Topics in Engineering ‘This series provides a rapid and informal dissemination of significant new work in engineering. It is aimed at high level coverage across a broad field of engineering including mechanical, eivil, hydraulic and structural, as well as artificial intelligence and other associated topics. Books in the Series are produced inexpensively in camera-ready form to allow as wide a readership as possible among the engineering community. Typical book size is between 100 and 500 pages. The Editorial Board Managing Editors C.A. Brebbia Wessex Institute of Technology University of Portsmouth Ashurst Lodge Ashurst S040 7AA UK Consulting Editors Artificial Intelligence 4S. Gero Director of Research Architectural Computing Unit ‘The University of Sydney NSW 2006 Australia Boundary Element Methods R.P. Shaw State University of New York at Buffalo 212 Ketter Hall Buffalo, NY 14260 USA Computational Mathematics ELL. Ortiz Department of Mathematics Imperial College of Science & ‘Technology Huxley Building 180 Queen’s Gate London, SW7 2BZ UK E.R. de Arantes e Oliveira Laboratorio Nacional de Engenharia Civil Av. do Brasil Lisboa Portugal J.J. Connor Department of Civil Engineering Massachusetts Institute of Technology Cambridge, MA 02139 USA Dynamics & Vibrations S.K. Chakrabarti Director of Marine Research Chicago Bridge and Iron Co Plainfield, IL 60544-8929 USA J, Dominguez Escuela Superior de Ingenieros Industriales Av. Reina Mercedes 41012 Sevilla Spain H. Lin Institute of Engineering Mechanics State Seismological Bureau Harbin China Earthquake Engineering A.S. Cakmak Department of Civil Engineering Princeton University Princeton, NJ 08544 USA Electrostatics G.T. Symm Division of Information Technology & Computing National Physical Laboratory ‘Teddington Middlesex, TWL1 OLW UKEnvironmental Systems Analysis & Systems and Control Engineering §. Rinaldi Centro Teoria dei Sistemi Politecnico di Milano via Pontio 34/5 20133 Milano Italy Fluid Dynamics 4c. Wa Department of Aerospace Engineering Georgia Institute of Technology ‘Atlanta, Georgia 30332 USA Fluid Dynamics & Combustion $. Elghobashi Department of Mechanical & “Aerospace Engineering University of California Irvine, CA 92717 USA Geotechnical & Earthquake Engineering LT. Christian Stone & Webster Engineering Corporation 245 Summer Street Boston, MA 02107 USA Hydraulics W.G. Gray Department of Civil Engineering University of Notre Dame Notre Dame, Indiana 46556. USA Material Mechanics JCF, Teles COPPE-UFRI University of Rio de Janeiro Rio de Janeiro 21945, Brazil Numerical Analysis/Hydrology /Flow Through Porous Media M.A. Celia Department of Civil Engineering Princeton University Princeton, NJ 08544 USA Numerical Methods Du Qinghua Department of Engineering Mechanics Tsinghua University, Peking China M. Tanaka Faculty of Engineering Department of Mechanical Engineering Shinshu University 500 Wakasato Nagano 380 Japan LR. Whiteman Institute of Computational Mathematics Brunel University Uxbridge Middlesex, UB8 3PH UK Parallel Computation & Architectures Y. Paker Queen Mary & Westfield College Centre for Parallel Computing Mile End Road London, E1 4NS UK Shell Analysis H. Tottenham ‘Tottenham & Bennett, Consulting Engineers Broadwater House Broadwater Road Romsey, Hampshire $051 8GT UK Soil Dynamics G. Schmid Ruhr-Universitat Bochum Universitatsstrasse 150 4630 Bochum 1 Postfach 102148 Gebande 1A 6, 37 Germany Thermal Problems K. Onishi Department of Mathematics Science University of Tokyo Wakamiya-cho 26Topics in Engineering Volume 20 Anisotropic Analysis Using Boundary Elements N.A. Schclar Computational Mechanics Publications Southampton UK and Boston USASeries Editors C.A. Brebbia and J.J. Connor N.A. Schelar Wessex Institute of Technology Ashurst Lodge Ashurst Southampton $040 7AA UK Published by Computational Mechanics Publications Ashurst Lodge, Ashurst, Southampton, $040 7AA, UK Tel: 44 (0)1703 293223 Fax: 44 (0)1703 292853 Email: CMI@uk.ac.rl.ib Int, Email: CMI@ib.rLac.uk For USA, Canada and Mexico Computational Mechanics Inc 25 Bridge Street, Billerica, MA 01821, USA Tel: 508 667 5841 Fax: 508 667 7582 Email: CMINA@netcom.com British Library Cataloguing-in-Publication Data ‘A Catalogue record for this book is available from the British Library ISBN 1-85312-333-1 Computational Mechanics Publications, Southampton ISBN 1-56252-257-4 Computational Mechanics Publications, Boston ISSN 0952-5300 Series Library of Congress Catalog Card Number 94-70618 This work is subjected to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically those of translation, preprinting, re-use of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks. ©Computational Mechanics Publications 1994 Printed in Great Britain by Hobbs the Printers Ltd. The use of registered name, trademarks, etc., in this publications does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use.To my husband for all his helpPreface In this work the Boundary Element Method applied to three-dimensional anisotro- pic elasticity is discussed. The use of the anisotropic and the isotropic fundamental solutions is studied. For all cases a boundary-only formulation is produced. Initially the treatment of body forces by the Dual Reciprocity Method when using the anisotropic fundamental solution is carried out. To illustrate the technique, numerical examples are presented and the results compared with analytical solutions. A new formulation is presented which is based on the Dual Reciprocity Me- thod and uses the isotropic fundamental solution. In this way the Dual Reciprocity Method is used to model the anisotropy by expressing the anisotropic elastic constants as the sum of average isotropic values plus a deviation and taking the resulting domain integrals to the boundary. The Dual Reciprocity Method is also used to deal with body forces when present. Several numerical examples of application are presented with and without body forces. Comparisons are made with analitycal and other numerical results. Finally, a new Adaptive Dual Reciprocity Boundary Element Method is pro- posed for the automatic definition of the number and position of the internal points. Error estimators are presented for the cases of known and unknown non-homogeneous terms. To demonstrate the technique proposed, potential type problems are analyzed before its application to three-dimensional anisotropic elasticity is performed. Several examples are presented for both cases showing very good agreement with analytical solutions and the versatility of the proposed method.Contents 1 Introduction 1 2 Boundary Integral Formulation for Anisotropic Elasticity 7 OD Introduction: cee ce eee eg cee 7 2.2. Fundamental Theory of Elastostatics ... 