FLAC Training Course

Basic Concepts and Recommended Procedures

for
Geotechnical Numerical Analysis
related to
Nuclear Waste Isolation
August 7-11, 2006
Instructors:

Dr. Roger Hart
Yanhui Han

Training Schedule
August 7, 2006 (morning)
09:00-12:00 Overview on Numerical Modeling for
Nuclear Waste Isolation
- Introduction and overview by IAEA
- Problems related to repository design and engineering
- Participant perceptions (each participant provides
her/his perspective on numerical modeling in the context
of their national program ~ 10-15 min. per participant)



Training Schedule
August 7, 2006 (afternoon)
01:00-02:00 Overview of Itasca and Itasca Software
Introduction to FLAC
- Overview of capabilities in geo-engineering analysis
and design
- Modeling features specific to waste isolation studies
02:00-03:00 Introduction to the FLAC Graphical Interface
- Menu-driven versus command-driven operation
03:00-03:15 Break
03:15-05:00 FLAC Theoretical Background
- Explicit finite-difference solution

Overview of Itasca
Consulting Services and Software for the
Mining, Civil, Petroleum, and Waste Isolation Industries

Itasca office locations
plus software agents in 13 countries
Itasca codes
1. FLAC two dimensional continuum, with joints
2. FLAC3D three dimensional continuum, with joints
3. PFC3D three dimensional DEM* spheres + clumps
4. PFC2D two dimensional DEM disks + clumps
5. UDEC two dimensional DEM polygonal bodies
6. 3DEC three dimensional DEM polyhedral bodies
All codes use an explicit, dynamic solution scheme, even to simulate
quasi-static problems. All include coupled fluid and thermal modes,
and include many nonlinear constitutive models.
All codes treat interactions between separate objects as boundary
conditions; there is no concept of a joint element. Thus, even for the
continuum codes, the DEM scheme is used for interactions.
* DEM (distinct/discrete element method)
All Itasca codes
contain a built-in programming language, called FISH, that
allows users to:
add new plots or printout options
control a simulation (and the conditions) automatically
access and modify most of the internal variables & properties
set up special in situ conditions & boundary conditions
add coupling between codes, or between physical entities.
Also, all codes can accept user-written constitutive
(stress/strain) models, written in C++ or FISH (FLAC only).
Many users have written their own models. Several models are
available that have been written by others.
User support
1. Extensive manuals, with many examples and useful FISH
functions, are provided, both on CD and in hard-copy.
2. Hundreds of references to papers describing applications of
all codes are available on the Itasca web site
(www.itascacg.com).
3. Worked examples are provided and updated regularly on
the web site; a new site provides a repository for new
constitutive models.
4. Latest code updates may be downloaded from the web.
5. International code-user symposia are held regularly.
6. Rapid answers to users queries are provided, both by
telephone and email (many hundreds of such questions are
handled every year).
7. Consulting agreements may be set up for more extensive
help with setting up models and interpreting the results.
FLAC is a general-purpose code that can simulate a full range of
nonlinear static & dynamic problems, with coupled fluid flow, heat
flow and structural interaction. Any geometry can be represented,
and the boundary conditions are quite general.
FLAC simulates the behavior of nonlinear continua by the
generalized finite difference method (arbitrary element shapes),
also known as the finite volume method.
FLAC solves the full dynamic equations of motion even for quasi-
static problems. This has advantages for problems that involve
physical instability, such as collapse, as will be explained later. To
model the static response of a system, damping is used to absorb
kinetic energy.


What is FLAC?




Advanced, Two and Three Dimensional
Continuum Modeling for Geotechnical Analysis
of Rock, Soil, and Structural Support
Basic Features
Nonlinear, large-strain simulation of
continua
Explicit solution scheme, giving
stable solutions to unstable
physical processes
Interfaces or slip-planes are
available to represent distinct
interfaces along which slip and/or
separation are allowed, thereby
simulating the presence of faults,
joints or frictional boundaries
Displacements resulting from
construction of a shallow tunnel
FLAC & FLAC3D




Advanced, Two and Three Dimensional
Continuum Modeling for Geotechnical Analysis
of Rock, Soil, and Structural Support
Basic Features
Built-in material models:
"null" model,
three elasticity models (isotropic,
transversely isotropic and
orthotropic elasticity),
eight plasticity models (Drucker-
Prager, Mohr-Coulomb, strain-
hardening/softening, ubiquitous-
joint, bilinear strain-
hardening/softening ubiquitous-
joint, double-yield, modified Cam-
clay, and Hoek-Brown)
User-defined models written in
FISH (FLAC only)
Continuous gradient or statistical
distribution of any property may be
specified

Braced excavation
FLAC & FLAC3D




Advanced, Two and Three Dimensional
Continuum Modeling for Geotechnical Analysis
of Rock, Soil, and Structural Support
Basic Features
Built-in programming language
(FISH) to add user-defined
features
FLAC and FLAC3D can be
coupled to other codes via TCP/IP
links
Convenient specification of
boundary conditions and initial
conditions
Model grid for service tunnel connecting
two main tunnels
FLAC & FLAC3D




Advanced, Two and Three Dimensional
Continuum Modeling for Geotechnical Analysis
of Rock, Soil, and Structural Support
Basic Features
Water table may be defined for
effective stress calculations
Groundwater flow, with full coupling
to mechanical calculation (including
negative pore pressure, unsaturated
flow, and phreatic surface conditions)
Structural elements,such as tunnel
liners, piles, sheet piles, cables, rock
bolts or geotextiles, that interact with
the surrounding rock or soil, may be
modeled

Excavation supported by shotcrete wall,
tiebacks and soilnails
FLAC & FLAC3D




Advanced, Two and Three Dimensional
Continuum Modeling for Geotechnical Analysis
of Rock, Soil, and Structural Support
Basic Features
Automatic 3D grid generator
(FLAC3D) using pre-defined shapes
that permit the creation of intersecting
internal regions (e.g., intersecting
tunnels)
Full graphical user interface in FLAC;
partial gui in FLAC3D (for plotting and
file handling)
Extensive plotting features
contours, vectors, tensors, flow, etc.)
Graphical output in industry-standard
formats includes PostScript, BMP,
JPG, PCX, DXF (AutoCAD), EMF, and
a clipboard option for cut-and-paste
procedures
Sequential excavation and support for a
shallow tunnel
FLAC & FLAC3D




Advanced, Two and Three Dimensional
Continuum Modeling for Geotechnical Analysis
of Rock, Soil, and Structural Support
Optional Features
Optional modules include:
thermal, thermal-mechanical, and thermal-poro-
mechanical analysis including conduction and
advection;
visco-elastic and visco-plastic (creep) material
models;
dynamic analysis capability with quiet and free-
field boundaries, and
user-defined constitutive models written in C++
two-phase fluid flow (FLAC only)
Liquefaction failure of a
pile-supported wharf
FLAC & FLAC3D
FLAC Version 5 & FLAC3D Version 3
Features
1. Hysteretic damping more realistic and more efficient than
Rayleigh damping for dynamic analysis
2. Built-in Hoek-Brown constitutive model
3. Thermal advection (convection) logic for thermal / fluid-flow
analysis
4. Network key license version
5. More efficient calculation of fluid-flow / mechanical analysis
(FLAC)
6. New structural element types: liner elements, rockbolt elements,
strip elements (FLAC)
7. Increased calculation speed (10-20% faster) due to optimization to
calculation cycle and updated compiler (FLAC3D)
8. New MOVIE facility in AVI or DCX format (FLAC3D)
9. Optional hexahedral-meshing preprocessor (3DShop) to facilitate
creation of complex meshes (FLAC3D)




New Features in FLAC Version 5.1
1. Speedup of double-precision version by converting to Intel Fortran
compiler.

2. Automatic re-meshing logic.

3. Parallel processing on multiprocessor computers
(e.g., dual processors or dual core processor)

Pre-release available August 2006
Official release in early 2007
New Features in FLAC3D Version 3.1
1. Parallel processing on multiprocessor computers
(e.g., dual processors or dual core processor)

2. New structural element type Embedded Liner provides shear/slip and
normal interaction with the grid on both sides of the liner (e.g., to simulate
buried sheet pile walls)

3. New Mixed Discretization scheme for tetrahedral elements Nodal Mixed
Discretization provides more accurate solution of plasticity problems using
tetrahedral grids.

4. 64 bit version of FLAC3D*

5. Help File containing Command Reference, FISH Reference and Example
Applications.*

6. Tunnel extrusion grid generator tool.*

*not yet available

Pre-release available now
Official release in November 2006












MODELLING-STAGE TABS

Finite Difference Formulation
of FLAC
BASIS OF FLAC
FLAC solves the full dynamic equations of motion even for
quasi-static problems. This has advantages for problems that
involve physical instability, such as collapse, as will be
explained later.

To model the static response of a system, a
relaxation scheme is used in which damping absorbs kinetic
energy. This approach can model collapse problems in a more
realistic and efficient manner than other schemes, e.g.,
matrix-solution methods.
A SIMPLE MECHANICAL ANALOG
m
F(t)
Newtons Law of Motion
dt
u d
m a m F

= =
For a continuous body, this can be generalized as
i
j
ij
i
g
x dt
u d
p
o
p +
c
c
=

where p = mass density,

x
i
= coordinate vector (x,y)
o
ij
= components of the stress tensor, and
g
i
= gravitation
u , u , u

STRESS-STRAIN EQUATIONS
In addition to the law of motion, a continuous
material must obey a constitutive relation -
that is, a relation between stresses and strains.
For an elastic material this is:
In general, the form is as follows:
where
A GENERAL FINITE-DIFFERENCE FORMULA
In the finite difference method, each derivative in the previous equations
(motion & stress-strain) is replaced by an algebraic expression relating
variables at specific locations in the grid.

