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Wan-Huan Zhou
Zhen-Yu Yin
Ka-Veng Yuen
Practice
of Bayesian
Probability Theory
in Geotechnical
Engineering
Practice of Bayesian Probability Theory
in Geotechnical Engineering
Wan-Huan Zhou Zhen-Yu Yin
• •
Ka-Veng Yuen
Practice of Bayesian
Probability Theory
in Geotechnical Engineering
123
Wan-Huan Zhou Zhen-Yu Yin
State Key Laboratory of Internet of Things Department of Civil and Environmental
for Smart City, Department of Civil and Engineering
Environmental Engineering The Hong Kong Polytechnic University
University of Macau Hong Kong, China
Macau, China
Ka-Veng Yuen
State Key Laboratory of Internet of Things
for Smart City, Department of Civil and
Environmental Engineering
University of Macau
Macau, China
This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd.
The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,
Singapore
Dedicated to our families, teachers
and students.
Foreword
vii
viii Foreword
I came to know Dr. Zhen-Yu Yin during the Winter of 2011. At that time, he
was at HKUST as a Visiting Scholar from Shanghai Jiao Tong University. We
began academic discussions and collaboration from then on. His rigorous research
approach, deep understanding of soil behavior and solid analytical skills have left a
deep impression on me. He has led a dynamic research team and has published
many well-cited papers. He also had 5 years of experience as an engineer before
returning to academia, which prompted him to develop engineering application
methods.
I have known Prof. Kelvin Yuen for more than 20 years since he was a Master’s
student at HKUST. Although his major research is on the development of Bayesian
system identification for structural systems, many of his methods have been applied
to the geotechnical engineering field, including those introduced in this book. I am
sure that this book will raise a lot of attention because uncertainty quantification is
very important in geotechnical engineering.
This book consists of a summary and a refinement of results obtained by the
authors on the topic of model class selection and parameter identification. It gathers
the authors’ original results in optimization algorithms, model class selection
methods, parameter identification processes, constitutive modeling approaches, and
engineering applications. The development of the optimization theory in geotech-
nics is clearly presented based upon rigorous analyses. The illustrative examples
allow the reader to quickly understand the concept of optimization-based parameter
identification and its application to various practical cases. The authors have
deliberately provided relevant source codes for optimization algorithms and con-
stitutive models so that the reader can make use of this work for his or her own
applications.
In summary, this book provides an informative exposition of the current
advances in the formulation of numerical simulations in geomechanics and will
benefit both scientists and practitioners. Students will also find in this book a
stimulating introduction to the mechanics of geomaterials.
Limin Zhang
Ph.D., FASCE, FHKIE
Chair Professor of Geotechnical Engineering
Department of Civil and Environmental Engineering
The Hong Kong University of Science and Technology
Clear Water Bay, Kowloon, Hong Kong
Preface
The soil as the research object of soil mechanics has very complex property, and
how to correctly understand or describe the soil physical or mechanical behaviors
under different cases is crucial to the development of the soil mechanics. In
geotechnical engineering, the laboratory and field tests are important ways to study
and determine a certain soil physical property or parameters. Some soil properties
can be measured directly, e.g., water content, density, specific gravity, etc. But
some soil properties can only be estimated through their relationships with other
soil properties, such as void ratio, porosity, and degree of saturation. There are still
some cases in which the soil properties must be estimated through the complex or
empirical formulae. In these situations, some unknown parameters in the model are
required to be determined to describe the soil property. Back analysis is usually
conducted based on the relevant observed responses, e.g., the determination of the
compression index and the swelling index involved in the deformation predictions
of one-dimensional compression problem. Therefore, it is worthwhile to evaluate
the performance of models on the estimation of the real soil behavior.
It is well known that the soil has the complicated variability and uncertainty, and
its state is affected by many factors, e.g., stress level and history, rainfall conditions,
and physical and chemical changes. Therefore, the soil properties change in space
and time even for the homogeneous soil, and this is considered to be the inherent
variability of soil. The quantification of inherent variability is necessary for the
appropriate evaluation of soil properties. To quantify the uncertainties of soil
properties has great engineering significance. Moreover, due to the uncertainty,
complexity, and time-consuming in the measurement of the soil properties, indirect
methods are developed for predicting soil properties. Based on a large amount of
experiments and engineering practices, the researchers have proposed the empirical
or numerical formulae to estimate certain soil properties or mechanics index with
appropriate assumptions, e.g., numerous empirical formulae for predicting SWCC
and various soil constitutive models for describing the time-dependent behavior of
ix
x Preface
soft soil or critical state behavior of granular soils, etc. These models usually
contain unknown parameters, which are generally determined using the regression
analysis based on test data. Many of empirical models may not reflect the mech-
anism of soil properties due to the complex mechanism of soil behavior, and the
unknown parameters in the model may have no physical meanings.
