Compurers and Geotechnics, Vol. 19, No. 2, pp.

97-I 15, 1996 Copyright D 1996 Elsevier Science Ltd

0266-352X(95)00038-0
ELSEVIER

Printed in Great Britain. All rights reserved 0266-352X/96/$1 5.00 + 0.00

A Simplified Procedure for Torsional Impedance Functions of Embedded Foundations in a Soil Layer
J. Avilks & L. E. Perez-Rochab
Centro (Received Instituto de Investigaciones de Investigacibn Sismica, 20 June Elktricas, Apdo. l-475, Cuernavaca 62001, Mkxico Carretera al Ajusco 203, Heroes de Padierna 14200, MCxico

1995; revised version

received

10 October

1995; accepted

16 October

1995)

ABSTRACT A simpl$ed calculation procedure for torsional impedance functions of circular embedded foundations in a soil layer with rigid base is presented. The solution is constructed by means of linear combinations of natural modes of propagation and participation factors. The unknown coeficients of such expansions are obtained from the continuous treatment of appropriate boundary conditions in the least-squares sense. The influence of soil material damping is investigated by using hysteretic and viscous models. Dynamic stifSnesses of soil-foundation systems are computed for d@erent foundation embedments and soil layer depths. Finally, the practical importance of introducing viscous instead of hysteretic damping in linear interaction analyses in the time domain is discussed. Copyright 0 1996 Elsevier Science Ltd

INTRODUCTION For the dynamic analysis of foundations placed on soft ground it is necessary to consider the soil deformability by employing rigorous impedance functions of the soil-foundation system, which vary significantly with the excitation frequency and depend strongly on the configuration of the site and the foundation. Such dynamic stiffnesses are widely used in the analysis of soilstructure interaction and machine foundation vibration. The influence of the foundation embedment and soil layer on the impedance functions is very important. It is well-known that the embedment and layer depth substantially affect the static stiffness and the frequency variation of the impedance coefficients due to resonance at the natural frequencies of the stratum [l]. Probably, the most important effect is that for a soil layer
97

98

J. Avile?, L. E. Phrez-Rocha

on bedrock a cutoff frequency exists, below which there is no radiation damping [2]. Overlooking this situation results in an overestimate of soil damping for frequencies lower than the fundamental frequency of the site in shear waves. The dynamic analysis of embedded foundations has received considerable attention. As a result, several numerical solutions [l, 3-61 and analytical approximations [7-lo] have been developed. In spite of the substantial amount of work that has been done in the last 20 years, an exact analytical solution for the simple case of a cylindrical foundation embedded in a homogeneous soil layer is not available yet. Due to the mathematical complexities of rigorous solutions for impedance functions, a number of approximate procedures based on cone models have been developed for homogeneous soil [ 1 I] as well as for a soil layer resting on either rigid [12] or flexible [13] bedrock. All of them neglect the effect of the foundation embedment, because the footing is assumed to be supported on the surface of the ground. Cone models have recently been extended to represent embedded foundations [14]. The aim of this paper is to present a simplified procedure for torsional impedance functions of circular embedded foundations in a soil layer with rigid base, as an alternative to the powerful finite element and boundary element methods. An approximate closed-form solution is developed which proves to be simple, rapid and accurate to be used in engineering practice. The solution is generated by using modal superposition, that is, by means of linear combinations of natural modes of propagation and participation factors. The unknown coefficients of the wave function expansions are obtained from the continuous treatment of the boundary conditions in the least-squares sense [15]. As the soil layer is divided into two regions, one of them beneath the foundation and one for the rest of the stratum, the boundary conditions to be satisfied are the continuity of displacements and stresses at the fictitious cylindrical interface between the bounded and unbounded regions, as well as the displacement compatibility at the soilfoundation interface. The influence of soil material damping is investigated by using the linear hysteretic model independent of the frequency, as well as two linear viscous models dependent on the frequency, namely the Voigt and Kelvin material models. Dynamic stiffnesses of soil-foundation systems are computed for different foundation embedments and soil layer depths. The non-causal behavior of dynamic flexibilities with hysteretic damping transformed in the time domain is also illustrated, and the practical importance of this result is discussed. A solution that is much simpler than the one presented herein is the closed-form approximation of Novak and Sachs [9] for torsional vibrations

