Six degree-of-freedom loading of a circular flat footing on loose sand: Experimental data

Transcription

1 Six degree-of-freedom loading of a circular flat footing on loose sand: Experimental data by B. Bienen 1, B.W. Byrne 2 and G.T. Houlsby 2 Report No. OUEL 2289/05 University of Oxford, Department of Engineering Science, Parks Road, Oxford, OX1 3PJ, U.K. Tel / Fax civil@eng.ox.ac.uk 1 Centre for Offshore Foundations Systems, University of Western Australia 2 Department of Engineering Science, Oxford University 1

2 Six degree-of-freedom loading of a circular flat footing on loose sand: Experimental data B. Bienen 1, B.W. Byrne 2 and G.T. Houlsby 2 Summary This report documents a series of model tests of a rough circular flat footing on loose sand. Using a new experimental rig, the footing was subjected to general loading in three dimensions (six degrees-of-freedom). The data collected will be used to validate a footing macro model catering for all six degrees-of-freedom within the plasticity framework. Introduction Combined loading on shallow foundations has been successfully modelled through the framework of plasticity theory (Martin 1994, Cassidy 1999, Byrne 2000). By adjusting only a few parameters, these models can capture the main features of footing response on various soils. Based on experimental data on Kaolin clay, Martin (1994) developed Model B whereas Cassidy s (1999) Model C was calibrated with data from similar tests on dense silica sand. Since then, the model has also been successfully used to predict footing behaviour on loose carbonate sand (Byrne and Houlsby 2001). So far, the models have been applied to predict the response of flat circular footings, spudcans and suction caisson subjected to (V, M, H) planar loading. Model B and Model C have been theoretically extended to allow for general loading (Martin 1994, Cassidy and Bienen 2002) situations in six degrees-of-freedom and combined into one plasticity footing macro model known as ISIS (Houlsby 2003, Cassidy et al. 2004). However, only few data exist on shallow circular footings under loading in all three dimensions (Cassidy and Cheong 2005, Ap Gwilym 2004, Williams 2005) and full experimental validation of the model, particularly with regards to torsion and combined loading directions remains desirable. Experimental rig At the University of Oxford, a novel experimental rig has been developed for testing of shallow foundations under six degree-of-freedom loading (Byrne and Houlsby 2005, Figure 1). The footing to be tested is supported by a loading platform, which is moved by six actuators. These are pin-joined to the loading platform on the one end and the loading rig, which is bolted onto a steel ring, on the other. Using a control program, the six actuators act in concert to move the loading platform and thus the footing to the desired position. The actuators are arranged such 1 Centre for Offshore Foundation Systems, The University of Western Australia 2 Department of Engineering Science, The University of Oxford 2

3 that their combined movement in three dimensions is well-conditioned (Figure 1). To date, the rig is displacement-controlled only. The footing used in the tests reported here is circular (150 mm in diameter), flat and rough. The footing loads are monitored with a six degree-of-freedom load cell mounted between the footing and the loading platform (Figure 1). The footing displacements are measured with a set of six LVDTs, arranged in a similar fashion to the actuators but supported on a separate frame, which is also bolted onto the steel ring. The LVDT arrangement is illustrated in Figure 2. The separate frame ensures independence of the displacement measurements from the loading frame and thus minimises the influence of rig flexibility. Both the loading and the LVDT frames are mounted on a steel ring which in turn is bolted onto the testing tank. This ensures that the two frames do not move relative to each other, even when taken off the testing tank to prepare a new soil sample. The coordinates of both ends of all actuators and LVDTs as well as several distinct points on the frames and steel ring have been surveyed using a coordinate measuring machine (CMM). The measurements are reported in Table 1 and the coordinates in the rig coordinate system (Figure 3) are given in Table 2. The x-axis of the rig coordinate system runs parallel to actuators 1 and 2, whereas the y-axis is in line with actuator 3. z is positive downwards with the datum being the top of the steel ring. Note that the coordinate system and sign convention (Figure 3b) differs from the ISIS sign convention (Figure 4). All results reported here are defined using the ISIS sign convention. Soil characteristics The experiments were performed on dry yellow Leighton Buzzard sand. It has a specific gravity G s of 2.65 and minimum and maximum dry densities of kn/m 3 and 18 kn/m 3, respectively. Further soil characteristics are provided in Schnaid (1990). The sand was placed into the testing tank from a low drop height to achieve a very loose state; the average dry density of all tests performed being kn/m 3. The density for each test is included in Table 3, which also provides the testing programme. Results In this series of experiments, vertical load-penetration tests have been carried out as well as radial displacement tests. The majority of the testing programme, however, consisted of swipe tests either in one loading direction or a combination of two loading directions. In some swipe tests, the combined loading was simultaneous, for instance applying a moment and horizontal load at the same time. Several swipe tests of simultaneous in-plane moment and horizontal load (H 1 and M 1 or H 2 and M 2 according to Figure 3b) carried out at various ratios of H / M provide information on the eccentricity of the yield surface cross-section in the (H, M/2R) plane. In other tests, the footing was displaced in one direction before the displacement in that direction was halted as the footing was swiped in another direction. These tests, for instance applying H 1 first followed by H 2, may be used to show that the footing load path still traces the same yield surface, thus proving that the respective degrees-of-freedom are independent of 3

