MANE 4240 & CIVL 4240
Introduction to Finite Elements
Prof. Suvranu De
Introduction
Info
Instructor:
Professor Suvranu De
email: [email protected]
JEC room: 2049
Tel: 6351
Office hours: T/F 2:00 pm-3:00 pm
Course website:
http://www.rpi.edu/~des/IFEA2014Fall.html
Info
TA:
Kartik Josyula
email: [email protected]
JEC room: CII 9219
Office hours: M: 5-6pm, R:3:30-4:30pm
Course texts and references
Course text (for HW problems and reading
assignments):
Title: A First Course in the Finite Element Method
Author: Daryl Logan
Edition: Fifth
Publisher: Cengage Learning
ISBN: 0-534-55298-6
Relevant reference:
Finite Element Procedures, K. J. Bathe, Prentice Hall
A First Course in Finite Elements, J. Fish and T. Belytschko
Lecture notes posted on the course website
Course grades
Grades will be based on:
1. Home works (15 %).
2. Mini project (10 %) to be handed in by 17th October.
3. Major course project (25 %)to be handed in by
December 5th (by noon)
4. Two in-class exams (2x25%) on 10th October, 5th
December
1) Form (mini and major) project groups of two by 12th September.
2) All write ups that you present MUST contain
your name and RIN
3) There will be reading quizzes (announced AS WELL AS
unannounced) on a regular basis and points from these quizzes
will be added on to the homework
4) Project grades will be allotted to the group and NOT individually.
Collaboration / academic integrity
1. Students are encouraged to collaborate in the solution
of HW problems, but submit independent solutions that
are NOT copies of each other. Funny solutions (that
appear similar/same) will be given zero credit.
Softwares may be used to verify the HW solutions. But
submission of software solution will result in zero
credit.
2. Groups of 2 for the projects
(no two projects to be the same/similar)
A single grade will be assigned to the group and not
to the individuals.
Homeworks (15%)
1. Be as detailed and explicit as possible. For full
credit Do NOT omit steps.
2. Only neatly written homeworks will be graded
3. Late homeworks will NOT be accepted.
4. Two lowest grades will be dropped (except HW
#1).
5. Solutions will be posted on the course website
Mini project (10%)
1. Download the miniproject from the course website.
2. You will need to learn the commercial software
package ABAQUS (tutorial available at course
website + in-class tutorial).
3. Submit a project report by 17th October
Mini project (10%)..contd.
Project report:
1. Must be typed (Text font Times 11pt with single
spacing)
2. Must be no more than 5 pages (with figures).Must
include the following sections:
Problem statement
Analysis (with appropriate figures)
Results and discussion
3. Attach an appendix containing the program
printouts for the different cases you run.
Major project (25 %)
In this project you will be required to
Choose an engineering system
Develop a simple mathematical model for the
system
Develop the finite element model
Solve the problem using ABAQUS or any other
FEM code (you may write one you if you choose to)
Discuss whether the mathematical model you
chose gives you physically meaningful results. If
not, revise your model and perform analysis to
improve your results.
Major project (25 %)..contd.
Logistics:
Submit 1-page project proposal latest by 26th
September (in class). The earlier the better.
Projects will go on a first come first served basis.
Proceed to work on the project ONLY after it is
approved by the course instructor.
Submit a one-page progress report on November
4th (this will count as 10% of your project grade)
Submit a project report (typed) by noon of 5th
December to the instructor.
Major project (25 %)..contd.
Project report:
1. Must be professional (Text font Times 11pt with
single spacing)
2. Must include the following sections:
Introduction
Problem statement
Analysis
Results and Discussions
You must also burn the MS Word version of your
project report on a CD with your group number,
names, and project title written on it and submit it
together with the project report.
Major project (25 %)..contd.
Project examples:
(two sample project reports from previous year are
provided)
1. Analysis of a rocker arm
2. Analysis of a bicycle crank-pedal assembly
3. Design and analysis of a "portable stair climber"
4. Analysis of a gear train
5.Gear tooth stress in a wind- up clock
6. Analysis of a gear box assembly
7. Analysis of an artificial knee
8. Forces acting on the elbow joint
9. Analysis of a soft tissue tumor system
10. Finite element analysis of a skateboard truck
Major project (25 %)..contd.
