3
= 0, 0, 0, 0.25, 0.5, 0.75, 1, 1, 1. (b) NURBS basis functions
used for the approximation. . . . . . . . . . . . . . . . . . . . . . 123
4.4 Eects of the creation of a mesh with linear elements on a real
world model built using Tsplines. . . . . . . . . . . . . . . . . . 127
4.5 Ring plotted using Algorithm 3.9 with Bsplines, using data in
Table 4.2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
4.6 Comparison of (a) Lagrange polynomials interpolating 5, 6 and 6
points and (b) Bsplines approximating the same points, taking
those as control points. . . . . . . . . . . . . . . . . . . . . . . . . 134
4.7 Example of knot insertion where two new knots 0.3 and 0.6 have
been added to the initial knot vector. . . . . . . . . . . . . . . . . 136
4.8 Example of knot insertion in a square plate with a hole. . . . . . 140
University of Padua Faculty of Engineering
LIST OF FIGURES 9
5.1 Triangular mesh on the rectangular plate for the solution of a
simple thermal problem. . . . . . . . . . . . . . . . . . . . . . . . 166
5.2 Approximated solution of a thermal problem with FEM on the
square plate using a mesh with 2705 nodes. . . . . . . . . . . . . 167
5.3 Approximated solutions of problems (5.2), (5.3) and (5.4) found
using FEM with a mesh with 2705 nodes. . . . . . . . . . . . . . 167
5.4 Representations of the approximated solutions of the problem
(5.1) calculated using IGA, with integration using adaptive re
cursive Simpsons rule, with a mesh of 4 elements in each direction.168
5.5 Representations of the approximated solutions of the problem
(5.2) calculated using IGA with integration using adaptive recur
sive Simpsons rule, with a mesh of 4 elements in each direction. 168
5.6 Representations of the approximated solutions of the problem
(5.3) calculated using IGA with integration using adaptive recur
sive Simpsons rule, with a mesh of 4 elements in each direction. 169
5.7 Representations of the approximated solutions of the problem
(5.4) calculated using IGA with integration using adaptive recur
sive Simpsons rule, with a mesh of 4 elements in each direction. 169
5.8 Approximated solutions using FEM with 25 nodes on the left,
IGA with 25 nodes on the right. . . . . . . . . . . . . . . . . . . 169
5.9 Details of meshes for the plate with hole. . . . . . . . . . . . . . 170
5.10 Approximated solutions of the problems (5.5) on the top left,
(5.6) on the top right, (5.7) on the bottom left and (5.8) on the
bottom right, using linear elements in FEM analysis with a mesh
with 2609 nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
5.11 Representations of the approximated solution of the problem (5.5)
calculated using IGA with integration using adaptive recursive
Simpsons rule, with a mesh of 4 elements in each direction. . . . 172
5.12 Representations of the approximated solution of the problem (5.6)
calculated using IGA with integration using adaptive recursive
Simpsons rule, with a mesh of 4 elements in each direction. . . . 173
5.13 Representations of the approximated solution of the problem (5.7)
calculated using IGA with integration using adaptive recursive
Simpsons rule, with a mesh of 4 elements in each direction. . . . 173
5.14 Representations of the approximated solution of the problem (5.8)
calculated using IGA with integration using adaptive recursive
Simpsons rule, with a mesh of 4 elements in each direction. . . . 173
5.15 Approximated solutions using FEM with 36 nodes on the left,
IGA with 35 nodes on the right. . . . . . . . . . . . . . . . . . . 174
5.16 Representations of the approximated solution of the problem (5.5)
calculated using IGA with optimized Gauss twodimensional in
tegration, with a mesh of 4 elements in each direction. . . . . . . 174
5.17 Representations of the approximated solution of the problem (5.6)
calculated using IGA with optimized Gauss twodimensional in
tegration, with a mesh of 4 elements in each direction. . . . . . . 174
5.18 Representations of the approximated solution of the problem (5.7)
calculated using IGA with optimized Gauss twodimensional in
tegration, with a mesh of 4 elements in each direction. . . . . . . 175
University of Padua Faculty of Engineering
10 LIST OF FIGURES
5.19 Representations of the approximated solution of the problem (5.8)
calculated using IGA with optimized Gauss twodimensional in
tegration, with a mesh of 4 elements in each direction. . . . . . . 175
5.20 Process of hrenement on
S
for the problem (5.4). . . . . . . . 176
5.21 Process of hrenement on
P
for the problem (5.8). . . . . . . . 177
5.22 hrenement of domain
1
. . . . . . . . . . . . . . . . . . . . . . 178
5.23 Solution of problem (5.11) found by using IGA. . . . . . . . . . . 179
5.24 Solution of problem (5.10) found by using IGA. . . . . . . . . . . 180
5.25 hrenement of domain
2
. . . . . . . . . . . . . . . . . . . . . . 181
5.26 Solution of problem (5.11) found by using IGA. . . . . . . . . . . 181
5.27 Solution of the problem (5.12) on the domain
S
with g
N
= 0. . 183
5.28 Solution of the problem (5.13) on the domain
P
with g
N
= 0. . 184
5.29 Solution of the problem (5.14) on the domain
1
with g
N
= 0. . 185
5.30 Solution of the problem (5.12) on the domain
S
with g
N
= 1. . 186
5.31 Solution of the problem (5.13) on the domain
P
with g
N
= 1. . 187
5.32 Solution of the problem (5.14) on the domain
1
with g
N
= 1. . 188
5.33 Solution of the problem (5.12) on the domain
S
with g
N
= 9x. . 189
5.34 Solution of the problem (5.13) on the domain
P
with g
N
= 9x. 190
5.35 Solution of the problem (5.14) on the domain
1
with g
N
= 9x. . 191
University of Padua Faculty of Engineering
List of Tables
3.1 Comparison between parametric and implicit forms of curves on
the xy plane and surfaces in the xyz space. . . . . . . . . . . . . 72
3.2 Scheme of structure ndu(i,j) used in Algorithm 3.4 to store the
elements necessary for the computation. . . . . . . . . . . . . . . 87
3.3 Data used for the construction of the NURBS circle of Figure 3.16.102
3.4 Data used for the construction of the NURBS surface of Figure
3.18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
4.1 Comparison of the elements of FEM and Isogeometric Analysis. . 116
4.2 Data for ring of Figure 4.5 (continues to Table 4.3). . . . . . . . 132
4.3 Data for ring of Figure 4.5 (continues from 4.2). . . . . . . . . . . 133
4.4 Number of integration points necessary for the exact evaluation
of
1
1
() d, with o
p,k
and k ([1, p 1] N). . . . . . 143
4.5 Number of integration points (function evaluations) for Gauss
integration and halfpoint rule to exactly integrate elementwisely
a function in o
p,p1
(/
h
(R)). . . . . . . . . . . . . . . . . . . . . 145
4.6 Sets to which the terms to be integrated belong while integrating
piecewiselinear continuous basis functions and piecewisequadratic
C
1
basis functions. The force vector, stiness matrix, linear ad
vection and nonlinear advection terms are analyzed. . . . . . . . 146
4.7 Gauss points and weights for exact quadrature in [0, 1) of func
tions o
2,0
([0, 1)). . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
4.8 Gauss points and weights for exact quadrature in [0, 1) of func
tions o
3,0
([0, 1)). . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
4.9 Gauss points and weights for exact quadrature in [0, 1) of func
tions o
4,0
([0, 1)). . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
4.10 Gauss points and weights for exact quadrature in [0, 1) of func
tions o
6,0
([0, 1)). . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
4.11 Gauss points and weights for exact quadrature in [0, 1) of func
tions o
4,1
([0, 1)). . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
11
12 LIST OF TABLES
University of Padua Faculty of Engineering
List of Algorithms
2.1 Algorithm to compute the Lagrange polynomial interpolating the
points provided. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.1 Algorithm for the determination of the knot span in which the
provided value lies. . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.2 Algorithm for the evaluation of every nonvanishing Bspline basis
function in the provided value. . . . . . . . . . . . . . . . . . . . 82
3.3 Algorithm for the computation of the i
th
Bspline basis function
in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.4 Algorithm for the determination of the derivatives of order 0
k n of all the nonvanishing Bspline basis functions in the
specied (continues to Algorithm 3.5). . . . . . . . . . . . . . . 85
3.5 Algorithm for the determination of the derivatives of order 0
k n of the i
th
Bspline basis function in the specied (con
tinues from Algorithm 3.4). . . . . . . . . . . . . . . . . . . . . . 86
3.6 Algorithm for the determination of the derivatives of order 0
k n of the i
th
Bspline basis function in the specied . . . . . 89
3.7 Algorithm to compute the value in the physical space of a curve
given its value in the parametric space. . . . . . . . . . . . . . . . 91
3.8 Algorithm for the evaluation of the derivative of a Bspline curve. 92
3.9 Algorithm for the computation of the value of a Bspline surface
in [, ]
T
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
3.10 Algorithm for the computation of the value of the Bspline surface
derivatives in a provided point of the parametric space. . . . . . 98
3.11 Algorithm for the evaluation of the i
th
NURBS basis function. . 100
3.12 Algorithm for the evaluation of the derivative of a NURBS basis
function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
3.13 Algorithm for the evaluation of a NURBS curve. . . . . . . . . . 104
3.14 Algorithm for the evaluation of the derivatives of a NURBS curve.104
3.15 Algorithm for evaluating the value of a NURBS surface in (, ). 109
3.16 Algorithm for the evaluation of the derivative of a NURBS surface.110
4.1 Algorithm for the computation of the DOFs through IGA in a
onedimensional problem. . . . . . . . . . . . . . . . . . . . . . . 124
4.2 Knot insertion algorithm for curves. . . . . . . . . . . . . . . . . 137
4.3 Knot insertion algorithm for surfaces (continues to Algorithm 4.4).138
4.4 Knot insertion algorithm for surfaces (continues from Algorithm
4.3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
4.5 Algorithm for the computation of the Gauss integration points
and weights for exactly integrate functions in o
p,k
([0, 1]). . . . 147
13
14 LIST OF ALGORITHMS
4.6 Algorithm for the computation of the value of each equation in
the nonlinear system for a possible solution x. . . . . . . . . . . . 148
4.7 Algorithm for the computation of the weights and of the quadra
ture points for the integration of a twodimensional function
o
p,q
k
,k
H
(/
h
(M
m
)) (continues to Algorithm 4.8). . . . . . . . . . 152
4.8 Algorithm for the computation of the weights and of the quadra
ture points for the integration of a twodimensional function
o
p,q
k
,k
H
(/
h
(M
m
)) (continues from Algorithm 4.7). . . . . . . . . 153
4.9 Algorithm for the computation of the value of each equation in
the nonlinear system for a possible solution x. . . . . . . . . . . . 154
4.10 Computation of the force vector and of the stiness matrix for
nonhomogeneous Dirichlet conditions. . . . . . . . . . . . . . . . 156
4.11 Process of renement which produces a uniform mesh with
(ca)
/b
elements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
4.12 Algorithm for the computation of the integral necessary to build
the stiness matrix using the concepts reported in [37] (adaptive
recursive Simpsons rule). . . . . . . . . . . . . . . . . . . . . . . 157
4.13 Algorithm for the computation of the integral necessary to build
the stiness matrix using the concepts of 4.6. . . . . . . . . . . . 158
4.14 Algorithm for the computation of the integral necessary to build
the force vector using the concepts reported in [37] (adaptive
recursive Simpsons rule). . . . . . . . . . . . . . . . . . . . . . . 158
4.15 Algorithm for the computation of the integral necessary to build
the force vector using the concepts of 4.6. . . . . . . . . . . . . . 158
4.16 Algorithm for the computation of the integrand for the stiness
term (continues to Algorithm 4.17). . . . . . . . . . . . . . . . . 159
4.17 Algorithm for the computation of the integrand for the stiness
term (continues from Algorithm 4.16). . . . . . . . . . . . . . . . 160
4.18 Algorithm for the computation of the integrand necessary to build
the force vector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
4.19 Computation of the term of the force vector taking into account
the Neumann conditions applied to the boundaries. . . . . . . . . 162
4.20 Integrand of the Neumann term. . . . . . . . . . . . . . . . . . . 163
University of Padua Faculty of Engineering
Chapter 1
Introduction
An ecient way of describing the behaviour of a system (e.g. natural systems)
is to use a mathematical model. Among the mathematical models, dierential
equations (briey described in Section 1.3) are commonly used when trying to
relate functions to their rates of change. Examples of processes described by dif
ferential equations are constructions, weather, ow of liquids (e.g. ow of blood
in human veins), deformation of solid bodies, heat transfer, chemical reactions,
electromagnetism etc... Dierential equations can be grouped in Ordinary Dif
ferential Equations (ODEs) and Partial Dierential Equations (PDEs). ODEs
are equations in which the unknown function is a function of a single variable;
vice versa in PDEs the unknown function is a function of multiple variables.
The manipulation of models is an important task for people to control, predict
and understand the processes they describe.
Unfortunately, we are not able to nd exact solutions for many of these types
of equations, and sometimes we dont even know whether the solution exists or
not or whether it is unique or not. However, approximation methods exist, and
one of these is the Finite Element Method (FEM). FEM is currently one of the
most ecient way of nding approximations for PDEs for which were not able to
nd an exact solution. The idea of FEM is to divide the domain of the problem
in nite elements where a nite set of polynomial basis functions is dened, and
which create the basis for the space where the approximated solution is searched.
This way, the problem is transformed into a discrete problem, as the solution is
expressed through a nite number of unknown parameters. A key concept in this
process is the choice of the nite set of polynomials used in the approximation:
until recent times, mostly simple shape functions were used, so as to simplify
implementation and usage. During the last years, the usage of higherorder
shape functions has been reconsidered, due to their superior approximation
capabilities. However, employing such more complex shape functions requires a
better understanding of the underlying mathematics. Chapter 2 reports a brief
discussion of nite elements and of the main concepts of FEM.
A new development of FEM has been recently proposed in [3, 18] (but already
proposed before in [15]) and named Isogeometric Analysis (IGA). This can be
considered an improvement which generalizes the concepts of FEM through
a dierent denition of the basis functions using CAD basis functions, whose
description is reported in Chapter 3.
This new idea is described in Chapter 4. Examples of usage of IGA are given
15
16 CHAPTER 1. INTRODUCTION
Figure 1.1: Current automated design loop.
in Chapter 5.
1.1 Automated Design Loop
Automated design loops are now used in industrial environments to create and
optimize models. These loops are made up of many phases, each employing
dierent input/output technologies and each belonging to dierent scientic
elds. It is dicult, therefore, to let data be processed by all these phases: this
results in a considerable overhead due to frequent translations and adaptations
of the same model. A representation of the loop can be seen in Figure 1.1.
A CAD modeler is rst used in order to design a rst draft of the sys
tem under construction. This model can be described using any kind of CAD
functions, such as Bsplines, NURBSs or Tsplines (see 3), for instance. This
model is then the input of the grid generator, which creates a grid on the CAD
model. This causes a deep modication of the geometry (see Figures 2.4, 2.3
and 5.9). Typically, in fact, piecewiselinear functions are used to approximate
the boundaries, for example using a triangulation technique. The grid generated
is then passed to the optimization loop, which simulates some kind of situation,
and, according to the results, deforms the grid so as to maximize an objective
function. The deformed grid is then passed back to the CAD modeler for the
manufacturing process. This loop has several drawbacks:
it spans many dierent technological elds, causing integration issues;
it includes many dierent representations of similar concepts, requiring
translations and conversions;
it needs several dierent software with several dierent input/output for
mats.
The loop just presented is the loop resulting when FEMbased solvers are used.
A completely dierent approach is that of IGA (see Figure 1.2). The concept
is to perform computations on parametric curves, surfaces and volumes instead
of grids: thus, the grid generator is replaced by the volumetric modeler, which
builds a CAD domain needed by the optimization loop. Simulations are, in the
University of Padua Faculty of Engineering
CHAPTER 1. INTRODUCTION 17
Figure 1.2: Isogeometric automated design loop.
loop, carried out performing integrations on the CAD basis functions. Far less
overhead should be introduced in this approach, which can now be merged in
one single process. This approach is a step towards integration of CAD and
FEM.
1.2 Approximation
As already remarked, the problem of nding a function satisfying a PDE or a
system of PDE and some additional constrains, is not exactly solvable in general.
It is therefore necessary to approximate the resulting function starting from a
certain number of known values, the degrees of freedom (DOFs). FEM and IGA
are responsible of nding these values.
Assume C is a set of functions where C V and V is a linear space. If g V ,
an approximation problem consists in nding a function g
C
C which is close
to g, where the term close is to be dened some way. The measure of the quality
of the approximation can be dened, for instance, as the norm g g
C

V
if the
linear space V is a normed space. In this case, the best approximation is that
function g
C
which minimizes the distance between g
C
and g. The approximation
problem becomes an interpolation when g
C
has to satisfy some constraints,
generally dened by
L
i
(g
C
) = b
i
, i = 1, . . . , N
C
,
with L
i
: V R independent linear forms in V
and b
i
given constraints. This
is the case for the Lagrange interpolation in 2.3.4.1, for instance.
It is clear that the choice of the space C is critical to get an approximation
close to the exact solution. The features of the approximation using one of the
sets or the other will be explored in detail in 2.2 and in 4.4.
1.2.1 Best interpolant
Assume V
= Pg V
in the norm 
V
. The orthogonal projection is dened as
g g
, v
V
= 0, v
,
or, assuming v
1
, . . . , v
N
V
is a basis of V
g g
, v
V
= 0, v
i
, i = 1, . . . , N. (1.1)
Being V
=
N
j=1
g
j
v
j
,
which can be substituted in (1.1), yielding
N
j=1
g
j
, v
i
_
V
= g, v
V
, i = 1, . . . , N.
This is a linear system in the unknowns g
1
, . . . , g
N
.
1.3 Partial Dierential Equations (PDEs)
PDEs encountered in physics and engineering are mostly secondorder PDEs
which are usually either elliptic, parabolic or hyperbolic. Elliptic equations de
scribe the particular state of a system characterized by the minimum of a spe
cic quantity (usually energy), parabolic problems mostly describe its evolution
whereas hyperbolic equations model the transport of some physical quantity or
information. Any other kind of secondorder PDE is said to be undetermined.
The general form of a secondorder PDE dened on an open connected
1
set
(see Subsubsection A.2.1) Z R
n
in n independent variables z = (z
1
, . . . , z
n
)
T
can be expressed as
i,j=1
z
i
_
a
ij
u
z
j
_
+
n
i=1
_
z
i
(b
i
u) +c
i
u
z
i
_
+a
0
u = f (1.2)
where a
ij
, b
i
, c
i
, a
0
and f are all functions of the variable z. For all derivatives to
exist it is necessary to be: u C
2
(Z), a
ij
C
1
(Z), b
i
C
1
(Z), c
i
C
1
(Z),
a
0
C (Z) and f C (Z) (for the denition of continuity see Section B.1).
According to this way of expressing a PDE, it is possible to dene the terms
elliptic, parabolic and hyperbolic used above.
Denition 1.1. According to the equation (1.2) and to the matrix A(z) =
a
ij
n
i,j=1
, the equation is said to be elliptic at z Z if A(z) is positive denite,
parabolic if both at z Z A(z) is positive semidenite (and not denite) and
the rank of (A(z) , b (z) , c (z)) is n and hyperbolic when at z Z A(z) has
one negative and n 1 positive eigenvalues. An equation is elliptic, parabolic
or hyperbolic when it is elliptic, parabolic or hyperbolic for all z Z.
1
A connected space is a topological space which cannot be represented as the union of two
or more disjoint nonempty open subsets. A subset of a topological space X is a connected set
if it is a connected space when viewed as a subspace of X.
University of Padua Faculty of Engineering
CHAPTER 1. INTRODUCTION 19
Remark 1.2. In practice we distinguish between timeindependent PDEs (like
elliptic PDEs) and timedependent PDEs. For a timeindependent equation, we
dene n = d (d is the spatial dimension) and z = x (x is the spatial variable).
In case the equation is timedependant, it is useful to dene n = d+1 (d spatial
dimensions plus time) and z = (x, t), where t represents the time. The same
way, we dene Z to be a domain which comprise both space and time, and we
use when the domain is timeindependent. When there is the special case in
which the equation is timedependant but the spatial domain is not, we use the
expression spacetime cylinder, and we denote it with Z = (0, T) ( is the
spatial portion of the domain, (0, T) is the time interval).
Denition 1.3. It is useful to dene the elliptic operator L which allows the
writing of PDEs in a compact form (elliptic equations are timeindependent so
n = d and u = u(x) = u(z)):
Lu =
n
i,j=1
x
i
_
a
ij
x
j
_
+
n
i=1
_
x
i
(b
i
u) +c
i
u
x
i
_
+a
0
u. (1.3)
1.4 Secondorder elliptic equations
Secondorder elliptic equations are briey presented: weak formulation is de
rived, nonhomogeneous Dirichlet boundary conditions and Neumann boundary
conditions are introduced.
1.4.1 Weak formulation
Assuming an elliptic equation in the form of the equation (1.2), it is possible to
consider the alternate model equation
(a
1
u) +a
0
u = f (1.4)
where a
ij
(x) = a
1
(x)
ij
and b (x) = c (x) = 0 in , and is R
d
with
Lipschitzcontinuous
2
boundary.
The simplest case is obtained imposing the homogeneous Dirichlet boundary
conditions
u(x) = 0, x (1.5)
which assure the solution function will vanish on the boundary of the domain.
In these conditions, the strong or classical solution to the problem consisting
of the equations (1.4) and (1.5) is a function u C
2
() C
_
_
for which (1.4)
is true for all x and (1.5) is true for all x . Unfortunately, it is not
possible to guarantee the solvability of the problem in any way.
Nevertheless, it is possible to introduce an alternative model of the problem
(1.4), (1.5). This model, named weak formulation, can be derived following four
steps which begin with the use of (1.4).
2
Given two metric spaces (X, d
X
) and (Y, d
Y
), where d
X
denotes the metric on the set X
and d
Y
denoted the metric on the set Y , a function f : X Y is called Lipschitzcontinuous
if there exists a real constant K 0 such that, for all x
1
and x
2
in X
d
Y
(f (x
1
) , f (x
2
)) Kd
X
(x
1
, x
2
) .
University of Padua Faculty of Engineering
20 CHAPTER 1. INTRODUCTION
1. Multiply with a test function (also named weight function of variation)
C
0
() (for a denition of C
0
() see Subsubsection A.4.1):
(a
1
u) +a
0
u = f.
2. Integrate over the domain :
(a
1
u) dx +
a
0
ux =
fx.
3. Using the Greens theorem (see Subsection A.4.2) it is possible to reduce
the maximum order of the derivatives:
a
1
u dx +
a
0
udx =
fdx +
a
1
u
n
dS.
Furthermore, it is to consider that is a distribution and, for what is
explained in Subsubsection A.4.1, is null on the boundary of the domain
, leading to
a
1
u dx +
a
0
udx =
fdx. (1.6)
4. It is possible to change the spaces assumed above, relaxing the restrictions.
It was necessary to assume u C
2
() C
_
_
and C
0
() but,
considering the equation (1.6) it is sucient to assume u U and V
with U = V = H
1
0
(), f L
2
() and a
1
, a
0
L
().
It is therefore possible now to formulate the problem in a dierent way: given
f L
2
(), nd a u U so that
(a
1
u +a
0
u) dx =
fdx, V.
The writing of the formulae above can be simplied employing the bilinear form
a (, ) : U V R and a linear form l () : V R dened respectively:
a (u, ) =
(a
1
u +a
0
u) dx
and
l () =
fdx.
(1.6) can then be rewritten in the simpler way
a (u, ) = l () .
1.4.2 Nonhomogeneous Dirichlet boundary conditions
The model reported so far assumes the homogeneous Dirichlet boundary con
ditions of the equation (1.5). It is necessary to extend the model in order to
accommodate for the presence of the nonhomogeneous Dirichlet boundary con
ditions
u(x) = g (x) , x . (1.7)
University of Padua Faculty of Engineering
CHAPTER 1. INTRODUCTION 21
where g C (). This requires to redene the set of trial solutions U with
U =
_
u[u H
1
() , u(x) = g (x) x
_
.
For reasons that will be explained afterwards, a new function C
2
()C
_
_
(called Dirichlet lift) for which = g on the boundary of so that
u = +, (1.8)
is dened, with V . By substitution, the problem (1.4), (1.7) yields:
_
(a
1
) +a
0
= f + (a
1
) a
0
, x
= 0, x
.
Following the four steps of the subsubsection 1.4.1, the weak formulation reads:
given f L
2
(), nd V for which
(a
1
+a
0
) dx =
(f a
1
a
0
) dx, V
or in the language of the linear forms
a (, ) = l () , V,
with
a (, ) =
(a
1
+a
0
) dx, V
l () =
(f a
1
a
0
) dx, V
given (1.7) and (1.8).
It is possible to prove that the solution is independent on the Dirichlet lift
.
1.4.3 Neumann boundary conditions
There are dierent kinds of boundary conditions which can be imposed to the
problem of the equation (1.4). Neumann boundary conditions can be expressed
with
u(x)
= g (x) , x . (1.9)
with g C ().
Following the usual four steps for the formulation of the weak form of the
problem, it can be seen that the function does not vanish anymore on the
boundary. This is because we now have to require both u and v to be C
()
C
1
(), as they have to be dierentiable on the boundary of , so that v doesnt
vanish anymore and a new integral appears in the nal formulation, which
becomes: given f L
2
() and g L
2
(), nd u U = H
1
() (solutions are
not required to vanish on the boundary anymore, so the trial solutions space is
no more H
1
0
but only H
1
) such that
(a
1
u +a
0
u) dx =
fdx +
a
1
gdS, V = H
1
()
University of Padua Faculty of Engineering
22 CHAPTER 1. INTRODUCTION
or in the language of the linear forms
a (u, ) = l () , H
1
()
where
a (u, ) =
(a
1
u +a
0
u) dx, , u H
1
()
l () =
fdx +
a
1
gdS, H
1
() ,
given (1.9).
1.4.4 Combination of boundary conditions
A formulation for a problem which is characterized by both Dirichlet and Neu
mann boundary conditions can be derived from the above discussion. The
boundary is divided in two parts such that =
N
D
, where
N
is the part of the boundary on which Neumann boundary conditions are im
posed and where
D
is the part on which Dirichlet conditions are dened. The
original form of the problem is then:
_
_
_
(a
1
u) +a
0
u = f, x
u = g
D
, x
D
u = g
N
, x
N
. (1.10)
Before beginning with the rst step of the process of derivation of the weak
formulation, it is necessary to extend the function g
D
which needs to be C (
D
)
with a function g
D
C () such that it is g
D
g
D
on
D
. Next, as stated
above, it is necessary to dene a Dirichlet lift so that it is possible to express
the solution u with the sum + with = g
D
. By substitution we get
_
_
(a
1
( +)) +a
0
( +) = f, x
+ = g
D
, x
D
( +)
= g
N
, x
N
,
which can be further modied to get
_
_
(a
1
) +a
0
= f + (a
1
) a
0
, x
= 0, x
D
( +)
= g
N
, x
N
. (1.11)
The four steps for the derivation of the weak formulation yield to the prob
lem: nd a function H
1
() such that
(a
1
+a
0
) dx =
(f a
1
a
0
) dx +
N
(a
1
g
N
) dS, H
1
() . (1.12)
University of Padua Faculty of Engineering
CHAPTER 1. INTRODUCTION 23
The result can now be rewritten in the language of the linear forms:
a (, ) = l () , H
1
() (1.13)
where
a (, ) =
(a
1
+a
0
) dx, , H
1
()
l () =
(f a
1
a
0
) dx +
N
(a
1
g
N
) dS, H
1
() .
1.5 Secondorder parabolic equations
Another important class of PDEs is the class of secondorder parabolic equa
tions, which is a generalization of an important particular case: the heat equa
tion. Let R
d
be an open set with Lipschitzcontinuous boundary. We will
refer to the equation in the form
u(x, t)
t
+L(u(x, t)) = f (x, t) , in , (1.14)
where t is the temporal variable, n = d+1 and L is an elliptic operator with time
independent coecients only of the form of Equation (1.3). Equation (1.14) is
considered in the time cylinder introduced in Remark 1.2 Z
T
= (0, T), with
T > 0.
1.5.1 Weak formulation
The simplest case is that of homogeneous Dirichlet boundary condition, which
yields a problem of the form
_
_
u
t
+Lu = f, in Z
T
u = 0, on (0, T)
u = g, on t = 0
.
It is necessary to assume a
ij
, b
i
, c
i
L
(Z
T
), f L
2
(Z
T
) and g L
2
(Z
T
).
The process of derivation of the weak formulation is similar to that used in the
elliptic case, except for the presence of the timedependant part of the equation.
For this we need to dene some spaces.
Denition 1.4. By L
q
_
0, T; W
k,p
()
_
we denote the space
_
u : (0, T) W
k,p
() , u is measurable and
T
0
u(t)
q
k,p,
dt <
_
,
endowed with the norm
u
L
q
(0,T;W
k,p
())
=
_
T
0
u(t)
q
k,p,
dt
_
1
q
.
The symbol u(t) indicates a function of x such that u(t) : x u(x, t).
University of Padua Faculty of Engineering
24 CHAPTER 1. INTRODUCTION
Denition 1.5. We dene the space
C ([0, T] ; L
p
()) =
_
u : [0, T] L
p
() : u(t)
p,
is continuous in [0, T]
_
.
Analogously we dene the space
C
_
[0, T] ; W
k,p
()
_
=
_
u : [0, T] W
k,p
() :
u(t)
k,p,
is continuous in [0, T]
_
.
With these denitions it is possible to derive a weak formulation for ho
mogeneous Dirichlet boundary conditions. The problems with the assumptions
above and u
0
H
1
0
() is to nd u L
2
(0, T; V ) C
_
[0, T] ; L
2
()
_
for which
d
dt
u(t) , v
L
2
+a (u(t) , v) = f (t) , v
L
2
, v V, t (0, T)
and
u(0) = u
0
.
The denition of the bilinear form a (, ) is
a (u, v) =
_
_
d
i,j=1
a
ij
u
x
j
v
x
i
i=1
_
b
i
u
v
x
i
c
i
v
u
x
i
_
+a
0
uv
_
_
dx. (1.15)
The nonhomogeneous Dirichlet boundary conditions are treated the same way
they were treated in the elliptic case, using the Dirichlet lift; the same holds for
the Neumann boundary conditions.
1.6 Secondorder hyperbolic equations
The form of an hyperbolic equation can be expressed with the equation
2
u
t
2
+Lu = f,
where L is en elliptic operator of the form
L =
d
i,j=1
x
i
_
a
ij
x
j
_
.
As in the case of parabolic equations we are interested in solving the equation
in the time cylinder Z
T
= (0, T), with R
d
an open bounded set with
Lipschitzcontinuous boundary.
1.6.1 Weak formulation
Given the denition of the problem and the denitions of Subsubsection 1.5.1
we can formulate the problem: given f L
2
(Z
T
) and the initial conditions u
0
University of Padua Faculty of Engineering
CHAPTER 1. INTRODUCTION 25
H
1
0
() and u
1
L
2
(), nd a function u C
_
[0, T] ; H
1
0
()
_
C
1
_
[0, T] ; L
2
()
_
such that
_
_
d
2
dt
2
u(t) , v
L
2
+a (u(t) , v) = f (t) , v
L
2
, v H
1
0
() , t (0, T)
u(0) = u
0
du
dt
(0) = u
1
where the denition of a (, ) is that given in Equation (1.15).
University of Padua Faculty of Engineering
26 CHAPTER 1. INTRODUCTION
University of Padua Faculty of Engineering
Chapter 2
Finite Element Method
A very ecient and widely used method for approximating solutions of PDEs
is the Finite Element Method. In this chapter the fundamental elements are
presented. In Section 2.1 we describe the idea of the Galerkin method, which is
necessary to obtain a discrete problem, so that a solution u V , where V is a
space of innite dimension, is approximated with a function u
n
V
n
with V
n
of
nite dimension. When the space V
n
comprise piecewisepolynomial functions
only, the Galerkin method is called Finite Element Method. FEM divides the
domain of the problem in nite elements, and denes the functions belonging
to V
n
on them. In Section 2.2, the nite elements are formally dened. In 2.3
onedimensional problems are examined, and the order of the polynomials is
discussed. Twodimensional and threedimensional problems are reported in 2.4
and 2.5. In 2.6 the description of the geometry is taken into account, and in 2.7
integration over this geometry is analyzed. Some discussions on performance
and eciency are then proposed.
2.1 Galerkin method
The Galerkin method faces the problem of nding a function u belonging to a
Hilbert space V such that
a (u, ) = l () , V (2.1)
with a (, ) : V V R and l () : V R. The problem expressed by the
equation (2.1) is formulated in a space V of innite dimensions. It is not possible
therefore to nd a solution as a function of an innite number of unknown
parameters. Hence, the idea of the method is to reduce the dimension of the
space V , dening a sequence of subspaces such that
V
n
V
n+1
. . . V. (2.2)
In each subspace it is possible to nd an approximate solution of the problem
of the equation (2.1). If we consider the sequence of solutions u
n
V
n
, n =
1, . . . , + it can be seen that they converge to the exact solution u V
lim
n+
u
n
u = 0.
27
28 CHAPTER 2. FINITE ELEMENT METHOD
The problem of nding a solution u
n
V
n
satisfying
a (u
n
, ) = l () , V
n
(2.3)
is called discrete problem.
The solution to the problem (2.3) can be found considering that u
n
is a
function belonging to a space of nite dimension which is also a linear space
dim(V
n
) = N
n
, and so it can be expressed as a linear combination of the basis
functions:
u
n
=
N
n
1
i=0
u
i
v
i
where v
i
N
n
1
i=0
is a basis for the space V
n
. By substitution in (2.3) we get
a
_
N
n
1
i=0
u
i
v
i
,
_
= l () , V
n
.
Considering the linearity of the a (, ) operator it is possible to move the coef
cients of the linear combination outside of the operator:
N
n
1
i=0
u
i
a (v
i
, ) = l () , V
n
.
The equation needs to be an identity for all the functions V
n
and so even
for the basis functions v
j
N
n
1
j=0
. We obtain:
N
n
1
i=0
u
i
a (v
i
, v
j
) = l (v
j
) , j = 0, . . . , N
n
1. (2.4)
It is possible to write equation (2.4) using matrices:
S
n
U
n
= F
n
,
where
S
n
= [a (v
i
, v
j
)]
N
n
1
i,j=0
is the stiness matrix,
U
n
= [ u
i
]
N
n
1
i=0
is the unknown vector and
F
n
= [l (v
j
)]
N
n
1
i=0
is the force vector.
Remark 2.1. In this presentation the subscript n has been used to distinguish
between Galerkin subspaces. However, the subscript h is often used, and it
indicates the size of the elements of the mesh
1
, as we will see afterwards in
Subsection 2.3.1. Nothing changes in what has been said, as h can be seen as a
function h(n) so that in the Galerkin procedure
lim
n+
u
n
= lim
h(n)0
u
h(n)
.
1
The mesh is a subdivision of the domain. It will be explained in more details afterwards.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 29
2.1.1 Convergence
Theorem 2.2. Let V be an Hilbert space and V
1
V
2
. . . V a sequence of
its nite dimensional subspaces such that
+
_
n=1
V
n
= V.
Let a (, ) : V V R be a bounded bilinear Velliptic form and l V
. Then
lim
n+
u u
n

V
= 0. (2.5)
Remark 2.3. By saying that (2.5) we say that the Galerkin method converges
to the exact solution when approximating with spaces nearer and nearer to the
original space V .
2.2 Nodal elements and unisolvency
A fundamental concept in nite element analysis is that of the nodal element.
A possible formal denition can be given:
Denition 2.4. The nodal nite element is a triple (K, P, /) where
K R
d
is a bounded domain with Lipschitzcontinuous boundary;
P is a space of polynomials dened on the domain K with dim(P) = N
P
;
/ = L
0
, L
1
, . . . , L
N
P
1
is a set of linear forms (called degrees of freedom
(DOF)) whose denition is
L
j
: g P g (x
j
) R
where the x
j
s are the nodal points.
Given the denition of nodal nite element, it is important to dene the
concept of unisolvency: this is a property a nodal nite element is required to
have so that it is guaranteed that the vector
U
n
= S
1
n
F
n
identies a unique polynomial
u
n
=
n1
i=0
u
i
v
i
where u
n
is a solution of the discrete problem and v
0
, v
1
, . . . , v
n1
is a basis of
the space where to nd the solution.
Denition 2.5. A nodal nite element (K, P, /) is said to be unisolvent if for
every g P
L
0
(g) = L
1
(g) = . . . = L
N
P
1
(g) = 0 g = 0.
University of Padua Faculty of Engineering
30 CHAPTER 2. FINITE ELEMENT METHOD
Lemma 2.6. Assuming (K, P, /) is a unisolvent nodal nite element, given
any set of numbers g
0
, g
1
, . . . , g
N
P
1
R
N
P
, with dim(P) = N
P
, there exists
a unique polynomial g P so that
L
0
(g) = g
0
, L
1
(g) = g
1
, . . . , L
N
P
1
(g) = g
N
P
1
.
Denition 2.7. Assuming (K, P, /) is a nodal nite element where dim(P) =
N
P
, a set of functions T = v
0
, v
1
, . . . , v
N
P
1
is a nodal basis of P if it is true
that
L
i
(v
j
) =
ij
, 0 i, j N
P
1. (2.6)
In this case the functions v
i
are called nodal shape functions.
Given these denitions it is possible to enunciate the theorem on unisolvency.
Theorem 2.8. Consider a nodal nite element (K, P, /) with dim(P) = N
P
.
The nite element is unisolvent if and only if there exists a unique nodal basis
T = v
0
, v
1
, . . . , v
N
P
1
P.
Theorem 2.8 allows the denition of a procedure for checking the unisolvency
of a dened nodal nite element.
1. Dene the arbitrary basis v
0
, v
1
, . . . , v
N
P
1
.
2. Build the Vandermonde matrix L = [L
i
(v
j
)]
N
P
1
i,j=0
.
3. If L is invertible the element is unisolvent, otherwise its not. If L
1
exists,
then it has the coecients a
jk
, j = 0, 1, . . . , N
P
1 in its k
th
column.
Another important denition is that of the local nodal interpolant. The in
terpolation on nite elements is a procedure that takes a function g V (
h
)
and produces a suitable piecewisepolynomial representant in the nite element
space g
h,p
V
h,p
(
h
), where
h
is an approximation of the domain , which
can even be exact, and V
h,p
is the space of piecewisepolynomials which will be
dened more precisely in Section 2.4.
Denition 2.9. Let v
0
, . . . , v
N
P
1
be the unique nodal basis for the unisol
vent nite element (K, P, /). Let g V , where P V , be a function for which
the values L
0
(g) , . . . , L
N
P
1
(g) are dened. Then the local nodal interpolant
is dened as
J
K
(g) =
N
P
1
i=0
L
i
(g) v
i
.
Interpolation on the nite elements will be even clearer when Theorem 2.24
will be enunciated.
2.2.1 Reference maps and isoparametric concept
An important concept in FEM is that of the ane reference map and of the
reference domain, as it makes the formulation and the implementation of FEM
systems more simple and ecient. The idea is to work on a reference domain
using a suitable set of nodal shape functions dened on it, reducing every other
nodal nite element to the reference by way of an ane reference map. More
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 31
precisely, we can dene a reference domain
K, a set of nodal shape functions on
K where N
en
is the number of nodes of the element and a reference map
x
K
m
:
K K
m
so that it is possible to map the nodal shape functions from the reference domain
to the domain K
m
without the need to dene nodal shape functions on every
domain of the mesh.
A reference map makes us able to map generally arbitrarily curved elements
of the mesh to reference elements. If the edges or the faces of the elements
are parametrized by nonpolynomial functions, then the reference map is non
polynomial. For an extensive study on the construction of nonpolynomial ref
erence maps see [31].
In order to make the implementation more ecient and simple, it is possible
to consider an approximation of reference maps called isoparametric. Isopara
metric reference maps are easier to store and to handle, partial and inverse
derivatives can be calculated more eciently. Reference maps are, so, approx
imated by polynomial functions that, for each element / /
h,p
, are dened
as a linear combination of the shape functions of the reference domain with
vectorvalued coecients. The isoparametric concept is commonly attributed
to [33, 20] and is based upon the use of the same shape functions for the deni
tion of the reference maps and for the approximate solution of the problem. It
has to be noticed anyway that no relation between reference maps and approx
imate solution exists. For lowestorder elements:
Denition 2.10. Let x
K
m
:
K K
m
be of the form
x() =
N
en
1
i=0
v
K
x
(m)
i
where x
i
is the i
th
node of the element K
m
and v
K
is the i
th
nodal shape
function. If the element interpolation function u
h,p
can be written as
u
h,p
() =
N
en
1
i=0
v
K
u
(m)
i
(2.7)
where u
(m)
i
is the i
th
degreeoffreedom of the element K
m
, the element is said
to be isoparametric.
2.2.2 Nodal elements and convergence of the Galerkin
method
A fundamental condition when building nodal elements is that it is desirable
(and in practice necessary) that nodal elements are designed in a way such that
as the mesh is rened, the solution of the Galerkin method converges to the
exact solution. This happens when the renement generates a situation like the
one reported in 2.1.1.
It is possible to enunciate three conditions, which are only sucient and not
necessary, for the convergence of the Galerkin method. Shape functions need to
be:
University of Padua Faculty of Engineering
32 CHAPTER 2. FINITE ELEMENT METHOD
Condition 2.11. smooth (C
1
shape functions) on the element interior;
Condition 2.12. continuous on the boundary of each element;
Condition 2.13. complete.
Condition 2.11 and 2.12 guarantee that the rst derivatives which are to be
computed exist. Guaranteeing C
0
at the boundaries means we will have, at
worst, nite jumps in the rst derivatives. If we permitted discontinuities, we
would have deltas in the derivatives and squares of the delta function would
appear in the calculation of the stiness integral. The completeness property
requires, instead, that the element interpolation function is capable of exactly
representing an arbitrary linear polynomial (when considering lowestorder ele
ments) when the nodal degreesoffreedom are given values in accordance with
it. Completeness is reasonable when thinking that, as the mesh is rened, the
exact solution approaches constant values over an element. This property as
sures that constant and linear functions can be represented.
