SIMQKE-II Conditioned Earthquake Ground Motion Simulator User’s Manual, Version 2 Erik H. Vanmarcke Gordon A. Fenton Emesto Heredia-Zavoni Feb 19, 1997 Copyright ©Princeton University 1996 All rights reserved.This software program and documentation are copyrighted by Princeton University. Through special arrangement, the availability of software licenses from Princeton University for this software program and its documentation, is being marketed by The Regents of the University of California (UC Regents), “as is”, as a public service, without any additional services from, or licensing by, the UC Regents. UC Regents and Princeton University does not warrant that the operation of the program will be uninterrupted or error-free INNO EVENT SHALL THE UNIVERSITY OF CALIFORNIA OR PRINCETON UNIVERSITY BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL , INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF CALIFORNIA OR PRINCETON UNIVERSITY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. THE UNIVERSITY OF CALIFORNIA AND PRINCETON UNIVERSITY SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN “AS IS” BASIS, AND THE UNIVERSITY OF CALIFORNIA AND PRINCETON UNIVERSITY HAVE NO OBLIGATIONS TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.‘SIMQKE-II User’s Manual 2 Abstract Simgke-II generates an array of differing yet spatially correlated earthquake ground motions at an arbitrary set of points, optionally statistically compatible with known or prescribed motions at other locations. The simulated motions can be used for more realistic earthquake resistant design of extended structures such as bridges, power plants, dams, shopping malls, etc., where the input motions during an earthquake event are not expected to be identical at all points in contact with the ground. It can also be used for the post-analysis of earthquake damaged structures given recorded motions in the vicinity. Other potential applications include liquefaction analysis, slope stability evaluation, etc. ‘Supplied with a target ground motion spectral density function, which may be evolutionary in nature, the program employs Covariance Matrix Decomposition in the frequency domain followed by Best. Linear Unbiased Estimation and an inverse Fast Fourier Transform to efficiently produce the non- stationary, spatially correlated, conditioned or unconditioned ground motions. The evolutionary nature of the motion is modeled by subdividing the motion into a sequence of time windows, within each of which a target spectral density function is specified. An averaging algorithm is applied to smoothly connect the sequential windows. The spatial correlation is based on the phase aligned motions and is conveniently specified through simple parameters supplied to one of a number of typical space-frequency correlation functions. ‘Simgke-II can also act as a complementary product to the original Simgke program (see NISEE Computer Software for Earthquake Engineering, 1993). The original program has a number of pre-processing options related to target response spectra that are not currently part of the Simqke-IT suite of capabilities. In particular, the original Simgke can be used to generate target spectral density functions from desired response spectra. These can then be used in Simqke-II to provide the simulated spatially variable ground motions.SIMQKE-II User's Manual 3 ‘Table of Contents Page 1. Introduction. ©... 2... ee ee 24 2. Theoretical Background 4 3. Running the Program aa 4, Input Data Files 8 4.1 JCDAT: Job Control Data File . . .9 42 GWDAT: Spectral Density Function Data File 12 43 TMDAT: Known Time History Data File . . 16 5. OutputFiles 2.2... eee 19 6. SystemSpecifics .. 2.2.22... 2.00 ee 19 7 Example 2... 0 eee 20 8& References 2... eee 25SIMQKE-II User's Manual 4 1. Introduction Large, spatially extended structures will experience different ground motions at different support points during an earthquake event. Itis only in recent years that detailed studies of ground motion spatial variability have been undertaken (see, for example, Harichandran and Vanmarcke, 1986, and Boissidres and Vanmarcke, 1995) leading to estimates of typical space-frequency correlation functions. At the same time a number of ground motion generation methods have been developed, culminating in the computer program Simgke-II. This program is designed to take advantage of current progress in earthquake statistical estimation, providing the means to simulate realistic space-time fields of ground motion for use in structural analysis. The program operates in one of two modes; 1) conditional simulation: in this mode, generated ground motions are statistically compatible with, or conditioned by, recorded ground motions at nearby points. Simulated motions become increasingly similar to the recorded motions as they become more correlated, and conversely, become statistically independent as their correlation drops to zero. At the same time, simulated motions are properly correlated with one another. 2) unconditional simulation: in this mode the ground motions are simulated using only the user prescribed space-time statistics - the simulated motions are still properly inter-correlated, but they are not conditioned on any recorded motions. In either mode, the task is to simulate ground motions at a set of spatial points where motions are unknown but desired. The ground motions are phase aligned, which is to say that the motions do not account for any possible travel time between points. This assumption corresponds to vertically propagating earthquake waves, shear or compressional. Only one component of motion may be generated at a time which implies that the program can be used to produce independent ‘components of motion only. Point-wise cross-correlated motions can, in principle, be subsequently formed through linear combinations of the independent components. ‘The program has been run on the following platforms; 1) DEC workstations running OSF/1 (DEC UNIX), 2) Sun workstations running Solaris, 3) HP workstations running HP-UX, 4) Linux using £2c and gee compilers. ‘Simgke-II is written in standard Fortran 77, except for a few extensions in the form of BSD type system calls (see the last Section for details) which are supported by virtually all Fortran compilers implemented on UNIX operating systems. 