CHAPTER 1

INTRODUCTION TO FINITE ELEMENT METHOD

1.1 OVERVIEW
Various phenomena treated in science and
equations formulated by using their continuum engineering are often
described in terms of differential
mechanics models. Solving differential
under various conditions such as equations
boundary or initial conditions leads to the understanding
phenomena and of the
can predict the future of the phenomena. Exact solutions for differential
however, are generally difficult to obtain. Numerical methods are equations,
solutions for differential equations. The finite element method is adopted to obtain
approximate
perhaps the most popular numerical
technique for solving engineering problems. The method is general enough to handle
any complex
shape or geometry, any material properties, any boundary conditions and any
The generality of the finite element method fits the loading conditions.
analysis requirements of today's complex
engineering system and design, where closed form solution of governing equilibrium equations are
usually not available. In addition, it is an efficient design tool by which designers can perform
parametric design studies by considering various design cases (different shapes, materials, loads
etc.), analyses them and can choose the optimum design.
The finite element method is a numerical technique for
obtaining approximate solution to a wide
variety of engineering problem. The method originated in the aerospace industry âs a tool to study
stresses in complex air-frame structure. The method has gained increased popularity among both
researcher and practitioners.
Since its birth, the finite element method has gone through various developmental stages. Started
with formulation of finite element theory, variational and Galerkin's approaches for two dinmensional
and three dimensional problems were formulated. Isoparametric formulations for both linear and
nonlinear, static and dynamic analysis were developed. Also computational methods required by
the finite element method were established. This method includes numerical integration of element
equations, solution of the global system of algebraic equations, study of numerical stability and error
analysis solution algorithms.

1.2 NUMERICAL METHODS

The formulation for structural analysis is generally based on the three fundamental relations:
equilibrium, constitutive and compatibility. There are two major approaches to the analysis: Analytical
and Numerical. Analytical approach which leads to closed-form solutions is effective in case of
 Method
4 -Finite Element
in reality,
conditions, loadings and material properties. However, h
simple geometry, boundary methods are evolved for solving such
As a result, various numerical
simple cases may not arise. solutions will be approximate
which are complex in nature.
For numerical approach, the
problems satisfied. The numerical method depends heavily
when any of these relations are only approximately
structures of arbitrary size and
on the processing power of computers
and is more applicable to
solutions of differential equations as the basis
complexity. It is common practice to use approximate
numerical approximation techniques. Few numerical
for structural analysis. This is usually done using fluid mechanics problems are given below.
methods which are commonly used to solve solid and
1. Finite Difference Method 2 Finite Volume Method

3. Finite Element Method 4 Boundary Element Method

5. Meshless Method
The application of finite difference method for engineering problems involves replacing the goveming
differential equations and the boundary condition by suitable algebraic equations.
It may be interesting to note that, the concept of node is used in the finite difference method.
Basically, this method has an array of grid points and is a point wise apprOximation, whereas, finite
element method has an array of small interconnecting sub-regions and is a piece wise approximation.
Each method has noteworthy advantages as well as limitations. However it is possible to solve
various problems by finite element method, even with highly complex geometry and loading
conditions, with the restriction that there is always some numerical errors. Therefore, effective and
reliable use of this method requires a solid understanding of its limitations.

1.3 BACKGROUND OF FINITE ELEMENT METHOD

The finite element method can be traced back to the work by Alexander Hrennikoff (1941) and
Richard Courant (1942). Hrennikoff introduced the framework
method, in which a plane elastic
medium was represented as collections of bars and beams. These
characteristic: mesh discretization of a continuous domain into a set of
pioneers share one essential
discrete sub-domains, usually
called elements.
1. In 1950s, solution of large number of simultaneous
digital computer. equations became possible because ot tne
2. In 1960, Ray W. Clough first
published a paper using term "Finite Element Method
3. In 1965, First conference on "finite
elements" was held.
4. In 1967, the first book on the "Finite
Element Method" was published by Zienkiewicz and
5. In the late 1960s and early Chung
1970s, the FEM
was applied to a wide
variety of engineering problens
6. In the 1970s, most commercial FEM
software packages (ABAQUS, NASTRAN, ANSY>.
etc.) originated. Interactive FE programs on super
computer lead to rapid growth of CAD systen
7. In the 1980s, algorithm on
electromagnetic applications, fluid flow and thermal analysis wcs
developed with the use of FE program.
ere

8. Engineers can evaluate ways to control the vibrations and extend the use of flexible, able
structures in space using FE and other methods in deploya
the 1990s. Trends to solve fully coupled
of fluid flows with structural interactions, bio-mechanics related problems with a sou o f
accuracy were observed in this decade.
higher leve
 Introduction to Finite Element Method
With the development of finite element method,
together with tremendous increases in computing
power and convenience, today it is possible to understand
This was in fact the beyond of imagination before the structural behavior with levels of accuracy.
computer age.
1.4 GENERAL DESCRIPTION OF THE FINITE ELEMENT
In the field of Engineering Design
METHOD
we come across
Formulation of which is tedious and usually not possible by complex problems,
many the Mathematical
resort to the use of Numerical techniques. Here lies the
analytical methods. At such instants we
importance FEM, which is a very
of
powerful tool for getting the Numerical solution of a wide range of engineering problems. The basic
concept is that a body
or structure be
may divided into smaller elements of finite dimensions called
as "Finite Elements". The original body or structure is then
considered as an assemblage of these
elements connected at a finite number of
joints called as "Nodes" or *"Nodal Points". The properties
of the elements are formulated and combined to obtain the
properties of the entire body.
The equations of equilibrium for the entire structure or body are then obtained
by combining the
equilibrium equation of each element such that the continuity is ensured at each node. The necessary
boundary conditions are then imposed and the equations of equilibrium are the solved to obtain the
required variables such as Stress, Strain, Temperature Distribution or Velocity Flow depending on
the application.
Thus, instead of solving the problem for the entire structure or body in one operation, in the method
attention is mainly devoted to the formulation of properties of the constituent elements. A common
procedure is adopted for combining the elements, solution of equations and evaluation of the required
variables in all felds. Thus the modular structure of the method is well exploited in various disciplines
of Engineering.
Definition: The Finite Element Method (FEM) is a numerical analysis technique used by
engineers, scientists, and mathematicians to obtain solutions (approximate solutions) to the
diferential equations or partial diferential equations that describe, or approximately describe
a wide variety of physical
and non-physical problems. Physical problems range in diversiry
Jrom solid, fluid and soil mechanics, to electromagnetism or dynamics

1.4.1 BASIC STEPS IN FINITE ELEMENT METHOD

The solution of a general continuunm problem by the finite element method always follows an
orderly step-by-step process. The step-by-step procedure with reference the static structural problems
can be stated as follows:
1. Discretisation of the continuum: The first step in the finite element method is to divide
the
given continuum into smaller regions of finite dimensions called as "Finiteelements". The original
Continuum (body or structure) is then considered as an assemblage of these elements
connected at
a finite number
of joints
called as "Nodes" or "Nodal Points". At each node, unknown
displacements
are to be prescribed. The type, size, number, and
arrangement of the elements depend on the
accuracy of the solution required.
 Node

Element
Body/Continuum

Fig:Discretized body/continuum
2. Selection of approximating functions: Approximating functions are also known
displacement function or interpolation model. Displacement function is the starting point
mathematical analysis. This represents the variation of the displacement within the elemen
displacement function may be approximated in the forma linear function or a higher-orderfun
The approximating function can be of two types. 1. Polynomial approximation function
Trigonometric approximation function

Polynomial function is of the form

ta,t+ a,x +a,r +ax+.. +0
The trigonometric function is of the

TtX 3Tx STx

a sin+a, sin+a,sin
A convenient way to express it
is by polynomial expressions. The shape orgeometry of the eler
may also be approximated.
3. Formation of elemental matrices: After the body is discretized
into elements, the indivi-
element matrices are derived by
applying minimization procedure wherever
elemental matrices include elemental stiffness matrix necessary.
elemental force/load vector {f,. In general elemental [k.], elemental displacement vector {q,}
vectors are not written
separately.
displacement vectors and elemental
fa
4. Formation of
global or overall matrices: After all the
derived, global matrices are derived by
taking
corresponding elemental matrices
all the elemental matrices as algebraic summation or systematic
per global coordinates.
Global matrices
assembly of
k] [k,] |k,] + [k,] t
+
global displacement vector include global stiffness mau
(taking algebraic summation all types {Q} and global forceload vector i
of forces acting at the
5. Formation of the
equilibrum equation: Equilibrium particular node).
of the overall stiffness
matrix, Overall load equation is the
systematic arrangeme
eimiltaneous equations. Overall equilibriumvector and overall displacement vector to
equation can be expressed as
set get
shown below:
Where --- (1.5
klis a overall or global stiffness
matrix (Square
is a overall or global matrix)
displacement vector (Column
Fis a overall or global force vector
(Column matrix) matrix)
 6. Incorporation of boundary conditions: The boundary restraint conditions are to be imposed
in the stiffness matrix to avoid the condition of singularity. The solution cannot be obtained unless
support conditions are included in the stiffness matrix. This is because, if all the nodes of the
structure are included in displacement vector, the stiffness matrix becomes singular and cannot be
solved if the structure is not supported amply, and it cannot resist the applied loads.
7. Calculation of unknown nodal displacements: After incorporation of boundary conditions,
elimination method or penalty methods of handling boundary condition are used to calculate
unknown nodal displacements from the equilibrium equation or simultaneous equations.

8. Calculation of strain and stresses: Nodal displacements are utilized for the calculation of
continuum
strain and stresses using the suitable equations. This may be done for all elements of the
or it may be limited to some predetermined elements. Results may also be obtained by graphical
means. It may desirable to plot the contours of the deformed shape of the continuum.
1.4.2 ADVANTAGES

Following are the advantages of finite element method:

for any closed bound solution, can
1. The physical properties, which are intractable and complex
be analyzed by this method.
2. It can take care of any geometry (may be regular or irregular).
3. It can take care boundary conditions.
of any
conditions.
4. It can take care of any type of loading
can be catered without much difficulty.
5. Material anisotropy and non-homogeneity methods.
methods like Galerkin and Rayleigh-Ritz
6. This method is superior to other approximate
7. In this method, finite element model can be altered very
easily.
linear material
8. In this method, the non-linear behavior existing
with large deformation and non

can be handled easily.

9, Enable to computer programming.

1.4.3 DISADVANTAGES
following disadvantages:
method has
Despite of its advantages finite element
of the problem is high.
1. Computational time involved in the solution
the FEM.
other methods of analysis may prove efficient than
2. For fluid dynamics problems some
source of
approximation of the mathematical model of a system (the
3. The FEM is applied to an

S0-called inherited errors).

model.
in order to construct a good finite element
Experience and judgment are needed
errors:
modeling
S. Susceptible to user-introduced
i) Poor choice of element types.
i) Distorted elements.

(ii) Geometry not adequately modeled

6. Mistakes by users can be fatal.
8 - F i n i t e Element Method

ELEMENT METHOD
OF FINITE
of aircraft structures. Howe
APPLICATIONS
1.5 was developed for the analysis
element method engineerin
Originally, the
finite
makes it applicable
to wide variety of problems in
theory its
thegeneral nature of method can be classified
into three major categoria.
ategories,
application of the finite element
The specific
namely
time -
independent problems
1. Equilibrium or steady state o r
2. Eigen value problems and
transient problems.
3. Propagation or o r stress distribution if
we need to find the steady-state displacement
In an equilibrium problem, distribution if it is a heat transfer problems
temperature o r heat flux
it is a solid mechanics problem, mechanics problems.
fluid
velocity distribution if it is
a
and pressure or
be considered as
problem also time will not appear explicitly. They may
In eigen-value
an
are to be
problems in which critical values of certain parameters
extensions of equilibrium
state configurations. In these problems, we
determined in addition to the corresponding steady
and mode shapes if it is a solid mechanics
need to find the natural frequencies or buckling loads
or structural problems, stability of laminar flows if it is a fluid mechanics problems and resonance
characteristics if it is an electrical circuit problems.
The propagation or transient problems are time dependent problems. This type of problem
under time
arises, for example, whenever we are interested in finding the response of a body
of heat
varying force in the area ofsolid mechanics and under sudden heating or cooling in the field
transfer.
In General, applications of Finite Element Method can be classified into two types viz.,
STRUCTURAL PROBLEMs
1. Stress analysis including bars, truss and frame analysis
2. Stress concentration problems typically associated geometric discontinuity (with holes, fillets or
other changes in geometry in a body).
3. Buckling Analysis:
Example: Connecting rod subjected to axial compression.
4. Vibration Analysis:
Example:A beam subjected to different types of loading.
NON-STRUCTURAL PROBLEMS
1. Heat Transfer
analysis:
Example: Steady state thermal analysis on
2. Fluid flow
composite cylinder.
analysis
Example: FHuid flow through pipes.
1.5.1 LIMITATIONS
The limitations the finite elements are as follows:
 Introduction to Finite Element Method 9
1. The accuracy of the obtained solution is usually a function of the mesh resolution.
Any regions
of highly concentrated stress, such as around loading points and
supports, must be carefully analyZed
with the use of a sufficiently refined mesh. In addition, there are some
problems which are inherently
singular (the stresses are theoretically infinite). Special efforts must be made to analyze such
problems.
2. Proper engineering judgment is to be exercised to interpret results
3. It requires large computer memory and computational time to obtain intend results.
4. There are certain categories of problems where other methods are more effective, e.g., fluid
problems having boundaries at infinity are better treated by the boundary element method.
5. For some problems, there may be a considerable amount of input data. Errors may creep up in
their preparation and the results thus obtained may also appear to be acceptable which indicates
deceptive state of affairs. It is always desirable to make a visual check of the input data.
6. In the FEM, many problems lead to round-off errors. Computer works with a limited numberof
digits and solving the problem with restricted number of digits may not yield the desired degree of
accuracy or it may give total erroneous results in some cases. For many problems the increase in
the number of digits for the purpose of calculation improves the accuracy.
7. An additional concern for any user is that because current packages can solve so many
sophisticated problems, there is a strong temptation to "solve" problems without doing the hard
work of thinking through them and understanding the underlying mechanics andphysicalapplications.
Modern finite element packages are powerful tools that have become increasingly indispensible to
mechanical design and analysis. However, they also make it easy for users to make big mistakes.

1.6 BOUNDARY CONDITIONS

Boundary conditions are the kinematic constraint applied to a body to constrain the rigid body
movement. If these kinematic constrains or support conditions or boundary conditions are not
and will not
applied, the body behavior will be unstable (body will be free to moves as rigid body
resist any applied loads). This indicates singularity of the matrix and the inverse of the matrix does
not exit. Hence, boundary conditions, in terms of fixed degrees of freedom or known values of the
basic variable (displacement in structural problems, temperature in heat transfer problems and
nodal potentials or fluid head in fluid flow problems) are applied.
There are two types of boundary conditions: Homogenous boundary condition and Non-
homogeneous boundary conditions
Homogenous boundary condition: These are most commonly used boundary condition
Occurs at the location that completely prevented from the movement or the prescribed basic
variable values are often zero or known there by eliminating row and the column in the
equilibrium equation with respect prescribed basic variable (Elimation method of handling
boundary condition).
Non-homogenous boundary conditions : These boundary conditions occurs where finite non
zero values of variables are specified such as the settlement of the support (Penalty method of
handling boundary condition).
 ntroduction to Finite Element Method- 5
These two methods result in different unknowns (forces or displacements) in the finite element
analysis and different matrices associated with their formulations (flexibilities or stiffnesses). But
in most of the cases it found that, for computational purposes, the displacement (or stiffness)
method is more preferred because its formulation is simpler for most structural mechanics problems
analysis. Furthermore, a vast majority of general-purpose finite element softwares/ programs have
incorporated the displacement method of formulation for solving structural problems.

Note: For convergence condition refer section 2.7.

1.11 DISCRETISATION PROCESS

Discretization process means dividing the given continuum or problem into smaller regions called
elements. Figure (1.3) shows an example of the discretized body.

(b) Beam with 1D bar Element

(a) Cantilever beam

(d) Beam with 3D Element

(c) Beam with 2D Element

Fig. 1.3: Discretization process

in the discretisation process are

Theconsiderations to be taken
1. Type of the elements
2. Size of the elements
3. Number of elements
4. Location of nodes
5. Node numbering scheme
 -Finite Element Method

16 ELEMENT tus
on the problem type
1.11.1 TYPE
OF THE
analysis depends and ethe
used in finite
element
problem plays ah
blem plays an vi al role
of element of element for particular
type
depending upon various fact
In general, Selection of
suitable type facto In
requirement. different types.depending
analysis Elements can be of
element analysis.
in the finite
classified as
general, they are
1.One-dimensionalElements
2. Two-dimensional Elements

3. Three-dimensional Elements

Elements
4. Axis symmetric onalof one-dimensione
suitable for the analysis
elements: These elements are dimensional elements, The
1. One dimensional as the one he
elements are considered
and beam end. Figure 14
problems. A bar,
truss
has two nodes,
one at each
element also known
as linear element
simplest line
shows the various
bar elements.
4 noded
3 noded
2 noded
Quadratic (cubic)
linear

Fig. 1.4 One dimensionalelements

two-dimensional analysis
elements are suitable for the
2. Two-dimensional Elements: These
are also known as the plane
elements. Commonly used
such as plane stress and plane strain. These
elements are as shown in
two-dimensional elements are the triangular elements and quadrilateral
are the first 2D element used in
two-dimensional
figure 1.5. The three noded triangular elements Strain Triangular
analysis. These three noded triangular elements are known as the Constant
variation over
(CST) or Linear Displacement Triangular element because the displacement
these elements is linear in nature.
Also, the triangular elements can have six nodes. These six noded triangular elements are know
as Linear Strain Triangular(LST) or Quadratic Displacement Triangular elements becau
the displacement variation over these element is parabolic or non linear in nature.
Triangular elements

(a) 3-node linear (b) 6-node quadratic (c) 10-node cubic

Quadrilateral elements

(a) 4-node (b) 8-node

(Linear) (c) 9-node (d) 12-node (e) 16-node
(Quadratie) (Quadratic) (Cubic) (Cubic)
Fig. 1.5
Two-dimensional elements
 Introduction to Finite Element Method 17

3. Three-dimensional Elements: These elements are suitable for the three dimensional analysis.
Prism
Figure 1.6 shows commonly used three-dimensional elements such as Tetrahedral element,
clement, Hexahedral element. These are also known as the solid elements
Tetrahedal Elements

4 node 10 node 20 node

Prism Elements

29 node
16 node
7 node

Hexahedral Elements

20 node 32 node
8 node
Fig. 1.6:Three dimensional
developed by rotation of planar
a
elements are
4. Axisymmetric elements: The axisymmetric 360°.
about an axis located
in a plane of the element through
Surface (triangle or quadrilateral) such as
and loading of the problems are axisymmetric
These elements are used when the geometry
shows axisymmetric elements.
of shaft, cylindrical storage tanks etc. Figure 1.7
analysis

Fig. 1.7: Axis symmetric elements

18-Finite Element Method

1.11.2 S1ze OF THE ELEMENTS

The size of the elements chosen in the finite element model plays an vital role in the finite eleme
ment
analysis because, the size of the elements influences the convergehce of the solution. Therefore: it
has to be chosen with lot of care. If the size of the elements is fine i.e. small, the final solution
is
expected to be more accurate but at the same time, we have to remember that use of fine mesh
esh
(small element size) will also mean more computational time. As for as possible we have to use the
same element size throughout the body but some times, we may have to use different sizes in the
same body. For example, in the case of stress analysis of a plate with a hole elements of
different
sizes have to be used as shown in figure (1.8). The size of the elements has to be very small near
the hole (where the stress concentration is expected because of the change in cross
section)
compared to the far away places. In general, whenever there is a change in cross section or the
region where the stress concentration in expected, the size of the elements should be small in those
regions. Another characteristic related to the size of the elements which affects the finite element
solution is the aspectratio ofthe elements. The aspect ratio describes the
the finite element model. For a two-dimensional shape of the element in
elements, the aspect ratio is taken as the ratio of
longest dimension of the element to the smallest dimension of the same element. Elements with an
aspect ratio of nearly unity generally yields
best results.

P O
P

Plate witha hole (Geometric

model) FE model with
1.11.3 NuMBER
Fig. 1.8 different element sizes
OF ELEMENTs
Selection of the number of elements
number of degrees of freedom in the finite
element model is
increase in the number of elementinvolved and more related to the size of
a given
problem, but there will be (use of fine mesh size)importantly
accuracy element,
required. Although an
improved by any significant
a
certain generally
number of elements yields more accurate
Importantly, we have to amount. This beyond which results for
remember that behaviour in the
of degrees of
freedom, more large number of shown graphicallyaccuracy
use
in
cannot
resulting data. computational time and elements will also
more
figure (1.9)
mean
the large number
computer memory
required to store
 Accuracy

Exact
solution

Solution obtained from FEM

Number of
N Elements
No significant
improvement beyond No
Fig. 1.9 Effect of varying the number of elements.

1.11.4 LoCATION OF NoDES

Node is a point where the properties are defined and determined for an element. Therefore location
of node is very important. If the body has no discontinuity, then the body can be divided into
equal
number of elements and hence the spacing of the nodes can be uniform. On the other hand, if the
body has discontinuity such as discontinuity in loading, discontinuity in geometry, or discontinuity in
material properties, thenthe nodes have to be introduced or placed at those discontinuity as shown
in figure (1.10).
-P,N/m

N/m

Node

(a) Point load on the beam (b) discontinuity in loading

Node e- er
Aluminium Nodes

(c) Change in Geometry- (d) discontinuity in material properties.

discontinuity in geometry
 -Finite Element Method
20

Node

in material
(e) Plate with a crack discontinuity
-

Fig. 1.10

1.11.5 NoDE NUMBERING SCHEME

The size of the global stiffness matrix resulting from the finite element analysis depends upon t
node numbering scheme and the number of degrees of freedom considered per node. If we c
minimize the size, both solution time and storage requirements can be minimized. To achieve t
minimization, we have to perform a systematic subdivision and adopt an appropriate numberi
system for nodes. The band width (Strictly speaking half band width) of the global stiffness mat
can be defined as
Half band width B
(D + 1)f
=
- (1.2
Where, D is the maximum of largest difference between node numbers in an element and al
elements are considered for its determination
node.
and fis the number of degrees of freedom at ea

Eq.(1.20) indicates that Dhas to be minimised in order to minimize the

consider various numbering scheme for band width. As an examp
of freedom at each node. Let the node
two-dimensional problem. Assume that there are 2 degre-
shorter dimension and other along the numbering of this structure in
different ways one along
longer dimension as shown in
DIMENSIONING ALONG, THE LONGER EDGE
figurel.11(a), (b), (¢) and(
(SIDE)
4 9

18 17 161S 14 13 4
7 8 9
10
19 20 23 24 25 26 10
13 14 s l16 17
27 19
20 21
36
28
22 23 24 25 26 2
37 30 3940 41 42 43 44 28 29 30 31 32 33 34 35
s3_52 45
54 o la Ja_47 46
37 38 39 40
41 42 4344
B (17+ 1)*2 36 54
48 l49 so
Fig. (a)
s s2
B (9+ 1) x
2 20
 Introduction to Finite Element Method 21
DIMENSIONING ALONG THE SHORTER EDGE (sIDE)

13 24 2536 37 48 49
25
J14 3 26 3s 38 47
50
o_s_227 34 39 J46 51 42026 32 38 4450 S)
4 J16 28 3 l4o lasS2 5 7 45 52
10 16 22 28 34 40 146
6 6
12 18 24 30 36 42 48
B (11 1)x 2 24
B (6+ 1) x 2 14
Fig.(c) Fig. (d)
Fig. 1.11: Node numbering scheme
Thus a shorter band width can be obtained simply by numbering the nodes across the shortest
dimension of the body.

1.11.6 BANDED MATRIX

In a banded matrix non-zero elements are contained within the band and outside the band elements
are zero.

In the matrix, all non-zero elements (coefficients) are on either side of the main diagonal joining the
elements k,, and k and these are within the band whose width is given by 'nbh' called the half
band width.The half band width or semi-band width is defined as the greatest number of coefficients
of matrix in any row of tie matrix from and including the leading diagonal to the right hand-side
non-zero coefficients) Its value can be calculated by the Eq.(1.20)

UsES
The main use of banded matrix lies in reducing the space required to store the given matrix and
These can
minimize the solution time. Thus banded matrix is used to store only non zero elements.
be stored compactly in nxnbh matrix instead of n xn original matrix

nbh
k2 3Ka 0 0 ki ks ku
|
k23 24kas k22 ka3 k24 Kas
ks kaks2 ks k4 ksk36
|k31 kgs ks6 a3s k34 1s k
k42 k43k44 k45 K44 ks
0
0ks2 ks ks kssKs6
kso
LO 0k63 k44 Ks6 kg6 Joxo=36 kkoo 0 0 Joxd-24
Jox4=24