This document discusses the direct stiffness method for structural analysis. It begins by introducing the direct stiffness method and its key aspects, including using member stiffness matrices to express actions and displacements at both ends of each member. It then provides examples of applying the direct stiffness method to analyze a plane truss member and plane frame member. This involves deriving the member stiffness matrices in local coordinates, and transforming displacement, load, and stiffness matrices between local and global coordinate systems using rotation matrices.
determinate and indeterminate structuresvempatishiva
This topic I am uploading here contains some basic topics in structural analysis which includes types of supports, reactions for different support conditions, determinate and indeterminate structures, static and kinematic indeterminacy,external and internal static indeterminacy, kinematic indeterminacy for beams, frames, trusses.
need of finding indeterminacy, different methods available to formulate equations to solve unknowns.
determinate and indeterminate structuresvempatishiva
This topic I am uploading here contains some basic topics in structural analysis which includes types of supports, reactions for different support conditions, determinate and indeterminate structures, static and kinematic indeterminacy,external and internal static indeterminacy, kinematic indeterminacy for beams, frames, trusses.
need of finding indeterminacy, different methods available to formulate equations to solve unknowns.
Structural engineering i- Dr. Iftekhar Anam
Structural Stability and Determinacy,Axial Force, Shear Force and Bending Moment Diagram of Frames,Axial Force, Shear Force and Bending Moment Diagram of Multi-Storied Frames,Influence Lines of Beams using Müller-Breslau’s Principle,Influence Lines of Plate Girders and Trusses,Maximum ‘Support Reaction’ due to Wheel Loads,Maximum ‘Shear Force’ due to Wheel Loads,Calculation of Wind Load,Seismic Vibration and Structural Response
http://www.uap-bd.edu/ce/anam/
Class notes of Geotechnical Engineering course I used to teach at UET Lahore. Feel free to download the slide show.
Anyone looking to modify these files and use them for their own teaching purposes can contact me directly to get hold of editable version.
TERZAGHI’S BEARING CAPACITY THEORY
DERIVATION OF EQUATION TERZAGHI’S BEARING CAPACITY THEORY
TERZAGHI’S BEARING CAPACITY FACTORS
Download vedio link
https://youtu.be/imy61hU0_yo
Class notes of Geotechnical Engineering course I used to teach at UET Lahore. Feel free to download the slide show.
Anyone looking to modify these files and use them for their own teaching purposes can contact me directly to get hold of editable version.
Structural engineering i- Dr. Iftekhar Anam
Structural Stability and Determinacy,Axial Force, Shear Force and Bending Moment Diagram of Frames,Axial Force, Shear Force and Bending Moment Diagram of Multi-Storied Frames,Influence Lines of Beams using Müller-Breslau’s Principle,Influence Lines of Plate Girders and Trusses,Maximum ‘Support Reaction’ due to Wheel Loads,Maximum ‘Shear Force’ due to Wheel Loads,Calculation of Wind Load,Seismic Vibration and Structural Response
http://www.uap-bd.edu/ce/anam/
Class notes of Geotechnical Engineering course I used to teach at UET Lahore. Feel free to download the slide show.
Anyone looking to modify these files and use them for their own teaching purposes can contact me directly to get hold of editable version.
TERZAGHI’S BEARING CAPACITY THEORY
DERIVATION OF EQUATION TERZAGHI’S BEARING CAPACITY THEORY
TERZAGHI’S BEARING CAPACITY FACTORS
Download vedio link
https://youtu.be/imy61hU0_yo
Class notes of Geotechnical Engineering course I used to teach at UET Lahore. Feel free to download the slide show.
Anyone looking to modify these files and use them for their own teaching purposes can contact me directly to get hold of editable version.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Using recycled concrete aggregates (RCA) for pavements is crucial to achieving sustainability. Implementing RCA for new pavement can minimize carbon footprint, conserve natural resources, reduce harmful emissions, and lower life cycle costs. Compared to natural aggregate (NA), RCA pavement has fewer comprehensive studies and sustainability assessments.
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
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Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
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Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
CW RADAR, FMCW RADAR, FMCW ALTIMETER, AND THEIR PARAMETERSveerababupersonal22
It consists of cw radar and fmcw radar ,range measurement,if amplifier and fmcw altimeterThe CW radar operates using continuous wave transmission, while the FMCW radar employs frequency-modulated continuous wave technology. Range measurement is a crucial aspect of radar systems, providing information about the distance to a target. The IF amplifier plays a key role in signal processing, amplifying intermediate frequency signals for further analysis. The FMCW altimeter utilizes frequency-modulated continuous wave technology to accurately measure altitude above a reference point.
Student information management system project report ii.pdfKamal Acharya
Our project explains about the student management. This project mainly explains the various actions related to student details. This project shows some ease in adding, editing and deleting the student details. It also provides a less time consuming process for viewing, adding, editing and deleting the marks of the students.
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We have compiled the most important slides from each speaker's presentation. This year’s compilation, available for free, captures the key insights and contributions shared during the DfMAy 2024 conference.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
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introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
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Module3 direct stiffness- rajesh sir
1. Structural Analysis - III
Di t Stiff M th dDirect Stiffness Method
Dr. Rajesh K. N.
