Anura3D MPM Research Community

Anura3D MPM Software

Tutorial Manual

Version: 2021 – Centro

April 2021
Anura3D MPM Software, Tutorial Manual

With the contributions of:

Amine Aboufirass Deltares Delft, The Netherlands
Abdelrahman Alsardi Virginia Tech, United States
Luis Angel Aviles Universitat Politècnica de Catalunya, Barcelona, Spain
Francesca Ceccato Università degli Studi di Padova, Italy
Alexander Chmelnizkij Technische Universität Hamburg, Germany
Gaia Di Carluccio Universitat Politècnica de Catalunya, Barcelona, Spain
James Fern Amberg Engineering Ltd / EPFL, Switzerland
Vahid Galavi Deltares Delft, The Netherlands
Veronica Girardi Università degli Studi di Padova, Italy
Pietro Marveggio Politecnico di Milano, Italy
Mario Martinelli Deltares Delft, The Netherlands
Miriam Mieremet Deltares Delft, The Netherlands
Francesc Mirada Universitat Politècnica de Catalunya, Barcelona, Spain
Jonathan Moore Virginia Tech, United States
John W. Murphy University of California Berkeley, United States
Núria Pinyol Universitat Politècnica de Catalunya, Barcelona, Spain
Grace Roberts University of Cambridgge, United Kingdom
Alexander Rohe Deltares Delft, The Netherlands
Angela Saade Virginia Tech, United States
Marc Stapelfeldt Technische Universität Hamburg, Germany
Alba Yerro Virginia Tech, United States
Kaleigh Yost Virginia Tech, United States
Luis E. Zambrano-Cruzatty Virginia Tech, United States
Bruno Zuada Deltares Delft, The Netherlands

Many people contributed to the creation of this tutorial. If you feel that you are one
of them but your name does not appear in this list, please contact us.

Published and printed by: Contact and information:

Anura3D MPM Research Community e-mail: [email protected]
c/o Stichting Deltares web: www.Anura3D.com
Boussinesqweg 1
2629 HV Delft (The Netherlands)
Contents v

Contents
1 Introduction 5
1.1 Large deformations and soil–water–structure interaction . . . . . . . . . . . 5
1.2 Anura3D MPM Research Community . . . . . . . . . . . . . . . . . . . . . 5
1.3 About Anura3D 2021 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Getting started with Anura3D 9

2.1 Calculation process with Anura3D . . . . . . . . . . . . . . . . . . . . . . . 9
2.1.1 Creating input data . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1.2 Performing calculation . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1.3 Visualisation of results . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Compiling Anura3D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.1 Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.2 Compiling Anura3D . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3 Installation of GiD (pre-processor) . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.1 Installation instructions . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.2 The Anura3D 2021problemtype . . . . . . . . . . . . . . . . . . . . 16
2.4 Installation of ParaView (post-processor) . . . . . . . . . . . . . . . . . . . . 18

3 One-dimensional consolidation (oedometric compression test) 21

3.1 Problem definition in 2D and 3D . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Creating input data in GiD . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.2.1 Starting pre-processor and selecting problem type . . . . . . . . . . 23
3.2.2 Defining geometry in 2D and 3D . . . . . . . . . . . . . . . . . . . . 25
3.2.3 Defining material properties in 2D and 3D . . . . . . . . . . . . . . . 32
3.2.4 Specifying material points in 2D and 3D . . . . . . . . . . . . . . . . 34
3.2.5 Defining boundary conditions in 2D and 3D . . . . . . . . . . . . . . 37
3.2.6 Creating mesh in 2D and 3D . . . . . . . . . . . . . . . . . . . . . . 42
3.2.7 Initialisation of calculation data . . . . . . . . . . . . . . . . . . . . 47
3.2.8 Generating Anura3D input files GOM and CPS . . . . . . . . . . . . 50
3.3 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . . . . . 51
3.3.1 Calculation using batch file . . . . . . . . . . . . . . . . . . . . . . . 51
3.3.2 Calculation using command line . . . . . . . . . . . . . . . . . . . . 52
3.4 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . . . . . . 52
3.4.1 Opening ParaView . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
3.4.2 Loading the VTK output files . . . . . . . . . . . . . . . . . . . . . . 53
3.4.3 Showing the mesh in 2D and 3D . . . . . . . . . . . . . . . . . . . . 54
3.4.4 Change view settings to parallel projection (for 3D case only) . . . . 56
3.4.5 Visualisation of liquid pressure in 2D and 3D . . . . . . . . . . . . . 57
3.4.6 Visualisation of soil displacement in 2D and 3D . . . . . . . . . . . . 61
3.4.7 Determining the material point ID . . . . . . . . . . . . . . . . . . . 62
3.4.8 Plotting time graphs for material points . . . . . . . . . . . . . . . . 65
3.5 Visualisation of text output files . . . . . . . . . . . . . . . . . . . . . . . . . 69
3.6 Variations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
3.6.1 Variation: Effect of local damping . . . . . . . . . . . . . . . . . . . 70
3.6.2 Variation: Small deformation problem . . . . . . . . . . . . . . . . . 72
3.6.3 Variation: Bulk viscosity . . . . . . . . . . . . . . . . . . . . . . . . 73
3.6.4 Variation 5: Absorbing boundaries . . . . . . . . . . . . . . . . . . . 75
3.7 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
vi Anura3D MPM Software, Tutorial Manual

4 Triaxial compression test 81

4.1 Problem definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
4.2 Creating input data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.2.1 Starting pre-processor . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.2.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.2.3 Defining material properties . . . . . . . . . . . . . . . . . . . . . . 83
4.2.4 Specifying material points . . . . . . . . . . . . . . . . . . . . . . . 83
4.2.5 Defining boundary conditions . . . . . . . . . . . . . . . . . . . . . 84
4.2.6 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
4.2.7 Initialization of calculation data . . . . . . . . . . . . . . . . . . . . 89
4.2.8 Generating input files . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4.3 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . . . . . 92
4.4 Visualisation of text output files . . . . . . . . . . . . . . . . . . . . . . . . . 92
4.5 User Defined Soil Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.5.1 Preparation of the FORTRAN File . . . . . . . . . . . . . . . . . . . 94
4.5.2 Compiling and creating the dll file . . . . . . . . . . . . . . . . . . . 98
4.5.3 Definition of a User Defined Soil Model in Gid . . . . . . . . . . . . . 101

5 Sliding blocks 103

5.1 Problem definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
5.2 Creating input data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
5.2.1 Starting pre-processor . . . . . . . . . . . . . . . . . . . . . . . . . 104
5.2.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
5.2.3 Defining material properties . . . . . . . . . . . . . . . . . . . . . . 108
5.2.4 Specifying material points . . . . . . . . . . . . . . . . . . . . . . . 109
5.2.5 Defining boundary conditions . . . . . . . . . . . . . . . . . . . . . 110
5.2.6 Defining contact properties . . . . . . . . . . . . . . . . . . . . . . 110
5.2.7 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
5.2.8 Initialisation of calculation data . . . . . . . . . . . . . . . . . . . . 115
5.2.9 Generating input files . . . . . . . . . . . . . . . . . . . . . . . . . . 117
5.3 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . . . . . 118
5.3.1 Stage 1: Initialisation of stresses . . . . . . . . . . . . . . . . . . . 118
5.3.2 Stage 2: Sliding blocks . . . . . . . . . . . . . . . . . . . . . . . . . 118
5.4 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . . . . . . 120
5.5 Variations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
5.6 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

6 Column collapse 123

6.1 Problem definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
6.2 Creating input data in GiD . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
6.2.1 Starting pre-processor and selecting problemtype . . . . . . . . . . 124
6.2.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
6.2.3 Defining material properties . . . . . . . . . . . . . . . . . . . . . . 125
6.2.4 Specifying material points . . . . . . . . . . . . . . . . . . . . . . . 126
6.2.5 Defining boundary conditions . . . . . . . . . . . . . . . . . . . . . 126
6.2.6 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
6.2.7 Initialisation of calculation data . . . . . . . . . . . . . . . . . . . . 132
6.2.8 Generating input files GOM and CPS . . . . . . . . . . . . . . . . . 134
6.3 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . . . . . 134
6.3.1 Stage 1: Initialisation of stresses . . . . . . . . . . . . . . . . . . . 134
6.3.2 Stage 2: Calculation of column failure . . . . . . . . . . . . . . . . . 135
Contents vii

6.4 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . . . . . . 136

6.4.1 Gravity loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
6.4.2 Column collapse . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
6.5 Variations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
6.5.1 Variation: Three-dimensional plane strain model . . . . . . . . . . . 138
6.5.2 Variation: Variation of the internal friction angle o the soil . . . . . . . 139
6.5.3 Variation: Variation of the local damping . . . . . . . . . . . . . . . . 139
6.5.4 Variation: Variation of the column ratio . . . . . . . . . . . . . . . . 139
6.5.5 Variation: Saturated column colapse - fully coupled formulation . . . 139
6.5.6 Variation: Apply contact formulation . . . . . . . . . . . . . . . . . . 141
6.6 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

7 Shallow foundation 143

7.1 Problem definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
7.2 Creating input data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.2.1 Starting pre-processor . . . . . . . . . . . . . . . . . . . . . . . . . 145
7.2.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
7.2.3 Defining material properties . . . . . . . . . . . . . . . . . . . . . . 146
7.2.4 Specifying material points . . . . . . . . . . . . . . . . . . . . . . . 146
7.2.5 Defining boundary conditions . . . . . . . . . . . . . . . . . . . . . 148
7.2.6 Defining a surface for computation of reaction forces . . . . . . . . . 150
7.2.7 Defining the moving mesh . . . . . . . . . . . . . . . . . . . . . . . 151
7.2.8 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
7.3 Approach 1: External load and use of load multipliers . . . . . . . . . . . . . 153
7.3.1 Initialisation of calculation data . . . . . . . . . . . . . . . . . . . . 153
7.3.2 Generating Input Files . . . . . . . . . . . . . . . . . . . . . . . . . 155
7.3.3 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . 156
7.3.4 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . 156
7.3.5 Visualisation of text output files . . . . . . . . . . . . . . . . . . . . 159
7.4 Approach 2: Prescribed velocity . . . . . . . . . . . . . . . . . . . . . . . . 160
7.4.1 Initialisation of calculation data . . . . . . . . . . . . . . . . . . . . 160
7.4.2 Generating input files . . . . . . . . . . . . . . . . . . . . . . . . . . 161
7.4.3 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . 161
7.4.4 Visualisation of results . . . . . . . . . . . . . . . . . . . . . . . . . 162
7.5 Variations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

8 Impact problem 163

8.1 Problem definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
8.2 Creating input data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
8.2.1 Starting pre-processor . . . . . . . . . . . . . . . . . . . . . . . . . 165
8.2.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
8.2.3 Defining material properties . . . . . . . . . . . . . . . . . . . . . . 166
8.2.4 Specifying material points . . . . . . . . . . . . . . . . . . . . . . . 166
8.2.5 Defining boundary conditions . . . . . . . . . . . . . . . . . . . . . 167
8.2.6 Defining initial velocity on material points . . . . . . . . . . . . . . . 168
8.2.7 Defining a surface to record reaction forces . . . . . . . . . . . . . . 168
8.2.8 Defining the moving mesh . . . . . . . . . . . . . . . . . . . . . . . 170
8.2.9 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
8.2.10 Calculation parameters . . . . . . . . . . . . . . . . . . . . . . . . . 170
8.2.11 Generating input files . . . . . . . . . . . . . . . . . . . . . . . . . . 173
8.2.12 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . 174
viii Anura3D MPM Software, Tutorial Manual

8.2.13 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . 174

8.2.14 Visualisation of text output files . . . . . . . . . . . . . . . . . . . . 175
8.3 Variation: Simulation of the impacting body as a rigid body . . . . . . . . . . 176
8.3.1 Starting pre-processor . . . . . . . . . . . . . . . . . . . . . . . . . 176
8.3.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
8.3.3 Defining material properties . . . . . . . . . . . . . . . . . . . . . . 176
8.3.4 Specifying material points . . . . . . . . . . . . . . . . . . . . . . . 177
8.3.5 Defining boundary conditions . . . . . . . . . . . . . . . . . . . . . 178
8.3.6 Defining initial velocity on material points . . . . . . . . . . . . . . . 178
8.3.7 Defining contact properties . . . . . . . . . . . . . . . . . . . . . . 178
8.3.8 Defining a surface for computation of reaction forces . . . . . . . . . 178
8.3.9 Defining the moving mesh . . . . . . . . . . . . . . . . . . . . . . . 179
8.3.10 Creating the mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
8.3.11 Calculation parameters . . . . . . . . . . . . . . . . . . . . . . . . . 179
8.3.12 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . 180
8.3.13 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . 180
8.3.14 Visualisation of text output files . . . . . . . . . . . . . . . . . . . . 180
8.4 Variation: Simulation in 3D cylindrical axisymmetric conditions . . . . . . . . 181
8.4.1 Starting pre-processor . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.4.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.4.3 Defining material properties . . . . . . . . . . . . . . . . . . . . . . 182
8.4.4 Specifying material points . . . . . . . . . . . . . . . . . . . . . . . 182
8.4.5 Defining boundary conditions . . . . . . . . . . . . . . . . . . . . . 183
8.4.6 Defining initial velocity on material points . . . . . . . . . . . . . . . 184
8.4.7 Defining a surface for computation of reaction forces . . . . . . . . . 184
8.4.8 Defining the moving mesh . . . . . . . . . . . . . . . . . . . . . . . 184
8.4.9 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
8.4.10 Calculation parameters . . . . . . . . . . . . . . . . . . . . . . . . . 185
8.4.11 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . 185
8.4.12 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . 186
8.5 Other variations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

9 Excavation 187
9.1 3D Column excavation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
9.1.1 Problem definition . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
9.1.2 Creating input data . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
9.1.2.1 Starting pre-processor . . . . . . . . . . . . . . . . . . . 188
9.1.2.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . 188
9.1.2.3 Defining material properties . . . . . . . . . . . . . . . . . 190
9.1.2.4 Specifying material points . . . . . . . . . . . . . . . . . . 191
9.1.2.5 Defining boundary conditions . . . . . . . . . . . . . . . . 191
9.1.2.6 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . 192
9.1.2.7 Defining excavation steps . . . . . . . . . . . . . . . . . . 192
9.1.2.8 Initialisation of calculation data . . . . . . . . . . . . . . . 193
9.1.2.9 Generating input files . . . . . . . . . . . . . . . . . . . . 195
9.1.3 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . 195
9.1.3.1 Stage 1: Gravity loading . . . . . . . . . . . . . . . . . . 195
9.1.3.2 Stage 2 to 6: Excavation stages . . . . . . . . . . . . . . 195
9.1.4 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . 195
9.1.5 Visualisation of text output files . . . . . . . . . . . . . . . . . . . . 197
9.1.6 Excavation with Mohr-Coulomb material . . . . . . . . . . . . . . . . 199
Contents ix

9.2 2D Strutted excavation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

9.2.1 Problem definition . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
9.2.2 Creating input data . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
9.2.2.1 Starting pre-processor . . . . . . . . . . . . . . . . . . . 203
9.2.2.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . 203
9.2.2.3 Defining material properties . . . . . . . . . . . . . . . . . 204
9.2.2.4 Specifying material points . . . . . . . . . . . . . . . . . . 206
9.2.2.5 Defining boundary conditions . . . . . . . . . . . . . . . . 206
9.2.2.6 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . 207
9.2.2.7 Defining excavation steps . . . . . . . . . . . . . . . . . . 207
9.2.2.8 Initialisation of calculation data . . . . . . . . . . . . . . . 208
9.2.2.9 Generating input files . . . . . . . . . . . . . . . . . . . . 209
9.2.3 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . 209
9.2.3.1 Stage 1: Gravity loading . . . . . . . . . . . . . . . . . . 210
9.2.3.2 Stage 2: Excavation stages . . . . . . . . . . . . . . . . . 210
9.2.4 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . 211

10 Submerged slope collapse 215

10.1 Problem definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
10.2 Creating input data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
10.2.1 Starting pre-processor . . . . . . . . . . . . . . . . . . . . . . . . . 216
10.2.2 Defining geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
10.2.3 Defining material properties . . . . . . . . . . . . . . . . . . . . . . 217
10.2.4 Specifying material points . . . . . . . . . . . . . . . . . . . . . . . 218
10.2.5 Defining boundary conditions . . . . . . . . . . . . . . . . . . . . . 218
10.2.6 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
10.2.7 Initialisation of calculation data . . . . . . . . . . . . . . . . . . . . 220
10.2.8 Generating Input Files . . . . . . . . . . . . . . . . . . . . . . . . . 222
10.3 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . . . . . 222
10.3.1 Step 1: Gravity Loading . . . . . . . . . . . . . . . . . . . . . . . . 222
10.3.2 Step 2: Slope Failure . . . . . . . . . . . . . . . . . . . . . . . . . . 223
10.3.3 Step 3: Slope Stabilization . . . . . . . . . . . . . . . . . . . . . . . 224

References 227

A Shallow foundation in 3D-cylindrical coordinates 229

A.1 Creating input data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
A.1.1 Defining geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
A.1.2 Defining material properties . . . . . . . . . . . . . . . . . . . . . . 230
A.1.3 Specifying material points . . . . . . . . . . . . . . . . . . . . . . . 231
A.1.4 Defining boundary conditions . . . . . . . . . . . . . . . . . . . . . 232
A.1.5 Defining a surface for computation of reaction forces . . . . . . . . . 232
A.1.6 Defining the moving mesh . . . . . . . . . . . . . . . . . . . . . . . 234
A.1.7 Creating mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
A.1.8 Initialisation of calculation data . . . . . . . . . . . . . . . . . . . . 237
A.1.9 Generating Input Files . . . . . . . . . . . . . . . . . . . . . . . . . 237
A.1.10 Performing calculation in Anura3D . . . . . . . . . . . . . . . . . . . 238
A.1.11 Visualisation of results in ParaView . . . . . . . . . . . . . . . . . . 238
x Anura3D MPM Software, Tutorial Manual
Contents 1

Anura3D - is a software for the numerical modelling and simulation of large deformations and
soil–water–structure interaction using the material point method (MPM). Copyright (C) 2020 Mem-
bers of the Anura3D MPM Research Community.
Anura3D is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser
General Public License as published by the Free Software Foundation <https://www.gnu.org/licenses/>,
either version 3 of the License, or (at your option) any later version.
Anura3D documentation is furnished under the License and may be used only in accordance with
the terms of such license. It is advised to consult the manuals before applying the software.

Anura3D is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU Lesser General Public License for more details.

Anura3D MPM Research Community Contact and information

c/o Stichting Deltares e-mail: [email protected]
Boussinesqweg 1 web: www.Anura3D.com
2629 HV Delft (The Netherlands)
2 Anura3D MPM Software, Tutorial Manual
Contents 3

Complementary reading: [1] Fern E.J., Rohe A., Soga K., Alonso E.E. (2019) The Material
Point Method for Geotechnical Engineering – A Practical Guide. CRC Press, London.

The Material
Point Method for
Geotechnical
Engineering
A Practical Guide
EDITED BY
James Fern • Alexander Rohe
Kenichi Soga • Eduardo Alonso
4 Anura3D MPM Software, Tutorial Manual
 1 Introduction
Authors: Alba Yerro; Alexander Rohe; James Fern; Francesca Ceccato; Veronica Girardi

1.1 Large deformations and soil–water–structure interaction

Interactions between soil, water, and structures plays
an important role in geotechnical, environmental and
civil engineering problems, such as landslides in-
duced by seepage and rain, liquefaction or fluidi-
sation, and sedimentation processes in submerged
slopes, internal erosion in dykes, scouring around off-
shore structures, consolidation-induced settlement or
pile installation in saturated soils. In many cases, the
material involved can experience large deformations,
which can lead to dramatic events. The numerical
modelling of these processes is challenging because
the treatment of soil-water coupling, soil-structure in-
teraction, and large deformations is not straightfor-
ward.

MPM is a point-based numerical method capable of

modelling large deformations, which has been ex-
tended and implemented in the Anura3D software
to cope with advanced soil-water-structure interaction
problems. This tutorial manual provides instructions on how to perform numerical simulations
with Anura3D . More detailed information on the material point method and its applications is
given by [1] and a list of publications based on Anura3D is in our website.

1.2 Anura3D MPM Research Community

The Anura3D Software is being developed by the Anura3D MPM Research Community. In
this international collaboration the complementary expertise of different groups that carry out
research on numerical modelling of large deformations and soil–water–structure interaction is
brought together. For more information visit the website www.anura3d.com of the Anura3D
MPM Research Community.

The Anura3D MPM Research Community is collaborating with CIMNE (International Center
for Numerical Methods in Engineering) is granting free temporal licences for the academic
purposes of the Anura3D MPM Research Community. The Anura3D software is using GiD as
pre-processing software and for mesh generation. The support of CIMNE is greatly acknowl-
edged.
 6 Anura3D MPM Software, Tutorial Manual

1.3 About Anura3D 2021

Anura3D is a research-oriented software developed by the Research Community (Sec. 1.2).
The code has been validated and tested with a limited number of problems. The Anura3D
MPM Research Community shall not be responsible for losses of any kind, resulting from the
use of this program. The Anura3D is an open source software under the GNU Lesser General
Public License version 3.

The most relevant publications related to the development and application of the Anura3D
software is available online on the website of the Anura3D MPM Research Community where
direct links to the respective journals or theses for download are provided: www.anura3d.com
–> menu "Publications". The development of the current code started in 2008 and is ongoing.

The features implemented in the open source are briefly summarized in Table 1.1. While
some of them have been tested, others are still under developemnt. The examples provided
in this tutorial provide guidance to the user through the available tested features.

The current state of the Anura3D has the following limitations concerning the tested features:

 3D-Cylindrical: y-axis is the axis of symmetry, gravity can only be applied in y-axis direc-
tion.
 Multiphase formulations: a combination of different material types can cause problems for
certain combinations (undrained total stress and undrained effective stress), no water flow
is transferred between saturated and dry materials.
 Contact algorithm: the maximum number of contact materials is four (4), the maximum
number of master materials is one (1). Contact is fixed on the mesh nodes.
 Moving mesh: works only for prismatic bodies in 3D and trapezium areas in 2D, the moving
mesh direction is constrained only in one direction. the moving mesh needs an extension
and/or compression mesh.
 Excavation: limited to 30 excavation stages.
 Rigid body: can be applied only to one body in the system, only works together with the
contact algorithm, only moves in one direction, it can’t rotate.
 Fixities and traction boundary conditions: only aligned with the coordinate axes
 K0 stress initialization: limited only to horizontal surfaces, one homogeneous material
(otherwise, use gravity together with local damping and stress initialization with quasi-
static convergence criteria)

The user should also take into account the following warnings:

 Multiple materials: the use of several drainage material types on the same model is not
recommended.
 Absorbing boundaries: do not prevent material points from leaving the mesh.
Introduction 7

Table 1.1: List of features available in Anura3D 2021

Name of the feature Under development Tested

Geometrical dimensions
2D - plane strain X
2D - axisymmetric X
3D - cartesian X
3D - cylindrical X
Computational methods
MPM-MP X
MPM-MIXED X
UL-FEM X
FEM X
Integration schemes
Explicit X
Implicit X
Multiphase formulations
1-phase (dry material, undrained, drained) X
2-phase single-point for saturated soil X
2-phase double-point X
3-phase single-point X
Constitutive models
Linear elastic X
Mohr-Coulomb X
Other features
Contact algorithm X
Moving mesh X
Excavation X
Rigid body X
Bulk viscosity X
Submerged analysis X
Output of reaction forces at surfaces X
Boundary and initial conditions
Remove fixity X
Initial conditions X
Prescribed velocity X
Absorbing boundary X
K0 stress initialization X
Stress initialization with quasi-static convergence X
8 Anura3D MPM Software, Tutorial Manual
 2 Getting started with Anura3D
Authors: Alba Yerro; Alexander Rohe; James Fern; Francesca Ceccato; Luis E. Zambrano-
Cruzatty

Anura3D is a software tool for numerical analysis of geotechnical problems developed by

the Anura3D MPM Research Community and distributed as open-source code programmed
using Fortran. This software is a 2D/3D implementation of the material point method (MPM)
and it is used for simulating the physics involved in soil-water-structure interaction and large
deformation problems. There is no warranty or liability in any sense for the use of the provided
software or results (see "Copyright and Liability Anura3D" at the beginning of this document).
The list of implemented and under development features is provided in Table 1.1.

This chapter explains how to get started with Anura3D . First, the software required to interface
the code and the process to compile it are explained in Section 2.2. the basis to perform a
numerical simulation (Section 2.1). Subsequently, the installation instructions for both pre-
and post-processing osftware are presented in Sections 2.3 and 2.4. In both cases, the use
of third-party software is required.

2.1 Calculation process with Anura3D

The process to perform a numerical simulation consists of three parts as follows.

 Creating input data with the GiD software (pre-processing)

 Performing calculation with the Anura3D software (compiled executable)
 Visualisation of results with the ParaView software (post-processing)

A schematic description of this procedure is presented in Figure 2.1, and each step is ex-
plained below in this chapter.

Figure 2.1: Procedure for performing a numerical simulation with Anura3D including pre-
and post-processing.

2.1.1 Creating input data

Anura3D requires two input files – the GOM file and the CPS file. Both files can be generated
with the GiD pre-processing software (the installation instructions of GiD are given in Sec-
tion 2.3). Both files are text files (ASCII), which can be modified manually by opening them
in a text editor and changing the text. This is typically done for parametric analyses for which
the value of a specific parameter is changed.

Definition of problem: GOM file

The GOM file describes the geometry of the problem, the material data sets, initial and bound-
 10 Anura3D MPM Software, Tutorial Manual

ary conditions, loading conditions, excavation phases, contact properties, number of material
points, and computational mesh. When a model is created, GiD writes all information into the
GOM file.

Definition of calculation data: CPS file

The CPS file describes the calculation data such as the computation method, calculation time
step data, gravity data, load multipliers, quasi-static convergence, damping, strain smoothing,
output data, etc. Unlike the GOM file, a CPS file is required for each calculations phase. GiD
is used to define the initial CPS file, whilst the subsequent CPS files are generated at the end
of each calculation phase.

Additionally, Anura3D utilizes the UMAT format for the use of constitutive models, which are
interfaced as dynamic link libraries (DLL files).

2.1.2 Performing calculation

Anura3D is a stand-alone programme which can be executed from the Windows command line
or by running the calculate.bat file in the project folder projectname.A3D. The process to
compile the code is explained in Section 2.2.

2.1.3 Visualisation of results

Anura3D creates results by writing several output files (Figure 2.1). These files have to be
treated differently depending on the file type.

VTK files
Anura3D stores most of the output information in a set of files with VTK extension. The
ParaView post-processing software is recommended to visualise the results stored in those
output files (the installation instructions of GiD are given in Section 2.4). There are four differ-
ent types of VTK files depending on the type of data stored in them, and are as follows.

 projectname_MeshData_SSSTTTTTT.VTK
 projectname_MPScalar_SSSTTTTTT.VTK
 projectname_MPVector_SSSTTTTTT.VTK
 projectname_MPTensor_SSSTTTTTT.VTK

where projectname is the user-defined name of the project and SSS and TTTTTT are the
automatically assigned calculation step and time step numbers, respectively. The variables of
the VTK files are listed in 2.2.

The mesh data, such as the mesh location and active elements, is stored in MeshData. The
material point data is stored in:

 MPScalar: collects all scalar quantities such as material point number, pore water pres-
sure, mean and deviatoric stress, etc.
 MPVector: collects all vector quantities such as velocity, displacement, etc. The compo-
nents of the vector are
(X, Y, Z)
in global coordinate system. For 2D analysis the third component (Z) is zero.
 MPTensor: collects tensorial quantities such as stress and strain. The tensor has 9 com-
 Getting started with Anura3D 11

Figure 2.2: Scalar, vector and tensor components in the VTK files.

ponents, that ParaView enumerate from 0 to 8 starting from the top left corner of the
matrix, as indicated in Figure 2.3.

Figure 2.3: Components of the stress tensor in 2D and 3D in Paraview.

Other output files

Any text editor or spreadsheet software can be used to visualise the other output files such as
the files *.PAR and *.ENG). The PAR file stores data from a given material point, which has to
be specified in the CPS file, $$OUTPUT_MATERIAL_POINTS. The ENG files gives the values
of kinetic energy, internal work of the system and time step information. Chapter 3.5 explains
how to create and read text output files.

2.2 Compiling Anura3D

Before performing any simulation with Anura3D , it is required to compile the code and create
an executable file.

2.2.1 Prerequisites
Anura3D is written in Fortran language and requires a text editor and a compiler to visualize
the code and create the executable. The current version (Anura3D 2021- Centro) is supported
only on Windows operating systems and requires Visual Studio (VS) and a Fortran Compiler,
12 Anura3D MPM Software, Tutorial Manual

distributed in the oneAPI package. Since VS is a dependency for the oneAPI software, not all
combinations of VS and oneAPI are compatible. Check the compatibility requirements using
this link

The VS Community version 2017 is recommended because it is freely distributed. Similarly,

the oneAPI release is suggested. Intel offers academic licenses, provided an active .edu
email address. Visit the sites shown bellow to download VS Community 2017 and the oneAPI
(base and high performance computing toolkit) release.
https://visualstudio.microsoft.com/vs/older-downloads/

https://software.intel.com/content/www/us/en/develop/tools/oneapi/base-toolkit/download.html

https://software.intel.com/content/www/us/en/develop/tools/oneapi/hpc-toolkit/download.htmll

The following steps are recommended for the successful installation of VS and oneAPI.

(1) Check that the minimum hardware requirements for VS and oneAPI are fulfilled.
(2) Download and install VS first.
(3) When installing VS version 2017, the user is prompt to select custom workloads. Select
"Desktop development with C++" as shown in Figure 2.4.

Figure 2.4: Visual Studio installer- Workload tab.

(4) For different versions of VS the corresponding C++ components must be installed. Consult
this site’s information to get help.
(5) Continue with the installation process following the instructions provided in the VS installer.
(6) Download and execute the installation file for the oneAPI (base and high performance
computing toolkit). Check that oneAPI is compatible with the previously installed VS ver-
sion.
(7) Depending on the oneAPI version, the installation manager will indicate if VS was installed
successfully. If that is not the case, instructions are provided by the oneAPI installation
manager.
(8) In case VS was installed successfully, proceed to install oneAPI following the instructions
on the screen.
(9) Once the installation is completed, open a new project in VS as shown in Figure 2.5.
 Getting started with Anura3D 13

Figure 2.5: Visual Studio 2017: Creating a new project.

(10) Select Console application under the Intel(R) Visual Fortran drop-down list as it is shown
in figure 2.6. If you can see the options displayed in Figure 2.6, the installation of VS and
oneAPI is successful, and they are integrated correctly.

Figure 2.6: If Visual Studio 2017 and Intel Parallel Studio XE 2019 are integrated correctly
this option should be available.

2.2.2 Compiling Anura3D

Once the installation of VS and oneAPI is completed, the Anura3D code can be compiled.
The following steps show how to build the code and its included constitutive models.
14 Anura3D MPM Software, Tutorial Manual

(1) Navigate the code folder to the ".../Anura3D/VS" folder.

(2) Find and double click on the DynamicMPM.sln file.
(3) VS should initialize and show the screen observed in Figure 2.7.

Figure 2.7: Anura3D code in Visual Basic 2017. To compile the code click on the Build
menu.

(4) Click on the Build menu (Figure 2.7).

(5) Click on Build Solution (Figure 2.8). This will compile the Anura3D executable together
with the consitutive models (DLL files).

Figure 2.8: The code will be compiled after clicking on Build Solution.

(6) If the compilation is completed successfully, the executable is stored in the ".../Anura3D/VS/External"
folder.
(7) The constitutive models’ DLL files can be found in the ".../Anura3D/VS/External/SoilModels"
folder.
(8) For troubleshooting look at the error messages shown in the Error List or the Output win-
dow as it is shown in Figure 2.9 and direct your questions to the forum at www.Anura3D.com
specifying your VS and oneAPI versions with the error message displayed a the Error List
 Getting started with Anura3D 15

or Output window.

Figure 2.9: Error List window in Visual Studio Community 2017.

2.3 Installation of GiD (pre-processor)

GiD is a licensed software with free one-month license for first-time user, and can be renewed
for free up to three times. The installation process is as follows.

2.3.1 Installation instructions

(1) Download the installation files (i.e. v14.0.1) at
http://www.gidhome.com/download/official-versions/win64

(2) Check the version number and operating system, and click on the "Download" button as
shown in Figure 2.10.

Figure 2.10: Download GiD v14.0.1 installation files.

(3) Start the installation and follow the on-screen instructions.

