The Canterbury earthquake series of 2010/2011 has turned the city of Christchurch into a full scale natural laboratory testing the structural and non-structural response of buildings under moderate to very severe earthquake shaking. The lessons learned from this, which have come at great cost socially and economically, are extremely valuable in increasing our understanding of whole building performance in severe earthquakes. Given current initiatives underway on both sides of the Tasman towards developing joint Australasian steel and composite steel/concrete design and construction standards that would span a very wide range of geological conditions and seismic zones, these lessons are relevant to both countries. This paper focusses on the performance of steel framed buildings in Christchurch city, with greatest emphasis on multi-storey buildings, but also covering single storey steel framed buildings and light steel framed housing. It addresses such issues as the magnitude and structural impact of the earthquake series, importance of good detailing, lack of observed column base hinging, the excellent performance of composite floors and it will briefly cover research underway to quantify some of these effects for use in design.
This paper presents preliminary field observations on the performance of selected steel structures in Christchurch during the earthquake series of 2010 to 2011. This comprises 6 damaging earthquakes, on 4 September and 26 December 2010, February 22, June 6 and two on June 13, 2011. Most notable of these was the 4 September event, at Ms7.1 and MM7 (MM as observed in the Christchurch CBD) and most intense was the 22 February event at Ms6.3 and MM9-10 within the CBD. Focus is on performance of concentrically braced frames, eccentrically braced frames, moment resisting frames and industrial storage racks. With a few notable exceptions, steel structures performed well during this earthquake series, to the extent that inelastic deformations were less than what would have been expected given the severity of the recorded strong motions. Some hypotheses are formulated to explain this satisfactory performance. http://db.nzsee.org.nz/SpecialIssue/44%284%290297.pdf
Perimeter Moment resisting steel frames (PMRSFs) are a commonly used seismic resisting system, placed around the perimeter of the building for maximum torsional stiffness. They are typically designed as “strong column weak beam” systems with fixed column bases. When subjected to severe earthquake demand, sufficient to push the beams into the inelastic range, it is expected that plastic hinging at the column bases will occur. However, the response of PMRSF systems to the severe 2010/2011 Christchurch earthquake series did not generate column base hinging in systems which exhibited beam yielding.
A non-destructive hardness testing method has been developed to investigate the amount of plastic strain demand in steel elements subjected to cyclic loading. The focus of this research is on application to the active links of eccentrically braced frames (EBFs), which are a commonly used seismic-resisting system in modern steel framed buildings. The 2010/2011 Christchurch earthquake series, especially the very intense February 22 shaking, which was the first earthquake worldwide to push complete EBF systems fully into their inelastic state, generating a moderate to high level of plastic strain in EBF active links, for a range of buildings from 3 to 23 storeys in height. This raised two important questions: 1) what was the extent of plastic deformation in active links; and 2) what effect does that have to post-earthquake steel properties? This project comprised determining a robust relationship between hardness and plastic strain in order to be able to answer the first question and provide the necessary input into answering the second question. A non-destructive Leeb (portable) hardness tester (model TH170) has been used to measure the hardness, in order to determine the plastic strain, in hot rolled steel universal sections and steel plates. A bench top Rockwell B was used to compare and validated the hardness measured by the portable hardness tester. Hardness was measured from monotonically strained tensile test specimens to identify the relationship between hardness and plastic strain demand. Test results confirmed a good relationship between hardness and the amount of monotonically induced plastic strain. Surface roughness was identified as an important parameter in obtaining reliable hardness readings from a portable hardness reader. A proper surface preparation method was established by using three different cleaning methods, finished with hand sanding to achieve surface roughness coefficients sufficiently low not to distort the results. This work showed that a test surface roughness (Ra) is not more than 1.6 micron meter (μm) is required for accurate readings from the TH170 tester. A case study on an earthquake affected building was carried out to identify the relationship between hardness and amount of plastic strain demand in cyclically deformed active links. Hardness was carried out from active links shown visually to have been the most affected during one of the major earthquake events. Onsite hardness test results were then compared with laboratory hardness test results. A good relationship between hardness from onsite and laboratory was observed between the test methods; Rockwell B bench top and portable Leeb tester TH170. Manufacturing induced plastic strain in the top and bottom of the webs of hot rolled sections were discovered from this research, an important result which explains why visual effects of earthquake induced active link yielding (eg cracked or flaking paint) was typically more prevalent over the middle half depth of the active link. The extent of this was quantified. It was also evident that the hardness readings from the portable hardness tester are influenced by geometry, mass effects and rigidity of the links. The final experimental stage was application of the method to full scale cyclic inelastic tested nominally identical active links subjected to loading regimes comprising constant and variable plastic strain demands. The links were cyclically loaded to achieve different plastic strain level. A novel Digital Image Correlation (DIC) technique was incorporated during the tests of this scale, to confirm the level of plastic strain achieved. Tensile test specimens were water jet cut from cyclically deformed webs to analyse the level of plastic strain. Test results show clear evidence that cyclically deformed structural steel elements show good correlation between hardness and the amount of plastic strain demand. DIC method was found to be reliable and accurate to check the level of plastic strain within cyclically deformed structural steel elements.