Project grade will depend on
1.Originality of the idea
2.Techniques used
3.Critical discussion
uniform loading
Approximate method
Geometric model
Fixed boundary
Element Node
Finite element Element
Cantilever plate
model Mesh
in plane strain
Discretization
Node
Problem: Obtain the
stresses/strains in the
plate
Course content
1. Direct Stiffness approach for springs
2. Bar elements and truss analysis
3. Introduction to boundary value problems: strong form, principle of
minimum potential energy and principle of virtual work.
4. Displacement-based finite element formulation in 1D: formation of
stiffness matrix and load vector, numerical integration.
5. Displacement-based finite element formulation in 2D: formation of
stiffness matrix and load vector for CST and quadrilateral elements.
6. Discussion on issues in practical FEM modeling
7. Convergence of finite element results
8. Higher order elements
9. Isoparametric formulation
10. Numerical integration in 2D
11. Solution of linear algebraic equations
For next class
Please read Appendix A of Logan for reading
quiz next class (10 pts on Hw 1)
Linear Algebra Recap
(at the IEA level)
M M
3x4M
M
1
3
1
3
2M
M
2
1
1
2
21
3
2
3
1
4
2
3
4
What is a matrix?
A rectangular array of numbers (we will concentrate on
real numbers). A nxm matrix has n rows and m
columns
First Second Third Fourth
column column column column
Row number
Column number
First row
Second row
Third row
a12a321a34
What is a vector?
A vector is an array of n numbers
A row vector of length n is a 1xn matrix
A column vector of length m is a mx1 matrix
03x4I3x
Special matrices
101
0 0
Zero matrix: A matrix all of whose entries are zero
Identity matrix: A square matrix which has 1 s on the
diagonal and zeros everywhere else.
A
A
B
1
92
d
30
a 4
7
5
,9B
a
d
g
3eh
,g
1b 2
0 b
e
h
c
c
f
i
4
,
f1i5
7
.
Matrix operations
Equality of matrices
If A and B are two matrices of the same size,
then they are equal if each and every entry of one
matrix equals the corresponding entry of the other.
C
A
A
9
1
B
3 2
0 4
B
7
1
5
0
51
4
67
1
3
1
0
6
Matrix operations
Addition of two
matrices
If A and B are two matrices of the same size,
then the sum of the matrices is a matrix C=A+B whose
entries are the sums of the corresponding entries of A
and B
A0CABC
A B A
Matrix operations
Addition of of matrices
Properties of matrix addition:
Properties
1. Matrix addition is commutative (order of
addition does not matter)
2. Matrix addition is associative
3. Addition of the zero matrix
c
A
A
1
3
2
9
70
Matrix operations
2
4
0
7
5
61
2c
35
3 Multiplication by a
scalar
If A is a matrix and c is a scalar, then the product cA is a
matrix whose entries are obtained by multiplying each of
the entries of A by c
c
A
A
1
3
9 2
4
-A
c
0
7
3
5
90
1 2
Matrix operations
1
4
15
7
Multiplication by a
scalar
Special case
If A is a matrix and c =-1 is a scalar, then the product
(-1)A =-A is a matrix whose entries are obtained by
multiplying each of the entries of A by -1
N
C
A
o
1
te2
A
h
30
a
9
B4
B
7
5
t
2
1
A
8
0
-
0 7
a
n
1
6
1
d
03
1
-A
0
6
-A
Matrix operations
Subtraction
If A and B are two square matrices of the same
size, then A-B is defined as the sum A+(-1)B
A
9
307
1
24
Special
A
T
operations
1
3
2
09
5 475
1 Transpose
If A is a mxn matrix, then the transpose of A is
the nxm matrix whose first column is the first
row of A, whose second column is the second
column of A and so on.
A
Special
T
operations
Transpose
If A is a square matrix (mxm), it is called
symmetric if
a
a
T
b
1
32;a
a 1b
bb
a
1
2
3 a3b
2b
Matrix operations Scalar (dot) product of
two vectors
If a and b are two vectors of the same size
The scalar (dot) product of a and b is a scalar
obtained by adding the products of
corresponding entries of the two vectors
Matrix operations Matrix multiplication
For a product to be defined, the number of columns
of A must be equal to the number of rows of B.
