Examples of Finite Elements and Finite Element Spaces

N.
Zabaras 1
EXAMPLES OF FINITE ELEMENTS AND FINITE
ELEMENT SPACES
Piecewise polynomial nite element spaces on a triangulation T
h
= {K}
of a bounded domain
d
, d = 1, 2, 3, into elements K.
The 3-noded triangular nite element basis functions for P
1
(K).
The 6-noded triangular nite element basis functions for P
2
(K).
The P
3
(K) and P
5
(K) nite element spaces.
Rectangular nite elements in
2
.
P
r
(K) spaces dened with tetrahedrons.
Lecture 3: Examples of nite elements and nite element spaces Materials Process Design and Control Laboratory
N. Zabaras 2
FINITE ELEMENT SPACES: REGULARITY
REQUIREMENTS
The nite element spaces examined here consist of piecewise polynomial
functions on a triangulation T
h
= {K} of a bounded domain
d
, d = 1, 2, 3, into nite elements K.
For d = 1, the elements K will be intervals,
For d = 2, triangles or quadrilaterals, and
For d = 3, tetrahedrons.
V
h
H
1
() V
h
C
0
(
), for 2nd order boundary value problems

V
h
H
2
() V
h
C
1
(
), for 4th order boundary value problems

where

= and
C
0
(
) =
_
v : v is a continuous function dened on

_
C
1
(
) =
_
v C
0
(
) : D
v C
0
(
), || = 1
_
N. Zabaras 3
V
h
H
1
() V
h
C
0
(
) and V
h
H
2
() V
h
C
1
(
)
V
h
H
1
() the functions v V
h
are continuous, i.e. V
h
C
0
(
).
This equivalence arises in piecewise polynomial approximations as fol-
lows:
A function v V
h
is a polynomial on each nite element K
v is taken to be continuous across adjoining element boundaries, thus
the derivatives D
v, || = 1, exist and are piecewise continuous, e.g.

v H
1
().
If v is not continuous across a certain inter-element boundary S,
i.e., v / C
0
(
), then the derivatives D
v, || = 1, would be -
functions supported by S which are not functions in L
2
() and thus
v / H
1
()
Similarly, V
h
H
2
() the functions v V
h
and their rst deriva-
tives are continuous.
N. Zabaras 4
DEFINING A FINITE ELEMENT SPACE
To dene a nite element space V
h
, one needs to specify:
1. The triangulation T
h
= {K} in
2. The nature (type of polynomials) of the functions v in V
h
on each
element K:
linear,
quadratic,
cubic, etc.
3. The parameters to be used to describe the functions in V
h
:
the values of v at the nodes of T
h
,
the values of v at points on the sides of T
h
(e.g. midpoints),
the values of v at the center of T
h
, etc.
N. Zabaras 5
Formal denition of a nite element
Dene a nite element to mean a triple (K, P
K
,
) where
K is a geometric object, for example a triangle,
P
K
is a nite-dimensional linear space of functions dened on K,

is a set of degrees of freedom,
such that a function v P
K
is uniquely determined by the degrees of
freedom

.
For example for the triangle with degrees of freedom the nodal values, we
have that (K, P
K
,
) is a nite element, where

K is a triangle,
P
K
= P
1
(K),

are the values at the vertices of K
N. Zabaras 6
FINITE ELEMENT SPACE EXAMPLES IN
2
WITH
POLYGONAL BOUNDARY
Let T
h
= {K} be a given triangulation of into triangles K.
For each r = 0, 1, 2, . . . , let us dene
P
r
(K) = {v : v is a polynomial of degree r on K}
For example, P
1
(K) is the space of linear functions v dened on K, i.e.
v(x) = a
00
+ a
10
x
1
+ a
01
x
2
, x K, a
ij

The basis of P
1
(K) is (dimP
1
(K) = 3):
1
(x) = 1,
2
(x) = x
1
,
3
(x) = x
2
P
2
(K) is the space of quadratic functions v on K, i.e. v(x) P
2
(K) is of
the form:
v(x) = a
00
+ a
10
x
1
+ a
01
x
2
+ a
20
x
2
1
+ a
11
x
1
x
2
+ a
02
x
2
2
, x K, a
ij
R
The basis of P
2
(K) is (dim P
1
(K) = 6): {1, x
1
, x
2
, x
2
1
, x
1
x
2
, x
2
2
}
N. Zabaras 7
FINITE ELEMENT SPACE EXAMPLES IN
2
WITH
POLYGONAL BOUNDARY
For each r = 0, 1, 2, . . . , we dened:
P
r
(K) = {v : v is a polynomial of degree r on K}
P
r
(K) =
_
_
v : v(x) =

