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Journal ArticleDOI

A Computationally Efficient Ground-Motion Selection Algorithm for Matching a Target Response Spectrum Mean and Variance

01 Aug 2011-Earthquake Spectra (EARTHQUAKE SPECTRA)-Vol. 27, Iss: 3, pp 797-815
TL;DR: In this article, the authors proposed a computationally efficient and theoretically consistent algorithm to select ground motions that match the target response spectrum mean and variance, which is used to estimate structural response estimates.
Abstract: Dynamic structural analysis often requires the selection of input ground motions with a target mean response spectrum. The variance of the target response spectrum is usually ignored or accounted for in an ad hoc manner, which can bias the structural response estimates. This manuscript proposes a computationally efficient and theoretically consistent algorithm to select ground motions that match the target response spectrum mean and variance. The selection algorithm probabilistically generates multiple response spectra from a target distribution, and then selects recorded ground motions whose response spectra individually match the simulated response spectra. A greedy optimization technique further improves the match between the target and the sample means and variances. The proposed algorithm is used to select ground motions for the analysis of sample structures in order to assess the impact of considering groundmotion variance on the structural response estimates. The implications for codebased design and performance-based earthquake engineering are discussed. [DOI: 10.1193/1.3608002]

Summary (4 min read)

INTRODUCTION

  • Dynamic structural analysis is commonly used in performance-based earthquake engineering to predict the response of a structure subjected to earthquake ground motions.
  • One commonly used approach is to select recorded or simulated ground motions whose response spectra match a target mean response spectrum (e.g., Beyer and Bommer, 2007; Shantz, 2006; WatsonLamprey and Abrahamson, 2006).
  • No further variance need be applied to the UHS, as varying the spectral values is equivalent to varying the associated exceedance rate of the spectral accelerations from period to period (an operation which is unlikely to produce meaningful results).
  • The selection algorithm first uses Monte Carlo simulation to probabilistically generate multiple response spectra from a distribution parameterized by the target means and variances.
  • The proposed algorithm is then used to select ground motions for estimating the seismic response of sample single-degree-of-freedom (SDOF) and multiple-degree-of-freedom (MDOF) structures, in order to assess the impact of considering ground-motion variance on Jayaram – 4 the structural response estimates.

GROUND-MOTION SELECTION ALGORITHM

  • The objective of the proposed algorithm is to select a suite of ground motions whose response spectra have a specified mean and variance.
  • The first step in this algorithm is to parameterize the multivariate normal distribution of lnSa’s at multiple periods.
  • The mean and the variance of the simulated response spectra will approximately match the corresponding target values because they were sampled from the desired distribution.
  • Therefore, a ‘greedy’ optimization technique is used to further improve the match between the sample and the target means and variances.
  • Each ground motion selected previously is replaced one at a time with a ground motion from the database that causes the best improvement in the match between the target and the sample means and variances.

ILLUSTRATIVE GROUND-MOTION SELECTION

  • This section describes the application of the proposed algorithm for selecting structurespecific ground motions that have a specified spectral acceleration at the structure’s fundamental period.
  • The target response spectrum mean and covariance matrices are obtained using the conditional mean spectrum (CMS) method (Baker, 2010), which provides the mean and variance (and correlations) of the response spectrum conditioned on the specified spectral acceleration.
  • It is to be noted that while this example uses the targets from the CMS method, the proposed algorithm can be used with any arbitrary target mean and covariance (e.g., Jayaram and Baker, 2010).

PARAMETERIZATION OF THE TARGET RESPONSE SPECTRUM DISTRIBUTION

  • As described in the previous section, the first step in the algorithm is to parameterize the multivariate normal distribution of the lnSa’s using the means and the variances of the spectral accelerations (chosen to equal the target mean and the target variance respectively) Jayaram – 8 and the correlations between the spectral accelerations at two different periods.
  • The steps involved in parameterizing the distribution using the CMS method are listed below.
  • Tj of interest, compute the unconditional mean and the unconditional standard deviation of the response spectrum, given M and R. (Since lnSa’s at multiple periods follow a Jayaram – 10 multivariate normal distribution, the exponential of the mean lnSa equals the median spectral acceleration.