(4) Obtain the one-month free license at:
http://www.gidhome.com/purchase/passwords
 16 Anura3D MPM Software, Tutorial Manual

(5) Select the version number, license type, and time period as shown in Figure 2.11.

Figure 2.11: Obtain one-month free password for GiD.

(6) Follow the instructions on the website and provide the required information. A one-month
free password will directly be provided (at the bottom of the website).
(7) Enter the password in the "Enter password window" in GiD as shown in Figure 2.12.

Figure 2.12: Enter password in GiD.

Anura3D 2021problemtype is meant to be used with GiD v14.0.1. GiD community and Anura3D
community do not support the use of different versions.

2.3.2 The Anura3D 2021problemtype

The Anura3D 2021"problemtype" folder is needed to use the Anura3D Software features in the
GID pre-processor (more in section 2.1). The folder is partially pre-assembled and distributed
with the Anura3D code. The "problemtype" folder must have the structure shown in Figure
2.13 to be completely functional, which include the executable and other dependencies.

To complete the assembling of the file and ensure its functionality proceed with the following
steps:

(1) Copy the executable file from ".../Anura3D/VS/External/" to "...Anura3D_2021.gid/exec/".

(2) Copy the DLL files in "...Anura3D_2021.gid/DLL/".
(3) Finally, copy the Anura3D 2021"problemtype" into the GiD installation directory as shown
in Figure 2.14.
Getting started with Anura3D 17

Figure 2.13: "Pproblemtype" folder structure. The green files represent the path where
the Anura3D_2021.exe and the constitutive models *.DLL files must be
pasted.

Figure 2.14: Copy Anura3D 2021problemtype into GiD installation directory.

 18 Anura3D MPM Software, Tutorial Manual

2.4 Installation of ParaView (post-processor)

ParaView is an open-source software under a permissive BSD license and is, thus, free to
use with Anura3D. The original ParaView software will be used without any modifications of
its source code. The following steps have to be performed to install ParaView.

(1) Download the installation files of the latest supported ParaView version (i.e. v5.0.1) at:
http://www.paraview.org/download

(2) Select the version number, download type and operating system, and click on the <Down-
load> button as shown in Figure 2.15.

Figure 2.15: Download ParaView v5.0.1 installation files.

(3) Start the installation executable and follow the on-screen installation instructions.

After installation ParaView is ready for use to post-process Anura3D calculation results.

Important note for the first time use of ParaView

If you use ParaView for the first time after installation, the following changes are recommended
to secure an improved visualisation of the results.

(1) In the ParaView main menu, choose <Edit> <Settings...> as indicated in Figure 2.16 and
the "Settings" dialogue box will open.

Figure 2.16: Change settings in ParaView.

(2) Select the tab "Color Palette" as indicated in Figure 2.17

Getting started with Anura3D 19

(3) Click on <Select palette to load...> drop down menu and select the option <Print Back-
ground> as shown in Figure 2.17.
(4) The colours should be updated. Click on <OK> to save the changes.

Figure 2.17: Change of "Color Palette" in ParaView.

(5) Choose <View> from the menu and select the options of the drop down menu as indicated
in Figure 2.18.

Figure 2.18: Select "View" options in ParaView.

This is a one-time action and the choices will be stored as default for any further use of
ParaView.
20 Anura3D MPM Software, Tutorial Manual
 3 One-dimensional consolidation (oedometric compression test)
Authors: Alba Yerro; Alexander Rohe; Alexander Chmelnizkij; James Fern; Francesca Cec-
cato; John MurphGiDy; Grace Roberts

The aim of this tutorial is to simulate a one-dimensional (1D) consolidation problem, also
known as an oedometric compression test, using the two-phase single-point MPM formulation
in Anura3D. This means that a single set of material points is generated and are representative
for both the solid and liquid phases of the continuum. More information on this modeling
approach is available in Chapter 2 of Fern et al. [1]. In Anura3D , the continuum can be
represented by a two-dimensional (2D) or a three-dimensional (3D) discretisation. Both cases
are explained in this chapter.

The following steps are required for the simulation of a 1D compression and consolidation test
(oedometer problem).

 Create the geometry in 2D (or 3D);

 Choose the material model and definition of the material properties;
 Definition of loading and boundary conditions in 2D and 3D;
 Generation of the mesh in 2D (or 3D);
 Execution of calculation;
 Output of results.

Several variations of the problem are proposed in Section 3.6 in order to investigate the effects
of local damping for the dynamic explicit formulation. This is done by changing the local
damping coefficient. In addition, it is suggested to decrease the external load in order to
perform a simulation with small deformations for comparison with analytical results. Finally,
the analysis of a wave propagation problem in a Newtonian liquid column is proposed.

3.1 Problem definition in 2D and 3D

A saturated soil column of 1m height is loaded with a vertical load of q = 400 kPa, which will
be suddenly applied on the upper boundary and maintained throughout the calculation. The
geometry of the problem in 2D and 3D is shown in Figure 3.1 and the dimensions are given
in Table 3.1. The bottom boundary will be defined as impervious and, therefore, the drainage
length is H = 1 m. Gravity is neglected. The bottom boundary is fixed and the soil column can
only deform in the vertical direction. Note that an empty space (T) is included at the top of the
column to allow for vertical movement of the material (points) at the top of the column.

The material is considered elastic and the model parameters are given in Table 3.2. Note that
the bulk modulus of the liquid is considered 100-times smaller than the physical one in order
to decrease the computational time as a larger critical time step size is obtained. This does
not have a significant influence on the results but provides a computationally faster simulation.
The intrinsic permeability of κ = 1.0214· 10–9 m2 is equivalent to a Darcy permeability of k =
0.01 m/s.

Table 3.1: Dimensions of the oedometer problem in 2D and 3D.

Dimension Height H [m] Width W [m] Depth D [m] Empty space T [m]
2D 1.0 0.1 – 0.1
3D 1.0 0.1 0.1 0.1
 22 Anura3D MPM Software, Tutorial Manual

(a) (b)

Figure 3.1: Problem definition for the oedometer simulation including empty space (T) to
allow for large deformation: (a) 2D case and (b) 3D case.

Table 3.2: Material properties of the oedometer problem.

Parameter Symbol Unit Value

Material type: saturated soil – fully coupled
Initial porosity n0 – 0.4
Density solid ρs kg/m3 2650
Density liquid ρl kg/m3 1000
Intrinsic permeability κ m2 1.0214 · 10–9
Bulk modulus liquid Kl kPa 2.15 · 104
Dynamic viscosity liquid µd kPa/ s 1.002 · 10–6
Material model solid: linear elasticity
Effective Poisson ratio ν0 –– 0.3
Effective Young’s modulus E 0 kPa 1000

3.2 Creating input data in GiD

Anura3D requires two input files to start a calculation – the so-called GOM and CPS files (see
Section 2.1). The GOM file incldues the geometry, material properties, boundary conditions,
loading conditions, and mesh properties. The CPS file defines the calculation options. Both
files can be created using GiD (see Section 2.3 for software installation instructions), which is
described in Sections 3.2.1 to 3.2.8.

The <Anura3D> menu is available in GiD and it is recommended to follow each item top down
(see Figure 3.2). The <Anura3D> menu appears after selecting the Anura3D problemtype as
explained in the following Section 3.2.1. Note that all menu items can be selected also using
the shortcuts <Ctrl>+<Shift>+<A>...<Z>.
 One-dimensional consolidation (oedometric compression test) 23

Figure 3.2: GiD workflow for Anura3D calculation.

3.2.1 Starting pre-processor and selecting problem type

The GOM file that contains information about the geometry, material properties, boundary
conditions, loading conditions, and mesh properties is created using the GiD pre-processor.
The following steps have to be followed.

(1) Start the GiD programme (version 14.0) by clicking on the Windows desktop icon (Fig-
ure 3.3).

Figure 3.3: Starting the GiD pre-processor.

(2) Choose the Anura3D problemtype:

Select <Data> <Problem type> from the menu.
Choose <Anura3D 2021 > in the list of problemtypes as shown in Figure 3.4.
24 Anura3D MPM Software, Tutorial Manual

Figure 3.4: Choosing the "Anura3D 2021 " problemtype in GiD.

(3) The disclaimer for using the Anura3D software appears as shown in Figure 3.5 and has to
be accepted to be able to continue.

Figure 3.5: Disclaimer for using the Anura3D software.

(4) Save the project. Click on icon <Save GiD project> in the sidebar OR select <File> <Save
as...> from the menu as shown in Figure 3.6 OR press <CTRL>+<S>.

(a) (b)

Figure 3.6: Saving the project in GiD: (a) sidebar button or (b) drop-down menu.

(5) Save the project in the desired directory on the hard disk with an appropriate name (e.g.
 One-dimensional consolidation (oedometric compression test) 25

"oedometer") as shown in Figure 3.7. Make sure that the projectname does not contain
any spaces.

Figure 3.7: Save project files in GiD for the oedometer problem.

3.2.2 Defining geometry in 2D and 3D

The geometry consists of points, lines, surfaces, and in 3D also volumes. The approach is
(1) to define lines between points, and then (2) to define surfaces from them. For the 3D
case, volumes will be created from the surfaces. The geometry of the problem is shown in
Figure 3.1 with dimensions as given in Table 3.1.

The 2D geometry will be created in the x-y-plane with z-coordinate equal to zero. In that case
entering the z-coordinate is not required. GiD automatically assumes the z-coordinate equal
to zero.

Creating lines (for 2D and 3D case)

The lines are created in the following way.

(1) Click on icon <Create Line> in the sidebar OR choose <Geometry> <Create> <Straight
Line> from the menu as shown in Figure 3.8.

(a) (b)

Figure 3.8: Creating lines in GiD: (a) sidebar button or (b) drop-down menu.

(2) In the command line, enter the coordinates of the first point. Note that there must be a
space between numbers.

 2D case: 0 0, as shown in Figure 3.9(a) and confirm by pressing <ENTER>.

The x- and y-coordinates are provided. For the 2D case, entering the z-coordinate is
not required as GiD automatically assumes it equal to zero.
 3D case: 0 0 0, as shown in Figure 3.9(b) and confirm by pressing <ENTER>.
The x-, y-, z-coordinates are provided.
26 Anura3D MPM Software, Tutorial Manual

(a) (b)

Figure 3.9: Entering coordinates at command line in GiD: (a) 2D case and (b) 3D case.

(3) Enter coordinates of the remaining points of the lower rectangle.

 2D case: Second point: 0.1 0 <ENTER>

2D case: Third point: 0.1 1 <ENTER>
2D case: Fourth point: 0 1 <ENTER>
Enter coordinates of the last point: 0 0 <ENTER>, to close the rectangle by connecting
the line with the starting point.
 3D case: Second point: 0.1 0 0 <ENTER>
2D case: Third point: 0.1 1 0 <ENTER>
2D case: Fourth point: 0 1 0 <ENTER>
Enter coordinates of the last point: 0 0 0 <ENTER>, to close the rectangle by connect-
ing the line with the starting point.

(4) A dialogue box appears asking if the lines have to be joined. Confirm by clicking on <Join>
as shown in Figure 3.10.

Figure 3.10: Joining points in GiD.

(5) Press <ESC> once to disconnect the cursor from the last point.
(6) Enter coordinates of the upper rectangle. In the dialogue box, always choose <Join> to
connect to the existing geometry.

 2D case: First point: 0.1 1 <ENTER>

2D case: Second point: 0.1 1.1 <ENTER>
2D case: Third point: 0 1.1 <ENTER>
2D case: Fourth point: 0 1 <ENTER>

 3D case: First point: 0.1 1 0 <ENTER>

3D case: Second point: 0.1 1.1 0 <ENTER>
3D case: Third point: 0 1.1 0 <ENTER>
3D case: Fourth point: 0 1 0 <ENTER>

(7) Press <ESC> twice to quit the line creating process.

One-dimensional consolidation (oedometric compression test) 27

To resize the view of the geometry, click on the icon <Zoom frame> in the sidebar OR choose
<View> <Zoom> <Frame> from the menu as shown in Figure 3.11.

(a) (b)

Figure 3.11: Resizing view in GiD: (a) sidebar button or (b) drop-down menu.

The geometry of the oedometer problem after creating lines should look like as shown in
Figure 3.12.

Figure 3.12: Geometry of the oedeometer problem after creating lines (2D and 3D case).

Creating surfaces (for 2D and 3D case)

The surfaces are created in the following way.

(1) Click on the icon <Create NURBS Surface> in the sidebar OR choose <Geometry> <Cre-
ate> <NURBS surface> <By contour> from the menu as shown in Figure 3.13.
28 Anura3D MPM Software, Tutorial Manual

(a) (b)

Figure 3.13: Creating surfaces in GiD: (a) sidebar button or (b) drop-down menu.

(2) Select the four boundary lines of the upper rectangle by clicking with the cursor on each
line. After selection each line should turn red as shown in Figure 3.14a.
(3) Press <ESC> once to leave the selection of lines. The created surface appears in the
upper rectangle as shown in Figure 3.14b.

(a) (b)

Figure 3.14: Example of (a) selected lines and (b) created surface.

(4) Repeat the previous two steps for the lower rectangle.
(5) Press <ESC> twice to quit the surface creating process.

The geometry of the oedometer problem after creating surfaces should look like as shown
in Figure 3.15. For the 2D case, one can continue to define the material properties in Sec-
tion 3.2.3. For the 3D case, volumes have to be created as described below.
One-dimensional consolidation (oedometric compression test) 29

Figure 3.15: Geometry of the oedeometer problem after creating surfaces (2D and 3D
case).

Creating volumes (only for 3D case, for the 2D case continue with Section 3.2.3)
Once the surfaces are created, the column volume can easily be created by extruding the
surface in z-direction. The following steps should be taken in order to extrude the surface
entities to volumes.

(1) Choose <Utilities> <Copy...> from the menu as shown in Figure 3.16.

Figure 3.16: Open dialogue box to copy entities in GiD.

(2) In the "Copy" dialogue box make the following selections:

 Select "Entities type" as "Surfaces".

 Set "Transformation" to "Translation".
 Enter the extrusion vector. In this case the second point is (0.0, 0.0, 0.1).
 Select "Do extrude" as "Volumes".
 Keep the other options as selected by default.

The dialogue box should look like shown in Figure 3.17.

30 Anura3D MPM Software, Tutorial Manual

Figure 3.17: Open dialogue box to copy entities in GiD.

(3) Click on "Select" in order to select the surfaces that should be extruded.
(4) Select the surface of the upper rectangle by clicking with the cursor on the surface. After
selection the surface should turn red as shown in Figure 3.18.

Figure 3.18: Illustration of selected surface (upper surface) for creating volume entities.

(5) Select the surface of the lower rectangle by clicking with the cursor on the surface. The
surface should turn red once selected.
(6) Press <ESC> once to leave the selection of surface.
(7) Back in the "Copy" dialogue box click on <Cancel> to quit the volume creating process.

To rotate the view of the geometry, click on the icon <Rotate trackball> in the sidebar OR
choose <View> <Rotate> <Trackball> from the menu as shown in Figure 3.19. It is also
possible to press <shift> + right button on mouse (keep both pressed down) and move the
mouse to navigate around.
One-dimensional consolidation (oedometric compression test) 31

(a) (b)

Figure 3.19: Rotating view in GiD: (a) sidebar button or (b) drop-down menu.

The geometry of the oedometer problem for the 3D case after creating volumes should look
like shown in Figure 3.20.

Figure 3.20: Geometry of the oedometer problem after creating volumes (3D case).
 32 Anura3D MPM Software, Tutorial Manual

3.2.3 Defining material properties in 2D and 3D

In this example, the oedometric compression of a saturated soil column will be analysed. The
soil is represented by a two-phase material with fully coupled behaviour. The soil constitutive
behaviour is linear elastic and the material parameters are given in Table 3.2. The following
steps have to be taken in order to define the material parameters.

(1) Choose <Anura3D> <Materials> from the menu as shown in Figure 3.21 OR press
<Ctrl>+<Shift>+<A>.

Figure 3.21: Open dialogue box to define material properties in GiD.

(2) The "Materials" dialogue box appears. Click on the icon <New material> as shown in
Figure 3.22(a) and enter an appropriate name for the material as shown in Figure 3.22(b).
Confirm by clicking on the <OK> button.

a) b)

Figure 3.22: Defining new material in GiD.

(3) Enter the values for the material parameters as given in Table 3.2 and shown in Fig-
ure 3.23.

 Select "Material type" as "saturated material – fully coupled" from the drop down menu.
 Set "initial porosity" to "0.4".
 Set "density solid" to "2650".
 Set "density liquid" to "1000".
 Set "intrinsic permeability liquid" to "1.0214e-9".
 Set "bulk modulus liquid" to "2.15e4".
 Set "dynamic viscosity liquid" to "1.002e-6".
 Keep "K0-value" as "0.0". Note that this value is not used for the current example.
 Select "material model solid" as "Linear Elasticity" from the drop down menu.
One-dimensional consolidation (oedometric compression test) 33

 The "material model DLL" is automatically set to ’A3DLinearElasticity.dll’.

 Set "effective Poisson ratio" to "0.3".
 Set "effective Young’s modulus" to "1000".

Figure 3.23: Defining material properties for oedometer problem in GiD.

(4) Click on the icon <Update changes> (next to the material name, Figure 3.23) to save the
material properties.
(5) Assign material properties to the geometry by clicking on the <Assign> button.

 2D case: Select <Surfaces> (Figure 3.24a) to select the surface to which the material
should be assigned to.
 3D case: Select <Volumes> (Figure 3.24b) to select the volume to which the material
should be assigned to.

a) b)

Figure 3.24: Assign material properties to: a) sufaces for 2D case; b) volumes for 3D
case.

(6) Select the lower geometrical entity (surface in 2D, volume in 3D). Selected geomtrical
 34 Anura3D MPM Software, Tutorial Manual

entities appear highlighted in red.

(7) Press <ESC> or click on <Finish> to leave the selection of geometrical entities.
(8) Check if the material is assigned correctly. In the "Materials" dialogue box, click on <Draw>
and select <All Materials> as shown in Figure 3.25.

Figure 3.25: Checking assigned materials in GiD.

(9) The assigned materials of the oedometer problem should look like as shown in Fig-
ure 3.26.

a) b)

Figure 3.26: Checking assigned materials for oedometer problem. a) 2D case; b) 3D

case.

(10) Click on <Finish> and <Close> to quit the assigning materials process.

3.2.4 Specifying material points in 2D and 3D

The material points will be distributed throughout the domain that is filled with material by
assigning the initial number of material points per element. The following steps have to be
taken to specify the material point distribution.
One-dimensional consolidation (oedometric compression test) 35

(1) Choose <Anura3D> <Material Point Specification> from the menu as shown in Figure 3.27
OR press <Ctrl>+<Shift>+<B>.

Figure 3.27: Open dialogue box to specify the material point distribution in GiD.

(2) The "Material Point Specification" dialogue box appears. The material points have to be
assigned to the geometrical entities that are filled with material.

 For the 2D case, select the surface icon at the top of the window as shown in Fig-
ure 3.28(a). Three material points will be assigned to the lower surface entity. There-
fore, enter "3" in the "Material points per element" field. Note that for triangular ele-
ments 1 or 3 material points can be placed initially in an element. Click on the <Assign>
button in order to select the surfaces to which the material points should be assigned
to.
 For the 3D case, select the volume icon at the top of the window as shown in Fig-
ure 3.28(b). Four material points will be assigned to the lower volume entity. Therefore,
enter "4" in the "Material points per element" field. Note that for tetrahedral elements
1, 4, 7, 8, 10, 13 or 20 material points can be placed initially in an element. Click on
the <Assign> button in order to select the volumes to which the material points should
be assigned to.

(a) (b)

Figure 3.28: Assigning material points to geometrical entities in GiD: (a) surfaces for 2D
case and (b) volumes for 3D case.

(3) Select the lower geometrical entity (surface in 2D, volume in 3D). Selected geometrical
entities appear highlighted in red.
(4) Press <ESC> OR click on <Finish> to leave the selection of geometry entities.
(5) Check if the material points are assigned correctly. In the "Material Point Specification"
dialogue box click on <Draw> and select <Colors> as shown in Figure 3.29.
36 Anura3D MPM Software, Tutorial Manual

Figure 3.29: Checking assigned material points in GiD.

(6) The material point specification of the oedometer problem should look like as shown in
Figure 3.30.

(a) (b)

Figure 3.30: Checking assigned material points per element for oedometer problem: (a)
2D case and (b) 3D case.

(7) Click on <Finish> and <Close> to quit the specifying material points process.
 One-dimensional consolidation (oedometric compression test) 37

3.2.5 Defining boundary conditions in 2D and 3D

Applying fixities in 2D and 3D
The displacement at the boundaries will be fixed in normal direction and free in the tangential
directions for both the solid phase and the liquid phase. Note that by defining fixities for the
liquid phase at the bottom boundary, this boundary will be impervious and the drainage length
will hence be 1m.

(1) Choose <Anura3D> <Fixities> from the menu as shown in Figure 3.31 OR press
<Ctrl>+<Shift>+<C>.

Figure 3.31: Open dialogue box to define fixities in GiD.

(2) The "Fixities" dialogue box appears.

 For the 2D case, fixities have to be applied on lines. Therefore, select the line icon
at the top of the window as shown in Figure 3.32(a). A two-phase problem will be
considered in this example. The conditions for the solid and water phase are the
same. Therefore, select the "Solid and Liquid Fixity (line)" option from the drop down
menu as shown in Figure 3.32(a).
 For the 3D case, fixities have to be applied on surfaces. Therefore, select the surface
icon at the top of the window as shown in Figure 3.32(b). A two-phase problem will
be considered in this example. The conditions for the solid and water phase are the
same. Therefore, select the "Solid and Liquid Fixity (surface)" option from the drop
down menu as shown in Figure 3.32(b).

(a) (b)

Figure 3.32: Selecting fixities and choosing solid and liquid fixities: (a) On lines for 2D
case and (b) On surfaces for 3D case.

(3) Tick the checkbox "x-direction" as shown in Figure 3.33(a), and click on the <Assign>
 38 Anura3D MPM Software, Tutorial Manual

button in to select the geometrical entities that should be fixed in x-direction.

 2D case: Select the two lines on the left side and the two lines on the right side by
clicking on them. The selected lines should be highlighted in red.
 3D case: Select the two surfaces on the left side and the two surfaces on the right side
by clicking on them. The selected surfaces should be highlighted in red.

(4) Press <ESC> OR click on <Finish> in the "Fixities" dialogue box to leave the selection of
geometrical entities.
(5) Untick the checkbox "x-direction".
(6) Tick the checkbox "y-direction" as shown in Figure 3.33(b), and click on the <Assign>
button in order to select the geometrical entities that should be fixed in y-direction.

 2D case: Select the line at the very top of the geometry and the line at the very bottom
of the geometry by clicking with the cursor on them. The selected lines should be
highlighted in red.
 3D case: Select the surface at the very top of the geometry and the surface at the very
bottom of the geometry by clicking with the cursor on them. The selected surfaces
should be highlighted in red.

(7) Press <ESC> OR click on <Finish> in the "Fixities" dialogue box to leave the selection of
geometrical entities.
(8) Untick the checkbox "y-direction".

(a) (b) (c)

Figure 3.33: Assigning surface fixities in GiD in (a) x-direction (2D and 3D), (b) y-direction
(2D and 3D) and (c) z-direction (3D only).

(9) For the 3D case only:

 Tick the checkbox "z-direction" as shown in Figure 3.33(c).

 Click on the <Assign> button in order to select the surfaces that should be fixed in
z-direction.
 Select the two surfaces on the front side and the two surfaces on the back side by
clicking with the cursor on them. After selection the surfaces should turn red.
 Press <ESC> OR click on <Finish> in the "Fixities" dialogue box to leave the selection
of surfaces.

(10) Check if the fixities are assigned correctly. In the "Fixities" dialogue box click on <Draw>
and select <Colors> as shown in Figure 3.34.
 One-dimensional consolidation (oedometric compression test) 39

Figure 3.34: Checking assigned fixities in GiD.

(11) The assigned fixities of the oedometer problem should look like Figure 3.35.

(a) (b)

Figure 3.35: Checking assigned fixities for oedometer problem: (a) 2D case and (b) 3D
case.

(12) Click on <Finish> and <Close> to quit the assigning fixities process.

Applying loading conditions in 2D and 3D

A vertical load of q = 400 kPa will be applied at the top of the soil column.

(1) Choose <Anura3D> <Loading Conditions> from the menu as shown in Figure 3.36 OR
press <Ctrl>+<Shift>+<E>.
40 Anura3D MPM Software, Tutorial Manual

Figure 3.36: Open dialogue box to define loading conditions in GiD.

(2) The "Loading Conditions" dialogue box appears.

 2D case: The load has to be applied on a line. Therefore, select the line icon at the
top of the window as shown in Figure 3.37(a). The load will be applied on the soil.
Therefore, select the "Solid Traction" option from the drop down menu as shown in
Figure 3.37(a).
 3D case: The load has to be applied on a surface. Therefore, select the surface icon
at the top of the window as shown in Figure 3.37(b). The load will be applied on the
soil. Therefore, select the "Solid Traction" option from the drop down menu as shown
in Figure 3.37(b).

(a) (b)

Figure 3.37: Loading conditions dialogue box in GiD: (a) Selecting line solid traction for
2D case and (b) selecting surface solid traction for 3D case.

(3) Enter the value of the load. A downward vertical load of 400 kPa will be applied. Therefore,
enter "-400.0" in the field "y-direction [kPa]" as shown in Figure 3.38.
(4) As a large deformation problem is considered, the load has to move together with the
material. Therefore, select "material points" from the drop down menu "apply traction on"
as shown in Figure 3.38.
(5) Click on the <Assign> button in order to select the geometrical entities that the load should
be assigned to as shown in Figure 3.38. In 2D only, lines can be selected. In 3D only,
surfaces can be selected. Selected entities appear highlighted in red.

 2D case: Select the horizontal line between the two surface.

 3D case: Select the horizontal surface between the two volumes.
One-dimensional consolidation (oedometric compression test) 41

(a) (b)

Figure 3.38: Loading conditions dialogue box in GiD. Enter value of vertical downward
load and apply traction on material points.

(6) Press <ESC> OR click on <Finish> in the "Loading Conditions" dialogue box to leave the
selection of geometrical entities.
(7) Check if the load is assigned correctly. In the "Loading Conditions" dialogue box click on
<Draw> and select <Colors> as shown in Figure 3.39.

Figure 3.39: Checking assigned loads in GiD.

(8) The assigned load of the oedometer problem should look like as shown in Figure 3.40.

(a) (b)

Figure 3.40: Checking assigned loads for oedometer problem. a) 2D case; b) 3D case.
 42 Anura3D MPM Software, Tutorial Manual

(9) Click on <Finish> and <Close> to quit the assigning fixities process.

3.2.6 Creating mesh in 2D and 3D

In Anura3D two element types are available as follows.

 Triangular elements for 2D calculations

 Tetrahedral elements for 3D calculations

Due to the implementation in the Anura3D programme kernel, 2D triangular elements have
to be defined as linear type elements, and 3D tetrahedral elements have to be defined as
quadratic type elements in GiD. It is important to ensure that the correct element type is
chosen which is described in the following for both the 2D and 3D case.

It is possible to generate meshes in GiD in a very flexible way. If necessary, the mesh can be
refined assigning a proper size by selecting <Mesh> <Unstructured> <Assign sizes...>, or a
structured/semi-structured mesh can be generated. In this example, a semi-structured mesh
is used.

(1) First the element type has to be set.

 2D case: In the GiD main menu <Mesh>, choose the option <Quadratic type> and se-
lect the option "Normal" as shown in Figure 3.41(a). Then in the main menu <Mesh>,
choose the option <Element type> <Triangle> (Fig. 3.42a) and select all surfaces.
 3D case: In the GiD main menu <Mesh>, choose the option <Quadratic type> and
select the option "Quadratic" as shown in Figure 3.41(b). Then in the main menu
<Mesh>, choose the option <Element type> <Tetrahedra> (Fig. 3.42b) and select all
volumes.

(a) (b)

Figure 3.41: Select element type in GiD: (a) For 2D case as "Normal" and (b) For 3D case
as "Quadratic".
One-dimensional consolidation (oedometric compression test) 43

(a) (b)

Figure 3.42: Select element type in GiD: (a) For 2D case use triangles and (b) For 3D
case use tetrahedra.

(2) In order to generate a structured mesh:

 2D case: In the GiD main menu <Mesh>, choose the option <Structured> <Surfaces>
<Assign size>. Then select all the surfaces and press esc. GiD will ask the mesh size
to assign to lines; enter 0.1. Click <Assign> and select all the lines (Fig. 3.43a).
 3D case: In the GiD main menu <Mesh>, choose the option <Semi-Structured> <Vol-
umes>. GiD will ask the number of divisions, enter 10, click <Assign>, select the
bottom volume and press Esc. Again GiD will ask the number of divisions, enter 1,
click <Assign>, select the top volume and press Esc. Now go in the GiD main menu
<Mesh>, choose the option <Semi-Structured> <Set> <Structured direction> and se-
lect all vertical lines (Fig. 3.43b).
44 Anura3D MPM Software, Tutorial Manual

(a)

(b)

Figure 3.43: Create structured mesh in GiD: (a) For 2D case and (b) For 3D case.

(3) Click on the icon <Toggle geometry-mesh view> in the sidebar OR choose <Mesh> <Gen-
erate Mesh...> from the menu as shown in Figure 3.44 OR press <CTRL>+<G>.
One-dimensional consolidation (oedometric compression test) 45

(a) (b)

Figure 3.44: Generating mesh in GiD: (a) sidebar button and (b) drop-down menu.

(4) The "Mesh generation" dialogue box appears.

Set the element size to "0.1" as shown in Figure 3.45. This corresponds to the minimum
side length of the soil column and therefore ensures an optimum mesh size.

Figure 3.45: Defining generic element size for meshing in GiD.

(5) Click the <OK> button. The mesh will be generated and the progress is shown in the
"Progress in meshing" dialogue box as shown in Figure 3.46. Note that depending on the
meshing preferences the number of generated nodes and elements can change.

 2D case: The number of generated linear triangular elements (e.g., 22) can be seen
as well as the number of generated nodes (24).
 3D case: The number of generated quadratic tetrahedal elements (e.g., 66) can be
seen as well as the number of generated nodes (207).
46 Anura3D MPM Software, Tutorial Manual

(a) (b)

Figure 3.46: Information on meshing progress in GiD: (a) 2D case and (b) 3D case.

(6) Click on the <View mesh> button to quit the meshing process and see the generated
mesh.

The mesh with element size of 0.1 for the oedometer problem should look like as shown in
Figure 3.47.

(a) (b)

Figure 3.47: Mesh of the oedometer problem: (a) 22 triangular elements for 2D case and
(b) 66 tetrahedral elements for 3D case.

The quality of the generated mesh can easily be assessed. Choose <Mesh> <Mesh quality...>
in the menu. The "Mesh quality" dialogue box appears and mesh properties can be assessed
as shown in Figure 3.48. Several quality criteria can be selected.
 One-dimensional consolidation (oedometric compression test) 47

(a) (b)

Figure 3.48: Assessing mesh quality in GiD: (a) 2D case and (b) 3D case.

3.2.7 Initialisation of calculation data

To perform a calculation with Anura3D , several calculation parameters need to be defined.
These parameters control the calculation process and features that can be enabled or dis-
abled as e.g. contact algorithm, damping, smoothing, etc. The calculation parameters can be
defined as described below.

Dimension
For the 2D case, the option "2D – plane strain" should be selected. For the 3D case the option
"3D – Cartesian" should be selected.

Computation method
The computation method used in this example is the Gauss point integration for fully filled
elements and material point integration for partially filled elements. Therefore, the option
"MPM – mixed integration" should be selected.

Calculation step data

The compression of the soil column will be analysed for a total time of t = 2.5 s. To create
intermediate results, the total time is divided into 50 calculation steps of ∆t = 0.05 s each. A
Courant number of 0.98 is advised to ensure the stability of the solution.

Gravity load
By default, initial stresses are zero. In this example, gravity is neglected. Therefore, select to
not apply a gravity load. The values for gravity data can be kept at their default values, but are
not used in the calculation anyway.

External load (solid traction)

The external load is applied suddenly, i.e. in the very first time step, on top of the soil column
and is maintained constant throughout the calculation. Therefore, set the solid traction loading
type as "apply solid traction – stepwise" and set the solid traction multipliers as 1.0 (initial and
final value).

Output data
Three material points will be selected for additional output; additional files will be printed for
48 Anura3D MPM Software, Tutorial Manual

these points. These points are located close to the top, centre and bottom of the column,
respectively. Section 3.4.7 explains how to determine the ID number of a material point.

 2D case: The three material points have ID numbers 3, 33 and 59.

 3D case: The three material points have ID numbers 3, 54 and 235.