The algebraic expressions are fully explicit; all quantities on the right-hand
side of the expressions are known. Consequently each element (zone or
gridpoint) in a FLAC grid appears to be physically isolated from its neighbors
during one calculational timestep.





This is the basis of the calculation cycle:
(The time-step is sufficiently small that information
cannot propagate between adjacent elements
during one step)
Basic Explicit Calculation Cycle
Equilibrium Equation
(Equation of Motion)

Stress - Strain Relation
(Constitutive Equation)

For all gridpoints (nodes)
For all zones (elements)
L n F
j ij i
o =
new stresses
nodal forces
Gauss theorem
strain rates
velocities
i
j
ij
i
g
x dt
u d
p +
c
o c
= p

e.g., elastic
FLACs grid is internally composed of triangles. These are
combined into quadrilaterals. The scheme for deriving
difference equations for a polygon is described as follows:
Overlaid Triangular element Nodal force vector
Elements with velocity vectors
FLAC:
For all gridpoints...
Once all stresses have been calculated, gridpoint forces
are derived from the resulting tractions acting on the
sides of each triangle. For example,
Then a classical central finite-difference formula is used
to obtain new velocities and displacements:
( in large strain mode)
FLAC:
For all elements...
Gauss theorem,

c
c
=
S A
i
i
dA
x
f
fdS n
is used to derived a finite difference formula for elements of arbitrary shape.
) b (
i
u

nodal velocity
b
a
) a (
i
u
nodal velocity
AS
For a polygon the formula becomes

A ~
c
c
S
i
i
S n f
A
1
x
f
This formula is applied to calculating the strain increments, Ae
ij
, for a zone:
( )
t
x
u
x
u
2
1
e
S n u u
A 2
1
x
u
i
j
j
i
ij
S
j
) b (
i
) a (
i
j
i
A

c
c
+
c
c
= A
A + ~
c
c

Overlay & Mixed-Discretization Formulation of FLAC:

+
/2 =
Each is constant-stress/constant-strain:
Volume strain averaged over
. Deviatoric strain evaluated for
and separately
(Mixed discretization procedure)
Solution is Updated Lagrangian (grid moves with the material), and
explicit (local changes do not affect neighbors in one timestep )
Methods of solution in time domain
displacement
u
force
F
Ax
F
stress
o
u
numerical grid
EXPLICIT
All elements:
{ } { } ( ) o A = A , u f F
(nonlinear law)
All nodes:
{ } t
m
F
u A
)
`

E
= A
Repeat for
n time-steps

No iterations
within steps
Information cannot physically
propagate between elements during
one time step
Assume (u)
are fixed
Assume (F)
are fixed
Correct if
p
min
C
x
t
A
< A
p-wave speed
IMPLICIT
{ } | |{ } u K F =
element
| |{ } | |{ } { } F u K u m E = +

global
Solve complete set of equations
for each time step

Iterate within time step if
nonlinearity present
Methods compared
Explicit, time-marching Implicit, static
1. Can follow nonlinear laws without
internal iteration, since
displacements are frozen within
constitutive calculation.

2. Solution time increases as N
3/2
for
similar problems.

3. Physical instability does not cause
numerical instability.

4. Large problems can be modeled
with small memory, since matrix is
not stored.

5. Large strains, displacements and
rotations are modeled without extra
computer time.
1. Iteration of the entire process is
necessary to follow nonlinear laws



2. Solution time increases with N
2
or
even N
3
.

3. Physical instability is difficult to
model.

4. Large memory requirements, or disk
usage.


5. Significantly more time needed for
large strain models.
Strengths & Limitations
The explicit solution scheme used in FLAC enables the following
problems to be solved most efficiently:
1. Strongly nonlinear systems, with extensive yield and large
strain.
2. Systems in which localization occurs.
3. Systems that embody complex interactions, or which need
special user-defined conditions or material models.
Disadvantages are:
1. Slow execution (compared to say finite elements) for
linear (or well-behaved) systems.
2. Slow execution if there are great contrasts in material
stiffnesses or element sizes.
DYNAMIC RELAXATION
In dynamic relaxation gridpoints are moved according to
Newtons law of motion. The acceleration of a gridpoint is
proportional to the out-of-balance force. This solution scheme
determines the set of displacements that will bring the system
to equilibrium, or indicate the failure mode.

There are two important considerations with dynamic relaxation:
1) Choice of timestep
2) Effect of damping


TIMESTEP
In order to satisfy numerical stability the timestep must satisfy the
condition:


where C
p
is proportional to 1 /m
gp
. For static analysis, gridpoint
masses are scaled so that local critical timesteps are equal ( )
which provides the optimum speed of convergence. Nodal inertial
masses are then adjusted to fulfill the stability condition:




Note that gravitational masses are not affected.
1 = At
p
C
x
t
min
A
< A
DAMPING
Velocity-proportional damping introduces body forces that can
affect the solution.

Local damping is used in FLAC --- The damping force at a
gridpoint is proportional to the magnitude of the unbalanced
force with the sign set to ensure that vibrational modes are
damped:

LOCAL DAMPING
The damping force, F
d
is:



| |
m
t
u F F u
i i i i
A
E E = A ) ( sgn | | o
Damping forces are introduced to the equations of motion:


where F
i
is the unbalanced force
In FLAC the unbalanced force ratio (ratio of unbalanced force, F
i
, to the
applied force magnitude, F
m
) is monitored to determine the static state.

By default, when F
i
/ F
m
< 0.001, then the model is considered to be in an
equilibrium state.
) sgn(
i i d
u F F

E = o
STATIC ANALYSIS
FLAC is a dynamic solution method that provides a static
solution (with the effect of inertial forces minimized) provided
the unbalanced force ratio reaches a small value (~ 0.001 or
less).

This is comparable to the level of residual error or convergence
criterion defined for matrix solution methods used in many finite
element programs. In FLAC, the level of error is quantified by the
unbalanced force ratio. In both FLAC and FE solutions, the static
solution process terminates when the error is below a desired value.











The collapse load can be determined from either :

1. A load-controlled test, i.e., apply a constant force and calculate the
solution. (stable or unstable?) Iterate until the difference between the stable
and unstable load is smaller than a selected tolerance.

2. A velocity-controlled test, i.e., apply a small constant velocity until an
unstable state is reached.
load
settlement
Training Schedule
August 8, 2006 (morning)
09:00-10:00 Numerical Analysis of Continuum and Discontinuum
Mechanics
- DEM versus continuum analysis numerical methods
Introduction to Material Models to Simulate Geological
Materials
- Characteristics of soil and rock
- Constitutive models to represent continuum and
discontinuum behavior
- Selecting appropriate material models and properties
10:00-10:15 Break
10:15-12:00 Introduction to Material Models to Simulate Geological
Materials (continued)

Training Schedule
August 8, 2006 (afternoon)
01:00-03:00 Model Building Grid Generation
- Grid building/altering/shaping tools; adding interfaces
Model Building Basic Material Models
- Assigning materials and properties in a FLAC model
03:00-03:15 Break
03:15-05:00 Model Building Boundary Conditions / Initial Conditions
- Applying boundary and initial conditions
Model Building Solution
- Solving for equilibirum and monitoring model response
Model Building Result Interpretation
- Plotting unbalanced force, gridpoint velocities,
plasticity indicators

DISCONTINUUM ANALYSIS TECHNIQUES
NUMERICAL SCHEMES TO MODEL CONTACTS
OR INTERFACES BETWEEN DISCRETE BODIES
Discrete Element Methods
(DEM)
Various DEM schemes exist.
... main differences are associated with:

Contacts

Solid
Materials

Solution
Rigid
Deformable
Rigid
Deformable
Static
Dynamic
Continuum Methods
For example:

Finite Elements with Joints

Finite Differences with interfaces

Limit Equilibrium Methods
Definitions

The name Discrete Element Method (DEM)
should be applied to a method only if it:
1. allows finite displacements and rotations of
discrete bodies; including complete detachment
2. recognizes new interactions (contact)
automatically as the calculation progresses

The name Distinct Element Method is used for a
DEM that uses an explicit dynamic solution to
Newtons laws of motion.
A discrete element code will embody an efficient
algorithm for detecting and classifying contacts. It
will maintain a data structure and memory
allocation scheme that can handle many hundreds
or thousands of discontinuities or contacts.

