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Adaptive hpq nite element methods for the analysis of 3D-based models
of complex structures. Part 1. Hierarchical modeling and approximations
Grzegorz Zboinski
Institute of Fluid Flow Machinery, Polish Academy of Sciences, Fiszera 14, 80-952 Gdansk, Poland
Faculty of Technical Sciences, University of Warmia and Mazury, Oczapowskiego 11, 10-736 Olsztyn, Poland
a r t i c l e i n f o a b s t r a c t
Article history: This is a paper out of a series of three papers devoted to model- and hpq-adaptive nite element methods
Received 28 April 2009 assigned for modeling and analysis of complex structures. In this paper we focus our attention on hier-
Received in revised form 11 February 2010 archical models and hierarchical approximations, while the issues of error estimation and adaptivity con-
Accepted 8 June 2010
trol will be presented in the next papers of the series. In all the papers we consider the elastic structures
Available online 13 June 2010
of complex mechanical description. We apply 3D or 3D-based mechanical models, hierarchical modeling,
and hierarchical approximations within our nite element formulation. In the proposed approach, the
Keywords:
mechanical model and discretization parameters, such as the size h of the element, and the longitudinal
Hierarchical modeling
Hierarchical approximations
and transverse approximation orders, p and q, can vary locally, i.e. they can be different in each nite ele-
Finite elements ment. The a posteriori error estimation is based on the residual equilibration methods applied to the
Adaptivity assessment of the modeling and approximation errors. The error-controlled adaptive procedures are
Complex structures derived from a four-step strategy, with possible iterations on h- and p-steps.
2010 Elsevier B.V. All rights reserved.
0045-7825/$ - see front matter 2010 Elsevier B.V. All rights reserved.
doi:10.1016/j.cma.2010.06.003
2914 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940
Schwab [59], and Demkowicz et al. [24,26], where the historical ment and assumed strain FEM formulations. Another example of
background and the extended survey of related bibliography can this type of modeling and approximation is presented in the works
be found. In the meantime the methods have been applied to var- of Della Croce and others [14,22], where thin to thick plates and
ious problems of the applied mechanics (compare [17,27,40,43,45 thin shells are analyzed. Also the recent work by Arnold and Falk
47,56,57,84], for example). Also some extensions of the hp ap- [5] should be mentioned in this context.
proach to other numerical techniques have appeared. Interesting All the cited approaches, and also other similar approaches not
examples are the extensions to the boundary element method mentioned here, have a common drawback. They cannot be ap-
(BEM) and the cell method, discussed in Refs. [17,27] and Ref. plied together, without major modications, so as to enable mod-
[30], respectively. Also the recent advances in the p-method, clo- eling and analysis of the complex structures, described with more
sely related to the hp approach, can be noticed here [78,79]. Some than one mechanical model. The reason is that they are assigned
open or unresolved problems, as well as the current trends and for different mechanical models and are equipped with different
prospects for the future within the hp and other adaptive methods dofs. The recently proposed methods for overcoming this type of
are addressed in [26,69,83], for example. problems are the local hierarchical domain decomposition [29]
It is said that three main components of the hp-adaptive FEM are and the kinematic and static prolongation [67,70], applied to cou-
the problem modeling and approximation, error estimation, and ple different discretizations of the different mechanical models and
adaptivity control. Our further survey is restricted to the approxi- to estimate the modeling error of the reduced models, respectively.
mation and modeling issues. The state of the art for the error estima- Note that in our works [84,86,88,89] some unifying potential is
tion and adaptivity control within the hp-adaptive FEM will be present, because of the application of the same three-dimensional
addressed by us in the next two parts of the paper. Additionally, dofs to different mechanical models. We will follow this path in
we narrow our survey to the problems of hierarchical modeling this paper.
and the related hierarchical approximations in the frame of solid Ending this compact literature survey concerning the hierarchi-
mechanics, the issues important from the point of view of this paper. cal modeling and approximations, we would like to mention the
So far, the mentioned modeling and the related approximations interest in the specic problems of plates and shells, i.e. the differ-
have been used for the analysis of three major classes of problems, ent length scale, the improper solution limit, the numerical lock-
distinguished by the type of applied degrees of freedom (dofs). The ing, and the boundary layers. These problems inuence the
rst class deals with the three-dimensional (3D) elasticity applied solution convergence, and thus they affect very much the effectiv-
to three-dimensional shell structures. Here three-dimensional dofs ity of the adaptive modeling and the analysis of thin structures.
are employed. As a principal example within this class we should The chosen exemplary works on the various length scales and
mention the initiating work of Szab and Sahrmann [72], who the related conditioning are [13,37,48,75]. The improper solution
formed a hierarchy of 3D models of shells, with the use of indepen- limit of the 3D elasticity model was mentioned in [12,18,38,
dent q- and p-approximations in the transverse and longitudinal 45,84]. The locking phenomena were investigated in the following
directions of the 3D shell, respectively. This line of modeling and exemplary papers [19,37,41,60,66,84], while the edge effect was
approximation was followed by us in work [84], and then extended addressed in [19,39,6063], and in the numerous works by Dauge,
to hierarchical shell models (related to higher-order shell theories) Yosibash and others (see [20,21,77], for example), mainly in the
[86], rst-order shells [85,88], and transition models [89], within context of the p-method. The complementary bibliography on
hpq-, hp-, and hpq/hp-approximations, respectively. The issue of the four mentioned topics can be found in the cited papers and
application of the standard high-order elements to modeling of in the thesis [86].
shells was investigated also by Pitkaranta and co-workers [37].
The revisited vivid interest in application of the model of 3D elas- 1.2. Complex structures denition
ticity and the higher-order solid elements to the analysis of thin
structures is reected in the recent works [26,53,54,73]. The 3D Let us come now to the term of a complex structure. Such a
high-order models are also applied in biomechanics in the context structure is understood in this paper as an elastic body described
of the p-method [78,79]. with at least two different mechanical models, regardless of its
The main feature of the second class of problems is the applica- geometrical complexity. This means that both structures of simple
tion of the generalized mid-surface dofs. This approach was initi- and complex shapes can be treated as simple or complex ones
ated by Babuka and Li [79] and followed by Schwab [58] and depending on the number of mechanical models applied to their
Suri et al. [66]. All of them considered hierarchical models of denition. Some examples can be found in [83].
plates. This approach has been extended by Oden and Cho One more remark should be made concerning the geometry.
[18,45] to hierarchical models of shells, in the frame of hpq- Note that the above mentioned solid, shell and transition zones/
approximations. A similar approach has been introduced by Stein domains, where the corresponding models are applied, should
et al. [68], for homogenous shells, and by Actis and co-workers not be identied with the solid, shell or transition parts/members
[1,2] for laminated plates and shells. Generalized mid-surface dofs of a body. These parts are named according to their shape, and not
and p-approximation, applied to both longitudinal and transverse because of their mechanical characteristics.
directions, have been proposed by Surana and Sorem [65] for fully
hierarchical models of 3D shells. 1.3. 3D-based approach
The third class of problems is related to classical mid-surface
displacements and rotations, sometimes enriched with the sixth The main motivation of introducing the three-dimensional ap-
degree of freedom. This approach is typical for the rst-order proach is to obtain the formulation which is compatible, i.e. char-
plates and shells. Babuka and Li [7,8] have utilized this approach acterized with the same type of degrees of freedom (dofs), for the
to hierarchical hp-approximation of the ReissnerMindlin (RM) rst-order shell theory, 3D-based hierarchical shell models and
plates. Very similar approach has been proposed by Stein et al. three-dimensional theory of elasticity. In our approach we use
[68] in the case of homogenous shells. Leino and Pitkaranta three displacements at any point of the three-dimensional body
[41,42] investigated such a model in the case of cylindrical shells. of the shell as primary unknowns instead of displacements, rota-
Classical mid-surface dofs have been also proposed by Fish and tions and other generalized dofs of the mid-shell surface. In order
Guttal [3133] for hierarchical models of homogenous and lami- to retain the equivalence between the classical and our approach,
nated 3D plates and shells of the rst-order, within the displace- we introduce the proper constraints reecting specic kinematic
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2915
One should notice that, for our transition geometry, the shell of the shell, which can be obtained with the closed versions of the
mid-surface should be uniquely dened only on the shell part SP component boundaries @V S @V M [ @V U [ @V L .
of the surface SM, SP SM. This part penetrates into the interior of
the transition body and can be dened as an open, partly bounded Remark 2.1. One can notice that the shell geometry can be treated
region of a piecewise smooth boundary @SP. Such a boundary is the as a special case (the lateral boundaries are not arbitrary but
collection of nP pieces @Sj, j 1, 2, . . . , nP. On the other hand, the dened as perpendicular to the mid-surface) of the general three-
shell thickness should be uniquely determined at least on the shell dimensional (solid) geometry. Such treatment requires the avail-
part @SP of the boundary @SM, @SP @SM. Moreover, the distances of ability of the smooth reversible map F converting the normal
the top and bottom surfaces of the transition body from the mid- coordinates g into the global Cartesian coordinates x F(g) in the
surface have to be the same at least on @SP. Thanks to this, the shell entire domain V S of the shell body.
part @SP of the boundary @SM can be joined with the neighboring
As in the case of the shell part of the transition geometry, the
shell part of the structure by means of the shell boundary part
local Cartesian coordinate system x0 x0 (g1, g2) at any point
@VP of the transition body, such that @V P @SP 2t ; 2t . Due to
(g1, g2) of the mid-shell surface SM can be proposed with two rst
the division of @VP into smooth pieces, we also have
SP axes tangent and the third axis normal to this surface. Coordinates
@SP nj1 @Sj . Note also that a smooth reversible map F, converting
of the local systems are related to the global Cartesian coordinates
normal coordinates g into global Cartesian coordinates on @VP,
with x0 hx, where the matrix function h h(g1, g2) transforms the
x F(g), has to be available.
global Cartesian coordinates to the local ones.
