MANE 4240 & CIVL 4240

Introduction to Finite Elements

Prof. Suvranu De

Numerical Integration in 2D

Reading assignment:
Lecture notes, Logan 10.4
Summary:
Gauss integration on a 2D square domain
Integration on a triangular domain
Recommended order of integration
Reduced vs Full integration; concept of spurious zero
energy modes/ hour-glass modes

1D quardrature rule recap

M

I f ( ) d Wi f ( i )
1

i 1

Weight

Integration point

Choose the integration points and weights to maximize accuracy

Newton-Cotes
1. M integration points are
necessary to exactly integrate
a polynomial of degree M-1
2. More expensive

Gauss quadrature
1. M integration points are
necessary to exactly integrate a
polynomial of degree 2M-1
2. Less expensive
3. Exponential convergence,
error proportional to 1 2 M

2M

Example

f 1/ 3

-1

1/ 3

f 1/ 3

1/ 3

A 2-point Gauss quadrature rule

1

f ( ) d f (

1
3

) f (

is exact for a polynomial of degree 3 or less

1
3

2D square domain
t 1
1 1
1
,

3
1

1
s

1 1

f ( s, t ) dsdt

1
3

1 1

f ( s, t ) dsdt

W
j 1

f ( s, t j ) ds Using 1D Gauss rule to integrate along t

WiW j f ( s i , t j )

Using 1D Gauss rule to integrate along s

i 1 j 1
M

Wij f ( si , t j )
i 1 j 1

Where Wij =Wi Wj

For M=2
2

I Wij f ( s i , t j )

Wij =Wi Wj=1

i 1 j 1

f(

1
3

) f (

1
3

1
3

) f (

1
3

Number the Gauss points IP=1,2,3,4

1

1 1

f ( s, t ) dsdt

IP 1

IP

f IP

1
3

) f(

1
3

1
3

The rule
1

1 1

f ( s, t ) dsdt Wij f ( si , t j )
i 1 j 1

Uses M2 integration points on a nonuniform grid inside the

parent element and is exact for a polynomial of degree (2M-1)
i.e.,
1

exact M

s t dsdt

1 1

Wij si t j

for 2 M 1

i 1 j 1

A M2 point rule is exact for a complete polynomial of degree (2M-1)

CASE I: M=1 (One-point GQ rule) I

1 1

1
1

s1=0, t1=0
W1= 4
s

f ( s, t ) dsdt 4 f (0,0)

is exact for a product of two

linear polynomials

CASE II: M=2 (2x2 GQ rule)

1
s

1
3

3
2

I Wij f ( si , t j )
i 1 j 1

f(

1
3

1
3

) f (

1
3

1
3

) f (

is exact for a product of two

cubic polynomials

1
3

1
3

) f(

1
3

1
3

CASE III: M=3 (3x3 GQ rule)

t

1
3

1
1

1 1

64
W1
,
81

3
5
3
5

8
3
5

5
3
5
3

25
W W3 W4 W5
s 2
81
40
W6 W7 W8 W9
81

f ( s, t ) dsdt Wij f ( si , t j )
i 1 j 1

is exact for a product of two 1D polynomials of degree 5

Examples
If f(s,t)=1
1

1 1

f ( s, t ) dsdt 4

A 1-point GQ scheme is sufficient

If f(s,t)=s
1

1 1

f ( s, t ) dsdt 0

A 1-point GQ scheme is sufficient

If f(s,t)=s2t2
1

1 1

4
f ( s, t ) dsdt
9

A 3x3 GQ scheme is sufficient

2D Gauss quadrature for triangular domains

Remember that the parent element is a right angled triangle with unit
sides
The type of integral encountered