Assistant Professor in Civil EngineeringAssistant Professor in Civil Engineering
Govt. College of Engineering, Kannur
Dept. of CE, GCE Kannur Dr.RajeshKNDept. of CE, GCE Kannur Dr.RajeshKN
1
2. Module IIIModule III
Direct stiffness method
• Introduction – element stiffness matrix – rotation transformation
Direct stiffness method
matrix – transformation of displacement and load vectors and
stiffness matrix – equivalent nodal forces and load vectors –
assembly of stiffness matrix and load vector – determination ofassembly of stiffness matrix and load vector determination of
nodal displacement and element forces – analysis of plane truss
beam and plane frame (with numerical examples) – analysis of
grid space frame (without numerical examples)grid – space frame (without numerical examples)
Dept. of CE, GCE Kannur Dr.RajeshKN
2
3. Introduction
• The formalised stiffness method involves evaluating the
displacement transformation matrix CMJ correctlyp y
• Generation of matrix CMJ is not suitable for computer
programming
H th l ti f di t tiff th d• Hence the evolution of direct stiffness method
Dept. of CE, GCE Kannur Dr.RajeshKN
3
4. Direct stiffness method
• We need to simplify the assembling process of SJ , theJ
assembled structure stiffness matrix
• The key to this is to use member stiffness matrices for actionsThe key to this is to use member stiffness matrices for actions
and displacements at BOTH ends of each member
If b di l d i h f• If member displacements are expressed with reference to
global co-ordinates, the process of assembling SJ can be made
simplesimple
Dept. of CE, GCE Kannur Dr.RajeshKN
4
5. Member oriented axes (local coordinates)
d t t i t d ( l b l di t )and structure oriented axes (global coordinates)
Lδ
x
y
L
Local axes
LδL
Lδ
sinLδ θ
Lδ θ
x
YYYY
cosLδ θ
θ
Global axes yGlobal axesGlobal axes
θ
XXXX
Dept. of CE, GCE Kannur Dr.RajeshKN
Global axes
6. 1. Plane truss member
Stiffness coefficients in local coordinates
1
3
2 4
y
0 0
Degrees of freedom
1
⎛ ⎞
⎜ ⎟
Unit displacement
xEA
L
EA
L
⎜ ⎟
⎝ ⎠corr. to DOF 1
0 0
EA EA⎡ ⎤
−⎢ ⎥
[ ]
0 0
0 0 0 0
0 0
M
L L
S
EA EA
⎢ ⎥
⎢ ⎥
⎢ ⎥
⎢ ⎥
−⎢ ⎥
=
Member stiffness matrix in local
coordinates
Dept. of CE, GCE Kannur Dr.RajeshKN
0 0 0 0
L L
⎢ ⎥
⎢
⎢⎣ ⎦
⎥
⎥
7. Transformation of displacement vector
θ
Displacements in global
22 2 cosU D θ=
p g
coordinates: U1 and U2
Displacements in local
di D d D2D
DY iU D θ
12 2 sinU D θ= − θ
1 11 12 1 2cos sinU U U D Dθ θ= + = −
coordinates: D1 and D2
1DY
11 1 cosU D θ=
21 1 sinU D θ=
2 21 22 1 2sin cosU U U D Dθ θ= + = +
1 1cos sinU Dθ θ−⎧ ⎫ ⎧ ⎫⎡ ⎤
⎧ ⎫ ⎧ ⎫⎡ ⎤
1 1
2 2
cos sin
sin cos
U D
U D
θ θ
