Soil DynamicsandEarthquakeEngineering15 (1996) 211-222

0267-7261(94)00055-7 1996 Elsevier Science Limited Printed in Great Britain. All rights reserved 0267-7261/96/$15.00

ELSEVIER

Scattering of vertically-incident P-waves by an embedded pile

Feng Ji & Ronald Y.S. Pak
Department of Civil, Environmental and Architectural Engineering, University of Colorado, Boulder, CO 80309-0428, USA

(Received 2 June 1994; accepted 18 November 1994) An exact theoretical formulation is presented for the analysis of a thin-walled pile embedded in an elastic half-space under vertically-incident P-wave excitation. In the framework of three-dimensional elastodynamics and a shell theory, the axisymmetrical wave-scattering problem is shown to be reducible to a set of Fredholm boundary integral equations. With the incorporation of the singular characteristics of the waveinduced contact load distributions into the solution scheme, a computational boundary element method is developed for a rigorous treatment of the seismic soilstructure interaction problem. Typical results for the dynamic contact load distributions, displacements, complex-valued foundation input motion functions, and resonant pile foundation response are included for direct engineering applications.
Key words: soil-structure interaction, scattering, input-motion function, pile

foundation, load-transfer, foundation dynamics, seismic loading, boundary element, mixed boundary value problem singularity. 1 INTRODUCTION In seismic soil-structure interaction modeling, the determination of the dynamic response of embedded foundations under different wave incidences is a subject of practical importance. With a solution for the underlying scattering problem and the dynamic foundation compliance, for instance, a complete buildingfoundation-soil interaction analysis involving deep foundations can be formulated by means of the substructure method. 6 One the seismic performance of piles and caissons, only limited analytical results are available to date as in Flores-Berrones and Whitman, 2 Wolf and Von Arx, 12 Gazetas, 3 M a m o o n et al., 7 and Kaynia and Kausel. 5 While they have provided considerable insights into the problem, these studies all involve approximations of one kind or another on the modeling of the pile, the soil medium and their mechanical interaction. Owing to various mathematical complexities, exact treatments in the context three-dimensional elastodynamics of such aspects as the spatial load-transfers, the interfacial kinematic and traction compatibilities, and the singular behavior of contact loads at the pile-soil interface have not yet been derived. To provide a more definitive understanding and a practical solution for this class of dynamic soil-foundation interaction and wave-scattering problems, a rigorous analysis which can be cast in a general computational framework would
211

clearly be of fundamental interest. Apart from its intrinsic theoretical and practical values, such kinds of developments can provide a rational basis upon which the validity and accuracy of current and future approximate solutions can be assessed. In this paper, a mathematical treatment in this category for the axisymmetric problem of a thin-walled pile of finite length under a verticallyincident P-wave excitation is presented. In the context of three-dimensional elastodynamics and a shell theory, an exact formulation for the seismic problem is shown to be feasible in the form of a pair of weakly singular boundary integral equations on the resultant interfacial contact load distributions. By virtue of a rational computational procedure which can incorporate the singular characteristics of the solution, a comprehensive set of numerical results pertaining to the seismic soil-pile interaction problem is generated as illustrations. 2 MATHEMATICAL FORMULATION OF SEISMIC P I L E - S O I L I N T E R A C T I O N This investigation is concerned with the development of a rigorous treatment for the seismic response of a thinwalled pile under vertically-incident compressional waves. To establish a general analytical framework relevant for both long and short embedments, the tubular pile is modeled as an open-ended cylindrical shell of radius a, length l and thickness h << a, and is further taken to be

212

F. Ji, R.Y.S. Pak

vertical and radial contact stresses acting on the lateral surfaces (see Fig. 1). In terms of the vertical and radial displacements, the strain components at the mid-plane
are OWz Wr

N z

k
y
,

jo; "
dO

Qz

Mz

III
Ne

2 '
P~ Mz+clM Qz+dQz N,+dN Z

ez 0--T' e0 = - - ' a

(7)

For an isotropic linearly elastic shell, the stress resultants are given by

ez " ~z

Nz = D1 (ez + UeeO), No = Dl (Co + Vez),

03 Wr Mz = D 02 w~ Oz 2 , Qz = D ~z 3 ,

(8)

Z,& z

Fig. 1. Formulation of a thin shell theory. (a) Coordinate system and (b) a differential shell element.

(9)

where fully embedded in, and continuously bonded through its interior and exterior boundaries to a soil medium which can be represented as a homogeneous, isotropic, linearly elastic half-space in {xlz > 0}. With reference to Fig. 1, the axial and radial displacements of the shell are designated by Wz and Wr; the axial, angular, moment, and shear stress-resultants per unit length acting on a differential shell element are denoted by Nz, No, Mz and Qz, respectively. In this study, an arbitrary time-harmonic plane wave incidence and a free-head condition for the pile with Nz(0) = 0 Mz(0) = 0 (1) (2) (3)
2#eh #eh3 (10)

D1 - (i 7 ~ e ) '

D -- 6(1 -/ffe~'

with #e and Ue being the shear modulus and Poisson's ratio of the embedment, respectively. For time-harmonic loading and motion, one may express pz(Z, t) = pz(z)e i~t, pr(Z, t) : pr(Z)e iwt, Wz(Z , t) = Wz(Z)e iwt, etc. whose time factor e i~t will be omitted henceforth for brevity. For the axisymmetric pile problem of interest, it can be shown that the general displacement response of the shell due to the combined contact and inertial loads can be expressed as

Qz(O) = 0

Wr(Z) = o ~(Z;S)(pr(S) -- pehJw~(s))ds

-IWZr(Z;S)(pz(S)- #eh~2Wz(s))ds, (11)