Notably, most of empirical models for describing soil properties are obtained
from data fitting, and this will introduce the uncertainty to the model performance.
Even for the theoretical models, the uncertainty is also inevitable due to the ide-
alizations and simplifications in the theories. Three primary sources of uncertainty,
i.e., inherent soil variability, measurement error, and transformation uncertainty,
contribute to the uncertainty in the model predictions. These components should be
combined consistently by using a second-moment probabilistic approach. Besides
the evaluation of model uncertainty, the efficiency of models for reflecting the
actual soil properties is another valuable research issue. The investigation on
the model efficiency can provide engineers with a straightforward suggestion for the
engineering application of models.
Hence, research works in this book have been conducted to investigate different
geotechnical problems with the use of Bayesian probabilistic approach. In the study
of soil-water retention property, the effect of initial void ratio on the SWCC of same
textured soils was investigated and new models were introduced in Chaps. 2 and 3.
The involved predictive model was determined by using the Bayesian linear model
class selection. Chapters 3 and 4 are dedicated to evaluating the model uncertainty
for the creep behavior of soft soil and the effect of load duration while Chaps. 6 and 7
focus on shear behavior of granular soils. The Bayesian probabilistic method was
adopted to determine all model parameters and evaluate the uncertainty of model
parameters and model predictions. In Chap. 8, Bayesian linear model class selection
is employed again for the estimation of pullout shear strength of grouted soil nails.
Chapter 9 is dedicated to the study of the unconfined compression strength of natural
fiber reinforced soil. The Bayesian nonparametric general regression method was
introduced to select the most significant features from a set of experimental data. In
Chap. 10, we introduce an efficient model updating method under the Bayesian
framework for the deformation prediction of braced excavations.
This book begins with the most basic theoretical knowledge and combines
geotechnical experiments to realize how Bayesian probabilistic method can be
applied in practice, which can help readers quickly and accurately understand the
constitutive simulation of soil characteristics and methods to evaluate the associated
uncertainty in the predictions. In addition, this book provides source codes and a
free software platform from the authors’ work that can be directly used by readers
for analysis and training. We also hope to enrich the developed application methods
Preface xi
in the future by sharing with readers the latest scientific research results in the
geotechnical field and promoting the application of these methods to achieve the
purpose of geotechnical engineering innovation.
Zhen-Yu Yin
Ka-Veng Yuen
Acknowledgments
In the process of writing this book, we received much sincere guidance and help
from experts and colleagues. Here, I would like to express my sincere gratitude to
Prof. Pierre-Yves Hicher from Ecole Centrale de Nantes in France, Prof. Jian-Hua
Yin from the Hong Kong Polytechnic University, Prof. Limin Zhang from Hong
Kong University of Science and Technology, Prof. Shuilong Shen from Shantou
University, and Prof. Hongwei Huang from Tongji University for their careful
guidance and help during the book-writing process. And also we thank Dr. Zhao
Linshuang, Dr. Tan Fang, Dr. Qi Xiaohui, and Ms. Tian Chen currently or formerly
from the University of Macau; Dr. Yinfu Jin, Dr. Jie Yang, Dr. Pei Wang, and
Dr. Hanlin Wang from the Hong Kong Polytechnic University for their participa-
tion in the research projects and hard work in the process of organizing and
reviewing the book. We are also grateful to Tongji University Press and Springer
for performing detailed work on the publication of this book.
Some of the results and publications in this book have been funded by the
Science and Technology Development Fund, Macau SAR (File no.
