Journal of Ship Production, Vol. 13, No. 1, Feb.

1997, pp, 28-35

Kinematic Analysis of the Process Planning for Compounding

Ship Hull Plates
Jong Gye Shin I and Won Don Kim I

The formation of compound-curved structures, or compounding, is a process which applies permanent

bending and in-plane strains to flat plates. The process includes roller bending for forming single-curved
plates, followed by line heating for complete compound-curved ones. Currently, the process is carried out
by skilled workers, and is based on their experience and intuition. To improve accuracy and to prepare
new workers in this field, quantitative and mechanics-based approaches will be required. In this paper, a
kinematic analysis to determine the bending and in-plane strain distributions of compound-curved shells
with reference to the flat plates and to the roller-bent shell plates is presented. These strains are important
parameters for forming processes. The approach employed is in accord with the currently used sequential
process of roller bending and line heating. In addition, it utilizes offset data provided with flat plates.
Numerical solutions are presented with real data. The distribution of strains will aid shipyard experts in
determining the forming parameters, such as rolling direction, radius, heating power, path, and related
issues. Also, this approach will be useful in establishing a database for future computerized forming
processes.

Introduction dieless forming (Rady [2]), electromagnetic induction heating

(Ueda et al [3]), laser forming (Scully [4]), and multi-press
APPROXIMATELY60% to 80% of a ship's hull plates are forming (Nomoto et al [5]). Among these, dieless forming is
curved shell structures. There are two types of curved sur- currently in use in some Canadian and European shipyards.
faces, one developable, the other nondevelopable, or com- The other methods are under development and results of fea-
pound-curved. Mathematically, a surface is developable sibility studies are now being published. However, there are
when the Gaussian curvature is zero, while a surface is non- accuracy problems in the forming process, since underlying
developable when the Gaussian curvature is not zero. For mechanisms of any forming process are not fully understood
the production of nondevelopable compound-curved surfaces and, thus, the forming is done on an empirical basis.
it is necessary to cut the plates from flat stock. Conse- Due to inevitable errors in shell development and in the
quently, the nature of shell development inevitably involves analysis of forming mechanisms, marginal material remains
approximation, which is performed manually by experienced around the edges which needs to be trimmed off during the
loftsmen or by using commercial computer-aided lofting assembly process. "No margin" is every shipyard's desire, but
(CAL) systems. The historical background and recent CAL thus far, this has not been achieved. For practical purposes,
systems for shell development can be found in a recent report problems in the forming process may be separated from
by Lamb [1]. The formation of compound-curved shells from those of the shell development. It should be recognized that
developed flat plates is the reverse process of shell develop- even if shell development is accurate and the flat plate could
ment.
be cut with no margins, accuracy and productivity problems
Two problems are associated with improving the accuracy
in the forming process still remain.
of a final formed shape. The first involves the conversion of
Each forming method has its own advantages and disad-
a nonzero Gaussian curvature surface into a flat form. Sec-
vantages with respect to control, accuracy, productivity, and
ondly, the final three-dimensional shape must be fabricated
to the designed shape by proper control of the forming ma- maintenance. Because of its long history, line heating has
chinery. produced numerous skilled experts, documents, and accu-
Shell development is generally thought to be "accurate" mulated data. However, the line heating method has not
when the reverse process, i.e., forming, from the two-dimen- been automated or computerized. A major reason for this is
sional flat plate cut by using the lofting data, exactly pro- that it involves numerous uncertain factors which affect the
duces the desired three-dimensional shape. Since no math- final shapes to be formed (Shin et al [6]). Worker practices
ematically unique solution exists for the development of a and experiences have been very critical for productivity. In
compound-curved surface, many empirical methods and com- Korean shipyards, a few experts in each shop lead the form-
puter-aided lofting systems such as NUPAS, TRIBON, ing process. They are responsible for determining the work-
AUTOKON, and FORAN have been developed. All of these ing conditions of the forming machinery, such as where and
differ in their shell development algorithms. how to press and to heat. Similar problems exist for the die-
To form compound-curved hull plates, a number of me- less forming method. It is not surprising that neither auto-
chanical and/or thermal processes are commonly used in mated tools nor robots are available for the forming process.
shipyards. Most large shipyards throughout the world have For these reasons, line heating and other forming methods
used the line heating method since its introduction in the depend largely on intuitive skills and require engineering
early 1960s. There are other techniques, however, such as analysis prior to automation. Finally, a useful analysis
should combine the forming process with computer-aided de-
Assistant professor and Ph.D. candidate, respectively, Department of sign in order to make the entire process "concurrent."
Naval Architecture, Seoul National University, Seoul, Korea. Unfortunately, forming experts are now beginning to re-
2Manuscript received by JSP Committee August 1996. tire and younger workers are reluctant to accept employment