2.2.3 Convergence of isoparametric elements
Denition 2.14. A mapping x
K
m
:
K K
m
R
d
is said to be onetoone if
for each pair of points
1
and
2
K such that
1
,=
2
, then x(
1
) ,= x(
2
).
Denition 2.15. A mapping x
K
m
:
K K
m
R
d
is said to be onto if
K = x
_
K
_
.
As a consequence of the inverse function theorem, if x
K
m
is:
Condition 2.16. onetoone;
Condition 2.17. onto;
Condition 2.18. C
k
, k 1;
Condition 2.19. J
x
K
m
() > 0,
K,
then the inverse mapping
K
m
= x
1
K
m
: K
m
K exists and is C
k
.
Proposition 2.20. Let the reference map satisfy all the conditions from 2.16
to 2.19. Then the smoothness requirement of point 1 is satised as well.
Remark 2.21. In practice, the mappings satisfy all the points from 2.16 to 2.19,
with the exception of mappings dening degenerations with coalesced nodes,
like the case of the triangular domain, which is seen as a quadrilateral with a
edge of length 0. In this case Condition 2.19 is not satised, in fact the Jacobian
determinant vanishes at certain nodal points. With the exception of these points
however, the mapping
K
m
remains smooth.
The third convergence condition is veried if the following proposition holds.
Proposition 2.22. If
N
en
1
i=0
v
K
= 1, then the completeness condition is sat
ised for isoparametric elements.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 33
Proof. Supposing d = 3 (the same holds for other values) and lowestorder
elements
h,p
() =
N
en
1
i=0
v
K
i
,
=
N
en
1
i=0
v
K
_
c
0
+c
1
x
(m)
i
+c
2
y
(m)
i
+c
3
z
(m)
i
_
,
= c
0
_
N
en
1
i=0
v
K
_
+c
1
_
N
en
1
i=0
v
K
x
(m)
i
_
+c
2
_
N
en
1
i=0
v
K
y
(m)
i
_
+
+c
3
_
N
en
1
i=0
v
K
z
(m)
i
_
,
= c
0
_
N
en
1
i=0
v
K
_
+c
1
x +c
2
y +c
3
z,
by using both the denition of reference map and nodal interpolant.
The convergence condition 2.12 has to be veried case by case, but it is quite
simple to satisfy.
2.3 Onedimensional problems
As a simple introduction to the framework, onedimensional problems are pre
sented. In 2.4 this presentation will be generalized to twodimensional problems.
2.3.1 Analysis with lowestorder elements
We start from the weak formulation for a onedimensional elliptic problem,
which is the same written in a more general form in (1.13):
a (, ) = l () , H
1
() (2.8)
with
a (, ) =
(a
1
+a
0
) dx
l () =
(f a
1
a
0
) dx +
_
a
1
( +)
b
a
equipped with the boundary conditions
= 0, x
D
( +)
= g
N
, x
N
where u = + and = g
D
in
D
, a sequence of steps is needed to get an
approximation.
University of Padua Faculty of Engineering
34 CHAPTER 2. FINITE ELEMENT METHOD
Mesh In one dimension, the domain can be as the open interval (a, b), which
can then be partitioned in M
n
intervals
a = x
0,n
< . . . < x
M
n
,n
= b.
These intervals form the so called mesh of the domain in one dimension
/
n
= K
1,n
, . . . , K
M
n
,n
where
K
i,n
= (x
i1,n
, x
i,n
)
is the i
th
nodal nite element (described in general form in 2.2) and the x
i
s are
called grid vertices. It is also possible to dene the mesh diameter h(n) as
h(n) = max
1iM
n
(x
i1,n
x
i,n
) .
Application of the Galerkin method The Galerkin subspace V
n
V con
sists (in FEM) of piecewisepolynomial functions of degree p
i
1 dened on
the nite elements
V
n
= v V : v P
p
i
(K
i,n
) i = 1, . . . , M
n
. (2.9)
A good choice of basis functions consists of functions with small support for
which as many as possible of them are disjoint. This way the term a (v
i
, v
j
) is
zero each time v
i
and v
j
are disjoint, generating a sparse stiness matrix, which
is far simpler and more ecient to handle by computers.
The most used basis for the space V
n
is the one formed by M
n
1 functions
of degree p
m
= 1, m dened by (suppose from now on that every x
i
and K
i
is
referred to the current mesh so that x
i
= x
i,n
and K
i
= K
i,n
):
v
i
(x) =
_
_
x x
i1
x
i
x
i1
, x K
i
x
i+1
x
x
i+1
x
i
, x K
i+1
0,
_
x (a, b) [x / K
i
x / K
i+1
_
, i = 1, . . . , M
n
1.
(2.10)
The shape functions
v
0
=
x
0
x
x
1
x
0
, x
0
x x
1
,
v
M
n
=
x x
M
n
x
M
n
x
M
n
1
, x
M
n
1
x x
M
n
,
are related to the boundary nodes. All these functions are called hat functions
or roof functions and, when used in FEM, are named basis or shape or vertex
functions. In this case the space V
n
is a piecewise linear nite element space.
Given this space, the function
n
is written
n
=
iG\G
D
i
v
i
,
where
G = 0, . . . , M
n
,
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 35
G
D
= i[i = 0, . . . , M
n
, x
i
D
.
The system of algebraic equations is written with the following matrices
S
n
=
_
_
a
1
v
i
v
j
+a
0
v
i
v
j
_
dx
_
i,j
, (2.11)
n
= [
i
]
i
,
F
n
=
_
(fv
i
a
1
i
a
0
v
i
) dx +
_
a
1
( +)
v
i
b
a
_
i
, (2.12)
where i, j GG
D
. A possible choice for is
(x) =
iG
D
u(x
i
) v
i
(x) .
The i
th
nodal nite element is therefore dened by the triple
_
K
i
, P
1
(K
i
) , /
_
and is called lowestorder element.
Example 2.23. Consider the problem of solving
_
_
_
u
= 0, x = (0, 1)
u(0) = 0
u(1) = 1
.
It is possible to nd a classical solution u C
2
() C
_
_
integrating twice
both members:
dxdx =
0dxdx u(x) = c
1
x +c
2
and then imposing the boundary conditions:
_
_
_
u(x) = c
1
x +c
2
, x = (0, 1)
u(0) = 0
u(1) = 1
u(x) = x. (2.13)
The problem is equipped with nonhomogeneous Dirichlet boundary conditions,
so it is necessary to dene a Dirichlet lift and the new function so that
u = +. A possible choice for is
= 0 v
0
+ 1 v
M
n
,
where v
0
is a roof function centered on the left boundary of and v
M
n
a roof
function centered on the right boundary of . By substitution in Equation
(2.14) the new problem reads (u = u(x) and v = v (x)):
_
_
_
( +)
= 0, x = (0, 1)
(0) = 0
(1) = 0
.
It is possible furthermore to derive a weak formulation of the problem following
the four steps of subsubsection 1.4.1. Multiply by C
0
():
( +)
= 0.
University of Padua Faculty of Engineering
36 CHAPTER 2. FINITE ELEMENT METHOD
Then integrate over :
( +)
dx = 0
and reduce the maximum degree of the derivatives using the technique of inte
gration by parts
2
:
( +)
dx =
_
( +)
( +)
dx.
Making use of the last equation and since C
0
() vanishes on the boundary,
the equation can be simplied to
1
0
dx =
1
0
. (2.14)
It is necessary now to use the Galerkin method to obtain a discrete problem from
(2.14). Approximating the problem in a subspace V
n
with dim(V
n
) = M
n
1
we get the matrices:
S
n
=
_
1
0
v
i
v
j
dx
_M
n
1
i,j=1
,
n
= [
i
]
M
n
1
i=1
,
F
n
=
_
1
0
v
dx
_M
n
1
i=1
,
where the v
i
s are the roof functions dened in (2.10). If a partition of the
domain with M
n
1 internal nodes is built, then the linear system S
n
n
=
F
n
can be solved for
n
. The approximate solution is then
u
n
(x) =
M
n
1
i=1
i
v
i
(x) +.
In this particular case, u
n
u.
Consider the problem
_
_
1
50
u
= x, x = (0, 1)
u(0) = 0
u(1) = 1
.
The same procedure of Example 2.23 can be followed to obtain the exact solution
and the discrete formulation. The exact solution is
u(x) =
x
3
_
25x
2
22
_
.
2
If f (x) = f and g (x) = g are two continuously dierentiable functions then:
b
a
fg
dx = [fg]
b
a
b
a
f
gdx.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 37
0 0.2 0.4 0.6 0.8 1
3
2
1
0
1
x
u
n
Exact
Approx
0 0.2 0.4 0.6 0.8 1
0
0.2
0.4
0.6
0.8
1
x
v
i
Figure 2.1: Representation of the exact solution (red curve) and of the approx
imate (black curve). The plot at the bottom represents the basis functions v
i
used in FEM.
If a mesh with three elements is considered, the linear system is S
n
n
= F
n
where
S
n
=
_
1
0
1
50
v
i
v
j
dx
_2
i,j=1
,
n
= [
i
]
2
i=1
,
F
n
=
_
1
0
_
xv
i
+
1
50
v
_
dx
_2
i=1
.
Figure 2.1 represents the exact solution compared with the approximate.
2.3.2 Transformation of the model to the reference do
main
Once the stiness matrix and the force vector are found, like in Equation (2.12)
and (2.11), it is sucient to compute the integrals (typically approximation
methods can be used) and solve the linear system. However, that of Subsection
2.3.1 is a very simple case, in which we were able to dene all the shape functions
and it is easy to compute the integrals. There are cases in which it is not simple
to dene the shape functions and it is more ecient to change the formulation
using a reference map like stated in Subsection 2.2.1. We can try to do this for
this simple case as well.
So, our task is to dene the reference map x
K
m
: K
a
K
m
where K
a
=
(
0
,
1
) = (1, 1) is our reference domain. Currently, our vertex functions on
the reference domain can be simply found (they are piecewisepolynomials, and
in this section we employ a degree 1), and are
v
0
K
a
() =
( 1)
2
, v
1
K
a
() =
+ 1
2
.
University of Padua Faculty of Engineering
38 CHAPTER 2. FINITE ELEMENT METHOD
Once the shape functions are dened on the reference domain, the isoparametric
concept can be invoked, and we can express the reference map with
x
K
m
() =
1
i=0
v
i
K
a
() x
i,m
.
The result of this summation can be written as
x
K
m
() = c
(m)
1
+c
(m)
2
,
where
c
(m)
1
=
x
m1
+x
m
2
, c
(m)
2
= J
K
m
=
x
m
x
m1
2
,
supposing K
m
= (x
m1
, x
m
) as said before.
2.3.2.1 Finite element space
With the reference map, it is possible to redene the space V
n
dened in (2.9),
(the notation with the n is left for the notation with h = h(n) to remark the
relation to the chosen mesh)
V
h,p
= v V : v[
K
m
P
p
m
(K
m
) m = 1, 2, . . . , M
h,p
with
V
h,p
= v V : (v[
K
m
x
K
m
) () P
p
m
(K
a
) m = 1, 2, . . . , M
h,p
,
i.e. V
h,p
is the set containing all the functions in V dened in each domain K
m
which, once transformed to the reference domain, is a polynomial of degree p
m
on K
a
. As stated above, it is no more needed to dene shape functions on each
domain. It is only necessary to have one reference map for each domain ad a
set of shape functions on the reference domain.
2.3.2.2 Transformation of the equation to the reference domain
Consider again, for instance, the model of the problem (1.13): the next step is
to transform the weak form to the reference domain, so as to take advantage of
the reference map. The bilinear and the linear forms can be calculated using
the two following integrals:
a (, ) =
(a
1
+a
0
) dx,
l () =
(f a
1
a
0
) dx +
_
a
1
( +)
b
a
.
The rst thing to do is to divide the integrals into a summation over the
elements as =
M
h,p
m=1
K
m
:
a (, ) =
M
h,p
m=1
K
m
(a
1
+a
0
) dx,
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 39
l () =
M
h,p
m=1
K
m
(f a
1
a
0
) dx +
_
a
1
( +)
b
a
.
Then, using the result (2.4) of the Galerkin method, the problem can be rewrit
ten to: nd the function
h,p
V
h,p
() so that
h,p
=
iG\G
D
i
v
i
,
where
span
_
v
j
M
h,p
j=0
_
= V
h,p
() ,
and
iG\G
D
i
M
h,p
m=1
K
m
_
a
1
v
i
v
j
+a
0
v
i
v
j
_
dx =
=
M
h,p
m=1
K
m
_
fv
j
a
1
v
i
v
j
a
0
v
j
_
+
_
a
1
( +)
v
j
b
a
, j GG
D
.
Transformation of functions to the reference domain Functions are
transformed to the reference domain by simply composing them with the refer
ence map:
a
(m)
l
() = (a
l
x
K
m
) () = a
l
(x
K
m
()) , l = 0, 1
v
(m)
l
() = (v
l
x
K
m
) () = v
l
(x
K
m
()) , l = i, j
f () = (f x
K
m
) () = f (x
K
m
()) ,
() = ( x
K
m
) () = (x
K
m
()) .
Transformation of derivatives to the reference domain The transfor
mation of the derivative can be found using the chain rule
_
v
(m)
l
()
_
= (v
l
x
K
m
)
() = v
l
(x) [
x=x
K
m
()
J
K
m
() , l = i, j,
_
(m)
()
_
= ( x
K
m
)
() =
(x) [
x=x
K
m
()
J
K
m
() .
Transformation of integrals to the reference domain The transforma
tion of the integrals is simple applying the Substitution theorem. The appli
cation of the Substitution theorem allows the transformation of the bilinear
form
a (v
i
, v
j
) =
M
h,p
m=1
K
m
_
a
1
v
i
v
j
+a
0
v
i
v
j
_
dx
to the reference domain. Let f be
f (x) = a
1
(x) v
i
(x) v
j
(x) +a
0
(x) v
i
(x) v
j
(x) .
University of Padua Faculty of Engineering
40 CHAPTER 2. FINITE ELEMENT METHOD
We can write
a (v
i
, v
j
) =
M
h,p
m=1
x
K
m
(
K)
f (x) dx =
M
h,p
m=1
K
f (x
K
m
()) J
x
K
m
d,
where f can be expressed as
f (x
K
m
()) =
1
J
2
x
K
m
a
(m)
1
_
v
(m)
i
_
( v
j
)
+ a
(m)
0
v
(m)
i
v
(m)
j
.
Following the same process we can write
l (v
j
) =
M
h,p
m=1
K
g (x
K
m
()) J
x
K
m
d +
_
a
1
( +)
b
a
where g can be expressed as
g (x
K
m
()) =
f
(m)
v
(m)
j
a
(m)
0
(m)
v
(m)
j
+
1
J
2
K
m
a
(m)
1
_
(m)
_
_
v
(m)
j
_
.
2.3.3 Exactness at the nodes
It is important to remark that its possible to prove that the values found for
the DOFs are exact.
Theorem 2.24. u(x
i
) = u
h
(x
i
), i = 0, . . . , M
h,p
.
Proof. The proof of this theorem can be found in [17].
2.3.4 Higherorder elements
It is possible to consider piecewisepolynomials (i.e. polynomials dened on the
elements) of degree higher than 1. The elevation of the degree is a type of
renement named prenement as it should lead to approximations closer to the
exact solution, leaving the mesh unchanged.
2.3.4.1 Lagrange nodal shape functions
The construction of shape functions is an important task in FEM as a wrong
basis could make the solution of the linear system dicult. One approach is
that which employs the Lagrange interpolation. The task is to nd a basis
T = l
Lag,1
, l
Lag,1
, . . . , l
Lag,p
m
+1
in the space P
p
m
_
K
_
, dening the shape
functions on the reference domain. The shape functions are associated to an
equal number of nodal points dened on the reference domain (suppose it is
1jp
m
+1,j=i
( y
j
)
(y
i
y
j
)
, i = 1, 2, . . . , p
m
+ 1.
Algorithm 2.1 computes the Lagrange interpolating polynomials for the given
points to be interpolated.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 41
Algorithm 2.1 Algorithm to compute the Lagrange polynomial interpolating
the points provided.
1 % l agrangePol y determi nes t he Lagrange i nt e r pol at i ng pol ynomi al
2 % i nt e r pol at i ng t he poi nt s provi ded .
3 % Input :
4 % X: x coordi nat es of t he poi nt s t o be i nt er pol at ed ;
5 % Y: y coordi nat es of t he poi nt s t o be i nt er pol at ed ;
6 % XX: opt i onal argument t o get t he val ues of t he pol ynomi al i n t he
7 % val ues contai ned i n t he vect or XX.
8 % Output :
9 % P: c o e f f i c i e nt s of t he pol ynomi al i n hi ghes t order f i r s t ;
10 % R: x coordi nat es of t he N1 extrema of t he r e s ul t i ng pol ynomi al ;
11 % S: y coordi nat es of t he extrema .
12 function [ P, R, S ] = l agr angePol y (X, Y, XX)
13 % Make sure t hat X and Y are row vect ors
14 i f si ze (X, 1 ) > 1; X = X ; end
15 i f si ze (Y, 1 ) > 1; Y = Y ; end
16 i f si ze (X, 1 ) > 1   si ze (Y, 1 ) > 1   si ze (X, 2 ) ~= si ze (Y, 2 )
17 error ( both i nput s mustbeequal l engt h ve c t or s )
18 end
19 N = length(X) ;
20 pval s = zeros (N, N) ;
21 % Cal cul at e t he pol ynomi al wei ght s f or each order
22 for i = 1:N
23 % t he pol ynomi al whose root s are a l l t he val ues of X except t hi s one
24 pp = poly(X( ( 1 : N) ~= i ) ) ;
25 % s cal e so i t s val ue i s exact l y 1 at t hi s X poi nt (and zero
26 % at ot hers , of course )
27 pval s ( i , : ) = pp . / polyval ( pp , X( i ) ) ;
28 end
29 % Each row gi ves t he pol ynomi al t hat i s 1 at t he correspondi ng X
30 % poi nt and zero everywhere el se , so wei ght i ng each row by t he
31 % desi red row and summing ( i n t hi s case t he pol yc oe f f s ) gi ves
32 % t he f i na l pol ynomi al
33 P = Y pval s ;
34 i f nargin==3
35 % output i s YY correspondi ng t o i nput XX
36 YY = polyval (P,XX) ;
37 % assi gn t o output
38 P = YY;
39 end
40 i f nargout > 1
41 % Extra ret urn arguments are val ues where dy/dx i s zero
42 % Sol ve f or x s . t . dy/dx i s zero i . e . root s of de r i v at i v e pol ynomi al
43 % de r i v at i v e of pol ynomi al P s cal es each power by i t s power , downshi f t s
44 R = roots ( ( (N1): 1: 1) . P( 1 : ( N1)) ) ;
45 i f nargout > 2
46 % Cal cul at e t he act ual val ues at t he poi nt s of zero de r i v at i v e .
47 S = polyval (P, R) ;
48 end
49 end
University of Padua Faculty of Engineering
42 CHAPTER 2. FINITE ELEMENT METHOD
1 2 3 4 5 6 7
1
0.5
0
0.5
1
1.5
2
2.5
3
x
y
Figure 2.2: Example of the eects of the Runges phenomenon. Langrange
interpolating polynomials interpolating 4, 5 and 6 points.
2.3.4.2 Runges phenomenon
Analyzing the function
f (x) =
1
1 + 25x
2
,
Runge found that, interpolating at equidistant points between 1 and 1 with
polynomials P
n
(x) of increasing degree n, the interpolation oscillates towards
the end of the interval. It can be proven, in fact, that
lim
n
_
max
1x1
[f(x) P
n
(x)[
_
= +.
An example of the eects caused by the Runges phenomenon can be seen
in Figure 2.2. However, the Weierstrass approximation theorem turns out to be
useful in this regard:
Theorem 2.25. Suppose f is a continuous complexvalued function dened on
the real interval [a, b]. For every > 0, there exists a polynomial function P
over C such that for all x in [a, b], we have [f (x) P (x)[ < , or equivalently,
the supremum norm f (x) P (x) < . If f is realvalued, the polynomial
function can be taken over R.
This means there is some sequence of polynomials for which the error goes
to zero. So, using equidistant nodal points is a possible solution, but there are
better choices: Chebyshev nodal points and GaussLobatto nodal points.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 43
2.3.4.3 Chebyshev and GaussLobatto nodal points
Assuming we want to dene nodal shape functions of degree p
m
> 1 in the
domain
K = (1, 1), the Chebyshev points are dened by the equation
y
j
= cos
_
j
p
_
, j = 0, 1, . . . , p
m
,
whereas the GaussLobatto nodal points are the roots of the function
_
1 x
2
_
L
p
m
(x) .
The function L
p
m
(x) is the Legendre polynomial of degree p
m
which can be
calculated using the Rodrigues formula
L
p
m
(x) =
1
2
p
m
p
m
!
d
p
m
__
x
2
1
_
p
m
_
dx
p
m
. (2.15)
The Legendre polynomials are the solutions to the Legendre dierential equation
d
dx
_
_
1 x
2
_
d
dx
L
k
(x)
_
+n(n + 1) L
k
(x) = 0.
This ODE is commonly encountered in physics and other technical elds.
Shape functions associated with grid vertices are called vertex functions,
shape functions associated with nodal points are called bubble functions.
Nodal basis of the space V
h,p
Given the nodal shape functions l
Lag,i
(),
i = 1, 2, . . . , p
m
+1, it is possible to redene the choice for the Galerkin subspace
V
h,p
. It is common to assume that all nodal nite elements have the same degree,
but this is not mandatory, so suppose it is p
m
for the nodal nite element K
m
.
A basis of the space can be made up by M
h,p
1 vertex functions (M
h,p
is the
number of nodal nite elements)
v
i
=
__
l
Lag,p
m
+1
x
1
K
i
_
(x) , x K
i
_
l
Lag,0
x
1
K
i+1
_
(x) , x K
i+1
and by the
M
h,p
m=1
(p
m
1) bubble functions
_
l
Lag,2
x
1
K
m
_
(x) ,
_
l
Lag,3
x
1
K
m
_
(x) , . . . ,
_
l
Lag,p
m
x
1
K
m
_
(x) .
2.3.4.4 Lobatto hierarchic shape functions
An alternative way of building a basis is to use a hierarchical approach: an
initial basis is dened, and bases of higher dimension are built adding functions
to the previous basis dened. An example of good hierarchic shape functions
for elliptic problems in one dimension are the Lobatto polynomials
l
Lob,0
() =
1
2
, l
Lob,1
() =
1 +
2
,
l
Lob,k
=
1
L
k1
() d, 2 k,
where L
k1
is the Legendre polynomial which can be calculated using (2.15).
University of Padua Faculty of Engineering
44 CHAPTER 2. FINITE ELEMENT METHOD
Nodal basis of the space V
h,p
As already done for the Lagrange shape
functions, once the functions are dened, a new space V
h,p
can be constructed.
The nodal vertex functions are dened by the equation
v
i
(x) =
__
l
Lob,1
x
1
K
i
_
(x) , x K
i
_
l
Lob,0
x
1
K
i+1
_
(x) , x K
i+1
,
which indicates they are linear functions, the nodal bubble functions are dened
by
_
l
Lob,2
x
1
K
m
_
(x) ,
_
l
Lob,3
x
1
K
m
_
(x) , . . . ,
_
l
Lob,p
m
x
1
K
m
_
(x) .
2.4 Twodimensional problems
In most cases problems are not onedimensional but two or threedimensional.
We have, therefore, to dene new elements to partition the geometry (simple
intervals can be used only in onedimensional problems).
2.4.1 /
1
q
elements
The /
1
q
element is a well known nodal nite element used to create meshes on
twodimensional domains.
Denition 2.26. A /
1
q
element is a nodal nite element dened by the triple
_
K, Q
1
(K) , /
_
where:
K is a quadrilateral domain;
Q
1
(K) is the space of the polynomials of rst degree dened on the domain
K;
/ is the set of degrees of freedom.
We need to dene in particular the /
1
q
element on the reference domain as
required by the concept explained in Subsection 2.2.1.
Denition 2.27. A /
1
q
element dened on the reference domain is the element
/
1,r
q
dened by the triple
_
K
q
, Q
1
(K
q
) , /
q
_
where:
K
q
is the domain (1, 1)
2
;
Q
1
(K
q
) = span (1, , , );
/
q
= L
i
4
i=1
where g Q
1
(K
q
) and L
i
: Q
1
(K
q
) R are
L
i
(g) = g (
i
) , i = 1, 2, . . . , 4,
1
=
_
1
1
_
,
2
=
_
1
1
_
,
3
=
_
1
1
_
,
4
=
_
1
1
_
.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 45
Lemma 2.28. The nodal nite element
_
K
q
, Q
1
(K
q
) , /
q
_
is unisolvent, and
the nodal basis of the space Q
1
(K
q
) consists of the vertex functions
v
1
K
q
() =
(1 ) (1 )
4
, v
2
K
q
() =
(1 +) (1 )
4
,
v
3
K
q
() =
(1 ) (1 +)
4
, v
4
K
q
() =
(1 +) (1 +)
4
.
Proof. The unisolvency can be proved by building the generalized Vandermonde
matrix L, which is found to be nonsingular. The nodal basis can be obtained
by computing the inverse of L.
We want to create the change of coordinates
=
_
_
x
K
m
x
1
K
m
x =
_
x
y
_
by way of a reference map x
K
m
: K
q
K
m
. Its time to invoke the isopara
metric concept dened in Subsubsection 2.2.1, adapted to the twodimensional
problem. This means we would like to dene the reference map through
x
K
m
() =
4
i=1
v
i
K
q
x
(m)
i
. (2.16)
Proposition 2.29. The reference map of Equation (2.16) satises
x
K
m
(
i
) = x
(m)
i
, i = 1, 2, . . . , 4
and
x
K
m
(e
i
) = s
i
, i = 1, 2, . . . , 4
where e
i
is the edge of the element in the reference domain and s
i
is the edge of
the element.
Proposition 2.30. The nodal nite element
_
K
m
, Q
1
(K
m
) , /
m
_
is unisolvent,
and the shape functions
v
x
i
K
m
(x) =
_
v
i
K
q
x
1
K
m
_
(x) , i = 1, 2, . . . , 4,
constitute a unique nodal basis of the space Q
1
(K
m
).
We want to determine if this element guarantees the convergence of the
Galerkin method. For this, we need to guarantee smoothness of the basis func
tions, continuity on the boundary and completeness (see 2.2.2).
As said in Subsection 2.2.3, smoothness are almost always assured, unless
the element is too distorted. The degenerated triangle was an example case,
but even quadrilaterals with interior angles of more than 180 can make this
condition to be unsatised. This is caused by the fact that the inverse functions
(x
K
m
) and (x
K
m
) of the reference map could be not well dened. Away
from these cases of high degeneration, /
1
q
elements guarantees smoothness of
the shape functions.
University of Padua Faculty of Engineering
46 CHAPTER 2. FINITE ELEMENT METHOD
We have to analyze the shape function to assure continuity on the boundary.
Lets consider, for instance, the shape function dened on the node
1
on the
edge with = 1
v
1
K
q
() =
1
2
.
This is a onedimensional linear shape functions already dened, and the same
holds for the other edges. After these considerations of the shape of the function
on the edges it is possible to guess that the shape function is an hyperbolic
paraboloid, which guarantees continuity on the boundaries.
Proving the completeness is very simple: according to 2.2.3 it is sucient to
prove the sum to 1:
4
i=1
v
i
K
q
=
(1 ) (1 )
4
+
(1 +) (1 )
4
+
+
(1 ) (1 +)
4
+
(1 +) (1 +)
4
= 1.
2.4.2 /
1
t
elements
Another type of well known element in the twodimensional space is the /
1
t

element.
Denition 2.31. A /
1
t
element is a nodal nite element dened by the triple
_
K, P
1
(K) , /
_
where:
K is a triangular domain;
P
1
(K) is the space of the polynomials of rst degree dened on the domain
K;
/ is the set of degrees of freedom.
We need to dene in particular the /
1
t
element on the reference domain.
One of the possibilities in the denition of a triangular reference domain is the
triangle derived from the degeneration of the domain K
q
, where the nodes
3
and
4
are coalesced into one node
3
= [0, 1]
T
. In this case, the resulting shape
functions are
v
1
K
t
() =
(1 ) (1 )
4
, v
2
K
t
() =
(1 +) (1 +)
4
, v
3
K
t
() =
1 +
2
.
Although the determinant of the Jacobian matrix is zero in
3
, the derivatives
exist with respect to and . This is sucient to have smoothness. In the same
way we did in 2.4.1, it is possible to show both continuity and completeness. This
means such a reference element assures the convergence of the Galerkin method.
Anyway, it has to be underlined that the determinant of the Jacobian matrix is
not constant. This means that, when integrating on this element, the Jacobian
has to be integrated numerically, and is rising the degree of the integrand, which
requires more integration points in Gauss quadrature (see Section 2.7).
Another possibility for a reference element is the following:
Denition 2.32. A /
1
t
element dened on the reference domain is the /
1
t

element /
1,r
t
dened by the triple
_
K
t
, P
1
(K
t
) , /
t
_
where:
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 47
K
t
=
_
[, ]
T
: < , > 1, > 1
_
;
P
1
(K
t
) = span (1, , );
/
t
= L
i
3
i=1
where g P
1
(K
t
) and L
i
: P
1
(K
t
) R are
L
i
(g) = g (
i
) , i = 1, 2, 3,
1
=
_
1
1
_
,
2
=
_
1
1
_
,
3
=
_
1
1
_
.
Lemma 2.33. The nodal nite element
_
K
t
, P
1
(K
t
) , /
t
_
is unisolvent, and
the nodal basis of the space P
1
(K
t
) consists of the vertex functions
v
1
K
t
() =
+
2
, v
2
K
t
() =
1 +
2
, v
3
K
t
() =
1 +
2
.
Proof. See proof of Lemma 2.28.
As we did in the case of the /
1,r
q
element, we have to dene the reference
map. This is simple to do; invoking the isoparametric concept we get
x
K
m
() =
3
i=1
v
i
K
t
() x
(m)
i
, (2.17)
and again the following proposition holds:
Proposition 2.34. The reference map of Equation (2.17) satises
x
K
m
(
i
) = x
(m)
i
, i = 1, 2, 3
and
x
K
m
(e
i
) = s
i
, i = 1, 2, 3
where e
i
is the edge of the element in the reference domain and s
i
is the edge of
the element with domain K
t
.
Proposition 2.35. The nodal nite element
_
K
m
, P
1
(K
m
) , /
m
_
is unisolvent,
and the shape functions
v
x
(m)
i
K
m
(x) =
_
v
i
K
t
x
1
K
m
_
(x) , i = 1, 2, 3
constitute a unique nodal basis of the space P
1
(K
m
).
Again, it is interesting to prove that the element /
t
guarantees the conver
gence. The continuity across the boundaries can be veried the same way it was
done in Subsection 2.4.1. The condition of completeness is automatic as this is
an isoparametric element. Whats important to note is that the determinant of
the Jacobian matrix is now constant
J
x
K
m
=
x
1,2
x
1,1
2
x
1,3
x
1,1
2
x
2,2
x
1,1
2
x
2,3
x
2,1
2
.
where it is assumed x
i
= [x
1,i
, x
2,i
]. This is a better choice as, this way, the
determinant of the Jacobian matrix doesnt have to be integrated numerically.
University of Padua Faculty of Engineering
48 CHAPTER 2. FINITE ELEMENT METHOD
2.4.3 Analysis with lowestorder elements
Problems in two dimensions need some more steps than onedimensional prob
lems. The reference problem expressed in the equation (1.10) is again translated
to its weak formulation in (1.13): nd a function H
1
() such that
(a
1
+a
0
) dz =
(f a
1
a
0
) dz +
N
(a
1
g
N
) dS, H
1
() .
What is needed is a process which goes through the approximations needed
to generate the linear system of equations S
= F. Unfortunately, in the
twodimensional case, some approximations are needed to reach the discrete
problem: these approximations are called variational crimes.
Approximation of the domain A 2D domain needs, in general, to be
approximated with a domain
h
. If is a polygonal domain or if the boundary
is piecewisepolynomial, then the approximation can be done exactly. In
case
h
, then a variational crime is committed since the functions could
be evaluated where they are not dened.
Mesh The domain
h
has to be covered with M
h
elements
/
h,p
= K
i
, i = 1, . . . , M
h,p
.
/
h,p
is the mesh dened on the domain.
Approximation of the boundaries In the rst step it was necessary to
modify the domain creating another domain
h,p
. This means the boundary
can be dierent from the new boundary
h,p
. A new variational crime
arises in case ,=
h,p
as the functions g
D
and g
N
dened respectively
in (1.7) and (1.9) could be undened on
h,p
. It is therefore necessary to
redene g
D
and g
N
on the boundaries of
h
, choosing a new suitable partition
h,p
=
D,h,p
N,h,p
. The new boundary conditions can be now written:
u(z) = g
D,h,p
(z) , z
D,h,p
,
u(z)
= g
N,h,p
(z) , z
N,h,p
.
The Dirichlet lift needs to be approximated as well with a new function
h,p
H
1
(
h,p
).
Approximation of the Hilbert spaces The space V on which the problem
is formulated is dened on the domain . This means it is necessary to redene
the space with another one,
V
h,p
= v C (
h,p
) : v (z) = 0, z
D.h,p
,
v[
K
i
P
p
(K
i
) if K
i
is a triangle,
v[
K
i
Q
p
(K
i
) if K
i
is a quarilateral . (2.18)
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 49
dened on the approximated domain
h,p
. Unfortunately, it is not possible to
guarantee V
h,p
V as the Galerkin method requires, so that it is possible that
another variational crime is committed. The same happens to the trial solutions
space:
U
h,p
= v C (
h,p
) : v (z) = g
D,h,p
, z
D.h,p
,
v[
K
i
P
p
(K
i
) if K
i
is a triangle,
v[
K
i
Q
p
(K
i
) if K
i
is a quarilateral . (2.19)
Approximate weak formulation It is necessary to approximate the weak
formulation according to the modications done so far to the model of equation
(1.12): Its now required to nd the function
h,p
V
h,p
and
h,p
U
h,p
so that
h,p
(a
1
h,p
v +a
0
h,p
v) dz =
h,p
(fv a
1
h,p
v a
0
h,p
v) dz +
N,h,p
a
1
g
N,h,p
vdS, v V
h,p
.
Application of the Galerkin model The Galerkin method remains almost
unchanged: it is possible to express the unknown function
h,p
as a linear combi
nation of the basis functions of the space V
h,p
not related to nodes with Dirichlet
boundary conditions. We dene
G = i[v
i
a nodal base of V
h,p
,
G
D
= i[v
i
a nodal base of V
h,p
, x
i
D,h,p
.
The unknown
h,p
is then
h,p
=
iG\G
D
i
v
i
,
and the Dirichlet lift can be written as well as
h,p
=
iG
D
g
D,h,p
(x
i
) v
i
,
assuming v
1
, . . . , v
dim(V
h,p
)
is a nodal basis of the space V
h,p
with dim(V
h,p
) =
N
h,p
. The new problem is now expressed by the system
iG\G
D
i
h,p
(a
1
v
i
v
j
+a
0
v
i
v
j
) dz =
h,p
(fv
j
a
1
h,p
v
j
a
0
h,p
v
j
) dz +
N,h,p
a
1
g
N,h,p
v
j
dS (2.20)
for all j GG
D
. We can notice as well that we can substitute the choice made
of Dirichlet lift
iG\G
D
i
h,p
(a
1
v
i
v
j
+a
0
v
i
v
j
) dz =
University of Padua Faculty of Engineering
50 CHAPTER 2. FINITE ELEMENT METHOD
h,p
fv
j
dz
iG
D
h,p
a
1
g
D,h,p
(x
i
) v
i
v
j
dz+
iG
D
h,p
a
0
g
D,h,p
(x
i
) v
i
v
j
dz +
N,h,p
a
1
g
N,h,p
v
j
dS.
for all j GG
D
.
2.4.4 Transformation of the model to the reference do
main
Like done in Subsection 2.3.2, we would like to use the reference map to work
with the model in the reference domain. For both the /
1
q
elements and the
/
1
t
elements weve already dened the reference maps. Lets assume an hybrid
mesh with M
h,p
= M
q
+M
t
nodes, where M
q
is the number of /
1
q
elements and
M
t
is the number of /
1
t
elements, a set x
i
, i = 1, . . . , N
h,p
of grid vertices
that dont belong to
D,h,p
(unconstrained grid vertices).
Proposition 2.36. The dimension of the space V
h,p
is N
h,p
which is also the
number of unconstrained grid vertices.
2.4.4.1 Basis of the space V
h,p
We already dened the space were working with in Equation (2.19), but we
need a basis for this space. This is a little more complicated than in the one
dimensional case: rst of all we need to dene a vertex patch S (i), which will
be the support of the shape function. It is dened as the union of all the mesh
elements which have x
i
among their nodes:
S (i) =
_
kN(i)
K
m
, N (i) = m : K
m
/
h,p
, x
i
is vertex of K
m
. (2.21)
Employing the same concept of the onedimensional case, we dene the shape
functions to be
v
x
i
K
m
(x) =
_
_
_
v
r
K
q
x
1
K
m
_
(x) , x K
m
and K
m
is a quadrilateral
_
v
r
K
t
x
1
K
m
_
(x) , x K
m
and K
m
is a triangle
0, x
h
S (i)
. (2.22)
It can be shown that these vertex functions form a basis for the space V
h,p
.
2.4.4.2 Transformation of the equation to the reference domain
Just like we did in Subsubsection 2.3.2.2, the rst step is to split the integral
of Equation (2.20) as a summation over the elements K
m
:
iG\G
D
i
M
h,p
m=1
K
m
(a
1
v
i
v
j
+a
0
v
i
v
j
) dz =
M
h,p
m=1
K
m
(fv
j
a
1
h,p
v
j
a
0
h,p
v
j
) dz +
M
h,p
m=1
N,h,p
K
m
a
1
g
N,h,p
v
j
dS,
(2.23)
j GG
D
.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 51
Transformation of functions to the reference domain The transforma
tion of the model requires rst of all to transfer the function to the reference
domain. This is done again, like in Subsubsection 2.3.2.2, composing functions
with the operator with the reference map x
K
m
() = (x
K
m
,1
() , x
K
m
,2
()).
For a function (, ) = (), this results in:
(m)
() = ( x
K
m
) () = (x
K
m
,1
() , x
K
m
,2
()) .
Transformation of derivatives to the reference domain Again, like in
Subsubsection 2.3.2.2, the chain rule is used:
(m)
() =
x
[
x=x
K
m
()
x
K
m
,1
() +
y
[
x=x
K
m
()
x
K
m
,2
()
(m)
() =
x
[
x=x
K
m
()
x
K
m
,1
() +
y
[
x=x
K
m
()
x
K
m
,2
() .
This result can be written in matrix form so that the Jacobian matrix (dened
in Denition B.3) can be recognized:
_
(m)
(m)
_
=
_
_
x
K
m
,1
x
K
m
,2
x
K
m
,1
x
K
m
,2
_
_
y
_
_ =
_
Dx
K
m
D
_
T
_
y
_
_.
(2.24)
(
Dx
K
m/D) is the Jacobian matrix of the reference map x
K
m
and is the cor
respondent of the Jacobian found in the onedimensional case. So, Equation
(2.24) can be written in more compact form using the gradient
(m)
() =
_
Dx
K
m
D
_
T
(x) .
If the Jacobian is nonsingular, can be found using
(x) =
_
Dx
K
m
D
_
T
(m)
()
where
_
Dx
K
m
D
_
T
=
_
_
Dx
K
m
D
_
1
_
T
=
_
_
Dx
K
m
D
_
T
_
1
.
Transformation of integrals to the reference domain Using the substi
tution theorem it is possible to change the integration domain using the results
above and the fact that x
K
m
_
K
_
= K
m
where
K is either K
t
or K
q
. The left
member of Equation (2.23) can be transformed to
N
h,p
i=1
i
M
h,p
m=1
x
K
m
(
K)
(a
1
v
i
v
j
+a
0
v
i
v
j
) dz =
N
h,p
i=1
i
M
h,p
m=1
K
J
x
K
m
_
a
(m)
1
_
Dx
K
m
D
_
T
v
(m)
i
__
_
Dx
K
m
D
_
T
v
(m)
j
_
d
University of Padua Faculty of Engineering
52 CHAPTER 2. FINITE ELEMENT METHOD
+
N
h,p
i=1
i
M
h,p
m=1
K
J
x
K
m
a
(m)
0
v
(m)
i
v
(m)
j
d.
where [
Dx
K
m/D[ = J
x
K
m
.
2.4.5 Higherorder elements
2.4.5.1 LagrangeGaussLobatto /
p,r
q
elements
/
p,r
q
elements are the generalization of /
1
q
elements using Lagrange shape func
tions. Two and threedimensional Lagrange shape functions can be obtained
using the product of onedimensional Lagrange functions. The choice of the
points can be taken accordingly to be the product of GaussLobatto points in
K
a
being K
q
= K
a
K
a
. In the case of the quadrilateral reference domain,
each axis direction has a dierent order of approximation, thats why these el
ements are indicated with /
p,r
q
. The points can be divided into three groups:
vertex nodes, edge nodes and bubble nodes. Vertex nodes corresponds to the four
vertices of the quadrilateral:
1
=
1
=
_
x
(p)
1
, x
(r)
1
_
T
= [1, 1]
T
,
2
=
2
=
_
x
(p)
p+1
, x
(r)
1
_
T
= [1, 1]
T
,
3
=
3
=
_
x
(p)
1
, x
(r)
r+1
_
T
= [1, 1]
T
,
4
=
4
=
_
x
(p)
p+1
, x
(r)
r+1
_
T
= [1, 1]
T
,
where the x
(p)
i
s are the GaussLobatto points of order p and the x
(r)
i
s are the
GaussLobatto points of order r, so x
(p)
i
K
a
and x
(r)
i
K
a
. There are r 1
edge nodes which lie on the edges of the quadrilateral
e
1
=
1
+t (
3
1
) [t [0, 1] ,
e
2
=
2
+t (
4
2
) [t [0, 1] ,
e
3
=
1
+t (
2
1
) [t [0, 1] ,
e
4
=
3
+t (
4
3
) [t [0, 1] ,
and can be dened as
e
1
1
=
_
x
(p)
1
, x
(r)
2
_
T
=
_
1, x
(r)
2
_
T
,
e
1
2
=
_
x
(p)
1
, x
(r)
3
_
T
=
_
1, x
(r)
3
_
T
,
.