RESPONSE SPECTRUM SIMULATION

  • Forty response spectra are simulated (using Monte Carlo simulation) by sampling from a multivariate normal distribution with the mean and covariance matrices defined by Equations 6 and 9 for the target scenario described above.
  • The response spectra are simulated at 20 periods logarithmically spaced between 0.05s and 10.0s, and are shown in Figure 2a.
  • A large period range is used to ensure a good match in the entire response spectrum that covers regions of higher modes and nonlinearity.
  • It can be seen that the mean values agree reasonably well.
  • Figure 1b shows a reasonable agreement between the standard deviation of the simulated lnSa values and the target standard deviation.

SELECTION OF GROUND MOTIONS TO MATCH SIMULATED SPECTRA

  • Forty ground motions are selected from the Next Generation Attenuation (NGA) database (Chiou et al., 2008) that individually match the forty response spectra simulated in the previous step.
  • No constraints on, for example, the magnitudes and distances of the selected recordings are used, but such constraints are easily accommodated by simply Jayaram – 11 restricting the set of ground motions considered for selection.
  • The sample and the target means and standard deviations are shown in Figure 1.
  • This computational efficiency allows for the algorithm to be optionally applied multiple times if one wants several candidate sets to choose from.
  • While selecting the ground motions shown in Figure 2, the authors applied the algorithm multiple times (twenty times, in particular) to obtain multiple candidate ground-motion sets and chose the set with the minimum value of SSE.

GREEDY OPTIMIZATION TECHNIQUE

  • The greedy optimization technique is used to modify the ground-motion suite selected in the previous step.
  • The spectra of the selected ground motions are shown in Figure 2c.
  • The means and the standard deviations of the set are shown in Figure 1, and have a near perfect match with the target means and standard deviations.
  • The mean absolute error between the sample and the target correlations is 0.15.
  • In total, the computational time required to select the set of 40 ground motions from the 7102 available ground motions is about 180 seconds using a MATLAB implementation on an 8GB RAM 2.33GHz quad core processor.

SELECTION OF A SMALLER NUMBER OF GROUND MOTIONS

  • The response spectra of the selected records are shown in Figure 3a.
  • The set means and standard deviations are compared to the target means and standard deviations in Figure 3b-c.
  • It can be seen that the matches are good, illustrating the effectiveness of the algorithm in selecting small sets of ground motions.
  • The computational time required to select the set of 10 ground motions is about 25 seconds using a MATLAB implementation on an 8GB RAM 2.33GHz quad core processor.
  • Figure 3. (a) Response spectra of 10 selected ground motions (b) Response spectrum mean (c) Response spectrum standard deviation.

GROUND-MOTION SELECTION

  • The ground motions used for evaluating structural response are selected using the method described in the previous section for a target scenario with magnitude = 7, distance to rupture = 10km, Vs30 = 400m/s, and a strike-slip mechanism.
  • The Campbell and Bozorgnia (2008) ground-motion model is used to estimate the mean and variance of the response spectrum.
  • The values of ε and period T* are varied to obtain multiple test scenarios.
  • The structures considered in this work have periods (T*) ranging between 0.5s and 2.63s.

STRUCTURAL RESPONSE

  • This section describes the response of sample nonlinear single-degree-of-freedom (SDOF) structures and multiple-degree-of-freedom (MDOF) buildings designed according to modern building codes.
  • The authors consider only maximum displacement for the SDOF structures and maximum interstory drift ratio (MIDR) for the MDOF structures.

Description of structural systems

  • The SDOF structures considered in this work follow a non-deteriorating, bilinear forcedisplacement relationship (Chopra, 2007).
  • The R factor is controlled by varying the yield displacements of the SDOF structures relative to the *( )aS T value obtained from the target spectrum.
  • The MDOF structures used in this study were designed per modern building codes and modeled utilizing the Open System for Earthquake Engineering Simulation (2007) by Haselton and Deierlein (2007).
  • The structural models consider strength and stiffness deterioration (Ibarra et al., 2005) unlike in the SDOF case.
  • They have also been used for previous extensive ground-motion studies (Haselton et al., 2009).