2. Theoretical Background According to the spectral representation theorem, if the ground motion at a point «; is a homo- geneous mean-square continuous real time process Z;(t), then it can be expressed as a sum of independent sinusoidal processes as, Ka Zi) = STAs, cos (uxt) + Bix sin(wyt)], a r=‘SIMQKE-II User's Manual 5 at K discrete frequencies each separated by Aw. The random coefficients Aj, and By, are mean zero, implying that the resultant process 2,(t) is also mean zero. A non-zero mean can always be added to the final realizations. For a finite duration segment, the average of Z;(t) need not be equivalent to the prescribed mean, that is, Z,(t) is only asymptotically ergodic as t + oo. This, makes sense since one does not expect the average of earthquake ground motion over 1 millisecond to be zero, nor the average over 1 second. The rate at which the time average approaches the true mean depends on the spectral density function describing the process, in particular on the low frequency power content. From the point of view of simulation, it is convenient to discretize time and generate Z,(t;) at the times t; = jAt, j =0,1,...,K — 1. In this case, the coefficients Aj, and By, are related to Z;(t;) through the discrete Direct Fourier Transform (DFT), as anki ie (Unkj dane 2cne0(7F), mgr zcasn(*) — @ where At = t,/(K — 1), wy = kAw, Aw = 2x/(KAt), k = 0,1,...,K — 1, and ty is the time duration of the process Z(t). The basic concepts pertinent to simulation using Fourier transforms can be found in Fenton (1994). The following symmetry conditions about the Nyquist frequency, x2 = */At, apply to the Fourier coefficients Aj, and Bi, when the process 2;(t,) is real, An=Aix-i Br=—Bix-k for k=1,2,...,K/2 @) Itcan be shown (Fenton, 1990; Heredia-Zavoni, 1993) that by making use of Eq. (2) and the above symmetry conditions, the covariance C,;(w,) = E [A Ajz] =E [BieBjx] (A and B are mutually independent) between coefficients at two spatial points #; and x; can be written as follows, dpa (PsGlAw, fork =0 Cislon) = 4 Hay (risVG We) + Pas (TisGx-s)}Aw, fork=1,2,...,K/2-1 (4) Pan TisJGp)Aw, fork=K/2 where r,; = 2; — 2; is the relative position vector, G(w) is the one-sided “point” spectral density function, and p.,,(r:;) is the frequency-dependent spatial correlation function. Note that the above relationships implicitly assume that the ground motion is statistically homogeneous both in space and time. This is not a severe restriction since correlation structures with component scales larger than the space or time domains will result in apparently non-stationary realizations. Deterministic trends in the mean and/or variance can always be applied to the final simulation in any case. Consider now the simulation of earthquake ground motion at a set of m target (‘unknown’) points 2, given that some motions have been recorded at a set of n = NV — m recording (‘known’) points 2, where NV is the total number of spatial locations under consideration. Using Eq. (4), the 1V x NV covariance matrix Ci, = [C,j(wy)], i,j = 1,2,.--yn,.-..n +m, for each Fourier frequency, w,, k=0,1,...,.K/2, can be assembled and expressed as the symmetric matrix =| Car Cap C= [ Ch Gn l © where Ca is the covariance matrix between known (recording) points, Cgs is the covariance matrix between unknown (target) points, and Cg is the covariance matrix between known and unknownSIMQKE-II User’s Manual 6 points, all at frequency w,. Let A, = {Ay,,A,e} denote the set of simulated Fourier coefficients at frequency wz, where the subsets A,, = (Ate, Aziy--+yAnk} aNd Ayg = {Anetay s+ Anemeh correspond to coefficients at known and unknown target points, respectively. The set of coefficients B, can be defined similarly. Now, for admissible spatial correlation and spectral density functions, po,(r) and G(,), the matrix C,, is positive and can be expressed as the product of a lower triangular matrix L, and its transpose by means of a Cholesky decomposition (or an appropriate modification thereof in the case where C, is singular): Cy=LyLE © Assuming that Z(t) is normally distributed (Gaussian), then A, and B, can be generated from A,=LiU, Be=LiM M where each element of UZ = {U1x, Uae, -.-, Una} and Vir = {Vix, Vox,--+, Vax} are independent standard normal random Variables. Under these definitions, A, and B, have the correct distribu- tions, since, for example, E[A,] = 0, Cov[A,] = L,{Cov[U,]}L7 = C,, since E[U;] = 0 and Cov [U;] = I, the identity matrix, etc. Thus, the generation of the correlated set of Fourier coeffi- cients can proceed using K sets of independent random numbers and the Cholesky decomposition of C;, ateach frequency w,, k = 0, 1,....K — 1, to yield the correlated set of ground motions. To produce motions which are conditioned on the recordings at points «,, a set of Best Linear Unbiased Estimators (BLUE) must be employed for each of the unknown points 25 (Heredia- Zavonii, 1993); Aig = CipCoaAvar 9 = CipCaa Bray 8 so that A3, and Bis are the best linear unbiased estimates of the simulated Fourier coefficients at the unknown target points. Similarly, given the actual Fourier coefficients at the known points (obtained by Fourier decomposition of the recordings), A, and B,, the BLUE coefficients at the unknown points are given by Ap=CipCztAa, Bh = C2022 Bas 0 Finally, the conditioned Fourier coefficients may be obtained by combining all three forms; A.=A}+Ay—Alg, B. = B3+Byp— Big (10) ‘The use of the BLUE coefficients in Equation (AAJ) guarantees that the conditioned Fourier coefficients A, and B. have the proper covariance structure (Heredia-Zavoni, 1993). Conceptually, the last two terms in each equation cancel each other as a point 7s approaches one of the points 2, leaving just the ‘recorded’ Fourier coefficient. Thus, the conditioned random field exactly matches the known motions at the known points and becomes increasingly ‘random’ with distance from the known points (or, more precisely, with decreasing correlation with the known points). The Fourier coefficients of Eq. (10) are produced for each frequency w,, k = 0, 1,...,K/2, The remaining coefficients, up to frequency «2,1, are then obtained using the symmetry relationships of Eq. (3). Once the entire suite of coefficients have been generated, an inverse FFT is applied to yield a set of (conditioned) ground motions at the unknown target points. ‘The above concepts result in the following algorithm which has been implemented in Simgke-II, 1) For each frequency wy, k =0,1,...,K/2: ~ Assemble the frequency specific covariance matrix C, as in Eq’s (4) and (5).SIMQKE-II User’s Manual 7 ~ Simulate the sets of unconditioned Fourier coefficients A, and B, according to Eq. (7). If there are no ‘known’ recordings skip to step (2). ~ Obtain from the recorded motions the known Fourier coefficients, A, and B., by means of an FFT as in Eq, (2). (This can be done for all frequencies simultaneously prior to this ‘loop’.) - Compute the BLUE estimators, A3 and Bj, using the known coefficients, A, and Ba, according to Eq. (9). - Compute the BLUE estimators, A7, and Bz,, using the simulated coefficients, A,, and Bq, at the known points according to Eq, (8). - Generate the conditional Fourier coefficients at the unknown points, A. and B., using Eq. 0). 