NMSE 16 Lectures1

Rak-54.
3200
Numerical Methods in Structural Engineering
Spring 2016, periods III–IV, 5 credits, P level (MSc, DSc)
Department of Civil and Structural Engineering

School of Engineering
Aalto University
Jarkko Niiranen
Assistant Professor, Academy Research Fellow
First lecture: 14–16, Tuesday, January 5, 2016

Rak-54.3200
Topic Numerical methods ─ mainly finite element methods (FEM) ─
for fundamental problems in structural mechanics, structural
engineering and building physics: theory, applications and
software tools (Matlab, Comsol)
Lecturer Jarkko Niiranen, assistant professor
Assistant Sergei Khakalo and Viacheslav Balobanov, doctoral students
Lectures Tuesdays 14─16 in R2 (from January 5 to March 5)
Exercises Thursdays 12─14 in R5 (advice hours for home exercises)
Mondays 14─16 in R266 (advice hours and presentations)
Web site https://mycourses.aalto.fi/course/view.php?id=8491
Material Lectures slides (2016, as pdfs in MyCourses) augmented by a
text book by Hughes Thomas J. R.: The Finite Element Method,
Linear Static and Dynamic Finite Element Analysis (1987/2000),
and lecture notes by Reijo Kouhia and Markku Tuomala:
Rakennetekniikan numeeriset menetelmät (2009, in Finnish).
Rak-54.3200 / 2016 / JN 2
Rak-54.3200
Attendance and grading
I. Attendance for lectures or exercises is not compulsory.
II. The final grade is built as a combination of examination (0–24 points), home
exercises (0–6 points) and computer+software exercises (0–6 points).
III. Grade 1 can be achieved by 15 points which is about 40% of the total maximum
(36), and about 60% of the examination maximum (24).
IV. Examinations dates in 2016 are April 7 (13–17) and May 24 (13–17).
Work load
Desired distribution of the total 133 hours (5 credits) is divided as follows:
Contact teaching 20 h (15 %)
Lectures: 10 x 1.5 h = 15 h
Computer class presentations: 10 x 0.5 h = 5 h
Instructed or independent studying 113 h (85 %)
Home exercises: 10 x 5 h = 50 h (incl. 10 x 1.5 advise hours)
Computer+Software exercises: 10 x 4.5 h = 45 h (incl. 10 x 1 advise hours)
Preparation for examination: 14 h
Examination: 4 h
Rak-54.3200 / 2016 / JN 3
Rak-54.3200
Contents
1. Modelling principles and boundary value problems in engineering sciences
2. Energy methods and basic 1D finite element methods
- bars/rods, beams, heat diffusion, seepage, electrostatics
3. Basic 2D and 3D finite element methods
- heat diffusion, seepage
4. Numerical implementation techniques of finite element methods
5. Abstract formulation and accuracy of finite element methods
6. Finite element methods for Euler−Bernoulli beams
7. Finite element methods for Timoshenko beams
8. Finite element methods for Kirchhoff−Love plates
9. Finite element methods for Reissner−Mindlin plates
10. Finite element methods for 2D and 3D elasticity
11. Extra lecture: other finite element applications in structural engineering
(time-dependent problems, nonlinearities, isogeometric methods)
Rak-54.3200 / 2016 / JN 4
Rak-54.3200
Contents
1. Modelling principles and boundary value problems in engineering sciences
2. Energy methods and basic 1D finite element methods
- bars/rods, beams, heat diffusion, seepage, electrostatics
3. Basic 2D and 3D finite element methods
- heat diffusion, seepage
4. Numerical implementation techniques of finite element methods
5. Abstract formulation and accuracy of finite element methods
6. Finite element methods for Euler−Bernoulli beams
7. Finite element methods for Timoshenko beams Research activities
are going on at our
8. Finite element methods for Kirchhoff−Love plates
department in many
9. Finite element methods for Reissner−Mindlin plates topics of the course!
10. Finite element methods for 2D and 3D elasticity
11. Extra lecture: other finite element applications in structural engineering
(time-dependent problems, nonlinearities, isogeometric methods)
Rak-54.3200 / 2016 / JN 5
Connections to other courses −
examples
Numerical hand calculation oriented methods (previous basic courses)
Basic (strong form) methods
 exsponential solutions for ordinary differential equations
 Navier and Levy solutions for partial differential equations of plates
Energy (weak form / variational) methods
 unit virtual force method – principle of (complementary) virtual work (/ forces)
 method of minimum potential energy – principle of minimum potential energy
Numerical computer oriented methods (current and other basic courses)