4 each other. In the yield surface equation this is reflected by the loading directions being uncoupled. A few elasticity tests have been attempted, too, but without feedback load control keeping the other degrees-of-freedom at their respective target value during the test, the results are ambiguous. The testing programme, documented in Table 3, has the following format: Test number Event Description V 0 w u 2 u 3 ω θ 2 θ 3 Density Time V load hold before swipe [N] [mm] [mm] [mm] [ ] [ ] [ ] [kn/m 3 ] [s] The files provided for each test include a test description (e.g. BBXX_description.xls) and the results file (e.g. BBXX_ResultsFile.dat). The format of the results file is time [s] in the first column, then loads in the order {V, H 2, H 3,, M 2, M 3 } in [N] and [Nm], respectively. This is followed by the displacements calculated from the LVDT readings {w, u 2, u 3, ω, θ 2, θ 3 } in [mm] and [rad], respectively. The loads and displacements refer to the ISIS sign convention shown in Figure 4. Time history plots are provided for all tests on a particular sample (e.g. BBXX.pdf, showing all events on sample XX). For each individual event, the horizontal, moment and torsional loads have also been plotted against the vertical load. The data files are denoted BBXX_EventY.pdf which contains the Y event on sample XX only. The corresponding data file is named BBXX_EventY.dat. The data in these files has the same order as in the results files. Conclusions Reported here is a comprehensive series of laboratory experiments on a rough circular flat footing on very loose sand subjected to loading in all six degrees-of-freedom. The tests were carried out to provide a database for validation of the theoretical extension of the ISIS plasticity footing macro model to cater for general loading in six-degrees-of-freedom. Acknowledgements This research was supported by an Australian Research Council's Linkage International Award (LX ), which is gratefully acknowledged. The first author also gratefully acknowledges the support of an International Postgraduate Research Scholarship of Australia and the University of Western Australia Postgraduate Students Association Research Travel Award. The funding for the development of the loading rig was obtained from the Lubbock Trustees, the Royal Society, EPSRC and the Department of Engineering Science at Oxford. The load cell was built by Clive Baker and the loading frame by Chris Waddup. The experiments described here could not have been carried out without the assistance of Bob Sawala and Chris Waddup. References Ap Gwilym, T.L Control of a six degree of freedom loading rig. Fourth Year Project, Department of Engineering Science, University of Oxford. Byrne, B.W Investigations of suction caissons in dense sand. D.Phil. Thesis, University of Oxford. 4

5 Byrne, B.W. and Houlsby, G.T Observations of Footing Behaviour on Loose Carbonate Sands. Géotechnique 51 5: Byrne, B.W. and Houlsby, G.T Investigating 6 degree-of-freedom loading on shallow foundations. Proceedings of the International Symposium on Frontiers in Offshore Geotechnics (ISFOG), Perth. Butterfield, R., Houlsby, G.T. and Gottardi, G. (1997). Standardised sign conventions and notation for generally loaded foundations. Géotechnique 47 5: ; corrigendum Géotechnique 48 1:157. Cassidy, M.J Non-Linear Analysis of Jack-Up Structures Subjected to Random Waves. D.Phil. Thesis, University of Oxford. Cassidy, M.J. and Bienen, B Three-Dimensional Numerical Analysis of Jack-Up Structures on Sand. Proc. 12th International Offshore and Polar Engineering Conference, Kitakyushu, Japan. Cassidy, M.J. and Cheong, J The behaviour of circular footings on sand subjected to combined vertical-torsion loading. International Journal of Physical Modelling in Geotechnics, accepted. Cassidy, M.J., Martin, C.M. and Houlsby, G.T Development and application of force resultant models describing jack-up foundation behaviour. Marine Structures 17: Houlsby, G.T., Modelling of shallow foundations for offshore structures. International Conference on Foundations, Dundee, Scotland. Martin, C.M., Physical and Numerical Modelling of Offshore Foundations Under Combined Loads. D.Phil. Thesis, University of Oxford. Schnaid, F A study of the cone-pressuremeter test in sand. D.Phil. Thesis, University of Oxford. Williams, R Six degree of freedom loading tests on clay and sand. Fourth Year Project, Department of Engineering Science, The University of Oxford. 5

6 Set 1 COORDINATES (CMM) Number Type Size Description X Y Z 1 plane top surface of steel ring circle steel ring circle footing surface point Point 1 on steel ring surface point Point 2 on steel ring surface point Point 3 on steel ring sphere Pinned end actuator sphere Pinned end actuator sphere Fixed end actuator sphere Fixed end actuator sphere Pinned end actuator sphere Pinned end actuator sphere Fixed end actuator sphere Fixed end actuator sphere Fixed end actuator sphere Pinned end actuator sphere Pinned end actuator sphere Fixed end actuator Set 2 COORDINATES (CMM) Number Type Size Description X Y Z 1 plane top surface of steel ring circle steel ring circle footing surface point Point 3 on steel ring surface point Point 1 on steel ring surface point Point 2 on steel ring sphere Pinned end actuator sphere Fixed end actuator sphere Fixed end actuator sphere Pinned end actuator surface point outer corner of blue frame behind the end of actuator surface point outer corner of blue frame behind the end of actuator surface point middle of sticker on blue frame near end of actuator surface point outer corner of LVDT frame near the end of LVDT surface point outer corner of LVDT frame near the end of LVDT circle bolt (exchange for eye bolt) on top of blue frame sphere Fixed end of LVDT sphere Pinned end of LVDT sphere Pinned end of LVDT sphere Fixed end of LVDT sphere Fixed end of LVDT sphere Fixed end of LVDT sphere Pinned end of LVDT sphere Pinned end of LVDT sphere Fixed end of LVDT sphere Fixed end of LVDT sphere Pinned end of LVDT sphere Fixed end of LVDT sphere Pinned end of LVDT surface point cross x = y = 0 on platform Table 1: Coordinates obtained from Coordinate Measuring Machine (CMM) (Two sets of data in the CMM coordinate system because the testing rig moved during the measuring procedure.) 6

