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Department of Givil Engineering, Novemoer 5, 1974
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ARCHIVES
APR 10 1975
1BRARIES
Page 66 is missing from the original.
ABSTRACT
DYNAMIC STIFFNESS FUNCTIONS FOR STRIP AND
by
GEORGE GAZETAS
Chapter 1 - Introduction
T = shear stresses (T ,T xz
T zy
v = Poisson's ratio
= Lame constant
G = shear modulus
7T =3.14159 ...
u = horizontal displacement
List of Symbols Continued
F = real part of F
F = imaginary part of F
t = time
= rotation (rocking)
0 = rotation (torsion)
List of Symbols Continued
w = vertical displacement
e +
E =
VV change in unit volume (=
x y + 6)
z
2 2 2
V2 = Laplace operator = + Dy +
* * * * * *
Olt cevle- ie
O~f cbASIOA&d
Lyner Q19Gs)
?rQmuye
c4I 11 +k il
o
L/,Ii5if~ teygiwkere
M r/,4ke scamve.
is
ike -sam~~e
Locu~s ol +fps c
k S e-Es loco? S
fN
T ime
ShecLr
strain
'
EqiaK el k ea.
Enercgj cxdsoy-bea I
0{ (00?(bv'j)
,~MayumuM zioreci ener~'J
siriy%
e
AW/W
43
43l
the damping of the linear system is taken so that the area of the sys-
19
tem's hysteresis loop equals the area of the real material hystere-
sis loop.
The key in the theory of equivalence lies in picking parameters
consistent with the expected level of strain.
The above model can be mathematically expressed by considering
the soil moduli in complex form:
G = G1 (w)+ i G2 (w) ~G + i G2
X = Xl(w) + i "2(w) X1 + i X2
2
$ = 27r tan6 TrdT (for small a).
P = 4Trr is true.
G = G(l + 21M).
x+ xz _ 2
2
w
Dxz + =
at
x au E aw au + aw
ax z az xz z ax
a = xE + 2 G x
az = xE + 2 G z
xz = G yxz
where
axu
E + aw - + z
az
and
_2v G (v = Poisson's ratio).
-SSo -oodv
s zero
2,W
51>
S -
fl ) Iv) C, I Vn
Pr) CS V
(+ 2G) ( 2 +
)(3x2
-y
3z)
(1)
2 32 W 2
G z + xz xz (2)
3x( z2 ) at
or alternatively
2
aw
oxz (4)
Cs
with
c= X + 2G
p p
cs =
V= 32 + 32
2
ax2 3z
E = E(x,z) eiot
= W (x,z) eitt
xz xz
eiw(x + nz)/cp , k2 + n2 _ 1
E =A eiwt
or = A e loth(px + nz)]
t
E eit
and h & k are the wave numbers of the dilational and shear
waves respectively.
Setting h= h ,5 hn =hz'
k =
k9, =k kn k
h = h2 + h and k2 = k + k .
x z x z
2
k = k 2 -k = i k -k
=lax
a = real, positive.
This equation
o eaierepresents xdrcinwt
a Rayleigh wave propagating
eoiyc=- in the
postiv
positive or negative (+)R
x direction with velocity c - k <
and with amplitude decaying exponentially with depth.
- wave ront
X+ z = C+ot)
kz
~U-)
XC -k
Z jw
(gAY LA I G WAVE )
2.2 Layered System
Since every incident shear or dilatational wave produces two
reflected (S and P) and two refracted waves (S and P) at the inter-
face between two layers, there will be a system of P-waves (longi-
tudinal waves) and S-waves (shear waves) propagating in the positive
and negative x and z directions.
A treatment based on the principles of reflection and refraction
is possible but mathematically complicated. A more straightforward
approach is to consider for each layer a local system of coordinates
and expressions for E, LOx
xz
I I
Where the terms E , w represent waves travelling in the negative
z direction (upwards) and the terms E , , waves travelling downwards.