I'

are considered. Together with the dynamic compliance of the cylindrical embedment, the solution to the foregoing elastodynamic problem will permit an easy determination of the wave-induced axisymmetric response of a pile with an arbitrary pile cap or a superstructure by the principle of superposition in linear analysis. The proposed boundary conditions also represent a convenient configuration for instrumented experimental pile studies.
2.1 Dynamic response of a shell under axisymmetric distributed loads

Wz(Z) =

j.,

0 wr(z;S)(Pr(S) -- pehc2Wr(X))ds

^z . + I i COz(Z,S)(pz(S) - p e h J w z ( s ) ) d s + wz(O),

(12)
provided

:0
In modeling the pile as a thin circular cylindrical shell under axisymmetric vibration, the governing equations of motion for the embedment are 4

/13/

ONz Oz

h 02 Wz
Pz = Pe ~-~ (4) (5) (6)

OQz + l N o + P r w---f- a OMz Oz Qz = 0

= _pe h ~wr - Ot ~-

in view of the zero axial load condition of (1) at the pile head. In (11) and (12), the kernels vJ(z;s)(i,j = r,z), which are given in the Appendix, are the axisymmetric static displacement Green's functions for the shell response in the /-direction due to concentrated ringloads of uniform distribution acting at z = s in the jdirection. 11
2.2 Scattered motion in soil medium

where Pe is the mass density of the shell, and pz(Z, t) and pr(Z, t) are respectively the resultants of the distributed

Under a vertically-incident plane time-harmonic P-wave, the free-field response of a half-space in absence of the

Scattering of vertically-incident P-waves by an embedded pile

pile can nominally be given by represented by (14)

213

uf (z, t) = u f cos (kaz)c i~t,

uf(z, t) = o,

Uz(r, z) =

fi;(r, z; S)pr(s)ds + + uf(z),

fiZ(r, z; S)pz(s)ds
(23)

where uf represents the modulus of the incident wave. To account for the scattering effects of the thin-walled embedment, the total displacement field of the semiinfinite medium generated by the incident excitation can be written as

Ur(r,z) = Ii fir(r,z;s)(s)ds + Ii ft~z(r,z;s)pz(s)ds

+ uf(z),

(24)

uz = u{ + uSz,
Ur

(15)
(16)

2.3 Governing integral equations for wave-induced pilesoil interaction

Uf

~ - Ur~

'

where {~, ~ } are the displacements created by the waveinduced interfacial loads between the shell and the soil at {x[r = a, 0 < z < l}. With the imposition of the opposite reactions Ofpz and Pr, which denoted the resultants of the contact load distributions acting on the shell, onto the half-space according to the law of action and reaction, the resulting scattered motion generated in the semi-infinite medium can be expressed as

In addition to the law of action and reaction which led to (23) and (24), a fully-bonded contact condition between the shell and the soil medium must include the kinematic requirements of

wz(z) = lim Uz(r,z), 0 < z < l,

r--, a a-

(25) (26)

Wr(g)

lim ur(r,z), 0 < z < 1,

r~a

uS(r, z) =

f0
1

ftrz(r,z; s);pr(s)ds +

ftZ(r, z; S)pz(s)ds

(17)
1

to complete the mathematical formulation. On the conditions that Pz and Pr are absolutely integrable, the validity of which can be substantiated, it can be shown that the limit processes stipulated in (25) and (26) yield a pair of weakly-singular integral equations in the form of

uS(r,z) = [ fir(r,z;s)pr(s)ds+ [ ~r(r,z;s)pz(s)ds.

jo
jo

(18) In (17) and (18), the four kernels ~(r,z;s) (i,j = r,z) are the axisymmetric half-space displacement ring-load Green's functions
.^z Ir,

Wz(Z) = Ii ftRz(a,z;s)pr(s)ds + li fiZz(a,z;s)pz(s)ds + uf(z), Wr(Z)

(27)

a2(~,z;s)~Jo(~a)Jo(~r)d~,

(19)

Jo'

firR(a,z; S)pr(s)ds +

ritZ(a,z; S)pz(s)ds (28)

+ uf(z),

~(r, z; s) = -- #ss

")'3(~, z; s)~Jo(~a)J 1(~Cr)d~C,

(20)

through the use of (23) and (24). Subject to (11)-(13), (27) and (28) constitute a set of Fredholm integral equations whose solution can be computed.
2.4 Singular characteristics of interfaciai loads

ar(r,Z;S) =

--

~,I0 f~l (~, z; s)~J1

(~a)Jo

(~r)d~,

(21)
(22)

f4~r(r,z; s) - #ss

71 (~, z; s)~J 1(~a)J 1(~r)d~,

whose integrands f'~lQ2, "/1, and % are given explicitly in Pak. 9 Representing the displacement of the half-space in the /-direction due to an embedded ring load at depth s of unit intensity acting in the j-direction, the singular fundamental solutions ffi(r, z; s) (i,j = r, z) can be evaluated accurately by numerical contour integration with the aid of an analytical decomposition of the integrands. 11 By virtue of (17) and (18), the total displacement field of the half-space can thus be

To incorporate the singular characteristics of the dynamic contact load distribution caused by the incident stress wave into the solution process, one may note that (25) and (26) also imply

dwz

dz (z) = lim Ouz (r, z), 0 < z < l,

r---~a O Z

(29)

dwr

d z (Z) =

lim OUr (r, z), 0 < z < l,

r ~ a "~ 0 2

(30)

By means of the theory of analytic functions, the limit statements in (29) and (30) can be shown to be equivalent

214
I , I I

F. Ji, R. Y.S. Pak

3.0

(a)

(a)
"S" S .3= ::f.
v

1.0

, .