7 FINAL COORDINATES (6DOF) Description X Y Z top surface of steel ring steel ring footing Point 1 on steel ring Point 2 on steel ring Point 3 on steel ring Pinned end actuator Fixed end actuator Fixed end actuator Pinned end actuator Pinned end actuator Fixed end actuator Fixed end actuator Fixed end actuator Pinned end actuator Pinned end actuator Fixed end actuator Pinned end actuator outer corner of blue frame behind the end of actuator outer corner of blue frame behind the end of actuator middle of sticker on blue frame near end of actuator outer corner of LVDT frame near the end of LVDT outer corner of LVDT frame near the end of LVDT bolt (exchange for eye bolt) on top of blue frame Fixed end of LVDT Pinned end of LVDT Pinned end of LVDT Fixed end of LVDT Fixed end of LVDT Fixed end of LVDT Pinned end of LVDT Pinned end of LVDT Fixed end of LVDT Fixed end of LVDT Pinned end of LVDT Fixed end of LVDT Pinned end of LVDT cross x = y = 0 on platform Table 2: Testing rig coordinates 7

8 Test number Event Description V0 w u2 u3 omega theta2 theta3 density time V load hold [N] [mm] [mm] [mm] [degrees] [degrees] [degrees] [kn/m3] [s] before swipe BB01 Vertical 0.02 mm/s N/A BB02 Vertical 0.02 mm/s, N/A unload - reload z = 6 mm and z = 10 mm, 0.01 mm/s BB03 swipe H mm/s n BB04 swipe M degs/s n BB05 swipe simultaneous H3M3 swipe (out of 0.04 mm/s and degs/s n BB06 swipe simultaneous H3M2 swipe (in 0.04 mm/s and degs/s n BB07 swipe simultaneous H3M2 swipe (in 0.04 mm/s and degs/s n BB08 swipe1 H mm/s n swipe2 H mm/s n BB09 swipe1 H mm/s n swipe2 H mm/s n BB10 swipe1 M degs/s n swipe2 M degs/s n BB11 swipe degs/s n swipe degs/s n BB12 swipe1 H3 (@ mm/s), then H2 swipe (@ mm/s) (then) 1.85 (first) y BB13 swipe2 H2 (@ mm/s), then H3 swipe (@ mm/s) (first) (then) y BB14 swipe1 M3 (@ degs/s), then M2 (@ degs/s) (then) 1.34 (first) y swipe2 M2 (@ degs/s), then M3 (@ degs/s) (first) (then) y swipe3 M3 swipe (@ degs/s) y swipe4 M3 (@ degs/s), then M2 swipe (@ degs/s) (then) (first) y BB15 swipe1 H3 swipe ( mm/s) y swipe2 H2 swipe ( mm/s) y swipe3 H3 swipe ( mm/s) y swipe4 H2 swipe ( mm/s) y BB16 swipe1 H2 swipe ( mm/s) y swipe2 H3 swipe ( mm/s) y swipe3 H2 swipe ( mm/s) y swipe4 H3 swipe ( mm/s) y swipe5 H2 swipe ( mm/s) y swipe6 H3 swipe ( mm/s) y swipe7 H2 swipe ( mm/s) y BB17 swipe1 swipe (@ degs/s) y swipe2 swipe (@ degs/s) y swipe3 swipe (@ degs/s) y swipe4 simultaneous H3 swipe (@ mm/s and degs/s) y swipe5 simultaneous H3 swipe (@ mm/s and degs/s) y swipe6 swipe (@ degs/s) y swipe7 simultaneous H3 swipe (@ mm/s and degs/s) y swipe8 simultaneous H3 swipe (@ mm/s and degs/s) y Table 1: Test programme 8

