(w), dw/dn, and n are the effective
shear, normal bending moment, twisting moment, normal slope,
and outward normal vector, respectively, ( • ) represents the
discontinuity jump in the direction of increasing arc length, and
G is the fundamental solution or Green's function of the
problem which has the form
G(x,i,X) = -^[H^(Xr)^H^(iXr)}, (6.8)
with r = |x — £|. It is easy to see that due to (6.6) and the
definition of G, the volume integral in (6.7) simply reduces to
w. A second independent integral equation is obtained by
taking a directional derivative of Eq. (6.7). These two integral
equations are then brought to the boundary through a limiting
process and the resulting boundary integral equations together
with the boundary conditions of the problem of interest are
solved numerically. Apparently Vivoli and Filippi [310, 311]
were the first to consider free vibrations of plates by the indirect
BEM. Niwa, Kobayashi, and Kitahara [219, 223] and Kitahara
[152] presented the most comprehensive treatment of the prob-
T
H
1
FIG. 1. Normalized horizontal and vertical displacement ampli-
tudes versus distance on the surface of a half-plane for incident
Rayleigh waves in the presence of an elliptical inclusion.
lem by both the indirect and direct BEM, while Bezine [42]
introduced a mixed BEM-FEM approach to study the same
problem. Hutchinson and Wong [131, 322, 132] studied free
vibrations of flexural plates by the direct BEM, while Akkari
and Hutchinson [12] studied the same problem by employing a
boundary method analogous to that of Herrera and co-workers
[126, 110, 111, 256-258] mentioned in section 3. A similar
boundary method had earlier been used by Conway [74, 75] for
some special plate dynamic cases. Finally the works of Nash
et al [215] and O'Callaghan and Studdert [228] based on the
edge function method discussed in section 3 may be mentioned
in connection with free plate vibrations. Forced vibration plate
problems have been solved by Bezine and Gamby [43] by a time
domain BEM and this is probably the only work available on
the subject.
At this point the work of Dominguez and Alarcon [92] and
Niwa et al [222], Nardini and Brebbia [210] and Ahmad

Ubfe — Analytical
o BEM Time
0.02 • BEM Laplace

0.015
y-y-j—o""5—DO

O.0I-

0.0©$'

0.0
0.00a 0.0O4 0.006 ^

FIG. 2. Radial displacement history for a cavity in an infinite space which is subjected to a suddenly applied radial pressure.

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 14 Beskos: Boundary element methods in dynamic analysis Appl Mech Rev vol 40, no 1, Jan 1987

0.5

L^o__J i l i I i j. L i I I

-8 -6 -4- 6 8

FIG. 3. Displacement amplitudes on the free-surface of a half-space due to incident Rayleigh waves in the presence of a spherical cavity.

and Banerjee [10] on harmonic and free vibrations of plates, the edge function method for free vibration analysis of shallow
respectively, under conditions of plane stress can also be men- shells has been, however, reported by Nash et al [215].
tioned. An interesting BEM approach in connection with in-
plane plate vibrations is that of Shaw [271] which considers the
plate as a three-dimensional structure and uses the BEM to
7. NUMERICAL EXAMPLES
reduce the problem to a two-dimensional one thereby accom-
plishing the goal of plate theory ie, the dimensionality reduction This section briefly describes some representative elas-
of the governing equations, without paying the corresponding todynamic applications of the BEM.
price of a physical approximation.
To this author's best knowledge there are no applications of Example 1: Figure 1 shows the normalized surface displace-
the BEM in free or forced vibration analysis of shells. Use of ment ampUtudes due to Rayleigh waves impinging on an ellipti-

FIG. 4. Lateral displacement ampUtudes versus frequency at the FIG. 5. Transverse displacement along a semi-infinite beam sub-
top A of a column embedded in a half-plane and subjected to an jected to a suddenly applied bending moment M 0 at the time t — 5r/c0;
incident SV-wave; Ex/E2 = 10, P i / p 2 = 1.0, vl = v2 = 1/4; 1: column, r = radius of gyration of the beam cross section and c0 = one-
2: soil. dimensional wave propagation speed.

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 Appl Mech Rev vol 40, no 1, Jan 1987 Beskos: Boundary element methods in dynamic analysis 15

V^v • Simpson
o BEM t i m e

0.5

0.4

0.3

0.1

0.0
0.5 1.5 2.0 4.5 3.0
(JR, SS LJ \A} /\E*™

FIG. 6. Angular amplitude versus frequency for the rocking motion of a rigid strip footing due to an incident Rayleigh wave; Rv = vertical
free-field surface displacement due to Rayleigh waves.

cal inclusion embedded in the half-plane as obtained by an
indirect BEM in the frequency domain [101].
Example 2: Figure 2 gives the radial displacement versus
time of a spherical cavity embedded in the infinite elastic space
due to a suddenly applied internal pressure, as obtained by the
direct BEM in both the time and the Laplace transform domain
[29].
Example 3: Figure 3 portrays the displacements on the free
surface of the half-space due to the diffraction of Rayleigh
waves by the presence of a spherical cavity, as obtained by the
direct BEM in the frequency domain [251].
Example 4: Figure 4 shows the lateral displacement ampli-
tude at the top A of a column embedded in the half-plane
subjected to a time-harmonic incident SV-wave, as obtained by
the direct BEM in the frequency domain [164],
Example 5: Figure 5 depicts the transverse displacement
along a semi-infinite beam subjected to a suddenly applied
bending moment under conditions of plane stress, as obtained
by the direct BEM in the time domain [194],
Example 6: Figure 6 provides the variation of the rocking
motion versus frequency of a rigid surface foundation due to
incident Rayleigh waves under conditions of plane strain, as
obtained by the time domain direct BEM [278].
Example 7: Figure 7 depicts the vertical compliance of a
rigid square foundation resting on the half-space as a function
of frequency, as obtained by the direct BEM both in the time
and frequency domains [89,139,146].
Example 8: Figure 8 shows the vertical impulse response of
a square flexible foundation resting on the half-space, as ob-
tained by the time domain BEM-FEM combination for the soil
and the plate, respectively [142],
Example 9: Figure 9 presents the surface displacement am-
plitude versus distance for the passive vibration isolation of a
machine foundation by an open trench under conditions of

VV
0.(6

Karabalis & Beskos

.Wonq & Luco
0.12 Domi-nquez

0.06

0.04

a 0 =bu/c 9
1.0 2.0 3.0 4.0

FIG. 7. Vertical compliance versus frequency for a square rigid surface foundation.