In the case of the shell part of a boundary of the transition body
we can notice that at any point (g1, g2) of the shell part SP of the
2.4. Bodies of complex geometry
mid-shell surface, the local Cartesian coordinate system
x0 x0 (g1, g2) can be proposed, with two rst axes tangent and
We can consider now the body of complex geometry as a collec-
the third axis normal to this surface. Note that the relation be-
tion of shell, transition and solid parts, introduced in the previous
tween these local coordinates and the global Cartesian coordinates
subsections:
is x0 hx, with h h(g1, g2) being the transformation matrix.
[
mG [
mB [
mT [
mS
In this case the entire shell body of varying symmetric thickness where G is an element of the set G of possible geometries. Of course,
is dened by means of the shell mid-surface SM and the shell thick- we have G 2 G, G fB; T; Sg. The total number mG of the mentioned
ness t, with the use of two natural coordinates (g1, g2) and the third parts is a sum of the component numbers mB, mT, and mS:
normal coordinate g3 x03 , respectively. The respective parameter- mG mB mT mS. Note that with one of these three numbers
izations of the mid-surface and the thickness direction utilize the equal to unity, and two other numbers equal to zero, we obtain a
parameterizations of the tangent g1 g1(n1, n2), g2 g2(n1, n2) and body of simple geometry.
normal g3 g3(n3) coordinates, where n1, n2, n3 2 [0, 1] again. We
will formalize these parameterizations in Section 4.2. 2.5. Compatibility within complex geometries
The sufciently smooth, open, bounded region representing the
volume VS R3 of the shell (Fig. 3) can be viewed then as So as to obtain compatibility of the geometry representations of
SM
V S SM 2t ; 2t , with the lateral boundary @V M nj1 @V j , where the solid, transition, and shell parts of the complex bodies, we de-
t t
@Sj 2 ; 2 . Formal completeness of the geometry description ne the neighboring geometry members, such as vertices, curves,
needs also the introduction of the top (or upper) surface, and bot- and surfaces, in the same way, i.e. the same denitions of these
tom (or lower) surface boundaries @V U SM 2t and members are applied on the adjacent faces of the neighboring geo-
t
@V L SM f 2g. The closure @VS of VS constitutes a total boundary metrical blocks V Gk .
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2917
In our geometry description we apply the global and local a subset of 3D-based hierarchical shell models of order I
geometry parameterizations, based on the global and local param- (I 1, 2, 3, . . .), RM and KL stand for 3D-based ReissnerMindlin
eters ngi 2 0; 1 and nli 2 0; 1, representing the normalized refer- and Kirchhoff theories, while TR is the subset of 3D-based transi-
ence coordinates on the faces of the blocks. Note that for a curve tion models, i.e. TR {3D/MI, 3D/RM, 3D/KL, MI/MJ, MI/RM, MI/KL,
we have i 1 or i 2 or i 3, while for a surface i 1, 2 or RM/KL}. The subsets, 3D/MI, MI/RM and MI/KL, of the transi-
i 2, 3 or i 3, 1. In the case of the neighboring objects the global tion models are dened as 3D/MI {3D/M1, 3D/M2, 3D/M3, . . .},
and local parameterizations can either be the same, ngi nli , if the MI/RM {M1/RM, M2/RM, M3/RM, . . .}, and MI/KL {M1/KL, M2/KL,
global and local orientations of ngi and nli are the same, or different, M3/KL, . . .}. In the case of the higher-order transition models MI/
ngi 1 nli , if these orientations are opposite. Note that the global MJ, the orders I and J of the neighboring models conform to the
parameters change towards an observer, from the left to the right, condition I > J. Thus, for each I (I 2, 3, 4, . . .) we have J
and upwards, while the local ones are consistent with the outward 1, 2, 3, . . . , I 1. The division of the body V into the component
face circulation. zones is as follows:
Our practical realization of the idea of compatible parameter-
[
mM [
m 3D [
m MI [
m RM [
m KL [
m TR
izations takes advantage of the approach presented in [23], where V V Mi V 3Di [ V MIi [ V RMi [ V KLi [ V TRi 2
the parametric menagerie of implicit and explicit points, curve seg- i1 i1 i1 i1 i1 i1
ments, gures, and prisms is introduced. The implicit points are
with the total number of zones dened with the component num-
dened with three coordinates, while the explicit ones result from
bers, mM m3D mMI mRM mKL mTR.
the intersection of three explicit surfaces. The explicit curve can be
As mentioned, our body V can be a collection of open bounded
either a segment of a straight line, a quarter of a circle, a segment
3D regions of various geometries from the set G. The piecewise
of a circle, or a segment of a polynomial curve. The implicit curve
smooth boundary @V of the body can be divided into the loaded
results from the intersection of two explicit surfaces and is re-
part P and the supported part Q: @V P [ Q , P \ Q ;. In view of
stricted to a segment by two other explicit surfaces. The explicit
the above division of V into zones of different description, the
gures can be a plane triangle, a spherical triangle, a quarter of a
boundary is a collection of the corresponding pieces
circular disk, a part of a spherical triangle, a triangular part of a
polynomial surface, a transnite triangle, a bilinear quadrilateral, [
mM [
mM
Table 1
Possible models of the hierarchy for three types of geometry.
X
I
0n
X
I
u0j n0n
3 dj fn n03 u0n
j ; j 1; 2; 3; 7
n0 n0
where n0n 0 0
3 is the nth power of n3 2x3 =t and represents a dimen-
sionless auxiliary variable, while fn n03 denotes polynomial func-
tions of order I, of the variable n03 . The order-related form of these
functions depends on the denitions of the introduced through-
thickness dofs. Two examples, for non-incremental and incremental
0 0 t nt
dofs, are u0n 0
j uj x1 ; x2 ; 2 I , for n 0, 1, . . . , I, or
0 0 t
0I 0 0 t 0 0 t nt
u00 u 0
x 1 ; x2 ; ; u u0I
x1 ; x 2 2; , and u 0n
u 0
x 1 ; x2 ;
hj j
2
0I i
j j j j 2 I
n 00 n
u 1 I uj for n 1; 2; . . . ; I 1. The equivalence of the mid-
I j
dle and right terms of (7), for two denitions of these dofs, is shown
in Fig. 6 in the case of I 3. Now, we may nally come to the global
through-thickness dofs, suitable for our 3D-based higher-order
shell models
X
I
0n
X
I
X
I
ui hij u0j n0n
3 hij dj fn n03 hij u0n
j fn n03 uni ;
n0 n0 n0
Fig. 4. Hierarchy of models within various parts of the body.
j 1; 2; 3; x 2 V MIl ; 8
3.2. Displacement elds within 3D-based models where hij are the terms of the transposition hT of the transformation
matrix h from the previous section, while V MIl is lth MI zone of the
3.2.1. Three-dimensional elasticity body.
The form of the displacement eld u (u1, u2, u3)T of the 3D-
elasticity model is quite general. We apply global Cartesian direc- 3.2.3. 3D-based ReissnerMindlin rst-order shell model and its
tions, with three displacements at any point of the 3D-elasticity constraints
domain. This model has to be enriched by the internal constraints corre-
sponding to the kinematic assumptions of the ReissnerMindlin
3.2.2. 3D-based hierarchical shell models theory. The rst one is the deformation of the straight lines per-
The form of the displacement eld of the 3D-based hierarchical
shell models MI originates from the classical higher-order (HO)
shell theories. In the latter theories [72,86,88], displacements u0
of any point of the shell body are dened by the directions of the
T
local Cartesian coordinates x0 x01 ; x02 ; x03 , and usually expressed
0n 0n
with the local generalized mid-surface dofs d d x01 ; x02 , i.e.
K
X n
2x0 3 0n
u0k dk ; k 1; 2;
n0
t
6
I
X n
2x0 3 0n
u03 d3 ;
n0
t
Fig. 5. Shell mid-surface (left) and through-thickness (right) dofs. Fig. 6. Equivalent denitions of the shell displacement eld.
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2919
0s
pendicular to the mid-shell surface into straight lines which do not 0s @d3
ui hij u0j ; u0k dk x03
remain perpendicular to the deformed surface @x0k
1 0b x0 1 0b x0 @u0b @u0t
ui hij u0j ;
0s 0a
u0j dj x03 dj uj u0tj 3 u0tj u0b uk u0tk 3 3
30 ;
j 2 0
2 @xk @xk
2 t
1 1 0s 1 1
1 n03 u0b j 1 n03 u0tj u03 d3 u0b u0t ; x 2 V KLl : 12
2 2 2 3 2 3
0 0t
fb n03 u0b
j ft n3 uj ; x 2 V RMl ; 9
Note that for the KirchhoffLove model the introduced displace-
where j 1, 2, 3 represents two local tangent directions and the ment eld is expressed with displacements and their derivatives,
third normal direction, while local generalized mid-surface for both cases, of generalized mid-surface dofs, and through-thick-
0 0 0a
0s
dofs are dj 12 u0b 0t 0 1 0t 0b ness dofs. This is a big disadvantage of this model in comparison to
j uj uj x1 ; x2 ; 0 ; dj t uj uj , and the
local through-thickness displacement dofs on the bottom and the ReissnerMindlin one.
