DESIGN OF CABLE STAYED PEDESTRIAN BRIDGE

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International Journal of Engineering Trends and Technology (IJETT) – Volume 22 Number 2- April 2015
DESIGN OF CABLE STAYED PEDESTRIAN BRIDGE
T.Nelson ponnu durai1 Dr. P.Asha2 and R.Vinoth kumar3
1
Final Year P.G Structural , St. Peter’s University
2
HOD CIVIL Department St. Peter’s University
3
Assistant Professor,Civil, St. Peter’s University,
Abstract: This paper intends to describe the conceptual
1.2 Scope of Work
design of a CABLE STAYED PEDESTRIAN CROSS
OVER BRIDGE, near Koyembedu bus terminus. The
development of detailed design and critical issues
associated with bridge deck, cables and tower are briefly
discussed. The bridge is constructed for easy movement of
people crossing the expressway and to avoid fatal
accidents. Live load acting on the bridge is transferred to
the bridge deck, which in turn both the dead load of the
superstructure (self-weight of the bridge deck) and live
load of the bridge is balanced by tension cables which is
anchored to the tower. The tower of the bridge carries the
total working load. Additional columns are provided at the
end supports. The design is aimed to meet the
requirements.
 The scope of the project included the
Preliminary Design of Pedestrian Footbridge.
Specific requirements of geometric and
structural design were obtained from the
general data collected in the form of a design
and analysis basis note.
 The construction of the proposed bridge is at an
early stage of development in other developed
countries and not yet in India and needs to be
taken through simple procedures,
 The development of the scheme shall be
undertaken by any kind of Bridge and iron
companies, NHAI , IRC or any other private
firms which so ever is economic to both the
public and private sectors
 The project shall be the subject of a
competitive tendering process, which shall
involve national road building contractors.
1. Introduction
A cable-stayed bridge has one or more towers from
which cables support the bridge deck. A cable-stayed
bridge is not a suspension bridge type. Hence No end
anchorage is necessary. The cable stayed pedestrian
bridge is taken into idea for developing the
transportation, and its infrastructure to meet the needs
and demand of the growing population whilst retaining
its distinctive and valued market town character. This
project has been proposed especially for pedestrian
safety considerations, where the cable stayed cross over
structure will serves as a best for both pedestrians and
the fastest moving traffic. The structure provides a
strategic and easy access to the bus terminus and in
conjunction with the six lanes state highway would
enable the traffic to flow at high speed so that the flow
should not be disturbed in turn saving the destination,
fuel and prevents hazards at a time. The CMBT provides
the potential to attract a range of new businesses
including government departments/relocations by virtue
of its domestic transport links, and the quality of its
riverfront of aesthetic environment. The bridge caters to
the requirement of motorists, pedestrians and cyclists.
This bridge is henceforth referred as the ‘cable stayed
pedestrian cross over bridge’ in this design project.
1.1 Objectives
1. To design a cable stayed pedestrian cross over
bridge (Harp design) for an expressway, to
avoid fatal accidents.
2. Components of a cable stayed pedestrian
bridge to be designed:
3. Tower (or) Pylon
4. Bridge deck
5. Cable
6. Support Columns
ISSN: 2231-5381
1.3 Our Vision:





To avoid fatal accidents
To efficiently convey the traffic
To ultimately decrease the destination time
To avoid traffic congestion
To feed a continuous flow of traffic.
2. Study Area
Fig.2.1 study area
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International Journal of Engineering Trends and Technology (IJETT) – Volume 22 Number 2- April 2015



2.1 Reasons for Selecting the Location:
It became tedious for the pedestrians to cross the road in
peak hours.
Also, the vehicles are stopped for pedestrian crossing
which disturbs the traffic flow.
To avoid fatal accidents.
2.2 Plan and Elevation:
Reinforced Concrete Slab. The slap is precasted in 10
parts in a dimension of 3m x 3.5m.
dLx = 3m (shorter span)
Ly = 3.5m (longer span)
Ly/Lx< 2, therefore the slab is 2-way slab.