2.2... .........0- oe D2 Spaces er eae 7 2.2.2 Equilibrium Equation 7 2.2.3 Displacement Representation 8 240 Matrix Notation cue gur aired 9 2.3 Fundamental Solution 2.0... 0.0 e eee eee eee n 2.3.1 The Fourier Transform Method -u 2.3.2 Evaluation of uf, 12 2.3.3 The Derivatives of uj, 13 234) Matix Notation oe 15 24 Boundery Integral Equation ae 16 2.5 Boundary Integral Formulation ..........000- 18 2.5.1 System of Equations .... . 20 2.5.2 Internal Points . 2 3 The Anisotropic Fundamental Solution Approach 25 Oslee introductions caesar eee eee ee ace eee eyes 25 3.2 Reduction of Point Load Solutions to Computable Form 26 3.2.1 Convergence of the Modulation Function . . - 27 3.3 Computation of the Anisotropic Fundamental Solution 28 3.4 Numerical Integration 6.00.00 34 6 Body: Forces cat ccc rece ect ecg eeeg cleat ennai 433.5.1 Dual Reciprocity Method 2... 0.0.00 ee eee ee . 43 3.5.2 Numerical Examples ........- ee 45 $6 Condusons 53 The Isotropic Fundamental Solution Approach 87 4 loiintroduction triste mitt reins onary iit 87 4.2 Boundary Integral Equation ©... 0.2 87 4.3. Elimination of Domain Integrals by Dual Reciprocity Method... . . 60 4.3.1 Dual Reciprocity Method . 60 4.3.2 The Fictitious Tractions and Body Forces . 62 4.3.3 System of Equations ........ 0.0.0 ee ees) Agtinterna Pointe near 63 4.4. Effective Isotropic Moduli for Anisotropic Material ...... 00... 64 4.5 Numerical Examples... 00.00.0000 cece eee eee 66 4.5.1 Cube in Uniform Tension . . 66 4.5.2 Plate under Pure Shear. . . 68 4.5.3 Beam under Constant Acceleration... 0... ...-000 24 69 4.5.4. Thick Cylinder under Centrifugal Load 2.0.0.0... 0 69 460 Conchisons gcc cer mem nna tonaa 72 Adaptive Dual Reciprocity Boundary Element Method 75 5.1 Introduction... ... on 15 5.2 Equations of the Type V2u = i(z,y) ees ee B21 Basic Relationshipe 76 5.2.2 Adaptive Procedure for the Generation of Internal Nodes... . 77 5.2.3 Numerical Examples 79 5.3 Equations of the Type V2u = b(2,y,u) -. . - 85 5.3.1 Case Vu = —w 85 a2 Cae Vu -Ou/0e 88 5.3.3 Numerical Examples ........ 0.000000 00sec ee 89 5.4 Isotropic Fundamental Solution Approach to Solve Three Dimensional Anisotropic Elasticity Equation... 0... eet ee eee 96 5.4.1 Numerical Examples... 000.0000 eee eee 97 5.5 Problems of Instability ©... 0.00... ee eee ee eee 1085.5.1 Square Domain: V?u = 2500u/dz - 108 5.5.2 Cantilever Beam 1 5.6 Conclusions +13 6 Implementation Aspects 117 6.1 Introduction... eee eee eee 7 6.2 Approximating Functions . . - 117 6.2.1 Introduction. . . of 7 6.2.2 Derivation of a Particular Solution 118 6.3. Solution of the System of Equations... . . cette teens 125 Gait inuoductiontiece er iaee eer es . 125 6.3.2 Iterative Solvers . +125 6.3.3 Preconditioning Techniques . 126 6.34 Semi-iterative Solver 2.0... 0. ee ee 128 7 Discussion and Conclusions 135 7.1 General Discussion and Conclusions... 0.0... 2 ee eee eee 135 7.2 Further Developments 2.0.0... cece eee ee eee 137 Appendix A 141 A The Physical Meaning of the Components of the Orthotropic Elastic Tensor 141Chapter 1 Introduction Increasing structural use is being made of materials with anisotropic elastic material properties. In recent years, various kinds of composite materials have been devel- oped and used for structural components. The major reasons for their success are to be found in the fact that they can fulfil all the requirements for a given application. Originally, structural composites were developed for the aerospace industry as they of- fered attractive properties of stiffness and strength compared to their weight. Further advantages such as high corrosion resistance and design flexibility made composite materials the ideal replacement to the aluminum alloys previously used. Today, composites have found their way into a much wider range of applications than simply the aerospace sector. Their infiltration is due to the development and more generalized use of inexpensive basic materials, especially fiberglass and resins (polyesters, vinylesters, ...). Other markets thus have been penetrated: transporta- tion (automotive, railway, boat, ...), sports (tennis, golf, ski, bicycle, ...) and even civil engineering. In the analysis of complex problems created by the use of composite materials a detailed and accurate calculation of stresses in regions of rapid stress variation is often required, both for general design purposes and as input for fatigue life calculations. Three-dimensional analysis is now frequently needed to represent properly for the geometry and loading. For these cases where the resolution of high stress gradients and complex geometries is required the boundary element method is particularly well suited. However, despite its vast number of applications to isotropic problems, very little work has been published on the analysis of anisotropic elasticity problems. The difficulty lies in the fundamental solution required to transform domain integrals into boundary ones. Closed form expressions are only possible to obtain for plane problems or for certain three-dimensional cases. Rizzo and Shippy [1] presented the first application of the BEM to plane anisotropic problems, while Vogel and Rizzo (2] presented an integral representation2 Anisotropic analysis using boundary elements for three-dimensional problems. Wilson and Cruse [3] used the point-load solution ee uss aac [MeO a which gives the displacement at point ij due to a point force applied at # in the form of a line integral taken on the unit circle in the plane passing through # and normal to 7-7 with an integrand Mi3(2($)) = [Cinimze2m]™* where Cisjm tepresents the elastic constants of the material. This representation reduces to closed form only for the Kelvin case (isotropic material) or for transversely anisotropic material (Pan and Chou (4}). Wilson and Cruse [3] decided to treat what they called the modulation function = (00a) = J M50) 6 where (61,62) is the orientation of #— j, by means of an interpolation technique, generating data base for a variety of materials. Because of the difficulties related to that presentation, Nishimura and Kobayashi [5] have offered an alternative, using an indirect approach where the Fourier trans- form is used to generate a single layer potential approximated by piecewise-constant zlements instead of the point load solution. Brebbia and Dominguez [6] have also proposed, but not implemented, an alter- ative scheme. This approach consists of the use of a reference isotropic fundamental olution followed by an iterative procedure to find the correct result for displacements is values of its derivatives are not available. Another