2) Generate the remaining Fourier coefficients at frequencies w,, k = K/2+1,...,K — Lusing the symmetry conditions of Eq. (3). 3) Apply an inverse FFT to construct the field of time histories at the unknown target points. To account for non-stationarity or evolving spectral density function, steps 1 through 3 may be repeated for a sequence of adjoining time windows (each having different spectral density and/or correlation functions) to generate time segments of ground motion. These segments are then pieced together by means of a linear interpolation algorithm (Fenton, 1990). Although not included in the program, the simulated motions may be post-processed to introduce non-stationarity in the mean and/or variance. This may be accomplished by a simple addition (mean) and multiplication (standard deviation) of the simulation by known functions of space and time. 3. Running the Program ‘Simgke-Ilis invoked from the command line as follows simgke2 [-q] filel [file2 ...] where optional arguments are enclosed in square brackets (do not include the brackets on the command line). The -q option simply tells Simqke-II not to send anything to standard output (the screen) except for terminal error messages. Without this option, a limited amount of progress. information is reported to the screen. The filename argument(s) is the name of the governing, or job control, data file. If the data file is not in the current directory, it's full pathname must be specified, If more than one input filename is specified, they are processed sequentially. For example, the command line simgke2 -q run4.dat run5.dat would ‘quietly’ produce two sets of simulations, one for the problem specified in the data file rund. dat and the second for the problem specified in run5 .dat. The limit on the number of input files given on the command line is system dependent, but typically a large number. In order to perform a simulation run, the following steps must be performed by the user; 1) create the job control data file, as discussed in Section 4.1, including the names of the following files (where appropriate), 2) set up the spectral density function data file as discussed in Section 4.2, 3) for a conditional simulation, create the known time history data file (see Section 4.3), 4) invoke Simgke-II with the name of the job control data file as an argument.‘SIMQKE-II User's Manual 8 4, Input Data Files ‘The data required by this program is input through two or three data files which are described in more detail in the following subsections. The data files are referred to as follows, although they may actually have any name; JCDAT — — defines the job control parameters GWDAT —— contains the spectral density function data TMPAT —_— contains the known, or recorded, time history data. This file is optional and will be absent/ignored if no known time histories are specified in JCDAT. ‘The name of the JCDAT file is obtained from the command line argument. For example, if Simgke-I is invoked as simgke2 run4.dat then the job control parameters are read from the file run4.dat. The extension ‘.dat’ is not necessary. Note, however, that output files having the basename ‘run4’ (as derived from the basename of the argument filename) are created having extensions *.stats — job status/debug/error information *.gwplt — output spectral density function plots (PLOTPS format, optional) *.tmplt — output time history plots (PLOTPS format, optional) *.tmraw — output time histories (free format, ASCIL, optional) and so it is not advisable to use one of these extensions for an input data file name since it may be overwritten. See Output Files for more details on the above files.SIMQKE-II User’s Manual 9 4.1 JCDAT: Job Control Data File The job control data file has the following format (optional quantities are shown in square brackets = do not include the brackets); Description Variable Name(s) ‘Type 1) job title job (Character string) 2) data echo flag ‘echo logical vf) 3) debug flag debug ogical vf) 4) no. of field points npt Ginteger) 5) no. of known time histories nkp integer) 6) name of time hist file tmdat (character string) 7) name of SDF data file gwdat (character string) 8) time step increment at (real) 9) number of time steps nts (integer) 10) number of time windows [sizes] nev [nvl, nv2 ...] (integers) 11) name of correlation function cornm (character string) 12) cor function parameters [Pr Pa Ps] (reals) 13) plot time history flag Iplot logical vf) 14) combine time history plots flag 1combn (logical vf) 15) plot SDF flag Igplot logical vf) 16) generator seed (0 for random) kseed integer) 17) coordinate title 18) point coordinates ixyz Gintyeals multi-line) ‘The file is set up in such a way that the first 49 columns of each line (except the first line and those containing the point coordinates) are informational and are ignored by this program. ‘The lines must remain in the order listed above, and all reads beyond the 49th column are free-format, A typical example data file might appear as follows; Four Point Simlation, No Known Points Echo job control data to stats file (t/f)?... t Dump debug data to stats file (t/f)?.....- £ Total number of field points. ....-.-.- 4 Number of known time histories... .. 2... 0 Name of time history data file... .....- none Name of spectral density data file... ... - 4step.gsaf Time step increment (seconds) ........- 0.02 Total number of time steps... -.-- +... 2304 No. of time windows [sizes] .... ~~ + + 4 286 1024 512 512 Correlation structure function name... .. - exprw parameters... ee ee eee 8168.14 Time histories to be plotted (t/f)?.... .. - ©‘SIMQKE-II User's Manual 10 ‘Time histories combined on single plot(t/f)? .. Power spectra to be plotted (t/f)?.....- £ Generator seed (0 = chosen internally)... .. ° Point X coordinate Y coordinate 2 coordinate (Line ignored) 1 0. 0. 0. 2 100.000 °. 0. 3 0. 100.000 0. 4 100.000 100.000 0. (npt entries) Each record, according to line number, is described as follows; 1) The job title (job) is a character string which is echoed in its entirety to the * .stats and plot output files. 