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FEEngine
========
The :cpp:class:`FEEngine<akantu::FEEngine>` interface is dedicated to handle the
finite-element approximations and the numerical integration of the weak form. As
we will see in Chapter :doc:`./solidmechanicsmodel`,
:cpp:class:`Model<akantu::Model>` creates its own
:cpp:class:`FEEngine<akantu::FEEngine>` object so the explicit creation of the
object is not required.
Mathematical Operations
-----------------------
Using the :cpp:class:`FEEngine<akantu::FEEngine>` object, one can compute a interpolation,
an integration or a gradient.A simple example is given below:
.. code-block:: c++
// having a FEEngine object
auto fem = std::make_unique<FEEngineTemplate<IntegratorGauss, ShapeLagrange>>(my_mesh, dim, "my_fem");
// instead of this, a FEEngine object can be get using the model:
// model.getFEEngine()
// compute the gradient
Array<Real> u; // append the values you want
Array<Real> nablauq; // gradient array to be computed
// compute the gradient
fem->gradientOnIntegrationPoints(const Array<Real> & u, Array<Real> & nablauq,
const UInt nb_degree_of_freedom,
ElementType type);
// interpolate
Array<Real> uq; // interpolated array to be computed
// compute the interpolation
fem->interpolateOnIntegrationPoints(const Array<Real> & u, Array<Real> & uq,
UInt nb_degree_of_freedom,
ElementType type);
// interpolated function can be integrated over the elements
Array<Real> int_val_on_elem;
// integrate
fem->integrate(const Array<Real> & uq, Array<Real> & int_uq,
UInt nb_degree_of_freedom, ElementType type);
Another example below shows how to integrate stress and strain fields over
elements assigned to a particular material:
.. code-block:: c++
UInt sp_dim{3}; // spatial dimension
UInt m{1}; // material index of interest
const auto type{_tetrahedron_4}; // element type
// get the stress and strain arrays associated to the material index m
const auto & strain_vec = model.getMaterial(m).getGradU(type);
const auto & stress_vec = model.getMaterial(m).getStress(type);
// get the element filter for the material index
const auto & elem_filter = model.getMaterial(m).getElementFilter(type);
// initialize the integrated stress and strain arrays
Array<Real> int_strain_vec(elem_filter.getSize(), sp_dim * sp_dim,
"int_of_strain");
Array<Real> int_stress_vec(elem_filter.getSize(), sp_dim * sp_dim,
"int_of_stress");
// integrate the fields
model.getFEEngine().integrate(strain_vec, int_strain_vec, sp_dim * sp_dim, type,
_not_ghost, elem_filter);
model.getFEEngine().integrate(stress_vec, int_stress_vec, sp_dim * sp_dim, type,
_not_ghost, elem_filter);
.. _sec-elements:
Elements
--------
The base for every Finite-Elements computation is its mesh and the elements that
are used within that mesh. The element types that can be used depend on the
mesh, but also on the dimensionality of the problem (1D, 2D or 3D). In
``Akantu``, several iso-parametric Lagrangian element types are supported (and
one serendipity element). Each of these types is discussed in some detail below,
starting with the 1D-elements all the way to the 3D-elements. More detailed
information (shape function, location of Gaussian quadrature points, and so on)
can be found in Appendix app:elements.
Iso-parametric Elements
.......................
1D
````
There are two types of iso-parametric elements defined in 1D. These element
types are called :cpp:enumerator:`_segment_2 <akantu::_segment_2>` and
:cpp:enumerator:`_segment_3 <akantu::_segment_3>`, and are depicted
schematically in :numref:`fig-elements-1D`. Some of the basic properties of
these elements are listed in :numref:`tab-elements-1D`.
.. _fig-elements-1D:
.. figure:: figures/elements/segments.svg
:align: center
Schematic overview of the two 1D element types in ``Akantu``. In each
element, the node numbering as used in ``Akantu`` is indicated and also the
quadrature points are highlighted (gray circles).
.. _tab-elements-1D:
.. csv-table:: Some basic properties of the two 1D iso-parametric elements in ``Akantu``
:header: "Element type", "Order", "#nodes", "#quad points"
":cpp:enumerator:`_segment_2 <akantu::_segment_2>`", "linear", 2, 1
":cpp:enumerator:`_segment_3 <akantu::_segment_3>`", "quadratic", 3, 2
2D
````
There are four types of iso-parametric elements defined in 2D. These element
types are called :cpp:enumerator:`_triangle_3 <akantu::_triangle_3>`,
:cpp:enumerator:`_triangle_6 <akantu::_triangle_6>`,
:cpp:enumerator:`_quadrangle_4 <akantu::_quadrangle_4>` and
:cpp:enumerator:`_quadrangle_8 <akantu::_quadrangle_8>`, and all of them are
depicted in :numref:`fig-elements-2D`. As with the 1D elements, some of the most
basic properties of these elements are listed in :numref:`tab-elements-2D`. It
is important to note that the first element is linear, the next two quadratic
and the last one cubic. Furthermore, the last element type (``_quadrangle_8``)
is not a Lagrangian but a serendipity element.