difficulty which concerns the boundary element method in general is elated to the presence of non-homogeneous terms such as body forces. Traditionally his has been dealt with by discretizing the domain into a series of internal cells and arrying out the domain integration of the non-homogeneous term over them. The eed for the domain discretization is an obvious drawback to an on approach which intended to be used in a boundary integral formulation. Other approaches have een developed to overcome these problems. In some simple but frequently occurring ses domain type integrals arising from the body force terms may be transformed to boundary integrals by using the Galerkin vector approach. This procedure is »plicable to body forces like gravitational load, centrifugal load and the effect of steady-state thermal loading as is shown in reference [6] for isotropic elasticity oblems. Other approaches for transforming domain integrals into boundary ones are sed on the homogenization of the governing differential equation by using a par- ular solution of the inhomogeneous equation. Since the major problem consistsIntroduction 3 of the evaluation of such a particular solution, several methods have been proposed by different authors. The simplest one is the analytical integration of the domain integral. This approach, although producing very accurate results, is only applicable to a limited number of cases for which the integrals have a closed form solution, In more general situations the Dual Reciprocity Method, the Fourier Series Expansions and the Multiple Reciprocity Method have been frequently used. The Dual Reciprocity Method was introduced by Nardini and Brebbia [7] in 1982 for elastodynamic problems and extended later on to a wide range of different problems. The Fourier Series Expansions was proposed by Tang, Brebbia and Telles [8] in 1987 for potential problems. The Multiple Reciprocity Method was introduced by Nowak [9] and extended to a series of applications by Nowak and Brebbia (10, 11), including transient problems and the Helmholtz equation. In the field of anisotropic elasticity, Deb and Banerjee [12] have applied the method of particular integrals to the case of two-dimensional anisotropic problems in the cases of inertial and centrifugal loads where a closed form solution is avail- able. Deb, Henry and Wilson [13] presented a BEM formulation for two and three- dimensional anisotropic thermoelasticity using particular integrals. A more general formulation has been presented by Griindemann [14] based on Fourier Series Expan- sions. In this work, an approach to solving three-dimensional anisotropic elasticity problems using the isotropic fundamental solution as a weighting function is pre- sented. The novel feature of the present formulation in respect to the one proposed by Brebbia and Dominguez [6] is that the use of the Dual Reciprocity approximations for the displacements avoids the necessity of iterations. Furthermore, the use of the Dual Reciprocity Boundary Element Method makes possible the transformation of the resulting domain integrals into boundary integrals keeping in this way the boundary only character of the method. The Dual Reciprocity Method is also used to deal with body forces. The Dual Reciprocity Boundary Element Method is essentially a generalized way of constructing particular solutions. The basic idea behind this approach is to employ a fundamental solution corresponding to a simpler equation and to treat the remaining terms, as well as other non-homogeneous terms in the original equation, through a procedure which involves a series expansion using global approximating functions and the application of reciprocity principles. Although the Dual Reciprocity Method has been applied to a wide range of problems in stress analysis, heat transfer problems, potential problems and acoustics as described in the recent work by Partridge, Brebbia and Wrobel (15], an important question still remains open. This question relates to the uncertainties associated with the number and placement of the internal DRM collocation points. For this reason an approach which intends to remove from the user the task and responsibility of defining the number and position of the internal nodes necessary to obtain a satisfactory solution is proposed in this work. The method proposed is adaptive in that the4. Anisotropic analysis using boundary elements procedure automatically adds internal nodes (and tests their effectiveness) until the desired accuracy is achieved. This method is completely general and can be applied to a number of different problems from potential to elasticity analysis. To the knowledge of the author there is not any other scheme with similar purpose available in the BEM literature, making this formulation a completely original approach to tackle the problem of the number and location of the internal DRM collocation points. Chapter 2 presents the boundary element formulation in three-dimensional anisotropic elasticity introducing the fundamental solution of the differential operator. In chapter 3 the implementation of the anisotropic fundamental solution is dis- cussed. For this aim the approach by Wilson and Cruse of reference [3] is used. To ef- ficiently evaluate the fundamental solution, the routines presented by Griindemann in reference (16] are used. In order to be able to evaluate the first and second derivatives of the fundamental solution within the same matrix treatment given by Griindemann for the fundamental solution a further analysis is made for these cases and the addi- tional steps are summarized. This chapter also includes an analysis of the performance of this approach, revealing some uncertainties about its application. The last section deals with the treatment of body forces and how the original domain integrals can be transformed into boundary integrals using the Dual Reciprocity Method. The novelty of this approach resides in the fact that for the first time the Dual Reciprocity Method was considered for use in three-dimensional anisotropic elasticity problems. The isotropic fundamental solution approach, which is the method proposed in this work to avoid the problems related with the use of the anisotropic fundamental so- lution, is introduced in chapter 4. Application is made to a series of three-dimensional anisotropic elasticity problems with and without body forces and their results com- pared with analytical solutions. In chapter 5 the Adaptive Dual Reciprocity Boundary Element Method is pre- sented. Without losing its generality and just for the sake of simplicity, the technique is first applied to two-dimensional potential