The components of the displacements in the layer can be obtained
by the simple relations:
= - 1 DE
uU 2 awxz
z
h k (6)
W = + 2 xz
h z k2 DX
[c1oL~-iA-
-P-I-z
'pk
i I I a
m -TM
(7)
T G (U +3)
(8)
w. (H.) = W (0)
(9)
a (H.) = a (0)
T (H.) = T (0)
u
I I
H.k. = h. = k s .. = k. z,. j = 1, 2, ... , y (10)
= B A. f(xt)
and the right-hand side as
Ugg (0)= T. A f(x,t)
E, mairi ces
A = , and B, T the "bottom" and "top" respec-
E" tively are as given below:
li
-2ijn 20
-21
h -2i -2i
2
(42Gn2) 4Gn X +2Gn -4Gn k
. 2) 2
-2Gn 2G(n 12 2Gn P. 2G(n'2_
S9 -2i n q ih g n q-1
2i2 1'
*n 9-1
-2i k q i g -2i . q~1
=T2
=T3
Bn An -T r Ar
We can write thus
A (B1 T 2 B 1 T 3 ... B T) A
For the case of rigid rock, where the displacements (u) are
specified at the nth interface
U'(0) = = R R
) R21 R22
and therefore
(U)
w top = R 1 (ubottomr
+ R12 Gbottom
W botton
= R2 1 (U) + R2 2 (a)
T top
T bottom
where top refers now to the free surface of the soil deposit, and
bottom to the soil-rock interface.
In particular, if (u) =0
wbottom
(u) ax
w top =R 1 2 (T) = R12 R22 T top (11 )
top bottom
This expression relates then displacements at the free surface
to forces (stresses) applied at the same level.
For the case of elastic rock
U(O) = R Un(Hn) = R Tr Ar = Q Ar
" Q12 Ar
L
11
~i
(Q) Q2 1 Q2 2 Ar
Since there are no incoming waves from the rock for a surface
excitation Ar = 0
w top = Q1 2 Ar
T top = Q2 2 Ar
and therefore
(12)
uo
top
Q12 Q2 (G)
top
R = T B1
cy(x) = 3(E) ei x dE
with +00 -~
S() = {a(x) e~" dx
U(3) 3 S(E
{w()}=
W(E) 01 022
Q2E)Q2 ) T(E)
PE d. d
1 1 P0
{iJ
[oi42P
0d21
u iZ w0
z~~0
d2ol
i
d2]2
ol
012
0
oi.
{P}
Z
12 p
u1 l D12 D1 1 D D11 D)12 Px
ol ol o o .. D(m-l)
pz
u
2
w2
Di Dii 12 pm
om D12 ol Dol
ur D00 D12
om oo oo0 x
J
w D2om1 D22
om D21
ol
D22
ol
D21
oo
D22
oo
Pm
z
w = w + i xi
i = 0, 1, ...
, 2m
and in matrix notation
1 0
0 x0=0
1 0
ut V V
=[T] 4)
Vw w w
xm I
2(m+1) x 1 = 2(m+1) x 3 S3 x 1 )
m
Pz xi +
-m i
or alternatively
*
Px 0 1 0 l . .. 1 0
0 0 x1 0 ... 0 x-m
Pz 1 0 1 0 ... a 1
Px
[T]T Pz
(20)
* N
V V
[T]T [D ] [T] [K*
Pz W W
-l1
[F] = [T]~- [D* I [T]T
V F F 0 P
xx$ x
*
- = F F 0 M
$x $$-4
*
1 0 0 Fzz P
Z
since, clearly, only swaying and rocking are coupled, while vertical
translation is independent of the other two.
CHAPTER 3 - PARAMETRIC STUDIES
FIGL)PE 3A.
N ~ocI(IINO
ICA~
venient to use the Fast Fourier transform algorithms, which are
extremely efficient. It must be noticed, however, that in this
case we have really a discrete transform, rather than the actual
continuous transform, and therefore the integrals do not truly ex-
tend from -w to + 0. As a result, a first question that must be
3.1 Halfspace
3.la. Effect of number of points and of their distance on the stiff-
ness functions for a halfspace.
N G
kOCK-I
N M = L1024) m 9 x}
2.S [-
\9
'28+/
Li- II- /
/
I-st- /
(I)
u~'U
o.4 0. 6
Qo f .
Figure 3.4. Rocking Stiffness vs. a
sW AY(N G
V17111171=17
H ALS PACE
2.o0-
.7 \
\.
1.51-
0 U,
..-
1.0I-
V/ \ /
yy= <, x=.