- 2.0 -------- -

,u,J,u,,= 107 ,u.,,/,u,, = 1000 /zJ/.z.,=200

,u,,//z,,=lO0

S" -%
1.0

oo
/ z , / / ~ , = 107
- 1.0 --/z,,/,u,,,= 1000

"~

0.0 . . . . . . .

~
-2.0

-- -....
i i

/.z,,/,u,,,=200 ,u,,//z,= 1 O0
i

-1.0

0.0

5.0

10.0

15.0

20.0

0.0

5.0

10.0

15.0

20.0

z/o (b)
.%-.
1.0
:3

z/o
, I

2.0

(b)

1.0

- ---

/z,,/,u,,,= 107
,u,,,//&,= 1000

%" 0.5
o.o

------

,u,J,u,,=200
/%//z,=100

%
0.0
v

- - - - - /.zJ / z , = 1000

E _E

-0.5

--- --

~o/,u.,=2oo
/%/,u.,~= 1 O0

-1.0
0.0

-1.0 20.0 0.0 5.0 10.0 15.0 20.0

5.0

10.0

15.0

z/o Fig. 2. Influence of modulus ratio on resultant vertical dynamic contact load distributions: ue = 0.2, u~ = 0.25, l/a = 20, h/a = 0'05, Ps/Pe = 0"25, a~a/Cs = 0.25. (a) Real part and (b) Imaginary part.

z/a
Fig. 3. Influence of modulus ratio on resultant vertical dynamic contact load distributions: Ue =0"2, Us =0"25, l/a=20, h/a = 0-05, PJPe = 0"25, coa/Cs = 0.5. (a) Real part and (b) Imaginary part. C a u c h y principal value. On writing

to l Ofizz(a, z; S)pz(s)ds + [l Of[z Oz Jo Oz (a, z; S)pr(s)ds

pz(z) -

gz(z) z,~.(l_z)O~ , 0 < R e ( z ) < 1 , 0 < Re(/3..) < 1

(33)

- kdUf sin(kdZ)
f

pr(Z) --

z '~ ( l - z) ~ ' 0 < R e ( a t ) < 1,0 < Re(/3r) < 1, (34)

gr(z)

= J0 ~ - Z (Z; s)(pr(S) -- pehco2Wr(S))ds

4- J 0 0 z

f,O z (z; s)(pz(S ) -- pehw2wz(s))ds

jt
o Oz
(a, z; s)p~(s)ds

(31)

one can derive f r o m (31) and (32) that the orders of the singularities of Pz and Pr are governed by the characteristic equations ( 3 - 4Us) C O S 2 ( ~ ) =4(1-/Is)2(0~i - 1) 2, ( i = r , z ) ,

Jo Oz

[1

(a, z; S)pr(s)ds +

(35)
and cos(Tr/3i) = 0, (i = r, z) (36)

= ['
+

Jo Oz

(z; s)(Pr(S) -- eh 2wr(s))d

(z; s)(pz(S ) - pehw2wz(s))ds (32)

f'O r J00z

provided that the first integrals on the left-hand sides of the foregoing equations are interpreted in the sense of

by virtue of the results in Muskhelishvili, 8 Erdogan, 1 and P a k and Ji 1 for singular integral equations. E q u a t i o n (35) indicates a dependence of the order of singularity at z = 0 of the wave-induced interfacial load on the

Scattering of vertically-incident P-waves by an embedded pile

(a)
0.5
I I I I

215

(a)

1.0

"~

o.o
v

0.0

,//
-0.5

--

IZJIJ., = 10
u.lu,= lOOO

--

---....

/z,//z,=200
p,J,u.,,= 1 O0

c~ - I .0

- --

,u,./#,= /~,/p,,= ,u.,/,u.,=

10

1 ooo 1 oo

8
-2.0 20.0 0.0
I

-----

/%/p,,= 200

-1.0 0.0

5.0

10.0

15.0

5.0

10.0

15.0

20.0

z/o (b)
0.2
I I I

z/o (b)
0.5
I I I I

"s
0 iO i

<

0.3

0.1

- -

#o//~,=

10

-0.1

-0.2-

- -

/z,//%=

107

-----....
-I I

~/~= 1000 ,u.J,u.,,=200 ,u.J,u.~ = 1 O0

I

- - - - - ,u,J p . s = 1 0 0 0 E

-0.3

----....

p,.//z.= 200 ,u.,/~,= 1oo

,

-0.4
0.0

-0.5
20.0 0.0

5.0

10.0

15.0

,.
5 0

10.0

15.0

20.0

z/o
4. Influence of modulus ratio on resultant radial dynamic contact load distributions: re=0"2, us =0"25, l/a=20, h/a = 0-05, pffpe = 0"25, wa/Cs = 0"25. (a) Real part and (b) Imaginary part. Fig.

z/o
Fig. 5. Influence of modulus ratio on resultant radial dynamic contact load distributions: ue =0-2, us =0-25, l/a=20, h/a = 0'05, P,/Pe = 0-25, ~a/Cs = 0'5. (a) Real part and (b) Imaginary part.