Five years after the devastating series of earthquakes in Christchurch, New Zealand, the structural engineering community is now focussing on low damage design by either proactively reducing the possibility of significant damage to primary steel members (i.e. developing seismic resisting systems that will deliver a high damage threshold in severe earthquakes) or by improved detailing of the primary steel members for rapid replacement. This paper presents a development of Eccentrically Braced Frames (EBFs) with replaceable active links. It uses the bolted flange- and web splicing concept to connect the active link to the collector beam or column. Finite element analyses have been performed to investigate the behaviour and reliability of EBFs with this new type replaceable active link. The results show a stable hysteretic behaviour and more significantly easier replacement of the damaged active link in comparison with conventional EBFs.
Industrial steel storage pallet racking systems are used extensively worldwide to store goods. Forty percent of all goods are stored on storage racks at some time during their manufactureto- consumption life. In 2017, goods worth USD 16.5 billion were carried on cold-formed steel racking systems in seismically active regions worldwide. Historically, these racks are particularly vulnerable to collapse in severe earthquakes. In the 2010/2011 Christchurch earthquakes, around NZD 100 million of pallet racking stored goods were lost, with much greater associated economic losses due to disruptions to the national supply chain. A novel component, the friction slipper baseplate, has been designed and developed to very significantly improve the seismic performance of a selective pallet racking system in both the cross-aisle and the down-aisle directions. This thesis documents the whole progress of the development of the friction slipper baseplate from the design concept development to experimental verification and incorporation into the seismic design procedure for selective pallet racking systems. The test results on the component joint tests, full-scale pull-over and snap-back tests and fullscale shaking table tests of a steel storage racking system are presented. The extensive experimental observations show that the friction slipper baseplate exhibits the best seismic performance in both the cross-aisle and the down-aisle directions compared with all the other base-connections tested. It protects the rack frame and concrete floor from damage, reduces the risk of overturning in the cross-aisle direction, and minimises the damage at beam-end connectors in the down-aisle direction, without sustaining damage to the connection itself. Moreover, this high level of seismic performance can be delivered by a simple and costeffective baseplate with almost no additional cost. The significantly reduced internal force and frame acceleration response enable the more cost-effective and safer design of the pallet racking system with minimal extra cost for the baseplate. The friction slipper baseplate also provides enhanced protection to the column base from operational impact damage compared with other seismic resisting and standard baseplates.
During the 2010/2011 Canterbury earthquakes, several reinforced concrete (RC) walls in multi-storey buildings formed a single crack in the plastic hinge region as opposed to distributed cracking. In several cases the crack width that was required to accommodate the inelastic displacement of the building resulted in fracture of the vertical reinforcing steel. This type of failure is characteristic of RC members with low reinforcement contents, where the area of reinforcing steel is insufficient to develop the tension force required to form secondary cracks in the surrounding concrete. The minimum vertical reinforcement in RC walls was increased in NZS 3101:2006 with the equation for the minimum vertical reinforcement in beams also adopted for walls, despite differences in reinforcement arrangement and loading. A series of moment-curvature analyses were conducted for an example RC wall based on the Gallery Apartments building in Christchurch. The analysis results indicated that even when the NZS 3101:2006 minimum vertical reinforcement limit was satisfied for a known concrete strength, the wall was still susceptible to sudden failure unless a significant axial load was applied. Additionally, current equations for minimum reinforcement based on a sectional analysis approach do not adequately address the issues related to crack control and distribution of inelastic deformations in ductile walls.