0t 0t
0 0 0
0 0 t 0b 0b
0 0
top 0 surfaces are uj uj x1 ; x2 uj x1 ; x2 ; 2 ; uj uj x1 ; x2
0 0 t
uj x1 ; x2 ; 2 . In our 3D-based formulation, the above local con- Remark 3.2. As we have added two more constraints per body
straint equations have to be expressed by the global displacements point and still have not removed any component of the three-
with the use of the terms hji, j, i 1, 2, 3 of the transformation matrix dimensional dofs in the 3D-based KirchhoffLove formulation, the
h. Eqs. (9) are a special case (I 1) of more general relations (8). This latter constitutes six-parameter, thrice constrained model, in
can be seen after denoting the bottom and top displacements with contrast to the classical three-parameter theory.
indices 0 and 1, respectively.
The second assumption is the lack of elongation of the lines per-
pendicular to the mid-shell surface during deformation, 3.2.5. Transition models
e033 @u03 =@x03 0. Due to the rst assumption, of deformation of Transition models are necessary when two mechanical models,
the straight lines into straight lines, the second assumption can which differ in the type and number of constraints, meet. We pres-
be expressed through bottom and top displacements, ent the simplest possible case of generation of such models, guar-
u0t3 u0b anteeing the continuity of the displacement eld through the
3 0. Introduction of this condition into (9) gives
boundary between them. Note that some other options exist, but
1 0b x0 this is a topic itself, not a key one in this paper, and will be eluci-
ui hij u0j ; uk u0tk 3 u0tk u0b
u0k k dated by us in a separate publication.
2 t
1 1 Our concept of the transition models, presented in this paper,
1 n03 u0b
k 1 n03 u0tk ; assumes that they conform to the higher (less constrained) model
2 2
1 1 in the interior of the transition domain, while on the boundary be-
u03 u0b u0t ; x 2 V RMl ; 10 tween the models, the lower (more constrained) model is valid. In
2 3 2 3
this concept the boundary between the transition zone and the
where k 1, 2 are tangential directions. lower model domain is sharp, and the additional constraints, mak-
ing the higher and the lower models different, appear on this
Remark 3.1. As we have added one constraint per point, and have boundary. On the contrary, the boundary between the transition
not removed any component of the three-dimensional dofs in the zone and the domain of the higher-order model is arbitrary and
3D-based ReissnerMindlin formulation, the latter constitutes the no additional constraints on this boundary have to be taken into
six-parameter, once constrained model, in contrast to the classical account.
ve-parameter ReissnerMindlin theory. In the case of the 3D/MI (I 1, 2, 3, . . .) transition models the
relation (8) has to be fullled on any internal boundary RMI 3D=MIl , with
m
l standing for the number of the zone 3D/MI, and m denoting the
3.2.4. 3D-based KirchhoffLove shell theory and its additional number of the surrounding zone MI. In the case of any transition
constraints model MI/MJ, where I and J (I > J) are the orders of the neighboring
There exists a formal possibility of the introduction of the Kirch- higher-order shell theories (I 2, 3, 4, . . . and J 1, 2, 3, . . . , I 1),
hoffLove theory into the hierarchy of 3D-based mechanical mod- the relation (8) holds, after formal replacement of I with J. In the
els. The model conforms to most of the assumptions of the 3D- internal boundary notation, the symbols 3D and MI have to be re-
based ReissnerMindlin theory. The only difference is that the placed with MI with MJ, respectively.
straight lines perpendicular to the shell mid-surface deform as Let us consider now models 3D/RM and MI/RM (I 1, 2, 3, . . .). In
straight lines which, now, remain perpendicular to the deformed both cases the condition (10) holds on any internal boundary
surface. This means that the local shear strains are equal to zero, RRM RMm
3D=RMl or RMI=RMl . Here, m represents the number of any zone of
m
e03k 12 @u0k =@x03 @u03 =@x0k 0; k 1; 2. Due to the deformation model RM neighboring with the lth zone of either the transition
of the straight lines into straight lines, the rst derivative is model 3D/RM or MI/RM.
0a
@u0k =@x03 dk 1t u0tk u0b k . Introduction of this denition to the
Finally, let us come to 3D/KL, MI/KL (with I 1, 2, 3, . . .) and
nullication condition gives RM/KL transition models. In the case of these models, relation
(12) holds on the internal boundaries RKL KLm KLm
3D=KLl ; RMI=KLl ; RRM=KLl ,
m
Table 2
Admissible neighborhood among the models of the hierarchy.
3.3. Variational formulation thickness displacements instead of the local mid-surface ones. Def-
initions of all above operators can be found in [82].
Let us treat now the 3D-based higher-order and rst-order shell Finally, let us notice that the energy in (14) can be treated as a
models, as well as the 3D-based transition models as constrained functional of u u(x) being the kinematically admissible displace-
3D-elasticity models. For such an approach the potential energy ments from the proper space, U UV, dened in accordance with
P of complex body V is n
Z Z Z U ux 2 H1 V3 : ui hij u0j in=on V MIl ; V RMl ; V KLl ; V MI=MJl ;
1
Pu uT Su dV uT f dV uT p dS; 13
2 V V P V MI=RMl ; V MI=KLl ; V RM=KLl ; RMI RM m KLm
3D=MIl ; R3D=RM l ; . . . ; RRM=KLl ;
m
X
mKL m3D=MI
X m3D=RM
X 2 3 2 3
PV KLl u PV 3D=MIl u PV 3D=RMl u 1 x03 @u0b
3 @u0t3
u0k u0b u0t
;
l1 l1 l1
2 k k
2 @x0k @x0k
m3D=KL mMI=MJ
X X
PV 3D=KLl u PV MI=MJl u 1 0b 1 0t
u03 u u in=on V KLl ; RKL KLm KLm
3D=KLl ; RMI=KLl ; RRM=KLl ;
m
l1 l1 2 3 2 3
o
mMI=RM mMI=KL
X X u 0 on Q ; 16
PV MI=RMl u PV MI=KLl u
l1 l1
mRM=KL
where k 1, 2 and j 1, 2, 3 refer to the local directions, while
X i 1, 2, 3 corresponds to the global ones.
PV RM=KLl u; 14
l1
Minimization of the above functional, in accordance with
dP(u) 0, needs taking its rst variation with respect to the
where the consecutive component energies are dened analogously admissible displacements u. This leads to the following stationary
to (13), and indices l 1, 2, . . . , mM denote counters of the zones cor- condition:
responding to the models M: 3D, MI, RM, KL, 3D/MI (I 1, 2, 3, . . .), Z Z Z
3D/RM, 3D/KL, MI/MJ (I 2, 3, 4, . . . and J < I), MI/RM (I 1, 2, 3, . . .),
duT Su dV duT f dV duT p dS 0: 17
MI/KL (I 1, 2, 3, . . .), and RM/KL, respectively. V V P
The form of the operator S is zone-related. In our case, for each
term of the sum from (14), we dene After the introduction of the simplifying notation, reecting bilinear
and linear character of the virtual strain energy and virtual work of
S CT DC 8V 3Dl ; 8V 3D=MIl ; 8V 3D=RMl ; 8V 3D=KLl ; external forces:
S C00T DC00 8V MIl ; 8V MI=MJl ; 8V MI=RMl ; 8V MI=KLl ; 15 Z
S C000T DC000 8V RMl ; 8V KLl ; 8V RM=KLl : Bu; du duT Su dV;
Z V Z 18
Here, the classical form of C corresponds to three-dimensional elas- Ldu duT f dV duT p dS;
ticity. The operator C00 can be obtained from C after its transforma- V P
for VRM VS, with k 1,2. Finally, for the 3D-based KirchhoffLove
U I=1M=KL V M=KL U IM V M=KL \ ux 2 H1 V M=KL 3 :
model, the space of admissible displacements can be dened as
follows:
1 x03 @u0b 3 @u0t3
ui hij u0j ; u0k u0b u0t
;
2 k k
2 @x0k @x0k
U 1KL V KL ux 2 H1 V KL 3 : ui hij u0j ;
1 1
u03 u0b u0t on RM=KL : 33
1 x03 @u0b @u0t 2 3 2 3
3
u0k u0b 0t
k uk 0
30 ;
2 2 @xk @xk
In this case, V3D/KL and VMI/KL are identical with VT, VS, or their com-
1 1
u03 u0b 0t
3 u3 in V KL ; ui 0 on Q KL 30 bination, while VRM/KL VS.