Response of SDOF systems

  • Table 1 shows the mean, median and dispersion (dispersion refers to logarithmic standard deviation) of ductility ratios (spectral displacement divided by the yield displacement) of the SDOF structures under the different ground-motion scenarios described earlier.
  • The ductility statistics are estimated using the two sets of 40 ground motions selected using Method 1 (ground motions selected by matching only the target response spectrum mean) and Method 2 (ground motions selected by matching the target response spectrum mean and variance).
  • The CDF obtained using Method 2 is flatter with heavier tails as a result of the larger dispersion observed in this case.
  • As seen from Figure 5a, the upper tails of the CDFs are heavier than the lower tails.
  • Analytically, if the responses were to follow a lognormal distribution (a common assumption in performance-based earthquake engineering), the properties of the lognormal distribution will imply that a larger dispersion results in a larger mean for a fixed median, which also explains the larger means observed in Method 2.

Response of MDOF systems

  • Table 2 summarizes the maximum interstory drift ratio (MIDR) estimates for the MDOF structures considered in this study under various ground-motion scenarios, estimated using Jayaram – 16 Methods 1 and 2.
  • The distributions of responses are summarized using the probability of collapse (i.e., counted fraction of responses indicating collapse) and the median and the dispersion of the non-collapse responses.
  • As seen in the SDOF case, the CDF obtained using Method 2 is flatter and has heavier tails on account of larger dispersion.
  • Figure 6. Distribution of the structural response of the 20 story moment frame building corresponding to ε(T*) = 2: (a) Linear scale (b) Logarithmic scale.
  • The increased dispersion can result in more extreme responses, which can lead to a larger probability of structural collapse.

IMPLICATIONS

  • Code-based design is often concerned with the average response of the structure (e.g., ASCE, 2005).
  • The average response is typically interpreted as the mean response, although sometimes it is interpreted as the median.
  • The increase in the dispersion leads to higher and lower extremes of structural response and the associated damage states and losses.
  • PBEE calculations will thus almost certainly be affected by this issue.
  • In summary, the example analyses presented above and engineering intuition suggest that the target response spectrum variance used when selecting ground motions has an impact on the distribution of structural responses obtained from resulting dynamic analysis.

CONCLUSIONS

  • A computationally efficient, theoretically consistent ground-motion selection algorithm was proposed to enable selection of a suite of ground motions whose response spectra have a target mean and a target variance.
  • It was shown empirically that this selection algorithm selects ground motions whose response spectra have the target mean and variance.
  • It was seen that considering the response spectrum variance does not significantly affect the resulting median response, but slightly increases the mean response and considerably increases the dispersion (logarithmic standard deviation) of the response.
  • The increase in the mean and the dispersion is larger for more non-linear SDOF structures.
  • Two code-compliant MDOF structures with heights of 4 and 20 stories were also analyzed using the selected ground motions.

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1,604 citations

Journal ArticleDOI
TL;DR: In this article, the conditional spectrum (CS) with mean and variability is used to estimate the annual rate of exceeding a specified structural response amplitude for a 20-story reinforced concrete frame structure.
Abstract: SUMMARY The conditional spectrum (CS, with mean and variability) is a target response spectrum that links nonlinear dynamic analysis back to probabilistic seismic hazard analysis for ground motion selection. The CS is computed on the basis of a specified conditioning period, whereas structures under consideration may be sensitive to response spectral amplitudes at multiple periods of excitation. Questions remain regarding the appropriate choice of conditioning period when utilizing the CS as the target spectrum. This paper focuses on risk-based assessments, which estimate the annual rate of exceeding a specified structural response amplitude. Seismic hazard analysis, ground motion selection, and nonlinear dynamic analysis are performed, using the conditional spectra with varying conditioning periods, to assess the performance of a 20-story reinforced concrete frame structure. It is shown here that risk-based assessments are relatively insensitive to the choice of conditioning period when the ground motions are carefully selected to ensure hazard consistency. This observed insensitivity to the conditioning period comes from the fact that, when CS-based ground motion selection is used, the distributions of response spectra of the selected ground motions are consistent with the site ground motion hazard curves at all relevant periods; this consistency with the site hazard curves is independent of the conditioning period. The importance of an exact CS (which incorporates multiple causal earthquakes and ground motion prediction models) to achieve the appropriate spectral variability at periods away from the conditioning period is also highlighted. The findings of this paper are expected theoretically but have not been empirically demonstrated previously. Copyright © 2013 John Wiley & Sons, Ltd.