Default values
All other calculation options are not used in this example and the provided default values can
be kept, i.e. regarding contact algorithm, smoothing algorithms, quasi-static convergence.

The following steps have to be taken in order to define the calculation parameters.

(1) Choose <Anura3D> <Calculation Data> from the menu as shown in Figure 3.49 OR press
<Ctrl>+<Shift>+<Y>.

Figure 3.49: Open dialogue box to define calculation parameters in GiD.

(2) Enter the values for the calculation parameters as given below and shown in Figure 3.50.

 Select "DIMENSION" from the drop down menu as

2D case: "2D – plane strain";
3D case: "3D – Cartesian".
 Select "COMPUTATION METHOD" as "MPM – mixed integration".
 Set "number of calculation steps [-]" to "50".
 Set "time per calculation step [s]" to "0.05".
 Set "Courant number" to "0.98".
 Select "SOLID TRACTION" as "apply solid traction – stepwise".
 Set "solid traction multiplier initial [-]" to "1.0".
 Set "solid traction multiplier final [-]" to "1.0".
 Select "number of material points" as "3" from the drop down menu.
 Set material point IDs in "material point #1, #2 and #3" as
2D case: "3", "33" and "59" respectively;
3D case: "3", "54" and "235" respectively.

All other calculation parameters can be kept at their default values.

One-dimensional consolidation (oedometric compression test) 49

(a) (b)

Figure 3.50: Dialogue box to define calculation data in GiD: (a) 2D case and (b) 3D case.

(3) Click on the <Accept> button as shown in Figure 3.50 to save the calculation parameters.
(4) Press <ESC> OR click on <Close> to leave the definition of calculation parameters.
 50 Anura3D MPM Software, Tutorial Manual

3.2.8 Generating Anura3D input files GOM and CPS

After geometry, material properties, boundary conditions, loading conditions and calculation
parameters are defined and the mesh is generated the input files for the Anura3D analyis, i.e.
GOM and CPS file, have to be created. In those files the input parameters generated by GiD
are stored in text file format and can be read by the Anura3D programme. To generate the
GOM and CPS file the following steps have to be taken.

(1) Choose <Anura3D> <Generate Anura3D Files> from the menu as shown in Figure 3.51
OR press <Ctrl>+<Shift>+<Z>.

Figure 3.51: Generating Anura3D input files GOM and CPS in GiD.

(2) A warning box (Anura3D - generating Anura3D files) appears to make sure that all previous
steps have been performed. Choose <OK>.
(3) The generation of the GOM and CPS files is started and at the end the "Process info" box
as shown in Figure 3.52 should appear indicating that the files are successfully created.

Figure 3.52: Generation of GOM and CPS files successfully finished in GiD.

(4) Click on the <OK> button to finish the process of generating Anura3D input files.
(5) Save the project. Click on icon <Save GiD project> in the sidebar OR select <File> <Save>
from the menu as shown in Figure 3.6 OR press <CTRL>+<S>.

The pre-processing in GiD is finished and the programme can be closed.

The generated input files oedometer.GOM and oedometer.CPS_001 can be found in the
project directory oedometer.A3D in the directory which was specified earlier by the user
(Section 3.2.1, step 5):
D:\..\oedometer.A3D\oedometer.GOM

D:\..\oedometer.A3D\oedometer.CPS_001
 One-dimensional consolidation (oedometric compression test) 51

The input files GOM and CPS can be opened and adapted with any text editor.

3.3 Performing calculation in Anura3D

After the input files are generated in GiD as explained in the previous Section 3.2.8 a new
folder is generated in the directory that was specified earlier by the user (Section 3.2.1, step
4), i.e. oedometer.A3D:
D:\..\oedometer.A3D

This folder should contain the following files that are necessary to perform an Anura3D calcu-
lation, i.e:

 D:\..\oedometer.A3D\oedometer.GOM
 D:\..\oedometer.A3D\oedometer.CPS_001
 D:\..\oedometer.A3D\calculate.bat
 D:\..\oedometer.A3D\Anura3D_2021.exe
 D:\..\oedometer.A3D\libiomp5md.dll
 D:\..\oedometer.A3D\A3DLinearElasticity.dll
 D:\..\oedometer.A3D\A3DMohrCoulombStandard.dll

The Anura3D calculation can now be started. There are two options to perform the analysis:

 using the batch file;

 using the command line.

3.3.1 Calculation using batch file

To run the calculation using the batch file the following steps have to be taken.

(1) In the "Windows File Explorer" change into the project directory D:\..\oedometer.A3D.
(2) Double-click on the batch file calculate.bat.

The calculation starts and output is generated in the "Command Line" window indicating the
progress of the calculation. Any input and calculation errors are displayed in this window. The
output files are generated and stored in the project directory D:\..\oedometer.A3D.
 52 Anura3D MPM Software, Tutorial Manual

3.3.2 Calculation using command line

To run the calculation in the command line window the following steps have to be taken.

(1) In Windows start the "Command Line" window. Click on the "Command Prompt" desktop
icon as shown in Figure 3.53a OR from the Windows Start Menu select "Run...", type
"cmd" and press <ENTER> as shown in Figure 3.53b.

(a) (b)

Figure 3.53: Start "Command Prompt" in Windows.

(2) Change working location in the project directory. At the command prompt, type the name
of the disk drive where you stored the project data. For example, "D:" and press <EN-
TER>.
C:\...\user\username\>D:

(3) Change into your previously chosen directory by typing "cd userdirectory" and press
<ENTER>.
D:\>cd userdirectory

(4) Change into the project directory by typing "cd oedometer.A3D" and press <ENTER>.
D:\userdirectory\>cd oedometer.A3D

(5) Run the calculation in the project directory by typing the name of the programme exe-
cutable "Anura3D_2021" followed by the name of the calculation project, "oedometer", in
this example.
D:\userdirectory\oedometer.A3D\>Anura3D_2021 oedometer

The calculation starts and output information is generated in the "Command Line" window
indicating the progress of the calculation. Any possible input and calculation errors are dis-
played in this window. The output files are generated and stored in the project directory
D:\..\oedometer.A3D.

3.4 Visualisation of results in ParaView

The recommended way to visualise Anura3D results is by using the ParaView software (see
Section 2.4 for installation instructions). ParaView is able to read output files with VTK exten-
sion. Information of the mesh and material points is stored in these files at the end of each
calculation step as explained previously in Section 2.1.3.

The results for the oedometer problem are presented in this section. First, the VTK files will be
opened with ParaView and the evolution of liquid pressures and solid displacements across
the soil column will be presented. Finally, the results of specific material points are shown in
Section 3.5.
 One-dimensional consolidation (oedometric compression test) 53

3.4.1 Opening ParaView

(1) Start the ParaView post-processor (version 5.7.0) by clicking on the Windows desktop
icon as shown in Figure 3.54.

Figure 3.54: Start the ParaView post-processor (version 5.7.0).

3.4.2 Loading the VTK output files

(1) Open the output files: Click the icon <Open> OR select <File> and <Open...> from the
menu as shown in Figure 3.55 OR press <Ctrl>+<O>.

(a) (b)

Figure 3.55: Open the VTK output files in ParaView: (a) sidebar button or (b) drop-down
menu.

(2) Switch to the directory of your project in the "Open File" dialogue box.
(3) Select all VTK files that appear in your project directory in the "Open File" dialogue box
and press <OK> as shown in Figure 3.56.

Figure 3.56: Select the VTK otput files that appear in the project directory.

(4) Four file directories appear in the "Pipeline Browser" window with file names as indicated
in Figure 3.57.
 54 Anura3D MPM Software, Tutorial Manual

Figure 3.57: Output VTK files in the "Pipeline Browser" window in ParaView.

(5) In the "Properties" window click <Apply> to load all data from the VTK output files into
ParaView (Figure 3.58a). Once the four file directories are loaded, note that a black symbol
of an "eye" appears in front of the name of each directory, as indicated in Figure 3.58b.
This means that four type of results are displayed in the "Layout #1" window.

(a) (b)

Figure 3.58: Loading output VTK files in ParaView: (a) sidebar button or (b) drop-down
menu

3.4.3 Showing the mesh in 2D and 3D

The mesh data is stored in oedometer_MeshData_0.

(1) Click on the black "eye" symbols that appear in front of the last three files. The "eye"
symbols change colour to grey as shown in Figure 3.59 which means that all data from
material points is not displayed.
One-dimensional consolidation (oedometric compression test) 55

Figure 3.59: Deactivate data in ParaView.

(2) In order to visualise the mesh click on oedometer_MeshData_0 in the "Pipeline Browser"
window. Select "active_elements" in the first drop down menu and select "Wireframe" in
the third drop down menu as shown in Figure 3.60.

Figure 3.60: Visualisation of the mesh in ParaView.

(3) Use the mouse wheel to zoom in and out the view of the results. Press the left mouse
button to rotate the view if necessary. The buttons indicated in Figure 3.61 can also be
used to change the point of view of the results.

Figure 3.61: Buttons to change the view point of the results in ParaView.

(4) The general view of the mesh should look like as shown in Figure 3.62.
 56 Anura3D MPM Software, Tutorial Manual

(a) (b)

Figure 3.62: View of the mesh, active and empty elements in ParaView for the oedometer
problem: (a) 2D case and (b) 3D case.

3.4.4 Change view settings to parallel projection (for 3D case only)

For a better visualisation of the three-dimensional model, it is advised to use the parallel
projection method. To change the view settings follow the steps below. For the 2D case
continue with Section 3.4.5.

(1) In the "Properties" window click on the "Toggle advanced properties" icon as shown in
Figure 3.63.

Figure 3.63: Select advanced properties to change view settings.

(2) Scroll to the bottom of the "Properties" window.

(3) Select the option "Camera Parallel Projection" to change the view settings as shown in
Figure 3.64.
 One-dimensional consolidation (oedometric compression test) 57

Figure 3.64: Select "Camera Parallel Projection".

(4) Save the new settings as default view settings by clicking on the "Save current view set-
tings values as default" icon as shown in Figure 3.64.
(5) Switch off the advanced view settings by clicking on the "Toggle advanced properties"
again as shown in Figure 3.63.

This is a one-time action. After restarting ParaView, the view is by default in parallel projection.

3.4.5 Visualisation of liquid pressure in 2D and 3D

The liquid pressure is a scalar state variable stored in oedometer_MPScalar_0.

(1) Click on the "eye" symbol just next to oedometer_MPScalar_0 in the "Pipeline Browser"
window to display the data from this file in the window. All scalar data allocated at the ma-
terial points is available in oedometer_MPScalar_0 and the possible options are shown in
the first drop down menu. Select "pressure_liquid" as indicated in Figure 3.65 to visualise
the liquid pressure at the material points.
58 Anura3D MPM Software, Tutorial Manual

Figure 3.65: Select "pressure_liquid" in the drop down menu.

(2) Increase the size of the material points to 10 in the "Properties" window as indicated
in Figure 3.66. Note that occasionally the "Toggle advanced properties" icon has to be
clicked first to be able to see the advanced settings.

Figure 3.66: Increase the point size of the material points.

(3) Select <Show/hide colour legend> in the "Properties" window as indicated in Figure 3.67
in order to show the colour scale of the liquid pressure on the screen.
One-dimensional consolidation (oedometric compression test) 59

Figure 3.67: Show the colour scale in the "Layout #1" window.

(4) The scale can be adjusted according to the data range as indicated in Figure 3.68(a). It
also can be customised manually as indicated in Figure 3.68(b).

(a) (b)

Figure 3.68: Options to adjust the data scale: (a) rescale to data range (automatic rescal-
ing) and (b) rescale to custom range.

(5) For this case, the second option is preferable. In the "Set Range" window, type "-400" as
minimum value and "0" as maximum value as shown in Figure 3.69. Units are in kPa.

Figure 3.69: Adjust scale to a custom range.

(6) Use the commands from the menu indicated in Figure 3.70 to see the animated evolution
of liquid pressure. Here the first 50 steps are chosen.

Figure 3.70: Commands to view the evolution of the results as an animation in ParaView.
60 Anura3D MPM Software, Tutorial Manual

(7) In the "Animation View" menu, select the "Real Time" Mode as indicated in Figure 3.71.
Here, the duration of the movie can be specified (in seconds).

Figure 3.71: Commands to view the evolution of the results as an animation in ParaView.

(8) The evolution of liquid pressure in the soil column is presented in in Figure 3.72 for the 2D
case and in Figure 3.73 for the 3D case. Initially, the liquid pressure is zero, and shortly
after increases suddenly to –400 kPa as a reaction of applying the external load on the
top of the soil column. Later on, the pressure dissipates more rapidly at the top of the soil
column as the top boundary is permeable, whilst the dissipation in deeper material points
is slower as the bottom boundary is impervious. Finally, after 2.5 seconds of calculation,
the liquid pressure along the soil column is essentially fully dissipated.

(a) (b) (c) (d) (e) (f) (g)

Figure 3.72: Evolution of liquid pressure for the 2D case: (a) t = 0 s, (b) 0.05 s, (c) 0.1 s,
(d) 0.2 s, (e) 0.5 s, (f) 1 s and (g) 2.5 s.

(a) (b) (c) (d) (e) (f) (g) (h)

Figure 3.73: Evolution of liquid pressure for the 3D case. (a) t = 0 s, (b) 0.05 s, (c) 0.1 s,
(d) 0.2 s, (e) 0.5 s, (f) 1 s, (g) 2.5 s and (h) 0.2 s (3D view).
 One-dimensional consolidation (oedometric compression test) 61

3.4.6 Visualisation of soil displacement in 2D and 3D

The soil displacement is a vector variable stored in oedometer_MPVector_0.

(1) Click on the "eye" symbol next to oedometer_MPScalar_0 in the "Pipeline Browser" win-
dow to hide the MPScalar data.
(2) Click on the "eye" symbol next to oedometer_MPVector_0 in the "Pipeline Browser" win-
dow to display the MPVector data. All vector data of the material points available is shown
in the first drop down menu. Select "displacement_solid" to visualize the displacements of
the material points as indicated in Figure 3.74.

Figure 3.74: Select "displacement_solid" in the drop down menu.

(3) Customise the point size and the colour scale as described previously for the liquid pres-
sure to see the evolution of soil displacements.
(4) The evolution of solid displacements is presented for the 2D case in Figure 3.75 and for
the 3D case in Figure 3.76. An external load of 400 kPa is applied on top of the soil
column and a consolidation process appears due to dissipation of liquid pressures. The
final displacement of the top of the soil column is 0.24m. It is important to highlight that
this is a large deformation problem.

(a) (b) (c) (d) (e) (f) (g)

Figure 3.75: Evolution of solid displacement for the 2D case: (a) t = 0 s, (b) 0.05 s, (c)
0.1 s, (d) 0.2 s, (e) 0.5 s, (f) 1 s and (g) 2.5 s.
 62 Anura3D MPM Software, Tutorial Manual

(a) (b) (c) (d) (e) (f) (g) (h)

Figure 3.76: Evolution of solid displacement for the 3D case: (a) t = 0 s, (b) 0.05 s, (c)
0.1 s, (d) 0.2 s, (e) 0.5 s, (f) 1 s, (g) 2.5 s and (h) 2.5 s (3D view).

3.4.7 Determining the material point ID

To create material point output in Anura3D the material point ID is required. The ID can be
retrieved from ParaView. The material point ID is required in the "Calculation Data" window
during pre-processing in GiD as explained in Section 3.2.7. The process is explained for the
3D case but can equivalently be adopted for the 2D case.

(1) Make sure that the mesh and scalar properties are active. Click on the "eye" symbol next
to oedometer_MeshData_0 and oedometer_MPScalar_0. From the scalar data, select
the desired variable to be visualised – e.g. "material_id" as indicated in Figure 3.77. Note
that the property "material_id" is chosen for a convenient visualisation in uniform colour,
any other property can be chosen as well.

Figure 3.77: Select "material_id" in the drop down menu.

(2) In the "Layout #1" window, click on the "Split Horizontal" icon as indicated in Figure 3.78
to add an additional output window in which the material point data will be shown.
One-dimensional consolidation (oedometric compression test) 63

Figure 3.78: Creating additional output window by splitting view.

(3) In the new window, click on "SpreadSheet View" button as indicated in Figure 3.79 to show
the spreadsheet.

Figure 3.79: Choose "SpreadSheet View" in the new output window.

(4) In the spreadsheet click, on a material point number and the respective point will be high-
light in the geometry as indicated in Figure 3.80.
64 Anura3D MPM Software, Tutorial Manual

Figure 3.80: Highlight specific material point in geometry.

(5) To assess the ID of a particular material point from the geometry click on the "Select
Points On" icon in the "Layout #1" window as indicated in Figure 3.81(a). Then click on
the material point, which should be assessed as shown in Figure 3.81(b). Repeat this
action for three points at the top, middle and bottom of the soil column. Note: Keep the
<Ctrl>-key pressed to select multiple points.

(a) (b)

Figure 3.81: Select specific material points in geometry: (a) sidebar button or (b) drop-
down menu.

(6) In the "SpreadSheet View" window, click on the "Show only selected elements" icons as
shown in Figure 3.82. The IDs of the three selected points can be seen as well as all other
information stored in the selected points.
 One-dimensional consolidation (oedometric compression test) 65

Figure 3.82: Show selected material points in spreadsheet.

3.4.8 Plotting time graphs for material points

In ParaView, several options for plotting time graphs are available. The process is explained
for the 3D case but can equivalently be adopted for the 2D case. Three alternatives are
explained below:

 Plot point over time;

 Plot two variables at same time;
 Plot multiple points.

Plot point over time

As an example, the liquid pressure in one material point at the bottom of the soil column will
be plotted over time. The following steps should be taken.

(1) Make sure that the VTK files containing the data are loaded into the "Pipeline Browser".
Make sure that you have clicked on the <Apply> button in the "Properties" window.
Make sure that the viewing of data is turned on (active "eye"-symbol) as shown in Fig-
ure 3.83.

Figure 3.83: Turn on the "pressure_liquid" data for the oedometer problem in ParaView.

(2) First, select a point at the bottom of the geometry for which the data should be plotted.
See Section 3.4.7 on how to select a specific material point. Click on "Select Points On"
66 Anura3D MPM Software, Tutorial Manual

icon and, then, click on a point at the bottom of the soil column.
(3) Choose <Filters> <Data Analysis> <Plot Selection Over Time> from the menu as shown
in Figure 3.84.

Figure 3.84: Choose "Plot Selection over Time" in ParaView.

(4) Click on the "Apply" button in the "Properties" window as shown in Figure 3.85 to activate
the graphs window, which will then appear right next to the existing plot. Note that the
material point ID can be retrieved in the selection window; that is "234" for the current
case.

Figure 3.85: Apply the graph plotting for the selected point.

(5) In the "Properties" window, scroll down to the "Display" tab. Unselect everything except
"pressure_liquid" as shown in Figure 3.86.
One-dimensional consolidation (oedometric compression test) 67

Figure 3.86: Choose plotting of "pressure_liquid" for the selected point.

(6) A plot of the liquid pressure at the selected point is created as shown in Figure 3.87. On
the horizontal axis the time step number is shown. On the vertical axis the liquid pressure
in [kPa] is shown.

Figure 3.87: Plot of liquid pressure over time for the oedometer example (3D case).

The layout and appearance of the chart can be adapted according to the needs of the user
by changing the respective parameters in the "Properties" window. Press the play button to
visualise the progress in the time graph.
68 Anura3D MPM Software, Tutorial Manual

Plot two variables at same time

As an example, the liquid pressure and the solid volumetric strain in one material point at the
bottom of the soil column will be plotted over time. The following steps should be taken.

(1) Follow the steps for "Plot Selection Over Time", as described above.
(2) In the "Properties" window, turn on the additional variable "volumetric_strain_solid".
(3) Select the line that says "volumetric_strain_solid".
(4) In the "Properties" window scroll further down. At the bottom of the "Display" tab, change
"Chart Axes" to "BottomRight".
(5) A plot of the liquid pressure and the solid volumetric strain at the selected point is created
as shown in Figure 3.88.

Figure 3.88: Plot of liquid pressure and solid volumetric strain over time for the oedometer
example (3D case).

Plot multiple points

As an example the liquid pressure for three points at the top, middle and bottom of the soil
column will be plotted over time. The following steps have to be taken.

(1) Make sure that the VTK files containing the data are loaded into the "Pipeline Browser",
that you have clicked on the <Apply> button in the "Properties" window, and that the
viewing of data is turned on (i.e. active "eye"-symbol) as shown in Figure 3.83.
(2) To plot numerous points over time select the points by click on "Select Points On" icon.
Then, select the points that should be plotted; these are the top, middle and bottom of the
soil column. Keep the <Ctrl> key pressed while selecting the additional point.
(3) Choose <Filters> <Data Analysis> <Plot Selection Over Time> from the menu as shown
in Figure 3.84.
(4) Click on the "Apply" button in the "Properties" window to activate the graphs window, which
will then appear right next to the existing plot.
(5) In the "Properties" window, unselect the "Only Report Selection Statistics" checkbox. Click
on "Apply" button.
(6) In the "Properties" window, display section, click on "Root" to switch on all three points.
(7) In the "Properties" window, scroll down to the "Display" tab. Unselect everything except
"pressure_liquid" for all three points.
(8) A plot of the liquid pressure at the selected points is created as shown in Figure 3.89.
 One-dimensional consolidation (oedometric compression test) 69

Figure 3.89: Plot of liquid pressure for multiple points over time for the oedometer exam-
ple (3D case).

Multiple variables can be plotted for multiple points in the same way as described above. The
layout and appearance of the chart can be adapted according to the needs of the user by
changing the respective parameters in the "Properties" window.

3.5 Visualisation of text output files

At the end of every time step, data of the those material points specified in the calculation data
(see Section 3.2.7) and stored in the CPS file under the flag $$OUTPUT_MATERIAL_POINTS
is written in a set of text files with PAR extension. Each of this text files contains information
of a single material point, such as the time step, load multipliers, coordinates, displacement,
stresses, strain and liquid pressure, and it can be opened with any text editor. The process is
explained for the 3D case but can equivalently be adopted for the 2D case. For the 3D case,
three files appear in the project directory.

 oedometer.000.PAR_3;
 oedometer.000.PAR_54;
 oedometer.000.PAR_235.

In order to process this data any editor can be used. For example, Figure 3.90 has been
created using Microsoft Excel. It shows the liquid pressure evolution of material point 54
(approximately in the middle of the soil column). It can be seen that the results have some
oscillations but their magnitude decreases as the calculation proceeds. One reason for these
oscillations is that Anura3D considers a fully dynamic formulation and all inertial effects play
an important role in the results. Another cause for oscillations is due to the effect of material
points crossing element boundaries.

Note: Before importing the PAR files in Excel, please make sure that the delimiter is set to a
space " ".
 70 Anura3D MPM Software, Tutorial Manual

Figure 3.90: Dissipation of liquid pressure at material point 54 (located at a height of

0.5276 m).

3.6 Variations
The variations proposed for the oedometer problem are listed below.

(1) Examine the influence of homogeneous local damping, and compare the results with the
case of using 10% and 75% of local damping.
(2) Solve a small deformation problem by decreasing the value of the external load to 10 kPa,
and compare the results with the analytical solution.
(3) Examine the effects of using Bulk Viscosity to damp the highest frequencies of the ele-
ments and smooth numerical socillations.
(4) Examine the effects of using Absorbing Boundaries to reduce the reflections of the prop-
agating waves at the bottom boundary.

The changes can be adopted by either changing the input data using the GiD pre-processor
or by manipulating the input data directly in the input file (i.e. GOM and CPS file.) The CPS
file oedometer.CPS_001 and GOM file oedometer.GOM can be found in the project directory
oedometer.A3D in the directory, which was specified earlier by the user (Section 3.2.1, step
5):
D:\..\oedometer.A3D\oedometer.CPS_001

D:\..\oedometer.A3D\oedometer.GOM

The CPS and GOM files can be opened and adapted in any text editor.

3.6.1 Variation: Effect of local damping

Engineering problems in which inertia plays an important role require a dynamic formulation.
However, some problems involve very slow processes for which a steady-state solution is
of interest rather than the dynamic analysis of wave propagation. In order to converge to
the quasi-static equilibrium as fast as possible, or to reduce numerical instabilities, Anura3D
includes an additional local damping term in the momentum balance equations that introduces
One-dimensional consolidation (oedometric compression test) 71

energy dissipation in solid and liquid phases. More information can be found in Chapter 6 of
Fern et al. [1] or in Al-Kafaji [2], Yerro [3].

Two additional calculations are proposed in order to investigate the effect of including local
damping. To do so, it is not required to repeat all steps from the beginning since only one
calculation parameter has to be changed. This variation can be for the 2D or the 3D case.
Follow the steps described below.

Calculation with 10% local damping

(1) Create a new folder in your user directory with a new appropriate name,
e.g. oedometer_var1_0.1.A3D:
D:\..\oedometer_var1_0.1.A3D>

(2) Copy the CPS_001 file, the GOM file, the Anura3D executable and all DLL files from the
original project directory (\oedometer.A3D) to the new one.
(3) The local damping coefficient is the calculation parameter that controls the amount of
local damping imposed to the system. It is defined in the CPS file. Open the CPS_001
file with any text editor. Switch on the use of homogeneous local damping and modify the
input local damping coefficient as indicated below. Note that the first position indicates if
the local damping is switch on (1) or off (0), and the second position corresponds to the
selected value of the local damping coefficient.
1 $$HOMOGENEOUS_LOCAL_DAMPING
2 1 0.1

(4) Save the modified CPS file.

(5) Repeat the steps as described previously in Section 3.3 to perform the calculation.
(6) Inspect the results as described in Section 3.4.

Alternatively, open the previously generated project again in GiD. Save it with a new appro-
priate name, e.g. oedometer_var1_0.1. Then, adjust the calculation data by choosing
<Anura3D> <Calculation Data> from the GiD menu. Modify the homogeneous local damp-
ing properties as shown in Figure 3.91. Regenerate the Anura3D input files by choosing
<Anura3D> <Generate Input Files> from the menu. Perform the calculation in the new direc-
tory oedometer_var1_0.1.A3D and inspect the results.

Figure 3.91: Adjusting homogeneous local damping properties in GiD.

Calculation with 75% local damping

Follow the steps as described above while adjusting the value for the local damping coefficient
to 0.75. Create a new folder in your user directory with a new appropriate name,
e.g. oedometer_var1_0.75.A3D:
D:\..\oedometer_var1_0.75.A3D>
 72 Anura3D MPM Software, Tutorial Manual

Alternatively, open the previously generated project again in GiD. Save it with a new appropri-
ate name, e.g. oedometer_var1_0.75, and change the respective local damping coefficient.

Results
Figure 3.92 shows the effect of including local damping. Note that a high value of local damp-
ing (e.g. 75%) reduces considerably the oscillations but the dissipation of water pressure
occurs more slowly since the system is excessively damped.

Figure 3.92: Dissipation of liquid pressure at material point 54 (located at a height of

0.5276m) for different local damping coefficients.

3.6.2 Variation: Small deformation problem

The second variation of the oedometer problem is to decrease the external load that is applied
on top of the soil column to 10 kPa in order to solve a small deformation problem to be
comparable to analytical solutions. This variation can be for the 2D or the 3D case. Follow the
steps described below.

(1) Create a new folder in your user directory with a new appropriate name,
e.g. oedometer_var2_10.A3D.
D:\..\oedometer_var2_10.A3D>

(2) Copy the CPS_001 file, the GOM file, the Anura3D executable and all DLL files from the
original project directory (\oedometer.A3D) to the new one.
(3) Open the CPS_001 file with any text editor.
(4) Decrease the applied load. The load defined previously during creating the geometry in
GiD was set to 400 kPa. In order to reach a load of 10 kPa the load multiplier has to be
set to 0.025. Therefore:
1 $$SOLID_TRACTION
2 step 0.025 0.025

(5) Save the CPS file.

(6) Repeat the steps as described previously in Sections 3.3 to perform the calculation.
(7) Inspect the results as described in Section 3.4.

The evolution of liquid pressures considering an external load of 10 kPa is presented in Fig-
 One-dimensional consolidation (oedometric compression test) 73

ure 3.93.

(a) (b) (c) (d) (e) (f) (g) (g)

Figure 3.93: Evolution of liquid pressure for an external load of 10 kPa applied on top of
the soil column: (a) t = 0 s, (b) 0.05 s, (c) 0.1 s, (d) 0.2 s, (e) 0.5 s, (f) 1 s,
(g) 2.0 s and (h) 0.2 s (3D).

3.6.3 Variation: Bulk viscosity

In this problem, oscillations occur in the numerical solution. The reason for this is the dis-
continuity of the solution. To avoid such oscillations, as they are not present in the analytical
solution, different approaches have been developed. An easy and effective method is the bulk
viscosity which intends to damp the highest frequencies of the elements and smooth discon-
tinuities. This variation can be for the 2D or the 3D case, and is elaborated below for the 3D
case.

(1) The material needs to be defined as linear elastic. If you have other materials assigned,
these have to be unassigned as shown in Figure 3.94(a) (otherwise, move to the next
step). Select the following options to unassign material "Anura3D" –> "Materials" –>
"Unassign" –> "Entities" –> "Volumes". Choose the lower volume and click "Finish" as
shown in Figure 3.94b.

(a) (b)

Figure 3.94: Unassigning material from a volume (3D case).

(2) Now a new material can be assigned to this volume. Choose the parameters for the new
material as shown in Figure 3.95 and assign it to the lower volume.
74 Anura3D MPM Software, Tutorial Manual

Figure 3.95: Assigning new material to the lower volume (3D case).

(3) After choosing "Anura3D" → "Calculation Data" enable "BULK VISCOSITY DAMPING".
Define a linear and quadratic coefficient as shown in Figure 3.96. Choose a material point
for the output. Choose material point number 1186 which is located in the centre of the
column.

Figure 3.96: Adapt calculation data and define bulk viscosity parameters.

(4) Perform calculations with and without bulk viscosity and vary the damping parameters to
study the impact on the results. Some variations are shown in Figure 3.97.

The results in Figure 3.97 show the effect of damping properties on vertical stress oscillations
through the application of bulk viscosity. Furthermore, it can be seen that the areas of discon-
tinuities are smeared across a domain resulting in an approximately linear slope in contrast
to the vertical jump of the analytical solution. This behaviour can be improved by refining the
mesh leading to a smaller domain of the smeared jump.
 One-dimensional consolidation (oedometric compression test) 75

Figure 3.97: Comparison of wave propagation with different variations of bulk viscosity.

3.6.4 Variation 5: Absorbing boundaries

In Section 3.6.3, reflections of the propagating waves can be observed at the bottom and top
of the column. In semi-infinite half-space models, which are widely used to simulate soil, such
behaviour is undesirable. One solution is to introduce absorbing boundaries to minimise or
avoid reflections. The geometry of the previous Section 3.6.3 will be modified to illustrate the
use of absorbing boundaries by assigning them to the bottom of the column. This variation
can be for the 2D or the 3D case, and is elaborated below for the 3D case.

(1) First, the existing full fixities at the bottom boundary of the column need to be unassigned,
as shown in Figure 3.98.
76 Anura3D MPM Software, Tutorial Manual

Figure 3.98: Unassign fixities at the bottom of the column.

(2) Now, the absorbing boundaries can be defined by choosing the menu "Absorbing Bound-
aries" as shown in Figure 3.99.

Figure 3.99: Defining absorbing boundaries.

(3) Absorbing boundaries in Anura3D consist of a spring and a dashpot, with corresponding
parameters for each coordinate direction. In general, absorbing boundaries with differ-
ent parameters can be used to ensure that the desired behaviour is achieved along the
boundaries. Start defining the absorbing boundary conditions on points, then on lines,
and finally on surfaces.
(4) Apply the absorbing boundaries to the corner points at the bottom of the column as shown
in Figure 3.100.
One-dimensional consolidation (oedometric compression test) 77

Figure 3.100: Defining absorbing boundaries on corner points.

(5) Afterwards, apply them to the edge lines as shown in Figure 3.101.

Figure 3.101: Defining absorbing boundaries on edge lines.

(6) Finally, define the absorbing boundaries on the bottom surface as shown in Figure 3.102.

Figure 3.102: Defining absorbing boundaries on boundary surfaces.

78 Anura3D MPM Software, Tutorial Manual

(7) To calculate the spring and dashpot parameters, an additional reference material needs to
be defined. This can be done by choosing the volume which is occupied by the reference
material as shown in Figures 3.103 and 3.104.

Figure 3.103: Assigned reference material for absorbing boundaries.

Figure 3.104: Defining the reference material for absorbing boundaries.

(8) Perform the same calculation as presented in Section 3.6.3 with a 5 times longer cal-
culation time, such that the total duration is 0.25 s. Again, apply bulk viscosity with the
parameters 0.4 (linear) and 1.2 (quadratic).