2 2
As a result of the above denitions (31)(33), one deals with the
where VKL VS. spaces U I2 M2 V M2 ; U I1 =I2 M1 =M2 V M1 =M2 ; U I1 M1 V M1 , where
Note that the above denitions (26)(30) allow us to create a M1 2 {3D, MI, RM}, M2 2 {MJ, RM, KL}, and M1/M2 2 {3D/MI,
hierarchy of subspaces of the following property U 1KL V KL 3D/RM, 3D/KL, MI/MJ, MI/RM, MI/KL, RM/KL}, for the body domain V
U 1RM V RM U 1M1 V M1 U 2M2 V M2 U 3M3 V M3 (V M2 V M1 =M2 V M1 V) identical with VS, or alternatively M1/
U 1M1 V M1 U ?3D V 3D , for VKL VRM VMI V3D V and M2 2 {3D/MI, 3D/RM, 3D/KL}, for the body domain V identical with
V VS. VT or combination of VS and VT. Note that the relation
In the case of the transition models, the proper spaces (corre- U I2 M2 V M2 U I1 =I2 M1 =M2 V M1 =M2 U I1 M1 V M1 holds for M1, M2 2
sponding to (25)) can be obtained as a space product, so as to con- {3D, MI} only.
form to both the interior and boundary displacement denitions. For all of the above cases (26)(33) one can prove the existence
For the models M/MJ, M 2 {3D, MI} we have and the uniqueness of the solution to (25), with the standard ap-
( proach presented for example in [3]. As a result, also the existence
and the uniqueness of the solution in a more general case of com-
U I=JM=MJ
V M=MJ U IM
V M=MJ \ ux 2 H1 V M=MJ 3 :
plex structures (more than one model employed), described with
0 ) (19), can be proved.
XJ
2x3 0n
ui hij u0j ; u0j fn uj on RM=MJ ; 31
t
n0 3.5. Summary of the models
where VM/MJ is identical with VT, VS, or to their combination, while
RM/MJ represents a part of the body boundary that could be poten- In order to summarize the relations between the classical mod-
tially joined with MJ-domain. For the next set of transition models els of solid mechanics and our 3D-based models, as well as the dif-
M/RM, M 2 {3D, MI} we can write ferences and similarities of the 3D-based models themselves, we
n present Tables 3 and 4. The rst one characterizes the conventional
U I=1M=RM V M=RM U IM V M=RM \ ux 2 H1 V M=RM 3 : models and the second one the 3D-based ones. The corresponding
symbols, bilinear forms, stresses, strains, displacement elds, un-
1 2x0 1 2x03 0t knowns, and constraints are displayed in the tables.
ui hij u0j ; u0k 1 3 u0bk 1 uk ;
2 t 2 t Details concerning the local and variational formulations of the
1 1 0t o
classical shell models and classical elasticity can be found in the
u03 u0b 3 u3 on RM=RM ; 32
2 2 classical literature (see [15,16,55,76], for example).
A very thorough derivation of our the 3D-based models, includ-
where VM/RM is identical with VT, VS, or their combination. The kine-
ing the skipped details of local and variational formulations, can be
matically admissible spaces for the last group of the transition mod-
found in our recent report [82].
els, M/KL, M 2 {3D, MI, RM}, are
Table 3
Summary of the conventional mechanical models.
Model symbol Bilinear form B(u, v) Stresses Strains Displacement eld and unknowns
R T
3D e v DeudV r e u
RV 0T 0 0 0 0
HO SM e v D e u dSM
r0 e0 u0 (d0 0, d0 1, d0 2, . . .)
R
RM 0 0 0
SM e v D e u dSM
0T 0 r0 r033 0 e0 e033 0 00 01
u0 d ; d1 ; d2
01
R
KL SM e0T v 0 D0 e0 u0 dSM r0 r033 0 e0 e013 ; e023 ; e033 0 u0 (d0 0)
Table 4
Summary of the pure 3D-based models.
Model symbol Bilinear form B(u, v) Strain denition Displacements and unknowns Constraints upon unknowns
R T
V e v DeudV
3D e u
R
or V e0T v D0 e0 udV or e0
R 0T
MI 0 0
V e v D e udV
e0 u(u0, u1, . . . , uI)
R 0T
RM V e v D 0 0
e udV e0 with u(ut, ub) u0t3 u0b
3
m
0
e033 1 0
m e11 e22
R
KL V e0T v D0 e0 udV e0 with u(ut, ub) u0t3 u0t3 ;
0 m
0 0
@u01
e 33 1m e e
11 22 1t u0t3 u0b
1 ,
@x03
@u02
@x03 1t u0t2 u0b
2
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2923
each geometrical block V Gk of (1), as a rst step. Such parameteri- global Cartesian ones x (compare Section 2):
zation allows for the representation of each geometrical part as an F : g g1 ; g2 ; g3 2 V Sk ! x x1 ; x2 ; x3 2 V Sk : 38
image of the normalized cube V ^ fn : n ; n ; n 2 0; 13 g, or the
G 1 2 3
normalized triangular prism V ^ fn : n ; n ; n 2 0; 1 0; n In the case of transition geometry (G T), the corresponding
G 1 2 3 1
1 0; 1g, in accordance with (see Fig. 7 for the cube example) parameterization is the composition (see Fig. 9 for the cube exam-
ple again), UT k WT k F, of
UGk : n n1 ; n2 ; n3 2 V^ G ! x x1 ; x2 ; x3 2 V Gk : 36
^ ! g g ; g ; g 2 @V ;
WT k : n n1 ; n2 ; n3 2 @V P 1 2 3 Pk
39
F : g g1 ; g2 ; g3 2 @V Pk ! x x1 ; x2 ; x3 2 @V Pk ;
where @V Pk is the shell boundary part of any transition member
V T k ; k 1; 2; . . . ; mT . This part is viewed as an image of the corre-
sponding normalized shell boundary part @V ^ of the normalized
P
cube or prism V ^ V ^ .
T G
One should notice that in the shell parts V Sk , k 1, 2, . . . , mS, and
shell boundary parts @V Pk of the transition members V T k ,
k 1, 2, . . . , mT, nodes of the mesh are generated on the top/upper
and bottom/lower surfaces only. As a consequence, the geometry
can be uniquely determined with the normal shell coordinates of
the upper and lower surfaces, gt g(n1, n2, 1) and gb g(n1, n2, 0),
respectively. The normal coordinates can be converted into global
Cartesian ones, xt x(n1, n2, 1) and xb x(n1, n2, 0), by means of the
mapping F. The totally equivalent alternative to such a description
is the one based on the mid-surface normal coordinates, gs
g(n1, n2, 1/2) (gt gb)/2, or Cartesian coordinates, xs x(n1, n2,
1/2) (xt xb)/2, and the thickness vector t gt gb or t xt xb.
Both the descriptions are possible due to the linear relation
Fig. 7. Geometry parameterization within the solid body. g3 (n3 1/2)/t, where t is the length of the thickness vector,
2924 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940
The master
e
(normalized) geometry of the e
element is either
^ e fn 2 0; 13 g for the cube, or V
V ^ e fn 2 0; 1 0; n1 1
0; 1g for the prism.
e
Having the above in mind, we can denote, with g , the local geo-
metrical dof vector of an element e. This vector is composed of
e
blocks corresponding to each geometrical dof i: g . . . ; g i ; . . . T ;
P
g i g i1 ; g i2 ; g i3 T . These dofs correspond to the vertices, edges,
e
sides and the interior of the e
element (Fig. 10). The vector g is ob-
tained with the projection P , based on the vector x of the geometry
representation for meshing. The projection is performed indepen-
dently for the mentioned vertices, edges, sides, and interior (for de-
P tails see [84,88,89], where H10 -projection is performed on the
prismatic geometry). Thus, for each element Ve within V Gk ,
G 2 {B, T, S}, one can determine the approximated geometry, char-
e
acterized with xhpqG , by means of the formula
e e X
Fig. 9. Geometry parameterization within the transition part of the body. xhpqG n vi n1 ; n2 ; n3 gi ; 42
i
The specic forms of three-, two- and one-dimensional shape Note that our approximation is classical (of the same order in each
functions, as well as denitions of the corresponding geometrical of three directions) and determined as hpp-approximation because
dofs of (42)(44), for the case of H10 -projected prismatic elements, e e
q3D is not independent but equal to p3D.
can be found in [84,88,89].