Torsional impedence functions of embeddedfoundations

99

of footings embedded in either a half-space or a stratum. Although both approaches appear to be similar, there is a major difference in the approximation type. In Novak and Sachs solution it is assumed that the total reaction of surrounding soil is composed of two independent components: one acting on the base and the other on the sidewall of the foundation. The base reaction is derived from a disk placed on either a half-space or a stratum that models the soil under the footing, while the sidewall reaction is derived from a cylinder embedded in the adjacent layer overlying the halfspace or stratum. It is apparent that the approximation is in the assumptions of the model, because the compatibility condition between the soil under the footing and the overlying layer is satisfied only at the base and sidewall of the foundation and far away from it. In order to improve the reliability of results, it is necessary to eliminate the slip between the two regions, as it is done in the present solution assuming a perfect bond between them; its approximation is in the matching of boundary conditions. Finally, a comparison with Novak and Sachs results is given, which shows that our solution is of higher accuracy, even though it is more detailed.

FORMULATION

OF THE PROBLEM

Natural modes of propagation

In the propagation of harmonic rotary shear waves in a homogeneous soil layer (Fig. 1) the motion is governed by the reduced wave equation [ 161
i)y2+---+dzZ-rZ+k2v=0

a2v

1 av

d2v

where v = tangential displacement and k = w/,6 = shear wave number, in which p = propagation velocity of shear waves and w = angular frequency; the time-harmonic factor eiwfhas been omitted. Applying separation of variables to the above equation it is found that the generalized Love modes propagating horizontally, due to the torsional vibration of a cylindrical footing, are given by
(2)

where & (x) = cylindrical wave function that satisfies the Bessels equation of order zero

100

J. Avik,

L. E. P&z-Rocha

Fig. 1. Circular

foundation

embedded in a soil layer with rigid base and subjected torsional moment.

to a

in which the prime denotes differentiation with respect to the argument x; whereas V(z) = eigenfunction corresponding to the eigenvalue p, which satisfies the differential equation d2V ds?+

(k2 -p2)V=0

(4)

Now, B0 (x) as well as V(z) and p can be obtained beginning with the wave types and boundary conditions of the problem. For this purpose the soil layer is divided into two domains introducing an artificial cylindrical interface at r = R, so that an exterior region of infinite extent (1. 3 R, 0 ,< z d H) and an interior region of finite extent (0 < Y d R, 0 d z d H-D) are defined, where R = foundation radius, D = foundation depth and H = depth of the soil layer.

Torsional impedence functions of embedded foundations

101

Exterior region The admissible modes in a region of infinite extent are those that satisfy the radiation and boundedness conditions. The radiation condition requires that waves be outgoing, so that the cylindrical wave function has to be B&Jr) = HC2)(pr) 0
(5)

where Hoc2) ( 9 ) = Hankel function of the second kind and order zero. The boundedness condition requires that waves be bounded for r > R. Then, the admissible eigenvalues are those whose imaginary part is negative [3], since a wave for which Imb] < 0 represents an evanescent mode decaying for large r. Solving the eigenvalue problem for the exterior region, represented by eqn (4) and the boundary conditions of free surface, (dV/dz)H = 0, and fixed base, V(0) = 0, we find that the eigenfunction and eigenvalue for the mode m are given by Vm(z) = sin qmz;
Pm=&~k*-qt,; m= Wp,]

1,2,...,00
<

(6) (7)

in which q,,, = (2m-1)7r/2H. Interior region The admissible modes in a region of finite extent are those that satisfy the boundedness condition for 0 < Y d R, which implies to have bounded waves inside the region. So, the cylindrical wave function must be