A B = AB
mxr rxn mxn
inside
outside
A
C
33xx2
1
3
B
9
A 2
0
1
Matrix operations
4
7
B
0
9
n
o
t
7
2
1
5
3i
c
e
84
3
x
2 3
0
1
2
1
3
3
Matrix multiplication
If A is a mxr matrix and B is a rxn matrix, then the
T
product C=AB is a mxn matrix whose entries are
obtained as follows. The entry corresponding to row i
and column j of C is the dot product of the vectors
formed by the row i of A and column j of B
A
A
Bin
g
eral
Matrix operations
Multiplication of
matrices
Properties
Properties of matrix multiplication:
1. Matrix multiplication is noncommutative
(order of addition does matter)
It may be that the product AB exists but BA
does not (e.g. in the previous example
C=AB is a 3x2 matrix, but BA does not
exist)
Even if the product exists, the products AB
and BA are not generally the same
BBATIBCCB
A
Matrix operations
A;TIABBACCAA0;0A0
3. Distributive law
Multiplication of
matrices
Properties
2. Matrix multiplication is associative
4. Multiplication by identity matrix
5. Multiplication by zero matrix
6.
2. A
B
A
0
0
A
B
AC
Matrix operations
same size, and
Miscellaneous
properties
1. If A , B and C are square matrices of the
then
does not necessarily mean that
does not necessarily imply that
either A or B is zero
Inverse of a
matrix
A
A
BI Definition
If A is any square matrix and B is another
square matrix satisfying the conditions
Then
(a)The matrix A is called invertible, and
(b) the matrix B is the inverse of A and is
denoted as A-1.
The inverse of a matrix is unique
A
B
C
(
A
I
)B
C
A
B
I
Inverse of a
matrix
Uniqueness
The inverse of a matrix is unique
Assume that B and C both are inverses of A
Hence a matrix cannot have two or more
inverses.
Inverse of a
matrix
kAAk1AA
1
-
1-1
Some properties
Property 1: If A is any invertible square
matrix the inverse of its inverse is the matrix A
itself
Property 2: If A is any invertible square
matrix and k is any scalar then
PArBemultiBpyAngbotAhsBidesbyBBA
A
r-e1m
(P
A
B
)B Iu
AB
lB
t1A
Inverse of a
matrix
i
p
y
n
g
1
matrices then
1
1
1
b
o
t11A
h
1
s
i1d
e
s
b
y
A
1
-
1
-1
-1
Properties
Property 3: If A and B are invertible square
A
Aa12;dae12t(A;deat1(A)a12a121
)
a 1
What is a determinant?
The determinant of a square matrix is a number
obtained in a specific manner from the matrix.
For a 1x1 matrix:
For a 2x2 matrix:
Product along red arrow minus product along blue arrow
A
)5717358
det(A 1
Example 1
3
Consider the matrix
1
3
5
7
Notice (1) A matrix is an array of numbers
(2) A matrix is enclosed by square brackets
Notice (1) The determinant of a matrix is a number
(2) The symbol for the determinant of a matrix is
a pair of parallel lines
Computation of larger matrices is more difficult
A
d
e
t(A
a
a
)
1
1
2
3
1 32 a
a132a31
2 1
2
33
a123a12 a
1
2
3 1a1
3 2
2
a
1
3
a1321a32
2
3 a
a
1
1
2
2
3
1
3
2
Duplicate column method for 3x3 matrix
For ONLY a 3x3 matrix write down the first two
columns after the third column
Sum of products along red arrow
minus sum of products along blue arrow
This technique works only for 3x3 matrices
1012 1
A
2
4
Example
-
3 0
4
14 1
2 3 24
0
1
0 -8 8
Sum of red terms = 0 + 32 + 3 = 35
0 32 3
Sum of blue terms = 0 8 + 8 = 0
Determinant of matrix A= det(A) = 35 0 = 35
27
8
324
0
Finding determinant using inspection
Special case. If two rows or two columns are
proportional (i.e. multiples of each other), then the
determinant of the matrix is zero
because rows 1 and 3 are proportional to each other
If the determinant of a matrix is zero, it is called a
singular matrix
A
M
12
a a a
a32131a2332
a213 2
M
12
3
1 1 21 3
2 2
3 a231C a
a
What is a cofactor?
