NOVAFEM-PUC Solver: Theoretical Manual, Non-Linear Formulations

CAN UNCLASSIFIED
NOVAFEM-PUC solver
Theoretical manual, non-linear formulations
Noureddine Atalla
Franck Sgard
Mecanum Inc.
Prepared by:
Mecanum Inc.
1060, Cherbourg, Suite 202
Sherbrooke QC J1K 2N8
Project 01ec
PSPC Contract Number: W7707-175903/001/HAL
Technical Authority: Jeff Szabo
Contractor's date of publication: March 2017
Defence Research and Development Canada

Contract Report
DRDC-RDDC-2017-C254
December 2017
CAN UNCLASSIFIED
CAN UNCLASSIFIED
IMPORTANT INFORMATIVE STATEMENTS
Disclaimer: This document is not published by the Editorial Office of Defence Research and Development Canada, an agency of
the Department of National Defence of Canada, but is to be catalogued in the Canadian Defence Information System (CANDIS), the
national repository for Defence S&T documents. Her Majesty the Queen in Right of Canada (Department of National Defence)
makes no representations or warranties, expressed or implied, of any kind whatsoever, and assumes no liability for the accuracy,
reliability, completeness, currency or usefulness of any information, product, process or material included in this document. Nothing
in this document should be interpreted as an endorsement for the specific use of any tool, technique or process examined in it. Any
reliance on, or use of, any information, product, process or material included in this document is at the sole risk of the person so
using it or relying on it. Canada does not assume any liability in respect of any damages or losses arising out of or in connection
with the use of, or reliance on, any information, product, process or material included in this document.
This document was reviewed for Controlled Goods by Defence Research and Development Canada (DRDC) using the Schedule to
the Defence Production Act.
Endorsement statement: This publication has been peer-reviewed and published by the Editorial Office of Defence Research and
Development Canada, an agency of the Department of National Defence of Canada. Inquiries can be sent to: Publications.DRDC-
RDDC@drdc-rddc.gc.ca.
Template in use: SB SL Covering Page_EN_Smart_2017-11-02_V01_WW.dotm
© Her Majesty the Queen in Right of Canada (Department of National Defence), 2017
© Sa Majesté la Reine en droit du Canada (Ministère de la Défense nationale), 2017
CAN UNCLASSIFIED

129$)(038&VROYHU7KHRUHWLFDOPDQXDO
1RQ/LQHDU)RUPXODWLRQV
)LQLWH(OHPHQW0RGHOLQJRIWKH$FRXVWLF3URSHUWLHV
&RQWUDFW:+$/

3UHSDUHGIRU
-HII6]DER
'5'&

3UHSDUHGE\
1RXUHGGLQH$WDOOD3K'
)UDQFN6JDUG3K'

5HOHDVH'DWH0DUFK

$OIUHG'HVURFKHUV FRQVXOW#PHFDQXPFRP

6KHUEURRNH4&&DQDGD-.$ ZZZPHFDQXPFRP

7HO 79474

)D[ 736*67

NOVAFEM-PUC Solver - Non-linear Formulations 1-1
1. INTRODUCTION 1-1
2. TOTAL LAGRANGIAN AND UPDATED LAGRANGIAN FORMULATIONS 2-4
2.1 REFERENCE AND CURRENT CONFIGURATIONS 2-4

2.2 DEFORMATIONS (STRAIN) TENSORS 2-6
2.3 STRESS MEASURES 2-7
2.4 PRINCIPLE OF VIRTUAL WORK – THE WEAK FORM OF THE UPDATED LAGRANGIAN (U.L) AND
TOTAL LAGRANGIAN (T.L.) FORMULATION 2-9
2.5 PRINCIPLE OF VIRTUAL WORK – LINEARIZED UPDATED LAGRANGIAN (U.L.) FORMULATION 2-10
2.6 GENERAL SOLUTION METHODOLOGY FOR THE LINEARIZED UL FORMULATION 2-11
3. MATERIAL NON-LINEARITY – SELECTED MODELS 3-13
3.1 ELASTIC MATERIALS 3-14

3.2 HYPERELASTIC MATERIAL MODELS 3-14
3.2.1 SAINT-VENANT-KIRCHHOFF MODEL 3-15
3.2.2 MOONEY-RIVLIN MODEL (INCOMPRESSIBLE) 3-15
3.2.3 MOONEY-RIVLIN MODEL (NEARLY-INCOMPRESSIBLE) 3-16
3.2.4 OGDEN MODEL 3-18
4. FINITE ELEMENT IMPLEMENTATION OF THE UL FORMULATION 4-19
4.1 INTERPOLATION OF THE GEOMETRY 4-19

4.2 INTERPOLATION OF THE DISPLACEMENT AND DISPLACEMENT INCREMENTS 4-19
4.3 DISCRETIZED FORMULATION 4-20
4.3.1 ELEMENTARY CONSTITUTIVE TANGENT STIFFNESS MATRIX  kC( ) 
e
4-20
 
4.3.2 INITIAL STRESS TANGENT STIFFNESS MATRIX  k S( ) 
e
4-22
 
4.3.3 FOLLOWING PRESSURE TANGENT STIFFNESS MATRIX  k P( ) 
e
4-24
4.3.4 FOLLOWING PRESSURE FORCE NODAL VECTOR 4-24
4.3.5 FOLLOWING INTERNAL FORCE NODAL VECTOR 4-24
4.3.6 CALCULATION OF σ
t
4-25
4.3.7 EXPRESSION OF THE TANGENT SPATIAL ELASTICITY TENSOR t c 4-26
4.3.8 MEAN DILATATION METHOD TO ACCOUNT FOR INCOMPRESSIBILITY 4-28

4.4 FLOW CHART 4-31
4.5 REMARKS ON NOVAFEM-PUC NON-LINEAR SOLVER 4-32
5. NUMERICAL VALIDATION 5-32

6. REFERENCES 6-35
7. APPENDIX A 7-37
7.1 TOTAL LAGRANGIAN (T.L.) FORMULATION – THE INCREMENTAL FORM 7-37

7.2 FINITE ELEMENT IMPLEMENTATION OF THE INCREMENTED TL FORMULATION 7-38
8. APPENDIX B – VALIDATION MANUAL 8-43

1. Introduction
One of the applications of the Periodic Unit Cell (PUC) module of NOVAFEM is to calculate the
absorption and transmission coefficient of hyper-elastic solids with hollow (void) inclusions. This
has been solved using a linear approach wherein an elastic model with frequency dependent
properties is used to describe the material’s properties (material non-linearities). A problem arises
when the system is preloaded by a hydrostatic pressure. In this case, a static problem is solved first
to obtain the deformed geometry; then the dynamic problem is solved for the acoustic load (plane
wave). However, the static step of this approach is false since geometrical-non linearities are
ignored. Because the system depicts large deformation, a nonlinear model must be used in the static
solution step. The development, implementation and validating of this non-linear geometrical
capability is the first and main objective of this work. The second objective is to integrate in the
software a hyper-elastic material model (eg. Ogden or Mooney Rivlin) to supplement the existing
frequency dependent capability (i.e experimental stress-strain curves).
A linear structure is a mathematical model characterized by a linear fundamental equilibrium path

for all possible choices of load and deflection variables. Linear models provide satisfactory
approximations for many problems of practical interest. However, when performing structural
mechanics analyses, substantial departure from linearity is common. A good introduction of
nonlinear structural analysis is provided in [1]. For structural analysis four sources of nonlinear
behavior can be identified. The corresponding nonlinear effects are referred to as material,
geometric, force boundary conditions and displacement boundary conditions non linearities. In
linear solid mechanics or linear structural mechanics the connecting relationships shown in Figure
1 are linear.
Figure 1: Adapted from [1] – A tour of nonlinear analysis – Chapter 2

Figure 2: Adapted from [1] – A tour of nonlinear analysis – Chapter 2
Any of these relations, however, may be nonlinear. The various types of nonlinearities are depicted
in Figure 2.
Geometric non linearities
The term geometric nonlinearities applies collectively to both relations between body force and
stress (the equilibrium equations) and between strains and displacements (the kinematic equations).
The physical source is a change in geometry as the structure deforms. This is taken into account in
the strain-displacement and equilibrium equations.
In the strain-displacement equations ε = D ( u ) D is a nonlinear operator (as opposed to
infinitesimal strains where D is linear). The internal equilibrium equations can be written
( )
b = − D* σ where D* is also a nonlinear operator (in the classical linear theory of elasticity, D* is
* T
the adjoint of D , D = D ). Geometric non linearities occur for (i) large strains (>5%) that are also
frequently associated with material non-linearities (ii) small strains but finite displacements and/or
rotations (iii) buckling.
Material non linearities
The material nonlinearity is associated with a material property that depends on current state of
strains (or their rates) and possibly past history of the deformation. Other constitutive variables
(prestress, temperature, time, moisture, electro-magnetic fields, etc.) may be involved. For linear
materials, the constitutive equations that relate stresses and strains are linear. For non-linear
materials, generalizations of this equation are necessary. Non-linear elastic materials include for
example (i) hyperelastic materials for which the work done by the stresses during a deformation is
dependent only on the initial state and the current configuration (ii) elasto-plastic materials
characterized by irreversibility of stress paths and the development of permanent strain, known as
yielding.
Force boundary conditions non linearities
The force boundary condition nonlinearities refer to the coupling between displacements and
applied forces (surface tractions and/or body forces) and thus bring the additional links drawn in
Figure 2. The source of nonlinearity is the fact that applied forces depend on deformation. The most
important engineering application concerns pressure loads of fluids (eg hydrostatic loads on
submerged or container structures). The applied forces then depend on the displacements:
prescribed surface tractions T = T ( u ) and/or body forces b = b ( u ) . This is known as the following
pressure issue.
Displacement boundary conditions non linearities
The displacement boundary condition nonlinearities find their sources in the dependence on the
deformation of the structure. The most important application is the contact problem, in which no-
interpenetration conditions are enforced on flexible bodies while the extent of the contact area is
unknown. For the contact problem: prescribed displacements depend on the structure displacements
u = u (u) .
Formulations used to describe non-linear structural problems
A substantial body of literature has been devoted to FEA in nonlinear structural problems. When a
body is submitted to external displacements or forces, its configuration changes continuously along
the analysis. The fundamental question is then to determine which of the known configurations
should be used to write the variational formulations describing the behavior of the body. Typically,
the formulations are either based on the initial configuration or the most recently calculated one.
The formulation that used the initial configuration as a reference is called the Total Lagrangian
formulation and has been introduced by Higgit et al [2], while that using the most recently
calculated one is referred to as Updated Lagrangian formulation (see [3], [4]) 1. In the literature,
several authors have compared these two formulations ([3]–[5]) and have shown that they are
mathematically equivalent. However, in practice, the Updated Lagrangian formulation presents
several advantages and can lead to better numerical results. In particular, the Total Lagrangian
formulation may prove inadequate for problems where the initial geometry is submitted to very
large deformations. The mesh of the initial geometry then becomes inappropriate to account for
these deformations and needs to be updated and the calculation need to be carried out using the new
mesh, keeping in memory the whole history of deformations.
In the case where the material is incompressible (or quasi-incompressible), that is a material that
deforms while preserving its volume (e.g rubbers) numerical problems may arise (volumetric
1
There exists also the Euler formulation which is the preferred description for the study of motion of fluids because the
actual configuration is known and remains unchanged (changes in the fluid velocities, pressure, density are determined
at each). However, it is less useful in the study of solid bodies since in this case the initial configuration is rather known.
locking). These difficulties can be overcome by using mixed method displacement-pressure 2 [6] or
by reduced integration of the stiffness matrix [7].
Solution procedures for non-linear formulation
A nonlinear static or dynamic finite element system is most effectively solved using an incremental
method, in which the static and kinematic variables are updated incrementally corresponding to
successive load (or time) steps. In each load step (or, a time step), the finite element equations of the
corresponding equilibrium position of the body are solved and hence the static or/and the kinematic
variables. To arrive at the actual deformed configuration of the body, an iterative procedure is
u( k +1) − u( k )
followed and the iterations repeated until the required tolerance concerning the ratio u( k )
and
the residual force vector (which measures the difference between the external and internal forces) is
established. These incremental methods such as Picard iteration method, Newton-Raphson and
modified Newton-Raphson, Riks and Modified Riks Schemes [8], [9] work on associated linearized
problems.
The remainder of this report is organized as follows: First, the Total Lagrangian and Updated
Lagrangian formulations are presented in section 2. The description follows closely classical
textbooks [4], [6], [7], [9]–[12]. However, the main challenge is the complexity of the used
notations. In this report we strive to present the formulation using a simple and coherent notation
adapted to the problem at hand. Next, section 3 details its numerical implementation within the
Finite Element Method. Section 4 summarizes classical material models for rubber-like materials.
Finally, section 5 proposes several validation (test) examples.
2. Total Lagrangian and Updated Lagrangian formulations
2.1 Reference and current configurations

Consider the problem depicted in Figure 3. An elastic body is shown in the initial (undeformed,
reference) configuration and in the actual (deformed) configuration. Let t denotes the time variable.
The volume of the body at time t is denoted by Ω ( t ) =
t
Ω . The orthonormal vector space is denoted
( )
by ℜ and the associated basis coordinates vectors by e 1 , e 2 , e 3 . The undeformed (initial) volume
defined at a reference time t0 is Ω ( t0 ) =
0
Ω . This volume is independent of time. The vector
t
position describing the current location of a point in the volume is x with components
0
t
xi (i = 1, 2,3) in ℜ . The location of point x at the initial time t0 is x with components
0
x j ( j = 1, 2,3) in ℜ. The two are related by:
0
t t
= x = x(0 x, t ) , t xi t
xi (0 x j , t ). (1)
The displacement vector is in consequence:
2
The pressure is defined here as the trace of the stress tensor.
129$)(038&6ROYHU1RQOLQHDU)RUPXODWLRQV

W W
X [ [

7KHWUDQVIRUPDWLRQJUDGLHQW JUDGLHQWRIWKHWUDQVIRUPDWLRQIURPFXUUHQWWRLQLWLDOFRQILJXUDWLRQ LV
JLYHQE\
W wW [ W w W [L
) LM)

w[ w [M

7KLVWHQVRULVLQYHUWLEOHDQGLWVLQYHUVHLVGHQRWHGE\

W w [ W w [L
* * LM

wW[ w W [M
7KHDVVRFLDWHG-DFRELDQLV

W W G W: U
- GHW )
G : W U
W
ZLWK U DQG U WKH PDVV GHQVLW\ LQ WKH LQLWLDO DQG FXUUHQW FRQILJXUDWLRQV UHVSHFWLYHO\ G : DQG
G W : GHQRWHDYROXPHHOHPHQWLQWKHLQLWLDODQGFXUUHQWFRQILJXUDWLRQVUHVSHFWLYHO\

)LQDOO\DQRULHQWHGVXUIDFHHOHPHQW G $ LQWKHFXUUHQWFRQILJXUDWLRQLVWUDQVIRUPHGLQWKHLQLWLDO
FRQILJXUDWLRQ G W $ XVLQJ

W
QG W $ W - W* 7 Q G $ W QL G W $ W - W*LM Q M G $
W
ZKHUH Q DQG Q DUH WKH QRUPDO YHFWRU DW WKH VXUIDFH LQ WKH LQLWLDO DQG FXUUHQW FRQILJXUDWLRQV
UHVSHFWLYHO\
)LJXUH5HIHUHQFHDQGFXUUHQWFRQILJXUDWLRQ

2.2 Deformation (strain) tensors
Several strain measures are used in the initial and current configurations [13]. The dilatation tensor
t
or the right Cauchy-Green tensor, 0 C , is given by:
d t x.d t x′ d=
= t
( )
x. 0 C .d t x′ d t xi ( 0t Cij ) d t x′j ,
t
(7)
with
t t T t t
∂ t xp ∂ t xp
= C F . 0 F , Cij
= 0 . (8)
0 0
∂ 0 xi ∂ 0 x j
t
Its transpose is the left Cauchy-Green tensor, 0 B :
t
t ∂ t xi ∂ x j
t t T t
= B 0= F . 0 F , Bij . 0 (9)
0
∂ 0 xp ∂ 0 xp
Its inverse measures the dilatation in the initial configuration:
d 0 x.d 0 x′ d=
= 0
( )
x. 0 c .d 0 x′ d 0 xi ( 0t cij ) d 0 x′j ,
t
(10)
with
t t −1 t T t t
∂ 0 xp ∂ 0 xp
= c B = 0G .0G , c
= 0 ij . (11)
0 0
∂ t xi ∂ t x j
t
In the initial configuration, the strains are measured using Green-Lagrange strain tensor, 0 E :
1  ∂t x ∂ x 
t
1 t
t
0
E = 0C − I ,
2
( ) 0
t
Eij = 0 i 0 j − δ ij 
2  ∂ xp ∂ xp 
(12)
Using Eqs. (2) and (3), we have:

∂ 0t u ∂ tu
t
F I
= + , 0
t
δ ij + 00 i
Fij = (13)
0
∂0x ∂ xj
In consequence,
1  ∂ 0t ui ∂ 0 u j ∂ 0t uk ∂ 0t uk 
t
t
E= + + (14)
2  ∂ 0 x j ∂ 0 xi ∂ 0 x j ∂ 0 xi 
0 ij
t
In the current configuration, the strains are measured using Euler-Almansi strain tensor, 0 A :
1 1 ∂ 0 x p ∂ 0 x p  1  ∂ 0t ui ∂ 0t u j ∂ 0t uk ∂ 0t uk 
t
2
( t
)
A = I − 0 c , Aij =  δ ij − t
t
2
= + +
∂ xi ∂ t x j  2  ∂ t x j ∂ t xi ∂ t x j ∂ t xi 
. (15)
Since Almansi strain is the Eulerain strain (characterizing the current configuration) the left
subscript has been dropped. This is clear when its expression in terms of the current displacement is
used.
The two introduced measures of strains are related by:
d t x.d t x′ − d 0 x.=
t
d 0 x′ 2d t x. A .=
t
( )
d t x′ 2d 0 x. 0 E .d 0 x′. (16) ( )
7KDWLV
W W 7 W W
$
* ( * W $LM
W
* SL
W
( ST
W
*TM

$QRWKHUPHDVXUHRIWKHVWUDLQLQWKHFXUUHQWFRQILJXUDWLRQWKDWLVZRUNFRQMXJDWHWRWKHWUXHVWUHVV
LVJLYHQE\
W
W § w W X w W X 7 · W § w W XL w X M ·
H H
¨© w W [ w W [ ¸¹ ¨© w W [ M w W [L ¸¹
W W LM

W W
/DWHUZHZLOOQHHGWRUHODWHWKHYLUWXDOYDULDWLRQRI W H LQWHUPVRIWKHYLUWXDOYDULDWLRQRI ( )LUVW
OHW¶VLQWURGXFHWKHWHQVRU
w W X W
'
w[
7KHQXVLQJWKHGHILQLWLRQRIWKHWUDQVIRUPDWLRQJUDGLHQW(T
wG W X wG W X
G' W
)
w [ w [
0RUHRYHUXVLQJ DQG

W W W 7 W W 7 W W 7
G
(G ' G ' G ' ' 'G '

7 W W 7
) G ' G ' )

W W W W
,QFRQVHTXHQFH G H DQG G
( DUHUHODWHGE\WKHVDPHHTXDWLRQUHODWLQJ $ DQG (
W W 7 W W W W 7 W W
G
(
) G W H ) G W H
* G
( *
6WUHVVPHDVXUHV

&RQVLGHUWKHFRQILJXUDWLRQGHSLFWHGLQ)LJXUH7KLVILJXUHVKRZVWKHHODVWLFVROLGLQWKHFXUUHQW
GHIRUPHG FRQILJXUDWLRQ

)LJXUHHODVWLFVROLGLQFXUUHQWGHIRUPDWLRQ

Using Cauchy’s assumption, the traction vector is related, in the current configuration, to the stress
tensor using:
t
= (
T x, n x
t t
( ))t t
( ) ( )
t
σ x . n x , 0tTij
=
t t t
σ ij t n j (23)
t
σ is Cauchy Stress tensor. It measures the force per unit area acting on an actual, deformed solid
t t
df = σ . n d t A (24)
Since the deformed configuration is not known, we cannot use the Cauchy stress tensor directly.
t
Two tensors are defined. First an intermediary tensor, the Piola-Kirchhoff (PK1) stress tensor, 0 Π ,
is defined. It measures the force per unit area of the undeformed solid, acting in the actual
configuration:
df =
t
0
0
Π. n d 0 A (25)
Using Eq. (6), PK1 stress tensor is given by :
∂0xj
=0
Π
t
0
t
J σ=( ) t
. 0 G , Πij
t T
0
t
( )∂ x
J σ ip
t
t
p
(26)
Note that this tensor is non-symmetric; i.e. Π ij ≠ Π ji . Note also that the product is known by the
Kirchhoff stress tensor:
t t
=0
t 0J σ , t ij
t
= 0
t
J tσ ip (27)
Eq. (25) shows that PK1 links the force in the actual configuration to the geometry in the initial
configuration. To link the force and the geometry in the initial configuration, we define by analogy
with Cauchy stress tensor, Eq. (24), a tensor linking the force (a fictitious force) to the geometry in
the initial configuration:
d 0 f = 0 S . n d 0 A,
t 0
(28)
with
df = 0 F . d 0 f
t −1
(29)
t
Tensor 0 S is known as the Second Piola-Kirchhoff (PK2) stress tensor. It measures the force per
unit area of the undeformed solid, acting in the reference configuration.
Using Eqs. (25) and (26), PK2 stress tensor is given by :

∂ 0 xi t ∂0xj
=
0
t
S 0
t −1 t
F .=
0
Π 0
t t
( )
J 0 G. σ . 0 G , =
tt
0 Sij
t T
0
t
Gip 0t Π
= pj 0
t
J
∂ t xp
σ pq
∂ t xq
(30)
Note that this tensor is symmetric, i.e. 0t Sij = 0t S ji .
Finally, the following relationships are easily obtained between the three stress measures:
 t t t t t
 0 S = 0 J 0G . σ .0G
T
t t t T t t T
 t t
⇒
= 0
S 0
G. t .G ⇔
= t 0
F 0t .S 0t .F


t
t = 0J σ
(31)
t
t
∂ xi t ∂ xj
=t
t ij 0
t
Fip 0t S pq 0t F jq
= 0 0 S pq
∂ xp ∂ 0 xq
t 1 t 1 t t t T t 1 ∂ t xi t ∂t xj
σ= t
t ⇒ t σ= t
F . 0 S 0 .F , σ =
ij t 0
S
0 pq
0J 0J
0
0 J ∂ xp ∂ 0 xq
(32)
t 1 t t T 1 t ∂t xj
σ=t
Π 0 .F , t
σ ij =t 0 Π t
F =
ip 0 jp 0
t
Π ip
0J
0
0J ∂ 0 xp
2.4 Principle of Virtual work – The weak form of the Updated Lagrangian (U.L) and Total
Lagrangian (T.L.) formulation
We will limit the presentation to a static analysis. Further, we will assume that the exterior forces
are of several types. These include volume (body) forces represented by its mass density F a
surface force represented by its traction vector T , acting on part ∂ Ω1 of the body’s surface. Both
t t
forces are assumed constant (dead loads) and thus do not change during deformation. On the
remaining part of the surface, ∂ Ω 2 , we assume the action of a pressure field, p . The associated
t
force vector, − p t n , varies with deformation due to the changes in the normal vector direction.
This is referred to as a “following load” (“following pressure” thereafter). Using this forces
assumption, the weak variational form governing the static equilibrium equation of the elastic body
is given by the principle of virtual work. In the current configuration, this may expressed as:
∀ t W, ∀d u (a virtual displacement field)

⌠
( )
 ⌠ ⌠
=dsdrdd
W 
t
:
t
e d t W −  t F . u d t W − 
t
T. u d t A (33)

 t ))))( ⌡ t
)) WW
)))) ( ⌡))))(
t
∂ 1
⌡ W
(1) (2) (3)
⌠
−  ( − p t n ) .d u d t A = 0
⌡∂ t W 2
))) ))))) (
(3)
This formulation is referred to as the Updated Lagrangian or spatial or Eulerian formulation. This
form can also be written in terms of the reference configuration geometry. This is known as the
Total Lagrangian formulation.
Using Eqs. (5), (22), (30) and (32) the first term transforms into:
( E )d
⌠ ⌠


t
σ
= :dd
t
( )
e d Ω t


t
0
S: 0
t 0
Ω. (34)
⌡t Ω ⌡0 Ω
And Eq. (6) transforms the fourth term in Eq. (33) into:
⌠ ⌠


t
− p n.dd
u d tA =


− p 0t G T . n. u 0t J d 0 A
0
(35)
⌡∂ t Ω2 ⌡∂ 0 Ω2
Finally, the weak integral form in the initial configuration [9] reads:
∀ 0 Ω, ∀d u (a virtual displacement field)
( )
⌠ ⌠ ⌠

 0
t
S =
0
t
: drdd
E d 0Ω 
 0
( F ) . u d 0 Ω +  0t T . u d 0 A −
t
(36)
⌡0 Ω ⌡0 Ω ⌡∂ t Ω1
⌠
0


p 0t G T . n.d u 0t J d 0 A
⌡∂ 0 Ω2
Equivalently in components form:
∀ 0 W, ∀d ui (a virtual displacement field)

⌠ ⌠ ⌠
W  0t Sij ( 0t Eij ) d 0 W −  0 ( Fi ) ui d 0 W −  (37)
t
=ddrdd t 0
0Ti ui d A +
⌡0 WWW⌡∂ 1 ⌡0 0
⌠


p ( 0t G ji 0 n j ) d ui 0
t
J d0A = 0
⌡∂ 0 W 2
This is the principle of virtual work expressed in the reference configuration. It is non-linear.
Both Updated Lagrangian and Total Lagrangian formulations are similar and should lead to the
same results. However they must be linearized first in order to solve the problem. Note that the
Updated Lagrangian formulation is simpler to implement numerically and proves to be very
efficient. This formulation is implemented in the PUC solver and is presented in next section. As a
supplement, a linearized incremental form of the Total Lagrangian formulation is also detailed in
Appendix A.
2.5 Principle of Virtual work – Linearized Updated Lagrangian (U.L.) formulation
The linearized form of the weak UL integral formulation is obtained by (i) linearizing the TL
formulation (i.e the formulation with respect to the material description of the equilibrium
equations), simply because the initial elemental volume d 0 Ω is constant during the linearization
(ii) transforming the resulting expression by a push forward operation to the spatial configuration
[7], [14]. The linearization of Eq(33) or Eq(37) can be written as:

G : ' G : >X @

,QWKHSUHYLRXVH[SUHVVLRQ ' ) >X @ GHQRWHVWKHGLUHFWLRQDOGHULYDWLYHRI ) LQGLUHFWLRQ X :H
ILQDOO\JHW>@

´ ´ §´ ·
µ F H G H G W : µµ W
V LMG WKLM G W : ' ¨ µµ S G XL W QL G W $ ¸ >X @
µ W LMNO W NO
¶W :
W LM
¶W :
¨ ¶w W : ¸
© ¹
´ W 'W ´ ´ ´
µ
µ
U )L G XL G W 'W : µµ SG XL W 'W QL G W 'W $ µµ W 'W
7LG XL G W 'W $ µµ W
V LMG H G W:
W LM
¶ W 'W : ¶w W 'W
: ¶w W 'W
: ¶W :

W 'W W
7KHOLQHDUL]HGVWUDLQWHQVRUGHSHQGVRQWKHLQFUHPHQWDOGLVSODFHPHQW XL XL XL RIWKHFXUUHQW
FRQILJXUDWLRQ VHH)LJXUH 7KHWKLUGWHUPFRQWDLQLQJWKHGLUHFWLRQDOGHULYDWLYHLQ(T ZLOOEH
PDGHPRUHH[SOLFLWLQVHFWLRQ

)LJXUH/LQHDUL]HGHTXLOLEULXP
*HQHUDOVROXWLRQPHWKRGRORJ\IRUWKHOLQHDUL]HG8/IRUPXODWLRQ

7KHVROXWLRQPHWKRGRORJ\ZLOOEHGHWDLOHGLQVHFWLRQUHJDUGLQJWKHILQLWHHOHPHQWLPSOHPHQWDWLRQ
+HUHZHPDLQO\VXPPDUL]HWKHPDLQLGHDVLQWKHFDVHZKHUHWKHH[WHULRUIRUFHGRHVQRWGHSHQGRQ
VWUDLQ/HWXVFDVWILUVW(T LQWRWKHFRPSDFWIRUP

⌠ ⌠ ⌠ 
 c e d
 t ijkl t kl ( e )d
t ij
t
Ω +  t
σ ijd ( tηij ) d t Ω + D  
 ⌡∂ t Ω
p d ui t ni d t A  [u ] =

⌡t Ω ⌡t Ω  2  (40)
⌠
ℜ ( t +Dt x ) −  tσ ijd ( e )d
t ij
t
Ω
⌡t Ω
with
ℜ ( t +∆t x )
⌠ ⌠ ⌠
(41)
( ρ Fi ) ddd
t +∆t
= 

ui d t +∆t Ω −  p ui t +∆t ni d t +∆t A +  t +∆t
Ti ui d t +∆t A
⌡ t +∆t Ω ⌡∂ t +∆t
Ω2 ⌡∂ t +∆t
Ω1
Equation (40) represents the virtual work balance equation. This equation is solved iteratively. First,
an initial guess of the displacement t +∆0t ui(0) = 0t ui is used to calculate the forcing term (RHS) of Eq.
(40) and solve for the displacement increment ui(1) (we will use the right superscripts to indicate the
+∆t ( ) t +∆t ( 0 )
iteration step). The displacement is then updated, t = 0 ui
1
u
0 i + ui(1) , and the error at iteration p
in the displacement is calculated as follows:
( p)
u
( p)
εu = t +∆t ( p)
(42)
0 u
An absolute error on the forcing term (out of balance term) can also be assessed:
( )
⌠
ℜ t +∆t x ( ) − 
e F( p ) = p
σ ij( p )d ( t eij( p ) ) d t Ω
t
(43)
⌡t Ω
t ( )
where σ ij is the Cauchy stress tensor resulting from subjecting the structure to displacement 0t ui(
p p)
and t +∆t x( =
)
p 0 ( p)
x + t +∆0t u . This process is repeated until the displacement error (and/or in the
forcing term) is smaller than a given selected tolerance. Equation (44) summarizes the algorithm. It
corresponds to Newton-Raphson algorithm
Step 1 ⇒ Initialize the displacement vector

t (0)
0 i u = 0t ui
Step 2 ⇒ Repeat the following steps ( p =
1, 2...) till convergence
( p)
Step 2.1 ⇒ Solve for the displacements increments ui :
⌠ 
( )
⌠ ⌠
 c ( p −1) ( p )
 t ijkl t kl
⌡Ωt
e e ( p)
dsdhd
t ij d t
Ω +  t ( p)

⌡Ωt
ij
( p)
t ij d t
Ω + D  (
 ⌡∂ Ω2
t
p ui t ni ) d t A  u ( ) 

p
( )−
⌠
ℜ t +Dt x (
=
p)

⌡t Ω
( p)
 t sd
ij ( e )d
( p)
t ij
t
Ω
=with t ek( lp ) =
t kl ( )
e ui( p ) ; ( p)
t hh
ij
( p)
t ij ui ( )
Step 2.2 ⇒ Update the displacements :
t +Dt ( p ) t +Dt ( p −1)
= 0 ui u
0 i + ui( p )
Step 2.3 ⇒ Compute the errors :
( p)
( p)
Du
eu = t +Dt ( p)
0 u
(44)
( )
⌠
( p)
ℜ t +Dt x ( ) −  t ij( p ) ( t eij( p ) ) d t Ω
p
esd
F =
⌡t Ω
Step 2.4 ⇒ Check for convergence

e u( p ) < tolu

if  p ⇒ exit; else p=p+1& go to step 2.1
( )
 e
 F < tol F
3. Material non-linearity – selected models
Two types of descriptions will be used in this work for the constitutive relations of the materials.
The first uses classical elastic materials with frequency dependent properties. For the static problem,
this reduces to the classical Hooke’s law. The second model is specific to hyperelastic materials.
Note that here, all materials are assumed isotropic. In the following, all relationships are given in
terms of PK2 stress tensor 0t S and material tangent elasticity tensor 0 Cijkl . The Cauchy stress tensor
t
σ is then obtained from:
t
σ = 0t J −1 0t F . 0t S . 0t F T (45)
The Eulerian or spatial tangent elasticity tensor components t cijkl are given by:
c
t ijkl = 0t J −1 0t FiI 0t FjJ 0t FkK 0t FlL 0 CIJKL (46)
3.1 Elastic materials
Assume at time t that the PK2 and GL tensors are related by:
t t t
0 Sij = 0 Cijkl 0 Ekl (47)
For elastic materials, the tangent elasticity tensor 0t Cijkl is constant and thus =
0 Cijkl t Cmnpq
= 0
t
Cijkl .
In the latter equation,

0 Cijkl =lδ ijδ kl + µ (δ ik δ jl + δ ilδ jk ) (48)
where λ and µ are the two Lamé constants of the material.
For nonlinear elastic materials, 0t Cijkl varies as a function of strain. It can be proven that:
0
ρ ∂ 0 xi ∂ x j ∂ 0 xk ∂ 0 xl
0
0S
= ij 0 Cijkl 0 Ekl ⇒ 0 C=
ijkl C . (49)
t
ρ ∂ t xm ∂ t xn t mnpq ∂ t xq ∂ t xq
This configuration is not considered in this work.
3.2 Hyperelastic material models
Hyperelastic (rubberlike) materials exhibit an incompressible (deformation with volume preserving)

or quasi-incompressible (small changes in volume) response. For this class of materials, the PK2
stress tensor is derived from a strain energy density function (potential):
∂W ∂W
=t
0 Sij = t
2 t , (50)
∂ 0 Eij ∂ 0 Cij
where 0t Cij are the components of the Cauchy-Green deformation tensor (see Eqs. (8) & (12)).
Usually the strain energy potential is written in terms of the invariants of 0t C [6]:
W = W ( 0t I1 , 0t I 2 , 0t I 2 )
= t
0 I1 ( 0tC )
tr= 0
t
Ckk
(51)
t
I =
0 2
1 t 2
2
( (
0 I1 ) − tr ( 0 C . 0 C ) =
t t
2
( ) (
1 t 2 t
0 I1 ) − 0 C : 0 C
t T
=
1
2
) (( I ) t
0 1
2
0
t
− C: C =0
1
t
2
) (( I ) − C C ) ,
t
0 1
2
0
t
ij 0
t
ij
= t
0 I3 det
= ( 0 C ) det ( 0 =
t
F .0 F ) 0 J
t T t t 2
In consequence:
 ∂W ∂ 0t I1 ∂W ∂ 0t I 2 ∂W ∂ 0t I 3 
t
Sij= 2  t + +  , (52)
0  ∂ I ∂ tC ∂ t
I ∂ t
C ∂ t
I ∂ t
C
 0 1 0 ij 0 2 0 ij 0 3 0 ij 
In addition Eq. (161) (see Appendix A) used in the linearization of the TL formulation leads to:
∂ 0t Sij
0 Cijkl =
(53)
∂ 0t Ekl
3.2.1 Saint-Venant-Kirchhoff model

This model is an extension of the linear elastic model to large strains. The strain potential energy is
given by [6]:
 ∂W ∂ 0t I1 ∂W ∂ 0t I 2 ∂W ∂ 0t I 3 
t
Sij= 2  t + +  , (54)
0  ∂ I ∂ tC ∂ t
I ∂ t
C ∂ t
I ∂ t
C
 0 1 0 ij 0 2 0 ij 0 3 0 ij 
This leads to:
∂W
t
0 Sij
= = t
λ 0t Ekk + 2 µ 0t Eij . (55)
∂ 0 Eij
Equation (161) (see Appendix A) used in the linearization of the TL formulation leads then to:
∂ 0t S
t
0 Cijkl = t =lδ ijδ kl + µ (δ ik δ jl + δ ilδ jk ) . (56)
∂ 0 Eij
This equation is similar to Eq. (48) for isotropic elastic solids.
3.2.2 Mooney-Rivlin model (incompressible)

In the classical two-parameters Mooney-Rivlin model, the material is totally incompressible
( t
0J =1 ⇒ 0t I 3 = )
1 and the strain energy potential is given by [15]–[17]:
W
= 0
t
C1 ( 0t I1 − 3) + 0t C2 ( 0t I 2 − 3) , (57)
where C1 and C2 are empirically determined material constants. The PK2 stress tensor is given by
[14]
 ∂ 0t I1 ∂ 0t I 2  t t t −1
t
0 S = 2  C1 t
+ C2 t  + 0 p 0 J 0 C (58)
 ∂ 0C ∂ 0C 
where 0t p is the internal pressure. The explicit expression of the PK2 is given by [6]:
 1   2 
= t
0S 2c1 0t I 3−1 3  I − 0t I1 0t C −1  + 2c2 0t I 3− 2 3  0t I1 I − 0t C − 0t I 2 0t C −1  + 0t p 0t J 0t C −1 (59)
 3   3 
This leads in turn to:
C=t ∂ 0t S ∂ 0t S
2 t =
=
 ∂ 2 0t I1 ∂ 2 0t I 2 
4  C1 t 2 + C2 t 2  + 2 0 pt
∂ 0t J 0tC −1 ( ) (60)
0
∂ 0t E ∂ 0C  ∂ 0C ∂ 0C  ∂ 0t C
The tangent constitutive tensor in material coordinates can be shown to be given by:
 1 1 1 1 
0C
= 4c1 0t I 3−1 3  − 0t C −1 ⊗ I + 0t I1 0t C −1 ⊗ 0t C −1 − I ⊗ 0t C −1 − 0t I1 L 
 3 9 3 3 
 2 4 2 2
+4c2 0t I 3− 2 3  − 0t I1 0t C −1 ⊗ I + 0t I 2 0t C −1 ⊗ 0t C −1 − 0t I1 I ⊗ 0t C −1 − 0t I 2 L
 3 9 3 3 (61)
2 s 
+  0t C −1 ⊗ 0t C + 0t C ⊗ 0t C −1  + I ⊗ I − ℑ 
3 
+ 0t p 0t J (C
0
t −1
⊗ 0t C −1 + 2L )
where L has components L ijkl =
1
− ( 0t Cik−1 0t C −jl1 + 0t Cil−1 0t C −jk1 ) and ℑ=
2
s 1
2
ℑ+ ℑ ( )
 is the symmetric
identity 4th order tensor with ℑijkl =δ ik δ jl and ℑ ijkl = δ ilδ jk . ⊗ denotes the tensorial product.
Note:
1) For linear elastic materials (infinitesimal strains), C1 and C2 are related to the shear modulus
µ = 2 ( C1 + C2 ) .
2) The so-called Neo-Hookean model is obtained with C2 = 0.
3) The Mooney-Rivlin material model for incompressible isotropic elastic materials can also be
formulated in terms of the Cauchy stress tensor tσ ij and the left Cauchy-Green strain tensor
(see Eq.(9)) [18]:
s ij = 0t pI + s1 0t B + s2 0t B −1 ,
t
(62)
where s1 and s2 are two material constants. This explains why the UL formulation is classically
used for hyperelastic materials defined by the Mooney-Rivlin material model.
3.2.3 Mooney-Rivlin model (nearly-incompressible)

The terminology “near incompressibility” is used here to denote materials that are truly
incompressible, but their numerical treatment invokes a small measure of volumetric deformation.
For nearly-compressible materials 0𝑡𝑡 𝐽𝐽~1, it is better to separate the deformations in terms of
volumetric (hydrostatic) strains and deviatoric strains. This done by introducing a deviatoric strain
tensor:
t ˆ t ˆ
=0C
t −1 3 t
I
=
0 3C, 0 Cij
0
t −1 3 t
I
0 3 0 Cij . (63)
Its invariants are given by:
( ) ( J)
t ˆ −2 3 t
=t
0 J1 tr =
0C 0Cˆ kk
t
= 0
t
I
0 1
1
(( J1 ) − ( ) ) = 12 ( ( J ) )
− 0t Cˆ ij 0t Cˆ ij = ( 0t J )
2 2 −4 3 t
0
t
J2 = 0
t
0
t
Cˆ : 0t Cˆ 0
t
0 I2
(64)
2
= t
0 J3 det
= t ˆ
0C 1 ( )
The strain energy potential is then expressed in the form of the deviatoric strain energy and a term
accounting for volume change:
1
W W ( 0t J1 , 0t J 2 ) + κ ( 0t J − 1) ,
2
= (65)
2
where κ is the bulk modulus. When κ is large (that is several thousand times larger than the shear
modulus), expression (65) of the strain energy functional mainly states that we are enforcing
incompressibility. By definition of the bulk modulus, the pressure (in a hydrostatic test) is given
by:
t
0 p
= κ ( 0t J − 1) (66)
Finally, as in Eq(58), the PK2 tensor is given by:
∂W ∂W  ∂W ∂ 0t J1 ∂W ∂ 0t J 2  t t −1
0
t
S= 2
== 2  t + t  + 0 p 0 JC , (67)
∂ 0t E ∂ 0t C  ∂ 0 J 1 ∂ 0
t
C ∂ 0 J 2 ∂ 0
t
C 
Recall at this stage, from Eq. (11) , that

∂ 0 xp ∂ 0 xp
C
= −1 t −1 t
F =
.0 F
−T t
G. 0 G
=
t T t T
c=
, c t
0 ij
(68)
0 0 0
∂ t xi ∂ t x j
In the quasi-incompressible Mooney-Rivlin model [17], the energy potential is given by:
1
( J − 3) + 0t c2 ( 0t J 2 − 3) + κ ( 0t J − 1) ,
t t 2
W
= c
0 1 0 1 (69)
2
where c1 and c2 are material constants. The PK2 tensor is given by Eq(58) or Eq. (67):
∂W ∂W  ∂ tJ ∂ tJ 
t
S =t = 2 t = 2  c1 0t 1 + c2 0t 2  + 0t p 0t J 0t C −1 (70)
0
∂0E ∂ 0C  ∂ 0C ∂ 0 C 

which leads in turn to:

∂ 0t S ∂ 0t S  ∂ 0t J 1 ∂ 0t J 2  ∂ 0t p t −1 t ∂
0
t
C = t
2
= t
2
=  c1 t 2
+ c2 t 2
+ t J 0 C + 0 p t ( J 0tC −1 ) (71)
∂0 E ∂ 0C  ∂ 0C ∂ 0C  ∂ 0C ∂ 0C
The explicit expression of the PK2, Eq. (70), is given by [6]:

 1   2 
=t
0S 2c1 0t I 3−1 3  I − 0t I1 0t C −1  + 2c2 0t I 3− 2 3  0t I1 I − 0t C − 0t I 2 0t C −1  + 0t p 0t J 0t C −1. (72)
 3   3 
The explicit expression of 0t C can be shown to be given by:

 1 1 1 1 
0C
 3 9 3 3 
 2 4 2 2
 3 9 3 3 (73)
2 s 
+  0t C −1 ⊗ 0t C + 0t C ⊗ 0t C −1  + I ⊗ I − ℑ 
3 
+ 0t p 0t J (C 0
t −1
)
⊗ 0t C −1 + 2L + 0t I 3κ 0t C −1 ⊗ 0t C −1
Note that the two parameter Mooney–Rivlin model is usually valid for strains less than 100%. This
model is implemented in the current version of the software. Values of c1 , c2 and bulk modulus κ
must be provided. These parameters are utilized in the static calculation. In the dynamic calculation,
equivalent parameters are used ν eq = 0.499 , G
=eq 2 ( c1 + c2 ) , E=
eq 2 1 +ν eq Geq . ( )
3.2.4 Ogden model
The strain energy function proposed by Ogden [19], [20] for rubber-like materials assumes that the
strain energy function can be represented in terms of three principal stretches ( λλλ
1, 2 , 3 )
(eigenvalues of the right stretch tensor: 0tU = 0t C1 2 ) in the form
N
2µn
=W ∑ α ( λλλλλλ
n =1
α
+ α + α − 3) ; =
2 1
n
2
n
3
n
1 2 3 1, (74)
n
and µn and a n are material constants. Classically, a three term model is used ( N = 3). In addition,
the model is presented in terms of the principal values ( L1 , L2 , L3 ) of 0t C. Then we have :
N
µn
=W ∑ α ( Lα
n =1
2 1
n 2
+ Lα2n 2 + Lα3 n 2 − 3 ;) L=
1 L2 L3 1. (75)
n
As for the Mooney-Rivlin model, to use the Ogden model for almost incompressible materials
( L1L2 L3 � 1) , we decompose the strain energy function in terms of a deviatoric part and a
hydrostatic (volume change part) to write:
N
µn 1
∑ α ( Lα )
+ Lα2n 2 + Lα3 n 2 − 3 ( L1 L2 L3 ) + κ ( 0t J − 1) .
2 −6 2
=W 2 1
n
(76)
n =1 n 2
Equations (50) and (53) can then be used to obtain the terms needed for the TL or UL formulations.
This model is however not implemented in this work.
4. Finite element implementation of the UL formulation

4.1 Interpolation of the geometry
Let the current configuration be discretized into 3D finite solid elements. Using the classical
t
notations, the coordinate of a point x of the current deformed configuration can be interpolated in
terms of coordinates of the nodes as
t
x = N x  t x

t
 ( ){ } (77)
 ( )
where  N x  denotes the matrix of nodal shape functions. It is of dimension 3 × 3N where N is
t

the number of nodes. { t x} is a vector of dimension 3 × N containing the nodal coordinates in its
columns.
 N1 0 0 N2 0 0  NN 0 0 
N
 ( )
t
x =  0


N1 0 0 N2 0  0 NN 0  (78)
 0 0 N1 0 0 N2  0 0 N N 
{ x} =
t t t t t t t t t t T
x11 x21 x31 x12 x22 x32 3 x1N x2 N x3 N (79)
4.2 Interpolation of the displacement and displacement increments
t
The displacement field t u at a point x of the current configuration can then be interpolated in
terms of nodal values as
t
0u
t
  ( )
x =  N s x  0t u
t
( ){ } (80)
 ( )
where  N s x  denotes the matrix of structural nodal shape functions and 0t u is a vector of
t
 { }
dimension 3 × N containing the nodal values of the displacement vector. Similarly, the incremental
displacement
u x =  N s x  {u}
t

t
 ( ) ( ) (81)
Choosing an isoparametric representation, we use the same shape function to interpolate the
  ( )
geometry and the solution so that  N s x  can be replaced by  N x  in the following.
t

t
 ( )
T
The shape functions are generally expressed in terms of element coordinates ξ = ξ1 ξ 2 ξ3 ,
area coordinates in triangular elements or reference coordinates in isoparametric elements.
N
 ( x ) =  N ( x (x ))
t t
(82)
t
We then need to express the derivatives with respect to the spatial coordinates x in terms of
element coordinates:
∂ −1 ∂
=
∂ x 
t
 t
J ( x ) 
 ∂x (83)
where  t J (ξ )  is the Jacobian between the spatial and element coordinates. The derivatives of the
shape functions together with the values of the shape functions at a given Gauss point are already
calculated in NOVAFEM-PUC for a given element topology.
All the integrals involving spatial coordinates can be transformed in element coordinates and we
have:
( )
⌠ ⌠
g (xx
) t J ( ) dV
t

 e
g x d tΩ =

(84)
⌡ t Ω( ) ⌡t R( )
e
where t J (ξ ) is the Jacobian of the transformation between the reference and parent element
configurations. To calculate the integrals, a Gauss algorithm is used where each integrand is
evaluated at Gauss points and summed up with adequate weights.
4.3 Discretized formulation
The discretization of Eq(40) leads to a finite element system that can written as:
[=
k ]{u} t +∆0t R − 0t F { } { } (85)
with
k ] ∑ (  kC( e )  +  kS( e )  +  k P( e )  )
[= (86)
e
This sum is to be understood in the assembling sense. In the following, all the integrals are carried
out on the parent element based on a Gauss integration scheme.
{ t +∆0t R} and { 0t F } corresponds to the external and internal force nodal vectors. The various
elementary terms are obtained by writing Eq(40) for a single element t Ω( ) .
e
4.3.1 Elementary constitutive tangent stiffness matrix  kC( e ) 
 kC( e )  comes out from the discretization of the first term in Eq(40)
 
⌠ ⌠

 e t cijkl
t
ededee
=
kl
t
ij d ( )
t
Ω 
 e
t
: t c :t d tΩ (87)
⌡ t Ω( ) ⌡ t Ω( )
with
1
2
∇t u + ( ∇t u )
t
ε= (
T
) (88)
t
being the small strain tensor (linearized part of t e (linear part of Euler-Almansi strain tensor)). In
addition
1
2
∇tδ u + ( ∇tδ u )
T
δ tε= ( ) (89)
t
Using the expressions (77), (80), (81) and writing u x = N q ( ) ( x)u
t
q , we get
1
2
( u r ⊗ ∇t N r + ∇t N r ⊗ u r )
=ε t
(90)
where we have used the fact that ∇t u = ∇t ( N r u r ) = N r ∇t ( u r ) + u r ⊗ ∇t ( N r ) = u r ⊗ ∇t ( N r )

(
=0
and
1
δ ε
=
t
2
(δ u q ⊗ ∇t N q + ∇t N q ⊗ δ u q ) (91)
In indicial form,
 1  ∂ui ∂u j
=t
ε ij   + (92)
2  ∂ t x j ∂ t xi
⌠
t
⌠
 1 ∂N q ∂N q  1 ∂N r ∂N r  t
 deedd
=: t c :t d t Ω   uq ,i t + t uq , j  t cijkl  u r , k t + t u r ,l  d Ω
 e  t (e) 2 ∂ x j ∂ xi  2 ∂ xl ∂ xk
⌡ t Ω( ) ⌡ Ω   
(93)
⌠
1 ∂N q ∂N r 0
= d uq ,i 
 0 (e) 4 ∂ t xj
(c t ijkl + t c jikl + t cijlk + t c jilk )
∂ t xl
d Ω ur , k
⌡ Ω
which can be written as:

⌠
: t c :t d t Ω =u q .k (C ,)qr .u r
t e

 e
deed
⌡ t Ω( ) (94)
= d {u}q  kC ,qr  {u}r
(e)
T
with
⌠
1 ∂N q ∂N r t
 kC( e,)qr 
=
  ik


 t (e) 4 ∂ t xj
(ct ijkl + t c jikl + t cijlk + t c jilk )
∂ t xl
dΩ (95)
⌡ Ω
(e)
where  kC ,qr  denotes the coefficient of the matrix at line i and column k . Interchanging k and j
ik
⌠ 1 ∂N q ∂N r 0
 kC( e,)qr 
=
  ij


4 ∂ t xk
(c t ikjl + t ckijl + t ciklj + t ckilj )
∂ t xl
d Ω (96)
⌡ 0 Ω( e )
1
c sym
t ikjl
4
=( t cikjl + t ckijl + t ciklj + t ckilj ) is the tensor t cikjl that has been symmetrized. Indeed if the two
first indices ik are kept constant, 2 permutations of jl are possible and if the two last indices jl are
kept constant, 2 permutations of ik are possible leading to a total of 4 permutations possible.
Remembering that t cikjl = t ciklj , t = cikjl t =
ckijl t ckilj due to Euler-Almansi strain and Cauchy stress
tensor symmetry, we get:
⌠ ∂N q ∂N r t
= kC( e,)qr   c dΩ (97)
  ij  t
∂ xk
t ikjl
∂ t xl
⌡ t Ω( e )
 kC( e,)qr  is a 3x3 matrix that provides the coupling between the components of the incremental
 
displacement in the 3 directions at a node q and a node r.
The elementary associated tangent stiffness matrix is obtained by assembling the different
contributions evaluating  kC( e,)qr  for all the nne nodes of the elements. The obtained matrix is of
size 3nne × 3nne and is given by:
  kC( e,11)   kC( e,12
) 
  kC( e,1) nne  
     
  k (e)   (e)   (e)  
 kC( e )  =   C ,21   kC ,22    kC ,2 nne   (98)
   
   
 
  kC( e,)nne1   kC( e,)nne 2  0  kC( e,)nne nne  
     
4.3.2 Initial stress tangent stiffness matrix  kS( e ) 
 k S( e )  comes out from the discretization of the second term in Eq(39)

 
( )
⌠
t

 e
σ :d η d t Ω (99)
t
⌡ t Ω( )
We have
1
η = ∇Tt u.∇t u (100)
t 2
Thus
( )
δ η=
t
1 T
2
( ∇t δ u.∇t u + ∇Tt u.∇t δ u ) (101)
Since tσ ij is symmetric, we have:
t
σ :δ η= ( )
t
t
σ : ( ∇Tt u.∇t δ u ) (102)
We also have:
( u ⊗ ∇ N ) . (δ u ⊗ ∇ N )
T
∇Tt u.∇t δ=
u r t r q t q
= ( ∇ N ⊗ u ) . (δ u ⊗ ∇ N )
t r r q t q (103)
= u r .δ u q ∇t N r ⊗ ∇t N q
where we have use the fact that ∇t u = ∇t ( N r u r ) = N r ∇t ( u r ) + u r ⊗ ∇t ( N r ) = u r ⊗ ∇t ( N r )
(
=0
( )
⌠
t
Thus the term 
 e
σ : d η d t Ω reads:
t
⌡ t Ω( )
⌠ ⌠
: (∇ t u.∇ t d u ) d Ω : ( u r .d u q ) ∇t N r ⊗ ∇t N q  d t Ω
t t

 e
σ = T t 
 e
σ
⌡ t Ω( ) ⌡ t Ω( )
⌠
= ( u r .d u q )  t
σ : ∇t N r ⊗ ∇t N q  d t Ω
⌡ t Ω( e )
⌠
= ( u .d u ) 
r q
t
∇t N q . σ .∇t N r d t Ω (104)
⌡ t Ω( e )
⌠
= (d u .I .u ) 
q r
t
∇t N q . σ .∇t N r d t Ω
⌡ t Ω( e )
⌠ t 
= d u q .   ∇t N q . σ .∇t N r Id t Ω  .u r
))))
⌡ t Ω( e )
)))))) (
k (Se,)qr
The matrix associated to tensor k (S ,)qr is a 3x3 diagonal matrix that provides the coupling between
e
the components of the incremental displacement in the 3 directions at a node q and a node r.
Using the indicial form, Eq(104) writes
⌠ ⌠ ∂N r ∂N q t

 e
( )
t
= ( )
σ : ∇Tt u.∇t d u d t Ω ur , j  σ ik
t
∂ t xi ∂ t xk
d Ωd u j ,q
⌡ Ω
t ⌡ t Ω( e )
= ur , jd uq , j kqr(1)
= dd
uq ,i kqr(1) ij ur , j
= d uq ,i  kS ,qr  ur , j (105)
ij
 kqr(1) 0 0 
 
= d {u}q 0  {u}r
T (1)
 0 k qr
 0 0 kqr(1) 

= d {u}q  kS( e,qr)  {u}r
T
In other words, the elementary matrix  k S( ,qr)  can be written as

e
1 0 0 
 ⌠ ∂N ∂N q t 
(
d Ω  0 1 0 
e)
=  k S ,qr   t
σ ik t r
(106)
   t
∂ xi ∂ xk
 ⌡ t Ω( e )  0 0 1 
 
In Eq(105), it is understood that there is a double sum over nodes r and q.
The elementary initial stress tangent stiffness matrix is obtained by assembling the different
contributions evaluating  k S( e,qr)  for all the nne nodes of the elements. The obtained matrix is of
  k S( e,11)   k S( e,12)    k S( e,1)nne  

       
  k (e)   k S ,22    k S ,2 nne  
( e) ( e)
 k S( e )  =   S ,21      (107)
   
   
 
  k S( e,nne
)   (e)   (e)  
 1  k S ,nne 2  0  k S ,nne nne  
4.3.3 Following pressure tangent stiffness matrix  k P( e) 
 k P( e)  comes out from the discretization of the linearization of the third term of Eq(39). It is easier
 
to evaluate directly using local area coordinates (ξ1 , ξ 2 )
⌠
t
⌠

 ∂t x ∂t x
 = p ddxx t
u. nd A p u.  × d 1d 2 (108)

⌡∂ t Ω(2e)

 t ( e)
⌡∂ R  ∂xx1 ∂ 2 
2
which leads to
⌠

 ∂ t x  ∂u  ∂ t x  ∂u 
 p  . × ddxx
u−  × u   d 1d 2 (109)
 t (e)
⌡∂ R2  ∂xxxx
1 ∂ 2  ∂ 2 ∂ 1 
The discretized form is given by

⌠  ∂t x ∂N ∂t x ∂N 
dexx
uq ,i  p kij  k
Nq r
− k
Nq r
 d 1d 2 ur , j
 ()
⌡∂ R t e ∂
 1 xxxx ∂ 2 ∂ 2 ∂ 1  (110)
2
= d u q .k (P ,)qr .u r
e
4.3.4 Following pressure force nodal vector

⌠
This term comes from the discretization of − pd u.t +∆t nd t +∆t
A which leads to
⌡∂ Ω(2 )
t +∆t e
⌠
uq . fP ( ) (111)
e
−dd
uq ,i  pN q t +∆t ni d t +∆t A =
⌡∂ Ω(2 )
t +∆t e
4.3.5 Following internal force nodal vector

The internal force in the configuration at time t is given by:
⌠ ⌠ ∂N q
 = t
σ :∇t d u d t Ω  t
σ ij d u q ,i d t Ω
 e
⌡ t Ω( )

 t (e)
⌡ Ω
t
∂ xj (112)
(e)
= d u q .T
4.3.6 Calculation of t
σ
4.3.6.1 Case of isotropic materials

Remembering that
= t
0S λtr ( E ) I + 2µ
t
0
t
0
E (113)
t
where 0 E is the Green-Lagrange strain tensor, and λ and µ are Lame’s coefficients.
Furthermore, in the above equation
1 t
2 0
C−I =
0
E
t
( ) (114)
t
is the Green Lagrange strain tensor, with 0 C being the right Cauchy-Green tensor given by:
t t T t t
∂ t xp ∂ t xp
= C F . 0 F , Cij
= 0 . (115)
0 0
∂ 0 xi ∂ 0 x j
The Cauchy stress tensor is obtained from:
t
σ = 0t J −1 0t F . 0t S . 0t F T (116)
4.3.6.2 Case of Mooney-Rivlin model (incompressible)

Adopting Mooney-Rivlin model, the PK2 reads (see Eq(59))
t  1   2 
= 0S 2c1 0t I 3−1 3  I − 0t I1 0t C −1  + 2c2 0t I 3− 2 3  0t I1 I − 0t C − 0t I 2 0t C −1  + 0t p 0t J 0t C −1
 3   3  (117)
t t t t −1
= 0 S '+ p J C
0 0 0
with
= t
0 I1 ( 0tC )
tr= 0
t
Ckk
1 t 2
t
0 2
2
( I = (
0 I1 ) − tr ( 0 C . 0 C ) =
t t 1 t 2 t
2
( 0 I1 ) − 0 C : 0 C
t T
) (
=
1
2
) (( I ) − C : C ) = 12 (( I ) − C C ) ,
t
0 1
2
0
t
0
t t
0 1
2
0
t
ij 0
t
ij
= t
0 I3 det
= ( 0 C ) det ( 0 =
t
F .0 F ) 0 J
t T t t 2
(118)
0
t
J = det ( F ) 0
t
=p k ( 0t J − 1)
0
t
t t T t ∂ t xp ∂ t xp
= C =F . 0 F , 0t Cij
0 0
∂ 0 xi ∂ 0 x j
The Cauchy stress tensor is given by
t
σ = 0t J −1 0t F 0t S 0t F T
 1 
= 2c1 0t J −1 0t I 3−1 3  0t F . 0t F T − 0t I1 0t F . 0t C −1. 0t F T 
 3 
 2 
+2c2 0t J −1 0t I 3− 2 3  0t I1 0t F . 0t F T − 0t F . 0t C. 0t F T − 0t I 2 0t F . 0t C −1. 0t F T  + 0t p 0t J 0t F . 0t C −1. 0t F T
 3  (119)
 1 
= 2c1 0t J −5 3  0 B − tr ( 0t C ) 0t F . 0 F . 0 F . 0t F T 
t t − 1 t − T
 3 

+2c2 0t J −7 3  tr ( 0t C ) 0 B − 0 B. 0 B −

t t t 1
3 ((
tr ( 0t C ) )
2
− 0t C : 0t C T ) F. F
0
t t
0
−1 t −T 
. 0 F . 0t F T 

t −1 t −T
+ 0t p 0t F . 0 F . 0 F . 0t F T
Or
 1 
=t
σ ij 2c1 0t J −5 3  0t Bij − 0t Ckk δ ij 
 3 

+2c2 0t J −7 3  0t Ckk 0t Bij − 0t Bik 0t Bkj −

1
3 (( C 0
t
kk )
2 
)
− 0t Ckl 0t Clk δ ij  + 0t pδ ij

(120)
Or remembering that 0tCkk = 0t Bkk and 0tCkl 0tClk = 0t Bkl 0t Blk we get:
 1 
=t
σ ij 2c1 0t J −5 3  0t Bij − 0t Bkk δ ij 
 3 

+2c2 0t J −7 3  0t Bkk 0t Bij − 0t Bik 0t Bkj −

1
3 (( B
0
t
kk )
2
) 
− 0t Bkl 0t Blk δ ij 

(121)
+ 0 pδ ij
t
4.3.7 Expression of the tangent spatial elasticity tensor t c
The Eulerian or spatial tangent elasticity tensor is given by:

t −1 t
t cijkl = 0 J
t t t
0 FiI 0 F jJ 0 FkK 0 FlL 0 C IJKL (122)
The tangent constitutive tensor in material coordinates is given by:
 1 1 1 1 
0C
 3 9 3 3 
 2 4 2 2
 3 9 3 3 (123)
2 s 
+  0t C −1 ⊗ 0t C + 0t C ⊗ 0t C −1  + I ⊗ I − ℑ 
3 
+ 0t p 0t J (C
0
t −1
⊗ 0t C −1 + 2L )
Or in indicial notation
 1 1 1 1 
0 CIJKL = 4c1 0t I 3−1 3  − 0t CIJ−1δ KL + 0t CIJ−1 0t CKL
−1 t
0 I1 − δ IJ 0t CKL−1
+ ( 0t CIK 0 C JL + 0 C IL 0 C JK ) 0 I1 
−1 t −1 t −1 t −1 t
 3 9 3 6 
 2 4 2 1 t −1 t −1 t −1 t −1 t
+4c2 0t I 3− 2 3  − 0t CIJ−1δ KL 0t I1 + 0t CIJ−1 0t CKL
 3 9
−1 t
0 I2 −
3
δ IJ 0t CKL
−1 t
0 I1 +
3
( 0 CIK 0 CJL + 0 CIL 0 CJK ) 0 I 2 (124)
2 t −1 t 1 
+  0 CIJ 0 CKL + 0t CIJ 0t CKL
−1
 + δ IJ δ KL − (δ IK δ JL + δ ILδ JK ) 
3 2 
+ 0t p 0t J ( 0
t
CIJ−1 0t CKL
−1
− ( 0t CIK 0 C JL + 0 C IL 0 C JK )
−1 t −1 t −1 t −1
)
Thus, noting that
0
t
FiI 0t FjJ 0t FkK 0t FlL 0t CIJ-1δ KL = 0t FiI 0t FjJ 0t FkK 0t FlL 0t FIm-1 0t FJm
-1
δ KL
= 0t FiI 0t FIm-1 0t FjJ 0t FJm
-1 t t
0 FkK 0 FlK
(125)
= δ=
imδ jm 0 Bkl
t
δ ij 0t Bkl
0
t
FiI 0t FjJ 0t FkK 0t FlLδ IJ 0t CKL
-1
= 0t FiI 0t FjJ 0t FkK 0t FlL 0t FKm 0 FLmδ IJ
-1 t -1
= 0t FiJ 0t FjJ 0t FkK 0t FKm

-1 t t -1
0 FlL 0 FLm
(126)
= 0Bijδ kmδ lm
t
= 0
t
Bijδ kl
=I t
0 1
t
C
=
0 mm 0
t
Bmm (127)
t t t t t --1 t 1 t t t t t -1 t -1 t -1 t -1
0 FiI 0 F jJ 0 F
kK 0 F lL 0 C C
IJ 0 KL = F 0 iI 0 F jJ 0 F
kK 0 F lL 0 FIm 0 F
Jm 0 F
Kn 0 F
Ln
= 0t FiI 0t FIm-1 0t FjJ 0t FJm

-1 t t -1 t t -1
0 FkK 0 FKn 0 FlL 0 FLn
(128)
= δ=
imδ jmδ knδ ln δ ijδ kl
t
0 FiI 0t FjJ 0t FkK 0t FlL 0t CIK--
1 t 1 t t t t t -1 t -1 t -1 t -1
0 C JL = 0 FiI 0 F jJ 0 FkK 0 FlL 0 FIm 0 FKm 0 FJn 0 FLn
= 0t FiI 0t FIm-1 0t FjJ 0t FJn-1 0t FkK 0t FKm

-1 t t -1
0 FlL 0 FLn (129)
= δ imδ jnδ kmδ ln = δ ik δ jl = ℑijkl
t t t t t 1 t
0 F F
iI 0 jJ 0 F
kK 0 F C
lL 0
-- 1
IL 0 JK C = 0t FiI 0t FjJ 0t FkK 0t FlL 0t FIm-1 0t FLm
-1 t -1 t -1
0 FJn 0 FKn
= 0t FiI 0t FIm-1 0t FjJ 0t FJn-1 0t FkK 0t FKn-1 0t FlL 0t FLm

-1
(130)

= δ imδ jnδ knδ lm = δ ilδ jk = ℑ ijkl
t
0 FiI 0t FjJ 0t FkK 0t FlL 0t CIJ-1 0t CKL = 0t FiI 0t FjJ 0t FkK 0t FlL 0t FIm-1 0t FJm-1 0t FnK 0t FnL
= 0t FiI 0t FIm-1 0t FjJ 0t FJm-1 0t FkK 0t FnK 0t FlL 0t FnL (131)
= δ=
imδ jm 0 Bkn 0 Bln
t t
δ ij 0t Bkn 0t Bln
t
0 FiI 0t FjJ 0t FkK 0t FlL 0t CIJ 0t CKL
−1
= 0t FiI 0t FjJ 0t FkK 0t FlL 0t FmI 0t FmJ 0t FKn−1 0t FLn−1
= 0t FiI 0t FmI 0t FjJ 0t FmJ 0t FkK 0t FKn−1 0t FlL 0t FLn−1 (132)
= 0Bim 0t B jmδ knδ ln
t
= 0
t
Bim 0t B jmδ kl
t
FiI 0t FjJ 0t FkK 0t FlLδ IJ δ KL = 0t FiI 0t FjI 0t FkK 0t FlK
0
(133)
= 0t Bij 0t Bkl
t
FiI 0t FjJ 0t FkK 0t FlLδ IK δ JL = 0t FiI 0t FjJ 0t FkI 0t FlJ
0
(134)
= 0t Bik 0t B jl
t
FiI 0t FjJ 0t FkK 0t FlLδ ILδ JK = 0t FiI 0t FjJ 0t FkJ 0t FlI
0
(135)
= 0t Bil 0t B jk
1 s
s
Denoting ℑijkl
=
2
(  s , we get
ℑijkl + ℑ ijkl )
4 t −5 3  1 
 −δ ij 0 Bkl + δ ijδ kl 0 Bmm − 0 Bijδ kl + ℑijkl 0 Bmm 
t t t s t
=t cijkl c1 0 J
3  3 
4  4
+ c2 0t J −7 3  −2δ ij 0t Bkl 0t Bmm + δ ijδ kl 0t I 2 − 2 0t Bijδ kl 0t Bmm + 2ℑijkl
s t
0 I2 (136)
3  3
3 t 
+2 δ ij 0t Bkn 0t Bln + 0t Bim 0t B jmδ kl  + 3 0t Bij 0t Bkl −
2
( 0 Bik 0 B jl + 0 Bil 0 B jk ) 
t t t

+ 0t p (δ ijδ kl − 2ℑijkl
s
)
Or under tensorial form:
 1 t 1 1t 1 s 
=tc 4c1 0t J −5 3  − I ⊗ 0 B + I ⊗ I 0t Bmm − 0 B ⊗ I + ℑ 0t Bmm 
 3 9 3 3 
 2 t 4 2 t 2 s
+4c2 0t J −7 3  − I ⊗ 0 B 0t Bmm + I ⊗ I 0t I 2 − 0 B ⊗ I 0t Bmm + ℑ 0t I 2
 3 9 3 3 (137)
2
+ I ⊗
3
( t
0
t
B. 0 B
T
)+( t
0
t
B. 0 B
T
) ⊗ I  + t
0
t 
B ⊗ 0 B − Θ

(
+ 0t p I ⊗ I − 2ℑ
s
)
1 t
where
= Θijkl
2
( 0 Bik 0 B jl + 0 Bil 0 B jk ) .
t t t
1
t
In the initial configuration, 0 B = I , 0t J = 1 , 0t p = 0 , 0t Bmm = 3 , Θ = ℑ , 0t I 2 =
s
( 9 − 3)= 3
2
4
t c =− ( c1 + c2 ) I ⊗ I + 4 ( c1 + c2 ) ℑs (138)
3
µ 2 ( c1 + c2 ) , we get
Denoting=
2
t c =− µ I ⊗ I + 2 µ ℑ
s
(139)
3
which is the classical form of the standard spatially isotropic elasticity tensor.
4.3.8 Mean dilatation method to account for incompressibility
The incompressibility limit (ν → 0.5 ) induces numerical problems that can be overcome by several
techniques like mixed variational methods [6], [14], Lagrange multipliers approach [14], penalty
methods [14], Hu-Washizu variational principle 3. The first two techniques and the last one have the
disadvantage of introducing additional independent variables. Both Lagrange multiplier method and
the penalty method do not result in a simple and efficient finite element formulation. For the
Lagrange multiplier method and Hu-Washizu variational principle, the shape functions of the
various independent variables (e.g displacement field and pressure field for Lagrange multiplier,
motion, a volumetric strain field, and its corresponding volumetric stress for Hu-Washizu method)
and their variations should be carefully chosen so as to avoid volumetric locking.
The mean dilatation method is a special case of Hu-Washizu variational principle in which the
volumetric variables are interpolated using constant interpolations over a given finite element. This
method is presented in [14] and avoids adding additional degrees of freedom. It consists in
modifying the linearized elementary weak terms:
⌠ ⌠

 e
t
dee:t c :t d t Ω + 
t
σ : ( ∇Tt u.∇t d u ) d t Ω (140)
⌡ Ω
t ( ) ⌡t Ω( )
e
by:
1. adding the following term
κ t Ω( e ) ∇t .u ∇t .δ u (141)
with
Ω( )
t e
κ =κ (142)
0
Ω( e )
and κ is the bulk modulus of the material (very large value for almost incompressible materials). In
addition
1 ⌠
∇t .u
=  ∇t .u d tΩ
t
Ω( e )  e
⌡ t Ω( )
(143)
1 ⌠ ∂N r t
= d Ω u j ,r
Ω( e ) ⌡ t Ω(e)

t
∂ t xj
1 ⌠
t .dd
∇= u t ( e )  ∇t . u d t Ω
Ω ⌡ t Ω( e ) (144)
1 ⌠ ∂N q t
= t ( e ) d uq ,i  t
d Ω
Ω ⌡ t Ω( e ) ∂ xi
2. calculating the Cauchy stress tensor appearing in the second term of Eq(140) as
t
σ
=
t
σ '+ 0t p ( e) I (145)
Ω( e ) − 0 Ω( e )
t
where 0t p ( ) = κ
e
0 (e)
is the internal pressure that is assumed constant over the element and
Ω
t
σ ' is the deviatoric part of the Cauchy stress tensor calculated as:
t
=
 1  
σ ij ' 2c1 0t J −5 3  0t Bij − 0t Ckk δ ij  + 2c2 0t J −7 3  0t Ckk 0t Bij − 0t Bik 0t Bkj −
 3  
1
3 (( C
0
t
kk )
2
) 
− 0t Ckl 0t Clk δ ij  (146)

3
Hu-Washizu variational principle provides a framework for the solution of locking problems for nearly incompressible
materials by introducing a functional that permits the use of independent kinematic descriptions for the volumetric and
distortional deformations.
In the first term of Eq(140), the spatial elasticity tensor reads

t c= t cˆ + t c p (147)
with t cˆ the distortional component that depends upon the material used
 1 1 1 1 
= ˆ 4c1 0t J −5 3  − I ⊗ 0t B + I ⊗ I 0t Bmm − 0t B ⊗ I + ℑs 0t Bmm 
tc
 3 9 3 3 
 2 t 4 2 t 2 s
+4c2 0t J −7 3  − I ⊗ 0 B 0t Bmm + I ⊗ I 0t I 2 − 0 B ⊗ I 0t Bmm + ℑ 0t I 2
(148)
 3 9 3 3
2
+ I ⊗
3
( t
0
t
B. 0 B
T
)+( t
0
B. 0 B
t T
) ⊗ I  + t
0
t 
B ⊗ 0 B − Θ

and t c p the pressure component that does not depend on the particular material definition being
used.
tc p
= 0
t
(
p ( e ) I ⊗ I − 2ℑ
s
) (149)
Eq(141) leads to a new tangent stiffness matrix
1 ⌠ ∂N q t ⌠ ∂N r t
Ω( ) ∇t .u ∇t . u
e
= kdkd
t
(e)
u 
q ,i  t
d Ω 

d Ω ur , j
t
Ω ⌡ t Ω( e ) ∂ xi
 t (e)
⌡ Ω ∂ t xj
= d u q .k k( ,)qr .u r
e
(150)
= {d u}q  kk( e,qr)  {u}r

T
with
∂N q ⌠ ∂N r t
 kk( e,qr)  k 1
⌠
=  ij
 d t Ω × d Ω (151)
Ω( e )  t  t (e) ∂ t x
t
⌡ t Ω( e ) ∂ xi ⌡ Ω j
 kk( e,qr)  is a 3x3 matrix that provides the coupling between the components of the incremental
 
displacement in the 3 directions at a node q and a node r.
The elementary associated tangent stiffness matrix is obtained by assembling the different
contributions evaluating  kk( e,qr)  for all the nne nodes of the elements. The obtained matrix is of
  kkkk
(e)   k ( e,12)    k ( e,1)nne  
  ,11      
  k (e)   k ,22    k ,2 nne  
( e) ( e)
 kk( e )  =   kkk ,21      (152)
   
   
 
  kkkk
(e)   (e) 
k 0  k (e)  
  ,nne1   ,nne 2   ,nne nne  
This matrix must be added to the other stiffness matrices  kC( e )  +  kS( e )  +  k P( e )  .
4.4 Flow chart
Figure 6: Flow chart for the resolution of the nonlinear FE problem.

To end this section, Figure 6 presents the implemented solution algorithm. To improve
convergence, the load can be divided into incremental load steps and the problem solved iteratively
for each load step till the final (given) load is reached. Newton-Raphson classic algorithm can also
be combined with the line search algorithm [14].
4.5 Remarks on NOVAFEM-PUC non-linear solver
• The nonlinear solver is only used to calculate the static response. The dynamic response is
computed using the linear solver. Only isotropic Hexa8 and tetra10 solid elements are
handled (orthotropic nonlinear solid elements are not supported).
• The nonlinear solver supports both lateral periodic or regular boundary conditions.
• If the isotropic Mooney-Rivlin model is considered, values of c1 , c2 and bulk modulus κ
must be provided. These three parameters are utilized in the static calculation. For the
dynamic calculation, the following equivalent parameters are used ν eq = 0.499 ,
G
=eq 2 ( c1 + c2 ) , E=
eq ( )
2 1 + ν eq Geq .
• To use the nonlinear solver, it is recommended to start with a single loadstep 4 and Newton
Raphson algorithm (line search algorithm parameter set to 0). The number of Newton-
Raphson iterations per loadstep can be increased if needed (parameter Maximum number of
iterations for Newton-Raphson solver in bloc 901) but in general for the cases of validation
and the number of loadsteps considered, this number rarely reaches 30. If the solution does
not converge with this setting try to decompose the loading in several loadsteps and use the
line search algorithm in addition to Newton Raphson (line search algorithm parameter set to
0.5 and a maximum of 5 iterations). Using the line search algorithm increases the
computation time but sometimes allows for an improved convergence.
• The convergence of the solution can be checked in the MS-DOS window by looking at the
residual displacement err_disp and the force residual err_force on the control screen. They
should decrease as the number of iterations increases. If the residuals do not change as the
number of iterations increases this could mean that the number of loadsteps is too small. If
the program fails because of a negative jacobian this could indicate that the loading is too
large for the material properties of the system (failure).
• A tolerance of 1e-4 for the displacement is usually sufficient to achieve converged solutions.
5. Numerical validation
The main application of this non-linear module is the calculation of the static response of rubber
solids with inclusions subjected to a hydrostatic pressure. Once the static solution is obtained, the
deformed mesh is then used as the initial configuration for the dynamic problem with the acoustic
excitation. Dynamic calculations for unstressed configurations have already been validated in a
previous report [21]. In this section, validation cases for statically prestressed configurations are
considered. First, the purely static nonlinear response of various structures with free lateral
boundary conditions submitted to shear loading or hydrostatic pressure loading is considered (see
4
This means that the solver tries to compute the solution for the specified hydrostatic pressure loading.
)LJXUH 7KH XVH RI IUHH ODWHUDOERXQGDU\ FRQGLWLRQV PDNHV LW HDVLHU WR PDNH FRPSDULVRQVZLWK
$EDTXV

&$6(XQLIRUPLVRWURSLFHODVWLFUXEEHUEORFN
&$6(1RQOLQHDUEHQGLQJRIDFDQWLOHYHUEHDP VXEPLWWHGWRXQLIRUPSUHVVXUHORDGLQJ SHULRGLFERXQGDU\
VXEMHFWHGWRVKHDUORDGLQJ FRQGLWLRQV LVRWURSLFHODVWLFPDWHULDO &$6( LVRWURSLF
0RRQH\5LYOLQPDWHULDORUHTXLYDOHQWLVRWURSLFHODVWLF
QHDUO\LQFRPSUHVVLEOHPDWHULDO &$6(

&$6(UXEEHUEORFNZLWKDVSKHULFDOKROORZFXWRXW

&$6(UXEEHUEORFNZLWKDUHFWDQJXODUKROORZFXWRXW

&$6(+RPRJHQHRXVUXEEHUEORFNZLWKVROLGVSKHULFDOLQFOXVLRQFRDWHGZLWKDVLOLFRQOD\HU SHULRGLFERXQGDU\
FRQGLWLRQV VXEPLWWHGWRXQLIRUPSUHVVXUHORDGLQJ
)LJXUH3URSRVHGYDOLGDWLRQFRQILJXUDWLRQVIRUQRQOLQHDUVWDWLFUHVSRQVH

6HFRQG WKH VWDWLF VWLIIQHVV RI WZR VWUXFWXUHV ZLWK SHULRGLF ERXQGDU\ FRQGLWLRQV VXEPLWWHG WR
K\GURVWDWLF SUHVVXUH DQG H[FLWHG DFRXVWLFDOO\ DUH FDOFXODWHG VHH )LJXUH )RU WKH XQLIRUP
VWUXFWXUH WKH G\QDPLF VWLIIQHVV LV DOVR FRPSXWHG 1R VSHFLILF SDSHUV ZHUH IRXQG RQ WKH )(
PRGHOLQJ RI WKLV SUREOHP LQFOXGLQJ JHRPHWULF QRQOLQHDULWLHV )HZ DUH KRZHYHU DYDLODEOH IRU
FRQILJXUDWLRQVZLWKQRLQFOXVLRQVEXWWKHPDMRULW\GLVFXVVVSHFLILFPDWHULDOVDQGWKHH[SHULPHQWDO
LGHQWLILFDWLRQRIWKHEXONPRGXOXVWKH\DUHQRWUHSRUWHGKHUH,QFRQVHTXHQFHWKHPDLQYDOLGDWLRQ
VWUDWHJ\ LV EDVHG RQ FRPSDULVRQ RI 129$)(038& UHVXOWV ZLWK D NQRZQ QRQOLQHDU VROYHU
$EDTXV >@ ,Q DGGLWLRQ FRPSDULVRQV ZLWK &RPVRO >@±>@ ZLOO EH DOVR SURYLGHG IRU H[WUD
LQVXUDQFH

&$6(XQLIRUPLVRWURSLFHODVWLFUXEEHUEORFN
VXEPLWWHGWRXQLIRUPSUHVVXUHORDGLQJ SHULRGLF
ERXQGDU\FRQGLWLRQV &$6(UXEEHUEORFNZLWKDVSKHULFDOKROORZFXWRXW

&$6(+RPRJHQHRXVUXEEHUEORFNZLWKVROLGVSKHULFDOLQFOXVLRQFRDWHGZLWKDVLOLFRQOD\HU SHULRGLFERXQGDU\
FRQGLWLRQV VXEPLWWHGWRXQLIRUPSUHVVXUHORDGLQJ
)LJXUH3URSRVHGYDOLGDWLRQFRQILJXUDWLRQVIRUFDOFXODWLRQRIVWDWLF &$6(&$6(DQG&$6(
DQGG\QDPLFVWLIIQHVV &$6(&$6( RIVHYHUDOVWUXFWXUHVVXEPLWWHGWRK\GURVWDWLFSUHVVXUH
DQGH[FLWHGDFRXVWLFDOO\
1RWH WKDW ERWK JHRPHWULF DQG PDWHULDOQRQOLQHDULWLHVDUHFRQVLGHUHGLQWKHVROYHU7KHERXQGDU\
W\SHQRQOLQHDULW\LQGXFHGE\WKHK\GURVWDWLFSUHVVXUH VHHHTXDWLRQVRQWKHIROORZLQJSUHVVXUH KDV
EHHQLPSOHPHQWHGEXWKDVQRWEHHQWHVWHGGXHWRDODFNRIUHIHUHQFHVRQWKHVXEMHFW7KHUHIRUHLQ
WKHUHVXOWVWKDWDUHSUHVHQWHGKHUHWKHFRQWULEXWLRQRIWKHIROORZLQJSUHVVXUHWRWKHWDQJHQWVWLIIQHVV
PDWUL[ LV QHJOHFWHG 7R FDOFXODWH WKH VWDWLF VWUXFWXUDO UHVSRQVH XQGHU WKH HIIHFW RI WKH K\GURVWDWLF
SUHVVXUH LW LV QHFHVVDU\ WR PDNH WKH VWUXFWXUH LVRVWDWLF DQG SUHYHQW WKH ULJLG ERG\ PRWLRQ
W
7KHUHIRUHWKHVWXGLHGVWUXFWXUHLVEORFNHGRQLWVUHDUIDFH X VHH)LJXUH


)LJXUH±VWXGLHGSUREOHP
7KHUHVXOWVLQWKHYDULRXVFRQILJXUDWLRQVDUHSURYLGHGLQ$SSHQGL[%
5HIHUHQFHV

>@ &$)HOLSSD³/HFWXUHQRWHV1RQOLQHDU)LQLWH(OHPHQW0HWKRGVFRXUVH$6(1´
8QLYHUVLW\RI&RORUDGRDW%RXOGHU
>@ +'+LEELWW390DUFDODQG-55LFH³)LQLWHHOHPHQWIRUPXODWLRQIRUSUREOHPVRIODUJH
VWUDLQDQGODUJHGLVSODFHPHQW´,QWHU-6ROLGV6WUXFWXUHVYROSS±
>@ .-%DWKH(5DPPDQG(/:LOVRQ³)LQLWHHOHPHQWIRUPXODWLRQVIRUODUJHGHIRUPDWLRQ
G\QDPLFDQDO\VLV´,QWHUQDWLRQDO-RXUQDOIRU1XPHULFDO0HWKRGVLQ(QJLQHHULQJYROQR
SS±
>@ .-%DWKH)LQLWHHOHPHQWSURFHGXUHV3UHQWLFH+DOO
>@ 06*DGDOD0$'RNDLQLVKDQG*2UDYDV³)RUPXODWLRQPHWKRGVRIJHRPHWULFDQG
PDWHULDOQRQOLQHDULW\SUREOHPV´,QWHUQDWLRQDOMRXUQDOIRUQXPHULFDOPHWKRGVLQHQJLQHHULQJ
YROQRSS±
>@ $)RUWLQDQG$*DURQ/HVpOpPHQWVILQLVGHODWKpRULHjODSUDWLTXH/DYDO4&&DQDGD
*LUHI8QLYHUVLWp
>@ $)%RZHU$SSOLHG0HFKDQLFVRI6ROLGV&5&3UHVV
>@ :(+DLVOHU-$6WULFNOLQDQG)-6WHEELQV³'HYHORSPHQWDQG(YDOXDWLRQRI6ROXWLRQ
3URFHGXUHVIRU*HRPHWULFDOO\1RQOLQHDU6WUXFWXUDO$QDO\VLV´$,$$-RXUQDOYROQRSS
±0DU
>@ -15HGG\$QLQWURGXFWLRQWRQRQOLQHDUILQLWHHOHPHQWDQDO\VLV2[IRUGௗ1HZ<RUN2[IRUG
8QLYHUVLW\3UHVV
>@ 0$&ULVILHOG1RQ/LQHDU)LQLWH(OHPHQW$QDO\VLVRI6ROLGVDQG6WUXFWXUHVYROYROV
&KLFKHVWHU1HZ<RUN%ULVEDQH:LOH\
>@ 5'&RRN'60DONXV0(3OHVKDDQG5-:LWW&RQFHSWVDQG$SSOLFDWLRQVRI)LQLWH
(OHPHQW$QDO\VLVWKHG+RERNHQ1-86$:LOH\ 6RQV

[12] T. Belytschko, W. Kam Liu, and B. Moran, Nonlinear Finite Elements for Continua and
Structures, 2nd ed. Wiley & Sons, 2013.
[13] J. Coirier and C. Nadot-Martin, Mécanique des milieux continus - 4e édition: Cours et
exercices corrigés, 4e édition. Paris: Dunod, 2013.
[14] J. Bonet and R. D. Wood, Nonlinear continuum mechanics for finite element analysis.
Cambridge ; New York, NY, USA: Cambridge University Press, 1997.
[15] M. Mooney, “A Theory of Large Elastic Deformation,” Journal of Applied Physics, vol. 11,
no. 9, pp. 582–592, Sep. 1940.
[16] R. S. Rivlin, “Large Elastic Deformations of Isotropic Materials. IV. Further Developments of
the General Theory,” Philosophical Transactions of the Royal Society of London A:
Mathematical, Physical and Engineering Sciences, vol. 241, no. 835, pp. 379–397, Oct. 1948.
[17] M. C. Boyce and E. M. Arruda, “Constitutive Models of Rubber Elasticity: A Review,”
Rubber Chemistry and Technology, vol. 73, no. 3, pp. 504–523, 2000.
[18] I.-S. Liu, “A note on the Mooney–Rivlin material model,” Continuum Mechanics and
Thermodynamics, pp. 1–8, 2012.
[19] R. W. Ogden, “Large Deformation Isotropic Elasticity - On the Correlation of Theory and
Experiment for Incompressible Rubberlike Solids,” Proceedings of the Royal Society of
London A: Mathematical, Physical and Engineering Sciences, vol. 326, no. 1567, pp. 565–
584, Feb. 1972.
[20] R. W. Ogden, Non-linear Elastic Deformations. Courier Corporation, 1997.
[21] F. Sgard, N. Atalla, and R. Panneton, “Calculation of the dynamic response of a periodic
structure excited by an oblique incidence plane wave and subjected to a hydrostatic pressure,”
Defence Research and Development Canada, Research report W7707–145685/001/HAL,
2015.
[22] DS Simulia Corp., Abaqus Theory guide ( 6.14 ). Dassault Systèmes Simulia Corp., 2016.
[23] COMSOL, “COMSOL 5.2a Multiphysics reference manual.” COMSOL, 2016.
[24] COMSOL, “COMSOL 5.2a Non linear structural materials Module User’s guide.” COMSOL,
2016.
[25] COMSOL, “COMSOL 5.2a Acoustics Module Application Library Manual.” COMSOL,
2016.
7. Appendix A
7.1 Total Lagrangian (T.L.) formulation – the incremental form
First, let us write Eq. (37) at time t + ∆t :
∀ 0 Ω, ∀d ui (a virtual displacement field)

⌠ ⌠ t +∆t ⌠ (153)
 t +∆t S drdd

⌡0 Ω
0 ij
t +∆t
= 0 (
Eij d 0
Ω. 
 )
⌡0 Ω
0
Fi ui d 0
Ω + 

⌡∂ 0 Ω
t +∆t
(
0Ti ui ) d0A .
To ease the notation, we have used:
⌠ ⌠ ⌠
=

⌡∂ Ω
0
t +∆t
T
0 i ddd
ui d 0
A 

⌡∂ Ω1
0
t +∆t
T
0 i ui d 0
A − 

⌡∂ Ω2
0
p t +∆0tG ji 0 n j ui t +∆0t J ( ) d 0 A. (154)
Since the non-linearity is brought in by the first term, let us write the strain and stress tensors at
time t + ∆t as small increments of their values at time t:
 t0+∆t =
 Sij 0t Sij + 0 Sij
 t +∆t . (155)
0 =
 Eij 0t Eij + 0 Eij
Further we decompose the strain increment into a linear and a nonlinear part with respect to the
incremental terms uk :
0 E
=ij e + 0ηij
0 ij (156)
0 ije denotes Green Lagrange linear strain increment tensor given by

1  ∂ui ∂u j ∂ t uk ∂uk ∂ t uk ∂uk 
0 e=  + + +  (157)
2  ∂ 0 x j ∂ 0 xi ∂ 0 xi ∂ 0 x j ∂ 0 x j ∂ 0 xi 
ij
0 ηij denotes Green Lagrange nonlinear strain increment tensor given by

1 ∂uk ∂uk
0 ηij = (158)
2 ∂0 xi ∂0 x j
In the above two equations, ui denotes incremental displacement
t +∆t
ui
= ui − t ui (159)
Since 0t Sij and 0

t
Eij are known, we have δ ( t +∆t
0 Eij ) = δ ( 0 Eij ) and in consequence:
t +∆t
0 Sijδ ( t +∆0t Eij )= 0
t
Sijδ ( 0 eij ) + 0t Sijδ ( 0ηij ) + 0 Sijδ ( 0 eij ) + 0 Sijδ ( 0ηij ) (160)
Introducing at this stage the constitutive material equation written on the incremental variables:
0 Sij = 0 Cijkl 0 Ekl (161)
it is observed that the last term of Eq. (160), 0 Sijδ ( 0ηij ) = 0 Cijkl 0 Eklδ ( 0ηij ) , is of higher order and
can be dropped (linearization). Moreover, the linearization of the first term leads to
0𝑆𝑆𝑖𝑖𝑖𝑖 𝛿𝛿( 0𝑒𝑒𝑖𝑖𝑖𝑖 )~ 0𝐶𝐶𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑒𝑒𝑘𝑘𝑘𝑘 𝛿𝛿( 0𝑒𝑒𝑖𝑖𝑖𝑖 ). In consequence, the linearized form of the weak integral in the
Lagrangian formulation is (the “following pressure” term is dropped here for simplicity):
⌠ ⌠ ⌠ t +∆t
 C e
 0 ijkl 0 kl
⌡ Ω
0
dd
e ( )
0 ij d 0
Ω +  t
=
 0 ij
⌡ Ω
0
S 0 ηij d Ω
0
( ) 

⌡0 Ω
0
( ρFi ) d ui d 0 Ω (162)
⌠ ⌠
+ 
⌡∂ Ω 0
t +∆t
0 iT dd
ui d 0 A −  0t Sij
⌡0
( e )d
0 ij
0
Ω .
Ω
7.2 Finite element implementation of the incremented TL formulation
The first term of Eq(162) can be written as:

⌠ ⌠
 C e
 0 ijkl 0 kl
⌡0 Ω
( 0 eij ) d 0Ω  0 e. 0 C. 0 e d 0Ω
dd
=
⌡0 Ω
(163)
where
 ∂u1   ∂0t u1 ∂u1 ∂t0u2 ∂u2 ∂t0u3 ∂u3
+ 0 + 0

 0   0 0 0
∂ x1 ∂ x1 ∂ x1 ∂ x1 ∂ x1 ∂ x1 0 
∂ x1  
 
 ∂u2   ∂t0u1 ∂u1 ∂t0u2 ∂u2 ∂t0u3 ∂u3
+ 0 + 0

 
 0 e11    0 0 0 0
0
∂ x2  ∂ x2 ∂ x2 ∂ x2 ∂ x2 ∂ x2 ∂ x2 
 e   
∂ u  ∂ t
u ∂ u ∂ t
u ∂ u ∂ t
u ∂ u 
 0 22   3 
 0 1 1
+ 00 2 0 2 + 00 3 0 3  (164)
 0 e33    0
∂ x3 
 
0 0
∂ x3 ∂ x3 ∂ x3 ∂ x3 ∂ x3 ∂ x3 
=0e =   + t 
 2 0 e12   ∂u1 + ∂u2   ∂0u1 ∂u1 + ∂0u2 ∂u2 + ∂0u3 ∂u3 + ∂0u1 ∂u1 + ∂0u2 ∂u2 + ∂0u3 ∂u3 
t t t t t
 2 0 e13   ∂ 0 x2 ∂ 0 x1   ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 ∂0 x2 ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 ∂0 x1 
     t 
 2 0 e23   ∂u1 + ∂u3   ∂0u1 ∂u1 + ∂0u2 ∂u2 + ∂0u3 ∂u3 + ∂0u1 ∂u1 + ∂0u2 ∂u2 + ∂0u3 ∂u3 
t t t t t
0 0
 ∂ x3 ∂ x1   ∂0 x ∂0 x ∂0 x ∂0 x ∂0 x ∂0 x ∂0 x ∂0 x ∂0 x ∂0 x ∂0 x ∂0 x 
   t 3 1 3 1 3 1 1 3 1 3 1 3

 ∂u2 + ∂u3   ∂0u1 ∂u1 ∂0u2 ∂u2 ∂0u3 ∂u3 ∂0u1 ∂u1 ∂0u2 ∂u2 ∂0u3 ∂u3 
t t t t t
 ∂ 0 x3 ∂ 0 x2   ∂0 x ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x 
 2 3 2 3 2 3 3 2 3 2 3 2
Or equivalently
  ∂   ∂0t u1 ∂ ∂0t u2 ∂ ∂0t u3 ∂  

 ∂ x 0 0   0 0 0 0 0 0  
0 ∂ x1 ∂ x1 ∂ x1 ∂ x1 ∂ x1 ∂ x1
  1
   
  ∂   ∂t0u1 ∂ ∂t0u2 ∂ ∂t0u3 ∂  
  0 0   0 0 0 0 0 0  
0
∂ x2 ∂ x2 ∂ x2 ∂ x2 ∂ x2 ∂ x2 ∂ x2
     
  ∂   ∂t0u1 ∂ ∂0t u2 ∂ ∂t0u3 ∂  
  0 0 0   0 0 0 0 0 0
   u1 
∂ x3 ∂ x3 ∂ x3 ∂ x3 ∂ x3 ∂ x3 ∂ x3
  +   
=0e   ∂ ∂   t
∂u ∂ t
∂u ∂ t
∂0u2 ∂ t
∂u ∂ t
∂0u3 ∂ t
∂u ∂
  u2 
  0 0
0   00 1 0 + 00 1 0 + 00 2 0 + 00 3 0    u3 
 ∂ x2 ∂ x1   ∂ x1 ∂ x2 ∂ x2 ∂ x1 ∂ x1 ∂ x2 ∂ x2 ∂ x1 ∂ x1 ∂ x2 ∂ x2 ∂ x1 
0 0 0 0
 
  ∂ ∂   ∂t u ∂ ∂t0u1 ∂ ∂0t u2 ∂ ∂0t u2 ∂ ∂0t u3 ∂

∂0t u3 ∂ 

  0 0  0 1
+ + + 
  ∂ x3 ∂ 0 x1   ∂0 x ∂0 x ∂0 x ∂0 x ∂0 x3 ∂0 x1 ∂0 x1 ∂0 x3 ∂0 x3 ∂0 x1 ∂0 x1 ∂0 x3  
3 1 1 3
    
∂ ∂   ∂t u ∂ ∂0t u1 ∂ ∂0t u2 ∂ ∂0t u2 ∂ ∂0t u3 ∂ ∂0t u3 ∂ 
  0  
∂ x3 ∂ x2   ∂0 x ∂0 x + ∂0 x ∂0 x ∂0 x ∂0 x + ∂0 x ∂0 x ∂0 x ∂0 x + ∂0 x ∂0 x 
0 1
0 0
  
2 3 3 2 2 3 3 2 2 3 3 2 
D

D tu
0
=  D + D  .u
t
0u (165)
Thus
⌠ ⌠
( 0 eij )=
T
 C e dd d 0Ω  u.  D + D u  . 0 C .  D + D u  . u d 0Ω (166)
 0 ijkl 0 kl
⌡0 Ω

⌡0 Ω
 t
0   t
0 
The second term of Eq(162) can be written as:

⌠ ⌠
 tS
 0 ij
d ( 0=
ηij ) d 0Ω  d η. t S
 0 0 d 0Ω (167)
⌡0 Ω ⌡0 Ω
Using
 ∂u1 ∂u1 ∂u2 ∂u2 ∂u3 ∂u3 

 ∂0 x ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x 
 1 1 1 1 1 1

 ∂u1 ∂u1 ∂u2 ∂u2 ∂u3 ∂u3 
 ∂0 x ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x 
 0 η11   2 2 2 2 2 2

 η   ∂ u ∂ u ∂ u ∂ u ∂ u ∂ u 
 0 22   ∂0 x ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x 
1 1 2 2 3 3
(168)
 0 η33  1  3 3 3 3 3 3

= η =    ∂u ∂u ∂ u ∂ u ∂ u ∂ u  
 2 0 η12  2  2  0 1 0 1 + 0 2 0 2 + 0 3 0 3  
0
 2 0 η13    ∂ x1 ∂ x2 ∂ x1 ∂ x2 ∂ x1 ∂ x2  
   
2 0 η23   2  ∂u1 ∂u1 + ∂u2 ∂u2 + ∂u3 ∂u3  
  ∂ 0 x1 ∂ 0 x3 ∂ 0 x1 ∂ 0 x3 ∂ 0 x1 ∂ 0 x3  
 
  ∂u1 ∂u1 ∂u2 ∂u2 ∂u3 ∂u3  
 2  ∂ 0 x ∂ 0 x + ∂ 0 x ∂ 0 x + ∂ 0 x ∂ 0 x  
 2 3 2 3 2 3 
We have
 ∂δ u1 ∂u1 ∂δ u2 ∂u2 ∂δ u3 ∂u3 

 + + 
∂0 x1 ∂0 x1 ∂0 x1 ∂0 x1 ∂0 x1 ∂0 x1
 
 ∂δ u1 ∂u1 ∂δ u2 ∂u2 ∂δ u3 ∂u3 
+ +
 δ 0 η11   ∂ 0 x2 ∂ 0 x2 ∂ 0 x2 ∂ 0 x2 ∂ 0 x2 ∂ 0 x2 
δ η   
 0 22   ∂δ u1 ∂u1 ∂δ u2 ∂u2 ∂δ u3 ∂u3  (169)
+ +
 δ 0 η33   ∂0 x3 ∂0 x3 ∂0 x3 ∂0 x3 ∂0 x3 ∂0 x3 
=δ 0 η =   
 2 δ 0 η12   ∂δ u1 ∂u1 + ∂u1 ∂δ u1 + ∂δ u2 ∂u2 + ∂u2 ∂δ u2 + ∂δ u3 ∂u3 + ∂u3 ∂δ u3 
 2δ 0 η13   ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 
   
2 δ 0 η23   ∂δ u1 ∂u1 + ∂u1 ∂δ u1 + ∂δ u2 ∂u2 + ∂u2 ∂δ u2 + ∂δ u3 ∂u3 + ∂u3 ∂δ u3 
 ∂0 x1 ∂0 x3 ∂0 x1 ∂0 x3 ∂0 x1 ∂0 x3 ∂0 x1 ∂0 x3 ∂0 x1 ∂0 x3 ∂0 x1 ∂0 x3 
 
 ∂δ u1 ∂u1 + ∂u1 ∂δ u1 + ∂δ u2 ∂u2 + ∂u2 ∂δ u2 + ∂δ u3 ∂u3 + ∂u3 ∂δ u3 
 ∂0 x2 ∂0 x3 ∂0 x2 ∂0 x3 ∂0 x2 ∂0 x3 ∂0 x2 ∂0 x3 ∂0 x2 ∂0 x3 ∂0 x2 ∂0 x3 
We have
 0t S11   0 C11 C12 C13 C14 C15 C16   0 E11 
t
t   C
0 0 0 0 0
 tE 

 0 S22   0 21
C
0 22 C
0 23 C
0 24 C
0 25 0 C26   0 22 
t
 tS 
 0 33   0 C31 0 C32 0 C33 0 C34 0 C35
 t
0 C36  0 E33 
 (170)
=0 S =    t 
 0 C41 0 C42 0 C43 0 C44 0 C45 0 C46   2 0 E12 
t
 0 S12 
 tS   0 C51 0 C52 0 C53 0 C54 0 C55 0 C56
 2 t E 
 0 13     0 13 
 0t S23   0 C61 0 C62 0 C63 0 C64 0 C65 0 C66 
 2 t E 
 0 23 
and
 ∂0t u1 1   ∂0t u1   ∂0t u2   ∂0t u3  
2 2 2

 0
+  0  +  0  +  0   
 ∂ x1 2   ∂ x1   ∂ x1   ∂ x1   
 
 ∂t u 1   ∂t u   ∂t u   ∂t u   
2 2 2
 0t E11   ∂0 x + 2   ∂0 x  +  ∂0 x  +  ∂0 x   
0 2 0 1 0 2 0 3
 t   2  2 2 2  
E
 0 22    (171)
∂0u3 1   ∂0u1   ∂0u2   ∂0u3  
2 2 2
 tE   
t t t t
t  0 33   0
+  0  +  0  +  0   
=0E = t   ∂ x3 2   ∂ x3   ∂ x3   ∂ x3   
2 E
 0 12   t 
t t t t t t t
 2 t E   ∂0u1 + ∂0u2 + ∂0u1 ∂0u1 + ∂0u2 ∂0u2 + ∂0u3 ∂0u3 
 0 13   ∂0 x2 ∂0 x1 ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 ∂0 x1 ∂0 x2 
2 0t E23   t t t t t t t t

 ∂0u1 ∂0u3 ∂0u1 ∂0u1 ∂0u2 ∂0u2 ∂0u3 ∂0u3 
 ∂0 x + ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x 
 3 1 1 3 1 3 1 3

 ∂t0u3 ∂t0u2 ∂t0u1 ∂t0u1 ∂t0u2 ∂t0u2 ∂t0u3 ∂t0u3 
 ∂0 x + ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x + ∂0 x ∂0 x 
 2 2 3 2 3 2 3 2
The integrand in Eq(167) can be rewritten :

T
 ∂δ u1   ∂u1 
 ∂0 x   ∂0 x 
 1
  1
 ∂δ u1   ∂u1 
 ∂0 x   ∂0 x 
 2
  2
 ∂δ u1   0t S11 t
S t
S 0 0 0 0 0
∂u
0   0 1 
 ∂0 x  t
0 12 0 13
 ∂x
t t
 3
  0 S12 S
0 22 S
0 23 0 0 0 0 0 0  3
 ∂δ u2   0t S13  ∂u 
 ∂0 x 
t
S
0 23
t
S
0 33 0 0 0 0 0 0  0 2 
1   ∂ x1
   0 0 0 t
S
0 11
t
S
0 12
t
S
0 13 0 0 0  
 ∂δ u2   0   ∂u2 
δ 0 η. 0 S =  0 
t
0 0 t
S t
S t
S 0 0 0  0 
 ∂ x2    ∂ x2 
0 12 0 22 0 23
 0 0 0 t
S t
S t
S 0 0 0 
 ∂δ u2   
  ∂u2 
0 13 0 23 0 33
 0   0 0 0 0 0 0 t
S t
S t
S 0
 ∂ x3   0 13 
 ∂ x3 
0 11 0 12
t t t
 0 0 0 0 0 0 S S S 
 ∂δ u3  
0 12 0 22 0 23 
 ∂u3 
t t t
 ∂0 x   0 0 0 0 0 0 S
0 13 S
0 23 S
0 33   ∂ 0 x 
 1   1
 ∂δ u3   ∂u3 
 ∂0 x   ∂0 x 
 2   2 (172)
 ∂δ u3   ∂u3 
 ∂0 x   ∂0 x 
 3   3
Defining
 ∂ 
 ∂0 x 0 0 
 1 
 ∂ 
 ∂0 x 0 0 
 2 
 ∂ 
 ∂0 x 0 0 
 3 
 ∂ 
 0 0
0 
 ∂ x1 
 ∂ 
D= 0 0
0 
 ∂ x2 
 ∂ 
 0 0
0 
 ∂ x3 
 ∂ 
 0 0 
 ∂0 x1 
 ∂ 
 0 0 
 ∂ 0 x2 
 ∂ 
(173)
 0 0 
 ∂0 x3 
and
 0t S11 t
S
0 12
t
0 13S 0 0 0 0 0 0 
t t t 
 0 S12 S
0 22 0 23S 0 0 0 0 0 0 
 0t S13 t
S
0 23
t
0 33S 0 0 0 0 0 0 
 t t t 
 0 0 0 0 S11 0 S12 0 S13 0 0 0 
 0
(174)
t
0S = 0 0 t
0 S12
t
0 S 22
t
0 S 23 0 0 0 
 t t t

 0 0 0 S
0 13 0 S23 0 S33 0 0 0 
 0 t
S t
S t 

0 0 0 0 0 0 11 0 12 0 S13 
t t t
 0 0 0 0 0 0 S
0 12 S
0 22 0 S 23 
 t t t 
 0 0 0 0 0 0 S
0 13 S
0 23 0 S33 
Finally Eq(167) becomes :
⌠ ⌠
( )
T
 t=S d 0 ηij d 0Ω
 0 ij
 d u. D . t S . D. u
 0 d 0Ω (175)
⌡ Ω
0 ⌡0 Ω
In addition, the second integral on the right hand side of Eq(162) can be rewritten
⌠ ⌠ ⌠
=


t +∆t
0 T .ddd
u d 0
A 

t +∆t
0 T . u d 0
A − 

t +∆t −T 0
p 0 F . n. u t +∆0t Jd 0 A. (176)
⌡∂ 0 Ω ⌡∂ 0 Ω1 ⌡∂ 0 Ω2
We can show that the last term of Eq(176) can be linearized and written as
⌠ ⌠
t +∆t −T 0 t −T 0
−  p 0
F . n.dd
u t +∆0t Jd 0 A =
−  p u. 0 F . n 0t Jd 0 A
⌡∂ 0 Ω2 ⌡∂ 0 Ω2
( ) . n − (∇u : F )( F )
⌠
p d u.  0 F . ( ∇u ) . 0 F . n  0t Jd 0 A
t −T T t −T 0 t −T t −T 0
− 
⌡∂ 0 Ω2
 0 0 
(177)
The last term of Eq(40) may be written :
⌠ ⌠
 t S dd
 0 ij
⌡ Ω
0
e
=
0 ij d( )
0
Ω 

⌡ Ω
0
t
0 e. 0 S d 0Ω
(178)
⌠ T
= d u.  D + D t u  . 0t S d 0Ω

⌡0 Ω
 0 
where t0 S is obtained from Eq(170) and Eq(171). Note that this vector can be calculated from the
displacement t0 u which is known.
8. Appendix B – Validation manual

CAN UNCLASSIFIED
DOCUMENT CONTROL DATA

(Security markings for the title, abstract and indexing annotation must be entered when the document is Classified or Designated)
1. ORIGINATOR (The name and address of the organization preparing the document. 2a. SECURITY MARKING
Organizations for whom the document was prepared, e.g., Centre sponsoring a (Overall security marking of the document including
contractor's report, or tasking agency, are entered in Section 8.) special supplemental markings if applicable.)
Mecanum Inc. CAN UNCLASSIFIED

1060, Cherbourg
Sherbrooke QC J1K 2N8
2b. CONTROLLED GOODS
NON-CONTROLLED GOODS
DMC A
3. TITLE (The complete document title as indicated on the title page. Its classification should be indicated by the appropriate abbreviation (S, C or U) in
parentheses after the title.)
NOVAFEM-PUC solver: Theoretical manual, non-linear formulations

4. AUTHORS (last name, followed by initials – ranks, titles, etc., not to be used)
Atalla, N.; Sgard, F.

5. DATE OF PUBLICATION 6a. NO. OF PAGES 6b. NO. OF REFS
(Month and year of publication of document.) (Total containing information, (Total cited in document.)
including Annexes, Appendices,
etc.)
December 2017
58 26
7. DESCRIPTIVE NOTES (The category of the document, e.g., technical report, technical note or memorandum. If appropriate, enter the type of report,
e.g., interim, progress, summary, annual or final. Give the inclusive dates when a specific reporting period is covered.)
Contract Report
8. SPONSORING ACTIVITY (The name of the department project office or laboratory sponsoring the research and development – include address.)
DRDC – Atlantic Research Centre

Defence Research and Development Canada
9 Grove Street
P.O. Box 1012
Dartmouth, Nova Scotia B2Y 3Z7
Canada
9a. PROJECT OR GRANT NO. (If appropriate, the applicable research 9b. CONTRACT NO. (If appropriate, the applicable number under
and development project or grant number under which the document which the document was written.)
was written. Please specify whether project or grant.)
10a. ORIGINATOR’S DOCUMENT NUMBER (The official document 10b. OTHER DOCUMENT NO(s). (Any other numbers which may be
number by which the document is identified by the originating assigned this document either by the originator or by the sponsor.)
activity. This number must be unique to this document.)
DRDC-RDDC-2017-C254
11a. FUTURE DISTRIBUTION (Any limitations on further dissemination of the document, other than those imposed by security classification.)
Public release
11b. FUTURE DISTRIBUTION OUTSIDE CANADA (Any limitations on further dissemination of the document, other than those imposed by security
classification.)
CAN UNCLASSIFIED
CAN UNCLASSIFIED
12. ABSTRACT (A brief and factual summary of the document. It may also appear elsewhere in the body of the document itself. It is highly desirable that
the abstract of classified documents be unclassified. Each paragraph of the abstract shall begin with an indication of the security classification of the
information in the paragraph (unless the document itself is unclassified) represented as (S), (C), (R), or (U). It is not necessary to include here abstracts in
both official languages unless the text is bilingual.)
___________________________________________________________________________
13. KEYWORDS, DESCRIPTORS or IDENTIFIERS (Technically meaningful terms or short phrases that characterize a document and could be helpful
in cataloguing the document. They should be selected so that no security classification is required. Identifiers, such as equipment model designation,
trade name, military project code name, geographic location may also be included. If possible keywords should be selected from a published thesaurus,
e.g., Thesaurus of Engineering and Scientific Terms (TEST) and that thesaurus identified. If it is not possible to select indexing terms which are
Unclassified, the classification of each should be indicated as with the title.)
Finite element modelling; Acoustic materials
CAN UNCLASSIFIED

NOVAFEM-PUC Solver: Theoretical Manual, Non-Linear Formulations

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

NOVAFEM-PUC Solver: Theoretical Manual, Non-Linear Formulations

Uploaded by

Copyright:

Available Formats

CAN UNCLASSIFIED

Defence Research and Development Canada

IMPORTANT INFORMATIVE STATEMENTS

Template in use: SB SL Covering Page_EN_Smart_2017-11-02_V01_WW.dotm

2. TOTAL LAGRANGIAN AND UPDATED LAGRANGIAN FORMULATIONS 2-4

2.1 REFERENCE AND CURRENT CONFIGURATIONS 2-4

3. MATERIAL NON-LINEARITY – SELECTED MODELS 3-13

3.1 ELASTIC MATERIALS 3-14

4. FINITE ELEMENT IMPLEMENTATION OF THE UL FORMULATION 4-19

4.1 INTERPOLATION OF THE GEOMETRY 4-19

4.3.8 MEAN DILATATION METHOD TO ACCOUNT FOR INCOMPRESSIBILITY 4-28

5. NUMERICAL VALIDATION 5-32

7.1 TOTAL LAGRANGIAN (T.L.) FORMULATION – THE INCREMENTAL FORM 7-37

8. APPENDIX B – VALIDATION MANUAL 8-43

A linear structure is a mathematical model characterized by a linear fundamental equilibrium path

Figure 1: Adapted from [1] – A tour of nonlinear analysis – Chapter 2

Figure 2: Adapted from [1] – A tour of nonlinear analysis – Chapter 2

Geometric non linearities

Material non linearities

Force boundary conditions non linearities

Displacement boundary conditions non linearities

Formulations used to describe non-linear structural problems

Solution procedures for non-linear formulation

2. Total Lagrangian and Updated Lagrangian formulations

2.1 Reference and current configurations

The displacement vector is in consequence:

2.2 Deformation (strain) tensors

Using Eqs. (2) and (3), we have:

Using Eqs. (25) and (26), PK2 stress tensor is given by :

Note that this tensor is symmetric, i.e. 0t Sij = 0t S ji .

∀ t W, ∀d u (a virtual displacement field)

∀ 0 Ω, ∀d u (a virtual displacement field)

Equivalently in components form:

∀ 0 W, ∀d ui (a virtual displacement field)

2.5 Principle of Virtual work – Linearized Updated Lagrangian (U.L.) formulation

Step 1 ⇒ Initialize the displacement vector

Step 2.4 ⇒ Check for convergence

3. Material non-linearity – selected models

3.1 Elastic materials

In the latter equation,

where λ and µ are the two Lamé constants of the material.

3.2 Hyperelastic material models

Hyperelastic (rubberlike) materials exhibit an incompressible (deformation with volume preserving)

3.2.1 Saint-Venant-Kirchhoff model

3.2.2 Mooney-Rivlin model (incompressible)

3.2.3 Mooney-Rivlin model (nearly-incompressible)

Finally, as in Eq(58), the PK2 tensor is given by:

Recall at this stage, from Eq. (11) , that

which leads in turn to:

The explicit expression of the PK2, Eq. (70), is given by [6]:

The explicit expression of 0t C can be shown to be given by:

(eigenvalues of the right stretch tensor: 0tU = 0t C1 2 ) in the form

4. Finite element implementation of the UL formulation

4.2 Interpolation of the displacement and displacement increments

4.3 Discretized formulation

4.3.1 Elementary constitutive tangent stiffness matrix  kC( e ) 

where we have used the fact that ∇t u = ∇t ( N r u r ) = N r ∇t ( u r ) + u r ⊗ ∇t ( N r ) = u r ⊗ ∇t ( N r )

which can be written as:

4.3.2 Initial stress tangent stiffness matrix  kS( e ) 

 k S( e )  comes out from the discretization of the second term in Eq(39)

In other words, the elementary matrix  k S( ,qr)  can be written as

  k S( e,11)   k S( e,12)    k S( e,1)nne  

4.3.3 Following pressure tangent stiffness matrix  k P( e) 