4.3.2.2.
e
3D-based hierarchical shell models. In such a case we have
4.3. Global and local approximations of displacements M MI; I 2 f1; 2; 3; . . .g. We may apply now the hp-approximation
of displacements uI(MI), dened with (8), within element e, to any
4.3.1. Hierarchical character of the applied global approximations hierarchical model MI. Let us start this process with the restriction
In the previous sections we have introduced the hierarchy of 3D e
of uI(MI) to the element e : uIMI jV e uIMI . This way, thanks to
or 3D-based, pure and transition, mechanical models (23), charac- analogy to (8), we can write
terized by the orders I and J, as well as the model type M. Let us ap-
ply now the hierarchical approximations of hp-character to all e X
I
e
these models, so as to obtain the approximation uI/J(M),hp of uIMI fn n03 un ; 48
uI=JM ujV V M . For each of the models, the specic forms of these n0
b t
e X
I X where we assumed dil;1 dl and dil;2 dl . Note that the per-
uIMI;hp /n1 n3 wl n1 ; n2 dil;n1 formed two-dimensional hp-approximation of displacements of
n0 l
the 3D-based rst-order (I 1) shell model (ReissnerMindlin
X
q1 X
/m n3 wl n1 ; n2 dil;m one) appeared to be equivalent to the three-dimensional displace-
e
m1 l ment hpq-approximation, with qRM 1. The situation is similar
X X
wl n1 ; n2 /m n3 di to the case of the hierarchical shell models.
l m Eq. (56) has been derived from the relation (6), taking into ac-
X e
vi n1 ; n2 ; n3 di uhpqMI ; 51 count the deformation of the straight lines, perpendicular to the
i mid-surface of the shell, into straight lines which may not be per-
where we utilized the relation between two types of numbering pendicular after this deformation. The second assumption of the
i(l, n) i(l, m) with m n 1, and the equivalence q I, of the hier- lack of elongation of these lines, has not been taken into account
archical model order I and the order q of the corresponding trans- yet. Therefore, the displacement eld (56) of the element has to
verse displacement eld. be enriched with the following constraint equation:
e e e e e e
The limit case I ? 1, M1 3D needs our special attention. For u0t;hp
3 u0b;hp
3 0; u0t;hp
3 h3i ut;hp
i ; u0b;hp
3 h3i ub;hp
i ; i 1; 2; 3;
such a case one could expect the orders of the longitudinal and
57
transverse displacement elds of the hierarchical shell model to e e
be the same. Our hp-approximation of the limit hierarchical shell where uit;hp and uib;hp are dened by (54),
e
while
e
h3i are the terms of
model has to reect this fact. Thus, we assume I p. Using now the element transformation matrix h hn1 ; n2 which converts
(50) and (51) we can show that the global Cartesian directions to the local ones. Our methods of dis-
e e e cretization and introduction of the constraints from (57) into the
upM1;hp up3D;hp uhpp3D : 52 3D-based element formulation are described in detail in [88]. Some
alternatives are also discussed therein.
In the case of KirchhoffLove shell theory, relations (53)(57)
Remark 4.1. The conclusion from (50) and (51) is as follows. Two-
still hold, with I(KL) 1 and q(KL) 1 replacing I(RM) and q(RM),
dimensional hp-approximation of the hierarchical shell model of
respectively. These relations have to be completed with two more
order I is equivalent to three-dimensional hpq approximation,
constraint equations guaranteeing the perpendicularity of the
where the transverse order of approximation q (for displacements)
straight lines to the shell mid-surface after the deformation (com-
equals I, provided
that
the denitions of the through-thickness
pare (11) and the last relation from (12))
dofs functions fn n03 and one-dimensional shape functions /m(n3) 0 1
e 0b;hp e
are equivalent. Then, both approaches lead to the same denitions e t;hp e 0b;hp t @@uk @u0t;hp e e e
uk uk 3 A; ut;hp h ut;hp ;
and values of the element displacement dofs di. 2 @xe 0hpq @xe 0hpq
k k
e e
4.3.2.3. 3D-based rst-order shell models. For the case of Reissner e
0b;hp b;hp
e u hu ; k 1; 2 58
Mindlin model we have M RM as well as I(RM) 1. We will ap- e 0hpq e hpq e e e
ply the hp-approximation of displacements uI(RM), dened with with xk hki xi ; i 1; 2; 3, where q qG or q 1S (see (42)
(10), to element e. The rst step lies in the restriction of uI(RM) to and (43)).
e
the element e : uIRM jV e uIRM . This, after the combination of The introduction of the constraints (58) into the algorithm of
the rst and last relations (9), leads to the 3D-based rst-order KirchhoffLove shell element is not a triv-
e e ial task, because of the derivatives within these constraints. The
e
uIRM fb n03 ub ft n03 ut ; 53 subject is under our current research and will be addressed in a
e e separate paper. The same refers to the transition elements con-
where u u jV e ; u u jV e ; f b n03 1 n03 =2 and ft n03
b b t t
forming to KirchhoffLove theory in their shell boundary parts.
1 n03 =2. Note that (53) is a special case of (48), where now
I 1 and n 0, 1.
4.3.2.4. Transition models. For the rst transition model we perform
The hp-interpolation applied to bottom and top dofs, with use of
the three-dimensional hpp-approximation of displacements
the two-dimensional shape functions wl(n1, n2) of the normalized e
u?=J3D=MJ , with I(3D/MJ) ? (undetermined), in the solid zone
base ^Se , gives
X X V e n R3D=MJ of the element, and the two-dimensional hp-approxima-
e b e t
ub;hp wl n1 ; n2 dl ; ut;hp wl n1 ; n2 dl ; 54 tion of the displacements
l l
e X
J
e e
b t u?=J3D=MJ fn2 n03 un2 ; x 2 V e \ R3D=MJ 59
where anddl dl
are the bottom and top dof vectors, respectively.
n20
Subsequent substitution of (54) into (53) gives the following result:
in the hierarchical shell zone V e \ R3D=MJ . As a result we obtain
e X b X t
uIRM;hp fb n03 wl n1 ; n2 dl ft n03 wl n1 ; n2 dl : 55 e e e X
l l
u?=J3D=MJ;hpp=hp u1 u2 vi1 n1 ; n2 ; n3 di1
i1
As our denitions of the functions fb n03 , ft n03 and one-dimensional X
J
X
shape functions, /m(n3), m 1, 2, of the normalized section fn2 n03 wl2 n1 ; n2 di2l2;n2
are
equivalent, and the relation n03 2n3 1 holds, i.e. fb n03 XX
n20 l2
1 n03 =2 1 n3 /1 n3 and ft n03 1 n03 =2 n3 /2 n3 , wl1 n1 ; n2 /m1 n3 di1l1;m1
one can express (55) in the following form: l1 m1
e X X qJ 1
X X
IRM;hp
u /1 n3 wl n1 ; n2 dil;1 /2 n3 wl n1 ; n2 dil;2 /m2 n3 wl2 n1 ; n2 di2l2;m2
l l
m21 l2
XX
2 XX
wl n1 ; n2 /m n3 dil;m wl n1 ; n2 /m n3 di
l m1 l m
X e X e
vi n1 ; n2 ; n3 di uhpqRM ; 56 vi n1 ; n2 ; n3 di uhpp=q3D=MJ : 60
i i
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2927
4.3.3. Relations between global and local approximations In order to retain the global continuity, i.e. uhpqM 2 C 0 V, of the
In the above section, the local (element) approximation spaces piecewise polynomials uhpq(M) resulting from hpq-approximation of
e
U hpqM V e of admissible displacements uhpqM have been proposed the eld u, we assume that the local elds of admissible displace-
e f
informally: ments are suitably constrained, i.e. uj@V e \@V f uj@V e \@V f "f e. Note
e that our hpq-approximation is of local character, i.e. the mesh den-
uhpqM 2 U hpqM V e UV e : 68 e
sity parameter h diamV e representing the diameter of the out-
So as to dene the above approximated element displacements for-
er sphere of the element, can be different for each element. Also
mally, we restrict the admissible displacements u 2 UV of (19) to
the local values of the longitudinal and transverse orders of
Ve. This leads us to the local admissible displacements of the ele- e e
e approximation, p and q, of the three-dimensional polynomial
ment e : ujV e u. Next, we introduce the proper polynomial e e
^e 2 W q ^
spaces W p S Le , vary from element to element, i.e.
approximation of hpq character. In our 3D-based formulation q is e e e
model-related, i.e. q q(M). Moreover, for each hierarchical shell p P 1; 1 6 q 6 p. Note that the transverse order of approximation
e e
model, we assume the identity of the transverse order of approxi- q depends on the model M applied within the element, i.e.
e e e
mation and the order of the hierarchical model, q(M) I(M). In this q qM . The above rules allow one to write
way, we obtain the hpq-approximated admissible displacements of
e
the element uhpqM jV e uhpqM . The collection of such local approx- e e X XX
uhpqM n vi n1 ; n2 ; n3 di wl n1 ; n2 /m n3 di ; 77
imations gives us the global approximated piecewise representation m
i l
uhpq(M) such that
e e
uhpqM 2 U hpqM V UV: 69 where n I1e x
hpqG
. Above, we applied the same shape functions
as for the geometry representation of (42). This leads us to the iso-
Before the introduction of denition of the space U hpqM V of parametric formulation of our nite elements. Note that when the
the global admissible displacements for the problem of complex geometry is dened with (43) or (44), we may deal with the sub-
structures, let us investigate hierarchical properties of the spaces parametric or partly subparametric (on the element shell boundary
U I=JM;hp V M corresponding to hp-approximation of the hierarchi- part V e \ @V Pk ) nite elements, respectively. The vector of the ele-
cal models M of order I and J, as well as relations between these e e
ment dofs d is composed of dof blocks di : d . . . ; di ; . . . T ;
spaces and the spaces U hpqM V M . In order to do that, let us choose
di di1 ; di2 ; di3 T , with i denoting the dof number, again.
one mechanical model M 2 M, and the corresponding approxima-
The global continuity of uhpq(M) requires independent deni-
tion, so as to deal with nite element approximation of a simple
tions of the edge, side and interior components of the element
structure of a simple or complex geometry. Then, in the case of
interpolation function, so as to allow the same interpolation orders
M 2 {MI, RM, KL} or M 2 {MI/RM, MI/KL, RM/KL}, we have
on the common faces of the neighboring elements and different or-
U hpqM V M U I=JM;hp V M U I=JM V M \ U hp V M ; 70 ders in their interiors. Hence, we dene
where U I=JM
V M is dened by one of the relations (28)(30), (32) X XX XX
vi n1 ; n2 ; n3 di vviv dviv veie deie
and (33), and where the space of piecewise continuous polynomials i v iv e ie
is XX XX
v s s
vmim dmim
e e is d is
U hp V M ux 2 C 0 V M 3 : u 2 W p Se C 0 Le : 71 s is m im
X XX
In the limit case of I ? 1, i.e. when M 2 {M1, M1/MJ, M1/ v v dv veie deie
v e ie
RM, M1/KL} {3D, 3D/MJ, 3D/RM, 3D/KL}, we apply the following
XX X
space: vsis dsis vim dim 78
s is im
U hppM V M U p=JM;hp V M U 1=JM V M \ U hp V M 72
with U 1=JM V M U p=JM V M ; J 6 p, determined by (27) or (31), with the following numbering:
and the space U hp V M dened with (71), again.