28 FEBRUARY1997 8756-1417/97/1301-0028500.41/0 JOURNAL OF SHIP PRODUCTION

 designe~

Developing ~ LineHeating
/
First bending M o v ~ Cen~ Roller

Movi~ direcfio= single-curved shell

blank plate
> x

Fig. 1 Piece forming process for a compound-curved shell

in forming shops because of the hot and noisy environment. cated from a single piece of flat material. The single piece of
This trend will probably decrease productivity and reduce flat material is a development of the shell and called the
the number of available potential experts. Thus, in reality, blank plate. The shell plate is represented by a surface in
forming has more practical importance than does shell de- three dimensions. The surface will be subdivided into finite
velopment. Also, in order to increase accuracy and produc- numbers of subsurfaces for numerical calculations. Each sub-
tivity in the forming procedure, computerization and ration- surface is called a patch. We will refer to a patch as surface
alization of the process should be achieved to aid in a work- S1. The plane element in the blank plate corresponding to
er's decision with respect to forming parameters. the S1 is referred to as surface $2.
At this point, it would be helpful to define some terms used Formation or compounding is a process of applying per-
in this paper. We use terminology similar to that defined by manent strains to a blank plate. Therefore, the geometric
Letcher [7] and Lamb [1] for the sake of consistency. First, relation, or kinematics, between a shell plate and the blank
a shell plate is a compound-curved structure which is fabri- forms the basis for the exploration of all forming methods.

SHELL TEMPLATE DRAWING

1 9~G NO. I ]O05DSIZECGSO
SHEET /

10P

AFT 4 F M O

l+t=
. UP RIGHT
~SI~HT LINEANGLE
j 1. . . . . I ovER GHOOTI
E R|GHT EOGE

.GoT,O...%_.~ / ~...___~:+~
~ RIGHT
/ LANGLEO N

AT THE RIGNT EDG~ I

PIN HEIGHT

PART NO. I ,z]/,3s-ss-m: r BENOZNGSEOUENCE I ~ I OUTSZDE I REMARK I PORT SHOHN STB'D AS S Y M .

pl*tl, sst=s-i-= p=n ==stint| 3oo == Lt, .o:

..............................................................................................
Tlmplltl ~ Kl=Ont fo~ ptn no t
n= e + a t a ~ I 7 | g sn ~ s~ is s* ~b ~s sT
t . 10~ ~s4 ~oe ns 302 14~ 3e~ 4os 43z 44s 460
, azs

, +++ ale r. +- zs +~+

+; ,,, ,,, ,.
a+
,
..
,++ m~ +m , , t"
i .e7 .+3 ++a ]+a + 9 0 Z)+

Tlq]lt I , GpOi the l i f t loll tO + At t ~ l Plght lO+l t

hO i is+ht linll +p. r)ih~ l a l ) l , +Or P++~t 8n+;I ~ ovlP. + 02. i
............ =......... :!:L: ............. :!:~.I .............. :~:~.I....!~!.=...~i~:~.I

+ 1 . . . . . . . ''+. . . . . . . .. . . . . . .
6ez,
i H "'~
i i ." ".I. . .
ssl, ,3,
j~z
"":
, I,~
1)2S + ' 2a~
t++ |I|i
+,+,
SSS i IOlll JOe?Silti ~O010a,'