2) Set the logical flag echo to true (T) if the input data in the JCDAT file is to be echoed to the * stats output file. This may be used to ensure that Simqke-II has properly read the input data. 3) Set the logical flag debug to true if debug information is to be logged to the *.. stats output file. This may result in a lot of output, so debugging should be restricted to ‘small’ runs, 4) The positive integer npt specified on this line represents the total number of spatial points of interest, including both the known (recording) and unknown (target) points. 5) The non-negative integer nkp specified on this line represents the number of known points at which ground motions have been recorded. If this number is non-zero, then the recorded time history data must appear in the file specified on line 6. 6) The character string tmdat contains the name (or pathname, if not in the current directory) of the file containing the recorded time history data. If the number specified on line 5 is zero, then this name is not used, however this record (line 6) must still be present in the JCDAT data file. 7) The character string gwdat: contains the name (or pathname, if not in the current directory) of the file containing the spectral density data for this field. 8) The time step increment dt is a positive real number which denotes the time increment to be used in the output time histories. This increment is taken to be constant over the duration of the simulation and is assumed to apply also to the known time histories. An error message is issued if the time step used in the known time histories does not agree with that provided here. 9) The number of time steps nt s is a positive integer denoting the total number of time steps to take in the simulation. Thus, the simulation duration is the product of nts and dt. Because the simulation is obtained using an inverse FFT, the value of nts cannot be selected entirely arbitrarily — it must be the sum of nev powers of 2 (see next). For example, if nev is 3, then nts must equal 2* +2 + 2* for three positive integers i, j, and k. In addition, the number of time steps specified on this line must agree with the number of time steps found in the known time history data files. An error message will be issued if not. 10) To allow for a pseudo-evolving spectral density, the overall time interval (0, t,] may be split into a sequence of subintervals within each of which a different spectral density function may be prescribed. On this line the first integer specified, nev, is the number of subintervals to use. This value must be provided and cannot be less than one. Optionally following nev are up tonev more integers specifying the number of time steps to use in each subwindow. These numbers must all be powers of 2. If there are fewer values provided than nev, the remaining windows are evenly divided into the remaining number of time steps. Thus, for example, if lines 9 and 10 readSIMQKE-L User's Manual u Total number of time steps... .... - 2048 Number of time windows [sizes]... . . - 1 4 256 then the 4 time windows consist of 256, 597, 597, and 598 time steps each. Notice that the last window is adjusted so that the sum of window sizes is equal to that specified on line 9 (deviation in window sizes is due to integer truncation). However, these particular numbers will result in failure of the program since each time window must be a powers of 2 in length. This limitation is checked internally and error messages issued, where appropriate. 11) To provide for spatial correlation between time histories, the user must specify (and, for special cases, implement) a space-frequency correlation function, which computes the correlation coefficient between two points at a given separation distance and for a particular ground motion component frequency. The character string provided for cornmis the name (as known to the program) of the function to be used. At this time, two space-frequency correlation functions are provided with the program having names exprw alnrw and so one of the above strings would normally be specified on this line. See next line for a discussion of the parameters passed to these functions. Users with access to the source code for Simgke-II may write their own correlation function in which case its name must be added to the externa] list in the main routine simqke2 . £ and the program must be recompiled with the new module. Arguments to the correlation function are (r,w), where x is the separation distance between the two points for which the correlation is desired, and w is the wave frequency under consideration in rad/sec. 12) On this line, up to 3 real values may be specified. These values are passed to the space- frequency correlation function via the labeled common block /evopar/ and are treated within the function as parameters controlling the correlation decay rate with respect to the two formal function arguments r and w (see above). Note that the units of w are rad/sec and the units of r are whatever units are used to specify the target point locations (see line 18). The parameters passed to the correlation function must have units which are consistent with the units of wand r. If echo is true (see line 2), then the values of all three parameters are reported inthe * .statss file (any unset parameters are assumed to be zero). If one of the provided space-frequency correlation functions is selected on the above line (exprw or alnxw) then the parameters entered here have the following interpretation; for exprw parameter #1 (P;) is the correlation scale factor. The correlation returned is exp{—vwr/P;} where w is the frequency of the particular component of motion under consideration, and r is the absolute distance between the two points for which the correlation is desired. The value of P; can be expressed as 2xcs, where c is the shear wave velocity in the medium, and s is a dimensionless distance-scale parameter. The degree of correlation between points can be controlled by varying s. The other two parameters are unused. for alnrw _ parameters#1 and#2(P, and P;) are correlation scale velocities and parameter #3 (Ps) is the local wave velocity through the medium. The correlation at frequency w between two points separated by r is given by In(P, +8) —In(P+ He) In(P,/P,) where In(.) is the natural logarithm.SIMQKE-II User’s Manual 12 13) Set the logical flag 1p1ot to true if the simulated time histories are to be output to a file having plotps format. Plotps is a program which translates its input file into a PostScript graphics file. It can be obtained by anonymous FIP to random. field.tuns.ca:pub/progs/plotps4.0.tar.gz (Avoid the plotps.min program unless you already have the PSLIB library, found in pub/GAF1ibs, installed. This library is already included directly in the plotps.4.0. tar.gz distribution.) 