.
.
e
1
r1
=
_
x
(p)
1
, x
(r)
r
_
T
=
_
1, x
(r)
r
_
T
,
and correspondingly for the other nodes. The bubble nodes instead, are dened
as
b
i,j
=
_
x
(p)
i+1
, x
(r)
j+1
_
T
, i = 1, 2, . . . , p 1, j = 1, 2, . . . , r 1.
Our task is to determine a nodal basis of the space
Q
p,r
(K
q
) =
_
l
: 1 k p, 1 l r, 1 , 1
_
.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 53
In the same way it was done above for the points, we can divide the shape
functions in three groups: the vertex functions, the edge functions and the
bubble functions. Each of them is built using the onedimensional Lagrange
functions l
(p)
Lag,i
, i = 1, 2, . . . , p + 1 and l
(r)
Lag,j
, j = 1, 2, . . . , r + 1 where p and
r are the orders. Each of them are forced to satisfy, as already done in the
onedimensional case, the delta property
l
(p)
Lag,k
_
x
(p)
l
_
=
kl
.
The four vertex functions are
v
1
K
q
() = l
(p)
Lag,1
() l
(r)
Lag,1
() , v
2
K
q
() = l
(p)
Lag,p+1
() l
(r)
Lag,1
() ,
v
3
K
q
() = l
(p)
Lag,1
() l
(r)
Lag,r+1
() , v
4
K
q
() = l
(p)
Lag,p+1
() l
(r)
Lag,r+1
() . (2.25)
The edge functions are
v
e
1
K
q
,1
() = l
(p)
Lag,1
() l
(r)
Lag,2
() (2.26)
v
e
1
K
q
,2
() = l
(p)
Lag,1
() l
(r)
Lag,3
() (2.27)
.
.
. (2.28)
v
e
1
K
q
.r1
() = l
(p)
Lag,1
() l
(r)
Lag,r
() . (2.29)
The bubble functions are
v
b
K
q
,i,j
() = l
(p)
Lag,i+1
() l
(r)
Lag,j+1
() , i = 1, 2, . . . , p 1, j = 1, 2, . . . , r 1.
(2.30)
Proposition 2.37. The Lagrange shape functions (2.30), (2.29) and (2.25)
form a basis of the space Q
p,r
(K
q
).
Proposition 2.38. The Lagrange shape functions (2.30), (2.29) and (2.25)
satisfy the delta property and are therefore a nodal basis of the space Q
p,r
(K
q
).
2.4.5.2 LagrangeFekete P
p
elements
Again, we would like to generalize the /
1
t
elements with p
th
order elements using
Lagrange shape functions. We can do this following the same procedure used in
the previous subsubsection. First of all we have to dene suitable and ecient
points for the triangular domain. A good choice in this sense are the Fekete
points. In its original version, the problem consists in determining the position
of N points on a compact subset K R
2
that maximize the product of their
mutual Euclidean distances. The N
P
tuples
_
1
,
2
, . . . ,
N
P
_
that satises this
property are called N
th
P
order Fekete points in K. An alternative denition is
Denition 2.39. Let a bounded convex domain K R
d
be equipped with
a polynomial space P (K) of dimension N
P
. Given an arbitrary basis
i
N
P
i=1
of P (K), the Fekete points
i
N
P
i=1
K are a point set that maximizes the
determinant
L
_
y
1
, y
2
, . . . , y
N
P
_
= max
1
,
2
,...,
N
P
K
L
_
1
,
2
, . . . ,
N
P
_
,
University of Padua Faculty of Engineering
54 CHAPTER 2. FINITE ELEMENT METHOD
where L is the generalized Vandermonde matrix for the Lagrange degrees of
freedom L
i
(g) = g (
i
),
L
_
1
,
2
, . . . ,
N
P
_
= L
i
(
j
)
N
P
i,j=1
=
j
(
i
)
N
P
i,j=1
.
The advantage of the Fekete points is that they can be dened on any subset
of R
d
. Unfortunately, no direct formula for computing them is available, so a
numerical approximation is needed. An algorithm for the estimation of Fekete
points has been recently given in [5].
Again, it is possible to divide the Fekete points in a way such that it is
possible to simply dene hybrid meshes of quadrilaterals and triangles. We use
the already dened domain K
t
with the edges
e
1
=
1
+t (
2
1
) [t [0, 1] ,
e
2
=
2
+t (
3
2
) [t [0, 1] ,
e
3
=
3
+t (
1
3
) [t [0, 1] .
For the construction were going to report, the following theorem is fundamental:
Theorem 2.40. Let p 1. The Fekete points have to following properties:
1. the Fekete points y
i
N
P
i=1
are invariant under the choice of the basis
i
N
P
i=1
;
2. in onedimensional intervals and Cartesian product geometries the Fekete
and GaussLobatto points are the same sets;
3. on the edges of triangular domains the Fekete points coincide with the
onedimensional GaussLobatto points.
Using the p
th
order GaussLobatto points x
(p)
i
K
a
and Theorem 2.40, the
three vertex nodes can be dened by
1
=
1
=
_
x
(p)
1
, x
(p)
1
_
T
= [1, 1]
T
,
2
=
2
=
_
x
(p)
p+1
, x
(p)
1
_
T
= [1, 1]
T
,
3
=
3
=
_
x
(p)
1
, x
(p)
p+1
_
T
= [1, 1]
T
.
The edge nodes can be dened following the orientation of the edges e
i
e
1
1
=
_
x
(p)
2
, x
(p)
1
_
T
=
_
x
(p)
2
, 1
_
T
,
e
1
2
=
_
x
(p)
3
, x
(p)
1
_
T
=
_
x
(p)
3
, 1
_
T
,
.
.
.
e
1
p
=
_
x
(p)
p
, x
(p)
1
_
T
=
_
x
(p)
p
, 1
_
T
.
The bubble nodes can be sorted in any unique way and are denoted
b
i
, i =
1, 1, . . . ,
(p1)(p2)
/2 1.
The unique Lagrange nodal basis is obtained as stated before, inverting the
generalized Vandermonde matrix dened in Denition 2.39.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 55
2.4.5.3 Basis of the space V
h,p
Like it was done before, we have to build a basis for the space V
h,p
: this is a sim
ple task now that weve dened the shape functions on the reference domain. We
just have to use the reference map to move the shape functions to the correct do
main. So, lets assume we dened an hybrid mesh /
h,p
=
_
K
1
, K
2
, . . . , K
M
h,p
_
,
where K
m
, m = 1, 2, . . . , M
h,p
is either a triangular or a quadrilateral element.
Whats important to say here is that it is convenient to assume we use only
/
p
t
 or /
p
q
elements, as the approximation could not be continuous in case the
orders were dierent. Let M
t
and M
q
denote the number of /
p
t
elements and of
/
p
q
elements respectively.
We continue to separate the denitions of the shape functions in vertex basis
functions, edge basis functions and bubble basis functions. Each of them are
dened by employing the reference maps already dened in Subsubsections 2.4.1
and 2.4.2 for /
1
q
 and /
1
t
elements and the basis functions of the spaces Q
p
(K
q
)
and P
p
(K
t
) dened in Subsubsections 2.4.5.1 and 2.4.5.2.
Vertex basis functions Vertex basis functions can be dened the same way
we did before in Subsubsection 2.4.4.1. Using the denition of vertex patch of
Equation (2.21) we get the basis functions of Equation (2.22)
v
x
i
K
m
(x) =
_
_
_
v
r
K
q
x
1
K
m
_
(x) , x K
m
and K
m
is a quadrilateral
_
v
r
K
t
x
1
K
m
_
(x) , x K
m
and K
m
is a triangle
0, x
h
S (i)
.
In the contest of Subsubsection 2.4.4.1 those were the only basis functions, but
in the current one, those are only the vertex basis functions. This is simply due
to the fact that were dealing with higherorder elements, in which we dened
more points on which other basis functions are to be dened.
Edge basis functions The edge basis functions were not dened in the case
of rstorder elements. A procedure similar to that used for the vertex basis
functions can be used. Assume s
j
is an edge for which x
K
m
(e
l
) = s
j
. We dene
the edge element patch, which is the correspondent of the vertex patch, with the
equation
S
e
(j) =
_
kN
e
(j)
K
k
, N
e
(j) = k : K
k
/
h,p
, s
j
is an edge of K
k
.
According to our denitions of /
p
q
elements and /
p
q
elements, each edge s
j
con
tains exactly p 1 nodal points x
s
j
m
, m = 1, 2, . . . , p 1 for which x
1
K
k
_
x
s
j
m
_
=
x
1
K
k
(s
j
)
m
. With these elements in hand, we can dene the basis edge functions
v
s
j
K
k
,m
=
_
_
_
v
e
l
K
q
,r
x
1
K
k
_
(x) , x K
k
and K
k
S
e
(j) is a quadrilateral
_
v
e
l
K
t
,r
x
1
K
k
_
(x) , x K
k
and K
k
S
e
(j) is a triangle
0, x
h
S
e
(j)
,
where v
e
l
K
q
,r
() and v
e
l
K
t
,r
() are edge nodal shape functions dened on the
reference domain such that
v
e
l
K
q
,r
_
x
1
K
k
(x
s
j
m
)
_
= 1, v
e
l
K
t
,r
_
x
1
K
k
(x
s
j
m
)
_
= 1.
University of Padua Faculty of Engineering
56 CHAPTER 2. FINITE ELEMENT METHOD
Bubble basis functions The bubble functions are simpler to be dened.
Each /
p
q
element contains (p 1)
2
bubble nodes and each P
p
element contains
(p1)(p2)
/2. By using the reference map x
K
k
:
K K
k
it is possible to dene
x
b
i
= x
K
k
_
b
i
_
to be the bubble nodes in the domain K
k
using an index only, obtained by the
mapping of the bubble points in the reference domain
K. The bubble functions
can be dened as
v
b
K
k
,m
(x) =
_
_
_
v
b
K
q
,r
x
1
K
k
_
(x) , if x K
k
and K
k
is a quadrilateral
_
v
b
K
t
,r
x
1
K
k
_
(x) , if x K
k
and K
k
is a triangle
0, if x
h
K
k
.
2.5 Threedimensional problems
There are also elements to be dened for threedimensional analysis. The sim
plest element is the brick, but there are also other elements that can be used in
many cases when the brick is not adequate.
2.5.1 /
1
B
elements
Lets call /
1
B
element the element used to create meshes on threedimensional
domains (brick element). Its denition is:
Denition 2.41. A /
1
B
element is a nodal nite element dened by the triple
_
K, B
1
(K) , /
_
where:
K is an hexahedral domain;
B
1
(K) is the space of the polynomials of rst degree dened on the domain
K;
/ is the set of degrees of freedom.
The denition of the /
1
B
element on the reference domain is:
Denition 2.42. A /
1
B
element on the reference domain is the /
1
B
element
/
1,r
B
dened by the triple
_
K
B
, B
1
(K
B
) , /
B
_
where:
K
B
is the domain (1, 1)
3
;
B
1
(K
B
) = span (1, , , , , , , );
/
B
= L
i
8
i=1
where g B
1
(K
r
) and L
i
: B
1
(K
B
) R are
L
i
(g) = g (
i
) , i = 1, 2, . . . , 8,
1
=
_
_
1
1
1
_
_
,
2
=
_
_
1
1
1
_
_
,
3
=
_
_
1
1
1
_
_
,
4
=
_
_
1
1
1
_
_
,
5
=
_
_
1
1
1
_
_
,
6
=
_
_
1
1
1
_
_
,
7
=
_
_
1
1
1
_
_
,
8
=
_
_
1
1
1
_
_
.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 57
As usual we have to design the nodal basis for the element. We accomplish
this task in the proof of Lemma 2.28.
The nodal nite element
_
K
B
, B
1
(K
B
) , /
B
_
is unisolvent, and the nodal
basis of the space B
1
(K
B
) consists of the vertex functions
v
1
K
B
() =
(1 ) (1 ) (1 )
8
, v
2
K
B
() =
(1 +) (1 ) (1 )
8
,
v
3
K
B
() =
(1 +) (1 +) (1 )
8
, v
4
K
B
() =
(1 ) (1 +) (1 )
8
,
v
5
K
B
() =
(1 ) (1 ) (1 +)
8
, v
6
K
B
() =
(1 +) (1 ) (1 +)
8
,
v
7
K
B
() =
(1 +) (1 +) (1 +)
8
, v
8
K
B
() =
(1 ) (1 +) (1 +)
8
.
Proof. We have to build the generalized Vandermonde matrix using the basis
of the space B
1
(K
B
) already dened in Denition 2.42
L =
_
_
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
_
_
.
This matrix is invertible and the inverse is
L
1
=
1
8
_
_
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
1 1 1 1 1 1 1 1
_
_
.
This means the element is unisolvent and we can dene the nodal basis of this
element by looking at the columns of L
1
.
Now that we know the denitions of the shape functions dened on the
reference domain, it is possible to build the reference map, which is needed to
transfer the shape functions on the reference domain to the various elements
and to build this way a basis of the space V
h,p
. In the threedimensional case
we want to dene a change of coordinates of the type
=
_
_
_
_
x
K
m
x
1
K
m
x =
_
_
x
y
z
_
_
.
University of Padua Faculty of Engineering
58 CHAPTER 2. FINITE ELEMENT METHOD
As already done, the isoparametric concept can be invoked, so that the starting
point is the denition of the reference map through the use of the shape functions
dened on the reference domain:
x
K
m
() =
8
i=1
v
i
K
B
x
(m)
i
. (2.31)
Proposition 2.43. The reference map of Equation (2.31) satises
x
K
m
(
i
) = x
(m)
i
, i = 1, 2, . . . , 8
and
x
K
m
(e
i
) = s
i
, i = 1, 2, . . . , 8
where e
i
is the edge of the element in the reference domain and s
i
is the edge of
the element.
Proposition 2.44. The nodal nite element
_
K
B
, B
1
(K
B
) , /
B
_
is unisolvent,
and the shape functions
v
x
i
K
m
(x) =
_
v
i
K
m
x
1
K
m
_
(x) , i = 1, 2, . . . , 8
constitute a unique basis of the space B
1
(K
B
).
The same that has been demonstrated before with /
q
and /
t
can be demon
strated for the threedimensional /
B
element. The shape functions show con
tinuity across boundaries: this could be seen considering the behavior of the
shape function v
1
K
B
on the face = 1
v
1
K
B
(, , 1) =
(1 ) (1 ) 2
8
=
(1 ) (1 )
4
.
This is an hyperbolic paraboloid and is determined uniquely by the four nodes of
the face, hence, the same shape is guaranteed for any other element of this type
sharing the same surface. Continuity of the shape function is therefore assured.
If the distortion of the element is not too high, the shape functions will be
smooth. The completeness of the shape functions is guaranteed by the fact that
this element is isoparametric. Therefore, this element assures the convergence
of the Galerkin method.
2.6 Higherorder reference maps
We dened isoparametric elements as objects for which a reference map was
built using its shape functions. In the subsequent sections anyway, higher
order elements have been introduced, which had new types of shape functions
associated with their denition (edge functions and bubble functions). These
shape functions can be used to extend the previous denition to use all these
new shape functions and not only vertex functions. For quadrilateral elements,
for instance:
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 59
Denition 2.45. Let /
m
be a quadrilateral element belonging to the mesh
/
h,p
, whose reference element is /
1,r
q
, local directional orders of approximation
p
b,1
, p
b,2
in the element interior and local polynomial orders p
e
1
, p
e
2
, . . ., p
e
4
on
the edges. Let x
K
m
: /
1,r
q
K
m
be of the form
x
K
m
() =
4
i=1
i
K
m
v
K
q
() +
+
4
i=1
p
e
i
1
j=1
e
i
K
m
,j
v
e
i
K
q
,j
() +
+
p
b,1
1
n
1
=1
p
b,2
1
n
2
=1
b
K
m
,n
1
,n
2
v
b
K
q
,n
1
,n
2
() ,
where the functions were already dened and are the nodal vertex functions,
the nodal edge functions and the nodal bubble functions. If the element inter
polation function u
h,p
can be written using the same functions combined with
the DOFs, the element is said to be isoparametric. Similar denitions can be
given for any other reference element.
2.7 Higherorder numerical quadrature
The numerical evaluation of integrals is fundamental in FEM as both the sti
ness matrix and the force vector are determined in general by computing inte
grals. In some simple cases, these integrals can be evaluated exactly, but this
cannot be done in general. The problem of obtaining a precise value is nontrivial
and important as, besides obvious eects on the preciseness of the results of the
procedure, it could even aect the solvability of the system resulting from the
Galerkin method, as the matrix may even become singular.
2.7.1 Quadrature on the reference domain K
a
The general idea of numerical quadrature is to transform someway the integral
in a sum. Let g (y) be a function to be integrated over [a, b] with a < b
b
a
g (y) dy
k
i=0
A
k,i
g (y
k,i
), (2.32)
where k is the order of the quadrature, the A
i,k
s are the quadrature coecients
and the y
i,k
s are the quadrature nodes. However, all our integrals are evaluated
over a specic domain, which is the reference domain. We did this by using an
ane reference map (see Subsection 2.2.1). The integral of Equation (2.32) can
be transformed to the reference domain K
a
as weve already done
1
1
f () d
k
i=0
w
k,i
f (
k,i
).
We followed the Substitution theorem so f () = g (x
K
m
()) and w
k,i
=
A
k,i
/[J
x
K
m
[.
University of Padua Faculty of Engineering
60 CHAPTER 2. FINITE ELEMENT METHOD
A possible way of choosing quadrature nodes and coecients is that of the
Gauss quadrature. The kpoint Gauss quadrature reads
1
1
f () d
k
i=1
w
k,i
f (
k,i
) .
This means we have to determine 2k parameters: k weights and k nodes. This
can be done by solving a system of 2k equations which has to be solved for the
weights and the nodes: we can use 2k functions whose integral is known, like
the polynomials 1, ,
2
, . . . ,
2k1
, to create the nonlinear system of equations
1
1
1d =
k
i=1
w
k,i
,
1
1
d =
k
i=1
w
k,i
k,i
,
.
.
.
1
1
2k1
d =
k
i=1
w
k,i
2k1
k,i
.
Once this system has been solved, both the
k,i
s and the w
k,i
s have been
computed. As, according to the construction, this method can integrate all the
polynomials 1, ,
2
, . . . ,
2k1
, which forms a basis of the space P
2k1
((1, 1)),
it is simple to see that it can integrate exactly all the polynomials in that space.
Proposition 2.46. Using the kpoint Gaussian quadrature rule it is possible to
exactly integrate any polynomial of degree d 2k 1.
Proof. Suppose we want to integrate over (1, 1) the polynomial p () =
d
j=0
a
j
j
.
So, we want to compute
1
1
d
j=0
a
j
j
d.
This can be rewritten using the linearity of the integral
a
0
1
1
0
d +a
1
1
1
1
d +. . . +a
d
1
1
d
d,
and transformed by substitution to
a
0
k
i=1
w
k,i
+a
1
k
i=1
w
k,i
k,i
+. . . +a
d
k
i=1
w
k,i
d
k,i
.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 61
With simple algebraic manipulations
1
1
d
j=0
a
j
j
d = a
0
k
i=1
w
k,i
+a
1
k
i=1
w
k,i
k,i
+. . . +a
d
k
i=1
w
k,i
d
k,i
=
k
i=1
w
k,i
a
0
+
k
i=1
w
k,i
a
1
k,i
+. . . +
k
i=1
w
k,i
a
d
d
k,i
=
k
i=1
w
k,j
_
a
0
+a
1
k,i
+. . . +a
d
d
k,i
_
=
k
i=1
w
k,j
d
j=0
a
j
j
k,i
=
k
i=1
w
k,j
p () ,
we prove the exactness of the computation on the domain K
a
= (1, 1). Using
one of the designed reference maps and the Substitution theorem it is possible
to extend the same to any domain.
It is moreover possible to prove that the integration points are the roots of
the Legendre polynomials L
k
(), which can be calculated with Equation (2.15)
and that the weights can be calculated with
w
k,i
=
2
_
1
2
k,i
_
L
k
()
2
.
This is an interesting result as the roots of the Legendre polynomials are quite
well tabulated.
2.7.2 Quadrature on the reference domain K
q
The Cartesian product can be used to obtain an integration formula for two
dimensional domains like K
q
= K
a
K
a
. If we integrate on K
a
with the formula
K
a
f () d
n
a
i=1
w
n
a
,i
f (
n
a
,i
) ,
we can extend this to integrate exactly all the bivariate polynomials of degree
d
1
2n
(1)
a
1 on the axis and d
1
2n
(2)
a
1 on the direction:
K
2
a
g (, ) dd
1
1
n
(1)
a
i=1
g
_
n
(1)
a
,i
,
_
w
n
(1)
a
,i
d
n
(2)
a
j=1
n
(1)
a
i=1
w
n
(1)
a
,i
w
n
(2)
a
,j
g
_
n
(1)
a
,i
,
n
(2)
a
,j
_
.
University of Padua Faculty of Engineering
62 CHAPTER 2. FINITE ELEMENT METHOD
Example 2.47. Consider the integral which arises when computing an element
of the stiness matrix of a twodimensional problem. A possible form of this
integral could be
1
1
1
1
2
dd. Exact integration on this yields
1
1
1
1
2
dd =
1
1
2
3
2
d =
2
3
2
3
=
4
9
.
Using, instead, a twopoint Gauss quadrature
1
1
1
1
2
dd =
1
1
_
1
_
1
3
_
2
+ 1
_
1
3
_
2
_
2
d
=
2
3
_
1
_
1
3
_
2
+ 1
_
1
3
_
2
_
=
4
9
.
2.7.3 Quadrature on the reference domain K
t
The integration on the triangular domain K
t
needs a translation to the domain
K
q
in order to perform the integration using the Gaussian quadrature. The
following proposition illustrates how to perform the integration of a function
dened on K
t
.
Proposition 2.48. Let K
t
be dened on the = [
1
,
2
]plane and K
q
be dened
on the = [
1
,
2
]plane. Let g () be a function dened on the reference domain
K
t
. Then it is possible to transform the integral over K
t
to the integral over
K
q
:
K
t
g () d =
K
q
1
2
2
g
_
1 +
1
2
2
(
1
+ 1) ,
2
_
d.
Proof. The proposition can be proved using the mapping
() : =
_
1 +
(1
2
) (
1
+ 1)
2
2
_
and the Substitution theorem.
Once the transformation has been accomplished, it is possible to use what
already explained in Subsection 2.7.2.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 63
2.7.4 Quadrature on the reference domain K
B
Once again, the same extension used in Subsection 2.7.2 can be used to integrate
over the brick K
B
. So
K
3
a
g (, , ) ddd
K
2
a
n
(1)
a
i=1
g
_
n
(1)
a
,i
, ,
_
w
n
(1)
a
,i
dd
K
a
n
(1)
a
i=1
n
(2)
a
j=1
g
_
n
(1)
a
,i
,
n
(2)
a
,j
,
_
w
n
(1)
a
,i
w
n
(2)
a
,j
d
n
(1)
a
i=1
n
(2)
a
j=1
n
(3)
a
l=1
g
_
n
(1)
a
,i
,
n
(2)
a
,j
,
n
(3)
a
,l
_
w
n
(1)
a
,i
w
n
(2)
a
,j
w
n
(3)
a
,l
.
Here again, it is possible to integrate exactly every polynomial of three inde
pendent variables up to degrees 2n
(1)
a
1, 2n
(2)
a
1 and 2n
(3)
a
1 in the three
variables by choosing n
(1)
a
, n
(2)
a
and n
(3)
a
as orders of integration in the three
directions.
2.7.5 Choice of the order of numerical integration
When performing numerical integration in nite element analysis, two funda
mental problems arise: how many integration points and what kind of numerical
integration should we choose? The Gauss numerical integration presented so far
has proved to be very ecient, requiring, considering the same precision, less
function evaluations than other methods. However, there are cases where other
numerical methods of integration could be useful.
Having chosen the Gauss integration method, it has already been explained
how to determine both the integration points and weights, but the problem of
choosing the order of the integration has been left open. The choice of the order
is clearly a tradeo: a high order integration gives a more accurate result, but
implies an increase of the cost of the integration. On the other hand, a lower
order of numerical integration could lead to a faster integration, but with the
penalty of a reduced accuracy. This reduced accuracy could even turn out to
be very damaging, as it could lead to a higher number of zeros in the stiness
matrix, making it a singular matrix. A practical way to evaluate the order of
numerical integration can be illustrated in the following example.
Example 2.49. Consider the case in which we have to integrate a function F to
calculate a the (i, j)
th
element of a stiness matrix k
i,j
=
K
m
Fdx. Assuming
F = f
_
x
2
, xy, y
2
_
is a polynomial and K
m
is a quadrilateral, according to the
model presented so far, we can transform our integral to the reference domain
K
q
, getting k
i,j
=
K
q
det (J
K
m
) F (x
K
m
()) d. In this case, the determinant
of the Jacobian matrix is constant, and therefore it doesnt increase the degree
of the integrand. This implies that a twopoints Gauss rule is sucient in each
direction to integrate exactly.
As a general rule, given a function F of degree p in each direction,
p+1
/2
or
p+2
/2 evaluations of the integrand F are sucient to exactly integrate the
University of Padua Faculty of Engineering
64 CHAPTER 2. FINITE ELEMENT METHOD
function (assuming the determinant of the Jacobian matrix is constant) when p
is odd or even respectively.
It should be noted that the Jacobian matrix is not always constant, for
instance it is not when the elements are not rectangles or parallelograms. In
that case higher orders of numerical integrations are needed.
2.8 Generalization of the Finite Element concepts
In engineering, many possible problems arise when treating PDEs, and the
situations reported so far are only the most common. A more general framework
can be proposed: we seek an unknown function u(z) that satises a system of
PDEs, which can be wrote with
A(u) = [A
1
(u) , A
2
(u) , . . .]
T
= 0,
with the boundary conditions
B(u) = [B
1
(u) , B
2
(u) , . . .]
T
= 0.
The sought approximated function is
u u
h
=
n
i=1
N
i
a
i
= Na.
FEM works on the weak form however, so what we have to nd is the integral
form
G
j
(u
h
) dz +
g
j
(u
h
) dz = 0, j = 1, . . . , n,
where G
J
and g
j
are functions with the usual structure. It is then possible to
write the integrals as a summation over the elements
G
j
(u
h
) dz +
g
j
(u
h
) dz =
M
h
m=1
_
K
m
G
j
(u
h
) dz +
m
g
j
(u
h
) dz
_
.
Two approaches are available: the method of weighted residuals and the method
of the variational functionals for which stationery is sought. A good reference
for both is [34].
2.8.1 Method of weighted residuals
The method of the weighted residuals is a procedure similar to that explained in
1.4.1, where the weighting functions
i
V . To obtain an approximate solution
we have to chose an approximation of this space V
h
V and of the space of the
trial solutions U
h
U. The choice of the space V
h
leads to dierent methods
with dierent error properties. When V
h
= U
h
, the method is called Galerkin
method; when
i
=
i
, where
i
(x) = 0 for x ,= x
i
, the method is called point
collocation and when
i
= I in
K
j
and zero elsewhere, the method is named
subdomain collocation.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 65
2.9 Error estimates and convergence rate
An interesting subject to talk about is the error committed when approximating
u with u
n
. We dene the error of the approximation u
n
as e
n
= u u
n
. The
rst important thing to note is whats stated in the following lemma.
Lemma 2.50. Let u V be the exact solution of the continuous problem (2.1)
and let u
n
V
n
be the solution of the discrete problem (2.3). Then, the error
e
n
satises the equation
a (u u
n
, v) = 0, v V
n
.
If the bilinear form is symmetric, the energetic inner product can be intro
duced as u, v
e
= a (u, v). According to Lemma 2.50 then we get
e
n
, v
e
= 0, v V
n
.
This equation means that the error of the approximation we achieved e
n
is
orthogonal
3
to every functions of the Galerkin subspace V
n
(we say e
n
is or
thogonal to the subspace V
n
). It can be seen as well that u
n
is the orthogonal
projection
4
of the exact solution u V to the Galerkin subspace V
n
. As a con
sequence, u
n
is actually the nearest element in V
n
to the exact solution u V
in the energy norm (see A.20). This can be translated to
u u
n

e
= inf
vV
n
u v
e
.
With these elements in hand, it is possible to formulate the Cas lemma,
which is interesting to prove:
Lemma 2.51. Let V be an Hilbert space, a (, ) : V V R a bilinear bounded
Velliptic form, l V
C
a
inf
vV
n
u v
V
.
Proof. We start the proof by considering that the bilinear forma (u u
n
, u u
n
)
can be written as the sum of a (u u
n
, u v) and a (u u
n
, v u
n
), since we
can exploit the linearity on the second argument getting
a (u u
n
, u v) +a (u u
n
, v u
n
) = a (u u
n
, u v +v u
n
)
= a (u u
n
, u u
n
) .
We can state that v u
n
V
n
, as both v and u
n
are in V
n
(V
n
is a linear
space and v u
n
is a linear combination which must therefore be in V
n
). Thus,
a (u u
n
, v u
n
) = 0 as a consequence of Lemma 2.50, and we get
a (u u
n
, u v) = a (u u
n
, u u
n
) .
3
Two functions f and g are said to be orthogonal if the inner product f, g = 0 whenever
f = g.
4
If P is an orthogonal projection, it projects v V onto Pv orthogonally then
v Pv, u
e
= 0, u imgP.
University of Padua Faculty of Engineering
66 CHAPTER 2. FINITE ELEMENT METHOD
By the Vellipticity property we have that
a (u u
n
, u u
n
) =
C
a
u u
n

2
V
,
and by the boundedness of the bilinear form we have that
a (u u
n
, u u
n
) C
a
u u
n

V
u v
V
, v V
n
.
Putting the last two equations together we get
u u
n

V
C
a
C
a
u v
V
, v V
n
.
The importance of the Cas lemma lies in the fact that it shows the error e
n
is independent on the basis chosen. The only thing that matters is the Galerkin
subspace chosen. Anyway, one has to be careful when choosing a basis of the
subspace as, even if not aecting the error, it aects the performance of the
algorithm by conditioning the stiness matrix.
From what has been said, it is clear that as long as the mesh elements become
smaller and smaller, the approximated solution gets nearer and nearer to the
exact. In fact, as n +, h(n) 0, which indicates the size of the elements
decreases. In the limit, where h = 0, the exact solution is determined. However,
it is possible to obtain the exact solution after a nite number of subdivisions
of the mesh. If the polynomials used in the elements can exactly t the exact
solution, it is possible to get u
n
= u after a nite number of subdivision of the
mesh, i.e. when h ,= 0. Thus, for instance, if the exact solution is of the form
of a quadratic polynomial and the shape functions include all the polynomials
of that order, the approximation will yield the exact result. Following this fact,
we can use the Taylor theorem (see Section B.4) to express the exact solution
as a polynomial in the vicinity of a point x
0
u(x) = u(x
0
) +
_
u
x
(x
0
)
_
(x x
0
) +
_
u
x
(x
0
)
_
(y y
0
) +. . .
This way, with an element of size h and degree p, a polynomial expansion of
degree p can be locally tted exactly. Since xx
0
is of the order of magnitude
of h, the error will be of the order O
_
h
p+1
_
.
2.10 Adaptive nite element renement
In Section 2.9 we developed some estimates of the error committed in the ap
proximation of the exact solution. What we need to discuss, is how to reduce
this error and how to know the way to reduce it under a specied threshold.
We call the process of looking for a solution of lower error renement. When
the renement were trying to perform is based on the results of previous com
putations, this renement is called adaptive.
As stated in the section 2.1, the Galerkin method converges when considering
subspaces for which (2.2) holds. Hence, assuming we have a space V
n
associated
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 67
1.5 1 0.5 0 0.5 1 1.5
1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
1.5 1 0.5 0 0.5 1 1.5
1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
1.5 1 0.5 0 0.5 1 1.5
1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
1.5 1 0.5 0 0.5 1 1.5
1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
Figure 2.3: hrenement of a twodimensional mesh.
with a mesh /
n
, reducing the size of the elements we get a new mesh /
n+1
(see Figures 2.3 and 2.4) on which the space V
n+1
satises
V
n
V
n+1
V.
Iterating renements and calculating approximated solutions on spaces of higher
dimension, it is possible to get nearer and nearer to the exact solution (see
Figure 2.4). This type of renement is named hrenement. Unfortunately, as
the number of nodes increases, the computational load needed to compute the
approximated solution grows exponentially. It is therefore necessary to rene
the mesh cleverly.
Reducing the size of the elements is not the only way to accelerate the
convergence: it is possible as well to increase the order of the polynomial used
in their denition (prenement).
It is moreover possible to divide the previous categories in subclasses: three
typical categories of hrenement are present and two prenement strategies
are recognizable. The categories of hrenement are presented below.
1. The rst category of hrenement is the element subdivision (enrichment).
The renement in this case is simply implemented subdividing the ele
ments showing too high errors in smaller elements. This method is not
very ecient as, during the mesh renement, some new useless nodes can
be created, and the calculation needed to avoid it becomes more involved.
2. Another hrenement class requires a complete mesh regeneration or remesh
ing. In this case, the mesh is completely regenerated, starting from the
denition of the domain. This renement clearly is expensive, particularly
in threedimensional environments where the mesh requires considerable
University of Padua Faculty of Engineering
68 CHAPTER 2. FINITE ELEMENT METHOD
0 0.2 0.4 0.6 0.8 1
1
0.5
0
0.5
1
x
y
M
h
= 1
0 0.2 0.4 0.6 0.8 1
1
0.5
0
0.5
1
x
y
M
h
= 3
0 0.2 0.4 0.6 0.8 1
1
0.5
0
0.5
1
x
y
M
h
= 5
0 0.2 0.4 0.6 0.8 1
1
0.5
0
0.5
1
x
y
M
h
= 7
Figure 2.4: hrenement of a onedimensional mesh. It can be seen how the
renement of the mesh produces a more precise result (black curve).
computational load. Anyway, this kind of renement is considered to be
superior.
3. Another kind of renement is the rrenement: this implies only a repo
sitioning of the nodes already existing.
For what concerns prenement, we can recognize two dierent approaches:
1. uniform increase of the polynomial order on every elements;
2. local increase of the polynomial order typically using hierarchical rene
ment.
It is furthermore possible to combine the positive aspects of both the rene
ment types, getting whats called hprenement. In this kind of procedure,
both the degree of the element and its size are rened in order to produce an
approximation nearer to the exact solution.
2.10.1 Prediction of the element size
In practical applications, we commonly try to nd an approximation whose
relative energy norm percentage error is less than a specied , specically
dened for each application. The ideal case is the one in which the distribution
of energy norm e
e
(see A.20) is uniform on all elements. Thus, the permissible
error is
PE = u
e
=
_
 u
2
e
+e
2
e
,
where
e
2
e
= u
2
e
 u
2
e
.
University of Padua Faculty of Engineering
CHAPTER 2. FINITE ELEMENT METHOD 69
As already stated, we could require that the error is distributed equally on each
element, so that we can require that the error for the k
th
element is
e
e,k
<
 u
2
e
+e
2
e
M
h
e
m
, (2.33)
where M
h
is the total number of elements in the mesh and e
m
is the error
energy required for each element. The elements for which Equation (2.33) are
candidates for renement. This means we can rene those elements only, re
ducing their size. In this case, the technique of mesh subdivision is employed,
but its eciency is dependant on the fact that, despite the reasonable number
of degrees of freedom, the number of trial solutions may be excessive.
It can be shown a more ecient way of rening basing on the energy error
is performing a complete remeshing, creating a new mesh which satises the
condition of Equation (2.33) for all the elements k in the mesh. We can suppose,
for instance,
e
k
h
p
k
where h
k
is the size of the k
th
element and p is the order of the polynomial used
in the approximation. This means the new element size should be no larger
than
h
k
=
_
e
k
e
m
_
1
p
h
k
.
2.10.2 p and hprenement
Nonuniform prenement is possible, and it can be done hierarchically. However,
generalizing the process is dicult and many assumptions are needed about the
decrease of the error. More information about this can be found in [31, 34].
hprenement is very interesting and recent works have proved it to be an
ecient technique of rening. An ecient methodology has been proposed in
[39, 34]. The rst step requires to pursue through hrenement with lowest
order elements an accuracy around 5% with uniform energy norm error. After
this, a prenement is performed uniformly on the elements. The result is an
ecient procedure with easy implementation.
Relevant in this regard is the HERMES project: Hermes is a free C++/Python
library for rapid prototyping of adaptive FEM and hpFEM solvers developed
by an open source community around the hpFEM group at the University of
Nevada, Reno. The library has a clean design and modular structure, and it is
available under the GPL license (Version 2, 1991).
University of Padua Faculty of Engineering
70 CHAPTER 2. FINITE ELEMENT METHOD
University of Padua Faculty of Engineering
Chapter 3
Bzier, Bspline, NURBS and
Tspline
The mathematical representation of curves, surfaces and solids is fundamental
in a design process. It will be shown in Chapter 4 that these structures will be
used in the analysis as well, making these technologies with their properties key
concepts in a production environment.
3.1 Analytical representation
The most common representation forms of a curve or of a surface are the implicit
and the parametric form.
In the implicit form, the equation is given in a way in which the dependent
variable is not given explicitly in terms of the independent variables. The general
form of an implicit equation is
f (x
1
, x
2
, . . . , x
n
, y) = 0.
A surface lying on the xy plane is then written
f (x, y) = 0.
By contrast, the explicit representation is given so that the dependent variable
is explicitly given as a function of the independent variables:
y = f (x
1
, x
x
, . . . , x
n
) .
A dierent way of representing an equation is the parametric form
F () = (g
1
() , g
2
() , . . . , g
n
()) , c d.
Each coordinate of an element in im(F) is represented separately as an explicit
function of an independent parameter.
Example 3.1. The ellipse in Figure 3.1a can be expressed with the implicit
form
x
2
3.5
2
+
y
2
2
2
= 1 (3.1)
71
72 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
4 3 2 1 0 1 2 3 4
2.5
2
1.5
1
0.5
0
0.5
1
1.5
2
2.5
x
y
(a)
4 3 2 1 0 1 2 3 4
2.5
2
1.5
1
0.5
0
0.5
1
1.5
2
2.5
(b)
x
y
Figure 3.1: (a) Ellipse on the xy plane dened using a parametric or an implicit
form. (b) Ellipse on the xy plane dened using an explicit form.
Implicit form Parametric form
Curve c (x, y) = 0 C() = (x() , y ())
Surface s (x, y, z) = 0 S (, ) = (x(, ) , y (, ) , z (, ))
Table 3.1: Comparison between parametric and implicit forms of curves on the
xy plane and surfaces in the xyz space.
or with the parametric form
C() = (x() , y ()) = (4 cos () , 2 sin ()) .
The explicit form, instead, cannot express the entire ellipse as it doesnt t the
denition of function. Solving Equation 3.1 by y we get
y (x) =
2
3.5
_
x
2
+ 3.5
2
_1
2
.
The positive part is plotted in Figure 3.1b.
A widely used scheme for writing surfaces in the xyz space is the tensor
product scheme. This scheme can be expressed through the analytic form
S (, ) =
n
i=0
m
j=0
f
i
() g
j
() b
i,j
, a b,
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 73
1
0
1
0.5
0
0.5
1
0.5
0
0.5
1
x
y
z
1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
Figure 3.2: Sphere in the xyz space.
where
b
i,j
= (x
i,j
, y
i,j
, z
i,j
) .
However, it is possible to express a surface again both with the implicit form
f (x, y, z) = 0,
and with the explicit form
z = f (x, y) .
Example 3.2. The sphere in Figure 3.2 can be expressed by the implicit form
x
2
+y
2
+z
2
1 = 0
or with the parametric form
S (, ) = (sin cos, sin sin, cos) , 0 , 0 2.
3.2 Power basis curves and surfaces
It can be seen from the general form of a parametric curve in Table 3.1 that
the class of curves denable is very large. Anyway, such a general form presents
some diculties which suggest the need for a restriction in order to be more
practical. A good class of functions to use is the class of the polynomials.
Hence, the general form of a n
th
degree power basis curve is:
C() = (x() , y () , z ())
=
n
i=0
a
i
i
= ([a
i
]
n
i=0
)
T
_
n
i=0
,
University of Padua Faculty of Engineering
74 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
with b c. The a
i
s are the row vectors (x
i
, y
i
, z
i
) and the n + 1 functions
i
are called basis (or blending) functions.
Polynomials are a good choice as theyre eciently represented and man
aged by computers and are mathematically simple to handle. Unfortunately
polynomials are not capable of representing many kinds of important curves. In
these cases it is necessary to approximate.
Following the tensor product scheme, it is simple to guess that a power basis
surface can be represented in a similar way:
S (, ) = (x(, ) , y (, ) , z (, ))
=
n
i=0
m
j=0
a
i,j
j
=
_
_
n
i=0
_
T
[a
i,j
]
i=n,j=m
i,j=0
_
m
j=0
where
_
a
i,j
= (x
i,j
, y
i,j
, z
i,j
)
b c
.
3.3 Bzier curves and surfaces
Bzier curves use polynomials like the power basis representation. This fact
makes the two representations equivalent, where by equivalent it means any
curve representable with the power basis form is representable even with the
Bzier form. However, the power basis representation shows three disadvan
tages:
the coecients a
i
convey almost no geometrical meaning to the user;
algorithms for processing power basis curves have a more algebraic con
notation rather than geometrical;
more prone to roundo error.
Bzier curves improve the power basis representation relieving these problems.
An n
th
degree Bzier curve is dened by
C() =
n
i=0
B
n
i
() P
i
, a b.