Finite element codes for modeling discontinua
are often modified continuum programs, which
cannot handle general interaction geometry (e.g.
many intersecting joints). Their efficiency may
degenerate drastically when connections are
broken repeatedly.
Overview of DEM & explicit, dynamic method
( / 2) ( / 2) ( )
( ) ( ) ( / 2)
/
t t t t t
t t t t t
u u F t m
x x u t
+A A
+A +A
= + A
= + A
( )
( ) ( )
If , 0
If , ( )
t
t t
n
x R F
x R F R x k
> =
< =
The formulation of is very simple. For example, for a ball impacting a wall,
R
x
F
m mass
One time step, t A
unknowns knowns
(all contacts, in general)
(all particles, in general)
Full dynamic equations
(integration of Newtons 2
nd
law)
}
Explicit solution scheme
u
Three consequences of this formulation are as follows
(central difference 2
nd
order accurate)
1. Treating each body as discrete (DEM) allows discontinuous
material (such as a rock mass) to be modeled easily.
2. Full dynamic equations of motion allow the evolution of unstable
systems to be simulated realistically.
3. Explicit solution scheme makes the task of handling
nonlinearity trivial. Examples of nonlinearities are: (a) contact
making & breaking; (b) softening material behavior (rock-like); e.g.,
force
displacement
INPUT
OUTPUT
The explicit scheme
uses a time step so
small that information
cannot propagate
between neighbors in
one step.
Thus, each element is isolated
during one step, enabling
m
t
k
A <
E
COMPUTATION CYCLE IN THE DEM
u
k
s

k
n

F
n

F
s

Au
n

Au
s

{ } ( )
s s n s
s s s s
n n n n
F sgn F , F min F
u k F F
u k F F
u =
A =
A =
All the contacts
C
O
N
S
T
I
T
U
T
I
V
E

c
i
F
+
M
x
i

I / M
m / F u
F x e M
F F
i i
j i ij
i
c
i
= u
=
E =
E =



At the centroid
ALL THE BLOCKS
M
O
V
E
M
E
N
T

zone
c
i
F
node
At the element
( ) ,... , C
t
dx
u d
dx
u d
2
1
ij ij ij
i
j
j
i
ij
c A o = o
A
|
|
.
|

\
|
+ = c A

At the node
m / F u
F F F
ds n F
i i
c
i
e
i i
z
j ij
e
i
=
+ =
o =

M
O
V
E
M
E
N
T

ALL THE BLOCKS
t t t A + =
Go to
What is the applicability of each code?
In general, if there are few discontinuities in the application,
FLAC or FLAC3D may be used.
If the application contains many discontinuities, UDEC or
3DEC should be used, because these codes allow easy
specification of multiple joint sets.
For granular materials or solids that may fracture, PFC is
the best choice.
Note that all Itasca codes may be coupled e.g., a FLAC
model may contain regions represented by PFC.








1. Behavior changes in character, according to stress state (e.g axial splitting
in unconfined test; shear bands when confined).

2. Memory of previous stress or strain excursions, in both magnitude and
direction. (c.f. - moving yield surfaces, evolving anisotropic damage tensors,
Kaiser effect)

3. Dilatancy that depends on history, mean stress and initial state.

4. Continuously nonlinear stress-strain response, with ultimate yield, followed
by softening or hardening.

5. Hysteresis at all levels of cyclic loading/unloading.

6. Transition from brittle to ductile shear response as the mean stress is
increased.
Characteristics of soil & rock
continued

7. Dependence of incremental stiffness on mean stress and history.

8. Induced anisotropy of stiffness and strength with stress & strain path.

9. Nonlinear envelope of strength.

10. Spontaneous appearance of microcracks and localized macro-
fractures in rock, and shear bands in soil.

11. Spontaneous emission of acoustic energy.

Characteristics of soil & rock continued
It would take a complicated constitutive law to reproduce all of
these phenomena.

If such a model existed (which it doesnt ), very many material
parameters or internal state variables would be needed.
(For example, some existing laws have 20 parameters, and/or
families of yield surfaces involving perhaps 100 state variables).
What mechanisms should be included in a model?
Only include those things that actually impact the relevant behavior
of the system (i.e., things that are important to successful design).
The following examples illustrate the modeling approach for several
particular requirements:
Collapse or ultimate failure of the system:
- use elastic/plastic law (no effect of moduli); try FLAC/Slope
Monotonic loading; displacements are important:
- use simple hardening law (yield stress increases with strain)
Cyclic loading; damping is important:
- use hysteretic damping option in FLAC/FLAC3D
General loading paths; several nonlinear effects important
- must consider complex constitutive model, OR
Cyclic loading; volume-change is important (e.g.,liquefaction):
- use empirical void-collapse scheme in FLAC/FLAC3D
use a micromechanical approach, in which complexity arises
automatically from the interaction of many simple objects
(emergent behavior*).
Note that all 11 of the characteristics of soil & rock (listed earlier)
are reproduced by a micromechanical model consisting of an
assembly of frictional and/or bonded particles.
(Calibration is needed to match the observed magnitude of each effect)
* Often, a collection of simple objects exhibits complex
behavior at the system level. This is an example of emergent
behavior (e.g., see Emergence by Steven Johnson, Scribner
2001).
In this case it is not necessary to invent complex constitutive
laws just create a system of the appropriate micro-elements,
and the complex behavior will emerge automatically.





Constitutive Models for FLAC and FLAC3D
Built-in Models User-defined Models*
Elasticity models:
Isotropic
Transversely isotropic
Orthotropic

Plasticity models:
Drucker-Prager
Mohr-Coulomb
Ubiquitous-joint
Strain-hardening/softening
Bilinear strain-hardening/softening/ubiquitous-joint
Double-yield
Modified Cam-clay
Hoek-Brown

Dynamic Liquefaction models:
Finn (Martin et al., 1975) model
Bryne, 1991 model

Creep models:
Viscoelastic
Burgers substance viscoelastic
Two-component power law
Reference creep formulation (WIPP)
Burger-creep/Mohr-Coulomb viscoplastic
Two-component power law/Mohr-Coulomb viscoplastic
WIPP-creep/Drucker-Prager viscoplastic
Crushed-salt
*partial list of models created by
or developed for code users
Elasticity models:
Hyperbolic elastic
Duncan-Chang, 1980

Plasticity models:
NorSand
Jardine et al., 1986
Manzari-Dafalias, 1997
Kleine et al., 2006
Concrete hydration
vonWolffersdorff hypo-plastic

Dynamic Liquefaction models:
UBCSAND
UBCTOT
Wang, 1990
Roth et al.,2001
Andrianopoulos, 2005

Creep models:
Minkley viscoplastic
Hein-crushed salt
Salzer creep
Lubby2 creep

FLAC CONSTITUTIVE MODELS
Model Representative material Example application
Null
void

holes, excavations, regions in which
material will be added at later stage
Elastic
homogeneous, isotropic continuum;
linear stress- strain behavior
manufactured materials (e.g. steel)
loaded below strength limit; factor of
safety calculation
Anisotropic thinly laminated material exhibiting
elastic anisotropy
laminated materials loaded below
strength limit
Drucker-Prager

limited application; soft clays with
low friction
common model for comparison to
implicit finite-element programs
Mohr-Coulomb

loose and cemented granular materials
soils, rock, concrete
general soil or rock mechanics
(e.g., slope stability and underground
excavation)
Strain-hardening/softening
Mohr-Coulomb
granular materials that exhibit nonlinear
material hardening or softening
studies in post-failure (e.g., progressive
collapse, yielding pillar, caving)
Ubiquitous-joint thinly laminated material exhibiting
strength anisotropy (e.g., slate)
excavation in closely bedded strata
Bilinear strain-hardening/
softening ubiquitous-joint
laminated materials that exhibit non-
linear material hardening or softening
studies in post-failure of laminated
materials
Double-yield
lightly cemented granular material in
which pressure causes permanent
volume decrease
hydraulically placed backfill
Modified Cam-clay
materials for which deformability and shear
strength are a function of volume change
geotechnical construction on soil
Hoek-Brown * isotropic rock material geotechnical construction in rock
*new in FLAC 5
CONSTITUTIVE MODELS
FOR CONTINUUM ELEMENTS
NULL all stresses are zero: for use as a void - e.g., for excavated regions
ELASTIC isotropic, linear, plane strain or plane stress
ANISOTROPIC elastic,assumes that the element is transversely anisotropic:
o
|
o| planes are planes of symmetry. The o. | axes may be at any angle o to the x, y axes:
o
o
|
x
y
FLAC PLASTICITY MODELS
Drucker-Prager
Mohr-Coulomb
Ubiquitous-Joint
Strain-Hardening-Softening
Double-Yield
Modified Cam-clay
Hoek-Brown
1. All models are characterized by yield functions, hardening/softening functions and flow rules.

2. Plastic flow formulation is based on plasticity theory that total strain is decomposed into elastic
and plastic components and only the elastic component contributes to stress increment via the
elastic law. Also, elastic and plastic strain increments are coaxial wuth the principal stress axes.

3. Ducker-Prager, Mohr-Coulomb, Ubiquitous Joint and Strain-Softening models have a shear yield
function and non-associated flow rule.

4. Drucker-Prager, Mohr-Coulomb, Ubiquitous Joint and Strain-Softening models define the tensile
strength criterion separately from the shear strength and use an associated flow rule.

5. All models are formulated in terms of effective stresses.

6. Double-yield and modified Cam-clay models take into account the influence of volumetric change
on material deformability and volumetric deformation (collapse).