Calculation of depth of slab:
Design for 2-way slab
According to clause 24.1 of IS 456:2000,
Lx = (35 x 0.8)
Here, the material are taken as M20 concrete and Fe415
(high strength steel bars)
3000 / D = 28
D = 110 mm
Providing an effective cover depth of 25mm
deff = 110 – 25 = 85 mm
d = 85 mm
4.2 Load calculation:
4.2.1 Design for wind pressure:
According to clause 5.4 of IS 875 part 3,
The design wind pressure, px = 0.6vx2
vx is the velocity of wind at the locality which is 45 m/s,
Equating the value to the above equation, design wind
pressure,
px = 0.6 x 452
= 1.25 KN/m2
Self weight of slab = 0.11 x 25 = 2.75 KN/m 2
Live load of slab
= 5 KN/m2
Total load
= 9 KN/m2
Ultimate load, wu = 1.5 x 9 = 13.5 KN/m2.
3. Methodology:
Case study of the road
Journals
Plan
Design of structural components
Analysis of structural components
Construction techniques









3.1structural Components to Be Designed
Foundation Design
Pier ( Column) Design
Deck Slab Design ( Girder)
Tower ( Pylon ) Design
Cable Design ( HARP Arrangement )
Girder– Girder Connection
Plate– Cable Connection
Staircase Design
Installation of Hand rail
4. Designs of Components:
4.1 Design of bridge deck:
The total span of the bridge is 30m. Since
it is difficult to construct cast in-situ bridge deck over a
heavy traffic road. The deck is designed to be
ISSN: 2231-5381
Moment calculation:
According to D – 2 of Annex D in IS 456: 2000,
Mx = αx wu lx2
My = αy wu lx2
Where the values of αx and αy are computed from table
27 of IS 456: 2000
Ly/Lx = 1.167
By double interpolation method,
αx = 0.0807
αy = 0.05966
Moment in shorter span, Mx = αx wu lx2
= 0.0807 x 13.5 x 32
= 9.80505 KN- m
Moment in longer span, My = αy wu lx2
= 0.05966 x 13.5 x 32
= 7.24869 KN – m
Check for ultimate depth:
Mmax = 0.138 fck b d2
9.805 x 106 = 0.138 x 20 x 1000 x d2
d = 56.19 < provided = 85 mm.
Area of reinforcement calculation:
For shorter span,
Mx = 9.805 KN – m
Mx = 0.87 fy Ast d [1 – Ast fy / b d fck ]
9.805 x 106 = (0.87 x 415 x 85) Ast [1 – Ast x 415 /
1000 x 85 x 20]
Ast = 349.27 mm2.
Provide 10mm diameter bars at spacing of 200
mm is shorter span.
For longer span ,
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International Journal of Engineering Trends and Technology (IJETT) – Volume 22 Number 2- April 2015
My = 7.24869 KN – m.
7.24869 x 106 = (0.87 x 415 x 85) Ast [1- Ast x 415 /
1000 x 85 x 20]
Ast = 251.71 KN – m
Providing 10 mm diameter bars at spacing of 250
mm in longer span.
Check for shear:
Vu = wu lx / 2
= 13.5 x 103 x 3000 / 2
Vu = 20.25 KN



1.

2.
3.
Stress in slab, τv =Vu /bd (According to IS 456:2000,
clause 40.1)
= 20.25/100x85
τv = 0.238 N/mm2
According to table 19 of IS 456:2000
Pt = 0.46
τc = 0.468 N/mm2
Permissible stress => τc.ks
0.468(0.5+ lx/ly)
= 0.37(0.5+3/3.5)
0.635 N/mm2
τc< τc.ks
Therefore the slab is safe in shear.
Check for deflection:
(L/d) max = (l/d) basic x kt x kf x kc
According to cl.23.2 of IS 456:2000,
Modification factor = 0.58x415x270/ (4x78.53)
206.89
From table 19,
Pt = 0.46
kt= 1.9
(L/d) max= 20x1.9x1x1 = 38
(L/d) actual=3000 / 85 = 35 < 38
So the slab is safe in deflection.
Check for crack control:
Reinforcement provided is more than minimum
percentage of 0.12%
(0.12/100)x1000x110=> 132mm2
Spacing of main reinforcement not less than 3d (
3x95=>255mm)
Diameter of reinforcement < (D/8) (110/8)= 13.75
So, the slab is safe in crack control.