Finally, in the case of the three-dimensional elasticity, M 3D, v 1; 2; . . . ; nv ; iv 1;
we introduce the space of the approximated admissible displace- e 1; 2; . . . ; ne ; ie 1; 2; . . . ; pe 1 _ ie 1; 2; . . . ; qe 1;
ments in the form
s 1; 2; . . . ; ns ; fis 1; 2; . . . ; ps 12
U hppM V M U ?M V M \ U hpp V M U ?M;hpp V M ; 73
_ is 1; 2; . . . ; ps 2ps 1=2g
where U ?M V M is dened by (26), and the polynomial space is
e e e _ is 1; 2; . . . ; ps 1qs 1;
U hpp V M fux 2 C 0 V M 3 : u 2 W p Se W p Le g: 74
m 1; im 1; 2; . . . ; pm 12 qm 1
In the last case of the following transition models M 2
{3D/MJ, 3D/RM, 3D/KL} and the mixed (transition) hpp/hp-approxi- _ im 1; 2; . . . ; pm 2pm 1qm 1=2; 79
mation, we formally dene
where we included nv vertices v (their shape functions are of order
U hppM V M U ?=JM V M \ U hpp=hp V M U ?=JM;hpp=hp V M ; 75 1, thus iv 1), ne horizontal and vertical edges e, ns horizontal (rect-
angular or triangular) and vertical (rectangular) sides s, the middle
where U ?=JM V M are dened in analogy to (31)(33), and m 1 (nm 1) of the triangular or rectangular prism element (see
e e Fig. 10). The numbers of mid-edge, mid-side, and middle dofs
e
U hpp=hp V M ux 2 C 0 V M 3 : u 2 W p Se W p Le are denoted as ie, is and im, respectively. The longitudinal and
e
transverse orders of approximation, pe, ps, pm and qe, qs, qm, are gen-
e e e
in V e n RM ; u 2 W p Se C 0 Le in V e \ RM : 76 erally unequal and we introduce p maxfpe g; fps g; pm ; q
maxfqe g; fqs g; qm .
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2929
4.4. Hierarchical character of the set of numerical models functions fb n03 , ft n03 , fn n03 of our 3D-based hierarchical mechan-
ical models, respectively.
It can be seen from (47), (51), (56), (60), (62), (64) and (67) that With the above space dened, we can perform the nite ele-
the hp-approximations of the 3D-based models, M 2 {MI, RM, KL} ment approximation of (19). This approximation reads
and M 2 {MI/MJ, MI/RM, MI/KL, RM/KL}, and the hpp-approximations
of the three-dimensional models, 3D and 3D/M, M 2 {MI, RM, KL}, BuhpqM ; duhpqM LduhpqM 84
lead to the hierarchy of hpq-approximations "du hpq(M)
belonging to U hpqM
.
hpqM
M 2 fRM=KL; M1=KL; M1=RMg; I J 1 ) u
5. Numerical experiments
uhp1=1M in V S ;
hpqM
M 2 fKL; RM; M1g; I J 1 ) u In this section we consider the most important features of our
uhp1M in V S ; hierarchical models and the applied hp-approximations. As men-
M 2 fMI=KL; MI=RM; MI=M1g; I P 2; J 1 ) uhpqM tioned, the combination of these models and approximations leads
to the hierarchy of numerical models assigned for adaptive mod-
uhpq=1M in V S ;
eling and analysis of complex structures. In order to assess the
M MI=MJ; I P 3; 2 6 J < I ) uhpqM uhpqI =qJ MI=MJ in V S ; effectiveness of this hierarchy, we will apply methods and results
hpqM hpqMI
M MI; I J P 2 ) u u in V S ; of a priori error estimation in our research. In order to be able to
M 2 f3D=KL; 3D=RM; 3D=MJg; I ! 1; 1 6 J < I ) uhpqM compare our new results with some of the existing theoretical and
numerical results, we will utilize the model problems considered
uhpp=qM in V S ;
by the predecessors. In particular, we will have in mind our hith-
M 2 f3D=KL; 3D=RM; 3D=MJg; I ?; J P 1 ) uhpqM erto results of [84,85] and the independent results of [18,45]. In
uhpp=qM in V S or V T ; our experiments we will address the following problems. Firstly,
M 3D; I J ! 1 ) uhpqM uhppM in V S ; we will check the orthogonality of the modeling and approxima-
tion errors for the members of our hierarchy. Such orthogonality
M 3D; I; J ? ) uhpqM uhppM in V S ; V T ; V B 80
allows dening, calculating, and utilizing both errors indepen-
of the following characteristics dently. Secondly, we will show that our 3D-based models, based
on our through-thickness dofs, possess the same convergence fea-
lim kuhpqM kU;S V e lim kuI=JM;hp kU;S V e kuI=JM kU;V : 81 tures and provide very similar convergence rates as the models
1=h;p!1 1=h;p!1
based on the classical mid-surface dofs. This will justify our 3D-
Combining the hierarchical set of mechanical models, (20) or based approach as an effective and robust means of analysis of
(23), and their hierarchical approximations (80), we get the hierar- structures described with different mechanical models. Thirdly,
chical set of numerical hpq(M)-models such that we will check how the application of our 3D-based transition
models, utilized between the pure, higher and lower models,
lim lim kuhpqM kU;S V e lim kuI=JM kU;V ku3D kU;V ; 82 changes the convergence rates of the solution, in comparison with
q!1 1=h;p!1 I;J!1
the reference cases when only the higher or lower pure model is
where formally V e V V M ; u3D u1=13D or u3D u?/?(3D). applied. This will constitute the evidence that the reasonable
application of the transition models is possible and can be
4.5. Finite element approximation of the variational formulation benecial.
0hpqM
et em ea u3D uhpqM ; et 2 U 3D V; V V S : 85
uj /1 u0b;hp
j /2 u0t;hp
j ; u0t;hp
3 u0b;hp
3 0;
! We will check now, through numerical tests, the following de-
0b;hp 0t;hp
t @u3 @u
u0t;hp
k u0b;hp
k 3 in=on V KLl ; sired feature of the a priori global error estimation:
2 @x0hpq @x0hpq
k k
o
uhpqM 0 on Q ; 83 where as global measures of the errors we apply strain energy
norms
p dened
on the error vectors, for example ket kU;V
where the shape functions /1 /1(n3), /2 /2(n3) and /n+1(n3) in Bet ; et , with B dened analogously to the rst relation (18). It
the transverse direction n3 are equivalent to the through-thickness can be shown that
2930 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940
Bet ; et Bu3D uhpqM ; u3D uhpqM gests that the control of the total error level can be performed
3D I=JM I=JM hpqM 3D I=JM through independent steps, i.e. q-enrichment and hp-renement,
Bu u u u ;u u
so as to control the component modeling and approximation er-
I=JM hpqM
u u rors. One should notice that we have obtained, with our 3D-based
Bu3D uI=JM ; u3D uI=JM 2Bu3D hierarchical formulation based on our through-thickness dofs, the
same results as those presented by other researchers in [18,45]
uI=JM ; uI=JM uhpqM BuI=JM for the hierarchical shell models employing the mid-surface dofs.
uhpqM ; uI=JM uhpqM In particular, one can confront our Fig. 12 with Fig. 6 of [18], ob-
tained as a result of the a posteriori error estimation.
Bem ; em 2Bem ; ea Bea ; ea : 87
Ending, we would like to comment that the orthogonality of the
Consequently, one can conclude from (85)(87) that the fulllment modeling and approximation errors for the 3D-based numerical
of (86) requires the following condition, B(em, ea) 0. In other models requires the fulllment of two requirements. The rst
words, orthogonality of the modeling and approximation errors one is the orthogonality of the 1D and 2D shape functions entering
means that they cannot inuence one another. the formulation of the 3D shape functions. This requirement (see
Let us consider now the rectangular plate shown in Fig. 11. The [10,18,58]) is general and refers to any shell formulation, either
dimensions of the plate are 2l 3.1415 102 m, t 0.15 102 m. conventional or 3D-based one, in which integration through the
So as to enable the description of complex models of the plate, we thickness is performed numerically. The second requirement is
also introduce, for future use, the dimension 2lRM describing the more related to our 3D-based formulation. The requirement lies
size of the RM zone within the complex models. Its value is equal in the appropriate denition of the 3D geometry in the shell and
to 2l for the pure RM model of the plate, and is 0 for the pure hier- transition zones of the structures. Such a geometry has to be de-
archical models MI of order I. The Young modulus of our plate is ned as symmetric with respect to the mid-surface. This require-
2.1 1011 N/m2, while the Poissons ratio is 0.3. The plate is ment may not be fullled automatically in 3D-based formulation.
clamped along its edges and loaded with the uniform surface trac- Because of that the geometry modeling in 3D-based formulation
tion of the value 4 106 N/m2, applied to its upper surface. In our needs special attention, i.e. the perpendicularity of the mid-surface
numerical tests we consider only a quarter of the plate because of and lateral boundaries has to be controlled (see [83]), so as to keep
the symmetry of the geometry, loading and boundary conditions. the orthogonality of the errors.