14) Set the logical flag 1 combn to true if all the time histories produced are to appear on the same plot axes with first time history shown using a solid line, second with a dashed line, ete. For ‘more than two time histories, or for rapidly varying time histories, this option is probably not appropriate. It is mainly useful for comparing motions visually. 15) Set the logical flag 1gp1ot to true if the provided spectral density function is to be plotted. The output file produced must be post-processed by plot ps to convert it into PostScript. 16) The specified generator seed, kseed, is used to initialize the random number generator ‘randu’ (Press et al., 1992, from RAN1 program, pg 271). If two subsequent runs are invoked with identical generator seeds, then the sequence of random numbers which go into the simulation will be identical. However, the time histories may not be identical if the correlation structure is changed. If the random number generator seed is specified as 0, then a seed is produced internally using the current process system ID (see iseed. f). 17) This line contains a title for the following coordinate data. It is ignored although it must be present. 18) On this Tine and continuing for a total of npt: records, provide the point number and spatial coordinates of each point in the field. For conditioned simulations, read the following notes; 4) the point number given in the first column of each record of the spatial coordinate data must be unique and, overall, the point numbers must count from 1 to npt. ii) the point numbers associated with known points must count from 1 to nkp. The point numbers associated with the unknown points must count from (nkp + 1) to npt. In this way the coordinates of the known points and unknown points are determined. iii) the numbering of the known points must correspond to the ordering of the recorded time histories appearing in the TMDAT data file. This is the only link between the known points and their associated recordings. 42 GWDAT: Spectral Density Function Data File ‘This data file contains the points defining the one-sided marginal spectral density function, G(), ‘governing the temporal behaviour of the time histories. Since the field is assumed homogeneous, the same spectral density function is used at all field points. If the spectral density is evolving with time, a sequence of functions may be prescribed in this data file (see JCDAT, line 10) so that if the i’th time window spans the time interval {f;, 1), then Gy.) = G,(w) for t € [ti tisn) i=1,2,nev. ‘The individual functions are specified by a discrete sequence of real value pairs [w, G;(w)], enabling the use of discrete spectral analyses of actual recordings. If the spectral density function is only known in functional form, it must first be sampled at discrete values of w — the samples then placed in this data file. The values of w need not be equispaced, nor do they need to be the same as the‘SIMQKE-II User's Manual B Fourier frequencies used in the simulation. The value of G,(w) is obtained by linear interpolation at the Fourier frequency using the provided data. If the provided data is very coarsely spaced in the Fourier frequency range (0 to /At rad/sec), then the representation of the spectral density function by the simulation may be poor, so it is best to ensure reasonably fine resolution in the Fourier frequency range. ‘The spectral ordinate data in the GWDAT file is converted to have length units of m?. The units of the raw data provided in the file are specified in the file header as acharacter string. Recognizable length units are "m" (the default), "cm", "ft" or "feet", and "in". Length units other than one of these result inno conversion, in which case the user must ensure that spectral and (any) known time history units are consistent. For length units L, the spectral data has units L?/sec’ for acceleration simulations, L?/sec for velocity simulations, and L? - sec for displacement simulations. To ensure consistency, the length units of the known time histories are similarly converted to metres. The length units of the spatial coordinates of the field points are not converted because they do not directly affect the simulation — the coordinate units must, however, be consistent with the prescribed space/frequency correlation function parameters. ‘The units specified in the spectral density function data file are also used to determine if the simulation is to be one of (which are searched for in the given order); 1) acceleration, in which case one of the strings ‘sec™3’ or ‘sec**3" must be found in the units character string, or 2) velocity, in which case the string ‘/sec’ must be found, or 3) displacement, in which case the string ‘*sec’ or‘ sec’ must be found. ‘The spectral data is read from a file having one of the following two forms (A or B); A) Free format (ASCID) with lines; for each j = 1,2, 1) nev, nw; 2) type 3) units 4) wi), Gli), nev ser BW end for which is arranged in nev identically structured blocks. The blocks may be separated by blank lines if desired. The values of nev, type, and units are only actually recorded from the first block that is read — in subsequent blocks, lines 2 and 3 may be blank, although the lines themselves must be provided, and nev may take on other values since it is ignored except as a placeholder. The individual le component are described as follows nev is the total number of spectral density functions provided in the file. This number ‘must match that provided in the JCDAT data file on line 10. The value of nev in each of the 2’nd to nev’th block is ignored but must be present. + nw; is the number of points defining the spectral density function specified in this (j"th) block. For blocks 2 through nev this is the only pertinent piece of information, beyond the spectral data itself. This approach allows different spectral sample rates in the various time windows. + type is a character string containing either ‘Period’ or ‘Frequency’ depending on whether the units of w; (4) are seconds (for period) or rad/sec (for frequency). If type is ‘Period’,SIMQKE-II User's Manual 14 then w; (i) is converted to the corresponding frequency 2 /w; (i) in rad/sec. The value of type encountered in the first block is assumed to hold for all subsequent blocks. + unit's isa character string containing the units of the following G(w) data. Typically this is something like ‘m*2 /sec%3’ but length units ‘cm’, ‘ft’ or ‘feet’, and ‘in’ are also acceptable. If any of the latter length units are found in the string unit's, then G(w) is converted to units m/sec? for acceleration simulations, m/sec for velocity simulations, orm? sec for displacement simulations. (Note, however, that this means if type contains the string G(w) in m*2/sec*3 then, because of the substring ’ in’, the data will be converted from in?