1t

t 0 s 0

1
s=1-t
1

1t

t 0 s 0

f ( s, t ) dsdt

WIP f IP
IP 1

f ( s, t ) dsdt

Constraints on the weights

if f(s,t)=1

1
I f ( s, t ) dsdt
t 0 s 0
2
1

1t

WIP
IP 1

1
WIP
2
IP 1

Example 1. A M=1 point rule is exact for a polynomial

f ( s, t ) ~

1
s

1 1 1
I f ,
2 3 3

1/3
1/3
1

Why?
Assume

f ( s, t ) 1 2 s 3 t
Then

1
1
1
t 0 s0 f (s, t ) dsdt 2 1 3! 2 3! 3
1

1t

But
1

1t

t 0 s 0

f ( s, t ) dsdt W1 f ( s1 , t1 )

1
1
1
1 2 3 W1 1 2 s1 3t1
2
3!
3!
Hence

1
1
1
W1 ; W1 s1 ; W1t1
2
3!
3!

Example 2. A M=3 point rule is exact for a complete polynomial

of degree 2
f ( s, t ) ~ 1

s
s 2 st
t

t2

1 1 1 1 1 1 1
I f , f ,0 f 0,
6 2 2 6 2 6 2

1/2
2

1/2
s

Example 4. A M=4 point rule is exact for a complete polynomial

of degree 3

f ( s, t ) ~

1
s

(0.2,0.6)

s 2 st

(1/3,1/3)

(0.2,0.2)

27
96

t2

s 3 s 2 t st 2 t 3

1
3

1(0.6,0.2)
25
25
1 1 25
,
f 0.2,0.6
f 0.2,0.2
f 0.6,0.2
96
96
3 3 96

Recommended
order of
integration
Finite Element
Procedures
by K. J. Bathe

Reduced vs Full integration

Full integration: Quadrature scheme sufficient to provide
exact integrals of all terms of the stiffness matrix if the element
is geometrically undistorted.
Reduced integration: An integration scheme of lower order
than required by full integration.
Recommendation: Reduced integration is NOT recommended.

Which order of GQ to use for full integration?

To computet the stiffness matrix we need to evaluate the following integral
1 1

k B D B det( J ) dsdt
T

1 1

For an undistroted element det (J) =constant

1

Example : 4-noded parallelogram

Ni ~ s

t
st

B~
T

B DB ~

1
s

t
1
s

s2 st t2

Hence, 2M-1=2
M=3/2
Hence we need at least a 2x2 GQ scheme
Example 2: 8-noded Serendipity element
1

Ni ~

s2 st t2
s2t st2
B~

1
s
s2 st

t
t2

B DB ~

s2 st t2
s3 s2t st2 t3
s4 s3t s2t2 st3 t4
Hence, 2M-1=4
M=5/2
Hence we need at least a 3x3 GQ scheme

Reduced integration leads to rank deficiency of the stiffness matrix

and spurious zero energy modes
Spurious zero energy mode/ hour-glass mode
The strain energy of an element

1 T
1
T
U d k d e D dV
2
2 V
Corresponding to a rigid body mode,

0 U 0

If U=0 for a mode d that is different from a rigid body mode, then
d is known as a spurious zero energy mode or hour-glass mode
Such a mode is undesirable

Example 1. 4-noded element

NGAUSS
1
T
T
U e D dV Wi D
2 V
i 1

1
1

Full integration: NGAUSS=4

Element has 3 zero energy (rigid
body) modes
Reduced integration: e.g.,
NGAUSS=1

U 4 D
T

x 0
y 0

Consider 2 displacement fields

u0
v C xy

u C xy
v0

At x y 0

x y xy 0

U 0
We have therefore 2 hour-glass modes.

Propagation of hour-glass modes through a mesh

Example 2. 8-noded serendipity element

NGAUSS
1
T
T
U e D dV Wi D
2 V
i 1

1
1

Full integration: NGAUSS=9

Element has 3 zero energy (rigid
body) modes
Reduced integration: e.g.,
NGAUSS=4

Element has one spurious zero energy mode corresponding to

the following displacement field

u C x ( y 2 1 / 3)
v C y ( x 2 1 / 3)

Show that the strains corresponding to

this displacement field are all zero at the
4 Gauss points

Elements with zero energy modes introduce uncontrolled

errors and should NOT be used in engineering practice.