9 Test number Event Description V0 w u2 u3 omega theta2 theta3 density time V load hold [N] [mm] [mm] [mm] [degrees] [degrees] [degrees] [kn/m3] [s] before swipe BB18 swipe1 simultaneous H3M2 swipe (@ mm/s and degs/s) (in plane) y swipe2 simultaneous H2M3 swipe (@ mm/s and degs/s) (in plane) y swipe3 simultaneous H3M2 swipe (@ mm/s and degs/s) (in plane) y swipe4 simultaneous H2M3 swipe (@ mm/s and degs/s) (in plane) y BB19 swipe1 H3 (@ mm/s), then H2 swipe (@ mm/s) (then) 1.75 (first) y swipe2 H2 (@ mm/s), then H3 swipe (@ mm/s) (first) 0.35 (then) y swipe3 H3 (@ mm/s), then H2 swipe (@ mm/s) (then) -1.5 (first) y swipe4 H2 (@ mm/s), then H3 swipe (@ mm/s) (first) (then) y swipe5 H3 (@ mm/s), then H2 swipe (@ mm/s) (then) 1.7 (first) y swipe6 H2 (@ mm/s), then H3 swipe (@ mm/s) (first) 0.3 (then) y BB20 swipe1 M3 (@ degs/s), then M2 swipe (@ degs/s) (then) 1.3 (first) y swipe2 M2 (@ degs/s), then M3 swipe (@ degs/s) (first) 0.2 (then) y swipe3 M3 (@ degs/s), then M2 swipe (@ degs/s) (then) 1.35 (first) y 4raddispl radial displacement test domega / dz = N/A BB21 swipe1 H3 (@ mm/s), then M3 swipe (@ degs/s) (out of plane) (first) 0.25 (then) -1.5 N/A y swipe2 H3 (@ mm/s), then swipe (@ degs/s) (first) 0.25 (then) 1.5 N/A y 3raddispl radial displacement test du2 / dz = N/A 500 N/A BB22 swipe1 H3 (@ mm/s), then M2 swipe (@ degs/s) (in plane) (first) 0.25 (then) y swipe2 H2 (@ mm/s), then M2 swipe (@ degs/s) (out of plane) (first) 0.25 (then) y 3raddispl radial displacement test domega / dz = N/A BB23 swipe1 M3 (@ degs/s), then H3 swipe (@ mm/s) (out of plane) (then) 1.5 (first) y swipe2 M3 (@ degs/s), then swipe (@ degs/s) (then) 1.38 (first) y 3raddispl radial displacement test dtheta3 / dz = N/A BB24 swipe1 M2 (@ degs/s), then H2 swipe (@ mm/s) (out of plane) (then) 1.35 (first) y swipe2 M2 (@ degs/s), then swipe (@ degs/s) (then) 1.38 (first) y 3raddispl radial displacement test du3 / dz = N/A BB25 swipe1 H2 (@ mm/s), then swipe (@ degs/s) (first) 0.25 (then) y swipe2 (@ degs/s), then H2 swipe (@ mm/s) (then) 1.5 (first) y 3raddispl radial displacement test dtheta3 / dz = (-1.0) N/A BB26 swipe1 H3 (@ mm/s), then M3 swipe (@ degs/s) (out of plane) (first) 0.25 (then) y swipe2 H3 (@ mm/s), then swipe (@ degs/s) ~ 23 (first) 0.25 (then) y 3raddispl radial displacement test domega / dz = N/A BB27 swipe1 H3 (@ mm/s), then swipe (@ degs/s) (first) 0.25 (then) y swipe2 M3 (@ degs/s), then swipe (@ degs/s) (then) 2.5 (first) y 3raddispl radial displacement test du2 / dz = N/A BB28 swipe1 (@ degs/s), then M3 swipe (@ degs/s) (first) 0.12 (then) y swipe2 (@ degs/s), then M2 swipe (@ degs/s) (first) 0.12 (then) y 3raddispl radial displacement test domega / dz = N/A BB29 swipe1 (@ degs/s), then H3 swipe (@ mm/s) (then) 1.5 (first) y swipe2 H3 (@ mm/s), then swipe (@ degs/s) (first) 0.25 (then) y 3raddispl radial displacement test domega / dz = N/A Table 3: Test programme (continued) 9

10 Test number Event Description V0 w u2 u3 omega theta2 theta3 density time V load hold [N] [mm] [mm] [mm] [degrees] [degrees] [degrees] [kn/m3] [s] before swipe BB30 swipe1 M2 (@ degs/s), then H3 swipe (@ mm/s) (in plane) (then) 1.75 (first) y swipe2 M3 (@ degs/s), then H3 swipe (@ mm/s) (out of plane) (then) 1.75 (first) y 3raddispl radial displacement test domega / dz = N/A BB31 swipe1 H3 (@ mm/s), then M2 swipe (@ degs/s) (in plane) (first) 0.25 (then) y swipe2 H2 (@ mm/s), then M3 swipe (@ degs/s) (in plane) (first) 0.25 (then) y 3raddispl radial displacement test domega / dz = N/A BB32 swipe1 H3 (@ mm/s), then M3 swipe (@ degs/s) (out of plane) (first) 0.25 (then) y swipe2 swipe (@ degs/s) y 3raddispl radial displacement test dy / dz = N/A BB33 1raddispl radial displacement test domega / dz = N/A 2swipe swipe (@ degs/s) y 3swipe H3 (@ mm/s), then H2 swipe (@ mm/s) (then) 1.75 (first) y 4raddispl radial displacement test du2 / dz = N/A BB34 1raddispl radial displacement test domega / dz = N/A 2elasticity elasticity omega (@ degs/s) ~ 350 N ~ N/A 3elasticity elasticity theta2 (@ degs/s) ~ 350 N N/A 4swipe simultaneous H2M3 swipe (@ mm/s and degs/s) (in plane) y 5elasticity elasticity omega (@ degs/s) ~ 907 N N/A 6elasticity elasticity theta2 (@ degs/s) ~ 907 N N/A BB35 1raddispl radial displacement test domega / dz = N/A 2swipe swipe from low V/V0 (@ degs/s) y 3swipe swipe from low V/V0 (@ degs/s) y 4Vunloadreload Vertical 0.02 mm/s, various N/A unload - reload z = 6 mm and z = 10 mm, 0.01 mm/s BB36 1raddispl radial displacement test du2 / dz = 1.0 and dbeta / dz = N/A 2swipe simultaneous H2M3 swipe (@ mm/s and degs/s) (in plane) y 3swipe simultaneous H2M3 swipe (@ mm/s and degs/s) (in plane) y 4Vunloadreload Vertical 0.02 mm/s, various N/A unload - reload z = 6 mm and z = 10 mm, 0.01 mm/s BB37 1raddispl radial displacement test du2 / dz = N/A 2swipe simultaneous H3M2 swipe (@ mm/s and degs/s) (in plane) y BB38 1raddispl radial displacement test dtheta2 / dz = N/A 2swipe simultaneous H3M2 swipe (@ mm/s and 0.01 degs/s) (in plane) y BB39 1raddispl radial displacement test du2 / dz = 0.5 and domega / dz = N/A 2swipe simultaneous H3M2 swipe (@ mm/s and 0.01 degs/s) (in plane) ~ y Table 3: Test programme (continued) 10