Energy (weak form / variational) methods
 finite element method, FEM – principle of virtual work (/ displacements)
Other (strong form) methods
 finite difference method, FDM
 finite volume method, FVM
 discrete element method, DEM
Rak-54.3200 / 2014 / JN 6
Commercial finite element software −
examples
Commercial analysis software usually provide a simulation environment facilitating
all the steps in the modelling process: (1) defining the geometry, material data,
loadings and boundary conditions; (2) choosing elements, meshing and solving
the problem; (3) visualizing and postprocessing the results.
Some common general purpose or multiphysics FEM software:

 Comsol http://www.comsol.com/
http://www.comsol.com/video/thermal-stress-analysis-turbine-stator-blade
http://www.comsol.com/release/4.4
 Adina http://www.adina.com/
 Abaqus http://www.simulia.com/products/abaqus_fea.html
 Ansys http://www.ansys.com/
Some structural engineering FEM software:
 Scia http://www.scia-online.com/
 Lusas http://www.lusas.com/
A fairly long list of FEM software in Wikipedia:

http://en.wikipedia.org/wiki/List_of_finite_element_software_packages
Rak-54.3200 / 2016 / JN 7
1 Modelling principles and boundary value
problems in engineering sciences
1 Modelling principles and boundary value
problems in engineering sciences
Contents
1. Modelling and computation in engineering design and analysis
2. Boundary and initial value problems in engineering sciences
Learning outcome
A. Understanding of the main implications of the approximate nature of
computational methods in engineering design and analysis
B. Ability to formulate and solve some basic 1D model problems
References
Lecture notes: chapter 1
Text book: chapters 1.1−2
Rak-54.3200 / 2014 / JN 9
1.0 Questioning the computational analysis
How well do the computational techniques − of

civil and structural engineering − simulate the real life?
Rak-54.3200 / 2014 / JN 10
1.1 Modeling and computation
in engineering design and analysis
Physical engineering solution uP = ?
step 0 problem with
design criteria
Customer needs! How long?

Dimensions! How thick?
Laws and regulations! Which material?
Time slot! How many?
Technology available! Which joints?
Price range! How to construct?
... ...
How to get answers?
Rak-54.3200 / 2014 / JN 11
step 0 problem with
design criteria

... ...
How to get answers?
Formulate the problem
Rak-54.3200 / 2014 / JN 12
step 0 problem with
design criteria

... ...
How to get answers?
Formulate the problem
− and solve it!
Rak-54.3200 / 2014 / JN 13
problem with
design criteria
step 1 General physico- solution u4D = ?

mathematical model + Idealization error
uP  u4D
4D nonlinear
”all inclusive” theory
Rak-54.3200 / 2014 / JN 14
problem with
design criteria

uP  u4D
4D nonlinear
NONLINEAR
ANISOTROPIC
TIME-DEPENDENT
MULTI-PHYSICAL
Rak-54.3200 / 2014 / JN 15
problem with
design criteria

uP  u4D
4D nonlinear
”all inclusive” theory z
F
B
à la university schools
L LINEAR
ISOTROPIC
O D
a
a
c
TIME-INDEPENDENT
C
x y STRUCTURAL
Rak-54.3200 / 2014 / JN 16
problem with
design criteria
4D nonlinear theory General physico- solution u4D = ?

step 2 Simplified physico- solution u3D = ?

mathematical model + Modeling error
u4D  u3D
3D linear elasticity theory
Equilibrium    σ  b & BCs 3D
Constitutive models σ  Eε LINEAR

Kinematics ε  u ISOTROPIC
TIME-INDEPENDENT
Rak-54.3200 / 2014 / JN 17
problem with
design criteria
General physico- solution u4D = ?