0i+jr
a
ij
x
i
1
x
j
2
for x K, where a
ij

_
_
dim P
r
(K) =
(r + 1) (r + 2)
2
N. Zabaras 8
FINITE ELEMENT SPACE EXAMPLE:
V
h
= {v C
0
(
) : v|
K
P
1
(K), K T
h
}
V
h
is the space of continuous piecewise linear functions discussed earlier.
As global degrees of freedom to describe the functions in V
h
, we choose
the values at the node points of T
h
(including the node points on ).
Eah K T
h
is a triangle with vertices a
i
, i = 1, 2, 3.
The element degrees of freedom are the values
i
at the vertices a
i
, i =
1, 2, 3.
Theorem
Let K T
h
be a triangle with vertices a
i
=
_
a
i
1
, a
i
2
_
, i = 1, 2, 3.. A function
v P
1
(K) is uniquely determined by the degrees of freedom, i.e., given the
values
i
, i = 1, 2, 3, there is a uniquely determined function v P
1
(K) such
that:
v
_
a
i
_
=
i
i = 1, 2, 3
N. Zabaras 9
Theorem: Let K T
h
i
= (a
i
1
, a
i
2
), i = 1, 2, 3.
A function v P
1
(K) is uniquely determined by the degrees of freedom.
Need to show that given the values
i
, i = 1, 2, 3, there is a uniquely
determined function v P
1
(K) such that: v
_
a
i
_
=
i
, i = 1, 2, 3.
Since v(x) = c
1
x
1
+ c
2
x
2
+ c
3
for some constants c
i
, we obtain the
linear system of equations below for the unknowns c
i
:
c
1
a
i
1
+ c
2
a
i
2
+ c
3
=
i
, i = 1, 2, 3,
This system has a unique solution for given
i
if and only if detB = 0:
B =
_
_
a
1
1
a
1
2
1
a
2
1
a
2
2
1
a
3
1
a
3
2
1
_
_
By basic linear algebra: detB/2 = area of K, and thus detB = 0.
Hence B is non-singular, which proves the desired result.
N. Zabaras 10
Theorem (another proof ): Let K T
h
be a triangle with vertices
a
i
, i = 1, 2, 3. A function v P
1
(K) is uniquely determined by the degrees of
freedom.
Recall that since v(x) = c
1
x
1
+ c
2
x
2
+ c
3
for some constants c
i
R, we
obtained the following linear system of equations for the unknowns c
i
:
c
1
a
i
1
+ c
2
a
i
2
+ c
3
=
i
, i = 1, 2, 3, ()
We notice rst that dim P
1
(K) = number of degrees of freedom (= 3)
i.e. (*) has the same number of unknowns as equations.
Solutions of (*) are unique if the only solution of (*) with
i
= 0, i = 1, 2, 3,
is given by c
i
= 0, i = 1, 2, 3, or formally,
If v P
1
(K) and v(a
i
) = 0, i = 1, 2, 3, then v 0
This approach does not require knowing detB and can be generalized to
higher order polynomials in which case computing detB is complicated.
N. Zabaras 11
Basis functions for P
1
(K)
We can now determine the basis functions for P
1
(K) associated with the
nodal values, i.e. the functions
i
P
1
(K), i = 1, 2, 3, such that
i
(a
j
) =
ij
=
_
_
1 if i = j
0 if i = j
i, j = 1, 2, 3.
v(x) =
3
i=1
v(a
i
)
i
(x), x K, v(x) P
1
(K)
To determine
i
, we can solve c
1
a
i
1
+c
2
a
i
2
+c
3
=
i
, i = 1, 2, 3, for three
special choices of the rhs, namely, (1, 0, 0), (0, 1, 0) and (0, 0, 1).
N. Zabaras 12
Basis functions for P
1
(K)
Alternatively, to determine e.g.
1
, let d
1
x
1
+d
2
x
2
+d
3
= 0 be the equation
for the straight line through the vertices a
2
and a
3
. Then:
1
(x) = (d
1
x
1
+ d
2
x
2
+ d
3
)
where the constant is chosen so that
1
(a
1
) = 1.
In the same way, we may determine
2
and
3
.
If the triangle K has vertices at (1, 0), (0, 1) and (0, 0), then:
1
= x
1
,
2
= x
2
,
3
= 1 x
1
x
2
N. Zabaras 13
V
h
= {v : v|
K
P
1
(K), K T
h
, and v is continuous at the nodes}
V
h
= {v C
0
(
) : v|
K
P
1
(K), K T
h
}
To show this equivalence, we need to prove that: v C
0
(
). Indeed:
It suces to show that v is continuous across inter-element boundaries.
Let K
1
and K
2
be two triangles in T
h
having the common side S with
the end points N
1
and N
2
.
Let v
i
= v|
K
i
P
1
(K
i
), i = 1, 2, be the restrictions of v to the elements
K
1
and K
2
, respectively.
Then the function w = v
1
v
2
dened on S vanishes at the end points
N
1
and N
2
.
Since w is linear on S it follows that w vanishes on S.
Hence, v is continuous across S and as such v C
0
(
).
N. Zabaras 14
A nite element space V
h
using piecewise quadratic functions v:
v|
K
P
2
(K)
Let K T
h
i
, i = 1, 2, 3, and denote the
midpoints of the sides of K by a
ij
, i < j, i, j = 1, 2, 3.
Theorem
A function v P
2
(K) is uniquely determined by the following degrees of
freedom:
v(a
i
), i = 1, 2, 3,
v(a
ij
), i < j, i, j = 1, 2, 3
N. Zabaras 15
Theorem: A function v P
2
(K) is uniquely determined by the following
degrees of freedom: v(a
i
), i = 1, 2, 3, and v(a
ij
), i < j, i, j = 1, 2, 3
Since dim P
2
(K) = 6 (=number of dof), it is sucient to prove that if:
v P
2
(K) and v(a
i
) = 0, v(a
ij
) = 0, i < j, i, j = 1, 2, 3, = v 0.