256 G
(~1= I024, 1) I.x
m'= 9Ax=I0.
mvi'=% =6x o.
G4)
0.0 |
O.O ^
(04 0.6
O
Figure 3.5. Swaying Stiffness vs. ao
~;> M~p,.4j s5\at}I1S
'0
VI)
/LO C)
(N-j
E-
II Ii
0
C\j
Y-'A
UA
L y,(-al
versus dimensionless frequency ao B/cs, having as parameters the
numbers of points M', n'.
The curves with Ax = 10 and 9 points under the footing, hav-
ing different total number of points, fluctuate around the curve
having Ax = 10, m' = 9, and maximum total number of points M' = 1024.
The curves with Ax = 5 and m' = 17 points under the footing fluctuate
around the curve having Ax = 5, m' = 17 and M = 1024, which is almost
parallel, but below the curve with (Ax = 10, m' = 9, M = 1024). This
must be expected, since the "total" width in the second case is 2B =
normalize with respect to 2B = 80. (With the kxx/G this did not occur,
since the normalization is done with respect to G only).
The curves obtained by dividing by the "total" width B = B + 2,
instead of B, showed the reverse trend, since the actual stress distri-
bution (Fig. 3.3) is (more likely) the 1 and not the 2 , which is
tacitly assumed when normalizing with respect to B'. So k /GB' 2 was
overestimated by the moment of the areas A between 1 and 2 with
respect to centerline of the footing, which is larger when Ax is lar-
ger (1st family of curves).
An intermediate value between B and B was considered the most
appropriate in this case. So a Bequiv = B-B' = Ax yi(m + 0.5)
was used.
The results are shown in Figures 3.7, 3.8, 3.9. The kg/GB2
curves for the above two cases (AX = 10, m = 9, M' = 1024, and
,St fne .5 '~i~cn Re
Ckq)/G B2
0 Q,
C/1,
In.'
07
-~ ii0
~Ln
-0.5
A L FS PA CE
R
-o.4
-. ...
Io
-0.3
x= 0.
Z2x l- +
U - - ~ - -- ~ - -- M 102.4 M'= ,
-0.2
-0.1 I I
o.' 0.4 0.6
GE
70
'I)
II
c,
1-0J
0.5
CLO
7t
Figure 3-9. Corrected k vs. a0
Ax = 5, m' = 17, M' = 1024) differ only slightly, and for very low
frequencies. For dimensionless frequency ao ~ 0.47t to 0.5Tr they
almost coincide. The k /GB vs. a curves (Fig. 3.8) show a very
similar trend. So the new "definition" of B was considered appro-
priate.
Comparing on the other hand the family of curves with M = 256
and variables m and Ax for low frequencies, it is evident that the
larger the number of points under the footing (and hence the smaller
the Ax), the larger is the fluctuation of the resulting curve. Thus,
the (m' = 9, x = 10) curve is worse than the (m' = 5, Ax = 20). This
X = C/f.
Thus the resulting Rayleigh waves attenuate only after a long dis-
tance (due to internal damping of the soil).
Since the distance in the x direction covered by the Ax = 20
case is twice as much as the one considered by the Ax = 10, and the
points are taken close enough to reproduce the large wavelength, the
(m' = 5, Ax = 20) curve is more accurate than the (m' = 9, Ax = 10)
one. For example, for Cs= 1600 ft/sec and frequency f = 4 cps,
x = 1600 - 400' = 20 x Ax
~1
-x
A, . .n . n A. .
U-TTIUIV.1v.
ver LuaetQO +&. 4ke c4 ress JiiS-i~tmno und er 4K e- Ai
is noi~ well reoLL-c WiAh Ire L.'x
SANG
H-AL
C FSPA
M' = 10 24 m 17 AX =M
S.
- -- M' = 2.56
r '= 1 1, A X-= S.
S-M'= 256 m'= 5 , x 20.
A M o24 rn =33 ,x =2.5
0.0
Lo Q0
x 10 -- 01
HALF -SPACE
0 M =256 AX 5.
m'=l7
mv~ 17 ,
M" =10z4,
C/) 7
I I I
.O) \.j - 1-0
0
1.5 D/)I 20
Figure 3.12. Imaginary kxx vs. ao
25
2D
1-7 Ax = 5.