problems. Then, the proposed procedure is applied to three-dimensional anisotropic elasticity problems with the use of the isotropic fundamental solution approach. The behaviour of the method is illustrated with several examples of potential and elasticity problems. Chapter 6 extends the range of approximating functions available for the Dual Reciprocity Method introducing the corresponding particular solutions of other three radial basis functions apart from 1 +r. The use of iterative solvers is discussed next. As an attempt to improve the performance of the iterative solvers the use of the isotropic coefficient matrix as a preconditioner is proposed. Finally a semi-iterative solver is presented. The last chapter presents conclusions, discussions and prospects for further research on the subject.Bibliography [10] F. J. Rizzo and D. J. Shippey, ‘A Method for Stress Determination in Plane Anisotropic Elastic Bodies’, Journal of Composite Materials, Vol 4, 36-61, 1970. S. M. Vogel and F. J. Rizzo, ‘An Integral Equation Formulation of Three Dimen- sional Anisotropic Elastostatic Boundary Value Problems’, J. Elasticity, Vol 3, 203-216, 1973. R. B. Wilson and T. A. Cruse, ‘Efficient Implementation of Anisotropic Three Dimensional Boundary-Integral Equation Stress Analysis’, Int. J. Num. Methods in Eng., Vol 12, 1383-1397, 1978. Y. C. Pan and T. W. Chou, ‘Point Force Solution for an Infinite Transversely Isotropic Solid’, Tranc, ASME paper No 76 WA/APM-18, 608-612, 1976. N. Nishimura and S. Kobayashi, ‘A Boundary Integral Equation Formulation for Three Dimensional Anisotropic Elastostatics’, 5th Int. Conf. Boundary Element, 345-354, 1983. C. A. Brebbia and J. Dominguez, Boundary Elements an Introductory Course, Mc Graw-Hill - Computational Mechanics Publications, 1989. D. Nardini and C. A. Brebbia, ‘A New Approach to Free Vibration Analysis using Boundary Elements’, Boundary Element Methods in Engineering, Computational Mechanics Publications-Spring-Verlag, 1982. W. Tang, C. A. Brebbia and J. C. F. Telles, ‘A Generalized Approach to Transfer the Domain Integrals onto Boundary Ones for Potential Problems in BEM’, Proc. BEM IX, 99-116, 1987. A. J. Nowak, ‘The Multiple Reciprocity Method of Solving Transient Heat Con- duction Problems’, Boundary Elements XI, Vol. 2, Computational Mechanics Publications, Southampton and Springer-Verlag, Berlin and New York, 1989. C. A. Brebbia and A. J. Nowak, ‘A New Approach for Transforming Domain Integrals to the Boundary’, Numerical Methods in Engineering, Vol. 1, Compu- tational Mechanics Publications, Southampton and Springer-Verlag, Berlin and New York, 1989.6 Anisotropic analysis using boundary elements [11] A. J. Nowak and C. A. Brebbia, ‘The Multiple Reciprocity Method: A New Ap- proach for Transforming BEM Domain Integrals to the Boundary’, Engineering Analysis, Vol. 6, No. 3, 164-167, 1989. [12] A. Deb and P. K. Banerjee, ‘BEM for General Anisotropic 2D Elasticity using Particular Integrals’, Communications in Applied Numerical Methods, Vol. 6, 111-119, 1990. [13] A. Deb, D. P. Henry and R. B. Wilson, ‘Alternative BEM Formulation for 2- and 3-D Anisotropic Thermoelasticity’, Int. J. Solids Structures, Vol. 27, No. 13, 1721-1738, 1991. [14] H. Griindemann, ‘A General Procedure Transferring Domain Integrals onto Boundary Integrals in BEM’, Engineering Analysis with Boundary Elements, Vol. 6, No. 4, 214-222, 1989. [15] P. W. Partridge, C. A. Brebbia and L. C. Wrobel, The Dual Reciprocity Bound- ary Element Method, Computational Mechanics Publications-Elsevier Applied Science, 1992. (16) H. Griindemana, ‘A General Boundary Integral Approach to Elliptical Boundary Value Problems’, Engineering Analysis Vol 4 No 3, 165-173, 1987.Chapter 2 Boundary Integral Formulation for Anisotropic Elasticity 2.1 Introduction In this chapter, the boundary element formulation in anisotropic elastostatics is re- viewed. Firstly, the fundamental theory of linear anisotropic elasticity is briefly summa- rized followed by a discussion of the fundamental solution of the differential operator in the governing equation and a derivation of the boundary integral representation. 2.2 Fundamental Theory of Elastostatics 2.2.1 Space Throughout this work, the right-hand Cartesian coordinates system is employed. The position of a point is denoted by «; (i = 1,2,3). The physical problem is defined in the domain 2 and on its boundary T' (= 0). 2.2.2 Equilibrium Equation Considering an infinitesimal cubical element within 9, the conditions of static equi- librium of forces and moments lead to the following equations. 455 +6 =0 (2.1) O15 = 55 (2.2) where aj; is the stress tensor and 6; is the body force vector. atopic analysis using boundary elements ction p; at a point can be defined on an assumed plane, and expressed in tress and the normal vector n; as follows, pi O4jn; (2.3) Displacement Representation +d forces cause deformation of the body. Here, displacements at a point are y uj, i.e. the point moves to a position 2; + u; from its initial one 2;. In tostatics, displacements are assumed to be infinitesimal, and so are their :. Therefore, the strain, which describes the deformation of the body at a be represented by Cauchy’s infinitesimal strain, i.e. 1 en = 5(uas + te) (2.4) the case of anisotropic elastic material, the strain is related to the stress eralized Hooke’s law in the following form, O55 = Casmtene (2.5) e most general linear relation between the stress tensor and the strain ten- vefficients of linearity, namely C;;41, are the components of the fourth-rank 2nsor. There are three important symmetry restrictions on the elasticity , restrictions that are independent of those imposed by material symmetry. he symmetries Cis = Cyt, Cig = Cae , Cages = Ceri (2.6) v from the symmetry of the stress tensor, the symmetry of the strain tensor, rmodynamic requirement that no work be produced by the elastic material loading cycle, respectively. The number of independent components of a tensor in three dimensions is 81, but the above restrictions reduce the ndependent components of Cin: to 21. inverse of the stress-strain relations (2.5) are the strain-stress relations 643 = KijkmOkm (2.7) is the compliance tensor which is related to the elasticity tensor Cijkm ance [1] . KijimCtmes = ylbiedie + 6:s5jr) (2.8) the Kronecker delta. (2.1), (2.4) and (2.5) we may rewrite the equilibrium equations in terms ents, that is Cisne gi +b; = 0 (2.9)Boundary integral formulation for anisotropi 2.2.4 Matrix Notation Since the matrix notation is a more suitable form to deal with the previ they will be rewritten following the notation introduced into BEM by Gri This notation is the standard notation