Consider the side a
2
a
3
. Along this side, v has a quadratic variation and
vanishes at the points a
2
, a
23
, and a
3
. Thus v vanishes identically on a
23
and we can write:
v(x) =
1
(x)w
1
(x), x K
where w
1
P
1
(K) and
i
, i = 1, 2, 3 are the basis functions for P
1
(K).
In the same way, we see that v also vanishes along the side a
1
a
3
:
v(x) =
1
(x)
2
(x)w
0
, x K, w
0
= constant.
If we now nally take x = a
12
: 0 = v(a
12
) = w
0
1
(a
12
)
2
(a
12
) = w
0
1
2
1
2
,
so that w
0
= 0 and hence v 0 and the proof is complete.
N. Zabaras 16
A function v P
2
(K)
For v P
2
(K): v =
3
i=1
v(a
i
)
i
(2
i
1) +
3
i,j=1,i<j
v(a
ij
)4
i
j
It suces to show that v is continuous across inter-element boundaries.
Let K
1
and K
2
be two triangles in T
h
having the common side S.
Let v
i
= v|
K
i
P
2
(K
i
), i = 1, 2.
Then the function w = v
1
v
2
varies quadratically along S and w vanishes
at three distinct points on S w 0 on S.
Element basis functions
N. Zabaras 17
The nite element space: V
h
=
_
v C
0
_
_
: v|
K
P
2
(K), K T
h
_
We have seen that the global degrees of freedom of the functions v V
h
can be chosen as:
1. the values of v at the nodes of T
h
,
2. the values of v at the mid points of all the sides of the triangles in T
h
.
Global basis functions
N. Zabaras 18
The nite element space v|
K
P
3
(K), K T
h
Let K be a triangle with vertices a
i
, i = 1, 2, 3, and dene:
a
iij
=
1
3
(2a
i
+ a
j
), i, j = 1, 2, 3, i = j
a
123
=
1
3
(a
1
+ a
2
+ a
3
)
N. Zabaras 19
Theorem: A function v P
3
(K) is uniquely determined by the following
degrees of freedom: v(a
i
), v(a
iij
), i, j = 1, 2, 3, i = j and v(a
123
)
Since dimP
3
(K) is equal to the number of dof (=10), it is sucient to show
that if v P
3
(K) and v(a
i
) = v(a
iij
) = v(a
123
) = 0, i, j = 1, 2, 3, i = j,
then v 0.
Observe that if v has a cubic variation along the side a
2
a
3
then v 0 on
a
2
a
3
. In the same way it follows that v vanishes on the sides a
1
a
3
and
a
1
a
2
and hence v(x) =
1
(x)
2
(x)
3
(x), where is a constant.
If we now choose x = a
123
: 0 = v(a
123
) =
1
3
1
3
1
3
= = 0 = v 0.
N. Zabaras 20
The nite element space V
h
=
_
v C
0
_
_
: v|
K
P
3
(K), K T
h
_
Let v
i
= v|
K
i
P
3
(K
i
), i = 1, 2, where K
1
and K
2
are two
triangles with common side S
Suppose that v
1
and v
2
take the same values at the end points and
the two points a
iij
of S.
Since v
1
v
2
varies cubically on S, it follows that v
1
= v
2
on S.
N. Zabaras 21
h
=
_
v C
0
_
_
: v|
K
P
3
(K), K T
h
_
We now introduce the nite element space V
h
with the following degrees
of freedom:
1. the values of v at the nodes of T
h
2. the values of v at the points a
iij
on the sides of T
h
3. the values of v at the center of gravity for all K T
h
.
N. Zabaras 22
Another P
3
(K) nite element space where K is a triangle with vertices
a
i
, i = 1, 2, 3, and center of gravity a
123
.
Theorem
A function v P
3
(K) is uniquely determined by the following dof: v(a
i
), i =
1, 2, 3,
v
x
j
_
a
i
_
, i = 1, 2, 3, j = 1, 2, and v
_
a
123
_
Since dim P
3
(K) = # of dof, it suces to prove that if v P
3
(K) &
v
_
a
i
_
=
v
x
j
_
a
i
_
= v
_
a
123
_
= 0, i = 1, 2, 3, j = 1, 2, () = v 0
From (*)
v
s
_
a
i
_
=
v
x
1
_
a
i
_
s
1
+
v
x
2
_
a
i
_
s
2
= 0, i = 1, 2, 3.
We then have:
v
s
_
a
2
_
=
v
s
_
a
3
_
= 0, where s is the direction from a
2
to
a
3
. Using v(a
2
) = v(a
3
) = 0 = v vanishes along a
2
a
3
since v varies as a
cubic polynomial along this side. Similarly, v vanishes on a
1
a
2
and a
1
a
3
.
Hence v(x) =
1
(x)
2
(x)
3
(x), where is a constant.
If we now choose x = a
123
: 0 = v(a
123
) =
1
3
1
3
1
3
= = 0 = v 0.
N. Zabaras 23
h
=
_
v C
0
_
_
: v|
K
P
3
(K), K T
h
_
We expressed every function v P
3
(K) uniquely by the following degrees
of freedom:
v(a
i
) i = 1, 2, 3,
v
x
j
_
a
i
_
, i = 1, 2, 3, j = 1, 2,
v
_
a
123
_
The corresponding nite element space V
h
C
0
_
_
is given by
V
h
= {v : v|
K
P
3
(K), K T
h
,
v and
v
x
i
, i = 1, 2, are continuous at the nodes}
with the following degrees of freedom:
1. The values of v and
v
x
i
, i = 1, 2, at the nodes of T
h
,
2. The values of v at the center of gravity of each K T
h
.
N. Zabaras 24
A nite element space satisfying V
h
C
1
(
)
We work with functions that are polynomials of degree 5 on each K.
Theorem
Let K be a triangle with vertices a
i
, i = 1, 2, 3, and let a
ij
be the midpoint
on the side a
i
a
j
, i, j = 1, 2, 3, i < j. A function v P
5
(K) is uniquely
determined by the following dof:
D
v(a
i
), i = 1, 2, 3, || 2,
v
n
_
a
ij
_
, i, j = 1, 2, 3, i < j
where