Figure 3.105 shows the comparison of vertical stresses for two different calculations at the
same material point as in Section 3.6.3. One calculation was performed without and the other
with absorbing boundaries.
 One-dimensional consolidation (oedometric compression test) 79

Figure 3.105: Comparison of simulations with and without absorbing boundaries.

Figure 3.105 indicates the reduction of reflections when using absorbing boundaries. The
wave continues travelling up- and downwards when no absorbing boundaries are applied
whilst it is slightly smoothed by the bulk viscosity. for the calculation with absorbing boundaries
a constant stress state of 1 kPa is achieved after two reflections.

3.7 Discussion
Some general remarks:

 As in Anura3D a dynamic formulation is used that considers all inertial terms, dynamic
effects have to be considered when interpreting the results.
 Including homogeneous local damping in the calculation reduces the energy of the system
and the solution is damped. Only small local damping coefficients, up to 5%, are recom-
mended for dynamic problems since higher values lead to energy loss of the system.
 Gauss point integration is recommended especially when large deformations occur. This
integration method reduces internal instabilities that appear when material points cross
element boundaries.
 In large deformation problems, external loads have to be assembled in the material points
in order to move together with the deforming material.
80 Anura3D MPM Software, Tutorial Manual
 4 Triaxial compression test
Authors: Pietro Marveggio; Alexander Rohe; James Fern; Alba Yerro

The aim of this tutorial is to simulate the triaxial compression stress–strain path of using the fi-
nite element (FE) package of Anura3D. Besides the Material Point formulation, Anura3Dincludes
two FE-based packages: the Standard FEM and the Updated Lagrangian FEM. In the first for-
mulation all the integrations are carried out by considering the initial reference configuration
at time t=0 (i.e. original volume and surface area), while in the latter the current configuration
at time ’t’ is used (i.e. the volume and surface are updated accounting for body deformations).
In this chapter, for the sake of simplicity, the Standard FEM approach will be used to simulate
a simple boundary value problem considering a homogeneous cubic specimen. The following
steps are required to complete the simulation.

 Creation of geometry
 Definition of material model
 Loading and boundary conditions definitions
 Generation of the mesh
 Execution of calculation
 Output of results

The simulation is performed considering two different constitutive models included in Anura3D
as well as a user-defined model. The simulations are run in drained conditions using the one-
phase single-point formulation (see Chapter 2, Fern et al. [1]).

4.1 Problem definition

The triaxial compression test is carried out as strain-driven for which the top face of a soil cube
is compressed with a constant velocity of 0.01 m/s. The gravity is neglected as its contribution
towards the effective stress state is very small and, therefore, the dimensions of the cube do
not influence the results; a 1-m wide cube is used. Figure 4.1 describes the geometry of the
problem. The boundary conditions are such that the bottom surface is constrained in normal
direction while the lateral surfaces have a compressive load of 50 kPa in the normal direction.
The first example uses the Mohr-Coulomb model with the parameters listed in Table 4.1. The
specimen is assumed to be isotropically consolidated and the initial stress can be initialised
using the k0 -procedure (Chapter 6, Fern et al. [1]) with K0 = 1.0.

Figure 4.1: Schematic description of the triaxial compression simulation.

 82 Anura3D MPM Software, Tutorial Manual

Table 4.1: Material parameters of the triaxial problem.

Parameter Symbol Unit Value

Material type: dry material
Initial porosity n0 [-] 0.3
Density solid ρs [kg/m3 ] 2,650
Material model solid: Mohr-Coulomb
Poisson ratio ν [-] 0.25
Young’s modulus E0 [kPa] 10,000
Cohesion c0 [kPa] 3
Friction angle ϕ0 [◦ ] 35
Dilatancy angle ψ [◦ ] 15

4.2 Creating input data

The geometry, material properties, fixities, number of material points, contact conditions, initial
calculation parameters, and mesh are defined with GiD as previously described in Section 3.2.

4.2.1 Starting pre-processor

Start the GiD pre-processor following the steps as in Section 3.2.1. Save the project in the
desired directory on the hard disk with a given name (e.g. "triaxial").

4.2.2 Defining geometry

Create the geometry as follows.

(1) Define points and lines of one the faces of the model (Figure 4.2) using the point coordi-
nates indicated in Table 4.2.

Figure 4.2: Geometry of the front face of the model. Key points are indicated.

(2) Generate the surfaces and create the volumes following the explanations in Chapter 3.2.2.
Note that the thickness of this model must be z = 1 m. The final geometry should be as
shown in Figure 4.3.
 Triaxial compression test 83

Table 4.2: Key point coordinates of front faces of the sliding blocks problem.

Point X coordinate [m] Y coordinate [m]

P1 0 0
P2 1 0
P3 1 1
P4 0 1

Figure 4.3: Geometry of the triaxial test problem.

4.2.3 Defining material properties

Before specifying material properties, ensure that the Anura3D problemtype has been set as
described in Section 3.2.1 step (2).

The triaxial model consists of a single material. Follow the instructions detailed in Sec-
tion 3.2.3 to define the material and assign it to the cubic volume. Material parameters are
given in Table 4.1. Note that some constitutive models (e.g. user-defined) need to be pro-
vided in as a dynamic-link library file (dll) in the simulation folder as can be seen in Figure 4.4.
Check if the assigned materials are correctly assigned by clicking on "Draw" and "Color" in the
material dialogue box (Figure 4.4). The cube should appear in "green" as shown in Figure 4.5.

4.2.4 Specifying material points

Specify the material point distribution following instructions from Section 3.2.4. For this case,
choose 1 material points per element for box. As a standard FE approach will be considered,
this value simply represents the number of integration points employed in the simulation.
Check if the material points are assigned correctly (Figure 4.6).
 84 Anura3D MPM Software, Tutorial Manual

Figure 4.4: Material dialogue box in GiD.

Figure 4.5: Material assigned in the model.

4.2.5 Defining boundary conditions

Define the boundary conditions following the steps as described previously in Section 3.2.5.

Applying fixities
As the material is dry, only the solid phase needs to be considered. The solid displacement at
the bottom have to be fixed in direction normal to the surface. After the fixity definition, check
if the condition is assigned correctly (Figure 4.7)
Triaxial compression test 85

Figure 4.6: Specification of the number of material points per element in the model.

Figure 4.7: Solid fixities of the triaxial test problem in GiD.

Applying loading conditions

On the lateral surface of the box, a uniform distributed load of 50 kPa is applied inwards
in normal direction with respect to the surface. As the simulation will run according to the
standard FE approach, the load are applied on the nodes.
Before going on with the pre-processing phase, check if the applied load is assigned correctly.

Figure 4.8: Checking assigned loads for triaxial problem in GiD.

Applying prescribed velocity

The triaxial simulation is strain driven. To do this, a vertical velocity of 0.01 m/s is applied
downwards at the top surface of the soil column. The following steps need to be done.
86 Anura3D MPM Software, Tutorial Manual

(1) Choose <Anura3D> <Prescribed Velocities> from the menu as shown in Figure 4.9 OR
press <Ctrl>+<Shift>+<F>.

Figure 4.9: Open dialogue box to define prescribed velocities in GiD.

(2) The "Prescribed velocities" dialogue box appears. The prescribed velocity has to be ap-
plied on a surface. As the velocity is applied on nodes, select the "3D Nodal Velocity
(Surfaces)" option from the drop down menu as shown in Figure 4.10.

Figure 4.10: Prescribed velocity conditions dialogue box in GiD. Assign the velocity to the
surface nodes

(3) Enter the value of the downward vertical velocity of 0.001 m/s will be applied. Therefore,
enter "-0.001" in the field "y-direction [m/s]" as shown in Figure 4.11.
(4) Click on the <Assign> button in order to select the surface where the load should be
assigned to as shown in Figure 4.11.
Triaxial compression test 87

Figure 4.11: Prescribed velocity conditions dialogue box in GiD. Enter value of vertical
downward load prescribed velocity.

(5) Select the upper surface of the cube, which should be highlighted in red.
(6) Press <ESC> OR click on <Finish> in the "Loading Conditions" dialogue box to leave the
selection of surfaces.
(7) Check if the prescribed velocity is assigned correctly.
In the "Prescribed velocities" dialogue box, click on <Draw>
Select <Colors> as shown in Figure 4.12.

Figure 4.12: Checking prescribed velocity for the triaxial problem in GiD.

(8) The prescribed velocity condition applied should be as shown in Figure 4.13.
 88 Anura3D MPM Software, Tutorial Manual

Figure 4.13: Checking prescribed velocity for the triaxial problem in GiD.

(9) Click on <Finish> and <Close> to quit the assigning fixities process.

4.2.6 Creating mesh

A structured mesh is used for this example. As the problem considered is sufficiently simple,
only a few elements are used to run the simulation. To generate the mesh follow the steps
detailed below. (Note that 3D tetrahedral elements have to be defined as quadratic type
elements in GiD).

(1) Choose <Mesh> <Generate Mesh> from the menu OR press <CTRL>+<G>.
(2) The "Mesh generation" dialogue box appears. For this example, set the mean element
size to "1" as shown in Figure 4.14. This corresponds to the depth z of model.

Figure 4.14: Enter the size of elements equal to 1 m.

(3) Click the <OK> button. The mesh will be generated and the progress is shown in the
"Progress in meshing" dialogue box as shown in Figure 4.15. The number of generated
tetrahedral elements (12) can be seen as well as the number of generated nodes (35).

Figure 4.15: Mesh generated dialogue box.

(4) Click on the <View mesh> button to quit the meshing process and see the generated
mesh. It should look like Figure 4.16
 Triaxial compression test 89

Figure 4.16: Computational mesh of the triaxial test problem.

4.2.7 Initialization of calculation data

The calculation of the sliding blocks problem will be carried out in one stage.

Computation method
The computation method used is the standard finite element one. Therefore the option "Stan-
dard FEM" should be selected.

Calculation step data

The compression of the soil column will be analysed for 5 seconds. To create intermediate
results, the total time is divided into 50 load steps of 0.1 s each. A Courant number of 0.5 is
suggested to ensure the stability of the solution.

Gravity Load
In this example, the gravity is neglected. Therefore, the application of gravity option should be
set on "do not apply gravity load" (default value value).

External Load
The external load is applied suddenly on the lateral surface of the sample and is maintained
constant throughout the calculation. Therefore, set the solid traction box either to "apply solid
traction - linear" or "apply solid traction - stepwise", as both works in this case, since the
multipliers for solid traction has to be set to 1.0 (both initial and final value).

Prescribed velocity
As for the external load, also the prescribed velocity is applied suddenly on the top surface of
the sample and is maintained constant throughout the calculation. Again the solid traction box
can be set either to "apply prescribed velocity - linear" or "apply prescribed velocity - stepwise"
and the multipliers to 1.0 (both initial and final value).

K0 procedure
As mentioned previously, the stresses are initialized by means of the K0 -procedure. To do
this, the K0 -procedure dialogue box should be set on "apply". Then the initial vertical load has
to be set to "-50.0 kPa".

Default values
All other calculation options are not used in this example and the provided default values can
90 Anura3D MPM Software, Tutorial Manual

be kept, i.e. regarding liquid pressure, contact algorithm, smoothing algorithms, quasi-static
convergence, etc.

To define the initial calculation parameters, follow the instructions detailed in Section 3.2.7.
For this example, enter the values given below as shown in Figure 4.17;

 Select "COMPUTATION METHOD" as "Standard FEM" from the drop down menu
 Set "number of calculation steps [-]" to "50"
 Set "time per calculation step [s]" as "0.1".
 Set "Courant number" to "0.5"
 Set select "apply solid traction - stepwise" in the solid traction box and set the correspond-
ing multipliers to "1.0 1.0"
 Select "apply prescribed velocity - stepwise" in the prescribed velocity box and set the
corresponding multipliers to "1.0 1.0"
 Select "apply K0 -procedure" in the K0 -procedure box and set the initial vertical load to
"-50.0 kPa".

All other calculation parameters can be kept at their default values.

Triaxial compression test 91

Figure 4.17: Computation dialogue box in GiD for the triaxial test problem.
 92 Anura3D MPM Software, Tutorial Manual

4.2.8 Generating input files

After the geometry, material properties, boundary conditions, loading conditions and calcu-
lation parameters are defined and the mesh is generated, the input files for the Anura3D
analysis (i.e. GOM and CPS file) have to be created. To generate the GOM and CPS files,
follow the steps as described in Section 3.2.8.

The generated input files triaxial.GOM and triaxial.CPS_001 can be found in the new
folder triaxial.A3D in the directory, which was specified earlier by the user:
D:\..\triaxial.A3D\triaxial.GOM

D:\..\triaxial.A3D\triaxial.CPS_001

Notice that in the same folder the dynamic-link library files containing the constitutive models
can be found. Please note that every time a simulation is run, the "dll" associated with each
constitutive model used in the simulation is required. This is important when, for any reason,
files are copied into a new folder.

4.3 Performing calculation in Anura3D

The Anura3D calculation can be started following instructions described in Section 3.3.

The calculation starts and output is generated in the "Command Line" window indicating
the progress of the calculation. Any possible input and calculation errors are displayed
in this window as well. The output files are generated and stored in the project directory
D:\..\tri.A3D.

4.4 Visualisation of text output files

The VTK files can be opened with ParaView and the evolution of volumetric and deviatoric
strains and stresses in one point of the sample can be extracted and analysed. As the be-
haviour of the material inside the box is intended to be homogeneous, any of the integration
points can be used to extract information required for the analysis. In this example, the aver-
age values over the sample is used. Following the steps described in Section 3.4.8 without
specifying any material point,the evolution of variables over time can be obtained. These are
included in the MPMScalar files. These data can then be processed in a spreadsheet, e.g.
MS Excel.

The result is a vertical compression stress that is linearly increasing until the yield surface
is reached. From that moment on, the vertical stress remains constant and only plastic de-
formation occurs (see Figure 4.18). The evolution of the volumetric strain is determined by
the linear elastic parameters until when the yield surface is reached. From that point on, the
volumetric strain starts increasing due to the definition of a non-zero dilatancy angle (see Fig-
ure 4.19). Figure 4.20 shows that the stress state evolves until the yield function is reached,
from that moment on the deviatoric stress remains constant with deviatoric strain, while the
volumetric strain rate increment changes sign according to the dilatancy of the material.
 Triaxial compression test 93

Figure 4.18: Triaxial test using Mohr-Coulomb: deviatoric stress with isotropic pressure

Figure 4.19: Triaxial test using Mohr-Coulomb: volumetric strain with deviatoric strain

Figure 4.20: Triaxial test with Mohr-Coulomb: deviatoric stress vs deviatoric strain

4.5 User Defined Soil Model

Anura3D has a feature to deal with user-defined soil models (ESM). This facility allows any
user to make use of a wider range of constitutive soil models in Anura3D. The ESM is based
on the ABAQUS standard (implicit) for which the stiffness matrix DDSDDE is returned to
 94 Anura3D MPM Software, Tutorial Manual

Anura3D. The ESM is given to Anura3D as an external dynamic library (DDL), which is placed
in the simulation folder alongside the Anura3D.exe, *.GOM and *.CPS files and . Such models
must be programmed in FORTRAN (or another programming language), then compiled as a
Dynamic Link Library (dll) and then included into the Anura3D folder generated by GiD. Basi-
cally, the user supplied material subroutine is required to update the integration point effective
stress and state variables, providing as well an estimation of the constrained modulus, that is
required to evaluate the maximum time step size to ensure stability of the analysis.
The final part of this chapter is devoted to show how to create the Dynamic Link Library file
and how to make use of it by means of the GiD interface. To do this, essentially three steps
have to be followed:

 Prepare the FORTRAN File

 Compile and create a DLL File
 Define user supplied material in GiD.

4.5.1 Preparation of the FORTRAN File

The A3D interface for user defined soil model is intended to work according to the ABAQUS
User material (UMAT) file standard. In fact the FORTRAN file will be composed by two main
subroutines. One is the actual ESM Anura3D interface, while the other is the UMAT.
User defined soil model functions are here written using FORTRAN, to be consistent with the
ABAQUS standard. In order for the Anura3D solver to recognise the user subroutine, the
name of the subroutine as well as the data types of the arguments must exactly match those
given below.

A general formulation of the ESM subroutine is here given:

1 Subroutine ESM(NPT,NOEL,IDSET,STRESS,EUNLOADING,PLASTICMULTIPLIER,
2 & DSTRAN,NSTATEV,STATEV,NADDVAR,ADDITIONALVAR,CMNAME,NPROPS,
3 & PROPS, NUMBEROFPHASES,NTENS)
4

5 !DEC$ ATTRIBUTES DLLEXPORT, ALIAS:"ESM" :: ESM

6 implicit double precision (A−H,O−Z)
7 CHARACTER*80 CMNAME
8 INTEGER NTENS
9 DIMENSION NPT(1),NOEL(1),IDSET(1),STRESS(NTENS),EUNLOADING(1),
10 & PLASTICMULTIPLIER(1), DSTRAN(NTENS), STATEV(NSTATEV),
11 & ADDITIONALVAR(NADDVAR),PROPS(NPROPS), NUMBEROFPHASES(1)
12

13

14 !−−−Local variables required in standard UMAT

15 integer :: IStep, TimeStep
16 double precision, dimension(:), allocatable :: ddsddt ! For fully coupled
17 !thermal analysis: variation of stress increment due to temperature
18 double precision, dimension(:), allocatable :: drplde ! For fully coupled
19 !thermal analysis: variation of volumetric heat generation due to strain increment
20 double precision, dimension(:), allocatable :: stran
21 double precision, dimension(:), allocatable :: time
22 double precision, dimension(:), allocatable :: predef
23 double precision, dimension(:), allocatable :: dpred
24 double precision, dimension(:), allocatable :: coords
25 double precision, dimension(:,:), allocatable :: ddsdde ! Jacobian matrix
26 !of the constitutive model
27 double precision, dimension(:,:), allocatable :: drot
28 double precision, dimension(:,:), allocatable :: dfgrd0
Triaxial compression test 95

29 double precision, dimension(:,:), allocatable :: dfgrd1

30 double precision :: sse, spd, scd ! specific elastic strain energy, plastic dissipation,
31 ! creep dissipation
32 double precision :: rpl !For fully coupled thermal analysis:
33 ! volumetric heat generation
34 double precision :: drpldt !For fully coupled thermal analysis: variation of volumetric
35 ! heat generation due to temperature
36 double precision :: pnewdt, dtime, temp, dtemp, celent
37 double precision :: Value ! auxiliary variable holding any real valued number
38 double precision :: Porosity, WaterPressure, WaterPressure0,
39 & GasPressure, GasPressure0, DegreeSaturation
40

41

42 integer :: ndi, nshr, layer, kspt, kstep, kinc

43

44 !−−−Local variables defned by the user

45 ! e.g. integer :: var_local
46 !−−−User can define here additional variables
47

48 allocate( ddsddt(ntens), drplde(ntens), stran(ntens), time(2), predef(1), dpred(1),

49 & coords(3), ddsdde(ntens,ntens), drot(3,3), dfgrd0(3,3), dfgrd1(3,3) )
50

51 !Initialization
52 Eunloading = 0.0
53 PlasticMultiplier = 0.0
54

55 !Rename additional variables

56 Porosity = AdditionalVar(1)
57 WaterPressure = AdditionalVar(2)
58 WaterPressure0 = AdditionalVar(3)
59 GasPressure = AdditionalVar(4)
60 GasPressure0 = AdditionalVar(5)
61 DegreeSaturation = AdditionalVar(6)
62 time(1) = AdditionalVar(7) !TotalRealTime
63 time(2) = AdditionalVar(8) !OverallTotalTime
64 dtime = AdditionalVar(9) !TimeIncrement
65 IStep = AdditionalVar(10)
66 TimeStep = AdditionalVar(11) !Note: Very first time and load step: Istep=1 and TimeStep=1
67

68 !−−−Call the UMAT

69 call umat(stress, statev, ddsdde, sse, spd, scd, rpl, ddsddt, drplde, drpldt, stran,
70 & dstran, time, dtime, temp, dtemp, predef, dpred, cmname, ndi, nshr, ntens,
71 & nstatev, props, nprops, coords, drot, pnewdt, celent, dfgrd0,
72 & dfgrd1, noel, npt, layer, kspt, kstep, kinc)
73

74

75 !−−−Definition of Eunloading −> required to define the max time step

76 Eunloading = max(ddsdde(1,1),ddsdde(2,2),ddsdde(3,3))
77 !−−−Always define this value to run the simulation
78

79 return
80

81 end subroutine ESM

The descriptions of the arguments that are used to communicate between the Anura3D solver
and the External Soil Model subroutine are listed below:
96 Anura3D MPM Software, Tutorial Manual

 NPT : global integration/material point number

 NOEL: global element number
 IDSET : ID of material parameter set
 STRESS: Effective stress at previous step (Input). It must be updated in the subroutine
(output)
 EUNLOADING: Unloading constrained modulus, that is required to evaluate the maximum
time step size to ensure stability of the analysis.
 PLASTICMULTIPLIER: Value that is stored and can be plotted as output to detect plastic
region
 DSTRAN: Strain increment at the point/integration point
 NSTASEV : Number of state variables
 STASEV : State variables
 NADDVAR: Number of additional variables
 ADDITIONALVAR: additional variables, detailed below
 CMNAME: Name of the material constitutive model
 NPRPOPS: Number of properties of the material
 PRPOPS: Model parameters
 NUMBEROFPHASES: Number of phases of the material point
 NTENS: Dimension of the stress and strain array

This is the list of additional variables that the code provides to the user:

 ADDITIONALVAR(1): Porosity
 ADDITIONALVAR(2): Water pressure at the current step
 ADDITIONALVAR(3): Water pressure at the previous step
 ADDITIONALVAR(4): Gas pressure at the current step (not available in v2019.1)
 ADDITIONALVAR(5): Gas pressure at the previous step (not available in v2019.1)
 ADDITIONALVAR(6): Degree of saturation (not available in v2019.1)
 ADDITIONALVAR(7): Total time of the current step
 ADDITIONALVAR(8): Total time
 ADDITIONALVAR(9): Time increment
 ADDITIONALVAR(10): Total time step
 ADDITIONALVAR(11): Time step of the current calculation step

After the call of the UMAT and the stress update, it is always important to define a finite value of
the unloading oedometric modulus EUnloading. For many constitutive models, its definition is
not trivial, so its value can be in general set equal to the maximum value among ddsdde(1,1),
ddsdde(2,2) and ddsdde(3,3), as it is suggested by the template. If this simplification becomes
too inaccurate, in order to ensure stability, the user should set a sufficiently low value of
Courant number, that slows the analysis.

Concerning the UMAT structure, as this follows the ABAQUS standard, it will not be described
here. An example of non-linear elastic material is in any case shown for the sake of com-
pleteness. In this example the Young modulus increases with the increasing of the isotropic
pressure at the integration point.
83

84 SUBROUTINE UMAT(STRESS,STATEV,DDSDDE,SSE,SPD,SCD,
85 1 RPL,DDSDDT,DRPLDE,DRPLDT,
86 2 STRAN,DSTRAN,TIME,DTIME,TEMP,DTEMP,PREDEF,DPRED,CMNAME,
87 3 NDI,NSHR,NTENS,NSTATEV,PROPS,NPROPS,COORDS,DROT,PNEWDT,
Triaxial compression test 97

88 4 CELENT,DFGRD0,DFGRD1,NOEL,NPT,LAYER,KSPT,KSTEP,KINC)
89

90 INCLUDE ’ABA_PARAM.INC’
91

92 CHARACTER*80 CMNAME
93 DIMENSION STRESS(NTENS),STATEV(NSTATEV),
94 1 DDSDDE(NTENS,NTENS),DDSDDT(NTENS),DRPLDE(NTENS),
95 2 STRAN(NTENS),DSTRAN(NTENS),TIME(2),PREDEF(1),DPRED(1),
96 3 PROPS(NPROPS),COORDS(3),DROT(3,3),DFGRD0(3,3),DFGRD1(3,3)
97

98

99 ! Arguments:
100 ! I/O Type
101 ! PROPS I R() : List with model parameters
102 ! DSTRAN I R() : Strain increment
103 ! DDSDDE O R(,) : Material stiffness matrix
104 ! STRESS I/O R() : stresses
105 ! STATEV I/O R() : state variables
106

107 !−−− Local variables

108 dimension dSig(NTENS), Sig(NTENS)
109

110 ! Contents of PROPS(3)

111 ! 1 : E Young Modulus
112 ! 2 : ENU Poisson’s ratio
113 ! 3 : PLIM
114

115 E = PROPS(1)
116 ENU = PROPS(2)
117 PLIM = PROPS(3)
118 one = 1.0d0
119 two = 2.0d0
120 PRESS = (STRESS(1) + STRESS(2) + STRESS(3))/3
121 EDEG = E/(1+PRESS/PLIM)
122 G = EDEG/two/(one+ENU)
123 ! calculate elastic stress increment (DSigE = elastic stiffness D * strain increment DEps)
124 FAC = two * G / ( one − two * ENU )
125 D1 = FAC * ( one − ENU )
126 D2 = FAC * ENU
127 DSTRANVOL = DSTRAN(1) + DSTRAN(2) + DSTRAN(3)
128 dSig(1) = (D1 − D2) * DSTRAN(1) + D2 * DSTRANVOL
129 dSig(2) = (D1 − D2) * DSTRAN(2) + D2 * DSTRANVOL
130 dSig(3) = (D1 − D2) * DSTRAN(3) + D2 * DSTRANVOL
131 dSig(4) = G * DSTRAN(4)
132 if (NTENS == 6) then
133 dSig(5) = G * DSTRAN(5)
134 dSig(6) = G * DSTRAN(6)
135 end if
136 ! elastic stress
137 Sig = STRESS + dSig
138

139 ! stress state parameters update

140 do i = 1, NTENS
141 STRESS(i) = Sig(i)
142 end do
143

144 DDSDDE = 0.0

 98 Anura3D MPM Software, Tutorial Manual

145 DDSDDE(1:3,1:3) = D2
146 DDSDDE(1,1) = D1
147 DDSDDE(2,2) = D1
148 DDSDDE(3,3) = D1
149 DDSDDE(4,4) = G
150 if (NTENS == 6) then
151 DDSDDE(5,5) = G
152 DDSDDE(6,6) = G
153 end if
154

155 return
156

157 end subroutine umat

The file can be generated by means of a standard text editor and saved as namefile.f in order
the compiler to recognize the FORTRAN format.

4.5.2 Compiling and creating the dll file

To take advantage of an external material model, that has been implemented in the FORTRAN
code, to run a simulation with Anura3D, the subroutines should be compiled and linked in the
form of dll (Dynamic Link Library). It is highly recommended to use the Intel FORTRAN
compiler to create DLL, for compatibility reasons. Other compilers cannot be guaranteed to
work with the Anura3D code.

In the following an example of how to generate a dll by means of Visual Studio 2015 and
INTEL Parallel Studio - FORTRAN 2016 is shown:

(1) Open Visual Studio 2016 > Select File > New > Project (Figure 4.21).

Figure 4.21: Selection of project menu

(2) Under the Intel(R) Visual FORTRAN branch, select Library and then Dynamic-Link Library
as shown in Figure 4.22.
Triaxial compression test 99

Figure 4.22: Input window of new project

(3) Add file(s) from the menu that appears by right-clicking on the project name in the solution
explorer as shown in Figure 4.23. Remember to include the abaparm.inc in the same
folder where the file is placed.

Figure 4.23: Add file to the project

(4) Select ‘Release’ from the Solution Configuration at the top of Intel FORTRAN window.
Then open the ’Configuration Manager’ as shown in Figure 4.24 to select the proper build
configuration.

Figure 4.24: Opening of the configuration manager

(5) In the ’Configuration Manager’ change the Platform from ’Win32’ to ’x64’ as shown in
Figure 4.25 to select the proper build Platform.
100 Anura3D MPM Software, Tutorial Manual

Figure 4.25: Selecting the ’x64’ option

(6) Press <Alt>+<Enter> to open the Project Property Page to select the FORTRAN building
options. In particular, the following selections have to be done, while the rest can be set
to the default value:

 SuppressStartupBanner="true" (’General’ Section)

 ReentrantCode="reentrancyThreaded" (’Code Generation’ Section)
 FixedFormLineLength="fixedLength132" (’Language’ Section)
 RealKIND="realKIND8" (’Data’ Section)
 LocalVariableStorage="localStorageAutomatic" (’Data’ Section)
 FloatingPointModel="strict" (’Floating Point’ Section)
 ExtendSinglePrecisionConstants="true" (’Floating Point’ Section)
 UseMkl="mklParallel" (’Libraries’ Section)

Figure 4.26: Selecting the FORTRAN building options

(7) Click the ‘Build Solution’ function under ‘Build’ menu as shown in Figure 4.27 to start
the build process. The message shown in Figure 4.28 will appear on the Output window
when the compiler successfully generated the DLL file
 Triaxial compression test 101

Figure 4.27: Build the solution

Figure 4.28: Output window of the solution builder

4.5.3 Definition of a User Defined Soil Model in Gid

In order to use the ESM, the option External Soil Model has to be selected in the material
dialogue box and in which the parameters of the model parameters and initial state variables
are specified (Figure 4.29). Note that the name of the dll (without the extension) has to be
placed in the specified option box.

Figure 4.29: Definition of external soil model in GiD.

The last step of the procedure consists in copying the dll file into the folder that the processor
creates when generating Anura3D input files.
102 Anura3D MPM Software, Tutorial Manual

Results from the example of External Soil Model application

The same simulation as the previous example is run with this ESM. As the stiffness of the ma-
terial changes in the computation, the critical time step is decreases as shown in Figure 4.30.

Figure 4.30: Time step evolution during calculations.

The increase in stiffness can be detected even plotting the average mean pressure over the
sample with the average volumetric strain, as can be seen in (Figure 4.31).

Figure 4.31: Mean pressure agains volumetric strain. Increase of the material stiffness.
 5 Sliding blocks
Authors: Alba Yerro; Alexander Chmelnizkij; Alexander Rohe; James Fern; John Murphy; Luis
E. Zambrano-Cruzatty

This tutorial demonstrates the use of the contact formulation with three blocks sliding on an in-
clined plane. Different friction and adhesion parameters will be used illustrating their influence
on the sliding blocks. Finally, the kinematics of the blocks are compared with the analytical
solution for an infinite slope problem.

5.1 Problem definition

Three blocks are initially located at different heights on an inclined plane. The plane is divided
in two different sections – the lower part and the upper part. The inclined plane ends in a
horizontal plane. The geometry and the dimensions of the problem are given in Figure 5.1
and Table 5.1. Large deformation MPM models require defining empty spaces in which the
material points are free to move in and these spaces have to be defined in the model and
meshed. The contact algorithm will be applied between each sliding block and the plane. The
contact formulation implemented in Anura3D allows the different contact parameters along
the contact surface. Hence, different friction angles and adhesion values will be specified for
each combination. All materials in this analysis are considered as linear elastic and in dry
conditions. The properties for the materials are given in Table 5.2.

The calculation will be carried out in two stages.

(1) initialisation of stresses by quasi-static gravity loading,

(2) sliding of blocks down the plane by switching on the contact formulation.

Figure 5.1: Problem definition for the sliding blocks problem.

 104 Anura3D MPM Software, Tutorial Manual

Table 5.1: Dimensions of the sliding blocks problem.

dimension value
r 5m
e 0.5m
z 0.0m
h1 7m
h2 8.25m
h3 9.5m
h4 10m
x1 5m
x2 5m
x3 9m
y1 4m
b 1.118m
α 26.56◦

Table 5.2: Material parameters for the sliding blocks and the soil.

material block 1 block 2 block 3 plane

material type dry material dry material dry material dry material
initial porosity [–] 0.0 0.0 0.0 0.0
density solid [kg/m3 ] 2000 2000 2000 4000
K0-value [–] 0.0 (*) 0.0 (*) 0.0 (*) 0.0 (*)
material model solid Linear Elasticity Linear Elasticity Linear Elasticity Linear Elasticity
Poisson ratio [–] 0.33 0.33 0.33 0.33
Young modulus [kPa] 20000 20000 20000 40000
(*) not used

5.2 Creating input data

The geometry, material properties, fixities, number of material points, contact properties, initial
calculation parameters, and mesh will be defined with GiD. This follows a similar procedure
as previously described in Section 3.2.

5.2.1 Starting pre-processor

Start the GiD pre-processor following the steps as described in Section 3.2.1. Save the project
in the desired directory on the hard disk with an appropriate name (e.g. "blocks").
 Sliding blocks 105

5.2.2 Defining geometry

Create the geometry considering the dimensions given in Table 5.1 and follow the steps de-
scribed below.

(1) Define points and lines of one the faces of the model (Figure 5.2) using the point coordi-
nates indicated in Table 5.3.

Figure 5.2: Geometry of the front face of the model. Key points are indicated.