Bo(P4 = Job-)

(fu

where Jo ( . ) = Bessel function of the first kind and order zero, which is non-singular at Y = 0. In this case, the choice of sign of the imaginary part of the admissible eigenvalues is irrelevant [3] because it affects only the modal participation factors. Let us first consider that the footing is fixed. Thus, solving the eigenvalue problem for the interior region, represented by eqn (4) and the boundary conditions of fixed subgrade, V(H-D) = 0, and fixed base, V(0) = 0, we find that the eigenfunction and eigenvalue for the mode m are given by VM(z) = sin qmz;
m=

1,2,...,~

(9)

102

J. Avilt?, L. E. Phrez-Rocha

Pm=@Z

(10)

in which qm = mn/(H-D). Let us now obtain a particular solution due to the rotation @ of the footing. Substituting V(Y,Z) = Y V(z) into eqn (1) and the boundary conditions v(r,O) = 0 and v(r,H-D) = Y @, one finds that the unknown function V(z) must satisfy the differential equation d2V dz+kV=O

(11)

in conjunction with the boundary conditions V(0) = 0 and V(H-D) = @. Solving this boundary value problem, assuming that CP = 1, the particular solution is then obtained as
v(r:z) = r sin kz (12)

sin k(H - D)

METHOD Modal participation factors

OF SOLUTION

The wave fields in the exterior and interior regions are constructed through modal superposition. Based on the admissible modes for each region, the displacement field in the exterior region, according to eqns (2), (5), (6) and (7) can be expressed as vs(r,z) = RTCL W7=1 sin qi2z di(pRr) (13)

ps, = f J/~k - (qm) :

Im[pk] < 0

(4)

where q& = (2m-l)T/2H; according to eqns (2) expressed as

vc(r,z) =

while the displacement field in the interior region, (8) (9) and (10) in addition to eqn (12), can be

. gn~~~k;D)

$- g

sin q; z Jb (p,r)

(15)

(16)

Torsional impedence functions

of embedded foundations

103

where q; = mn/(H-D). The non-dimensional modal participation factors Ck and CL are computed by solving the remaining boundary conditions at r = R, which are the displacement compatibility at H-D < z < H and the continuity of displacements and stresses at 0 < z < H-D, that is: v,( R, z) = R !Z;
H-D<z,<H O<z<H-D (17) (18)

v,(O)

= vc(R,z);

As these equations cannot be solved exactly, the solution will be found in the least-squares sense by using a continuous approach for the matching of boundary conditions. Substituting eqn (13) into eqn (17), considering that Q = 1, as well as eqns (13) and (15) into eqns (18) and (19) the quadratic error in boundary conditions integrated along the corresponding borders is found to be
H

E(C;>C;)=

J H-D m=
H-D x

1~

CRH/2)(PmR)

sin qkz + 1

dz f
2

C~,H\2(pfR)
.I P( m=I 0 H-D

sin qkz - CL J1 (pC,R) sin qkz

>

sin kz sin k(H - D)

2

dz +

J ICC
0 PW=l

CL&,HywmR)

sin q;z - CC,pC,J2(pkR)

sin qE,z
)I

dz

(20)

where J,, ( . ) and dn2 ( L ) are Bessel and Hankel functions of the first and second kind, respectively, and order pt = 1 and 2. The factor R2 that appears in the third integral of this equation is required to normalize the quadratic error which involves both displacements and stresses. The necessary conditions for E to be a minimum are
8E --00; X; n= 1,2,...,co

(21)

(22)

104

J. Avilds, L. E. PPrez-Rocha

where the asterisk indicates a complex conjugate. Applying eqns (21) and (22) to eqn (20), a linear system of algebraic equations can be obtained which in matrix notation can be written as

in which:

F:,,

= (J;(p;R)J,

(p:R)

+ R*~;pfis,(p~R).Up:R))

I;,#

D)

(27)

G-

_~,207;R)

OS it;;
tn

- @ + .zk(H- D,
sin k(H - 0)

