Preface |
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xix | |
About the Authors |
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xxv | |
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1 | (14) |
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1.1 General Comments and Basic Philosophy |
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1 | (2) |
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1.2 Basic Concepts of the Finite Element Method |
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3 | (10) |
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3 | (2) |
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1.2.2 Local approximation |
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5 | (2) |
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1.2.3 Integral forms and algebraic equations over an element |
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7 | (1) |
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1.2.4 Assembly of element equations |
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8 | (1) |
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1.2.5 Computation of the solution |
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9 | (1) |
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9 | (1) |
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9 | (2) |
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1.2.8 k-version of the finite element method and hpk framework |
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11 | (2) |
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13 | (2) |
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2 Concepts from Functional Analysis |
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15 | (54) |
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15 | (1) |
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2.2 Sets, Spaces, Functions, Functions Spaces, and Operators |
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15 | (16) |
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2.2.1 Hilbert spaces Hk(Ω) |
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18 | (1) |
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2.2.2 Definition of scalar product in Hk(Ω) space |
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19 | (1) |
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2.2.3 Properties of scalar product |
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19 | (1) |
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2.2.4 Norm of u in Hilbert space Hk(Ω) |
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20 | (1) |
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2.2.5 Seminorm of u in Hilbert space Hk(Ω) |
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20 | (2) |
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22 | (1) |
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23 | (1) |
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24 | (3) |
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27 | (1) |
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2.2.10 Integration by parts (IBP) |
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27 | (4) |
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2.3 Elements of Calculus of Variations |
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31 | (13) |
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2.3.1 Concept of the variation of a functional |
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33 | (1) |
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2.3.2 Euler's equation: Simplest variational problem |
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34 | (7) |
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2.3.3 Variation of a functional: some practical aspects |
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41 | (1) |
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2.3.4 Riemann and Lebesgue integrals |
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42 | (2) |
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2.4 Examples of Differential Operators and their Properties |
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44 | (20) |
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2.4.1 Self-adjoint differential operators |
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44 | (14) |
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2.4.2 Non-self-adjoint differential operators |
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58 | (5) |
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2.4.3 Non-linear differential operators |
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63 | (1) |
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64 | (5) |
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3 Classical Methods of Approximation |
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69 | (124) |
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69 | (1) |
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3.2 Basic Steps in Classical Methods of Approximation based on Integral Forms |
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70 | (2) |
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3.3 Integral forms using the Fundamental Lemma of the Calculus of Variations |
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72 | (23) |
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3.3.1 The Galerkin method |
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73 | (1) |
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3.3.1.1 Self-adjoint and non-self-adjoint linear differential operators |
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74 | (3) |
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3.3.1.2 Non-linear differential operators |
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77 | (1) |
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3.3.2 The Petrov-Galerkin and weighted-residual methods |
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78 | (1) |
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3.3.2.1 Self-adjoint and non-self-adjoint linear differential operators |
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78 | (2) |
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3.3.2.2 Non-linear differential operators |
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80 | (1) |
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3.3.3 The Galerkin method with weak form |
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81 | (4) |
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3.3.3.1 Linear differential operators |
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85 | (1) |
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3.3.3.2 Non-linear differential operators |
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86 | (1) |
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3.3.4 The least-squares method |
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87 | (5) |
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3.3.4.1 Self-adjoint and non-self-adjoint linear differential operators |
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92 | (1) |
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3.3.4.2 Non-linear differential operators |
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93 | (1) |
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94 | (1) |
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3.4 Approximation Spaces for Various Methods of Approximation |
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95 | (2) |
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3.5 Integral Formulations of BVPs using the Classical Methods of Approximations |
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97 | (56) |