θ θ
⎧ ⎫ ⎧ ⎫⎡ ⎤
=⎨ ⎬ ⎨ ⎬⎢ ⎥
⎣ ⎦⎩ ⎭ ⎩ ⎭
X 1 1
2 2
cos sin
sin cos
D U
D U
θ θ
θ θ
⎧ ⎫ ⎧ ⎫⎡ ⎤
∴ =⎨ ⎬ ⎨ ⎬⎢ ⎥−⎣ ⎦⎩ ⎭ ⎩ ⎭
Dept. of CE, GCE Kannur Dr.RajeshKN
{ } [ ]{ }D R U=
8. C id i b th d
⎧ ⎫ ⎧ ⎫
Considering both ends,
1 1
2 2
cos sin 0 0
sin cos 0 0
0 0 i
D U
D U
D U
θ θ
θ θ
θ θ
⎧ ⎫ ⎧ ⎫⎡ ⎤
⎪ ⎪ ⎪ ⎪⎢ ⎥−⎪ ⎪ ⎪ ⎪⎢ ⎥=⎨ ⎬ ⎨ ⎬
⎢ ⎥3 3
4 4
0 0 cos sin
0 0 sin cos
D U
D U
θ θ
θ θ
⎨ ⎬ ⎨ ⎬
⎢ ⎥⎪ ⎪ ⎪ ⎪
⎢ ⎥⎪ ⎪ ⎪ ⎪−⎩ ⎭ ⎣ ⎦ ⎩ ⎭
{ } [ ]{ }LOCAL T GLOBALD R D=
[ ] [ ]R O⎡ ⎤
[ ]
[ ] [ ]
[ ] [ ]T
R O
R
O R
⎡ ⎤
= ⎢ ⎥
⎣ ⎦
Rotation matrix
Dept. of CE, GCE Kannur Dr.RajeshKN
9. Transformation of load vector Actions in global
θ
coordinates:
F1 and F2
22 2 cosF A θ= 1 11 12 1 2cos sinF F F A Aθ θ= + = −
22 2
12 2 sinF A θ= − θ 2A 2 21 22 1 2sin cosF F F A Aθ θ= + = +
Y
11 1 cosF A θ=
21 1 sinF A θ=1A 1 1
2 2
cos sin
sin cos
F A
F A
θ θ
θ θ
−⎧ ⎫ ⎧ ⎫⎡ ⎤
=⎨ ⎬ ⎨ ⎬⎢ ⎥
⎣ ⎦⎩ ⎭ ⎩ ⎭
11 1
1 1cos sinA Fθ θ⎧ ⎫ ⎧ ⎫⎡ ⎤
=⎨ ⎬ ⎨ ⎬⎢ ⎥
X
2 2sin cosA Fθ θ
⎨ ⎬ ⎨ ⎬⎢ ⎥−⎩ ⎭ ⎣ ⎦ ⎩ ⎭
{ } [ ]{ }A R F=
Dept. of CE, GCE Kannur Dr.RajeshKN
{ } [ ]{ }A R F=
10. C id i b th dConsidering both ends,
1 1
2 2
cos sin 0 0
sin cos 0 0
A F
A F
θ θ
θ θ
⎧ ⎫ ⎧ ⎫⎡ ⎤
⎪ ⎪ ⎪ ⎪⎢ ⎥−⎪ ⎪ ⎪ ⎪⎢ ⎥=⎨ ⎬ ⎨ ⎬
3 3
4 4
0 0 cos sin
0 0 sin cos
A F
A F
θ θ
θ θ
⎢ ⎥=⎨ ⎬ ⎨ ⎬
⎢ ⎥⎪ ⎪ ⎪ ⎪
⎢ ⎥⎪ ⎪ ⎪ ⎪−⎩ ⎭ ⎣ ⎦ ⎩ ⎭
{ } [ ]{ }LOCAL T GLOBALi.e., A R A=
Dept. of CE, GCE Kannur Dr.RajeshKN
10
11. Transformation of stiffness matrix
{ } [ ]{ }LOCAL M LOCALA S D=
[ ]{ } [ ][ ]{ }T GLOBAL M T GLOBALR A S R D=
{ } [ ] [ ][ ]{ }
1
GLOBAL T M T GLOBALA R S R D
−
=
[ ]{ } [ ][ ]{ }T GLOBAL M T GLOBAL
[ ] [ ]1 T
R R
−{ } [ ] [ ][ ]{ }GLOBAL T M T GLOBAL
{ } [ ]{ }A S D
[ ] [ ]T TR R=
{ } [ ]{ }GLOBAL MS GLOBALA S D=
[ ] [ ] [ ][ ]
T
MS T M TS R S R=where,
Member stiffness matrix in
global coordinates
Dept. of CE, GCE Kannur Dr.RajeshKN
12. [ ] [ ] [ ][ ]
T
S R S R=
T
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
[ ] [ ] [ ][ ]MS T M TS R S R=
0 0 1 0 1 0 0 0
0 0 0 0 0 0 0 0
T
c s c s
s c s cEA
−⎡ ⎤ ⎡ ⎤ ⎡ ⎤
⎢ ⎥ ⎢ ⎥ ⎢ ⎥− −
⎢ ⎥ ⎢ ⎥ ⎢ ⎥=
⎢ ⎥ ⎢ ⎥ ⎢ ⎥0 0 1 0 1 0 0 0
0 0 0 0 0 0 0 0
c s c sL
s c s c
−⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥
− −⎣ ⎦ ⎣ ⎦ ⎣ ⎦
2 2
c cs c cs⎡ ⎤− −
⎢ ⎥ M b tiff t i2 2
2 2
cs s cs sEA
L c cs c cs
⎢ ⎥
− −⎢ ⎥=
⎢ ⎥− −
⎢ ⎥
Member stiffness matrix
in global coordinates
for a plane truss member
2 2
cs s cs s
⎢ ⎥
− −⎣ ⎦
p
Dept. of CE, GCE Kannur Dr.RajeshKN
12
13. 2. Plane frame member
Stiffness coefficients in local coordinates
2 52
4
5
Degrees of freedom0 0 0 0
EA EA⎡ ⎤
1
3
4
6
Degrees of freedom
3 2 3 2
0 0 0 0
12 6 12 6
0 0
L L
EI EI EI EI
L L L L
⎡ ⎤
−⎢ ⎥
⎢ ⎥
⎢ ⎥−
⎢ ⎥
⎢ ⎥
[ ]
2 2
6 4 6 2
0 0
0 0 0 0
Mi
EI EI EI EI
L L L L
S
EA EA
⎢ ⎥
⎢ ⎥−
⎢ ⎥=