7. Hoek-Brown incorporates a nonlinear failure surface with a plasticity flow rule that varies with
confining stress.
CONSTITUTIVE MODELS DRUCKER-PRAGER
Drucker-Prager elastic/plastic with non-associated flow
rule: shear yield stress is a function of
isotropic stress
C
o
t

k
o
/q
o

B
k
o


f
t
=0
A
t
o
Drucker-Prager Failure Criterion in FLAC
CONSTITUTIVE MODELS MOHR-COULOMB
Mohr-Coulomb elastic / plastic with non-associated flow rule: operates on
major and minor principal stresses
C
B
A
o
N
c 2
o
t

o tan
c
o
1

f
t
=0
o
3

Mohr-Coulomb Failure Criterion in FLAC
t
shear
stress
slope = G
(for constant o
n
)
shear strain
CONSTITUTIVE MODELS UBIQUITOUS-JOINT MODEL
Ubiquitous-Joint Model uniformly distributed slip planes embedded in a
Mohr-Coulomb material
element
Mohr-Coulomb
u
u
o
n

rigid-plastic, dilatant
o o + = t tan c
n j max
Note: u rotates with the element in large-strain mode
t
j
o C
B
j
j
tan
c
o
22
o'
f
t
=0
c
j

t
A
CONSTITUTIVE MODELS STRAIN-SOFTENING / HARDENING
Strain-softening / hardening identical to the Mohr-Coulomb model except that o, C and v
are arbitrary functions of accumulated plastic strain (
p
)*
produces

p

o

p

Input by user Output

t

c
v

( )
( )
( )
( ) ( ) { }

A + A + A = -
2
1
2
P
12
2
d P
22
2
d P
11 p
e e e
C
v
CONSTITUTIVE MODELS
BILINEAR STRAIN-HARDENING/SOFTENING MODEL
Bilinear model a generalization of the ubiquitous-joint model. The failure envelopes for
the matrix and joint are the composite of two Mohr-Coulomb criteria with
a tension cut-off. A non-associated flow rule is used for shear plastic flow
and an associated flow rule for tensile-plastic flow.
D
C
B
A
N
o2

N
o1

1
1 o
t

1
1
o tan
c
2
2
o tan
c
o
1

o
3

FLAC bilinear matrix failure criterion
A
B
D
C
t
o
33

C
j1

C
j2

o
j
t

o
j1

o
j2

FLAC bilinear joint failure criterion


CONSTITUTIVE MODELS DOUBLE-YIELD MODEL
Double-yield model extension of the strain-softening model to simulate
irreversible compaction as well as shear yielding.

CONSTITUTIVE MODELS - MODIFIED CAM-CLAY MODEL
Modified Cam-Clay model incremental hardening/softening elastic-plastic model,
including a particular form of non-linear elasticity and
a hardening/softening behavior governed by volumetric
plastic strain (density driven).
v

v
k
A

v
k
B

ln p
v
N
A
B k
1

1
ln p
1

swelling lines
normal
consolidation line
Normal consolidation line and swelling line
for an isotropic compression test
plastic compaction
p
0 >
p
e

plastic
dilation
0 <
p
e

q
2
c
cr
p
p =
2
c
cr
p
M q =
p
c

Cam-Clay failure criterion in FLAC


CONSTITUTIVE MODELS HOEK-BROWN MODEL
Hoek-Brown model empirical relation that is a nonlinear failure surface which
represents the strength limit for isotropic intact rock and
rock masses. The model also includes a plasticity flow
rule that varies as a function of confining stress.






BUILT-IN MATERIAL MODELS





FLAC Interface Model
FLAC (OR CONTINUUM CODE)
Use for problems at either end of the joint-density spectrum
single or isolated discontinuities multiple, closely-packed blocks
interface ubiquitous jointing
problems
INTERFACES
Interfaces represent planes on which sliding or separation can occur:
- joints, faults or bedding planes in a geologic medium
- interaction between soil and foundations
- contact plane between different materials

To join regions that have different zone sizes

Elastic-plastic Coulomb sliding:
- tensile separation of the interface, and
- axial stiffness to avoid inter-penetration
INTERFACE MECHANICS
Each node on the surface of both bodies owns a length, L, of interface for the purpose of converting
from stress to force. L is calculated in the following way
Body 1
Body 2
A
1

D
1

E
2

B
1
C
1

C
2
B
2

A
2

D
2

L
B2
L
C2
L
B1
L
D2
L
C1
L
D1

LINEAR MODEL
Ao
n
= -K
n
Au
n

At = -K
s
Au
s

t = max (t
max
, |t|) sgn (t)
t
max
= o
n
tan o+c
F
n
= o
n
L
F
s
= t L
[K
n
]=stress/disp
INTERFACE ELEMENTS
PROCEDURE
1. Form interface using grid generation commands
2. Null out region
3. Move grid halves together
4. Declare interface
int n aside from i1, j1 to i2, j2 bside from i3, j3 to i4, j4
5. Input the interface properties
int n ks =... kn = ... fric =... coh =...

(i3, j3)
(i1, j1)
(i4, j4)
(i2, j2)
bside
aside
INTERFACE PROPERTIES
kn : normal stiffness [stress/displacement]
ks : shear stiffness [stress/displacement]
cohesion : cohesion [stress]
friction : friction angle [degrees]
dilation : dilation angle [degrees]
tbond : tensile strength [stress]

If the interface is used to attach two sub-grids,it is necessary to declare it glued.
Properties estimation
Sub-grids attached:
- declare glued
- set kn and ks = 10 *

Geologic joints
- shear tests; considering scale effect
- kn and ks for rock mass joints, can vary between 10-100 MPa/m
for joints with soft clay in-filling, to over 100 GPa/m for tight joints
in basalt or granite.





INTERFACE CONDITIONS
1. Glued Interface --- No slip or separation is allowed, but elastic displacement, defined by
kn and ks, occurs.

2. Unbonded Interface --- Slip occurs as defined by Coulomb shear-strength criterion
(and including dilation at onset of slip). The interface has zero tensile bond strength.

3. Bonded Interface ---- It a tensile bond (tbond) strength is specified, the interface acts
as if glued while the normal stress is below the bond strength. If magnitude of normal
stress exceeds bond strength, the bond breaks (tbond is set to zero) and the interface
behaves as an unbonded interface.

A shear bond strength is also specified when tbond is set, in which case the bond will break
if either the shear stress exceeds the shear bond strength (sbratio*tbond) or the normal
stress exceeds the normal bond strength (tbond). The interface then reverts to unbonded.
(By default, sbratio = 100.)

If bslip=on is specified, slip (defined by the Coulomb criterion) can occur even though
the interface is still bonded. Dilation is suppressed in this case.






INTERFACE MODEL
Create interface
and assign properties
Key Features of FLAC for Grid Generation
1. FLAC is command-driven.
2. GIIC Build tools provide
mouse-driven facilities for
grid generation from
templates.
3. FISH tools in the FISH
Library are used to create
complicated grid shapes.
Geometry grid setup
1. Always start with a coarse grid*; work out the bugs,
and increase the grid density only as much as
necessary (are results converging?).
2. Avoid badly-shaped zones, and sudden jumps in zone
widths.
3. Avoid high aspect ratios in regions of high strain
gradients.
4. Make sure the boundaries are far enough away to
avoid influencing the results.
5. Try to avoid triangular zones at free surfaces,
especially if performing large-strain plasticity analysis.

* For dynamic analysis, the zone size should be small
enough to model wave propagation accurately.
Boundary conditions
There are two main classes of boundary conditions: velocity
conditions and stress conditions (although there are additional
conditions in dynamic simulations).
Both can be activated with the APPLY command: e.g.,
APPLY XVEL=1.0 I=1 J=1,5 ; FLAC velocity
APPLY SXX=-1e5 J=21 ; FLAC stress
APPLY SXX=-1e5 RANGE Z=19.9 20.1 ; FLAC3D
For historical reasons, the velocity conditions can also be
set with a FIX command and an INI command: e.g.,
FIX X I=1 J=1,5
INI XVEL=1.0 I=1 J=1,5
The latter 2 commands achieve the same effect as the
first APPLY command above.
Boundary locations
Extreme grids tunnel
sizes are the same
stress
displacement
ATTACH - accuracy
Load applied here
Note smooth displacement contours





Grid Generation
Create Mesh
Alter Mesh to Fit Shape





Material Models and Properties





Boundary and Initial Conditions
Histories, Tables, FISH Library
Global Settings





Result Interpretation - Plotting
Solution

Training Schedule
August 9, 2006 (morning)
09:00-10:00 Introduction to FISH
- FISH variables, arithmetic, systax ad data types
- Writing FISH functions
- Simple exercises using the FISH Editor & Library
10:00-10:15 Break
10:00-12:00 Factor of Safety Calculation
- Implementation of the strength reduction method in FLAC
- Application of FLAC for factor-of-safety calculations

Training Schedule
August 9, 2006 (afternoon)
01:00-03:00 Soil/Rock Structure Interaction
- Beams, liners, cables and rockbolts
- 2D/3D equivalence
03:00-03:15 Break
03:00-05:00 Simulating Support for Underground Excavations and
Emplacement Drifts
- Using interface elements for tunnel liner and rock
interaction

FISH - The programming language
of FLAC
FISH (1)
FISH is a compiler. Functions are entered via a data file and
are translated into a list of instructions stored in the memory
space of the code.
Variable names and values are available for monitoring and
changing at any time.
FISH (2)
Common ways to use FISH:

1. Special-purpose operations; e.g., grid generation, profile of
material properties, automation of input commands, plot or
print user-defined variables.