used in finite element analysis an: with the single index notation for stress (01 = 1,02 = 022,03 = 08 032,05 = 013 = 931,06 = O12 = Om) and strain (€, = é11,€2 = én2,¢ 2eog = 2€30, €5 = 213 = Ze, €6 = 2€rz = 2€n1). Following reference [2] a matrix B will be defined in terms of : € = (G,6,6)" as & 0 0 0 Be=|5 2 2 & 0 & & & 0 With this notation equation (2.4) can now be written as e=B(V.).u where the matrix differential expression B(V) was obtained from B(. é for Ve tr 0 a 8 The constitutive relations (2.5) become o=De where the 6 x 6 matrix with components cag, which are called Voigt resents the components of Cijim. The shift from an index system w (a, 6 = 1,...,6) is accomplished by the following rules for replacing a ij by a single index: change 11 to 1, 22 to 2, 33 to 3, 23 to 4, 13 to 5 shown in Table 2.1. This change of notation incorporates the first two (2.6) and the third is reflected in the symmetry of the 6 x 6 matrix D The notational conventions adopted for the elasticity tensor, na for fourth-rank tensor components and lower case c for two suffix comp to the other fourth-rank tensor Kijem. It must be noted that the double- for K;jim is different from the double-index notation for Crmrs because two occurring in the single-index notation for strain. The difference is tl corresponds to cag with no numerical factors, the correspondence betv kag involves factors of 2 and 4. Specifically, Kin, K2222, Kssa3, Kina correspond to ki1, kz2, kas, ky2, kis, kes respectively; 2K2a11, 2Kyan, ‘ 2K 1322, 2Kiza2, 2K2s33, 2Kiss3, 2K 1233 correspond to kay, ksi, ker, hy10 Anisotropic analysis using boundary elements 22 33 ~=«-23 3112 2 13 C4 Cis C6 C22 C23 C24 C258 C26 C32 C33 3g O35 C36 Caz C43 Cae C45 Cag 52 C53 5455 C56 e263 Cea_C65 C06, Table 2.1: Relation between constant C41 and the Voigt elastic constants cap sa, kes respectively; and 4Kos23, 4Kisis, 4Kin12, 4Kis2s, 4Kisi2, 4Kims cortespond to kaa, kes, kes; ksa, kse, koa respectively. The 6 x 6 matrix of components kag is the matrix reciprocal of the 6 x 6 matrix of components cag, Ca = app, kapcas = Sa6 (2.14) The equilibrium equations (2.9) are now written as B7(V.).0+b=0 (2.15) where B7(V-) is the transpose of B(Vz). Substituting (2.11) into (2.13) and subsequently (2.13) into (2.15) the second order partial differential equation of equilibrium is obtained L(Vz).u+b=0 (2.16) where the elliptical differential expression L(Vz) is given by L(V.). = B7(V.).(DB(V-).) (2.17) Using matrix B the tractions can be represented by P= Bl(n.).o (2.18) where nz is the outward normal vector to the surface I. Substituting equations (2.13) and (2.11) into (2.18) one obtains a representa- tion of the traction in terms of u R(nz, Vz).u = p (2.19) where the boundary operator R(nz, Vz) is given by R(nz, Vz). = B?(nz)(DB(V-).) (2.20)Boundary integral formulation for anisotropic elasticity 11 2.3 Fundamental Solution 2.3.1 The Fourier Transform Method Now, in order to solve this problem by the boundary element method, it is necessary to know the point load solution Ui, = Uj (2s ¥)em (2.21) for an infinite body, where uf,,(z,y) represents the displacements in the k direction at the field point y due to a point force acting in the m direction (¢m) applied at the source point 2, in other words equation (2.9) must be solved for b; = bim5(% — 9) (2.22) where fim is the Kronecker delta and 6(7) is the Dirac -function. Replacing (2.22) in (2.9), the following is obtained Cipntttim, 31 + Sim5(Z — J) = 0 (2.23) The Fourier transform of uf,,, Vim is easily shown to be, see reference [3], Uim(R) = (2.24) where K is the Fourier wave vector, K = |K|, Zis a unit vector in the direction of K, and the symmetric matrix M;-(Z) and its symmetric inverse Mj;(Z) are defined by Mi,(2) = Cijrs2i20 (2.25) Mj*(2)Mym(Z) = Sim (2.26) Now, by the Fourier inversion theorem, see reference [4], ang [f{fl Se us efff- MEO) costxz(e—D} an (2.28) where only the real part of the integral in (2.27), has been considered since uj, is real. ED aK (2.27) or Since 2 cos{K2.(2- 9)} = —Ke,sin{K2(z - j)} (2.29) and mo cos{KZ.(2 — 9)} = —K?2,2m cos{Kz.(z — j)} (2.30:12 Anisotropic analysis using boundary elements the first and second derivatives of uf, can be expressed as 8x8 alll. ae MeO sin xz(2—ph ak (2.31) Pus, h--E + / f i 1 emte Mg @) cos{K2(E— DAR (2.32) Defining a unit vector T in the direction of 2 — 7 #-g=|¢-fT (2.33) and making the change of variables k=R(g-H , dk=|@-gPak , k=|h| (2.34) equations (2.28), (2.31) and (2.32) can be redefined as follows: i seca! f f* MEO coat Pdi (2.38) oe mee / | [* HME sna. i) ak (2.36) The reduction of the triple integrals in (2.35 to 2.37) to single integrals about the unit circle in the plane 2.7’ = 0 is shown next. 2.3.2 Evaluation of uj, Considering now a spherical polar coordinate system aligned with the direction of T (see Figure 2.1) the volume element df is defined as dk = K sing dk do dg =k? dkdS (2.38) where dS is the surface element on the unit sphere S? in the k-space. Then 2.7 = coso and ¢ is a polar angle in the plane 7.7 = 0. Since the integration is carried out in the first place [ ~ cos(k cos o) dk = x6(cose) = <6 “6 (0 - 5) (2.39) A quation (2.35) reduces to = gaecg [Mateo de (2.40) “here the integrand in (2.40) must be evaluated in the plane ¢ = 1/2 or, equivalently, geeseBoundary integral formulation for anisotropic elasticity 13 Figure 2.1: Transform to the spherical polar coordinate system. 2.3.3 The Derivatives of uj, To evaluate Ouj,/z,, virtually the same technique suffices. Considering (2.36) and integrating over k first, after noting that ff Bsintecos o)dk = -ae5f keoso)dk = 7. 6(cos0) (2.41) : =~ Feosay J, wslbooso)dk = Fae the following expression is obtained ol oe / | f a sin(k-cosa)dk = x [ ag f zMz2-6(coso)de (2.42) 60 lo o oo a a / | f 2M sin( kos o)dk [ ZleeMieoen ag (2.43) ES lo Now 02/d¢ is a unit vector perpendicular to 7 and in the plane of 7 and 7 in the direction of increasing 7, so that {@}_, =-T (2.44)14 Anisotropic analysis using boundary elements For use in the calculation 0?uf,/9z,02, it must be pointed out now that Pz, Gata (2.45) holds for all values of a, see reference (4). By differentiating equations (2.25) and (2.26), the following equation is ob- tained OM jn Oey Oz Ba Cienw {32 oat Bo (2.46) a aM, 2 1 9Min ay Ben = OMG (2.47) Using (2.44), (2.46), and (2.47) and he am e F, = { We } = CipnwMj' Mz (zpTw + 2wT>) (2.48) a/t the derivative can be expressed as Gap ee Se = mage [| CRMs +a Rae (249) The expression for 9°u?, /2,02m is obtained in a similar fashion. Using (2.37) and noting that -, oat i. K cos(k cosa)dk = yap of cos(k cos o)dk = x @ eee = ~ sate (aaaae} some) ee) yields the reduction LL. 242mMjz! cos(k cos o)dk = 7 +f" asf" rata Lana} Soret = = . i "as f pokes) 2 sleoseyde (2.51) Integrating again by parts and using the fact that Be aasag meMe)} = {galeematey} (a)Boundary integral formulation for anisotropic elasticity 15 gives PTET Be,deq, ~ 37 aL {agate} de (253) Now a <1 _ (Pim, Oey , 010m) yin, , , PMs! jeremy’ = (« Gat +? 