We take two exemplary cases into account. The rst one deals with
the uniform initial mesh of l/h 3, where h is the characteristic 5.1.2. First-order shell theory
longitudinal dimension of the elements. This mesh subdivision is In this case we can introduce the local total, modeling, and
associated with the uniform longitudinal order of approximation approximation errors by analogy to (85) and the denitions above
p 2, and the uniform transverse order q 1 corresponding to it. We only have to remember that now M RM and I q 1.
the hierarchical shell models MI. In the second mesh we start with Unfortunately, the relation (86) does not hold now, and this is
l/h 4, p 3, and q 2. Then, we perform uniform h-, p-, and q- the result of different denitions of the form B for the 3D and RM
renements for both cases. The global relative value of the total er- models (see denitions (15) and the rst relation (18)). These
ror is dened as different denitions do not allow performing the derivation analo-
gous to (87). As a consequence, orthogonality of the approximation
ket kU;V
total error p ; 88 and modeling errors cannot be shown in the case being under con-
Bu3D ; u3D sideration. One should be aware that the lack of orthogonality of
these errors is not related to our 3D-based hierarchical formula-
where B(u3D, u3D) 2U(u3D). As the exact value of the denominator
tion. One can face the same problem for the so-called (1, 1, 0)*
was not known, we replaced it with its approximation correspond-
ing to the numerical solution obtained for uniform initial meshes
(l/h 3 or l/h 4) of uniform hierarchical orders p 8 and q 8.
The conclusions from the above test are as follows. Firstly, we
can observe that the total errors in the uniform q-enrichments
are bounded by the approximation error level, while the total er-
rors in the uniform p-enrichments and uniform h-renements
are bounded by the modeling error level. And secondly, the square
of the total error of the initial meshes is orthogonally decomposed
into the sum of the second powers of the modeling and approxima-
tion error levels (0.5262
0.4182 0.3982 and 0.1492
0.1022
0.1142). Both conclusions conrm the lack of inuence of the mod-
eling and approximation errors on one another. This, in turn, sug-
Fig. 12. Total, modeling and approximation errors for the 3D-based hierarchical
Fig. 11. Geometry, loading, boundary conditions, and also zones of the plate. plate.
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2931
ket kW;V
total error 1 ; 89
2Uu3D 1=2
where the abstract norm of the total error is
Z
1
ket k2W;V rT u3D rT uhp1RM eu3D euhp1RM dV:
2 V
90
3D
Here, we take advantage of the reference exact solution u of 3D
elasticity, the numerical approximation uhp1(RM) to the exact solu-
tion uI/J(RM) (I J 1) of the ReissnerMindlin model, and the value
of the strain energy of the reference solution U(u3D).
The second denition can be introduced in a standard way, with Fig. 13. Total and modeling errors for the 3D-based ReissnerMindlin plate.
a simple difference of the strain energies U(u3D) and U(uhp1(RM)),
corresponding to the reference and numerical solutions, i.e.
j2Uu3D 2Uuhp1RM j1=2 the levels of the modeling errors 1 and 2. The abstract norm of the
total error 2 : 91 total error 1 is positive-denite and monotonous in hp-rene-
2Uu3D 1=2
ments, in contrast to the total error 2, for which changes of the sign
The advantage of the rst denition is that it includes pointwise of the argument of the absolute function in the denominator of
contributions to the global measure of the difference between (91) can be observed. Comparing two curves of the total error 1
stresses and strains corresponding to the reference and numerical with two upper curves of Fig. 12, one can notice their qualitative
solutions, in the way analogous to the strain energy norm (88). As a similarity. Moreover, the square of the total error 1 of the initial
result, local differences build up the global error measure regard- mesh can be orthogonally decomposed into the second powers of
less of their signs. In other words, there is no possibility of zero glo- the modeling error 1 and the corresponding approximation error
bal error unless both solutions are identical. The above norm is a level of Fig. 12 (the case of the initial mesh l/h 3), i.e.
generalization of the strain energy norm in a sense that when both 0.3742
0.3982 0.1352. Such an orthogonality is not observed
the reference and numerical solutions are obtained from the mod- in the case of the modeling error 2, where the second power of this
els of the same denition of the bilinear form B, then ket k2W;V be- error and the second power of the approximation error level from
comes ket k2U;V , i.e. Fig. 12 do not give the second power of the total error 1
Z (0.3982 0.0962 6
0.3422). Note that very similar non-orthogo-
2W rT u3D rT uhpqMI eu3D euhpqMI dV nality can also be concluded for the so-called (1, 1, 0)* model of
ZV [45,18], where the corresponding plots are not provided but the
conclusion can be drawn from the theoretical data for this model.
rT u3D uhpqMI eu3D uhpqMI dV
V Summing up, we would like to state that bounding of the total er-
Z Z
ror by the orthogonal or non-orthogonal modeling error (1 or 2,
rT et eet dV eTt S et dV 2Uet : 92 respectively), and by the approximation error as well, indicates
V V
that the control of both errors can be performed independently,
In our numerical test we consider again the rectangular plate i.e. in the way similar to hierarchical shell models. Additionally,
shown in Fig. 11. The dimensions, loading and boundary conditions the abstract norm (89) appears to be more promising for practical
of the plate are the same as in the previous tests. The initial mesh is control of the modeling error than the classical norm (91).
of uniform character. We assume the same discretization parame-
ters of the initial mesh as in the rst initial mesh of the previous 5.2. Convergence rates of the 3D-based hierarchical shell problems
test, so as to enable the comparison of the results of both these
tests. We assume the mesh subdivision such that l/h 3, longitudi- Here we pay our attention to the problem of convergence rates
nal order of approximation p 2, and the transverse order q 1, for the model problem of the previous tests. We would like to show
now corresponding to the ReissnerMindlin shell model RM. Then, that our 3D-based hierarchical shell models, equipped with
we perform uniform h-renements and uniform p-enrichments for through-thickness dofs, possess similar convergence features as
two denitions of the global relative total error. The exact value of the hierarchical shell models presented in [18] and based on
the denominators of (91) and (89) is replaced with its approxima- mid-surface dofs.
tion corresponding to the numerical solution of the 3D-elasticity
model, obtained for the uniform initial mesh of l/h 3, p 8, and 5.2.1. Rates of q- and t-convergence
q 8. The results of the test are shown in Fig. 13. Let us consider now our pure (I J) hierarchical shell models I/
The conclusions from the above gure are as follows. One can J(M), where M MI/MJ MI/MI MI. What we would like to check
observe that the total error in the uniform p-enrichments and uni- here is whether the fundamental relation, describing boundedness
form h-renements is bounded by the values that can be treated as of the modeling error, proposed by Vogelius and Babuka [74], and
2932 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940
where the exact, u3D uM1, and hierarchical, uMI, solutions are ob-
tained with the displacements on the lateral boundaries con-
strained to zero. Additionally, CI is a constant dependent on I but
independent of t, and s min(I 1, 2r) for the membrane-domi-
nated case, while s min(I, 2r) for the bending-dominated case,
with 2r describing order of regularity of the load applied on @VU,
@VL, or both. The bending- and membrane-dominated cases are ex-
plained in [74], and also in [84,86].
Let us consider now the plate in Fig. 11. The longitudinal dimen-
sions, material data, normal traction value and boundary condi-
tions are taken from the previous tests. We plot now the global
relative value of the modeling error versus q for varying thickness
values t. The modeling error is dened in analogy to (88), as
tion error in the case of hierarchical shell models. We take advan- apply p 1, 2, 3, . . . , 8, m 1, 2, 3, . . . , 8, q 1. The exact (reference)
tage of the results obtained in [11] for the interpolation error, as values of the solutions for both models are obtained by the numer-
well as the results of [18,42,66] for the approximation error, and ical approximation with m 9, p 9. The values of the logarithm
generalize these results in the form of the approximation error are presented versus the logarithm of
number of dofs N. The error is absolute, i.e.