n
denotes dierentiation in the outward normal direction to S.
N. Zabaras 25
h
C
1
(
)
Since dimP
5
(K) = 21 (# dof), need to show that if all dof = 0 v = 0.
With s the direction on the side a
2
a
3
, we conclude that
v(a
i
) =
v
s
(a
i
) =

2
v
2
s
(a
i
) = 0, i = 2, 3
Since v is a polynomial on the side a
2
a
3
of degree at most 5 =v vanishes
on a
2
a
3
. Further,
v
n
is a polynomial of degree at most 4 on a
2
a
3
and
v
n
_
a
23
_
=
v
n
_
a
i
_
=

s
_
_
_
v
n
_
_
_
_
a
i
_
= 0, i = 2, 3,
Thus both v and
v
n
vanish on a
2
a
3
.
We may factor (
1
(x))
2
out of v (x).
v (x) = (
1
(x))
2
p
3
(x) , x K, p
3
P
3
(K) = v =
2
1
2
2
2
3
,
Since v P
5
(K) we conclude that = 0 so that v = 0 on K.
N. Zabaras 26
h
C
1
(
)
Consider K
1
& K
2
with a common side S and let v
1
, v
2
P
5
(K
i
).
Assume that: D
v
1
= D
v
2
, at the end points of S, || 2,
v
1
n
=
v
2
n
at the midpoint of S
With w = v
1
v
2
, we then conclude that:
w =
w
s
=