9G3 + By Se) Ma tam ~ao3 t 42 (2,22 4 -, 0%) OME 2G + img) aE (2.54) Using (2.44), (2.45), and (2.48), all quantities at ¢ = /2 are known except for 9?M;;'/d0? which may be obtained by differentiating (2.47) and using the relations (2.46) and (2.48). The result is that Pui, 1 1 inbe = GELB i {2(D.m — 242m )Mz? — 2(2sTm + en Te) Feet +24%m Sir} dp (2.55) where Siz = Cipntel(2pTu + 2uTy)(Fig May + M5 \Fnr) + 2Mi51M,," (2p%w — TpT)} (2.56) The last equation for $;, may be simplified slightly since Cigmutp2u = Mjn(Z) (2.57) and My" MinM,y = Mj5in, = Mj” (2.58) Finally Oh eee [ " (20 sLig Mz} ~ 22 Tin + tmTo)Fir + 20emAie} (2.59) 2,02, Glz—ae J, ir where Ais = Cipnul (Zp Du + 2uTy)( Fig Moy + Miz" For) —2M5'M,"T,Tw} (2.60) 2.3.4 Matrix Notation Using the matrix notation introduced in Section 2.2.4 and following reference {2] equation (2.25) becomes = BT(z)DB(z) (2.61) The same notation can be applied to the equations of section 2.3.3. For that purpose two new tensors are defined such that, Ujn = Cipnw2pTu (2.62)16 Anisotropic analysis using boundary elements Vin = CipnwTp2w (2.63) from the symmetry conditions (2.6) the following relationship: Vin = CipnwTp2w = Cnujp2uTp = Unj (2.64) is satisfied, In matrix notation equations (2.62) and (2.63) transform into U = B"(2)DB(T) (2.65) and : V = B7(T)DB(Z) (2.66) ‘Taking into account equations (2.62) and (2.63), equation (2.48) can be rewritten as Fin = MG*(Cipmu% Tus + Cipnw Tota) Mgt = M5\(Uin + Vin)Mae (2.67) and in matrix form as F=M" { B?(2Z)DB(T) + BT(7)DB(A} M7 (2.68) where the inverse of the matrix M can be computed by se yess M7 = 729M (2.69) Once matrices M~' and F have been determined, matrix Aj, in equation (2.60) can be obtained from: A=F {B1DB(7) + B7)DB(z)} M+ +M7 {B71 DB(7) + BYF)DB(A)} F- -M" {B%F)DB(T) + BY7)DB(7)} M7 (2.70) 2.4 Boundary Integral Equation Following the same ideas developed for isotropic elasticity, see for example reference [5], a weighted residual equation, which takes into consideration the equilibrium equa- tion ou +b=0 in (2.71) and the boundary conditions (i) Essential or displacement conditions ue=te on (2.72)Boundary integral formulation for anisotropic elasticity 17 (ii) Natural or traction conditions Pk = O4jNy = Dy onl, (2.73) can be written as i (cx35 + be)uy dQ = il (pe ~ By)uy T+ [ (ti — ue)py a (2.74) 2 T2 Ty where uj and pj are the displacements and tractions corresponding to the weighting field, ie., PL = no}, (2.75) The strain-displacement relationship (2.4) and the constitutive equations (2.5) are assumed to apply for both the approximating and the weighting fields. The first term in equation (2.74) can be integrated by parts, which gives = f onjet, 20+ i buy ad = — fe Fut at — f[ peut dt + if (i —us)pt dT (2.76) 2 in Te Th. Ty Writing the stresses as nj = Cajnibti (2.7) equation (2.76) can be expressed as - f Cusucence td [ bupdo=— | puzaP— [ paupdl + [ (G—un)ptdP (2.78) 2 2 ivy Ty Ty Tntegrating by parts again the first term in equation (2.78) and taking into consider- ation the constitutive equation, i.e. the reciprocity principle due to the symmetry of Cini f onset, a0 = [ exjot, dn (2.79) a 2 the following expression is obtained fromans f raman=- f Bewpar— f maaz at +f ania +f usp av a a Ta Ty Ty Te (2.80) Now the fundamental solution presented in 2.3 is applied as weighting func- tions, i.e. : “i= sagcg | Mit eOnas (2st) which is the displacement when the body force by = bmk5(d — 9) is applied. In other words, uj,(Z— ) is the z-component of displacement at point # when a unit body force in the zy direction is applied at point gy. Since uj,(z— g) = uf,(# ~ g), the directions 21 and zg in the above statement are interchangeable. Therefore, and in order to be consistent with reference [5], in what follows the first suffix in uj, and18 Anisotropic analysis using boundary elements hy Will indicate the load direction. Even though it does not imply any change in the formulas presented at 2.3 for uj, and its derivatives, it is essential in the definition of Di, because of the non symmetry of the operator R(nz, Vz). The first integral in (2.80) for a particular direction ! of the unit load becomes l| Ofjue AD f of;,u1 dQ = — | 5(2 — #)uje; dQ = —uje, (2.82) im a a where ¢; is the unit vector in the direction ! and uf represents the ! component of the displacement at the point i of application of the load. Equation (2.80) can now be written to represent the three separate compo- nents of the displacement at i by taking the three directions of the point load at ‘i’ independently, i.e. i+ f onmear+ [ rineat= [ amar+ f uipeat+ f wigan (280) Ty T2 Ty Ta io In general we can write for the point ‘i’ ult if Pius aT = [ ule aT + | ufibe a (2.84) rT ir 2 where f =I, +12. This equation is known as Somigliana’s identity and gives the value of the displacements at any internal points in terms of the boundary values uj, and p,, the forces b, throughout the domain 2 and the known fundamental solutions uj, and pj,. Equation(2.84) is valid for any particular point ‘i’ where the forces are applied. In order to obtain a boundary integral equation, the source point ‘i’ in (2.84) is taken to the boundary. When ‘ is taken to the boundary, however, the integral has a singularity and a limit analysis must be carried out (see reference [5]). The result can be written as follows ciate + [ Pigur dT = [ ujape a + f ujgbs a (2.85) a where the integrals are in the sense of Cauchy principal value and where I’ is smooth at 4, ci, = 18. When ‘i’ is at a point where the boundary is not smooth, the values of cj, can be found by using the concept of rigid-body motion. 2.5 Boundary Integral Formulation In order to solve the integral equation numerically, the boundary is discretized into a series of elements. Boundary displacements and tractions are written in terms of their values at a series of nodal points. Writing the discretized form of (2.85) for everyBoundary integral formulation for anisotropic elasticity 19 nodal point, a system of linear algebraic equations is obtained. Once the boundary conditions are applied the system can be solved to obtain all the unknown values and consequently an approximate solution to the boundary values problem is obtained. It is now more convenient to work with matrices rather than carry on with the indicial notation. To this effect u and p functions are defined at each element ‘j’ as u= ui (2.86) and p= Sp (2.87) where ué and p/ are the element nodal displacements and tractions, of dimensions 3 x @ for three dimensions, @ being the number of nodes on the element. u and p are the displacements and tractions at any point on the boundary [',, i.e. (r} 3] p=3p u= du (2.88) Ps us The interpolation function matrix is a 3 x 3Q array of shape functions, i.e. om 0 0 % 0 0 dq 0 0 B= | 04% 00 & 0 0 ¢q 0 00g 0 0 d= 0 0 dg = [¢:¢.