Fixed boundary

uniform loading

Finite element
Cantilever plate
model
in plane strain

Approximate method
Geometric model
Element Node
Element
Mesh
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)

What is a matrix?
A rectangular array of numbers (we will concentrate on
real numbers). A nxm matrix has n rows and m
columns
M11 M12 M13 M14 First row

M3x4 M21 M22 M23 M24 Second row

M31 M32

M33

M34

First Second Third Fourth

column column column column

M12

Row number
Column number

Third row

What is a vector?
A vector is an array of n numbers
A row vector of length n is a 1xn matrix

a1

a2

a3

a4

A column vector of length m is a mx1 matrix

a1
a
2
a 3

Special matrices
Zero matrix: A matrix all of whose entries are zero

03x 4

0 0 0 0

0 0 0 0
0 0 0 0

Identity matrix: A square matrix which has 1 s on the

diagonal and zeros everywhere else.

I3x 3

1 0 0

0 1 0
0 0 1

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.

1 2 4
a b c

A 3 0 7 B d e f
9 1 5
g h i
a 1, b 2, c 4,
A B d 3, e 0, f 7,
g 9, h 1, i 5.

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

1 2 4
1 3 10

A 3 0 7 B 3 1 0
9 1 5
1 0 6
0 5 14
C A B 6 1 7
10 1 11

Addition of of matrices

Matrix operations
Properties

Properties of matrix addition:

1. Matrix addition is commutative (order of
addition does not matter)

AB B A

2. Matrix addition is associative

A B C A B C

3. Addition of the zero matrix

A0 0A A

Matrix operations

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

A 3
9
3

cA 9
27

2 4

0 7 c 3
1 5
6 12

0 21
3 15

Matrix operations

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

1 2 4

A 3 0 7
9 1 5
1

cA -A 3
9

c 1
2
0
1

7
5

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

1 2 4
1 3 10

A 3 0 7 B 3 1 0
9 1 5
1 0 6
2 1 6

C A B 0 1 7
8 1 1
Note that A - A 0 and 0 - A -A

Special
operations

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.

1 2 4
1 3 9

T
A 3 0 7 A 2 0 1
9 1 5
4 7 5

Special
operations

Transpose

If A is a square matrix (mxm), it is called

symmetric if

AA

Matrix operations

Scalar (dot) product of

two vectors

If a and b are two vectors of the same size

a1
b1

a a 2 ; b b 2
a3
b3
The scalar (dot) product of a and b is a scalar
obtained by adding the products of
corresponding entries of the two vectors

a b a1b1 a 2 b 2 a 3b3
T

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
mxr

inside
outside

B
rxn

AB
mxn

Matrix operations

Matrix multiplication

If A is a mxr matrix and B is a rxn matrix, then the

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
1 2 4
1 3
A 3x3 3 0 7 B3x2 3 1
9 1 5
1 0

C3x2

3
AB 10
7

5
1
9 notice 2
4
28

1
3 3

Matrix operations

Multiplication of
matrices
Properties

Properties of matrix multiplication:

1. Matrix multiplication is noncommutative
(order of addition does matter)

AB BA in general

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

Matrix operations

Multiplication of
matrices
Properties

2. Matrix multiplication is associative

ABC AB C

3. Distributive law

AB C AB AC

B CA BA CA

4. Multiplication by identity matrix

AI A; IA A

5. Multiplication by zero matrix A0 0; 0A 0

T
T
T
6.

A B

B A

Matrix operations

Miscellaneous
properties

1. If A , B and C are square matrices of the

same size, and A 0 then AB AC
does not necessarily mean that B C
2. AB 0 does not necessarily imply that
either A or B is zero

Inverse of a
matrix

Definition

If A is any square matrix and B is another

square matrix satisfying the conditions

A B BA I
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

Inverse of a
matrix

Uniqueness

The inverse of a matrix is unique

Assume that B and C both are inverses of A

AB BA I
AC CA I
(BA)C IC C
B(AC) BI B
BC

Hence a matrix cannot have two or more

inverses.

Some properties

Inverse of a
matrix

Property 1: If A is any invertible square

matrix the inverse of its inverse is the matrix A
itself
-1 1

Property 2: If A is any invertible square

matrix and k is any scalar then

k A

1 -1
A
k

Properties

Inverse of a
matrix

Property 3: If A and B are invertible square

matrices then
1
1 -1
(AB) AB

A B

B A

Premultiplying both sides by A-1

A-1(AB) AB A 1
1

A ABAB

-1

A 1

BAB A 1
1

Premultiplying both sides by B-1

AB 1 B 1A 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:
A a11 ; det( A) a11