Reinforcement in cage strips:
Ast = (0.12/100) x1000x110=> 132mm2
Provide 8mm dia bars @ spacing 280mm c/c
Lx/8=> 3/8 => 375mm
4.3 Design of cross girder:
Load acting on cross girder => 8KN/mm2
 9x3=27KN/m
Factored load, Wu= 1.5x27=40.5KN
Mu = Wul2/8=> 60.29 KN.m
Vu= Wul/2=> 70.87 KN
Cross girder is provided below the slabs at the interval
of 3m where one end of the both of the slabs meet.
Plastic modulus, Zp= Mu.γm0/fy
= 60.29x106x1.1/250=> Zp= 272.866 cm3
From Annex H of IS 800:2007,
Choosing a suitable section of ISWB 200
ISSN: 2231-5381
A= 36.71cm2; D = 200mm;bf =140mm; tf = 7.3mm; tw =
5.4mm
Zp = 293.99 cm3; r1 = 9.5mm
Section classification:
b = bf / 2 = 140/2= 70mm
b/tf = 70 / 9 = 7.78 < 9.4t
Therefore Plastic section.
d = D-2tf -2r1
= 200-2x9-2x9.5
d = 164mm.
d/tw = 164 / 5.4 = 30.37< 84t
Therefore plastic section..
Design shears strength for section:
According to cl.8.4.1 of IS 800:2007
Vu = 70.87
Vd = Vn/γm0
Vn = Av.fy / 1.732 = 200x6.1x250 / 1.732 = 176.062 KN.
Vd = 176.062 / 1.1 = 160.056 KN.
Vu< 0.6 Vd.(96.03 KN)
According to cl.8.2.1.2 of IS 800:2007
Md = βb.Zp.fy / γm0
 1x184340 x 250 / 1.1 = 66.82 KN.m> 62.015 KN.m
Therefore the selected section is safe.
4.4 Design of main Girder:
Load acting on main girder = slab weight = 9x3.5 = 31.5
KN/m
Self weight of the cross girder = 0.288 KN / m
Total Load = 31.788 KN/m
Ultimate load = 1.5 x 31.788 = 47.682 KN/ m
Load to be carried by one main girder = 47.682 / 2 =
23.841 KN
Moment due to load = Wl2 / 8 = 23.841x152 / 8
Mu = 594.80 KN.m
Plastic
modulus,
Zp
=
Mu.γm0
/
fy
= 670 x 106 x 1.1 / 250
Zp = 2627.126 cm3
Assume a section of ISMB 600
Weight per m = 122.6 kg/m ; A = 156.21 cm2 ; D = 600
mm ; bf = 210 mm
tf = 20.8mm ; tw = 12mm ; Zp = 3060.4 cm3 ; r1 = 20mm
Section classification:
b = bf / 2 = 210 / 2 = 105mm
b / tf = 105 / 20.8 = 5.04 < 9.4 t
Therefore, the section is plastic.
d = D – 2tf – 2 r1= 550 – 2x20.8 – 2x20 = 518.4 mm
d / tw = 518.4 / 12 = 43.2 < 84t
Therefore, the section is plastic.
Design shears strength of section:
Vu = Wul / 2 = 23.841x15 / 2 = 178.80 KN
Vd = Vn / γm0
Vn = Av.fy / 1.732 = 600x12x250 / 1.732 = 1039.23 KN
Vd = 1039.23 / 1.1 = 944.754 > Vu
Vu< 0.6Vd, (566.852 KN)
According to cl.8.2.1.2 of IS 800:2007
Md = βb.Zp.fy / γm0
 1x3060.4x103x250 / 1.1
Md = 695.54 KN.m> Mu
Therefore, the design is safe.
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International Journal of Engineering Trends and Technology (IJETT) – Volume 22 Number 2- April 2015
4.5 Design of Tower:
Load due to slab: 9x3.5x30 = 945 KN
Load due to cross girder: 0.288x3.5x11 = 11.088 KN
Load due to main girder: 1.226x30x2 = 73.56 KN
Total load : 1029.648 KN.