°++¢a] (2.89) Notice that the body forces at any point on the domain can also be expressed in vector form as function of the three components, i.e. b he { by | (2.90) by The fundamental solution coefficients can be expressed as, Pir Piz Pis P'=| Ph Phe Pin (2.91) Ph P32 Pia In this matrix the coefficients, pf, are the tractions in the ‘k’ direction due to a unit force at ‘i? acting in the ‘I’ direction. The same can be expressed for the displacement coefficients ui Yi2 Mis =| ut uh us (2.92) us, U2 Us20 Anisotropic analysis using boundary elements where coefficients uj, are the displacements in the ‘k’ direction due to a unit force at ‘@? acting on the ‘I’ direction. With this notation equation (2.85) valid for each i point can be rewritten as follows, duit [ ptudl = [ upd + | urbdo (2.93) a fe i where ci, = 4/2 for smooth boundary. Otherwise it will be a full 3 x 3 array depending on the geometry at the boundary point i. Substituting the approximations (2.86) and (2.87) into the discretized version of equation (2.93), the following equation is obtained: cfult ie {f paar we ¥ {f waar} p+ x {f waa} (2.94) gar WT jar WT = 5 where the summation from 1 to NE indicates summation over the NE boundary elements, I’; is the surface of a ‘;’ element and the summation from 1 to M indicates summation over the internal cells where the body force integrals are to be computed. 2.5.1 System of Equations Equation (2.94) corresponds to a particular node ‘z’ and once the integrals have been carried out can be written as N E N M clui + 0 H’w = > Gp’ + 0 B* (2.95) j=l i a=1 where N is the number of nodes, u’ and p’ are the displacements and tractions at node ‘j’. The influence matrices H and G are H’= Ef, p'é,d° (2.96) Gi= Ds [ ; wS,d° (2.97) where the stimmation extends to all the elements to which node ‘j’ belongs and q is the number of order of the node ‘j’ within element t. Be = L ub dQ (2.98) Defining its (2.99)Boundary integral formulation for anisotropic elasticity 21 equation (2.95) for node ‘i? becomes, Ny. N. M Soww = ip + > 5: (2.100) jaa jal =I The contribution for all ‘i’ nodes can be written together in matrix form, and so the global system of equations, i.e. HU=GP+B (2.101) is obtained. ____ It should be noticed that the diagonal submatrices H in H include the terms Hi’ and c’. Difficulties appear when trying to compute explicitly these terms partic- ularly at corners due to the singularity of the fundamental solution. Fortunately this is not required as they can be found by consideration of rigid body movement. The vectors U and P represent all the values of displacements and tractions before applying boundary conditions. These conditions can be introduced by rear- ranging the columns in H and G, passing all unknowns to a vector X on the left hand side. This gives the final system of equations, ive. AX=F (2.102) Notice that the B vector has been incorporated in F. Solving the above system all boundary values are fully determined. 2.5.2 Internal Points Somigliana’s identity, equation (2.84), gives the displacement at any internal point in terms of the boundary displacements and tractions. Considering again its integral representation as in (2.94) one has, ¥ SUL wooly Sf warbw sf {woe} (2.103) ger WTS st =1 where T' is once more the surface corresponding to element j and ‘i’ is now an internal point. The internal point displacements in terms of the nodal displacements and tractions can be written in the same way as (2.95), i.e. N oe M we oy Gipi — Hw + yo (2.104) jai ja = The terms G‘i and H' consist of integrals over the elements containing node j. Those integrals do not contain any singularity and can be easily computed using numerical integration.22 Anisotropic analysis using boundary elements The internal stresses can be obtained by plying equation (2.11) to the internal displacements and substituting the result into Hooke’s law, equation (2.13). This can be done by applying the generalized stress-operator T(V.). = DB(Vz). (2.105) to both sides of equation (2.103). The final expression is as follows, oi = eth 9.)arear} » ¥{f neoreah ja Fi + x il Tv.).urban} (2.106) s=1Bibliography [1] S. C. Cowin, ‘Properties of the Anisotropic Elasticity Tensor’, Q. JI Mech. appl. Math., Vol. 42, pt. 2, 1989. [2] H. Griindemann, ‘A General Boundary Integral Approach to Elliptical Boundary Value Problems’, Engineering Analysis Vol 4 No 3, 165-173, 1987. [3] T. Mura, Micromechanics of Defects in Solids, 2nd ed., Martinus Nijhoff Pub- lishers, 1987. [4] D. M. Barnett, ‘The Precise Evaluation of Derivatives of the Anisotropic Green’s Functions’, Phys stat. sol.(b) 49, 741-748, 1972. [5] C. A. Brebbia and J. Dominguez, Boundary Elements an Introductory Course, Mc Graw-Hill - Computational Mechanics Publications, 1989. 23Chapter 3 The Anisotropic Fundamental Solution Approach 3.1 Introduction This chapter deals with the implementation of the anisotropic fundamental solution for solving anisotropic 3D-elastostatics problems. Since the anisotropic fundamental solution presented in section 2.3 cannot generally be evaluated in closed form, a technique has been developed by Wilson and Cruse [1] to evaluate it numerically and generate a data base. Then, an interpolation technique is used to evaluate the point load solutions efficiently within a boundary- integral equation code. Initially the technique proposed by Wilson and Cruse is reviewed and details about its computational implementation are explained. ‘The performance of several algorithms commonly used to assign the number and location of integration points to be employed in the integration over the surface elements was assessed. It was noted that this performance was lower when applied to anisotropic materials than for isotropic ones. Section 3.4 discusses this problem and presents the different techniques attempted in order to solve it. Another important aspect is the correct consideration of body forces, which whenever possible should be taken to the boundary. A special section is dedicated to the treatment of these body forces and how the original domain integrals can be transformed into boundary integrals using the Dual Reciprocity Method. Finally numerical examples describing the results which can be obtained by using the anisotropic fundamental solution together with the Dual Reciprocity Method are presented. 