High demolition rates were observed in New Zealand after the 2010-2011 Canterbury Earthquake Sequence despite the success of modern seismic design standards to achieve required performance objectives such as life safety and collapse prevention. Approximately 60% of the multi-storey reinforced concrete (RC) buildings in the Christchurch Central Business District were demolished after these earthquakes, even when only minor structural damage was present. Several factors influenced the decision of demolition instead of repair, one of them being the uncertainty of the seismic capacity of a damaged structure. To provide more insight into this topic, the investigation conducted in this thesis evaluated the residual capacity of moderately damaged RC walls and the effectiveness of repair techniques to restore the seismic performance of heavily damaged RC walls. The research outcome provided insights for developing guidelines for post-earthquake assessment of earthquake-damaged RC structures. The methodology used to conduct the investigation was through an experimental program divided into two phases. During the first phase, two walls were subjected to different types of pre-cyclic loading to represent the damaged condition from a prior earthquake, and a third wall represented a repair scenario with the damaged wall being repaired using epoxy injection and repair mortar after the pre-cyclic loading. Comparisons of these test walls to a control undamaged wall identified significant reductions in the stiffness of the damaged walls and a partial recovery in the wall stiffness achieved following epoxy injection. Visual damage that included distributed horizontal and diagonal cracks and spalling of the cover concrete did not affect the residual strength or displacement capacity of the walls. However, evidence of buckling of the longitudinal reinforcement during the pre-cyclic loading resulted in a slight reduction in strength recovery and a significant reduction in the displacement capacity of the damaged walls. Additional experimental programs from the literature were used to provide recommendations for modelling the response of moderately damaged RC walls and to identify a threshold that represented a potential reduction in the residual strength and displacement capacity of damaged RC walls in future earthquakes. The second phase of the experimental program conducted in this thesis addressed the replacement of concrete and reinforcing steel as repair techniques for heavily damaged RC walls. Two walls were repaired by replacing the damaged concrete and using welded connections to connect new reinforcing bars with existing bars. Different locations of the welded connections were investigated in the repaired walls to study the impact of these discontinuities at the critical section. No significant changes were observed in the stiffness, strength, and displacement capacity of the repaired walls compared to the benchmark undamaged wall. Differences in the local behaviour at the critical section were observed in one of the walls but did not impact the global response. The results of these two repaired walls were combined with other experimental programs found in the literature to assemble a database of repaired RC walls. Qualitative and quantitative analyses identified trends across various parameters, including wall types, damage before repair, and repair techniques implemented. The primary outcome of the database analysis was recommendations for concrete and reinforcing steel replacement to restore the strength and displacement capacity of heavily damaged RC walls.
Seismic retrofitting of unreinforced masonry buildings using posttensioning has been the topic of many recent experimental research projects. However, the performance of such retrofit designs in actual design level earthquakes has previously been poorly documented. In 1984 two stone masonry buildings within The Arts Centre of Christchurch received posttensioned seismic retrofits, which were subsequently subjected to design level seismic loads during the 2010/2011 Canterbury earthquake sequence. These 26 year old retrofits were part of a global scheme to strengthen and secure the historic building complex and were subject to considerable budgetary constraints. Given the limited resources available at the time of construction and the current degraded state of the steel posttension tendons, the posttensioned retrofits performed well in preventing major damage to the overall structure of the two buildings in the Canterbury earthquakes. When compared to other similar unretrofitted structures within The Arts Centre, it is demonstrated that the posttensioning significantly improved the in-plane and out-of-plane wall strength and the ability to limit residual wall displacements. The history of The Arts Centre buildings and the details of the Canterbury earthquakes is discussed, followed by examination of the performance of the posttension retrofits and the suitability of this technique for future retrofitting of other historic unreinforced masonry buildings. http://www.aees.org.au/downloads/conference-papers/2013-2/
This thesis describes the strategies for earthquake strengthening vintage clay bricks unreinforced masonry (URM) buildings. URM buildings are well known to be vulnerable to damage from earthquake-induced lateral forces that may result in partial or full building collapse. The 2010/2011 Canterbury earthquakes are the most recent destructive natural disaster that resulted in the deaths of 185 people. The earthquake events had drawn people’s attention when URM failure and collapse caused about 39 of the fatality. Despite the poor performance of URM buildings during the 2010/2011 Canterbury earthquakes, a number of successful case study buildings were identified and their details research in-depth. In order to discover the successful seismic retrofitting techniques, two case studies of retrofitted historical buildings located in Christchurch, New Zealand i.e. Orion’s URM substations and an iconic Heritage Hotel (aka Old Government Building) was conducted by investigating and evaluating the earthquake performance of the seismic retrofitting technique applied on the buildings prior to the 2010/2011 Canterbury earthquakes and their performance after the earthquakes sequence. The second part of the research reported in this thesis was directed with the primary aim of developing a cost-effective seismic retrofitting technique with minimal interference to the vintage clay-bricks URM buildings. Two retrofitting techniques, (i) near-surface mounted steel wire rope (NSM-SWR) with further investigation on URM wallettes to get deeper understanding the URM in-plane behaviour, and (ii) FRP anchor are reported in this research thesis.