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3.5.1 Self-adjoint differential operators |
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98 | (29) |
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3.5.2 Non-self-adjoint Differential Operators |
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127 | (14) |
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3.5.3 Non-linear Differential Operators |
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141 | (12) |
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153 | (32) |
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185 | (8) |
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4 The Finite Element Method |
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193 | (30) |
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193 | (1) |
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4.2 Basic steps in the finite element method |
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194 | (27) |
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194 | (4) |
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4.2.2 Construction of integral forms over an element |
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198 | (1) |
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4.2.2.1 Integral forms for GM, PGM, and WRM |
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199 | (1) |
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4.2.2.2 Integral form for GM/WF |
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200 | (2) |
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4.2.2.3 Integral form based on residual functional |
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202 | (1) |
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4.2.3 The local approximation φeh of φ over an element |
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203 | (1) |
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4.2.4 Element matrices and vectors resulting from the integral form and the local approximation |
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204 | (1) |
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4.2.4.1 Galerkin method, Petrov--Galerkin method, and weighted residual method |
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205 | (1) |
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4.2.4.2 Galerkin method with weak form |
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206 | (4) |
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4.2.4.3 Least-squares process based on residual functional |
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210 | (2) |
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4.2.5 Assembly of element equations: GM, PGM, WRM, GM/WF and LSP when A is linear |
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212 | (2) |
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4.2.6 Consideration of boundary conditions in the assembled equations |
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214 | (1) |
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4.2.6.1 GM, PGM, WRM, and LSP based on the residual functional |
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214 | (1) |
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215 | (1) |
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4.2.7 Computation of the solution: finite element processes based on all methods of approximation except LSP for non-linear operators |
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216 | (1) |
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4.2.8 Assembly of element equations and their solution in finite element processes based on residual functional (LSP) when the differential operator A is non-linear |
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217 | (3) |
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4.2.9 Post processing of the solution |
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220 | (1) |
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221 | (2) |
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5 Self-Adjoint Differential Operators |
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223 | (140) |
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223 | (3) |
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224 | (1) |
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5.1.2 LSP based on residual functional |
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225 | (1) |
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5.2 One-dimensional BVPs in a single dependent variable |
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226 | (84) |
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5.2.1 ID steady-state diffusion equation: finite element processes based on GM/WF |
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226 | (1) |
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227 | (1) |
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5.2.1.2 Integral form using GM/WF (weak form) of the BVP for an element e with domain Ωe |
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227 | (4) |
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5.2.1.3 Approximation space Vh, test function space V and local approximation φeh |
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231 | (2) |
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5.2.1.4 Local approximation φeh and mapping Ωe to Ωε |
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233 | (1) |
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5.2.1.5 Element equations |
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234 | (1) |
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5.2.1.6 Assembly of element equations and computation of the solution |
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235 | (2) |
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5.2.1.7 Inter-element continuity conditions on PVs or dependent variables |
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237 | (1) |
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5.2.1.8 Rules for assembling element matrices and vectors |
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237 | (5) |
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5.2.1.9 Inter-element continuity conditions on the sum of secondary variables |
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242 | (1) |
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5.2.1.10 Imposition of EBCs |
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243 | (1) |
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5.2.1.11 Solving for unknown degrees of freedom |
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243 | (1) |
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5.2.1.12 Special case: numerical study |
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244 | (2) |
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5.2.1.13 Post-processing of solution |
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246 | (1) |
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5.2.1.14 Analytical solution and comparison with finite element solutions |
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246 | (5) |
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5.2.2 1D steady-state diffusion equation |
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251 | (1) |
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5.2.2.1 Case (a): a = 1, L = 1, q(x) = xn, n is a positive integer |
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252 | (8) |
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5.2.2.2 Case (b): a = 1, L = 1, q(x) = sin nπx, n = 4 |
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260 | (5) |
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5.2.3 Least-squares finite element formulation |