2. Use as a HISTORY variable.

3. Automatic execution during stepping; e.g., use as a servo-control for
numerical test (with WHILE_STEPPING command).

4. Drive a data file; e.g., change parameters while calculation
progresses (using COMMAND statements).

5. Use as a constitutive model function; e.g., apply a user-written
constitutive model.
FISH Variables, Functions and Operations
Some remarks
FISH is case-insensitive. All characters after a semi-colon (;) are ignored.
If parameters are to be passed to functions, then they must be set beforehand
by using the SET command.
If a number is expected in FLAC, it can be substituted by FISH symbols.
As soon as a variable is mentioned in a valid FISH program line, it is
globally recognized both in FLAC commands and FISH code.
User-defined variables or function names.
Pre -defined scalar variables.
Grid variables (e.g., stresses, properties).
Intrinsic functions.
Tables, general memory access.
FISH handles definitions of:
FISH Control Statements (1)
DEF <name>
...
END
To define a FISH function
CASE_OF expr IF expr 1 test expr 2

CASE n ELSE

END_CASE END_IF
LOOP var (expr1, expr2) LOOP WHILE expr1 test expr 2

END_LOOP END_LOOP

Conditional statements
Looping statements
SECTION

END_SECTION


COMMAND

END_COMMAND


EXIT
EXIT SECTION
FISH Control Statements (2)
Sectioning statements
FISH Specification Statements
WHILESTEPPING (execution of the function at every FLAC step)
WHILE_STEPPING

CONSTITUTIVEMODEL (the function is taken to be a new constitutive model)
CONSTITUTIVE_MODEL

INT (change the type of the associated variable)
FLOAT
STRING

ARRAY var(n1, n2) (definition of an array)
FISH Functions
Mathematical functions
atan atan2 cos
exp tan ln
log sin sqrt
abs max min
sgn

Type conversion
float int string
type
Message functions
in out

Random generator
grand urand

Logical operators
and not or

Others
fc_arg get_mem lose_mem
Tables
xtable ytable table

Memory Access
imem fmem
The FISH Editor allows you to create and edit text files that contain FISH functions.

FISH functions defined in this way can be executed using the UTILITY/FishLib tool
if they are stored within the /flac/gui/fishlib directory. You can also run FISH
functions directly using the Run/Execute menu item from the FISH Editor.
To automate the execution of FISH functions, special comment lines are included in
the file. There are four types of input field:

1. Name: This is the name of the primary FISH function to run.
(A file can have more than one FISH function.)

2. Diagram: This is the name of an optional file name of an image (GIF/JPG)
that shows what the FISH function does.

3. Input: This contains the input values for the function.

4. Note: This contains notes and comments that describe the FISH function.


FISH Editor
The Input/Define parameters menu item brings up a dialog that allows input
parameters to be defined. These will have values requested when the FISH
function is run either through the FISH Library (using the UTILITY/FishLib tool),
or executed here.


The input parameters for FISH functions are entered as a comment string of the
form:

;Input: name/type/value/description

in which

1. Name - FISH variable name.

2. Type - int/float/string corresponding to data type:
integer, floating-point or string.

3. Value - Default value for parameter.

4. Description - Helpful string describing what the parameter is.



FISH Input Parameter Data
The Input/Define notes menu item brings up a text area where comments
can be saved.

Here you can describe the FISH function and these comments will be shown when
you try to execute the function from either the FISH Editor or the FISH Library
(using the UTILITY/FishLib tool).

These lines are added to a FISH file as comments prefixed by [Note:]


FISH Notes


The directory flac/gui/fishlib/ contains files with FISH functions accessed from the
UTILITY/FishLib tool.

These FISH functions have special comment lines included to allow the GIIC to identify
input parameters, notes and diagrams.

The directory structure inside flac/gui/fishlib/ is mirrored in this tool as a tree structure.


FISH Library
Application of the shear strength
reduction method in design:
using numerical solutions for factor of
safety
Factor of Safety (FS) in
Geotechnical Engineering
load acting
capacity load
= FS
structural mechanics approach
load = force, moment, pressure
Footings
Q
B
Q
u
bc
q
q
FS =
B
Q
q
Q
=

BN qN cN q
q c u
2
1
+ + =
bearing capacity theory
FoS calculation independent of
load capacity and acting load calculation
q
Retaining Walls
P
earth pressure theory
bearing capacity theory
o
r
o
M
M
FS =
s
r
s
F
F
FS =
max
q
q
FS
u
bc
=
p o
w r
r P M
r W M
=
=
P F
A W F
s
r
=
= o tan

BN qN cN q
q c u
2
1
+ + =
S
M
b
W
q + =
max
a
K H P
2
2
1
=
W
B
FoS calculation independent of
load capacity and acting load calculation
Slopes
q
q
FS
u
bc
=
? = FS
* * *
2
1

BN qN cN q
q c u
+ + =
q
load ?

unit weight
bearing capacity theory
FS calculation independent of
load capacity and acting load calculation

f
FS =
Structural Mechanics Approach
o
r
o
M
M
FS =
s
r
s
F
F
FS =
specified failure mode
statically determinate cases
global equilibrium
Strength Reduction Approach
d d d d d
c
c
c
c
FS
m
m
m
m
t
t
t
tan
tan
tan
tan
= =
+
+
= =


c
d

d


c
d
d
c c
m m tan tan
=
Alternative Strength Reduction
const
c
c
FS
d
c
= = m



c
const c FS
d
= =
m
m
m
tan
tan


c
d


c

d
tan and c varying nonlinearly
Method of Slices
(Limit Equilibrium)
d d
c
c
FS
m
m
t
tan
tan
= =
specified failure mode
slices
global equilibrium

statically undeterminate cases
strength reduction

A full solution of the coupled stress/displacement,
equilibrium and constitutive equations is made with
codes like FLAC.

Given a set of properties, the system is either found
to be stable or unstable.

By performing a series of simulations, with various
properties, the factor of safety can be found that
corresponds to the point of stability.

This approach is much slower, but much more general,
than the limit-equilibrium solution. Only in the past few
years has it become a practical alternative to the limit
equilibrium method (as computers have become faster).

Numerical-modeling approach -
What is a full numerical solution and how does it
differ from the limit equilibrium method?
Numerical solution Limit equilibrium
Equilibrium Satisfied everywhere
Satisfied only for specific
objects (slices)
Stresses
Computed everywhere using
field equations
Computed approximately on
certain surfaces
Deformation Part of the solution Not considered
Failure
Yield condition satisfied
everywhere; failure surfaces
develop automatically as
conditions dictate
Failure allowed only on
certain pre-defined surfaces;
no check on yield condition
elsewhere
Kinematics
The mechanisms that
develop satisfy kinematic
constraints
Kinematics are not
considered mechanisms
may not be feasible
The strength properties (e.g., cohesion and friction)
are reduced by trial values of the factor of safety, as
follows -
A single numerical simulation with given properties
will show either failure or stability (like a single
physical model).

How do we get a factor of safety?

Several simulations are performed, with different
properties.
C
F
trial
1
trial
F
o tan
trial
C
=
trial
o
tan
= { }
-1
How can the exact value of be found quickly,
with the smallest number of simulations?
Dawson et al (Gotechnique 49, 1999) give the basis
for the bracketing method of finding numerically the
factor of safety. In essence, the interval between
values of giving failure and stability is
repeatedly halved. The process quickly converges,
and is stopped when the interval becomes small
(e.g., < 0.005).
In more detail, the scheme implemented in the code
FLAC is as follows
trial
F
trial
F
1. Determine the characteristic response time of the system
in terms of steps needed for equilibrium call it Nc.
2. Set F=1.0, and keep halving it until lower bound (first
stable case) is found call it Fs.
3. Keep doubling F until upper bound (first unstable case) is
found call it Fu.
4. Set F = (Fu+Fs)/2, and determine if stable (then set Fs=F)
or unstable (then set Fu=F).
5. If Fu-Fs < 0.005, then stop, else go to 4.

Steps in the strength-reduction solution scheme for FLAC
The condition of stability or instability is determined with
a program-specific method.

For example, with implicit, matrix-solution finite element
codes, the condition of instability is often based on the
non-convergence of the system of equations (see Griffiths
and Lane, 1999).

In FLAC, instability is determined by monitoring the kinetic
energy in the model. The change in kinetic energy is
measured by the unbalanced force ratio.
How is instability (failure) determined?
1. Do up to Nc steps. Record unbalanced force ratio, Ru.
2. If Ru falls below 0.001 during stepping, exit as stable.
3. If (Ru Ru(old)) / Ru < 0.1, exit as unstable.
4. If total iterations (steps 1-3) > 6, exit as unstable.
5. Go to 1.

Definition of stability/instability in FLAC
Steps to test for stability/instability:
During the whole process, the following information is displayed
the number of calculation steps completed in 1 as a % of Nc,
the number of completed solution cycles (steps 1-3),
the current values of Fu and Fs (brackets).
How good is the scheme? We can compare it with exact solutions.
The following example, solved analytically by Chen (1975), has a
factor of safety of 1.0.

This example was set up with FLAC, using two different
grids. The results are
FLAC (Version 4.00)
LEGEND
9-Oct-01 18:09
step 18546
-1.167E+00 <x< 2.217E+01
-5.167E+00 <y< 1.817E+01
Boundary plot
0 5E 0
Max. shear strain-rate
0.00E+00
5.00E-08
1.00E-07
1.50E-07
2.00E-07
2.50E-07
3.00E-07
3.50E-07
Contour interval= 5.00E-08
Velocity vectors
Max Vector = 2.294E-07
0 5E -7
-0.200
0.200
0.600
1.000
1.400
(*10^1)
0.200 0.600 1.000 1.400 1.800 2.200
(*10^1)
JOB TITLE :
Itasca Consulting Group, Inc.
Minneapolis, Minnesota USA
Non-
associated
Associated
flow rule
Coarse grid (20x20) 0.99 1.03
Fine grid (40x40) 0.97 1.01
Note that the exact solution assumes an associated flow rule (dilation
angle equals friction angle)
Velocity field at failure fine grid & associated flow rule
LOS ANGELES ALAMEDA CORRIDOR
Design by URS Corporation
10-mile long corridor
33-foot deep, 51-feet wide
freight rail connection
from ports of Long Beach
and Los Angeles to rail hub
in downtown Los Angeles
Practical application
of the strength
reduction method
LOS ANGELES ALAMEDA CORRIDOR
URS Corporation
Trench walls are 3-foot diameter cast-in-place reinforced concrete piles,
4 feet on center with shotcrete on inside, and supported by pre-cast concrete
struts at top.
Stage 3 of construction is critical because potential for kick-out failure
governs required pile length.
LOS ANGELES ALAMEDA CORRIDOR
URS Corporation
FLAC analysis for
Factor of Safety includes
soil-structure interaction
producing factor of 1.3.