(2) Smooth the sharp kink at the toe of the slope (Figure 5.3) by creating an arc tangent to two
lines. Choose <Geometry> <Create> <Arc> <Fillet curves> as presented in Figure 5.4 to
create an arc tangent to two lines.

Figure 5.3: Sharp kink at the toe of the slope.

106 Anura3D MPM Software, Tutorial Manual

Table 5.3: Key point coordinates of front faces of the sliding blocks problem.

Point X coordinate [m] Y coordinate [m]

P1 -5 2.5
P2 0 0
P3 5 0
P4 5 -0.5
P5 0 -0.5
P6 -5 2
P7 -20 9.5
P8 -20 10
P9 -19.5 9.75
P10 -18.5 9.25
P11 -17 8.5
P12 -16 8
P13 -14.5 7.25
P14 -13.5 6.75
P15 -13 7.75
P16 -14 8.25
P17 -15.5 9
P18 -16.5 9.5
P19 -18 10.25
P20 -19 10.75
P21 -20 14
P22 0 4
P23 5 4

Figure 5.4: Dialog box to create an arc the with the "Fillet curves" option.

(3) Write the radius of the arc r indicated in Table 5.1 in the command line (Figure 5.5) and
press <ENTER>.

Figure 5.5: Enter radius of the arc r.

Sliding blocks 107

(4) Select the first tangent line (Figure 5.6) and press <ENTER>. Select the second tangent
line and press <ENTER> (Figure 5.7). The sharp kink has been replaced by an arc as
indicated in Figure 5.8.

Figure 5.6: Select first tangent line of the arc.

Figure 5.7: Select second tangent line of the arc.

 108 Anura3D MPM Software, Tutorial Manual

Figure 5.8: Rounded kink at the toe of the slope.

(5) Create surfaces following the explanations in Chapter 3.2.2. The final geometry should
look like shown in Figure 5.9.

Figure 5.9: Geometry of the sliding blocks problem.

5.2.3 Defining material properties

Before specifying material properties, ensure that the Anura3D problemtype has been set as
described in Section 3.2.1 step (2).

The sliding blocks model consists of four different materials – one for each block ("block1",
"block2", and "block3") and another one for the material conforming the slope ("plane"). Follow
the instructions detailed in Section 3.2.3 to define each material and assign it to the respective
volume(s). Material parameters are detailed in Table 5.2. It is important to emphasize that
the last material to be defined must be the contact body ("plane" in this case). Finally,
check the assigned materials to be as shown in Figure 5.10.
 Sliding blocks 109

Figure 5.10: Materials of the sliding blocks problem.

5.2.4 Specifying material points

Specify the initial material point distribution following instructions from Section 3.2.4. For this
case, choose 3 material points per element for the plane and each of the blocks. Check if the
material points are assigned correctly (Figure 5.11).

Figure 5.11: Specification of the number of material points per element in the sliding
blocks problem.
 110 Anura3D MPM Software, Tutorial Manual

5.2.5 Defining boundary conditions

Define the boundary conditions following the steps as described previously in Section 3.2.5.

Applying fixities
As the material is dry, only the solid phase needs to be considered. The solid displacement
at the boundaries will be fixed as follows.

(1) Left side: horizontal fixity in x-direction on both lines

(2) Right side: horizontal fixity in x-direction on both lines
(3) Top side: vertical fixity in y-direction on both lines
(4) Bottom side: full fixities in x- and y-direction on all three lines
(5) Check if the x- and y- fixities are assigned correctly (Figure 5.12)

Figure 5.12: Solid fixities of the sliding blocks problem in GiD.

5.2.6 Defining contact properties

The contact formulation implemented in Anura3D allows the definition of different contact
properties (friction angle and adhesion) for each sliding material. These properties can also
change in each segment of the contact surface. For this exercise, there are three different
sliding materials (block 1, block 2, and block 3) and two sections in the base plane (the upper
part and the lower part).

Table 5.4: Contact parameters between the sliding blocks and each surface of the base
plane.

base plane
upper part lower part
block 1 friction 0.3 0.45
adhesion [kPa] 0.0 0.0
block 2 friction 0.325 0.45
adhesion [kPa] 0.0 0.0
block 3 friction 0.35 0.45
adhesion [kPa] 0.0 0.0

Follow the instructions as detailed below to assign the contact properties between blocks and
base plane.
Sliding blocks 111

(1) Choose <Anura3D> <Contact Properties> from the menu as shown in Figure 5.13 OR
press <Ctrl>+<Shift>+<H>.

Figure 5.13: Select <Contact Properties> in <Anura3D>.

(2) Click on the "2D-Body contact" in the "Contact Properties" dialogue box as shown in Fig-
ure 5.14.
(3) Select the "number of materials" as "3" since there are three sliding blocks.
(4) Define the friction and adhesion between each block and the upper part of the slope filling
the spaces in the box as shown in Figure 5.14. The contact properties are specified in
Table 5.4. Note that the term included in "MATERIAL" must be exactly the same name of
the material defined in Section 5.2.3. Otherwise, the contact will not be properly assigned.

Figure 5.14: Select "Body contact".

(5) Click on the button <Assign> and select the surface corresponding to the upper part of the
slope as shown in Figure 5.15. The selected volume should turn red.
112 Anura3D MPM Software, Tutorial Manual

Figure 5.15: Assign contact properties between each block and the upper part of the
slope.

(6) Press <Esc> and click on <Finish> to save the contact properties for the upper part of the
slope.
(7) Define the friction and adhesion between each block and the lower part of the slope by
rewriting the contact properties as shown in Figure 5.16 and according to the values spec-
ified in Table 5.4.

Figure 5.16: Definition of the contact properties between each sliding block and the lower
part of the slope.

(8) Click on the button <Assign> and select the lower surface of the soil layer. The selected
surface should turn red.
(9) Press <Esc> and click on <Finish> to save the contact properties for the lower part of the
slope.
 Sliding blocks 113

(10) Click on <Draw> and select <Colours> in the box to check if the contact properties are
properly assigned. It should look like Figure 5.16.
(11) Press <Close> to save contact properties.

5.2.7 Creating mesh

It is possible to generate meshes in many different ways in GiD. A unstructured mesh is used
for this example. To generate the mesh follow the steps detailed below.

(1) Choose <Mesh> <Generate mesh...> from the menu as shown in Figure 5.17.

Figure 5.17: Select <Mesh> <Generate mesh...>.

(2) Enter the value "0.3" in the new dialogue box to indicate the mesh size for the lines as
shown in Figure 5.18.

Figure 5.18: Enter the number of divisions and assign it to semi-structured volumes.
114 Anura3D MPM Software, Tutorial Manual

(3) Click the <OK> button. The mesh will be generated and the progress is shown in the
"Progress in meshing" dialogue box as shown in Figure 5.19. The number of generated
tetrahedral elements can be seen as well as the number of generated nodes.

Figure 5.19: Mesh generated dialogue box.

(4) Click on the <View mesh> button to quit the meshing process and see the generated
mesh. It should look like Figure 5.20

Figure 5.20: Computational mesh of the sliding blocks problem.

 Sliding blocks 115

5.2.8 Initialisation of calculation data

As mentioned in Section 5.1, the calculation of the sliding blocks problem will be carried out
in two stages – (1) initialisation of stresses, and (2) sliding of the blocks down the plane. Only
the calculation parameters need to be defined in GiD (i.e. stage 1).

Dimension
Select "2D-plane strain" for the dimension of the calculation.

Computation method
The computation method used is the Gauss point integration. Therefore the option "MPM -
mixed integration" should be selected.

Calculation step data

The duration of the initial stage of the calculation corresponding to the stresses initialisation
will be automatically determined. The value for the time per calculation step is, therefore,
not needed in this case. A Courant number of 0.9 is recommended to ensure stability of the
solution.

Gravity load
Select "apply gravity load-stepwise" Initial stresses are zero by default and need to be ini-
tialised. In this example, the gravity is applied suddenly but the model will be heavily damped.
Therefore, set the multipliers for gravity loading as 1.0 (initial and final value). This is main-
tained constant throughout the calculation. In this example, there is no additional external
load. Therefore, the multipliers for external load can be kept at default values.

Quasi-static convergence
The determination of the end of the gravity loading is determined by convergence criteria,
which corresponds to a quasi-static equilibrium condition. The convergence criteria are the
tolerated error of the out-of-balance force, the tolerated error of the kinetic energy or the
maximum number of time steps.

Homogeneous local damping

In order to converge to the quasi-static solution, an overall local damping coefficient for all
active elements of 0.75 is applied during the first stage of the calculation.

Contact
Sliding of the blocks is not allowed during the stresses initialisation. Therefore, contact formu-
lation is not yet required during the first stage of the calculation hence this input must be kept
as "no contact" (default).

Default values
All other calculation options are not used in this example and the provided default values can
be kept, i.e. gravity data, contact algorithm, smoothing algorithms, quasi-static convergence,
etc.

To define the initial calculation parameters, follow the instructions detailed in Section 3.2.7.
For this example, enter the values given below as shown in Figure 5.21.

 select "COMPUTATION METHOD" as "MPM - mixed integration" from the drop down
menu
 set "number of calculation steps [-]" to "1"
116 Anura3D MPM Software, Tutorial Manual

 set "time per calculation step [s]" as "1.0". Note that any value except 0.0 can be entered
as the quasi-static convergence criterion is used.
 set "Courant number" to "0.9"
 set "gravity (initial, final) [-]" to "1.0 1.0"
 set "QUASI-STATIC CONVERGENCE" as "apply convergence criteria" from the drop down
menu
 set "HOMOGENEOUS LOCAL DAMPING" as "apply homogeneous local damping" from
the drop down menu
 set "local damping coefficient [-]" to "0.75"

All other calculation parameters can be kept at their default values. It is important to note that
during stage 1 the "CONTACT" is set to "no contact" (default option).
 Sliding blocks 117

Figure 5.21: Dialogue box to define calculation parameters in GiD for the sliding blocks
problem.

5.2.9 Generating input files

After the geometry, material properties, boundary conditions, loading conditions and calcula-
tion parameters are defined and the mesh is generated the input files for the Anura3D analysis
(i.e. GOM and CPS file) have to be created. To generate the GOM and CPS file follow the
steps as described in Section 3.2.8.

The generated input files blocks.GOM and blocks.CPS_001 can be found in the new folder
blocks.A3D in the directory, which was specified earlier by the user (Section 5.2.1):
D:\..\blocks.A3D\blocks.GOM
 118 Anura3D MPM Software, Tutorial Manual

D:\..\blocks.A3D\blocks.CPS_001

5.3 Performing calculation in Anura3D

The calculation will be carried out in two stages as follow.

1) initialisation of stresses by quasi-static gravity loading,

2) sliding of blocks down the plane by switching on the contact formulation.

5.3.1 Stage 1: Initialisation of stresses

A new folder has been generated in the directory, which was specified earlier by the user
(Section 5.2.1), i.e. blocks.A3D:
D:\..\blocks.A3D

This folder should contain five files which are necessary to initiate an Anura3D calculation, i.e:
D:\..\blocks.A3D\blocks.GOM

D:\..\blocks.A3D\blocks.CPS_001

D:\..\blocks.A3D\calculate.bat

D:\..\blocks.A3D\Anura3D_2021.exe

D:\..\blocks.A3D\libiomp5md.dll

The Anura3D calculation can be started following instructions described in Section 3.3.

Stage 1 of the calculation starts and output is generated in the "Command Line" window indi-
cating the progress of the calculation. Any possible input and calculation errors are displayed
in this window as well. The output files are generated and stored in the project directory
D:\..\blocks.A3D.

The calculation of stage 1 should be finished in a few seconds depending on the performance
of your PC.

5.3.2 Stage 2: Sliding blocks

After the calculation of the stage 1 is finished, continue with defining the calculation param-
eters for stage 2 in the last CPS file generated during the first stage. Therefore, open the
CPS file with extension "_002":
D:\..\blocks.A3D\blocks.CPS_002

In the second stage, 70 additional load steps will be calculated. The time per load step is
set as 0.1 seconds to be able to follow (and visualise) the sliding of the blocks in small steps.
Therefore set:
Sliding blocks 119

1 $$NUMBER_OF_LOADSTEPS
2 71

1 $$TIME_PER_LOADSTEP
2 0.1

Verify that the gravity is kept at full level, and therefore the gravity multipliers are equal to:
1 $$GRAVITY_LOAD
2 step 1.0 1.0

Switch off the convergence to the quasi-static equilibrium as the full dynamic behaviour will
be analysed, therefore:
1 $$QUASISTATIC_CONVERGENCE
2 0

For the same reason, reduce the local damping coefficient to 1% and set:
1 $$HOMOGENEOUS_LOCAL_DAMPING
2 1 0.01

Switch on the contact formulation to allow sliding between blocks and base according to the
contact parameters defined in Section 5.2.6. Therefore, set:
1 $$CONTACT_FORMULATION
2 1

All other calculation options are not used in this example and the provided default values can
be kept in the CPS file.

Continue the calculation in the same project directory following instructions described in Sec-
tion 3.3. The CPS file with the highest step number will automatically be chosen for calcula-
tion (i.e. block.CPS_002). The next 70 load steps will be calculated and the progress can be
followed in the command line window.

The calculation of stage 2 should be finished in about three minutes depending on the perfor-
mance of your PC.
 120 Anura3D MPM Software, Tutorial Manual

5.4 Visualisation of results in ParaView

Following the steps described in Section 3.4, the three material points, as shown in Fig-
ure 5.22, will be examined.

Figure 5.22: Location of material points 208, 418 and 628.

The output in ParaView can be exported to different types of files. To compare the numerical
results of the sliding block problem with analytical solutions for an infinite slope the results are
saved as .csv files. This can be done by choosing <File> <Save Data...> from the main menu.
The output file can be generated either for one specific or for all load steps (Figure 5.23).

Figure 5.23: Options for saving output files in ParaView.

 Sliding blocks 121

These files can be imported for example in Matlab or MS Excel. The analytical solution for
the horizontal displacement of a sliding block on an infinite slope with an inclination α and a
friction coefficient µ is


sx = 0.5 · g · sin(α) – µ · cos(α) · cos(α) · t2 (5.1)

where g denotes the gravity.

5.5 Variations
The variations proposed for the sliding blocks problem are listed below.

(1) Examine the influence of different values of friction angle and adhesion in the sliding kine-
matics of the blocks.
(2) Examine the behaviour of the blocks depending on their Young’s moduli.
(3) Use different material constitutive models for the blocks (i.e. Mohr-Coulomb).
(4) Explore the behaviour of the blocks depending on the curvature at the kink, by changing
the radius of the arc.

To perform each variation, you can copy the original project, and save it using another name
(e.g. blocks_var1.A3D, blocks_var2.A3D, ...). Then, change the corresponding contact
properties, material properties or geometry in GiD following instructions from Section 5.2, and
repeat the calculation process in two stages described in Section 5.3.

Furthermore the presented 2D problem can be expanded to a 3D calculation using the "3D-
Body contact" and defining all conditions on surfaces and volumes instead an lines and sur-
faces. In Figure 5.23 the 3D version of the presented problem, with a depth of 0.5 m, is
shown.

Figure 5.24: Three-dimensional variation of the sliding blocks problem.

5.6 Discussion
Note that the contact formulation implemented in Anura3D considers rigid contact surfaces.
This means that to use the contact formulation in a proper manner, you should be able to dis-
tinguish two types of material in your problem: the "base" material (which should not deform),
and the "sliding" material or materials (which slide on top of the "base"). With this configura-
tion, potential contact surfaces are determined at the very beginning of the calculation. The
122 Anura3D MPM Software, Tutorial Manual

contact surface geometry is not updated during the calculation, hence the computation time
is optimised.
 6 Column collapse
Authors: Alba Yerro; Alexander Rohe; James Fern; Amine Aboufirass; Marc Stapelfeldt; Gaia
Di Carluccio; John Murphy; Pietro Marveggio; Veronica Girardi

This tutorial explains how to simulate the collapse of a granular column. The granular column
collapse is a well-established experiment which consists in releasing a column of sand on a
flat surface and looking at the liquid-like flow and final deposition profile.

The current version of Anura3D provides two-dimensional plane strain and axisymmetric as
well as three-dimensional analyses. This exercise contains a two-dimensional example, which
can be modified for axisymmetric or three dimensional calculations. In addition, several alter-
natives of the problem are proposed such as different size of column, different materials (e. g.
dry or saturated soil) and different boundary conditions.

6.1 Problem definition

The dimensions of the problem are given in Figure 6.1. Note that the area into which the
material is supposed to flow has to be included in the mesh discretisation to allow material
points to move freely. A base layer is included for basal friction. The dimensions are given in
Table 6.1.

The first analysis consists of a one-phase calculation. Therefore, both the column and base
will be modelled as dry materials. The material properties are given in Table 6.2.

The calculation will be performed in two stages:

1) stress initialisation with quasi-static gravity loading

2) failure of the column by removal of column fixities

Figure 6.1: Problem definition for the case 2D of a collapsing column including base layer.
 124 Anura3D MPM Software, Tutorial Manual

Table 6.1: Dimensions of the collapsing column.

column height column width depth box height box width base layer
ratio
H [m] W [m] D [m] B [m] L [m] S [m]
2:1 2.0 1.0 0.1 2.1 10.0 0.2

Table 6.2: Material parameters of the collapsing column.

material column base

material type dry material dry material
initial porosity [–] 0.4 0.4
solid density [kg/m3 ] 2650 2650
K0 -value [–] 0.0 (*) 0.0 (*)
material model solid Mohr-Coulomb Linear Elasticity
Young’s modulus [kPa] 10000 10000
Poisson ratio [–] 0.3 0.3
cohesion [kPa] 0 -
friction angle [◦ ] 20 -
dilatancy angle [◦ ] 0 -
tensile strength [kPa] 0 -
*not used

6.2 Creating input data in GiD

The geometry, boundary conditions, material properties, and mesh are defined using the GiD
pre-processor. The calculation options will be defined in the CPS file. Both follow the
same procedure as previous examples. Note that this geometry is defined in 2D as the case
described in Section 3.2.

6.2.1 Starting pre-processor and selecting problemtype

Start the GiD pre-processor following the steps as described previously in Section 3.2.1. Save
the project in the desired directory on the hard disk with an appropriate name (e. g. "Column-
Collapse") as shown in Figure 6.2.

Figure 6.2: Projectname of the project "columncollapse" in GiD.

 Column collapse 125

6.2.2 Defining geometry

Create the geometry by following the steps as described in Section 3.2.2. The dimensions of
the problem are given in Table 6.1. Unlike for Lagrangian FEM models, MPM models require
the definition of empty volumes in which the material points can move into. One should think of
the possible large deformed configuration of the material when defining the model geometry.

In this example, a two-dimensional column with an initial aspect ratio of 2 ( = height/base ) will
be created by creating 6 rectangles as shown in Figure 6.3. A structured mesh will be utilised.

Figure 6.3: Geometry of the two-dimensional column collapse problem for ratio 2:1 in-
cluding empty entities on the right and top side of the column.

6.2.3 Defining material properties

Define the material properties as described previously in Section 3.2.3. The first example is
for a column of dry soil. Two materials are defined – one for the base layer and one for the
column. The base layer is linear elastic and the column has an elastic-plastic Mohr-Coulomb
model. The model parameters are given in Table 6.2 and shown in Figure 6.4. The materials
now have to be assigned to their respective surfaces as shown in Figure 6.5.

(a) (b)

Figure 6.4: Defining material properties for the column collapse problem in GiD. a) Prop-
erties for the base layer. b) Properties for the column (case of a dry soil).
 126 Anura3D MPM Software, Tutorial Manual

Figure 6.5: Materials of the column collapse problem in GiD for the case of a dry soil
column. Base layer in green and soil column in yellow.

6.2.4 Specifying material points

Specify the initial material point distribution following instructions from Section 3.2.4. Choose
3 material points per element for the column and base. Check if the material points are
assigned correctly (Figure 6.6).

Figure 6.6: Specification of the number of material points per element in the column col-
lapse problem.

6.2.5 Defining boundary conditions

Define the boundary conditions following the steps detailed below.

Applying fixities
Apply the fixities for the column collapse problem following the steps described previously in
Section 3.2.5. Because this first example is a one-phase calculation, the boundary conditions
are applied only on lines for solid phase.

(1) Left side at x = 0.0: horizontal fixity in x-direction on all three lines
(2) Right side at x = 10.0: horizontal fixity in x-direction on all three lines
(3) Right side of column at x = 1.0: horizontal fixity in x-direction on the middle surface
(4) Top side at y = 2.1: vertical fixity in y-direction on both lines
(5) Bottom side at y = -0.2: full fixities in x-, y-direction on both lines
(6) Check if the fixities are assigned correctly (Figure 6.7)

Note that at the top boundary of the column itself no fixities are applied. The assigned solid
fixities of the column collapse problem should look like shown in Figure 6.7.
Column collapse 127

Figure 6.7: Fixities of the two-dimensional column collapse problem in GiD.

Removing fixities
At the right side of the column, the applied horizontal fixities in x-direction have to be removed
to allow the column to collapse. The following steps should be taken in order to remove fixities.

(1) Choose <Anura3D> <Remove Fixities> from the menu as shown in Figure 6.8 or press
<Ctrl>+<Shift>+<D>.

Figure 6.8: Open dialogue box to remove fixities in GiD.

(2) The "Remove Fixities" dialogue box appears. In this example, fixities have to be removed
on lines. Select the line icon at the top of the window as shown in Figure 6.9. Due to the
dry nature of the soil here, "Remove Solid Fixity (line)" option should be active.
128 Anura3D MPM Software, Tutorial Manual

Figure 6.9: Removing surface fixities dialogue box in GiD.

Column collapse 129

(3) Select the "x-direction" as shown in Figure 6.10. Click on "Assign" and select the line at
the right side of the column by clicking with the cursor on them. After selection the line
should turn red.

Figure 6.10: Removing surface fixities in x-direction in GiD.

(4) Press <ESC> or click on <Finish> in the "Remove Fixities" dialogue box to leave the
selection of lines.
(5) Check if the fixities are removed correctly: In the "Remove Fixities" dialogue box click on
<Draw> and select <Colors>. The removed fixities of the column collapse problem should
look like shown in Figure 6.11.

Figure 6.11: Checking removed fixities for column collapse problem in GiD.

(6) Click on <Finish> and <Close> to quit the assigning fixities process.
 130 Anura3D MPM Software, Tutorial Manual

6.2.6 Creating mesh

A structured mesh will be used with an element size of 0.1m in each coordinate direction. The
surfaces have to be selected in which the structured mesh should be created. Afterwards, the
mesh size has to be assigned to the bounding lines by specifying the element length in each
direction.

Double check that the quadratic type is <normal> in the menu <Mesh> <Quadratic type> as
shown in Figure 6.12.

Figure 6.12: Definition of the quadratic type in GiD.

Choose the element type to be <Triangle> in the menu <Mesh> <Element type> as shown in
Figure 6.13 and select all the surfaces to assign triangular elements.

Figure 6.13: Definition of the quadratic type in GiD.

The properties of the structured mesh are defined by selecting <Mesh> <Structured> <Lines>
<Assign size> from the menu as shown in Figure 6.14.
Column collapse 131

Figure 6.14: Definition of structured mesh properties in GiD.

With the appearing cursor, select all surface entities of the geometry. Each bounding box of
selected surface entities should turn red. When all surfaces are selected, press <ESC> to
leave. In the appearing dialogue box, enter the element size that should be assigned to all
lines, i. e. 0.1, as shown in Figure 6.15.

Figure 6.15: Assigning element size to entities.

Click on the button <Assign> and select all line entities bounding the volume entities with the
appearing cursor. Each selected line should turn red. When all lines are selected, press
<ESC> to leave. In the appearing dialogue box, click on the button <Close> to finish the
definition of structured element size.

Continue the generation of the mesh as described in Section 3.2.6. The structured mesh with
element size of 0.1m should look like shown in Figure 6.16.

Figure 6.16: Mesh in GiD for the case of a column with ratio 2:1 including empty entities.
 132 Anura3D MPM Software, Tutorial Manual

6.2.7 Initialisation of calculation data

As mentioned in Section 6.1, the calculation of the column collapse problem will be carried
out in two stages: (1) initialisation of stresses by quasi-static gravity loading, and (2) failure of
the column by removal of column fixities.

Computation method
The computation method used in this example is the Gauss point integration. Therefore, the
option "MPM - mixed integration" should be selected.

Calculation step data

The initial stage of the calculation corresponding to the stresses initialisation will be performed
in two calculation steps. The end of each calculation step will be determined by the conver-
gence criteria, see below in the "Quasi-static convergence". A Courant number of 0.98 is
recommended for the stability of the solution.

Load multipliers
The default initial stresses are zero. Then, the gravity is applied in two steps. Set the multipli-
ers for gravity loading as 0.0 (initial) and 1.0 (final value).

Quasi-static convergence
The end time of the gravity loading is achieved when a quasi-static equilibrium condition is
reached. The convergence criteria are the tolerated error of the out-of-balance force, the
tolerated error of the kinetic energy, or the maximum number of time steps as specified below
in the CPS file.

Homogeneous local damping

A local damping coefficient for all active elements of 0.75 is applied during gravity loading.

Strain smoothing
The strain smoothing algorithm will be used to minimise kinematic locking, which might occur
for volumetric strains.

Define the initial calculation parameters by following the instructions referred in Section 3.2.7.
Enter the values given below.

 select "DIMENSION" as "2D - plane strain"

 select "COMPUTATION METHOD" as "MPM - mixed integration"
 set "number of calculation steps [-]" to "2"
 set "time per calculation step [s]" as "1.0". Note that any value except 0.0 can be entered
as the quasi-static convergence criterion is used.
 set "Courant number" to "0.98"
 select "apply gravity load - stepwise"
 check that "LOAD MULTIPLIERS" for "gravity" are set to "0.0 1.0"
 check that "loading type" is set as "change load multiplier per calculation step"
 select "QUASI-STATIC CONVERGENCE" as "apply convergence criteria"
 set "HOMOGENEOUS LOCAL DAMPING" as "apply homogeneous local damping" from
the drop down menu
 set "local damping coefficient [-]" to "0.75"
 select "STRAIN SMOOTHING" as "apply smoothing"
Column collapse 133

The other calculation parameters can be kept at their default values. Double check that the
parameters are set in accordance to Figure 6.17.

Figure 6.17: Dialogue box to define calculation parameters in GiD.

 134 Anura3D MPM Software, Tutorial Manual

6.2.8 Generating input files GOM and CPS

After the geometry, material properties, boundary conditions, removing fixities, body contact,
and calculation parameters are defined and the mesh is generated the input files for the
Anura3D analysis, i.e. GOM and CPS file, have to be created. To generate the GOM and
CPS file, follow steps referred in Section 3.2.8.

The generated input files ColumnCollapse.GOM and ColumnCollapse.CPS_001 can be found

in the new folder columncollapse.A3D, in the directory which was specified earlier by the
user (Section 6.2.1).
D:\..\ColumnCollapse.A3D\ColumnCollapse.GOM

D:\..\Columncollapse.A3D\Columncollapse.CPS_001

6.3 Performing calculation in Anura3D

The calculation will be performed in two stages as follows.

1) Initialisation of stresses by quasi-static gravity loading.

2) Failure of the column by removal of column fixities.

6.3.1 Stage 1: Initialisation of stresses

A new folder has been generated in the directory which was specified earlier by the user
(Section 6.2.1), i.e. columncollapse.A3D:
D:\..\ColumnCollapse.A3D

This folder should contain five files which are necessary to initiate an Anura3D calculation, i.e:
D:\..\ColumnCollapse.A3D\ColumnCollapse.GOM

D:\..\ColumnCollapse.A3D\ColumnCollapse.CPS_001

D:\..\ColumnCollapse.A3D\ColumnCollapse.bat

D:\..\ColumnCollapse.A3D\Anura3D_2021.exe

D:\..\ColumnCollapse.A3D\libiomp5md.dll

The Anura3D calculation can be started instructions described in Section 3.3. Stage 1 of
the calculation starts and output is generated in the "Command Line" window indicating
the progress of the calculation. Any possible input and calculation errors are displayed
in this window as well. The output files are generated and stored in the project directory
D:\..\ColumnCollapse.A3D.

The calculation of the gravity loading should be finished in approximately 30 seconds depend-
ing on the performance of your PC.
 Column collapse 135

6.3.2 Stage 2: Calculation of column failure

After the calculation of the first phase has finished, continue defining the calculation parame-
ters for the second stage.

1) Initialisation of stresses by quasi-static gravity loading.

2) Failure of the column by removal of column fixities.

For the second loading stage, the last CPS file that was generated during the first phase has
to be adapted. Therefore, open the CPS file with extension "_003":
D:\..\ColumnCollapse.A3D\ColumnCollapse.CPS_003

In the second phase 50 additional load steps will be calculated. The time per load step is set
as 0.05 seconds to be able to follow (and visualise) the collapse of the column in small steps.
Therefore set:
1 $$NUMBER_OF_LOADSTEPS
2 52

3 $$TIME_PER_LOADSTEP
4 0.05

Verify that the gravity is kept at full level and, therefore, the gravity multipliers are equal to:
23 $$GRAVITY_LOAD
24 step 1.0 1.0

Switch off the convergence to the quasi-static equilibrium as now the full dynamic behaviour
of the column will be analysed. Therefore:
31 $$QUASISTATIC_CONVERGENCE
32 0

For the same reason also reduce the local damping coefficient to 5% and set:
41 $$HOMOGENEOUS_LOCAL_DAMPING
42 1 0.05

To enable the collapse of the column the fixities (in this example only solid fixities) at the right
side of the column have to be removed. Therefore, set:
73 $$REMOVE_FIXITIES
74 100

All other calculation options in this example should be kept with the provided default values.

Continue the calculation in the same project directory following instructions described in Sec-
tion 3.3. Automatically, the CPS file with the highest step number will be chosen for calcula-
tion, i.e. columncollapase.CPS_003. The next 50 steps will be calculated and the progress
can be followed in the command line window.
 136 Anura3D MPM Software, Tutorial Manual

The calculation of the column failure phase should be finished in approximately 3 minutes
depending on the performance of your PC.

6.4 Visualisation of results in ParaView

The results for the dry column example are presented for the end of the gravity loading phase
and the end of the column failure phase.

6.4.1 Gravity loading

The vertical and horizontal effective stresses after gravity loading are shown in Figure 6.18.

(a)

(b)

Figure 6.18: Effective stresses [kPa] after gravity loading for one-phase dry soil.
a) Vertical stresses. b) Horizontal stresses.

6.4.2 Column collapse

The final total displacements after collapse are shown in Figure 6.19a. The deviatoric strain
after collapse is shown in Figure 6.19b. The vertical effective stress in [kPa] after collapse is
shown in Figure 6.19c.
 Column collapse 137

(a)

(b)

(c)

Figure 6.19: Total displacements (a), Deviatoric strain (b) and Vertical stresses (c) after
the collapse of one-phase dry soil.

6.5 Variations
The following cases are proposed.

(1) Three-dimensional plane strain model.

(2) Variation of the internal friction angle o the soil.
(3) Variation of the local damping.
(4) Variation of the column ratio.
(5) Saturated column colapse - fully coupled formulation.
(6) Apply contact formulation between the base and the soil.
 138 Anura3D MPM Software, Tutorial Manual

6.5.1 Variation: Three-dimensional plane strain model

Repeat the analysis with a three-dimensional model as shown in Figure 6.20. The dimensions
in z-direction for the three-dimensional model are given in Table 6.1.

Figure 6.20: Problem definition for the case 3D of a collapsing column including base
layer.

Extrude the two-dimensional geometry to create a three-dimensional model as shown in Fig-

ure 6.21. Re-assign the material properties, boundary conditions, removing fixities, body
contact, and calculation parameters. Create a mesh consisting of volume elements. It is
noted that three-dimensional analyses require significantly longer calculation times than two-
dimensional analyses.

Figure 6.21: Geometry of the two-dimensional column collapse problem for ratio 2:1 in-
cluding empty entities on the right and top side of the column.

The results presented in the following variations are obtained using the three-dimensional
model. The two-dimensional plane strain analysis should provide an equivalent solution to the
same problem since this is a plane strain problem (e. g. compare Figure 6.19b and 6.23a).
 Column collapse 139

6.5.2 Variation: Variation of the internal friction angle o the soil

Examine the influence of the internal friction angle of the soil column with the Mohr-Coulomb
constitutive model. There are two ways to re-run the simulation:

(1) Copy the initial files (GOM, CPS, libiomp5md.dll, caluclate.bat and anura3d.exe) to a new
folder. Open the GOM file in a text editor and search for $$FRICTION_ANGLE. Change this
value to the desired one and save. Open calculate.bat and change the folder address.
Then, re-run.
(2) Open the MPM model in GiD, change the friction angle to the desired value. Remesh,
save as new simulation, and generate files.