11 Actuator 4 Actuator 6 Actuator 1 Actuator 5 Actuator 2 Actuator 3 Footing Load cell Figure 1: Photo of six degree-of-freedom loading rig, actuator arrangement LVDT 5 LVDT 3 LVDT 6 LVDT 2 LVDT 1 LVDT 4 Figure 2: Close-up of loading platform, LVDT arrangement 11

12 y Actuator 6 Actuator 3 M 1, β H 2, y Actuator 2 M 2, α Actuator 1 Actuator 5 Actuator 4 x, γ H 1, x V, z a) b) Figure 3: 6 dof testing rig coordinate system and sign convention H 2 2 2R M 2 H 3 1 V M 3 3 Figure 4: ISIS sign convention (after Butterfield et al., 1997) 12

13 Record of test: BB01_ResultsFile V H H 3 M 2 M t (s)

14 Oxford University: 6dof tests on loose sand Record of test: BB01_ResultsFile 40.0 w u u ω θ θ t (s)

15 Record of test: BB02_ResultsFile V H H 3 M 2 M t (s)

16 Oxford University: 6dof tests on loose sand Record of test: BB02_ResultsFile 40.0 w u u ω θ θ t (s)

17 Record of test: BB03_ResultsFile V H H 3 M 2 M t (s)

18 Oxford University: 6dof tests on loose sand Record of test: BB03_ResultsFile 40.0 w u u ω θ θ t (s)

19 Record of test: BB04_ResultsFile V H H 3 M 2 M t (s)

20 Oxford University: 6dof tests on loose sand Record of test: BB04_ResultsFile 40.0 w u u ω θ θ t (s)

21 Record of test: BB05_ResultsFile V H H 3 M 2 M t (s)

22 Oxford University: 6dof tests on loose sand Record of test: BB05_ResultsFile 40.0 w u u ω θ θ t (s)

23 Record of test: BB06_ResultsFile V H H 3 M 2 M t (s)

24 Oxford University: 6dof tests on loose sand Record of test: BB06_ResultsFile 40.0 w u u ω θ θ t (s)

25 Record of test: BB07_ResultsFile V H H 3 M 2 M t (s)

26 Oxford University: 6dof tests on loose sand Record of test: BB07_ResultsFile 40.0 w u u ω θ θ t (s)

27 Record of test: BB08_ResultsFile V H H 3 M 2 M t (s)

28 Oxford University: 6dof tests on loose sand Record of test: BB08_ResultsFile 40.0 w u u ω θ θ t (s)

29 Record of test: BB09_ResultsFile V H H 3 M 2 M t (s)

30 Oxford University: 6dof tests on loose sand Record of test: BB09_ResultsFile 40.0 w u u ω θ θ t (s)

31 Record of test: BB10_ResultsFile V H H 3 M 2 M t (s)

32 Oxford University: 6dof tests on loose sand Record of test: BB10_ResultsFile 40.0 w u u ω θ θ t (s)

33 Record of test: BB11_ResultsFile V H H 3 M 2 M t (s)

34 Oxford University: 6dof tests on loose sand Record of test: BB11_ResultsFile 40.0 w u u ω θ θ t (s)

35 Record of test: BB12_ResultsFile V H H 3 M 2 M t (s)

36 Oxford University: 6dof tests on loose sand Record of test: BB12_ResultsFile 40.0 w u u ω θ θ t (s)

37 Record of test: BB13_ResultsFile V H H 3 M 2 M t (s)

38 Oxford University: 6dof tests on loose sand Record of test: BB13_ResultsFile 40.0 w u u ω θ θ t (s)

39 Record of test: BB14_ResultsFile V H H 3 M 2 M t (s)

40 Record of test: BB14_ResultsFile V H H 3 M 2 M t (s)

41 Oxford University: 6dof tests on loose sand Record of test: BB14_ResultsFile 40.0 w u u ω θ θ t (s)

42 Oxford University: 6dof tests on loose sand Record of test: BB14_ResultsFile 40.0 w u u ω θ θ t (s)

43 Record of test: BB15_ResultsFile V H H 3 M 2 M t (s)

44 Record of test: BB15_ResultsFile V H H 3 M 2 M t (s)

45 Oxford University: 6dof tests on loose sand Record of test: BB15_ResultsFile 40.0 w u u ω θ θ t (s)

46 Oxford University: 6dof tests on loose sand Record of test: BB15_ResultsFile 40.0 w u u ω θ θ t (s)

47 Record of test: BB16_ResultsFile V H H 3 M 2 M t (s)

48 Record of test: BB16_ResultsFile V H H 3 M 2 M t (s)

49 Record of test: BB16_ResultsFile V H H 3 M 2 M t (s)

50 Oxford University: 6dof tests on loose sand Record of test: BB16_ResultsFile 40.0 w u u ω θ θ t (s)

51 Oxford University: 6dof tests on loose sand Record of test: BB16_ResultsFile 40.0 w u u ω θ θ t (s)

52 Oxford University: 6dof tests on loose sand Record of test: BB16_ResultsFile 40.0 w u u ω θ θ t (s)

53 Record of test: BB17_ResultsFile V H H 3 M 2 M t (s)

54 Record of test: BB17_ResultsFile V H H 3 M 2 M t (s)

55 Record of test: BB17_ResultsFile V H H 3 M 2 M t (s)

56 Oxford University: 6dof tests on loose sand Record of test: BB17_ResultsFile 40.0 w u u ω θ θ t (s)