For a 2x2 matrix:

a11 a12
A
; det( A) a11a 22 a12a 21

a 21 a 22

Product along red arrow minus product along blue arrow

Example 1
Consider the matrix

1 3
A

5
7

Notice (1) A matrix is an array of numbers

(2) A matrix is enclosed by square brackets

1 3
det( A )
1 7 3 5 8
5 7
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

Duplicate column method for 3x3 matrix

For ONLY a 3x3 matrix write down the first two
columns after the third column
a11 a12
A a 21 a 22
a 31 a 32

a13
a 23
a 33

a11 a12
a
21 a 22
a 31 a 32

a13 a11 a12

a 23 a 21 a 22
a 33 a 31 a 32

Sum of products along red arrow

minus sum of products along blue arrow

det( A ) a11a 22a 33 a12a 23a 31 a13a 21a 32

a13a 22a 31 a11a 23a 32 a12a 21a 33
This technique works only for 3x3 matrices

Example
2 4 - 3
A 1 0 4
2 - 1 2

2
1

2
0 -8

3 2

0
4 1

1 2 2
4

4
0
1
32

Sum of red terms = 0 + 32 + 3 = 35

Sum of blue terms = 0 8 + 8 = 0
Determinant of matrix A= det(A) = 35 0 = 35

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

2
7
8
3
2
4 0
2 7 8
because rows 1 and 3 are proportional to each other
If the determinant of a matrix is zero, it is called a
singular matrix

Cofactor method

What is a cofactor?

If A is a square matrix
a11 a12
A a 21 a 22
a 31 a 32

a13
a 23
a 33

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 21 a 23
a 21 a 23
M12
a 21a 33 a 23a 31 C12 M12
a 31 a 33
a 31 a 33

What is a cofactor?
Sign of cofactor

Find the minor and cofactor of a33

2 4 - 3
A 1 0 4
2 - 1 2

Minor

2 4
2 0 4 1 4
M 33
1 0

Cofactor C ( 1) ( 33) M M 4
33
33
33

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 1 i n and 1 j n
Cofactor expansion along the jth column

det( A) a1jC1j a 2jC 2j anjCnj

Cofactor expansion along the ith row

det( A) ai1Ci1 ai2Ci2 ainCin

Example: evaluate det(A) for:

A=

1 0

-3

3 4

-1 5

-2

0 1

det(A)=(1) 5 2 -2
1 1 3
3 4 0
- (-3) -1

det(A) = a11C11 +a12C12 + a13C13 +a14C14

3
- (0)

-1 2 -2
0

3
+2

-1 5 -2
0

= (1)(35)-0+(2)(62)-(-3)(13)=198

Example : evaluate
1
det(A)= 1

5 -3
0

3 -1 2
By a cofactor along the third column

det(A)=a13C13 +a23C23+a33C33
4 1
-3*
(-1)
det(A)=
3

0
-1

+2*(-1)5

-1

= det(A)= -3(-1-0)+2(-1)5(-1-15)+2(0-5)=25

+2*(-1)6

Quadratic form
The scalar

Ud kd
T

d vector
k square matrix

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

Quadratic form
Let
Then

d1
k11
d k
d 2
k 21

k12

k 22

Symmetric
matrix

k11 k12 d1
U d k d d1 d 2

k12 k 22 d 2
k11d1 k12 d 2
d1 d 2

k12 d1 k 22 d 2
T

d1 (k11d1 k12 d 2 ) d 2 (k12 d1 k 22 d 2 )

k11d1 2k12 d1 d 2 k 22 d 2
2

Differentiation of quadratic form

Differentiate U wrt d1

U
2k11d 1 2k12 d 2
d 1

Differentiate U wrt d2

U
2k12 d 1 2k 22 d 2
d 2

Differentiation of quadratic form

Hence

U
k11
U d1

d U
k12
d 2
2k d

k12 d1

k 22 d 2

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
Governed by differential
equations

Assumptions regarding
Geometry
Kinematics
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

Example: A bracket

Engineering design

Moment at section AA
Deflection at load

Mathematical model 1:
beam

M WL
27,500 N cm
at load W

How reliable is this model?

How effective is this model?

1 W (L rN )3 W (L rN )

5
3
EI
AG
6
0.053 cm

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
POSTPROCESSING
Compute moment at section AA

Finite element analysis

..General scenario..

Engineering design

Finite element analysis

Preprocessing
Step 1

Analysis

Step 2
Step 3

Postprocessing

Example: A bracket

Engineering design

Mathematical model 2:
plane stress

FEM solution to mathematical model 2 (plane stress)

Moment at section AA
M 27,500 N cm
Deflection at load

at load W 0.064 cm

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
Model

Improve
mathematical
model

Numerical model

Does answer
make sense?

YES!
Happy

No!
Refine analysis
Design improvements
Structural optimization

Modeling a physical
problem

Verification
Example:and
A bracket
validation

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: