“…The ultimate bearing capacity for shallow foundations with simple geometry has been solved by many investigators. The methods of analysis can be classified into the following four categories: (1) the limit equilibrium method [50,36,37] ; (2) the method of characteristics [44,47,21,1,6,11] ; (3) the upper/lower-bound plastic limit analysis [45,46,75,16,38,39,40,48,22,26,27,28,51,30,31,29] ; and (4) numerical methods based on either the finite-element technique (FEM) or finite-difference method [20,33,17] . For the first three groups of methods, only the ultimate condition is considered, and a simple perfectly plastic soil model is commonly assumed.…”