A.

Cylindrical coordinates

Many problems are such that it is advantageous to use cylindrical (r, O, z)

instead of Cartesian (x, y, z) coordinates. Cylindrical basis vectors (er, eo, e z )
are expressed in the Cartesian basis (e x , e y, e z ) as follows:

e r = cos(O)e x + sin(O)e y , eo = - sin(O)e x + cos(O)e y (A.l)

See Fig. 8.1 for an illustration. Both cylindrical and Cartesian bases are
orthonormal. The position vector of a point M(r,O,z) W.r.t. the frame
(O,ex,ey,e z ) is:
~

x -=OM= re r + ze z (A.2)

Differentiation of (A.l) gives:

de r = (dO)eo,de e = -(dO)e r (A.3)

Let v be a vector field defined in the cylindrical basis as follows:

v(r, O, z) = F(r, O, z)e r + G(r, O, z)eo + H(r, O, z)e z (A.4)

The gradient (V' v) of v is defined by:

dv = (V'v) . (dx) (A.5)

Differentiating (A.4) and using (A.3), we obtain:

dv = ( âF
âr dr
âF âF)
+ âO dO + âz dz er + F(dO)eo
âG âG âG)
+( âr dr + âO dO + âz dz eo - G(dO)e r
âH âH âH)
+ ( a:;:dr + ao dO + az dz ez (A.6)

Differentiation of (A.2) gives:

dx = (dr)e r + (rdO)ee + (dz)e z (A.7)

546 A. Cylindrical coordinates

Using (A.6) and (A.7), Eq. (A.5) can be written in the following matrix form:

[
8r dr
8F + !(8F
8C dr +
r 88 - G)rd() 8z dz
8F
!(8C + F)rd() + 8C dz
+ 1
8r r 88 8z (A.8)
8H dr + ! 8H (rd(}) 8H dz +
8r r 88 8z , .
dX

where the 3 x 3 matrix (V'v) is given in the cylindrical basis as follows:

V'v = [
8F
8r
~~
!(8F
r 88
!(8C
r 88
-G)
+F)
8z
8F
8C
8z
1 (A.9)
8H 18H 8H
ar r7fi[ {fi

The divergence of v is given by:

. 8F l 8G 8H
dlV v == tr(V'v) = 8r +;:-( 8(} + F) + 7);' (A.lO)

using (A.9). Now let g(r,(},z) be a scalar field. The gradient (V'g) of 9 is
defined by:

dg = (V'g) . (dx), (A.l1)

where the 3 x l array (V' g) is given in the cylindrical basis as follows:

V'g = [ ~~8z
l, (A.12)

using (A.7). The gradient (V'V'g) of (V'g) is found from (A.9) and (A.12) as
follows:
!t..s.
8r 2
! ( h _ !!!s.)
r 8r8 r 88
V'V'g = [ .!l..(!!!s.)
8r 5 88
!(!~
r r 88
+ !!s.)
8r
(A.13)
b.. !h
8r8z r 888z

The Laplacian (Llg) of 9 is defined by:

_ 8 2g l 182g 8g 8 2g
Llg = tr (V'V'g) = 8r 2 + ;:-(;:- 8(}2 + 8r) + 8z 2 (A.14)

This can be rewritten as follows:

l 8 8g l 8 2g 8 2g
Llg = ;:- 8r (r 8r) + r2 8(}2 + 8z2 (A.15)

Consequently, the following result follows:

 A. Cylindrical coordinates 547

Consider a second-order symmetric tensor a (e.g., stress (1" or strain 1:) and a
vector u. In Cartesian coordinates, the following result is easily established:

(A.17)

This can be written in the following intrinsic form which is valid in cylindrical
coordinates for instance

div(a . u) = (diva) . u + a: (\lu), (A.18)

where div designates the divergence operator. We now apply the result to the
cylindrical basis by taking u to be equal to e r , e() and ez, successively,

(diva) . e r div(a· e r ) - a: (\le r )

ar + ~ 7iiJ + arr ) + fu
oarr l (oaer oazr l
- ~aee,
(diva) . ee div(a· e()) - a: (\lee)

ar
oa r() l oa()()
+ ~(7iiJ + are)
oaze l
+ fu + ~ar(),
(diva)· e z div(a· e z ) - a: (\le z )
oarz l (oae oa zz
ar + ~ 7iiJ +a rz
z )
+ fu' (A.19)

For the projection along e r ) we used (A.9) with v = er , Le. F = l and

G = H = O, and Eq. (A.lO) with

Le. F = arn G = aer and H = azr. The projections along e() and e z are
obtained in a similar fashion. As an application of results (A.19), equilibrium
equations (div (1" + f = O) are obtained in cylindrical coordinates by setting
a = (1", i.e.

oarr ~ oar()oazr arr - ae() f - O·

ar + r of) + oz + r + r- ,
oare
- loa()()
- + ---
ar r of)
oaze
+- 2
- + -are
oz r
+ 1,() = O
oarz loa()z oa zz arz f O
--+---+--+-+
OZ r of) OZ r
z= (A.20)

The infinitesimal strain tensor is defined by: 1: = (\lu + ,;r u)/2, where u
is the displacement. Using (A.9), the components in the cylindrical basis are
given as follows:
548 A. Cylindrical coordinates

âUr
Err ,
âr
1 (âUO
Eee = ;: â() + Ur ) ,

EOr ~ (~âUr _ Ue + âUo) = ErO,

2râC r âr
âuz
Ezz ,
âz
Erz ~ (âur âU z )_
2 âz + âr - Ezr

Eez ~ (âue + ~ âU z ) = Eze (A.21)

2 âz r â(}
We can go from Cartesian to cylindrical coordinates via the following 3 x 3
tmnsformation matrix:

cos(}
[P] = [ - sin() cos() O
sin(} O 1 (A.22)
O O 1

The rows correspond to the components of e r , eo and e z in the Cartesian

hasis, respectively. Matrix [P] has the following properties:
[p][p]T = [pf[p] = [8], det[P] = 1,
where [8] is the 3 x 3 identity matrix. A vector v transforms from one or-
thonormal hasis (eI, e2, e3) to another (ei, e2' e3) according to:
{v*} = [P]{v}, {v} = [Pf{v*} (A.23)
An application to cylindrical versus Cartesian coordinates gives:
vr = (cos ())v", + (sin ())vy, Vo = - (sin ())v", + (cos ())vy (A.24)
A second-order tensor a transforms from one orthonormal hasis (ei) to an-
other (ei) according to:
[a*]" = [P][a][Pf, [a] = [p]T[a*][P] (A.25)
If a is symmetric (e.g., stress U or strain f.), then applying results (A.25) to
cylindrical versus Cartesian hases, we ohtain:
arr a",,,, cos 2 () + ayy sin 2 () + 2a",y sin(fJ) cos(())
aee = a",,,, sin 2 () + ayy cos 2 () - 2a",y sin(()) cos(())
arO (a yy - a",,,,) sin () cos () + a",y (cos 2 () - sin2 9) = aOr
arz = a",z cos () + ayz sin () = a zr
aez = -a",z sin() + ayz cos() = aze (A.26)
 A. Cylindrical coordinates 549

In order to obtain the expressions of the Cartesian components in terms of

the cylindrical ones, we need not to develop (A.25)b, it suffices to substitute
8 with (-8) in Eqs. (A.26). Note also that a rr +aoo + a zz = a xx +ayy + a zz ,
'-"'" '-"'"
because (tr a) is an invariant.
B. Cardan's formulae

Consider the following cubic equation where A, B and Care given parameters:

x3 + Ax 2 + Bx + C = O (B.1)

A closed-form solution exists and is named after Cardan (1501-1576). A typ-

ical example of (B.l) is the search for the eigenvalues (TJ1, TJ2, TJ3) of a second-
order symmetric tensor 7] (e.g., stress U or strain €). lndeed, as mentioned in
Sec. 1.4, those eigenvalues satisfy the following equation:

where I J (7]) , J = 1, 2, 3, are the principal invariants of 7],

Actually, it is better to first compute the eigenvalues r;J of the deviatoric part
of 7] defined by:
Il (7])
dev 7] = 7] - -3- 1,

because we have h(dev 7]) = O and thus A = O in (B.l). Once the r;/s are
found, the eigenvalues of 7] are computed as follows:

Another example where the solution of Eq. (B.1) is needed is the strain
localization condition in 2D (Sec. 19.11.1).
There are various ways of presenting Cardan's formulae. We shall give
hereafter an implementat ion which proved to be computationally robust but
has one problem which will be explained at the end of the appendix.
The following change of variable:
A
X=x+- (B.2)
3
transforms (B.l) into the following equation:
552 B. Cardan's formulae

X 3 +pX +q = O, (B.3)

where p and q are defined as follows:

(B.4)

We only consider the case when p < O (see comments at the end). We intro-
duce the following notation:

(B.5)

If it is found numerically that C</> > 1, then it is reset to 1. Likewise, if

C</> < -1, then it is reset to (-1). Next, we compute the following angle:

1
cP3 == :3 arccos CrjJ (B.6)

Finally, the solutions of the original equation (B.I) are the following:

A
-3 + 2P3 COScP3,
-~ - P3[COScP3 + (sin cP3)v'3J,
- 3A - .
P3[cos cP3 - (SIn cP3) v'3] (B.7)

The solution procedure given here is robust but there is one problem:
In theory, if (4 p 3 + 27 q 2 > O) then there is one real solution and two complex
ones. This case is not detected with our algorithm, which always returns three
real solutions. A workaround is to always check whether those solutions are
physically acceptable or not.
c. Matrices for the representation of second-
and fourth-order tensors

C.l Storage
Let a,b be second-order symmetric tensors (e.g., stress and strain tensors),
and e, D, E fourth-order tensors (e.g., Hooke's operator in linear elastic-
ity, tangent operators in elasto-plasticity, etc.) For computations, a or bare
stored in 6 x 1 arrays as follows:

{a} = [ an (C.l)

This is not the traditional way of storing stress and strain tensors. That
method distinguishes between stress and strain: shear components of strain
are multiplied by a factor of 2 while the shear components of stress are kept
as they are. 1 However, we shall show hereafter that definit ion (C.l) has some
nice properties which the traditional method does not possess.
The inner product of a and b is given by the scalar:

(C.2)

The traditional storage does not lead to such expressions if both tensors are
stresses or both of them are strains.
If e relates a and b in the following way (e.g., linear elasticity or incre-
mental elasto-plasticity, etc.)