Cofactor method
2
1
2
3
If A is a square matrix
The minor, Mij, of entry aij is the determinant of the submatrix
that remains after the ith row and jth column are deleted from A.
The cofactor of entry aij is Cij=(-1)(i+j) Mij
A
21401-23 -M
3
-
124020414
- C
(31)(3)M
3
3
M4
What is a cofactor?
Sign of cofactor
Find the minor and cofactor of a33
Minor
Cofactor
)A
1
iddeett((A
a
j)
1 n
Ca
1
C
ai2C
ai1C 2 j
na C
ainC
j n j
Cofactor method of obtaining the
determinant of a matrix
The determinant of a n x n matrix A can be computed by
multiplying ALL the entries in ANY row (or column) by
their cofactors and adding the resulting products. That is,
for each and
Cofactor expansion along the jth column
Cofactor expansion along the ith row
Example: evaluate det(A) for:
1 0 2 -3
A= 3 4 0 1
det(A) = a11C11 +a12C12 + a13C13 +a14C14
-1 5 2 -2
0 1 1 3
4 0 1 3 0 1 3 4 1
det(A)=(1) 5 2 -2 - (0) -1 2 -2 +2 -1 5 -2
1 1 3 0 1 3 0 1 3
3 4 0
- (-3) -1 5 2 = (1)(35)-0+(2)(62)-(-3)(13)=198
0 1 1
Example : evaluate
1 5 -3
det(A)= 2
1 0
2
By a cofactor along the third column
3 -1
det(A)=a13C13 +a23C23+a33C33
1 0 1 5 1 5
det(A)= -3* (-1)4 +2*(-1)5 +2*(-1)6
3 -1 3 -1 1 0
= det(A)= -3(-1-0)+2(-1)5(-1-15)+2(0-5)=25
Quadratic form
The scalar dkksquam
U d
vect
o
r
Tatrix
Is known as a quadratic form
If U>0: Matrix k is known as positive definite
If U0: Matrix k is known as positive semidefinite
U
ddd
1(T1kk1dd212
Quadratic form
Let
Then
d 1 k1112d1d2)
k k
22k222d2kd212d2)1 2k12k1d2(21k112
k
Symmetric
matrix
1 2
ddU
2
k
U
2
k
1
1
1
d
2
k
d
2
2
1d
k
d
1
2
2
2
Differentiation of quadratic form
2
Differentiate U wrt d1
Differentiate U wrt d2
U
d
2kd12
U
d 2k12k12d12
Differentiation of quadratic form
Hence
Outline
Role of FEM simulation in Engineering
Design
Course Philosophy
Role of simulation in design:
Boeing 777
Source: Boeing Web site (http://www.boeing.com/companyoffices/gallery/images/commercial/).
Another success ..in failure:
Airbus A380
http://www.airbus.com/en/aircraftfamilies/a380/
Drag Force Analysis
of Aircraft
Question
What is the drag force distribution on the aircraft?
Solve
Navier-Stokes Partial Differential Equations.
Recent Developments
Multigrid Methods for Unstructured Grids
San Francisco Oakland Bay Bridge
Before the 1989 Loma Prieta earthquake
San Francisco Oakland Bay Bridge
After the earthquake
San Francisco Oakland Bay Bridge
A finite element model to analyze the
bridge under seismic loads
Courtesy: ADINA R&D
Crush Analysis of
Ford Windstar
Question
What is the load-deformation relation?
Solve
Partial Differential Equations of Continuum Mechanics
Recent Developments
Meshless Methods, Iterative methods, Automatic Error Control
Engine Thermal
Analysis
Picture from
http://www.adina.com
Question
What is the temperature distribution in the engine block?
Solve
Poisson Partial Differential Equation.