Poisson's ratio of the half-space while (36) asserts the presence of a square-root singularity at z = l irrespective of the material parameters of either media.

w:(z) =

UAz)wL
j=l

(40)

3 COMPUTATIONAL PROCEDURE With the order of the singularities known, one may proceed to solve, subject to (11), (12) and (13), the two weakly singular boundary integral equations in (27) and (28) in terms of the regular functions gr, gz, w~ and %. Owing to their analyticity, these functions can be effectively represented by
n

where {Nj(z),j = 1 , . . . , n } are regular shape functions associated with the nodal locations {zj}. In (37)-(40), {g/} and {gj} are the nodal values of the regular parts of the wave-induced interfacial load distributions, and {W~r'} and {wj} are the nodal displacements of the shell, respectively. On substituting the foregoing representations into the governing equations and requiring equality at all nodes, (11), (12), (27), (28), and (13) can be reduced to Iw +
o pehw2Gw = Gg + w:,

gr(Z) = Z NJ(z)gj'
j=l
n

(37)

(41)

gz(Z) = Z Nj(z)g],
j=l

w=Hg+u (38) (a~ -

f,

(42)

pehw2arH)g = pehw2a[u[

(43)

wr(z) = ~ Nj(z)wj,
j=l

(39)

in matrix notation. Here, I is a (2n x 2n) identity matrix; G(2n x 2n) and I](2n x 2n) are influence matrix

216

F. Ji, R . Y . S . P a k
(a)
- -

(a)

1.0 ~/,u,,= 107

0.4
- \\

,u.J,u.,,= 107
p~//~,= 1000

- - - _ _ 0.5

- - - - - /z,,/,u.,= 1 0 0 0

-- -----

L-_L- ~. . . . .

---

~./,~,=2oo
p.,/p. = I O0

0.2.

,u.,/,u.,=200
#~/#,=I00

,"

S"
0.0

....

//"
4'/

0.0

\x

#
-0.5

": L---L7'--L-

Y~

/ \ \ ~/" l

-0.2\ z/
I I

-1.0 0.0
5.0 10.0 15.0 20.0

-0.4 0.0 510

10.0

15.0

20.0

z/o
(b)
0.40
I I I

z/Q
(b)
I 07 1000

0..30

- -

p.,/~z,=

- -

p . ~ / ~ , = 10 7
/~J/%=I000

0.30

-- -- - #.,//~,=

---....

/~,//~,=200 p.,//%,= I O0
~N

0.20-

-. ~ --

"'"

-- -\\ \\ , \ _

~J/zs=200

- - -

~o/i~,= ioo

~" u"

0.20

0.10-

\ " ,\

0.10 E

)=

o.oo-0.10-

- ~

\,
C~

/ ~

E 0.00.

-0.10 0.0

-0.20

5.0

10.0 z/o

15.0

20.0

0.0

5.0

10.0

15.0

20.0

z/o Fig. 7. Influence of modulus ratio on vertical displacement profiles of the shell: ue = 0-2, us = 0.25, l/a = 20, h/a = 0.05, Ps/Pe = 0"25, ~ a / C s = 0"5. (a) Real part and (b) Imaginary part.

Fig. 6. Influence of modulus ratio on vertical displacement profiles of the shell: Ue = 0'2, Us = 0"25, I / a = 20, h/a = 0"05, PJPe = 0"25, ~ a / C s = 0-25. (a) Real part and (b) Imaginary part. a s s o c i a t e d w i t h the shell a n d are defined by

Gi,j = Gi, n+j

i
=

W#(2i, s) s ~ Nj(~) (l - s) # ds,

an+i,j =
(44)

^R s)Nj(~)ds, w~(zi, llo ^Z (Zi, s ) N j ( s ) d s , i = 1 , . . . , n,

W z

]I wr ^Z(~, ~)/d-Nj(s) s?
Jo
s~(l
-

anwin+j
,

d~,

j = 1 , . . . ,n
respectively; H ( 2 n x 2n) is an influence matrix o f the h a l f - s p a c e g i v e n by

a.+i,J = [l ~2f(Zi, S) Nj(S)_ ~ds,

sp

Gn+i, nj =

~Vf(Zi, S) s~'( l _ s) # ds, i = 1 . . . . , n,

j= 1,...,n

Uj(~)

Hi,j---- [l~l#(Zi,S )
Jo

Nj(sZ . d s , s~(l - s) ~ Nj(s)

s~(1 - s) ~ds'

(46)

Hi, n~j Hn+i,j =

Jl1z(2i, S
o

and

[ u: Uj(~) ^R(zi, s)
o

P(l - s/

ds,

Gi,j =

w, ^ a (z,, s)Nj(s)ds,

(45)

Hn+i,./= ' ' Gi, n+j

----

I'
o

~Z(zi, s)

Nj(s) ~ d s , i = s " ( l - s) ~

1,...,n,

i v f (z,, s ) N j ( s ) d s ,

j=

l,...,n.

Scattering o f vertically-incident P-waves by an embedded pile

(a)
0.050
I I

217
I I

(a)
107 1000

0.06 0.040.02 ' ~

- ---

,u.,Jp.,= ,u.JH.,= ,u.,//%=200

- ---

~J~,= p,,,//~,=

107 1000

0.020k 0.010-

- - -

....

#./,u,.= 1oo

----....

p.e//.z = 2 0 0 p . , / # , = ~O0

,\

0.00
n~

">'~'

0.000-0.02-0.010 0.0

5 0

,.

-0.04 20.0 0.0

10.0 z/a

15.0

5.0

10.0 z/o

15.0

20.0

(b)

0.0080
0.0060-

(b)

0.020

'

'

'

- ---

~,/g,=
,U.J/%=

107 1000

,"" - "",
I // -~
-

p.,//% = 107
ge/g,=
1000

"-

____ ....
/f

,U,.//,4 = 2 0 0 ,u,,/,U,,= 1O0

~"

0.010-'[ .[I 0.000

/',/ ,,", /

"" "\x

_ _ _ _ ,u,J/%=200 \"r- - /"/'e/'U"= I O0

S"

0.0040-

/
E 0.0020l 0 .0 0 O O 'k I I ~[
/

. . . .