The functions
B
n
i
() =
n!
i
(1 )
ni
i! (n i)!
are the basis functions (n
th
degree Bernstein polynomial ), similarly to the terms
i
of the power basis representation, and the P
i
s are called control points.
Example 3.3. The Bzier curve in two dimensions given in the gure 3.3a,
for instance, can be plotted using the Bernstein polynomials represented in the
gure 3.3b, using the control points
P
0
= (0, 0) , P
1
= (1, 1) , P
2
= (2, 0.5) ,
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 75
0 0.5 1 1.5 2 2.5 3
0
0.5
1
1.5
(a)
x
y
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
(b)
Figure 3.3: Example of (a) Bzier curve on the xy plane with (b) its Bernstein
polynomials.
P
3
= (3, 0.5) , P
4
= (0.5, 1.5) , P
5
= (1.5, 0) .
If, instead, the control points are given in a threedimensional space
P
0
= (0, 0, 0) , P
1
= (1, 1, 1) , P
2
= (2, 0.5, 0) ,
P
3
= (3, 0.5, 0) , P
4
= (0.5, 1.5, 0) , P
5
= (1.5, 0, 1) ,
then a threedimensional Bzier curve is generated (see Figure 3.4).
A nonrational Bzier surface is obtained by using the expression
S (, ) =
n
i=0
m
j=0
B
n
i
() B
m
j
() P
i,j
,
_
a b
c d
.
The control points P
i,j
form a bidirectional net like the one illustrated in the
example Figure 3.5.
3.3.1 Rational Bzier curves and surfaces
There is a considerable amount of important shapes which cannot be represented
with polynomials only. Curves or surfaces such as circles, cones, ellipses, spheres,
etc..., for instance, can be represented with rational functions, which are ratios
of polynomials:
x() =
()
w()
, y () =
()
w()
.
An n
th
degree rational Bzier curve is dened
C() =
n
i=0
B
n
i
w
i
P
i
n
i=0
B
n
i
() w
i
, a b, (3.2)
University of Padua Faculty of Engineering
76 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
0 0.5 1 1.5 2 2.5 3
0
1
2
0
0.5
1
(a)
x y
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
(b)
Figure 3.4: Example of (a) Bzier curve in the xyz space with (b) its Bernstein
polynomials.
4
3
2
1
0
0
2
4
0
1
2
3
4
5
6
7
y
x
z
0
1
2
3
4
5
6
Figure 3.5: Example of a Bzier surface in the xyz space dene by its control
points.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 77
where the w
i
s are scalars called weights. It is possible to rewrite the denition
(3.2) using the notation
C() =
n
i=0
R
n
i
() P
i
, a b,
where
R
n
i
() =
B
n
i
() w
i
n
i=0
B
n
i
() w
i
are called rational basis functions.
It is possible to change again the representation of the rational Bzier curves
using a new interpretation which yields ecient processing and storage. The
usage of homogeneous coordinates permits to represent a rational curve in an
ndimensional space as a curve in n + 1 dimensions. If P = (x, y, z) is a point
in a 3dimensional space, it can be represented as P
w
= (wx, wy, wz, w) in a
4dimensional space. A function H is dened as a mapping of a point
P = H (P
w
) = H ((x, y, z, w)) =
_ _
x
w
,
y
w
,
z
w
_
w ,= 0
(x, y, z) w = 0
to the hyperplane w = 1. Employing this concept, a new denition of a rational
Bzier curve in a 3dimensional space can be the nonrational Bzier curve
C
w
() =
n
i=0
B
n
i
() P
w
i
i
dened in a 4dimensional space. Applying the transformation H to C
w
() we
get the nonrational Bzier curve as the projection of the rational curve on the
plane w = 1.
Example 3.4. Consider we want to represent the 2dimensional rational Bzier
curve with the control points
P
0
= (1, 0) , P
1
= (1, 1) , P
2
= (0, 1) ,
and with the weights
w
0
= 1, w
1
= 1, w
2
= 2.
It is possible to write the curve
C() =
2
i=0
B
n
i
() w
i
P
i
2
i=0
B
n
i
() w
i
or using the rational basis functions:
C() =
2
i=0
R
n
i
() P
i
, R
n
i
() =
B
n
i
() w
i
2
i=0
B
n
i
() w
i
.
University of Padua Faculty of Engineering
78 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
0
0.5
1
0
0.5
1
1.5
2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
y
x
z
Figure 3.6: Example of mapping of a nonrational Bzier curve (black curve in
gure) to a rational Bzier curve (red curve in gure).
In both cases the representation is the one of the black curve of the gure
3.6. It is possible, as stated above, to use a better notation, moving to a
higher dimension. The control points P
i
= (x
i
, y
i
) needs to be redened to
P
w
i
i
= (w
i
x
i
, w
i
y
i
, w
i
). This way, the new curve can be represented in the
3dimensional space like the red curve in the gure 3.6.
A rational Bzier surface can be written
S (, ) =
n
i=0
m
j=0
B
n
i
() B
m
j
() w
i,j
P
w
i,j
n
i=0
m
j=0
B
n
i
() B
m
j
() w
i,j
,
_
a b
c d
or using a nonrational expression
S
w
(, ) =
n
i=0
m
j=0
B
n
i
() B
m
j
() P
w
i,j
,
_
a b
c d
.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 79
3.4 Univariate and multivariate Bsplines
Both Bzier and power basis curves are aected by some shortcomings:
a high degree polynomial is needed to satisfy many constraints;
a high degree is required to approximate some shapes;
local control of the curve is dicult.
A solution to these points is to employ piecewisepolynomials or piecewise
rational polynomials. The idea is to construct the curves dividing the domain
and associating each part of the domain with a distinct polynomial. Points
separating dierent parts of the domain are called breakpoints. Each segment
of the Bspline curve connects to another on the breakpoint with some level of
continuity: a curve C() is said to be C
k
continuous at the breakpoint
i
if
C
(j)
i
(
i
) = C
(j)
i+1
(
i
), 0 j k.
A good choice of Bspline basis functions is that discussed in the subsection
3.4.1.
3.4.1 Bspline basis functions
Given is a set = [
o
,
1
, . . . ,
m
] where
i
R, i = 0, . . . , m and
i
i+1
,
i = 0, . . . , m1. The
i
s are called knots and is called knot vector. The i
th
Bspline basis function of degree p (and order p + 1) is
N
0
i
() =
_
1,
i
<
i+1
0, otherwise
,
N
p
i
() =
i
i+p
i
N
p1
i
() +
i+p+1
i+p+1
i+1
N
p1
i+1
() . (3.3)
Denition 3.5. A knot vector of the form
=
_
_a, . . . , a
. .
p+1
,
p+1
, . . . ,
mp1
, b, . . . , b
. .
p+1
_
_
where p is the degree and m is the number of elements of the knot vector, is
said to be nonperiodic or clamped or open.
Example 3.6. In Figure 3.7 Bspline basis functions over the knot vector =
[0, . . . , 0, 1, 4, 6, 8, . . . , 8] of increasing degree are represented.
Property1: This choice of the basis functions guarantees the local support prop
erty: N
p
i
() = 0 if / [
i
,
i+p+1
). This fact can be simply seen in Figure
3.7.
Property2: In any given knot span [
j
,
j+1
) at most p + 1 of the N
p
i
are
nonzero, namely the functions N
p
jp
, . . . , N
p
j
.
Property3: The property of nonnegtivity states that N
p
i
() 0 for all i, p
and .
University of Padua Faculty of Engineering
80 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
0 2 4 6 8
0
0.5
1
N
i
,
0
,
i
=
0
,
.
.
.
,
3
0 2 4 6 8
0
0.5
1
N
i
,
1
,
i
=
0
,
.
.
.
,
4
0 2 4 6 8
0
0.5
1
N
i
,
2
,
i
=
0
,
.
.
.
,
5
0 2 4 6 8
0
0.5
1
N
i
,
3
,
i
=
0
,
.
.
.
,
6
0 2 4 6 8
0
0.5
1
N
i
,
4
,
i
=
0
,
.
.
.
,
7
0 2 4 6 8
0
0.5
1
N
i
,
5
,
i
=
0
,
.
.
.
,
8
Figure 3.7: Example of Bspline basis functions over the knot vector =
0, ..., 0, 1, 4, 6, 8, ..., 8 of increasing degree.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 81
Property4: The property of partition of unity states that for any arbitrary
knot span [
i
,
i+1
),
i
j=ip
N
p
j
() = 1 for all [
i
,
i+1
).
Property5: N
p
i
() is C
((
j
,
j+1
)) for all j. At a knot N
p
i
() is p k times
continuously dierentiable, where k is the multiplicity of the knot.
Property6: The set of all Bspline basis functions of p
th
degree N
p
i
(), i =
0, . . . , n dened on the knot vector
=
_
_
0
, . . . ,
0
. .
s
0
,
1
, . . . ,
1
. .
s
1
, . . . ,
k
, . . . ,
k
. .
s
k
_
_
forms a basis of the space o
p
is
dim(o
p
) = k (p + 1)
k
j=0
(r
j
+ 1). (3.4)
3.4.2 Algorithms for Bspline basis functions
A frequent need when working with Bspline basis functions is to compute all
the nonvanishing functions in a specic point . Basing on the equations (3.3),
suppose we want to compute all the nonvanishing functions in [
i
,
i+1
)
when p = 2, we get:
N
2
i2
() =
i2
i
i2
N
1
i2
() +
i+1
i+1
i1
N
1
i1
. .
()
() ,
N
2
i1
() =
i1
i+1
i1
N
1
i1
. .
()
() +
i+2
i+2
i
N
1
i
..
()
() ,
N
2
i
() =
i
i+2
i
N
1
i
..
()
() +
i+3
i+3
i+1
N
1
i+1
() .
The asterisks underline the presence, in dierent basis functions, of the same
functions. It is possible, therefore, to reuse the same value, instead of calculating
it more than once. Algorithm 3.2 considers this improvement and computes all
the functions which are not zero in the provided point . As a conceptual
scheme, what we have to compute is the inverted triangular table
N
0
i
N
1
i1
N
1
i
N
p
ip
N
p
ip+1
.
.
.
N
p
i
. (3.5)
University of Padua Faculty of Engineering
82 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Algorithm 3.1 Algorithm for the determination of the knot span in which the
provided value lies.
1 % findSpan f i nds i n which knot span a s p e c i f i c
2 % val ue of xi i s t o be found .
3 % Input :
4 % n: max i ndex of t he cont rol poi nt s (n+1 cont rol poi nt s ) ;
5 % p : degree of t he Bs pl i ne bas i s f unct i ons ;
6 % xi : s cal ar val ue t o be found ;
7 % Xi : open knot vect or {xi_0 , . . . , xi_n , . . . , x_{n+p+1}}.
8 % Output :
9 % i : knot span [ xi_i , xi_{ i +1}) i n which u l i e s .
10 function i = f i ndSpan ( n , p , xi , Xi )
11 % Speci al case .
12 i f xi == Xi ( n+2) , i = n ; return ; end;
13 % Binary search .
14 low = p ;
15 hi gh = n+1;
16 i = f l oor ( ( low + hi gh ) . / 2 ) ;
17 while xi < Xi ( i +1)   xi >= Xi ( i +2)
18 i f xi < Xi ( i +1); hi gh = i ;
19 el se low = i ; end;
20 i = f l oor ( ( low + hi gh ) . / 2 ) ;
21 end
Algorithm 3.2 Algorithm for the evaluation of every nonvanishing Bspline
basis function in the provided value.
1 % Compute t he nonvanishing bas i s f unct i ons .
2 % Input :
3 % i : i ndex of t he bas i s f unct i on t o compute ( t hi s val ue cannot be
smal l er
4 % than p) ;
5 % xi : val ue i n which t he bas i s f unct i on i s bei ng eval uat ed ;
6 % p : degree of t he bas i s f unct i on ;
7 % Xi : knot vect or over which t he bas i s f unct i on i s bei ng b u i l t .
8 % Output :
9 % N: vect or cont ai ni ng t he val ue of a l l t he nonvani shing bas i s
f unct i ons :
10 % N(1)=N_{ip } , . . . ,N(p+1)=N_{ i }.
11 function N = basi sFuns ( i , xi , p , Xi )
12 % Preal l ocat i on .
13 N = zeros ( 1 , p+1) ;
14 l e f t = zeros ( 1 , p+1) ;
15 r i ght = zeros ( 1 , p+1) ;
16 % Computation of t he i nverse t r i angul ar t ab l e s t ar t i ng from degree 0.
17 N( 1) = 1;
18 for j = 1: p
19 l e f t ( j +1) = xi Xi ( i +1j +1) ;
20 r i ght ( j +1) = Xi ( i+j +1)xi ;
21 saved = 0;
22 for r = 0: j 1
23 temp = N( r +1) . / ( r i ght ( r+1+1)+l e f t ( j r +1) ) ;
24 N( r +1) = saved+r i ght ( r+1+1) . temp ;
25 saved = l e f t ( j r +1) . temp ;
26 end
27 N( j +1) = saved ;
28 end
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 83
Algorithm 3.3 Algorithm for the computation of the i
th
Bspline basis function
in .
1 % Eval uat es t he val ue of t he it h Bs pl i ne bas i s f unct i on of degree p over
2 % t he knot vect or Xi i n xi .
3 % Input :
4 % p : degree of t he f unct i on t o eval uat e ;
5 % m: number of knot s 1;
6 % Xi : knot vect or over which t he bas i s f unct i on i s b u i l t ;
7 % i : i ndex of t he Bs pl i ne bas i s f unct i on t o compute ;
8 % xi : poi nt where t o eval uat e t he Bs pl i ne bas i s f unct i on .
9 % Output :
10 % Nip : val ue of t he Bs pl i ne bas i s f unct i on i n xi .
11 function Nip = basi sFun ( p , m, Xi , i , xi )
12 % Check t o see i f we re eval uat i ng t he f i r s t or t he l a s t bas i s f unct i on at
13 % t he begi nni ng or at t he end of t he knot vect or .
14 i f ( i == 0 && xi == Xi (0+1))   ( i == mp1 && xi == Xi (m+1))
15 Nip = 1; return ;
16 end
17 % When xi i s out of t he domain i t i s s et t o zero .
18 i f ( xi < Xi ( i +1)   xi >= Xi ( i+p+1+1))
19 Nip = 0; return ;
20 end
21 % Preal l ocat i on and computation of t he temparary val ues of t he f unct i ons t o
22 % be used accordi ng t o t he t r i angul ar t ab l e .
23 N = zeros ( p+1);
24 for j = 0: p
25 i f xi ( l ) >= Xi ( i+j +1) && xi ( l ) < Xi ( i+j +1+1), N( j +1) = 1;
26 el se N( j +1) = 0; end;
27 end
28 % Computation of t he r es t of t he t r i angul ar t ab l e .
29 for k = 1: p
30 i f N( 1) == 0 , saved = 0;
31 el se saved = ( ( xi ( l )Xi ( i +1)). N( 0+1) ) . /( Xi ( i+k+1)Xi ( i +1)); end;
32 for j = 0: pk+11
33 Xi l e f t = Xi ( i+j +1+1);
34 Xi r i ght = Xi ( i+j+k+1+1);
35 i f N( j +1+1) == 0
36 N( j +1) = saved ;
37 saved = 0;
38 el se
39 temp = N( j +1+1)./( Xi r i ght Xi l e f t ) ;
40 N( j +1) = saved+( Xi r i ght xi ( l ) ) . temp ;
41 saved = ( xi ( l )Xi l e f t ) . temp ;
42 end
43 end
44 end
45 Nip = N( 1 ) ;
In case we only want to compute a single Bspline basis function, we can
try to produce an algorithm considering which basis functions are needed and
which are not. We can come up with this triangular table:
N
0
i
N
0
i+1
.
.
.
N
0
i+p1
N
0
i+p
N
1
i
.
.
.
N
1
i+p1
. . .
N
p1
i
N
p1
i+1
N
p
i
. (3.6)
These are the only functions needed when computing N
p
i
, and the procedure in
Algorithm 3.3 computes this table, beginning from the degree 0.
University of Padua Faculty of Engineering
84 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
0 1 2 3 4 5 6 7 8
0
0.2
0.4
0.6
0.8
1
(a)
N
i
,
3
,
i
=
0
,
.
.
.
,
6
0 1 2 3 4 5 6 7 8
1.5
1
0.5
0
0.5
1
1.5
(b)
N
i
,
3
,
i
=
0
,
.
.
.
,
6
Figure 3.8: Example of derivatives of the basis functions of Example 3.6 with
p = 3.
3.4.3 Algorithms for Bspline basis functions derivatives
The derivative of a Bspline basis function N
p
i
() can be computed with
N
i,p
()
=
p
i+p
i
N
p1
i
()
p
i+p+1
i+1
N
p1
i+1
() . (3.7)
Example 3.7. Using the recursive denition (3.7) on the Bspline basis func
tions of degree p = 3 of Example 3.6 it is possible to obtain the curves of Figure
3.8.
Example 3.8. Using the recursive denition (3.7) on the Bspline basis func
tions of degree p = 3 built over the knot vector
= 0, 0, 0, 0, 2, 4, 4, 6, 6, 6, 8, 8, 8, 8
it is possible to obtain the curves of Figure 3.9. These curves shows the be
haviour in case of single, double and triple knots.
The derivatives of the Bspline basis functions are important as they lead to
another important property:
Property7 In the interior of a knot span, all the derivatives of N
p
i
() exist (as
it is a polynomial); at a knot it is p k times continuously dierentiable,
where k is the multiplicity of the knot. This means that increasing the
degree increases the continuity whereas increasing the knot multiplicity
decreases the continuity.
Two ecient algorithms for the determination of the derivatives of Bspline basis
functions are given: Algorithm 3.4 computes the derivatives of order 0 k n
of all the nonvanishing functions in the given value; Algorithm 3.6 determines
the derivatives of order 0 k n of the i
th
function.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 85
0 1 2 3 4 5 6 7 8
0
0.2
0.4
0.6
0.8
1
(a)
N
i
,
3
,
i
=
0
,
.
.
.
,
9
0 1 2 3 4 5 6 7 8
1.5
1
0.5
0
0.5
1
1.5
(b)
N
i
,
3
,
i
=
0
,
.
.
.
,
9
i+1
i
N
1
i
() N
2
i1
()
i+1
i1
i+2
i
N
2
i
()
Table 3.2: Scheme of structure ndu(i,j) used in Algorithm 3.4 to store the
elements necessary for the computation.
Algorithm 3.4 is based on a generalization of Equation (3.7):
N
p,(k)
i
() =
p!
(p k)!
k
j=0
a
k,j
N
pk
i+j
(),
where
a
0,0
= 1,
a
k,0
=
a
k1,0
i+pk+1
i
,
a
k,j
=
a
k1,j
a
k1,j1
i+p+jk+1
i+j
, j = 1, . . . , k 1,
a
k,k
=
a
k1,k1
i+p+1
i+k
.
By analyzing this equation, it is simple to see that we need the inverted trian
gular table, the dierences of knots and the dierences of the a
k,j
s. A possible
structure to maintain these data is a table like Table 3.2. In Table 3.2 the
necessary data to compute the a
k,j
s and then the N
p,(k)
i
s is present.
Algorithm 3.6 is based, instead, on the Equation
N
p,(k)
i
() = p
_
N
p1,(k1)
i
()
i+p
i
N
p1,(k1)
i+1
()
i+p+1
i+1
_
, (3.8)
which can be derived by repeated dierentiation of Equation (3.7). By using
Equation (3.8), for instance, for p = 3 and k = 0, . . . , n, with n = 3 we get:
N
3,(1)
i
() = 3
_
N
2
i
()
i+3
i
N
2
i+1
i+4
i+1
_
,
N
3,(2)
i
() = 3
_
N
2,(1)
i
()
i+3
i
N
2,(1)
i+1
i+4
i+1
_
,
N
3,(3)
i
() = 3
_
N
2,(2)
i
()
i+3
i
N
2,(2)
i+1
i+4
i+1
_
.
Now, we can use some tables to compute all and only the values needed to get
all the derivatives up to degree 3 of the basis functions. The rst computes the
i
th
basis function of degree 3 (the triangular table of (3.6)):
N
0
i
N
0
i+1
N
0
i+2
N
3
i+3
N
1
i
N
1
i+1
N
1
i+2
N
2
i
N
2
i+1
N
3
i
.
University of Padua Faculty of Engineering
88 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Then, the k
th
derivative, 0 k n, can be computed with a table of this kind:
N
pk
i
.
.
.
N
pk
i+k
N
2,(k1)
i
N
2,(k1)
i+1
N
3,(k)
i
.
3.4.4 Univariate Bsplines
The general concept of the Bspline curves is to maintain the same structure
used to dene the Bzier curves or the power basis curves, designing the basis
functions according to the idea exposed above:
C() =
n
i=0
f
i
() P
i
, a b.
As already stated, a good choice for the f
i
()s are the basis functions dened
in Subsection 3.4.1; this leads to the form
C() =
n
i=0
N
p
i
() P
i
, a b,
where the P
i
s are the control points, and the N
p
i
()s are the p
th
degree B
spline basis functions of the equation (3.3) dened on the nonuniform knot
vector
=
_
_a, . . . a
. .
p+1
,
p+1
, . . . ,
n
, b, . . . , b
. .
p+1
_
_, [[ = n +p + 2. (3.9)
The space of the Bsplines of degree p built over the knot vector is denoted
by
o (, p) = span N
p
i
()
n
i=0
.
Notation 3.9. o (, p) will be written with the alternative notation o
p
in case
a shorter form is preferable.
Example 3.10. Reconsidering the example 3.3, it is possible to use the same
control points to build a Bspline curve. It is necessary to dene a knot vector
in this case, = 0, 0, 0, 0.25, 0.5, 0.75, 1, 1, 1 for instance. The curves in the
2dimensional and the 3dimensional space are represented in Figures 3.10 and
3.11.
The properties of the Bspline curves are listed below.
Property1: If n = p and = a, . . . , a, b, . . . , b then C() is a Bzier curve.
Property2: Endpoint interpolation: C(a) = P
0
and C(b) = P
n
.
Property3: Variation diminishing property: no plane has more intersections
with the curve than with the control polygon.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 89
Algorithm 3.6 Algorithm for the determination of the derivatives of order
0 k n of the i
th
Bspline basis function in the specied .
1 % deri vsBasi sFun determi nes t he de r i v at i v e s of t he it h Bs pl i ne bas i s
2 % f unct i on of degree p b u i l t over t he knot vect or Xi i n t he poi nt xi of
3 % degree up t o degree n.
4 % Input :
5 % p : degree of t he f unct i on ;
6 % Xi : knot vect or ;
7 % i : i ndex of t he Bs pl i ne bas i s f unct i on t o d i f f e r e nt i a t e ;
8 % xi : poi nt i n which t o e v al i at e t he de r i v at i v e ;
9 % n: max degree of de r i v at i v e t o f i nd ;
10 % Output :
11 % der i vs : der i vs ( k ) cont ai ns t he kth1 de r i v at i v e of t he f unct i on i n xi .
12 function de r i vs = der i vsBasi sFun ( p , Xi , i , xi , n)
13 % Check i f xi i s out si de t he domain .
14 de r i vs = zeros ( n+1);
15 i f xi < Xi ( i +1)   xi >= Xi ( i+p+1+1)
16 for k = 0: n , de r i vs ( k+1) = 0; end;
17 return ;
18 end
19 for j = 0: p
20 i f xi >= Xi ( i+j +1) && xi < Xi ( i+j +2) , N( j +1, 1) = 1;
21 el se N( j +1, 1) = 0; end;
22 end
23 % Compute t he t r i ang l e .
24 for k = 1: p
25 i f N(0+1 , k1+1) == 0 , saved = 0;
26 el se saved = ( ( xi Xi ( i +1)). N(0+1 , k1+1)). /( Xi ( i+k+1)Xi ( i +1)); end;
27 for j = 0: pk+11
28 Xi l e f t = Xi ( i+j +1+1);
29 Xi r i ght = Xi ( i+j+k+1+1);
30 i f N( j +1+1, k1+1) == 0
31 N( j +1, k+1) = saved ;
32 saved = 0;
33 el se
34 temp = N( j +1+1, k1+1)./( Xi r i ght Xi l e f t ) ;
35 N( j +1, k+1) = saved+( Xi ri ght xi ) . temp ;
36 saved = ( xi Xi l e f t ) . temp ;
37 end
38 end
39 end
40 for k = 1: n
41 for j = 0: k , ND( j +1) = N( j +1, pk+1); end;
42 for j j = 1: k
43 i f ND( 1) == 0 , saved = 0;
44 el se saved = ND( 0+1) . /( Xi ( i+pk+j j +1)Xi ( i +1)); end;
45 for j = 0: kj j
46 Xi l e f t = Xi ( i+j +2);
47 Xi r i ght = Xi ( i+j+p+j j +1);
48 i f ND( j +1+1) == 0
49 ND( j +1) = ( pk+j j ) . saved ;
50 saved = 0;
51 el se
52 temp = ND( j +2). /( Xi r i ght Xi l e f t ) ;
53 ND( j +1) = ( pk+j j ) . ( savedtemp ) ;
54 saved = temp ;
55 end
56 end
57 end
58 de r i vs ( k+1) = ND( 1 ) ;
59 end
University of Padua Faculty of Engineering
90 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
0 0.5 1 1.5 2 2.5 3
0
0.5
1
1.5
x
y
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
k
C()
k
=
n
i=0
k
N
p
i
()
P
i
, (3.10)
which is a simple application of the linearity of the derivative. Algorithm 3.8
computes all the derivatives of degree 0 k d in the vector CK(k) and takes
advantage of the algorithm presented previously.
3.4.7 Multivariate tensorproduct Bsplines
We can use the tensor product to obtain Bsplines in higher dimension spaces:
assume d is the dimension of the Bspline were trying to build (for d = 2 we get
Bspline surfaces, for d = 3 we get Bspline solids). We need to dene d knot
vectors denoted with
=
_
_a
, . . . , a
. .
p
+1
,
p
+1,
, . . . ,
n
,
, b
, . . . , b
. .
p+1
_
_, [
[ = n
+p
+ 2,
1
The physical space will be dened more precisely in 3.4.10.
2
The parametric space will be dened more precisely in 3.4.10.
University of Padua Faculty of Engineering
92 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Algorithm 3.8 Algorithm for the evaluation of the derivative of a Bspline
curve.
1 % bspl i neCurveDeri vs computes t he de r i v at i v e s of a Bs pl i ne curve
2 % up t o and i ncl udi ng dth de r i v at i v e s f or t he curve provi ded .
3 % Input :
4 % n: def i ned so t hat n+1 i s t he number of cont rol poi nt s ;
5 % p : degree of t he Bs pl i ne bas i s f unct i on t o use ;
6 % Xi : knot vect or i n di r ect i on xi ;
7 % P: bi di mensi onal matrix cont ai ni ng t he coordi nat es of t he
8 % cont rol poi nt s on t he rows : t he kt h coordi nat e of t he
9 % i t h cont rol poi nt i s P( i , k ) ;
10 % xi : poi nt where t o eval uat e t he de r i v at i v e of t he curve ;
11 % d : order of t he de r i v at i v e up t o which we want t o c al c ul at e them.
12 % Output :
13 % CK: bi di mensi onal marix cont ai ni ng t he de r i v at i v e : CK(k , i )
14 % i s t he i t h coordi nat e of t he kt h de r i v at i v e where 0<=k<=d .
15 function CK = bs pl i neCur veDer i vs ( n , p , Xi , P, xi , d)
16 dxi = min( [ d , p ] ) ;
17 CK = zeros ( d+1, 3 ) ;
18 % I f p < d , hi gher order de r i v at i v e s are s et t o zero .
19 for k = p+1:d , CK( k+1) = 0; end;
20 span = f i ndSpan ( n , p , xi , Xi ) ;
21 nder i vs = der i vs Bas i s Funs ( span , xi , p , dxi , Xi ) ;
22 for k = 0: dxi
23 CK( k+1, length(P( 1 , : ) ) ) = 0;
24 for j = 0: p
25 CK( k+1, : ) = CK( k+1, : )+ nder i vs ( k+1, j +1). P( spanp+j +1, : ) ;
26 end
27 end
with = 0, . . . , d1. The tensor product Bspline basis functions can be written
as
N
p
0
,...,p
d
i
0
,...,i
d
N
p
0
i
0
. . . N
p
d1
i
d1
.
The properties of the tensorproduct Bspline basis functions for d = 2 are
listed below.
Property1: This choice of the basis functions guarantees the local support prop
erty: N
p
i
() N
q
j
() = 0 if (, ) / [
i
,
i+p+1
) [
j
,
j+q+1
).
Property2: In any given rectangle [
i
0
,
i
0
+1
)[
j
0
,
j
0
+1
) at most (p + 1) (q + 1)
of the N
p
i
() N
q
j
() are nonzero, namely the functions N
p
i
() N
q
j
(), for
i
0
p i i
0
and j
0
q j j
0
.
Property3: The property of nonnegativity states that N
p
i
() N
q
j
() 0 for
all i, j, p, q, and .
Property4: The property of partition of unity states that
n
i=0
m
j=0
N
p
i
() N
q
j
() =
1 for all (, ) [a
0
, b
0
] [a
1
, b
1
].
Property5: N
p
i
() N
q
j
() is C
((
i
0
,
i
0
+1
) (
j
0
,
j
0
+1
)) for all i, j, i
0
and
j
0
. At a () knot it is p k (q k) times dierentiable in the ()
direction, where k is the multiplicity of the knot.
Property6: The set of all bivariate tensorproduct Bspline basis functions of
p
th
degree in the direction and of q
th
degree in the direction N
p
i
() N
q
j
(),
i = 0, . . . , n and j = 0, . . . , m dened on the knot vectors
=
_
_
0
, . . . ,
0
. .
s
,0
,
1
, . . . ,
1
. .
s
,1
, . . . ,
k
, . . . ,
k
. .
s
,k
_
_
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 93
H =
_
_
0
, . . . ,
0
. .
s
,0
,
1
, . . . ,
1
. .
s
,1
, . . . ,
l
, . . . ,
l
. .
s
,l
_
_
forms a basis of the space o
p,q
,H
of the of the piecewisepolynomials of degree
p in the direction and degree q in the direction, with continuity C
r
,j
in
direction at
j
with r
,j
= p s
,j
and with continuity C
r
,j
in direction
at
j
with r
,j
= q s
,j
. It is possible to show that the dimension of
the space o
p,q
,H
is
dim
_
o
p,q
,H
_
=
_
_
k (p + 1)
k
j=0
(r
,j
+ 1)
_
_
_
_
l (q + 1)
l
j=0
(r
,j
+ 1)
_
_
.
(3.11)
The tensor product Bspline space is
o (
0
, . . . ,
d1
, p
0
, . . . , p
d1
)
d1
=0
o (
, p
) ,
= span
_
_
N
p
0
,...,p
d1
i
0
,...,i
d1
_
n
1
,...,n
d1
i
0
=0,...,i
d1
=0
_
.
Notation 3.11. o (
0
, . . . ,
d1
, p
0
, . . . , p
d1
) will be written with the alternative
notation o
p
0
,...,p
d1
0
,...,
d1
in case a shorter form is preferable.
Particularly important multivariate Bsplines are the Bspline surfaces
S (, ) =
n
i=0
m
j=0
N
p
i
() N
q
j
() P
i,j
, a b. (3.12)
Example 3.12. Bspline surfaces are built using bivariate tensorproduct B
spline basis functions. An example built over the knot vectors = H =
0, 0, 0, 0.5, 1, 1, 1 with p = q = 2 can be seen in Figure 3.12.
The P
i,j
s form a net of control points and basis functions are dened over
the knot vectors
=
_
_a, . . . , a
. .
p+1
,
p+1
, . . . ,
n
, b, . . . , b
. .
p+1
_
_, [[ = n +p + 2,
H =
_
_c, . . . , c
. .
q+1
,
q+1
, . . . ,
m
, d, . . . , d
. .
q+1
_
_, [H[ = m+q + 2.
Some important properties of the Bspline surfaces are listed below.
Property1: If n = p, m = q, = [a, . . . , a, b, . . . , b] and H = [a, . . . , a, b, . . . , b]
then S (, ) is a Bzier surface.
Property2: Endpoint interpolation: the surface interpolates the four corner
control points S (a
1
, a
2
) = P
0,0
, S (b
1
, a
2
) = P
n,0
, S (a
1
, b
2
) = P
0,m
and
S (b
1
, b
2
) = P
n,m
.
University of Padua Faculty of Engineering
94 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
F
i
g
u
r
e
3
.
1
2
:
B
i
v
a
r
i
a
t
e
t
e
n
s
o
r

p
r
o
d
u
c
t
B

s
p
l
i
n
e
b
a
s
i
s
f
u
n
c
t
i
o
n
s
b
u
i
l
t
o
v
e
r
t
h
e
k
n
o
t
v
e
c
t
o
r
s
=
H
=
0
,
0
,
0
,
0
.
5
,
1
,
1
,
1
w
i
t
h
p
=
q
=
2
.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 95
Figure 3.13: Example of Bspline surface built using the same control points
of Figure 3.5, p = q = 1 and the knot vectors = 0, 0, 0.5, 1, 1 and H =
_
0, 0, 0.3, 0.6, 1, 1
_
.
Figure 3.14: Example of Bspline surface built using the same control points
of Figure 3.5, p = 1, q = 2 and the knot vectors = 0, 0, 0.5, 1, 1 and
H = 0, 0, 0, 0.5, 1, 1, 1.
University of Padua Faculty of Engineering
96 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Example 3.13. Reconsidering the image of Figure 3.5, an example of Bspline
surface built using the same control points is shown in Figures 3.13 and 3.14. In
the rst case, both the degrees p and q are chosen so that the surface interpolates
exactly the control points. This is done choosing p = q = 1 with the knot vectors
= 0, 0, 0.5, 1, 1 and H =
_
0, 0, 0.3, 0.6, 1, 1
_
. In Figure 3.14 q = 2, so only
the other direction exactly interpolates the control points.
Using the tensor product, a solid can be expressed using three sets of basis
functions
S (, , ) =
n
i=0
m
j=0
l
k=0
N
p
i
() N
q
j
() N
r
k
() P
i,j,k
, a b,
where the P
i,j,k
s are the control points forming the control net, the N
p
i
s, the
N
q
j
a and the N
r
k
s are the Bspline basis functions dened over the knot vectors
=
_
_a
1
, . . . , a
1
. .
p+1
,
p+1
, . . .
n
, b
1
, . . . , b
1
. .
p+1
_
_, [[ = n +p + 2,
H =
_
_a
2
, . . . , a
2
. .
q+1
,
q+1
, . . .
m
, b
2
, . . . , b
2
. .
q+1
_
_, [H[ = m+q + 2,
Z =
_
_
a
3
, . . . , a
3
. .
r+1
,
r+1
, . . .
l
, b
3
, . . . , b
3
. .
r+1
_
_
, [Z[ = l +r + 2.
3.4.8 Algorithm for Bspline surfaces
An algorithm for the computation of the value of the Bspline surface in a
specied point [, ]
T
is given in Algorithm 3.9.
3.4.9 Algorithms for Bspline surfaces derivatives
An algorithm for the computation of the value of a Bspline surface derivatives
in a specied value of the parametric space comes straightforwardly from the
denition in Equation (3.12) with the use of the linearity of the derivative:
k+l
S (, )
=
n
i=0
m
j=0
k
N
p
i
()
l
N
q
j
()
l
P
i,j
(3.13)
=
_
k
N
p
i
()
k
_
T
[P
r,s
]
_
l
N
q
j
()
l
_
, (3.14)
where, supposing
_
i
,
i+1
_
and
_
j
,
j+1
_
we have
i
p r
i
and
j
q s
j
. An implementation of this is in Algorithm 3.10.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 97
Algorithm 3.9 Algorithm for the computation of the value of a Bspline surface
in [, ]
T
.
1 % bspl i neSurf Poi nt eval uat es a Bs pl i ne surf ace on a poi nt ( xi , et a )
2 % of t he domain .
3 % Input :
4 % n: def i ned acordi ngl y t o t he knot vect or Xi ;
5 % p : degree i n t he f i r s t di r ect i on ;
6 % Xi : knot vect or i n t he f i r s t di r ect i on ;
7 % m: def i ned accordi ngl y t o t he knot vect or Eta ;
8 % q : degree i n t he second di r ect i on ;
9 % Eta : knot vect or i n t he second di r ect i on ;
10 % P: cont rol poi nt s wri t t en i n t he format P( xi , x_k , et a ) ;
11 % xi : coordi nat e i n t he f i r s t di r ect i on on which t he
12 % surf ace i s bei ng eval uat ed ;
13 % et a : coordi nat e i n t he second di r ect i on on which t he
14 % surf ace i s bei ng eval uat ed .
15 % Output :
16 % S: val ue of t he surf ace i n t he poi nt ( xi , et a ) .
17 function S = bs pl i ne Sur f Poi nt ( n , p , Xi , m, q , Eta , P, xi , eta )
18 xi Span = f i ndSpan ( n , p , xi , Xi ) ;
19 etaSpan = f i ndSpan (m, q , eta , Eta ) ;
20 Nxi = basi sFuns ( xiSpan , xi , p , Xi ) ;
21 Neta = basi sFuns ( etaSpan , eta , q , Eta ) ;
22 d = length(P( 1 , 1 , : ) ) ;
23 S( d) = 0;
24 for i = 1: d
25 S( i ) = Nxi P( xiSpanp+1: xi Span+1, etaSpanq+1: etaSpan+1, i ) Neta ;
26 end
3.4.10 Support structures
Bsplines and the CAD technologies which will be presented later all share some
key concepts and attain compatibility. It is interesting therefore to dene some
useful structures to work with these technologies, which will be further used in
Isogeometric Analysis.
The rst concepts are the parametric space, which is the space where the
domain of the parametric form is dened and the physical space, which is the
space where the codomain of the parametric form is dened. The splines which
will be dened map points in the parametric space in points in the physical
space. Another space which can be useful is the index space, which is created
by plotting the knots equidistantly, regardless of their actual spacing, labeling
them with their index. In the parametric space we dene, in addiction, the
anchor, which is the point in the parametric space which lies precisely at the
middle of the support of a basis function.
3.5 Univariate and multivariate NURBSs
According to the same principle exposed in the subsection 3.3.1, not all curves
and surfaces can be represented with piecewisepolynomials only. Using the
same procedure of Subsection 3.3.1 so, we dene a Bspline curve where the
basis functions are rational functions.
University of Padua Faculty of Engineering
98 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Algorithm 3.10 Algorithm for the computation of the value of the Bspline
surface derivatives in a provided point of the parametric space.
1 % Compute Bs pl i ne surf ace de r i v at i v e s i n t he s pe c i f i e d poi nt
2 % from order 0 t o order d .
3 % Input :
4 % n: def i ned accordi ngl y t o t he knot vect or Xi ;
5 % p : degree i n di r ect i on xi ;
6 % Xi : knot vect or i n di r ect i on xi ;
7 % m: def i ned accordi ngl y t o t he knot vect or Eta ;
8 % q : degree i n di r ect i on et a ;
9 % Eta : not vect or i n di r ect i on et a ;
10 % P: cont rol poi nt s wri t t en i n t he format P( xi , eta , x_k ) ;
11 % xi : poi nt i n di r ect i on xi i n which t he surf ace i s t o be determined ;
12 % et a : poi nt i n di cr ect i on et a i n which t he surf ace i s t o be determined ;
13 % d : de r i v at i v e s are t o be computed up t o order d .
14 % Output :
15 % SKL: t ri di mensi onal matrix where SKL_{k , l , i } i s t he i t h
16 % coordi nat e de r i v at i v e of S( xi , et a ) wi th respect t o
17 % xi k ti mes and t o et a l ti mes .
18 % Nxi : ret urns deri vsBasi sFuns ( xiSpan , xi , p , d , Xi ) ;
19 % Neta : ret urns deri vsBasi sFuns ( etaSpan , eta , q , d , Eta ) ;
20 % spanxi : ret urns spanxi = findSpan (n, p , xi , Xi ) ;
21 % spaneta : ret urns findSpan (m, q , eta , Eta ) .
22 function [ SKL, Nxi , Neta , spanxi , spaneta ] =. . .
23 bs pl i ne Sur f De r i vs ( n , p , Xi , m, q , Eta , P, xi , eta , d)
24 % Determine t he span i n which t he poi nt [ xi , et a ]^T i s .
25 spanxi = f i ndSpan ( n , p , xi , Xi ) ;
26 spaneta = f i ndSpan (m, q , eta , Eta ) ;
27 % Determine t he de r i v at i v e s .
28 Nxi = der i vs Bas i s Funs ( spanxi , xi , p , d , Xi ) ;
29 Neta = der i vs Bas i s Funs ( spaneta , eta , q , d , Eta ) ;
30 SKL = zeros ( d+1, length(P( 1 , 1 , : ) ) , d+1);
31 for k = 0: d
32 for l = 0: d
33 for i = 0: length(P( 1 , 1 , : )) 1
34 SKL( k+1, i +1, l +1) = Neta ( l +1, : ) P( spanxi p+1: spanxi +1 , . . .
35 spanetaq+1: spaneta +1, i +1) Nxi ( k+1, : ) ;
36 end
37 end
38 end
39 SKL = permute (SKL, [ 1 , 3 , 2 ] ) ;
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 99
3.5.1 NURBS basis functions
A NURBS basis function can be dened using Bspline basis functions using the
relation
R
p
i
() =
N
p
i
() w
i
n
i=0
N
p
i
() w
i
, a b, (3.15)
where the N
p
i
s are the Bspline basis functions already dened in (3.3) over the
knot vector
=
_
_a, . . . , a
. .
p+1
,
p+1
, . . .
n
, b, . . . , b
. .
p+1
_
_, [[ = n +p + 2,
and the w
i
s are the weights.
Property1: This choice of the basis functions guarantees the local support prop
erty: R
p
i
() = 0 if / [
i
,
i+p+1
).
Property2: In any given knot span [
j
,
j+1
) at most p + 1 of the R
p
i
are
nonzero, namely the functions R
p
jp
, . . . , R
p
j
.
Property3: The property of nonnegtivity states that R
p
i
() 0 for all i, p and
.