57 Oxford University: 6dof tests on loose sand Record of test: BB17_ResultsFile 40.0 w u u ω θ θ t (s)

58 Oxford University: 6dof tests on loose sand Record of test: BB17_ResultsFile 40.0 w u u ω θ θ t (s)

59 Record of test: BB18_ResultsFile V H H 3 M 2 M t (s)

60 Record of test: BB18_ResultsFile V H H 3 M 2 M t (s)

61 Oxford University: 6dof tests on loose sand Record of test: BB18_ResultsFile 40.0 w u u ω θ θ t (s)

62 Oxford University: 6dof tests on loose sand Record of test: BB18_ResultsFile 40.0 w u u ω θ θ t (s)

63 Record of test: BB19_ResultsFile_I V H H 3 M 2 M t (s)

64 Oxford University: 6dof tests on loose sand Record of test: BB19_ResultsFile_I 40.0 w u u ω θ θ t (s)

65 Record of test: BB19_ResultsFile_II V H H 3 M 2 M t (s)

66 Record of test: BB19_ResultsFile_II V H H 3 M 2 M t (s)

67 Oxford University: 6dof tests on loose sand Record of test: BB19_ResultsFile_II 40.0 w u u ω θ θ t (s)

68 Oxford University: 6dof tests on loose sand Record of test: BB19_ResultsFile_II 40.0 w u u ω θ θ t (s)

69 Record of test: BB20_ResultsFile V H H 3 M 2 M t (s)

70 Record of test: BB20_ResultsFile V H H 3 M 2 M t (s)

71 Oxford University: 6dof tests on loose sand Record of test: BB20_ResultsFile 40.0 w u u ω θ θ t (s)

72 Oxford University: 6dof tests on loose sand Record of test: BB20_ResultsFile 40.0 w u u ω θ θ t (s)

73 Record of test: BB21_ResultsFile V H H 3 M 2 M t (s)

74 Record of test: BB21_ResultsFile V H H 3 M 2 M t (s)

75 Oxford University: 6dof tests on loose sand Record of test: BB21_ResultsFile 40.0 w u u ω θ θ t (s)

76 Oxford University: 6dof tests on loose sand Record of test: BB21_ResultsFile 40.0 w u u ω θ θ t (s)

77 Record of test: BB22_ResultsFile V H H 3 M 2 M t (s)

78 Record of test: BB22_ResultsFile V H H 3 M 2 M t (s)

79 Oxford University: 6dof tests on loose sand Record of test: BB22_ResultsFile 40.0 w u u ω θ θ t (s)

80 Oxford University: 6dof tests on loose sand Record of test: BB22_ResultsFile 40.0 w u u ω θ θ t (s)

81 Record of test: BB23_ResultsFile V H H 3 M 2 M t (s)

82 Oxford University: 6dof tests on loose sand Record of test: BB23_ResultsFile 40.0 w u u ω θ θ t (s)

83 Record of test: BB24_ResultsFile V H H 3 M 2 M t (s)

84 Record of test: BB24_ResultsFile V H H 3 M 2 M t (s)

85 Oxford University: 6dof tests on loose sand Record of test: BB24_ResultsFile 40.0 w u u ω θ θ t (s)

86 Oxford University: 6dof tests on loose sand Record of test: BB24_ResultsFile 40.0 w u u ω θ θ t (s)

87 Record of test: BB25_ResultsFile V H H 3 M 2 M t (s)

88 Record of test: BB25_ResultsFile V H H 3 M 2 M t (s)

89 Oxford University: 6dof tests on loose sand Record of test: BB25_ResultsFile 40.0 w u u ω θ θ t (s)

90 Oxford University: 6dof tests on loose sand Record of test: BB25_ResultsFile 40.0 w u u ω θ θ t (s)

91 Record of test: BB26_ResultsFile V H H 3 M 2 M t (s)

92 Oxford University: 6dof tests on loose sand Record of test: BB26_ResultsFile 40.0 w u u ω θ θ t (s)

93 Record of test: BB27_ResultsFile V H H 3 M 2 M t (s)

94 Oxford University: 6dof tests on loose sand Record of test: BB27_ResultsFile 40.0 w u u ω θ θ t (s)

95 Record of test: BB28_ResultsFile V H H 3 M 2 M t (s)

96 Oxford University: 6dof tests on loose sand Record of test: BB28_ResultsFile 40.0 w u u ω θ θ t (s)

97 Record of test: BB29_ResultsFile V H H 3 M 2 M t (s)

98 Oxford University: 6dof tests on loose sand Record of test: BB29_ResultsFile 40.0 w u u ω θ θ t (s)

99 Record of test: BB30_ResultsFile V H H 3 M 2 M t (s)

100 Oxford University: 6dof tests on loose sand Record of test: BB30_ResultsFile 40.0 w u u ω θ θ t (s)

101 Record of test: BB31_ResultsFile V H H 3 M 2 M t (s)

102 Record of test: BB31_ResultsFile V H H 3 M 2 M t (s)

103 Oxford University: 6dof tests on loose sand Record of test: BB31_ResultsFile 40.0 w u u ω θ θ t (s)

104 Oxford University: 6dof tests on loose sand Record of test: BB31_ResultsFile 40.0 w u u ω θ θ t (s)

105 Record of test: BB32_ResultsFile V H H 3 M 2 M t (s)