(C.3)

then it must have the following symmetries (because a and bare symmetric),

(C.4)

and it is stored in a 6 x 6 matrix according to:

{t} [1011 1022 1033 21012 21023 210 31] T

{O"} [0"11 0"22 0"33 0"12 0"23 0"31]T

554 C. Matrices for the representation of second- and fourth-order tensors

al1 Cl111 C1l22 C1l33 Cll12 V2 C1l23 V2

a22 C2211 C2222 C2233 C2212 V2 C2223 V2
a33 C 3311 C 3322 C 3333 C3312 V2 C3323 V2
a12V2 C12l1 V2 C1222 V2 C1233 V2 2C1212 2C1223
a23V2 C 2311 V2 C2322 V2 C2333 V2 2C2312 2C2323
a31V2 C3111 V2 C3122 V2 C3I33 V2 2C3112 2C3123
C l131 V2 bl1
C2231 V2 b22
C 3331 V2 b33
(C.5)
2C1231 b12 V2
2C2331 b23 V2
2C3131 b31 V2

If C has the additional symmetries (e.g., Hooke's operator in linear elasticity):

(C.6)

then Eq. (C.5) shows that the 6 x 6 matrix [C] is symmetric.

The fourth-order tensor E = C : D, defined in component form by:

(C.7)

is stored as a 6 x 6 matrix [E] which is the product of the 6 x 6 matrices [C]

and [D], i.e.

[E] = [C][D] (C.8)

The re ader can check for example that:

[E]ll = E l111 , [Eh4 = E 1l12 V2, [E]55 = 2E2323 , etc.

The fourth-order identity tensor 1, defined in component form by:

1
I ijk1 = 2(c5 ik c5j1 + c5il c5jk ) (C.9)

is stored as the 6 x 6 matrix [1]:

1 O O O O O
O 1 O O O O
O O 1 O O O
(C.lO)
O O O O 1 O
O O O O 1 O
O O O O O 1

i.e., the 6 x 6 identity matrix (if one stores the components Iijkl as they are,
one finds the last 3 terms in the diagonal equal to 1/2 instead of 1).
 C.I Storage 555

The isotropic elasticity tensor C defined by (A and ţi being Lame's coef-

ficients) :

C = 2fJ,l + Al 01, i.e. Cijkl = J1.(rS ik rSjl + rSi/rSjk ) + ArSijrSkl (C.lI)

is stored as the 6 x 6 matrix [C] computed by:

[C] = 2J1.[I] + A{I}{I}T, i.e. (C.12)

l O O O O O l
O l O O O O l
O O l O O O l
[C] 2J1. +A [ l l l O O O]
O O O l O O O
O O O O l O O
O O O O O l O
A + 2J1. A A O O O
A A+2J1. A O O O
A A A + 2J1. O O O
(C.13)
O O O 2J1. O O
O O O O 2J1. O
O O O O O 2J1.
This is consistent with storing the stress u and the strain € as the 6 x l
arrays defined in Eq. (C.I); one can also check that the more general 6 x 6
matrix defined in Eq. (C.5) reduces to that of Eq. (C.13) in the isotropic case
defined by Eq. (C.lI). (Note: with a traditional storage, the last three terms
in the diagonal are simply J1.).
If a fourth-order tensor C is the the tensor product of two symmetric
second-order tensors a and b,

(C.14)
then it is stored as a 6 x 6 matrix [C] (where {a} and {b} are 6 x l arrays
defined in (C.I)):

[C] = {a}{b}T, i.e. (C.15)

al1 bl1 allb n au b33 allb12 V2 allb23 V2 all b31 V2

a22 bll a22 bn a22 b33 a22 b12V2 a22 b23V2 a22 b31V2
a:n b11 a33 b22 a33 b33 a33 b12V2 a33 bz3V2 a33 b31 V2
[C]=
a1Z bll V2 a12 b22V2 a1Z b33 V2 2a12b12 2a12b23 2a12b31
aZ3 b11 V2 a23 b22V2 a23 b33V2 2a23b12 2a23b23 2a23b31
a31 bl1 V2 a31 b22 V2 a31 b33 V2 2a31 b12 2a31 b23 2a31 b31
(C.16)
556 C. Matrices for the representation of second- and fourth-order tensors

This is consistent with the matrix storage of fourth-order tensors as defined

in Eq. (C.5), and unlike the traditional storage, there is no problem and no
distinction to be made when both a and bare stress tensors or both are
strain tensors.

C.2 Change of coordinates

Consider two orthonormal bases (ei) and (ei), i = 1,2,3. The change of
coordinates from the first basis to the second is determined by a 3 x 3 matrix
[P] defined by:
(C.17)

Since:
Oij = e; . ej = (Pikek) . (Pjlel) = PikPjlOkl,
it appears that the matrix [P] verifies:

(C.18)

Let v be a vector represented by 3 x 1 arrays {v} in the first basis and {v*}
in the second. We have:

Therefore, the following transformation rules hold:

{v*} = [P]{v}, {v} = [p]T{v*} (C.19)

A second-order tensor acan be represented by 3 x 3 matrices [a] in the first

basis and [a*] in the second. We have:

a:j = (a· ej) . e; = PjkPil(a· ek) . el = PjkPilalk

Consequently, the following transformation rules hold:

[a*] = [p][a][p]T, [a] = [p]T[a*][P] (C.20)

We now assume that a is symmetric. In order to write the transformat ion

rules in component form, one can use Eq. (C.20), or use a procedure which
is explained hereafter (and which will be useful for the transformation of
fourth-order tensors).
In component form, Eq. (C.20)a gives:

a;j PikaklPjl
PilPjlall + Pi2Pj2a22 + Pi3Pj3a33
+ (Pi1 Pj2 + Pi2 Pj1 )a12 + (Pi2 Pj3 + Pi3 Pj2 )a23 + (Pi3 Pj1 + Pi1 Pj3 )a31
 C.2 Change of coordinates 557

(Note that we do have aij = aii)' Equations (C.20) can then be written in
the following matrix forms:

{a*} = [q){a}, {a} = [qf {a*} (C.21)

where {a*} and {a} are 6 x 1 arrays defined as in (C.1),

{a*} = a~2 a 33 ai 2 V2 ahV2 a 31V2 (

T
{a} [ all a22 a33 a12V2 a23V2 a31 V2 ]

and [q] is a 6 x 6 matrix given by:

PllPll P12 P12 P13 P13 Pll PI2 V2

P21 P21 P22 P22 P23 P23 P21 P22 V2
P31 P31 P32 P32 P33 P33 P31 P32 V2
Pll P21 V2
[q]
P12 P22 V2 P13 P23 V2 PU P22 + P12 P21
P21 P31 V2 P22 P32 V2 P23 P33 V2 P21 P32 + P22 P31
Pl1 P31 V2 P12 P32 V2 P13 P33 V2 Pl1 P32 + P12 P31
P12 P13 V2 P11 P13 V2
P22 P23 V2 P21 P23 V2
P32 P33 V2 P31 P33 V2
(C.22)
P12 P23 + P13 P22 Pu P23 + P13 P21
P22 P33 + P23 P32 P21 P33 + P23 P31
P12 P33 + PI3 P32 PU P33 + P13 P31

Note that unlike the traditional storage, the expres sion of [q] is unchanged,
whether we transform stress or strain tensors. The reader can count the
number of operations (especially the multiplications) to see which one of
transformations (C.20) or (C.21) is computationally cheaper.
From Eqs. (C.21) it is easy to check that:

[q][q]T = [qf[q] = [1] (C.23)

In linear elasticity, the relation (T = C : f: is derived from a potential w

(strain energy density):

âw . 1
(T= - , wlth w = -f: : C : f: (C.24)
âf: 2
We wish to find a matrix transformation rule for the fourth-order tensor C.
We follow the method of Lekhnitskii (1981). In the basis (ei), we can write
Eq. (C.24)b as:

(C.25)
558 C. Matrices for the representation of second- and fourth-order tensors

where {E} is a 6 x 1 array defined as in Eq. (C.l), and [C] a 6 x 6 matrix

defined as in Eq. (C.5).
In the basis (ei), we can write Eq. (C.24)b as:

(C.26)

where {f*} is a 6 xl array defined as in Eq. (C.l), and [C*] a 6 x 6 matrix

defined as in (C.5).
Equating the expressions of w in Eqs. (C.25) and (C.26) and using the
transformation rule (C.2l)a, we obtain:

(C.27)

Since this relation musţ hold for any {f}, we deduce that:

[C] = [qf[C*][q] (C.28)

Using the transformation rule (C.2l)b and equating the expressions of w in

Eqs. (C.25) and (C.26), we obtain:

[C*] = [q][C][q]T (C.29)

Note that transformation rules (C.28) or (C.29) are also valid if C is not
Hooke's operator but has the same symmetries as that tensor. Finally, no
transformation is needed if C is isotropic since [C*) = [C).
D. Zero-stress constraints

In the various stress update algorithms that were presented in Chaps. 12,
13, 15, 16, 17 and 18 it was assumed that alt strain or deformation gradient
components are known. There are cases however where the assumption is not
valid. If we have a (local) plane stress state (as for plates or shells) the out-of-
plane component of strain is unknown. AIso, for a beam, only the axial strain
component is known. This appendix shows how to deal with those cases for
some important classes of material models.

D.I Small-strain J 2 elasto-plasticity

We keep the notations of Sec. 12.10.2. We show how the return mapping
algorithm is modified in plane stress when the out-of-plane strain component
E33 is unknown. A trial stress is defined as follows:

(D.l)

where all components of €tr are equal to those of € except 4'3 which is com-
puted such that (Ţ~3 = o. Using a well-known technique (see Chap. 7), the
following value is found:

(D.2)

The stress-elastic strain relation reads:

(D.3)

The reader can check that this can be rewritten as in (Doghri, 1995):

(D.4)

where:
560 D. Zero-stress constraints

8ij = It~3 = c5i3 c5j3 - ~c5ij,

1
O -3
1
O -3
2
1 3
"6 = dev = (D.5)
O O
O O
O O
using the 6 x 1 array notat ion (Appendix C). The volumetric and deviatoric
parts of the stress-strain relations are:
tr (7 tr (7tr + 3K(t33 - t~~);
S = str - 2GLlep + 2G(t33 - t~~)"6 (D.6)
Combining the first equation with the incremental plastic flow relation
3 s
Lle P = --Llp,
20"eq
(D.7)

we find:

(D.8)

Taking the inner product of each side of the equation and using the yield
condition:
O"eq = O"y + R(p), (D.9)
the following scalar equation is found:
(O"eq + 3GLlp)2 = (0";;)2 + 4G 2(t33 - t~~)2 + 6G(t33 - t~~)8~~,
which can be rewritten as follows:
k 1 (p, t33) = 3GLlp + O"y + R(p) - {(0";;)2 + 2G(t33 - t~~)[38~~
+2G(t33 - t~~)]} 1/2 =O (D.lO)
The extra-unknown t33 is such that 0"33 = O, Le.
1
833 + "3tr (7 =O (D.11)

This can be rewritten as follows, using (D.6)a and (D.8),

k 2 (p,t33) = (K + 4~) (t33 - t~~)[O"y + R(p)]

+G [tr + 3K(t33 - t~~)] Llp =O
,
(7tr
.
3Ktr e
'
(D.12)
 D.2 General small-strain models 561

In summary, the problem is reduced to finding two scalar unknowns: p and t:33
which satisfy two scalar nonlinear equations (D.lO) and (D.12). This system
can be solved iteratively using Newton's method:

( âk 1 )(it)[p(iHl) _
p
(it)] + (âk
â
1 )(it)[f (it+l) _ (it)] -_ -k1 (it) (it))
P , f 33
âP f33
33 f 33

(ââk2 )(it)[P(it+l) _ p(it)] + (ââk 2 )(it)[f~~+l) _ f~~)] = -k2(p(it),f~~)) (D.13)

P f33

The reader can check that the four partial derivatives are given as follows:
âk 1 dR
âp 3G + dp'
âk 1 G[3sM; + 4G(f33 - 4'3)]
ât:33 k 1 - 3GL1p - [O'y + R(p)]
âk2 (K4+G
âp
= 3) (f33 - t:33 )
tT dR
dp + 3GKtr t:

âk2
âf33
(K + 4~) [O'y +R(p)] +3GKL1p (D.14)

The algorithm presented here is the same as in (Aravas, 1987). Another,

projection-based algorithm is proposed in (Simo and Taylor, 1986).

D.2 General small-strain models

As we have seen in the previous section, enforcing a plane stress condition for
h elasto-plasticity, which is perhaps the simplest nonlinear material model,
is rather involved. For more sophisticated models, the algorithm can become
very tedious. That is why it may be advantageous to use the following pro-
cedure which is both very simple and general.
The plane stress condition is considered as a nonlinear equation where
the unknown is f33:

(D.15)

This equation is solved iteratively with Newton's method:

(it) + (â0'33 (it)]_ O

------
)(it) [ (it+l) _
0'33 â f 33 f 33 - (D.16)
t:33
(it )
c 3333

So, at each iteration (it), the constitutive routine is called with aU strain
components given, including f~~). The routine computes the stress (T and
the material (consistent or algorithmic) tangent c at tn+l' If the plane stress
562 D. Zero-stress constraints

condition (D.15) is not satisfied, then we iterate again by computing E~~+1)

from (D.16).
For a beam with axis 1, only Ell is known. Components E22 and 1:33 are
found from the conditions:

(D.17)

Similarly to the plane stress case -(D.16)- these two nonlinear equations are
solved iteratively using Newton's method.

D.3 General finite-strain models

In this section, we extend the algorithm of the previous section to the finite-
strain regime. In plane stress, component F33 of the deformation gradient is
unknown and should be computed such that the 33-component of the Cauchy
stress u is nil. As we shall see hereafter, it is easier to write the condition as
follows:

(D.18)

where T = (det F)u is the Kirchhoff stress. This equation is solved iteratively
with Newton's method:

(it)
7 33
+ ( 8733 )(it) [F,(it+1)
8F33 33
_ F,(it)j
33
=O (D.19)

The problem is to compute (8733/8F33) knowing the spatial tangent operator

c. The reader can assume hyperelasticity for now, but the results we shall
find are also valid for elasto-plasticity.
The following reiat ion between Kirchhoff and first Piola-Kirchhoff stresses
hold:

(D.20)

Taking the partial derivative w.r.t. FpQ and making extensive use of results
found in Sec. 15.1.3, we obtain the following successive equalities:
8PiK
8FpQ F jK + PiK8jp8KQ
AKiQpFjK + PiQ8jp
= (S KQ 8ip + FiMFpNCKMQN)FjK + P iQ 8 jp
(PjQ8ip + P iQ8jp ) + FjKFiMFrRFpNCKMRN(F-l)Qr
(PjQ8ip + P i Q8jp ) + Cjirp(F-l)Qr, (D.21)

where c is the spatial tangent operator. Now, using the relation between T
and P again,
 D.3 General finite-strain models 563

(D.22)

we can recast (D.21) in the following simple format:

(D.23)

where asum over r is assumed. The Jacobian needed in (D.19) is found as

an application: (i, j) = (3,3) and (p, Q) = (3,3),

(D.24)

In summary, for plane stress, at each iteration (it), the constitutive routine is
called with aU deformation gradient components given, including Fi;t). The
routine computes the Kirchhoff stress T and the spatial tangent operator c
at tn+l. If the plane stress condition (D.18) is not satisfied, then we iterate
again by computing Fi;t+l) from (D.19) and (D.24)
For a beam with axis 1, only Fll is known. Components F 22 and F33 are
found from the conditions:

(D.25)

These two nonlinear equations are solved iteratively using Newton's method.
The four partial derivatives which are needed are given directly by (D.23).
Exercise: Consider a finite-strain elasto-plastic model based on a multi-
plicative deformat ion gradient decomposition and hyperelasticity and show
that result (D.23) still holds. Hint: use Eq. (16.35) and review the above
calculations carefully.
References

ABAQUS, a general-purpose finite element program, Ribbitt, Karlsson & Sorensen,

Inc., Pawtucket, RI, U.S.A.
Anderson (1995) Anderson, T.L. (1995), Fracture mechanics- Fundamentals and
applications, 2nd edition, CRC Press, Boca Raton, Florida.
Andrieux, S., M. Joussemet & E. Lorentz (1996a), "A Class of constitutive relations
with internal variable derivatives" , Proc. French national MECAMAT colloquium
, Aussois, France, pp. 116-123.
Andrieux, S., M. Joussemet & E. Lorentz (1996b), "A Class of constitutive relations
with internal variable derivatives. Derivation from homogenization and initial
value problem", Journal de Physique IV, 6, 463-472 (supplement to Journal de
Physique III, 10).
Aravas, N. (1987), "On the numerical integrat ion of a class of pressure-dependent
plasticity models", Internat. Journal for Numerical Methods in Engineering, 24,
1395-1416.
Armstrong, P.J. & C.O. Frederick (1966), "A mathematical representation of the
multiaxial Baushinger effect", Report no. RD/B/N731, General Electricity Gen-
erating Board, Berkeley Nuclear Laboratoires.
Ashby, M.F. & D.R.R. Jones (1980), Engineering Materials 1: An introduction to
lheir properties and applications, Pergamon Press, Oxford.
Ashby, M.F. & D.R.R. Jones (1986), Engineering Materials 2: An introduction to
microslructures, processing and design, Pergamon Press, Oxford.
Auricchio, F. & R.L. Taylor (1995), "2 Material models for cyclic plasticity- Non-
linear kinematic hardening and generalized plasticity", [nt. J. Plasticity, 11(1),
65-98.
Bartczak, Z., A. Galeski, A.S. Argon, & R. Cohen (1996), Polymer, 37, 2113.
Bathe, K.J. (1982), Finite element procedures in engineering analysis, Prentice-Rall,
Englewood Cliffs, N.J., U.S.A.
Bazant, Z.P., T. Belytschko & T.P. Chang (1984), "Continuum theory for strain
softening", Journal of engineering mechanics 110-12, 1666-1693.
Benallal, A., R. Billardon & G. Geymonat (1993), "Bifurcation and localization in
rate-independent materials", in Bifurcation and stability of dissipative systems,
Q.S. Nguyen (editor), CISM Lecture notes no. 327, Udine, ltaly, published by
Springer-Verlag, New York.
Billardon, R. & I. Doghri (1989), "Prevision de I'amon;age d'une macro-fissure par
localisation de l'endommagement", Comples Rendus de l'Academie des Sciences
de Paris, 308(11), 347-352.
Bisplinghoff, R.L., J.W. Marr & T.R.R. Pian (1965), Stalics of deformable solids,
Addison-Wesley Publishing Co., Reading, Mass., republished by Dover, New
York, 1990.
Boley, B.A. & J.R. Weiner (1960), Theory of thermal slress, J. Wiley & Sons, New
York, republished by Dover, New York, 1997.
566 References

Bolotin, V.V. (1996), Stability problems in fracture mechanics, John Wiley & Sons,
New York.
Bonet, J. & RD. Wood (1997), Nonlinear continuum mechanics for finite element
analysis, Cambridge University Press, New York.
Calladine, C.R (1969), Engineering plasticity, Pergamon Press, Oxford.
Chou, P.C. & N.J. Pagano (1967), Elasticity. Tensor, dyadic and engineering ap-
proaches, D. Van Nostrand Co., Princeton, New Jersey, republished by Dover,
New York, 1992.
Coleman, B.D. & D. Gurtin (1967), "Thermodynamics with internal state vari-
ables", Journal of Chemical Physics, 47, 597-613.
Cordebois, J.-P. & P. Ladeveze (1986), "Sur la prevision des courbes limites
d'emboutissage", J. de Meca. Theorique et Appliquee, 5(3), 341-370.
Courbon, J. (1971), Resistance des materiaux, Tome 1, Dunod, Paris.
Crisfield, M. A. (1981), "A fast incrementaljiterative solution procedure that han-
dles snap-through", Computers & Structures 13, 55~62.
Crisfield, M.A. (1997), Nonlinear finite element analysis of solids and structures.
Voi. 1: Essentials, John Wiley & Sons, U.K.
Crisfield, M.A. (1998), Nonlinear finite element analysis of solids and structures.
Voi. 2: Advanced topics, John Wiley & Sons, U.K.
Crist, B., C. Fisher, & P. Howard (1989), Macromolecules, 22, 1709.
Crochet, M. (1993), Cours d'elasticite, Lecture notes, report, Unite de Mecanique
Appliquee, Universite catholique de Louvain, Belgium.
Crochet, M. (1994), Plaques et coques elastiques, Lecture notes, report, Unite de
Mecanique Appliquee, Universite catholique de Louvain, Belgium.
Dahoun, A. (1992), Comportement plastique et textures de deformation des
polymeres semi-cristallins en traction uniaxiale et en cisaillement simple, Ph.D.
dissertation, Institut National Polytechnique de Lorraine, France.
Dahoun, A., G.R Canova, A. Molinari, M.J. Philippe & Ch. G'Sell (1991), "The
modeling of large strain textures and stress-strain relations of polyethylene",
Texture and Mierostruetures, Vols. 14-18, 347-354.
Dahoun, A. et al. (1995), Polym. Eng. Se., 35, 317.
De Borst, R. (1991), "Simulation of strain localization: a reappraisal of the Cosserat
continuum" , Eng. Comput. , 8, 317-332.
De Borst, R., L.J. Sluys, H.B. Muhlhaus & J. Pamin (1993), "Fundamental issues in
finite element analysis of localization of deformation", Eng. Comput. 10,99-121.
De Gennes, P.G. & J. Prost (1993), The physics of liquid crystals, 2nd edition,
Oxford University Press, Oxford.
Dellus, P. (1961), Resistance des materiaux, Technique et Vulgarisation, Paris.
Den Hartog, J.P. (1949), Strength of materials, McGraw-Hill Book Co., New York,
republished by Dover, New York, 1961.
Den Hartog, J.P. (1952), Advaneed strength of materials, McGraw-Hill Book Co.,
New York, republished by Dover, New York, 1987.
Desai, C.S. & H.J. Siriwardane (1984), Constitutive laws for engineering materials,
with emphasis on geologic materials, Prentice Hali, Englewood Cliffs, New Jersey,
U.S.A.
De Vathaire, M. & A. Faessel (1981), "Contraintes internes dans les bobines de
tâles laminees fi froid", Revue de Metallurgie, CIT, Mai, 405-419.
Doghri, 1. (1989), Etude de la loealisation de l'endommagement, Ph.D. dissertation,
Universite Paris 6.
Doghri, 1. (1993), "Fully implicit integration and consistent tangent modulus in
elastoplasticity", Internat. Journal for Numerical Methods in Engineering, 36,
3915-3932.
 References 567

Doghri,1. (1995), " Numerical implementation and analysis of a class of metal plas-
ticity models coupled with ductile damage", Internat. Journal for Numerical
Methods in Engineering, 38, 3403-343l.
Doghri, 1. & R. Billardon (1995), "Investigation of localization due to damage in
elasto-plastic materials", Mechanics of Materials, 19/2-3, 129-149.
Doghri, 1., S. Jansson, F.A. Leckie & J. Lemaitre (1994), "Optimization of coating
layers in the design of ceramic fiber reinforced metal matrix composites" , Journal
of Composite Materials, 28/2, 167-187.
Doghri, 1. & F. A. Leckie (1994), "Elasto-plastic analysis of interface layers for
fiber-reinforced metal-matrix composites", Composites Science and Technology,
51, 63-74.
Doghri, 1., A. Muller & R.L. Taylor (1998), "A general three dimensional contact
procedure for implicit finite element codes", Engineering Computations, 15/2,
233-259.
Dreyfuss, G. (1962), Resistance des materiaux des recipients sous pression, Editions
Technip, Paris.
Dumontet, H., G. Duvaut, F. Lene, P. Muller & N. Turbe (1994), Exercices de
mecanique des milieux continus, Masson, Paris.
Duvaut, G. (1990), Mecanique des milieux continus, Masson, Paris.
Dym, C.L., I.H. Shames (1973), Solid mechanics: a variational approach, McGraw-
Hill Book Co., New York.
Eshelby, J.D. (1957), "The determination of the elastic field of an ellipsoidal inclu-
sion, and related problems", Proc. Roy. Soc. London, Ser. A, 241, pp 376-396.
Feodossiev, V. (1976), Resistance des maUriaux, Mir, Moscow.
Ferencz, R.M. & T.J.R. Hughes (1998), "Iterative finite element solutions in non-
linear solid mechanics", In Handbook of numerical analysis, P.G. Ciarlet and J.L.
Lions (editors), VoI. VI, pp 3-178, Elsevier Science, Amsterdam.
Filonenko-Borodich, M. (1958), Theory of elasticity, Foreign Languages Publishing
House, Moscow, republished by Dover, New York, 1965.
Fleck, N.A. & J.W. Hutchinson (1993), "A phenomenological theory for strain
gradient effects in plasticity", J. Mech. Phys. Solids 41-12, 1825-1857.
Florez J. (1989), ElasticiU couplee ci l'endommagement: formulation, analyse
theorique et approximation numerique , Ph.D. dissertation, Vniversite Paris 6.
Flugge, W. (1973), Stresses in shells, Springer-Verlag, Berlin.
Forest, S. (1996), Modeles mecaniques de la deformation heUrogime des
monocristaux, Ph.D. dissertation, Ecole nationale Superieure des Mines de Paris.
Franl.<ois, D., A. Pineau & A. Zaoui (1993), Comportement mecanique des
materiaux. Viscoplasticite, endommagement, mecanique de la rupture, mecanique
du contact, Hermes, Paris.
French, S.E. (1995), Fundamentals of structural analysis, West Publishing Co., St.
Paul, MN.
Friaa, A. (1982), Theorie des structures, Lecture notes, Departement de Genie Civil,
Ecole Nationale d'Ingenieurs de Tunis, Tunisia.
Geers, M. (1997), Experimental analysis and computational model/ing of damage
and fracture, Ph.D. dissertation, Eindhoven Vniversity of Technology.
Germain, P. & P. Muller (1980), Introduction ci la mecanique des milieux continus,
Masson, Paris.
Germain, P., Q.S. Nguyen & P. Suquet (1983), "Continuum thermodynamics",
Trans. ASME, J. Appl. Mech., 50, 1010-1020.
Goldstein, H. (1980), Classical mechanics, 2nd edition, Addison-Wesley, Reading,
MA, V.S.A.
Green, A.E. & W. Zerna (1968), Theoretical elasticity, 2nd edition, Oxford Vniver-
sity Press, Republished by Dover, New York, 1992.
568 References

Grosberg, A.Y. & A.R Khokhlov (1994), Statistical physics of macromolecules,

American Institute of Physics (AIP) Press, New York.
Guo, Z.H. (1981), "Representations of orthogonal tensors", Solid Mechanics
Archives, 6, 451-466.
Gurtin, M.E. (1981), An introduction to continuum mechanics, Academic Press,
San Diego, California.
Halphen, B. & Q.S. Nguyen (1975), Sur les materiaux standards gem\ralises, Journal
de Mecanique, 14/1, 39-63.
Hartmann, S. & P. Haupt (1993), "Stress computation and consistent tangent op-
erator using non-linear kinematic hardening models", Internat. Journal for Nu-
merical Methods in Engineering, 36, 3801-3814.
Havner, K.S. (1992), Finite Plastic DeJormation of Crystalline Solids, Cambridge
University Press, London.
Hertzberg, RW. (1989), Deformation and Jracture mechanics of engineering mate-
rials, 3rd edition, Wiley, New York.
Hibbeler, RC. (1997), Structural analysis, 3rd edition, Prentice Hali, New Jersey.
Hill, R (1950), The mathematical theory of plasticity, Clarendon Press, Oxford
University Press, England, reprinted, 1989.
Hill, R (1958), "A general theory of uniqueness and stability in elastic-plastic
solids", J. Mech. Phys. Solids 6.
Hill, R (1968), "On constitutive inequalities for simple materials-I", J. Mech. Phys.
Solids, 16, 229-242.
Hill, R (1983), "On intrinsic eigenstates in plasticity with generalized variables",
Math. Proc. Camb. Phil. Soc., 93,177-189.
Hodge, P.G., Jr. (1959), Plastic analysis of structures, McGraw Hill Book Co., New
York.
Hoger, A. & D.E. Carlson (1984), "Determination of the stretch and rotation in the
polar decomposition of the deformation gradient", Quarterly of Applied Mathe-
matics, 42, 113-117.
Hughes, T.J.R. (1984), "Numerical implementation of constitutive models: rate-
independent deviatoric plasticity" , in Theoretical foundation for large-scale com-
putations for non-linear material behavior, S. Nemat-Nasser et al. (eds.), Marti-
nus Nijhoff Publishers, Dordrecht, The Netherlands.
Hughes, T.J.R (1987), The finite element method, Prentice-Hall, New Jersey,
U.S.A.
Hughes, T.J.R. & K.S. Pister (1978), "Consistent linearization in mechanics of
solids and structures", Computers and Structures, 8, 391-397.
Hughes, T.J.R & J. Winget (1980), "Finite rotation effects in numeric al integration
of rate constitutive equations arising in large-deformation analysis" , Internat. J.
Numer. Methods Engrg., 15(9), 1413-1418.
Hutchinson, J.W. (1974), "Plastic buckling", in Advances in Applied Mechanics,
voI. 14, Acad. Press, New York, 67-144.
Johnson, K.L. (1987), Contact mechanics, Cambridge University Press, Cambridge,
U.K.
Johnson, W. & P.B. Mellor (1962), Plasticity for mechanical engineers, D. Van
Nostrand Co., London.
Kachanov, L.M. (1971), Foundations of the theory of plasticity, North-HolJand Pub-
lishing Co., Amsterdam.
Kachanov, L.M. (1986), Introduction to continuum damage mechanics, M. Nijhoff
Publ., Dordrecht, The Netherlands.
Kennedy, M., A. Peacock & L. Mandelkern (1994), Macromolecules, 21, 5297.
 References f;69

Kestin, J. & J.M. Rice (1970), "Paradoxes in the application of thermodynamics

to strained solids", in A critical review of of thermodynamics, E.B. Stuart et al.
(Editors), pp. 275-298, Mono Book Co., Baltimore, MD, U.S.A.
Kitagava, M. & D. Zhou (1995), Polym. Eng. Se., 35/22, 1725.
Kleiber, M. (Editor) (1998), Handbook of computational solid mechanics- Survey
and comparison of contemporary methods, Springer-Verlag, Berlin.
Knockaert, R., 1. Doghri, Y. Marchal, T. Pardoen & F. Delannay (1996), "Ex-
perimental and numerical investigation of fracture in double-edge notched steel
plates", Internat. Journal of Fracture, 81/4, 383-399.
Knockaert, R. & 1. Doghri (1999), "Nonlocal constitutive models with gradients
of internal variables derived from a micro/macro homogenization procedure",
Computer Methods in Applied Mechanics and Engineering, 174, 121-136.
Kocks, U.F., C.N. Tome & H.-R. Wenk (1998), Texture and anisotropy: preferred
orientations in polycrystals and their etJect on material properties, Cambridge
University Press, Cambridge, U.K.
Krajcinovic, D. (1996), Damage mechanics, Elsevier, Amsterdam.
Ladeveze, P. (1986), Mecanique des structures, Lecture notes, report no. 64, written
by O. Allix and J.-P. Pelle, Laboratoire de Mecanique et Technologie, Ecole
Normale Superieure de Cachan, France.
Lanczos, C. (1970), The variational principles of mechanics, 4th edition, University
of Toronto Press, Toronto, Canada, republished by Dover, New York, 1986.
Larson, R. (1988), Constitutive Equations for Polymer Melts and Solutions, But-
terworth.
Lee, E.H. (1969), "Elastic-plastic deformations at finite strains", J. Appl. Mech.,
36, 1-6.
Lee, B.J., A.S. Argon, D.M. Parks, S. Ahzi, & Z. Bartczak (1993), Polymer, 34,
3555.
Lekhnitskii, S.G. (1981), Theory of elasticity of an anisotropic body, Mir Publishers,
Moscow (translated from the revised 1977 Russian edition).
Lemaitre, J. (1992), A course on damage mechanics, Springer-Verlag, Germany.
Lemaitre, J. & J.-L. Chaboche (1990), Mechanics of solid materials, Cambridge
University Press, England, translation of the French edition (Dunod and Bordas,
Paris, 1985).
Lemaitre, J. & 1. Doghri (1994), "DAMAGE90: A post processor for crack ini-
tiation", Computer Methods in Applied Mechanics and Engineering, 115/3-4,
197-232.
Lielens, G. (1999), Micro-macro modeling of structured materials, Ph.D. disserta-
tion, Faculte des Sciences Appliquees, Universite catholique de Louvain, Belgium.
Lifshitz, I.M. (1969), "Some problems of the statistical theory of biopolymers", Sov.
Phys. JETP, 28, 1280.
Lin, L. & A.S. Argon (1994), J. Mater. Se., 29, 294.
Lippmann, H. (1972), Extremum and variational principles in mechanics, 2nd print-
ing, publication no. 54, CISM, Udine, Italy.
Lippmann, H. (1995), "Cosserat plasticity and plastic spin", Appl. Mech. Rev. 48,
11 part 1, 753-762.
Lubliner, J. (1990), Plasticity theory, Macmillan Publishing Company, New York.
Lucas, J., M. Failla, F. Smith & L. Mandelkern (1995), Pol. Eng. Se., 35/13, 1117.
Luenberger, D.G. (1989), Linear and nonlinear programming, Addison-Wesley Pub-
lishing Co., Reading, MA, U.S.A.
Love, A.E.H. (1927), A treatise on the mathematical theory of elasticity, Fourth
edition, Cambridge University Press, republished by Dover, New York, 1944.
Mandel, J. (1966), Cours de Mecanique des milieux continus. II- Mecanique des
solides, Gauthier-Villars, Paris, France.
570 References

Mandel, J. (1973), Equations constitutives et directeurs dans les milieux plastiques

et viscoplastiques, Int. J. Solids Structures 9, 725-740.
Mandelkern, L., R.G. Alamo & M.A. Kennedy (1990), Macromolecules, 23, 4271.
Marrucci, G. (1984), "Remarks on the viscosity of polymeric liquid crystals", Frac.
IX Intl. Congress on Rheology, Acapulco, Mexico, pp. 441-448.
Marsden, J.E. & T.J.R Hughes (1983), Mathematical foundations of elasticity,
Prentice-Hall, New Jersey, republished by Dover, New York, 1994.
Mase, G.E. (1970), Theory and problems of continuum mechanics, Schaum's outline
series, McGraw-Hill, New York.
Mason, J. (1980), Variational, incremental and energy methods in solid mechanics
and shell theory, Elsevier, Amsterdam, The Netherlands.
Massonnet, Ch., Olszak & A. Phillips (1979), Flasticity in structural engineering:
fundamentals and applications, publication no. 241, CISM, Udine, Italy.
Massonnet, Ch. & Save, M. (1967), Calcul plastique des contructions. 1- Structures
dependant d'un parametre, 2nd edition, Centre Belgo-Luxembourgeois de l'acier,
Brussels, Belgium
Maugin, G.A. (1992), The thermomechanics of plasticity and fracture, Cambridge
University Press, Cambridge, England.
Mura, T. (1987), Micromechanics of defects in solids, 2nd edition, Martinus Nijhoff
Publishers, Dordrecht, The Netherlands.
Nadai, A.L. (1963), Theory of fiow and fracture of solids. Volume II, McGraw Hill
Book Co., New York.
Nagtegaal, J.C. & J.E. de Jong (1981), "Some aspects of non-isotropic work-
hardening in finite deformat ion plasticity", Froc. workshop on plasticity of met-
als at finite strain: theory, computation and experiment, E.H. Lee & R Mallet
(eds.), Division of Applied Mechanics, Stanford University, California.
Nemat-Nasser, S. & M. Hori (1993), Micramechanics: overall praperties of hetera-
geneous materials, Elsevier Science publishers, Amsterdam.
Nguyen, Q.S. (1987), "Bifurcation and post-bifurcation analysis in plasticity and
brittle fracture", J. Mech. Fhys. Solids 35-3, 303-324.
Nguyen, Q.S. & H.D. Bui (1974), "Sur les materiaux elastoplastiques il, ecrouissage
positif ou negatif', Journal de Mecanique, 13/2, 321-342.
Nielsen, M.K. and H.L. Schreyer (1993), Bifurcations in elastic-plastic materials,
Int. J. Solids Structures 30, 521-544.
Nikolov, S. & 1. Doghri (2000), "A micro/macro constitutive model for the smalI-
deformat ion behavior of polyethylene", Folymer, 41, 1883-1891.
Novozhilov, V.V. (1953), Foundations of the nonlinear theory of elasticity, Graylock
Press, Rochester, N.Y., translated from the first (1948) Russian edition.
Oden, J.T. & J.N. Reddy (1976), Variational methods in theoretical mechanics,
Springer-Verlag, Berlin.
Ogden, RW. (1984), Non-linear elastic deformations, Ellis Horwood Limited, West
Sussex, England, republished by Dover, New York, 1997.
Ortiz, M., Y. Leroy & A. Needleman (1987), "A finite element method for localized
failure analysis", Computer Methods in Applied Mechanics and Engineering, 61,
189-214.
Ortiz, M. & E.P. Popov (1985), "Accuracy and stability of integration algorithms
for elastoplastic constitutive relations", Internat. Journal for Numerical Methods
in Engineering, 21, 1561-1576.
Ortiz, M. & J.C. Simo (1986), "An analysis of a new class of integration algorithms
for elastoplastic constitutive equations", In. J. Numer. Methods Eng., 23, 353-
366.
Owen, D.RJ. & E. Hinton (1980), Finite elements in plasticity: theory and practice,
Pineridge Press Ltd., Swansea, U.K.
 References 571

Paduart, A., J. Kestens & G. Warzee (1984), Calcul des structures hyperstatiques,
Masson-Editions de l'universite de Bruxelles, Belgium.
Pamin, J.K. (1994), Gradient-dependent plasticity in numerical simulation of local-
ization phenomena, Ph.D. dissertation, Delft University of Technology. .
Pardoen, T., 1. Doghri & F. Delannay (1998), "Experimental and numeric al com-
parison of void growth models and void coalescence criteria for the prediction of
ductile fracture in copper bars", Acta Mater., 46/2, 541-552.
Parton, V. & P. Perline (1983), Equations integrales de la theorie de l'elasticite,
Mir, Moscow.
Parton, V. & P. Perline (1984a), Methodes de la theorie mathematique de l'elasticite,
Volume 1, Mir, Moscow.
Parton, V. & P. Perline (1984b), Methodes de la theorie mathematique de l'elasticite,
Volume 2, Mir, Moscow.
Perzyna, P. (1963), Q. Appl. Math., 20, 32l.
Pissarenko, G., A. Yakovlev & V. Matveev (1979), Aide-memoire de resistance des
materiaux, Mir, Moscow.
Prager, W. & P.G. Hodge, Jr. (1951), Theory of perfectly plastic solids, John Wiley
& Sons, New York.
Przemieniecki, J.S. (1968), Theory of matrix structural analysis, McGaw-Hill Book
Co., New York, republished by Dover, New York, 1985.
Popov, E.P. (1952), Mechanics of materials, Prentice-Hall' New York.
Rice, J.R. (1976) "The localization of plastic deformat ion" , in Theoretical and ap-
plied Mechanics , North-Holland, Amsterdam.
Rice, J.R. & J.W. Rudnicki (1980), "A note on some features of the theory of
localization of deformat ion" , 1nt. J. Solids Structures, 16, 597-605.
Roux, J. (1995), Resistance des materiaux par la pratique- 2: Methodes energetiques,
poutres continues, systemes reticules, calcul des ossatures, methodes matricielles,
Eyrolles, Paris.
Salenc;on, J. (1988a), Mecanique des milieux continus. l-Concepts generaux, EI-
lipses, Ecole Polytechnique, Paris.
Salenc;on, J. (1988b), Mecanique des milieux continus. II-Elasticite. Milieux
curvilignes, Ellipses, Ecole Polytechnique, Paris.
Save, M. & Ch. Massonnet (1972), Calcul plastique des contructions. 11- Structures
dependant de plusieurs parametres, 2nd edition, Centre Belgo-Luxembourgeois
de l'acier, Brussels, Belgium.
Sechler, E.E. (1952), Elasticity in engineering, John Wiley and Sons, New York,
republished by Dover, New York, 1968.
Sedov, L. (1975), Mecanique des milieux continus, Volume 1, Mir, Moscow.
Segel, L.A. (1977), Mathematics applied ta continuum mechanics, Macmillan Pub-
lishing Co., New York, republished by Dover, New York, 1987.
Shadrake, L. G. & F. Guiu (1976), Phyl. Magasine, 34, 565.
Simo, J.C. (1992), "Algorithms for static and dynamic multiplicative plasticity
that preserve the classical return mapping schemes of the infinitesimal theory" ,
Computer Methods in Applied Mechanics and Engineering, 99, 61-112.
Simo, J.C. (1998), "Numerical analysis and simulat ion of plasticity", In Handbook
of numerical analysis, P.G. Ciarlet and J.L. Lions (editors), VoI. VI, pp 183-499,
Eisevier Science, Amsterdam.
Simo, J.C. & D.D. Fox (1989), "On a stress resultant geometrically exact shell
model. Part 1: Formulation and optimal parametrization", Computer Methods in
Applied Mechanics and Engineering, 72, 267-304.
Simo, J.C. & T.J.R. Hughes (1998), Computational inelasticity, Springer-Verlag,
New York.
572 References

Simo, J.C., J.W. Ju, R.L. Taylor & K.S. Pister (1987), "On strain-based continuum
damage models: formulation and computational aspects", in Constitutive laws
for engineering materials: theory and applications. Volume 1, C.S. Desai et al.
(editors), Elsevier, New York, pp. 233-245.
Simo, J.C., J.G. Kennedy & R.L. Taylor (1989), "Complementary mixed finite
element formulations for elastoplasticity", Comput. Meth. Appl. Mech. Eng. 74,
177-206.
Simo, J.C. & C. Miehe (1992), "Associative coupled thermoplasticity at finite
strains: formulation, numerical analysis and implementation", Computer Meth-
ods in Applied Mechanics and Engineering, 98:1, 41-104.
Simo, J.C. & R.L. Taylor (1985), Consistent tangent operators for rate-independent
elastoplasticity, Computer Methods in Applied Mechanics and Engineering, 48,
101-118.
Simo, J.C. & R.L. Taylor (1986), A return mapping algorithm for plane stress
elastoplasticity, Internat. Journal for Numerical Methods in Engineering, 22,
649-670.
Simo, J.C. & R.L. Taylor (1991), "Quasi-incompressible finite elasticity in principal
stretches. Continuum basis and numerical algorithms", Comput. Meth. Appl.
Mech. Eng., 85, 273-310
Skrzypek, J. & A. Ganczarski (1999), Modeling of material damage and failure of
structures- Theory and applications, Springer-Verlag, Berlin.
Sluys, L.J. (1992), Wave propagation, localization and dispersion in softening solids,
Ph.D. dissertation, Delft University of Technology, Delft.
SPECTRUM, a general-purpose finite element program, Centric Engineering Sys-
tems, Inc., Sunnyvale, CA, U.S.A.
Stronge, W.J. & T.X. Yu (1993), Dynamic models for structural plasticity, Springer-
Verlag, London.
Suquet, P. (Editor) (1997), Continuum micromechanics, CISM Lecture notes,
Udine, Italy, published by Springer-Verlag, Berlin.
Temam, R. (1985), Mathematical problems in plasticity, Gauthier-Villars, Paris,
translated from the 1983 French edition, Bordas, Paris.
Teodosiu, C. (Editor) (1997), Large plastic deformation of crystalline aggregates,
CISM Lecture notes, Udine, Italy, published by Springer-Verlag, Berlin.
Thomason, P.F. (1990), Ductile fracture of metals, Pergamon press, Oxford.
Thomsen, E.G., C.T. Yang & S. Kobayashi (1965), Mechanics of plastic deformation
in metal processing, The MacMillan Co., New York.
Timoshenko, S.P. (1956a), Strength of materials- Part 1: Elementary theory and
problems, 3rd edition, D. Van Nostrand Co., Princeton, New Jersey.
Timoshenko, S.P. (1956b), Strength of materials- Part II: Advanced theory and
problems, 3rd edition, D. Van Nostrand Co., Princeton, New Jersey.
Timoshenko, S.P. & J.M. Gere (1961), Theory of elastic stability, 2nd edition, Mc-
Graw Hill Book Co., New York.
Timoshenko, S.P. & J.N. Goodier (1987), Theory of elasticity, McGraw-Hill Book
Co., New York.
Timoshenko, S.P. & S. Woinowsky-Krieger (1982), Theory of plates and shells,
McGraw-Hill Internat. Book Co., Tokyo.
Ting, T.T. (1985), "Determination of C 1/ 2 , C- 1/ 2 and more general isotropic tensor
functions of C", Journal of Elasticity, 15, 319-323.
Tolstov, G.P. (1962), Fourier series, translated from the Russian by R.A. Silverman,
Prentice HalI, Englewood Cliffs, New Jersey, republished by Dover, New York,
1976.
TruesdelI, C. & R.A. Toupin (1960), "The classical field theories", in Handbook der
Physik, III/l, Springer-Verlag, Berlin.
 References 573

Turna, J.J. (1988), Handbook of structural and mechanical matrices, McGraw-Hill

Book Co., New York.
Valanis, K.C. (1971), Arch. Mech., 23, 517.
Van Houtte, P. (1998), Micromechanics of polycrystalline materials, Lecture Notes,
report, MTM Department, Katholieke Universiteit Leuven, Belgium.
Whittaker, E.T. (1937), A treatise on the analytical dynamics of particles and rigid
bodies, 4th edition, Cambridge University Press, Cambrdige
Wilkins, M.L. (1964), "Calculation of elasto-plastic flow" , in Methods of computa-
tional physics 3, B. Alder et al. (eds.), Academic Press, New York.
Wissbrun, K.F. (1985), Faraday Discuss. Chem. Soc., 79, 161.
Wu, P.D. & E. Van Der Giessen (1992), "A modified 3-D constitutive model for
glassy polymers and its application to large simple shear of polycarbonate", In
Modelling of Plastic Deformation and Its Engineering Applications, S.1. Andersen
et al. (editors), Proc. 13th Riso Internat. Symposium on Materials Science, 7-11
September, 1992, Roskilde, Denmark, pp. 519-524.
Wu, P.D. & E. Van Der Giessen (1994), "Analysis of shear band propagation in
amorphous glassy polymers", Internat. Journal of Solids and Structures, 31,
1493-1517.
Young, R.J. (1988), Mater. Forum, 11, 210.
Zbib, H.M. & E.C. Aifantis (1989), "A gradient-dependent flow theory of plasticity:
application to metal and soil instabilities", Appl. Mech. Rev. 42-11, 295-304.
Zealouk, L., S. Nikolov & 1. Doghri (1999), "Numerical simulat ion of the micro-
mechanics of semi-crystalline polymers in small strains", Proc. European Con-
ference an Computational Mechanics (ECCM '99), August 31-Scptember 3,1999,
Munich, Germany.
Zienkiewicz, O.C. & R.L. Taylor (1989), The finite element method. Val. 1- Basic
Formulation and linear problems, 4th edition, McGraw Hill Book Co., England.
Zienkiewicz, O.C. & R.L. Taylor (1991), The finite element method. Voi. 2- Solid
and fluid mechanics, dynamics and nonlinearity, 4th edition, McGraw Hill Book
Co., England.
Index
acceleration, 338
accumulated plastic strain, 302
acoustic tensor, 473
additive decomposition, 321, 413
Airy stress function, 167, 196
algorithmic tangent operator, see
consistent tangent operator
Almansi-Euler strain, 346
- algorithm, 416
Armstrong-Frederick model, see
kinematic hardening
axisymmetric problem
- 2D, 198
- plate, 146
- thermo-elasticity, 239
back stress, see kinematic hardening
stress
backward Euler integration, 316
Baushinger effect, 302
beam, 49
beam-column, 268
Beltrami-Mitchell compatibility
equations, 24
bending moment
- beam, 58
- plate, 130, 143, 148
bending problem
- beam, 51
- plate, 131
bending stiffness, 130, 297
bi-harmonie, 25, 167
bifurcation
- continuous, 475
- discontinuous, 475
- elastic damage, 471
Biot's strain, see nominal strain
body force
- 2D, 187
boundary condition, 9, 388
- beam, 60
- plate, 133
boundary-value problem, see local or
weak formulations , 313
brittle material, 16, 203, 241
buckling, 249
bulk modulus, 20, 377
Cardan's formulae, 551
Castigliano's theorem, 44
- beam, 68, 85
Cauchy stress, 351, 371
Cauchy-Green strain
- left, 340, 375, 399
- right, 340, 370, 400
Cayley-Hamilton theorem, 376, 418
centroid, 50
Chaboche-Marquis model, see
kinematic hardening
change of coordinates
- cylindrical, 545
- matriees for, 556
- polar, 193
characteristie volume, 498
circular arch, 214
circular section
- torsion, 113, 114
circular tube
- torsion, 121
Clausius-Duhem inequality, 321, 367,
399
- ductile damage, 445
- kinematic hardening, 428
- nonlocal model, 503
Codazzi-Gauss compatibility condi-
tions, 280
coil winding, 206
compatibility equations, 12
complementary energy, 38
composite material, 26, 205, 242
compression of a disk, 230
conie surface, 283
 Index 575

conjugate function, 98, 105 - mechanical, 324, 399

conjugate variables, see dual variables distortion energy, 22
conservat ion of linear momentum, 350 divergence operator
conservat ion of mass, 349 - cylindrical coordinates, 546, 547
consistent tangent operator, 318 Drucker's stability criterion, 312
- ductile damage, 459 dual variables, 33, 69, 322, 356
- kinematic hardening, 433 ductile material, 203, 226, 241
- viscoplasticity, 333
continuity equations, 11 eccentric force, 267
- beam, 60 effective stress, 440, 443
contour lines eigenvalues, see principal values
- torsion, 100 eigenvectors, see principal directions
Cosserat mechanics, 496 Einstein's summation convention, 1
creep, 329 elastic predictor, 315, 404
critical buckling load, 252 elastic unloading, 309
critical buckling stress, 254 elasticity domain, 304, 307, 325, 399
critical damage, 441 - ductile damage, 443
cross section, 49 - kinematic hardening, 426
current configuration, 337 elasticity tensor
curvature - material, 371, 375
- beam, 54 - spatial, 372, 376, 387, 395, 407
- plate, 129, 145 elasto-plasticity, 305
- shell, 289 elliptic section
- yield surface, 320 - torsion, 110
curved beam, 209 ellipticity
curvilinear coordinates, 273 - rate problem, 473
cyclic plasticity, 303, 423, 435 energy method
cylindrical coordinates, see change of - stability, 252, 256, 269
coordinates entropy, 366
- torsion, 109 equation of state, 321, 400
- ductile damage, 443
damage mechanics, 439 - kinematic hardening, 426
damage model equilibrium equations, 8
- ductile, 440, 442 - 2D, 163, 164, 195
- elastic, 469, 506, 509 - beam, 58
damage potential, 444 - cylindrical coordinates, 547
damage threshold, 441 - plate, 126, 144
damage variable, 439 - shell, 292
dead load, 388 Eshelby's results, 524
deformat ion gradient, 339, 416 Euler's method
deviatoric, 6 - buckling, 252
direct method Eulerian description, 338, 351
- stability, 252 exponential algorithm, 404, 419
directional derivative, 385, 503
Dirichlet problem, 99 fatigue, 462
discontinuity fictitious cut
- beam, 63 - beam, 58
- plate, 151 - plate, 147
displacement finite element method, 47, 313
- shell, 285, 287 first moment, 50
dissipation, 322 Flamant's solution, 224
- elastic damage, 506, 510 flow rule, 307, 322, 403
- macroscopic, 502, 517 - viscoplasticity, 331
576 Index
Fourier series
- 2D, 169, 182, 200
- plate, 136, 157
Fourier's heat con duct ion law, 235
fracture Mechanics, 465
free energy, 321, 367, 399, 410
- duc ti le damage, 442
- elastic damage, 506, 510
- kinematic hardening, 426
- macroscopic, 500, 515
fundamental form
- first, 274
- second, 278
Gâteaux derivative, 385
Galerkin's method, 45
generalized standard material, 323
- nonlocal model, 503
geometric stiffness, 389
Gibbs vector, 420
gradient operator
- curvilinear coordinates, 283
- cylindrical coordinates, 545, 546
gradient plasticity, 498
Green-Lagrange strain, 344, 345
- algorithm, 416
Green-Naghdi-McInnis rate, 364, 417
hardening modulus, 311, 327
- ductile damage, 446
- kinematic hardening, 429
hardening stress, 302, 399, 423
harmonic, 96
heat equation, 234, 324
heat flux, 235, 366
Helmholtz's free energy, see free energy
Hill's criterion, 306
Hill's linear comparison solid, 473
Hill's maximum dissipation principle,
307, 324, 402
hollow elliptic section
- torsion, 118, 119
homogenization, 521
- nonlocal model, 498
Hooke's operator, 17, 305
hydrostatic pressure, 19, 373
hydrostatic stress, 24
hyperelasticity, 369, 401
hypoelasticity, 369, 372, 413
identity tensor, 2
incompressibility, 20, 307, 340, 359,
373,392
indicator function, 323
influence function
- plate, 140
influence line, 69
initial yield stress, 302
internal energy, 366
internal force, 3
- plate, 130
internal length, 496, 502
internal load, see stress resultant
internal variable, 321, 399
- ductile damage, 442
- kinematic hardening, 426
isochoric deformat ion, 6, 350, 374, 382,
403
isotropic material, 18, 374, 379, 399
J 2 flow theory, 305, 411
Jaumann rate, 363, 372
- algorithm, 420
kinematic hardening, 425, 442
- stress, 423
kinematically admissible, 31
kinetic energy, 353, 366
Kirchhoff stress, 356, 370, 399, 413
Kirchhoff-Love theory
- plate, 127, 135
- shell, 287
Kirsh's solution, 223
Kronecker's symbol, 2
Kuhn-Tucker conditions, 308
Levy's method
- plate, 136
Lagrange multiplier, 373, 390, 392
Lagrangian description, 338, 354, 355,
388
Lagrangian multiplier, 308
Lame's problem, 201, 205, 207, 222
Lame's coefficients, 18
Laplacian operator
- cylindrical coordinates, 546
laws of thermodynamics, 366
- first, 366
- second, 366
Lee's multiplicative decomposition, 397
Leibnitz's formula, 220
Lejeune-Dirichlet theorem, 252
Lemaitre-Chaboche model, 441, 442
length variation, 343
Lie derivative, 364, 371, 400
linear elasticity, 16, 33, 305
linearization, 385
- of constitutive equations, 387

- of deformation, 386
- of elasto-statics, 387
- of pressure, 393
- of weak formulation, 389
local formulation, 9, 29, 351, 356
local state method, 320
localization mode, 473
localization surface, 473
localization theorem, 349
logarithmic strain, 344, 348
logarithmic stretch, 396, 401
macro-crack, 439, 490
macroscopic approach, 519
material description, see Lagrangian
description
material time derivative, 338
Maxwell's geometric compatibility, 475
Maxwell-Betti theorem, 42, 47
- beam, 68, 80
- plate, 140
mechanical problem, 237
membrane analogy, 102
membrane problem, 245
- plate, 130
membrane theory, 298
micro/macro approach, 519
mid-point
- rotation, 420
- rule, 415, 420
- spin tensor, 420
- strain, 416
mid-surface
- shell, 273
middle fiber, 49
mixed formulation, 390
mixed stress, 391
Mohr's stress circles, 7
moment of inertia, 50
Mooney-Rivlin model, 378
Mori-Tanaka model, 526
motion,338
multi-connected, 12
- torsion, 104
Nanson's formula, 354
Navier equations, 23
Navier-Bernoulli assumption, 59
necking, 359
neo-Hookean model, 377
nominal strain, 344, 346
nominal stress, 354, 370
non-associative plasticity, 325
Index 577
- ductile damage, 442
- kinematic hardening, 425
non-conservative load, 258
nonlocal model, 496
normal force
- beam, 57
normal stress
- beam, 64
normality rule, see flow rule , 323
- generalized, 325, 427, 443
Norton's power law, 331, 332
objective stress rate, 363, 413
objectivity, 359, 370
- incremental, 422
octahedral shear stress, 14
Ogden's model, 380
penalty, 378, 380, 392
Piola identity, 387, 393
Piola-Kirchhoff stress
- first, 354
- second, 357, 370, 375, 379
plane strain, 163, 195
- generalized, 28, 201, 240, 243
plane stress, 129, 164, 195, 296
- h elasto-plasticity, 559
- algorithms, 559
- general finite-strain models, 562
- general small-strain models, 561
- generalized, 131, 170
plastic buckling, 255
plastic corrector, 316
plastic loading, 309
plastic multiplier, 326
- ductile damage, 445
- kinematic hardening, 428
- viscoplasticity, 332
plastic potential, 325
- ductile damage, 443
- kinematic hardening, 427
plastic power, 308
plastic strain, 302, 408
plastic work
- ductile damage, 449
Poisson's ratio, 19
polar coordinates, see change of
coordinates
polar decomposition, 340
- algorithm, 417
potential energy, 35, 389, 390
- plate, 139, 148
- torsion, 108
578 Index

Poynting effect, 383 - polydomain, 533

Prandtl's stress function, 98 - slip system, 528
Prandtl-Reuss equation, 305 semi-infinite plate, 224, 228
principal axes of inertia, 51 shape variation, 22
principal curvature lines, 273 shear force
principal directions, 340, 379, 401, 417 - beam, 57
principal invariants, 6, 374, 418 - plate, 143, 148
principal stretches, 340, 374, 379, 418 shear modulus, 19, 377
principal values, 6 shear reduced area, 67, 70
proper-orthogonal, 2, 419 shear stress, 7
pull-back, 403 - beam, 64
push-forward, 372, 375 Simo's algorithm, 404, 406, 408, 410
simple shear, 313, 381
radial return algorithm, 317, 411 simply connected, 12
radius of gyration, 254 slenderness ratio, 254
rate of deformation, 347, 370, 399, 413 small-perturbation hypothesis, 10
rate-dependent plasticity, see spatial description, see Eulerian
viscoplasticity description
reciprocity theorem, see Maxwell-Betti specific heat, 234
theorem specific heat supply, 234
rectangular section spectral decomposition, 341, 406, 418
- torsion, 116 spin tensor, 347
reference configuration, 337 - algorithm, 420
reference temperature, 233 square section
Reissner-Mindlin theory - torsion, 118
- plate, 135 stability, 250
representative volume element (RVE), state varia bie, 320
500, 519 statically admissible, 37
return mapping algorithm, 315, 406 statically determinate problem, 66, 71
- ductile damage, 450 statically indeterminate problem, 66,
- kinematic hardening, 430 77
- viscoplasticity, 333 steady state, 236
Reuss model, 524 stored energy, see strain energy
rigid body motion, 35, 200, 360 strain, 5
Ritz's method, 45 - average, 521
- plate, 160 - cylindrical coordinates, 547
- torsion, 117 - plate, 129
Rodrigues formula, 420 - shell, 286, 288
rotation matrix or tensor, 340, 413 strain energy, 21, 40, 369
- algorithm, 417, 419 - beam, 67
rotation of a disk, 215, 218 - plate, 139, 148
strain energy rele ase rate, 441, 443
Saint-Venant's principle, 25, 53, 134 strain hardening, 310, 311
- 2D, 176, 180, 211 strain increment, 415
- thermo-elasticity, 240, 246 strain localizat ion
- torsion, 97 - algorithm, 513
self-consistent model, 524 - analytical results, 477
self-equilibrium, 37 - ductile damage, 481, 483, 490
semi-crystalline polymer, 527 - Rice's presentation, 474
- amorphous phase, 531 strain softening, 310, 311
- inclusion, 528 - ductile damage, 450, 483
- intermediate phase, 536 - elastic damage, 469
- micro-domain, 533 strength criteria, 12
 Index 579

stress, 3 uniaxial stress, 312, 358, 384

- average, 522 - macro. scale, 542
stress concentration, 115, 218, 224 - strain localization, 480
stress power, 353 uniqueness, 34, 35, 38
stress resultant, 57 - rate problem, 473
- beam, 62
- plate, 123 variational formulation, 33, 37, 390
- shell, 290 velocity, 338
stress triaxiality, see triaxiality ratio velocity gradient, 347
stretch tensor virtual power theorem, 353
- left, 340 virtual work theorem, 32, 388
- right, 340 - beam, 90
strong formulation, see local formula- viscoelasticity, 535
tion viscoplasticity
structural heating, 324 - function, 329, 332
superposition principle, 25, 42 - Perzyna's formulation, 331
- 2D, 182, 183, 230 viscosity, 330, 534
- plate, 151, 153, 155 viscous stress, 330
surface of revolution, 280 Voigt model, 523
volume variation, 5, 22, 48
tangent operator, 310 von Mises equivalent stress, 13, 306
- ductile damage, 445
- kinematic hardening, 429 warping function, 95
tensor, 1 weak formulation, 32, 353, 355, 388
- matrices for change of coordinates, well posed problem, 10
556 - rate problem, 473
- matrices for storage, 553
thermal conductivity, 235 yield condition or criterion, 302, 399
thermal expansion, 233 - kinematic hardening, 425
thermal problem, 236 yield function, 304
thermal strain, 233 - ductile damage, 443
thermal stress, 237 - kinematic hardening, 426
thermo-mechanical problem, 235 - viscoplasticity, 331
thermodynamic force, 321 yield surface, 304
- ductile damage, 442 Young's modulus, 17
- kinematic hardening, 426
- nonlocal model, 502
thin walled section
- torsion, 121
torsional rigidity, 99, 106
transformat ion rule, 1, see change of
coordinates
- cylindrical coordinates, 548
transient, 245
transport formula, 348
Tresca's criterion, 15
triangular section
- torsion, 113
triaxiality ratio, 441, 447
true stress, see Cauchy stress
Truesdell rate, 364
two-scale approach, see micro/macro
approach