Results for different values for ϕ0 obtained from a three-dimensional model are shown in
Figures 6.23b and 6.23c.

6.5.3 Variation: Variation of the local damping

Examine the influence of local damping. Change the value of the local damping coefficient
in the range between 0.0 (no local damping) and 0.3 (large local damping) in the CPS file.
Compare the results with the case of 5% local damping. See results in Figure 6.23d.

The local damping coefficient controls the amount of local damping in the system and is de-
fined in the CPS file. Open the CPS file with a text editor, switch on the use of homogeneous
local damping and modify the local damping coefficient to e.g. 0.10.

1 $$HOMOGENEOUS_LOCAL_DAMPING
2 1 0.1

6.5.4 Variation: Variation of the column ratio

Examine the influence of the column ratio by changing the column ratio to 1:1 and 1:2. Change
the geometry in the GiD preprocessor. Compare the results with the case of 2:1. The dimen-
sions for each case are summarised in Table 6.3.

Table 6.3: Dimensions of the collapsing column for different ratios of height to width.

Column height Column width depth Box height Box width Base layer
ratio
H [m] W [m] D [m] B [m] L [m] S [m]
1:1 1.0 1.0 0.1 1.1 10.0 0.2
1:2 1.0 2.0 0.1 1.1 10.0 0.2

6.5.5 Variation: Saturated column colapse - fully coupled formulation

Change the material column to a saturated soil with Mohr-Coulomb elasto-plastic model using
the parameters given in Table 6.4 and perform a two-phase coupled analysis. In this case the
fixities should be applied also to the liquid phase. Compare the results with the case of the
dry soil column.

Material definition: In the GiD preprocessing, the column material type has to be set to "sat-
urated material" and the material properties have to be defined accordingly (Table 6.4). The
140 Anura3D MPM Software, Tutorial Manual

Table 6.4: Material parameters of the collapsing column for different variations.

Parameter Unit Soil

Material type saturated material - fully coupled
Density liquid [kg/m3 ] 1000
Bulk modulus liquid [kPa] 2.15 · 104
Dynamic viscosity liquid [kPa/s] 1.002 · 10–6
Initial porosity [–] 0.4
Solid density [kg/m3 ] 2650
K0-value [–] 0.5
Intrinsic permeability [m2 ] 1.0214 · 10–9
Material model solid Mohr-Coulomb
Young’s modulus [kPa] 10000
Poisson ratio [–] 0.3
Cohesion [kPa] 0
Friction angle [◦ ] 30
Dilatancy angle [◦ ] 0
Tensile strength [kPa] 0

calculation will be automatically performed with the fully coupled two-phase formulation.

Applying fixities: The same boundary conditions as defined in Section 6.2.5 must be applied
to both solid and liquid phases using the "Solid and Liquid Fixity (surface)" option. A liquid
fixity has to be defined in vertical direction (y-direction) at the top boundary of the base layer
(Figure 6.22). This fixity ensures impermeability at the base.

Figure 6.22: Liquid fixities of the column collapse problem in GiD.

Removing fixities: At the right side of the column, the applied solid and liquid fixities in the
horizontal direction (x-direction) have to be removed to allow the column to collapse after its
stresses are initialised. Therefore, in GiD preprocessor, follow the steps form Section 6.2.5
but in this case select "Remove Solid+Liquid Fixity (surface)" option. The fixities at the right
side of the column have to be removed for both the solid and the liquid to allow the column to
collapse. Therefore, set the following in the CPS file.
1 $$APPLY_REMOVE_FIXITIES
2 110
 Column collapse 141

6.5.6 Variation: Apply contact formulation

Apply the contact formulation (refer to 5) between the column and the base layer by using the
body contact option in the GiD preprocessor. Examine the influence of the friction coefficient
in the range between 0.0 (no friction) up to 0.577 (fully rough contact for an angle of internal
friction of 30◦ ).

Contact properties must be defined in GiD preprocessor following instruction from Section 5.2.6.
Note that in this example only one material "column" slides on top of the base layer.

Switch on the contact formulation to allow sliding between the column material and the base
layer. Therefore, set the following in the CPS file.
1 $$CONTACT_FORMULATION
2 1

(a)

(b)

(c)
(d)

Figure 6.23: Results of deviatoric strain after collapse for: a) 3D problem with a friction
angle of ϕ0 = 20◦ , b) case 1 with a friction angle of ϕ0 = 30◦ , c) re-calculation
with a friction angle of ϕ0 = 60◦ , d) re-calculation with homogeneous local
damping of 30%

6.6 Discussion
Some general remarks:
142 Anura3D MPM Software, Tutorial Manual

 With material point integration (i.e. MPM-MP) the results are less accurate as with Gauss
point integration (i.e. MPM-MIXED). Due to larger inaccuracies due to bigger effects of
grid crossing of material points, the stresses are less accurate and solution is converging
less good.
 Using an unstructured mesh increases the calculation time as the critical time step is
usually reduced. The results are not significantly different for this example.
 Using the strain smoothing algorithm shear bands appear much more localised than using
classic Mohr-Coulomb model, but this has an effect on strain-history dependent models.
 A more in-depth discussion is available in "The role of constitutive models in MPM simu-
lations of granular column collapses" by Fern and Soga [4].
7 Shallow foundation
Authors: Alba Yerro; Francesca Ceccato; Alexander Rohe; Bruno Zuada; James Fern; John
Murphy; Luis E. Zambrano-Cruzatty; Abdelrahman Alsardi

This tutorial explains the use in Anura3D 2021 of the following functionalities:

 Load multipliers
 Prescribed velocity
 Reaction forces
 Moving mesh.

A shallow foundation problem is simulated in 2D-plane strain conditions to show the above
functionalities. The reaction of the soil to the structure movement is measured during the
calculation with the option Reaction Forces. The exercise is solved with two approaches:

(1) a load is applied at the top of the foundation, and its magnitude increases progressively
by means of the load multipliers.
(2) the foundation moves downward into the soil with a prescribed velocity bringing soil to
failure

The moving mesh feature [5–7] exploits the fact that in the MPM all properties of the continuum
are stored at the material points. Therefore, the mesh can be freely redefined at the end of
each time step because the mesh does not store any permanent information. The moving
mesh feature adjusts the mesh to the movement of a reference material (usually the structure,
i.e. the foundation in this case) after each time step, ensuring that the surface of the structure
coincides with element boundaries throughout the computation.

With this approach the mesh area adjacent to the foundation moves with the same average
displacement as the structure. The elements in this moving area keep the same shape during
the analysis, while the elements in a compressed area reduce their vertical length. The dis-
cretization of the compressed zone should be defined in such a way that the elements keep a
reasonable aspect ratio until the end of the simulation.

The moving mesh feature is particularly useful in combination with the contact formulation
and when reaction forces need to be computed. Indeed, if a body or structure is expected
to move during the simulation, it is necessary to keep the element boundaries aligned with
the object. Similarly, if the reaction forces on a predefined surface, for example the soil–
foundation interface, are computed, it is necessary that this interface follows the movement of
the structure. The reaction forces on a surface are computed as the sum of the nodal reaction
forces over the nodes belonging to the selected surface.
 144 Anura3D MPM Software, Tutorial Manual

b
Empty space e
Foundation h

Soil
y

Figure 7.1: Problem definition for failure of a shallow foundation.

Table 7.1: Dimensions of the shallow foundation problem.

dimension value
b 2m
h 1m
x 15m
y 10m
e 3m

7.1 Problem definition

A rectangular shallow foundation is considered on top of a horizontal layer of soil. Taking
advantage of the symmetry of the problem, only half of the model is discretized in order to
reduce the computational time. The geometry and the dimensions of the problem are given
in Figure 7.1 and Table 7.1. The problem is simulated in 2D-plane strain conditions. Note that
the boundaries have to be far enough from the foundation.

The foundation is elastic and the soil is modelled with the Mohr-Coulomb model. The proper-
ties for both materials are given in Table 7.2.
 Shallow foundation 145

Table 7.2: Material parameters of the foundation and the soil.

material foundation soil

material type dry material dry material
initial porosity [–] 0.0 0.4
density solid [kg/m3 ] 2000 (*) 2650
K0-value [–] 0.5 0.5
material model solid Linear Elasticity Mohr-Coulomb
Young modulus [kPa] 50000 20000
Poisson ratio [–] 0.33 0.33
cohesion [kPa] - 0.5
friction angle [◦ ] - 30
dilatancy angle [◦ ] - 0.0
tensile strength [kPa] - 0.0

Figure 7.2: Geometry of the front face of the shallow foundation model. Key coordinates
are indicated as given in Table 7.3.

7.2 Creating input data

The geometry, discretization, material properties, and all other input parameters will be de-
fined using the GiD pre-pocessor. This follows a similar procedure as described in Section
3.2. Here only the differences with respect to previous examples will be highlighted.

7.2.1 Starting pre-processor

Start the GiD pre-processor following the steps as described in Section 3.2.1. Save the project
in the desired directory on the hard disk with an appropriate name (e.g. "foundation").
 146 Anura3D MPM Software, Tutorial Manual

Table 7.3: Key coordinates of the front face of the shallow foundation problem.

Point X coordinate [m] Y coordinate [m]

P1 0 0
P2 15 0
P3 15 10
P4 15 13
P5 0 13
P6 0 11
P7 0 10
P8 2 10
P9 2 11

7.2.2 Defining geometry

To generate the geometry follow the instructions given in Section 3.2.2 considering the dimen-
sions given in Table 7.1. As a reference the key coordinates indicated in Figure 7.2 and Table
7.3 can be used.

7.2.3 Defining material properties

Before specifying material properties ensure that the problemtype has been set as described
in Section 3.2.1 step (2).

The shallow foundation model consists of two different materials: the foundation and the soil.
A 1-phase calculation will be performed because both materials are considered "dry". The
foundation is elastic and the material model for the soil is Mohr-Coulomb. Material parameters
are given in Table 7.2. Note that the Young modulus of the foundation used in this model is
small compared with real foundation materials such as concrete, but it is significantly larger
than the soil to ensure a rigid behaviour of the structure. A smaller Young modulus allows a
larger critical time step and results are achieved faster, usually after a few minutes.

Follow the instructions given in Section 3.2.3 to define each material and assign it to the
corresponding surfaces. Checking the assigned materials, it should look like shown in Figure
7.3.

7.2.4 Specifying material points

Specify the initial material point distribution following instructions from Section 3.2.4. In this
example choose 3 material points per element and assign it to the soil and the foundation
surfaces. Check if the material points are assigned correctly as shown in Figure 7.4.
Shallow foundation 147

Figure 7.3: Materials of the shallow foundation problem.

Figure 7.4: Specification of the number of material points per element in the shallow foun-
dation problem.
 148 Anura3D MPM Software, Tutorial Manual

Figure 7.5: Solid fixities of the shallow foundation problem in GiD.

7.2.5 Defining boundary conditions

Define the boundary conditions following the steps as described in Section 3.2.5.

Applying fixities
Since in this example materials are in dry conditions, only the solid phase needs to be con-
sidered. The solid displacement at the boundaries will be fixed as follows:

(1) Left side: horizontal fixity in x-direction on all three lines;

(2) Right side: horizontal fixity in x-direction on both lines;
(3) Top side: vertical fixity in y-direction on the top line;
(4) Bottom side: full fixities in x- and y-direction on the bottom line;
(5) Check if the x- and y- fixities are assigned correctly, see Figure 7.5;

Applying prescribed velocity

A prescribed velocity can be applied to the nodes or to the material points. In the first case,
at each time step, the prescribed value of velocity is applied at the selected nodes. In the
second case, the prescribed value is assigned at material points, and then it is mapped at
the nodes of the element, thus the body moves rigidly. It is highly recommended to use this
feature in combination with moving mesh in order to keep the boundary of the moving body
always aligned with the element boundary. Moreover, the prescribed velocity must be aligned
with the moving mesh direction and the moving mesh reference material must be the material
on which velocity is prescribed (see 7.2.7).

Table 7.4 shows the available options for prescribed velocity in 2D and 3D models. In Anura3D
2021only one of these options can be applied in the same project.

In this problem we will prescribed a velocity of –0.1m/s in y-direction at the material points
of the foundation, while the horizontal direction is free. This can be done through the menu
<Anura3D><Prescribed Velocities>:

(1) Select the symbol for surfaces.

(2) Form the top-down menu choose 2D - Material point velocity (surface).
(3) Select the box y-direction and enter –0.1m/s as the prescribed velocity.
(4) Click on the <Assign> button and choose the surface identifying the foundation, then press
<Esc>.
Shallow foundation 149

Table 7.4: Prescribed velocity options.

Material Points Nodes

Surfaces
2D Surfaces Lines
Points
Volumes
Surfaces
3D Volumes
Lines
Points

Figure 7.6: Applied prescribed velocity on node.

To check the assigned property go to <Draw><Colors> and you will get the result in Figure 7.6.
Note that x-direction is free, i.e. at the selected nodes the velocity will result from the solution
of the governing equations, while y-direction is prescribed, i.e. the velocity is –0.1m/s.

Applying loading conditions

A vertical load equal to –100 kPa will be applied in y-direction on the top of the foundation as
shown in Figure 7.7 (for more information on how to apply a load, please refer to "Applying
loading conditions in 2D and 3D" in section 3.2.5).

In this exercise the moving mesh approach will be used. That means that the surface on
which the load is applied will move together with the foundation, and therefore, the load can
be applied on the nodes. However, if a significant relative displacement between the loaded
surface and the material points is expected, the load should be applied on the material points
and is then carried by them throughout the simulation.
 150 Anura3D MPM Software, Tutorial Manual

Figure 7.7: Applied load on top of the foundation at the material points.

7.2.6 Defining a surface for computation of reaction forces

This feature allows the user to generate a text output file with extension .RSurf_XXX, where
XXX is a number that depends on how many surfaces are selected. This file collects, for
each time step, the sum of reaction forces over the nodes of the selected surface for different
materials (see Section 7.3.5).

The following steps have to be taken to select a surface for computation of reaction forces:

(1) Choose <Anura3D> <Reaction Forces> from the menu as shown in Figure 7.8a OR press
<Ctrl>+<Shift>+<L>
(2) Enter a name for the "surface identifier".
(3) Click on the <Assign> button and select one or more lines for which the reaction forces
should be computed, in this case select the soil–foundation interface, as shown in Figure
7.8b. Note that only one output file will be created for surfaces with the same name.
(4) Check if the surfaces are assigned correctly. Click on <Draw> and select <Colors>.

The reaction forces can be computed for multiple surfaces by repeating the steps above. The
maximum number of surfaces that can be created is 50.

a) b)

Figure 7.8: Definition of the surface for computing reaction forces.

 Shallow foundation 151

7.2.7 Defining the moving mesh

The moving mesh feature can be accessed through the menu <Anura3D> <Moving Mesh>
as shown in Figure 7.9a. Two domain areas must be defined, i.e. compressing mesh and
extending mesh, whose elements will deform during the computation which is caused by the
movement of the moving mesh domain, whose elements translate as a whole in one specified
direction, see Figure 7.9b. The three domain areas must be connected with each other and
all elements of the discretised domain must belong to either one of them.

a) b)

Figure 7.9: Options for moving mesh definition.

The following steps have to be taken to define the moving mesh:

(1) Select "Compressing Mesh" from the drop down menu.

(2) Click <Assign> and select the 4 corner nodes that define the zone that will be compressed
by the movement of the moving mesh as shown in Figure 7.10. Select "Finish" in the Mov-
ing Mesh window to finish assigning compressing mesh. Note that the surface defined by
the corner nodes must be a rectangle, thus exactly 4 nodes must be selected of which 2
must be on an external boundary. Alternative shapes of the compressing/extending/mov-
ing mesh are not allowed.

Figure 7.10: Definition of compressing mesh corner nodes.

(3) In this example no "Extending Mesh" will be used, thus no corner nodes must be selected
for this option.
152 Anura3D MPM Software, Tutorial Manual

(4) Select "Moving Mesh" from the drop down menu.

(5) Specify the direction of movement. In this example the foundation should move in vertical
direction, thus choose "y-direction" next to "moving mesh direction".
(6) Click <Assign> and select the 4 corner nodes that define the moving mesh region as
shown in Figure 7.11. Two of the moving mesh nodes must coincide with the 2 nodes
of the compressing mesh, i.e. the nodes of the top soil surface. The remaining 2 nodes
must be on the free boundary, i.e. top surface. Select "Finish" in the Moving Mesh window
to finish assigning moving mesh. Note that when using both compressing and extending
mesh, it is necessary that exactly 2 nodes of the moving mesh coincide with 2 nodes of
the compressing mesh and the remaining 2 nodes coincide with 2 nodes of the extending
mesh.

Figure 7.11: Definition of moving mesh corner nodes and direction of movement.

(7) Define the reference material that will determine the displacement of the moving mesh.
Click on the "surface" symbol on the top of the moving mesh menu.
(8) Click <Assign> and select the structure surface, i.e. the foundation, as shown in Figure
7.12.

Figure 7.12: Definition of moving mesh reference material.

 Shallow foundation 153

7.2.8 Creating mesh

In GiD it is possible to generate meshes in a very flexible way. An unstructured mesh is
used for this example. To generate the mesh follow the steps given in Section 5.2.7. For this
example set the mean element size to "0.5". The mesh should look as shown Figure 3.2.6.

Figure 7.13: Computational mesh of the shallow foundation problem.

7.3 Approach 1: External load and use of load multipliers

The input generated in the previous section is identical for both approaches 1 and 2; the
differences between these two methods are highlighted in the following. In the first approach
the foundation is brought to failure by increasing the load applied on the footing to –1000kPa
in 6 load steps by means of the load multipliers. The load is increases at the beginning of the
load step and kept constant until quasi-static convergence is reached.

7.3.1 Initialisation of calculation data

Dimension
This is a 2D - plane strain calculation.

Computation method
This is a quasi-static problem, for which the Gauss point integration method is advised. There-
fore, the option "MPM - mixed integration" should be selected.

Calculation step data

In this example 6 load steps will be used. The end of each step will be determined by the
convergence criteria. A Courant number of 0.98 is advised to ensure the stability of the
solution. Set "number of calculation steps [-]" to "6".

Gravity data
Use standard gravity value: g = 9.81(0, –1.0, 0)
154 Anura3D MPM Software, Tutorial Manual

Gravity load
Gravity is applied from the beginning; therefore, choose Apply gravity load - stepwise and set
the multipliers for gravity loading as 1.0 (initial and final value). The gravity multipliers will be
maintained constant throughout the calculation.

Solid traction
In this example the external load will be increased from –100kPa to –1000kPa in steps. There-
fore, choose Apply solid traction - stepwise and the multipliers for external load must be 1.0
and 10.0.

This means that the incremental load is fully applied at the first time step and kept constant
for the entire load step computation. In this case, at load step 1 the external load multiplier is

Ncurrent – Nprevious 1–0

Mstep = Minitial + (Mfinal – Minitial ) = 1.0 + (10 – 1) = 2.5 (7.1)
Ntotstep – Nprevious 6–0

where Mstep is the load multiplier of the current load step, Minitial is the initial load multiplier,
Mfinal is the final load multiplier, Ncurrent is the number of the current load step, Nprevious is the
number of the previous load step, and Ntotstep is the total number of load steps. In this case
the applied vertical load is 2.5 ∗ (–100kPa) = –250kPa.

Liquid pressure Keep the default the option do not apply liquid pressure because this is a
dry analysis.

Prescribed velocity In the first example the foundation is brought to failure increasing the
load. Keep the default do not apply prescribed velocity option because this example does not
use the prescribed velocity feature.

Quasi-static convergence
The determination of the end of each load step is determined by convergence criteria, which
corresponds to a quasi-static equilibrium condition. The convergence criteria are the tolerated
error of the kinetic energy, the tolerated error of the out-of-balance force, or the maximum
number of time steps. In general, to obtain an accurate solution it is suggested to set the
kinetic error and the force error to 0.01; however, in this example, in order to reduce the
computational time, use a kinetic error of 0.01 and a force error of 0.05.

Homogeneous local damping

In order to damp oscillations to reach quasi-static convergence a local damping coefficient for
all active elements of 0.7 is applied. This value of local damping will be kept constant during
the whole calculation since the quasi-static solution should be reached.

Strain smoothing
Select "apply strain smoothing" to minimize the kinematic locking.

K0 -procedure
The stresses in the soil will be initialised at the very beginning of the calculations by means
of the K0 -procedure. Activate the K0 -procedure by selecting "apply K0=proceedure. Input the
soil surface level of 10m.

Output data
One material point located at the bottom of the foundation will be selected for which additional
output files will be created, (see Section 3.4.7 how to determine the ID number of a material
 Shallow foundation 155

point).

Default values
All other calculation options are not used in this example and the provided default values can
be kept.

Figure 7.14: Dialogue box to define calculation parameters in GiD for the approach 1 of
shallow foundation problem.

7.3.2 Generating Input Files

After the geometry, material properties, boundary conditions, and calculation parameters are
defined and the mesh is generated the input files for the Anura3D analysis, i.e. GOM and
CPS file, have to be created. To generate the GOM and CPS files follow steps given in
Section 3.2.8.

The generated input files foundation.GOM and foundation.CPS_001 can be found in the
new folder foundation.A3D, created in the directory which was specified earlier by the user
(Section 7.2.1):
D:\..\foundation.A3D\foundation.GOM

D:\..\foundation.A3D\foundation.CPS_001
 156 Anura3D MPM Software, Tutorial Manual

7.3.3 Performing calculation in Anura3D

The calculation can be performed as explained in Section 3.3.

Note that in foundation.CPS_002 the load multipliers are stored as,

1 $$SOLID_TRACTION
2 step 2.50 10.0

which means that the initial load multiplier is Minitial = 2.5 and the final load multiplier is
Mfinal = 10.0, thus the load multiplier of the current load step (number 2) is:

Ncurrent – Nprevious 2–1

Mstep = Minitial +(Mfinal –Minitial ) = 2.5+(10–2.5) = 2.5+1.5 = 4.0 (7.2)
Ntotstep – Nprevious 6–1

and therefore the applied vertical load is 4.0 ∗ (–100kPa) = –400kPa.

Similarly, in foundation.CPS_003 the load multipliers are stored as,

1 $$SOLID_TRACTION
2 step 4.0 10.0

7.3.4 Visualisation of results in ParaView

The results for the shallow foundation problem are presented in this section. The recom-
mended way to visualise Anura3D results is by using the ParaView software (see Sections
2.4 and 2.1.3). Instructions presented in Section 3.4 can be followed to open and analyse the
results from the shallow foundation problem.

In order to appreciate the effect of the moving mesh feature, the material index will be plotted
and the Axis Grid will be switched on as shown in Figure 7.15. Note that in this example
material_id=1 is the foundation and material_id=2 is the soil. The material index can be
retrieved from the GOM file.
1 $$MATERIAL_INDEX
2 1
3 $$MATERIAL_NAME
4 foundation

1 $$MATERIAL_INDEX
2 2
3 $$MATERIAL_NAME
4 soil

Figure 7.16 shows the displacement of the moving mesh area, which moves downwards fol-
lowing the displacement of the foundation, and the deformation of the compressing mesh
area. Note that the material points of the foundation do not cross element boundaries and
the soil–foundation interface remains aligned with the element boundaries. In Figure 7.17 the
evolution of displacements is presented.
Shallow foundation 157

Figure 7.15: Initial mesh and plotting the material index.

Moving mesh
Moving mesh

Compressing Compressing
mesh mesh

Figure 7.16: Displacement of the mesh at the beginning of the computation and after load
step 6.
158 Anura3D MPM Software, Tutorial Manual

(a) (b)

(c) (d)

(e) (f)

Figure 7.17: Displacement after: a) load step 1, b) load step 2, c) load step 3, d) load
step 4, e) load step 5 and f) load step 6.
 Shallow foundation 159

7.3.5 Visualisation of text output files

Following the instructions from Section 3.5, the evolution in time of vertical displacement of
a material point located at the bottom of the foundation (3957) can be plotted. Figure 7.18
shows that the vertical displacement of MP #3957 increases rapidly at the beginning of each
load setep, due to the sudden increase of the applied load, and then stabilizes approaching
the quasi-static equilibrium. The load multiplier for solid traction increases in step during the
calculation (blue dashed line in Figure 7.18) while gravity is constant (red dot-dashed line in
Figure 7.18).

Multiplier

Figure 7.18: Evolution of vertical displacement for a material point located at the founda-
tion bottom, and value of load multipliers.

Time step information Reactions of material 1 Reactions of material 2

Figure 7.19: Output file for reaction forces .RSurf_001 .

The results file foundation.RSurf_001 can be opened using Excel or with NotePad, see
Figure 7.19. The first line of the file indicates the surface name, i.e. the name that has been
assigned in GiD. The first 3 columns of the file contain time information. The following 4
columns contain the sum of the nodal reaction forces on the surface in x- and y-direction for
material 1 and 2, respectively. The maximum number of materials that can be handled in this
output file is 3. For 2-phase analyses, the reaction forces due to the pore pressure are given.
 160 Anura3D MPM Software, Tutorial Manual

The results of this file can be plotted with any chart making program. Figure 7.20 shows the
vertical reaction forces for material 1 (foundation) and 2 (soil); the forces have similar values
but opposite sign. As expected, for each load step the reaction force is:

R = Mstep qb = Mstep (100kPa)(2m) (7.3)

and it maximum value is 2000kN/m.

load step:
3000 1 2 3 4 5 6

2000
SumReactionY [kN/m]

1000

material 2 (soil)
0 material 1 (foundation)

-1000

-2000

-3000
0 1 2 3 4 5
Time [s]

Figure 7.20: Vertical reaction forces.

7.4 Approach 2: Prescribed velocity

With this approach, the foundation penetrates into the soil with a prescribed vertical velocity of
0.1m/s and the reaction offered by the soil is measured at the soil-foundation interface. We will
not apply the soild traction on the foundation and we will not use the quasi-static convergence
criteria.

7.4.1 Initialisation of calculation data

The calculation parameters are identical to the previous case, except for those listed below:

Calculation step data

In this example 8 load steps of 0.5s will be used. Set "number of calculation steps [-]" to "8"
and "Time per calculation step [s]"’ to "‘0.5"’.

Solid traction
In this example we will not apply solid traction, thus the option do not apply solid traction must
be selected.
 Shallow foundation 161

Prescribed velocity The velocity is constant throughout the calculation, thus select apply
prescribed velocity - stepwise and set the multipliers to 1.0 and 1.0.

Quasi-static convergence
Set do not apply convergence criteria.

Homogeneous local damping

Set no homogeneous local damping. This is a slow process, thus a very small amount of
damping (e.g. 5%) can be used to damp dynamic oscillations.

Figure 7.21: Dialogue box to define calculation parameters in GiD for the shallow founda-
tion problem.

7.4.2 Generating input files

The generation of input file is identical to the previous case, see Section 7.3.2.

7.4.3 Performing calculation in Anura3D

The calculation can be performed as explained in Section 3.3.
 162 Anura3D MPM Software, Tutorial Manual

7.4.4 Visualisation of results

To open the results with ParaView software (see Sections 2.4 and 2.1.3) proceed as explained
in Section 3.4. Figure 7.22 shows the vertical velocity of material points, where it could be
see than the velocity of the foundation is -0.1m/s.

(a) t=0,5s (b) t=4s

Figure 7.22: Vertical velocity at MP.

7.5 Variations
The variations proposed for the shallow foundation problem are listed below:

(1) Examine the influence of the fricton angle of the soil on the failure mechanism and the
value of the ultimate bearing capacity.
(2) Use the contact formulation and study the effect of soil–foundation contact properties on
the results.
(3) Consider a square footing and solve the problem with the 3D model.
(4) Consider a circular footing and solve the problem with the 3D-cylindrical formulation (see
A).
8 Impact problem
Authors: Luis E. Zambrano-Cruzatty; Alba Yerro; John Murphy

This tutorial looks at the simulation of soils under impact conditions. The goals of this example
are the following:

 Apply initial velocity on the material points.

 Use the moving mesh feature.
 Record reaction forces.
 Use the rigid body algorithm.
 Create an axisymmetric domain using 3D cylindrical boundary conditions.

First, a plane strain impact problem is described. Afterwards, a variation is proposed consid-
ering axisymmetric domain using 3D cylindrical axisymmetric boundary conditions. When the
plane strain condition is taken into account, the problem represents the impact of a long wall
into the soil (Figure 8.1a), while for the axisymmetric case, the impacting body represents a
free fall penetrometer (Figure 8.1b).

Figure 8.1: Impacting body. a) long wall, b) free fall penetrometer.

The moving mesh feature is explained in chapter 7. The moving mesh feature is important in
this problem because of the following reasons:

 The moving mesh prevents elements with shared material points from the impacting body
and the soil.
 The shape of the impacting body is preserved during the simulation.
 The contact surface is well defined. Thus, the contact algorithm and the reaction forces
features can be used.
 Fine meshing can be defined along the impacting body, avoiding unnecessary refinement
and reducing computational resouces.

Likewise, the rigid body algorithm is introduced in this chapter. The use of the rigid body
 164 Anura3D MPM Software, Tutorial Manual

algorithm can acomplish the following advantages:

 Because the code is explicit, the critical time step is reduced significantly compared to a
model with a very high stiffness. Hence, computational resources are saved while a good
representation of the material is achieved.
 The stress integration scheme is not performed for the rigid body material, which also
reduces the computational cost of the simulation.

8.1 Problem definition

First, the problem is simulated in 2D-plane strain condition (in 8.4 a 3D cylindrical axisymmet-
ric simulation is proposed). The geometry and the dimensions of the problem are given in
Figure 8.2 and Table 8.1. Taking advantage of the symmetry of the problem, only one-half of
the model is discretised in order to reduce the computational time.

The impacting body is elastic with a variation to rigid body in section 8.3, and the soil is
modeled with a cohesionless Mohr-Coulomb model. The properties for both materials are
given in Table 8.2.

Figure 8.2: Geometry of the impact problem.

8.2 Creating input data

The geometry, material properties, fixities, number of material points, initial calculation param-
eters, and mesh are defined using the GiD pre-pocessor. This example follows a very similar
procedure as described in sections 3.2 and 7. The application of initial velocity on the material
points is illustrated below.
 Impact problem 165

Table 8.1: Dimensions of the impact problem.

dimension value
a 0.5m
b 1m
c 1.1m
d 1m
e 0.0309m
r 0.0179m

Table 8.2: Material parameters of the impacting body and the soil.

Material Impacting body Soil

Material type Dry material Dry material
Initial porosity [–] 0.0 0.5
Density solid [kg/m3 ] 3500 2650
K0-value [–] 0.5 0.6
Material model solid Linear Elasticity Mohr-Coulomb
Young modulus [kPa] 50000 5000
Poisson ratio [–] 0.33 0.33
Cohesion [kPa] - 0.5
Friction angle [◦ ] - 40
Dilatancy angle [◦ ] - 0.0
Tensile strength [kPa] - 0.0

8.2.1 Starting pre-processor

Start the GiD pre-processor following the steps as described in Section 3.2.1. Save the project
in the desired directory on the hard disk with an appropriate name (e.g. "impact").

8.2.2 Defining geometry

The geometry can be generated following instructions given in Section 3.2.2 considering the
dimensions given in Table 8.1. The key coordinates indicated in Figure 8.3a and Table 8.3
can be used for reference.

Table 8.3: Key coordinates for the impact problem.

Point X coordinate [m] Y coordinate [m]

P1 0 -1
P2 0.5 -1
P3 0.5 0
P4 0.5 1.1
P5 0 1.1
P6 0 1
P7 0 0
P8 0.0179 0.0309
P9 0.0179 1
 166 Anura3D MPM Software, Tutorial Manual

Figure 8.3: Geometry and material specificaftion of the impacting cone. a) key points
(Table 8.3); b) material specification.

8.2.3 Defining material properties

Before specifying material properties ensure that the problem type has been set as described
in Section 3.2.1 step (2).

This impact problem uses two materials; 1) the soil which is simulated as a non-cohesive
material, and 2) the impacting body that is usually rigid compared to the soil. The impacting
body is considered elastic, and the material model for the soil is the Mohr-Coulomb. Material
parameters are given in Table 8.2. As described in section 7.2.3, the Young modulus of the
impacting body is quite small compared with its real modulus.

Follow the instructions given in Section 3.2.3 to define each material and assign it to the
corresponding areas. Once the materials are assigned the problem should look like is shown
in Figure 8.3b.

8.2.4 Specifying material points

Specify the initial material point distribution following instructions from Section 3.2.4. In this
example choose one (1) material point per element for the impacting body, and three (3)
material points per element for the soil. Check if the material points are assigned correctly as
shown in Figure 8.4.
 Impact problem 167

Figure 8.4: Specification of the number of material points per element in the impact prob-
lem.