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265 | (10) |
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5.2.3.1 Approximation space Vh |
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275 | (1) |
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5.2.3.2 Numerical studies |
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275 | (3) |
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5.2.4 LSFEP using auxiliary variables and auxiliary equations |
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278 | (7) |
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5.2.4.1 Approximation spaces for φeh and τeh |
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285 | (1) |
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5.2.4.2 Numerical studies |
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285 | (4) |
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5.2.5 One-dimensional heat conduction with convective boundary |
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289 | (7) |
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5.2.5.1 Approximation space Vh |
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296 | (1) |
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297 | (3) |
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5.2.6 1D axisymmetric heat conduction |
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300 | (1) |
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5.2.6.1 Galerkin method with weak form |
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301 | (2) |
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5.2.6.2 LSM based on residual functional |
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303 | (2) |
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5.2.7 A 1D BVP governed by a fourth-order differential operator |
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305 | (4) |
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5.2.7.1 Approximation space Vh |
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309 | (1) |
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5.3 Two-dimensional boundary value problems |
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310 | (34) |
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5.3.1 A general 2D BVP in a single dependent variable |
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310 | (4) |
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5.3.1.1 Definition of Cle: element geometry |
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314 | (2) |
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5.3.1.2 Approximation space Vh |
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316 | (1) |
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5.3.1.3 Computation of the element matrix [ Ke] and vector {Fe} |
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317 | (1) |
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5.3.1.4 Details of secondary variable vector {Pe} |
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317 | (3) |
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5.3.2 2D Poisson's equation: numerical studies |
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320 | (1) |
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5.3.2.1 Case (a): f = 1 with BCs φ(±1, y) = φ(x, ±1) = 0; GM/WF |
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320 | (7) |
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5.3.2.2 Case (b): BCs φ(±1, y) = φ(x, ±1) = 1.0; GM/WF |
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327 | (1) |
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5.3.3 Two-dimensional boundary value problems in multi-variables: 2D plane elasticity |
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328 | (4) |
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5.3.3.1 Galerkin method with weak form |
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332 | (5) |
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5.3.3.2 Least-squares method using residual functional |
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337 | (7) |
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5.4 Three-dimensional boundary value problems |
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344 | (14) |
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5.4.1 Three-dimensional boundary value problems in a single dependent variable |
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344 | (1) |
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5.4.1.1 Galerkin method with weak form |
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345 | (2) |
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5.4.1.2 Approximation space |
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347 | (1) |
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5.4.1.3 Local approximation Teh |
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347 | (1) |
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5.4.1.4 Definition of Ωe: Element geometry |
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348 | (2) |
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5.4.1.5 Computations of element matrix [ Ke] and vector {Fe} |
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350 | (1) |
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5.4.1.6 Details of secondary variable vector {Pe} |
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350 | (3) |
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5.4.2 Three-dimensional boundary value problems in multivariables |
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353 | (2) |
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5.4.2.1 Galerkin method with weak form |
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355 | (2) |
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5.4.2.2 Approximation spaces |
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357 | (1) |
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5.4.2.3 Local approximation |
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357 | (1) |
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358 | (5) |
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6 Non-Self-Adjoint Differential Operators |
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363 | (56) |
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363 | (2) |
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6.2 1D convection-diffusion equation |
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365 | (25) |
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6.2.1 Analytical solution |
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365 | (2) |
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6.2.2 The Galerkin method with weak form (GM/WF) |
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367 | (11) |
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6.2.3 Least squares finite element formulation |
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378 | (2) |
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6.2.4 Least squares formulation: first order system |
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380 | (10) |
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6.3 2D convection-diffusion equation |
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390 | (23) |
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6.3.1 Least squares finite element formulation based on the residual functional |
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395 | (2) |
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6.3.2 Least squares finite element formulation of (6.113) by recasting it as a system of first order PDEs |
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397 | (4) |
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6.3.3 Convection dominated thermal flow (advection skewed to a square domain) |