~ ~ ~

"\~

-0.0020 0.0

5.0

10.0 z/o

15.0

20.0

0.0

5.0

10.0 z/a

15.0

20.0

Fig. 8. Influence of modulus ratio on radial displacement profiles of the shell: u~ = 0.2, Us = 0.25, l/a = 20, h/a = 0"05, Ps/Pe = 0'25, wa/Cs = 0"25. (a) Real part and (b) Imaginary part.
n The vector w(2n 1)= {w],...,Wr, W1z , . . . , w ~n} T is the nodal displacement array; g(2n 1)= { g ] , . . . , g~,... ,g~}V is the array of nodal values of the regular parts of the resultant contact load distributions; u/(2n x 1) ~ - {uf' ~ . . ~ U r f" ~ u{' ~ .. . ,u~f , ,~v is the nodal displacement vector of the free-field motion; w(2n 1) is defined by

Fig. 9. Influence of modulus ratio on radial displacement profiles of the shell: ue = 0.2, us = 0.25, l/a = 20, h/a = 0"05, Ps/P~ = 0"25, wa/C~ = 0"5. (a) Real part and (b) Imaginary part.

Substituting (42) into (41), one finds (H + pehw2~,H - G)g - bwz(0) = - ( I + &hwZ(~)u f.

(50)
T o g e t h e r w i t h (43), the total s y s t e m o f e q u a t i o n s can thus be written as F o g g

w = bwz(0) where
b = {0,0,...,0, 1, 1 , . . . , 1}r;

(47) where

F = H + pehwZCrH - G,

al(2n x 1) = { a l , . . . , a2~} r is given by

= 0, (48)

f = - ( I + pehJC,)u f,

n+j= [1 Nj(s)__.ds, al J0 s ~ (l s) p
-

= 1,...,n;

fo = Pehw2 a Tuf"
I n this f r a m e w o r k , a c o m p u t a t i o n a l s c h e m e is d e v e l o p e d o n the basis o f a set o f piecewise l i n e a r s h a p e f u n c t i o n s I n view o f the l o g a r i t h m i c s i n g u l a r i t i e s o f the F r e d h o l m kernels, the m o d i f i e d G a u s s q u a d r a t u r e rule is i n c o r p o r a t e d , w i t h a n a d d i t i o n a l t r a n s f o r m a t i o n to a i d the e n d - p o i n t i n t e g r a t i o n s . T h e result is a n u m e r i c a l m e t h o d

az(Zn 1) = {a~,... ,a2"} r is defined by = 0,

ll a2

(49) Nj(s)ds, j = 1 , . . . , n .

n+j =

218
(a) 1.0
I I ~ I i I i I h

F. Ji, R . Y . S . P a k
(a) 1.0
I i I i 1 [ i

" ~.. "~"

--"--#/Iz~=l ~u + /Z,//./,, = 10 z

0.8

"S"
~0.6

0.5

S"

- ---

~./,u..=
/J,//z,=

i 04.
10 m

S" ,-% #
0.0

0.4
o

,u,/,u,.= ~ o ~

0.2-0.5 0.50
0.00
i i
1 T

0.0

0.00

0.10

0.20

0.30

0.40

O. 10

0.20

0.30

0.40

0.50

wa/C~
(b)
0.08
I I i I i I

wa/C~
(b)
0.6
I 1

- 0.060.4

,U,o/,U.,= 104.

- - - - - ,U.o/AZ, ~= 103 - - - - - A6o/,U,,= 102

S"
0.04 -

S" S"
0.02 0.2

-g
0.00

0.0

-0.02 0.00

-0.2 0.50

O. 10

0.20

0.30

0.40

0.00

0.10

0.20

0.30

0.40

0.50

~a/C.

wa/C~

10. Vertical foundation input motion functions of an embedded shell: u~ = 0-2, us = 0.25, h/a = 0.05, Ps/Pe = 0'25, l/a = 5. (a) Real part and (b) Imaginary part.
Fig.

Fig. 11. Vertical foundation input motion functions of an embedded shell: ue = 0.2, u~ = 0-25, h/a = 0.05, Ps/Pe = 0"25, l/a = 20. (a) Real part and (b) Imaginary part. high frequency, with larger #e/#s implying larger loads. Illustrated in Figs 6 - 9 are the vertical and radial displacement profiles of the pile corresponding to the previous examples. One can observe that there is an inherent wavelength in the profiles which are generally a function of the wavelength of the incident wave as well as the stiffness of the embedment. As the frequency of excitation turns higher, however, the characteristics of the incident wave can become more dominant. This is illustrated in the case of wa/C~ = 0'5 where the wavelength in the axial displacement profile is found to closely resemble the wavelength of the incident longitudinal wave. For general seismic soil-structure interaction problems, the foundation input-motion function which is defined as the displacement response at the top of the foundation normalized by the free-field motion at the ground surface is of particular interest. A set of such seismic foundation input-motion functions for the excitation of interest is shown in Figs 10-12 for some practical values of relative stiffness, length and Poisson's ratios for the pile problem. F r o m these displays, the dependence of the complex-valued foundation inputmotion function on the modulus ratio, embedment length, and excitation frequency is apparent. As the

which performs extremely well in all cases examined. In the next section, some typical solutions for the axisymmetric wave scattering problem of an embedded pile foundation in a semi-infinite medium will be presented.