2526 Anisotropic analysis using boundary elements 216,610) Figure 3.1: Positions of the observation point and the integration path. 3.2 Reduction of Point Load Solutions to Computable Form The representation of the displacement fundamental solution presented in equation (2.40) cannot generally be evaluated in closed form. For an isotropic material it reduces analytically to the well-known Kelvin form. The only other case for which a closed-form solution is available is that of a transversely isotropic material, see ‘eference [2]. The remaining alternative is a direct numerical evaluation of the functions uz, ind pj. One approach to this problem is indicated by Vogel and Rizzo, reference [3], out the method discussed is quite complex, especially for the function p}, and would ve too time consuming for routine numerical use. Wilson and Cruse [1] presented mn elegant evaluation of the contour integral in equation (2.40). They defined a nodulation function i Gi(01s00) =f" My Mat@) a (3.1) ; there 6,02 define the orientation of the vector #— 7 (see Figure 3.1). Then, the displacement kernel can be computed from hy = Reap Gullo) (32)The anisotropic fundamental solution approach 27 It should be noted that the singular behaviour of uj; occurs only in the first factor. Function Gi; is independent of |# — j|, and is continuously differentiable. To integrate (3.1) for any direction 7, it is only necessary to express Z in the plane 2.7 = 0. If the vector components 7; relative to the ©, 22, 23 axes to which the Cijx are referred, are (see reference [4]) T, =sin0,cos#, , T,=sin@,sin@. , T3 = cos, (3.3) then two fixed orthogonal unit vectors, @ and 6, in the plane 2.7 = 0 can be given by a = sin a;=—cost, a3 em eiese bf and une, G4) Hence, in the plane 2.7 = 0, the vector 7 is given by 2% = a,cos$+b, sing (3.5) To make the integration of the modulation function possible, the integration path is divided into n integration points. For each of these points z, is computed by using (3.5), and then Mj can be obtained from equation (2.25). After the inversion of the My; matrix by the use of the Cramer’s formula, Gij can be evaluated numerically. 3.2.1 Convergence of the Modulation Function In this work, the trapezoidal rule for the numerical integration of the modulation function is used. To assess the accuracy of the integration two terms of the modulation function, Gy; and Gjs, are calculated for the observation point defined by ; = 60° and 6, = 60°. The results are presented in Tables 3.1 and 3.2 for an isotropic and an anisotropic material respectively. The isotropic material chosen is steel with a Young’s modulus of 206.86 GPa and a Poisson’s ratio of 0.29, which give the following Voigt elastic constants 271.00 110.69 110.69 110.69 271.00 110.69 0 0 110.69 110.69 271.00 0 1. 0 0 D= GPa (3.6) 0 0 0 80. 0 0 0 0 0 0 55 ecoceo 80. 0 0 0 0 155 0 80.155 Table 3.1 shows that for this case a very small number n gives good convergency of the function G,;. As representative of an anisotropic material wood (spruce in particular) with28 Anisotropic analysis using boundary elements Points on contour Gu Gis 8 7.0876492 x 10-* | 7.568557 x 10~ 16 7.0876490 x 10-* | 7.5685237 x 10- 32 7.0876492 x 10-4 | 7.5685292 x 10-* 64 7.0876496 x 10~* | 7.5685289 x 10- 128 7.0876492 x 10~* | 7.5685275 x 10- Table 3.1: Convergence of modulation function - Isotropic material. the following orthotropic elastic constants is used 044 0.32 0.192 0 0 0 032 16.266 0445 0 0 0 0.192 0.445 0.78 0 0 0 Delo GO: Oo oo | cee (3.7) 0 0 0 0 0.039 0 0 0 0 0 06 076 From Table 3.2 it is noted that a higher n than in the isotropic case is necessary. In the present research, the numerical integrations are carried out with the number of 64. Points on contour Gu Gis 8 2.7280337 x 10-* | 2.9492573 x 10-? 16 2.7620008 x 10-1 | 3.0544188 x 10-? 32 2.7617683 x 10-} | 3.0510879 x 10-? 64 2.7617637 x 10-! | 3.0511009 x 10? 128 2.7617635 x 10-* | 30511001 x 10-? Table 3.2: Convergence of modulation function - Orthotropic material. Finally, the same definition of a modulation function can be applied to the first and second derivatives of u*. 3.3 Computation of the Anisotropic Fundamental Solution From an efficiency point of view, the solution found is still not satisfactory. The lack of a closed form expression for the anisotropic kernel functions requires that they mustThe anisotropic fundamental solution approach 29 be evaluated aumerically. Therefore numerical integration has to be performed inside an integral which is numerically integrated as well. The solution to this problem is the substitution of an interpolation technique for the direct numerical integration in the evaluation of uf,, pf; and their derivatives. The technique is suggested by the fact that Gi; and the modulation functions of the first and second derivatives are all smooth functions of the variables 01, 02. In this way, Gij and its derivatives are expressed as functions of 01, 02 (the two angles in spherical coordinates) in order that an interpolation could be carried out in a rectangular table (0 < 0, <7, 0 <0; < 2n). To construct the tables, the routines of reference [5] were used, which were modified in order to include the derivatives of G;;. The basic ideas are the following: © first, determine two unit vectors @ and 6 fulfilling the conditions @ orthogonalto z-7 b=ax(z-7) © second, obtain the vector 7 2 = dcosé + bsin€ (3.8) ¢ finally, compute BY2)DB(Z) = cos{B%(a) + cost sing {B @DB@) ff B)DB(a} + + sin?éB7(b)DB(b) (3.9) B"(Z)DB(7) = cos £B%(a)DB(T) + sin €B%(5)DB(T) (3.10) where B?(7)DB(2) can be obtained using relationship (2.64). It must be noted that in the evaluation of the first and second derivatives of the fundamental solution, equations (2.49) and (2.59) the matrices F and A, given by (2.68) and (2.70) respectively, are independent of the differentiation variable. This fact simplifies the computation of u*, Ju"/Ox, and 0?u*/Ox,0z, which can be schematized as shown in Figure 3.2. Once the tables have been constructed, each value of the fundamental solutions are obtained using the Lagrange’s interpolation technique . Since the numerical integration is carried out at the angles, 0, and 62, in Figure 3.1 defining the position of the observation point, a 2-dimensional table for the discrete values of 6; and 62 with the equal interval of A@, = A@, = Aé is made. Namely, the values at the actual observation point are interpolated from the values at 16 points around the observation point in the table, as shown in Figure 3.3.