Modeling and Computing for Geotechnical Engineering An Introduction M.S. Rahman North Carolina State University Department of Civil, Construction and Environmental Engineering Raleigh, North Carolina, USA M.B. Can Ülker Istanbul Technical University Earthquake Engineering and Disaster Management Institute Istanbul, Turkey p, A SCIENCE PUBLISHERS BOOK MATLAB* and Simulink* are trademarks of The MathWorks. Inc. and are used with permission. The MathWorks does not warrant the accuracy of the text or exercises in this book. This book’s use or discussion of MATLAB* and Simulink* software or related products does not constitute endorsement or sponsorship by The MathWorks of a particular pedagogical approach or particular use of the MATLAB* and Simulink* software. 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University, Engineering and Disaster Management Institute, Istanbul, DDeessccrriippttiioonn:: FFiirrsstt EEddiittiioonn.. || BBooccaa RRaattoonn,, FFLL :: TTaayylloorr && FFrraanncciiss,, 22001166.. || Turkey. IInncclluuddeess bbiibblliiooggrraapphhiiccaall rreeffeerreenncceess aanndd iinnddeexx.. Description: Boca Raton, FL : CRC Press, Taylor & Francis Group, [2018] | "A IIddeennttiiffiieerrss:: LLCCCCNN 22001166002288226611|| IISSBBNN 99778811449988771199008877 ((hhaarrddbbaacckk)) || IISSBBNN 9977881144 99 88s77c11ie99n00c99e44 p((eeu--bbblooisoohkke))rs book." | Includes bibliographical references and index. SSuubbjjeeccIdttsse:: nLLtCCifiSSeHHrs:: :TT LrrCaannCssNppoo 2rr0ttaa1tt8iioo0nn11.. ||9 8TT1rr aa|nn IssSppBooNrrtt aa9tt7iioo81nn4----9PP8ll7aa7nn1nn6iinn72gg.. (||h IIannrttdeebllllaiiggceeknn)tt ttrraannssppSoourrbttaajettciiootnns: ssLyyCssttSeeHmm:ss G.. eotechnical engineering--Design and construction. | CCllaassssii ff ii Gccaaettoiiootnnec:: LLhCCniCCc aHHl EEen1155g11in ..eJJ33e55r66in 22g00-11-M66 ||a DDthDDemCC a33t88i88cs----.ddcc2233 LLCC rreeccCoolrradds saaivvfiaaciiallaatbbiolleen :aa ttL hhCttCttpp Tss::A////7llcc0cc5nn ...llRoo2cc7..gg 2oo0vv//122800 |11 66D00D2288C22 6662114.1/510285--dc23 LC record available at https://lccn.loc.gov/2018011981 VViissiitt tthhee TTaayylloorr && FFrraanncciiss WWeebb ssiittee aatt hhttttpp::////wwwwww..ttaayylloorraannddffrraanncciiss..ccoomm aanndd tthhee CCRRCC PPrreessss WWeebb ssiittee aatt hhttttpp::////wwwwww..ccrrccpprreessss..ccoomm Dedicated to My Wife: Nuzhat for her encouragement and support My Children: Feraz & Asra, Akef & Sadia and Asem & Soha for their love and respect My Grand Children: Zaki, Noor and Tawfiq for being the hope and meaning of the future! M.S. Rahman Fidan: my lovely wife, the love of my life and my best friend whose constant support and immense patience have made this book possible Peren Candan: my precious little daughter, my PeCan pie, my everything whose birth has made my life such a blessing! M.B. Can Ülker MATLAB® codes and MAPLE® worksheets are available for those who have bought the book. Please contact the author at [email protected] or [email protected]. Kindly provide the invoice number and date of purchase. Acknowledgements This book has evolved from our lecture notes for an introductory graduate course on ‘Modeling and Computing for Geotechnical Engineering’. While teaching this course we have made use of various resources, which we would like to acknowledge. Here, we wish to mention some of these. The works of late professor John Booker and his colleagues (Booker and Small, 1985) have inspired the chapter on the Semi Analytical Method. For the chapter on the Finite Difference Method, we have borrowed materials from G.D. Smith (1975), and C.S. Desai and J. Christian (1977). For the chapter on the Finite Element Method, we have referred to J.N. Reddy (1993), and borrowed, modified and adapted a few MATLAB® programs from Y. Hwon and H. Bang (1996). We would also like to thank our graduate students who helped us in this book, namely Giray Baksı for sketching most of the crucial figures and Esra Tatlıoğlu for checking the overall format. Our sincere thanks go to Vijay Primlani of CRC for all he did to keep us engaged in this adventure of ours. Preface Modeling and computing are now frequently used in Geotechnical Engineering. Often readily available computer packages are used for the analysis of real world geotechnical problems, and the results from these, along with traditional methods supported by engineering judgement, form the basis for the safe and economic design of geotechnical engineering systems. This book has been written primarily to introduce the basic aspects of ‘modeling and computing’ for geotechnical problems to those who do not have adequate background in this area. It is based on the lecture notes prepared during the teachings of a lower level graduate course with the same title in the Department of Civil, Construction and Environmental Engineering at North Carolina State University and also taught with a slightly modified name in the Institute of Earthquake Engineering and Disaster Management at Istanbul Technical University. We believe this book will be quite useful to both graduate students and practicing geotechnical engineers who want to acquire basic knowledge of modeling and computing and make use of them in solving important problems. It will also facilitate their learning of advanced topics and motivate them in adapting such topics in their routine calculations, either through the use of various computer packages commonly available in practice or by direct implementation of the underlying theories into computer programs. There are three major sections in the book presenting the necessary elements of modeling and computing for a geotechnical engineering problem. The first section titled “Basic Mechanics” provides a review of the basics of continuum mechanics including states of stresses and strains as well as physical laws yielding the equations governing the static response of geotechnical engineering systems. In the second main section titled “Elemental Response: Constitutive Models”, four types of such models are discussed: Chapter 4 (Elasticity), Chapter 5 (Plasticity) and Chapter 6 (Viscoelasticity and Viscoplasticity). In the third section, “System Response: Methods of Analyses”, there are four chapters: Chapter 7 (Analytical Methods), Chapter 8 (Semi-Analytical Methods), Chapter 9 (Finite Difference Methods), and Chapter 10 (Finite Element Method). The focus in this last section is on the formulation of mathematical models for some frequently encountered geotechnical engineering problems as well as the analytical and numerical methods utilized for solving associated governing equations. The solution procedures are subsequently implemented into a number of computer programs, which are developed using the software packages; MAPLE® and MATLAB®. Both packages are increasingly used in many engineering institutions and also in practice, thus we believe many readers will find these programs quite useful. Please note that the codes placed in the book may look different and require adjustment of some of the lines due to margins. We hope