(28)

GC

Jmm

sin k(H - D)

ZC,(H- D)

(29)
coefficients is obtained number of with 2M equation is

The real coefficients ZEnr ZE,, and ZKn, as well as the complex I; and IL, are given in the Appendix. The solution of eqn (23) approximately by truncating the order of expansions to a finite terms M and solving the resultant system of 2M equations unknowns. Advantage should be taken of the fact that this hermitian.
Impedance function

The torsional impedance function is obtained by calculating the total soil resistance due to the unit rotation of the footing. Thus, integrating the actions on the sidewall and base of the foundation, the torque that the footing exerts on the soil results in

Torsional impedence functions

of embeddedfoundations

105

K=G

dr d8 - R2

where G = p2p = shear modulus of the soil, in which p = mass density of the soil. After some manipulations and using properties of Bessel functions [17], the following result is obtained: K = 2rGR3 kR cot k(H - 0) 4

The influence of material damping is addressed next. The presence in the soil of this damping is considered by employing the linear hysteretic model, independent of frequency, as well as the linear viscous models of Voigt and Kelvin, dependent on frequency. Material damping is introduced by using a complex shear modulus of the soil [18] defined as G* = G<(T), where ((7) is a damping factor dependent on frequency, except for the hysteretic behavior, given by (1 + i2C); (1 + irl2C); (1 + iq2<)/(1 Hysteretic model Voigt model Kelvin model

<@I) =

(32)

+ iv<);

where [ = damping ratio of the soil and q = wR/P = dimensionless frequency. Now, using the correspondence principle, the impedance function can be represented in the conventional complex form %) = Ko(k(rl) + W+~))<(rl) (33)

where K. = static stiffness, k(q) = stiffness coefficient and c(q) = damping coefficient; the impedance coefficients are dependent on the non-dimensional frequency. In accord with the complex form of the impedance function, the constant K. as well as the functions k(q) and c(q) are determined as follows: KO = Re [K(O)] (34)
t(d)1

&9 = Re KWWO
4~) = i Im
MMKo

(35)
(36)

W)l

106

J. Avilis, L. E. Phrez-Rocha

NUMERICAL Comparison

RESULTS

with results by other authors

In the following results the number of terms used to calculate the solution described previously was M = 50, which is more than adequate for practical purposes. To calibrate the accuracy of this procedure, the static stiffnesses of soil-foundation systems with D/R = 1 and H/R = 2 and 3 were computed. They have already been calculated by using the finite element method and are reported in [4]. There is very good agreement between the static stiffnesses obtained from both techniques, as shown in Table 1. In addition, the impedance coefficients obtained from this method and those reported in [4], for the frequency range 0 d n < 27r, are nearly identical; it is not easy to resolve the difference within the scale of the drawings. In terms of our notation, Novak and Sachs solution for torsional impedance functions of embedded foundations can be written as Kt = & + Ks (37)

where Kt represents the total soil resistance which is composed of the reactions Kb and KS acting on the base and sidewall of the foundation, respectively. According to Novak and Sachs, the sidewall reaction is given by KS = 2~GR2D 2 - kR Hf(kR) H\)(kR) The base reaction is taken from any available solution for surface foundation. Here it is obtained by making D = 0 and solving rigorously eqns (18) and (19) as follows: multiplying both equations by sin 4;; and integrating from 0 to H, using the orthogonality properties of sine functions, the participation factor CS, can be eliminated; with this reduction, a linear system of algebraic equations for the participation factor Cg is obtained, which is defined as
TABLE 1 solution with the finite element method

Comparison

of the present

HIR
(D/R 2 3 = I)

&lGR3
(this method) 21.0 20.1

K,,IGR (FE method) 21.2 20.4

Torsional impedence,functions ofembeddedfoundations k5w3 = KJ; m,n=

107

1,2 ,...)