/sec? to m?/sec?, which is probably not as intended.) + the real number pairs (w; (i), Gj(i)), i = 1, 2, ..., nw; may be input one pair per line or up to 128 pairs per line (maximum 1024 characters) with spaces, tabs, or newlines (carriage returns) separating the individual numbers. In each block, the program continues reading numbers until it has found nw; pairs in total. B) PLOTPS format: Here the input file is assumed to be in a format suitable also for processing by plot ps, whose ‘manual pages should be consulted in conjunction with the following description, The input file consists of two parts, the first part being a header describing how the data is to be plotted and the second part being the raw data, that is the actual (., G(w)) data pairs. In detail, the file contains; (11 +2enev) lines of header information. Only lines 1, 6, 10, and 11 contain information. pertinent to this program; ine 1: if the first integer (np Lot) provided is a 1, then the spectral data is assumed to follow model (1) or (2) below. Otherwise the first integer should equal nev and model (3) below is followed. Note that if model (3) is used, the header consists of only 13 lines of plotting information. line 6: if the first integer in line is a 1, then line 6 is checked to see how the data is provided. If line 6 is an integer (k) equal to negative nev, then model (2) is used, otherwise model (1) is used. line 10: denotes by the word ‘Period’ or ‘Frequency’ whether the ‘frequency’ data, WG, has units ‘seconds’ or ‘rad/sec’. The default is ‘rad/sec’. If line 10 contains the word ‘Period’, the data is converted to frequency (rad/sec). A period of 0.0 is assigned a frequency of 1 x 10" rad/sec (arbitrarily). Tine 11: contains the units of G(w). The default length unit is m?. Only the length units are converted, and recognizable strings are ‘cm’, ‘ft’, ‘feet’, or ‘in’. If one of these strings are found on line 11, then G(w) data is converted to length units m? using the appropriate conversion factor. Models: In the following, the frequency data is denoted by WG(i,j), i = 1, 2, ., nw(j), 3 = 1, 2, ..+, nev and the corresponding spectral density values asG(i,j), § = 1, 2, ..., nw(3), 3 2, ..., nev, where nevis the ‘number of subwindows into which the simulation duration is divided, and nw (j) is the number of spectral data points provided in the j'th subwindow. () if plot = 1, k > 0, then the spectral data has the following form; (11 + 2*nev) lines of header information (see above) WG(1) G(1,1) G(1,2) ... G(1,nev)‘SIMQKE-II User's Manual 15 WG(2) (2,1) G(2,2) ... 6(2,nev) WG(nw) Ginw,1) Ginw.2) ... G(nw,nev) ( blank line or end-of-file1 ‘Note that in this case, all spectral density functions are prescribed by the same number of discrete observations (nw). Q) ifnplot = 1, k = —nev, then the spectral data has the following form; (11 + 2*nev) lines of plotting information (see above) wo(1,1) san) WG(2,1) (2,2) WG(nw(1),1) G(nw(1),1) { blank line} we(1,2) 6(1,2) WG(2,2) 6(2,2) WG (nw(2),2) G(nw(2),2) ( blank line) ( blank line} WG(1,nev) (1 nev) WG (2, nev) G(2,nev) WG (nw (nev) ;nev) G(nw(nev) ,nev) { blank line or end-of file} Note that in this case, each spectral density function may be prescribed by a different number of discrete observations (nw (1), nw(2), ... nw(nev)). @) if nplot = ney, then the spectral data has the following form; 13 lines of plotting information (see above) wet, 1) (1,1) wo(2,1) (2,1) WG(nw(1),1) G(nw(1),1) { blank line} 13 lines of plotting information (ignored) we(1, 2) (1,2) WG(2,2) G(2,2) we (nw(2),2) G(aw(2),2) { blank line} 13 lines of plotting information (ignored)‘SIMQKE-L User's Manual 16 { blank line} 13 lines of plotting information (ignored) WG(1,nev) (1, nev) WG(2,nev) (2, nev) WG(nw (nev) nev) G{nw(nev) ;mev) ( blank line or end-of file) Again, in this case, each spectral density function may be prescribed by a different number of discrete observations (nw(1), nw(2), ... nw(nev)). The only basic differ- ence between models (2) and (3) is that in model (3) the plot header information is repeated between blocks of data. NOTES: 1) The file type is determined by consulting the second line of the data file to see if it contains one or other of the strings ‘Period’ or ‘Frequency’ (if so, then the file is ‘Free format’, see above). 2) The number of spectral density function data sets provided in this data file must agree with the number of time windows specified in the control data file (nev). 3) The elements of WG as read in may be either frequency (rad/sec) or period (sec) as specified earlier in the data file by the word ‘Period’ or ‘Frequency’ appearing in the preamble. If WG is a period, then itis converted to frequency internally (0 period is converted to a frequency of 1.0%), Itis also assumed that the same units for G and WG are used in all spectral function data sets provided in the file. 43 'TMDAT: Known Time History Data File This file contains the time history data corresponding to the spatial locations at which recordings were made. The time histories are input as data pairs (TL, TH), where TT is the time in seconds, and TH is the comesponding motion value. The length units of TH are converted into metres from recognizable units of ‘cm’, ‘ft’ or ‘feet’, or ‘in’. Length units other than one of these are left unconverted. Simulated motions will generally be one of displacement, velocity, or acceleration and the user must ensure that the provided spectral density function is consistent with the time history data. If the units of TH are U, then units of G must be U? - sec. For example, if TH is acceleration in m/sec, then G must have (or be converted to) units of m?/sec*, ‘The parameters nt s (number of time steps) and nkp (number of known time histories) in this data file must agree with that specified in the job control data file. The known time history(s) are read from a data file having one of two forms (A or B); A) Free format (ASCII) with lines; 1) title (ob title) 2) units (string containing length units) 3) nts, nkp (number of; time steps, known points) 4) (X(i,1), X(i,2), X(i,3), i = 1, nkp ) (currently ignored, coordinates of known points) 5) TE(1) -TH(L,1) TH(2,1)_—s.