Factored load = 1.5x1029 .648 = 1544.472 KN
So, selecting a compound section
For compound section, λ = 30 to 60
Let us assume λ = 60, fcd = 122 N/mm2
Areq = 1544.472x103 / 122 = 12659.60mm2
Area of one section = 12659.6 / 2 = 6330 mm2
Provide a section of ISMB 350 @ 52.4
A = 6670 mm2 ; bf = 140 ; Ixx = 13630.3x104mm4 ; Iyy =
537.7x104mm4
rxx = √ Ixx / A = √13630.3x104 / 6670 = 142.95
ryy = √ Iyy / A = √537.7x104 / 6670 = 28.39
leff = 0.8 l = > 0.8x1200 = 9600 mm
λzz = k.L / r zz = 9600 / 142.95 = 67.15
by reffering table 10 of IS 800:2007
b / bf = 350 / 140 = 2.5
tf < 40 mm
For Z-Z axis buckling class A,
fcd = 185.705 N/mm2
Design load = 6670x185.705 = 1238.652 KN
Hence, the design is safe.
Ixx = Iyy
Ixx = 2[Izz + Ah2] = 2x13630.3x104 + (6670 x 02)
= 2x (13630.3x104)
= 2720.6x104 mm4
Iyy = 2[Iyy+ (Ah2)]
= 2[537.7x104 + 6670 (d/2 + tw/2)2]
= 2[537.7x104+ 6670 (d / 2 + 4.05)2]
2720.6x104 = 2[537.7x104 + 6670(d2 / 4 + 16.4025 +
4.05 d)]
130926x103 = 6670( (d2 / 4) + 16.4025 + 4.05 d )
d = 288.30 mm
Horizontal spacing = 288.30 + 8.1 (4.05 + 4.05) =
296.30 ~ 300 mm
Vertical spacing, tan 450 = h /300
h = 300 mm
Distance between lacings = 300 + 300 = 600
Length of lacings = 425 mm
Minimum thickness of lacings = l / 40 = 10.625 ~ 12
mm
For minimum width = 3xd = 60 mm
Size of lacing plate = 425 x 60 x 12 mm
Strength of column due to lacing
1.05xk.L / r = 70.51; fcd = 181.235 N/mm2
Design load = 181.235x6670 = 1208 KN
Hence, the design is safe.
Check for vertical spacing
k.L / C.O.G < 50
= 0.8x600 / 25.4 < 50
18.8 < 50, Hence the design is safe.
Check for lacings
k.L / r < 145
rmin = ( (1/2)x60x123 / 60x12)1/2
rmin = 3.46
k.L / r = 0.8x425 / 3.46 = 98.26< 145
Hence, the design is safe.
Check for load carrying capacity,
ISSN: 2231-5381
Transverse shear to be resisted = (2.5 / 100) 772.5x103 =
19312.5 N
k.L / r = 98.26, Class C
fcd = 109.436 N/mm2
Pd = Ac.fcd = > 109.436 x 6670 = 787.89 KN
Hence, the design is safe.
No. of bolts = strength of plate / strength of bolt
= > provide 1 bolt of 20 mm dia of 4.6 grades
Splice plate:
At 4m from top and bottom, 50% of load is transferred
to splice
Load on splice plate = 772.5 / 2 = 386.25 KN
Load on single splice plate = 386.25 / 2 = 193.12 KN
Area of splice plate = 193.12 x 103 / 250 = 772.48 mm2
Width of the splice plate = 140 + 140 + 288.30 = 568.30
mm
Thickness = 772.48 / 568.30 = > should not be less than
6 mm.
Therefore, t = 6mm.
Shear capacity of bolt:
Assume 20 mm dia , shear value = 45.272 KN.
No. of bolt = 193.12 / 45.270 = 6 bolts.
Length of Splice plate = 5x50 + 2x40 = 330 mm
Design of Slab base:
The compound section of 2xISMB 350 columns is
resting on concrete pedestal of M20 grade using slab
base plates.
Bearing strength of concrete pedestal = 0.45 fck = 0.45 x
20 = 9 Mpa
Factored load resting on compouind column = 1545 KN
Area of base plate, Areq = 1545 x 10 3 / 9 = 171667 mm2
Properties of ISMB 350
D = 350 mm ; bf = 140 mm ; tf = 14.2 mm ; tw = 8.1 mm
Provide an equal projection of 100 mm on all four edges
of column.
Size of base plate provided = 350 + 2x40 (140 + 40
+288.30 + 140 +40)
= > 279500 mm2> 171667 mm2
Thickness of base plate:
Actual pressure at base, w = 1545x103 / 430x650 = 5.52
N/mm2
ts = (2.5w(a2 – 0.3 b2) γm0 / fy )1/2
ts = 8.2 mm
Provide a base plate of 12 mm thickness.