.. _fig-elements-2D:
.. figure:: figures/elements/elements_2d.svg
:align: center
Schematic overview of the four 2D element types in ``Akantu``. In each
element, the node numbering as used in ``Akantu`` is indicated and also the
quadrature points are highlighted (gray circles).
.. _tab-elements-2D:
.. csv-table:: Some basic properties of the 2D iso-parametric elements in ``Akantu``
:header: "Element type", "Order", "#nodes", "#quad points"
":cpp:enumerator:`_triangle_3 <akantu::_triangle_3>`", "linear", 3, 1
":cpp:enumerator:`_triangle_6 <akantu::_triangle_6>`", "quadratic", 6, 3
":cpp:enumerator:`_quadrangle_4 <akantu::_quadrangle_4>`", "linear", 4, 4
":cpp:enumerator:`_quadrangle_8 <akantu::_quadrangle_8>`", "quadratic", 8, 9
3D
````
In ``Akantu``, there are three types of iso-parametric elements defined in 3D.
These element types are called :cpp:enumerator:`_tetrahedron_4
<akantu::_tetrahedron_4>`, :cpp:enumerator:`_tetrahedron_10
<akantu::_tetrahedron_10>` and :cpp:enumerator:`_hexadedron_8
<akantu::_hexadedron_8>`, and all of them are depicted schematically in
:numref:`fig-elements-3D`. As with the 1D and 2D elements some of the most basic
properties of these elements are listed in :numref:`tab-elements-3D`.
.. _fig-elements-3D:
.. figure:: figures/elements/elements_3d.svg
:align: center
Schematic overview of the three 3D element types in ``Akantu``. In each
element, the node numbering as used in ``Akantu`` is indicated and also the
quadrature points are highlighted (gray circles).
.. _tab-elements-3D:
.. csv-table:: Some basic properties of the 3D iso-parametric elements in ``Akantu``
:header: "Element type", "Order", "#nodes", "#quad points"
":cpp:enumerator:`_tetrahedron_4 <akantu::_tetrahedron_4>`", "linear", 4, 1
":cpp:enumerator:`_tetrahedron_10 <akantu::_tetrahedron_10>`", "quadratic", 10, 4
":cpp:enumerator:`_hexadedron_8 <akantu::_hexadedron_8>`", "cubic", 8, 8
Cohesive Elements
.................
The cohesive elements that have been implemented in ``Akantu`` are based
on the work of Ortiz and Pandolfi :cite:`ortiz1999`. Their main
properties are reported in :numref:`tab-coh-cohesive_elements`.
.. _fig-smm-coh-cohesive2d:
.. figure:: figures/elements/cohesive_2d_6.svg
:align: center
Cohesive element in 2D for quadratic triangular elements T6.
.. _tab-coh-cohesive_elements:
.. csv-table:: Some basic properties of the cohesive elements in ``Akantu``.
:header: "Element type", "Facet type", "Order", "#nodes", "#quad points"
":cpp:enumerator:`_cohesive_1d_2 <_cohesive_1d_2>`", ":cpp:enumerator:`_point_1 <akantu::_point_1>`", "linear", 2, 1
":cpp:enumerator:`_cohesive_2d_4 <akantu::_cohesive_2d_4>`", ":cpp:enumerator:`_segment_2 <akantu::_segment_2>`", "linear", 4, 1
":cpp:enumerator:`_cohesive_2d_6 <akantu::_cohesive_2d_6>`", ":cpp:enumerator:`_segment_3 <akantu::_segment_3>`", "quadratic", 6, 2
":cpp:enumerator:`_cohesive_3d_6 <akantu::_cohesive_3d_6>`", ":cpp:enumerator:`_triangle_3 <akantu::_triangle_3>`","linear", 6, 1
":cpp:enumerator:`_cohesive_3d_12 <akantu::_cohesive_3d_12>`", ":cpp:enumerator:`_triangle_6 <akantu::_triangle_6>`", "quadratic", 12, 3
Cohesive element insertion can be either realized at the beginning of
the simulation or it can be carried out dynamically during the
simulation. The first approach is called ``intrinsic``, the second
one ``extrinsic``. When an element is present from the beginning, a
bi-linear or exponential cohesive law should be used instead of a
linear one. A bi-linear law works exactly like a linear one except for
an additional parameter :math:`\delta_0` separating an initial linear
elastic part from the linear irreversible one. For additional details
concerning cohesive laws see Section~\ref{sec:cohesive-laws}.
.. _fig-smm-coh-insertion:
.. figure:: figures/insertion.svg
:align: center
Insertion of a cohesive element.