1
kuI=JM uhpqM k1;V 6 kuI=JM uhpqM kU;V
C2 approximation error kuI=JM uhpqM kU;V 97
C1
6 kuI=JM v hpqM k1;V in order to make our calculations comparable with our previous re-
C2
l l
sults of Refs. [84,87] and Refs. [80,85], concerning hierarchical shell
h h and ReissnerMindlin models, respectively. Two sets of the corre-
6C kuI=JM k1;V C 0 m kuI=JM kU;V ; 96
pm p sponding convergence curves are presented in Figs. 1619, respec-
where C C1C3/C2 and C0 CC4 are positive constants. These con- tively. In both curves of each set three different parts can be
stants depend on the shell geometry only, i.e. the curvatures and distinguished: the rst (at) one corresponding to locking and par-
the thickness. allel to the horizontal axis, the second one of either algebraic or
In the above relation we utilize not only the strain energy exponential convergence (for h- and p-curves, respectively), and
norms, kuI/J(M) uhpq(M)kU,V and kuI/J(M)kU,V, of the error and the ex- the third one of lower convergence due to the loss of regularity in-
act solution, but also Sobolev norms of the rst-order, kuI/J(M) duced by boundary layers. The most signicant conclusion from the
vhpq(M)k1,V and kuI/J(M)k1,V, used in the applied standard interpola- comparison of both sets of curves is that they are identical with re-
tion theorem (compare [11,18], for example). In the rst of these spect to the convergence rates. The merely noticeable difference be-
Sobolev norms the term vhpq(M) represents admissible displace- tween them results from the different error values and the different
ments. The relation (96) is valid for the quasiuniform h and p number of dofs. Note that both models have different solution lim-
meshes. The exponents are l min(s 1, p) and m s 1, where its, and in the ReissnerMindlin model one of six three-dimensional
s denotes regularity order of the solution. In the case of numerical dofs (three top and three bottom dofs) is constrained. The addi-
locking, present in the bending-dominated problems (see [84] for tional conclusion concerning the rst set of the presented curves,
explanation), one can expect worse convergence rates as a result corresponding to ReissnerMindlin model, is that they are exactly
of the change of l. For instance, in the case of plate problems the same as Figs. 15 and 16 of [18], with respect to rst two parts
one can expect l min(s 1, p 1), while in the case of cylindri- of the curves (the third parts are not revealed in the cited work).
cal shells l min(s 1, p 2). The difference between both cases Note again that our results are obtained using our global through-
results from the additional presence of the so-called membrane thickness dofs, while in the cited work of Cho and Oden local
locking in the latter case, while in the former case only shear lock- mid-surface dofs are applied.
ing is present. The explanation of some of the mechanical aspects
of both types of locking for the hierarchical shell models and the 5.3. Convergence of the model problems of complex structures
ReissnerMindlin shells can be found in [18,84], while some corre-
sponding aspects of mathematical theory of locking are presented What we would like to show here is that the model problems of
in [42,66]. complex structures composed of pure and transition models exhi-
In our numerical experiment we check h- and p-convergence bit similar h- and p-convergence features as the problems of pure
rates of the plate problem from the previous tests. Firstly, we models. In particular, we intend to show that the relation (96), al-
choose the thin plate of t 0.03 102 m and apply our 3D-based ready checked in the previous test and in our works [84,85] for the
rst-order ReissnerMindlin shell model. Next, we take the same pure models, holds also for our transition (or should we say mixed)
plate and the rst hierarchical shell model (I 1). In our tests we model problems. We consider here the two (plate and shell) bend-
Fig. 16. The h-convergence curves for the ReissnerMindlin plate. Fig. 17. The p-convergence curves for the ReissnerMindlin plate.
2934 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940
Fig. 18. The h-convergence for the rst hierarchical plate model. Fig. 20. The p-convergence for the complex model of the plate.
Fig. 19. The p-convergence for the rst hierarchical plate model.
Fig. 21. The h-convergence for the complex model of the plate.
respectively, adjacent to the corresponding zones of the clamped was calculated as the best numerical approximation of the model,
boundaries. Note that due to symmetry, the number of the obtained for p 9, h 10, and q 1 or q 2 in the respective
ReissnerMindlin prismatic elements within the plate quarter is zones of the plate. The most signicant conclusion from the dis-
2m2RM of the total number of 2m2 elements. There are also played curves is that they are qualitatively the same and quantita-
22mMI=RM mRM m2MI=RM transition and 22mMI mRM mMI=RM tively very close to those presented in Figs. 11 and 12 of [84] for the
m2MI hierarchical shell elements in our meshes. pure hierarchical shell model MI, I 2. The division of the curves
The results of our convergence calculations are presented in into three regions of different convergence rates, and the rates
Figs. 20 and 21, for the p and h cases, respectively. Absolute values themselves, are exactly the same for both sets of curves. These
of the approximation error, dened in accordance with (97), are two sets can also be confronted with the corresponding curves ob-
plotted versus the number of dofs N. In the relation (97) we have tained for the pure RM-model and presented in [80,85]. The latter
M MI/RM, I/J 2/1, where I 2 (J 1 corresponds to the Reiss- curves are different from those of the pure hierarchical shell and
nerMindlin model). The reference value of the energy, corre- complex models. This can be attributed to the improved regularity
sponding to the exact solution of the complex model (r 0.5), of the solution for the RM-model. Note that for the hierarchical
shell and complex models, the boundary region is modeled with
the hierarchical shell elements of q 2, while for the pure Reiss-
nerMindlin model, less prone to boundary layers, the correspond-
ing rst-order shell elements are applied in the vicinity of the
boundary. The results of our comparisons are presented graphi-
cally in Figs. 22 and 23.
Fig. 24. Geometry, loading, boundary conditions, and zones of the half-cylindrical
Fig. 22. The p-convergence of the complex and pure models of the plate. shell.
Fig. 23. The h-convergence of the complex and pure models of the plate. Fig. 25. The p-convergence for the complex model of the half-cylindrical shell.
2936 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940
5.3.2. Bending-dominated shell RM-section of the curved edge of the symmetric quarter of the
We consider the half-cylindrical shell presented in Fig. 24. The shell, while l is the length of the curved edge of this quarter.
mid-radius R of the shell is 1.0 102 m, while its longitudinal Our discrete model is characterized by q 1 in the RM-zone,
dimensions are 2l 3.1415 m and pR
2l 3.1415 m, for the q 2 in the MI-zone, and q 1 or q 2 in the rst-order and hier-
straight and curved edges, respectively. The thickness t of the shell archical shell regions of the transition MI/RM-zone, respectively.
is 0.01 102 m. The material data and the vertical traction magni- Our convergence calculations are performed on h- and p-uniform
tude for the shell are assumed as in the plate problem. The straight meshes of p 1, 2, 3, 4 and m 2, 4, 8 (for each of the two longitu-
boundaries of the shell are clamped, while the curved ones are free. dinal directions). In the calculations we assume the ratio r1 is con-
Our complex model consists of the ReissnerMindlin zone, the stant and equal to 0.5. This ratio is dened as r1 mRM/m,
hierarchical shell (I 2) zone, and the transition zone of the m mRM mMI/RM mMI, with the component subdivision values
MI/RM-model, where I 2. The hierarchical shell domain is mRM, mRM/MJ 1, mMI of the subdivision number m, equivalent to
adjacent to the straight boundaries of the shell. The contribution the number of the ReissnerMindlin, transition, and hierarchical
of the component RM model to the complex model is deter- shell elements adjacent to the corresponding zones of the curved
mined with the ratio r r1 lRM/l, where lRM is the length of the boundaries. The number of the ReissnerMindlin prismatic ele-
ments within the shell quarter is 2mRMm of the total number of
2m2 elements, while the numbers of the transition and hierarchical
shell elements are 2mMI/RMm and 2mMIm, respectively.
Figs. 25 and 26 present the results of the convergence calcula-
tions in the p and h cases, respectively. The absolute values of
the approximation error are displayed versus the number of dofs,
N. In the calculations we take advantage of the reference value of
the energy. It corresponds to the exact solution of the complex
Fig. 26. The h-convergence for the complex model of the half-cylindrical shell.
Fig. 28. The h-convergence of the complex and pure models of the half-cylindrical
shell.
Fig. 27. The p-convergence of the complex and pure models of the half-cylindrical
shell. Fig. 29. Geometry, loading, boundary conditions, and zones of the cylindrical shell.
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2937
model (r 0.5) and was calculated as the best numerical approxi- subdivision values mRM, mRM/MJ 1, mMI of the subdivision number
mation of the solution for this model, obtained for p 9, h 10, m are equivalent to the number of the ReissnerMindlin, transi-
and q 1 or q 2 in the respective zones of the shell. The most tion, and hierarchical shell elements, respectively, adjacent to the
important conclusions from the displayed curves are the same as corresponding zones of the straight boundaries. As the analyzed
for the plate example. Firstly, these curves are qualitatively the quarter of the half of the shell is symmetrical, the number of the
same and quantitatively very close to those presented in Figs. 13 ReissnerMindlin prismatic elements within this quarter is
and 14 of [84] for the pure hierarchical shell model MI, I 2. Sec- 2mRMm, while the total number of elements is 2m2. There are also
ondly, the division of the curves into three regions of different con- 2mMI/RMm transition and 2mMIm hierarchical shell elements in our
vergence rates, and the rates themselves, are exactly the same for numerical models.
both sets of curves. Analogously to the plate example, the two Our convergence calculation results are presented in Figs. 30
mentioned sets of curves for the half-cylindrical shell problem and 31, for the p and h cases, respectively. The absolute values of
can be compared with the corresponding curves presented in the approximation error are plotted versus the number of dofs N,
[80] and obtained for the pure RM-model of the shell. The conclu-
sions from such a comparison are analogous to the plate case. All
these conclusions are illustrated in Figs. 27 and 28.
Fig. 30. The p-convergence for the complex model of the cylindrical shell. Fig. 32. The p-convergence of the complex and pure models of the cylindrical shell.
2938 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940
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for the conventional hierarchical shell models based on mid-sur-
Raton, FL, 2007.
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Computing with hp-Adaptive Finite Elements, Three-Dimensional Elliptic and
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