253 citations


Cites methods from "A Computationally Efficient Ground-..."

  • ...Suites of ground motions can be selected and scaled such that they collectively match the entire distribution of the CS, by using a computationally efficient algorithm [8]....

    [...]

  • ...A computationally efficient algorithm has been developed for selecting ground motions to match this target spectrum mean and variance [8]....

    [...]

  • ...To illustrate, Figure 3 shows the response spectra of 40 ground motions selected and scaled to match the CS (mean and standard deviation) via [8] with Sa....

    [...]

15 Nov 2011
TL;DR: The National Institute of Standards and Technology (NIST) funded a project to improve guidance to the earthquake engineering profession for selecting and scaling earthquake ground motions for the purpose of performing nonlinear response-history analysis.
Abstract: The National Institute of Standards and Technology (NIST) funded a project to improve guidance to the earthquake engineering profession for selecting and scaling earthquake ground motions for the purpose of performing nonlinear response-history analysis. The project supported problem-focused studies related to defining target spectra for seismic design and performance assessment, response-spectrum matching, and near-fault ground motions. Recommendations are presented for target spectra, selection of seed ground motions, and scaling of motions to be consistent with different target spectra. Minimum numbers of sets of motions are recommended for computing mean component and systems responses, and distributions of responses. Guidance is provided on selection and scaling of ground motions per ASCE/SEI 7-10.

241 citations

Journal ArticleDOI
TL;DR: The conditional spectrum (CS) is a target spectrum (with conditional mean and conditional standard deviation) that links seismic hazard information with ground-motion selection for nonlinear dynamic analysis.
Abstract: The conditional spectrum (CS) is a target spectrum (with conditional mean and conditional standard deviation) that links seismic hazard information with ground-motion selection for nonlinear dynamic analysis. Probabilistic seismic hazard analysis (PSHA) estimates the ground-motion hazard by incorporating the aleatory uncertainties in all earthquake scenarios and resulting ground motions, as well as the epistemic uncertainties in ground-motion prediction models (GMPMs) and seismic source models. Typical CS calculations to date are produced for a single earthquake scenario using a single GMPM, but more precise use requires consideration of at least multiple causal earthquakes and multiple GMPMs that are often considered in a PSHA computation. This paper presents the mathematics underlying these more precise CS calculations. Despite requiring more effort to compute than approximate calculations using a single causal earthquake and GMPM, the proposed approach produces an exact output that has a theoretical basis. To demonstrate the results of this approach and compare the exact and approximate calculations, several example calculations are per- formed for real sites in the western United States. The results also provide some in- sights regarding the circumstances under which approximate results are likely to closely match more exact results. To facilitate these more precise calculations for real applications, the exact CS calculations can now be performed for real sites in the United States using new deaggregation features in the U.S. Geological Survey hazard mapping tools. Details regarding this implementation are discussed in this paper.

