Assessment of Multispan Masonry Arch Bridges. I: Simplified Approach Antonio Brencich1 and Ugo De Francesco2 Abstract: A stepwise iterative procedure for the nonlinear analysis of multispan arch bridges, suitable for implementation by standard programming of commercial finite element codes, is discussed. Relying on the plane section hypothesis, masonry is assumed elasticperfectly plastic in compression and no tensile resistant; a collapse condition is found when an ultimate strain is reached. The iterative procedure is that of an elastic prevision and subsequent nonlinear correction of the nodal forces: tensile stresses are not allowed in the mortar joint by adapting the effective height of the arch to its compressed part, while the plastic response is represented by additional external fictitious forces accounting for the compressive plastic plateau. The procedure is first tested by comparison with experimental data and then applied to sample bridges, pointing out how the collapse mechanism and the ultimate load depend on the geometric and mechanical parameters. DOI: 10.1061/(ASCE)1084-0702(2004)9:6(582) CE Database subject headings: Arches; Bridges, arch; Brick masonry; Bearing capacity; Numerical analysis. Introduction A large number of arch bridges, mainly built in the mid-to-late 19th century, are still in service in Europe and on the local road system of the northeast United States. Most of these bridges are still in their original configuration and have to face loads they had not been designed for. This is why reliable estimates of their structural response and load bearing capacity are needed. The first nonlinear incremental procedure (Castigliano 1879) assumes a compressive elastic–no tensile resistant (NTR) model for masonry. Relying on a simplified iterative scheme, the procedure takes into account the opening of the mortar joints and assumes that collapse takes place when the masonry compressive strength is first attained. More accurate iterative schemes and more detailed onedimensional (1D) (Crisfield 1984, 1985; Bridle and Hughes 1990; Choo et al. 1991; Molins and Roca 1998a, b), two-dimensional (2D) (Loo and Yang 1991; Falconer 1994; Boothby et al. 1998; Owen et al. 1998; Lourenço and Rots 2000, among the latest results), and three-dimensional (3D) models (Rosson et al. 1998; Fanning and Boothby 2001) are the tools of the modern incremental analysis in which the local collapse condition for masonry is usually derived from experimental tests or set according to well-established theories. 1D models proved to be efficient in assessment and design procedures for single and multispan bridges, while 2D and 3D models may give detailed information 1 Assistant Professor, Dept. of Structural and Geotechnical Engineering, Univ. of Genoa, via Montallegro 1, 16145 Genova, Italy. 2 Research Assistant, Dept. of Structural and Geotechnical Engineering, Univ. of Genoa, via Montallegro 1, 16145 Genova, Italy. Note. Discussion open until April 1, 2005. Separate discussions must be submitted for individual papers. To extend the closing date by one month, a written request must be filed with the ASCE Managing Editor. The manuscript for this paper was submitted for review and possible publication on February 15, 2002; approved on September 3, 2003. This paper is part of the Journal of Bridge Engineering, Vol. 9, No. 6, November 1, 2004. ©ASCE, ISSN 1084-0702/2004/6-582–590/$18.00. on local phenomena at the expense of high computational costs. A different approach relies on the static and kinematic theorems. In the first case, assuming an elastoplastic model for masonry and simplifying assumptions for the distribution of compressive stresses (Clemente et al. 1995) or on the basis of experimental tests (Taylor and Mallinder 1993; Boothby 1997), yield surfaces are obtained. The limit load is reached when the axial thrust and the bending moment from the thrust line theory lie on or outside the limit surface, see Boothby (2001) for an application of this method. The mechanism approach assumes a compressive rigid and no tensile resistant model for masonry (Heyman 1982). Collapse is attained when the number of pointlike hinges developed in the arch are large enough to transform the arch itself into a mechanism. Assuming the position of the hinges as the unknowns of the problem, the limit load turns out to be the lowest value of the live load activating the mechanism (Harvey 1988; Blasi and Foraboschi 1994; Gilbert and Melbourne 1994; Hughes 1995; Como 1998). Assuming a NTR and compressive elastoplastic response for masonry, the collapse mechanism is found when the thrust