0 M _ -i102.4 ) M _
A M W=toa4 m 33 , AX=2.5
o lncreastn rw) Loit incyeas( n q
77 W
M-AL~$PAC~
0.51-
0.0 -II ^- - 1. 5 2. .5
U.tj
f.0
01 x 'eA'i
W i NG
ot
0O 0.2.-A O.G .
a,
Gz FGS-Re CF ,9)
2
G~R =G i?2- .1 cF99
0
LL LuCo AND VESTMANN
(D FYATRAPOLATeDe coKESePo-OGNc 0
?R1 NcI PLE
.4
E
0
Ax< - 5
-88f
a _B 2rfB .. m = 4
m =8 + 1.
7IT
Some typical values are:
a0
m
0.5 5
1.0 9
1.5 13
2.0 17
after. The Luco and Westman solution, which was extrapolated by use
of the correspondence principle, gives very similar results.
The rocking stiffness starts with a value 2.35, which is in
good agreement with the one computed from the formula:
k
x (--.3 = 2.25 (static solution)
2
GB2 =2i
-2lv 2x(10)
the H/B ratio is different for different Ax. This is clear from a
comparison of two cases: 1st, (M' = 1024, Ax = 2.5) and 2nd, (M - 256,
Ax = 10). The results (Figs. 3.18, 3.20) are significantly different
even for very low frequencies, despite the fact that the total length
covered in the x direction is the same in both cases.
In order to maintain the same geometry for a given ax, the thick-
ness H of the stratum should be modified so that
3.0 -0
2.0 -
+
-f-rY
x/
/ ( :/1
V////////
s'OC
-440+ 7x
C+-
ao /Jt
Figure 3.10. Layer: kxx vs. ao
~5CKI NG
I/iL / L11I
4.O-
/G 7n7 17
711
RIG-
R
m=2s6 m I=S C-Bl (G
0
- K26 '= 5 (g = .) /RG
0-
-- 3.ol- 024m 12(C4 l. )
0-
u.
10
LL- Z.0-
-
1.01-
kf /GB
04
0.0 O.Z 0.4
a.
JC
Figure 3.19. Layer: kog vs. ao
c
F-iC)
.5 - 1.oo 5 =2sG) mI (A la -
M 1024 17O/n .%
-R9 (: -x9) /ci P,
LL
a2
.4 .o
0-
Y// /////\77 -
<2
c~.L .31-
C
-1-
U I my
LL R0G1
.21- R OC K
V
o so
(tis K.it
-1-i
(J)
- - -~
CLO
.01
0.0 O.4-
Figure 3.20. Layer: k vs. ao
H _ H _ constant for all m'
B 1+ B and Ax.
After the modification, the (256, 10) curve was only very slightly
different from the 1024, 2.5) one.
\OO. ?e t
V 0. .40
RICT ID Rk cK C t<\\'4
r- Mode
2= Mode
-r - o o. =0 5
o.4 -
RIGID
c__ .osx~ GsooG
ROCK _
G F G Re(F
swoo
ct 0
Figure 3.23. Fxx vs. a0 (Smooth and Rough)
RocKIN C
24 I\
V)=o
Ior-
S
\D GB'
4 YOC+'
Q o+A
0- 0.91i
GB2 F ('rou'" {ooing )
LLL Qoo~ 4(oo4c) "s&v'Aool"
oJ
o..
.4t-
/1'
0.2--
4, /
0.2. 0.4 aO 0. r 0.
SF
o)= I y 00
2-Boo -
~ .U
eQF rouL s--= oo
.0 ~
cr b F "Soo" ID
- 0o
z7
-. 05
srmooW
0.4
a.O
SL
- -C=.oo. KO
- . v=o.4
RIGID ROCK
-j smootk'
+ . oo.4-
-. I-
G Fi
U GFa
/ K
d /
0
x
c.o (S.
Figure 3.26. Fz vs. ao (Smooth and Rough)
73
C
f = s (2n - 1), n = 1, 2, 3,
C
= (2n - 1), n = 1, 2, 3,
C = S+ 2G =CS 2(1-v)
1 -2V
with
Figures 3.23, 3.24, 3.25, and 3.26 show the compliance func-
tions fx, f , f0, fzz for the case of a layer with C5 = 800 ft/sec,
critical was taken for the soil layer in all the cases studied. f
has three peaks within the studied range of frequencies, 0 < ao = Tr
The maximum peak occurs at a frequency a /Tr = 0.24, or
which is almost the same as the 1st natural frequency of the stratum
fs _ 4800 = 5 cps.