00

(39)

in which:

PC JAPP) JI Cpw _n Fr, = (q;)* - (qh)* ti2(pLR) P;d;)(p&R)

(- l)m+nq; (-1)k G = ti2(p;R)(k* By using Eqn (31), making equal to Kb = 2nGR3 cot kH -

(40)

(q;))

(41)
is

D = 0, it can be found that the base reaction

kR cot kH 4

- 2(-l)+
m=l n*

J2(&R)C;

(42)

A comparison with Novak and Sachs results is depicted in Figs. 2 and 3, which show impedance coefficients for soil-foundation systems with D/R = 1 and H/R = 2 and 3, respectively; only the hysteretic damping value C = 0.05 is considered. It can be seen that some differences arise in both the stiffness to the assumption of coefficients, which are attributable and damping

.6 -

.O

.4 7/2n

.8

Fig. 2. Comparison of the present solution (-) with Novak and Sachs results (. .); stiffness and damping coefficients for a soil-foundation system with D/R = I and H/R = 2.

108

J. AvilPs, L. E. P&z-Rocha

.a

.a

) with Novak and Sachs results (... . ..)I Fig. 3. Comparison of the present solution t stiffness and damping coefficients for a soil-foundation system with D; R = I and H/R = 3.

unbound between the sidewall layer and the soil beneath the foundation. In fact, Novak and Sachs solution cannot reproduce the lack of radiation damping for frequencies lower than the cutoff frequency (n/27r < R/4H) of the soil layer. Influence of the embedment, layer depth and type of damping Impedance coefficients were computed for several soil layer depths and foundation embedments; the conventional value C = 0.05 is adopted for the different types of damping. They are shown in Figs. 4 and 5 for soilfoundation systems with H/R = 2 and 3, respectively. Stiffness and damping coefficients are displayed respectively in the left and right columns of each figure for D/R = 0, l/4, l/2, 3i4 and 1, in rows; results correspond to the hysteretic (continuous line), Voigt (dashed line) and Kelvin (dotted line) models. Impedance coefficients depend strongly on both the foundation embedment and the soil layer depth; they are smoother as these two parameters increase. Damping coefficients increase with the foundation depth; their small values for frequencies lower than the cutoff frequency of the soil layer only reflect the energy loss through either hysteretic or viscous material damping, because the radiation damping is null in this range. Stiffness coefficients depend strongly on the type of soil material damping; the differences among the hysteretic and viscous dampings increase with

Torsional impedence functions of embedded foundations

109

Stiffness

coefficients

(kl 2::

Damping

coefficients

(c)

.6 .5 .4.
I

.u

.7

1.2 1.1 t _-- 1

.35 -

.5c

1.3 1.2 1.1 a* ,' .A _* ,*

.5 .4-

__..
._.... ..________,_. __..

25 20 15

4:
.O

.2

.4 9b

.6

.a

1.0.

.o

.2

.4 77h

.6

.6

1.0

Fig. 4. Stiffness

and damping hysteretic (--)),

coefficients for soil-foundation Voigt (- - -) and Kelvin (.

systems

with

H/R =

2;

.) models.

110

J. Avi&s, L. E. P&e:-Rocha

Stiffness xt

coefficients

(k) :I:[

Domping

coefficients

(c)

..z

.40 _* 35 -

1.2 1.1 _-

-f .30 -

.6 .5

.41

.6 .5 .4

.6 .5 .4

.O

.2

.4 ')/277

.6

.8

1.0

.o

.2

.4 7lh

.6

.8

1.0

Fig. 5. Stiffness

and damping hysteretic ( -).

coefficients
Voigt (-

for soil-foundation
- -) and Kelvin (.

systems

with

H/R

= 3;

.) models.