Seismic retrofitting of unreinforced masonry buildings using posttensioning has been the topic of many recent experimental research projects. However, the performance of such retrofit designs in actual design level earthquakes has previously been poorly documented. In 1984 two stone masonry buildings within The Arts Centre of Christchurch received posttensioned seismic retrofits, which were subsequently subjected to design level seismic loads during the 2010/2011 Canterbury earthquake sequence. These 26 year old retrofits were part of a global scheme to strengthen and secure the historic building complex and were subject to considerable budgetary constraints. Given the limited resources available at the time of construction and the current degraded state of the steel posttension tendons, the posttensioned retrofits performed well in preventing major damage to the overall structure of the two buildings in the Canterbury earthquakes. When compared to other similar unretrofitted structures within The Arts Centre, it is demonstrated that the posttensioning significantly improved the in-plane and out-of-plane wall strength and the ability to limit residual wall displacements. The history of The Arts Centre buildings and the details of the Canterbury earthquakes is discussed, followed by examination of the performance of the posttension retrofits and the suitability of this technique for future retrofitting of other historic unreinforced masonry buildings. http://www.aees.org.au/downloads/conference-papers/
This thesis aims to find a new weld sizing criterion for the steel construction industry in New Zealand. Current standards, such as NZS 3404, ANSI/AISC 360-16, and Eurocode 3 use a factor of 0.6 to calculate weld capacity from the weld metal’s ultimate tensile strength (UTS). This difference between weld capacity and UTS is thought to have arisen from the need for a large factor of safety to ensure welds perform correctly during an earthquake. The events in Christchurch proved that this criterion was able to work as intended. Several papers have been published by P. Dong from University of Michigan, and alongside other researchers, they investigate a new definition of weld shear strength by using a traction stress-based method. This new method not only allows realistic angles of weld fracture to be investigated, but also different weld geometries such as partial penetration butt welds. Ongoing research at HERA is showing how this welding technique is a more economical option than larger fillet welds with similar performance. For this thesis a range of sample types were statically tested until failure. UTS of several weld metals was found and then compared with transverse shear results to see if 0.6 is indeed correct. It was found that if the results from the standardized transverse shear samples was used, this ratio could be increased to 1.0. But if the results from cruciform joint samples was used, which still load the weld in a transverse direction but with a higher stress concentration, required the ratio to be 0.8 for welds that could be welded with a single pass, and decreased further to 0.75 for large welds with 3 passes. Two types of partial penetration butt weld (PPBW) geometries were compared to a comparatively sized fillet weld. These tests showed the PPBWs were the best performers, with all PPBWs surviving testing compared to only 33% of fillet welds.
