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Springer Series in Solid and Structural Mechanics 8
Michel Frémond
Franco Maceri
Giuseppe Vairo Editors
Models,
Simulation, and
Experimental
Issues in Structural
Mechanics
Springer Series in Solid and Structural
Mechanics
Volume 8
Series editors
Michel Frémond, Rome, Italy
Franco Maceri, Rome, Italy
More information about this series at http://www.springer.com/series/10616
Michel Frémond Franco Maceri
•
Giuseppe Vairo
Editors
Models, Simulation,
and Experimental Issues
in Structural Mechanics
123
Editors
Michel Frémond Giuseppe Vairo
Department of Civil Engineering Department of Civil Engineering
and Computer Science and Computer Science
University of Rome “Tor Vergata” University of Rome “Tor Vergata”
Rome Rome
Italy Italy
Franco Maceri
Department of Civil Engineering
and Computer Science
University of Rome “Tor Vergata”
Rome
Italy
The reader aware of structural mechanics will find in this book a source of fruitful
knowledge and effective tools useful, joined with imagination, for creating and
promoting novel and challenging developments.
A wide range of topics is faced, such as mechanics and geotechnics, vibration
and damping, damage and friction, experimental methods and advanced structural
materials. Analytical, experimental and numerical findings are presented, focusing
on theoretical and practical issues and opening towards novel progresses in struc-
tural engineering.
Proposed contributions collect some recent results obtained in the framework
of the Lagrange Laboratory, an European scientific research group, mainly con-
sisting of Italian and French engineers, mechanicians and mathematicians.
This book is the most recent example of the long-term scientific cooperation
between the well-established French and Italian schools in mechanics, mathematics
and engineering.
The contribution of Stella Brach to prepare this volume is gratefully
acknowledged.
vii
Contents
ix
x Contents
xi
xii Contributors
Claude Stolz École Centrale Nantes, GeM UMR CNRS 6183, Nantes, France;
Université Paris Saclay, IMSIA UMR EDF/CNRS/CEA/ENSTA 9219, Palaiseau,
France
Giuseppe Vairo DICII, Università degli Studi di Roma “Tor Vergata”, Rome,
Italy; Institut D’Alembert, Université Pierre et Marie Curie, Paris, France
Thibaut Weller Université Montpellier II, Laboratoire de Mécanique et Génie
Civil, Montpellier, France
5-Dimensional Thermodynamics
of Dissipative Continua
Géry de Saxcé
1 Introduction
G. de Saxcé (B)
Université de Lille 1, Cité scientifique, bâtiment M6, F59655 Villeneuve d’Ascq, France
e-mail: gery.desaxce@univ-lille1.fr
1.2 Space-Time
Any coordinate change representing a rigid body motion and a clock change:
x = (R (t))T (x − x0 (t)), t = t + τ0
where:
u = (t) × (x − x0 (t)) + ẋ0 (t) (2)
−
→ −
→
(W A ) being the components of W in a local chart of E and (dX A ) the ones of dX, its
local expression is:
∂W A
∇β W A = + ΓβB
A
W B. (3)
∂X β
For sake of easy calculations, we shall prefer as soon as possible the matrix form:
keeping the tensorial notation when it is strictly necessary. If the covariant derivative
−
→
of W is null, we say it is parallel-transported. If E is the tangent bundle T M and
the connection Γ is symmetric, one has:
α α
Γβγ = Γγβ .
−
→
Hence ∇ W is represented by the matrix:
∂W
∇W = + Γ (W ) (5)
∂X
j
where g is a column-vector collecting the g j = −Γ00 and identified to the grav-
ity [2, 17], while Ω is a 3-column vector associated by the mapping j−1 to the
skew-symmetric matrix the elements of which are Ωji = Γj0i . The vector Ω can be
interpreted as representing Coriolis’ effects [17].
