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Article history:
Received 19 June 2012
Accepted 18 September 2012
Available online 27 September 2012
Keywords:
High-order MFD
Plate bending problems
Virtual Elements
a b s t r a c t
We discuss the application of Virtual Elements to linear plate bending problems, in the KirchhoffLove formulation. As we shall see, in the Virtual Element environment the treatment of the C 1 -continuity condition is much easier than for traditional Finite Elements. The main difference consists in the fact that
traditional Finite Elements, for every element K and for every given set of degrees of freedom, require
the use of a space of polynomials (or piecewise polynomials for composite elements) for which the given
set of degrees of freedom is unisolvent. For Virtual Elements instead we only need unisolvence for a space
of smooth functions that contains a subset made of polynomials (whose degree determines the accuracy).
As we shall see the non-polynomial part of our local spaces does not need to be known in detail, and
therefore the construction of the local stiffness matrix is simple, and can be done for much more general
geometries.
2012 Elsevier B.V. All rights reserved.
1. Introduction
The Finite Element literature of the last 50 years contains a big
variety of H1 -conforming (in practice, C 0 ) elements of various
degrees, with different features. On the other hand, the list of available H2 -conforming (in practice, C 1 ) elements is much more slim.
Among the most commonly used are the composite Hsieh
CloughTocher element (with cubic accuracy) and its reduced version (with quadratic accuracy), the Argyris element (with quintic
accuracy) and its reduced Bell version (with quartic accuracy). But
a much bigger effort has been devoted to alternative formulations
that could avoid the use of C 1 nite elements, including mixed formulations (essentially, based on the HellingerReissner principle)
or the use of the ReissnerMindlin model for thin plates and shells
(instead of moderately thick). Dual hybrid elements of Pian and coauthors (see e.g. [32,33]) could be seen as intermediate C 1 formulations, as the displacements are indeed C 1 but they are dened only
at the interelement boundaries (see also [11] and in particular [17]).
And several among the most common and useful applications of
nonconforming elements (as for instance the Morley element) can
indeed be seen as an effort to bypass C 1 continuity.
456
F. Brezzi, L.D. Marini / Comput. Methods Appl. Mech. Engrg. 253 (2013) 455462
j2m;D
ju
2
jaj
X
@ u
:
a1 a2
@ x1 @ x2
jajm
1:1
0;D
Z
Z
aw; v D 1 m w=ij v =ij dx m DwDv dx :
X
In (2.4) v =i @ v =@xi ; i 1; 2, and we used the summation convention of repeated indices. Thus, for instance:
DD2 w f
in X;
2:1
@w
w
0 on C:
@n
2:2
H20
X;
2:3
u; v 2 V;
v 2 V:
2:6
2:7
2:8
3
2
32
3
v =11
1 m 0
M 11
6
7
6
76
7
4 M 22 5 D4 m 1 0
54 v =22 5;
v =12
0 0 1m
M 12
2:9
Z
Z
aD w; v D 1 m w=ij v =ij dx m DwDv dx ;
D
2:10
2:5
aD w; v
2:4
Z
@v
DD2 w v dx
M nn w
dt
@n
D
@D
Z
@Mnt w
Q n w
v dt:
@t
@D
2:11
3:1
kw wh kV 6 C h
k1
jwjk1;X ;
3:2
457
F. Brezzi, L.D. Marini / Comput. Methods Appl. Mech. Engrg. 253 (2013) 455462
Let us rst recall the basic assumptions that we need (see e.g.
[12]).
H0 - There exists an integer N and a positive real number c such
that for every h and for every K 2 T h :
the number of edges of K is 6 N,
the ratio between the shortest edge and the diameter hK of
K is bigger than c, and
K is star-shaped with respect to every point of a ball of
radius chK . h
ah u; v 6 a M kukV kv kV
in V h :
3:11
ah wh ; v h hfh ; v h i 8 v h 2 V h ;
3:12
kw wh kV 6 C kw wI kV kw wp kh;V kf fh kV 0
h
V Kh restriction of V h to K
3:3
ah uh ; v h
X
aKh uh ; v h 8 uh ; v h 2 V h ;
3:4
hf fh ; v h i
:
v h 2V h kv h kV
kf fh kV 0 : sup
h
3:13
Proof. Existence and uniqueness of the solution of (3.12) is a consequence of (3.8) and (2.7). Next, setting
dh : wh wI
where
is a bilinear symmetric form on V Kh V Kh ;
an element fh 2 V 0h . h
aKh
we have
au; v
X
aK u; v 8 u; v 2 V;
K
kv kV
X 2
jv jV;K
!1=2
8v 2 V:
3:5
hfh ; dh i
jv jh;V :
X 2
jv jV;K
3:14
!1=2
8v 2
hfh ; dh i
hfh ; dh i
X
K
X
K
X
aKh wI wp ; dh aKh wp ; dh use 3:7
aKh wI wp ; dh aK wp ; dh use w and 3:5
aKh wI wp ; dh aK wp w; dh aw; dh
H2 K:
3:15
3:6
a akdh k2V
6 hfh ; dh i
Together with H0 and H1 we further assume the following
properties.