⎢ ⎥
−⎢ ⎥
Member stiffness matrix
in local coordinates
3 2 3 2
0 0 0 0
12 6 12 6
0 0
L L
EI EI EI EI
L L L L
−⎢ ⎥
⎢ ⎥
⎢ ⎥
− − −⎢ ⎥
⎢ ⎥
Dept. of CE, GCE Kannur Dr.RajeshKN
2 2
6 2 6 4
0 0
EI EI EI EI
L L L L
⎢ ⎥
⎢ ⎥−
⎢ ⎥⎣ ⎦
14. Transformation of displacement vector
1 1
2 2
cos sin 0 0 0 0
sin cos 0 0 0 0
D U
D U
θ θ
θ θ
⎧ ⎫ ⎧ ⎫⎡ ⎤
⎪ ⎪ ⎪ ⎪⎢ ⎥−
⎪ ⎪ ⎪ ⎪⎢ ⎥
3 3
4 4
0 0 1 0 0 0
0 0 0 cos sin 0
D U
D Uθ θ
⎪ ⎪ ⎪ ⎪⎢ ⎥
⎪ ⎪ ⎪ ⎪⎢ ⎥
=⎨ ⎬ ⎨ ⎬⎢ ⎥
⎪ ⎪ ⎪ ⎪⎢ ⎥
⎪ ⎪ ⎪ ⎪⎢ ⎥5 5
6 6
0 0 0 sin cos 0
0 0 0 0 0 1
D U
D U
θ θ⎪ ⎪ ⎪ ⎪⎢ ⎥−
⎪ ⎪ ⎪ ⎪⎢ ⎥
⎣ ⎦⎩ ⎭ ⎩ ⎭
{ } [ ]{ }LOCAL T GLOBALD R D=
[ ] [ ]R O⎡ ⎤
{ } [ ]{ }LOCAL T GLOBAL
[ ]
[ ] [ ]
[ ] [ ]T
R O
R
O R
⎡ ⎤
= ⎢ ⎥
⎣ ⎦
Rotation matrix
Dept. of CE, GCE Kannur Dr.RajeshKN
15. Transformation of load vector
{ } [ ]{ }LOCAL T GLOBALA R A={ } [ ]{ }
cos sin 0 0 0 0θ θ⎡ ⎤
⎢ ⎥
[ ]
sin cos 0 0 0 0
0 0 1 0 0 0
R
θ θ⎢ ⎥−
⎢ ⎥
⎢ ⎥
= ⎢ ⎥[ ]
0 0 0 cos sin 0
0 0 0 sin cos 0
TR
θ θ
θ θ
= ⎢ ⎥
⎢ ⎥
⎢ ⎥−
⎢ ⎥
0 0 0 0 0 1
⎢ ⎥
⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
16. Transformation of stiffness matrix
{ } [ ]{ }GLOBAL MS GLOBALA S D=
[ ] [ ] [ ][ ]T
MS T M TS R S R= Member stiffness matrix in
global coordinatesglobal coordinates
EA EA⎡ ⎤
0 0 0 0
0 0 0 0
c s
s c
⎡ ⎤
⎢ ⎥−
⎢ ⎥
3 2 3 2
0 0 0 0
12 6 12 6
0 0
EA EA
L L
EI EI EI EI
L L L L
⎡ ⎤
−⎢ ⎥
⎢ ⎥
⎢ ⎥−
⎢ ⎥
⎢ ⎥
[ ]
0 0 1 0 0 0
0 0 0 0
0 0 0 0
T
c s
s c
R
⎢ ⎥
⎢ ⎥
= ⎢ ⎥
⎢ ⎥
⎢ ⎥−
⎢ ⎥
[ ]
2 2
6 4 6 2
0 0
0 0 0 0
M
EI EI EI EI
L L L LS
EA EA
L L
⎢ ⎥
⎢ ⎥−
⎢ ⎥=
⎢ ⎥
−⎢ ⎥
Where,
,
0 0 0 0 0 1
⎢ ⎥
⎣ ⎦
3 2 3 2
12 6 12 6
0 0
6 2 6 4
0 0
L L
EI EI EI EI
L L L L
EI EI EI EI
⎢ ⎥
⎢ ⎥
⎢ ⎥− − −⎢ ⎥
⎢ ⎥
⎢ ⎥
Dept. of CE, GCE Kannur Dr.RajeshKN
2 2
0 0
L L L L
⎢ ⎥−
⎢ ⎥⎣ ⎦
17. Assembling global stiffness matrixg g
Plane truss
2
Force
21
3
31
3
2 4
1
3
Action/displacement components in
local coordinates of members
Dept. of CE, GCE Kannur Dr.RajeshKN
19. 1 2 3 4
Global DOF
11 12 13 14
1 1 1 1
21 22 23 24
2 2
2 2
1
2
M M M M
s s s s
s s s s
c cs c cs
cs s cs sEA
− −⎡ ⎤ ⎡ ⎤
⎢ ⎥ ⎢ ⎥− −
⎢ ⎥ ⎢ ⎥
1 2 3 4
[ ] 1 1 1 1
31 32 33 34
1 1 1 1
41 42 43 44
1 2 2
2 2
2
3
4
M M M M
M M M M
M
s s s s
s s s s
cs s cs sEA
S
c cs c csL
− −
⎢ ⎥ ⎢ ⎥= =
− −⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ ⎥
⎣ ⎦⎣ ⎦
41 42 43 44
1 1 1 1
2 2
4M M M M
s s s scs s cs s
⎢ ⎥ ⎢ ⎥− − ⎣ ⎦⎣ ⎦
1 2 3 4 5 6
1
2
× × × ×⎡ ⎤
⎢ ⎥× × × ×
⎢ ⎥ C t ib ti f
[ ]
2
3
4
JS
× × × ×
⎢ ⎥
× × × ×⎢ ⎥
= ⎢ ⎥
Contribution of
Member 1 to global
stiffness matrix[ ]
4
5
J ⎢ ⎥
× × × ×⎢ ⎥
⎢ ⎥
⎢ ⎥
Dept. of CE, GCE Kannur Dr.RajeshKN
6
⎢ ⎥
⎣ ⎦
20. 3 4 5 6
Global DOF
11 12 13 14
2 2 2 2
21 22 23 24
3
4
M M M M
s s s s
s s s s
⎡ ⎤
⎢ ⎥
⎢ ⎥
3 4 5 6
[ ] 2 2
2
2 2
31 32 33 34
2 2 2 2
41 42 43 44