Connection:
Let us use 4 bolts of 20 mm dia , and 400 mm long to
anchor the plate of size 430 x 650 x 12 mm Welds,
Properly machined column is to be connected to the
base plate using fillet weld.
The length available for welding,
4(140) + 4(140 – 8.1) + 2 x 335.8 = 1759.2 mm
Strength of weld per mm = 410 x 1.732 / 1.25 = 568.11
Let, t be the size of weld and leff be the effective length
of weld
Eff . Area of weld = 0.7 t.leff
Eq. strength of weld to axial load
0.7t.lerff.189.38 = 1545 x 10 3
t = 5.62 mm ~ 6 mm.
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International Journal of Engineering Trends and Technology (IJETT) – Volume 22 Number 2- April 2015
4.6 Design of staircase:
Since, the total structure is designed to be of
steel elements, the stair case is also designed to be of
steel frame with concrete slab. Load acting on the
staircase will be equal to that of the load acting on the
bridge deck. Therefore, the design elements are the
same for both. The girder and the column of the
staircase is designed as ISMB600, which is sufficient.
Width of the staircase = 2.5 m
Rise = 200 mm
Thread = 300 mm
Sand (dry)
Sand (damp)
Sand (wet)
Sand (dry and
compact)
Clay (dry)
Clay (damp)
Clay (wet)
1500 – 1650
1700 – 1850
1800 – 1900
1700 – 1850
25 – 35
30 – 40
15 – 30
35 – 45
1700 – 1750
1750 – 1850
1850 – 1900
30
35 – 40
15
The minimum depth of the foundation is found from
Rankline formula as,
𝑞 1−𝑠𝑖𝑛𝜑
⌋
Dmin = ⌊
𝛾 1+𝑠𝑖𝑛𝜑
4.7 Design of connections:
The connections to various elements are made by bolted
connections.
Cross girder to Main girder connection:
Let us assume 20mm dia of 4.6 grade bolts,
Vnsb
Design shear strength of the bolt, Vdsb = 𝛾mb
fub
⌊nn Anb + ns Asb⌋
Vnsb =
√3
= 56.590 KN
Bearing strength of bolt, Vnpb =
Vnpb
𝛾mb
= 2.5 kb d t fu / 1.25
=149.076 KN
Number of bolts required to connect cross girder with
main girder,
𝑙𝑜𝑎𝑑 𝑎𝑐𝑡𝑖𝑛𝑔 𝑜𝑛 𝑐𝑟𝑜𝑠𝑠 𝑔𝑖𝑟𝑑𝑒𝑟
=
𝑏𝑜𝑙𝑡 𝑣𝑎𝑙𝑢𝑒
68906.25
= 56590
= 2 bolts
Provide 2 bolts in one direstion, therefore to connect the
cross girder with the main girder 4 number of bolts with
20mm dia of 4.6 grade is used.
Main girder to tower connection:
Number of bolts required to connect main girder with
tower,
𝑙𝑜𝑎𝑑 𝑎𝑐𝑡𝑖𝑛𝑔 𝑜𝑛 𝑚𝑎𝑖𝑛 𝑔𝑖𝑟𝑑𝑒𝑟
=
𝑏𝑜𝑙𝑡 𝑣𝑎𝑙𝑢𝑒
357615
=
56590
= 8 bolts
Therefore to connect the main girder with the tower, 8
number bolts with 20mm dia of 4.6 grades is used.
4.8 Design of foundation:
The size of the tower is 430 x 350 mm, the width
of the road divider is 1m. Therefore a square footing of
dimension 1m x 1m is designed with a minimum depth
of foundation as,
The soil is of dry and compacted sand till the
depth of 7m. The unit weight and angle of repose of the
soil is found by the following table.
Table 4.1 Unit weight and angle of repose of the soil
Type of soil
Unit
weight Angle
of
kg/m3
repose
(degree)
ISSN: 2231-5381
Unit weight of soil, 𝛾 = 18 Kn/m3; Angle of repose, 𝜑 =
400
And the total load acting on the foundation is 1545 KN
Therefore, minimum depth of foundation =
1545 1−𝑠𝑖𝑛40
⌊
⌋
18 1+𝑠𝑖𝑛40
=85.83 x 0.2172
=4.5m
A square footing of size 1m x 1m x 4.5m with M20
grade concrete is used as foundation.