Limit-equilibrium method
predicts failure, which
would result in over-
design of pile length by
up to 8 feet.

FLAC analysis resulted
in cost savings of several
million dollars.
What are the advantages of using a numerical FoS solution?
1. Any failure mode develops naturally no need to specify a
range of trial surfaces in advance.
2. There are no restrictions on geometry all situations (slopes,
footings, tunnels, etc) are modeled in the same way.
3. No artificial parameters (e.g., functions for inter-slice force
angles) need to be given as input.
4. Multiple failure surfaces (or complex internal yielding) evolve
naturally, if the conditions give rise to them.
5. Structural interaction is modeled realistically as fully-coupled
deforming elements, not simply as equivalent forces.
6. Kinematics is respected!
Stable with FLAC
Unstable by LE solution
weak
planes
What are the disadvantages?
- only one: Speed. A limit equilibrium program typically executes in
a fraction of a second. A numerical solution for FoS using a coarse
grid often takes less than a minute. A medium-grid solution may take
several minutes, and is usually quite accurate. A fine-grid solution
may take an hour or two.
Thus, there is no real drawback, given that most problems can
be solved in a few minutes.

One further perceived problem
Programs that perform full numerical solutions are often
difficult to use FLAC is no exception!
To make numerical solution for factor of safety easily accessible, a
new program FLAC/Slope has been produced. This is as easy
(or perhaps, easier) to use than limit equilibrium programs such as
XSTABL or SLOPE/W.
FLAC/Slope has a simple graphical interface that is oriented to
setting up slope stability cases. It uses FLAC as the computational
engine but the user is completely insulated from it. Point-and-click
operations are all that are needed for example:
Select slope type; then
enter dimensions
FLAC/Slope allows -
Several types of slope: e.g., benched slope, dam, embankment
Several layers, and fairly general layer geometry
Library of material properties built-in and user-defined
Water table specified as an arbitrary surface
Structural reinforcement: e.g., geo-grids, soil nails, rockbolts
Weak plane, modeled as an interface
Surface loads
Regions can be excluded from the FoS calculation
Instant comparison of runs using different parameters, and even
comparison of results from different projects
Hard-copy reports and plotting in several formats


Various parameters may be included or excluded from variation
during the FoS solution. The following factors are included by
default: material friction and cohesion.
The following items can also be included:
1. material tension tensile strength of materials
2. interface strength cohesion and friction of interfaces
3. reinforcement grout strength cohesion and friction of
reinforcement grout (soil/reinforcement interface) *
4. group regions of space included in, or excluded from,
the scope of the parameter-variations *
* new in FLAC/Slope 5

Note that, at present, only Mohr-Coulomb material can be assigned
in FLAC/Slope. (Mohr-Coulomb and ubiquitous-joint materials
can be assigned in FLAC.)

Structural elements in FLAC
General Application :
Design and analysis of structural support to stabilize a rock or soil
mass.
Types of elements available:
Beam
Liner
Cable
Pile
Rockbolt
Strip
Support Member
Geometry:
Linear element with 2 end nodes
Structural elements in FLAC
There are seven types of structural element available in FLAC:
1. Beam elements. These allow bending, and are connected to the
grid (soil) either at nodes (rigid connection) or via interfaces, which
allow separation & slip. Plastic yield occurs as a function of axial
thrust, plastic moments can be specified.
2. Liner elements.* Similar to beams, and also include bending
stresses in yield criterion.
3. Cable elements. No bending resistance. Cable nodes are slaved to
grid motion in the normal direction, and via shear springs & slip
elements in the shear direction. Yield may occur axially. Cable
nodes may also be connected rigidly to gridpoints.
4. Pile elements. Bending resistance is included. Connection to the
grid is via yielding springs in both the normal and shear directions.

* new in FLAC 5.0
Structural elements in FLAC
There are seven types of structural element available in FLAC:
5. Rockbolt elements.* Similar to piles, and also can account for
change in confining stress, strain-softening of grout, and tensile
rupture of element.
6. Strip elements.* Similar to rockbolts, but cannot sustain bending.
Shear behavior at strip/soil interface is defined by nonlinear shear
failure envelope that varies as a function of confining stress.
7. Support members. Simple 1D nonlinear spring elements that link
points on free surfaces (used in mining to represent for example
wooden props).


* new in FLAC 5.0

Structural elements in FLAC
Formulation:
Each element type is characterized by a combination of
a) structural behavior
b) medium/structure interaction.
The structural element logic is implemented in the framework of
FLAC two-dimensional Lagrangian, Explicit Finite-Difference
scheme, which uses a Dynamic Relaxation Method to solve static
problems.
Beam Elements
Structural behavior:
3 degrees of freedom per node (2 translations
+ 1 rotation)
Constant axial force, F; constant shear force,
T; linear moment, M
Linear axial displacement, cubic deflection.
Axial peak and residual strengths
Can be joined together and/or the grid
Nodal behavior may also include plastic
hinges.

Applications:
Modeling of structural support in which
bending resistance is important, including
sheet piles, support struts in an open-cut
excavation.

Beam Properties
Structural:
Cross-sectional area [or height and width, or radius]
Elastic modulus
Moment of inertia
Axial peak and residual yield strengths
Optional:
Plastic moment
Density
Thermal expansion coefficient
Liner Elements
Structural behavior:
similar to beam elements
bending stresses are included in the yield
criterion

Applications:
Modeling of structural support in which
bending resistance, limited bending
moments and yield strengths are important,
such as concrete or shotcrete tunnel linings
Typical moment-thrust diagram for liner elements
Liner Properties
Structural:
Cross-sectional area [or height and width, or radius]
Elastic modulus
Moment of inertia
Cross-sectional shape factor
Thickness
Axial peak and residual yield strengths
Optional:
Density
Thermal expansion coefficient

Structural behavior:
One degree of freedom per node (axial
translation).
Can also fail in tension and compression,
no flexural resistance.
Medium/structure interaction:
Can be point-anchored or grouted so that
the cable element develops forces along its
length resisting relative motion between
cable and grid.
May be pre-tensioned, if desired.

Applications: supports for which tensile
capacity is important, including
rock bolts, cable bolts and
tie-backs.
Cable Elements
Grout behavior accounted for in Cables
Conceptual Model
Constitutive Model
Cable Properties

Structural:
Elastic modulus
Tensile yield
Compressive yield
Grout:
Stiffness
Cohesive strength
Frictional resistance
Optional:
Density
Thermal expansion coefficient



Structural behavior:
Similar to pile elements
Can also account for:
- effect of changes in confining stress
- strain-softening of grout
- tensile rupture of element.

Applications: rock reinforcement in which
nonlinear effects of confinement,
grout bonding or tensile rupture
are important.

Rockbolt Elements
Rockbolt Properties
Structural:
Cross-sectional area [or radius]
Elastic modulus
Moment of inertia [automatic calculation for radius]
Yield strength
Tensile failure strain

Optional:
Plastic moment
Density
Tables relating cohesion and friction to shear displ.
Thermal expansion coefficient
Medium/structure interaction, Shear and Normal:
Stiffness
Cohesive strength
Frictional resistance
Exposed perimeter
Structural Boundary Conditions

Free/fixed velocities (translation and rotation)
Applied forces and moments
Pin connection


2D / 3D Equivalence in FLAC
Two dimensional modeling of structural features:
FLAC structural elements can be used to model structures which are either long or
short but regularly spaced in the out of plane direction.

1. The element structural behavior is formulated in plane stress. To model long
features, the stiffness property should be divided by (1-
2
) to account for plane-
strain conditions.

2. Reducing 3D problems with regularly spaced beams, liners, cables, piles,
rockbolts or support involves averaging the effect of 3D over the structure
spacing, S. FLAC uses a linear scaling of properties method proposed by
Donovan et al. (1984)* to distribute effects of elements over a discrete spacing.

3. The three dimensional effects associated with the flow of soil through a row of
piles can also be accounted for, in an approximate manner, by calibration of
properties associated with the normal component of the pile medium/structure
interaction.




v
*
Property Scaling 2D/3D Equivalence
Property Scaling 2D/3D Equivalence
Property Scaling 2D/3D Equivalence
Property Scaling 2D/3D Equivalence
When the spacing keyword is specified in FLAC Version 5, structural
element properties are scaled automatically to account for regular
spacing. Gravity loads and pre-tensioning values are also scaled.
Actual structural element forces and moments will automatically be
printed and plotted, accounting for spacing.
Note, any loads or pre-tensioning that are applied to structural elements
(e.g., pre-loaded struts) using the STRUCT node n load command
should be scaled by dividing by S.