0193/2017/A3, 0125/2014/A3, and SKL-IOTSC-2018-2020) and the University of
Macau (MYRG2018-00173-FST). We would like to express our heartfelt thanks to
National Natural Science Foundation of China (52022001, 51508585, 41372285,
51579179) and the Research Grants Council (RGC) of Hong Kong Special
Administrative Region Government (HKSARG) of China (Grant No.:
15209119, 15217220, R5037-18F) for their funding.
xiii
About This Book
xv
Contents
xvii
xviii Contents
xxiii
xxiv About the Authors
xxv
xxvi Abbreviations
u Friction angle
j Swelling index of the isotropic compression test
(in e-lnp’ plane)
ji Intrinsic swelling index (of remolded soil, in e-lnp’
plane)
k Lame constant in elasticity; compression index
(in e-lnp’ plane); constant controlling the nonlinearity
of CSL in SIMSAND
k' Compression index under the plane of loge-logp′
ki Intrinsic compression index (of remolded soil, in e-lnp’
plane)
mu Undrained Poisson’s ratio
mvh' Horizontal Poisson’s ratio
mvv' Vertical Poisson’s ratio
h Lode angle
q Constant controlling the movement of CSL
ra, rr Axial stress and radial stress
rij Stress tensor
rm(p) Mean stress
rn, rh Vertical and horizontal stresses
rp0 Preconsolidation pressure
rw Pore water pressure
rx, ry, rz Normal stresses
r1, r2, r3 First, second, and third principle stresses
s Reference time (Oedometer test s = 24h) (ANICREEP)
sxy, syx, syz, szy, szx, sxz Shear stresses
t Poisson’s ratio
x Absolute rotation rate of the yield surface
xd Rotation rate of the yield surface related to the
deviatoric plastic strain
n Constant controlling the nonlinearity of CSL
(SIMSAND); absolute rate of bond degradation
nb Degradation rate of the inter-particle cohesive bonding
nd Constant controlling the deviatoric strain-related bond
degradation rate
w Dilatancy angle
Chapter 1
Problem of Uncertainties in Geotechnical
Engineering
Soils are porous and discontinuous media and they are formed by the weathering of
rocks. Under the natural conditions, the state of soil is affected by various factors,
for example, stress level and stress history, water seepage, physical and chemical
changes. Even in the homogeneous soil, the soil property also varies with the site,
and it possesses the spatial variability. Due to these characteristics of soil, there are
inevitable uncertainties involved in the determined soil properties. The uncertainties
in measured soil properties are associated with the soil sample disturbance, test
Besides the uncertainties in estimated soil properties, the influence of two types of
model uncertainty on the performance of soil or structure should also be noted, which
are associated with the test of geotechnical physical model and performance model
itself. The physical model tests, for example, centrifuge tests and full-scale field tests,
are usually conducted to study the performance of soil or structure. The performance
factors such as the pore water pressures and displacements can be measured directly,
which are influenced by the inherent variability of soil properties. Similar to the
soil property tests, the test results of physical model also suffer from the systematic
and statistical uncertainties. The measurements may be influenced by model scaling,
preparation of soil sample, instrumentation technology, interpretation of test results,
and so on [21].
In addition, the uncertainties of model input variables, which are measured or
estimated for soil parameters at a specific site, cause the variability of the model
outputs. The systematic errors associated with the performance model itself, for
example, uncertainties in constitutive behavior, imperfect model expression, initial
condition, boundary condition [19, 22], can also contribute to the uncertainties of
model outputs. In order to evaluate the performance of soil or underground structure,
the model uncertainties must be considered in the analysis.
Since the late 1970s, back analysis has been paid much attention and also obtained
fast development. At first, the information, such as soil physical properties, constitu-
tive models, boundary conditions and measured data, have been processed as deter-
ministic quantities, that is, deterministic methods for back analysis. This method
is easy to be implemented without considering many influencing factors, and its
results basically meet for engineering applications. However, the soil engineering
practice is an uncertainty system, and there is uncertainty in many aspects, such as
the soil physical properties, the constitutive models and boundary conditions. The
measured properties, for example, displacement and stress, are all uncertain vari-
ables containing the measurement error. Therefore, the deterministic analysis is not
realistic to study the problems in geotechnical engineering.
At present, several methods for probabilistic back analysis have been conducted
in geotechnical engineering, for example, maximum likelihood method [23–25], and
Bayesian method [25, 28]. The Bayesian method is considered to be more effective
for updating the soil parameters and response predictions [22, 26–28], and it can
also evaluate the uncertainty of soil parameters by the obtained posterior proba-
bility distributions. Bayesian updating method has been successfully used to analyze
different geotechnical problems. Kay [29] evaluated the safety factor for single pile
in sand using this method, and Honjo et al. [24] studied the embankment on soft clay.