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401 | (7) |
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6.3.4 Advection of a cosine hill in a rotating flow field |
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408 | (3) |
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6.3.5 Thermal boundary layer |
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411 | (2) |
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413 | (6) |
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7 Non-Linear Differential Operators |
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419 | (74) |
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419 | (3) |
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7.2 One dimensional Burgers equation |
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422 | (20) |
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7.2.1 The Galerkin method with weak form |
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423 | (5) |
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7.2.2 LSP based on residual functional |
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428 | (1) |
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7.2.3 LSP based on residual functional: first order system of equations |
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429 | (13) |
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7.3 Fully developed flow of Giesekus fluid between parallel plates (polymer flow) |
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442 | (8) |
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7.4 2D steady-state Navier--Stokes equations |
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450 | (21) |
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7.4.1 LSP based on residual functional: first order system of PDEs |
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452 | (2) |
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7.4.2 LSP based on residual functional: higher order systems of PDEs |
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454 | (1) |
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7.4.3 Slider bearing; flow of a viscous lubricant |
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455 | (2) |
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7.4.4 A square lid-driven cavity |
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457 | (4) |
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7.4.5 Asymmetric backward facing step |
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461 | (6) |
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7.4.6 Flow past a circular cylinder |
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467 | (4) |
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7.5 2D compressible Newtonian fluid flow |
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471 | (15) |
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474 | (2) |
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476 | (2) |
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7.5.1.2 General consideration for higher Mach number flows |
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478 | (1) |
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479 | (1) |
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480 | (1) |
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481 | (2) |
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7.5.2 Mach 1 flow past a circular cylinder |
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483 | (3) |
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486 | (7) |
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8 Basic Elements of Mapping and Interpolation Theory |
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493 | (116) |
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8.1 Mapping in one dimension |
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493 | (2) |
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494 | (1) |
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494 | (1) |
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8.1.3 Behavior of dependent variable φ over Ωe |
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495 | (1) |
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8.2 Elements of interpolation theory over Ωε = [ -- 1, 1] |
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495 | (21) |
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8.2.1 A polynomial approximation in one dimension |
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495 | (2) |
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8.2.2 Lagrange interpolating polynomials in one dimension |
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497 | (4) |
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8.2.3 p-version hierarchical functions in one dimension |
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501 | (6) |
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8.2.4 Higher order global differentiability approximations in one dimension: p-version |
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507 | (1) |
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8.2.4.1 Local approximation of class C1(Ωe) |
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508 | (3) |
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8.2.4.2 Interpolations or local approximations of class C2(Ωe |
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511 | (4) |
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8.2.4.3 Local approximations of class C1(Ωe) |
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515 | (1) |
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8.3 Mapping in two dimensions: quadrilateral elements |
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516 | (4) |
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8.4 Local approximation over Ωm: quadrilateral elements |
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520 | (12) |
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8.4.1 C00 local approximations over Ωεη: polynomial approach |
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522 | (3) |
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8.4.2 C00 Lagrange type local approximation using tensor product |
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525 | (4) |
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8.4.3 C00 p-version hierarchical local approximations based on Lagrange polynomials |
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529 | (3) |
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8.5 2D Cij(Ωe) p-version local approximations |
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532 | (10) |
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8.5.1 2D interpolations of type C11(Ωe) with p-levels of and pε and pn |
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538 | (2) |
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8.5.2 2D interpolations of type C22(Ωe) with p-levels of pεand pn |
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540 | (2) |
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8.5.3 2D Cij(Ωe) interpolations of p-levels pε and pη |
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542 | (1) |
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8.6 2D Cij(Ωe) approximations for quadrilateral elements |
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542 | (14) |
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8.6.1 C11 HGDA for 2D distorted quadrilateral elements in xy space |
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549 | (1) |
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8.6.2 C22 HGDA for 2D distorted quadrilateral elements in xy space |