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 16 Beskos: Boundary element methods in dynamic analysis Appl Mech Rev vol 40, no 1, Jan 1987

i A3 CinxKT')
270 - •P(t) kips

240 -
"n aoo

_^^jk (sec«2.f5«(0 - 5 )
12 3 '
2(0
pm
30^30\

(80 30/ /
/ -* *,1
b ^ /

(50
T^Z
A *2 tx
3
K- 0X304

tao -

90 •
I /point 1

60 1 / .point 2

N. ,/ , point 3
30

5/ \/ f^V^X. *
^" 20 £5 30

•30
V (sec!<a.rsK(o"s)
-
FIG. 8. Vertical displacement history of a square flexible surface foundation to a concentrated vertical impulse force; K= £ l /i 3 (l - c 2 )/12(l
vi)ii2b3; 1: plate, 2: soil.

2.0

A(£)
1.6

1.2

0.8

0.4

0.0

FIG. 9. Normalized vertical surface amplitude A = A(£) before and after a trench serving as a barrier to waves generated by the vertical
harmonic motion of a rigid footing; £ = x/LR, T- t/LR, B = b/LR, L = l/LR; LR = Rayleigh wavelength.

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 App! Mech Rev vol 40, no 1, Jan 1987 Beskos: Boundary element methods in dynamic analysis 17

' W(0,t)/5flfD
o o
O.MS
/ \ °
/ \ iFft}
| F(t) F,
§.020
L 1 l i _-
| \° o ai *

0.015

* \o

0.010

f* 1 i
0.005
oneadon
o o o BEM

0
OA 0.2 0.3 0^ t = t(D/ph)14

F I G . 10. Central deflection history of a simply supported circular plate under a vertical impulsive load applied at its center.

plane strain, as obtained by the direct BEM in the frequency
domain [38].
Example 10: Figure 10 depicts the central deflection history
of a simply supported circular plate subjected to a vertical
rectangular pulse at its center, as obtained by the direct time
domain BEM [43].
Much work is needed towards the development of effi-
cient boundary element or hybrid (BEM + FEM) schemes
for dynamic analysis of nonlinear systems characterized
by nonlinear material behavior and/or nonlinear geome-
try. The availability of supercomputers will certainly help
in this endeavor. Adaptive procedures and structural con-
trol studies are also two other areas of needed research.

8. CONCLUSIONS AND RECOMMENDATIONS ACKNOWLEDGMENTS

On the basis of the preceding discussion the following con-
clusions can be drawn and recommendations for future progress
can be offered:
1. The BEM presents distinct advantages over domain type
techniques such as the FEM and the FDM for a wide
class of linear dynamic analysis problems.
2. A remarkable progress has been achieved in the area of
dynamic analysis by the BEM, especially during the last
few years and this progress is continuing with an increas-
ing speed.
3. The dynamic BEM, with very few exceptions, has been so
far restricted to linear elastic or viscoelastic material
behavior and small deformations. Among these excep-
tions one can mention the nonlinear soil-structure inter-
action problem that includes partial basemat uplift treated
by Wolf and Obernhuber [318, 319], the doubly-asymp-
totic BEM of Underwood and Geers [294] for soil-struc-
ture interaction problems involving elastoplastic soil be-
havior, and the dynamic response analysis of plates under
a large deflection theory by O'Donoghue [229].
The author would like to express his appreciation to Dr T A
Cruse for his encouragement and technical assistance and to
Professor G D Manolis for reading the manuscript and provid-
ing useful suggestions. Thanks are also due to the reviewers for
their helpful comments and to Mrs H Alexandridis for her
conscientious typing of the manuscript.
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Dimitri E Beskos was born in Athens, Greece in 1946. He
received his Civil Engineering Diploma from the National
Technical University of A thens, Greece in 1969 and his MS
and PhD degrees from Cornell University in 1971 and 1973,
respectively, both in Applied Mechanics. After serving for one
year (1973-74) as an Instructor at Cornell University, he
joined the Civil and Mineral Engineering Department at the
University of Minnesota in 1974, where he stayed until 1981
on a ful/-time basis and until 1984 as a Visiting Professor. In
1981 he was elected Professor of Civil Engineering at the
University of Patras, Greece, where he has been ever since. In
1985-86 he spent his sabbatical as a Visiting Professor at
Colorado State University, Department of Civil Engineering,
Dr. Beskos maintains research interests in the areas of ap-
plied mechanics, structural engineering, and numerical meth-
ods, especially boundary element methods. He has more than
60 publications in refereed journals, he has co-edited two
books on soil-structure interaction, he has edited two books
on boundmy elements, and he is a Managing Editor for the
journal Computational Mechanics. He is a member of the
ASCE and its Electronic Computation Committee, the
American Academy of Mechanics, and the International As-
sociation for Computational Mechanics. He is also a reg-
istered Civil Engineer in Greece and a registered Structural
Engineer in the state of Minnesota.