Property4: The property of partition of unity states that
n
i=0
R
p
j
() = 1 for
all [
i
,
i+1
).
Property5: R
p
i
() is C
((
j
,
j+1
)) for all j. At a knot R
p
i
() is p k times
continuously dierentiable, where k is the multiplicity of the knot.
Property6: If w
i
= 1 for all i then R
p
i
() = N
p
i
(). This means that NURBSs
are a generalization of the Bsplines.
Property7: If no interior knot is dened in the knot vector, then NURBSs are
a generalization of Bziers.
Property8: The set of all NURBS basis functions of p
th
degree R
p
i
(), i =
0, . . . , n dened on the knot vector
=
_
_
0
, . . . ,
0
. .
s
0
,
1
, . . . ,
1
. .
s
1
, . . . ,
k
, . . . ,
k
. .
s
k
_
_
forms a basis of the space A
p
is
dim(A
p
) = k (p + 1)
k
j=0
(r
j
+ 1).
University of Padua Faculty of Engineering
100 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Algorithm 3.11 Algorithm for the evaluation of the i
th
NURBS basis function.
1 % NURBSBasisFun computes t he de r i v at i v e s of t he it h NURBS bas i s f unct i on .
2 % Input :
3 % i : i ndex of t he NURBS bas i s f unct i on ;
4 % xi : poi nt where t o eval uat e t he de r i v at i v e ;
5 % n: number of cont rol poi nt s minus 1;
6 % p : degree of t he NURBS bas i s f unct i on ;
7 % Xi : knot vect or over which t he NURBS bas i s f unct i on has t o be b u i l t ;
8 % w: vect or of t he wei ght s .
9 % Output :
10 % R: val ue of t he de r i v at i v e .
11 function R = NURBSBasisFun( i , xi , n , p , Xi , w)
12 spanXi = f i ndSpan ( n , p , xi , Xi ) ;
13 i f i < spanXip   i > spanXi , R = 0;
14 el se
15 N = basi sFuns ( spanXi , xi , p , Xi ) ;
16 R = N( p+1(spanXii ) ) . w( i +1). /(Nw( spanXip+1: spanXi +1) ) ;
17 end
3.5.2 Algorithm for NURBS basis functions
It is important to have an ecient way of evaluating both a NURBS basis
function and its derivative: Algorithm 3.11 and Algorithm 3.12 respectively can
be used.
In Algorithm 3.11, we simply need to compute
R
p
i
() =
N
p
i
() w
i
n
i=0
N
p
i
() w
i
;
the terms N
p
i
()s can be computed with a single call to basisFuns(...).
3.5.3 Algorithm for NURBS basis functions derivatives
Algorithm 3.12 computes the function
R
p
i/ in :
R
p
i
()
_
_
_
_
_
_
_
N
p
i
() w
i
n
i=0
N
p
i
() w
i
_
_
_
_
_
_
_
.
By the linearity of the derivative, we can say
R
p
i
()
=
w
i
N
p
i
()
W () N
p
i
() w
i
n
i=0
N
p
i
()
i
(W ())
2
,
where
W () =
n
i=0
N
p
i
() w
i
.
The N
p
i
s and the
N
p
i /s can all be computed with a single call to, respectively,
basisFuns(...) and derivsBasisFuns(...) (according to our denition of
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 101
Algorithm 3.12 Algorithm for the evaluation of the derivative of a NURBS
basis function.
1 % derivsNURBSBasisFun computes t he val ue of t he de r i v at i v e of
2 % t he it h NURBS bas i s f unct i on i n t he poi nt xi .
3 % Input :
4 % i : i ndex of t he NURBS bas i s f unct i on t o compute ;
5 % xi : poi nt i n which t o compute t he NURBS bas i s f unct i on ;
6 % p : degree of t he NURBS bas i s f unct i on ;
7 % Xi : knot vect or over which t he NURBS bas i s f unct i on have t o be
8 % computed .
9 % w: vect or cont ai ni ng t he wei ght s .
10 % Output :
11 % R: val ue of t he it h NURBS bas i s f unct i on computed i n xi .
12 function R = derivsNURBSBasisFuns ( i , xi , p , Xi , w)
13 n = length( Xi)p2;
14 spanXi = f i ndSpan ( n , p , xi , Xi ) ;
15 % Computation of a l l t he nonvanishing Bs pl i ne bas i s f unct i ons i n xi .
16 Nips = basi sFuns ( spanXi , xi , p , Xi ) ;
17 % Computation of t he val ue f or t he denominator of t he NURBS bas i s f unct i on .
18 W = Ni ps w( spanXip+1: spanXi +1) ;
19 % Compitatio of t he der i vai ves of t he Bs pl i ne bas i s f unct i ons .
20 dNips = der i vs Bas i s Funs ( spanXi , xi , p , 1 , Xi ) ;
21 % Linear combinatio of t he de r i v at i v e s .
22 Cw = w( spanXip+1: spanXi +1)dNips ( 2 , : ) ;
23 % Val ues of t he it h bas i s f unct i on and r e l a t i v e de r i v at i v e .
24 Nip = basi sFun ( p , n+p+1, Xi , i , xi ) ;
25 dNip = der i vsBasi sFun ( p , Xi , i , xi , 1 ) ;
26 % Fi nal r e s ul t .
27 R = (w( i +1). dNip(1+1). W Nip . w( i +1). Cw) . / (W. ^2 ) ;
derivsBasisFuns(...), a simple call to this function would be sucient, as it
computes the derivatives of degree k = 0 as well).
Example 3.14. An example of derivatives of NURBS basis functions can be
seen in Figure 3.15. Cubic NURBS basis functions are plotted over the knot
vector = 0, 0, 0, 0, 1, 4, 6, 8, 8, 8, 8 with the weights w = [1, 1, 1, 3, 1, 1, 1]. In
Figure 3.15b the respective derivatives are represented.
3.5.4 Univariate NURBS
As a result, a p
th
degree NURBS (Non Uniform Rational Bspline) curve (or
univariate NURBS) is
C() =
n
i=0
N
p
i
() w
i
P
i
n
i=0
N
p
i
() w
i
, a b, (3.16)
where the P
i
s are the control points forming the control polygon, which (3.16)
can be rewritten
C() =
n
i=0
R
p
i
() P
i
, a b, (3.17)
It is possible moreover to use homogeneous coordinates to get a better repre
sentation of the NURBS:
C
w
() =
n
i=0
N
p
i
() P
w
i
i
, a b. (3.18)
University of Padua Faculty of Engineering
102 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
0 1 2 3 4 5 6 7 8
0
0.2
0.4
0.6
0.8
1
(a)
R
i 3
,
i
=
0
,
.
.
.
,
6
0 1 2 3 4 5 6 7 8
1.5
1
0.5
0
0.5
1
1.5
(b)
R
i 3
,
i
=
0
,
.
.
.
,
6
Figure 3.15: Representation of cubic NURBS basis functions are plotted over the
knot vector = 0, 0, 0, 0, 1, 4, 6, 8, 8, 8, 8 with the weights w = [1, 1, 1, 3, 1, 1, 1]
in (a) and the respective derivatives in (b).
The properties of the NURBS curves are listed below.
Property1: If n = p and = a, . . . , a, b, . . . , b then C() is a Bzier curve.
Property2: Endpoint interpolation: C(a) = P
0
and C(b) = P
n
.
Property3: Variation diminishing property: no plane has more intersections
with the curve than with the control polygon.
Example 3.15. In Figure 3.16 a circle has been built using a NURBS curve.
The NURBS is drawn using the data reported in Table 3.3.
i P
i
w
i
0 [1, 0]
T
1
1 [1, 1]
T
1
/
2
2 [0, 1]
T
1
3 [1, 1]
T
1
/
2
4 [1, 0]
T
1
5 [1, 1]
T
1
/
2
6 [0, 1]
T
1
7 [1, 1]
T
1
/
2
8 [1, 0]
T
1
Table 3.3: Data used for the construction of the NURBS circle of Figure 3.16.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 103
4 3 2 1 0 1 2 3 4
1.5
1
0.5
0
0.5
1
1.5
(a)
x
y
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.2
0.4
0.6
0.8
1
(b)
R
i 2
,
i
=
0
,
.
.
.
,
8
Figure 3.16: Representation of a unit circle with its control points in (a) and of
the NURBS basis functions used to build it in (b).
3.5.5 Algorithm for NURBS curves
Algorithms 3.13 and 3.14 can be used to evaluate a NURBS curve and its deriva
tive. Algorithm 3.13 is a straightforward application of the denition of uni
variate NURBS of Equation (3.16).
3.5.6 Algorithm for NURBS curves derivatives
It is possible to prove (see [24]) that the k
th
derivative of a NURBS curve
C
(k)
() can be computed using the equation
C
(k)
() =
A
(k)
()
k
i=1
_
k
i
_
w
(i)
() C
(ki)
()
w()
,
where A
(k)
() is the vectorvalued function which contains the rst three com
ponents of the k
th
derivative of C
w
() and w
(i)
() is the i
th
derivative of the
fourth component of C
w
() (both can be computed with Equation (3.10) and
Algorithm 3.8) .
3.5.7 Multivariate tensorproduct NURBS
Similarly, the form of a NURBS surface is
S (, ) =
n
i=0
m
j=0
N
p
i
() N
q
j
() w
i,j
P
i,j
n
i=0
m
j=0
N
p
i
() N
q
j
() w
i,j
, a b
University of Padua Faculty of Engineering
104 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Algorithm 3.13 Algorithm for the evaluation of a NURBS curve.
1 % NURBSCurvePoint eval uat es a NURBS curve i n t he s pe c i f i e d
2 % poi nt xi .
3 % Input :
4 % n: def i ned accordi ngl y t o t he knot vect or ;
5 % p : degree of t he NURBS curve ;
6 % Xi : knot vect or on which t he NURBS i s def i ned ;
7 % Pw: wei ght ed cont rol poi nt s wri t t en i n rows ;
8 % xi : poi nt i n which t he vurve has t o be eval uat ed .
9 % Output :
10 % C: val ue of t he curve i n t he poi nt xi .
11 function C = NURBSCurvePoint ( n , p , Xi , Pw, xi )
12 span = f i ndSpan ( n , p , xi , Xi ) ;
13 N = basi sFuns ( span , xi , p , Xi ) ;
14 d = length(Pw( 1 , : ) ) ;
15 Cw = zeros ( 1 , d ) ;
16 for j = 0: p
17 Cw( 1 : d) = Cw( 1 : d) + N( j +1). Pw( spanp+j +1, 1: d ) ;
18 end
19 C( 1 : d) = Cw( 1 : d ) . /Cw( d ) ;
Algorithm 3.14 Algorithm for the evaluation of the derivatives of a NURBS
curve.
1 % NURBSCurveDerivs computes a l l the k de r i va t i ve s 0 <= k <= d of a NURBS
2 % curve .
3 % Input :
4 % n : number of the c ont r ol poi nt s minus one ;
5 % p : degree of the curve ;
6 % Xi : knot vect or over which the curve has to be bui l t ;
7 % Pw: wei ghted c ont r ol poi nt s ;
8 % xi : poi nt where to eval uat e the de r i va t i ve ;
9 % d : maximum degree of the de r i va t i ve to c a l c ul a t e .
10 % Output :
11 % CK: CK( k) i s the kth de r i vat i ve of the curve f or 0 <= k <= d .
12 f unc t i on CK = NURBSCurveDerivs ( n , p , Xi , Pw, xi , d)
13 Aders = bs pl i neCur veDer i vs ( n , p , Xi , Pw, xi , d ) ;
14 wders = Aders ( : , 3 ) ;
15 Aders = Aders ( : , 1 : 2 ) ;
16 CK( 1 , : ) = Aders ( 1 , 1 : 2 ) ;
17 f or k = 0: d
18 v = Aders ( k+1, : ) ;
19 f or i = 1: k
20 v = vnchoosek ( k , i ) . wders ( i +1). CK( ki +1, : ) ;
21 end
22 CK( k+1, : ) = v . / wders (0+1);
23 end
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 105
where the P
i,j
s are the control points forming the control net, the N
p
i
s and
the N
q
j
s are the Bspline basis functions already dened in (3.3) over the knot
vectors
=
_
_
a
1
, . . . , a
1
. .
p+1
,
p+1
, . . .
n
, b
1
, . . . , b
1
. .
p+1
_
_
, [[ = n +p + 2,
H =
_
_
a
2
, . . . , a
2
. .
q+1
,
q+1
, . . .
m
, b
2
, . . . , b
2
. .
q+1
_
_
, [H[ = m+q + 2,
where the w
i,j
s are the weights. As already done, it is possible to use the
rational basis functions
R
p,q
i,j
(, ) =
N
p
i
() N
q
j
() w
i,j
n
i=0
m
j=0
N
p
i
() N
q
j
() w
i,
j
, a b, (3.19)
to give another denition of a NURBS surface
S (, ) =
n
i=0
m
j=0
R
p,q
i,j
(, ) P
i,j
, a b.
Again, homogeneous coordinates con be employed to give a more manageable
description of a NURBS surface:
S
w
(, ) =
n
i=0
m
j=0
N
p
i
() N
q
j
() P
w
i,j
i,j
, a b. (3.20)
The following are the properties of the bivariate tensorproduct NURBS
basis functions.
Property1: This choice of the basis functions guarantees the local support prop
erty: R
p,q
i,j
(, ) = 0 if (, ) / [
i
,
i+p+1
) [
j
,
j+q+1
).
Property2: In any given rectangle [
i
0
,
i
0
+1
)[
j
0
,
j
0
+1
) at most (p + 1) (q + 1)
of the R
p,q
i,j
(, ) are nonzero, namely the functions R
p,q
i,j
(, ), for i
0
p
i i
0
and j
0
q j j
0
.
Property3: The property of nonnegativity states that R
p,q
i,j
(, ) 0 for all i,
j, p, q, and .
Property4: The property of partition of unity states that
n
i=0
m
j=0
R
p,q
i,j
(, ) =
1 for all (, ) [a
0
, b
0
] [a
1
, b
1
].
Property5: R
p,q
i,j
(, ) is C
((
i
0
,
i
0
+1
) (
j
0
,
j
0
+1
)) for all i, j, i
0
and j
0
.
At a () knot it is pk (q k) times dierentiable in the () direction,
where k is the multiplicity of the knot.
Property6: If all w
i,j
= a and a ,= 0 then R
p,q
i,j
(, ) = N
p,q
i,j
(, ).
University of Padua Faculty of Engineering
106 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
i P
i,1
P
i,2
P
i,3
w
i,1
w
i,2
w
i,3
1 [1, 0]
T
[2.5, 0]
T
[4, 0]
T
1 1 1
2
_
1,
2 1
T
[2.5, 0.75]
T
[4, 4]
T
(1+
1
/
2)
/2 1 1
3
_
0
2, 1
T
[0.75, 2.5]
T
[4, 4]
T
(1+
1
/
2)
/2 1 1
4 [0, 1]
T
[0, 2.5]
T
[0, 4]
T
1 1 1
Table 3.4: Data used for the construction of the NURBS surface of Figure 3.18.
Property7: The set of all bivariate tensorproduct Bspline basis functions of
p
th
degree in the direction and of q
th
degree in the direction R
p,q
i,j
(, ),
i = 0, . . . , n and j = 0, . . . , m dened on the knot vectors
=
_
_
0
, . . . ,
0
. .
s
,0
,
1
, . . . ,
1
. .
s
,1
, . . . ,
k
, . . . ,
k
. .
s
,k
_
_
H =
_
_
0
, . . . ,
0
. .
s
,0
,
1
, . . . ,
1
. .
s
,1
, . . . ,
l
, . . . ,
l
. .
s
,l
_
_
forms a basis of the space A
p,q
,H
of the piecewiserational polynomials of
degree p in the direction and degree q in the direction, with continuity
C
r
,j
in direction at
j
with r
,j
= p s
,j
and with continuity C
r
,j
in direction at
j
with r
,j
= q s
,j
. It is possible to show that the
dimension of the space A
p,q
,H
is
dim
_
A
p,q
,H
_
=
_
_
k (p + 1)
k
j=0
(r
,j
+ 1)
_
_
_
_
l (q + 1)
l
j=0
(r
,j
+ 1)
_
_
.
Example 3.16. Figure 3.17 shows the bivariate tensorproduct NURBS basis
functions built over the knot vectors = H = 0, 0, 0, 0.5, 1, 1, 1 with p = q =
2.
Example 3.17. Figure 3.18 shows a surface drawn with a NURBS surface.
The hole drawn in corner is quarter of a cirle and it requires a NURBS to be
drawn. The data necessary to draw the surface is reported in Table 3.4.
Some important properties of the Bspline surfaces are listed below.
Property1: If n = p, m = q, = [a, . . . , a, b, . . . , b] and H = [a, . . . , a, b, . . . , b]
then S (, ) is a Bzier surface.
Property2: Endpoint interpolation: the surface interpolates the four corner
control points S (a
1
, a
2
) = P
0,0
, S (b
1
, a
2
) = P
n,0
, S (a
1
, b
2
) = P
0,m
and
S (b
1
, b
2
) = P
n,m
.
Using the tensor product, a solid can be expressed using three sets of basis
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 107
F
i
g
u
r
e
3
.
1
7
:
B
i
v
a
r
i
a
t
e
t
e
n
s
o
r

p
r
o
d
u
c
t
N
U
R
B
S
b
a
s
i
s
f
u
n
c
t
i
o
n
s
b
u
i
l
t
o
v
e
r
t
h
e
k
n
o
t
v
e
c
t
o
r
s
=
H
=
0
,
0
,
0
,
0
.
5
,
1
,
1
,
1
w
i
t
h
p
=
q
=
2
.
University of Padua Faculty of Engineering
108 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
4 3 2 1 0
0
0.5
1
1.5
2
2.5
3
3.5
4
x
y
1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
Figure 3.18: Representation of a square surface with a hole in a corner.
functions
S (, , ) =
n
i=0
m
j=0
l
k=0
N
p
i
() N
q
j
() N
r
k
() w
i,j,k
P
i,j,k
n
i=0
m
j=0
l
k=0
N
p
i
() N
q
j
() N
r
k
() w
i,j,k
, a b. (3.21)
where the P
i,j,k
s are the control points of the solid, the N
p
i
s, the N
q
j
s and the
N
r
k
s are the Bspline basis functions dened in (3.3) over the knot vectors
=
_
_a
1
, . . . , a
1
. .
p+1
,
p+1
, . . .
n
, b
1
, . . . , b
1
. .
p+1
_
_, [[ = n +p + 2,
H =
_
_a
2
, . . . , a
2
. .
q+1
,
q+1
, . . .
m
, b
2
, . . . , b
2
. .
q+1
_
_, [H[ = m+q + 2,
Z =
_
_
a
3
, . . . , a
3
. .
r+1
,
r+1
, . . .
l
, b
3
, . . . , b
3
. .
r+1
_
_
, [Z[ = l +r + 2.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 109
Algorithm 3.15 Algorithm for evaluating the value of a NURBS surface in
(, ).
1 % NURBSSurfPoint eval uat es a NURBS surf ace on a poi nt ( xi , et a )
2 % of t he domain .
3 % Input :
4 % n: def i ned acordi ngl y t o t he knot vect or Xi ;
5 % p : degree i n t he f i r s t di r ect i on ;
6 % Xi : knot vect or i n t he f i r s t di r ect i on ;
7 % m: def i ned accordi ngl y t o t he knot vect or Eta ;
8 % q : degree i n t he second di r ect i on ;
9 % Eta : knot vect or i n t he second di r ect i on ;
10 % Pw: wei ght ed poi nt s wri t t en i n t he format P( xi , x_k , et a ) ;
11 % xi : coordi nat e i n t he f i r s t di r ect i on on which t he
12 % surf ace i s bei ng eval uat ed ;
13 % et a : coordi nat e i n t he second di r ect i on on which t he
14 % surf ace i s bei ng eval uat ed .
15 % Output :
16 % S: val ue of t he surf ace i n t he poi nt ( xi , et a ) .
17 function [ S ] = NURBSSurfPoint ( n , p , Xi , m, q , Eta , Pw, xi , eta )
18 xi Span = f i ndSpan ( n , p , xi , Xi ) ;
19 etaSpan = f i ndSpan (m, q , eta , Eta ) ;
20 Nxi = basi sFuns ( xiSpan , xi , p , Xi ) ;
21 Neta = basi sFuns ( etaSpan , eta , q , Eta ) ;
22 d = length(Pw( 1 , 1 , : ) ) ;
23 Sw( d) = 0;
24 for i = 1: d
25 Sw( i ) = Nxi Pw( xiSpanp+1: xi Span+1, etaSpanq+1: etaSpan+1, i ) Neta ;
26 end
27 S = Sw( 1 : d1). /Sw( d ) ;
and the w
i,j,k
s are the weights. Dening the Bspline rational basis functions
R
p,q,l
i,j,k
(, , ) =
N
p
i
() N
q
j
() N
l
k
() w
i,j,k
n
i=0
m
j=0
l
k=0
N
p
i
() N
q
j
() N
l
k
() w
i,
j,
k
, a b,
(3.21) can be written in a simpler form:
S (, , ) =
n
i=0
m
j=0
l
k=0
R
p,q,l
i,j,k
(, , ) P
i,j,k
, a b.
As usual, the usage of homogeneous coordinates reduces (3.21) to
S
w
(, , ) =
n
i=0
m
j=0
l
k=0
N
p
i
() N
q
j
() N
l
k
() P
w
i,j,k
i,j,k
, a b.
3.5.8 Algorithm for NURBS surfaces
Equation (3.20) is used in Algorithm 3.15 to determine eciently the value of
the surface in (, ).
3.5.9 Algorithm for NURBS surfaces derivatives
It is possible to use Algorithm 3.16 to evaluate the derivative of a NURBS
surface. It uses Algorithm 3.10 and Equations (3.14) to evaluate the derivatives
University of Padua Faculty of Engineering
110 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Algorithm 3.16 Algorithm for the evaluation of the derivative of a NURBS
surface.
1 % NURBSSurfDerivs eval uat es t he de r i v at i v e s of t he NURBS surf ace S( xi , et a )
2 % of order up t o 0<=k+l <=d , k ti mes wi th respect t o xi and l times wi th
3 % respect t o et a .
4 % Input :
5 % n: def i ned accordi ngl y t o t he knot vect or Xi ;
6 % p : degree i n di r ect i on xi ;
7 % Xi : knot vect or i n di r ect i on Xi ;
8 % m: def i ned accordi ngl t o t he knot vect or Eta ;
9 % q : degree i n di r ect i on et a ;
10 % Eta : knot vect or i n di r ect i on et a ;
11 % Pw: wei ght ed cont rol poi nt s ;
12 % xi : val ue i n which t o eval uat e t he surf ace i n t he xi di r ect i on ;
13 % et a : val ue i n which t o eval uat e t he surf ace i n t he et a di r ect i on ;
14 % Output :
15 % SKL: de r i v at i v e s of t he NURBS surf ace S( xi , et a )
16 % of order up t o 0<=k+l <=d , k times wi th respect t o xi and l ti mes
17 % wi th respect t o et a . SKL(k , l ) cont ai ns t he de r i v at i v e s of t he
18 % surf ace di f f e r e nt i at e d k ti mes wi th respect t o xi and l times wi th
19 % respect t o et a .
20 function [ SKL] = NURBSSurfDerivs ( n , p , Xi , m, q , Eta , Pw, xi , eta , d)
21 Aders = bs pl i ne Sur f De r i vs ( n , p , Xi , m, q , Eta , Pw, xi , eta , d ) ;
22 wders = Aders ( : , : , end) ;
23 Aders = Aders ( : , : , 1: end1);
24 Bders = permute ( Aders , [ 1 , 3 , 2 ] ) ;
25 SKL = zeros ( d+1, d+1);
26 for k = 0: d
27 for l = 0: dk
28 v = Bders ( k+1, : , l +1);
29 for j = 1: l
30 v = vnchoosek ( l , j ) . wders (0+1 , j +1). SKL( k+1, : , l j +1);
31 end
32 for i = 1: k
33 v = vnchoosek ( k , i ) . wders ( i +1, 0+1). SKL( ki +1, : , l +1);
34 v2 = 0;
35 for j = 1: l
36 v2 = v2+nchoosek ( l , j ) . wders ( i +1, j +1 ) . . . .
37 SKL( ki +1, : , l j +1);
38 end
39 v = vnchoosek ( k , i ) . v2 ;
40 end
41 SKL( k+1, : , l +1) = v . / wders (0+1 , 0+1);
42 end
43 end
44 SKL = permute (SKL, [ 1 , 3 , 2 ] ) ;
of S
w
(, ) (S
w
(, ) can, as said, be expressed by a Bspline curve where
instead of points with three components, four components weighted points are
used). Starting from S
w
(, ) we can compute the derivatives of the NURBS
surface S (, ) with the equation
k+l
S (, )
l
=
1
w
_
k+l
A(, )
l
k
i=1
_
k
i
_
i
w(, )
ki+l
S
ki
l
+
j=1
_
l
j
_
j
w
k+lj
S (, )
lj
k
i=1
_
k
i
_
l
j=1
_
l
j
_
i+j
w(, )
ki+lj
S (, )
ki
lj
_
_
.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 111
3.6 Tsplines
An interesting technology from the point of view of both CAD and Isogeometric
Analysis is the Tspline technology, initially introduced by Sederberg in [28]. T
splines allows:
1. add details only where necessary;
2. maintain NURBS compatibility;
3. allow watertight placement of patches;
4. reduce the total number of control points.
3.6.1 Tmesh and basis functions
The denition of a Tspline begins from the index space of a Tmesh, where
knots are dened as before, and are placed equidistantly on a rectangle. In this
case, however, Tjunctions are allowed: Tjunctions are vertices formed by the
intersection of three edges. This is not possible in NURBS and Bsplines.
Lets consider a Bspline basis function N
p
to
i
+p+1
. These knots
form the local knot vector
i
.
If p is odd, for each index space direction, we create a local knot vector
1
and
2
and
2
j
in
2
supposing s
until we have
added a total of
p+1
/2 knots. The same has to be done travelling horizontally
on the other side of the anchor until weve added a total of
p+1
/2 knots. On
both sides, if less than
p+1
/2 knots can be added as no more orthogonal edges
are found, we repeat the last one until that value is reached. The same process
is repeated in the other direction.
In case p is even, anchors are located inside an element and not at intersec
tions. So, the same process is repeated, without adding the rst knot to the
knot vector and we insert a total of
p
/2 + 1 knots instead of
p+1
/2.
For a given Tmesh and degree p, let A Z
2
be the index set containing
every for which s
s and the
2
s we are able to
dene Bspline basis functions N
p
R
d
(d can be chosen accordingly to the
dimension of the physical space) and a weight w
() =
w
N
p
()
A
w
N
p
()
,
for which the partition of unity is still valid.
The same denitions and procedures can be generalized almost straightfor
wardly to threedimensional spaces to create Tspline solids.
University of Padua Faculty of Engineering
112 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Figure 3.19: Partial isoparms and Tpoints.
3.6.2 Advantages
TSplines surfaces can contain areas with diering levels of detail (see Figure
3.19). Control points may be added only where needed so that a typical TSpline
surfaces will have up to 50% fewer control points than the identical equivalent
set of NURBS surfaces. In other words, TSplines are similar to NURBS, with
the dierence that you can have partial isoparms (isocurves or isosurfaces). A
main dierence between TSplines and NURBS is the existence of Tpoints:
vertices where on one side, there is an isoparm, and on the other side, there
isnt. The surface is always smooth (C
2
) at a Tpoint. NURBSs dont allow
Tpoints.
There are various types of surfaces for which it is necessary to use multi
ple NURBS surfaces (polysurfaces) to be drawn: extrusions, holes, and other
unique features are easy to create in a TSpline surface. This is another dif
ference between TSplines and NURBS. NURBS require multiple surfaces, or a
polysurface, for such objects. TSplines can accommodate these features in a
single surface, by using a special point called a star point (see Figure 3.20).
Tsplines are a generalization of NURBSs, so there is a complete back
compatibility (see Figure 3.21 and 3.22), which is an important feature when
Tsplines are to be introduced in a industrial environment, where most models
are NURBSbased.
University of Padua Faculty of Engineering
CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE 113
Figure 3.20: Example of a single Tspline surface designing a complex object
with holes. NURBS would require multiple surfaces or polysurfaces.
Figure 3.21: On the left car model designed using Tsplines, on the right the
same exact model is converted to a NURBSbased model.
University of Padua Faculty of Engineering
114 CHAPTER 3. BZIER, BSPLINE, NURBS AND TSPLINE
Figure 3.22: Comparison of the number of control points in a NURBSbased
and in a Tsplinebased model.
University of Padua Faculty of Engineering
Chapter 4
Isogeometric Analysis
Recently, a new proposal has been developed and published in [3, 18]. The
Isogeometric Analysis is a generalization of the Finite Element Method: while
the latter employs only piecewisepolynomials for both the description of the
geometry and the approximation of the solution, the former replaces them with
dierent elements.
The starting point of the analysis of the benets of the two is the analy
sis of the engineering design industry. The design description of objects and
structures is embodied in Computer Aided Design systems (CAD), which has
to be translated to an analysissuitable geometry for mesh generation and use
in Finite Element Analysis. This translation is, however, dicult, and turns
out to need a considerable part of the overall process of analysis. After years
of usage of Finite Element Analysis, it can be stated that design and analysis
are not separable endeavors. However, many attempts at integrating CAD and
FEM have failed.
The translation of the CAD model to a FEM suitable model is not a trivial
task, and the creation of a mesh implies the introduction of a relevant approx
imation to the exact CAD model, which can result in analytical errors. The
possibility of mesh renement is of course available, as it can be seen from
Chapter 2, but this requires a continuous and automatic communication with
the CAD model, which is often not possible in the industry environment. Taking
advantage of parallelism in computing the transformation of the CAD model is
not simple as it is not known how to manage concurrency in mesh generation.
A possible way of overcoming to these problems with Finite Element Analysis
is to redesign the entire process of analysis, building one model only where it
is possible to design and analyze. This is of course a huge change and requires
a new analysis model based on the exact CAD representation. These are the
concepts and reasons which lie behind Isogeometric Analysis, which is based on
the same geometry representation employed in CAD models. The most used
technology in CAD design is NURBS, but it would be possible to adapt the
model to many other technologies, like Tsplines.
115
116 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Finite element analysis Shared concepts Isogeometric analysis
Nodal points Control points
Nodal variables Control variables
Mesh Knots
Basis interpolates
nodal points and
variables
Basis does not
interpolate control
points and variables
Approximate geometry Exact geometry
Polynomial basis CAD basis
Gibbs phenomena Variation diminishing
Subdomains Patches
Compact support
Partition of unity
Isoparametric concept
Table 4.1: Comparison of the elements of FEM and Isogeometric Analysis.
4.1 FEM and Isogeometric analysis
4.1.1 General framework
Lets summarize again the model were analyzing, already presented in Chapters
1 and 2. Consider again a second order elliptic PDE on the domain with
Lipschitzcontinuous boundary =
D
N
. The equation we would like to
solve for u can be written as in Equation (1.10).
From the strong formulation, the weak formulation can be derived as in
Equation (1.11).
The Galerkin projection replaces the innitedimensional space V by the
nitedimensional subspace V
h
spanned by N
h
basis functions
i
, i = 0, 1, . . . , N
h
h
=
N
h
1
i=0
i
i
, so that we obtain the linear system S
h
U
h
= F
h
where
S
h
= [a (
j
,
i
)]
N
h
1
i,j=0
and F
h
= [l (
i
)]
N
h
1
i=0
.
4.1.2 Isoparametric FEM
A possible choice for the basis functions, as already showed, are the piecewise
polynomials. When this is the choice, and the space of the weighting functions
is equal to the set of the trial solutions, the Galerkin method is named FEM.
The isoparametric concept is invoked and the boundaries of the nodal nite
elements are approximated using the same basis functions used in the approx
imation of the solution. The domain is approximated and divided in nonover
lapping elements over which the basis functions are dened. Integrations are
then performed over the reference element, where adequate integration nodes
are dened.
As already illustrated in Chapter 2, possible renements for the FEM ap
proach are hrenement, which renes the mesh over the domain, prenement,
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 117
which elevates the degree of the nodal basis functions and hprenement, which
both elevates the degree and renes the mesh.
4.1.3 Isogeometric approach
Another possible choice for the shape functions are the CAD basis functions,
such as Bsplines, NURBSs, Tsplines etc... (the important elements can be
found in Chapter 3).
As already pointed, Isogeometric Analysis is an attempt at merging the en
gineering design and analysis: this is why the rst step of Isogeometric Analysis
is the description of the geometry of the problem through an exact descrip
tion, which is the same used in the CAD model. According to the isoparametric
concept, assuming Bsplines are used to represent the geometry with a CAD
software, the same Bsplines are used in the analysis, thus allowing the use of
a geometry which is exactly the same as that of the CAD model. One concept
has to be remarked: it is usually not possible to use directly the CAD model
in the analysis. The CAD description usually represents the boundaries of the
geometry, whereas the complete computational domain has to be included in
the representation for the analysis, as solution elds are to be computed. This
means that, for twodimensional problems, the analysis needs a surface, and not
the only boundary; for a threedimensional problem, the entire solid is needed,
not only the surfaces of the solid.
The basis functions are dened over what we call the parametric space, which
is typically the unit segment [0, 1] in onedimensional problems, the unit interval
[0, 1]
2
in twodimensional problems and the unit cube [0, 1]
3
in threedimensional
problems. It would be very comfortable to dene the shape functions used in
the analysis using the same CAD basis functions, but dened on the physical
space. This is, indeed, possible by using a geometrical map x :
= [0, 1]
d
,
where d is the dimension of the CAD basis functions used in the description of
the geometry. Assuming Bsplines are used, for instance, x() is an element of
the Bspline space o
p
1
,...,p
1
,...,
d
; so, according to the denitions of Section 3.4, in
the onedimensional case we may write the geometrical map as
x() =
n
i=0
N
p
i
() P
i
o
p
,
= [0, 1] R,
where the Bspline paraphernalia is dened as usual: the P
i
n
i=0
s are the
control points, the w
i
n
i=0
s are the corresponding weights and the Bspline
basis functions
N
p
i
()s used when expressing the
R
p
i
()s are dened over the
knot vector
=
0
= 0,
2
, . . . ,
n+p
,
n+p+1
= 1 .
Remark 4.1. From now on, the CAD basis functions are going to be dened
with a overlying tilde to attain some kind of correlation in notation with the
shape functions dened on the reference domain of Chapter 2. When the CAD
basis functions are written without the tilde, they denote the denition in the
physical space.
According to the denitions of Section 3.4, in the twodimensional case we
University of Padua Faculty of Engineering
118 CHAPTER 4. ISOGEOMETRIC ANALYSIS
have the geometrical map
x(, ) =
n
i=0
m
j=0
N
p,q
i,j
(, ) P
i,j
o
p,q
,H
, = [, ]
T
= [0, 1] [0, 1] R
2
,
where n + 1 and m+ 1 are the numbers of control points in the two directions
of the control net and the N
p,q
i,j
(, )s are the Bspline basis functions. The B
spline paraphernalia is dened as usual: the P
i,j
n,m
i,j=0
s are the control points
the Bspline basis functions N
p
i
()s and N
q
j
()s are dened over the knot
vectors
=
0
= 0,
1
, . . . ,
n+p
,
n+p+1
= 1 ,
H =
0
= 0,
1
, . . . ,
m+q
,
m+q+1
= 1 .
With these tools in hand, we can dene the Bspline basis functions in the
physical space by using the geometrical map and their denition in the para
metric space (which is simple to compute)
N
p,q
i,j
(x) = N
p,q
i,j
(x, y) = N
p,q
i,j
( x(, )) =
N
p,q
i,j
(, ) =
N
p,q
i,j
() ,
and the solution elds can be written according to the isoparametric concept as
h
() =
n
i=0
m
j=0
N
p
i
()
N
q
j
()
i,j
.
The same concepts can be applied when using the NURBS basis functions
to dene the geometry. The map, in the twodimensional case is, then:
x(, ) =
n
i=0
m
j=0
R
p,q
i,j
(, ) P
i,j
A
p,q
,H,w
, = [, ]
T
= [0, 1] [0, 1] R
2
.
Example 4.2. Suppose we want to map the parametric space
= [0, 1] to
the space = [x
0
= 3, x
1
= 5]. Suppose moreover that the design phase has
developed a model which uses the knot vector = [0, 0, 1, 1], with p = 1. We
can derive the Bspline basis functions of degree 0
N
0
0
() =
_
1, 0 < 0
0, otherwise
= 0,
N
0
1
() =
_
1, 0 < 1
0, otherwise
,
N
0
2
() =
_
1, 1 < 1
0, otherwise
= 0.
and then we can build recursively the Bspline basis functions of degree 1
N
1
0
() =
0
0 0
N
0
0
() +
1
1 0
N
0
1
() =
_
1 , 0 < 1
0, otherwise
,
N
1
1
() =
0
1 0
N
0
1
() +
1
1 0
N
0
2
() =
_
, 0 < 1
0, otherwise
.
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 119
The Bspline basis functions can be used to build the NURBS basis functions
(in case the initial model used NURBSs) which are the shape functions dened
on the parametric space (assuming all weights equal to 1 we get the Bspline
basis functions):
R
1
0
() =
N
1
0
1
i=0
N
1
i
()
=
_
1 , 0 < 1
0, otherwise
,
R
1
0
() =
N
1
0
1
i=0
N
1
i
()
=
_
, 0 < 1
0, otherwise
.
We can nally write the geometrical map x :
x() = N
1
0
() x
0
+N
1
1
() x
1
,
or using the NURBS basis functions
x() = R
1
0
() x
0
+R
1
1
() x
1
.
With the geometrical map it is possible to map points from the parametric
space to the physical space, and it is possible to dene the shape functions on
the physical space by using the denitions we already gave in the parametric
space. Suppose we want to nd the correspondent x of the point
=
1
/2, it is
sucient to use the geometrical map this way:
x = x
_
_
= R
1
0
_
_
x
0
+R
1
1
_
_
x
1
= 3 (1
1
/2) + 5 (
1
/2) = 1.
The denition of the shape functions in the physical space can be found by
composing the R
p
i
()s with the inverse of the map
x() = x
0
(x
0
x
1
) ,
which is
( x) =
x
0
x
x
0
x
1
.
The composition yields to
R
1
0
(x) = R
1
0
() (x) =
x x
1
x
0
x
1
,
R
1
1
(x) = R
1
1
() (x) =
x
0
x
x
0
x
1
.
It is simple to see that these are exactly the roof functions used in linear
FEM.
Isogeometric Analysis oers, just like FEM, the possibility for hrenement,
by knot insertion (see 4.5.1), prenement, by degree elevation (see 4.5.2), hp
renement and phrenement, which is a new possibility not oered by classical
FEM.
University of Padua Faculty of Engineering
120 CHAPTER 4. ISOGEOMETRIC ANALYSIS
4.2 Onedimensional problems
The rst step in the resolution of a onedimensional problem dened on the
domain = (a, b), is the presence of the CAD model of the geometry which
comprise a set of n + 1 control points P
i
, i = 0, . . . , n, a set of n + 1 weights
w
i
, i = 0, . . . , n, and a knot vector
=
_
_
0, . . . , 0
. .
p+1
,
p+1
, . . .
n
, 1, . . . , 1
. .
p+1
_
_
, [[ = n +p + 2,
where p indicates the degree of the NURBS curve (suppose were working with a
NURBS model, but the same considerations can be applied to Bspline models).
Starting from the weak formulation for a onedimensional problem, which is
the same written in a more general form in (1.13):
a (, ) = l () , H
1
()
with
a (, ) =
(a
1
+a
0
) dx
l () =
(f a
1
a
0
) dx +
_
a
1
( +)
b
a
equipped with the boundary conditions
= 0, x
D
( +)
= g
N
, x
N
where u = +, a sequence of steps is needed to get an approximation.
Knot vector (mesh) In the Isogeometric Analysis, the mesh is represented
by the knot vector .
Application of the Galerkin method The Galerkin method remains al
most unchanged: it is possible to express the unknown function as a linear
combination of the basis functions of the space
span R
p
i
(x) , a x b, i = 0, . . . , n[i GG
D
,
where p is the degree of the NURBS basis functions R
p
i
, i = 0, . . . , n dened on
the physical space and where
G
D
= i[P
i
= (x
i
, y
i
) [x
i
D
,
G = i[P
i
= (x
i
, y
i
) .
Remark 4.3. It is important to note that the basis functions are dened in the
physical space, and not in the parametric space.
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 121
The approximate solution can then be written as the linear combination
h
(x) =
iG\G
D
i
R
p
i
(x) .
A possible choice for is
(x) =
iG
D
g
D
(P
i
) R
p
i
(x) . (4.1)
By substitution we get:
a
_
R
p
i
, R
p
j
_
=
_
a
1
R
p
i
x
R
p
j
x
+a
0
R
p
i
R
p
j
_
dx, (4.2)
l
_
R
p
j
_
=
fR
p
j
dx
a
1
iG
D
g
D
(P
i
)
R
p
i
x
R
p
j
x
dx+
a
0
iG
D
g
D
(P
i
) R
p
i
R
p
j
dx + [a
1
g
N
R
p
i
]
b
a
. (4.3)
The system of algebraic equations is written with the following stiness matrix
and force vector
S
h
=
_
a
_
R
p
i
, R
p
j
_
i,jG\G
D
, (4.4)
F
h
=
_
l
_
R
p
j
_
jG\G
D
, (4.5)
and the vector of unknowns
h
= [ ]
iG\G
D
.
It can be seen that Neumann and Dirichlet boundary conditions are imposed
just like in FEM. Our choice of in Equation (4.1) is possible only for open
knot vectors, for which the solution eld interpolates the degrees of freedom at
the extremity of the patch (3.5.4). This is possible only for boundary control
points as the NURBS basis functions reach the unity only at the boundary.
Example 4.4. Consider the problem of Example 2.23: the exact solution and
the weak formulation (Equation (2.14)) has already been derived. Considering
the knot vector
=
_
0, 0,
1
3
,
2
3
, 1, 1
_
and basis functions of p
th
= 1
st
degree, Isogeometric Analysis turns out to be
equivalent to the Finite Element Method, as the basis functions employed are
the roof functions dened in (2.10).