Training Schedule
August 10, 2006 (morning)
09:00-10:00 Coupled Modeling - Introduction to Effective Stress and
Groundwater Analysis
- Effective stress calculation
- Governing equations for transient fluid flow and coupled
analysis
- Recommended approaches for coupled calculations
- Two-phase flow analysis
10:00-10:15 Break
10:15-12:00 Coupled Modeling Introduction to Effective Stress and
Groundwater Analysis (continued)

Training Schedule
August 10, 2006 (afternoon)
01:00-03:00 Coupled Modeling Introduction to Thermal and
Thermal-mechanical Analysis
- Governing equations for thermal, thermal-mechanical and
poro-thermal-mechanical analysis
- Procedures for performing thermal and thermal-mechanical
calculations
- Constitutive models in coupled analyses
- Thermal loading and boundary conditions
03:00-03:15 Break
03:15-05:00 Coupled Modeling Introduction to Thermal and
Thermal-mechanical Analysis (continued)


Groundwater flow and
consolidation

FLAC models the flow of groundwater through a permeable solid,
such as soil.

The modeling of flow may be done:
- by itself, independent of the usual mechanical calculation of FLAC
- in parallel with the mechanical modeling, so as to capture the effects
of fluid / solid interaction.
The code handles both fully saturated flow
as well as flow in which a phreatic surface develops.

In the latter case:
- pore pressures are zero above the phreatic surface.
- a cubic law is used that relates the apparent permeability
to the saturation in the unsaturated region
- flow due to capillary pressures in the unsaturated region
is not included.

More complicated behavior can be implemented
using the two-phase flow option (described later)
Unsaturated flow
Consolidation
This type of behavior involves two mechanical effects:

First, changes in pore pressure cause changes in effective stress,
which affect the response of the solid for example,
a reduction in effective stress may induce plastic yield.

Second, the fluid in a zone reacts to mechanical volume changes
by a change in pore pressure.
Mathematical Formulation
Transport Law Compatibility Equation

Balance Laws


Constitutive laws
( )
ij i w k k
j
q P g x
x
k p
c
=
c
i
v
i
q
q
t x
. c c
= +
c c
1
2
j
i
ij
j i
u
u
x x
c

c
c
= +

c c


1
w
P
t n
K
n
t t
s
t t t
. c
o
. c
o
c c c
| |
=
|
c c c
\ .
c c c
| |
=
|
c c c
\ .
( ) ( )
, ,
ij ij ij ij
d
P H
dt
o o o c k o + =
mobility coefficient
Biot
coefficient
wet density
fluid bulk modulus
porosity
ij
i
i s s
j
du
g
x dt
p
o
p
c
+ =
c
Total versus Effective Stress Formulations
In FLAC, equilibrium is expressed using total stress:



By definition of effective stress:

Substitution of the last 2 equations in the first, gives:



0
ij
s i
j
g
x
o
p
c
+ =
c
s d w
n s p p p = +
ij ij ij
p o o o
'
=
d
w
n
s
p
p
: material dry density
: porosity
: saturation
: fluid density
( )
1 0
ij
d i w
j i i
p
g n n
x x x
o
o
p
'
c
c c
+ =
c c c
l l
w
w w
x g p
g g
g
o
p
p
=
=
Buoyancy
Drag
(seepage force)
Solid weight
Groundwater Modeling Approaches (1)
Choose simplest model consistent with mechanisms.

In order of complexity we can have:

1. No fluid-mechanical interaction (pore pressure distribution is
needed to compute correct effective stresses).

2. Flow calculation is used to obtain pore pressure distribution
(medium can be saturated or partially saturated with phreatic
surface).
3. Pore pressure generated by mechanical deformation.
There is no flow, the analysis can be static or dynamic
(e.g., undrained pore pressure buildup or liquefaction).

4. Coupled mechanical deformation and fluid flow.
a) time scale not important
b) time scale is important
Groundwater Modeling Approaches (2)
Groundwater Modeling in FLAC (1)
1. Effective Stress Calculation
- pore pressure fixed
- no groundwater flow
- specify pore pressures with the INITIAL pp command
or WATER table command (in non CONFIG gw mode)
- in non CONFIG gw mode, wet and dry densities of material
are supplied by the user
- in CONFIG gw mode:
- wet and dry densities are calculated by FLAC
- SET flow off
- set WATER bulk = 0
- if pore pressures changed instantaneously (e.g., dewatering),
use CONFIG ats to automatically adjust existing total stresses


Groundwater Modeling in FLAC (2)
2. Flow-Only Calculation
- specify CONFIG gw and SET mech off
- pore-pressure distribution and phreatic surface location will be calculated
- specify correct permeability, but low fluid bulk modulus if only steady-state
condition is required

3. Mechanical Generation of Pore Pressures with No Flow
- specify CONFIG gw and SET flow off
- specify correct fluid-bulk modulus; permeability is not required


Groundwater Modeling in FLAC (3)
4. Coupled-Flow and Mechanical Calculation
- specify CONFIG gw and SET flow on
- specify realistic fluid-bulk modulus and permeability
- for basic-flow logic:
- use SET nmech SET ngw (default: nmech=1 ngw=1)
- SET force SET sratio (default: force=0 sratio=10
-3
)

- SET step SET clock (default: step=100000 clock=1440 min.)
- SOLVE auto on age

Groundwater Modeling in FLAC (4)





When to Use Fast-Flow Schemes
* Consider flow incompressible if K
w
>>> K + 4G/3
*
Common Fluid-Flow Boundaries
Impermeable Boundary
- default conditions
- pore pressure free to vary
- saturation free to vary

Free Surface
- pore pressure fixed to zero (FIX pp)
- saturation free to vary if pore pressure fixed at zero

Applied Pore-Pressure Boundary
- pore pressure fixed (FIX pp)
Permeability of Porous Medium (1)
Darcys Law expressed in terms of pressure is

dx
dP
k q =
where q is the specific discharge (in units of velocity - e.g., ft/s or m/s)
dP/dx is the pressure gradient (e.g., in psf/ft or Pa/m)
k is the mobility coefficient (e.g., in ft
4
/lb-sec or m
2
/Pa-sec )
dx
dh
K q
H
=
where h is the head (e.g., in ft or m)
K
H
is the hydraulic conductivity (e.g., in ft/s or m/s).
The more usual expression of Darcys Law is
Since P=gp
w
h
(where g is the gravitational acceleration and p
w
is the mass density of water),
w
H
g
K
k
p
=
Another constant that is sometimes used is intrinsic permeability,
k, which is related to k and K by
k
g
K
w
H
u
p
u
k = =
where u is the dynamic viscosity (e.g., units of lb-s/ft
2
or Pa-s).

The units of k are [length]
2
(e.g., ft
2
or m
2
).

Permeability of Porous Medium (2)
Bulk Modulus of Water
V V
P
K
w
/ A
A
=
K
w
= 4.18x10
7
psf (or 2.0 GPa) for pure water
Steady-State Flow

(a) fully saturated - solution-time independent
(b) partially saturated - solution time reduced by lowering K
w

(If K
w
is too low, results are erratic. Set )

Transient Flow

(a) flow-field solution (high modulus)
(b) phreatic surface migration (low modulus)
(c) use SET funsat algorithm to alternate solutions automatically
g z K
w w
p A > 3 . 0
Groundwater - tips
A fully coupled simulation with FLAC (e.g. a consolidation process)
using the basic fluid-flow scheme can be very time-consuming. The
FLAC manual provides detailed suggestions about various
approximations that can be made to reduce the solution time. The
important factors to consider are:
1. The ratio between the required simulated time and the
characteristic time of the diffusion process in the system.
2. The nature of the imposed perturbation (fluid or mechanical).
3. The ratio of fluid to solid stiffness.
Increasing time step
When the fluid modulus is much larger than the bulk modulus of the
solid material, the timestep is small, and the simulation time long
for the basic fluid-flow scheme. It is possible to reduce (artificially)
the fluid modulus, without affecting the results; the allowed
reduction factor (for given error) depends on the problem
constraints, but in almost all cases the following upper limit of fluid
modulus gives minimal error:
4
3
20 ( )
w
K n K G s +
It can often be reduced further. Rapid, partial simulations can be
made to assess the error introduced by various reduction factors.
Caution!
If the timestep is small, and there are many steps, it may be
necessary to use the double precision version of FLAC 4.0. The
regular version uses single precision, which corresponds to an
accuracy of 1 part in 10
6
. If for example a million timesteps are
executed, then accumulated quantities (such as pore pressure
increments) may be lost.

Note that the regular version of FLAC 5.0 uses double precision.

Unsaturated Flow in Porous Media
The two phases are air and water
Flow of air is neglected


Assumptions
air phase is continuous
pore air pressure is atmospheric
Applications
Slope stability
Groundwater contamination control
Design of hydraulic structures
References
Richards (1931), Philip et al. (1989)
van Genuchten (1982), Fredlund (1987), Forsyth (1995)
Capillarity: micro-viewpoint
Differences in molecular attraction between immiscible constituents
Wetting (w) and non wetting (a) fluids
Sharp interfaces:
Surface tension
Curvature

Capillary pressure


c a w
P P P =
Capillary tube
Capillary pressure





P
c
depends on
saturation
geometry of the void space
nature of solid and liquid
Micro-observation Macro-observation
Saturation
Definitions:
Fluid phase saturation


Residual saturation


Effective saturation




1
w a
S S + =
w
w
V
S
nV
=
a
a
V
S
nV
=
1
w rw
e
rw
S S
S
S

rw
S


Yield criterion for partially saturated soil:
a=0.336 (clay)
a=0.6 (sand)
P
c
/P
0
saturation

saturation
C
c
/(P
0
tan )

o
van Genuchten relation
Capillary-induced cohesion
Steady unsaturated flow around a
drift

movie
Conclusions
1. Water is deflected from the drift roof and drip lobes are formed in which saturation
and flow velocity are increased (compared to initial steady state).