106 Oxford University: 6dof tests on loose sand Record of test: BB32_ResultsFile 40.0 w u u ω θ θ t (s)

107 Record of test: BB33_ResultsFile V H H 3 M 2 M t (s)

108 Record of test: BB33_ResultsFile V H H 3 M 2 M t (s)

109 Oxford University: 6dof tests on loose sand Record of test: BB33_ResultsFile 40.0 w u u ω θ θ t (s)

110 Oxford University: 6dof tests on loose sand Record of test: BB33_ResultsFile 40.0 w u u ω θ θ t (s)

111 Record of test: BB34_ResultsFile V H H 3 M 2 M t (s)

112 Oxford University: 6dof tests on loose sand Record of test: BB34_ResultsFile 40.0 w u u ω θ θ t (s)

113 Record of test: BB35_ResultsFile_I V H H 3 M 2 M t (s)

114 Oxford University: 6dof tests on loose sand Record of test: BB35_ResultsFile_I 40.0 w u u ω θ θ t (s)

115 Record of test: BB35_ResultsFile_II V H H 3 M 2 M t (s)

116 Oxford University: 6dof tests on loose sand Record of test: BB35_ResultsFile_II 40.0 w u u ω θ θ t (s)

117 Record of test: BB36_ResultsFile_I V H H 3 M 2 M t (s)

118 Oxford University: 6dof tests on loose sand Record of test: BB36_ResultsFile_I 40.0 w u u ω θ θ t (s)

119 Record of test: BB36_ResultsFile_II V H H 3 M 2 M t (s)

120 Oxford University: 6dof tests on loose sand Record of test: BB36_ResultsFile_II 40.0 w u u ω θ θ t (s)

121 Record of test: BB37_ResultsFile_I V H H 3 M 2 M t (s)

122 Oxford University: 6dof tests on loose sand Record of test: BB37_ResultsFile_I 40.0 w u u ω θ θ t (s)

123 Record of test: BB37_ResultsFile_II V H H 3 M 2 M t (s)

124 Oxford University: 6dof tests on loose sand Record of test: BB37_ResultsFile_II 40.0 w u u ω θ θ t (s)

125 Record of test: BB38_ResultsFile V H H 3 M 2 M t (s)

126 Oxford University: 6dof tests on loose sand Record of test: BB38_ResultsFile 40.0 w u u ω θ θ t (s)

127 Record of test: BB39_ResultsFile V H H 3 M 2 M t (s)

128 Oxford University: 6dof tests on loose sand Record of test: BB39_ResultsFile 40.0 w u u ω θ θ t (s)

129 Record of test: BB03_swipe H 2, H 3 M 2, M V 129

130 Record of test: BB04_swipe H 2, H 3 M 2, M V 130

131 Record of test: BB05_swipe H 2, H 3 M 2, M V 131

132 Record of test: BB06_swipe H 2, H 3 M 2, M V 132

133 Record of test: BB07_swipe H 2, H 3 M 2, M V 133

134 Record of test: BB08_swipe1 H 2, H 3 M 2, M V 134

135 Record of test: BB08_swipe2 H 2, H 3 M 2, M V 135

136 Record of test: BB09_swipe1 H 2, H 3 M 2, M V 136

137 Record of test: BB09_swipe2 H 2, H 3 M 2, M V 137

138 Record of test: BB10_swipe1 H 2, H 3 M 2, M V 138

139 Record of test: BB10_swipe2 H 2, H 3 M 2, M V 139

140 Record of test: BB11_swipe1 H 2, H 3 M 2, M V 140

141 Record of test: BB11_swipe2 H 2, H 3 M 2, M V 141

142 Record of test: BB12_swipe H 2, H 3 M 2, M V 142

143 Record of test: BB13_swipe H 2, H 3 M 2, M V 143

144 Record of test: BB14_swipe1 H 2, H 3 M 2, M V 144

145 Record of test: BB14_swipe2 H 2, H 3 M 2, M V 145

146 Record of test: BB14_swipe3 H 2, H 3 M 2, M V 146

147 Record of test: BB14_swipe4 H 2, H 3 M 2, M V 147

148 Record of test: BB15_swipe1 H 2, H 3 M 2, M V 148

149 Record of test: BB15_swipe2 H 2, H 3 M 2, M V 149

150 Record of test: BB15_swipe3 H 2, H 3 M 2, M V 150

151 Record of test: BB15_swipe4 H 2, H 3 M 2, M V 151

152 Record of test: BB16_swipe1 H 2, H 3 M 2, M V 152

153 Record of test: BB16_swipe2 H 2, H 3 M 2, M V 153

154 Record of test: BB16_swipe3 H 2, H 3 M 2, M V 154

155 Record of test: BB16_swipe4 H 2, H 3 M 2, M V 155

156 Record of test: BB16_swipe5 H 2, H 3 M 2, M V 156

157 Record of test: BB16_swipe6 H 2, H 3 M 2, M V 157

158 Record of test: BB16_swipe7 H 2, H 3 M 2, M V 158

159 Record of test: BB17_swipe1 H 2, H 3 M 2, M V 159

160 Record of test: BB17_swipe2 H 2, H 3 M 2, M V 160

161 Record of test: BB17_swipe3 H 2, H 3 M 2, M V 161

162 Record of test: BB17_swipe4 H 2, H 3 M 2, M V 162

163 Record of test: BB17_swipe5 H 2, H 3 M 2, M V 163

164 Record of test: BB17_swipe6 H 2, H 3 M 2, M V 164

165 Record of test: BB17_swipe7 H 2, H 3 M 2, M V 165

166 Record of test: BB17_swipe8 H 2, H 3 M 2, M V 166