Yan et al. [30] analyzed the correlation between the soil compression index and their
influencing factors and proposed the predictive formulae for the compression index.
Chiu et al. [10, 11] presented a Bayesian approach for estimating the water retention
curve. Cao and Wang [31] and Wang et al. [32] developed Bayesian approaches to do
underground soil stratum identification, soil classification and soil properties based
on the cone penetration tests. Wang et al. [33] conducted the identification for the
soil strata in the London Clay Formation using the water content data. Cao and Wang
[34] presented a Bayesian model comparison approach to obtain the most plausible
correlation function for a specific site based on the project-specific test results and
previous site information. There are also many studies on the multistage excavation
analysis by utilizing the Bayesian approach [35–38].
Given a specific model and the observations, the above-mentioned back analysis
methods can be utilized to evaluate the influences of the associated parameter uncer-
tainties on the model predictions. However, different constitutive models or empir-
ical models, which have different mathematical forms or complexity, are always
proposed to solve the same issue in geotechnical engineering. It is unknown how
these models perform in the engineering practice and which one has better ability
to fit with the observations and provide better predictions in a specific project. The
Bayesian approach as a useful tool can be adopted to investigate the predictive perfor-
mance of models. Bayesian approach can not only update the model parameters and
1.2 Bayesian Probabilistic Approach 5
characterize the uncertainties using their posterior PDFs but also find the most plau-
sible model for predicting the responses by Bayesian model class selection. In this
section, the Bayesian approach for parametric identification and model class selection
is briefly outlined. One may refer to the details from Yuen [39].
y = y(x; θm , C) (1.1)
Y = y+ε (1.2)
where E is a Gaussian random variable with zero mean and variance σε2 referred
hereafter as prediction-error variance, and it is adopted to represent the measurement
T
noise and modeling error. The uncertain parameter vector θ = θmT , σε2 includes the
model parameter vector θm and the prediction-error variance σε2 . Their uncertainties
can be represented by using the posterior PDFs, and the probability expression of
posterior PDF given the data D is written as:
N
p(D|θ, C ) = (2π σε2 )− 2 exp[−
N
Jg (θm ; D, C)] (1.4)
2σε2
1
N
Jg (θm ; D, C) = [Y (n) − y(n)]2 (1.5)
N n=1
6 1 Problem of Uncertainties in Geotechnical Engineering
The most probable model parameter vector θ∗m can be computed by maximizing
the posterior PDF in Eq. (1.3). If N is large enough or adopt the improper prior, this
will be equivalent to minimizing the goodness-of-fit function Jg (θm ; D, C):
According to Beck and Katafygiotis [40], the posterior PDF p(θ |D, C) given
a large number of data D is approximately Gaussian distribution, and its mean
value is the optimal parameter vector θ∗m and its covariance matrix can be obtained
by computing the inverse of the Hessian matrix of the objective function J (θ) =
− ln[ p(θ|C) p(D|θ, C)] at θ∗m :
∂2
H(l,l ) θ∗ = − ln[ p(θ|C) p(D|θ, C)] (1.8)
∂θl θl θ=θ∗
The posterior PDF in Eq. (1.3) provides the probabilistic description for the model
parameters, but its topology may be very complicated in general. Especially for the
case with large number of uncertain parameters, the distribution is difficult to be
visualized. However, the numerical simulation based on the approximation method
is found to be effective for solving this difficulty, and three types of methods will be
presented in Sect. 1.2.3.
p D|C j = p D|θ, C j p θ|C j dθ, j = 1, 2, . . . , Nc (1.10)
The Ockham factor provides a measurement for the robustness of the model class
and its value decreases exponentially with the number of uncertain parameters in the
model class.
On the other hand, the exact expression for p D|C j can be obtained based on
the Bayes’ theorem:
p D|θ∗ , C j p θ∗ |C j
p D|C j = (1.13)
p θ∗ |D, C j
where the ratio p θ∗ |C j p θ∗ |D, C j is the Ockham factor.
Given the same prior plausibility for all model class candidates, the model class
with the largest value in Eq. (1.11) is regarded to have a good tradeoff between the
data-fitting capability and the robustness to model error. Once again, the updated or
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