Ensemble Kalman methods constitute an increasingly important tool in both state and parameter estimation problems. Their popularity stems from the derivative-free nature of the methodology which may be readily applied when computer code is available for the underlying state-space dynamics (for state estimation) or for the parameter-to-observable map (for parameter estimation). There are many applications in which it is desirable to enforce prior information in the form of equality or inequality constraints on the state or parameter. This paper establishes a general framework for doing so, describing a widely applicable methodology, a theory which justifies the methodology, and a set of numerical experiments exemplifying it.

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We present a sequential data assimilation algorithm based on the ensemble Kalman inversion to estimate the near-surface shear-wave velocity profile and damping; this is applicable when heterogeneous data and a priori information that can be represented in forms of (physical) equality and inequality constraints in the inverse problem are available. Although noninvasive methods, such as surface-wave testing, are efficient and cost-effective methods for inferring an VS profile, one should acknowledge that site characterization using inverse analyses can yield erroneous results associated with the lack of inverse problem uniqueness. One viable solution to alleviate the unsuitability of the inverse problem is to enrich the prior knowledge and/or the data space with complementary observations. In the case of noninvasive methods, the pertinent data are the dispersion curve of surface waves, typically resolved by means of active source methods at high frequencies and passive methods at low frequencies. To improve the inverse problem suitability, horizontal-to-vertical spectral ratio data are commonly used jointly with the dispersion data in the inversion. In this article, we show that the joint inversion of dispersion and strong-motion downhole array data can also reduce the margins of uncertainty in the VS profile estimation. This is because acceleration time series recorded at downhole arrays include both body and surface waves and therefore can enrich the observational data space in the inverse problem setting. We also show how the proposed algorithm can be modified to systematically incorporate physical constraints that further enhance its suitability. We use both synthetic and real data to examine the performance of the proposed framework in estimation of the VS profile and damping at the Garner Valley downhole array and compare them against the VS estimations in previous studies.

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Summary The capability of a bounding surface plasticity model with a vanishing elastic region to capture the multiaxial dynamic hysteretic responses of soil deposits under broadband (eg, earthquake) excitations is explored by using data from centrifuge tests. The said model was proposed by Borja and Amies in 1994 (J. Geotech. Eng., 120, 6, 1051‐1070), which is theoretically capable of representing nonlinear soil behavior in a multiaxial setting. This is an important capability that is required for exploring and quantifying site topography, soil stratigraphy, and kinematic effects in ground motion and soil‐structure interaction analyses. Results obtained herein indicate that the model can accurately predict key response data recorded during centrifuge tests on embedded specimens—including soil pressures and bending strains for structural walls, structures' racking displacements, and surface settlements—under both low‐ and high‐amplitude seismic input motions, which was achieved after performing only a basic material parameter calibration procedure. Comparisons are also made with results obtained using equivalent linear models and a well‐known pressure‐dependent multisurface plasticity model, which suggested that the present model is generally more accurate. The numerical convergence behavior of the model in nonlinear equilibrium iterations is also explored for a variety of numerical implementation and model parameter options. To facilitate broader use by researchers and practicing engineers alike, the model is implemented as a “user material” in ABAQUS Standard for implicit time stepping.