Torsional impedencefunctions

of embeddedfoundations

111

increasing frequency. Also, the soil material damping has little influence on the damping coefficients, even for high frequencies. The greatest influence of the soil material damping on the impedance coefficients is related to the Voigt model, since the observed undulations (peaks and valleys) tend to reduce entirely. Hysteretic damping is widely used in linear interaction analyses working in the frequency domain. However, this type of soil material damping presents some difficulties in transforming the harmonic response functions in the time domain, because the resultant impulsive response functions have non-causal behavior, that is, a response prior to the application of the excitation arises [ 181. This precursor response is physically unrealizable and, even though it is small, its influence on the system response could become important. The non-causal behavior can be seen in Figs. 6 and 7, which show normalized dynamic flexibilities (Fx CR) for soil-foundation systems with D/R = l/2 and H/R = 2 and 3, respectively; results were computed by using the inverse Fourier transform and correspond to the hysteretic (continuous line), Voigt (dashed line) and Kelvin (dotted line) models. The non-zero values of the dynamic flexibilities are clearly visible for the dimensionless time t/3/R < 0. The practical importance of introducing viscous instead of hysteretic damping is that the former could overshadow the frictional loss of energy in saturated soils. In a series of new laboratory experiments [19], the phase and amplitude of both the driving torque and the resulting torsional motion of a

-.5

.O

.5

1.0 V/R

1.5

2.0

2.5

Fig. 6. Normalized dynamic flexibilities H/R = 2 and D/R = l/2; hysteretic

in the time domain for a soil-foundation system with (--), Voigt (- - -) and Kelvin (. . .) models.

112

J. Aviks,

L. E. P&z-Rocha

2.5 2.0

.5
.O

-.5 -.5
Fig. 7. Normalized

.O

.5

.l.O

1.5

2.0

2.5

V/R dynamic flexibilities Hi R = 3 and D/R = l/2: hysteretic in the time domain for a soil-foundation (-~~ ), Voigt ( - - -) and Kelvin (. system with

,) models.

cylindrical specimen have been measured. One of the most important results of these studies has been to identify several forms of viscous dissipation that tend to control the overall damping in saturated sediments at very low amplitudes of motion and most frequencies of practical interest.

CONCLUSIONS A simplified calculation procedure for torsional impedance functions of circular embedded foundations in a soil layer with rigid base has been presented. It is in very good agreement with a finite element solution and produces higher accuracy than the classical approximation of Novak and Sachs, even though it is more detailed. The presence in the soil of material damping was introduced by employing hysteretic and viscous models; Kelvin and Voigt models were used to represent the viscous behavior. By applying this procedure, dynamic stiffnesses of soil-foundation systems were computed for several configurations of site and footing. Impedance coefficients depend strongly on both the foundation embedment and the soil layer depth; they are smoother as these two parameters increase. Damping coefficients increase with the foundation depth. Also, stiffness coefficients depend strongly on the type of soil material damping which has little influence on the damping coefficients, even for high frequencies. The greatest

Torsional impedence functions of embedded foundations

113

influence of the soil material damping on the impedance coefficients is related to the Voigt model. In spite of the fact that the dynamic stiffnesses and flexibilities in the time domain have non-causal behavior for hysteretic damping, the influence of this type of soil material damping is not significant in the frequency domain, so that the hysteretic model widely used in linear interaction analyses is quite adequate for engineering applications. The least-squares solution presented here is simple, rapid and accurate. The technique could easily be extended to consider the degree of contact between the soil and the foundation wall, since additional boundary conditions can be introduced without modifying the fundamental form of the solution.

ACKNOWLEDGEMENTS Thanks are given to F. J. Sanchez-Sesma for revising the original manuscript. His comments and suggestions are greatly appreciated. Also, we are in debt to the anonymous reviewers for their critical remarks to the context and scope of this paper.

REFERENCES
I. Kausel,
Mech.

2. 3. 4.

5.

6. 7. 8. 9. 10.