Example 4.5. Consider the problem of Example 2.23: the exact solution and
the weak formulation of the problem have already been derived. Isogeometric
Analysis can be used instead of Finite Element Method to get an approximation
of the result. Using the knot vector
1
= 0, 0, 0, 1, 1, 1
University of Padua Faculty of Engineering
122 CHAPTER 4. ISOGEOMETRIC ANALYSIS
0 0.2 0.4 0.6 0.8 1
3
2
1
0
1
x
u
n
(a)
0 0.2 0.4 0.6 0.8 1
0
0.2
0.4
0.6
0.8
1
x
R
i
,
2
(b)
Exact
Approx
Figure 4.1: (a) Representation of an approximation (black curve) of the solution
of the problem of Example 2.23 whose exact solution is plotted in red. The ap
proximation is obtained using the knot vector
1
= 0, 0, 0, 1, 1, 1. (b) NURBS
basis functions used for the approximation.
and NURBS basis functions on of 2
nd
degree, the approximation of Figure
4.1 can be achieved.
It is possible to use dierent knot vectors in order to obtain a more accurate
approximation in specic areas. In Figure 4.2 the knot vector
2
= 0, 0, 0, 0.1, 0.2, 0.3, 1, 1, 1
is used. It can be seen that the leftmost part of the approximated curve is more
accurate as the space used to represent the approximation is larger. In case the
same number of knots is better distributed on the domain like in
3
= 0, 0, 0, 0.25, 0.5, 0.75, 1, 1, 1 ,
the entire curve is more accurate than the case of Figure 4.1, at the cost of a
less accurate leftmost part respect to the case of Figure 4.2.
Algorithm 4.1 presents an algorithm for the computation of the DOFs in
onedimensional problems.
4.2.1 Transformation of the model to the parametric space
The case presented in Section 4.2 can be simply solved evaluating the integrals
in Equations 4.4 and 4.5. It is possible a similar process to that developed in
Subsection 2.3.2. The reference element in this case is the unit interval [0, 1],
the unit square [0, 1]
2
or the unit cube [0, 1]
3
: the dierence is that the entire
geometry is mapped in these elements, and not only single elements of the
physical space.
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 123
0 0.2 0.4 0.6 0.8 1
3
2
1
0
1
x
u
n
(a)
Exact
Approx
0 0.2 0.4 0.6 0.8 1
0
0.2
0.4
0.6
0.8
1
x
R
i
,
2
(b)
Figure 4.2: (a) Representation of an approximation (black curve) of the solution
of the problem of Example 2.23 whose exact solution is plotted in red. The ap
proximation is obtained using the knot vector
2
= 0, 0, 0, 0.1, 0.2, 0.3, 1, 1, 1.
(b) NURBS basis functions used for the approximation.
0 0.2 0.4 0.6 0.8 1
3
2
1
0
1
x
u
n
(a)
Exact
Approx
0 0.2 0.4 0.6 0.8 1
0
0.2
0.4
0.6
0.8
1
x
R
i
,
2
(b)
Figure 4.3: (a) Representation of an approximation (black curve) of the
solution of the problem of Example 2.23 whose exact solution is plot
ted in red. The approximation is obtained using the knot vector
3
=
0, 0, 0, 0.25, 0.5, 0.75, 1, 1, 1. (b) NURBS basis functions used for the approxi
mation.
University of Padua Faculty of Engineering
124 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Algorithm 4.1 Algorithm for the computation of the DOFs through IGA in a
onedimensional problem.
1 function [ S , F, u ] = IA1DBspl i nes (a_1 , a_0 , f , xi_a , xi_b , Xi , p)
2 a = Xi ( 1 ) ;
3 b = Xi (end) ;
4 m = length( Xi ) 1;
5 for i = 1 : (mp2)
6 for j = 1 : (mp2)
7 i nt egr and = @( y) s t i f f n e s s I n t e g r a l (a_1 , p , Xi , i , j , y ) ;
8 S( i , j ) = quad( i ntegrand , a , b ) ;
9 end
10 i nt egr and = @( y) f o r c e I nt e g r a l (a_1 , f , xi_a , xi_b , p , Xi , i , y ) ;
11 F( i , 1) = quad( i ntegrand , a , b ) ;
12 end
13 S
14 F
15 u = l i n s o l v e ( S , F) ;
16
17 function s = s t i f f n e s s I n t e g r a l (a_1 , p , Xi , i , j , y)
18 for k = 1: length( y)
19 de r i vs 1 = der i vsBasi sFun ( p , Xi , i , y( k ) , 1 ) ;
20 de r i vs 2 = der i vsBasi sFun ( p , Xi , j , y( k ) , 1 ) ;
21 s ( k) = a_1( y( k ) ) . de r i vs 1 ( 2 ) . de r i vs 2 ( 2 ) ;
22 end
23
24 function f o r c e = f o r c e I nt e g r a l (a_1 , f , xi_a , xi_b , p , Xi , i , y)
25 for k = 1: length( y)
26 de r i vs = der i vsBasi sFun ( p , Xi , i , y( k ) , 1 ) ;
27 N = basi sFun ( p , length( Xi ) 1, Xi , i , y( k ) ) ;
28 f o r c e ( k) = f ( y( k ) ) . N . . .
29 a_1( y( k ) ) . dgamma( xi_a , xi_b , p , Xi , y( k ) ) . de r i vs ( 2 ) ;
30 end
31
32 function dg = dgamma( xi_a , xi_b , p , Xi , y)
33 for k = 1: length( y)
34 de r i vs 1 = der i vsBasi sFun ( p , Xi , 0 , y( k ) , 1 ) ;
35 de r i vs 2 = der i vsBasi sFun ( p , Xi , length( Xi)p2, y( k ) , 1 ) ;
36 dg ( k) = xi_a . de r i vs 1 ( 2) + xi_b . de r i vs 2 ( 2 ) ;
37 end
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 125
Transformation of functions to the parametric space Functions can be
transformed to the parametric space by composing them with the geometrical
map x:
a
l
() = (a
l
x) () = a
l
( x()) , l = 0, 1
R
p
l
() = (R
p
l
x) () = R
p
l
( x()) , l = 0, . . . , n,
f () = (f x) () = f ( x()) .
Transformation of derivatives to the parametric space The transfor
mation of the derivatives can be found using the chain rule
R
p
l
() =
(R
p
l
x)
() =
R
p
l
( x())
x
() , l = 0, . . . , n.
For future use, the term (
x
/) () will be denoted with J
x
(), which in the
onedimensional case is equal to its determinant [J
x
()[.
Transformation of integrals to the parametric space The last part of
the process consists in the transformation of the integrals of the linear and of
the bilinear forms of Equations (4.2) and (4.3)
a
_
R
p
i
, R
p
j
_
=
_
a
1
R
p
i
x
R
p
j
x
+a
0
R
p
i
R
p
j
_
dx,
l
_
R
p
j
_
=
fR
p
j
dx
a
1
iG
D
g
D
(P
i
)
R
p
i
x
R
p
j
x
dx+
a
0
iG
D
g
D
(P
i
) R
p
i
R
p
j
dx + [a
1
g
N
R
p
i
]
b
a
.
to the parametric space. This step can be done by using the substitution theo
rem (see Section B.3), as already done in Sub subsection 2.3.2.2, on the bilinear
form
a
_
R
p
i
, R
p
j
_
=
x(
)
__
a
1
R
p
i
x
R
p
J
x
_
(x) +
_
a
0
R
p
i
R
p
j
_
(x)
_
dx,
=
__
a
1
R
p
i
x
R
p
J
x
_
( x()) +
_
a
0
R
p
i
R
p
j
_
( x())
_
J
x
() d,
hand on the linear form
l
_
R
p
j
_
=
_
fR
p
j
_
( x()) d+
a
1
( x())
iG
D
g
D
(P
i
)
_
R
p
i
x
R
p
j
x
_
( x()) d+
a
0
( x())
iG
D
g
D
(P
i
)
_
R
p
i
R
p
j
_
( x()) dx + [a
1
( x()) g
N
R
p
i
( x())]
b
a
.
University of Padua Faculty of Engineering
126 CHAPTER 4. ISOGEOMETRIC ANALYSIS
By substituting the functions derived above, we get that the bilinear form can
be evaluated in the parametric space with the equation
a
_
R
p
i
, R
p
j
_
=
__
a
1
J
x
R
p
i
R
p
j
_
() +
_
a
0
R
p
i
R
p
j
J
x
_
()
_
d,
and the linear form with the equation
l
_
R
p
j
_
=
J
x
_
f
R
p
j
_
() d
a
1
()
J
x
iG
D
g
D
(P
i
)
_
R
p
i
R
p
j
_
() d+
a
0
()
iG
D
g
D
(P
i
)
_
J
x
R
p
i
R
p
j
_
() d +
_
a
1
() g
N
()
R
p
i
()
_
1
0
.
4.3 Twodimensional problems
As already pointed in Section 4.2, we assume we are given a NURBSbased
model of the physical space with which we have to work. In the twodimensional
case, this means we are given a net of (n + 1) (m+ 1) control points P
i,j
,
i = 0, . . . , n, j = 0, . . . , m, a set of (n + 1) (m+ 1) weights w
i,j
, i = 0, . . . , n,
j = 0, . . . , m, and two knot vectors
=
_
_
0, . . . , 0
. .
p+1
,
p+1
, . . .
n
, 1, . . . , 1
. .
p+1
_
_
, [[ = n +p + 2,
H =
_
_
0, . . . , 0
. .
q+1
,
q+1
, . . .
m
, 1, . . . , 1
. .
q+1
_
_
, [H[ = m+q + 2,
where p and q are respectively the degrees in the and in the direction.
Consider again the problem of solving an elliptic PDE equipped with bound
ary conditions on a twodimensional domain like (1.10). Isogeometric Analysis,
like the Finite Element Method, works on the weak formulation instead of work
ing on the classical formulation. So, the same process applied in Subsubsection
1.4.1 is necessary prior to the use of Isogeometric Analysis, and leads to the
weak formulation in (1.13) or in (1.12). The key equations are reported:
a (, ) = l () , H
1
()
where
a (, ) =
(a
1
+a
0
) dz, , H
1
()
l () =
(f a
1
a
0
) dz +
N
(a
1
g
N
) dS, H
1
() .
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 127
Figure 4.4: Eects of the creation of a mesh with linear elements on a real world
model built using Tsplines.
Approximation of the domain As explained in Section 2.4, the applica
tion of the Finite Element Method in the solution of twodimensional problems
requires some variational crimes. These variational crimes begin with the ap
proximation of the domain with another domain
h
, which is exact only in
case the boundaries are piecewisepolynomials of the same degree of the shape
functions used in the analysis. This rst approximation leads to the need of
approximating the boundaries and the Hilbert space. In the Isogeometric Anal
ysis, the geometry is expressed through the use of the same CAD functions used
in design, which means the exact denition is used instead of an approximated
one. In Figure 4.4 it can be seen how the creation of a mesh with linear elements
can aect the model which is to be analyzed.
Knot vectors (mesh) In the Isogeometric Analysis the Subdomains are
called patches (see Table 4.1), and they are dened by the use of adequate
knot vectors. It is possible to associate a mesh / in the parametric space to the
knot vectors
/(, H) K = [
i
,
i+1
] [
j
,
j+1
] ,= , i = 0, . . . , n 1, j = 0, . . . , m1 .
Approximation of the boundaries In the Finite Element Method the use
of the approximated domain
h
instead of can require the redenition of the
boundary conditions, as it is possible that the new boundary
h
diers from
. In Isogeometric Analysis the representation of the geometry is exact and
this means there is no more the need for an approximation of the boundary
conditions as well. Here, again, no variational crime is committed.
Approximation of the Hilbert space The Hilbert space is still dened on
the physical space , so there is no variational crime as there was in the Finite
Element Method.
University of Padua Faculty of Engineering
128 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Weak formulation The weak formulation remains unchanged as no varia
tional crime has been committed.
Application of the Galerkin method The Galerkin method remains al
most unchanged. As usual, it is possible to express the unknown function
h
as
the linear combination of elements of the Galerkin subspace
h
(x, y) =
[i,j]G\G
D
R
p,q
i,j
(x, y)
i,j
, (4.6)
where the
i,j
are the degreesoffreedom and G
D
is now dened by the set
G
D
= [i, j] , i = 0, . . . , n, j = 0, . . . , m[P
i,j
D
,
and
G = [i, j] , i = 0, . . . , n, j = 0, . . . , m[P
i,j
.
Remark 4.6. It is important to note that, like in the onedimensional case, the
basis functions are dened in the physical space, and not in the parametric
space. In this case, moreover, it is not simple to dene these functions. This
problem is addressed in 4.3.1.
The new problem is now expressed by the linear system of equations
[i,j]G\G
D
i,j
_
a
1
R
p,q
i,j
R
p,q
k,l
+a
0
R
p,q
i,j
R
p,q
k,l
_
dx =
_
fR
p,q
k,l
a
1
R
p,q
k,l
a
0
R
p,q
k,l
_
dx +
N
a
1
g
N
R
p,q
k,l
dS,
for all [k, l] GG
D
. We can again write the Dirichlet lift as
(x) =
[i,j]G
D
R
p,q
i,j
(x) g
D
(P
i,j
) ,
getting the new system
[i,j]G\G
D
i,j
_
a
1
R
p,q
i,j
R
p,q
k,l
+a
0
R
p,q
i,j
R
p,q
k,l
_
dx =
fR
p,q
k,l
dx
a
1
[i,j]G
D
g
D
(P
i,j
) R
p,q
i,j
R
p,q
k,l
dx+
a
0
[i,j]G
D
g
D
(P
i,j
) R
p,q
i,j
R
p,q
k,l
dx +
N
a
1
g
N
R
p,q
k,l
dS,
for all [k, l] GG
D
.
A more comfortable way of writing this, especially from the point of view
of the implementation, is using one index only for each NURBS basis function,
establishing a linear ordering of the basis functions. This can be done by using
a map m : R R
2
m(i) = [m
1
(i) , m
2
(i)] =
__
i
m+ 1
_
, i
_
i
m+ 1
_
(m+ 1)
_
,
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 129
and whose inverse is
m
1
(k, l) = k (m+ 1) +l.
With this notation, the Galerkin subspace becomes
span R
p,q
i
(x, y) , i = 0, . . . , (n + 1) (m+ 1) [ [m
1
(i) , m
2
(i)] GG
D
,
and the rest of the model has to be changed accordingly:
im(i)G\G
D
i
_
a
1
R
p,q
i
R
p,q
j
+a
0
R
p,q
i
R
p,q
j
_
dx =
fR
p,q
j
dx
a
1
im(i)G
D
g
D
_
P
m(i)
_
R
p,q
i
R
p,q
j
dx+
a
0
im(i)G
D
g
D
_
P
m(i)
_
R
p,q
i
R
p,q
j
dx +
N
a
1
g
N
R
p,q
j
dS,
for all j[m(j) GG
D
, where it is supposed that P
m(i)
= P
m
1
(i),m
2
(i)
.
4.3.1 Transformation of the model to the parametric space
Remark 4.6 underlines the fact that the NURBS basis functions have to be
dened in the physical space, and not in the parametric space (the same situation
of the onedimensional case). This makes it dicult to evaluate the integrals as a
denition of such functions is not simple. This is the same diculty encountered
when trying to dene the shape functions in FEM. The same concept applied
in the onedimensional case can be extended to two dimensions. We would like
to use the NURBS basis functions dened in the parametric space as shape
functions in the physical space.
Transformation of the functions to the parametric space Functions can
be transformed to the parametric space by composing them with the NURBS
geometrical map x() = [ x
1
() , x
2
()]
T
:
a
l
() = (a
l
x) () = a
l
( x
1
() , x
2
()) , l = 0, 1,
R
p,q
l
() = (R
p,q
l
x) () = R
p,q
l
( x
1
() , x
2
()) , l = 0, . . . , nm,
f () = (f x) () = f ( x
1
() , x
2
()) .
Transformation of derivatives to the parametric space The transfor
mation of the derivatives can be found using the chain rule:
R
p,q
l
() =
R
p,q
l
x
x= x()
x
1
() +
R
p,q
l
y
x= x()
x
2
() ,
R
p,q
l
() =
R
p,q
l
x
x= x()
x
1
() +
R
p,q
l
y
x= x()
x
2
() .
University of Padua Faculty of Engineering
130 CHAPTER 4. ISOGEOMETRIC ANALYSIS
The result can be written in matrix form so that the Jacobian matrix can be
recognized:
_
R
p,q
l
R
p,q
l
_
=
_
_
x
1
x
2
x
1
x
2
_
_
_
R
p,q
l
x
R
p,q
l
y
_
_ =
_
D x
D
_
T
_
_
R
p,q
l
x
R
p,q
l
y
_
_.
D x
/D is the Jacobian matrix of the geometric map. The searched result can be
obtained by inverting the Jacobian matrix, and can be used in the computation
of the other needed gradient
R
p,q
l
(x) =
_
D x
D
_
T
R
p,q
l
() .
Transformation of the integrals to the parametric space Using the
substitution theorem it is possible to transform the integrals to the parametric
space. The procedure leads to the result
x(
)
__
a
1
R
p,q
i
R
p,q
j
_
(x) +
_
a
0
R
p,q
i
R
p,q
j
_
(x)
_
dx =
J
x
__
a
1
_
D x
D
_
T
R
p,q
i
__
_
D x
D
_
T
R
p,q
j
_
+ a
0
R
p,q
i
R
p,q
j
_
d,
and
J
x
f
R
p,q
j
dx
J
x
a
0
im(i)G
D
g
D
_
P
m(i)
_
R
p,q
i
R
p,q
j
dx+
J
x
a
1
im(i)G
D
g
D
_
P
m(i)
_
_
_
D x
D
_
T
R
p,q
i
_
_
_
D x
D
_
T
R
p,q
j
_
dx+
+
N
a
1
g
N
R
p,q
j
dS.
The line integral can be transformed by using another parameterize function
(t) = (1 t) A
1
+tA
2
.
The line integral can be written as
N
_
a
1
g
N
R
p,q
j
_
(x) dx =
1
0
__
a
1
g
N
R
p,q
j
_
(t)
_
_
_
_
_
(t)
t
_
_
_
_
dt,
but it is immediate to see we dont now the denition of R
p,q
j
(x). To determine
it, it would be necessary to compute the inverse of the map x. We would like,
instead, to integrate using
R
p,q
j
():
N
()
_
a
1
g
N
R
p,q
j
_
() d =
1
0
_
a
1
g
N
R
p,q
j
_
( x((t)))
_
_
_
_
x((t))
t
_
_
_
_
dt,
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 131
where is a function which takes into account the change of geometry. By using
the chain rule we derive
x((t))
t
=
D x
D
((t))
t
.
We can then impose
1
0
_
a
1
g
N
R
p,q
j
_
( x((t)))
_
_
_
_
x((t))
t
_
_
_
_
dt =
1
0
__
a
1
g
N
R
p,q
j
_
(t)
_
_
_
_
_
(t)
t
_
_
_
_
dt
to derive that the integral can be written
1
0
_
a
1
g
N
R
p,q
j
_
((t))
_
_
_
_
D x
D
((t))
t
_
_
_
_
_
_
_
_
(t)
t
_
_
_
_
dt =
1
0
_
a
1
g
N
R
p,q
j
_
((t))
_
_
_
_
D x
D
((t))
/t

/t
_
_
_
_
dt.
This obviously assumes the Neumann boundary is transformed to a segment in
the parametric space: it is possible to split this integral in more than one pa
rameterized onedimensional integrals when more segments are to be computed.
4.4 Approximation representing geometries and
solution elds
As already pointed in 4.1.3, IGA is based on the same data produced in the
design process, therefore the geometrical domain is not approximated, but it is
exact. For instance, if degree 4 NURBSs are used in the CAD model, then the
computational domain used in IGA has degree 4. In classical FEM instead, the
geometrical domain is approximated using piecewisepolynomials, of degree 1
typically.
There is however a major dierence in the CAD representation and the rep
resentation needed in IGA: usually, in a CAD representation, one is interested
only in showing the boundaries of the elements, so that only the skin of the do
main is represented. For instance, when representing a threedimensional solid,
threedimensional surfaces may be sucient. In IGA, instead, we need to com
pute solution elds, thus the whole computational domain has to be represented.
Boundary surfaces are not sucient when analyzing a threedimensional solid.
Unfortunately, this is not a trivial task: representing threedimensional solids
is far more dicult than representing only their skin (see [1]). Lets take for
instance the solid of Figure 4.5: related data of Table 4.2 prove this is not a
solid, but just a surface, and, from a geometrical representation point of view,
there would be no benet in modelling as a trivariate solid. For IGA instead
this is not true.
University of Padua Faculty of Engineering
132 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Figure 4.5: Ring plotted using Algorithm 3.9 with Bsplines, using data in Table
4.2.
i P
i,1
P
i,2
P
i,3
P
i,4
P
i,5
1 [5, 0, 1]
T
[6, 0, 1]
T
[6, 0, 0]
T
[6, 0, 1]
T
[5, 0, 1]
T
2 [5, 5, 1]
T
[6, 6, 1]
T
[6, 6, 0]
T
[6, 6, 1]
T
[5, 5, 1]
T
3 [0, 5, 1]
T
[0, 6, 1]
T
[0, 6, 0]
T
[0, 6, 1]
T
[0, 5, 1]
T
4 [5, 5, 1]
T
[6, 6, 1]
T
[6, 6, 0]
T
[6, 6, 1]
T
[5, 5, 1]
T
5 [5, 0, 1]
T
[6, 0, 1]
T
[6, 0, 0]
T
[6, 0, 1]
T
[5, 0, 1]
T
6 [5, 5, 1]
T
[6, 6, 1]
T
[6, 6, 0]
T
[6, 6, 1]
T
[5, 5, 1]
T
7 [0, 5, 1]
T
[0, 6, 1]
T
[0, 6, 0]
T
[0, 6, 1]
T
[0, 5, 1]
T
8 [5, 5, 1]
T
[6, 6, 1]
T
[6, 6, 0]
T
[6, 6, 1]
T
[5, 5, 1]
T
9 [5, 0, 1]
T
[6, 0, 1]
T
[6, 0, 0]
T
[6, 0, 1]
T
[5, 0, 1]
T
Table 4.2: Data for ring of Figure 4.5 (continues to Table 4.3).
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 133
i P
i,6
P
i,7
P
i,8
P
i,9
1 [4, 0, 1]
T
[4, 0, 0]
T
[4, 0, 1]
T
[5, 0, 1]
T
2 [4, 4, 1]
T
[4, 4, 0]
T
[4, 4, 1]
T
[5, 5, 1]
T
3 [0, 4, 1]
T
[0, 4, 0]
T
[0, 4, 1]
T
[0, 5, 1]
T
4 [4, 4, 1]
T
[4, 4, 0]
T
[4, 4, 1]
T
[5, 5, 1]
T
5 [4, 0, 1]
T
[4, 0, 0]
T
[4, 0, 1]
T
[5, 0, 1]
T
6 [4, 4, 1]
T
[4, 4, 0]
T
[4, 4, 1]
T
[5, 5, 1]
T
7 [0, 4, 1]
T
[0, 4, 0]
T
[0, 4, 1]
T
[0, 5, 1]
T
8 [4, 4, 1]
T
[4, 4, 0]
T
[4, 4, 1]
T
[5, 5, 1]
T
9 [4, 0, 1]
T
[4, 0, 0]
T
[4, 0, 1]
T
[5, 0, 1]
T
Table 4.3: Data for ring of Figure 4.5 (continues from 4.2).
According to the isoparametric paradigm, solution elds are also represented
using the same basis functions used in the representation of the geometry (i.e.
CAD basis functions). For a twodimensional problem we have:
u
h
(, ) =
n
i=0
m
j=0
N
p
i
()
N
q
j
() u
i,j
, (4.7)
whereas for a threedimensional problem we have
u
h
(, , ) =
n
i=0
m
j=0
l
k=0
N
p
i
()
N
q
j
()
N
r
k
() u
i,j,k
. (4.8)
These ways of expressing the approximated solution are similar to that of
FEM of Equation 2.7. We are using Bspline basis functions as they are more
simple to manage, but NURBS and Tspline basis functions could be used as
well, and they turn out to have some other interesting features. There are
some dierences between Lagrange interpolating polynomials and Bspline basis
functions:
Bspline basis functions are always positive;
continuity along edges is not always C
0
(this will be used in 4.6);
for seven distinct knots, eight Bspline basis functions are dened, seven
Lagrange interpolating polynomials are dened over seven nodes;
according to the properties of Bspline and NURBS basis functions, only
the rst and the last basis functions have unity value, whereas this is not
the case for Lagrange interpolation for which the delta conditions require
unity value over each node. This result in a very important concept: B
splines doesnt interpolate, in general, the control points (the DOFs).
Remark 4.7. The last concept leads to a completely dierent interpretation
of the meaning of the DOFs: according to Theorem 2.24 the value of a DOF
was the value of the exact solution at a node in FEM. In IGA this is not true
anymore: it is not possible to know the solution value at a control point P
i,j
University of Padua Faculty of Engineering
134 CHAPTER 4. ISOGEOMETRIC ANALYSIS
1 2 3 4 5 6 7
1
0.5
0
0.5
1
1.5
2
2.5
3
(a)
x
y
1 2 3 4 5 6 7
1
0.5
0
0.5
1
1.5
2
2.5
3
(b)
x
y
Figure 4.6: Comparison of (a) Lagrange polynomials interpolating 5, 6 and 6
points and (b) Bsplines approximating the same points, taking those as control
points.
or at a given knot (
i
,
j
) by considering only the DOF u
i,j
. The estimation of
the solution value at a given point of the physical space requires Equation (4.7)
or (4.8).
On the basis of Remark 4.7, a dierent behavior of typical nite elements func
tions and of CAD technologies has to be pointed out: typical nite elements
functions are built to interpolate the DOFs, Bsplines, NURBSs and Tsplines,
instead, dont interpolate DOFs in IGA. Unfortunately, it is well known that
interpolating polynomials oscillate in attempting to t discontinuous data and
that increasing the degree of the polynomial, the amplitude of the oscillations
increases as well: this is called Runges phenomenon (see 2.3.4.2). When the
points to be interpolated are used as control points instead, splines are able to
approximate
1
more smoothly (see Figure 4.6). This comes from the variation
diminishing property of Bsplines and NURBS formulated in 3.4.4 and 3.5.4.
This is very useful in case of sharp layers.
1
Splines can both approximate and interpolate points more smoothly. In the case of IGA,
interpolation is not needed as control points doesnt retain exact values like DOFs in FEM.
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 135
4.5 Renements
As already exposed in 3.4.1 it is possible to rene the process to obtain values
whose distance from the exact solution is smaller. Isogeometric Analysis dif
fers from the Finite Element Method, as the coarsest mesh already stores all
the information of the geometrical shape of the domain. Therefore, subsequent
renements dont need to communicate with the CAD data in any way. The re
nement techniques described in 2.10 have corresponding renement techniques
in Isogeometric analysis, and a new alternative has been developed as well.
4.5.1 Knot insertion (hrenement)
Considering the general form of a NURBS in (3.18) and the knot vector =
0
,
1
, . . . ,
m
, knot insertion is the problem of inserting the knot [
k
,
k+1
)
in . The new knot vector can be rewritten with the following notation:
=
_
0
=
0
, . . . ,
k
=
k
,
k+1
=
,
k+2
=
k+1
, . . . ,
m+1
=
m
_
.
The new NURBS is now expressed with the form
C
w
() =
n+1
i=0
N
p
i
()
P
w
i
i
where
P
w
i
i
, indicates the new i
th
weighted control point, which needs to be
determined.
Knot insertion doesnt change the curve geometrically nor parametrically
(see Figure 4.7), but only adds elements to the solution space. Indeed, if (
is the vector space which contains all the curves representable using the knot
vector and (
.
The computation of the new
P
w
i
i
s can be computed solving the linear system
of equations
n
i=0
N
p
i
() P
w
i
i
=
n+1
i=0
N
i
()
P
w
i
i
, =
o
, . . . ,
n+1
.
However, a better way of determining the new control points is available as
it can be shown that
P
w
i
i
=
i
P
w
i
i
+ (1
i
) P
w
i1
i1
,
i
=
_
_
1, i k p
i+p
i
, k p + 1 i k
0, i k + 1
,
so
P
w
i
i
=
_
_
P
w
i
i
, i k p
i+p
i
P
w
i
i
+
i+p
i+p
i
P
w
i1
i1
k p + 1 i k
P
w
i1
i1
, i k + 1
.
University of Padua Faculty of Engineering
136 CHAPTER 4. ISOGEOMETRIC ANALYSIS
1 0 1
1.5
1
0.5
0
0.5
1
1.5
(a)
x
y
0 0.5 1
0
0.2
0.4
0.6
0.8
1
(b)
R
i 2
,
i
=
0
,
.
.
.
,
8
1 0 1
1.5
1
0.5
0
0.5
1
1.5
(c)
x
y
0 0.5 1
0
0.2
0.4
0.6
0.8
1
(d)
R
i 2
,
i
=
0
,
.
.
.
,
1
0
Figure 4.7: Example of knot insertion where two new knots 0.3 and 0.6 have
been added to the initial knot vector.
Example 4.8. As an example, in Figure 4.7 the same circle of Example 3.16 is
drawn with two new knots of values 0.6 and 0.3. As it can be seen, the resulting
curve is not dierent from the initial, whereas both the control points and the
knot vectors are dierent.
An ecient algorithm to perform knot insertion on a NURBS (or a Bspline)
curve is reported in Algorithm 4.2.
Example 4.9. As an example, in Figure 4.8 the same surface of Example 3.17
is drawn with two new knots of values 0.7 and 0.3 in the direction and three
new knots of values 0.7, 0.5 and 0.3 in the direction. As it can be seen, the
resulting surface is not dierent from the initial, whereas both the control net
and the knot vectors are dierent.
An ecient algorithm to perform knot insertion on a NURBS (or a Bspline)
surface is reported in Algorithm 4.3.
hrenement turns out to be particularly important when Tsplines are used
in Isogeometric Analysis: Tjunctions allows for the insertion of control points
in specic areas where the analysis needs renement. This local renement
capability makes Tsplines interesting both for the design and for the analysis
phases.
4.5.2 Degree elevation (prenement)
Considering the general form of a p
th
degree NURBS curve C
w
p
() in (3.18)
dened on a knot vector , the degree elevation is the problem of computing
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 137
Algorithm 4.2 Knot insertion algorithm for curves.
1 % curveKnotIns creat ed a new NURBS curve from an e x i s t i ng one i n which a
2 % new knot barxi i s i ns er t ed i n [ xi_k , xi_{k+1}) wi th mul t i p l i c i t y r , where
3 % barxi has current l y mul t i p l i c i t y s .
4 % Input :
5 % nP: def i ned accordi ngl y t o t he knot vect or Xi ;
6 % p : degree of t he i n i t i a l curve ;
7 % Xi : i n i t i a l knot vect or ;
8 % Pw: i n i t i a l wei ght ed cont rol poi nt s ;
9 % barxi : val ue of t he knot t o be i ns er t ed ;
10 % k : i ndex of t he knot span where t he knot has t o be i ns er t ed ;
11 % s : i n i t i a l mul t i p l i c i t y of t he knot ;
12 % r : mul t i p l i c i t y of t he knot i n t he new curve .
13 % Output :
14 % nBarP: new val ue of n def i ned on t he new knot vect or ;
15 % barXi : new knot vect or ;
16 % barPw: new wei ght ed cont rol poi nt s .
17 function [ nBarP , barXi , barPw] = curveKnotIns (nP, p , Xi , Pw, barxi , k , s , r )
18 mP = nP+p+1;
19 nBarP = nP+r ;
20
21 % Load t he new knot vect or .
22 barXi ( 1 : k+1) = Xi ( 1 : k+1);
23 barXi ( k+1+1:k+r +1) = bar xi ;
24 barXi ( k+1+r +1:mP+r +1) = Xi ( k+1+1:mP+1);
25
26 % Save unal t ered cont rol poi nt s .
27 barPw( 1 : kp+1, : ) = Pw( 1 : kp+1, : ) ;
28 barPw( ks+r +1:nP+r +1, : ) = Pw( ks +1:nP+1, : ) ;
29 Rw( 1 : ps +1, : ) = Pw( kp+1: ks +1, : ) ;
30
31 % I ns er t t he knot r ti mes .
32 for j = 1: r
33 L = kp+j ;
34 for i = 0: pj s
35 al pha = ( barxi Xi (L+i +1) ) . /( Xi ( i+k+1+1)Xi (L+i +1));
36 Rw( i +1, : ) = al pha . Rw( i +1+1, :)+(1al pha ) . Rw( i +1, : ) ;
37 end
38 barPw(L+1, : ) = Rw( 1 , : ) ;
39 barPw( k+rj s +1, : ) = Rw( pj s +1, : ) ;
40 end
41
42 % Load remaining cont rol poi nt s .
43 for i = L+1: ks1
44 barPw( i +1, : ) = Rw( i L+1, : ) ;
45 end
University of Padua Faculty of Engineering
138 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Algorithm 4.3 Knot insertion algorithm for surfaces (continues to Algorithm
4.4).
1 function [ nBarP , barXi , mBarP, barEta , barPw] =. . .
2 sur f Knot I ns (nP, p , Xi , mP, q , Eta , Pw, dir , knot , k , s , r )
3 % Rearrange cont rol poi nt s .
4 Pw = permute (Pw, [ 1 , 3 , 2 ] ) ;
5
6 % Case of i ns er t i on i n t he xi di r ect i on .
7 i f di r == 0
8 % Modify t he knot vect ors parameters .
9 nBarP = nP+r ;
10 mBarP = mP;
11 % Load t he new knot vect or i n xi di r ect i on .
12 barXi ( 1 : k+1) = Xi ( 1 : k+1);
13 barXi ( k+1+1:k+r +1) = knot ;
14 barXi ( k+1+r +1:nP+p+1+r +1) = Xi ( k+1+1:nP+p+1+1);
15
16 % Simply copy t he ot her di r ect i on .
17 barEta = Eta ( 1 : end) ;
18
19 % Compute t he al phas .
20 for j = 1: r
21 L = kp+j ;
22 for i = 0: pj s
23 al pha ( i +1, j +1) = ( knotXi (L+i +1) ) . /( Xi ( i+k+1+1)Xi (L+i +1));
24 end
25 end
26
27 % For each row . . .
28 for row = 0:mP
29 % Save unal t ered cont rol poi nt s .
30 for i = 0: kp , barPw( i +1, : , row+1) = Pw( i +1, : , row+1); end;
31 for i = ks : nP, barPw( i+r +1, : , row+1) = Pw( i +1, : , row+1); end;
32 % Load aux i l i ar y cont rol poi nt s .
33 for i = 0: ps , Rw( i +1, : ) = Pw( kp+i +1, : , row+1); end;
34 % I ns er t t he knot r ti mes .
35 for j = 1: r
36 L = kp+j ;
37 for i = 0: pj s
38 Rw( i +1, : ) = al pha ( i +1, j +1). Rw( i +1+1, : ) +. . .
39 (1al pha ( i +1, j +1)). Rw( i +1, : ) ;
40 end
41 barPw(L+1, : , row+1) = Rw(0+1 , : ) ;
42 barPw( k+rj s +1, : , row+1) = Rw( pj s +1, : ) ;
43 end
44 % Load t he remaining cont rol poi nt s .
45 for i = L+1: ks 1, barPw( i +1, : , row+1) = Rw( i L+1, : ) ; end;
46 end
47 % ( cont i nues ) . . .
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 139
Algorithm 4.4 Knot insertion algorithm for surfaces (continues from Algorithm
4.3).
1 % . . . ( cont i nues )
2 el se
3 % Modify t he knot vect ors parameters .
4 nBarP = nP;
5 mBarP = mP+r ;
6 % Load t he new knot vect or i n xi di r ect i on .
7 barEta ( 1 : k+1) = Eta ( 1 : k+1);
8 barEta ( k+1+1:k+r +1) = knot ;
9 barEta ( k+1+r +1:mP+q+1+r +1) = Eta ( k+1+1:mP+q+1+1);
10
11 % Simply copy t he ot her di r ect i on .
12 barXi = Xi ( 1 : end) ;
13
14 % Compute t he al phas .
15 for j = 1: r
16 L = kq+j ;
17 for i = 0: qj s
18 al pha ( i +1, j +1) = ( knotEta (L+i +1) ) . /( Eta ( i+k+1+1)Eta (L+i +1));
19 end
20 end
21
22 % For each row . . .
23 for row = 0: nP
24 % Save unal t ered cont rol poi nt s .
25 for i = 0: kq , barPw( row+1, : , i +1) = Pw( row+1, : , i +1); end;
26 for i = ks :mP, barPw( row+1, : , i+r +1) = Pw( row+1, : , i +1); end;
27 % Load aux i l i ar y cont rol poi nt s .
28 for i = 0: qs , Rw( i +1, : ) = Pw( row+1, : , kq+i +1); end;
29 % I ns er t t he knot r ti mes .
30 for j = 1: r
31 L = kq+j ;
32 for i = 0: qj s
33 Rw( i +1, : ) = al pha ( i +1, j +1). Rw( i +1+1, : ) +. . .
34 (1al pha ( i +1, j +1)). Rw( i +1, : ) ;
35 end
36 barPw( row+1, : , L+1) = Rw(0+1 , : ) ;
37 barPw( row+1, : , k+rj s +1) = Rw( qj s +1, : ) ;
38 end
39 % Load t he remaining cont rol poi nt s .
40 for i = L+1: ks 1, barPw( row+1, : , i +1) = Rw( i L+1, : ) ; end;
41 end
42 end
43
44 barPw = permute ( barPw, [ 1 , 3 , 2 ] ) ;
University of Padua Faculty of Engineering
140 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Figure 4.8: Example of knot insertion in a square plate with a hole.
the new control points
P
w
i
i
and the new knot vector
such that
C
w
p
() = C
w
p+1
() =
n
i=0
N
p+1
i
()
P
w
i
i
.
This way the curves continue to be the same geometrically and parametrically,
but C
w
p+1
belongs to a higher dimensional space.
Degree elevating a curve requires to compute the new knot vector and the
new control points
P
w
i
i
. The continuity of the curve has to be preserved, and
this is done increasing by one the multiplicity of each knot of
=
_
_
a, . . . , a
. .
p+1
,
p+1
, . . . ,
p+1
. .
m
p+1
, . . . ,
n
, . . . ,
n
. .
m
n
, b, . . . , b
. .
p+1
_
_
,
getting the vector
=
_
_
a, . . . , a
. .
p+2
,
p+1
, . . . ,
p+1
. .
m
p+1
+1
, . . . ,
n
, . . . ,
n
. .
m
n
+1
, b, . . . , b
. .
p+2
_
_
,
where
[[ = p +n + 2,
= p +n + 2 + (n + 2) .
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 141
The basic (and inecient) approach to compute the
P
w
i
i
s requires solving
the linear system of equations
n
i=0
N
p+1
i
()
P
i
=
n
i=0
N
p
i
() P
i
, =
0
, . . . ,
n
,
where the
i
s are to be chosen appropriately.
An alternative (and more ecient) algorithm is proposed in [24]: the idea
is to extract Bzier curves segments from the NURBS, degree elevate them and
to remove knots separating the curves to obtain the new NURBS curve.
4.5.3 hp, phrenement
As in classical FEM, it is possible to use both hrenement and prenement
during a single renement process. It has been shown that this kind of re
nement technique has many interesting advantages. In Isogeometric Analysis,
hprenement can be performed as well by performing rst not insertion and
then degree elevating.
A new renement method can be analyzed as knot insertion and degree
elevation do not commute. This means it is possible to obtain dierent results
by degree elevating the curve and then by inserting the new knot. phrenement
is a dierent strategy of degree elevation technique which is able to achieve the
same results of prenement, keeping the number of basis functions considerably
lower.
4.6 Numerical quadrature for IGA
As already stated in Section 2.7, a relevant part of the computational time
in FEM is related to the numerical integrations. In Subsections 2.4.4.2 and
2.3.2.2 we divided the integrals on the domains dened during the meshing
phase of FEM. This technique was very practical in the process of assembling the
matrices. A similar technique could be implemented in Isogeometric Analysis
where the NURBSbased model is decomposed into a nite number of patches,
and again decomposed into a grid of rectangular (in two dimensions) or paral
lelepipedal (in three dimensions) elements. Again, the most obvious technique
of numerical integration is the Gauss integration. The rst document to ana
lyze this problem is [19]. The following analysis will explain that this behavior
could be made more ecient in Isogeometric Analysis, where the shape functions
posses dierent continuity properties than FEM shape functions.
Both in Isogeometric Analysis and in FEM, integration has to be done over
product of functions and gradients of the same functions on the parametric
space and on the reference domain respectively. In Isogeometric Analysis in
particular, these types of integrals are commonly computed (these reported
refers to twodimensional problems):
[0,1]
2
() R
p,q
i,j
() R
p,q
k,l
() d, (4.9)
[0,1]
2
() R
p,q
i,j
() R
p,q
k,l
() d, (4.10)
University of Padua Faculty of Engineering
142 CHAPTER 4. ISOGEOMETRIC ANALYSIS
[0,1]
2
() R
p,q
i,j
() R
p,q
k,l
() d, (4.11)
[0,1]
2
() R
p,q
i,j
() R
p,q
k,l
() R
p,q
r,s
() d. (4.12)
In Equations from (4.16) to (4.19), the function () is a function which takes
into account both the change of geometry (Substitution theorem) and the co
ecients of the PDE, the R
i,j
s are the NURBS basis functions dened on the
correct knot vectors and weights.
4.6.1 Numerical quadrature of C
k
continuous functions
In Chapter 2, we dened our basis with shape functions dened on the domain of
the problem: these functions were piecewisepolynomials dened on the elements
of the mesh. These piecewisepolynomials had continuity C
+
on the elements
interior, but were only C
0
on the boundaries of the elements (only continuous).