Reinforced concrete buildings that satisfied modern seismic design criteria generally behaved as expected during the recent Canterbury and Kaikoura earthquakes in New Zealand, forming plastic hinges in intended locations. While this meant that life-safety performance objectives were met, widespread demolition and heavy economic losses took place in the aftermath of the earthquakes.The Christchurch central business district was particularly hard hit, with over 60% of the multistorey reinforced concrete buildings being demolished. A lack of knowledge on the post-earthquake residual capacity of reinforced concrete buildings was a contributing factor to the mass demolition.Many aspects related to the assessment of earthquake-damaged reinforced concrete buildings require further research. This thesis focusses on improving the state of knowledge on the post earthquakeresidual capacity and reparability of moderately damaged plastic hinges, with an emphasis on plastic hinges typical of modern moment frame structures. The repair method focussed on is epoxy injection of cracks and patching of spalled concrete. A targeted test program on seventeen nominally identical large-scale ductile reinforced concrete beams, three of which were repaired by epoxy injection following initial damaging loadings, was conducted to support these objectives. Test variables included the loading protocol, the loading rate, and the level of restraint to axial elongation.The information that can be gleaned from post-earthquake damage surveys is investigated. It is shown that residual crack widths are dependent on residual deformations, and are not necessarily indicative of the maximum rotation demands or the plastic hinge residual capacity. The implications of various other types of damage typical of beam and column plastic hinges are also discussed.Experimental data are used to demonstrate that the strength and deformation capacity of plastic hinges with modern seismic detailing are often unreduced as a result of moderate earthquake induced damage, albeit with certain exceptions. Special attention is given to the effects of prior yielding of the longitudinal reinforcement, accounting for the low-cycle fatigue and strain ageing phenomena. A material-level testing program on the low-cycle fatigue behaviour of grade 300E reinforcing steel was conducted to supplement the data available in the literature.A reduction in stiffness, relative to the initial secant stiffness to yield, occurs due to moderate plastic hinging damage. This reduction in stiffness is shown to be correlated with the ductility demand,and a proposed model gives a conservative lower-bound estimate of the residual stiffness following an arbitrary earthquake-type loading. Repair by epoxy injection is shown to be effective in restoring the majority of stiffness to plastic hinges in beams. Epoxy injection is also shown to have implications for the residual strength and elongation characteristics of repaired plastic hinges.
Eccentrically Braced Frames (EBFs) are a widely used seismic resisting structural steel system. Since their inception in the late 1970s, they have been a viable option with an available stiffness that is between simple braced systems and moment resisting systems. A similar concept, the linked column frame (LCF), uses shear links between two closely spaced columns. In both cases, the key component is the active link or the shear link, and this component is the objective of this study. The performance of high rise EBF buildings in the 2010 and 2011 Christchurch earthquakes was beyond that which was expected, especially considering the very high accelerations recorded. As the concrete high-rises were torn down, two EBF buildings remained standing and only required some structural repair. These events prompted a renewed interest in bolted shear links, as well as their performance. While some research into replaceable shear links had already been done (Mansour, 2011), the objectives of this study were to improve on the shear link itself, with the consideration that links built in the future are likely to be bolted. The main components of this study were to: 1. Reduce or eliminate the requirements for intermediate web stiffeners, as they were suspected of being detrimental to performance. Furthermore, any reduction in stiffening requirements is a direct fabrication cost saving. Links with low web aspect ratios were found to achieve exceptional ductilities when no stiffeners were included, prompting new design equations. 2. Ensure that the stresses in the ends of links are adequately transferred into the endplates without causing fractures. Although most of the experimental links had web doubler plates included, four had varied lengths of such doubler plates from 0.0 in. to 8.0 in. The link without any doubler plates performed to a similar level to its peers, and thus it is likely that links with quality end details may not need web doubler plates at all. 3. Evaluate the performance of a link with double sided stiffeners without the use of web welds, as opposed to conventional single sided, welded stiffeners. This link performed well, and web-weld-less double sided stiffeners may be an economical alternative to conventional stiffeners for deeper sections of links. 4. Evaluate the performance of a link with thin endplates that are made efficient with the use of gusset plates. This link performed to an acceptable level and provides evidence for a cost effective alternative to thick endplates, especially considering the high overstrength end moments in links, typically requiring 16-bolt connections. 5. Examine the potential use of an alternative EBF arrangement where the collector beam is over sized, and the link section is formed by cutting out parts of the beam's web. After running a series of finite element models each with a unique variation, a number of approximate design rules were derived such that future research could develop this idea further experimentally. 6. Ensure that during testing, the secondary elements (members that are not the shear link), do not yield and are not close to yielding. None of the instrumented elements experienced any unexpected yielding, however the concerns for high stresses in the collector beam panel zone during design were warranted. The use of an existing New Zealand design equation is recommended as an extra check for design codes worldwide. The above objectives were mainly conducted experimentally, except: the data set for item 1 was greatly expanded through the use of a calibrated numerical model which was then used in an extensive parametric study; item 5 was purely finite element based; and, a small parametric study was included for item 3 in an attempt to expand on the trends found there.