4 NUMERICAL RESULTS By means of the foregoing mathematical analysis and computational method, the seismic soil-pile interaction problem under vertically-incident P-waves can be solved rigorously. In what follows, a set of numerical results is presented to highlight some of the salient features of the incident-wave problem. In complex notation, Figs 2 - 5 show the resultant dynamic contact load distributions Pz and Pr as a function of z under vertically-incident P-waves at frequencies ~ a / C s = 0.25 and ~ a / C s = 0"5. As in the static case, ] one can see that the dynamic contact loads acting on the thin-walled pile are singular at the top and b o t t o m of the embedment as predicted by (35) and (36). F r o m these plots, it is also evident that the modulus ratio # e / # s can affect quite significantly the seismic wave-induced loads Pz and Pr acting on the embedded pile especially at

Scattering of vertically-incident P-waves by an embedded pile

(a)

219
I , I , I ,

1.0

~..~

. I

'

\\
\\ \\

(a)

8.0

- --, ~"

--,
"~-<

-/~/~.= - /z./lz,=

1o 103
6,0
-

.~/A//~, = ~ '

~"

o.5
N

b=5000 b=2000 b=1000

----\ \ \
N

~ . 4.0.

I~

-----

0.0

II
.~,

....

b=500

--2.0

-0.5 0.00

'

0.10

0.20

0.30

0.40

0.50

0.0 0.00

0.10

0.20

0.30

0.40

0.50

~a/C,
(b) 0.6 ' ' ' ' '
- -

~o/C,
' , ' ,
(b) 8.0
I , I , I , I

#,./,u,,= lO'

----0.4 . . . .

,U.,,J,U,,, = 103 //.oI#-~,= I 02

6.0,
-

b=5000 b=2000 b=1000

----~ -----

%
-0.2
i i i i

4.0

----

b=500

2.0.

0.00

O. I 0

0.20

0.30

0.40

0.50

0.0

~ -_._~_r_-_-_:j- .-= ..... , i , i

0.30 0.40 0.50

0.00

0.10

0.20

~a/C,
~a/C,

Fig. 12. Vertical foundation input motion functions of an embedded shell: ve = 0-2, vs = 0-25, h/a = 0.05, Ps/Pe = 0"25, 1/a = 40. (a) Real part and (b) Imaginary part. relative stiffness of the pile to the half-space increases, one can generally find more variations in the inputmotion function due to an increase in the interference of the embedment to the free-field response. As /Ze/#s tends to zero, however, the mechanical interaction between the foundation and the surrounding medium naturally diminishes and the normalized foundation response is found to approach unity. Also illustrated in Figs 10-12 is the existence of a critical modulus ratio, beyond which the corresponding top response of the embedded pile will be essentially identical. The dependence of its value on the length of the embedment, however, is also evident. For instance, one can see that while the foundation input motion functions for the case of e / # s = 1000 and 10,000 are very close for l/a = 5, their difference is much larger for a dimensionless length of 20 and 40. To provide further insights into the physical problem, the top vertical displacement response of a pile with a pile cap of mass m under the incident P-wave is also evaluated using the foregoing input-motion function and the corresponding dynamic compliance of the foundation. With the definition of the mass ratio b as m/ps a3 where p~ is the mass density of the soil, some typical foundation responses normalized by the free-

(c) 80

6.0b = 5 0 0 0

- -

- -

~. 4.0-

----....

b=2000 b=1000 b=500

2.0-

0.0

0.00

0.10

0.20

0.30

0.40

0.50

o)a/C,

Fig. 13. Top displacement of an embedded shell with a cap: ve = 0-2, vs = 0-25, h/a = 0"05, Ps/Pe = 0-25, IZe/IZ s = 1000. (a) l/a = 5; (b) l/a = 20 and (c) l/a = 40. field vertical displacement are shown in Figs 13, 14 and 16. F r o m these figures, one can observe definite resonance peaks in most cases except those for low mass ratios. For the latter cases, however, more than one maximum can be observed in the response curve owing to the resonance characteristics of the embedded pile. In each of the plots in Fig. 13 where the modulus ratio is kept constant, for instance, one can find that an increase in the mass ratio will always lead to a reduction in the resonance frequency as well as to a

220
I , I I , I

F. Ji, R . Y . S . P a k
(a) 10.0
8.0"
, I

(a)

8.0 t # , / ~ , = 1 o~ # , / # , = 10 --- -- #,/#,= 1 o +

1
1
--

- -------

I/a=5 I/a=20 I/a=40

u"

6.0

2.0

2.0
.
i

0.0 I 0.00

0.0
0.50 0.00 O. 10 0.20

, -0.30

0.10

0.20 wa/C,

0.30

0.40

0.40

0.50

wa/C,
i I

(b) 8.0 ]

'

(b) 10.0
8.0

/
~"
-

#,//y., -- -- fl, e//~s=

= I

0]

I/a=20 I/a=40

6.0

#,/#=

I0 I 0+

4.0

-2
S" ~-~ 4.0-

I_
0.0
I . ,

~
. , ' , ,

2.0

0.00

0.10

0.20

0.30

0.40

0.50

0.0 0.00

0.10

0.20

0.30

0.40

0.50

~a/C,
I I

wa/C~
(c)
10.0
I I I I

(c) 8.0 t

'

'

'

'
8.0"

~"4.0-

'2Z
6"0 I

- --------

I/a=5 I/a=20 I/0=40

~ . / / 4 = I0] #,//z, = 104

-- - -~e//.~s= 10

6.0z" 4.0-

2.0-

2.0

0.0
0.00

~v,

0.0
i

0.10

0.20 wa/C,

0.30

0.40

0.50

0.00

0.10

0.20

0.50

0.40

0.50

wa/C,
Fig. 15. Top displacement of an embedded shell with a cap: u~ = 0.2, us = 0'25, h/a = 0.05, Ps/Pe = 0"25, l/a = 40. (a) b = 1000; (b) b = 2500 and (c) b = 5000. reducing the i n p u t base m o t i o n to a s u p e r s t r u c t u r e is apparent.