Recent Developments
Fast Integral Equation Solvers, Monte-Carlo Methods
Electromagnetic
Analysis of Packages
Thanks to
Coventor
http://www.cov
entor.com
Solve
Maxwells Partial Differential Equations
Recent Developments
Fast Solvers for Integral Formulations
Micromachine Device
Performance Analysis
From www.memscap.com
Equations
Elastomechanics, Electrostatics, Stokes Flow.
Recent Developments
Fast Integral Equation Solvers, Matrix-Implicit Multi-level Newton
Methods for coupled domain problems.
Radiation Therapy of
Lung Cancer
http://www.simulia.com/academics/research_lung.html
Virtual Surgery
General scenario..
Engineering design
Physical Problem
Question regarding the problem
...how large are the deformations?
...how much is the heat transfer?
Mathematical model Assumptions regarding
Geometry
Governed by differential Kinematics
equations Material law
Loading
Boundary conditions
Etc.
Example: A bracket
Engineering design Physical problem
Questions:
1. What is the bending moment at section AA?
2. What is the deflection at the pin?
Finite Element Procedures, K J Bathe
M W
2L
7
,atlodW
5
0
N
c
m
Example: A bracket
1
3W
(
L
E
I0r
)
W(
L
r
)
5
Engineering design
A
G
Mathematical model 1:
6
beam
Moment at section AA
Deflection at load
How reliable is this model?
How effective is this model?
.5
cm
3
NN
Example: A bracket
Engineering design Mathematical model 2:
plane stress
Difficult to solve by hand!
..General scenario..
Engineering design
Physical Problem
Mathematical model
Governed by differential
equations
Numerical model
e.g., finite element
model
..General scenario..
Engineering design Finite element analysis
PREPROCESSING
1. Create a geometric model
2. Develop the finite element model
Solid model Finite element model
..General scenario..
Engineering design Finite element analysis
FEM analysis scheme
Step 1: Divide the problem domain into non
overlapping regions (elements) connected to
each other through special points (nodes)
Element
Node
Finite element model
..General scenario..
Engineering design Finite element analysis
FEM analysis scheme
Step 2: Describe the behavior of each element
Step 3: Describe the behavior of the entire body by
putting together the behavior of each of the
elements (this is a process known as assembly)
..General scenario..
Engineering design Finite element analysis
POSTPROCESSING
Compute moment at section AA
..General scenario..
Engineering design Finite element analysis
Preprocessing
Step 1
Step 2
Analysis
Step 3
Postprocessing
Engineering design
Deflection at load
,atlodW
M 2
7
5
0
Nc
m
.6
4 Example: A bracket
Mathematical model 2:
plane stress
FEM solution to mathematical model 2 (plane stress)
Moment at section AA
Conclusion: With respect to the questions we posed, the
beam model is reliable if the required bending moment is to
be predicted within 1% and the deflection is to be predicted
within 20%. The beam model is also highly effective since it
can be solved easily (by hand).
What if we asked: what is the maximum stress in the bracket?
would the beam model be of any use?
Example: A bracket
Engineering design Summary
1. The selection of the mathematical
model depends on the response to be
predicted.
2. The most effective mathematical model
is the one that delivers the answers to
the questions in reliable manner with
least effort.
3. The numerical solution is only as
accurate as the mathematical model.
Example:
...GeneralAscenario
bracket
Modeling a physical
problem
Physical Problem Change
physical
problem
Mathematical Improve
Model mathematical
model
Numerical model
No!
Does answer
Refine analysis
make sense?
YES! Design improvements
Structural optimization
Happy
Verification
Example:and
A bracket
validation
Modeling a physical
problem
Physical Problem
Validation
Mathematical
Model
Verification
Numerical model
Critical assessment of the FEM
Reliability:
For a well-posed mathematical problem the numerical
technique should always, for a reasonable discretization,
give a reasonable solution which must converge to the
accurate solution as the discretization is refined.
e.g., use of reduced integration in FEM results in an
unreliable analysis procedure.
Robustness:
The performance of the numerical method should not be
unduly sensitive to the material data, the boundary
conditions, and the loading conditions used.
e.g., displacement based formulation for incompressible
problems in elasticity
Efficiency:
