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Comput. Methods Appl. Mech. Engrg.

199 (2010) 29132940

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Comput. Methods Appl. Mech. Engrg.


journal homepage: www.elsevier.com/locate/cma

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.

1. Introduction the three mentioned approaches should be regarded as an escape


from the problem rather than the solution of it.
1.1. State-of-the-art issues As far as the methods of computational mechanics are con-
cerned, we should notice the analogous difculties in modeling
Problems of structures of complex mechanical description are and analysis of the problems of complex mechanical description.
rather rarely visited by researchers of theoretical and applied Again, these problems are seldom addressed in literature. Most of
mechanics. Consequently, the topic is not entirely explored. The the research efforts are devoted to problems described with a sin-
main reason seems to be the difculty in modeling and analysis gle mechanical model. Consequently, our ambitious task is to make
of the problems. This difculty results from the necessity of appli- some progress in numerical modeling and analysis of complex
cation of different, often incompatible, mechanical theories, and structures. So as to perform this task, we are going to take advan-
the need for their combination or transformation into one consis- tage of the contemporary abilities dealing with relatively modern
tent formulation. The main existing methods of solving such prob- concepts of hierarchical modeling and hierarchical approxima-
lems include application of the constraint method, introduction of tions, applied in the frame of nite element methods of solid
transition models, or utilization of only one, the most general the- mechanics. We focus here on hp-adaptive methods, in which the
ory in the whole domain. None of these approaches is free of its assumed level of solution accuracy is obtained by the local changes
shortcomings. Constraints between the models may produce high of the element characteristic dimension h and the element approx-
solution gradients and the resultant loss of solution regularity. imation order p.
Transition models require at least some similarity of the compo- The hp-adaptive nite element methods (FEM) emerged in its
nent models. Application of one theory, instead of all variety of almost mature form [28,44,50] more than 20 years ago. They were
models, results in loss of advantages of the specialized (simplied) motivated by the ndings of Babuka and co-workers [35,36] on
theories. These advantages usually are the higher solution regular- the common application of the geometrically graded meshes and
ity and the reduction of the number of dofs. Note that the last of high-order elements that leads to exponential convergence of the
solution. Since then the methods have been intensively developed
(see [4,6,43,46,49,51,52,64], for example). The basic concepts and
Address: Institute of Fluid Flow Machinery, Polish Academy of Sciences, Fiszera general principles of the methods are presented widely in the liter-
14, 80-952 Gdansk, Poland. Tel.: +48 58 6995219; fax: +48 58 341 61 44. ature, nowadays. The subsequent examples of the most prominent
E-mail address: zboi@imp.gda.pl textbooks on the topic are those by Szab and Babuka [71],

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

features of each specic theory. Thanks to that, all the mentioned


theories of the rst-order shell, hierarchical shell and three-dimen-
sional elasticity can be applied together for hierarchical modeling
and adaptive nite element analysis of complex structures. With
the three-dimensional description one can use the consistent ap-
proach (based on the same type of dofs and the same shape func-
tions) to the nite element approximation of all mechanical
models applied within a complex structure. Also, the consistent er-
ror estimation and adaptive procedures based on three-dimen-
sional degrees of freedom can be applied to each part of the
structure, without the necessity to introduce different approaches
for different mechanical models. Such an advantage is of great
importance from the implementation point of view, as it very
much simplies the nite element formulation assigned for adap-
tive modeling and solution of the problems in which more than
one mechanical model is utilized.

1.4. General objective and scope of the paper


Fig. 1. A solid body or part.
The paper summarizes our hitherto research efforts. The main
objective of it is to present some theoretical and implementation
problems related to model- and hpq-adaptive nite element meth- resentation based on the xed system of curvilinear coordinates f.
ods for modeling and analysis of structures of complex mechanical Such a body or part VB (Fig. 1) can be dened as an open bounded
description. We apply three-dimensional (3D) approach, men- 3D region with a piecewise smooth boundary @VB. Such a boundary
tioned above and proposed originally in [86]. Basing on this ap- is a collection of nB pieces @Vi, i 1, 2, . . . , nB, dened with the sur-
proach we construct a hierarchy of 3D-based mechanical models, face equations of the form fi(f1, f2, f3) 0.
including the rst-order ReissnerMindlin shell theory, higher-or- In our further considerations we will make a special choice and
der hierarchical shell models and 3D elasticity (called by us as the replace the general coordinates f with Cartesian ones x. For such a
basic or pure models). We also introduce the transition (or mixed) choice we will have fi(x1, x2, x3) 0. Then we will make use of the
models between the pure ones when necessary. Then, for all the coordinate parameterizations xj xj(n), j 1, 2, 3, where
members of the hierarchy of mechanical models, we introduce n (n1, n2, n3) and n1, n2, n3 2 [0, 1]. This way also the surface equa-
compatible hierarchical approximations of hp character. The com- tions will be parametrized, fi(x1(n), x2(n), x3(n)) 0. We will return
bination of hierarchical mechanical models and hierarchical to the problem of parameterizations in Section 4.2.
approximations leads us to the hierarchy of numerical models, in
which the model and discretization parameters can vary locally, 2.2. Three-dimensional solid-to-shell transition geometry
i.e. they can be different in each nite element.
The main features and the effectiveness of our models and The solid-to-shell transition parts/bodies allow joining 3D
approximations will be illustrated and proved with carefully cho- bodies (or parts) to shell bodies (or parts) of structures. In princi-
sen numerical examples. ple, in our denition of the transition parts we determine them
as 3D ones, except for the part of the boundary to be joined with
the shell body. Such a transition body VT can be intuitively divided
1.5. Novelty of the paper
into two parts, solid and shell ones. However, it is not necessary to
formalize this division, except for the boundary. The transition
Referring to our previous works, we would like state that in our
body VT (Fig. 2) can be dened as on open bounded 3D region with
hitherto works [84,88,89] we restricted ourselves to the separate
the boundary @VT which is piecewise smooth. The boundary is a
algorithms of the adaptive solid, shell and transition elements,
collection of nB pieces @Vi, i 1, 2, . . . , nB, dened with the parame-
without the systematic reference to the 3D-based hierarchy of
trized form of the surface equations fi(x1(n), x2(n), x3(n)) 0, and
mechanical models, hierarchical approximations, and their combi-
nP P 1 pieces @Vj, j 1, 2, . . . , nP, which are not dened arbitrarily,
nation. The main effort was devoted to the element formulation is-
but by means of the concepts of the mid-surface SM and thickness
sues (shape functions, denitions of displacement and geometry
t, typical for shell geometry denition. Thus, @V T @V B [ @V P
elds, and stiffness matrix formation). The only limited reference SnB SnP
i1 @V i [ j1 @V j . Note that with nP 0, we reach the geometry
to the modeling and approximation matters is presented in
equivalent to the fully three-dimensional one.
[86,88], where some pure and transition mechanical models of
The mentioned mid-surface of a shell SM  R2 is called some-
the hierarchy, as well as the corresponding approximations, are
times the reference surface, and viewed as an open bounded region
listed but not formalized. In this paper we present the unpublished
of a piecewise smooth boundary @SM. Such a boundary is a collec-
mathematical aspects of the theory of the hierarchical modeling
tion of nM pieces @Sj, j 1, 2, . . . , nM, dened by the curve equations
and the hierarchical approximations for the structures of complex
of the form hj(g1, g2) 0. The notion of the shell thickness
mechanical description. The original numerical results support our
t t(g1, g2) deals with the direction normal to the shell mid-sur-
theoretical ndings.
face. In order to dene the mid-surface and the thickness, we uti-
lize the specic curvilinear coordinates g called normal
2. Geometry representation coordinates, consisting of two natural coordinates (g1, g2), which
are tangent to the mid-surface, and the third local Cartesian coor-
2.1. Geometry of solid parts or bodies dinate x03  g3 , normal to the shell mid-surface at any point of it.
One should notice that for the mid-surface itself x03  g3  0. The
In the case of solid (or bulky) bodies or solid parts of the struc- respective parameterizations of the mid-surface and thickness will
tures of complex geometry we usually apply global geometry rep- be formally introduced in Section 4.2.
2916 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940

Fig. 2. A solid-to-shell transition body or part.


Fig. 3. A shell body or part.

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

2.3. Three-dimensional geometry of shell parts or bodies V V Gk V Bk [ V Tk [ V Sk ; 1


k1 k1 k1 k1

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

a cylindrical rectangle, a rectangular part of a polynomial surface,


P P Mi ; Q Q Mi ; 3
i1 i1
and a transnite quadrilateral. The implicit triangle, or rectangle,
is dened with the corresponding explicit surface limited by three, where some of the component parts P Mi and Q Mi may form empty
or four, other explicit surfaces. The catalog of the explicit prisms sets. Apart from the above two parts P Mi and Q Mi , for each zone i
include trilinear triangular or rectangular prisms, a spherical trian- we have to dene the internal boundary RMi adjacent to the neigh-
gular shell, cylindrical triangular or rectangular shells, polynomial boring regions of different mechanical description. On the internal
triangular or rectangular prisms, and transnite triangular or rect- boundary, the conditions of displacement continuity hold. Such a
angular prisms as well. The list of the possible explicit surfaces, ap- boundary may be a collection of mRi , possibly disjoint, piecewise
M
plied to the determination of the implicit objects, includes a plane smooth regions RMji
normal to a given vector and passing through a point, a plane pass- mR
[i M M M
ing through three points, a sphere, a cylinder, an incurved polyno- RMi RMji ; RMji \ RMki ;; 4
mial surface, and a polynomial surface of revolution. The applied j1
transnite interpolation of the gures is described in [34,24]. The where j and k (k j) represent the number of a zone neighboring
transnite characteristics of the prisms was proposed by Dem- with the region i. Note, that with the above denitions the total
kowicz et al. (see [26] for the list of works and the theory) and boundary of the zone i can be dened as PMi [ Q Mi [ RMi .
reconstructed in [81]. The polynomial objects are utilized in [81]. Due to the natural correlation between the above mentioned
They can represent either the real polynomial geometry or the models of the set M and three types of geometry from the set G
polynomial interpolation of the true geometry. we have to restrict the general set M when applied to each specic
geometry of the set G
3. Hierarchy of 3D-based mechanical models
MB f3Dg;
3.1. Relations between the geometry and the models MT f3D; 3D=MI; 3D=RM; 3D=KLg;
5
MS f3D; MI; RM; KL; TRg;
Let the introduced body V, of simple or complex geometry, rep- M MS  MT  MB :
resent the structure of complex mechanical description. In other
words, let the body be characterized by more than one mechanical The situation is reected also in Table 1 and illustrated in Fig. 4, for
model. Let any zone i corresponding to these models, within the the case of mG 3 and mB mT mS 1.
body V, be denoted as V Mi , where M is an element of the set M Recapitulating, we stress that the division of V into zones of dif-
of available 3D-based hierarchical models of linear elastic charac- ferent mechanical description is generally independent of the divi-
ter, i.e. M 2 M, M f3D; MI; RM; KL; TRg. Here 3D represents sion of V into geometrical parts, however, some models will never
three-dimensional elasticity theory, MI {M1, M2, M3, . . .} denotes appear in certain parts.

Table 1
Possible models of the hierarchy for three types of geometry.

Shape type Mechanical model


3D 3D/MI 3D/RM 3D/KL MI MI/MJ MI/RM MI/KL RM RM/KL KL
B          
T       
S
2918 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940

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

where K and I characterize order of the classical higher-order the-


ory, with K P I. For our approach, let us assume K  I, and convert
the generalized
 dofs into local through-thickness dofs u0n
u0n x01 ; x02 (see Fig. 5)

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

  0s respectively. The parameter m stands for the number of any zone


0a u0tk  u0b
k @d
dk   30 ; x 2 V KLl : 11 of model KL neighboring with the lth zone of the transition models
t @xk 3D/KL, MI/KL, and RM/KL, respectively.

Mechanical interpretation of (11) is that, for the KirchhoffLove


0a 3.2.6. Relations between the models
theory, the mid-surface rotations dk are not independent, but con-
strained with the derivatives, as above. Ending the presentation of our hierarchy of mechanical models,
For convenience, we may combine constraints from (10), and we summarize (in Table 2) some information on restrictions
constraints (11), in order to replace (9) with against common application of the models.
2920 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940

Table 2
Admissible neighborhood among the models of the hierarchy.

The model Hierarchy of mechanical models


3D 3D/MI 3D/RM 3D/KL MI MI/MJ MI/RM MI/KL RM RM/KL KL
3D        
3D/MI         
3D/RM         
3D/KL         
MI       
MI/MJ          
MI/RM         
MI/KL         
RM        
RM/KL         
KL        

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

where S is a matrix symmetric differential operator acting on both u XI  


2x03 0n
and uT. Note that the rst right-hand side term above represents u0j fn uj in=on V MIl ; V MI=MJl ; V MI=RMl ; V MI=KLl ; RMI m
3D=MIl ;
n0
t
strain energy U(u) of the body, while the remaining terms are equal
XJ  0
to the work of the external forces. 2x3 0n MJm
u0j fn uj on RMI=MJ ;
Due to the division, in accordance with (2), of the volume V into t l
n0
different zones, we have to remember that    
1 2x0 1 2x03 0t
X
m3D X
mMI X
mRM u0k 1  3 u0b k 1 uk ;
2 t 2 t
Pu PV 3Dl u PV MIl u PV RMl u
1 0b 1 0t
l1 l1 l1
u03 u u in=on V RMl ; V RM=KLl ; RRM RM m
3D=RMl ; RMI=RMl ;
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

tion to local system of coordinates (as a result C0 is formed) and


respectively, the condition (17) can be written as
multiplication by the transformation matrix h, i.e. C00 C0 h. Subse-
quently, the form of C000 results from introduction to C00 of the con- Bu; du Ldu: 19
dition of zero normal stress. This way we form a sort of hierarchy of
the differential operators. Note that the non-standard utilization of Note that nding the solution to equilibrium described by (19) lies
the last two operators lies in their application to global through- in the search for u 2 UV conforming to (19) 8du 2 UV.
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2921

3.4. Hierarchical character of the set of models M MI ) I  J 2; 3; 4; . . . in V S ;


M 2 f3D=KL; 3D=RM; 3D=MJg ) I ! 1 and J 1; 2; 3; . . . ;
Let us go back now to our set of models. The set forms 3D or 3D-
J<I in V S ;
based hierarchy of compatible mechanical theories. The 3D-based
approach, applied within the hierarchy, lies in the creation of dif-
M 2 f3D=KL; 3D=RM; 3D=MJg ) I ? undetermined;
ferent models simplied with respect to 3D elasticity. The 3D- J 1; 2; 3; . . . in V S or V T ;
based compatible models are all equipped with three-dimensional M 3D ) I  J ! 1 in V S ;
degrees of freedom (through-thickness unknowns are the three M 3D ) I; J ? undetermined in V S or V T or V B 23
global displacements for any of the proposed models) and differ
with the type and number of the applied constraints, imposed on and with the following property:
the 3D-elasticity formulation. One can notice that informal (intui-  
tive) order within the hierarchy may result from a number of lim lim kuI=JM kU;V ku3D kU;V ; 24
I!1 J!I
changes, induced by constraints, introduced into the highest mod-
el, i.e. the model of three-dimensional elasticity. A more formal where formally we have u3D  u?=?3D ujVV 3D . Note that now we
ordering of the models requires determination of the modeling er- have two possible notations for the pure models. The additional re-
ror measured with respect to 3D elasticity. We will return to this mark to the above relation, as well as to (21), is that in the geomet-
problem in our second paper of the series. Now, let us come to rical parts VB, VT, VS of V (see (1)) we have some restrictions on the
the specic models of the hierarchy. possible values of I (and J) due to relations (5).
Our set of models M is dened with the last two relations (5). The main novelty, and also advantage of our approach over the
The complete list of the models is included in Table 1. We can dis- predecessors one, is the extension of the idea of hierarchical mod-
tinguish two main groups within the set: the pure or basic models eling over the whole variety of the mechanical models. In the for-
(3D, MI, RM, KL) and the mixed or transition models. Hierarchical mer approaches only one mechanical model was employed
character of the rst set can be seen when the values of I I(M), (compare [72], for example, where the idea was applied to the
representing an order of the basic theory (equivalent to the corre- higher-order shell theories only).
sponding order of the transverse displacement eld), are taken into In order to show the existence and the uniqueness of the solu-
account, i.e. tion to (19), let us choose one mechanical model M 2 M of the
hierarchy, and combine it, according to (5), with the possible
M 2 fKL; RM; M1g ) I 1 in V S ; geometry for this model. Then, we deal with the case of a simple
M M2; M3; M4; . . . ) I 2; 3; 4; . . . in V S ; structure of a simple or complex geometry. For such cases, (19)
20 becomes
M M1  3D ) I ! 1 in V S ;
M 3D ) I ? undetermined in V S or V T or V B ; BuI=JM ; duI=JM LduI=JM 25
I=JM I=JM
and the solution u ujVV M has to satisfy (25) 8du 2
where in the last case I is undetermined. Here and thereafter we use U I=JM V M . Let us start with the specic cases of the pure models.
a question mark (I ?) for concise notation in such cases. For the 3D elasticity, we have either
The above hierarchy of the pure models has the following useful
property: U 3D V 3D  U ?3D V 3D fux 2 H1 V 3D 3 : ui 0 on Q 3D g
26
lim kuIM kU;V ku3D kU;V : 21
I!1 for V3D identical with VB, VT, VS, or to their possible combinations; or
alternatively
The above relation expresses the fact that the consecutive solutions
uIM ujVV M , which correspond to the subsequent hierarchical U 3D V 3D  U 1M1 V M1
models, tend in the limit to the solution u3D  u?3D ujVV 3D of (
the highest model of the hierarchy, i.e. the model of three-dimen- ux 2 H1 V M1 3 : ui hij u0j ;
sional theory of elasticity. The above solutions are measured in
 0 )
the norm of strain energy U dened within the volume V  VM of X1
2x3 0n
the structure u0j fn uj in V M1 ; ui 0 on Q M1 27
n0
t
Z
1
kuIM kU;V rT uIM euIM dV; 22 for VM1  V3D identical with VS, and i 1, 2, 3. Next, for the 3D-
2 V based higher-order shell models one can write
where r and e are the vectors of stresses and strains, respectively.
(
In the case of the transition models (3D/MI, 3D/MI, 3D/RM, U IMI V MI ux 2 H1 V MI 3 : ui hij u0j ;
3D/KL, MI/MJ, MI/RM, MI/KL, RM/KL), two parameters I and J are nec- )
XI  0
essary in order to characterize the hierarchy. The rst parameter 2x3 0n
refers to a higher-order theory, while the second one to a lower or- u0j fn uj in V MI ; ui 0 on Q MI ; 28
n0
t
der theory. So as to combine the pure and mixed theories into one
hierarchical set, we have to treat the pure models as a special case where I 1, 2, 3, . . . and VMI  VS. Subsequently, in the case of the
of the mixed ones, i.e. we have to equalize both parameters (I  J) 3D-based ReissnerMindlin model, the proper space is
for pure models. The common set can now be characterized in the 
following way: U 1RM V RM ux 2 H1 V RM 3 : ui hij u0j ;
M 2 fRM=KL; M1=KL; M1=RMg ) I J 1 in V S ;    
1 2x0 1 2x0
M 2 fKL; RM; M1g ) I  J 1 in V S ; u0k 1  3 u0b k 1 3 u0tk ;
2 t 2 t

M 2 fMI=KL; MI=RM; MI=M1g ) I 2; 3; 4; . . . and J 1 in V S ; 1 1
u03 u0b 0t
3 u3 in V RM ; ui 0 on Q RM 29
M MI=MJ ) I 3; 4; 5; . . . and J 2; 3; 4; . . . ; J < I in V S ; 2 2
2922 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940


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

4. Finite element hierarchical hpq-approximations

4.1. Finite element partitioning

Let us divide our three-dimensional body, of simple or complex


geometry, of volume V, into a set of E nite elements Ve according
to the partitioning D of the following properties:
[
E
V V e;
e1
^
V e \ V f ;; 34
ef
^
V e \ V f @V e \ @V f ;
ef

where e; f 1; 2; . . . ; ED are the numbers of the elements. In the


Fig. 8. Parameterization within the shell geometry.
relations above we have of course V e V e @V e .
The partitioning D must respect the division of the body into
geometrical parts, in accordance to (1). This means that we may
distinguish subpartitions DGk in each geometrical part Gk, The consistent meshing can now be performed on each normal-
k 1, 2, . . . , mG. Such subpartitions do not produce voids between ized geometrical block, and the real block V Gk is meshed accord-
them, do not overlap one another, and at least one element exists ingly, thanks to the parameterization from (36). Consequently,
for each subpartition. Moreover, neighboring subpartitions are the mesh corresponding to the representation of the exact geome-
consistent in a sense that they possess the same division pattern try of the entire body V is created.
on the common faces of the corresponding geometrical parts. Tak- The above parameterization (36) is formally valid for any type
ing this into account, and as a result of (1) and (34), we have of geometry, i.e. G 2 {B, T, S}. It is perfectly suited, however, for
the solid/bulky parts V Bk ; k 1; 2; . . . ; mB or solid part V T k n @V Pk
X
mG X
mB X
mT X
mS
E E Gk E Bk ET k E Sk : 35 of any transition member V T k , k 1, 2, . . . , mT, as it allows to deter-
k1 k1 k1 k1 mine characteristic points (nodes) of the mesh in the entire volume
of such parts.
In the case of shell geometry (G S), the above parameteriza-
4.2. Global and local nite element geometry representation
tion is not direct. It has to be viewed (see Fig. 8 for the cube exam-
ple) as a composition, USk WSk F, of the parameterization
4.2.1. Geometry for meshing
Our geometry representation of the volume V of the body cor- WSk : n n1 ; n2 ; n3 2 V^ S ! g g1 ; g2 ; g3 2 V Sk 37
responds to the mathematical description introduced in Section 2.
The transition from this exact (or at least treated as exact) geome- allowing the representation of the geometry of any shell block
try representation to nite element geometry representation, by V Sk ; k 1; 2; . . . ; mS as an image of the normalized cube or prism
^ V
V ^ , and of the mapping F of the normal shell coordinates g into
means of the meshing procedure, needs parameterization UGk of S G

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

where vi vi(n1, n2, n3) denotes the three-dimensional shape


function for the dof i. In our approach we can treat the three-
holding in denitions (37) and (39) for the mentioned types of
dimensional shape functions vi as tensor products of the two-
geometry. With the above surface parameterizations, based on
dimensional shape functions wl and one-dimensional ones /m:
either xt xt(n1, n2) and xb xb(n1, n2) or xs xs(n1, n2) and
t t(n1, n2), one is able to dene the nal parameterizations USk
vi(n1, n2, n3) wl(n1, n2)/m(n3), where i i(l, m) is a single-valued
function of the numbers l and m. On each edge, side, and in the inte-
and UT k by means of
rior of the element, the order of the corresponding two-dimensional
(longitudinal) and one-dimensional (transverse) shape functions
xn1 ; n2 ; n3 n3 xt n1 ; n2 1  n3 xb n1 ; n2
  can be different. The maximum longitudinal and transverse orders
e e
1 1 throughout the entire element are denoted as p and q, respectively.
xt n1 ; n2 xb n1 ; n2  n3  xt n1 ; n2 e e e
2 2 These orders are such that p P 1, 1 6 q 6 p. Consequently, our
e
 xb n1 ; n2  shape functions vi, on which geometry interpolant xhpqG is based,
  belong to three-dimensional polynomial space of the following
1 e e

xs n1 ; n2 n3  tn1 ; n2 : 40 character W p ^ Se 2  W q ^Le , where the normalized base ^ Se and


2
section ^Le , of which the normalized volume V ^ e is composed, are
^Se fn1 ; n2 2 0; 12 g for the square base, or ^ Se fn1 ; n2 2
0; 1  0; n1 1g for the triangular base, and ^Le fn3 2 0; 1g,
4.2.2. FE hpq-approximation of the geometry
respectively.
The second step of the meshing procedure lies in the conversion
In the case V e 2 V Sk , we may determine the approximated
of the geometry representation for meshing, based on the parame-
geometry in the equivalent way, i.e. the shell specic geometry
terizations described above, into global and local nite element
can be utilized. As this geometry is straight through the thickness,
representation of the geometry, based on hpq-approximation. Note e
the transverse order of approximation for this geometry is q 1.
that in our formulation q is geometry-dependent, i.e. q q(G),
Hence, all geometrical dofs of the vertical edges, the vertical sides,
G 2 {B, S, T}, due to such dependency of the applied parameteriza-
and the interior of the element, disappear. The three-dimensional
tions for meshing. In order to perform the mentioned approxima- e
polynomial space is now reduced to W p ^ Se 2  W 1 ^Le . We also
tion let us view the geometry of each nite element described
e have m 1, 2, with these two numbers corresponding to one-
with the hpq-approximated coordinates xhpqG as an image of the
hpq(G) dimensional, top and bottom functions /1 n3 and /2 1  n3.
global approximated coordinates x restricted to the element
e Thus
e: xhpqG jV e  xhpqG . The local approximated geometry representa-
tion can be obtained from the global representation of the e
geome-
try for meshing x with the element-wise projection P of this
geometry onto the local three-dimensional
e
polynomial space, in
e
accordance with xhpqG P e
x. For the hpq-approximations of the
geometry, the projection P can be based on either hpq-interpola-
tion, associated with the interpolation-based, incremental, local,
geometrical degrees of freedom, or on H10 -projection, associated
with the projection-based, incremental, local, geometrical dofs
(for both types see e
[25], for example). Note that collection of the
local projections P leads us to the global approximated piecewise
polynomial representation of the geometry of the body, xhpq(G).
In order to obtain the hpq-approximated values of the coordi-
nates of any point of the element e, we apply the element map Ie
such that
e e e e e e
xhpqG x1 ; x2 ; x3 2 V e Ie n; n n1 ; n2 ; n3 2 V^ e ; 41

which allows for the treatment of each element Ve as an image of


e
the master element V^ e dened with the normalized coordinates n. Fig. 10. Prismatic and hexahedral master elements.
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2925

e e X mentioned approximations in the subsequent paragraphs. Here,


xhp1S n wl n1 ; n2 n3 g tl 1  n3 g bl
l
we would like to notice that these approximations are generally
X 
1
  two-dimensional, apart from the cases of 3D- and 3D/M-models
wl n1 ; n2 g sl n3  tl ; 43 (M 2 {MJ, RM, KL}), where we apply the three-dimensional hpp-
2
l approximation. We will show that such two- and three-dimensional
where g tl ; g bl are the geometrical dofs on the top and bottom sur- approximations of the hierarchical models of order I can be equiv-
faces of the element, while g sl and tl are the mid-surface and thick- alently dened as a three-dimensional hpq-approximations, where
ness dofs, respectively. q I.
Let us consider now nite elements belonging to any transition We would like to underline that, for each of the mechanical
block V e 2 V T k . For the case when such an element is either not models, the proposed approximations, either two- or three-dimen-
adjacent or adjacent to the shell boundary part @V Pk of the block, sional, are such that
the element geometry can be dened with (42). In the case of adja-
lim kuI=JM;hp kU;S V e kuI=JM kU;V ; 46
cency V e \ @V Pk ;, we have the equivalent alternative which lies 1=h;p!1
in the division of dofs of the element into two groups, i i1 i2.
The rst and second groups have to correspond to dofs of the solid where V e  V and V  VM. In other words, we expect that the con-
and shell boundary parts of the element: secutive approximated solutions uI/J(M),hp, measured in the norm
e e X X of the strain energy U and obtained for the subsequent hierarchical
xhpq=1T n vi1 n1 ; n2 ; n3 g i1 vi2 n1 ; n2 ; n3 g i2 approximation spaces of hp-character, tend in the limit to the exact
X
i1 i2 solution uI/J(M) corresponding to the particular hierarchical model M
vi1 n1 ; n2 ; n3 g i1 of the order characterized with I and J.
i1
X
wl2 n1 ; n2 n3 g tl2 1  n3 g bl2 4.3.2. Element approximations for the hierarchye
of mechanical
e
models
l2 4.3.2.1. 3D-elasticity e
model. In this case M 3D and IM is unde-
X
vi1 n1 ; n2 ; n3 g i1 termined, i.e. IM ?. Then, we apply the following three-
i1 dimensional hpp-approximation of the element displacements
e
X 
1
  u?3D jV e u?3D , according to
wl2 n1 ; n2 g sl2 n3  t l2 ; 44 X
2 e
l2 u?3D;hpp n vi n1 ; n2 ; n3 di
i
where i2 i2(l2, m2) is a single-valued function of the numbers l2 XX e
and m2 of the two- and one-dimensional shape functions, respec- wl n1 ; n2 /m n3 dil;m uhpp3D : 47
tively, on the shell boundary part of the element. l m

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

approximations are as follows: e


where n is the number of a through-thickness dof un un jV e within
I=JM;hp 1=1M;hp the element. Application of the hp-interpolation to such dofs, basing
M 2 fRM=KL; M1=KL; M1=RMg; I J 1 ) u u ;
on two-dimensional shape functions wl(n1, n2) of the normalized
M 2 fKL; RM; M1g; I  J 1 ) uI=JM;hp  u1M;hp ; base ^Se , leads to

M 2 fMI=KL; MI=RM; MI=M1g; I P 2; J 1 ) uI=JM;hp  uI=1M;hp ; e X n


un;hp wl n1 ; n2 dl : 49
I=JM;hp I=JMI=MJ;hp l
M MI=MJ; I P 3; 2 6 J < I ) u u ;
n
Combining (48) and (49), and denoting dl  dil;n , we get the nal
M MI; I  J P 2 ) uI=JM;hp  uIMI;hp ;
result for the hp-approximated displacements of model MI
M 2 f3D=KL; 3D=RM; 3D=MJg; I ! 1; 1 6 J < I ) uI=JM;hp  up=JM;hp ;
e X
I
 X
I=JM;hp ?=JM;hpp=hp uIMI;hp fn n03 wl n1 ; n2 dil;n
M 2 f3D=KL; 3D=RM; 3D=MJg; I ?; J P 1 ) u u ; n0 l
X  0
M 3D; I  J ! 1 ) u I=JM;hp
u pM;hp
; fn n3 wl n1 ; n2 dil;n : 50
i

M 3D; I; J ? ) uI=JM;hp  u?M;hpp ; 45


Noticing that our denitions of the through-thickness functions and
where the restrictions on the application of the hierarchy of one-dimensional shape functions of the normalized section are
 
mechanical models for various types of geometry, i.e. VB, VT and equivalent, i.e. fn n03  /n1 n3 , with n03 2n3  1, one can express
VS, remain the same as in (23) or (20). We will elucidate the (50) in the form
2926 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940

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

In the case of MI/MJ transition models we have to notice that e  X b  X t


u1 fb n03 wl2 n1 ; n2 dl1 ft n03 wl2 n1 ; n2 dl1
8 I l1 l2
P  e X X
>
>
e
/1 n3 wl1 n1 ; n2 di1l1;1 /2 n3 wl1 n1 ; n2 di1l1;2
>
< fn1 n03 un1 ; x 2 V e n RMI=MJ ;
e n10 l1 l1
I=JMI=MJ
u 61
>
> P
J  e e X X
2
>
: fn2 n03 un2 ; x 2 V e \ RMI=MJ wl1 n1 ; n2 /m1 n3 di1l1;m1 66
n20
l1 m11
e
on V e n RMI=MJ and V e \ RMI=MJ being MI and MJ zones of the element, and u2 in the form of (63). With these two denitions one can show
respectively. Then, we perform the hp-approximation in both zones that
and get
e e
u1=1RM=KL;hp uhp1=1RM=KL : 67
e e e
uI=JMI=MJ;hp u1 u2
The above relation has to be completed with (57) and (58) on
X
I
 X
fn1 n03 wl1 n1 ; n2 di1l1;n1 V e \ RRM=KL .
n10 l1

X Remark 4.2. Each of the three-dimensional (hpp) and two-dimen-


J
 X
fn2 n03 wl2 n1 ; n2 di2l2;n2 sional (hp) approximations applied to our hierarchy M of 3D or
n20 l2 3D-based mechanical models utilizes the same type of hierarchical
q
XI 1 X hpq-interpolants of either the displacement eld uI(M), character-
/m1 n3 wl1 n1 ; n2 di1l1;m1 ized with (20) and (21), or uI/J(M) characterized with (23) and (24),
m11 l1 where M 2 M. Depending on M, various constraints have to be
e
qJ 1
X X imposed on the approximated element elds uhpqM .
/m2 n3 wl2 n1 ; n2 di2l2;m2
m21 l2 e
XX X Remark 4.3. As we can express approximations uhpp3D and
wl n1 ; n2 /m n3 di vi n1 ; n2 ; n3 di e
m i
uhpp=q3D=MJ in the same form (compare (47) and (60)), there is no
l
e necessity of a formal distinction between both the approximations
hpqI =qJ MI=MJ
u : 62 (only the distributions of the edge, side and middle approximation
orders are different). Hence, there is no necessity of introducing the
In order to obtain the approximation relations for models M/RM transition approximation (60), and the corresponding transition
and M/KL, M 2 {3D, MI}, we can utilize Eqs. (60) and (62) for mod- elements as well, as this approximation can be treated as a special
e
els 3D/MJ and MI/MJ, respectively. In these equations we have to case of (47), or vice versa. The same refers to uhpqMI and
e e e
retain the denitions of u1 , and change denitions of u2 , so as to uhpqI =qJ MI=MJ . The MI/MJ-transition elements are not necessary.
have
e  X b  X t Remark 4.4. One can notice that the approximations uhpp3D and
e
u2 fb n03 wl2 n1 ; n2 dl2 ft n03 wl2 n1 ; n2 dl2 e
l2 l2 uhpp=13D=RM are not the same. They differ with the application of
X X the constraints (57) in the shell boundary zone of the second ele-
/1 n3 wl2 n1 ; n2 di2l2;1 /2 n3 wl2 n1 ; n2 di2l2;2 e
l2 l2
ment. Note that existence of uhpp=13D=RM is necessary in order to
0
retain global C -continuity between 3D and RM models. The same
X X
2 e e
wl2 n1 ; n2 /m2 n3 di2l2;m2 : 63 refers to uhpqMI and uhpq=1MI=RM . Here, MI/RM-transition elements
l2 m21 are necessary.
With the above denitions, and I(RM) 1, I(KL) 1, one can show,
e
in the way analogous to the obtainment of (60) and (62), that Remark 4.5. In the case of approximations uhpqM and
e
uhpq=1M=KL ; M 2 f3D; MI; RMg, and the corresponding elements,
e e we deal with the difference in the KL shell boundary zone of the
u?=13D=RM;hpp=hp uhpp=13D=RM ;
e e
second elements (57) and (58) are applied. Hence, the corre-
u?=13D=KL;hpp=hp uhpp=13D=KL ; sponding M/KL-transition elements are necessary in order to retain
64
e e global continuity between elements conforming to M and KL
uI=1MI=RM;hp uhpq=1MI=RM ;
theories.
e e
uI=1MI=KL;hp uhpq=1MI=KL :
Note that the constraints (58) produce an additional (not faced
e e so far) problem, as they are expressed through the approximated
The approximated displacement elds uhpp=13D=RM and uhpq=1MI=RM
values of the derivatives. Assuming C0-continuity of the transverse
have to be completed with constraints (57) holding in RM shell e
displacements u03 on the common faces between KL (and also be-
boundary zones of the element V e \ R3D=RM and V e \ RMI=RM , respec-
e e tween KL and M/KL) elements, we have discontinuous derivatives
tively. In the case of uhpp=13D=KL and uhpq=1MI=KL , constraints (57)
of these displacements. As a result, also longitudinal displacements
and (58) have to be applied in the respective KL shell boundary e
u0k ; k 1; 2 are discontinuous everywhere on these faces, except
zones V e \ R3D=KL and V e \ RMI=KL .
for their intersections with the middle surface SM jV e . Note that
The limit case I ? 1 for the transition models MI/M,
the simultaneous fulllment of (58) and the assumption of conti-
M 2 {MJ, RM, KL} can be determined by analogy to (52), with
nuity of the global longitudinal displacements is not possible with-
M1  3D. In the approximation we use I  p, hence
in the 3D-based KirchhoffLove model, unless the constraints are
e e e relaxed on the interelement boundaries. As the formulation of
upM1=M;hp  up3D=M;hp uhpp=q3D=M : 65
the 3D-based KL and M/KL, M 2 {3D, MI, RM}, elements is a topic it-
In the last case of RM/KL-transition model, the hp-approximated self, we will address it in a separate paper. Hence, we will skip
e
displacements u1=1RM=KL;hp , where I(RM) I(KL) 1, are a sum of these elements in our numerical tests.
2928 G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940

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.

Let us introduce now the space U hpqM U hpqM V of admissible


5.1. Orthogonality of modeling and approximation errors
displacements such that
n
U hpqM uhpqM xhpqG 2 H1 V3 : We will consider here two cases. The rst one corresponds to
hpqM 0hpqM the hierarchical shell models MI, while the second one to the
ui hij uj in=on V MIl ; V RMl ; V KLl ; V MI=MJl ; V MI=RMl ; rst-order ReissnerMindlin shell theory RM.
V MI=KLl ; V RM=KLl ; RMI RM m KLm
3D=MIl ; R3D=RM l ; . . . ; RRM=KLl ;
m

qI 5.1.1. Hierarchical shell models


0hpqM
X
uj /n1 n3 u0n;hp in=on V MIl ; Let us introduce now the local modeling error
j
n0 em u3D  uI=JM ; em 2 U 3D V; V  V S , of the hierarchical shell
V MI=MJl ; V MI=RMl ; V MI=KLl ; RMI m model I/J(M), corresponding to the mechanical model M  MI/MJ.
3D=MIl ;
Let us restrict ourselves to the pure models. Hence, I J, and
qJ
0hpqM
X MJ consequently M  MI/MI  MI. Subsequently, the nite element
uj /n1 n3 u0n;hp
j on RMI=MJ
m
;
n0
l approximation error of the hierarchical shell model is ea uI=JM 
0hpqM uhpqM ; ea 2 U I=JM V; V  V S . Then, the local total error et, mea-
uj /1 u0b;hp /2 u0t;hp u0t;hp  u0b;hp 0 in=on V RMl ;
j j 3 3 sured with respect to the solution u3D of 3D elasticity, is
V RM=KLl ; RRM RMm
3D=RM l ; RMI=RM l ;
m

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

RKL KLm KLm ket k2U;V kem k2U;V kea k2U;V ; V  V S; 86


3D=KLl ; RMI=KLl ; RRM=KLl ;
m

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

model from Cho and co-workers [18,45], for example. It is an


immanent feature of the error denitions based on strain energy
norms, when we deal with different mechanical models, i.e. differ-
ent denitions of the bilinear/quadratic form B. As the theory of er-
ror estimation itself is not a key issue of this paper, we will not
elucidate these problems here, but return to them in the second
paper of the series of three papers.
In order to assess the global relative total error, we can intro-
duce two approaches. The rst denition of this error is a non-
standard generalizing analogy to (88) and reads

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

extended by Cho and Oden [18] for varying symmetric thickness,


holds also for our formulation. Applying our notation, this relation
reads
 s1=2
t
ku3D  uI=JM kU;V S 6 C I ; 93
2

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

kem kU;V S ku3D  uI=JM kU;V S


modeling error p
: 94
3D
Bu ; u 3D
Bu3D ; u3D 1=2 Fig. 15. The t-convergence rates for the plate problem.
2 2 2
The thickness values are t 1.0  10 , 0.3  10 , 0.1  10 ,
0.03  102, 0.01  102 m. In order to be able to compare the solu- Note that our results for all of the models are obtained as numerical
tions corresponding to the varying thicknesses, the loading value approximations to the exact solution of these models. In these
is scaled with the factor (2l/t)3, suitable for the bending-dominated approximations we apply m 4, p 4 and q I. The reference va-
case of the plate loaded with the uniform normal traction. Our plots lue of the exact solution of the highest model of the hierarchy
(Fig. 14) include two cases. In the rst one, for I 1, we take the (equivalent to the solution of 3D elasticity) is replaced with the
hierarchical shell model, while in the second case, the Reissner numerical approximation to this solution, corresponding to m 4,
Mindlin shell model is utilized. The latter case requires a different p 4, and q 9.
denition of the modeling error, and we apply It can be seen from the gure that the obtained results support
the relation (93). Firstly, the slopes of the I-convergence curves of
kem kW;V S the modeling error decrease with the decrease of the thickness t,
modeling error 95
2Uu3D 1=2 for any hierarchical order I, and this is consistent with the term
(t/2)s+1/2 of (93). And secondly, the error level decreases when
in analogy to (89). For I P 2 we take of course the hierarchical shell the hierarchy level I increases, for any thickness t. These results
models for both the cases. One should be aware that, for I 1, our are completed with the t-convergence rates of the modeling error
models correspond to (1, 1, 1) and (1, 1, 0)* models of [18], respec- presented in Fig. 15, where the absolute values of the error are em-
tively. Additionally, our models of I 2, 3, 4, . . . are the counterparts ployed. Therein, the rates of convergence for I 1, 2, 3, 4 and 5 are
of (2, 2, 2), (3, 3, 3), (4, 4, 4), . . . models of the cited work, respectively. shown. Apart from the hierarchical shell models of varying I, also
the ReissnerMindlin rst-order model is included. One can see
that for the cases of the ReissnerMindlin model and the rst hier-
archical shell model, the convergence rates in the thin region are
the same, even though they provide different solution limits. Note
also that these two curves, and also the curves of I P 2, are consis-
tent with the relation (93).
Our results presented in both gures are qualitatively similar to
the results presented in [18]. In particular, our Fig. 14 can be con-
fronted with Figs. 8 and 9 of [18], while our Fig. 15 corresponds to
Fig. 10 of [18]. Some quantitative differences between our results
and the results of Cho and Oden result from the fact that our hier-
archical shell model of q 1 correspond to the (1, 1, 1) model,
while the authors of [18] utilize the (1, 1, 0) model. Both models
give different solutions through the thickness (in our model the
elongation of lines normal to the mid-surface of the plate is possi-
ble). Additionally, we have different denitions of the relative mea-
sure of the global modeling error. We use the solution of the
highest model of the hierarchy (corresponding to 3D elasticity)
as a reference, while in [18] the solutions of the specic hierarchi-
cal models play a role of the reference. We have also some small
differences in the applied thickness ratios in both works.

5.2.2. h-Convergence and p-convergence


In this test we would like to make some references to the fun-
Fig. 14. Modeling errors versus I for two hierarchies of the plate models. damental relation describing the boundedness of the approxima-
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2933

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.

ing-dominated examples, as well as the membrane-dominated


shell example. Justications of our choice of these examples, their of the two longitudinal directions, we introduce the ratios
mechanical characteristics, as well as the dominance of bending or r1 r2 r, such that r lRM/l, where lRM is the length of the RM-
membrane strains are presented in [84]. In our tests we will apply zone of the symmetric quarter of the plate, while l is the length
the methodology of [90] to the three mentioned problems modeled of this quarter.
as complex ones. In the numerical representation of our model we apply q 1 in
the RM-zone, q 2 in the MI-zone, and q 1 or q 2 in the rst-
5.3.1. Plate problem order and hierarchical shell regions of the transition MI/RM-zone,
We consider the symmetric plate problem from the previous respectively. In our convergence calculations we apply only p-
tests (Fig. 11). The thickness t of the plate is now equal to and h-uniform meshes and we take p 1, 2, 3, 4 and m 2, 4, 8.
0.01  102 m. Our complex model is composed of the internal The ratio r in these calculations is kept constant and equal to 0.5.
ReissnerMindlin zone, hierarchical shell (I 2) zone, and transi- This ratio can be expressed as r mRM/m, m mRM mMI/RM mMI,
tion zone of the MI/RM-model, where I 2. The hierarchical shell where the component subdivision values mRM, mRM/MJ 1, mMI of
zone is adjacent to the clamped boundaries of the plate. In order the subdivision number m are equivalent to the number of the
to characterize the contribution of the component models, for each ReissnerMindlin, transition, and hierarchical shell elements,
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2935

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.

5.3.3. Membrane-dominated shell


We consider a cylindrical shell of which only a half is presented
in Fig. 29. The mid-radius R of the shell is 1.0  102 m, while its
longitudinal dimension is 2l 3.1415 m. The length of the half of
the shell circumference is pR
2l 3.1415 m. The thickness t of
the shell is 0.01  102 m. The material data and the magnitude of
the uniform normal pressure are assumed as for the plate problem.
There is no rotation of the curved boundary in this example. Our
complex model of the shell is composed of the ReissnerMindlin
zone, the hierarchical shell (I 1) zone, and the transition zone
of the MI/RM-model, where I 1. The hierarchical shell zone is
adjacent to the curved boundaries of the shell. In order to charac-
terize the contribution of the component models, we introduce the
ratio r r2 lRM/l, with lRM standing for the length of the RM-sec-
tion of the straight edges of the symmetric quarter of the displayed
half of the shell, and l denoting the length of the straight edges of
this quarter.
The symmetry of the displayed half of the shell allows us to ana-
lyze only a quarter of it. In the discrete representation of our model
we assume q 1 in the RM-zone, q 1 in the MI-zone, and q 1 in
the rst-order or hierarchical shell regions of the transition MI/RM-
zone. In our convergence calculations we take p 1, 2, 3, 4 and
Fig. 31. The h-convergence for the complex model of the cylindrical shell.
m 2, 4, 8. The ratio r2 is determined as r2 mRM/m, m mRM
mMI/RM mMI and is set to 0.5 in our calculations. The component

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

of conventional models are dened as the local generalized dofs of


the shell mid-surface, while in the case of 3D-based models they
correspond to the global through-thickness dofs (or, simply speak-
ing, three-dimensional degrees of freedom).
The connection between the rst-order shell model and the
hierarchical shell models (and also the 3D-elasticity model) re-
quires the introduction of the 3D-based transition models.
The set of all of the above mentioned 3D-based mechanical
models, together with the 3D-elasticity theory, form a compatible
hierarchy of models equipped with the same type of three-dimen-
sional degrees of freedom. The 3D-elasticity model is the highest
model of this hierarchy.
Our three-dimensional dofs possess global, through-thickness
character. They can be equivalently expressed with the conven-
tional locally dened mid-surface dofs.
The hierarchy is assigned for simple and complex structures,
described with one or more mechanical models, respectively. The
structures can be of simple or complex geometry. Three types of
geometrical parts are allowed within the structure geometry, i.e.
solid, shell, and transition ones.
The shell geometry and the shell part of the transition geometry
are dened by the mid-surface and thickness concepts, while the
solid geometry and the solid part of the transition geometry are
Fig. 33. The h-convergence of the complex and pure models of the cylindrical shell.
bounded with surfaces.
Within the shell parts of the structure, the rst-order shell, hier-
archical shell, transition, and 3D-elasticity models can be applied.
again. As previously, the reference value of the energy, correspond- Within the solid-to-shell parts, the transition and 3D-elasticity
ing to the exact solution of the complex model (r 0.5), was calcu- models are allowed, while in the solid parts only the 3D-elasticity
lated as the best numerical approximation of the solution for this theory can be utilized.
model, obtained for p 9, h 10, and q 1, for all together zones
of the shell. The most considerable conclusion from the displayed 6.2. Hierarchical approximations and numerical models
curves is that they are qualitatively and quantitatively different
from those presented in Figs. 15 and 16 of [84] for the pure hierar- There is a possibility of applying the compatible hierarchical
chical shell model MI, I 1. Even though only one region of conver- approximations of hp character, either two-dimensional, three-
gence is observed for the pure and complex models (no locking and dimensional or mixed, to each member of the hierarchy of
loss of regularity due to the edge effect are observed), the rates of mechanical models. In this way, the hierarchy of compatible 3D-
convergence are different for both models. The lower convergence based numerical models, based on the same type of shape func-
rates of the complex model can be attributed to the loss of the tions and the same hierarchical through-thickness dofs, can be
solution regularity in the transition zone. When comparing the formed for the modeling and analysis of the complex structures.
complex and pure model curves with the corresponding curves ob- The numerical representation of the structure geometry, suit-
tained for the pure RM-model, and presented in [80], one can see able for the hierarchy of 3D-based, hp-approximated numerical
that the character of these additional two curves is almost identical models of complex structures, can be based on general isoparamet-
with the curves of the hierarchical shell model. The summary of ric interpolation within the volumes of the hp-elements. Such an
the comparisons is presented in Figs. 32 and 33. approach can be utilized for the solid, shell or solid-to-shell geom-
Finally, let us summarize the qualitative differences between etries. For the shell geometry and the shell part of the transition
the two bending-dominated examples and the membrane-domi- geometry, the alternative is a subparametric volume interpolation
nated example. In the rst case, three different regions of conver- based on isoparametric interpolation of the element mid-surface,
gence can be distinguished, and the loss of the solution combined with linear interpolation in the through-thickness
regularity in the transition zone does not affect the convergence direction.
rates. In the second case, only one region of convergence is ob-
served, but the lower convergence, due to the loss of the solution 6.3. Main features of the models and approximations
regularity in the transition zone, can be noticed.
We have demonstrated with the numerical test the orthogonal-
6. Conclusions ity of the modeling and approximation errors within our 3D-based
hierarchical shell models. We have also shown that our abstract
6.1. Hierarchy of mechanical models norm of the total error allows the obtainment of such orthogonal-
ity for the rst-order shell model.
There exists a possibility to formulate the 3D-based rst-order Our numerical experiments supported theoretical predictions
shell model equipped with the three-dimensional degrees of free- concerning t- and I-convergence in the modeling error of the hier-
dom. The model can also be characterized as a constrained (due to archical shell models with respect to 3D elasticity. We have shown
kinematic assumptions of the ReissnerMindlin theory) six- similarity of our convergence rates of the 3D-based models to the
parameter (three top and three bottom displacements) model. corresponding rates of the conventional models based on mid-sur-
Furthermore, there is a possibility to formulate the 3D-based face dofs.
hierarchical shell models conforming to the higher-order shell the- We have also demonstrated that the h- and p-convergence of
ories. The models differ from the conventional higher-order shell our 3D-based hierarchical shell models conform to the general
models when it comes to the degrees of freedom, which in the case convergence theory resulting from the hp-interpolation theorem.
G. Zboinski / Comput. Methods Appl. Mech. Engrg. 199 (2010) 29132940 2939

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