A review of the literature showed the lack of a truly effective damage avoidance solution for timber or hybrid timber moment resisting frames (MRFs). Full system damage avoidance selfcentring behaviour is difficult to achieve with existing systems due to damage to the floor slab caused by beam-elongation. A novel gravity rocking, self-centring beam-column joint with inherent and supplemental friction energy dissipation is proposed for low-medium rise buildings in all seismic zones where earthquake actions are greater than wind. Steel columns and timber beams are used in the hybrid MRF such that both the beam and column are continuous thus avoiding beam-elongation altogether. Corbels on the columns support the beams and generate resistance and self-centring through rocking under the influence of gravity. Supplemental friction sliders at the top of the beams resist sliding of the floor whilst dissipating energy as the floor lifts on the corbels and returns. 1:20 scale tests of 3-storey one-by-two bay building based on an earlier iteration of the proposed concept served as proof-of-concept and highlighted areas for improvement. A 1:5 scale 3-storey one-by-one bay building was subsequently designed. Sub-assembly tests of the beam-top asymmetric friction sliders demonstrated repeatable hysteresis. Quasi-static tests of the full building demonstrated a ‘flat bottomed’ flag-shaped hysteresis. Shake table tests to a suite of seven earthquakes scaled for Wellington with site soil type D to the serviceability limit state (SLS), ultimate limit state (ULS) and maximum credible event (MCE) intensity corresponding to an average return period of 25, 500 and 2500 years respectively were conducted. Additional earthquake records from the 22 February 2011 Christchurch earthquakes we included. A peak drift of 0.6%, 2.5% and 3.8% was reached for the worst SLS, ULS and MCE earthquake respectively whereas a peak drift of 4.5% was reached for the worst Christchurch record for tests in the plane of the MRF. Bi-directional tests were also conducted with the building oriented at 45 degrees on the shake table and the excitation factored by 1.41 to maintain the component in the direction of the MRF. Shear walls with friction slider hold-downs which reached similar drifts to the MRF were provided in the orthogonal direction. Similar peak drifts were reached by the MRF in the bi-directional tests, when the excitation was amplified as intended. The building self-centred with a maximum residual drift of 0.06% in the dynamic tests and demonstrated no significant damage. The member actions were magnified by up to 100% due to impact upon return of the floor after uplift when the peak drift reached 4.5%. Nonetheless, all of the members and connections remained essentially linearelastic. The shake table was able to produce a limited peak velocity of 0.275 m/s and this limited the severity of several of the ULS, MCE and Christchurch earthquakes, especially the near-field records with a large velocity pulse. The full earthquakes with uncapped velocity were simulated in a numerical model developed in SAP2000. The corbel supports were modelled with the friction isolator link element and the top sliders were modelled with a multi-linear plastic link element in parallel with a friction spring damper. The friction spring damper simulated the increase in resistance with increasing joint rotation and a near zero return stiffness, as exhibited by the 1:5 scale test building. A good match was achieved between the test quasi-static global force-displacement response and the numerical model, except a less flat unloading curve in the numerical model. The peak drift from the shake table tests also matched well. Simulations were also run for the full velocity earthquakes, including vertical ground acceleration and different floor imposed load scenarios. Excessive drift was predicted by the numerical model for the full velocity near-field earthquakes at the MCE intensity and a rubber stiffener for increasing the post joint-opening stiffness was found to limit the drift to 4.8%. Vertical ground acceleration had little effect on the global response. The system generates most of its lateral resistance from the floor weight, therefore increasing the floor imposed load increased the peak drift, but less than it would if the resistance of the system did not increase due to the additional floor load. A seismic design procedure was discussed under the framework of the existing direct displacement-based design method. An expression for calculating the area-based equivalent viscous damping (EVD) was derived and a conservative correction factor of 0.8 was suggested. A high EVD of up to about 15% can be achieved with the proposed system at high displacement ductility levels if the resistance of the top friction sliders is maximised without compromising reliable return of the floor after uplift. Uniform strength joints with an equal corbel length up the height of the building and similar inter-storey drifts result in minimal relative inter-floor uplift, except between the first floor and ground. Guidelines for detailing the joint for damage avoidance including bi-directional movement were also developed.