Fig. 14. Top displacement of an embedded shell with a cap: ue = 0'2, us = 0.25, h/a = 0'05, Ps/Pe = 0"25, b = 1000. (a) #e/#.~ = 102; (b) #e/#s = 103 and (c) #e/#~ = 104-

h i g h e r a n d s h a r p e r r e s o n a n c e peak. T h e effect o f e m b e d m e n t length o n the f o u n d a t i o n m o t i o n is illustrated in Fig. 14. A s expected, a l o n g e r pile will reduce the t o p f o u n d a t i o n response d u e to the a d d i t i o n a l a n c h o r a g e t h r o u g h e m b e d m e n t . A s the m o d u l u s r a t i o varies f r o m low to high (e.g. w h e n the site goes f r o m stiff to soft soils), one can see F r o m Fig. 15 t h a t the d i m e n s i o n l e s s n a t u r a l frequency o f the p i l e - s o i l system will increase slightly as a result. F r o m these displays, however, the p o s s i b l e usefulness o f pile f o u n d a t i o n s for a w e a k site in

5 CONCLUSIONS In this p a p e r , a p r e s e n t e d for the e m b e d d e d in an incident P-wave r i g o r o u s theoretical f o r m u l a t i o n is analysis o f a thin cylindrical shell elastic half-space u n d e r verticallyexcitation. By virtue o f a set o f

Scattering o f vertically-incident P-waves by an embedded pile pseudo-static ring-load Green's functions for the shell and a group of dynamic fundamental solutions for the semi-infinite medium, the axisymmetrical wavescattering problem is shown to be reducible to a set of Fredholm boundary integral equations. Through the analysis of an auxiliary pair or Cauchy integral equations, the singularities of the contact stress distributions associated with the scattered field are explicitly elucidated. By incorporating such findings into the boundary integral formulation, a computational procedure is developed which involves an interpolation of regular functions only. Typical results for the waveinduced dynamic contact load distributions, displacements, complex-valued foundation input motion functions, and resonant pile foundation response are also included. In addition to furnishing quantities of direct relevance to seismic s o i l - f o u n d a t i o n - s t r u c t u r e interaction problems, this treatment should be useful as a rational framework upon which rational computational methods can be developed for analyzing more general seismic loadings on embedded foundations.

221

excitations, lnt. J. Numer. Meth. Engng., 1994, 37, 25012520. 12. Wolf, J. P. & Von Arx, G. A. Horizontally traveling waves in a group of piles taking pile-soil-pile interaction into account. Earthq. Engng. Struct. Dyn., 1982, 10(2), 225-237.

APPENDIX

Axial and radial ring-load Green's functions for the shell

wZ(z; S) =

~(z;s)

ACKNOWLEDGEMENT The support provided by the National Science Foundation (Award BCS-8958402) and by Fluor Daniel to R.Y.S.P. during this investigation is gratefully acknowledged. R.Y.S.P. also like to thank Drs. C.J. Astill and T.L. Anderson for their constant encouragement.
~z'(Z;S) =

{6 {6 {6 {6
6

cf%(z), O<z<s
Z//

EC;
j=l

hj(z),

s<_z<l

Z Cf'hj(z), O<z<
J=~ 6
R 1~

ECj
j=l

hi(z),

s<z<_l

ZCF'gj(z), O<_z<s
J=~
6 R II

j~=I CJ gj(z),

S < z <_ l

Cyej(z),
Z I!

} } } }

(A1)

(A2)

(A3)

REFERENCES
1. Erdogan, F. Mixed boundary-value problems in mechanics. Mechanics Today, 1978, 1-86. 2. Flores-Berrones, R. & Whitman, R. V. Seismic response of end bearing piles. J. Geotech. Engng., ASCE, 1982, 108 (4), 554 569. 3. Gazetas, G. Seismic response of end bearing single piles. Soil Dyn. & Earthq. Eng., 1984, 3 (2), 92-93. 4. Flfigge, W. Stresses in Shells. Springer, New York, 1962. 5. Kaynia, A. M. & Kausel E. Dynamics of pile and pile groups in layered soil media. Soil Dyn. & Earthq. Eng., 1991, 10 (8), 386-401. 6. Luco, J. E. Linear soil-structure interaction: a review, Earthquake Ground Motion and its Effects on Structures. ASME, 1982, AMD-Vol. 53, pp. 41-57. 7. Mamoon, S. M. & Ahmad, S. Seismic response of piles to obliquely incident SH, SV, and P waves. J. Geotech. Engng., ASCE, 1990, 116 (2), 186-204. 8. Muskhelishvili, N. I. Singular lntegral Equations. Noordhoff, Groningen, The Netherland, 1953. 9. Pak, R. Y. S. Asymmetric wave propagation in a half-space by a method of potentials. J. Appl. Mech., ASME, 1987, 54, 121-126. 10. Pak, R. Y. S. & Ji, F. Axisymmetric stress-transfer from an embedded elastic cylindrical shell to a half-space. Proc. R. Soc. Lond., 1993, A441, 237-259. 11. Pak, R. Y. S. & Ji, F. Mathematical boundary integral equation analysis of an embedded shell under dynamic