- THnkp, 1)‘SIMQKE-II User's Manual 7 TI(2) TH(L,2) TH(2,2) = TH(nkp, 2) Ti(nts) TH(L,nts) TH(2,nts) ... TH(nkp,nts) Lend of file B) PLOTPS format: Here the input file is assumed to be in a format suitable also for processing by plot ps, whose manual pages should be consulted in conjunction with the following description. ‘The input file consists of two parts, the first part being a header describing how the data is to be plotted and the second part being the raw data, that is the actual (TT , TH) data pairs, where TT is the time in seconds, and TH is the motion value. In detail, the file contains; (11+2enkp) lines of header information. Only lines 1, 6, and 11 contain information pertinent to this program; line 1: if the first integer (npLot) provided is a 1, then the time history data is assumed to follow model (1) or (2) below. Otherwise the first integer should equal nkp and model (3) below is followed. Note that if model (3) is used, the header consists of only 13 lines of plotting information. line 6: ifline 1 specified a 1, then line 6 is checked to see how the data is provided. If line 6 is an integer (k) equal to negative nkp, then model (2) is used, otherwise model (1) is used. line 11: contains the units of the time history, assumed to length unit with default ‘m” (metres). Only the length units may be changed, and recognizable stings are ‘cm’, ‘ft’, ‘feet’, of ‘in’. If one of these strings are found on line 11, then the length units are converted to ‘m’ using the appropriate conversion factor. In all models to follow, the number of time steps must be the same and equal to the prescribed nts (which must be the same here and in the {job control file). ‘Models: (1) ifnplot = 1,k > 0, then time history data has the following form; (11 + 2*nkp) lines of header information (see above) TI(1) TH(L,1)— TH(2,1) . TH(nkp, 1) TI(2) TH(L,2)— TH(2,2) TH(nkp, 2) TI (nts) TH(1,nts) TH(2,nts) ... TH(nkp, nts) ( blank line or end-of-file\ (2) ifnplot = 1, k = —nkp, then the time history data has the following form; (11 + 2*nkp) lines of plotting information (see above) r()) TH(1,1) TI(2) TH(1,2) TI(nts) —-TH(1,nts) ( blank line} Tr(1) TH(2,1) TI (2) TH(2,2)SIMQKE-I User’s Manual 18 TI(nts) —TH(2,nts) ( blank line} ( blank line} Tr(a) TH(nkp. 1) TI(2) TH(nkp. 2) TI(nts) _TH(nkp, nts) ( blank line or end-offile\ 3) ifnp1ot = nkp, then the time history data has the following form; 13 lines of plotting information (see above) TI(1) TH(1,1) TI(2) TH(1,2) TI(nts) —‘TH(1,nts) ( blank line} 13 lines of plotting information (ignored) TI(1) TH(2,1) 71 (2) TH (2,2) TI(nts) —TH(2,nts) { blank line) 13 lines of plotting information (ignored) { blank line} 13 lines of plotting information (ignored) Tr() TH(nkp,1) Tr(2) ‘TH (nkp,2) Tr(nts) —_TH(nkp nts) { blank line or end-of fle) ‘The only basic difference between models (2) and (3) is that in model 3 the plot header information is repeated between blocks of data. NOTES: 1) The time increment is assumed to be uniform throughout the sequences. 2) The file format is determined by consulting the third line of the data file to see if it contains ‘two leading integers (nt's and nkp). If nor then the file is assumed to be in PLOTPS format.‘SIMQKE-II User’s Manual 19 5. Output Files Output is made to the files; * .statss - job status/debug/error information * .gwplt - spectral density function plots (PLOTPS format) *.tmp1t - time history plots (PLOTPS format) * .tmraw - time histories (free format, ASC) where the last 3 are optional, depending on user defined options in the job control data file. The basename ‘*” is obtained from the name of the CDAT file. Ensure that basenames are unique — if output files of the same name already exist, they are simply overwritten with no warning. ‘The free format saved time history, * . tmwcaw (which is produced if the time history plotting option. is not selected), will have the format 1) title (character string) 2) units (character string) 3) nts, npt, nkp (number of; time steps, points, known points) 4) (X(1,i),X(2,i), X(3,i), i = 1, npt) (spatial coordinates) 5) (TE(5), (TH(4,5), i = 1, mpt), 5 = 1, nts) (time, time history) While all other plots are in PLOTPS format (see plotps(1)). The units are expressed in the form ‘m/sec” for acceleration time histories and ‘m*/sec*” for the corresponding spectral density functions Similarly, ‘m/sec’ and ‘m’ are the units used for velocity and displacement time histories, respectively, with corresponding spectral density function plots in °m?/sec’ and ‘m? - sec’. 6. System Specifies A number of system specific function calls are made by this program which may need to be replicated on certain platforms. In particular, these routines may not be available under certain DOS Fortran compilers. These system routines are described as follows; 1) call fdate(rdate) — retums current date/time in a 24 character string stored in rdate (called by simgke2 . £) 2) call getarg(n,arg) retumsthen’thcommand line argumentin the string arg (on HP’s use the +U77 flag when compiling and linking) (called by simake2.£) 3) getpid() returns current process ID. Called by iseed.. £, this function is used to generate a pseudo-random number generator seed in the event that the user specifies a seed of 0. This function should at least return different integers on each invocation of ‘Simgke-II. Wall clock time could also be used. 4) etime(t) retums the elapsed execution time of the running program. The argument t is a single precision real vector of length 2, however, itisnotused. This functioniscalled by second. f.SIMQKE-II User's Manual 20 7. Example Inthis section an example is presented to illustrate the use of Simgke-II. The exponentially decaying isotropic frequency-dependent spatial correlation function exprw has been used, Pax Pi) = EXP {gil} an nes where 7;; is the relative position vector between points x; and 2;, c is the shear wave velocity in the medium, and s is a distance-scale parameter. The job control data file examp . dat used in the simulation is as follows ‘Three Point Simulation, One Known Point, scale = 5.0 Echo control data to stats file (t/f)? ai Dump debug data to stats file (t/f)?.....- e Total number of field points. ........- 3 Number of known time histories... .....- 1 Name of time history data file... .....- compl.tmraw Name of spectral density data file... ...- pedel.sdraw Time step increment»... - 2-2-7. 00 0.008 Total number of time steps... .....-.- 3328 Number of subwindows [sizes]... .- 2... 