line is about to be outside the arch (Crisfield and Packham 1988). This approach gives reasonable estimates of the limit load when the collapse mechanism is activated at relatively low stress levels, i.e., for deep arches where the nonlinear compressive response of masonry plays a minor role. When this is not so, i.e., for shallow bridges, this approach seems to be more questionable. The procedure is hardly applicable to multispan bridges because of the large number of hinges needed to transform the bridge into a mechanism. The popular MEXE-MOT method (MEXE 1963; DOT 1993) assumes that the limit load of single and multispan bridges can be deduced from the load carrying capacity of the arch barrel considered as a pinned-elastic arch. On the basis of the classical elastic theory, of the allowable stress approach and of some experimental results, the relevant parameters, such as masonry strength, mechanical characteristics of the fill, span interaction, pier stiffness, etc., are taken into account by means of corrective factors of uncertain origin (Hughes and Blackler 1997). 582 / JOURNAL OF BRIDGE ENGINEERING © ASCE / NOVEMBER/DECEMBER 2004 Fig. 1. No tensile resistant model for the voussoirs’ interface Fig. 2. No tensile resistant perfectly elastoplastic model in compression In this paper, a NTR compressive elastoplastic model for masonry (Brencich et al. 2001) is extended setting a limit to inelastic strains, i.e., to masonry ductility. The procedure, implemented in a one-dimensional finite element (FE) procedure, is applicable to both single- and multispan bridge models. The comparison with experimental results and some parametric analyses prove the procedure to be quite accurate at low computational cost, pointing out some relevant features of the nonlinear response of masonry arches. dem = / el, and for the ultimate ductility the ratio between strain at crushing ul and el, ␦ul = ul / el, masonry is found to be a quasi-brittle material with ultimate ductility around 1.5 (Brencich et al. 2002). For this reason an improved model should also take into account a limit to the inelastic strains. Under the hypothesis of a linear distribution of strains, i.e., of plane section, Fig. 2, the constitutive equations for the elastoplastic, ductility controlled model are given as b NEP = f c 共x + y兲 2 Elastoplastic Model with Controlled Ductility The brick/joint interface can be represented by means of an elastic unilateral contact surface. Experimental evidences (Brencich et al. 2002) show that the common hypothesis of the plane section can be applied also to solid brick masonry, assuming a linear distribution of stresses on the section, Fig. 1. The constitutive equations for the NTR model can be derived in terms of the effective section height x N E = ⬘c M E = ⬘c bx 2 冉 冊 冉 冊 bx h x h x − = NE − 2 2 3 2 3 共1a兲 共1b兲 where the superscript E indicates that the forces are referred to a NTR material elastic in compression, i.e., with no limit to compressive stresses at this stage. Other symbols are defined in Fig. 1. In Castigliano’s original work (1879) this model is assumed to represent dry assemblages of stone blocks or weak mortar joints but it is somewhat questionable, in the first case, because it does not take into account the spalling collapse of the compressed edge (Taylor and Mallinder 1993) and, in the second case, because mortar joints, subjected to a biaxial compressive stress state, can exhibit significant plastic strains before collapse. An improved mechanical model of the interface should assume a limit stress f c in compression beyond which plastic strains are allowed, Fig. 2. In a perfectly elastoplastic model no limit is set to the plastic strains; this would be in contrast with experimental evidence (Taylor and Mallinder 1993; Brencich et al. 2002) showing that the inelastic strains after the peak load are quite limited. Retaining the common definition of ductility, and assuming for the ductility demand ␦dem the ratio between the actual strain and the strain at the end of the linear response el, M EP = f c 共2a兲 冋 1 b h 共x + y兲 − 共x2 + xy + y 2兲 3 2 2 ␦dem = 册 共2b兲 c⬘ x 艋 ␦ul = = el f c x − y 共2c兲 where ␦ul = ultimate ductility of masonry; y = extension of the plastic plateau; and ⬘c stands for the maximum compressive stress of a NTR model. The plastic cutoff, Fig. 2, is the difference between the elastic response of the effective section x, Eqs. (1), and the elastoplastic response, Eqs. (2) ⌬NEP = NE − NEP = f c ⌬M EP = M E − M EP = f c 冋 b y2 2x−y 册 共3a兲 冉 冊 1 y3 b h y2 h y − = ⌬NEP − 2 2x−y 3x−y 2 3 共3b兲 Vice versa, the elastoplastic NTR model, Fig. 2, can