167 Record of test: BB18_swipe1 H 2, H 3 M 2, M V 167

168 Record of test: BB18_swipe2 H 2, H 3 M 2, M V 168

169 Record of test: BB18_swipe3 H 2, H 3 M 2, M V 169

170 Record of test: BB18_swipe4 H 2, H 3 M 2, M V 170

171 Record of test: BB19_swipe1 H 2, H 3 M 2, M V 171

172 Record of test: BB19_swipe2 H 2, H 3 M 2, M V 172

173 Record of test: BB19_swipe3 H 2, H 3 M 2, M V 173

174 Record of test: BB19_swipe4 H 2, H 3 M 2, M V 174

175 Record of test: BB19_swipe5 H 2, H 3 M 2, M V 175

176 Record of test: BB19_swipe6 H 2, H 3 M 2, M V 176

177 Record of test: BB20_4raddispl H 2, H 3 M 2, M V 177

178 Record of test: BB20_swipe1 H 2, H 3 M 2, M V 178

179 Record of test: BB20_swipe2 H 2, H 3 M 2, M V 179

180 Record of test: BB20_swipe3 H 2, H 3 M 2, M V 180

181 Record of test: BB21_3raddispl H 2, H 3 M 2, M V 181

182 Record of test: BB21_swipe1 H 2, H 3 M 2, M V 182

183 Record of test: BB21_swipe2 H 2, H 3 M 2, M V 183

184 Record of test: BB22_3raddispl H 2, H 3 M 2, M V 184

185 Record of test: BB22_swipe1 H 2, H 3 M 2, M V 185

186 Record of test: BB22_swipe2 H 2, H 3 M 2, M V 186

187 Record of test: BB23_3raddispl H 2, H 3 M 2, M V 187

188 Record of test: BB23_swipe1 H 2, H 3 M 2, M V 188

189 Record of test: BB23_swipe2 H 2, H 3 M 2, M V 189

190 Record of test: BB24_3raddispl H 2, H 3 M 2, M V 190

191 Record of test: BB24_swipe1 H 2, H 3 M 2, M V 191

192 Record of test: BB24_swipe2 H 2, H 3 M 2, M V 192

193 Record of test: BB25_3raddispl H 2, H 3 M 2, M V 193

194 Record of test: BB25_swipe1 H 2, H 3 M 2, M V 194

195 Record of test: BB25_swipe2 H 2, H 3 M 2, M V 195

196 Record of test: BB26_3raddispl H 2, H 3 M 2, M V 196

197 Record of test: BB26_swipe1 H 2, H 3 M 2, M V 197

198 Record of test: BB26_swipe2 H 2, H 3 M 2, M V 198

199 Record of test: BB27_3raddispl H 2, H 3 M 2, M V 199

200 Record of test: BB27_swipe1 H 2, H 3 M 2, M V 200

201 Record of test: BB27_swipe2 H 2, H 3 M 2, M V 201

202 Record of test: BB28_3raddispl H 2, H 3 M 2, M V 202

203 Record of test: BB28_swipe1 H 2, H 3 M 2, M V 203

204 Record of test: BB28_swipe2 H 2, H 3 M 2, M V 204

205 Record of test: BB29_3raddispl H 2, H 3 M 2, M V 205

206 Record of test: BB29_swipe1 H 2, H 3 M 2, M V 206

207 Record of test: BB29_swipe2 H 2, H 3 M 2, M V 207

208 Record of test: BB30_3raddispl H 2, H 3 M 2, M V 208

209 Record of test: BB30_swipe1 H 2, H 3 M 2, M V 209

210 Record of test: BB30_swipe2 H 2, H 3 M 2, M V 210

211 Record of test: BB31_3raddispl H 2, H 3 M 2, M V 211

212 Record of test: BB31_swipe1 H 2, H 3 M 2, M V 212

213 Record of test: BB31_swipe2 H 2, H 3 M 2, M V 213

214 Record of test: BB32_3raddispl H 2, H 3 M 2, M V 214

215 Record of test: BB32_swipe1 H 2, H 3 M 2, M V 215

216 Record of test: BB32_swipe2 H 2, H 3 M 2, M V 216

217 Record of test: BB33_1raddispl H 2, H 3 M 2, M V 217

218 Record of test: BB33_2swipe H 2, H 3 M 2, M V 218

219 Record of test: BB33_3swipe H 2, H 3 M 2, M V 219

220 Record of test: BB34_1raddispl H 2, H 3 M 2, M V 220

221 Record of test: BB34_2elasticity H 2, H 3 M 2, M V 221

222 Record of test: BB34_3elasticity H 2, H 3 M 2, M V 222

223 Record of test: BB34_4swipe H 2, H 3 M 2, M V 223

224 Record of test: BB34_5elasticity H 2, H 3 M 2, M V 224

225 Record of test: BB34_6elasticity H 2, H 3 M 2, M V 225

226 Record of test: BB35_1raddispl H 2, H 3 M 2, M V 226

227 Record of test: BB35_2swipe H 2, H 3 M 2, M V 227

228 Record of test: BB35_3swipe H 2, H 3 M 2, M V 228

229 Record of test: BB36_1raddispl H 2, H 3 M 2, M V 229

230 Record of test: BB36_2swipe H 2, H 3 M 2, M V 230

231 Record of test: BB36_3swipe H 2, H 3 M 2, M V 231

232 Record of test: BB37_1raddispl H 2, H 3 M 2, M V 232

233 Record of test: BB37_2swipe H 2, H 3 M 2, M V 233

234 Record of test: BB38_1raddispl H 2, H 3 M 2, M V 234

235 Record of test: BB38_2swipe H 2, H 3 M 2, M V 235

236 Record of test: BB39_1raddispl H 2, H 3 M 2, M V 236

237 Record of test: BB39_2swipe H 2, H 3 M 2, M V 237