4
5
6
M M M M
M M M
M
M
s s s s
s s s s
s s s s
S = ⎢ ⎥
⎢ ⎥
⎢ ⎥
⎣ ⎦2 2 2 2
6M M M M
s s s s⎣ ⎦
1 2 3 4 5 6
1
2
⎡ ⎤
⎢ ⎥
⎢ ⎥ C t ib ti f
[ ]
2
3
4
JS
⎢ ⎥
× × × ×⎢ ⎥
= ⎢ ⎥
× × × ×⎢ ⎥
Contribution of
Member 2 to global
stiffness matrix
4
5
6
× × × ×⎢ ⎥
⎢ ⎥× × × ×
⎢ ⎥
⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
6
⎢ ⎥
× × × ×⎣ ⎦
21. 11 12 13 14
1⎡ ⎤
1 2 5 6
Global DOF
[ ]
11 12 13 14
3 3 3 3
21 22 23 24
3 3 3 3
1
2
M M M M
M M M M
s s s s
s s s s
S
⎡ ⎤
⎢ ⎥
⎢ ⎥[ ] 3 3
3
3 3
31 32 33 34
3 3 3 3
41 42 43 44
5
6
M M M M
M M M
M
M
s s s s
S = ⎢ ⎥
⎢ ⎥
⎢ ⎥
⎣ ⎦
41 42 43 44
3 3 3 3
6M M M M
s s s s
⎢ ⎥
⎣ ⎦
1 2 3 4 5 6
1
2
× × × ×⎡ ⎤
⎢ ⎥
1 2 3 4 5 6
[ ]
2
3
JS
⎢ ⎥× × × ×
⎢ ⎥
⎢ ⎥
= ⎢ ⎥
Contribution of
Member 3 to global
stiffness matrix[ ]
4
5
JS ⎢ ⎥
⎢ ⎥
⎢ ⎥× × × ×
⎢ ⎥
stiffness matrix
Dept. of CE, GCE Kannur Dr.RajeshKN
6
⎢ ⎥
× × × ×⎣ ⎦
22. Assembled global stiffness matrix
11 12 13 1411 12 13 14
s s s ss s s s+ + 1⎡ ⎤
1 2 3 4 5 6
1 1 1 1
21 22 23 24
1 1 1 1
3 3 3 3
21 22 23 24
3 3 3 3
M M M M
M M M M
M M M M
M M M M
s s s s
s s s s
s s s s
s s s s
+ +
+ +
1
2
⎡ ⎤
⎢ ⎥
⎢ ⎥
⎢ ⎥
[ ]
31 32 3 11 12 13 14
2 2 2 2
21 22 23 24
3 34
1 1 1 1
41 42 43 44
M M M MM M M M
J
s s s s
s s s s
s s s s
s
S
ss s
+ +
=
+ +
3
4
⎢ ⎥
⎢ ⎥
⎢ ⎥
31 3
2 2 2 2
31 32 33
1 1
2
2
1 1
23 3 32
M M M M
M MM M
M M M M
MM
s s
s s s s
s s
s s
s
s s
s
+ +
+
34
2
33 34
3
4
5MM
ss +
⎢ ⎥
⎢ ⎥
⎢ ⎥41 42 43 44
2
41 42 43 44
3 2 23 32 3
6M M M MM M M M
s s s ss s s s+ +
⎢ ⎥
⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
23. Imposing boundary conditions 2
p g y
Plane truss example
21
1
2
0U U U U= = = =Boundary conditions are:
3
3
11 2 5 6
0U U U UBoundary conditions are:
{ }GLOBALD
11 12 13 1411 12 13 14
s s s ssF s s s+ +⎧ ⎫ U⎧ ⎫⎡ ⎤
{ }GLOBALD
3 3 3 31 1 1 1
2 21 221 22 23 24
1 1 1 1
23 24
1
2 3 3 3 3
M MM M M M
M M M M
M M
M M M M
s s s s
s s s s
sF
F
s s s
s s s s
+ +
+ +
⎧ ⎫
⎪ ⎪
⎪ ⎪
⎪ ⎪
1
2
U
U
⎧ ⎫⎡ ⎤
⎪ ⎪⎢ ⎥
⎪ ⎪⎢ ⎥
⎪ ⎪⎢ ⎥11 12 13 14
2 2 2 2
21 22 23 24
2
31 32 33 34
1 1 1 1
41 42 43 44
1
3
1 1 1 24 2 2
M M M M M M M
M M M
M
M M M M M
s s s s
s s s
s s s s
s s s s
F
F s
+ +
=
+ +
⎪ ⎪
⎨ ⎬
⎪ ⎪ 4
3
U
U
⎪ ⎪⎢ ⎥
⎨ ⎬⎢ ⎥
⎪ ⎪⎢ ⎥21 1 1 1 24
5
2 2M M MM M M M M
F
F
s
⎪ ⎪
⎪ ⎪
⎪ ⎪
⎩ ⎭
31 32 33 34
2 2 2 2
41 42 43 44
31 32 33 34
3 3 3 3
41 42 43 44
4
5M M M MM M M M
s ss s s s s U
U
+ +
⎪ ⎪⎢ ⎥
⎪ ⎪⎢ ⎥
⎪ ⎪⎢ ⎥
⎣ ⎦⎩ ⎭
Dept. of CE, GCE Kannur Dr.RajeshKN
6
F⎩ ⎭
41 42 43 44
2 2 2 2
41 42 43 44
3 3 3 3 6M MM M M MM M
ss s s s ss s U+ +⎣ ⎦⎩ ⎭
24. Reduced equation systemq y
(after imposing boundary conditions)
33 34
1 1
43 44
11 12
2 2
21 22
3 3MM M M
F U
F U
s ss s+ +⎧ ⎫ ⎧ ⎫⎡ ⎤
=⎨ ⎬ ⎨ ⎬⎢ ⎥+ +⎩ ⎭ ⎣ ⎦⎩ ⎭1 2 1 24 4M MM M
F Us sss⎢ ⎥+ +⎩ ⎭ ⎣ ⎦⎩ ⎭