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550 | (1) |
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8.6.3 C33 HGDA for 2D distorted quadrilateral elements in xy space |
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551 | (2) |
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8.6.4 Derivation of Cij approximations for distorted quadrilateral elements |
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553 | (1) |
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8.6.5 Limitations of 2D C11 global differentiability local approximations for distorted quadrilateral elements |
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554 | (2) |
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8.7 Interpolation theory for 2D triangular elements |
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556 | (10) |
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8.7.1 Langrange family C00 basis functions based on Pascal triangle |
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556 | (2) |
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8.7.2 Lagrange family C00 basis functions based on area coordinates |
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558 | (1) |
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8.7.3 Higher degree C00 basis functions using area coordinates |
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559 | (7) |
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8.8 1D and 2D approximations based on Legendre polynomials |
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566 | (11) |
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8.8.1 Legendre polynomials |
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566 | (1) |
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8.8.2 1D p-version C0 hierarchical approximation functions (Legendre polynomials) |
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567 | (1) |
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8.8.3 2D p-version C00 hierarchical interpolation functions for quadrilateral elements (Legendre polynomials) |
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567 | (1) |
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8.8.4 2D Cij p-version interpolations functions for quadrilateral elements (Legendre polynomials) |
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568 | (1) |
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8.8.5 2D C00 p-version interpolation functions for triangular elements (Legendre polynomials) |
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568 | (3) |
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8.8.6 2D Cij interpolation functions for triangular elements (Legendre polynomials) |
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571 | (6) |
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8.9 1D and 2D interpolations based on Chebyshev polynomials |
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577 | (1) |
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8.9.1 Chebyshev polynomials |
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577 | (1) |
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8.9.2 1D C0 p-version hierarchical interpolations based on Chebyshev polynomials |
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577 | (1) |
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8.9.3 2D p-version C00 hierarchical interpolation functions for quadrilateral elements (Chebyshev polynomials) |
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578 | (1) |
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8.9.4 2D Cij p-version interpolation functions for quadrilateral elements (Chebyshev polynomials) |
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578 | (1) |
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8.10 Serendipity family of C00 interpolations |
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578 | (6) |
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8.10.1 Method of deriving serendipity interpolation functions |
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579 | (5) |
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8.11 Interpolation functions for 3D elements |
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584 | (20) |
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8.11.1 Hexahedron elements |
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584 | (1) |
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8.11.1.1 Mapping of points |
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584 | (2) |
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8.11.1.2 Mapping of lengths |
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586 | (1) |
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8.11.1.3 Mapping of volumes |
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586 | (1) |
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8.11.1.4 Obtaining derivatives of φeh(ε, η σ) with respect to x, y, z |
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587 | (1) |
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8.11.2 Local approximation for a dependent variable φover Ωm |
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588 | (1) |
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8.11.2.1 Hexahedron elements |
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588 | (2) |
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8.11.2.2 Higher degree approximations of φ over Ωm |
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590 | (2) |
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8.11.2.3 C000 Lagrange type local approximations using tensor product |
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592 | (5) |
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8.11.2.4 C000 p-version 3D hierarchical local approximations: using tensor product |
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597 | (2) |
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8.11.2.5 3D Cijk(Ωe) p-version local approximations: Hexahedron elements |
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599 | (1) |
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8.11.2.6 3D Cijk(Ωe) p-version interpolations for distorted hexahedron elements: 27 node element |
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600 | (1) |
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8.11.2.7 Interpolation theory for 3D tetrahedron elements: basis functions of class C000(Ωe) based on Lagrange interpolations |
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600 | (1) |
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8.11.2.8 Lagrange family C000 interpolations based on volume coordinates |
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601 | (2) |
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8.11.2.9 Higher degree C000 basis functions using volume coordinates |
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603 | (1) |
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8.11.2.10 Four-node linear tetrahedron element (p-level of one) |
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604 | (1) |
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8.11.2.11 A ten-node tetrahedron element (p-level of 2) |
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604 | (1) |
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604 | (5) |
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9 Linear Elasticity using the Principle of Minimum Total Potential Energy |
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609 | (16) |
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609 | (1) |
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610 | (1) |
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611 | (1) |
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611 | (6) |
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9.4.1 Local approximation of the displacement field |
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611 | (1) |
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9.4.2 Stresses and strains |
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612 | (1) |
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9.4.3 Strain energy πe1 and potential energy of loads πe2 |
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612 | (2) |
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9.4.4 Total potential energy πe for an element e |
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614 | (3) |
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9.5 Finite element formulation for 2D linear elasticity |
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617 | (7) |
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9.5.1 Local approximation of u and v over Ωe or Ωεη |
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618 | (1) |
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9.5.2 Stresses, strains and constitutive equations |
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618 | (1) |
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9.5.3 [ B] matrix relating strains to nodal degrees of freedom |
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619 | (1) |
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9.5.4 Element stiffness matrix [ Ke] |
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619 | (1) |
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9.5.5 Transformations from (ε, η) to (x, y) space |
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620 | (1) |
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620 | (1) |
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9.5.7 Initial strains (thermal loads) |
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621 | (1) |
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9.5.8 Equivalent nodal loads {Fe}p due to pressure acting normal to the element faces |
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622 | (2) |
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624 | (1) |
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10 Linear and Nonlinear Solid Mechanics using the Principle of Virtual Displacements |
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625 | (26) |
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625 | (1) |
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10.2 Principle of virtual displacements |
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626 | (1) |
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10.3 Virtual work statements |
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627 | (8) |
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633 | (2) |
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635 | (2) |
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10.4.1 Summary of solution procedure |
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636 | (1) |
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10.5 Finite element formulation for 2D solid continua |
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637 | (4) |
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10.6 Finite element formulation for 3D solid continua |
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641 | (3) |
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10.7 Axisymmetric solid finite elements |
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644 | (4) |
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648 | (3) |
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11 Additional Topics in Linear Structural Mechanics |
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651 | (32) |
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651 | (1) |
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11.2 1D axial spar or rod element in R1 (1D space) |
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651 | (5) |
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11.2.1 Stresses and strains |
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653 | (1) |
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11.2.2 Total potential energy: πe |
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653 | (3) |
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11.3 1D axial spar or rod element in R2 |
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656 | (10) |
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11.3.1 Coordinate transformation |
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656 | (3) |
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11.3.2 A two member truss |
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659 | (1) |
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660 | (5) |
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665 | (1) |
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11.4 1D axial spar or rod element in R3 (3D space) |
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666 | (2) |
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11.5 The Euler--Bernoulli beam element |
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668 | (7) |
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11.5.1 Derivation of the element equations (GM/WF) |
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670 | (1) |
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11.5.2 Local approximation |
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671 | (4) |
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11.6 Euler-Bernoulli frame elements in R2 |
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675 | (2) |
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11.7 The Timoshenko beam elements |
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677 | (4) |
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11.7.1 Element equations: GM/WF |
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678 | (3) |
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11.8 Finite element formulations in R2 and R3 |
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681 | (1) |
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681 | (2) |
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12 Convergence, Error Estimation, and Adaptivity |
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683 | (88) |
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683 | (1) |
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12.2 h-, p-, k-versions of FEM and their convergence |
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684 | (5) |
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12.2.1 h-version of FEM and h-convergence |
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685 | (1) |
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12.2.2 p-version of FEM and p-convergence |
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686 | (1) |
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12.2.3 hp-version of FEM and hp-convergence |
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686 | (1) |
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12.2.4 k-version of FEM and k-convergence |
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687 | (2) |
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12.3 Convergence and convergence rate |
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689 | (4) |
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12.3.1 Convergence behavior of computations |
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690 | (2) |
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692 | (1) |
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12.4 Error estimation and error computation |
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693 | (1) |
