I don't know about grad programs in Engineering, just the humanities. With the exception of a few students, all humanities grad students who should be there are fully funded for their entire education; that is, tuition waiver and stipend. Different schools do this in different ways; Notre Dame provides this gratis for the first year and half of the fifth, but for the rest, they expect us to teach. Other schools require students to teach the whole time, or less of the time, or to work as research assistants, or something like that. Engineering might be different, just because of the possibility of getting a well-paying job. Schools know that 90% of humanities PhDs aren't really going to be able to pay back any loans anyway, so they make sure to support them. If most, or many, Engineering PhDs are going out into the public sector, the schools might decide that they can finance their own PhDs.
You should be able to get a more accurate idea just by asking the admissions people at the various schools you're applying to. They should be more than happy to give you an idea of what kind of money they're giving out, and to how many of their students. You can also probably ask current PhD students what their financial aid package is like, if it's typical, and if it covers living expenses adequately. Hope this helps.
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"Die Deutschen meinen, daß die Kraft sich in Härte und Grausamkeit offenbaren müsse, sie unterwerfen sich dann gerne und mit Bewunderung:[...]. Daß es Kraft giebt in der Milde und Stille, das glauben sie nicht leicht."
"The Germans believe that power must reveal itself in hardness and cruelty and then submit themselves gladly and with admiration[...]. They do not believe readily that there is power in meekness and calm."
-- Friedrich Nietzsche
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