•This reduced equation system can be solved to get the unknown
displacement components 3 4
,U U
{ } [ ]{ }LOCAL T GLOBALD R D=•From
{ }LOCALD can be found out.
{ } { }D D=F h b
Dept. of CE, GCE Kannur Dr.RajeshKN
{ } { }LOCAL MiD D=•For each member,
25. { } { } [ ]{ }A A S D{ } { } [ ]{ }Mi MLi Mi MiA A S D= +Member end actions
Where,
Fixed end actions on the member,{ }MLiA
Member stiffness matrix,[ ]MiS
[ ]
in local
coordinates
Displacement components of the member,[ ]MiD
{ } { } [ ]{ }LOCAL T GLOBALMi D R DD ==As we know,
{ } { } [ ][ ]{ }i i iM ML M i iT GLOBALA A S R D∴ = +
Dept. of CE, GCE Kannur Dr.RajeshKN
25
26. Direct Stiffness Method: Procedure
STEP 1: Get member stiffness matrices for all members [ ]MiS
STEP 2: Get rotation matrices for all members
[ ]TiR
STEP 3: Transform member stiffness matrices from local coordinates
into global coordinates to get [ ]MSiS[ ]MSi
STEP 4: Assemble global stiffness matrix [ ]JS
STEP 5: Impose boundary conditions to get the reduced stiffness
matrix [ ]S[ ]FFS
Dept. of CE, GCE Kannur Dr.RajeshKN
26
27. STEP 6: Find equivalent joint loads from applied loads on eachq j pp
member (loads other than those applied at joints directly)
STEP 7 T f b ti f l l di t i t l b lSTEP 7: Transform member actions from local coordinates into global
coordinates to get the transformed load vector
STEP 8: Find combined load vector by adding the above
transformed load vector and the loads applied directly at joints
[ ]CA
STEP 9: Find the reduced load vector by removing members in
h l d di b d di i
[ ]FCA
the load vector corresponding to boundary conditions
STEP 10: Get displacement components of the structure in global
coordinates { } [ ] { }
1
F FF FCD S A
−
=
Dept. of CE, GCE Kannur Dr.RajeshKN
27
28. { } [ ]{ }LOCAL T GLOBALD R D=
STEP 11: Get displacement components of each member in local
coordinates
STEP 12: Get member end actions from
{ } { } [ ][ ]{ }Mi MLi Mi iT GLOB iALR DA A S∴ = +
{ } { } [ ][ ]R RC RF FA A S D= − +STEP 13: Get reactions from
{ }RCA represents combined joint loads (actual and
equivalent) applied directly to the supports.q ) pp y pp
Dept. of CE, GCE Kannur Dr.RajeshKN
28
29. • Problem 1:
1 Member stiffness matrices in local co ordinates
1EA ⎡ ⎤⎡ ⎤
1. Member stiffness matrices in local co-ordinates
(without considering restraint DOF)
[ ]1
1
00
1.155
0 0 0 0
M
EA
S L
⎡ ⎤⎡ ⎤
⎢ ⎥⎢ ⎥= =
⎢ ⎥⎢ ⎥
⎣ ⎦ ⎣ ⎦0 0 0 0⎣ ⎦ ⎣ ⎦
[ ]
1 0⎡ ⎤
[ ]
1 2 0⎡ ⎤
Dept. of CE, GCE Kannur Dr.RajeshKN
[ ]2
1 0
0 0
MS
⎡ ⎤
= ⎢ ⎥
⎣ ⎦
[ ]3
1 2 0
0 0MS
⎡ ⎤
= ⎢ ⎥
⎣ ⎦
37. • Problem 2 :
10kN m
5
4
8
4m
0kN m
C
B
20kN 2
4
6
7
94m
1
9
4m 1
2
A EI is constant.