Lets consider two elements, (1, 0) and (0, 1), where we dene a quadratic
piecewisepolynomial basis with C
0
continuity on the boundaries. This basis
can be analytically expressed with the six functions:
1
() = 1, [1, 1] ,
2
() =
_
1, [1, 0)
1, (0, 1]
,
3
() = , [1, 1] ,
4
() =
_
, [1, 0)
, (0, 1]
,
5
() =
2
, [1, 1] ,
6
() =
_
2
, [1, 0)
2
, (0, 1]
.
Supposing no continuity in 0, if we want to be able to integrate exactly any
o
2,1
= span
i
, i = 1, . . . , 6, we need to repeat the process of Subsection
2.7.1 for the calculation of the weights and of the integration points, using the
elements in T
1
.
Notation 4.10. Notice that the notation of Chapter 3 of o
p
is replaced by o
p,k
or
o
p,k
(/(M)) as, in this section it is more important to remark the continuity
than the specic knot vector and the set over which the basis functions are
dened.
Alternatively, we can integrate separately the two intervals using a twopoint
Gauss rule in each sub interval, for a total number of four integration points.
Supposing, instead, continuity C
0
in 0, we can remove
2
() from the basis
of o
2,1
getting a basis with 5 functions. With 5 functions, only 3 integration
points and weights are obtained from the system. Similarly, for C
2
continuity,
4
() and
6
() have to be removed from the basis, and only 3 functions are
used to create the system, which provides 2 integration points and 2 weights
only. So, the the resulting concept is that increasing the continuity reduces
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 143
k p even p odd
1 p + 2 p + 1
even p + 1
k
2
odd p + 1
k+1
2
Table 4.4: Number of integration points necessary for the exact evaluation of
1
1
() d, with o
p,k
and k ([1, p 1] N).
the number of integration points necessary to exact integrate the piecewise
polynomial. Table 4.4 summarizes these results.
All this suggests that the FEM approach to integration is not necessarily
good in Isogeometric analysis as well. In this case, the integration of the spans
singularly, can result in requiring more function evaluations than an integration
over more spans.
Lets now consider a more general case where /
h
(R) is a uniform mesh of
R with each element K
m
/
h
(R) have length h. Functions in o
p,1
(/
h
(R))
can be evaluated with common Gauss integration on each element using n
K
m
Gauss integration points, where n
K
m
=
p+1
/2 when p is odd and n
K
m
=
p+2
/2
when p is even. The exact integration can be expressed with
R
() d =
K
m
M
h
(R)
n
K
m
i=1
hw
K
m
,i
(
K
m
,i
). (4.13)
This integration is used in FEM when integrating on the dierent elements as
functions are in o
p,0
, which means we need, for the case of Table 4.4, p+1
k
/2 =
p+1 integration points. In Isogeometric Analysis instead, we typically have some
kind of higher regularity between elements. When there is no repeated knot in
the knot vector, the basis function is C
p1
, and so belongs to o
p,p1
(/
h
(R)).
In this particular case it can be shown that only one integration point every two
elements is sucient to get an exact integration. When p is odd the points are
placed in the middle of the elements, when p is even, instead, the integration
points are placed over the knots. The integration of a function o
p,p1
can
then be written:
R
() d =
iZ
hw
halfpoint
(
i
).
This equation can be now used with a Bspline basis function N
p
j
() o
p,p1
(/
h
(R)):
R
N
p
j
() d =
iZ
hw
halfpoint
N
p
j
(
i
).
Noticing that w
halfpoint
is independent on p and i, it is possible to express it as
w
halfpoint
=
R
N
p
j
() d
h
iZ
N
p
j
(
i
)
, (4.14)
which can be further modied considering the translation property N
p
j
() =
N
p
0
( jh) and the symmetry property N
p
0
() = N
p
0
((p + 1) h ):
w
halfpoint
=
R
N
p
0
() d
h
iZ
N
p
0
(
i
)
,
University of Padua Faculty of Engineering
144 CHAPTER 4. ISOGEOMETRIC ANALYSIS
where N
p
0
() can be evaluated with the recursive denition
N
0
0
() =
_
1, 0 1
0, otherwise
,
N
p
0
() =
N
p1
0
() + (p + 1 ) N
p1
0
( 1)
p
.
The numerator of (4.14) can be rewritten integrating over its support (0, (p + 1) h):
R
N
p
0
() =
(p+1)h
0
N
p
0
() d =
p
i=0
(i+1)h
ih
N
p
0
() d.
Again, as the support of N
p
j
() is (jh, (j +p + 1) h), the integration can be
done over shifted version of the basis functions
p
i=0
(i+1)h
ih
N
p
0
() d =
h
0
p
j=0
N
p
j
() d
which, by the partition of unity property, can be simplied to
h
0
p
j=0
N
p
j
() d =
h
0
1d = h.
The denominator can be simplied as well: rst of all the symmetry property
allows to rewrite the summation
iZ
N
p
0
(
i
) =
1
2
_
iZ
N
p
0
(
i
) +
iZ
N
p
0
((p + 1) h
i
)
_
,
=
1
2
_
_
jZ
N
p
j
(
0
)
_
_
,
=
1
2
.
This means w
halfpoint
= 2, and (4.14) becomes
R
() d =
iZ
2h(
i
), () o
p,p1
(/
h
(R)) . (4.15)
(4.15) was rst derived in [19] and named halfpoint rule. It has the same compu
tational cost per degreeoffreedom as Gauss integration of Equation (4.13) for
o
p,1
(/
h
(R)), which is one function evaluation every two degreesoffreedom.
The computational cost of elementwise Gauss integration would be instead
much higher. Table 4.5 summarizes the results.
4.6.2 Numerical quadrature by onedimensional integra
tions
We can approximate these integrals considering that the function () and
the denominators of the NURBS basis functions change slowly, and the contri
butions to the integrals can often be considered constant. This result in the
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 145
Space Gauss rule (4.13) Halfpoint rule (4.15)
o
p,p1
(/
h
(R)), p odd
p+1
/2
1
/2
o
p,p1
(/
h
(R)), p even
p+2
/2
1
/2
Table 4.5: Number of integration points (function evaluations) for Gauss in
tegration and halfpoint rule to exactly integrate elementwisely a function in
o
p,p1
(/
h
(R)).
possibility of considering the integrals from (4.16) to (4.19) with the forms
[0,1]
2
N
p,q
i,j
() N
p,q
k,l
() d, (4.16)
[0,1]
2
N
p,q
i,j
() N
p,q
k,l
() d, (4.17)
[0,1]
2
N
p,q
i,j
() N
p,q
k,l
() d, (4.18)
[0,1]
2
N
p,q
i,j
() N
p,q
k,l
() N
p,q
r,s
() d. (4.19)
Lets consider the case of tensorproduct piecewisequadratic C
1
basis func
tions: the integral of Equation (4.17), for instance, is
[0,1]
2
N
2,2
i,j
() N
2,2
k,l
() d.
The two gradients can be written as
N
2,2
i,j
() =
_
N
2
j
()
N
2
i
()
, N
2
i
()
N
2
j
()
_
,
N
2,2
k,l
() =
_
N
2
l
()
N
2
k
()
, N
2
k
()
N
2
l
()
_
T
,
and the integral, by substitution, is
[0,1]
2
_
N
2
j
() N
2
l
()
N
2
i
()
N
2
k
()
+N
2
i
() N
2
k
()
N
2
j
()
N
2
l
()
_
dd.
The reduction theorem yields
1
0
N
2
j
() N
2
l
()
. .
S
4,1
d
1
0
N
2
i
()
N
2
k
()
. .
S
2,0
d+
+
1
0
N
2
i
() N
2
k
()
. .
S
4,1
d
1
0
N
2
j
()
N
2
l
()
. .
S
2,0
d. (4.20)
University of Padua Faculty of Engineering
146 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Basis functions Force Stiness Linear adv. Nonlinear adv.
p = 1, q = 1, C
0
o
2,0
o
0,1
, o
1,1
, o
2,0
o
1,1
, o
2,0
o
2,1
, o
3,0
p = 2, q = 2, C
1
o
4,1
o
2,0
, o
3,0
, o
4,1
o
3,0
, o
4,1
o
5,0
, o
6,1
Table 4.6: Sets to which the terms to be integrated belong while integrating
piecewiselinear continuous basis functions and piecewisequadratic C
1
basis
functions. The force vector, stiness matrix, linear advection and nonlinear
advection terms are analyzed.
From these integrals it is clear that integrals of the form of Equation (4.17) can
be evaluated exactly integrating exactly in one dimension functions in o
4,1
and
functions in o
2,0
. The same reasoning can be done for the other integrals, and
the results are summarized in Table 4.6.
The considerations reported so far suggest that it would be more ecient to
integrate over more than one element. In FEM, the continuity is only C
0
, so no
benet would be gained integrating on more elements. Due to higher continuity,
integration of Bspline basis functions is more ecient when is done over more
elements. This is the reason why macroelements are dened: macroelements
are made up of elements of the same size (within the same macroelement) and
integrations are evaluated over them. Equation (4.15) can be used and adapted
to macroelements M
m
:
M
m
() d =
n
M
m
i=1
Hw
M
m
,i
(
M
m
,i
) , a basis of o
q,k
(/
h
(M
m
)) .
This equation leads again to a system of equations which has to be solved for
the 2n
M
m
unknowns w
M
m
,i
and
M
m
,i
. If p is the integrand function order,
r = p k is the interelement regularity and n
el
is the number of elements in
M
m
then we have that (see Equation (3.4))
n
dof
= (p + 1) n
el
(p r + 1) (n
el
1)
is the number of degreesoffreedom and
n
M
m
=
_
n
dof
2
_
.
An algorithm is proposed in Algorithm 4.5, the algorithm for the computa
tion of the system of nonlinear equations is reported in Algorithm 4.6. Results
of these algorithms are reported in Tables (4.7)(4.11).
4.6.3 Numerical quadrature by twodimensional integra
tions
The numerical quadrature studied so far requires that the integrals can be de
composed in onedimensional integrals using the reduction theorem. However,
this is possible only when we assume the function () is constant. This is
not frequent to happen, even when Bspline basis functions are used instead of
NURBS basis functions: the determinant of the Jacobian matrix and the Jaco
bian matrix itself are not constant on the integration domain, and are as well
not separable in (4.20).
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 147
Algorithm 4.5 Algorithm for the computation of the Gauss integration points
and weights for exactly integrate functions in o
p,k
([0, 1]).
1 % computeGaussPointsWeights computes t he Gauss i nt egr at i on poi nt s and
2 % wei gt hs t o " exact l y " i nt egr at e Bs pl i ne bas i s f unct i ons of degree at
3 % most p on a number nel of el ements a l l of t he same l engt h where t he
4 % cont i nui t y of t he f unct i ons i s C^k . The domain consi dere i s ( 0 , 1) .
5 % Input :
6 % p : max degree of t he f unct i ons t o i nt egr at e " exact l y ";
7 % nel : number of el ements ( el ements are consi dered a l l of t he same
8 % l engt h .
9 % k : cont i nui t y i s C^k .
10 % Output :
11 % wxi : wxi [ i ] , i s an i nt egr at i on poi nt or a wei ght i f i i s odd or even
12 % r e s pe c t i v l y .
13 %f unct i on wxi = computeGaussPointsWeights (p , nel , k )
14
15 % Def i ni t i on of t he knot vect or ( uniform ) .
16 Xi ( 1 : p+1) = 0;
17 j = 1;
18 for i = p+1+1:pk : p+1+(nel 1). ( pk)
19 Xi ( i : i+pk) = 1. /( nel ) . j ;
20 j = j +1;
21 end
22 Xi ( p+1+(nel 1)(pk)+1: p+1+(nel 1)(pk)+1+p) = 1;
23 % Computation of t he reduced cont i nui t y .
24 r = pk ;
25 % Computation of t he number of degreesoffreedom.
26 ndof = ( p+1) nel (pr +1)( nel 1);
27 % computation of t he number of i nt egr at i on poi nt s t o use .
28 nquad = cei l ( ndof /2) ;
29 % Computation of t he number of knot s minus one .
30 m = length( Xi ) 1;
31
32 % I nt egrat i on of t he bas i s f unct i ons .
33 % I t er at i on on bas i s f unct i ons .
34 i nt (mp) = 0;
35 for i = 0:mp1
36 % Def i ni t i on of t he f unct i on .
37 f = @( x) basi sFun ( p , m, Xi , i , x ) ;
38 % Eval uati on of t he i nt e g r al .
39 i nt ( i +1) = quad( f , 0 , 1 , 1e 15);
40 end
41
42 % Def i ni t i on of t he nonl i near system .
43 F = @( x) gaussEquati ons ( p , m, Xi , i nt , nquad , x ) ;
44
45 % Set t i ng t he opt i ons f or t he eval uat i on of t he nonl i near system .
46 opt i ons = opti mset ( TolX , 1e 6, TolFun , 1e 6 , . . .
47 MaxFunEvals , 1e7 , MaxIter , 1e7 , Di spl ay , on ) ;
48
49 % Sol vi ng t he nonl i near system .
50 % =============================
51 % e x i t f l a g < 0 i ndi cat es t he procedure has f a i l e d f or some reason .
52 e x i t f l a g = 2;
53 % I n i t i a l guess of s ol ut i on .
54 x_0( 2. nquad) = 0;
55 % I t e r at e t i l l t he system i s eval uat ed accept abl y .
56 while e x i t f l a g < 0
57 % Define t he i n i t i a l guess ( I want t he components t o be < 1 and >= 0) .
58 for i = 1 : 2 . nquad
59 x_0( i ) = rem( rand( 1 , 1) , Xi (end)Xi (1)+1) + Xi ( 1 ) ;
60 end
61 % Sol ut i on of t he nonl i near system .
62 [ wxi , f val , e xi t f l a g , output , j acobi an ] = f s o l v e (F, x_0 , opt i ons ) ;
63 end
University of Padua Faculty of Engineering
148 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Algorithm 4.6 Algorithm for the computation of the value of each equation in
the nonlinear system for a possible solution x.
1 function [ F] = gaussEquati ons ( p , m, Xi , i nt , nquad , x)
2 % Creation of t he matrix ( pr eal l ocat i on ) .
3 F(mp1+1) = 0;
4 % Cal cul at i on of t he number of t he cont rol poi nt s minus one .
5 n = mp1;
6
7 % I t ar at i ons usi ng cal cul at i on of s i ng l e bas i s f unct i ons .
8 % f or j = 1:mp1+1
9 % f or k = 1: nquad
10 % F( j ) = F( j )+x (2. ( k 1)+1+1)....
11 % basisFun (p , m, Xi , j 1, x (2. ( k 1)+1));
12 % end
13 % end
14
15 % I t e r at i ons usi ng cal cul at i on of a l l t he nonvanishing f unct i ons f or each
16 % c a l l .
17 for k = 1: nquad
18 % I don t consi der s ol ut i ons where t he i nt egr at i on poi nt i s out si de
19 % t he i nt egr at i on domain .
20 i f x ( 2 . ( k1)+1) >= 1   . . .
21 x ( 2 . ( k1)+1) < 0 , break ; end;
22 % Computation of t he knot span t he candi dat e i nt egr at i on poi nt
23 % bel ongs t o .
24 i = f i ndSpan ( n , p , x ( 2 . ( k1)+1) , Xi ) ;
25 % Computing a l l t he nonvanishing Bs pl i ne bas i s f unct i ons i n t he
26 % i nt egr at i on poi nt .
27 N = basi sFuns ( i , x ( 2 . ( k1)+1) , p , Xi ) ;
28 % Eval uati on of t he equat i ons ( onl y one member ) .
29 for j = 0: p
30 F( i j +1) = F( i j +1)+x ( 2 . ( k1)+1+1).N( pj +1);
31 end
32 end
33
34 % Add a symmetry condi t i on i f needed .
35 i f m+1p1 < 2nquad
36 F(2 nquad) = x( cei l ( nquad. /2)+1) + x( nquadcei l ( nquad./2)+1+1) 1;
37 end
38
39 % Subt ract t he "exact " i nt e g r al s .
40 for i = 1: length( i nt )
41 F( i ) = F( i )i nt ( i ) ;
42 end
[0,1),i
2 spans 3 spans 4 spans 5 spans
[0,1),1
0.833333333333367 0.948645469027478 0.904711817893507 0.457777823250046
[0,1),2
0.500000000000000 0.717511861375525 0.313143439853511 0.882088086363297
[0,1),3
0.166666664870387 0.111111111111113 0.500000014840651 0.691228286634788
[0,1),4
 0.407407407407409 0.683909215048782 0.691229590640683
[0,1),5
  0.322471174843453 0.258073457384546
[0,1),6
   0.066273731840079
w
[0,1),i
2 spans 3 spans 4 spans 5 spans
w
[0,1),1
0.374999999999985 0.146083289946954 0.229417413380509 0.202575467696076
w
[0,1),2
0.250000004047672 0.282488138624475 0.496211733755255 0.270092166688278
w
[0,1),3
0.374999995952344 0.250000000000001 0.124127514678909 5131.266376438610678
w
[0,1),4
 0.321428571428575 0.246294438348830 
5131.032497567794053
w
[0,1),5
  0.197591080045694 0.255992610234059
w
[0,1),6
   0.170849756282850
Table 4.7: Gauss points and weights for exact quadrature in [0, 1) of functions
o
2,0
([0, 1)).
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 149
[0,1),i
2 spans 3 spans 4 spans 5 spans
[0,1),1
0.166084941241376 0.923383257935759 0.320339951871245 0.402547023824487
[0,1),2
0.579519205297671 0.076616742065828 0.704204902052694 0.174032889157233
[0,1),3
0.907388611933888 0.500000000000000 0.510975818880721 0.630049724739978
[0,1),4
0.166090495942244 0.709945075524140 0.906846799509926 0.045968878372119
[0,1),5
 0.290054924497223 0.240717961537833 0.926794576332642
[0,1),6
  0.061271036140975 0.502683509307378
[0,1),7
  0.273706345581009 0.300003871818280
[0,1),8
   0.773511908662025
w
[0,1),i
2 spans 3 spans 4 spans 5 spans
w
[0,1),1

606.535132106401875
0.181434731778163 0.439077001607745 0.071050245298913
w
[0,1),2
0.405509975080273 0.181434731855367 0.203870250601339 0.124474011028752
w
[0,1),3
0.240811371644811 0.222213207940754 0.135504983576706 0.133798040564846
w
[0,1),4
606.895868560192753 0.207458628807443 0.184264463132512 0.108857539657346
w
[0,1),5
 0.207458628730237 0.413817312617704 0.146459106667955
w
[0,1),6
  0.145238149943137 0.129856790925803
w
[0,1),7
  0.552180405364183 0.133341211220522
w
[0,1),8
   0.141451812505181
Table 4.8: Gauss points and weights for exact quadrature in [0, 1) of functions
o
3,0
([0, 1)).
[0,1),i
2 spans 3 spans 4 spans 5 spans
[0,1),1
0.428435167162567 0.048393309887333 0.215911159823009 0.919915886144466
[0,1),2
0.428434552289109 0.177956276631099 0.937131285756656 0.674049255828765
[0,1),3
0.121206682077936 0.500092916978055 0.215911990788857 0.080739746529892
[0,1),4
0.917131596800970 0.706031373148391 0.342198509312834 0.499834550305687
[0,1),5
0.665679754403337 0.916128622780179 0.061233362771563 0.570177698674665
[0,1),6
 0.055906637652176 0.478517201160487 0.784021230583838
[0,1),7
 0.317698239158576 0.625468892856977 0.368135066512957
[0,1),8
  0.779573919378795 0.784164302334527
[0,1),9
  0.937125207014475 0.515578174346808
[0,1),10
   0.675049543245028
[0,1),11
   0.226399017799747
w
[0,1),i
2 spans 3 spans 4 spans 5 spans
w
[0,1),1
0.229998305348650 0.230709827099232 0.362634110925567 0.139577217807637
w
[0,1),2
0.500000106347717 0.159874024538251 0.147415807665407 0.132378555081982
w
[0,1),3
0.271526702403672 0.219895327544213 0.499999835921352 0.139885118158629
w
[0,1),4
0.199201237919740 0.194246212660173 0.137159375742357 0.402930948757977
w
[0,1),5
0.252712472333265 0.185937544149411 0.136790077641194 0.149077195992203
w
[0,1),6
 0.133527737279334 0.125019289354648 0.243538802938613
w
[0,1),7
 0.129234963447895 0.164949280922275 0.125344169690181
w
[0,1),8
  0.145583932965228 0.345828566120191
w
[0,1),9
  0.286837477632445 0.352955477555863
w
[0,1),10
   0.242691125013453
w
[0,1),11
   0.130687525984878
Table 4.9: Gauss points and weights for exact quadrature in [0, 1) of functions
o
4,0
([0, 1)).
University of Padua Faculty of Engineering
150 CHAPTER 4. ISOGEOMETRIC ANALYSIS
[0,1),i
2 spans 3 spans 4 spans 5 spans
[0,1),1
0.042770562048058 0.536516567860769 0.625846047432515 0.458935495248663
[0,1),2
0.390281981608041 0.944080500381908 0.518075205400184 0.550323502455676
[0,1),3
0.502198842842684 0.175089395445756 0.030374840976267 0.105428992977702
[0,1),4
0.674782372288326 0.652087074128506 0.957994211814058 0.389553596573982
[0,1),5
0.194261336319405 0.408122626544791 0.233675153602255 0.186694554722707
[0,1),6
0.211213254219571 0.407358466253176 0.233669350226360 0.940298114384035
[0,1),7
0.917450573805243 0.040128526153241 0.957994100005439 0.622526382356290
[0,1),8
 0.780866504010469 0.733780277308149 0.304845457699348
[0,1),9
 0.175091190745680 0.132322384928325 0.024181794117765
[0,1),10
 0.309069571522065 0.835507061935651 0.287597884998844
[0,1),11
  0.430659773138450 0.727223653119565
[0,1),12
  0.430821115624636 0.550284004273494
[0,1),13
  0.319133784503069 0.254221673779585
[0,1),14
   0.186742440658334
[0,1),15
   0.822296228289488
[0,1),16
   0.622525471004493
w
[0,1),i
2 spans 3 spans 4 spans 5 spans
w
[0,1),1
0.106654746406427 0.136073617398366 0.121968600079509 0.087765889178017
w
[0,1),2
0.167378453597293 0.129036791661816 0.085178388092226 0.452614993814528
w
[0,1),3
0.087997596581449 0.347912881100316 0.074125732685454 0.092189860090221
w
[0,1),4
0.247020407398512 0.097952287825981 0.500000001781344 0.059683766666144
w
[0,1),5
0.124374267603976 0.304512556922801 0.165203759963084 0.813297114006685
w
[0,1),6
0.068711456934242 0.417147517206252 0.084535545806424 0.109138250470302
w
[0,1),7
0.191199446748913 0.098004632909778 0.403111741632715 0.421519318769177
w
[0,1),8
 0.165391841140297 0.088598218721909 0.206058167707416
w
[0,1),9
 0.194682693842008 0.115606170373304 0.059040102106830
w
[0,1),10
 0.102715714062121 0.124015609557615 0.179658803900306
w
[0,1),11
  0.228374746123211 0.106427494461614
w
[0,1),12
  0.332496327089866 0.371468049703903
w
[0,1),13
  0.104324263315390 0.117476863076052
w
[0,1),14
   0.750539592908463
w
[0,1),15
   0.095416934612510
w
[0,1),16
   0.338941011896593
Table 4.10: Gauss points and weights for exact quadrature in [0, 1) of functions
o
6,0
([0, 1)).
[0,1),i
2 spans 3 spans 4 spans 5 spans
[0,1),1
0.646332563472504 0.785223269956529 0.072188925973708 0.142839577504758
[0,1),2
0.353667436496891 0.097993118328453 0.416461056437632 0.400172082710462
[0,1),3
0.915998404219064 0.785210003839279 0.072189051563378 0.942251167494534
[0,1),4
0.084001595757942 0.330380669998786 0.927811178643384 0.666894899108321
[0,1),5
 0.947054076363070 0.583539908145616 0.942251232038523
[0,1),6
 0.554407808862486 0.752693842408999 0.268055269927127
[0,1),7
  0.247306319290994 0.033847598260145
[0,1),8
   0.533396994066341
[0,1),9
   0.802166249576074
w
[0,1),i
2 spans 3 spans 4 spans 5 spans
w
[0,1),1
0.295833814064987 
294.320525140782877
0.409401392410386 0.120959377546950
w
[0,1),2
0.295833814389626 0.212638937321328 0.169088088044403 0.129501619152761
w
[0,1),3
0.204166185831332 294.524579768581873 0.256628503966937 0.499999999377770
w
[0,1),4
0.204166185714050 0.224144818513231 0.152773616528585 0.135185067189173
w
[0,1),5
 0.131264750487560 0.169088088166493 0.377783860754304
w
[0,1),6
 0.223357337585522 0.169660838338642 0.132287614486551
w
[0,1),7
  0.169662368862370 0.082280357816187
w
[0,1),8
   0.135083611840556
w
[0,1),9
   0.135703312380091
Table 4.11: Gauss points and weights for exact quadrature in [0, 1) of functions
o
4,1
([0, 1)).
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 151
A solution is to perform the integrations on a twodimensional space, instead
of computing the product of onedimensional integrals. This requires to create
a system of equations in the form
M
m
() d =
n
()
M
m
i=1
n
(H)
M
m
j=1
Hw
()
M
m
,i
w
(H)
M
m
,j
(
M
m
,i
,
M
m
,j
), (4.21)
a basis of o
p,q
k
,k
H
(/
h
(M
m
)), where H is the length of the edge of the
element. Algorithm 4.7 computes the unknowns solving the nonlinear system
of Algorithm 4.9. The number of DOFs can be found in this case through
Equation (3.11).
It is clear that, using the nonlinear system of equations of Equation (4.21), it
is not possible to expect exact integrations for any function in o
p,q
k
,k
H
(/
h
(M
m
)):
this is because the points and the weights computed with Algorithms 4.7 and 4.9
didnt take into consideration the presence of a term (). With this method,
however, it no more necessary to consider () a constant: the stiness term,
for instance, becomes
[0,1]
2
(, )
N
p
i
(, )
N
q
j
(, ) dd =
n
()
M
m
i=1
n
(H)
M
m
j=1
w
()
M
m
,
i
w
(H)
M
m
,
j
_
N
p
i
N
q
j
__
M
m
,
i
,
M
m
,
j
_
.
The same exact concepts here reported can be applied to NURBSs.
4.7 Implementation of IGA
Possible algorithms for the implementation are reported and described here.
4.7.1 Providing design model
As usual, IGA works on a model which comes directly from the design phase.
The description of the model can employ many types of CAD structures, like B
splines, NURBSs or even Tsplines. In this phase, it is important to remember
what has been pointed out in 4.4. In our model, we can completely describe a
Bspline surface by dening:
the degree of the Bspline basis functions (in both directions) p and q;
the number of control points in each direction n + 1 and m + 1;
the control points P
i,j
which are described in the implementation as a
threedimensional matrix P[i, j, d] where 1 i n + 1 and 1 j
m + 1 indicates the indices of the point and d is the axis to which the
coordinate refers.
Once these information are dened, some functions are available to plot the
physical space. The algorithms behind these functions are reported and ex
plained in Chapter 3.
University of Padua Faculty of Engineering
152 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Algorithm 4.7 Algorithm for the computation of the weights and of the
quadrature points for the integration of a twodimensional function
o
p,q
k
,k
H
(/
h
(M
m
)) (continues to Algorithm 4.8).
1 % computeGaussPointsWeights2D computes t he Gauss i nt egr at i on poi nt s and
2 % wei gt hs t o " exact l y " i nt egr at e b i v ar i t e Bs pl i ne bas i s f unct i ons of
3 % degree p i n di r ect i on xi and q i n di r ect i on et a at on a number nel of
4 % uniform el ements where t he cont i nui t y of t he f unct i ons i s C^rXi i n
5 % di r ect i on xi and C^rEta i n di r ect i on et a . The domain consi dered i s
6 % ( 0 , 1) .
7 % Input :
8 % p : max degree of t he f unct i ons t o i nt egr at e " exact l y " i n
9 % di r ect i on xi ;
10 % q : max degree of t he f unct i ons t o i nt egr at e " exact l y " i n
11 % di r ect i on et a ;
12 % k : number of el ements i n t he xi di r ect i on ;
13 % l : number of el ements i n t he et a di r ect i on ;
14 % nel : number of el ements ( el ements are consi dered a l l of t he same
15 % l engt h .
16 % rXi : cont i nui t y i s C^rXi i n di r ect i on xi ;
17 % rEta : cont i nui t y i s C^rEta i n di r ect i on et a .
18 % Output :
19 % pw: pw[ i : i +4] contai ns , i n t hi s order , i nt . poi nt s on xi and et a and
20 % wei ght s on xi and on et a .
21 function pw = computeGaussPointsWeights2D( p , q , k , l , rXi , rEta )
22 % Def i ni t i on of t he knot vect ors ( uniform ) .
23 Xi ( 1 : p+1) = 0;
24 j = 1;
25 for i = p+1+1:prXi : p+1+(k1)(prXi )
26 Xi ( i : i+prXi ) = 1. /( k ) . j ;
27 j = j +1;
28 end
29 Xi ( p+1+(k1)(prXi )+1: p+1+(k1)(prXi )+1+p) = 1;
30 Eta ( 1 : q+1) = 0;
31 j = 1;
32 for i = q+1+1:qrEta : q+1+(l 1). ( qrEta )
33 Eta ( i : i+qrEta ) = 1. /( l ) . j ;
34 j = j +1;
35 end
36 Eta ( q+1+(l 1)(prEta )+1: q+1+(l 1)(qrEta)+1+q) = 1;
37 % Computation of t he number of r e pe t i t i on of a knot .
38 sXi = prXi ;
39 sEta = qrEta ;
40 % Computation of t he number of degreesoffreedom.
41 ndof Xi = ( p+1)k(psXi +1)(k1);
42 ndofEta = ( q+1) l (qsEta +1)( l 1);
43 ndof = ndof Xi ndofEta ;
44 % computation of t he number of i nt egr at i on poi nt s t o use .
45 nquad = cei l ( ndof /2) ;
46 % Eval uati on of t he number of bas i s f unct i ons .
47 n = length( Xi)p2;
48 m = length( Eta)q2;
49 % ( cont i nues . . . )
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 153
Algorithm 4.8 Algorithm for the computation of the weights and of the
quadrature points for the integration of a twodimensional function
o
p,q
k
,k
H
(/
h
(M
m
)) (continues from Algorithm 4.7).
1 % ( . . . cont i nues )
2 % Exact i nt egr at i on of t he bas i s f unct i ons .
3 % =========================================
4 i nt ( (m+1)(n+1)) = 0;
5 i nt I ndex = 1;
6 for i = 0: n
7 for j = 0:m
8 % Def i ni t i on of t he f unct i on .
9 f = @( x , y) basi sFun ( p , n+p+1, Xi , i , x ) . . . .
10 basi sFun ( q , m+q+1, Eta , j , y ) ;
11 % Eval uati on of t he "exact " i nt e g r al .
12 for xi _i = 1: length( Xi)1
13 for eta_i = 1: length( Eta)1
14 i nt ( i nt I ndex ) = i nt ( i nt I ndex ) +. . .
15 dblquad ( f , Xi ( xi _i ) , Xi ( xi _i +1 ) , . . .
16 Eta ( eta_i ) , Eta ( eta_i +1));
17 end
18 end
19 i nt I ndex = i nt I ndex +1;
20 end
21 end
22
23 % Def i ni t i on of t he nonl i near system .
24 F = @( x) gaussEquati ons2D( p , n , Xi , q , m, Eta , i nt , nquad , x , k , 1/k ) ;
25
26 % Set t i ng t he opt i ons f or t he eval uat i on of t he nonl i near system .
27 opt i ons = opti mset ( TolX , 1e 3, TolFun , 1e 3 , . . .
28 MaxFunEvals , 1e8 , MaxIter , 1e8 , Di spl ay , on ) ;
29
30 % Sol vi ng t he nonl i near system .
31 % =============================
32 % e x i t f l a g < 0 i ndi cat es t he procedure has f a i l e d f or some reason .
33 e x i t f l a g = 2;
34 % I n i t i a l guess of s ol ut i on .
35 x_0( 2. nquad) = 0;
36 % I t e r at e t i l l t he system i s eval uat ed accept abl y .
37 while e x i t f l a g < 0
38 % Define t he i n i t i a l guess ( I want t he components t o be < 1 and >= 0) .
39 for i = 1: 2 nquad
40 x_0( i ) = rem( rand( 1 , 1) , Xi (end)Xi (1)+1) + Xi ( 1 ) ;
41 end
42 % Sol ut i on of t he nonl i near system .
43 [ pw, f val , e xi t f l a g , output ] = f s o l v e (F, x_0 , opt i ons )
44 end
University of Padua Faculty of Engineering
154 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Algorithm 4.9 Algorithm for the computation of the value of each equation in
the nonlinear system for a possible solution x.
1 function F = gaussEquati ons2D( p , n , Xi , q , m, Eta , i nt , nquad , x)
2 % Creation of t he matrix ( pr eal l ocat i on ) .
3 F( (m+1)(n+1)) = 0;
4
5 % I t e r at i ons usi ng cal cul at i on of a l l t he nonvanishing f unct i ons f or each
6 % c a l l .
7 for k = 1: nquad
8 i f x ( 4 . ( k1)+1) < 0   x ( 4 . ( k1)+1) > 1   . . .
9 x ( 4 . ( k1)+1+1) < 0   x ( 4 . ( k1)+1+1) > 1
10 F = ones ( 1 , (m+1)(n+1));
11 return ;
12 end
13
14 % Computation of t he knot span t he candi dat e i nt egr at i on poi nt
15 % bel ongs t o .
16 xi _i = f i ndSpan ( n , p , x ( 4 . ( k1)+1) , Xi ) ;
17 eta_j = f i ndSpan (m, q , x ( 4 . ( k1)+1+1), Eta ) ;
18 % Computing a l l t he nonvanishing Bs pl i ne bas i s f unct i ons i n t he
19 % i nt egr at i on poi nt .
20 Ni = basi sFuns ( xi _i , x ( 4 . ( k1)+1) , p , Xi ) ;
21 Nj = basi sFuns ( eta_j , x ( 4 . ( k1)+1+1), q , Eta ) ;
22 % Eval uati on of t he equat i ons ( onl y one member ) .
23 for a = 0: p
24 for b = 0: q
25 % Computation of t he correct i ndex of t he current
26 % nonvanishi ng bas i s f unct i ons .
27 i = xi _i a ;
28 j = eta_jb ;
29 % Computation of t he current l i near i ndi ces i n t he F matrix .
30 FIndex = i (m+1)+j ;
31 F( FIndex+1) = F( FIndex +1)+. . .
32 x ( ( k1)4+2+1)x ( ( k1)4+3+1)Ni ( pa+1)Nj ( qb+1);
33 end
34 end
35 end
36
37 % Add a symmetry condi t i on i f needed .
38 for i = ( n+1)(m+1)+1:2nquad
39 i f mod( i , 2) == 0
40 F( i ) = x(endcei l ( i /2)3) + x( cei l ( i /2) ) 1;
41 el se
42 F( i ) = x(endcei l ( i /2)2) + x( cei l ( i /2)+1) 1;
43 end
44 end
45
46 % Subt ract t he "exact " i nt e g r al s .
47 for i = 1: length( i nt )
48 F( i ) = F( i )i nt ( i ) ;
49 end
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 155
A Bspline surface dened over adequate knot vectors Xi and Eta with n+1
and m+1 control points and degrees p and q can be evaluated in [xi, eta]
T
using the function bsplineSurfPoint(n,p,Xi,m,q,Eta,P,xi,eta).
A NURBS surface dened over adequate knot vectors Xi and Eta with
n + 1 and m + 1 control points, degrees p and q and weights dened by a
twodimensional matrix w can be evaluated in [xi, eta]
T
using the function
NURBSSurfPoint(n,p,Xi,m,q,Eta,Pw,xi,eta) where Pw are the weighted
control points.
4.7.2 Providing PDE specication and boundary condi
tions
The problem has to be dened, comprising both the coecients of the PDE and
the boundary conditions. This can be done by using two matrices, namely C
and D, dened as
C[i, j] =
_
_
1, if P
i,j
D
2, if P
i,j
N
0, otherwise
, D[i, j] =
_
0, if P
i,j
/
D
g
D
(P
i,j
) , if P
i,j
D
.
Neumann boundary conditions have to be applied in a weak sense. A function
g
N
(x) has to be dened and supplied to the algorithm and the control points
where a Neumann condition is imposed have to be selected in the array C. More
over, for simplicity, a vector N is used to identify the edges on the parametric
space which have Neumann conditions applied. N is 1 when it identies a Neu
mann edge, where the rst component relates to the edge with = 1, the second
to the edge with = 1, the third to the edge with = 1 and the fourth to the
edge with = 0. A more advanced structure for the denition of the boundary
conditions may be explored however.
4.7.3 Computation of the linear system
Homogeneous and nonhomogeneous boundary conditions can be imposed di
rectly to the control points, removing the respective equations from the system.
This is done in Algorithm 4.10, where we take advantage of the symmetry of
the stiness matrix. The algorithms for the computation of the integrals will be
discussed in 4.7.5. Nonhomogeneous boundary conditions can be implemented
just by subtracting a term from each element of the force vector.
4.7.4 Mesh renement
The coarsest mesh in IGA stores all the needed information, but the mesh
(formed by the knot vectors) is likely to be not sucient. Starting from the
coarsest mesh, it is possible to hrene the mesh by knot insertion. Assuming
for simplicity a uniform mesh is needed, Algorithm 4.11 produces the needed
result.
University of Padua Faculty of Engineering
156 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Algorithm 4.10 Computation of the force vector and of the stiness matrix
for nonhomogeneous Dirichlet conditions.
1 % Preal l ocat i on of t he s t i f f ne s s matrix and of t he f orce vect or .
2 S(sum(sum(C==0)) , sum(sum(C==0))) = 0;
3 F(sum(sum(C==0))) = 0;
4 % I ndi ces of t he matri ces .
5 a = 0;
6 b = 0;
7 for ki = 0: n
8 for l i = 0:m
9 % ki and l i are t he i ndi ces of t he f i r s t Bs pl i ne f unct i on .
10 % I f t he node i s a Di r i c hl e t node , then ski p t o t he next
11 % i t e r at i on .
12 i f C( ki +1, l i +1) == 1 , cont i nue ; end;
13 % I nt egrat i on of t he homogeneous part of t he f orce vect or .
14 F( a+1) = f o r c e I nt e g r a l Bs pl i ne s . . .
15 ( n , p , Xi , m, q , Eta , P, ki , l i , f , wp_force ) ;
16 % I t er at i on on t he second Bs pl i ne bas i s f unct i on .
17 for kj = 0: n
18 for l j = 0:m
19 % I f t he node bel ongs t o t he s et of Di r i c hl e t nodes then
20 % i t i s taken i nt o account onl y f or t he f orce vect or .
21 i f C( kj +1, l j +1) == 1
22 % I f t he Di r i c hl e t condi t i on i s homogeneous then
23 % i t i s conveni ent t o short c i r c ui t e d so t hat
24 % t he i nt e g r al i s not computed .
25 i f D( kj +1, l j +1) ~= 0
26 % The term i s subt ract ed from t he f orce vect or
27 % term.
28 F( a+1) = F( a+1)D( kj +1, l j +1 ) . . . .
29 s t i f f n e s s I n t e g r a l Bs p l i n e s . . .
30 ( n , p , Xi , m, q , Eta , P, ki , l i , kj , l j , . . .
31 wp_s t i f f ness , a_1 ) ;
32 end
33 cont i nue ;
34 end
35 % Ski p t he terms which can be computed by e x pl oi t i ng
36 % symmetry .
37 i f b < a , b = b+1; cont i nue ; end
38 ki , kj , l i , l j
39 % St i f f ne s s term.
40 S( a+1, b+1) = s t i f f n e s s I n t e g r a l Bs p l i n e s . . .
41 ( n , p , Xi , m, q , Eta , P, ki , l i , kj , l j , . . .
42 wp_s t i f f nes s , a_1 ) ;
43 b = b+1;
44 end
45 end
46 a = a+1;
47 b = 0;
48 end
49 end
50
51 % Complete t he l ower t r i ang l e ( symmetry ) .
52 for i = 1: length( S( 1 , : ) )
53 for j = 1: i
54 S( i , j ) = S( j , i ) ;
55 end
56 end
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 157
Algorithm 4.11 Process of renement which produces a uniform mesh with
(ca)
/b elements.
1 for i = a : b : c
2 k = f i ndSpan ( n , p , i , Xi ) ;
3 i f Xi ( k+1) ~= i
4 [ n , Xi , m, Eta , P] =. . .
5 sur f Knot I ns ( n , p , Xi , m, q , Eta , . . .
6 P, 0 , i , k , 0 , 1 ) ;
7 end
8
9 k = f i ndSpan (m, q , i , Eta ) ;
10 i f Eta ( k+1) ~= i
11 [ n , Xi , m, Eta , P] =. . .
12 sur f Knot I ns ( n , p , Xi , m, q , Eta , . . .
13 P, 1 , i , k , 0 , 1 ) ;
14 end
15 end
Algorithm 4.12 Algorithm for the computation of the integral necessary to
build the stiness matrix using the concepts reported in [37] (adaptive recursive
Simpsons rule).
1 function s = s t i f f n e s s I n t e g r a l Bs p l i n e s ( n , p , Xi , m, q , . . .
2 Eta , P, ki , l i , kj , l j , pw, a_1)
3 s = 0;
4 % According t o t he pr oper t i es of t he Bs pl i ne bas i s f unct i ons , each
5 % f unct i on i s nonzero onl y i n a s pe c i f i e d i nt e r v al . This propert y i s us ef ul
6 % i n order t o reduce t he domain of computation of t he i nt e g r al .
7 a = max( [ ( ki +1) , ( kj +1) ] ) ;
8 b = min( [ ( ki+p+1+1), ( kj+p+1+1)]) 1;
9 c = max( [ ( l i +1) , ( l j +1) ] ) ;
10 d = min( [ ( l i +q+1+1), ( l j +q+1+1)]) 1;
11 % The i nt e g r al i s di vi ded over t he s i ng l e el ements as al ong t he edges t he
12 % degree of cont i nui t y i s not known: i t coul d l ead t o a wrong computation
13 % of t he i nt e g r al .