Extrinsic cohesive elements are dynamically inserted between two
standard elements when
.. math::
\sigma_\mathrm{eff} > \sigma_\mathrm{c} \quad\text {with} \quad \sigma_\mathrm{eff} = \sqrt{\sigma_\mathrm{n} ^ 2 + \frac{\tau ^ 2} {\beta ^ 2 }}
in which :math:`\sigma_\mathrm { n }
` is the tensile normal traction and $\tau$ the resulting tangential one( :numref:`fig-smm-coh-insertion`).
For the static analysis of the structures containing cohesive elements, the
stiffness of the cohesive elements should also be added to the total stiffness
of the structure.Considering a 2D quadratic cohesive element as that in
:numref:`fig-smm-coh-cohesive2d`, the opening displacement along the mid-surface
can be written as:
.. _eq-coh-opening:
.. math::
\begin{align}
\vec{\Delta}(s) &= \left[\!\!\left[ \mat{u}\right]\!\!\right] \,\mat{N}(s)\\
&= \begin{bmatrix}
u_3 - u_0 & u_4 - u_1 & u_5 - u_2\\
v_3 - v_0 & v_4 - v_1 & v_5 - v_2
\end{bmatrix}
\begin{bmatrix}
N_0(s)\\
N_1(s)\\
N_2(s)
\end{bmatrix}\\
&= \mat{N}^\mathrm{k} \mat{A U} = \mat{PU}
\end{align}
The :math:`\mat{U}`, :math:`\mat{A}` and :math:`\mat{N}^\mathrm{k}` are as following :
.. math::
\begin{align}
\mat{U} &= \left[\begin{array}{c c c c c c c c c c c c}
u_0 & v_0 & u_1 & v_1 & u_2 & v_2 & u_3 & v_3 & u_4 & v_4 & u_5 & v_5
\end{array}\right]\\
\mat{A} &= \left[\begin{array}{c c c c c c c c c c c c}
1 & 0 & 0 & 0 & 0 & 0 & -1 & 0 & 0 & 0 & 0 & 0\\
0 & 1 & 0 & 0 & 0 & 0 & 0 & -1 & 0 & 0 & 0 & 0\\
0 & 0 & 1 & 0 & 0 & 0 & 0 & 0 & -1 & 0 & 0 & 0\\
0 & 0 & 0 & 1 & 0 & 0 & 0 & 0 & 0 & -1 & 0 & 0\\
0 & 0 & 0 & 0 & 1 & 0 & 0 & 0 & 0 & 0 & -1 & 0\\
0 & 0 & 0 & 0 & 0 & 1 & 0 & 0 & 0 & 0 & 0 & -1
\end{array}\right]\\
\mat{N}^\mathrm{k} &= \begin{bmatrix}
N_0(s) & 0 & N_1(s) & 0 & N_2(s) & 0\
0 & N_0(s) & 0 & N_1(s) & 0 & N_2(s)
\end{bmatrix}
\end{align}
The consistent stiffness matrix for the element is obtained as
.. _eq-cohesive_stiffness:
.. math::
\mat{K}=\int_{S_0}\mat{P}^\mathrm{T} \, \frac{\partial{\vec{T}}}{\partial{\delta}}\mat{P}\,\mathrm{d} S_0
where :math:`\vec{T}` is the cohesive traction and :math:`\delta` the opening
displacement (for more details check :numref:`tab-coh-cohesive_elements`).
Structural Elements
...................
Bernoulli Beam Elements
```````````````````````
These elements allow to compute the displacements and rotations of
structures constituted by Bernoulli beams. ``Akantu`` defines them for
both 2D and 3D problems respectively in the element types
:cpp:enumerator:`_bernoulli_beam_2 <akantu::_bernoulli_beam_2>` and :cpp:enumerator:`_bernoulli_beam_3 <akantu::_bernoulli_beam_3>`. A
schematic depiction of a beam element is shown in
:numref:`fig-elements-bernoulli` and some of its properties are
listed in :numref:`tab-elements-bernoulli`.
.. note::
Beam elements are of mixed order: the axial displacement is
linearly interpolated while transverse displacements and rotations
use cubic shape functions.
.. _fig-elements-bernoulli:
.. figure:: figures/elements/bernoulli_2.svg
:align: center
Schematic depiction of a Bernoulli beam element (applied to 2D and
3D) in ``Akantu``. The node numbering as used in ``Akantu`` is
indicated, and also the quadrature points are highlighted (gray
circles).
.. _tab-elements-bernoulli:
.. csv-table:: Some basic properties of the beam elements in ``Akantu``
:header: "Element type", "Dimension", "# nodes", "# quad. points", "# d.o.f."
":cpp:enumerator:`_bernoulli_beam_2 <akantu::_bernoulli_beam_2>`", "2D", 2, 3, 6
":cpp:enumerator:`_bernoulli_beam_3 <akantu::_bernoulli_beam_3>`", "3D", 2, 3, 12
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