Wz (Z; S) =

(A4) gj(z), s<z<l

EC;
j=l

where h 1 = akekZ(coskz - sinkz), gl = -Ue ekz coskz, h 2 = ake -kz (cos kz + sin kz), g2 = Uee-~z cos kz, h 3 = akekZ(coskz + sinkz), g3 = leeekz sinkz, h4 = ake -kz (cos kz - sin kz), g4 = -Pe e-kz sin kz, h 5 = O, g5 = 1, h 6 = - n u e a , g6 = z, k4 _ (1 - / / 2 ) 0 1 4a2D
Z! Zl _ 3(1 - 2 )

a2h 2

C1 = C2 = k z { [ c o s h k ( l - s) s i n k ( / - s) + sinh k(l - s) cos k(l - s)] x [cosh(kl) sin(k/) - sinh(kl) cos(k/)] - 2 sinh k(l - s) sin k(l - s) sinh(kl) sin(k/)},

222
Z1

F. Ji, R . Y . S . P a k

C3

= kz{[coshk(l

- s) s i n k ( / - s) + sinhk(l - s)

k z ~_

Pe

4k(1 - Ve2)D1(sinh 2 k l - sin2kl) '

C1
RI

x cos k ( l - s)] [cosh(kl) sin(k/)

-

sinh(kl) cos(k/) - 2 sinh(kl) sin(k/)]

= C2

RI

= -k,.{[sinhk(l

- s)cosk(l-

s)

+ 2 sinh k ( l - s) sin k ( l - s) [cosh(kl) sin(k/) - sinh(kl) sin(k/) + sinh(kl) cos(k/)] },

C z ' = k 3 { [ c o s h k ( l - s) s i n k ( / - s) + sinh k(l - s) C3
Rt

+ cosh k ( / - s) s i n k ( / - s)] sinh(k/) + [sinh(k/) cos(k/) - cosh(k/) sin(k/)] c o s h ( k ( / - s) cos k ( l - s)},

= k r { [ s i n h k ( l - s ) c o s k ( l - s)

cos k ( l - s)] [cosh(kl) sin(k/) - sinh(kl) x cos(k/) - 2 sinh(kl) sin(k/)]

-

+ cosh k ( l - s) sin k ( l - s)] [cosh(k/) sin(k/) + sinh(k/)(cos(k/) - sin(k/))]

-

2 sinh k ( l - s) sin k ( l - s)

[2 sinh(kl) sin(k/) - cosh(k/) sin(k/)

[cosh(kl) sin(k/) + sinh(kl) sin(k/) + sinh(kl) cos(kl)] },

C5

+ sinh(k/) cos(k/)] [cosh k ( l - s) cos k ( l - s)]},

C R' = - k r { [sinh k ( l - s) cos k ( l - s)

z~

= 0,

C6

z'

--

1 (1 - Ue2)Dl '

+ cosh k ( l - s) sin k ( l - s)] [cosh(kl) sin(k/)

+ sinh(kl)(cos(kl) - sin(k/))]

C~

Zn

= kz{[cosh(ks)cos(ks) - sinh(ks) sin(ks)

-

+ I3 sinh(k/) cos(k/) - 2 sinh(k/) sin(k/) - 3 cosh(kl) sin(k/)] [cosh k ( l - s) cos k ( l - s)] }

e - k s ( c o s ( k s ) -- sin(ks))] sin2(kl)

+ [sinh(ks) cos(ks) + cosh(ks) sin(ks)] x [e-kl sinh(k/) - cos(k/) sin(k/)]},

C f " = kz{[cosh(ks) cos(ks) - sinh(ks) sin(ks)
-

c f ' = c6" = o,
CI
Rtl

= k r { [ c o s h ( k s ) sin(ks) - e ks cos(ks))] sinZ(k/)

- e kl cosh(ks) cos(ks) sinh(k/) + cosh(ks) cos(ks) cos(k/) sin(k/)}, C R" = kr{ [cosh(ks) sin(ks) - e ks cos(ks)] sin 2(kl) - [cosh(ks)
c o s ( k s ) e TM +

e - k s ( c o s ( k s ) + sin(ks))] sin2(kl)

+ [sinh(ks) cos(ks) + cosh(ks) sin(ks)] x [eTM - (cos(k/) + s i n ( k l ) 2 ] / 2 } ,

Zu C3 = -kz{[cosh(ks) cos(ks) - sinh(ks) sin(ks)

cosh(ks)

x cos(ks)(cos(kl)

+ sin(kl))2]/2},

- e - k s ( c o s ( k s ) -- sin(ks))] [cos(k/)sin(k/)

C R" = kr{[ e ks cos(ks) - cosh(ks) sin(ks)l [cos(k/) sin(k/) + e -kl cos(k/)] cosh(ks)
c o s ( k s ) e -2kl -

+ e -kt sinh(kl)] + [sinh(ks) cos(ks) + cosh(ks) sin(ks)] [e-2kt - cos(k/)] },

C z " = k z { [ c o s h ( k s ) cos(ks) - sinh(ks) sin(ks) - e - k s ( c o s ( k s ) -- sin(ks))] [cos(k/) sin(k/)
e kl

cosh(ks) cos(ks) cos 2( k l ) } ,

C ~ " = k r { [ c o s h ( k s ) sin(ks) - e -k~ cos(ks)] [cos(k/)

sin(k/) + e kl cos(k/)] - cosh(ks) x cos(ks)[sin 2(kl) - 2 sin(k/) cos(k/)]},

C RII - lie R1z = 0,

sinh(kl)] + [sinh(ks) cos(ks)

+ cosh(ks) sin(ks)] [sin 2(kl)

-

4ak4D , C 6
1

2 cos(k/) sin(k/)]},
S Z 11

Zu

k,. = 8ak4 D ( s i n h 2 (kl) - sin 2 (kl) ) "

= O,

C5

(1 - ~ 2 ) D

1 ' C6