3 256 1024 2048 Correlation structure function name . . . + exprw parameter(s)-- 2 eee ee 4084-1 Time histories to be plotted (t/f)?......- t ‘Time history plots combined (t/f)?.. 2... . £ Power spectra to be plotted (t/f}?... 2... £ Peeudo-random number generator seed... -.. 0 Point — X coord. Y Coord. 2 Coord 1 0.0 0.0 0.0 2 10.0 0.0 0.0 3 500.0 0.0 0.0 which is a 3 point problem having points arranged along the x axis at 0.0, 10.0, and 500.0, with motion recorded at the first point. The recorded time history is stored in the file comp1 . tmraw. ‘The spectral density function is defined in 3 unequal length subwindows as shown in Figure 1 and stored in the file psdc1 .sdaw. Figures 2, 3, and 4 show excerpts from the comp1 . tmraw, psde1. sdraw, and the output examp . stats file respectively. A distance scale of s = 5 has been used in the example data file, so that a simulated motion at a distance of 10 m from the recording should look fairly similar, at least in the lower frequency components. On the other hand, a simulated motion at a distance of 500 m will be largely independent of the recording. The simulated motions for this problem are shown in Figure 5.‘SIMQKE-II User’s Manual 2 TS Fortime window [0, 2.04] seconds g.4 fe z Ss ° a a a a ob » » © © ow 100 Frequency (radlsec) sg _Fortime window (2.048, 10.232] seconds 34 a8 “e z 5 ° en ob » » © 0 & 100 Frequency (rad/see) Te Fortime window (10.24, 26.616] seconds & fe = 6 . T T T T TT o> b » » © © © 100 Frequency (adlsec) Figure 1. Power spectral density function used in each of three subwindows. Note that the vertical scales are considerably different.SIMQKE-II User’s Manual Horizontal Component 1 at 20.00 degrees clockwise from North m/sec*2 3328 1 0.0 0.0 0.0 0.0000008+00 -0.218960E+00 0.800000E-02 -0.271767E+00 0.160000E-01 -0.328865E+00 0.240000E-01 -0.350127E+00 0.320000E-01 -0.301266E+00 0.400000E-01 -0.167549E+00 0.480000E-01 -0.299566E-01 0.560000E-01 0.747209E-01 0.640000E-01 0.126518E+00 0.720000E-01 0.128547E+00 Figure 2. Heading of prescribed time history file comp1 . t maw. 3 200 Frequency m°2/sec"3 0.0000E+00 0.2635E-03 0.3157E+01 0.2643E-03 0.6315E+01 0.2670E-03 0.9472E+01 0.2714E-03 0.1263E+02 0.2776E-03 0.1579E+02 0.2857E-03 0.1894E+02 0.2955E-03 0.2210E+02 0.3069E-03 0.2526E+02 0.3196E-03 Figure 3 Heading of spectral density function file psdc1 . sdraw.‘SIMQKE-II User's Manual This is SIMQKE2 (Version 2.6): Wed Feb 19 09:10:09 1997 Control file examp.dat sessse=see=: Job Control Three Point Simulation, One Known Point, Echo control data to stats file (t/f)? - Dump debug data to stats file (t/£)? Total number of field points... . 1. - Number of known time histories ||) |. ! Name of time history data file |) 1!!! Name of spectral density data file | |. - Time step increment ... . ei Total number of time steps | | | | Number of subwindows [sizes]. ¢ 0 0.1 Correlation structure function name parameter(s) 0s. ee ee ee Time histories to be plotted (t/f)?. | | Time history plots combined (t/f)? . << Power spectra to be plotted (t/f)? 5 Pseudo-random number generator seed | | | |: Point —_X Coord. Y Coord. 2 Coord. 1 0,000000E+00 0.000000B+00 0.000000E+00 2 0,100000E+02 0:000000E+00 0:000000E+00 3 0.500000E+03 0.000000E+00 0.0000008+00 s=asz2z== End of Control Data Reading spectral data file psdcl.sdraw . (ASCII format) (SDF units: m°2/sec”3) Target Variance: Data seale For Window 1 = 0.0220256 (m/sec2)72 For Window 2 = 0.7707890 (m/sec2)*2 For Window 3 = 0.0144998 (m/sec2)*2 Reading time history data file compi.tmraw (ASCII format) (Time history units: m/sec*2) For pseudo-random number generator seed Generating acceleration time histories . window: initializing... 1% variance above wmax in subwindow 1 -2% variance above wimax in subwindow 2 0& variance above wimax in subwindow 3 npt,nkp,ynev = 313. nstw = | 256 1024 2048 nstw 8 10° 1 nw 200 257 257 aw 3.06796 “0.76699 0.38350 nv,av 32 0.01563 sg(1-->5) for each window; 0.00081 0.00020 0.00020 0.00021 0104001 0.00990 0.00979 0.00968 9:00040 0.00010 0.00010 0.00010 Inter-Point Distance Matrix 0.000000 10.0000000 500.0000000 10:0000000 "0.000000 490.0000000 500.0000000 490.0000000 0.000000 generating window 1 generating window 2 generating window 3 took 0.215696 seconds. Time history plot written to file examp.tmplt Figure 4 Output file examp. stats. Beas compl .tmraw psdelsdraw 0.800000B-02 3328 3 256 1024 2048 exprw 0.40841E+04 0.0 0.0 om 6459 0.00021 0.00943, 0.00010‘SIMQKE-II User's Manual ‘Known motion at recording point ° 5 10 5 2 % Time (2) ‘Simulated motion a target point, r= 10m By ° 3 a 15 » Time (see) Simulated motion at target point, r= 500m ® 5 0 5 > z Time (see) Figure 5. Conditionally simulated ground acceleration,‘SIMQKE-II User's Manual 25 8 1. 10. References Borsstéres, H.P., and VANMARCKE, E.H., Spatial correlation of earthquake ground ‘motion: Non-parametric estimation, Soi! Dynamics and Earthquake Engineering, 14, 23-31, 1995, Borssiénes, H.P.. Estimation of the Correlation Strucure of Random Field, thesis pre~ ‘sented to Priniceton University, at Princeton, New Jersey, in partial fulfillment of the requirements for the degree of Doctor of Philosophy, 187 pg., Jun. 1992. FENTON, G.A., Error evaluation of three random field generators, ASCE Journal of Engi- neering Mechanics, 120(12), 2487-2497, 1994, FENTON, G. A., Simulation and Analysis of Random Fields, thesis presented to Princeton University at Princeton, New Jersey, in paral fulfilment ofthe requirements for the degree of Doctor of Philosophy, 178 pg., Jan. 1990. HARICHANDRAN, R.S., and VANMARCKE, E.H., Stochastic variation of earthquake ound motion in space and time, ASCE Journal of Engineering Mechanics, 112(2), Fsatt74 1986. Henepia-Zavont, B., Siuctural Response to Spatially Varying Earthquake Ground Motion, thesis presenied to Princeton University, at Princeton, New Jersey, in partial fulfillment of the requirements for the degree of Doctor of Philosophy, 178 pg., Jun. 1993. Press, W.H., TEUKOLSKY, S.A., VETTERLING, W.T., and FLANNERY, B.P., Nu- merical Recipes in Foriran, 3nd Bd. Cambridge University Press, New York, NY, Vanmancre, BH, Henepis-Zavont, E.» Np FENTON, A, Conditional simula. tion of spatially correlated earthquake ground motion, journal of Engineering Mechanies, 1I3(11), 2333-2352, 1993. Varmancke, BE. H., AND FENTON, Cae Conditioned simulation of logal elds of earthquake ground motion, Structural Safety, Special Issue on Spatial Variation of Earthquake Ground Motion, Jan. 1991. VANMARCKE, E.H., Random Fields: Analysis and Synthesis, The MIT Press, Cambridge, Massachusetts, 1984.