2
w
2
s
= 0, at the end points of S
w
n
=
w
n
=
w
s
_
_
_
w
n
_
_
_
= 0, at the midpoint of S
It follows that w =
w
n
= 0 on S (*)
From w = 0 on S =
w
s
= 0 on S (s tangent to S) (*)
From (*) =v|
K
i
= v
i
and its 1st derivatives vary continuously across S.
N. Zabaras 27
h
C
1
(
)
Dene the space V
h
C
1
_
_
V
h
= { v : v|
K
P
5
(K), K T
h
, D
v is continuous at the nodes for

|| 2 and
v
n
is continuous at the midpoints of each side }
Each function v|
K
P
5
(K) is determined with the following degrees of
freedom:
D
v(a
i
), i = 1, 2, 3, || 2,
v
n
_
a
ij
_
, i, j = 1, 2, 3, i < j
N. Zabaras 28
A three-dimensional nite element: Tetrahedron
Consider that is the union of T
h
= {K} of non-overlapping tetrahe-
drons K such that no vertex of one tetrahedron lies on a side of another
tetrahedron.
For r = 1, 2, . . ., and K T
h
, we dene:
P
r
(K) = { v : v is a polynomial to degree r on K, i.e., v has
the form v (x) =

i+j+mr
a
ijm
x
i
1
x
j
2
x
m
3
, a
ijm
}
For r = 1, a function v P
1
(K) is uniquely determined by the values
v(a
i
), i = 1, 2, 3, 4, where the a
i
are the vertices of K.
We then introduce the space:
V
h
= {v C
0
(
) : v|
K
P
1
(K), K T
h
}
with global dof the values at the nodes of T
h
.
N. Zabaras 29
2
: Bilinear functions
Let a
i
, i = 1, 2, 3, 4 be the vertices of the rectangular K with sides parallel
to the axis in
2
.
Dene: Q
1
(K) = { v : v is bilinear on K, i.e.,
v (x) = a
00
+ a
10
x
1
+ a
01
x
2
+ a
11
x
1
x
2
, x K, a
ij
}
A function v Q
1
(K) is uniquely determined by the values v(a
i
), i =
1, 2, 3, 4.
If K
1
, K
2
have a common side S and v
1
, v
2
Q
1
(K
i
) agree at the end
points of S, then v
1
v
2
= 0 on S since v
1
v
2
varies linearly on S.
We dene V
h
= {v C
0
(
) : v|
K
Q
1
(K), K T
h
} where
T
h
= {K} is a subdivision of into non-overlapping rectangles such
that no vertex of any rectangle lies on a side of another rectangle.
The values at the nodes are the global degrees of freedom.
N. Zabaras 30
2
: Biquadratic functions
We can also use polynomials of higher degree on each rectangle. For
example, we may choose
V
h
=
_
v C
0
_
_
: v|
K
Q
2
(K) , K T
h
_
where Q
2
(K) is the set of biquadratic functions on K, i.e.,
Q
2
(K) =
_
_
v : v (x) =
2
i,j=0
a
ij
x
i
1
x
j
2
, x K, a
ij

_
_
For this elements, we use as global degrees of freedom the following:
1. the values at the nodes of T
h
,
2. the values at the midpoints of the sides of T
h
,
3. the values at the midpoint of each rectangle K T
h
.
N. Zabaras 31
Finite element examples
In the elements shown, the various dof are denoted as follows:
function values
values of the rst derivatives
values of the second derivatives
/ value of the normal derivative
value of the mixed derivative

2
v
x
1
x
2
N. Zabaras 32
Local support of nite element basis functions
The support is always local.
If and are two basis functions associated with the nodes N
1
and N
2
,
then the supports of the functions and overlap only if N
1
and N
2
belong to the same element.
The basis functions shown below correspond to a node, midpoint of a side
and a point in the interior.

Examples of Finite Elements and Finite Element Spaces

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N.

), for 2nd order boundary value problems

), for 4th order boundary value problems

v, || = 1, exist and are piecewise continuous, e.g.

), then the derivatives D

) is a nite element, where

v is continuous at the nodes for

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