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12.5 A priori error estimation |
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694 | (25) |
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12.5.1 Galerkin method with weak form (GM/WF): self-adjoint operators |
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694 | (3) |
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12.5.2 GM/WF for non-self adjoint and non-linear operators |
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697 | (1) |
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12.5.3 Least-squares method based on residual functional: self-adjoint and non-self-adjoint operators |
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698 | (1) |
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12.5.4 Least-squares method based on residual functional for non-linear operators |
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699 | (3) |
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12.5.5 Integral forms based on other methods of approximation |
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702 | (1) |
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702 | (1) |
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12.5.7 A priori error estimates: GM/WF and LSP |
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703 | (1) |
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12.5.7.1 Model problem 1: GM/WF |
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703 | (1) |
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12.5.7.2 Model problem 2: LSP |
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704 | (2) |
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12.5.7.3 Proposition and proof |
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706 | (6) |
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12.5.7.4 Proposition and proof |
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712 | (2) |
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12.5.7.5 Convergence rates |
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714 | (2) |
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12.5.7.6 Proposition and proof |
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716 | (3) |
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719 | (1) |
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719 | (28) |
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12.6.1 Model problem 1: Self-adjoint operator, 1D diffusion equation |
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720 | (1) |
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721 | (6) |
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12.6.1.2 LSP, higher-order system (no auxiliary equation) |
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727 | (3) |
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12.6.2 Model problem 2: Non-self-adjoint operator, 1D convection-diffusion equation |
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730 | (1) |
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12.6.2.1 LSP: First order system |
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731 | (6) |
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737 | (1) |
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12.6.2.3 LSP: Higher order system (without auxiliary equation) |
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738 | (3) |
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12.6.3 Model problem 3: Non-linear operator, 1D Burgers equation |
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741 | (2) |
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12.6.3.1 LSP: Higher-order system (without auxiliary equation) |
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743 | (4) |
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747 | (1) |
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12.7 A posteriori error estimation and computation |
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747 | (4) |
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12.7.1 A posteriori error estimation |
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747 | (2) |
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12.7.2 A posteriori error computation |
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749 | (2) |
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12.8 Adaptive processes in finite element computations |
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751 | (16) |
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12.8.1 Adaptive processes for 1D convection-diffusion equation: non-self adjoint operator |
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752 | (1) |
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12.8.1.1 Adaptivity in the pre-asymptotic range: uniform h-refinement |
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752 | (1) |
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12.8.1.2 Adaptivity in the pre-asymptotic range: adaptive h-refinement |
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753 | (1) |
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12.8.1.3 Adaptivity in the pre-asymptotic range: graded h-rediscretizations |
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754 | (3) |
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757 | (1) |
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12.8.1.5 Adaptivity in the onset of asymptotic and asymptotic ranges: uniform p-refinement |
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758 | (1) |
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12.8.1.6 Adaptivity in the onset of asymptotic and asymptotic ranges: adaptive p-refinement |
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758 | (2) |
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12.8.1.7 Adaptivity in the onset of asymptotic and asymptotic ranges: adaptive h-refinement |
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|
760 | (1) |
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12.8.1.8 Adaptivity using higher geometric ratios for h-rediscretization at Pe = 1000 and Pe = 106 |
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760 | (1) |
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12.8.2 Adaptive processes for 1D Burgers equation: non-linear operator |
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761 | (4) |
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12.8.3 Adaptive processes for 1D diffusion equation: self-adjoint operator |
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765 | (2) |
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767 | (1) |
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767 | (4) |
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Appendix A Numerical Integration using Gauss Quadrature |
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|
771 | (8) |
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A.1 Gauss quadrature in R1, R2 and R3 |
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|
771 | (4) |
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A.1.1 Line integrals over Ωm = Ωε = [ --1, 1] |
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|
771 | (1) |
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A.1.2 Area integrals over Ωm = Ωε = [ --1, 1] × [ --1, 1] |
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|
772 | (1) |
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A.1.3 Volume Integrals over Ωm = Ωεησ = [ --1, 1] × [ --1, 1] × [ --1, 1] |
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|
773 | (2) |
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A.2 Gauss quadrature over triangular domains |
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|
775 | (4) |
Index |
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779 | |