1
2
3
Displacements in
global co-ordinates
Dept. of CE, GCE Kannur Dr.RajeshKN
37
global co ordinates
38. 2 5
6
9 2
1
4
3 6
4
6
2
6
9 2
5
1 1
Ki ti 1Kinematic
indeterminacy
DOF in local co-
ordinates
1
2
33
Dept. of CE, GCE Kannur Dr.RajeshKN
38
39. 0 0 0 0
12 6 12 6
EA EA
L L
EI EI EI EI
⎡ ⎤
−⎢ ⎥
⎢ ⎥
⎢ ⎥
3 2 3 2
2 2
12 6 12 6
0 0
6 4 6 2
0 0
EI EI EI EI
L L L L
EI EI EI EI
L L L L
⎢ ⎥
⎢ ⎥−
⎢ ⎥
⎢ ⎥
⎢ ⎥−
⎢ ⎥
Member stiffness matrix
[ ]
0 0 0 0
12 6 12 6
Mi
L L L LS
EA EA
L L
EI EI EI EI
⎢ ⎥=
⎢ ⎥
−⎢ ⎥
⎢ ⎥
⎢ ⎥
of a 2D frame member in
local coordinates
3 2 3 2
2 2
12 6 12 6
0 0
6 2 6 4
0 0
EI EI EI EI
L L L L
EI EI EI EI
L L L L
⎢ ⎥− − −⎢ ⎥
⎢ ⎥
⎢ ⎥−
⎢ ⎥⎣ ⎦L L L L⎢ ⎥⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
39
40. 1. Member stiffness matrices in local co-ordinates
( ith t id i t i t DOF)
6Local DOFMember 1
(without considering restraint DOF)
[ ] 4EI
S ⎡ ⎤=
⎢ ⎥ [ ]1EI EI= =
6Global DOF
[ ]1MS
L
=
⎢ ⎥⎣ ⎦
[ ]1EI EI
Member 2
6 9Global DOF
3 6Local DOF
Member 2
[ ]
4 2EI EI
L LS
⎡ ⎤
⎢ ⎥
⎢ ⎥
6 9Global DOF
0.5EI EI⎡ ⎤
[ ]2
2 4
M
L LS
EI EI
L L
= ⎢ ⎥
⎢ ⎥
⎢ ⎥⎣ ⎦
0.5EI EI
⎡ ⎤
= ⎢ ⎥
⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
40
41. 2. Rotation (transformation) matrices
In this case, transformation matrices are:
[ ] [ ]1 1TR = corresponding to local DOF 6
[ ]2
1 0
0 1
TR
⎡ ⎤
= ⎢ ⎥
⎣ ⎦
corresponding to local DOFs 3 & 6
⎣ ⎦
3. Member stiffness matrices in global co-ordinates
(Transformed member stiffness matrices)
[ ]1MSS EI= [ ]2
0.5
0.5
MS
EI EI
S
EI EI
⎡ ⎤
= ⎢ ⎥
⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
⎣ ⎦
42. 4 A bl d ( d d d) l b l tiff t i
6 9Gl b l DOF
4. Assembled (and reduced) global stiffness matrix
[ ]
0.5EI EI
S
IE⎡ + ⎤
= ⎢ ⎥
6 9Global DOF
2 0.5
EI
⎡ ⎤
= ⎢ ⎥[ ]
0.5FFS
EI EI
= ⎢ ⎥
⎣ ⎦ 0.5 1
EI= ⎢ ⎥
⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
43. 5. Loads
20
13.33 13.33
B
C
20
13.33 20
13.33B
C20
B
20 20
C C20
Fi d d ti A
Combined (Eqlt.+
actual) joint loads
A
Fixed end actions A (Loads in global
co-ordinates)
{ }
13.33
13 33FCA
−⎧ ⎫
= ⎨ ⎬
⎩ ⎭
Loads corresponding to global DOF 6, 9:
Dept. of CE, GCE Kannur Dr.RajeshKN
43
{ }
13.33FC ⎨ ⎬
⎩ ⎭
Loads corresponding to global DOF 6, 9:
44. 6 Joint displacements
11 431 ⎧ ⎫
6. Joint displacements
{ } [ ] { }
1
F FF FCD S A
−
=
11.43
19.04
1
EI
−⎧
=
⎫
⎨ ⎬
⎩ ⎭
Dept. of CE, GCE Kannur Dr.RajeshKN
44
45. 7. Member end actions
{ } { } [ ][ ]{ }Mi MLi Mi iT GLOB iALR DA A S∴ = +
: fixed end actions for member i{ }MLiA
Member 1
{ } { } [ ][ ]{ }1 1 1 1 1TM M G LM L BAL OR DA A S= +
{ } [ ]{ }DA S { } { }
4 1
0 11 43
EI⎡ ⎤
{ } [ ]{ }1 1 1ML M GLOBALDA S= + { } { }0 11.43
11.43
L EI
⎡ ⎤
= + −⎢ ⎥⎣ ⎦
= −
This is the member end action corresponding to local DOF 6
f M b 1 i b d h d f
Dept. of CE, GCE Kannur Dr.RajeshKN
45
of Member 1. i.e., member end moment at the top edge of
Member 1.