At frequencies lower than 4.8 cps, the imaginary part of the
= 3 x 0.24 = 0.72
Tr
H 2
Cr
(hafspace)
0
s
0.2. 0.4.
CLO
:rt
Figure 3.27. Influence of Rock Flexibility on Fx VS. ao
L.0j-
Ll
Cr .4
-z - -oEi=
C;s
C',S
Wo.6
Q)
o .
U-S
0.0o.2 0.4 0 .6 o
"Internal Damping"
The effect of decreasing the internal damping of the rock is
shown in Figures 3.29 and 3.30. Rocking is almost independent of S,
while swaying shows some sensitivity to it. But since the value of
8 = 0.005 of critical, it is unlikely to be so low; it can be conclu-
ded that the material damping of the rock is unimportant. The impor-
tance of the soil internal damping has been extensively examined by
Victor Chang Liang and was not considered necessary to be reinvesti-
gated in this work.
Large depths
For large depths of the soil stratum and very small Ax (which
is required for a good reproduction of the motion at high frequencies),
the factor g = eihnH, encountered in the "Bottom" matrix, becomes
very large. Indeed, since
h = -/ n =\1- 12
and as H/Ax surpasses some certain limit, g becomes very large, lead-
ing to an overflow.
The explanation of this is that for high frequencies the wave-
length is small and decays at very shallow depths. Thus, the exist-
ance at a large depth rock does not influence the motion of the footing.
This explanation is the basis of the correction made. After a
certain H of the soil stratum, such that the H/Ax ratio exceeds a cer-
tain value, the soil profile is modified by considering (elastic)
rock below this depth.
I
Y'Ay-=
GRe CFJ') r .s
GI CFCKX,
G Fx procI - C
0.6 /
(,%
I/
//
/
\
/ I
0.4 \
0.2 / \
N
0.0
0.0 0.2 0.4.
CLo
3t
Figure 3.29. Fxx vs. ao (Cr/Cs) = 4)
lo-O
-f =z2
83
N-
Gz. Re(Fq)
G -I PCF9)
O.GF- k -=o.o
0.4
-
d
r,= 0.05
6
/
0.2.t-
/
/
/
- C.005
0.0 u.q.
o*G
Cr o
Figure 3.30. F4 vs. a0 (Cr/Cs = 4)
Roc4K IG - SWAY[MG
.15
.05 -
CL7-
.00
-. 05
.10o / /
F-o 0.12
c= azoo.
d .0
-i-
.12
00(
0.4 0. G
CLr
~~iKJ)/G
CSSoo. =0-05S
oV.40.
-LASTIC ROCK
cs Szoo. f -=-0,
V o.30
U)
0.4
LO-o(I3t
Figure 3.33. k vs. a0 (Cr C = 4)
R.0QkrdG
-=,2 0
-I riY77---O
~0
'O
A- 10.4
ELASTIC ROCK
30.
clJ cs~3zoo. p 0oos
v = 0.30
-S7
Re (k 9) /cdE
3. -
0
U
Ir~4 (k~/G~
Z~. I-
LV
(I)
F.
-7
0.0 04 ar o OO/J
Figure 3.34. k vs. a (C r/Cs = 4)
.S r-
I4
Z5
- e ~
OO.~- -
ELASTic Rock
c5=zoo. bO
0 o. 50
0.5t- C32I0 0 os
co
si I-T c) IC8
0.0 700
V)K
ReGI
-0.51-
CA)
- 1.0 1--
""0.4
0.2 0.4 (
6 -
Clo
~zN
.4
-:' =2
+
~J 4
ii Re (kz')/G
N
-TIk ) /G
-2
-4
-61
a. I J
Figure 3.36. kz vs. ao (Cr/Cs =4
Io.
07WAN7
t
,X
Li- 0 .. --- t
040
s moo"
4- 2
'I
0~
Yt 0
0Ioo. ( jS
Goo.0-0
4N
o ~ c---
o
//
/7
/7
7
0.2.