v = u + R v . (8)
This is the velocity addition formula. The linear momentum of a particle of mass m
being p = mv, the linear 4-momentum is defined as:
m
T = mU = . (9)
p
Following Cartan [2], we claim that the motion of a particle of mass m embedded in
a gravitation field is governed by the covariant equation:
∇dX T = dT + Γ (dX) T = 0
5-Dimensional Thermodynamics of Dissipative Continua 7
Taking into account (6), (7) and (9), Eq. (10) becomes:
ṁ 0 0 m 0
+ = ,
ṗ Ω × v − g j(Ω) p 0
ṁ = 0, ṗ = m (g − 2 Ω × v). (11)
The first equation reveals the mass conservation. The second one expresses the
time rate of the linear momentum in terms of the gravitation. Introducing the expres-
sion of p into this equation and because the mass does not depends on time, we obtain
Souriau’s covariant equation of motion [13]:
1
L (t, x, v) = m v 2
−m φ + mA · v, (13)
2
provided:
∂A 1
g = −grad φ − , Ω= curl A (14)
∂t 2
where (t, x) −→ φ(t, x) ∈ R and (t, x) −→ A(t, x) ∈ R3 are the scalar and vector
potentials of the Galilean gravitation. φ and g are well-known but A and Ω are the
good tools to revisit Foucault’s pendulum topic without neglecting the centripetal
force [7].
Now, we present in axiomatic form the corner stones of the theory involving an
underlying geometric structure of the Nature. This theoretical frame can now appear
rather arbitrary but that will be justified further by the agreement of the with the
physical phenomena. Therefore, we propose the following statements for a Galilean
thermodynamics including gravitational effects:
(H1) There exists a line bundle π0 : U → U0 which characterizes the matter and
its evolution where U is a manifold of dimension 4 called space-time.
(H2) The universe is a line bundle π : Uˆ → U where the manifold Uˆ is of dimen-
sion 5. U is seen as a submanifold of Uˆ .
(H3) U is equipped with a Galilean connexion and Uˆ with the corresponding
Bargmannian connection representing the gravitation.
−̂
→
(H4) There exists on U a smooth field X → W (X) ∈ TX Uˆ called the temperature
−
→ −̂
→
5-vector. The covariant derivative of its projection W = T π W onto TX U
−
→
f =∇W
Div T̂ = 0 (17)
The first hypothesis have been already discussed. Let us develop now the other
ones.
2 An Extra Dimension
The cornerstone idea is to add to the space-time an extra dimension roughly speaking
linked to the energy:
1
e= m v 2 (18)
2
5-Dimensional Thermodynamics of Dissipative Continua 9
where the 4-row Φ and the scalar α have to take an appropriate physical meaning.
• It is worth to notice that under a Galilean coordinate change X −→ X charac-
terized by a boost u and a rotation R, using the velocity addition formula (8), its
transformation law is:
1 1 1
e= m u + R v 2
= m u 2
+m u · (R v ) + m v 2
,
2 2 2
that is:
1
e= m u 2
+m u · (R v ) + e . (19)
2
Next we claim that the extra coordinate is linked to the energy as follows:
e e
dz = dt, dz = dt (20)
m m
e dt is the element of action for the free particle. The division by m is guided by
the fact that we wish the extra coordinate being universal, independent of the mass
of particle moving in the space-time. According to dt = dt and dx = v dt , we
obtain:
1
dz = u 2 dt + uT R dx + dz .
2
On this ground, we state:
Definition 1 The Bargmannian transformations are affine transformations d X̂ →
d X̂ = P̂ d X̂ + Ĉ of R5 such that.
10 G. de Saxcé
⎛ ⎞
1 0 0
P̂ = ⎝ u R 0⎠. (21)
1 2 T
2
u u R 1
with: ⎛ ⎞
1 0 0 0
⎜τ 1 0 0⎟
P̃ = ⎜
⎝k
⎟,
u R 0⎠
η 1
2
u 2
uT R 0
⎛ ⎞ (23)
1 0 0 0
⎜τ 1 0 0⎟
P̃−1 =⎜
⎝ k
⎟.
