| Preface to the second edition |
|
xi | |
| Preface to the first edition |
|
xiii | |
| Acknowledgments |
|
xv | |
| About the author |
|
xvii | |
|
|
|
xix | |
|
I Mathematical foundation |
|
|
1 | (108) |
|
1 The foundations of calculus of variations |
|
|
3 | (22) |
|
1.1 The fundamental problem and lemma of calculus of variations |
|
|
3 | (4) |
|
|
|
7 | (2) |
|
1.3 The Euler-Lagrange differential equation |
|
|
9 | (2) |
|
1.4 Application: minimal path problems |
|
|
11 | (10) |
|
1.4.1 Shortest curve between two points |
|
|
12 | (2) |
|
1.4.2 The brachistochrone problem |
|
|
14 | (4) |
|
|
|
18 | (2) |
|
1.4.4 Particle moving in the gravitational field |
|
|
20 | (1) |
|
1.5 Open boundary variational problems |
|
|
21 | (4) |
|
2 Constrained variational problems |
|
|
25 | (12) |
|
2.1 Algebraic boundary conditions |
|
|
25 | (2) |
|
|
|
27 | (2) |
|
2.3 Application: iso-perimetric problems |
|
|
29 | (6) |
|
2.3.1 Maximal area under curve with given length |
|
|
29 | (2) |
|
2.3.2 Optimal shape of curve of given length under gravity |
|
|
31 | (4) |
|
2.4 Closed-loop integrals |
|
|
35 | (2) |
|
3 Multivariate functionals |
|
|
37 | (12) |
|
3.1 Functionals with several functions |
|
|
37 | (1) |
|
3.2 Variational problems in parametric form |
|
|
38 | (1) |
|
3.3 Functionals with two independent variables |
|
|
39 | (1) |
|
3.4 Application: minimal surfaces |
|
|
40 | (4) |
|
3.4.1 Minimal surfaces of revolution |
|
|
43 | (1) |
|
3.5 Functionals with three independent variables |
|
|
44 | (5) |
|
4 Higher order derivatives |
|
|
49 | (8) |
|
4.1 The Euler-Poisson equation |
|
|
49 | (2) |
|
4.2 The Euler-Poisson system of equations |
|
|
51 | (1) |
|
4.3 Algebraic constraints on the derivative |
|
|
52 | (2) |
|
4.4 Linearization of second order problems |
|
|
54 | (3) |
|
5 The inverse problem of calculus of variations |
|
|
57 | (12) |
|
5.1 The variational form of Poisson's equation |
|
|
58 | (1) |
|
5.2 The variational form of eigenvalue problems |
|
|
59 | (3) |
|
5.2.1 Orthogonal eigensolutions |
|
|
61 | (1) |
|
5.3 Sturm-Liouville problems |
|
|
62 | (7) |
|
5.3.1 Legendre's equation and polynomials |
|
|
64 | (5) |
|
6 Analytic solutions of variational problems |
|
|
69 | (20) |
|
6.1 Laplace transform solution |
|
|
69 | (2) |
|
6.2 Separation of variables |
|
|
71 | (5) |
|
6.3 Complete integral solutions |
|
|
76 | (4) |
|
6.4 Poisson's integral formula |
|
|
80 | (5) |
|
|
|
85 | (4) |
|
7 Numerical methods of calculus of variations |
|
|
89 | (20) |
|
|
|
89 | (2) |
|
|
|
91 | (5) |
|
7.2.1 Application: solution of Poisson's equation |
|
|
95 | (1) |
|
|
|
96 | (2) |
|
|
|
98 | (5) |
|
7.5 Boundary integral method |
|
|
103 | (6) |
|
II Engineering applications |
|
|
109 | (96) |
|
|
|
111 | (14) |
|
|
|
111 | (3) |
|
8.1.1 Geodesics of a sphere |
|
|
113 | (1) |
|
8.2 A system of differential equations for geodesic curves |
|
|
114 | (5) |
|
8.2.1 Geodesics of surfaces of revolution |
|
|
116 | (3) |
|
|
|
119 | (3) |
|
8.3.1 Geodesic curvature of helix |
|
|
121 | (1) |
|
8.4 Generalization of the geodesic concept |
|
|
122 | (3) |
|
|
|
125 | (18) |
|
|
|
125 | (3) |
|
9.2 B-spline approximation |
|
|
128 | (5) |
|
9.3 B-splines with point constraints |
|
|
133 | (3) |
|
9.4 B-splines with tangent constraints |
|
|
136 | (3) |
|
9.5 Generalization to higher dimensions |
|
|
139 | (4) |
|
10 Variational equations of motion |
|
|
143 | (14) |
|
10.1 Legendre's dual transformation |
|
|
143 | (1) |
|
10.2 Hamilton's principle for mechanical systems |
|
|
144 | (2) |
|
10.2.1 Newton's law of motion |
|
|
145 | (1) |
|
10.3 Lagrange's equations of motion |
|
|
146 | (1) |
|
10.4 Hamilton's canonical equations |
|
|
147 | (3) |
|
10.4.1 Conservation of energy |
|
|
149 | (1) |
|
|
|
150 | (3) |
|
10.6 Variational foundation of fluid motion |
|
|
153 | (4) |
|
|
|
157 | (20) |
|
11.1 Elastic string vibrations |
|
|
157 | (5) |
|
11.2 The elastic membrane |
|
|
162 | (7) |
|
11.2.1 Circular membrane vibrations |
|
|
165 | (2) |
|
11.2.2 Non-zero boundary conditions |
|
|
167 | (2) |
|
11.3 Bending of a beam under its own weight |
|
|
169 | (8) |
|
12 Computational mechanics |
|
|
177 | (28) |
|
12.1 Three-dimensional elasticity |
|
|
177 | (3) |
|
12.2 Lagrangian formulation |
|
|
180 | (4) |
|
|
|
184 | (2) |
|
|
|
186 | (3) |
|
12.5 The finite element method |
|
|
189 | (16) |
|
12.5.1 Finite element meshing |
|
|
189 | (2) |
|
|
|
191 | (4) |
|
12.5.3 Element matrix generation |
|
|
195 | (4) |
|
12.5.4 Element matrix assembly and solution |
|
|
199 | (6) |
| Closing remarks |
|
205 | (2) |
| References |
|
207 | (2) |
| Index |
|
209 | (2) |
| List of Figures |
|
211 | (2) |
| List of Tables |
|
213 | |