14 for xi _i = a : b
15 for eta_i = c : d
16 s = s+dblquad (@( x , y) s t i f f ne s s I nt e g r a ndBs pl i ne s . . .
17 ( n , p , Xi , m, q , Eta , P, x , y , . . .
18 ki , l i , kj , l j , a_1) , Xi ( xi _i ) , Xi ( xi _i +1 ) , . . .
19 Eta ( eta_i ) , Eta ( eta_i +1));
20 end
21 end
4.7.5 Implementations of integration in IGA
According to what has been said, two algorithms for the integration for both
the stiness matrix and the force vector are reported: Algorithms 4.12 and 4.14
integrate using adaptive recursive Simpsons rule (see [37]) and Algorithms 4.13
and 4.15 integrates using what has been proposed in 4.6. The integrands are
reported in Algorithms 4.16 and 4.18.
A possible performance boost could be achieved precomputing all the eval
uations of the Bspline basis functions and of the derivatives on all the Gauss
nodes.
The Neumann term has to be computed in forceIntegralBspline(...) method:
the algorithms 4.19 and 4.20 shows a possible way of doing this.
University of Padua Faculty of Engineering
158 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Algorithm 4.13 Algorithm for the computation of the integral necessary to
build the stiness matrix using the concepts of 4.6.
1 s = 0;
2 % I t er at i on over a l l t he coupl es of i nt egr at i on nodes .
3 for i = 1 : 4 : length(pw)3
4 s = s+pw( i +2)pw( i +3) s t i f f ne s s I nt e g r a ndBs pl i ne s . . .
5 ( n , p , Xi , m, q , Eta , P, pw( i ) , pw( i +1 ) , . . .
6 ki , l i , kj , l j , a_1 ) ;
7 end
Algorithm 4.14 Algorithm for the computation of the integral necessary to
build the force vector using the concepts reported in [37] (adaptive recursive
Simpsons rule).
1 function F = f o r c e I nt e g r a l Bs pl i ne s . . .
2 ( n , p , Xi , m, q , Eta , P, ki , l i , f , g_N, a_1 , pw, N)
3 F = 0;
4 for xi _i = ki +1: ki+p+1
5 for eta_i = l i +1: l i +q+1
6 F = F+. . .
7 dblquad (@( x , y ) ( f or c e I nt e gr andBs pl i ne s . . .
8 ( n , p , Xi , m, q , Eta , P, x , y , ki , l i , f ) ) , . . .
9 Xi ( xi _i ) , Xi ( xi _i +1 ) , . . .
10 Eta ( eta_i ) , Eta ( eta_i +1) , 1e 5);
11 end
12 end
Algorithm 4.15 Algorithm for the computation of the integral necessary to
build the force vector using the concepts of 4.6.
1 F = 0;
2 for i = 1 : 4 : length(pw)3
3 F = F+pw( i +2)pw( i +3) f or c e I nt e gr andBs pl i ne s . . .
4 ( n , p , Xi , m, q , Eta , P, pw( i ) , pw( i +1) , ki , l i , f ) ;
5 end
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 159
Algorithm 4.16 Algorithm for the computation of the integrand for the sti
ness term (continues to Algorithm 4.17).
1 function s = s t i f f ne s s I nt e g r a ndBs pl i ne s ( n , p , Xi , m, q , . . .
2 Eta , P, xi , eta , ki , l i , kj , l j , a_1)
3 % Preal l ocat i on .
4 s ( length( xi ) ) = 0;
5 ol det a = eta ;
6 % I t er at i on on a l l t he request ed val ues on which t o eval t he i nt egrand .
7 for l = 1: length( xi )
8 moveForward = f a l s e ;
9 moveXi = f a l s e ;
10 moveMax = 100;
11 moveCurrent = 0;
12 eta = ol det a ;
13 Jx = 0;
14 rcond = 1e 5;
15 % I want t o avoi d t he determinant of t he Jacobian matrix t o vani sh .
16 % This happens when a s i ng ul ar i t y i s found and i t i s not pos s i b l e
17 % t o t r ans l at e t he f unct i on t o t he parametric domain . In t hi s case
18 % I si mpl y move by a smal l percent age t he poi nt i n which t he
19 % i nt egrand i s eval uat ed .
20 while Jx == 0
21 % Determination of t he de r i v at i v e s . This cal cul at i on i nvol ves
22 % t he cal cul at i on of t he val ue of t he b s i s f unct i ons i n t he
23 % poi nt s and of t he knot spans i n which t he poi nt s are l ocat ed .
24 % I can reuse t hese val ues l at e r on , avoi di ng new evauat i ons .
25 [ SKL, eXi , eEta , spanxi , spaneta ] =. . .
26 bs pl i ne Sur f De r i vs ( n , p , Xi , m, q , Eta , P, xi ( l ) , eta , 1 ) ;
27 % Def i ni t i on of t he j acobi an matrix .
28 DxDxi = [ SKL( 2 , 1 , 1) , SKL( 1 , 2 , 1 ) ; SKL( 2 , 1 , 2) , SKL( 1 , 2 , 2 ) ] ;
29 % Eval uate t he Jacobian .
30 Jx = det ( DxDxi ) ;
31 i f Jx == 0 , Jx , end;
32 % I f t he Jacobian i s 0 , t he matrix i s s i ngul ar and t her ef or e not
33 % i nv e r t i b l e . This i s not accept abl e as I need i t t o be
34 % i nv e r t i b l e .
35 i f Jx ~= 0 , break ; end;
36 % ( cont i nues . . . )
University of Padua Faculty of Engineering
160 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Algorithm 4.17 Algorithm for the computation of the integrand for the sti
ness term (continues from Algorithm 4.16).
1 % ( cont i nues . . . )
2 % Check t o see i f we s t i l l have t o move i n t he same di r ect i on .
3 i f moveXi == t r ue
4 % I f pos s i b l e move back on xi i n t he parametri c space .
5 i f moveForward == t r ue && xi ( l ) >= Xi (end)rcond
6 moveForward = f a l s e ;
7 end
8 i f moveForward == f a l s e && xi ( l ) <= Xi (1)+rcond
9 moveForward = t r ue ;
10 end
11 el se
12 % I f pos s i b l e move back on et a i n t he parametric space .
13 i f moveForward == t r ue && eta >= Eta (end)rcond
14 moveForward = f a l s e ;
15 end
16 i f moveForward == f a l s e && eta <= Eta(1)+rcond
17 moveForward = t r ue ;
18 end
19 end
20 moveCurrent = moveCurrent +1;
21 i f moveCurrent >= moveMax, moveXi = ~moveXi ; end;
22 i f moveXi == t r ue
23 i f moveForward == f a l s e , xi ( l ) = xi ( l )rcond ;
24 el se xi ( l ) = xi ( l )+rcond ; end;
25 el se
26 i f moveForward == f a l s e , eta = etarcond ;
27 el se eta = eta+rcond ; end;
28 end
29 end
30 % Compute t he i nverse of t he j acobi an matrix .
31 DxiDx = inv( DxDxi ) ;
32 dki = ki spanxi+p+1;
33 d l i = l i spaneta+q+1;
34 dkj = kjspanxi+p+1;
35 dl j = l j spaneta+q+1;
36 % According t o t he l oc al support propert y of t he Bs pl i ne f unct i ons
37 % t hey are zero out si de t he i r l oc al support .
38 i f dki >0 && dki<=p+1 && dl i >0 && dl i <=q+1
39 dNi dxi = eXi ( 2 , dki ) . eEta ( 1 , d l i ) ;
40 el se dNi dxi = 0; end;
41 i f dl i >0 && dl i <=q+1 && dki >0 && dki<=p+1
42 dNi deta = eEta ( 2 , d l i ) . eXi ( 1 , dki ) ;
43 el se dNi deta = 0; end;
44 i f dkj >0 && dkj<=p+1 && dl j >0 && dl j <=q+1
45 dNjdxi = eXi ( 2 , dkj ) . eEta ( 1 , dl j ) ;
46 el se dNjdxi = 0; end;
47 i f dl j >0 && dl j <=q+1 && dkj >0 && dkj<=p+1
48 dNjdeta = eEta ( 2 , dl j ) . eXi ( 1 , dkj ) ;
49 el se dNjdeta = 0; end;
50 % Def i ni t i on of t he gradi ent s .
51 gradNi = [ dNi dxi ; dNi deta ] ;
52 gradNj = [ dNjdxi ; dNjdeta ] ;
53 % Eval uati on of t he i nt egrand .
54 s ( l ) = Jx . 1 . ( DxiDx gradNi ) ( DxiDx gradNj ) . . . .
55 a_1(SKL( 1 , 1 , 1) , SKL( 1 , 1 , 2 ) ) ;
56 end
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 161
Algorithm 4.18 Algorithm for the computation of the integrand necessary to
build the force vector.
1 function F = f or c e I nt e gr andBs pl i ne s . . .
2 ( n , p , Xi , m, q , Eta , P, xi , eta , ki , l i , f )
3 % Preal l ocat i on .
4 F( length( xi ) ) = 0;
5 for l = 1: length( xi )
6 % Determination of t he de r i v at i v e s .
7 [ SKL, eXi , eEta , spanxi , spaneta ] =. . .
8 bs pl i ne Sur f De r i vs ( n , p , Xi , m, q , Eta , P, xi ( l ) , eta , 1 ) ;
9 % Def i ni t i on of t he j acobi an matrix .
10 DxDxi = [ SKL( 2 , 1 , 1) , SKL( 1 , 2 , 1 ) ; SKL( 2 , 1 , 2) , SKL( 1 , 2 , 2 ) ] ;
11 % Eval uate t he Jacobian .
12 Jx = det ( DxDxi ) ;
13 dki = ki spanxi+p+1;
14 d l i = l i spaneta+q+1;
15 i f dki >0 && dki<=p+1 && dl i >0 && dl i <=q+1
16 Nip = eXi ( 1 , dki ) . eEta ( 1 , d l i ) ;
17 el se Nip = 0; end;
18 % Integrand .
19 F( l ) = Jx . f (SKL( 1 , 1 , 1) , SKL( 1 , 1 , 2 ) ) . Nip ;
20 end
University of Padua Faculty of Engineering
162 CHAPTER 4. ISOGEOMETRIC ANALYSIS
Algorithm 4.19 Computation of the term of the force vector taking into ac
count the Neumann conditions applied to the boundaries.
1 function F = f o r c e I nt e g r a l Bs pl i ne s 0 2 . . .
2 ( n , p , Xi , m, q , Eta , P, ki , l i , f , g_N, a_1 , pw, N)
3 F = 0;
4 % According t o t he pr oper t i es of t he Bs pl i ne bas i s f unct i ons , each
5 % f unct i on i s nonzero onl y i n a s pe c i f i e d i nt e r v al . This propert y i s us ef ul
6 % i n order t o reduce t he domain of computation of t he i nt e g r al .
7 % The i nt e g r al i s di vi ded over t he s i ng l e el ements as al ong t he edges t he
8 % degree of cont i nui t y i s not known: i t coul d l ead t o a wrong computation
9 % of t he i nt e g r al .
10 for xi _i = ki +1: ki+p+1
11 for eta_i = l i +1: l i +q+1
12 F = F+. . .
13 dblquad (@( x , y ) ( f or c e I nt e gr andBs pl i ne s . . .
14 ( n , p , Xi , m, q , Eta , P, x , y , ki , l i , f ) ) , . . .
15 Xi ( xi _i ) , Xi ( xi _i +1 ) , . . .
16 Eta ( eta_i ) , Eta ( eta_i +1) , 1e 5);
17 end
18 end
19 % N s t or es t he de f i ni t i on of which edges of t he parametric domain has t o be
20 % consi dered part of t he Neumann boundary .
21 for i = 1: length(N)
22 i f N( i ) == 0 , cont i nue ; end;
23 % Determine t he domain of t he l i ne i nt e g r al t o compute .
24 swi tch i
25 cas e 1
26 i f l i ~=0, cont i nue ; end;
27 A = [ Xi ( 1) , Eta ( 1 ) ] ; B = [ Xi (end) , Eta ( 1 ) ] ;
28 domain ( 1) = Xi ( ki +1);
29 domain ( 2) = Xi ( ki+p+2);
30 cas e 2
31 i f ki~=n , cont i nue ; end;
32 A = [ Xi (end) , Eta ( 1 ) ] ; B = [ Xi (end) , Eta (end ) ] ;
33 domain ( 1) = Eta ( l i +1);
34 domain ( 2) = Eta ( l i +q+2);
35 cas e 3
36 i f l i ~=m, cont i nue ; end;
37 A = [ Xi ( 1) , Eta (end ) ] ; B = [ Xi (end) , Eta (end ) ] ;
38 domain ( 1) = Xi ( ki +1);
39 domain ( 2) = Xi ( ki+p+2);
40 cas e 4
41 i f ki ~=0, cont i nue ; end;
42 A = [ Xi ( 1) , Eta ( 1 ) ] ; B = [ Xi ( 1) , Eta (end ) ] ;
43 domain ( 1) = Eta ( l i +1);
44 domain ( 2) = Eta ( l i +q+2);
45 end
46 % Computation of t he i nt e g r al .
47 F = F+quad(@( x ) ( neumannIntegrand ( n , p , Xi , m, q , Eta , . . .
48 P, ki , l i , a_1 , g_N, x , A, B) ) , . . .
49 domain ( 1) , domain ( 2 ) ) ;
50 end
University of Padua Faculty of Engineering
CHAPTER 4. ISOGEOMETRIC ANALYSIS 163
Algorithm 4.20 Integrand of the Neumann term.
1 function N = neumannIntegrand ( n , p , Xi , m, q , Eta , P, ki , l i , . . .
2 a_1 , g_N, t , A, B)
3 N( length( t ) ) = 0;
4 for i = 1: length( t )
5 % Def i ni t i on of t he map.
6 chi = (1t ( i ) ) . A + t ( i ) . B;
7 % Determination of t he de r i v at i v e s .
8 [ SKL, eXi , eEta , spanxi , spaneta ] =. . .
9 bs pl i ne Sur f De r i vs ( n , p , Xi , m, q , Eta , P, chi ( 1) , chi ( 2) , 1 ) ;
10 % Def i ni t i on of t he j acobi an matrix .
11 DxDxi = [ SKL( 2 , 1 , 1) , SKL( 1 , 2 , 1 ) ; SKL( 2 , 1 , 2) , SKL( 1 , 2 , 2 ) ] ;
12 dki = ki spanxi+p+1;
13 d l i = l i spaneta+q+1;
14 i f dki >0 && dki<=p+1 && dl i >0 && dl i <=q+1
15 Nip = eXi ( 1 , dki ) . eEta ( 1 , d l i ) ;
16 el se
17 Nip = 0;
18 end
19 N( i ) = a_1(SKL( 1 , 1 , 1) , SKL( 1 , 1 , 2 ) ) . . . .
20 g_N(SKL( 1 , 1 , 1) , SKL( 1 , 1 , 2 ) ) . . . .
21 Nip . norm( DxDxi(A+B) . /norm(A+B) ) ;
22 end
University of Padua Faculty of Engineering
164 CHAPTER 4. ISOGEOMETRIC ANALYSIS
University of Padua Faculty of Engineering
Chapter 5
Numerical examples
5.1 Thermal conduction
Let u(x) be the temperature eld, f (x) the heat supply per unit volume and
(x) the conductivity matrix. The steady state thermal conduction problem is
the problem of nding the temperature eld u(x) given that
_
_
((x) u(x)) = f (x) , x , given f : R, u :
R
u(x) = g
D
(x) , x
D
, g
D
:
D
R
(x)
u
(x) = g
N
(x) , x
N
, g
N
:
N
R
.
The application of the method introduced in 1.41.4.4 leads to the problem
of nding the function u(x) such that
_
_
a (, ) = l () , H
1
0
() , H
1
0
()
a (, ) =
dx, H
1
0
() , H
1
0
()
l () =
(f ) dx
D
g
N
d, H
1
0
()
(x) = 0, x
D
(x) = g
N
(x) , x
D
, g
D
:
D
R
(x)
( +)
(x) = g
N
(x) , x
N
, g
N
:
N
R
u(x) = (x) + (x) , x
.
5.1.1 FEM solution on square plate
Lets consider some dierent problems on a square plate. The rst problem (5.1)
is a thermal problem with conductivity matrix = I
size()
, domain
S
= (0, 1)
2
,
g
D
= 0 and f = 1:
_
(u(x)) = 1, x
S
, given u :
S
R
u(x) = 0, x
S
. (5.1)
The rst process to begin when solving this problem with FEM, after the deriva
tion of the weak formulation and the application of the Galerkin method, is to
165
166 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.1: Triangular mesh on the rectangular plate for the solution of a simple
thermal problem.
create some kind of mesh on the domain of interest, which is described by a
CAD model, using splines for instance. Lets consider a simple object at the
beginning: a square plate. A possible mesh is given in Figure 5.1. The creation
of the stiness matrix and of the force vector and the solution of the linear
system leads to a solution exact at the nodes (see Figure 5.2).
The second problem (5.7) is a thermal problem with conductivity matrix
= I
size()
, domain
S
= (0, 1)
2
and f = 1:
_
_
(u(x)) = 1, x
S
, given u :
S
R
u(x) = 1, x
D,S
=
_
x
S
[x = [0, y]
T
x = [1, y]
_
u(x) = 0, x
S
D,S
. (5.2)
The third problem (5.3) is a thermal problem with conductivity matrix =
I
size()
, domain
S
= (0, 1)
2
and f = x:
_
_
(u(x)) = 20x, x
S
, given u :
S
R
u(x) = 1, x
D,S
u(x) = 0, x
S
D,S
. (5.3)
The fourth problem is:
_
_
(2xI
2
u(x)) = 20x, x
S
, given u :
S
R
u(x) = 1, x
D,S
u(x) = 0, x
S
D,S
. (5.4)
The solutions to the problems (5.2), (5.3) and (5.4) can be found in Figure
5.3.
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 167
Figure 5.2: Approximated solution of a thermal problem with FEM on the
square plate using a mesh with 2705 nodes.
Figure 5.3: Approximated solutions of problems (5.2), (5.3) and (5.4) found
using FEM with a mesh with 2705 nodes.
University of Padua Faculty of Engineering
168 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.4: Representations of the approximated solutions of the problem (5.1)
calculated using IGA, with integration using adaptive recursive Simpsons rule,
with a mesh of 4 elements in each direction.
Figure 5.5: Representations of the approximated solutions of the problem (5.2)
calculated using IGA with integration using adaptive recursive Simpsons rule,
with a mesh of 4 elements in each direction.
5.1.2 IGA solution on square plate
The results of the analysis of the problems (5.1) to (5.4) with IGA can be seen
in Figures from 5.4 to 5.7.
A comparison of FEM and IGA solutions using the same number of nodes
is reported in Figure 5.8.
5.1.3 FEM solution on a plate with hole
Now, it is interesting to consider some more complex geometries. Lets take,
for instance, an approximation of the plate with a hole in the corner described
using a Bspline surface, like the one represented in Figure 3.18. It is no more
possible to keep the exact geometry when trying to analyze the domain with
FEM. In this case, in fact, the circular hole needs to be approximated with
a polygonal shape (linear elements are used in this case). The renement of
the mesh can represent the domain with higher precision, and this is useful in
this case, as it can be seen in Figure 5.9. The domain
P
is described using a
Bspline surface P (, ) where the parametric space is always the unit square
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 169
Figure 5.6: Representations of the approximated solutions of the problem (5.3)
calculated using IGA with integration using adaptive recursive Simpsons rule,
with a mesh of 4 elements in each direction.
Figure 5.7: Representations of the approximated solutions of the problem (5.4)
calculated using IGA with integration using adaptive recursive Simpsons rule,
with a mesh of 4 elements in each direction.
Figure 5.8: Approximated solutions using FEM with 25 nodes on the left, IGA
with 25 nodes on the right.
University of Padua Faculty of Engineering
170 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.9: Details of meshes for the plate with hole.
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 171
[0, 1]
2
, so
P
=
_
(x, y) [ (x, y) = P (, ) , (, ) [0, 1]
2
_
.
We consider again four problems:
_
(u(x)) = 1, x
P
, given u :
P
R
u(x) = 0, x
P
, (5.5)
_
_
(u(x)) = 1, x
P
, given u :
P
R
u(x) = 1, x
D,P
u(x) = 0, x
P
D,P
, (5.6)
_
_
(u(x)) = x, x
P
, given u :
P
R
u(x) = 1, x
D,P
u(x) = 0, x
P
D,P
, (5.7)
_
_
(xI
2
u(x)) = 1, x
P
, given u :
P
R
u(x) = 1, x
D,P
u(x) = 0, x
P
D,P
, (5.8)
where
D,P
=
_
x
P
[x = [4, y]
T
x = [x, 4]
_
.
The solutions to the problems (5.5), (5.6), (5.7) and (5.8) can be found in Figure
5.10.
5.1.4 IGA solution on a plate with hole
When the plate with hole is described using Bspline functions and IGA is ap
plied, there is no need to approximate the boundary. The eect of hrenement
can be seen in Figures 5.20 and 5.21, and it can be seen that in every mesh, in
cluding the coarsest, the domain is represented exactly as it was provided. The
solutions to the problems (5.5), (5.6), (5.7) and (5.8) can be found in Figures
from 5.11 to 5.14.
A comparison of the approximated solutions found using FEM and IGA
on the square plate with hole can be found in Figure 5.15. In this case, the
advantage of using IGA over FEM can be clearly seen.
5.1.5 IGA on
P
with optimized Gauss quadrature
The results of the analysis of the problems (5.5) to (5.8) with IGA can be seen
in Figures from 5.16 to 5.19.
5.1.6 Eects of hrenement
Algorithms 4.3 and 4.4, which performs the knot insertion, can be used to rene
a mesh on an object. This is equivalent to the hrenement in FEM, so that it
can be used to obtain a more precise solution. An example of hrenement with
Bsplines functions can be found in Figure 5.20: a uniform mesh is uniformly
rened in order to obtain a more precise approximation of the exact solution.
University of Padua Faculty of Engineering
172 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.10: Approximated solutions of the problems (5.5) on the top left, (5.6)
on the top right, (5.7) on the bottom left and (5.8) on the bottom right, using
linear elements in FEM analysis with a mesh with 2609 nodes.
Figure 5.11: Representations of the approximated solution of the problem (5.5)
calculated using IGA with integration using adaptive recursive Simpsons rule,
with a mesh of 4 elements in each direction.
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 173
Figure 5.12: Representations of the approximated solution of the problem (5.6)
calculated using IGA with integration using adaptive recursive Simpsons rule,
with a mesh of 4 elements in each direction.
Figure 5.13: Representations of the approximated solution of the problem (5.7)
calculated using IGA with integration using adaptive recursive Simpsons rule,
with a mesh of 4 elements in each direction.
Figure 5.14: Representations of the approximated solution of the problem (5.8)
calculated using IGA with integration using adaptive recursive Simpsons rule,
with a mesh of 4 elements in each direction.
University of Padua Faculty of Engineering
174 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.15: Approximated solutions using FEM with 36 nodes on the left, IGA
with 35 nodes on the right.
Figure 5.16: Representations of the approximated solution of the problem (5.5)
calculated using IGA with optimized Gauss twodimensional integration, with
a mesh of 4 elements in each direction.
Figure 5.17: Representations of the approximated solution of the problem (5.6)
calculated using IGA with optimized Gauss twodimensional integration, with
a mesh of 4 elements in each direction.
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 175
Figure 5.18: Representations of the approximated solution of the problem (5.7)
calculated using IGA with optimized Gauss twodimensional integration, with
a mesh of 4 elements in each direction.
Figure 5.19: Representations of the approximated solution of the problem (5.8)
calculated using IGA with optimized Gauss twodimensional integration, with
a mesh of 4 elements in each direction.
University of Padua Faculty of Engineering
176 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.20: Process of hrenement on
S
for the problem (5.4).
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 177
Figure 5.21: Process of hrenement on
P
for the problem (5.8).
University of Padua Faculty of Engineering
178 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.22: hrenement of domain
1
.
5.1.7 IGA solution on a more complex domain
By using IGA, it is possible to analyze even more complex geometries. Lets
consider then problem (5.9)
_
(u(x)) = 1, x
1
, given u :
1
R
u(x) = 0, x
1
, (5.9)
where
1
is represented in Figure 5.22 in its coarsest mesh and its renements.
In this case, IGA provides the solution (mesh of Figure 5.22c is considered)
depicted in Figure 5.23.
Another interesting problem to test on this complex domain is the one re
ported below:
_
_
(u(x)) = 1, x
1
, given u :
1
R
u(x) = 0, x
1
D
u(x) = 1, x
D
= x[x = x(, ) , = 1
. (5.10)
The solution is illustrated in Figure 5.24, and it can be seen that the Dirichlet
condition is exactly satised on the boundary.
IGA can also work on threedimensional surfaces, consider in fact the case
of a problem similar to (5.9) such as:
_
(u(x)) = 1, x
2
, given u :
2
R
u(x) = 0, x
2
. (5.11)
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 179
Figure 5.23: Solution of problem (5.11) found by using IGA.
Renements and the solution over a mesh are reported in Figure 5.26 and
5.25.
5.1.8 Combination of Dirichlet and Neumann boundary
conditions
It is possible to introduce Neumann boundary conditions in the problems already
proposed. The three problems are:
_
_
(u(x)) = 1, x
S
, given u :
S
R
u(x) = 0, x
D,0
u(x) = 1, x
D,1
u(x) = 2, x
D,2
u
= g
N
, x
N
, (5.12)
_
_
(u(x)) = 1, x
P
, given u :
P
R
u(x) = 0, x
D,0
u(x) = 1, x
D,1
u(x) = 2, x
D,2
u
= g
N
, x
N
, (5.13)
University of Padua Faculty of Engineering
180 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.24: Solution of problem (5.10) found by using IGA.
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 181
Figure 5.25: hrenement of domain
2
.
Figure 5.26: Solution of problem (5.11) found by using IGA.
University of Padua Faculty of Engineering
182 CHAPTER 5. NUMERICAL EXAMPLES
_
_
(u(x)) = 1, x
1
, given u :
1
R
u(x) = 0 x
D,0
u(x) = 1, x
D,1
u(x) = 2, x
D,2
u
= g
N
, x
N
, (5.14)
where
D,0
= x[ x(, ) = x, = 0, [0, 1] ,
D,1
= x[ x(, ) = x, = 1, [0, 1] ,
D,2
= x[ x(, ) = x, [0, 1] , = 1 ,
N
= x[ x(, ) = x, [0, 1] , = 0 .
In the gures from (5.27) to (5.29) the solutions for h = 0 can be seen and in
the gures from (5.30) to (5.32) h = 1 is illustrated. Tests with a nonconstant
function for Neumann conditions g
N
(x) = x is also reported in the gure from
(5.33) to (5.35).
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 183
Figure 5.27: Solution of the problem (5.12) on the domain
S
with g
N
= 0.
University of Padua Faculty of Engineering
184 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.28: Solution of the problem (5.13) on the domain
P
with g
N
= 0.
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 185
Figure 5.29: Solution of the problem (5.14) on the domain
1
with g
N
= 0.
University of Padua Faculty of Engineering
186 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.30: Solution of the problem (5.12) on the domain
S
with g
N
= 1.
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 187
Figure 5.31: Solution of the problem (5.13) on the domain
P
with g
N
= 1.
University of Padua Faculty of Engineering
188 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.32: Solution of the problem (5.14) on the domain
1
with g
N
= 1.
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 189
Figure 5.33: Solution of the problem (5.12) on the domain
S
with g
N
= 9x.
University of Padua Faculty of Engineering
190 CHAPTER 5. NUMERICAL EXAMPLES
Figure 5.34: Solution of the problem (5.13) on the domain
P
with g
N
= 9x.
University of Padua Faculty of Engineering
CHAPTER 5. NUMERICAL EXAMPLES 191
Figure 5.35: Solution of the problem (5.14) on the domain
1
with g
N
= 9x.
University of Padua Faculty of Engineering
192 CHAPTER 5. NUMERICAL EXAMPLES
University of Padua Faculty of Engineering
Appendix A
Notes of functional analysis
A.1 Linear spaces
A.1.1 Real and complex linear space
Denition A.1. Let B = R or B = C. A nonempty abstract set V endowed
with two binary operations + : V V V (called addition) and : BV V
(called multiplication by scalar) is (real or complex) linear space if and only if
the following ten conditions are satised for all a, b B and u, v, w V .
1. v +w V (closure of V under addition);
2. u + (v +w) = (u +v) +w (associativity of addition in V );
3. there exists a neutral element 0 in V such that for all elements v V ,
v + 0 = v;
4. for all v V there exists an element w V such that v +w = 0;
5. v +w = w +v (commutativity);
6. a v V (closure of V under multiplication by a scalar);
7. a (b v) = (ab) v (associativity of scalar multiplication);
8. if 1 denotes the multiplicative identity of B then 1 v = v (neutrality of
1);
9. a (v +w) = a v +a w (distributivity with respect to addition);
10. (a +b) v = a v +b v (distributivity with respect to scalar addition).
A.1.2 Linear and bilinear forms
Linear forms are linear operators which are commonly used in Finite Element
analysis. To dene them we dene rst a linear transformation, then the linear
operator and lastly the linear functional (or linear form).
Denition A.2. Let V and W be linear spaces over the same eld F. A linear
transformation is a function f : V W such that:
193
194 APPENDIX A. NOTES OF FUNCTIONAL ANALYSIS
f (v +w) = f (v) +f (w) , v, w V ;
f (v) = f (v) , v V, F.
Denition A.3. Let f be a linear transformation f : V W, where V and
W are linear spaces over the eld F. If V = W then the linear transformation
is called linear operator.
Denition A.4. Let V be a linear space over the eld F. The function f :
V F is called linear form. The space of all linear forms over the space V is
called dual space and denoted with V
.
We need to dene the dual space as well:
Denition A.5. Let V be a real or complex linear space of dimension n and
1 = v
1
, v
2
, . . . , v
n
a basis of V . The basis 1
= v
1
, v
2
, . . . , v
n
of the space
V
, w) = f (v, w) +f (v
, w) , v, v
, w V ;
2. f (w, v +v
) = f (w, v) +f (w, v
) , v, v
, w V ;
3. f (v, w) = f (v, w) = f (v, w) , v, w V .
There are some important properties used in the rest of the document for
the bilinear form:
Denition A.9. Let V be a real Hilbert space a : V V R a bilinear form
and A : V V
0
consisting of a nite number of points or even of a countable innite set of
points, such as the set of rational numbers, is zero if d 1.
Denition A.13. Let f : R, where R
d
is an open measurable set.
The Lebesgue integral of f over is invariant with respect to the values of the
function in zeromeasure subsets of . So
f (x) dx =
\
0
f (x) dx,
0
[ [
0
[ = 0.
Because of this denition, the Riemann integral and the Lebesgue integral
dier.
Denition A.14. Let R
d
be an open set. Consider the linear space V of
measurable functions dened in . For every 1 p < we dene the L
p
norm
in V as
f
p
=
_
[f (x)[
p
dx
_
1
p
.
The L
norm in V is dened as
f
= ess
_
sup
x
[f (x)[
_
,
where the essential supremum is dened as
ess
_
sup
x
g (x)
_
= inf
Z,Z=0
_
sup
\Z
g (x)
_
.
University of Padua Faculty of Engineering
196 APPENDIX A. NOTES OF FUNCTIONAL ANALYSIS
The spaces L
p
() are dened as
L
p
() =
_
f V : f
p
<
_
, p : 1 p <
and
L
() =
_
f V : ess
_
sup
x
[f (x)[
_
<
_
.
A.3 Inner product spaces
An inner product space is a linear space equipped with an inner product ,
V
:
V V C, where V is an inner product space. This structure associates each
pair of vectors of the space with a scalar quantity known as inner product. An
inner product space is also called a preHilbert space. More formally:
Denition A.15. Let V be a real or complex linear space. An inner product
in V is any function ,
V
: V V C with the following properties:
1. for any u V , u, u
V
0 and moreover u, u
V
= 0 if and only if u = 0;
2. for any u, v V , u, v
V
= v, u
V
;
3. for any u, v, w V and all a, b C we have
au +bv, w
V
= a u, w
V
+b v, w
V
.
An inner product space V is a linear space over C with an inner product dened
on it.
A.3.1 Hilbert spaces
For the denition of the Hilbert space it is necessary to dene the Cauchy
sequence rst.
Denition A.16. Let V be a normed space. A sequence v
n
n=1
V is a
Cauchy sequence if for every R > 0 there exists a natural number l such
that for all natural numbers m, n > l
v
m
v
n

V
< .
Denition A.17. A normed space V (and so an inner product) is complete if
every Cauchy sequence in V is a convergent sequence.
Denition A.18. Every complete inner product space is said to be a Hilbert
space.
A.3.2 Bilinear forms and energetic spaces
The information that matters the most can be summarized in the following. We
can associate every bilinear form on a Banach space V a : V V R with a
unique linear operator A : V V
dened by
(Au) (v) = Au, v = a (u, v) , u, v V. (A.1)
University of Padua Faculty of Engineering
APPENDIX A. NOTES OF FUNCTIONAL ANALYSIS 197
It can be shown that for each bilinear form a : V V R there is one and only
one associated linear operator A : V V
C
a
v
2
V
, v V ;
3. a (, ) is symmetric if a (u, v) = a (v, u) , u, v V .
The bilinear form can be used to dene an inner product, and therefore a
new space called Energetic space.
Denition A.20. Let V be a Hilbert space and a : V V R a bounded
symmetric Velliptic bilinear form. The bilinear form denes an inner product
u, v
e
= a (u, v) satisfying Denition A.15 called energetic inner product. The
norm induced by the energetic inner product is
u
e
=
_
u, u
e
,
and its called energy norm.
Once the energetic inner product is dened, we can dene the energetic
space. The reason for its name comes from physics, as in many systems the
energy can be expressed as an energetic inner product.
Denition A.21. A subspace of an Hilbert space equipped with an energetic
inner product is an energetic space.
A.3.3 Projections
Denition A.22. Let V be a linear space. An operator P : V V is said to
be a projection if it is both linear and idempotent (P
2
= P).
Lemma A.23. Let V be a linear space. If V is a direct sum of two subspaces
V
1
and V
2
, V = V
1
V
2
, then there exists a unique projection P so that P (V ) =
V
1
, (I P) (V ) = V
2
. Conversely, every projection operator P determines a
decomposition of the space V into
V = P (V ) (I P) (V ) .
An example of projection operator is the Lagrange interpolation
Pv =
n
i=0
v (x
i
)
j=i
x x
j
x
i
x
j
, v V.
University of Padua Faculty of Engineering
198 APPENDIX A. NOTES OF FUNCTIONAL ANALYSIS
Denition A.24. Let V be a Hilbert space. An operator P : V V is said
to be an orthogonal projection if it is linear, idempotent and if
(v Pv, w)
V
= 0, v V, w P (V ) .
The space P (V ) is said to be the projection subspace.
Lemma A.25 reports an important fact about orthogonal projections: Pv
is the closest element to v V among all the elements in the projection space
P (V ).
Lemma A.25. Let V be a Hilbert space and W a closed subspace of V equipped
with an orthonormal basis B
W
= w
1
, . . . , w
n
. Let P be an orthogonal projec
tion operator such that P (V ) = W. Then for any v V we have
v Pv = inf
wW
v w .
A.4 Sobolev spaces
Denition A.26. Let R
d
be an open set, k 1 an integer number and
p [1, ). we dene
W
k,p
() = f L
p
() : D
w
f esists and lies in L
p
() for all multiindices , [[ k .
For every 1 p < the norm 
k,p
is dened as
f
k,p
=
_
_
k
[D
w
f[
p
dx
_
_
1
p
=
_
_
k
D
w
f
p
p
_
_
1
p
.
For p = we dene
f
k,
= max
k
D
w
f
.
In the case p = 2 we abbreviate W
k,p
() = H
k
().
It is important to note that:
Denition A.27. Let R
d
be an open set, k 1 an integer number. The
Sobolev space W
k,2
= H
k
, endowed with the inner product
f, g
k,2
=
k
D
fD
gdx =
k
D
d, D
g
L
2
()
is a Hilbert space.
Switch denition.
Denition A.28. Let R
d
be an open set, k > 1 an integer number. The
space H
k
0
() is a subspace of the Hilbert space H
k
and its denition is
H
k
0
() =
_
v H
k
() : D
v = 0 on [[ < k
_
.
University of Padua Faculty of Engineering
APPENDIX A. NOTES OF FUNCTIONAL ANALYSIS 199
A.4.1 Distributions
Denition A.29. Let R
d
be an open set. The space of distributions is the
space containing all the innitely smooth functions with compact support, and
can be dened by the writing
C
0
() = C
1
1 x
2
.
These functions are not distributions in as
supp () = supp () = [1, 1] .
However, the function can be extended by zero to be a distribution in the
interval (1 , 1 +), where > 0. The same cannot be done for as it
wouldnt be C
0
() is surely a closed set (as it is the closure of a set). This means any
support can never touch the boundary of an open set (like it was in Example
A.30). This means for every C
0
() there is a thin interval along the
boundary where vanishes, as done in Example A.30.
A.4.2 Generalized integration by parts
Remark A.32. The formula of generalized integration by parts is often used
when working with partial dierential equations and in the weak formulation.
Assume a bounded domain R
d
with Lipschitzcontinuous boundary and
assume
(x) = (
1
,
2
, . . . ,
d
)
T
(x)
is the outer normal to . The Greens theorem for H
1
()functions states:
Theorem A.33. For every u, v H
1
() it holds
u
x
i
vdx =
u
v
x
i
dx +
uv
i
dS.
Using Theorem A.33 it is possible to write, furthermore, the following lemma:
Lemma A.34. For all u H
1
() and v H
2
() it is
uvdx =
uvdx +
u
v
dS,
University of Padua Faculty of Engineering
200 APPENDIX A. NOTES OF FUNCTIONAL ANALYSIS
where
v
= v (x) (x) , x .
For all u
_
H
1
()
d
and v H
1
() it holds
(divu) vdx =
u vdx +
(u ) vdS.
University of Padua Faculty of Engineering
Appendix B
Notes of calculus
B.1 Continuity
In mathematics, a continuous function is a function for which, intuitively, small
changes in the input result in small changes in the output. Otherwise, a function
is said to be discontinuous. A continuous function with a continuous inverse
function is called bicontinuous. An intuitive though imprecise (and inexact)
idea of continuity is given by the common statement that a continuous function
is a function whose graph can be drawn without lifting the chalk from the
blackboard.
Denition B.1. A function f of variable x is continuous in x
0
if
1. f (x
0
) exists;
2. lim
xx
0
f (x) exists;
3. lim
xx
0
f (x) = f (x
0
).
Denition B.2. A function f : I R of variable x is said to be k times
continuously dierentiable in the interval I, or of class C
k
(I), if its derivatives
of order j, where 0 j k, exists and are continuous functions for all x I. A
C
_
f
1
x
1
f
1
x
n
.
.
.
.
.
.
.
.
.
f
m
x
1
f
m
x
n
_
_
.
Possible notations are J
f
(x
1
, x
2
, . . . , x
n
),
(y
1
, y
2
, . . . , y
m
)
(x
1
, x
2
, . . . , x
n
)
and
Df
Dx
.
Theorem B.4. Let be a realvalue function on (a, b) which is dierentiable at
c (a, b), and let be a realvalued function dened on an interval l containing
the range of and (c) as an interior point. If is dierentiable at (c), then
( ) (x)
is dierentiable at x = c, and
( )
(c) =
( (c))
(c) .
It is possible to generalize this theorem to more variables and to partial
derivatives using the denition of Jacobian matrix.
Theorem B.5. Let U R
m
and V R
n
be open domains and let
: V R
l
, : U V.
The chain rule takes the form
J
(x) = (J
) J
.
B.3 Integration by substitution
Theorem B.6. Let U, V be open sets in R
n
and : U V an injective
dierentiable function with continuous partial derivatives, the Jacobian of which
is nonzero for every x U. Then, for any realvalued, compactly supported,
continuous function f, with support connected in (U),
(U)
f (v) dv =
U
f ((u)) [J
(u)[ du.
B.4 Taylor expansion
The Taylor expansion is useful when facing the problem of approximating a
function with polynomials in a point inside the domain. Let f : (a, b) R and
x
0
(a, b). If f is continuous in x
0
we can write (see Denition B.1 and using
the denition of limit)
lim
xx
0
f (x) = f (x
0
) lim
xx
0
f (x) f (x
0
) = 0.
University of Padua Faculty of Engineering
APPENDIX B. NOTES OF CALCULUS 203
Using the Landau notation o () we can rewrite f (x) as
f (x) = f (x
0
) +o (1) , x x
0
and, if f is dierentiable in x
0
(by denition of dierentiability)
f (x) f (x
0
)
x x
0
= f
(x) , x x
0
,
which can be rewritten again using the Landau notation
f (x) = f (x
0
) +f
(x
0
) (x x
0
) +o (x x
0
) , x x
0
.
This way we were able to write f (x) using a polynomial of degree 0 and a
polynomial of degree 1, which can be thought of as approximations of f (x).
The same process can be continued again using polynomials of higher order.
All of this can be summarized with the Taylors theorem.
Theorem B.7. If n 0 is an integer and f is a function which is n times con
tinuously dierentiable on the closed interval [a, x] and n+1 times dierentiable
on the open interval (a, x), then
f (x) = f (a) +
f
(a)
1!
(x a) +
f
(a)
2!
(x a)
2
+... +
f
(n)
(a)
n!
(x a)
n
+R
n
(x) .
R
n
(x) is the remainder term, and several expressions are available to express
it. The Taylors theorem can be generalized to several variables as follows.
Theorem B.8. Let B be a ball in R
n
centered at a point a, and f be a realvalued
function dened on the closure B having n +1 continuous partial derivatives at
every point. Taylors theorem asserts that for any x B
f (x) =
n
=0
1
!
f (a)
x
(x a)
=n+1
R
(x) (x a)