−RT u RT 0⎠
η 1
2
u 2 −uT 0
dx 2
−2 dz dt = 0,
in every Bargmannian coordinate system. The left hand member is a quadratic form
in d X̂ that suggest to introduce a symmetric 2-covariant tensor Ĝ represented in
Bargmannian coordinate systems by:
⎛ ⎞
0 0 −1
Ĝ = ⎝ 0 1R3 0 ⎠ . (24)
−1 0 0
that proves the contravariant metric tensor Ĝ−1 is represented by the same matrix as
the covariant one:
Ĝ −1 = Ĝ.
As there are Euclidean and Galilean tensors, we can consider Bargmannian tensors
by restricting the general action of the linear group GL (5) to the subgroup of linear
Bargmannian transformations. To begin with, let us study the Bargmannian vectors
−̂
→
W represented by a 5-column:
⎛ ⎞
β
W
Ŵ = = ⎝w⎠, (26)
ζ
ζ
β
β = β , w = RT (w − βu), ζ = ζ − w · u + u 2
. (27)
2
Bargmannian transformations leave β invariant and there is no trouble to put β
−̂
→
instead of β in the sequel. To obtain the other invariants of W in the case that β
does not vanish, we start in any Bargmannian coordinate system X̂ and we choose
the Galilean boost:
12 G. de Saxcé
w
u= ,
β
which annihilates w and reduces the last component to the generally non vanishing
expression:
1
ζ = ζ − w 2.
2β
1
ζint = ζ − w 2
.
2β
Taking into account Eq. (27), we verify that it is invariant by Bargmannian trans-
formation. Conversely, let us consider a Bargmannian coordinate system X̂ in which
−̂
→
the vector W has a reduced form:
⎛ ⎞
β
Ŵ = ⎝ 0 ⎠ .
ζint
1
ζ = ζint + w 2
(28)
2β
j j j j
T̂0 = k j , T̂i = σ∗i , T̂4 = pj .
itemizes in:
14 G. de Saxcé
ρ = ρ , (33)
p = R (p − ρu) ,
T
(34)
σ = R (σ + u p + p u − ρ u u ) R ,
T T T T
(35)
ρ
H =H −u·p+ u 2, (36)
2
1
k = RT (k − H u + σ∗ u + u 2 p). (37)
2
It is worth noting that the hypothesis of symmetry of σ is consistent with the rule
(35). The components ρ, p and σ can be physically identified with the mass density,
the linear momentum and the dynamical stresses. To interpret the other components,
we intend to annihilate components of T̂. We discuss only the case of non zero mass
density. Starting in any Bargmannian coordinate system X̂, we choose the Galilean
boost: p
u= (38)
ρ
1
σ = σ + p pT . (40)
ρ
σ = RT σ R. (41)
Besides, Eq. (38) allows to transform Eqs. (36) and (37) as follows:
1
H=H − p 2
,
2ρ
p p
k = RT k − H + σ .
ρ ρ
for an elementary volume around the point x at rest at time t . Let X̂ be another
Bargmannian coordinate system obtained from X̂ through a Galilean boost v com-
bined with a rotation R. Applying the inverse transformation law of Eq. (32):
T̂ = P T̂ P̂−1 , (42)
we obtain:
p = ρv, σ = σ − ρvvT ,
1
H =ρ v 2
+eint , (43)
2
k = h + H v − σ v, (44)
according to the transformation law in Eq. (41) of the spatial stresses σ and provided:
h = R h . (45)
The previous method turns out the physical meaning of the components:
• the mass density ρ and the dynamic stresses σ ,
• the Hamiltonian density H , apart from the potential φ (the gravitation being
considered only latter),
• and the energy flux k composed of h –further identified to the heat flux–, the
Hamiltonian flux H v and the stress flux σ v.