H2 There exists an integer k P 2 (that will determine our order of accuracy) such that for all h, and for all K in T h ,
X
aKh wI wp ; dh aK wp w; dh f ; dh
hfh ; dh i f ; dh
X
aKh wI wp ; dh aK wp w; dh :
K
3:16
K
k-Consistency: 8p 2 Pk ; 8v h 2 V h
aKh p; v h aK p; v h :
3:7
8v h 2 V h a aK v h ; v h 6 aKh v h ; v h 6 a aK v h ; v h :
kdh k2V 6 C kf fh kV 0 kwI wp kh;V kw wp kh;V kdh kV
h
3:17
for some constant C depending only on a,a ; a , and M. Then the result follows easily by the triangle inequality. h
3:8
K
We note that the symmetry of ah , (3.8) and the continuity of a easily imply the continuity of ah with
aKh u; v 6 aKh u; u
1=2
1=2
1=2 K
1=2
aKh v ; v
6 a aK u; u
a v ; v
6 a M kukV;K kv kV;K
in V h :
3:9
4. Construction of V h ; ah , and fh
We shall construct now a space V h , a bilinear form ah , and a
right-hand side fh satisfying assumptions H1H2. Our family of elements will depend on three integer indices r; s; m, related to the
degree of accuracy k P 2 by:
r maxf3; kg;
s k 1;
m k 4:
4:1
8v 2 V h a av ; v 6 ah v ; v 6 a av ; v :
and
3:10
458
F. Brezzi, L.D. Marini / Comput. Methods Appl. Mech. Engrg. 253 (2013) 455462
r 5; s 3; m 0 and k 4
4:2
r P maxf3; kg;
s P k 1;
m P k 4:
4:3
Let K be a generic polygon in T h , let k P 2, and let r; s; m be given by (4.1). We dene V Kh (that will be the local version of our discretized space V h ) as
T : T @ T 0 ; with T @ f3 r 3 s 1g r s 1;
m 1m 2
m2 3m 2
and T 0
:
4:13
2
2
V Kh : fv 2 H2 K s:t: D2 v 2 Pm K; v je 2 Pr e; v =n je
2 P s e; 8e 2 @Kg:
4:4
Met :
2
t )
x xe x xe
x xe
:
1;
;
;...;
he
he
he
4:5
(
b
x xK
K
Mt :
;
hK
jbj 6 t ;
4:6
Now we have to show how to associate to the above degrees of freedom a function in K. It is important to point out from the very
beginning that we do not need to be able to compute such a function, but just to show that it exists and it has certain properties.
Proposition 4.2. The degrees of freedom (4.7)(4.11) are unisolvent
in V Kh (as dened in (4.4)).
Proof. According to Proposition 4.1, to prove the proposition it is
enough to show that, for each K 2 T h , a function u in V Kh such that
u 0;
@u
0 on @K
@n
4:14
and
PKm u 0 in K
4:15
4:7
4:8
The values of hn v =1 n and hn v =2 n 8 vertex n:
Z
1
e
For r > 3; the moments
qnv ndn 8q 2 Mr4 ; 8 edge e: 4:9
h
Ze e
For s > 1; the moments qnv =n ndn 8q 2 Mes2 8 edge e: 4:10
e
Z
1
4:11
For m P 0; the moments 2 qxv xdx 8q 2 MKm ::
hK K
Note that all the quantities ((4.7)(4.11)) have the same dimension,
and hence in a homothetic blow up of K would scale in the same
manner.
Fig. 1. Local d.o.f. for the lowest-order element: k 2 (left), and next to the lowest
k 3 (right).
F. Brezzi, L.D. Marini / Comput. Methods Appl. Mech. Engrg. 253 (2013) 455462
aK w; v q; v 0;K
8v 2 H20 K;
4:16
DD2 w q in K;
wj@K
@w
0;
@n j@K
or else w DD20;K 1 q:
4:17
4:18
Rq; q0;K PKm DD20;K 1 q; q0;K PKm wq; q0;K wq; q0;K
459
G 3NV NE r 3 s 1 NK T 0 ;
4:28
g1 ; g2 ; . . . ; gG :
4:29
aK wq; wq:
Since w 2 H20 K we have then that
4:19
4:20
x21
1
3
x31 n1
4:21
and so on. h
4.2. Global construction of V h
For every decomposition T h , and for every k P 2 we are now
ready to dene the space V h as
D2 v jK 2 Pm K8K 2 T h g;
4:30
kw wI ka;X 6 C h
@K
V h fv 2 V : v je 2 Pr e;
g i w wI 0 8i 1; 2; . . . ; G:
ba
jwjb;X
a 0; 1; 2; a 6 b 6 k 1
4:31
Remark 4.4. We point out once more that we will not try to compute the solutions of the local bi-harmonic problems involved in
the denition of (4.4). On the other hand we will always assume
that we can compute polynomials on @K, and hence also integral
of polynomials over K. Indeed, for instance,
Remark 4.6. It follows easily from the above construction that for
every smooth enough w there exists a unique element wI 2 V h such
that
@v
2 Ps e8e 2 E h ;
@n je
4:22
460
F. Brezzi, L.D. Marini / Comput. Methods Appl. Mech. Engrg. 253 (2013) 455462
D2 p v dx
Z
@v
@M nt p
M nn p
v dt:
Q n p
@t
@n
@K
aK p; v D
4:32
We note then that D2 p belongs to Pk4 K; for m P k 4, the integral over K that appears in (4.32) is then computable using only the
values of the internal degrees of freedom of v, without actually
knowing v. On the other hand, on each edge of K both M nn p (which
belongs to Pk2 e) and Q n p @Mnt p=@t (which belongs to
Pk3 e) are polynomials, as well as v and v =n . From the degrees of
freedom on the boundary we can easily compute both v and v =n ,
and in conclusion all the terms in the right-hand side of (4.32)
can be easily computed without knowing v inside.