46. Member 2
{ } { } [ ]{ }2 2 2 2M ML M GLOBALA A DS= +
Member 2
13.33 11.43
13.33 1
0.5
9.04
1
0.5
EI EI
EI EI EI
−⎧ ⎫ ⎧ ⎫
+
⎡ ⎤
= ⎢ ⎥
⎣
⎨ ⎬ ⎨
−⎩ ⎭ ⎩⎦
⎬
⎭
13.33 1.91−⎧ ⎫ ⎧ ⎫
+⎨ ⎬ ⎨= ⎬
11.42
=
⎧ ⎫
⎨ ⎬
Th th b ti di t l l DOF 3
13.33 13.325
+⎨ ⎬ ⎨
⎩ ⎭
⎬
− ⎩ ⎭ 0
⎨ ⎬
⎩ ⎭
These are the member actions corresponding to local DOFs 3
and 6 of Member 2. i.e., member end moments of Member 2.
Dept. of CE, GCE Kannur Dr.RajeshKN
46
52. 1. Member stiffness matrices in local co-ordinates
( ith t id i t i t DOF)(without considering restraint DOF)
0 0
12 6
XEA
L
EI EI
⎡ ⎤
⎢ ⎥
⎢ ⎥
⎢ ⎥
1000 0 0⎡ ⎤
⎢ ⎥[ ]1 3 2
12 6
0
6 4
0
Z Z
M
Z Z
EI EI
S
L L
EI EI
⎢ ⎥= −
⎢ ⎥
⎢ ⎥
⎢ ⎥−
5
0 120 6000
0 6000 4 10
⎢ ⎥= −
⎢ ⎥
− ×⎢ ⎥⎣ ⎦
2
0
L L
⎢ ⎥−
⎣ ⎦
0 0
12 6
XEA
L
EI EI
⎡ ⎤
⎢ ⎥
⎢ ⎥
⎢ ⎥
800 0 0⎡ ⎤
⎢ ⎥
[ ]2 3 2
12 6
0
6 4
0
Z Z
M
Z Z
EI EI
S
L L
EI EI
⎢ ⎥=
⎢ ⎥
⎢ ⎥
⎢ ⎥
5
0 61.44 3840
0 3840 3.2 10
⎢ ⎥=
⎢ ⎥
×⎢ ⎥⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
52
2
0
L L
⎢ ⎥
⎣ ⎦
63. 1. Member stiffness matrices in local co-ordinates
( ith t id i t i t DOF)(without considering restraint DOF)
5
0 0
3.5 10 0 0
12 6
XEA
L
EI EI
⎡ ⎤
⎢ ⎥
⎡ ⎤×⎢ ⎥
⎢ ⎥⎢ ⎥[ ]1 3 2
12 6
0 0 6562.5 13125
0 13125 35000
6 4
0
Z Z
M
Z Z
EI EI
S
L L
EI EI
⎢ ⎥⎢ ⎥= − = −⎢ ⎥⎢ ⎥
⎢ ⎥−⎢ ⎥ ⎣ ⎦
⎢ ⎥− 2
0
L L
⎢ ⎥
⎣ ⎦
⎡ ⎤
[ ]
5
0 0
3.5 10 0 0
12 6
X
Z Z
EA
L
EI EI
⎡ ⎤
⎢ ⎥
⎡ ⎤×⎢ ⎥
⎢ ⎥⎢ ⎥[ ]2 3 2
2
12 6
0 0 3888.89 11666.67
0 11666.67 46666.67
6 4
0
Z Z
M
Z Z
EI EI
S
L L
EI EI
⎢ ⎥⎢ ⎥= = ⎢ ⎥⎢ ⎥
⎢ ⎥⎢ ⎥ ⎣ ⎦
⎢ ⎥
⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
63
2
L L
⎢ ⎥
⎣ ⎦
64. ⎡ ⎤
[ ]
5
0 0
3.5 10 0 0
12 6
0 0 6 62 1312
X
Z Z
EA
L
EI EI
S
⎡ ⎤
⎢ ⎥
⎡ ⎤×⎢ ⎥
⎢ ⎥⎢ ⎥[ ]3 3 2
2
12 6
0 0 6562.5 13125
0 13125 35000
6 4
0
Z Z
M
Z Z
EI EI
S
L L
EI EI
⎢ ⎥⎢ ⎥= = ⎢ ⎥⎢ ⎥
⎢ ⎥⎢ ⎥ ⎣ ⎦
⎢ ⎥
⎣ ⎦
2
L L
⎢ ⎥
⎣ ⎦
Dept. of CE, GCE Kannur Dr.RajeshKN
64
74. 7. Member end actions
{ } { } [ ][ ]{ }Mi MLi Mi iT GLOB iALR DA A S∴ = +
Dept. of CE, GCE Kannur Dr.RajeshKN
75. Summary
Direct stiffness method
Summary
• Introduction – element stiffness matrix – rotation transformation
matrix – transformation of displacement and load vectors and
stiffness matrix – equivalent nodal forces and load vectors –
assembly of stiffness matrix and load vector – determination ofassembly of stiffness matrix and load vector determination of
nodal displacement and element forces – analysis of plane truss
beam and plane frame (with numerical examples) – analysis of
grid space frame (without numerical examples)grid – space frame (without numerical examples)
Dept. of CE, GCE Kannur Dr.RajeshKN
75