3D linear theory Simplified physico- solution u3D = ?

N times simplified solution u = ...

step 3 physico-mathematical
model + N x Modeling error
u3D"" u
1D axially loaded elastic rod
 N '  b, N ( x)  A( x) ( x)
E ( x), A( x), b( x) NL
  E 1D, LINEAR, ISOTROPIC, TIME-
INDEPENDENT
x, u ( x )   u ' … Hand calculations work!
0 L
Rak-54.3200 / 2014 / JN 18
problem with
design criteria

uP  u4D
4D nonlinear
NONLINEAR
ANISOTROPIC
TIME-DEPENDENT
MULTI-PHYSICAL
Rak-54.3200 / 2014 / JN 19
problem with
design criteria
4D nonlinear General physico- solution u4D = ?

”all inclusive” theory mathematical model + Idealization error
solution uh = ...
step 2 Numerical method
+ Discretization error
u4 D  uh
uh ( x, t )  numerical_ method(4D theory; x, t )

Rak-54.3200 / 2014 / JN 20
problem with
design criteria

solution uh = ...
Reliable & Efficient u4D  uh
 Applicable
 Stable
 Accurate
 Cheap
Rak-54.3200 / 2014 / JN 21
problem with
design criteria

solution uh = ...
Neither a black box nor u4D  uh
 Inapplicable
 Unstable
 Inaccurate
 Expensive
Rak-54.3200 / 2014 / JN 22
problem with
design criteria

3D linear Simplified physico- solution u3D = ?

”B&B” theory mathematical model + Modeling error
solution uh = ...
u3D  uh
uh ( x)  numerical_ method(3D theory; x)

Rak-54.3200 / 2014 / JN 23
problem with
design criteria

Simplified physico- solution u3D = ?

Changes solution uh = ...

Numerical method
to the methods: + Discretization error
verification
u3D  uh
Observations and
step 4 conclusions + Human errors
Rak-54.3200 / 2014 / JN 24
problem with
design criteria

Changes
to the models:
validation Simplified physico- solution u3D = ?

Numerical method
verification
u3D  uh
Observations and
Rak-54.3200 / 2014 / JN 25
Changes Physical engineering solution uP = ?
to the problem problem with
and design design criteria

Changes
to the models:

Numerical method
verification
u3D  uh
Observations and
Rak-54.3200 / 2014 / JN 26
Changes Physical engineering solution uP = ?
to the problem problem with
and design design criteria

Changes
to the models:

Numerical method
verification
u3D  uh
Observations and
conclusions + Human errors
step 5 Acceptance
Rak-54.3200 / 2014 / JN 27
Break exercise 1
Formulate an error estimate for the total error present in a typical

design and analysis process in terms of the error terms described above.
uP "" uh  ...
Rak-54.3200 / 2014 / JN 28
1.2 Boundary and initial value problems in
engineering sciences
problem with
design criteria
step 1 General physical- solution u4D = ?

uP  u4D
F z
”General” physico-mathematical model. A vertical
B
profile (pipe or tube) mast OB is supported by a ball-
and-socket joint O and cables BC and BD. A force F
L is acting on the the mast at point B.
D Problem. Determine the displacements and stresses

a O
a in the mast for given length L, cross-sectional area A,
c density ρ, and Young’s modulus E, distances a and c,
C
x y as well as force F.
Rak-54.3200 / 2016 / JN 29
problem with
design criteria

 details in 
 exercises  mathematical model + Idealization error
 
step 2 Simplified physico- solution u3D = ?