b as the
Now for every u 2 C 0 K we dene its quasi-average u
constant function (over K) whose value
1X
b :
u
uxi
i1
4:33
aK PKk w; q aK w; q 8w 2 V Kh ; 8q 2 Pk K
d
K
d
b
P
rd
PKk w r
w:
k w w;
4:34
PKk v v 8v 2 Pk K:
4:35
c0 aK v ; v 6 SK v ; v 6 c1 aK v ; v ; 8v 2 V Kh with PKk v 0;
4:36
4:37
Proposition 4.3. The bilinear form (4.37) constructed with the above
procedure satises both the consistency property (3.7) and the
stability property (3.8).
Proof. Property (3.7) follows immediately from (4.35) and (4.34):
for p 2 Pk K, (4.35) implies SK p PKk p; v PKk v 0 8v , and
hence
4:38
K
k w; q
4:39
Property (3.8) follows then easily from (4.36) and (4.39). Indeed
setting a : maxf1; c1 g we have
6 maxf1; c1 g aK PKk v ; PKk v aK v PKk v ; v PKk v
a aK v ; v ;
4:40
and similarly, setting a : minf1; c0 g:
aKh v ; v P minf1; c0 g aK PKk v ; PKk v aK v PKk v ; v PKk v
a aK v ; v :
4:41
4.4. Choice of SK
In general, the choice of the bilinear form SK might depend on the
problem and on the degrees of freedom. From (4.36) it is clear that
SK must scale like aK ; on the kernel of PKk . Since in (4.23)(4.27)
we took care to have degrees of freedom of the same dimension,
then all the elements of the canonical basis u1 ; . . . ; uT dened by
g i uj dij ;
i; j 1; T;
4:42
will scale in the same way (and in particular as the ones associated
to point value degrees of freedom). Hence the choice
SK v ; w D
T
X
g i v g i whi 2 ;
i1
fh PKk4 f
on each K 2 T h :
F. Brezzi, L.D. Marini / Comput. Methods Appl. Mech. Engrg. 253 (2013) 455462
hfh ; v h i
XZ
fh v h dx
K2T h
XZ
K
K2T h
XZ
K2T h
Acknowledgements
PKk4 f v h dx
f PKk4 v h dx
hfh ; v h i f ; v h
XZ
6C
P Kk4 f f v h PK1 v h dx
k3
hK jf jk3;K
2
hK k h k2;K
K2T h
6 Ch
k1
X
jf j2k3;K
1=2
kv h kV ;
4:43
K2T h
kf fh kV 0 6 Ch
k1
!1=2
jf j2k3;K
4:44
K2T h
k1
Hence, for k > 4 Theorem 3.1 ensures the optimal Oh error bound.
For k 6 4 we need some additional tricks. In view of Remark 4.4 we
assume that we are able to compute exactly the integral
Z
K
p1 q1 dx
4:45
hfh ; v h iK
Z
K
bk v h
ek f P
P
1
1
4:46
e k and P
b k are projectors on the space of polynomials of dewhere P
1
1
gree 6 1 that will change from one value of k to another.
For k 2 and for k 3 we take
e k f : PK f ;
fhjK P
k2
1
bk v h v
d
e h : v
ch k 2x xK r
P
vh
1
on each K:
4:47
e h 2 Pk2 K.
Note that for both values k 2 and k 3 we have that v
Hence on each K we have
fh K f ; v h K
hfh ; v h iK f ; v h K PKk2 f ; v
fh K f ; v
fh v h K
PKk2 f f ; v
k1
4:48
e k f : PK f ;
fhjK P
1
1
bk v h v
e h : PK0 v h x xK
P
1
d
r
vh
K2T h
461
on each K:
4:49
We have on each K
e h K f ; v h K
hfh ; v h iK f ; v h K PK1 f ; v
e h K f ; v
e h v h K
PK1 f f ; v
e h v h K 6 Ch3K jf j1;K kv h k2;K
f PK0 f ; v
4:50
where, going from second to third line we took advantage of the fact
e h v h has zero mean value over K. Note that, for k 4, we
that v
have m 0 in (4.1), and from (4.11) we have the right to use P K0 v h
instead of v^ h , since P K0 v h is now part of the degrees of freedom.
462
F. Brezzi, L.D. Marini / Comput. Methods Appl. Mech. Engrg. 253 (2013) 455462
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