Finite Elements

A Theory-lite Intro Jeremy Wendt April 2005

The University of North Carolina Chapel Hill COMP259-2005

Overview
Numerical Integration Finite Differences Finite Elements
Terminology 1D FEM 2D FEM 1D output 2D FEM 2D output Dynamic Problem
The University of North Carolina Chapel Hill COMP259-2005

Numerical Integration
Youve already seen simple integration schemes: particle dynamics
In that case, you are trying to solve for position given initial data, a set of forces and masses, etc. Simple Euler rectangle rule Midpoint Euler trapezoid rule Runge-Kutta 4 Simpsons rule
The University of North Carolina Chapel Hill COMP259-2005

Numerical Integration II
However, those techniques really only work for the simplest of problems Note that particles were only influenced by a fixed set of forces and not by other particles, etc. Rigid body dynamics is a step harder, but still quite an easy problem
Calculus shows that you can consider it a particle at its center of mass for most calculations
The University of North Carolina Chapel Hill COMP259-2005

Numerical Integration III

Harder problems (where neighborhood must be considered, etc) require numerical solvers
Harder Problems: Heat Equation, Fluid dynamics, Non-rigid bodies, etc. Solver types: Finite Difference, Finite Volume, Finite Element, Point based (Lagrangian), Hack (Spring-Mass), Extensive Measurement

The University of North Carolina Chapel Hill COMP259-2005

Numerical Integration IV
What I wont go over at all:
How to solve Systems of Equations
Linear Algebra, MATH 191,192,221,222

The University of North Carolina Chapel Hill COMP259-2005

Finite Differences
This is probably the easiest solution technique Usually computed on a fixed width grid Approximate stencils on the grid with simple differences

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Finite Differences (Example)

How we can solve Heat Equation on fixed width grid
Derive 2nd derivative stencil on white board

Boundary Conditions See Numerical Simulation in Fluid Dynamics: A Practical Introduction

By Griebel, Dornseifer and Neunhoeffer

The University of North Carolina Chapel Hill COMP259-2005

Finite Elements Terminology

We want to solve the same problem on a non-regular grid FEM also has some different strengths than Finite Difference Node Element

The University of North Carolina Chapel Hill COMP259-2005

Problem Statement 1D
STRONG FORM
Given f: OMEGA R1 and constants g and h Find u: OMEGA R1 such that
uxx + f = 0 ux(at 0) = h u(at 1) = g
(Write this on the board)

The University of North Carolina Chapel Hill COMP259-2005

Problem Statement (cont)

Weak Form (AKA Equation of Virtual Work)
Derived by multiplying both sides by weighting function w and integrating both sides
Remember Integration by parts? Integral(f*gx) = f*g - Integral(g*fx)

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Galerkins Approximation
Discretize the space Integrals sums Weighting Function Choices
Constant (used by radiosity) Linear (used by Mueller, me (easier, faster)) Non-Linear (I think this is what Fedkiw uses)

The University of North Carolina Chapel Hill COMP259-2005

Definitions
wh = SUM(cA*NA) uh = SUM(dA*NA) + g*NA cA, dA, g defined on the nodes NA , uh, wh defined in whole domain Shape Functions

The University of North Carolina Chapel Hill COMP259-2005

Zoom in
Weve been considering the whole domain, but the key to FEM is the element Zoom in to The Element Point of View

The University of North Carolina Chapel Hill COMP259-2005

Element Point of View

Dont construct an NxN matrix, just a matrix for the nodes this element effects (in 1D its 2x2)
Integral(NAx*NBx) Reduces to width*slopeA*slopeB for linear 1D

The University of North Carolina Chapel Hill COMP259-2005

Now for RHS

We are stuck with an integral over varying data (instead of nice constants from before) Fortunately, these integrals can be solved by hand once and then input into the solver for all future problems (at least for linear shape functions)

The University of North Carolina Chapel Hill COMP259-2005

Change of Variables
Integral(f(y)dy)domain = T = Integral(f(PHI(x))*PHIx*dx)domain = S Write this on the board so it makes some sense

The University of North Carolina Chapel Hill COMP259-2005

Creating Whole Picture

We have solved these for each element Individually number each node Add values from element matrix to corresponding locations in global node matrix

The University of North Carolina Chapel Hill COMP259-2005

Example
Draw even spaced nodes on board
dx = h Each element matrix = (1/h)*[[1 -1] [-1 1]] RHS = (h/6)*[[2 1] [1 2]]

The University of North Carolina Chapel Hill COMP259-2005

Show Demo
1D FEM

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2D FEM 1D output
Heat equation is an example here Linear shape functions on triangles Barycentric coordinates Kappa joins the party
Integral(NAx*Kappa*NBx) If we assume isotropic material, Kappa = K*I

The University of North Carolina Chapel Hill COMP259-2005

2D Per-Element
This now becomes a 3x3 matrix on both sides
Anyone terribly interested in knowing what it is/how to get it?

The University of North Carolina Chapel Hill COMP259-2005

Demo
2D FEM - 1D output

The University of North Carolina Chapel Hill COMP259-2005

2D FEM 2D Out
Deformation in 2D requires 2D output
Need an x and y offset
Doesnt handle rotation properly

Each element now has a 6x6 matrix associated with it Equation becomes
Integral(BAT*D*BB) for Stiffness Matrix BA/B a matrix containing shape function derivatives D A matrix specific to deformation
Contains Lame` Parameters based on Youngs Modulus and Poissons Ratio (Anyone interested?)
The University of North Carolina Chapel Hill COMP259-2005

Demo
2D Deformation

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Dynamic Version
The stiffness matrix (K) only gives you the final resting position
Kuxx = f

Dynamics is a different equation

Muxx + Cux + Ku = f
K is still stiffness matrix M = diagonal mass matrix C = aM + bK (Rayliegh damping)
The University of North Carolina Chapel Hill COMP259-2005

Demo
2D Dynamic Deformation

The University of North Carolina Chapel Hill COMP259-2005

Questions

The University of North Carolina Chapel Hill COMP259-2005