We could name T̂ the stress-mass-energy-momentum tensor but for briefness we call
it momentum tensor. Finally, it has the form:
H −pT ρ
T̂ = . (46)
h + H v − σ v σ − vpT ρv
N = ρ U. (47)
with:
H −pT
T= .
h + H v − σ v σ − vpT
16 G. de Saxcé
1 T 1
σ∗ = σ −
p p = RT σ RT − RT (p − ρu)(pT − ρuT ) R ,
ρ ρ
and developing:
1
σ = RT (σ − p pT + u pT + p uT − ρ u uT ) R ,
ρ
p p
H T 1
k = h + H
− σ
= R T
h + R (p − ρu) − RT σ (p − ρu).
ρ ρ ρ ρ
which, owing to (44) and (40), is nothing else the transformation law (37).
The advantage of the standard form (46) is that transformation laws (41) and (45)
for σ and h are easier to manipulate that the corresponding transformation laws (35)
and (37) for σ and k.
Also, introducing:
Π = H −pT , (50)
The first principle of thermodynamics claims that the total energy of a system
is conserved. We are now able to proposed an enhanced local version including the
balance of mass and the equation of the motion (balance of linear momentum). It is
based on the following result.
divX T̂ = 0,
then, we have:
∂ρ
♦ balance of mass: + div (ρ v) = 0,
∂t
∂v ∂v
♥ balance of linear momentum: ρ + v = (div σ )T ,
∂t ∂x
∂H
♠ balance of energy: + div (h + H v − σ v) = 0.
∂t
Proof To calculate the divergence of the 4 × 5 matrix T̂ , we use
On this ground and envolving the gravitation, we state the first principle of the
thermodynamics:
Principle 2 The momentum tensor of a continuum is covariant divergence free:
Div T̂ = 0. (53)
The gouge is ground back far enough on the under side to make
the cutting edge level with its back, and then beveled off on the
inside to a sharp edge. The gouge E is placed in the hole D with the
cutting edge on the center line, as shown, and held in place with a
wood plug, F. A little soap applied to the bore C will prevent binding.
To use the tool, a strip of wood is pointed sufficiently to allow it to
enter the hole C a short distance. The strip may be rotated by
holding it in the chuck of a lathe while the tool is held in the hand,
using the handle of the gouge to prevent its turning with the stick.—
Contributed by J. A. Brearley, Washington, D. C.
Hanging Ladder for a Hatchway
A handy ladder to swing from a hatchway can be made of a solid
plank, as shown. Cut the plank to the length desired and saw
notches on each side to form steps. With a solid hook to fasten it in a
similar hook in the ceiling, at the edge of the opening, it makes a
novel yet practical ladder.—Contributed by Victor Carpenter, South
Bend, Ind.
An Oilcan Stopper
An empty cartridge shell makes an excellent stopper for an oilcan
in case the original stopper becomes lost. The cap in the shell is
removed and the hole enlarged with the tang of a file so that a
leather thong can be inserted. A knot is tied in the thong on both
sides of the base, to prevent the thong from slipping either way. The
end of the thong is tied to the bail of the can.
Enamel for Steel Fishing Rods
Make a thin solution of shellac in alcohol and add a teaspoonful of
Venice turpentine to each half pint, and the same quantity of
lampblack for a black enamel. Scrape the bare spots on the rod and
heat it slightly, to melt the shellac for the first coat. Use a fine brush
and apply two or three coats, which will give a smooth, glossy, and
elastic surface that will not scale or crack.
Bench Receptacles for Small Articles
When working with small, round articles, such as ball bearings, it
often happens that they roll off the bench and are lost. To remedy
this, I bored several holes, each 2 in. in diameter, in a convenient
place in the workbench top, making them about ³⁄₈ in. deep, for the
different articles. To make the small parts easily accessible the holes
were filled in with thick paste made of plaster of Paris which was
molded into a saucer shape. After the plaster became thoroughly dry
the inner surface was painted over with white enamel. This made
them easily cleaned with a damp cloth. Any article dropped into
these depressions will roll to the center, and as the sides are curved
it can be easily picked up when it is wanted.—Contributed by Frank
L. Matter, Portland, Oregon.
Ruler with Round and Flat Edges
The Molding Presents a Round Edge for a Pen and a Flat One for a Pencil