3D linear elasticity u4D  u3D
F z FB = Fz + TCz + TDz
B
Under ”reasonable” assumptions:
L b = Ag equilibrium eq.    σ  b & BCs
a O D constitutive eq. σ  Eε
a FA = Oz 
x C
c
y kinematics ε  u
Rak-54.3200 / 2016 / JN 30
problem with
 σ  b design criteria
σ  Eε General physico- solution u4D = ?

 mathematical model
ε  u + Idealization error

 details in  mathematical model + Modeling error
 exercises 
 

step 2N physico-mathematical
1D axially loaded elastic rod u3D"" u
E ( x), A( x), b( x) NL  N '  b, N ( x)  A( x) ( x)
  E Assumptions: symmetry,
x, u ( x )
0 L   u' pointwise joints and actions etc.
Rak-54.3200 / 2014 / JN 31
problem with



  AEu'  ' ( x )  b( x )
u(0)  u0
x
ds
x
 1 L 
 details in 
 exercises   u ( x )  u0  N L      b dr  ds
N ( L)  N L  
0
AE 0  AE s 
Rak-54.3200 / 2014 / JN 32
problem with



solution uh = ...
L L
u  uh
 uˆ ' AEu ' dx  uˆ ( L) N   uˆ b dx,
0
h h h L
0
h uh (0)  u0
Rak-54.3200 / 2014 / JN 33
Axially loaded linearly elastic bar problem (in a displacement form):
(1)  EAu ' ' ( x)  b( x), 0  x  L differential equation

(2a) u (0)  u0 essential BC
(2b) ( EAu ' )( L)  N L natural BC
Other 1D problems of the same form:
Problem I variable Data Load II variable

Axially loaded bar displacement EA extensional force force
Torsionally loaded bar angle GJ torsional moment torque
Seepage in soils head (pressure) k infiltration velocity
Heat diffusion temperature k heat generation heat
Electrostatics electric potential ε charge density electric flux
Rak-54.3200 / 2016 / JN 34
Axially loaded linearly elastic bar problem (in a displacement form):
(1)  EAu ' ' ( x)  b( x), 0  x  L differential equation

(2a) u (0)  u0 essential BC
(2b) ( EAu ' )( L)  N L natural BC
1D generalization. Axially, torsionally and transversally loaded beam (uncoupled):

extension : (1)  EAu ' ' ( x)  b( x), 0  x  L
(2) u (0)  u0 , ( EAu ' )( L)  N L
torsion : (3)  GJ ' ' ( x)  r ( x), 0  x  L
(4)  (0)   0 , (GJ ' )( L)  TL
bending : (5)  EIw' '' ' ( x)  q ( x), 0  x  L This one is of a different form!
(6) w(0)  w0 , w' (0)   0 , ( EIw' ' )( L)  M L , ( EIw' ' )' ( L)  QL
Rak-54.3200 / 2014 / JN 35
1D modification and 2D generalization. Heat diffusion:
(1)  EAu ' ' ( x)  b( x), 0  x  L  kT ' ' ( x)  f ( x), 0  x  L
(2a) u (0)  u0  T (0)  T0
(2b) ( EAu ' )( L)  N L (kT ' )( L)  qL
NL
EA, b
 T  u  u0 
 
 x  q x q y  qx 
T  T ,   q   , q    
  x y  qy 
 y  T  T0 T
 
(1)    (k ( x, y )T ( x, y ))  f ( x, y ), ( x, y )   k, f

(2a) T ( x, y )  T0 ( x, y ), ( x, y )  T
(2b) q( x, y )  n  q0 ( x, y ), ( x, y )  q q0 n q
Rak-54.3200 / 2014 / JN 36
1.X Continuum mechanics in
civil engineering
Building blocks of boundary value problems in civil engineering
Deformation and motion is defined by the continuum mechanics concepts as
(1) Kinematics (displacements and strains) 2D/3D elasticity
(2) Kinetics (conservation of linear and angular momentum)    σ  b & BCs
(3) Thermodynamics (I and II laws) σ  Eε
(4) Constitutive equations (stresses vs. strains)