2. A dry shadow is formed, sheltered by the drift cavity.



Rainfall on a Slope
Stable slope with initial
water table
(soil saturation above the
water table is ~ 0.5)
Steady rainfall of 9 inches over
4 days results in slope failure
movie
Conclusions
1. A coupled analysis evaluates the transient response for the given infiltration rate.

2. The saturation is seen to increase toward a steady value consistent with the higher
magnitude of the rainfall event.

3. The increase in saturation near the slope surface causes a reduction in soil cohesion
and failure of the slope.






Thermal Analysis in FLAC
FLAC models transient heat transfer in materials, such as soil
and rock, including the development of thermally induced
displacements and stresses.

The modeling of heat transfer may be done:
- by itself, independent of the usual mechanical calculation of
FLAC
- in parallel with the mechanical modeling, so as to capture the
effects of heat transfer / solid interaction.
The thermal option includes both conduction and advection
models.

Conduction Transient transfer of heat based on Fouriers
law of heat conduction.

Advection Transient transfer of heat by convection in
porous media, by:
forced convection heat carried by fluid motion,
and
free convection fluid motion caused by fluid
density difference due to temperature variation.
Thermal Option





Mathematical Formulation for Conduction
Energy-Balance Equation:


where heat-flux vector
volumetric heat source intensity
stored heat per unit volume
Thermal constitutive law relates temperature changes to the heat storage ,
so the energy-balance equation can be rewritten as:

(1)
t
q
T
T
v
T
c
c
= + V
.
q
T
q
T
v
q
T
.
] / [
3
m W
] / [
2
m W
] / [
3
m J
) (
T
.
t
T
C q
v
T
v
T
c
c
= + V p q





Mathematical Formulation for Conduction
Heat Transport Law: (2)
(Fouriers Law)
where temperature
thermal conductivity tensor

Substitution of Eq.(2) in to Eq.(1) yields differential equation for heat
conduction.

] [ C
o
] / [ C m W
o
T
T T
V = k q
T
k
T
ij





Mathematical Formulation for Advection
Energy-Balance Equation: (1)


where heat-flux vector
volumetric heat source intensity
fluid specific discharge
fluid density, fluid specific heat
effective specific heat

T c
t
T
c q
w w
T T
v
T
V +
c
c
= + V q q
0
p
T
q
T
v
q
w
q
] / [
3
m W
] / [
3
m J
w
c
, 0
p
w v
T
c nS C c
0 0
p p + =
T
c
] / [
2
m W





Mathematical Formulation for Advection
Heat Transport Law: (2)
(Fouriers Law)
where temperature
effective thermal conductivity (isotropic)
solid and fluid thermal conductivities

] [ C
o
] / [ C m W
o
T k
T T
V = q
T
k
T
) (
T
w
T
s
T
nSk k k + =
T
w
T
s
k k ,
Fluid Transport Law: (3)
(Darcy Law)
Where fluid mobility coefficient
fluid density
gravity vector
volumetric thermal expansion of the fluid
Substitution of Eq.(2) and Eq.(3) into Eq.(1) gives differential
equation for heat advection.
) ( x g k q V =
w w
P p
k
w
p
g
) ( 1 (
0 0
T T
f w
= |
f
|
Thermal-Mechanical-Pore Pressure Coupling
Thermal-Mechanical Coupling

Strain rate due to thermal
change is subtracted from total
strain rate.
Thermal strain change due to
temperature change has the
form:


One way coupling: thermal
changes affect mechanical but
not vice versa



Thermal-Fluid Coupling

Thermal expansion of the fluid
and solid induces pore pressure
change which affect effective
stress



- variation of fluid content
M - Biot modulus
- Biot coefficient
- Volumetric strain


ij t
T
ij
t
T
t
o o
c
c
c
=
c
c
) (
t
T
t t
M
t
P
c
c
+
c
c

c
c
=
c
c
|
c
o
.
.
o
|
Example: Constitutive equations for elastic material
ij
kk
ij ij
t
G K
t
G
t
o
c
c o
) ( )
3
2
( ) ( 2
c
c
+
c
c
=
c
c
ij t
kk
ij t
ij ij
t
T
t
G K
t
T
t
G
t
o o
c
o o
c o
) 3 ( )
3
2
(
) ( 2
c
c

c
c

+
c
c

c
c
=
c
c
ij
kk
ij
ij
ij
t
G K
t
G
t
P
t
o
c
c
o o
o
) ( )
3
2
( ) ( 2
c
c
+
c
c
=
c
c
+
c
c
ij t
kk
ij t
ij
ij
ij
t
T
t
G K
t
T
t
G
t
P
t
o o
c
o o
c
o o
o
) 3 ( )
3
2
(
) ( 2
c
c

c
c

+
c
c

c
c
=
c
c
+
c
c
no water
no water, thermal
with water
with water, thermal
) (
t t
M
t
P
c
c

c
c
=
c
c c
o
.
) (
t
T
t t
M
t
P
c
c
+
c
c

c
c
=
c
c
|
c
o
.
Thermal Modeling Approaches
FLAC can perform thermal-only and coupled thermal calculations:

1. Thermal conduction-only calculation

2. Thermal advection-conduction calculation

3. Thermal-mechanical calculation

4. Thermal-mechanical-pore pressure coupling

CONFIG thermal command is given in all cases to assign
extra memory for the thermal calculation.
Thermal Modeling in FLAC (1)
1. Thermal conduction-only calculation

- select SET mech off (to turn off mechanical calculations)
- select thermal model and properties
- set thermal initial and boundary conditions
- choose explicit or implicit solution algorithm (if implicit, select
thermal time step)
- for steady state solution, select SOLVE
- use SOLVE age command to stop calculation at a given thermal
time





Thermal Modeling in FLAC (2)
2. Thermal advection-conduction calculation

- select advection thermal model (MODEL th_ac)
- forced convection can be modeled with or without the fluid configuration.
- if CONFIG gw is not selected, assign thermal properties with
econduct, espec_heat, f_qx, f_qy, f_t0, lspec_heat, thexp
- free convection can only be modeled with the fluid configuration (CONFIG gw)
- if CONFIG gw is selected, assign thermal properties with
conductivity, f_t0, f_thexp, lconduct, lspec_heat, spec_heat, thexp
- WATER density must also be set in both cases
- fluid and thermal times must be synchronized. Select one time step as an
integer multiple of the other making sure each time step is smaller or equal
to its default value.
- simulation should be run in an alternating sequence of thermal and flow
steps-one step for the module with the larger time step and enough steps of
the other module to close the time gap.
Thermal Modeling in FLAC (3)
3. Thermal-mechanical calculation

- mechanical effects are assumed to occur instantaneously compared
to diffusion effects
- one directional coupling temperature changes cause thermal strains
which influence the stresses. Thermal calculation is not affected by
mechanical changes.
- if system is elastic use SET therm on mech off and perform thermal
calculations untill the desired time. Then perform mechanical only
(SET therm off mech on) to find mechanical equilibrium
- if plasticity is involved, alternate between the thermal-only and mechanical-
only mode to account for path-dependency of the solution. Alternatively,
turn both (mechanical and thermal calculations) on and step or solve. By
default for each thermal step one mechanical step is taken. This can be
modified manually, or use CONFIG gw and SET flow off so that
SOLVE auto on age command can be used. This adjusts mechanical
cycles automatically to keep maximum unbalanced force ratio below a
specified value.



Thermal Modeling in FLAC (4)
4. Thermal-mechanical-pore pressure coupling calculation

- grid must be configured for both thermal and groundwater options
(CONFIG thermal gw)
- coupling is induced by the influence of temperature changes on
volumetric change of the fluid and the grains in a saturated matrix
(assigned by PROPERTY f_thexp and PROPERTY g_thexp)
- thermal and groundwater calculations can not be performed at the
same time. Use SET thermal on flow off and SET flow on thermal
off and alternate calculations.

Thermal Constitutive models
Conduction models:
- anisotropic heat conduction: MODEL th_anisotropic
- isotropic heat conduction: MODEL th_isotropic
- general isotropic heat conduction: MODEL th_general
(thermal conductivity of the form

- null model: MODEL th_null
(excavated material and insulators)

Advection model:
- isotropic advection-conduction: MODEL th_ac
(activates advection logic)
n
T k k T k
2 1
) ( + =
Common Thermal Boundaries
Adiabatic (insulated) Boundary
- default condition
- temperature free to vary

Fixed Temperature
- temperature fixed to specified value (FIX temp value)

Applied Thermal Boundary
- convective boundary (APPLY convection)
- heat flux boundary (APPLY flux)
- radiation boundary (APPLY radiation)

Interior Heat Source
- hest-generating source (INTERIOR source)




Training Schedule
August 11, 2006 (morning)
09:00-10:00 Simulation of Deep Underground Isolation of Nuclear
Waste
- Setting up and running a thermal-mechanical analysis of a
waste repository drift
10:00-10:15 Break
10:15-12:00 Simulation of Deep Underground Isolation of Nuclear
Waste (continued)
Training Schedule
August 11, 2006 (afternoon)
01:00-03:00 Overview of Waste Isolation Problems Analyzed by Itasca
Codes
- Review of Several modeling studies performed using Itasca
codes: UDEC, 3DEC, FLAC3D, PFC
03:00-03:15 Break
03:15-05:00 Overview of Waste Isolation Problems Analyzed by
Itasca Codes (continued)
General Question/Answer Session