171 citations

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Abstract: TABLE OF CONTENTS PREFACE 1 INTRODUCTION 1.1 Objectives of the Study of Structural Dynamics 1.2 Importance of Vibration Analysis 1.3 Nature of Exciting Forces 1.4 Mathematical Modeling of Dynamic Systems 1.5 Systems of Units 1.6 Organization of the Text PART I 2 FORMULATION OF THE EQUATIONS OF MOTION: SINGLE-DEGREE-OF-FREEDOM SYSTEMS 2.1 Introduction 2.2 Inertia Forces 2.3 Resultants of Inertia Forces on a Rigid Body 2.4 Spring Forces 2.5 Damping Forces 2.6 Principle of Virtual Displacement 2.7 Formulation of the Equations of Motion 2.8 Modeling of Multi Degree-of-Freedom Discrete Parameter System 2.9 Effect of Gravity Load 2.10 Axial Force Effect 2.11 Effect of Support Motion 3 FORMULATION OF THE EQUATIONS OF MOTION: MULTI-DEGREE-OF-FREEDOM SYSTEMS 3.1 Introduction 3.2 Principal Forces in Multi Degree-of-freedom Dynamic System 3.3 Formulation of the Equations of Motion 3.4 Transformation of Coordinates 3.5 Static Condensation of Stiffness matrix 3.6 Application of Ritz 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Additional excerpts

  • ...…follows: R1 ¼ qðT1; T ÞrlnSaðT1ÞrlnSaðT Þ qðT2; T ÞrlnSaðT2ÞrlnSaðT Þ : : qðTn; T ÞrlnSaðTnÞrlnSaðT Þ 2 66664 3 77775 (8) The covariance matrix of ln SaðT1Þ; ln SaðT2Þ; :::; ln SaðTnÞð Þ conditioned on ln SaðT Þ can be computed as follows (e.g., Johnson and Wichern 2007): R ¼ R0 1 r2lnSaðT Þ R1R 0…...

    [...]

BookDOI
13 Jan 2003
TL;DR: Minimum Design Loads for Buildings and Other Structures as mentioned in this paper gives the latest consensus requirements for dead, live, soil, flood, wind, snow, rain, ice, and earthquake loads.
Abstract: Minimum Design Loads for Buildings and Other Structures gives the latest consensus requirements for dead, live, soil, flood, wind, snow, rain, ice, and earthquake loads, as well as their combinatio...

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Journal ArticleDOI

1,604 citations


"A Computationally Efficient Ground-..." refers background in this paper

  • ...The SDOF structures considered in this work follow a non-deteriorating, bilinear forcedisplacement relationship (Chopra 2007)....

    [...]

Frequently Asked Questions (10)
Q1. What contributions have the authors mentioned in the paper "A computationally efficient ground-motion selection algorithm for matching a target response spectrum mean and variance" ?

In this paper, the authors proposed a method to select ground motions that match the least variance from the target response spectrum. 

The computational time required for selecting the set of 10 ground motions without using the greedy optimization technique is 4 seconds. 

In total, the computational time required to select the set of 40 ground motions from the 7102 available ground motions is about 180 seconds using a MATLAB implementation on an 8GB RAM 2.33GHz quad core processor. 

SDOF structures with ‘R factors’ (the ratio of the target spectral acceleration at the period of the structure, *( )aS T , to the yield spectral acceleration = ω2 * yield displacement, where ω is the structure’s fundamental circular frequency) of 1, 4 and 8 are considered to study varying levels of non-linear behavior. 

A greedy optimization technique then further improves the match between the target and the sample means and variances by replacing one previously selected ground motion at a time with a record from the ground-motion database that causes the best improvement in the match. 

A MATLAB implementation of the proposed ground-motion selection algorithm can be downloaded from http://www.stanford.edu/~bakerjw/gm_selection.html.Jayaram – 12To test the effectiveness of the algorithm in sampling smaller ground motion sets, it is repeated to select a set of 10 ground motions for the scenario described earlier (magnitude = 7, distance to rupture = 10km, T* = 2.63s and ε(T*) = 2). 

Since the Monte Carlo simulated response spectra have the desired mean and variance, the response spectra of the selected recorded ground motions will also have the desired mean and variance. 

While selecting the ground motions shown in Figure 2, the authors applied the algorithm multiple times (twenty times, in particular) to obtain multiple candidate ground-motion sets and chose the set with the minimum value of SSE. 

Since the simulated response spectra have approximately the desired mean and variance, the response spectra selected using this approach will also have approximately the desired mean and variance. 

One commonly used approach is to select recorded or simulated ground motions whose response spectra match a target mean response spectrum (e.g., Beyer and Bommer, 2007; Shantz, 2006; WatsonLamprey and Abrahamson, 2006).