ε  u
The main mathematical tools are 1D elasticity
(i) Vector and tensor algebra and analysis  N '  b, N  A , & BCs
(ii) Differential, integral and variational calculus   E
(iii) Partial differential equations   u'
Altogether, physical conservation principles, i.e., the laws of conservation of mass,
momenta and energy as well as constitutive responses of materials or other
observed relations, are covered by a combination of the theoretical tools above.
Rak-54.3200 / 2014 / JN 37
civil engineering
Matter (or material) is composed of particles ─ from
electrons and atoms up to molecules ─ which can be,
under certain assumptions, modelled as a continuum,
however.
Idealizations of physics and chemistry are further
simplified – or homogenized – by the theory of
continuum mechanics.
Rak-54.3200 / 2014 / JN 38
civil engineering
Continuum is a hypothetical tool with specific assumptions and features
─ overlooks particles up to the molecular size (homogenity)
─ scales of interest are large enough (practicality)
─ physical quantities of interest are continuously differentiable (mathematicality)
─ applicaple for all materials (generality)
Within continuum mechanics, a wide spectrum of physical phenomena can be
studied, however.
Many variations, modifications or extensions for the classical continuum theories
exist as well: discontinuum-continuum, pseudo-continuum or Cosserat continuum
etc. often applied to capture microstructural effects of granular materials, for
instance.
Rak-54.3200 / 2014 / JN 39
civil engineering
Continuum mechanics studies not only the deformation of solids but the
deformation and flow of a continuum covering solids, liquids and gases.
Engineering sciences as structural engineering study particular tailorings of
continuum mechanics: bars, beams, plates and shells within elasticity,
plasticity, viscoelasticity or viscoplasticity, for instance.
Problems formulated in terms of continuum mechanics are transformed by
mathematical tools into the form of computational mechanics: continuum
mechanics and numerical methods with the corresponding computer
implementations – referred as numerical simulation tools.
Rak-54.3200 / 2016 / JN 40
QUESTIONS?
ANSWERS”
LECTURE BREAK!

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Rak-54.

Spring 2016, periods III–IV, 5 credits, P level (MSc, DSc)

Department of Civil and Structural Engineering

First lecture: 14–16, Tuesday, January 5, 2016

Numerical computer oriented methods (current and other basic courses)

Some common general purpose or multiphysics FEM software:

A fairly long list of FEM software in Wikipedia:

How well do the computational techniques − of

Customer needs! How long?

Customer needs! How long?

Customer needs! How long?

step 1 General physico- solution u4D = ?

step 1 General physico- solution u4D = ?

step 1 General physico- solution u4D = ?

4D nonlinear theory General physico- solution u4D = ?

step 2 Simplified physico- solution u3D = ?

General physico- solution u4D = ?

3D linear theory Simplified physico- solution u3D = ?

N times simplified solution u = ...

step 1 General physico- solution u4D = ?

4D nonlinear General physico- solution u4D = ?

uh ( x, t )  numerical_ method(4D theory; x, t )

4D nonlinear General physico- solution u4D = ?

4D nonlinear General physico- solution u4D = ?

General physico- solution u4D = ?

3D linear Simplified physico- solution u3D = ?

uh ( x)  numerical_ method(3D theory; x)

General physico- solution u4D = ?

Simplified physico- solution u3D = ?

Changes solution uh = ...

General physico- solution u4D = ?

Changes solution uh = ...

General physico- solution u4D = ?

Changes solution uh = ...

General physico- solution u4D = ?

Changes solution uh = ...

Formulate an error estimate for the total error present in a typical

step 1 General physical- solution u4D = ?

D Problem. Determine the displacements and stresses

General physico- solution u4D = ?

step 2 Simplified physico- solution u3D = ?

σ  Eε General physico- solution u4D = ?

3D linear theory Simplified physico- solution u3D = ?

N times simplified solution u = ...

σ  Eε General physico- solution u4D = ?

3D linear theory Simplified physico- solution u3D = ?

N times simplified solution u = ...

σ  Eε General physico- solution u4D = ?

3D linear theory Simplified physico- solution u3D = ?

N times simplified solution u = ...

(1)  EAu ' ' ( x)  b( x), 0  x  L differential equation

Other 1D problems of the same form:

Problem I variable Data Load II variable

(1)  EAu ' ' ( x)  b( x), 0  x  L differential equation

1D generalization. Axially, torsionally and transversally loaded beam (uncoupled):

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