be represented as a NTR model, Fig. 1, to which the plastic forces ⌬NEP and ⌬M EP, resulting from the compressive stress cutoff, are to be applied as external forces. Representing the plastic response of the material, they are unbalanced forces and will be called external fictitious forces in what follows. Stepwise Iterative Algorithm The procedure can be applied to generic quasi-brittle arch-type structures following a predictor/corrector iterative scheme in the frame of a standard FE approach. A series of beam-type elements JOURNAL OF BRIDGE ENGINEERING © ASCE / NOVEMBER/DECEMBER 2004 / 583 Fig. 3. Finite elements with constant height meshing the effective arch with constant height can be used to model the compressed part of an arch, Fig. 3. This choice, herein adopted for simplicity of the algorithms instead of tapered beams, is an approximation in the nodal sections but is exact in the central one, where the internal forces M i and Ni are computed by averaging the nodal ones Nl, M l, and Nm, M m and where the extension of the compressed and inelastic part of the section, xi and y i, respectively, may be calculated by means of Eqs. (2). In order to set up an iterative procedure, let us consider a generic arch-type structure, Fig. 4, modeled by means of a FE mesh. 1. Let us assume that the 共k − 1兲th approximation of the solution 共i兲 is known, i.e., for each ith element the effective height hk−1 (not the initial geometric height), the external fictitious 共p兲 forces, transferred in the adjacent nodes l and m, ⌬Fk−1 EP−共p兲 EP−共p兲 共i兲 = 共⌬Nk−1 , ⌬M k−1 , p = l , m兲 the compressed parts xk−1, the c共i兲 maximum compressive stress k−1 , and the plastic plateau 共i兲 y k−1, if any, are known, Fig. 4(a). The load vector consists of the external applied forces F共p兲 0 to which the fictitious forces 共h兲 共p兲 共p兲 ⌬Fk−1 need to be added: Fk−1 = F共p兲 0 + ⌬Fk−1. 共p兲 2. Prediction. An elastic analysis of the structure under the Fk−1 loads is performed; the stress state is calculated in every element, so that the compressed part x共i兲 k , the maximum compressive stress c共i兲 , and the plastic plateau y 共i兲 k k , if any, of the element central section are known, Fig. 4(b). 3. Correction. The geometry is updated so as to reduce the el共i兲 ement height to the estimated compressed part: h共i兲 k = xk . The 共h兲 EP−共p兲 EP−共p兲 external fictitious forces ⌬Fk = 共⌬Nk , ⌬M k ,p = l , m兲, Eqs. (3), due to the new stress state are computed 共p兲 共p兲 updating the external loads: F共p兲 k = F0 + ⌬Fk , Fig. 4(c). 4. Convergence check Convergence is checked. 5. Crushing check. Ductility is computed in each section and compared to the ultimate value. 6. The starting step is given by the elastic response to the external loads of the structure in its initial full geometry. In the generic case of a redundant structure, the internal forces to be equilibrated in each section are not known; for this reason the convergence criterion cannot be referred to the unbalanced part of the external loads but has to be referred to the variation of the plastic fictitious forces between two subsequent steps: max 再冉 EP ⌬Nk+1 − ⌬NEP k NEP k 冊冉 , i EP ⌬M k+1 − ⌬M EP k M EP k 冊 冎 , ∀ i 艋 共4兲 i where the subscript i stands for the generic element of the model and = accepted tolerance. The outlined procedure (see Fig. 5) can be implemented by external programming of commercial FE codes since it is based on a series of elastic analysis of structures differing only by an Fig. 4. Scheme of the stepwise algorithm: (a) 共k − 1兲th iteration; (b) prediction; and (c) correction updating geometry and varying external forces. Like in any FE approach, the model elements, representing the average masonry response, are not linked to the block/joint dimensions. Comparison with Theoretical Results Theoretical results for arch-type structures assuming a nonlinear compressive response for masonry are limited to the roman arch, i.e., to the straight lintel assuming a perfectly elastoplastic model with no limits to the ductility. Even though rather simple, this structure is rather challenging for any numerical procedure being characterized by low values of the axial thrust. In the case of a straight lintel loaded by external moments, Fig. 6, all the sections present the same internal forces. The cross section is assumed rectangular 1 cm wide and 10 cm high with a 100 cm long span; masonry is described by 5,000 MPa, f c = 3 MPa. Being the exact solution given with no limit to material ductility, this comparison is carried out for a perfectly elastoplastic model. Both the NTR and the elastoplastic models are compared in Fig. 6 showing a good convergence speed. When a concentrated force of 250 N is set in the central section, Fig. 7, a prestrain equal to 10−4 is needed in the lintel. The exact solution (Zani 2001) is compared to the results by the 584 / JOURNAL OF BRIDGE ENGINEERING © ASCE / NOVEMBER/DECEMBER 2004 present procedure: in Fig. 8 vertical and horizontal displacements are plotted as a function of the tolerance , Eq. (4), showing the CPU time needed for the analysis of a 100 elements model; Fig. 9 shows the same quantities as a function of the model elements for a fixed value of the tolerance, = 10−3. The error of the procedure never exceeds 2.2% on the vertical displacements for a rough accuracy = 10−2, while higher accuracy is obtained for the horizontal ones. Table 1 shows that convergence is much faster if referred to the internal forces, which are more significant for design purposes. Comparison with Experimental Results The two-ring 1:5 scale model of Fig. 10 was loaded through its whole width at 84 cm from the springing (0.28 times the span) by means of a 20 cm wide device (Melbourne and Gilbert 1995). Since the test showed that no separation took place up to collapse, and being the spandrel walls detached from the arch barrel, this test fits well the hypotheses of the discussed model. Table 2 summarizes the main mechanical properties of the materials. The comparison of the experimental and model response, Fig. 11, shows rather good agreement. It has to be noted that in this example, due to the high value of the compressive strength, the material nonlinear response is expected to have reduced importance; in fact the maximum allowed ductility of 1.5 has not been reached. The Bridgemill arch at Girvan, Scotland (Hendry et al. 1985) is a shallow single arch bridge made of 62 sandstone blocks with a significant span of 18.29 m and an 8.30 m width; the fill in crown is only 20 cm thick, Fig. 12. The load was applied on a concrete strip 75 cm wide crossing the whole bridge width and centered at 1/4 of the bridge span, in the weakest position for the arch. Deflections were measured directly below the load; both the arch barrel and the spandrel walls were in good condition. The main parameters of the bridge and of the adopted model are summarized in Table 3. Two models of the bridge were tested and compared to the experimental data: Model A, with E = 4,000 MPa and f c = 15 MPa, and Model B, with E = 4,000 MPa and f c = 7 MPa. Different values for the compressive strength of brickwork were considered in order to allow a direct comparison with the numerical results obtained by other writers (Crisfield 1985). In Fig. 13, representing the load displacement curves, the vertical displacement just below the load is plotted on the left-hand side against the sustained load, while diagrams on the right-hand side represent the deflection of the key-stone, which is lifted upwards in the collapse mechanism. The circles mark the points where the compressive strength has first been attained, while the squares show when the maximum allowed ductility 共␦ul = 1.5兲 has been reached, Fig. 5. Flow chart of the iterative procedure Fig. 6. Convergence of the procedure for a straight lintel Fig. 7. Sample lintel loaded with a concentrated load JOURNAL OF BRIDGE ENGINEERING © ASCE / NOVEMBER/DECEMBER 2004 / 585 Fig. 8. Displacements of the straight lintel as a function of the tolerance: (a) vertical and (b) horizontal displacements of the beam (half lintel only is represented) i.e., the points where collapse is expected. It can be observed that, for this geometry, a limited ductility allows a significant increase of the load carrying capacity; besides, both Crisfield’s and the present approaches fail in representing the experimental response with good approximation. This is probably due to the collaboration of the arch barrel with the spandrel walls, which is not con- Table 1. Reaction Forces versus Tolerance—100 Elements Model Tolerance Rx [N] Ry [N] M [N cm] 0.01 0.001 0.0001 839.6 127.6 3,185.9 856.5 127.6 3,184.4 876.4 127.6 3,181.5 Table 2. Main Parameters of the Arch of Fig. 8 Property Value Property Fig. 9. Displacements of the straight lintel as a function of the number of elements: (a) vertical and (b) horizontal displacements of the beam (half of the lintel is represented) sidered in the simplified monodimensional model of the arch herein proposed, and to the small displacement assumption of the proposed model. Besides, the comparison with experimental data shows that the proposed procedure is conservative. Elastoplastic Response of a Single Arch In order to get a deeper insight into the mechanical parameters affecting the limit load of an arch, mainly compressive strength, load position, and arch geometry, a sample arch has been considered, Fig. 14, representing a typical shallow arch derived from the scale models tested by Melbourne et al. (1995) and typical of a large number of European single- and multispan bridges. Table 3. Main Parameters of the Bridgemill Bridge Value 300 cm Width 288 cm Span s 21.5 cm 1 / 14⬵ 0.07 Ring thickness d d/s 30 cm 60/ 43⬵ 1.39 Fill (crown) f f /d 75 cm 1 / 4 = 0.25 Rise r r/s Arch density 22 kN/ m3 Fill density 22.2 kN/ m3 Compressive 27 MPa Young’s 15,900 MPa strength modulus Engineering bricks masonry—1:2:9 mortar Property Span s Ring thickness d Fill (crown) f Rise r Arch density Compressive strength 586 / JOURNAL OF BRIDGE ENGINEERING © ASCE / NOVEMBER/DECEMBER 2004 Value 1,829 cm 71.1 cm 20.3 cm 284 cm 21 kN/ m3 5 – 8 MPa Property Width d/s f /d r/s Fill density Young’s modulus Masonry type: sandstone blocks Value 830 cm 1 / 11.7⬵ 0.08 1 / 3.5⬵ 0.28 5 / 32= 0.16 22 kN/ m3 4,000 MPa Fig. 10. 1:5 scale model of a multiring arch [cm] Fig. 13. Load-deflection response of the Bridgemill arch Fig. 11. Load-displacement response of the arch of Fig. 10. Displacement below the load. Fig. 14. Geometry for the shallow sample arch [cm] Fig. 12. (a) Geometry of the Bridgemill Bridge [cm] and (b) finite element mesh and load distribution Fig. 15. Load-displacement Displacement below the load. curves for the sample arch. JOURNAL OF BRIDGE ENGINEERING © ASCE / NOVEMBER/DECEMBER 2004 / 587 Table 4. Main Parameters of the Sample Arches Property Span s Ring thickness d Fill (crown) f Arch geometry—Shallow arch Rise r Arch geometry—Deep arch Rise r Density and loads Arch density Fill density Masonry Young’s modulus Value 1,500 cm 75 cm 75 cm Property Width d/s f /d Value 100 cm 1 / 20 1/1 375 cm r/s 1 / 4 = 0.25 525 cm r/s 7 / 20= 0.35 22 kN/ m3 24.1 kN/ m3 Load diffusion Loaded length 40° + 40° Knife-type 15,000 MPa Compressive strength 5 / ⬁ MPa In the following the width of the arch is assumed to be 100 cm and all the main geometric and mechanical parameters are summarized in Table 4. In order to compare the results to the rise-tospan and barrel factors of the MEXE-MOT method (DOT 1993), two sample arches have been considered, a shallow and a deep one, differing in the rise/span ratio, whose main parameters are summarized in Table 4. A concentrated load was located in different positions along the bridge assuming for masonry, first, the perfectly NTR model, a perfectly elastoplastic model with compressive strength c of 5 MPa and no limits to ductility and then setting a limit to the allowed ductility. The procedure has been implemented in both the ANSYS 5.6 (ANSYS 1999) and LUSAS (FEA 2001) FE codes, assuming a beam length of approximately two brick units. Fig. 15 shows the load-displacement response of the barrel, the displacement being computed just below the load, and assuming both a NTR model and a 5 MPa compressive strength material. For both the arches the activation of the collapse mechanism, i.e., the sudden drop of the arch stiffness, takes place far after the compressive strength is first reached, circles, and also far after the maximum allowed ductility is reached, squares. This means that these two geometries collapse because of the collapse of some sections which takes place at rather limited displacements. This shows that a mechanical model for the material which does not set any limit to inelastic strain would overestimate the effective load carrying capacity. The diagrams of Fig. 16 represent the load carrying capacity of the sample arches for masonry models and as a function of the load position. The lowest load is found in the position nearby 1/4–1/3 of the arch span, specifically for x / l = 0.3. It can be observed that the models setting no limits to inelastic strains again dramatically overestimate the load carrying capacity. Once an ultimate ductility is defined, the load carrying capacity is found to have little variations as the load changes positions. The increment of the limit load due to a limited ductility 共␦ = 1.5– 2兲, compared to the perfectly brittle model 共␦ = 1兲, is some 10%, showing that, for some geometries, a perfectly brittle model is acceptable. Besides, it can be seen that the effect of the limit on the maximum allowable ductility leads to a limit load that is almost half of the load that would be obtained by other models, such as the mechanism one. Discussion Fig. 16. Limit load versus loading position and masonry strength for (a) r / s = 0.25 and (b) r / s = 0.35 The comparison of the discussed model with analytical data shows an encouraging efficiency of the procedure. Comparison with experimental data generally provides reasonably good approximation at the expenses of low computational effort provided that the load bearing structure is the arch barrel, such as in the case of the sample single span arch. When other “nonstructural” elements, such as spandrel walls, collaborate with the barrel increasing the limit load, i.e., in the case of the Bridgemill test, the comparison is less satisfactory. Nevertheless, the procedure is still acceptable being conservative. As already pointed out by the ex- 588 / JOURNAL OF BRIDGE ENGINEERING © ASCE / NOVEMBER/DECEMBER 2004 perimental work by Melbourne et al. (1995), the effect of spandrel wall on the global strength of a bridge can be as much as 30% or more of the global collapse load. The comparison with the experimental data on the Bridgemill arch seems to corroborate this conclusion. The parametric study of the load-displacement response and of the limit loads for a shallow 共r / s = 0.25兲 and a deep 共r / s = 0.35兲 arch showed that the activation of the collapse mechanism would require much higher values of ductility than what masonry is able to exhibit. In fact, a reasonable value for ductility 共␦ = 1.4 to 1.5兲 would lead to a load carrying capacity that is about 60% of the previsions by other methods not taking ductility into account, such as in the mechanism approach. Besides, the collapse would be caused by crushing of the critical section rather than by the activation of a mechanism, as assumed by many assessment procedures. As the Bridgemill arch showed, in some cases also a limited value for the ultimate ductility of masonry may significantly increase the limit load. Since this is not a general feature, as the sample arches showed, the effect of masonry ductility on the load carrying capacity should be carefully analyzed for each bridge. The barrel factor introduced by the MEXE method (DOT 1993) is related to the quality of masonry and ranges from 0.7 to 1.2 for brickwork arches, i.e., a maximum reduction of 43% due to masonry strength. The reduction of the load carrying capacity due to the compressive strength in the sample arches has been found to be as much as 50%, in good agreement with the MEXE factor. If a quasi-brittle 共␦ = 1.4兲 model is given to the masonry of the sample arches, the limit load for the deep one 共r / s = 0.35兲 is found to be 55% of the load carrying capacity of the shallow 共r / s = 0.25兲 arch. This is in contrast with the MEXE approach which assumes, given all the other parameters, the same load carrying capacity for all the arches with a rise/span ratio above 0.25. Conclusions An iterative procedure for the elastoplastic analysis of masonry arch structures has been discussed. It proved to be user-friendly since it can be developed simply making use of the programming facilities of commercial FE codes and, in spite of some approximations, it proved to give good precision. The procedure can be considered a reliable tool for the simplified analysis of masonry arch bridges, giving conservative estimates of the limit load since many beneficial effects are neglected, such as the contribution of the spandrel walls and the arch barrel–fill interaction. The discussed approach may be an alternative to the standard nonlinear facilities of commercial FEM codes, which are generally related to concretelike materials. An example is the WillamWarnke limit surface, developed for concrete, that is usually used for brickwork, but only few experimental data corroborate this choice. Besides, the discussed procedure does not need to compute the stress field by means of numerical integration, leading to more accurate results, for low-cost analyses of masonry arch bridges, than standard FEM codes. The FEM model of a multispan bridge is often a challenge to the computational capacities of modern PCs, requiring often many hours of computing time. The discussed procedure can be applied to multispan bridges at very low computational costs. Examples of analyses of multispan models and of a real bridge are presented in Part II of the work. Acknowledgments This research has been carried out by partial financial support from National Earthquake Defence Group (GNDT), VIA research project “Seismic vulnerability reduction of infrastructural systems and environment,” part of the Biennial 2000–2002 Research Project, and PRIN 2002/2003 “Safety and control of masonry bridges.” References ANSYS Inc. (1999). ANSYS release 5.6 reference manual, ANSYS Inc., Canonsburg, Pa. 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