0.0
Clo
Figure 3.38. F vs. a0 (Cr/Cs = 2)
ROCKING -s AAY ING
V7~/wtAYo
RThe (1F4- GB
.10 - :
-cy Koo.
. ) - --
ELASTIC ROCK
-V . o
.051
.00
-. 051 7
y=O.40.
U-
0LASTIc
+ 0.2 Rloc <
U GFz/
7-
U- 1-7
V GFz
U
0.0
0-R
4.1 Formulation
The differential equations of motion
(+2G)
(x+G) ( 22E ++ 2E _
+ 2E
2+--- -p2
32E
G
(32
3x
3x
2 +
ay
32
3y
zat
2 +
2
32
2
/ ~
32
at2
t1
with 92 + m 2 + n2 =1
k _=2
h m
p s
-VL kL-o~
TOTAL NUM5P, m
vy
_ F _ _ _ _ __
~I P%
4
W
-J
14:
YTAY-1
F~cxuRtC 4.2.. GRID UsrGD FOP, -THE EVA LU)AT toN OF 7HE Voutlg~~
'TPANSF-o?JA AND ThIe FL6)q~lLlT'Y COGEFF'ICICeNrS foe PotiJTs
UND-R TikE FooTItACr
The boundary conditions at the interface between any two suc-
cessive layers leads to the conditions
u C
v} =Q2 Q x (2)
w Ty
with S(EC) = J
-00 -00
0 c(x,y) e~ e- y dx dy
h k = k 1 = -
h.m.
33 = k.m.
33
m = -C
Thus
u(5C s(,C)
v=
or
U= Ql2 ' Q22 ( 9 S(C
and by the Fourier Transformation
{U(x,y)} = (2,C e ey d dc
47T -0
u F F 0 0 0 0 P
1 F F 0 0 0 0 M
v = 0 0 F F 0 0 P
yy yc , y,
$ 0 0 F F 0 0 M
22*2 2 y
w 0 0 0 0 Fz 0 Pz
e L 0 0 0 0 0 Ft Mt
where F, 9 , F = swaying & rocking flexibilities in the
S1 xz plane
F , Fyp Fq p = swaying & rocking flexibilities in the
'' 'y2 2 2 yz plane
4.2 Results
Effect of number of points
Figures 4.3 and 4.4 show the dimensionless stiffness functions
k , kz, kt versus dimensionless frequency a0 = wB/Cs in case
of a square footing resting on an elastic halfspace. The total number
of points as well as the number of points under the footing are taken
much smaller than those of a plane footing (strip), because otherwise
the capacity of the IBM 360 is surpassed.
Two kinds of curves are shown. The total number of points is 64
in each direction (64 x 64). The number of points under the footing
is taken as 5 (solid curves) or 3 (dashed curves) with the correspond-
ing x equal to 10 or 20, respectively. As expected, according to the
theory presented in Chapter 3, the dashed curves are less wavy than
the solid ones and, apparently, more accurate.
K = K (k + i a C) (1 + 2i B)
100
o eK( = 0
a0 m k(w = 0)
K = 3 R rocking
= 3 torsion
Kto
KX/GB = 5.15
K /GB3 = 5.26
Kzo/GB = 6
Kto/GB 3 = 7.9
The corresponding values which were found are: 5.60, 6.50, 6.50
and 11.0 respectively. The difference is rather small for such a
small number of points except for the torsion.
8)4-. ay
Etr'l2B)s
Z ,
10. t-
Ka Spckce.
Re(ecc/Gai
VI
.1 0.2
0.0 0.3
0.-
Z 7 .
D ime5jones5 F requ.e.n~ 7
Figure 4.3. k and k vs. a0
m )(
(D
5.--B
L / 1 --
10.
0 5
I I
latter was overcome by using a fast Fourier transform for a unit load
pulse under the footing and then integrating over the width of the
footing while imposing the conditions of rigid body motion. All the
possible modes of vibration can be handled with this method; horizontal
(both directions) or vertical translation and rocking (both directions)
or twisting were studied.
The effect of the number of isolated points by which the free
surface was represented and of their distance was studied first. It
was shown that the required number of points for a good solution, as
well as their distance, are functions of the shortest (shear) wave-
length. A number of 8 points per shear wavelength was found to be suf-
ficient for a good solution.
105
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110