4.9 Design of Cables:
The cables are supposed to transfer the tensile
load from the bridge to the tower or column as
compressive force.
12 number of cables are used with 6 cables in each half
span. The cable is attached to the tower at a interval of
250 mm and therefore the cable design is semi harp
type.
Each cable carries a tensile force of 128.75 KN
TABLE 4.2 Comparison of
Allowable Tensile Strength
Cables, KN
Nominal
Tensile
Type
Strength
( fpu )
Bars,
150
ASTM
A722
type II
Locked
210
coil
strand
Structural 220
strand
ASTM
A586 *
Structural 220
rope
ASTM
A603 *
Parallel
225
wire
Parallel
240
wire
,
ASTM
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Nominal Ultimate and
for Various Types of
Allowable
tensile
strength
0.45 fpu =
67.5
0.33 fpu =
70
0.33 fpu =
73.3
0.33 fpu =
73.3
0.40 fpu =
90
0.45 fpu =
108
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International Journal of Engineering Trends and Technology (IJETT) – Volume 22 Number 2- April 2015
A421
Parallel
strand ,
ASTM
A416
270
CROSS
GIRDER
MAIN
GIRDER
0.45 fpu =
121.5
Source: CABLE-SUSPENDED BRIDGES – Walter
Podonly .Jr.P.E
Therefore selecting two strands of structural ASTM
A586* can provide a tensile strength of 146.6 KN ,
which is safe enough to meet the requirements.
5
Analysis Of
Methods (Staad Pro)
Structure
Using
ISMB 600
D=200mm;
A=36.71cm2
D=600mm;A=15
6.21cm2
TOWER
ISMB 350
A=6670cm2 .
STAIRCAS
E
STEEL
FRAME
WITH CONCRETE
SLAB
WIDTH = 2.5m;
RISE = 200mm
TREAD
=
300mm
CONNECT
ION
FOUNDAT
ION
4.9 Installation of hand rails:
According to safety considerations, the height
of railings is specified as 1.3 m and the spacing between
ballusters were specified to be 100mm c/c.
The railings are installed by rivetted or bolted
connections according to site conditions.
Materials used for railings are mild steel.
ISWB 200
CABLES
HAND
RAILS
4.6
GRADE
BOLTED
CONNECTION
SQUARE FOOTING
M20
GRADE
CONCRETE
ASTM A586 CABLE
STRANDS
MSASTDAFDFAD
CFSFJHM A586*
CABLE
STRANDSHFASJH
RIVTED
OR
F
BOLTED
STEEL
RAILING
Modern
20mm
BOLTS
DIA
1m x 1m x 4.5m
12 CABLES @
250mm
INERVALS .
HEIGHT
OF
RAILINGS
=
1.3m
@
BALUSTER
100mm C/C
CONCLUSIONS
The cable stayed pedestrian bridge is a reliable
and economic structure selected and designed under site
conditions for providing the pedestrians an easy and safe
access to the other side of the road especially in
highways and expressways , thus preventing fatal
accidents and thereby delivering the motorists a
continuous and efficient flow of traffic thus saving the
destination time . The main highlight of the bridge is its
aesthetic appearance evolving a scenic view of the
place.
Fig 5.1 3D MODEL
References:
[1]. Dr.S.Ramamrutham , Design of Steel structures
chapter – 6&7 pp: 171
[2]. Dr.D.Dayarathnam , Design of Steel structures
chapter – 5 pp: 145
[3]. B.C.Punmia , Soil mechanics & Foundation
Engineering , Chapter – 25
pp:707
Fig 5 .2ANALYSIS RESULTS
[4].IS456:2000 Plain And Reinforced Concrete- Code
Of Practice, Bureau of Indian Standards,pp53-61
6.RESULTS
COMPON
ENTS
MATERIALS
USED
DIMENSIONS
BRIDGE
DECK
RCC
SLAB
3.5mx3m TWO
WAY SLAB
ISSN: 2231-5381
PRECAST
[5]. IS800:2007 General Construction in Steel – Code of
Practice, Section – 6,7, Annex F Connections. pp:32-50
[6]. IS 875 (part-3) – 1987 Code of practice for design
loads for buildings and structures., chapter – 5.3 , pp:12.
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