Fig. 2 Typical working drawing for hull piece forming

FEBRUARY 1997 JOURNAL OF SHIP PRODUCTION 29

 8.2 FORtdING DIAGRAMS N.8
CURvA'ruR~ FROM T...~0

k-

convex saddle twist

"Longitudlna~ co~vcx (~ Q
Fig. 5 Grayscale-encoded Gaussian curvature
FORMING SEQUENCE
I. ROIJ~E~. Z, LINE HEATLNG
Plate txtrnud owr.
workers in understanding the types of the plate pieces. Then,
/ in-plane and bending strains are determined between the
shell plate and the blank plate. After roller bending is ap-
plied, it would be informative to understand the remaining
strains that contribute to the final shape. Thus, those strains
are also calculated between the final shape and the single
curvature shell fabricated by a roller press. Real examples
from shipyard data are provided for applicability of the pres-
ent approach.
The use of strains in a forming process is beyond the scope
/ of the present paper, since different forming methods are
controlled by different parameters. Examples of these are
gnflerbe~t o f 5 r a m . ~ h c c k : i n g by l o n g t t u d l n a l b~att ~platas.
line heating, which is based on obtained strains, which, in
3. T~ST ADJUSTMEHT. 4. TRANSYERSE CURVATURE
ADJUST~T turn, determine the heating path, as well as speed, power
~:2:;'o-, and related issues. For roller bending, workers customarily
plan the rolling line, width, and pressure. However, it should
be emphasized that, regardless of the forming methods, in-
8
plane and bending strains are key information on effective
0 4 forming process planning.

by r a r a r r L n g to
T~rlst c o n t x o l
pgraiIcl horizontal h a = c = .
Fig. 3 Forming diagram for forming sequence (from [13])
Curvatures, in-plane strains, and bending strains represent
the three major parameters for a forming process. Although
Ueda et al [8] calculated in-plane and bending strain based
on their inherent strain concept, their formulation and cal-
culation are not clearly described. Letcher [7] made a rigor-
ous formulation of curvatures and strains. He explained iso-
tropic and orthotropic strains for forming and applied this
concept to two mathematical surfaces: a spherical shell and
a Wigley-type parabola. However, both approaches cannot be
adequately applied to the current forming process which in-
volves roller bending and line heating.
In this paper, after the current forming process is de-
scribed, kinematic relations for the formation of compound-
curved shells are formulated. For practical purposes, the for-
mulation is made to use the offset tables provided with a
blank plate. Initially, the curvature of a shell is calculated
for each piece of steel plate. The obtained curvature will aid
Hull p i e c e f o r m i n g p r o c e s s
Process planning
Ship hull plate pieces are currently formed up to the re-
quired compound-curved shape through the process of shell
pLATE C O M P I n g development, roller/press bending and line heating, as illus-
trated in Fig. 1.
By applying some degree of permanent strains to the blank
plate, a shell is fabricated. The permanent strains can be
decomposed into in-plane and bending strains. Since a com-
pound-curved plate cannot generally be developed into a
plane without expansion or contraction, in-plane strain is
very important in developing a shell. When an accurate map-
ping between the developed blank plate and the desired shell
structure is established, it is possible to determine the roll-
ing line of mechanical bending and the optimized line heat-
ing path, which can reduce the forming energy and prevent
change in material property due to the excessive heat appli-
cation.
Since blank plates and working drawings which have tem-
plate offset data are delivered to the fabrication shop, it is
practical to begin calculations from these data. A typical
working drawing is shown in Fig. 2. Height is given at each
template position.
Using the offset data, a worker should be able to recognize
the level of curvature and begin to work by following a dia-
gram of the forming sequence. The diagram is prepared at
each shipyard as shown, for example, in Fig. 3 where trans-

Inplane deforma'd on

Bending deforrna~on
convextype saddletype twist type Rat Plate Curved Rate
Fig. 4 Typesof compound-curvedsurfaces Fig. 6 Bending strain and in-plane strain

30 FEBRUARY 1997 JOURNAL OF SHIP PRODUCTION

 strains. In-plane and bending strain during line heating are
schematically shown in Fig. 6.

plate (=blank plate)

K i n e m a t i c r e l a t i o n s b e t w e e n d e s i r e d shell p l a t e
a n d fiat plate

f
x~
Strains in theory of plate
As shown in Fig. 7, x, y, and z are the coordinates of the
deflected plate (=compound-curved shell) plate. (u , v , w ) are the two in-plane and transverse displace-
ments of a point originally located at the middle surface. In
the Kirchhoff plate theory excluding shear deformations, the
Z~W0 fundamental kinematic relation is defined by
Fig. 7 Coordinates and displacements for a flat plate ~= = e_o + ZK x

% = ~ +zKy

verse, twist, and longitudinal curvatures are given qualita- %=~o +zK,y (1)
tively. Usually three types of compound-curved shells are
categorized for a similar forming sequence: convex, saddle, Here, e, ey and ey are in-plane strains at z = 0 defined by
and twisted shells. Thus, discrimination of the type of a shell eo = UTx
is the very first job of a worker at the forming shop.
A computer graphic program is developed to show, quan- ~; = v?y
titatively, the magnitude and distribution of Gaussian cur-
vature of a surface. The surface of a shell can be generated ey = U,y + v?x (2)
using the uniform B-spline interpolation of given offset data The second terms in (1) are bending strains where Kx, %, and
(Kim et al [9]). Figure 4 shows the cubic B-spline modeling Kxe are the curvatures of the middle surface of the plate de-
of three typical examples of undevelopable surfaces, and Fig. fined by
5 shows the calculated Gaussian curvature of the corre-
sponding surfaces. Kx ---- --W,xx
The shells are formed by the rolling press, followed by line
heating. Forming by roller is called the cold or first bending, Ky ~ -- W yy

which generates the single curvature shell, while the line
heating is called the second bending, which generates the
double curvature shell. Though most CAL systems provide
rolling lines, the amount of the roller bending is determined
by skilled workers and is based on their practical experience.
These skilled workers also determine the line heating pa-
rameters, since the roller bending and line heating are as-
sociated with each other in terms of forming final shells.
Line heating is a process of uneven local heating applied
to a single-curved shell. The consequent inhomogeneous tem-
perature distribution causes three-dimensional permanent
Kxy = -2Wxy (3)
In the above expressions, the comma (,) represents differ-
entiation with respect to the corresponding coordinates.
Since the bending strain is merely the curvature multiplied
by the z-coordinate, we use curvature and bending strain
identically.
In practice, the shell geometry is given by offset data, rep-
resented by the w values. Thus, as seen in (1), curvatures
can be obtained uniquely from the offset data. Calculation of
the in-plane strains, however, requires mapping.

S3

3-Dcompounded-curvedshell ~ ' ~

2-D4-nodeisotropic element

2-Dblankplate
Mapping
_j_

I I
Fig. 8 Mapping process

FEBRUARY 1997 JOURNAL OF SHIP PRODUCTION 31

 S

convex type saddle type twist type

yl+v
Fig. 11 Distribution of bending strain
Y,

ometry, as well as the displacement field. By using the nat-

ural coordinate system (r, s) where - 1 - r, s -- 1, the coor-
dinates and the displacements of the four-node element can
be expressed by

I
X I1
x(r, s) = ~ N,x,
0
X1 Ii+ U~L

y(r, s) = ~ N,y, (4)

S2 surface I
$3 s u r f a c e and
Fig. 9 Four-node two-dimensional element
u(r, s) = ~ N,u,

In-plane strain v(r, s) = ~ N,v, (5)

It should be noted that in-plane strain is determined not
only from geometrical information of the desired surface, but respectively. The procedure for obtaining the strains is given
also by mapping between the shell plate and the blank plate in Appendix 1. Figure 10 shows the developed plates and the
(Letcher [7], Lamb [1]). Once the mapping is established, the in-plane strain distributions for three typical examples. In
in-plane strain can be mathematically obtained. However, it this calculation, the two-dimensionalized element (S3) is ap-
is difficult to determine the exact blank plate and more dif- proximated from a three-dimensional surface ($1) as follows.
ficult to obtain the exact mapping between the two surfaces. Let the node 3, (x3, Y3), be a reference point in each patch.
Since infinite series of mapping exists, u and v in (2) cannot The arc length between each node in the patch is known.
be obtained uniquely. Then the position of each node in the two-dimensionalized
The mapping should be established between the three-di- plane is obtained by
mensional shell plate and the two-dimensional blank plate.
The nature of the dimension difference makes the mapping Node 2: (x2, Y3 + I32)
complex. Thus, in this paper, we subdivide the three-dimen- Node 4:(x3 + I34, Y3)
sional surface into a finite number of patches (S1) and ap- Node 1: (x4, Y4 + I4~)
proximate each patch (S1) to a two-dimensionalized surface
($3). The in-plane strains are then obtained by mapping be- where I,~ is the arc length between node i and node j. The
tween $2 and $3. This procedure is illustrated in Fig. 8. more precise strains can be obtained by increasing the num-
The developed surface is assumed to be obtained using the ber of patches.
geodesic curve method. The concept of geodesics is funda-
Bending strain
mental to differential geometry theory and can be found in
books by Kreyszig [10] and Lipschutz (1969). Geodesic curves The bending strain in (1) is obtained directly from the cur-
can be obtained by solving a second-order differential equa- vature of the desired surface. Its direction and magnitude
tion with an initial point and a preferred direction. Compu- are the same as those of the principal curvatures. Thus, it is
tationally, a quadratic form of a geodesic curve is employed important to obtain the distribution of the principal curva-
in a sufficiently small interval and the differential equation
can then be incrementally solved.
Figure 9 shows an isoparametric four-node finite element
to obtain the distribution of the plane strain inside the ele-
ment when each node's deformation is known. The displace-
ments are calculated from the difference of the position vec-
tors of $3 and $2. For simplicity, we will remove the super-
script o in U and V.
Isoparametric formulation can be found in most books on
finite-element analysis as described by Bathe [11]. In this
formulation, the shape functions are used to define the ge-

Single curved shell

; - }"-' L I -I-- [ ~-f;.-_r __-~-~,-..--~:-yL ~, t__=~ - : ~ : - ~ : i:~1:~

L ~ L . . . . . . . . . .

convex type saddle type twist type

Fig. 10 Developed surfaces and in-plane strains Fig. 12 Rolled shape definition

32 FEBRUARY 1997 JOURNAL OF SHIP PRODUCTION

 y'v

0/ j >
X~U
~
I

''~ ~ ~ I , ~ ' I : t , i''--,'--"'#~ "~

_ , 1. ',,
; ~ i i I , : , I : I ~ I -- ~ '

W l f / ~ t i a l l y deflected plate
T --~_ ~ ~'--"~ / (=single-curvedshell) Fig. 14 Rolled shape and bending strain distribution of the saddle type

1
ex = u ,x + -~W~.x + Wi.x W x. - z w . =
--~ ~ ~ (=compound-curved shell)
1
z,w ~.y = VOy + _2W,y2 ~L WiyWy, , -- ZW,yy

Fig. 13 Geometry of initial and final displacement of a plate o

~xy = U,y -~ V,x ~- [~V.x ,y 2F W x W ,

+ w~.yw, + W,,xW,~ - 2zw=y (9)

ture of the desired surface. The procedure to calculate the
curvature can be found in various treatments of differential
geometry such as Kreyszig [11]. A brief procedure is given
in Appendix 2.
From (21), the curvature is given by
H d H f 2 + 2d12f~ + d22~ 2
Kn ~- " I = gHf 2 + 2912f$ + g22~2
where g~, g~, g2~ are the first fundamental coefficients and
dH, d12 , d22 are the second fundamental coefficients. The dot
(') stands for the differentiation with respect to the tangent
direction of a curve.
In order to obtain the direction of the principal curvature,
partial differentiating (6) with respect to ~, $ gives
--Kn(gllf + g12 g) + d n f + dl2s = 0
--Kn~12f "4- g22~) -4- dl2f + d22~ = 0
The two values of K, in (7) represent the local maximum
and minimum values of the principal curvature. Elimination
of K~ from (7) gives
g H i " + g,2~ d H f + d]2s
g]2 f -4- g225 d12f + d225 = 0
From (7) and (8), the principal curvatures and directions
are obtained. Figure 11 shows the distributions of the three
typical examples.
Bending strain required to supplement
rolling process
The bending strain obtained above shows the curvature
between the desired shell plate and the blank plate. But in
the real shipbuilding process, the formation of a compound-
curved shell is carried out to the required double-curvature
shape after a single-curved shell is fabricated by a rolling
press. The line heating process is then performed to make
up for insufficient curvature. The shape of a rolled plate is
determined by the rolling line, breadth, and radius as shown
in Fig. 12. The amount of the first bending, therefore, affects
the line heating process. Thus, it is important to understand
Comparing (9) with the linear kinematic relation of(l), the
effect of the initial deflection appears in the in-plane strain
in terms of Wl.x w , and in the bending strain since w in (9)
is the displacement difference between the rolled plate and
the desired shell plate. However, as in (1) where the linear
(6) relation of in-plane kinematics is sufficient for practical pur-
poses, it is reasonable to assume that the initial displace-
ment generated from the first bending does not affect the
in-plane strain distribution. This is true because the roller
bending is thought to impose only bending strain to the flat
plate. Therefore, it is necessary to obtain the principal cur-
vature of the surface whose w value represents the difference
between the two surfaces. Figure 14 shows the first bent
surface and the distribution of the insufficient bending strain
(7) between the desired saddle surface and the first bent shape.
The supplementary bending strain is 60% of the initially re-
quired one. For the convex-type shell, shown in Fig. 15, the
supplementary bending strain is 40%.
Conclusion
To date, the plate forming process depends entirely on the
(8) personal experience of technicians and skilled workers,
which cannot be easily translated into reliable technical in-
formation for general use. Since mechanization or automa-
tion of the plate forming process can be achieved by a me-
chanics-based approach, mechanical models for the mechan-
ics of plate forming are, perhaps, a milestone on the way to
a computerized shell forming system.
after The paper presents the kinematic analysis for the process
planning of ship hull forming since the forming process
serves to apply permanent strains to the flat plate. From
kinematic relations, in-plane and bending strains are dis-
cussed. With given offset data for the shell plate to be fab-
ricated, curvatures can be calculated directly. Since the in-
plane strain calculation requires mapping, a simple approx-
imation is proposed in this paper. Also, the effect of the roller
; ,::_

,"
_x

, , i /
~ (..__,

/
~

i ,
, ~

i
,

i
,

x
.

.
,,

".1",
~ x

i
\ ,

-, '
the remaining strain distribution after the first bending.
A problem in the nonlinear theory of curved plates as af-
fected by initial curvatures is shown in Fig. 13.
; ", k k ~ /, ;
Marguerre developed an approximate nonlinear theory of
isotropic plates with initially slight curvatures or generally x '-. '. ' ,, , - z , / /

i ?_. . i._:
shallow shells (Chia [12]). His nonlinear strain-displacement
relation is given as Fig. 15 Rolled shape and bending strain distribution of the convex type

FEBRUARY 1997 JOURNAL OF SHIP PRODUCTION 33

 n t

Fig. 16 Definition of n, t, p

bending to the final compound-curved shell is discussed, and 1

N 1 = ~ ( 1 +r)(1 + s )
the supplementary strain is calculated after the roller bend-
ing. Some numerical calculations are made with actual pro- 1
duction data used in shipyard. N2 = ~(1 - r)(1 + s )

1
Acknowledgments N3 =~(1-r)(1-s)
The work described herein was funded from the Research
Institute of Marine Systems Engineering of Seoul National 1
N4 = ~ (1 + r)(1 - s) (10)
University, and supported from Shipbuilding Division, Dae-
woo Heavy Industries, Co. Ltd. in Korea. Note that the shape functions must guarantee continuity of the func-
tion between the elements and must be able to produce a constant strain
condition through the element as the element size is reduced to infini-
References tesimal dimensions. Let the nodal displacement vector be Ur = [u, vl u2
1 Lamb, T., "Shell Development Computer Aided Lofting--Is There v2 u3 v3 u4 v4]; then
a Problem or Not?," JOURNAL OF SHIP PRODUCTION,Vo1. 11, No. 1, Feb.
1995, pp. 34--46.
2 Rady, E. H., "Mechanics of Die-less Forming of Doubly Curved
Metal Shells," Ph.D. thesis, Dept. of Ocean Engineering, M.I.T., Cam- ,l s, O l s oj
= _j-1 U
bridge, Mass., 1992. L~J 4 1 +r 0 1-r 0 -(l-r) 0 -(l+r) 0
3 Ueda, Y., Murakawa, H., Rashwan, A. M., Neki, I., Kamichika, R.,
Ishiyama, M., and Ogawa, J., "Development of Computer Aided Process
for Plate Bending by Line-Heating (Report 3)--Relation Between Heat- (lla)
ing Condition and Deformation," JOURNAL OF SHIP PRODUCTION,Vo1. 10, in the same way
No. 4, Nov. 1994, pp. 248-257.
4 Scully, K., "Laser Line Heating," JOURNAL OF SHIP PRODUCTION,
Vol. 3, No. 4, 1987, pp. 237-246.
5 Nomoto, T., Ohtsuka, M., and Yokoyama, T., "Fundamental Stud-
ies on the Bending Work using Multiple-Piston-Pressing Method for Out- = -J ~ [o 1U
side Plate of Ship," Transactions of the Society of Naval Architects of Ja- [;J 4 0 1 +r 0 1-r 0 -(l-r) 0 -(1 +r)j
pan, Vol. 170, Nov. 1992, pp. 587-598, (in Japanese).
6 Shin, J. G., Lee, J. H., and Kim, W. D., "A Numerical Simulation (11b)
of a Line Heating Process for Plate Forming," Proceedings of Practical where J is the Jacobian operator relating the natural coordinate deriv-
Design of Ships and Mobile Units, 1995, pp. 2.1447-2.1458.
7 Letcher, J. S., "Lofting and Fabrication of Compound-Curved atives to the local coordinate derivatives:
Plates," Journal of Ship Research, Vol. 37, No. 2, 1993, pp. 166-175.
8 Ueda, Y., Murakawa, H., Rashwan, A. M., Neki, I., Kamichika, R.,