8.2.5 Defining boundary conditions

Define the boundary conditions following the steps as described in Section 3.2.5.

Applying fixities
Since the materials in this example are in dry conditions, only the solid phase needs to be
considered. The solid displacement at the boundaries are fixed as follows:

(1) Left side: horizontal fixity in x-direction on all three lines;

(2) Right side: horizontal fixity in x-direction on both lines;
(3) Top side: vertical fixity in y-direction on the top line;
(4) Bottom side: vertical fixities in y-direction on the bottom line;
(5) Check if the x- and y- fixities are assigned correctly, see Figure 8.5;

Figure 8.5: Solid fixities of the impact problem in GiD.

 168 Anura3D MPM Software, Tutorial Manual

Figure 8.6: a) Initial Conditions selection; b) Initial Conditions dialog box.

8.2.6 Defining initial velocity on material points

The initial impact velocity is assigned to the material points belonging to the impacting body
(note that the impacting body tip is initially placed at contact with the soil). An initial velocity
of 5 m/s is assigned to the falling body following the steps shown below:

(1) Click on the Anura3D menu;

(2) Click the option "Initial Conditions" as shown in Figure 8.6a, the "Initial Conditions" dialog
box will appear (Figure 8.6b);
(3) Activate the surface button, and specify 5 m/s in the y-direction text box as shown in Figure
8.6b;
(4) Click on the "assign" button and select the surface where the impact body is defined as
shown in Figure 8.7a;
(5) Check if the initial velocity is assigned correctly, see Figure 8.7b;

8.2.7 Defining a surface to record reaction forces

Two surfaces are defined for computation of reaction forces: 1) The surface at the tip of the
impacting body, and 2) the lateral surface along the impacting body. Follow the instructions
explained in section 7.2.6 to assign the reaction surfaces. Figure 8.8 shows the considered
reaction surfaces.
Impact problem 169

Figure 8.7: a) Assigning the initial velocity ; b) Visualization of the assigned velocity.

Figure 8.8: Definition of the surface for computing reaction forces.

 170 Anura3D MPM Software, Tutorial Manual

8.2.8 Defining the moving mesh

In this problem, the moving mesh feature is used. The compressing mesh, the moving mesh,
and the reference material can be defined as shown in section 7.2.7. Figure 8.9 shows the
definition of the moving mesh for the impact problem.

Figure 8.9: Definition of the moving mesh. a) compressing mesh corners; b) moving
mesh corners; c) reference material

8.2.9 Creating mesh

An unstructured mesh is used for this example. To generate the mesh follow the steps given
in Section 5.2.7. For this example set the mean element size to "0.02". The mesh should look
as shown in Figure 8.10.

8.2.10 Calculation parameters

The calculation will be carried out in a single stage. For this example, the following configura-
tion is used.

Dimension
The dimension of the problem is 2D plane stress analysis. Therefore the option "2D - plane
strain" must be selected.

Computation method
The computation method used in this example is the Gauss point integration. Therefore the
option "MPM - mixed integration" should be selected.
Impact problem 171

Figure 8.10: Computational mesh of the impact problem.

Calculation step data

The simulation is carried out in 25 calculation steps. Each step will be 0.005 s long. A Courant
number of 0.98 is advised to ensure the stability of the solution.

Gravity Load and Multipliers

The K0 -procedure is used to initialize the stress in this example, the gravity is fully applied from
the beginning. The gravity multipliers will be maintained constant throughout the calculation.
Therefore, either "apply gravity load - step" or "apply gravity load - linear" are acceptable
Gravity Load selections. Set the multipliers for gravity loading as 1.0 for both the initial and
final values. In this example the external load will not be used; therefore the multipliers for
external load must be 0.

Strain smoothing
The strain smoothing setting is switched to "apply strain smoothing" to minimize the kinematic
locking. Strain smoothing is applied to the volumetric strains.

Initial velocity
To activate the initial velocity at the beginning of the calculation (i.e., from the first load step),
the ’Initial velocity’ option must be set to ’Apply initial velocity.’ In this manner, initial velocity
specified in section 8.2.6 will be written to the material points.

K0 -procedure
The stresses in the soil will be initialized at the very beginning of the calculations employing
172 Anura3D MPM Software, Tutorial Manual

the K0 -procedure. The surface level of the soil (i.e., 0m) must be specified.

Output data
Three material points located at the bottom, middle, and top part of the impacting body will be
selected for which additional output files will be created, i.e., material points with ID number
1, 35, and 51 (see Section 3.4.7 how to determine the ID number of a material point).

Default values
All other calculation options are not used in this example, and the provided default values can
be kept.

To define the initial calculation parameters follow the instructions detailed in Section 3.2.7. For
this example, enter the values given below as shown in Figure 8.11.

 select "DIMENSION" as "2D- plane strain"

 select "COMPUTATION METHOD" as "MPM - mixed integration" from the drop down
menu
 set "number of calculation steps [-]" to "25"
 set "time per calculation step [s]" as "0.005".
 set "Courant number" to "0.98"
 set "GRAVITY LOAD" to "apply gravity load - linear"
 set "gravity multiplier initial and final [-]" to "1.0" and "1.0"
 set "STRAIN SMOOTHING" as "apply strain smoothing"
 set "INITIAL VELOCITY" as "apply initial velocity"
 set "K0-PROCEDURE" to "apply K0 procedure"
 set "soil surface" to "0.0"
 select "number of material points" as "3" from the drop down menu
 set "material point #1 to "1", "material point #2 to "35", and "material point #3 to "51"

All other calculation parameters can be kept at their default values.

 Impact problem 173

Figure 8.11: Dialogue box to define calculation parameters in GiD for the impact problem.

8.2.11 Generating input files

After the geometry, material properties, boundary conditions, and calculation parameters are
defined and the mesh is generated, the input files for the Anura3D analysis, i.e., GOM and
CPS file, have to be created. To generate the GOM and CPS files follow steps given in
Section 3.2.8.

The generated input files impact.GOM and impact.CPS_001 can be found in the new folder
impact.A3D, created in the directory which was specified earlier by the user (Section 8.2.1):
D:\..\impact.A3D\impact.GOM

D:\..\impact.A3D\impact.CPS_001
 174 Anura3D MPM Software, Tutorial Manual

8.2.12 Performing calculation in Anura3D

The calculation can be performed as explained in Section 3.3.

8.2.13 Visualisation of results in ParaView

The results for the impact problem are presented in this section. The recommended way to
visualise Anura3D results is by using the ParaView software (see Sections 2.4 and 2.1.3).
Instructions presented in Section 3.4 can be observed. Figure 8.12 presents the evolution of
the deviatoric strain during the impact problem.

Figure 8.12: Evolution of the deviatoric strain.

 Impact problem 175

8.2.14 Visualisation of text output files

Following the instructions from Section 3.5, the evolution of the penetration depth vs. time can
be plotted for points belonging to the impacting body. Results are presented in Figure 8.13.

Figure 8.13: Penetration depth vs. time.

The reaction surfaces chosen for this example are those required to observe the tip (RSurf_001)
and shaft resistance (RSurf_002). Section 7.3.5 presents detailed instruction to open and vi-
sualize Rsurf files. Figure 8.14 shows the tip and shaft force developed as function of the
penetration depth. Note that the results contained in a Rsurf file are force vs. time, but be-
cause the PAR and Rsurf file contain results for the same time domain, their results can be
plotted together.

Figure 8.14: Tip and shaft reaction forces (from RSurf files) vs. penetration depth (from
PAR files).
 176 Anura3D MPM Software, Tutorial Manual

8.3 Variation: Simulation of the impacting body as a rigid body

In this subsection, a variation is proposed with regards to the material behavior of the impact-
ing body in 2D-plane strain. Note that for this geometry, the impact body represents a long
wall (Figure 8.1a). In the previous example, the material was considered linear elastic with
Young’s modulus of 50,000 kPa. Note that this stiffness is lower than the modulus of steel
and concrete. Besides, the implementation of realistic elastic modulus of these materials can
be prohibitively computationally expensive, since the critical time step is drastically reduced.
In order to simulate materials with stiffness higher than soils, Anura3D has implemented a
simple but efficient algorithm to simulate rectilinear rigid body motion. A detailed explanation
of how the algorithm works can be found in [8]. In this variation, the rigid body algorithm is
considered for the simulation of the impacting body.

The model is based on the same geometry and boundary configurations as the previous
example (section 8.2.12), hence the file created for the previous model can be used as a
starting point for this variation.

8.3.1 Starting pre-processor

Start the GiD pre-processor following the steps as described in subsection 3.2.1. Save the
file as a new GID problem with a consistent name (e.g. Impact_v2.GID).

8.3.2 Defining geometry

The geometry can be defined following the instructions in subsection 8.2.2. If you have done
this for the previous example, there is no need to repeat this step.

8.3.3 Defining material properties

The rigid body is assigned as a material type in Anura3D 2021. It is important to follow the
next steps to ensure the correct functionality of the rigid body:

(1) The user must define the rigid body material last, i.e. after all other materials are
defined. This is because the last material index is internally reserved for the master con-
tacting body.
(2) In case the impacting body material is not the last material, it is recommended to delete
all materials and start from the beginning.
(3) To assign a material as a rigid body, select "rigid body" in the material model solid drop
list shown in Figure 8.15.
(4) Specify the motion constraints. In this variation, the motion must be solely in the y-
direction; hence, the x-direction must be constrained. Write 1 in the x-direction as shown
in Figure 8.15.
(5) Select "assigning to surface" (Figure 8.15) and select the surface representing the impact-
ing wall.
(6) Check that the materials have been assigned correctly by clicking on "draw" and then
"colors." Figure 8.16 indicates how the material assignations should look like.
 Impact problem 177

Figure 8.15: Rigid body material assignation.

Figure 8.16: Materials as assigned

8.3.4 Specifying material points

If this variation was created based on the previous example, there is no need to modify the
material points configuration. Otherwise, follow the steps indicates in section 8.2.4.
 178 Anura3D MPM Software, Tutorial Manual

8.3.5 Defining boundary conditions

The boundary conditions are the same as in section 8.2.5. If the previous model files were
used as a base for this variation, there is no need to modify the fixities.

8.3.6 Defining initial velocity on material points

Similarly as in section 8.2.6, assign the velocities to the surface representing the wall. The
velocity to be assigned is –5m/s on the y-direction.

8.3.7 Defining contact properties

It is important to highlight that the rigid body algorithm requires the activation of the contact
algorithm. Hence, it has to be assigned and activated in the CPS file. In this variation, we
will simulate a fully rough contact (for comparison with example showed in section 8.4.11).
Therfore, assign the following properties to the contact: 2 for the friction and 10 kPa for the
adhesion (Figure 8.17).

To learn more about the contact algorithm, refer to chapter 5.

Figure 8.17: Contact properties.

8.3.8 Defining a surface for computation of reaction forces

Follow the instructions explained in sections 7.2.6 and 8.2.7 to assign the reaction at surfaces.
Select two (2) surfaces: the tip and the shaft.
 Impact problem 179

Figure 8.18: Activate the contact in the calculation parameters.

8.3.9 Defining the moving mesh

The moving mesh is set in the same fashion as demonstrated in section 8.2.8. If this variation
was constructed based on the previous model, there is no need to define the moving mesh
again.

8.3.10 Creating the mesh

To generate the mesh follow the steps given in Section 5.2.7. The mesh is identical to the
one created in section 8.2.9. Regenerate the mesh even if the previous model is used for this
variation.

8.3.11 Calculation parameters

Follow the instructions in section 8.2.10 to assign the calculation parameters. Remember to
activate the contact algorithm as shown in Figure 8.18.
 180 Anura3D MPM Software, Tutorial Manual

8.3.12 Performing calculation in Anura3D

The calculation can be performed as explained in Section 3.3. The calculation can take around
5 to 6 min.

8.3.13 Visualisation of results in ParaView

The results can be visualized using ParaView. Figure 8.19 shows the evolution of the devia-
toric strain when the impacting body is rigid in the right, and elastic (from previous model) in
the left. Notice the similarities in the deviatoric strain contour plot.

Figure 8.19: Evolution of the deviatoric strain for the solution with rigid body and elastic
material.

8.3.14 Visualisation of text output files

A material point centered in the impacting body has been tracked similarly as in subsection
8.2.14. The comparison between the elastic and rigid body displacement is shown in Figure
8.20. It can be observed that both solutions are very similar to a small difference in the
maximum displacement in the last part of the simulation.
 Impact problem 181

Figure 8.20: Comparison between the vertical displacement vs. time for the elastic and
rigid impacting wall.

8.4 Variation: Simulation in 3D cylindrical axisymmetric conditions

In this section, a variation is proposed taking into account axisymmetric conditions. Note that
in this case, the impacting body represents a free fall penetrometer (Figure 8.1b). In this case,
it is recommended to start a new model from scratch in order to avoid conflicting assignations
between 2D and 3D models. The following instructions will guide you towards the construction
of the axisymmetric case making use of the 3D cylindrical axisymmetric condition.

8.4.1 Starting pre-processor

Start the GiD pre-processor following the steps as described in Section 3.2.1. Save the project
in the desired directory on the hard disk with an appropriate name (e.g. "sliceimpact").

8.4.2 Defining geometry

Start defining the same geometry defined in section (8.2.2). You can use table 8.3 to identify
the corner coordinates of the 2D section. Then, a rotation of the 2D section is required to
create a 3D axisymmetric geometry, representing a slice of the problem. Follow the next
steps:

(1) Select the Utilities menu on the menu bar in GID;

(2) Click on the "Copy" option as shown in figure 8.21.
(3) The "Copy" dialog box will pop up (figure 8.21).
(4) Change "Entities types" to "Surfaces" (8.21).
(5) Change "Transformation" to "Rotation" (8.21).
(6) In the "Angle" text box write 20. This is the angle of the cylinder slice.
(7) In the "Second point" box, write y= 1 as shown in figure 8.21. This will indicate the axis of
rotation along the y axis at x=0 and z=0. The code will require that ALL the 3D cylindrical
models are rotated along this axis.
(8) Change the "Do extrude" option to "Volumes" as shown in figure 8.21.
(9) Click on the "select" buttom and chose all the surfaces of the actual geometry.
(10) Finally, click on "Finish".
 182 Anura3D MPM Software, Tutorial Manual

Figure 8.21: Copy Dialog box setup to create a 20° cylindrical slice.

A 20° slice of a 3D cylindrical model is generated as shown in figure 8.22.

Figure 8.22: 20° slice of a cylinder to simulate an impact problem.

8.4.3 Defining material properties

Similarly as in section 8.2.3, assign the materials to the corresponding volumes.

8.4.4 Specifying material points

Assign one (1) material point to all the material volumes (i.e. impacting body and soil) (con-
sider section 8.2.4 for reference). Note that in section 8.2.4 three (3) points were assigned to
the soil instead. The reason for reducing the number of material points is to minimize the com-
 Impact problem 183

putational resources required to solve this tutorial exercise. Consider more material points if
more accurate results are required.

8.4.5 Defining boundary conditions

Note that for cylindrical coordinates, the x, y, and z directions are replaced by the r, y, and θ
respectively as shown in figure 8.23. The instructions to apply the fixities are shown below.

Figure 8.23: Fixities dialog box with indicating the corresponding coordinate system for
3D cylindrical coordinates.

Applying fixities
Similarly as in section 8.2.5, only the solid phase needs to be considered. In order to avoid
inconsistent fixities on the intersections of the geometrical items, the fixities will be assigned
to the surfaces, boundary lines, and corner points as indicated in figure 8.24.

 Surface fixities
(1) Lateral sides: normally fixed (θ direction only);
(2) Curved side: normally and tangentially fixed (r and θ direction);
(3) Top side: vertical fixity in y-direction on the top surface;
(4) Bottom side: vertical fixities in y-direction on the bottom surface;
(5) Check if the fixities are assigned correctly, see Figure 8.24a;

 Line fixities
(1) Vertical lines: normally and tangentially fixed (r and θ direction);
(2) Curved lines: fully fixed (all directions);
(3) Top lines: normally fixed (y and θ direction);
(4) Bottom side: normally fixed (y and θ direction);
(5) Check if the fixities are assigned correctly, see Figure 8.24b;

 Point fixities
(1) Corner points: fully fixed (all directions);
(2) Check if the fixities are assigned correctly, see Figure 8.24c;
 184 Anura3D MPM Software, Tutorial Manual

Figure 8.24: Solid fixities of the impact problem in GiD for a 3D cylindrical problem, a)
surface fixities, b) line fixities, c) point fixities.

8.4.6 Defining initial velocity on material points

Similarly as in section 8.2.6, assign the velocities to the volume representing the cone. The
velocity to be assigned is –5m/s on the y-direction.

8.4.7 Defining a surface for computation of reaction forces

Follow the instructions explained in sections 7.2.6 and 8.2.7 to assign the reaction at surfaces.
Select two (2) surfaces: the tip and the shaft.

8.4.8 Defining the moving mesh

The moving mesh is set in the same fashion as demonstrated in section 8.2.8. Note that for
the 3D cylindrical case, the compressive, and moving mesh areas are defined by 6 points
each.

8.4.9 Creating mesh

An unstructured mesh is used for this example. To generate the mesh follow the steps given in
Section 5.2.7. For this example set the mean element size to "0.1". The mesh should look as
shown in Figure 8.25. Note that the bigger mesh is selected only to reduce the computational
resources required to follow this tutorial. Finer meshes are recommended to obtain more
accurate results in the area of interest.
 Impact problem 185

Figure 8.25: Computational mesh of the impact problem in 3D cylindrical coordinates.

8.4.10 Calculation parameters

The calculation parameters are almost identical to those specified in section 8.2.10. The only
difference is that the "3D cylindrical" option must be selected for the "DIMENSION" parameter
instead of "2D - plane strain". Figure 8.26 shows how the "Calculation Data" dialog box should
look like after the selection. Once the choice is made, the input folder can be generated as
shown in section 3.2.8.

Figure 8.26: Calculation Data dialog box in GID. The 3D cylindrical option is selected.

8.4.11 Performing calculation in Anura3D

The calculation can be performed as explained in Section 3.3. This run can take around 5-6
min.
 186 Anura3D MPM Software, Tutorial Manual

8.4.12 Visualisation of results in ParaView

The results can be visualized using ParaView. Figure 8.27 shows the evolution of the devi-
atoric strain. Note that the results are different from the plane strain condition because the
mesh is coarser, and the problem is simulating a cone impacting body (Figure 8.1b) instead
of an impacting wall (Figure 8.1a).

Figure 8.27: Evolution of the deviatoric strain.

8.5 Other variations

Other variations proposed for the impact problem are listed below:

(1) Examine the influence of the material properties on the penetration depth.
(2) Examine the importance of the impacting body weight on the penetration depth.
 9 Excavation
Authors: Alexander Chmelnizkij; Angela Saade; Francesc Mirada; Alba Yerro; Gaia Di Carluc-
cio; Nuria Pinyol; Bruno Zuada; James Fern; John Murphy; Francesca Ceccato

In the following tutorial, two examples of the excavation feature implemented in Anura3D are
described. First, a 3D column of soil is considered and four volumes of soil are removed pro-
gressively from the top of the column. Two variations of the problem are proposed considering
different material models (Linear elasticity and Mohr-Coulomb). The second example looks at
the stability of 2D supported vertical excavations in elasto-plastic material. Two different ap-
proaches to simulate the failure mechanism are considered. The first approach continuously
removes material points as they rise inside the excavation. In the second approach, after the
removal of MPs, soil is allowed to move into and accumulate in the excavated zone.

9.1 3D Column excavation

9.1.1 Problem definition

The dimensions of the soil column are given in Figure 9.1. Five equal volumes of soil are
considered and an empty space is added on top of the column to allow material points to
move freely. The dimensions are given in Table 9.1. Note that each excavation depth is H/5.

Figure 9.1: Definition of the excavation problem including empty space at the top.

Table 9.1: Dimensions of the column for the excavation problem.

Column height H(m) Column width W(m) Depth D(m) Box Height (m)
5 1 0.1 5.5

9.1.2 Creating input data

The geometry, boundary conditions, material properties and mesh are defined using GiD
pre-processor. The calculation options are defined in the CPS file. Both follow the same
 188 Anura3D MPM Software, Tutorial Manual

Table 9.2: Material parameters of the soil for the excavation problem.

Material Column
material type dry material
initial porosity 0.25
density solid (kg/m3 ) 2650
K0-value 0.5*
material model solid 1-Linear Elasticity
2-Mohr-Coulomb
Young modulus (kPa) 20000
Poisson ratio (-) 0.20
cohesion (kPa) 5**
effective friction angle (◦ ) 30**
dilatancy angle (◦ ) 0
tensile strength (kPa) 0

(*) not used, (**) specific to Mohr-Coulomb material model

procedure as described in Section 3.2. Only variations to previous examples are highlighted
in the following sections.

9.1.2.1 Starting pre-processor

Start the GiD pre-processor following the steps as described in Section 3.2.1. Save the project
in the desired directory on the hard disk with an appropriate name (e.g. "columnexcavation").

9.1.2.2 Defining geometry

Create the geometry following the steps as described in Section 3.2.2 with dimensions as
given in Table 9.1 of the problem description. Note that an entity containing empty elements
should be defined at the top side of the column to allow for free movement of material points.

The geometry is created by defining 6 rectangles (in 2D) which will be discretised by a semi-
structured mesh. The geometry should look like shown in Figure 9.2. Note the division into 6
prismatic volumes.
Excavation 189

Figure 9.2: Geometry of the column excavation problem including empty entity at the top.

An index is automatically assigned to each volumes in GiD. This index cannot be changed and
is needed for the excavation process. The labels can be obtained from the <View> <Label>
<All in> <Volumes> menu as shown Figure 9.3.

Figure 9.3: Labels for the volumes in GiD.

 190 Anura3D MPM Software, Tutorial Manual

9.1.2.3 Defining material properties

Define the material properties following steps as described in Section 3.2.3. In this example,
a linear elastic model is considered. Enter the material parameters according to Table 9.2 as
shown in Figure 9.4. Finally, assign the material to the soil volumes.

Figure 9.4: Defining material properties for the column excavation problem, linear elastic
model.

The assigned materials of the column excavation problem should look like shown in Figure
9.5 below.

Figure 9.5: Material assigned for the column excavation problem in GiD.
 Excavation 191

9.1.2.4 Specifying material points

Specify the initial material point distribution following instructions in Section 3.2.4. Choose
4 material points per element for the column. The assigned material points should look like
shown in Figure 9.6.

Figure 9.6: Specification of the number of material points per element for the column
excavation problem.

9.1.2.5 Defining boundary conditions

Define the boundary conditions following the steps given below:

(1) Left side at x=0.0: horizontal fixity in x-direction on the 6 surfaces

(2) Right side at x=1.0: horizontal fixity in x-direction on the 6 surfaces
(3) Top side at y=5.5: vertical fixity in y-direction
(4) Bottom side at y=0: fixities in x- and y- directions
(5) Front and back sides: horizontal fixities in z-direction

The assigned fixities of the column excavation problem should look like shown in Figure 9.7.
 192 Anura3D MPM Software, Tutorial Manual

Figure 9.7: Fixities of the column excavation problem in GiD.

9.1.2.6 Creating mesh

For this example, a semi-structured mesh in z-direction is used with an element size of 0.1m.
To generate the mesh follow the steps in Section 3.2.6.

9.1.2.7 Defining excavation steps

Anura3D provides an excavation tool which allows to simulate soil excavation in stages by
defining the range of load steps in which the material points belonging to a certain volume
have to be removed. In this example, the first load step consists of applying gravity load. The
second load step includes the excavation of the first volume of soil, which is the volume no. 5
according to the labelling in Figure 9.2. Therefore, in order to define the excavation of volume
no. 5, the first step of the excavation sequence should be set equal to 2. No soil is allowed
to move into volume no. 5 during the entire process of excavation. Thus, the last step in the
excavation sequence for volume no. 5 should be set equal to 6 (which corresponds to the final
load step). The definition of the excavation sequence for volume no. 5 is shown in Figure 9.8.

Figure 9.8: Definition of an excavation step.

The assigned excavation step for volume no. 5 should look like shown in Figure 9.9
 Excavation 193

Figure 9.9: Assigned excavation for volume no. 5.

The next volume to be excavated is volume no. 4. The first step of the excavation sequence
would be 3 whereas the last step would be 6. Proceed similarly to define and assign the
excavation steps for volumes 4, 3 and 2. The final setup of the excavation process should
look like shown in Figure 9.10. Once defined the excavation steps, the mesh should be re-
generated.

Figure 9.10: Assigned excavation steps.

9.1.2.8 Initialisation of calculation data

Only the calculation parameters required to initialise the first load step calculation are added
in GiD. Calculation parameters for load steps after the first will be changed in the CPS file.

Computational method
The computational method used in this example is the "MPM - mixed integration".

Calculation step data

194 Anura3D MPM Software, Tutorial Manual

The initial stage corresponding to gravity loading is carried out in one calculation step. The
end of each calculation step is determined by the convergence criteria. A Courant number of
0.98 is advised to ensure the stability of the solution.

Load multipliers
The full gravity load is applied in one step. Therefore set the gravity loading as 1.0 (initial and
final value).

Quasi-static convergence
The determination of the end of each calculation step is determined by convergence criteria,
which corresponds to a quasi-static equilibrium condition.

Homogeneous local damping

In order to converge to the quasi-static solution an overall local damping coefficient for all
active elements of 0.75 is applied.

Output data
One material point located at the bottom of the column will be selected for which an additional
output file will be created. Section 3.4.7 explains how to determine the ID number of a material
point.

To define the initial calculation parameters follow the instructions given in Section 3.2.7. For
this example, enter the values as given below:

 Set "DIMENSION" as "3D - Cartesian" from the drop down menu

 Select "COMPUTATION METHOD" as "MPM - mixed integration" from the drop down
menu
 Set "number of calculation steps [-]" as "1"
 Set "time per calculation step [s]" as "0.5". Note that any value except 0.0 can be entered
since the quasi-static convergence criterion is used
 Set "GRAVITY LOADING" as "apply gravity load - stepwise" from the drop down menu
 Set "gravity multiplier initial [-]" to "1.0"
 Set "gravity multiplier final [-]" to "1.0"
 Set "QUASI-STATIC CONVERGENCE" as "apply convergence criteria"
 Set "HOMOGENEOUS LOCAL DAMPING" as "apply homogeneous local damping" from
the drop down menu
 Set "Local damping coefficient" to "0.75"
 Set "OUTPUT DATA" for "number of material points" to "1"
 Set "material point #1" to "1100"

All other calculation parameters can be kept at their default values.

 Excavation 195

9.1.2.9 Generating input files

After the geometry, material properties, boundary conditions, excavation steps and calculation
parameters are defined and the mesh is generated the input files, i.e. GOM and CPS, for
Anura3D have to be created as described in Section 3.2.8.

The generated input files columnexcavation.GOM and columnexcavation.CPS can be found

in the folder columnexcavation.A3D in the directory which was specified earlier as shown
in Section 9.1.2.1.

9.1.3 Performing calculation in Anura3D

The Anura3D calculation can be started following instructions described in Section 3.3.

9.1.3.1 Stage 1: Gravity loading

Stage 1 of the calculation starts and output is generated in the "Command Line" window
indicating the progress of the calculation. Input errors and calculation errors are displayed
in the window as well. The output files are generated and stored in the project directory
columnexcavation.A3D.

9.1.3.2 Stage 2 to 6: Excavation stages

The last CPS file that was generated by the previous load step has to be adapted. Increase
the number of load steps to 6 (to include the 4 excavation steps and a final stage). Con-
tinue the calculation in the same project directory following instructions described in Section
3.3. The five steps can be calculated and the progress can be followed in the command line
window.

9.1.4 Visualisation of results in ParaView

The results for the dry soil column with linear elastic constitutive model are presented for the
end of the gravity loading stage and at the end of each excavation stage. Effective stresses in
y- and z-direction are shown for each stage in Figures 9.11 and 9.12.
196 Anura3D MPM Software, Tutorial Manual

a) b) c)

d) e)

Figure 9.11: Vertical effective stresses σyy in [kPa]: a) after gravity loading, b) after exca-
vating volume 5, c) after excavating volume 4, d) after excavating volume 3,
e) after excavating volume 2.
 Excavation 197

a)

b)

c)

d)

e)

Figure 9.12: Horizontal effective stresses σzz in [kPa]: a) after gravity loading, b) after ex-
cavating volume 5, c) after excavating volume 4, d) after excavating volume
3, e) after excavating volume 2.

9.1.5 Visualisation of text output files

Following the instructions from Section 3.5, further results can be plotted for a material point
located at the bottom of the column which is shown in Figure 9.13.
198 Anura3D MPM Software, Tutorial Manual

Figure 9.13: Location considered for results which has a material point ID equal to 1100.

Figure 9.14 presents the stress–strain curve and shows that the behaviour is completely linear
elastic when loading and unloading. The theoretical oedometric modulus is obtained using
the following equation:

1–ν
E0 = E (9.1)
(1 + ν )(1 – 2ν )

Figure 9.14: Stress–strain curve for linear elastic material.

The stress decrease in time is shown in Figure 9.15.

 Excavation 199

Figure 9.15: Stress–time curve for linear elastic material

9.1.6 Excavation with Mohr-Coulomb material

In this section, a similar analysis is carried out using the same geometry and same boundary
conditions. Now, the Mohr-Coulomb model is adopted instead of the linear elastic model.
Enter the soil parameters according to Table 9.2 and as shown in Figure 9.16.

Figure 9.16: Defining material properties for the column excavation problem, Mohr-
Coulomb model

The results for the dry soil column with Mohr-Coulomb constitutive model are presented for
the end of the gravity loading and the end of each excavation stage in Figures 9.17 and 9.18.
200 Anura3D MPM Software, Tutorial Manual

a) b) c)

d) e)

Figure 9.17: Vertical effective stresses σyy in [kPa]: a) after gravity loading, b) after exca-
vating volume 5, c) after excavating volume 4, d) after excavating volume 3,
e) after excavating volume 2.
Excavation 201

a)

b)

c)

d)

e)

Figure 9.18: Horizontal effective stresses σzz in [kPa]: a) after gravity loading, b) after ex-
cavating volume 5, c) after excavating volume 4, d) after excavating volume
3, e) after excavating volume 2.

Figure 9.19 presents the stress–stain curve for the Mohr-Coulomb model. The theoretical
oedometric modulus is also plotted. The yield criteria is reached and plastic deformations are
accumulated.
202 Anura3D MPM Software, Tutorial Manual

Figure 9.19: Stress–strain curve for Mohr-Coulomb material.

The stress decrease in time is shown in Figure 9.20.

Figure 9.20: Stress–time curve for Mohr-Coulomb material.

 Excavation 203

9.2 2D Strutted excavation

9.2.1 Problem definition

The problem is simulated in 2D-plane strain conditions. The geometry of the problem after the
excavation process is given in Figure 9.21. The dimensions of the model are given in Table
9.3. The analysis is conducted in undrained total stresses.

The calculation will be performed in two stages:

(1) stress initialisation with quasi-static gravity loading
(2) excavation process by consecutively removing soil surfaces of 1m height.

Figure 9.21: Definition of strutted excavation problem.

Table 9.3: Dimensions of strutted excavation.

Box height Box width Soil height Excavation width Excavation depth
D/B ratio
H [m] W [m] S [m] B [m] D [m]
2:1 4.5 9 4 1 2

9.2.2 Creating input data

The geometry, boundary conditions, material properties and mesh are defined using GiD
pre-processor. The calculation options are defined in the CPS file. Both follow the same
procedure as described in Section 3.2. Only variations to previous examples are highlighted
in the following sections.

9.2.2.1 Starting pre-processor

Start the GiD pre-processor following the steps as described in Section 3.2.1. Save the project
in the desired directory on the hard disk with an appropriate name (e.g. “struttedexcavation").

9.2.2.2 Defining geometry

Create the geometry following the steps as described in Section 3.2.2 with dimensions as
given in Table 9.3. As a reference the key coordinates indicated in Figure 9.22 and Table 9.4
can be used. As in the previous example, an entity containing empty elements should be
 204 Anura3D MPM Software, Tutorial Manual

Figure 9.22: Geometry of strutted excavation problem. Key points are indicated as given
in Table 9.4

Table 9.4: Key coordinates of the strutted excavation problem.

Point X coordinate [m] Y coordinate [m]

P1 0 0
P2 9 0
P3 9 4
P4 9 4.5
P5 0 4.5
P6 0 4
P7 4 4
P8 4 3
P9 4 2
P10 5 2
P11 5 3
P12 5 4

defined at the top side of the soil model to allow for free movement of material points. The
geometry should look like shown in Figure 9.23. An index is automatically assigned to each
surfaces in GiD. This index cannot be changed and is needed for the excavation process.