E. & Roesset, J. M., Dynamic stiffness of circular foundations. J. Engng Div., ASCE, 101 (1975) 771-785. Meek, J. W. & Wolf, J. P., Insights on cutoff frequency for foundation on soil layer. J. Earthquake Engng Struct. Dynam., 20 (1991) 651-665. Tassoulas, J. L. & Kausel, E., Elements for the numerical analysis of wave motion in layered strata. J. Numer. Meth. Engng, 19 (1983) 1005-1032. Tassoulas, J. L. & Kausel, E., On the effect of the rigid sidewall on the dynamic stiffness of embedded circular footings. J. Earthquake Engng Struct. Dynam., 11 (1983) 403-414. Apsel, R. J. & Luco, J. E., Impedance functions for foundations embedded in a layered medium: An integral equation approach. J. Earthquake Engng Struct. Dynam., 15 (1987) 213-231. Mita, A. & Luco, J. E., Dynamic response of embedded foundations: A hybrid approach. Computer Meth. Appl. Mech. Engng, 63 (1987) 233-259. Beredugo, Y. 0. & Novak, M., Coupled horizontal and rocking vibrations of embedded footings. Can. Geotech. J., 9 (1972) 477-497. Novak, M. & Beredugo, Y. O., Vertical vibration of embedded footings. J. Soil Mech. Found. Div., ASCE, 98 (1972) 1291-1310. Novak, M. & Sachs, K., Torsional and coupled vibrations of embedded footings. J. Earthquake Engng Struct. Dynam., 2 (1973) I l-33. Luco, J. E., Torsion of a rigid cylinder embedded in an elastic half-space. Trans. ASME, 43 (1976) 419-423.

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J. Avilis, L. E. Pdrez-Rocha

11. Meek, J. W. & Wolf, J. P., Cone models for homogeneous soil. J. Geotech. Engng, AXE, 118 (1992) 667-685. 12. Meek, J. W. & Wolf, J. P., Cone models for a soil layer on rigid rock. J. Geotech. Engng, ASCE, 118 (1992) 686-703. 13. Wolf, J. P. & Meek, J. W., Cone models for a soil layer on a flexible rock halfspace. J. Earthquake Engng Struct. Dynam., 22 (1993) 185193. 14. Meek, J. W. & Wolf, J. P., Cone models for embedded foundation. J. Geotech. Engng, ASCE, 120 (1994) 60-80. F. J., Herrera, I. & Aviles, J., A boundary method for elastic 15. Sanchez-Sesma, wave diffraction. Application to scattering of SH waves by surface irregularities. Bull. Seismol. Sot. Am., 72 (1982) 473-490. J. D., Wave Propagation in Elastic Solids. North-Holland. Oxford, 16. Achenbach, 1976. 17. Abramowitz. M. & Stegun, I. A., Handbook ?fMathematical Functions. Dover. New York, 1970. Analysis in Time Domain. Prentice-Hall, 18. Wolf, J. P., Soil-Structure-Interaction Englewood Cliffs, NJ, 1988. 19. Stall, R. D., Computer-aided studies of complex soil moduli. In Measurement and Use of Shear Wave Velocity Jor Evaluating Dynamic Soil Properties (Edited by Woods, R. D.), pp. 1X-33, ASCE, New York, 1985.

APPENDIX The real coefficients Izn, as the complex coefficients to: I;:, and Z$,? that appear in eqns (24)-(27) as well IS,, and Zi, that appear in eqns (28)-(29), are equal

z;,,(H)

mfn Or m=n H/2:

sin (qZ + qf,)(H - D) wl;, + 4;) m=n ;

(AlI

sin (qi, - qy,)(H - D) 2(qs, - 9:) I;,(H - D) H - D ~_ 2 sin 2qi,D 4Y%

m # n

(A21

sin Cd, - qz)(H 2(q:, ~ 4;) %(H - D) I H-D .

- D) -

sin (qz,, + qz)(H 2(qF,, + q;)

- D) :

Torsional impedence functions of embedded,foundations

115

mfn
m=n

(A4

z;(H-

D) =

sin(k-qk)(H-D) 2(k -4;) -

sin(k+qk)(H-D) 2(k + 43 (W

Ic (H _ D) = sin (k - qk)(H - 0) sin (k + qR)W - D) m 2(k + 4;) 2(k - 42 -

(W