Ishiyama, M., and Ogawa, J., "Development of Computer Aided Process
for Plate Bending by Line-Heating (Report 1)--Relation Between the Fi- J = (12)
nal Form of the Plate and the Inherent Strain," JOURNAL OF SHIP PRO-
DUCTION, Vol. 10, No. 1, Feb. 1994, pp. 59-67.
9 Kim, W. D., Nam, J. H., and Kim, K. W., "Direct Fairing for Geo- L~ ~J
metric Modeling of Hull Surface," Transactions of the Society of Naval
Architects of Korea, Vol. 28, No. 1, April 1991, pp. 1-11, (in Korean). Finally, the in-plane strain of an element can be calculated using (2)
10 Kreyszig, E., Differential Geometry, Dover Publications, New York, and (11).
1991.
11 Bathe, K.-J., Finite Element Procedures, Prentice-Hall, Englewood
Cliffs, N.J., 1996. Appendix 2
12 Chia, C. Y., Nonlinear Analysis of Plates, McGraw-Hill, New York,
1980.
13 Astilleros Espanoles (AESA), Line Heating Operating Manual, Curvature calculation
NSRP Report No. 395, 1992.
The position of a point P on a surface is expressed as a function p =
p(r, s) in terms of two parameters r and s in Fig. 16. For the case of a
Appendix 1 compound-curved surface, any vector function ofp(r, s) may correspond
to the component functions o f x = x(r, s), y = y(r, s), and z = z(r, s) as
In-plane strain calculation follows:
p(r, s) = Ix(r, s), y(r, s), z(r, s)] (13)
The shape functions N, for the four-node isoparametric element are
given by Since any curve c on the surface p can be represented analytically by

34 FEBRUARY 1997 JOURNAL OF SHIP PRODUCTION

the parametric equation (13), let the parameters r and s be functions of = p.r/2 + 2 p . r / ~ + p.s,$ 2 + p ~ + pfi (18)
a third variable t as shown in Fig. 16 such that
Since the surface normal vector n is perpendicular to P.r and p~,, the
r = r(t), s = s(t) (14) component of this vector in the direction of n is given by

Then the locus of the point c(x, y, z), as t varies, is a curve on the surface H = p . n = n'p.r/2 + 2 n ' p . r / ~ + n'p.,,~ 2 = dl/"2 + 2 d l / ~ + d2z~ 2 (19)
p. The tangent vector of the curve c is given by p such as H is called the second fundamental form o f p = p(r, s) and d , , d~2, dz2,
are defined as follows and called the second fundamental coefficients:
dp Op d r + op d s
[9 dt Or d t "~s'"~ = p'ri" + p . , s (15) d~l =- n "P.rr

The first fundamental form o f p = p ( r ( t ) , s ( t ) ) is given by d~2 =- n ' p . ,

I = [p[2 = gllp2 + 2g12p$ + g2252 (16) d22 --- n'p.s~ (20)

where g~, g~2, g2~ refer to the first fundamental coefficients and are de- The normal curvature K, of the surface in the direction of p is the
fined as curvature of the intersection curve between the surface and the plane
containing the surface normal n and the tangent vector/~. The directions
g~l =- P I P . , in which Kn takes its maximum and minimum values with respect to ~,
are called the principal directions of the normal curvature. If K is the
g~2 =- P,~'P,~
principal curvature and ~, $ is the direction of the principal curvature,
g22 ~ P . , ' P . , (17) the curvature can be obtained as

For a curve c = c(t) on the surface p = p ( r , s), differentiating c = c(t) H d . ~ 2 + 2d~2~ + d22~2
(21)
twice gives

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