9.2.2.3 Defining material properties

Define the material properties following the steps as described in Section 3.2.3. In this ex-
ample, the soil is assumed to be a purely cohesive material and modelled with a Tresca [9]
failure criterion; that is a Mohr-Coulomb failure criterion in which friction (ϕ) and dilatancy (ψ )
angles are 0 and the cohesion is equal to the shear strength. Enter the material parame-
ters according to Table 9.5 as shown in Figure 9.24. Finally, assign the material to the soil
surfaces.
Excavation 205

Figure 9.23: Geometry of strutted excavation problem including labelling of excavated

surfaces.

Table 9.5: Material parameters of the soil.

Material Soil
material type saturated material-undrained total stress
initial porosity (-) 0.2
density solid (kg/m3 ) 2650
density liquid (kg/m3 ) 1000
K0-value 0.0*
material model solid Mohr-Coulomb
Poisson ratio (-) 0.49
Young modulus (kPa) 10000
cohesion (kPa) 5.5
friction angle(◦ ) 0
dilatancy angle(◦ ) 0

(*) not used

Figure 9.24: Defining material properties for the strutted excavation problem, Mohr-
Coulomb model.

The assigned materials of the column excavation problem should look like shown in Figure
 206 Anura3D MPM Software, Tutorial Manual

9.25 below.

Figure 9.25: Material assigned for the strutted excavation problem in GiD.

9.2.2.4 Specifying material points

Specify the initial material point distribution following instructions from Section 3.2.4. Choose
3 material points per element. Check if the material points are assigned correctly (Figure
9.26).

Figure 9.26: Specification of the number of material points per element for the strutted
excavation problem.

9.2.2.5 Defining boundary conditions

Define the boundary conditions for solid phase following the steps given below. Note that the
hypothesis of strutted excavation is ensured by constraining horizontal displacements at the
vertical contours of the excavation.

(1) Left side at x=0.0: horizontal fixity in x-direction

(2) Right side at x=9.0: horizontal fixity in x-direction
(3) Top side at y=4.5: vertical fixity in y-direction
(4) Bottom side at y=0: full fixities in x- and y- directions
(5) Left side at x=4.0 and right side at x=5.0 of excavation: horizontal fixity in x-direction

The assigned fixities of the column excavation problem should look like shown in Figure 9.27.
 Excavation 207

Figure 9.27: Fixities of the strutted excavation problem in GiD.

9.2.2.6 Creating mesh

For this example, an unstructured mesh with an element size of 0.25m is used. To generate
the mesh follow the steps in Section 3.2.6.

9.2.2.7 Defining excavation steps

The first 5 load steps would consist of applying gravity load. Then the excavation process is
simulated in two stages by removing the material points belonging to volumes of 1 m height.
They are removed immediately at the beginning of each excavation stage and then enough
time is left in order to reach the equilibrium.

The sixth load step would include the excavation of the first volume of soil, which is the volume
no. 1 according to the labelling in Figure 9.23. Therefore, the first step of the excavation
sequence of volume no. 1 should be set equal to 6.

The two approaches proposed differ just for the definition of the excavation steps.

Approach 1

In the first approach no soil is allowed to move into the excavation and the MPs are continu-
ously removed as they rise inside it. The last step in the excavation sequence for volume no.
1 should be set equal to 75 (which corresponds to the final load step). The definition of the
excavation sequence for volume no. 1 is shown in Figure 9.28. The next volume to be exca-
vated is volume no. 2. Since the excavation of volume no. 1 is performed in 10 calculation
steps, the first step of the excavation sequence of volume no. 2 is set equal to 16 whereas
the last step would be 75. The final setup of the excavation process should look like shown in
Figure 9.29(a).

Approach 2

In the second approach, once the excavation of volumes no. 1 and 2 ends, soil is allowed to
move and accumulate into the excavated zone. Since the second excavation is carried out in
the load step 16, the last step in the excavation sequence for volume no. 1 and 2 should be
set equal to 16. The final setup of the excavation process should look like shown in Figure
9.29(b).
 208 Anura3D MPM Software, Tutorial Manual

Once defined the excavation steps, the mesh should be re-generated.

Figure 9.28: Definition of the first excavation step for Approach 1.

(a)

(b)

Figure 9.29: Assigned excavation steps: (a) Approach 1, (b) Approach 2.

9.2.2.8 Initialisation of calculation data

In GiD, only the calculation parameters required to initialise the calculation are introduced, or
in other terms those corresponding to stage 1.

Computational method
The computational method used in this example is the "MPM - mixed integration".

Calculation step data

The initial stage corresponding to gravity loading is carried out in five calculation steps. The
end of each calculation step is determined by the convergence criteria. A Courant number of
0.98 is advised to ensure the stability of the solution.

Load multipliers
The gravity load is applied in five steps. Therefore set the multipliers for gravity loading as 0.0
 Excavation 209

(initial) and 1.0 (final value).

Quasi-static convergence
The determination of the end of each calculation step is determined by convergence criteria,
which corresponds to a quasi-static equilibrium condition.

Homogeneous local damping

In order to converge to the quasi-static solution an overall local damping coefficient for all
active elements of 0.75 is applied.

Strain smoothing
The strain smoothing algorithm will be used to minimise kinematic locking, which might occur
for volumetric strains.

To define the initial calculation parameters follow the instructions given in Section 3.2.7. For
this example, enter the values as given below:

 Set "DIMENSION" as "2D - plane strain" from the drop down menu
 Set "COMPUTATION METHOD" as "MPM - mixed integration" from the drop down menu
 Set "number of calculation steps [-]" as "5"
 Set "time per calculation step [s]" as "0.5". Note that any value except 0.0 can be entered
since, in the first stage, the quasi-static convergence criterion is used
 Set "GRAVITY LOADING" as "apply gravity load - stepwise" from the drop down menu
 Set "gravity multiplier initial [-]" to "0.0"
 Set "gravity multiplier final [-]" to "1.0"
 Set "QUASI-STATIC CONVERGENCE" as "apply convergence criteria"
 Set "HOMOGENEOUS LOCAL DAMPING" as "apply homogeneous local damping" from
the drop down menu
 Set "Local damping coefficient" to "0.75"
 Set "STRAIN SMOOTHING" as "apply strain smoothing" from the drop down menu

All other calculation parameters can be kept at their default values.

9.2.2.9 Generating input files

After the geometry, material properties, boundary conditions, excavation steps and calcula-
tion parameters are defined and the mesh is generated the input files, i.e. GOM and CPS,
for Anura3D have to be created as described in Section 3.2.8. The generated input files
struttedexcavation.GOM and struttedexcavation.CPS can be found in the folder struttedexca-
vation.A3D in the directory which was specified earlier as shown in Section 9.2.2.1.

9.2.3 Performing calculation in Anura3D

 210 Anura3D MPM Software, Tutorial Manual

9.2.3.1 Stage 1: Gravity loading

Stage 1 of the calculation starts and output is generated in the "Command Line" window
indicating the progress of the calculation. Any possible input errors and calculation errors
are displayed in the window as well. The output files are generated and stored in the project
directory struttedexcavation.A3D.

9.2.3.2 Stage 2: Excavation stages

The last CPS file that was generated by the previous load step has to be adapted. Increase
the number of load steps to 75 (to include the 2 excavations and a final stage). The time per
load step is set as 0.15 seconds. Therefore set:
2 $$NUMBER_OF_LOADSTEPS
3 75

4 $$TIME_PER_LOADSTEP
5 0.15

Switch off the convergence to the quasi-static equilibrium as now the full dynamic behaviour
of the column will be analysed. Therefore:
24 $$QUASISTATIC_CONVERGENCE
25 0

For the same reason also reduce the local damping coefficient to 5% and set:
34 $$HOMOGENEOUS_LOCAL_DAMPING
35 1 0.05

All other calculation options in this example should be kept with the provided default val-
ues. Continue the calculation in the same project directory following instructions described
in Section 3.3. The next 70 steps can be calculated and the progress can be followed in the
command line window.
 Excavation 211

9.2.4 Visualisation of results in ParaView

The results for the strutted excavation problem are presented for the end of the gravity loading
stage and for the end of the simulation. Vertical effective stresses in y-direction at the end of
gravity loading are shown in Figure 9.30.

Figure 9.30: Vertical effective stresses σyy [kPa] after gravity loading.

Note: When the material is defined as "saturated material-undrained total stress", the
effective stresses that are visualised in ParaView are equal to the total stresses.
212 Anura3D MPM Software, Tutorial Manual

Approach 1
Total displacements in x- and y-directions at the end of the simulation for Approach 1 are
shown in Figure 9.31.

(a)

(b)

Figure 9.31: (a) Horizontal displacements [m], (b) Vertical displacements [m] (Approach
1).
Excavation 213

Approach 2
Total displacements in x- and y-directions at the end of the simulation for Approach 2 are
shown in Figure 9.32.

(a)

(b)

Figure 9.32: (a) Horizontal displacements [m], (b) Vertical displacements [m] (Approach
2).

The results of the simulation carried out with Approach 2, in which the material is allowed
to accumulate into the excavation, show that total displacements are significantly lower com-
pared with Approach 1. This behavior can be explained considering that the accumulation of
soil changes the geometry of the problem, leading earlier to a new stable configuration.

More details about the MPM simulation of strutted excavation in clay and its comparison with
solutions reported in the literature, can be found in Chapter 15 of "The Material Point Method
for Geotechnical Engineering: A Practical Guide" by Fern et al. [1]
214 Anura3D MPM Software, Tutorial Manual
10 Submerged slope collapse
Authors: Francesca Ceccato; Alba Yerro; Luis Angel Aviles

This tutorial explains how to simulate the collapse of a submerged slope induced by an in-
crease of pore pressure at the bottom in Anura3D 2021 . The model is inspired by the simu-
lation of an experimental test published in [10]. A small scale submerged slope is simulated
in 2D-plane strain conditions applying the fully coupled two-phase formulation (see Chapter 1
of [1]). In the first load step, only gravity is applied in order to initialise the stresses. Then a
liquid pressure is applied at the bottom of the slope for 0.05s, which decreases the effective
stress, thus inducing the failure of the slope. Finally, the applied pressure is switched off and
the slope stabilizes.

One particularity of this problem is that the SUBMERGED CALCULATION option is used,
which means that the gravity load of the liquid phase is neglected and the submerged weight
of the mixture is considered for the solid. As a result, the pore pressures calculated in Anura3D
2021 are, in fact, the excess of pore pressures relative to the hydrostatic.

10.1 Problem definition

The geometry and the dimensions of the problem are given in Figure 10.1. The soil is modeled
with the Mohr-Coulomb model with the properties given in Table 10.1.

10.2 Creating input data

The geometry, discretization, material properties, and all other input parameters will be de-
fined using the GiD pre-pocessor. This follows a similar procedure as described in Section
3.2. Here only the differences with respect to previous examples will be highlighted.

Water table is above the slope (no need to be specified)

0.6
Sand

31°

0.6 1.0 0.6

0.4

Figure 10.1: Problem definition for failure of a submerged slope.

 216 Anura3D MPM Software, Tutorial Manual

Table 10.1: Material parameters of the soil.

material soil
material type saturated material - fully coupled
initial porosity [–] 0.45
density solid [kg/m3 ] 2650
density liquid [kg/m3 ] 1000
intrinsic permeability liquid [m2 /s] 5e-11
bulk modulus liquid [kPa] 45000
dynamic viscosity liquid [kPa ∗ s] 1e-6
material model solid Mohr-Coulomb
effective Poisson ratio [–] 0.2
effective Young modulus [kPa] 5000
effective cohesion [kPa] 0
effective friction angle [◦ ] 32
dilatancy angle [◦ ] 0.0
tensile strength [kPa] 0.0

P5
P4

0.2
P8
P3

0.6

31°
P6
P7

0.4

P1 P2
0.6 1.0 0.6

Figure 10.2: Key points for definition of geometry od submerged slope.

10.2.1 Starting pre-processor

Start the GiD pre-processor following the steps as described in Section 3.2.1. Set the prob-
lemtype as described in Section 3.2.1 step (2). Save the project in the desired directory with
an appropriate name (e.g. "SubmergedSlope").

10.2.2 Defining geometry

To generate the geometry follow the instructions given in Section 3.2.2. As a reference, the
key coordinates indicated in Figure 10.2 and Table 10.2 can be used.
 Submerged slope collapse 217

Table 10.2: Key coordinates of the submerged slope problem..

Point X (m) Y(m)

P1 0 0
P2 2.2 0
P3 2.2 1.0
P4 2.2 1.2
P5 0 1.2
P6 0 0.4
P7 0.6 0.4
P8 1.6 1.0

Figure 10.3: Assignment of material for the submerged slope problem.

10.2.3 Defining material properties

Define a new material with an appropriate name (e.g. "Sand") as explained in 3.2.3. Since
we are going to perform a simulation in which solid-fluid interaction is of interest, the material
type should be set to saturated material - fully coupled. Material parameters are given in Table
10.1. Note that the bulk modulus of the fluid is lower than the bulk modulus of the water, but it
is significantly larger than the effective Young modulus in order to provide a realistic evolution
of pore pressure without increasing the computational cost.

Choose <Assign> <Surfaces> and select the area corresponding to the slope. Checking the
assigned materials, it should look like shown in Figure 10.3.
 218 Anura3D MPM Software, Tutorial Manual

10.2.4 Specifying material points

Specify the initial material point distribution following instructions from Section 3.2.4. In this
example choose 6 material points per element and assign it to the slope (Fig. 10.4).

Figure 10.4: Specification of the number of material points per element in the submerged
slope problem.

10.2.5 Defining boundary conditions

Define the boundary conditions following the steps as described in Section 3.2.5.

Applying fixities
Since in this example a fully coupled two-phase analysis is performed, solid and liquid fixities
must be assigned. The solid displacement at the boundaries will be fixed as follows:

(1) Left side: horizontal fixity in x-direction;

(2) Right side: horizontal fixity in x-direction;
(3) Top side: vertical fixity in y-direction;
(4) Bottom side: full fixities in x- and y-direction;
(5) Check if the x- and y- fixities are assigned correctly, see Figure 10.5;

The liquid displacement at the boundaries will be fixed as follows:

(1) Left side: horizontal fixity in x-direction;

(2) Right side: horizontal fixity in x-direction;
(3) Top side: vertical fixity in y-direction;
(4) Bottom side: vertical fixity in y-direction;
(5) Check if the x- and y- fixities are assigned correctly, see Figure 10.6;

Applying remove fixities

At the second load step a pressure is applied at the bottom of the slope to induce its failure,
thus the fixity applied at this boundary must be removed. Choose <Remove Fixities><Remove
Liquid fixity (line)> click on y-direction and assign the condition to the bottom line.
Submerged slope collapse 219

Figure 10.5: Solid fixities of the submerged slope problem in GiD.

Figure 10.6: Liquid fixities of the submerged slope problem in GiD.

Applying loading conditions

A pore pressure equal to –8kPa will be applied on the bottom line at the second load step.
In this exercise the MP close to this boundary will not move significantly and therefore the
pressure can be applied on the nodes. Choose <Loading Conditions> <2D - Liquid Pressure>
and apply –8kPa at the nodes (Fig. 10.7). Note that compression is negative in Anura3D.

Figure 10.7: Applied liquid pressure at the bottom of the slope.

 220 Anura3D MPM Software, Tutorial Manual

10.2.6 Creating mesh

In GiD it is possible to generate meshes in a very flexible way. An unstructured mesh is
used for this example. To generate the mesh follow the steps given in Section 5.2.7. For this
example set the mean element size to "0.08". The mesh should count 940 triangular elements
and 513 nodes as shown Figure 10.8.

Figure 10.8: Computational mesh of the submerged slope problem.

10.2.7 Initialisation of calculation data

The first load step is gravity loading, thus the input parameters are specific for this load step
(Fig. 10.9). Section 10.3.2 explains how to modify the CPS for the following load steps.

Dimension
This is a 2D - plane strain calculation.

Computation method
The option "MPM - mixed integration" should be selected.

Calculation step data

There is only 1 step for gravity loading. The end of the step is determined by the convergence
criteria. A Courant number of 0.98 is advised to ensure the stability of the solution. Set
"number of calculation steps [-]" to "1".

Gravity data
Use standard gravity value and unit vector down: g = 9.81 ∗ (0, –1.0, 0)

Gravity load
Gravity is applied from the beginning, therefore choose Apply gravity load - stepwise and set
the multipliers for gravity loading as 1.0 (initial and final value). The gravity multipliers will be
maintained constant throughout the calculation.

Solid traction
In this example there is no solid traction, thus choose do not apply solid traction.

Liquid pressure
At the first load step liquid pressure is off, thus choose do not apply liquid pressure.

Quasi-static convergence
The end of the first load step is determined by convergence criteria, which corresponds to
Submerged slope collapse 221

a quasi-static equilibrium condition. Set the QUASI-STATIC CONVERGENCE to "apply con-

vergence criteria". The convergence criteria are the tolerated error of the kinetic energy, the
tolerated error of the out-of-balance force, or the maximum number of time steps. In general,
to obtain an accurate solution it is suggested to set the kinetic error and the force error to 0.01;
however, in this example, in order to reduce the computational time, use a kinetic (energy) er-
ror and a force error of 0.04 for both the liquid and solid. Keep the default value of 10000 for
the number of maximum time steps.

Homogeneous local damping

In order to damp oscillations to reach quasi-static convergence a local damping coefficient for
all active elements of 0.7 is applied.

Strain smoothing
The strain smoothing algorithm will be switch on to minimise the kinematic locking.

K0 -procedure
The stresses in the soil will be initialised by gravity loading, thus select no K0 -procedure.

Remove Fixity
Fixities are assigned for the first load step, thus choose keep fixities.

Submerged Calculation
The slope is submerged, thus choose apply submerged calculation. The box number of ini-
tialisation steps will appear. In this example stresses are initialised in load step 1 (gravity
loading), thus put 1 in the white space. This option is useful to accelerate the convergence
to quasi static equilibrium, because the water pressure is kept zero and the drag force is not
computed in the initialization step.

Default values
All other calculation options are not used in this example and the provided default values can
be kept.
 222 Anura3D MPM Software, Tutorial Manual

Figure 10.9: Dialogue box to define calculation parameters in GiD for the submerged
slope problem.

10.2.8 Generating Input Files

Once the geometry, material properties, boundary conditions, and calculation parameters are
defined, and the mesh is generated the input files for the Anura3D analysis, i.e. GOM and CPS
file, have to be created (follow steps given in Section 3.2.8).

The generated input files SubmergedSlope.GOM and SubmergedSlope.CPS_001 can be found

in the new folder SubmergedSlope.A3D, created in the directory which was specified earlier
by the user (Sec. 10.2.1):
D:\..\SubmergedSlope.A3D\SubmergedSlope.GOM

D:\..\SubmergedSlope.A3D\SubmergedSlope.CPS_001

10.3 Performing calculation in Anura3D

The calculation can be performed as explained in Section 3.3.

10.3.1 Step 1: Gravity Loading

At the end of the first load step, the effective stresses are initialized and are in equilibrium
with the gravity. Note that in a submerged calculation the submerged weight of the soil-water
mixture is used, i.e. γ 0 = γsat – γliquid , and the liquid weight is neglected. The recommended
way to visualise Anura3D results is by using the Paraview software (see Sections 2.4 and
2.1.3). Instructions presented in Section 3.4 can be followed to open and analyse the results.

Figure 10.10 shows the vertical effective stress at the end of load step 1. The liquid pressure
and the body force of the liquid are 0.
 Submerged slope collapse 223

Figure 10.10: Vertical effective stress at the end of load step 1.

10.3.2 Step 2: Slope Failure

In this load step the failure of the slope is induced by the application of a pressure at the
bottom of the slope for a duration of 0.05s. The CPS_002 file will be modified in order to:

 Perform a dynamic calculation instead of a quasi-static analysis

 Remove the liquid fixity at the bottom and apply a pressure on the boundary

The second phase of the analysis will last up to load step 2 and each load step will last 0.05s:
1 $$NUMBER_OF_LOADSTEPS
2 2
3 $$TIME_PER_LOADSTEP
4 0.05

Liquid pressure is activated:

1 $$LIQUID_PRESSURE
2 step 1.0 1.0

Quasi-static convergence is deactivated and the local damping is decreased to 0.02:

1 $$QUASISTATIC_CONVERGENCE
2 0
3 ...
4 $$HOMOGENEOUS_LOCAL_DAMPING
5 1 0.02

Liquid fixity at the bottom is removed:

1 $$REMOVE_FIXITIES
2 010

The flag has 3 numbers that can be 0 (=do not remove fixity) or 1 (=remove fixity); the first
number refers to the solid phase, the second refers to the liquid phase, and the third refers to
the gas phase.
 224 Anura3D MPM Software, Tutorial Manual

Save the new .CPS_002 and re-start the calculation, which should lasts less than a minute.
Once the calculation is finished, open the results in Paraview. The pore pressures (i.e. excess
of pore pressure with respect to the hydrostatic pressure) increase at the bottom of the slope,
while the vertical effective stresses decrease (Figure 10.11), thus inducing the failure of the
slope.

(a)

(b)
Figure 10.11: (a) Pore pressure and (b) vertical effective stress at the end of load step 2

10.3.3 Step 3: Slope Stabilization

At this stage, the pressure at the bottom of the slope is switched off and the liquid fixity is
re-established. The .CPS_003 file must be modified as follows:
1 $$NUMBER_OF_LOADSTEPS
2 35
3 $$TIME_PER_LOADSTEP
Submerged slope collapse 225

Figure 10.12: Displacement of the MPs at the end of the simulation.

4 0.15

Liquid pressure is deactivated:

1 $$LIQUID_PRESSURE
2 off 0.0 0.0

Liquid fixity at the bottom is re-established:

1 $$REMOVE_FIXITIES
2 000

Save the new .CPS_003 and re-start the calculation, which should lasts a few minutes.

Once the calculation is finished, open the results in Paraview. Since at this stage no pore
pressure is applied at the bottom, the effective stress increases again, thus increasing the soil
shear strength. The mobilized material initially accelerates, then it slows down (Fig. 10.13),
and finally, the slope comes to rest and a new deformed configuration (Fig. 10.12).
226 Anura3D MPM Software, Tutorial Manual

(a) Load step 4

(b) Load step 8

(c) Load step 12

Figure 10.13: Velocity at MPs for different load steps.
References
[1] E.J. Fern, A. Rohe, K. Soga, and E.E. Alonso. The Material Point Method for Geotechni-
cal Engineering: A Practical Guide. CRC Press, 2019.

[2] I.K.J. Al-Kafaji. Formulation of a dynamic material point method (MPM) for geomechan-
ical problems. PhD Thesis, Institut für Geotechnik der Universität Stuttgart, Germany,
2013.

[3] A. Yerro. MPM modelling of landslides in brittle and unsaturated soils. PhD Thesis,
Universitat Politècnica de Catalunya (UPC Barcelona), Spain, 2015.

[4] E.J. Fern and K. Soga. The role of constitutive models in MPM simulations
of granular column collapses. Acta Geotechnica, 11(3):659–678, 2016. doi:
10.1007/s11440-016-0436-x.

[5] L. Beuth. Formulation and application of a quasi-static material point method. PhD
Thesis, Institut für Geotechnik der Universität Stuttgart, Germany, 2012.

[6] Francesca Ceccato, Lars Beuth, and Paolo Simonini. Analysis of piezocone penetration
under different drainage conditions with the two-phase material point method. Journal of
Geotechnical and Geoenvironmental Engineering, 142(12):04016066, 2016.

[7] F. Ceccato, L. Beuth, P.A. Vermeer, and P. Simonini. Two-phase material point method
applied to the study of cone penetration. Computers and Geotechnics, 80:440–452.,
2016. doi: 10.1016/j.compgeo.2016.03.003.

[8] Luis Zambrano-Cruzatty and Alba Yerro. Numerical simulation of a free fall penetrometer
deployment using the material point method. Soils and Foundations, 60(3):668–682,
June 2020. ISSN 0038-0806. doi: 10.1016/j.sandf.2020.04.002. URL http://www.
sciencedirect.com/science/article/pii/S0038080620336179.

[9] H. Tresca. Mémoire sur l’écoulement des corps solides soumis à de fortes pressions.
Rendus hebdomadaires des séances de l’Académie des Sciences, 59:754–758, 1864.

[10] F. Ceccato, A. Rohe, and P. Simonini. Simulation of slope failure experiment with the
material point method. In Incontro Annuale Ricercatori di Geotechnica (IARG), Chieti-
Pescara, Italy, 2014. doi: 10.13140/RG.2.1.2340.8082.
228 Anura3D MPM Software, Tutorial Manual
 A Shallow foundation in 3D-cylindrical coordinates
Authors: Francesca Ceccato

This appendix solves the shallow foundation problem of Chapter 7 in 3D-cylindrical coordi-
nates. We will simulate a circular footing with a diameter of 4m. This can be done with a
2D-axisymmetric model or with a 3D model using cylindrical coordinates.

The 2D-axisymmetric model is similar to the case presented in chapter 7, but the option "‘2D-
axisymmetric"’ should be selected in the Calculation data. The 3D case is illustrated in the
following. The geometry of the problem is similar to Chapter 7, but a 3D model will be used
in this case. In order to reduce the computational cost, only a 30 degrees-wedge of a circular
footing is modelled. The foundation is elastic and the soil is modelled with the Mohr-Coulomb
model. The properties for both materials are given in Table 7.2.

A load is applied at the top of the foundation, and its magnitude increases progressively by
means of the load multipliers. The use of Moving mesh feature in 3D problems is illustrated.

A.1 Creating input data

The geometry, discretization, material properties, and all other input parameters will be de-
fined using the GiD pre-pocessor. This follows a very similar procedure as described in Sec-
tion 7.2. Here only the differences with respect to previous examples will be highlighted.

A.1.1 Defining geometry

Start the GiD pre-processor following the steps as described in Section 3.2.1. Save the
project in the desired directory on the hard disk with an appropriate name (e.g. "foundation-
3Dcylindrical").

Create a 2D geometry following the instructions given in Section 7.2.2 considering the dimen-
sions given in Table 7.1. We will create the 3D geometry applying a rotation as explained in
the following and shown in Figure A.1:

(1) select Utilities>Copy

(2) choose Surfaces on Entity types
(3) choose Rotation on Transformation
(4) set 30 degrees angle
(5) select the bottom right point as a first point: (0,0,0)
(6) select the top right point as a second point: (0,13,0)
(7) select do extrude Volumes
(8) press Select and choose all the surfaces of the model
(9) press Escape and you will get the geometry shown in Figure A.2
 230 Anura3D MPM Software, Tutorial Manual

Figure A.1: Definition of the geometry of circular footing.

Figure A.2: Geometry of circular footing.

A.1.2 Defining material properties

The materials are the same of Chapter 7. The parameters are given in Table 7.2. Follow the
instructions given in Section 3.2.3 to define each material and assign it to the corresponding
volumes. Checking the assigned materials, it should look like shown in Figure A.3.
 Shallow foundation in 3D-cylindrical coordinates 231

Figure A.3: Materials of the shallow foundation problem in 3D.

A.1.3 Specifying material points

Specify the initial material point distribution following instructions from Section 3.2.4. In this
example choose 4 material points per element and assign it to the soil and the foundation
volumes. Check if the material points are assigned correctly as shown in Figure A.4.
 232 Anura3D MPM Software, Tutorial Manual

Figure A.4: Specification of the number of material points per element in the shallow
foundation problem.

A.1.4 Defining boundary conditions

Define the boundary conditions following the steps as described in Section 3.2.5.

Applying fixities
Since in this example materials are in dry conditions, only the solid phase needs to be con-
sidered. Displacements in normal direction will be fixed at all boundaries; which means

(1) radial planes: fixity in θ -direction (third component);

(2) circumference surface: fixity in radial direction (first component);
(3) Top and bottom planes: vertical fixity in y-direction;

Check if the applied conditions are correct as shown in Figure A.5.

Applying loading conditions

A vertical load equal to –100 kPa will be applied in y-direction on the top of the foundation as
shown in Figure A.6.

A.1.5 Defining a surface for computation of reaction forces

Follow the steps in Section 7.2.6 and select for output the surface at the interface between
soil and foundation (see Figure A.7).
Shallow foundation in 3D-cylindrical coordinates 233

Figure A.5: Solid fixities of the shallow foundation problem in GiD.

Figure A.6: Applied load on top of the foundation at the material points.
 234 Anura3D MPM Software, Tutorial Manual

Figure A.7: Output reation force.

A.1.6 Defining the moving mesh

The moving mesh input parameters are defined similarly as in Chapter 7.2.7, but in 3D-
cylindrical coordinate 6 corner nodes must be specified for each area, i.e. compressing mesh,
extending mesh and moving mesh. The three domain areas must be connected with each
other and all elements of the discretised domain must belong to either one of them.

The following steps have to be taken to define the moving mesh:

(1) Select "Compressing Mesh" from the drop down menu.

(2) Click <Assign> and select the 6 corner nodes that delimit the zone that will be compressed
by the movement of the moving mesh as shown in Figure A.8. Note that the volume
delimited by these corner nodes must be a wedge, thus exactly 6 nodes must be selected
of which 4 must be on an external boundary and 2 on the symmetry axis. Alternative
shapes of the compressing/extending/moving mesh are not allowed.
Shallow foundation in 3D-cylindrical coordinates 235

Figure A.8: Definition of compressing mesh corner nodes.

(3) In this example no "Extending Mesh" will be used, thus no corner nodes must be selected
for this option.
(4) Select "Moving Mesh" from the drop down menu.
(5) Specify the direction of movement. In this example the foundation should move in vertical
direction, thus choose "y-direction" next to "moving mesh direction".
(6) Click <Assign> and select the 6 corner nodes that delimit the moving mesh as shown in
Figure A.9. 3 of these nodes must coincide with the 2 nodes of the compressing mesh, i.e.
the nodes of the top soil surface. The remaining 2 nodes must be on the free boundary, i.e.
top surface. Note that when using both compressing and extending mesh, it is necessary
that exactly 3 nodes of the moving mesh coincide with 3 nodes of the compressing mesh
and the remaining 3 nodes coincide with 3 nodes of the extending mesh.
236 Anura3D MPM Software, Tutorial Manual

Figure A.9: Definition of moving mesh corner nodes and direction of movement.

(7) Define the reference material that will determine the displacement of the moving mesh.
Click on the "volume" symbol on the top of the moving mesh menu.
(8) Click <Assign> and select the structure surface, i.e. the foundation, as shown in Figure
A.10.

Figure A.10: Definition of moving mesh reference material.

It should be noted that the number of corner nodes necessary to identify correctly each moving
mesh zone are:

 4 corner nodes in 2D models

 6 corner nodes in 3D-cylindircal models
 8 corner nodes in 3D-cartesian models
 Shallow foundation in 3D-cylindrical coordinates 237

A.1.7 Creating mesh

An unstructured mesh is used for this example. To generate the mesh follow the steps given
in Section 5.2.7. For this example set the mean element size to "0.8", and assigned a refined
size of 0.5 to the foundation bottom surface. The mesh should look as shown Figure A.11.

Figure A.11: Computational mesh of the shallow foundation problem in 3D-cylindrical co-
ordinates.

A.1.8 Initialisation of calculation data

The calculation data are identical to those in Chapter 7.3.1, whith the only exception of the
Dimension that should be "‘3D - cylindrical"’ (Fig. A.12).

A.1.9 Generating Input Files

After the geometry, material properties, boundary conditions, and calculation parameters are
defined and the mesh is generated the input files for the Anura3D analysis, i.e. GOM and
CPS file, have to be created. To generate the GOM and CPS files follow steps given in
Section 3.2.8.

The generated input files foundation-3Dcylindrical.GOM and foundation-3Dcylindrical.CPS_001

can be found in the new folder foundation-3Dcylindrical.A3D, created in the directory
which was specified earlier by the user (Section 7.2.1):
D:\..\foundation−3Dcylindrical.A3D\foundation−3Dcylindrical.GOM

D:\..\foundation−3Dcylindrical.A3D\foundation−3Dcylindrical.CPS_001
 238 Anura3D MPM Software, Tutorial Manual

Figure A.12: Dialogue box to define calculation parameters in GiD for the shallow foun-
dation problem in 3D - cylindrical coordinates.

A.1.10 Performing calculation in Anura3D

The calculation can be performed as explained in Section 3.3.

A.1.11 Visualisation of results in ParaView

The recommended way to visualise Anura3D results is by using the ParaView software (see
Sections 2.4 and 2.1.3). Instructions presented in Section 3.4 can be followed to open and
analyse the results from the shallow foundation problem. Figure A.13 shows the evolution of
vertical effective stress.
Shallow foundation in 3D-cylindrical coordinates 239

(a) (b)

(c) (d)

(e) (f)

Figure A.13: Vertical effective stress after: a) load step 1, b) load step 2, c) load step 3,
d) load step 4, e) load step 5 and f) load step 6.