Variational integrators of higher order for flexible multibody systems

In this paper we present a time stepping scheme which is based on a variational integrator. This higher-order time stepping scheme includes constraints and a viscoelastic material formulation. A variational integrator is structure-preserving which results from using a discrete variational principle. Therefore, a variational integrator always takes the form of discrete EULER-LAGRANGE equations or the equivalent position-momentum equations. In this framework, we consider the motion of a flexible rope with non-holonomic constraints by the LAGRANGE-multiplier technique. The time stepping scheme is derived from a space-time discretization of HAMILTON's principle. The space discretization is based on one-dimensional linear LAGRANGE polynomials, whereas the time discretization is based on higher-order polynomials and higher-order quadrature rules. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Variational Integrators for Thermo-Viscoelastic Discrete Systems

Variational integrators are modern time-integration schemes based on a discretization of the underlying variational principle. In this paper, Hamilton's principle is approximated by an action sum, whose vanishing variation results in discrete Euler-Lagrange equations or, equivalently, in discrete evolution equations for the position and momentum. In order to include the viscous and thermal virtual work (mechanical and thermal virtual dissipation), Hamilton's principle is extended by D'Alembert terms, which account for the time evolution equation of the internal variable and Fourier's law. From this variational formulation, variational integrators using different orders of approximation of the state variables as well as of the quadrature of the action integral are constructed and compared. A thermo-viscoelastic double pendulum comprised of two discrete masses connected by generalized Maxwell elements, and subject to heat conduction between them serves as a discrete model problem. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A quadrature-based approach to improving the collocation method

Summary The collocation method is a popular method for the approximate solution of boundary integral equations, but typically does not achieve the high order of convergence reached by the Galerkin method in appropriate negative norms. In this paper a quadrature-based method for improving upon the collocation method is proposed, and developed in detail for a particular case. That case involves operators with even symbol (such as the logarithmic potential) operating on 1-periodic functions; a smooth-spline trial space of odd degree, with constant mesh spacingh=1/n; and a quadrature rule with 2n points (where ann-point quadrature rule would be equivalent to the collocation method). In this setting it is shown that a special quadrature rule (which depends on the degree of the splines and the order of the operator) can yield a maximum order of convergence two powers ofh higher than the collocation method.     

Damage and delamination processes in thermo-viscoelastic materials

This contribution addresses several models for rate-independent damage and delamination processes in thermo-viscoelastic materials. In the spirit of continuum damage mechanics, both degradation phenomena are modeled by means of internal variables, governed by a rate-independent flow rule. The latter is coupled in a highly nonlinear way with the heat equation and the momentum balance for the displacements. We present a suitable weak formulation for this class of models, and discuss existence and approximation results in the framework of variational convergence. (© 2013 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Global solution to the full one-dimensional Frémond model for shape memory alloys

In this paper, we prove the existence and uniqueness of the solution to the one-dimensional initial-boundary value problem resulting from the Frémond thermomechanical model of structural phase transitions in shape memory materials. In this model, the free energy is assumed to depend on temperature, macroscopic deformation and phase fractions. The resulting equilibrium equations are the balance laws of (linear) momentum and energy, coupled with an evolution variational inequality for the phase fractions. Fourth-order regularizing terms in the quasi-stationary momentum balance equation are not necessary, and, as far as we know for the first time, all the non-linear terms of the energy balance equation are taken into account.     

Construction and analysis of higher order variational integrators for dynamical systems with holonomic constraints

In this work, variational integrators of higher order for dynamical systems with holonomic constraints are constructed and analyzed. The construction is based on approximating the configuration and the Lagrange multiplier via different polynomials. The splitting of the augmented Lagrangian in two parts enables the use of different quadrature formulas to approximate the integral of each part. Conditions are derived that ensure the linear independence of the higher order constrained discrete Euler-Lagrange equations and stiff accuracy. Time reversibility is investigated for the discrete flow on configuration level only as for the flow on configuration and momentum level. The fulfillment of the hidden constraints plays an important role for the time reversibility of the presented integrators. The order of convergence is investigated numerically. Order reduction of the momentum and the Lagrange multiplier compared to the order of the configuration occurs in general, but can be avoided by fulfilling the hidden constraints in a simple post processing step. Regarding efficiency versus accuracy a numerical analysis yields that higher orders increase the accuracy of the discrete solution substantially while the computational costs decrease. A comparison to the constrained Galerkin methods in Marsden and West (Acta Numerica 10, 357–514 2001) and the symplectic SPARK integrators of Jay (SIAM Journal on Numerical Analysis 45(5), 1814–1842 2007) reveals that the approach presented here is more general and thus allows for more flexibility in the design of the integrator.     

Variational time discretizations of higher order and higher regularity

We consider a family of variational time discretizations that are generalizations of discontinuous Galerkin (dG) and continuous Galerkin–Petrov (cGP) methods. The family is characterized by two parameters. One describes the polynomial ansatz order while the other one is associated with the global smoothness that is ensured by higher order collocation conditions at both ends of the subintervals. Applied to Dahlquist’s stability problem, the presented methods provide the same stability properties as dG or cGP methods. Provided that suitable quadrature rules of Hermite type are used to evaluate the integrals in the variational conditions, the variational time discretization methods are connected to special collocation methods. For this case, we present error estimates, numerical experiments, and a computationally cheap postprocessing that allows to increase both the accuracy and the global smoothness by one order.

     

A nodal spline interpolant for the Gregory rule of even order

Summary The Gregory rule is a well-known example in numerical quadrature of a trapezoidal rule with endpoint corrections of a given order. In the literature, the methods of constructing the Gregory rule have, in contrast to Newton-Cotes quadrature,not been based on the integration of an interpolant. In this paper, after first characterizing an even-order Gregory interpolant by means of a generalized Lagrange interpolation operator, we proceed to explicitly construct such an interpolant by employing results from nodal spline interpolation, as established in recent work by the author and C.H. Rohwer. Nonoptimal order error estimates for the Gregory rule of even order are then easily obtained.     

Error estimate and extrapolation of a quadrature formula derived from a quartic spline quasi-interpolant

In this paper we analyze a quadrature rule based on integrating a C ³ quartic spline quasi-interpolant on a bounded interval which has been introduced in Sablonnière (Rend. Semin. Mat. Univ. Pol. Torino 63(3):107–118, 2005). By studying the sign structure of its associated Peano kernel we derive an explicit formula of the quadrature error with an approximation order O(h ⁶). A comparison of this rule with the composite Boole’s and the three-point Gauss-Legendre rules is given. We also compare the Nyström methods associated with the above quadrature formulae for solving the linear Fredholm integral equation of the second kind. Then, by combining the proposed rule with composite Boole’s rule, we construct a new quadrature rule of order O(h ⁷). All the obtained results are illustrated by several numerical tests.     

General techniques for constructing variational integrators

The numerical analysis of variational integrators relies on variational error analysis, which relates the order of accuracy of a variational integrator with the order of approximation of the exact discrete Lagrangian by a computable discrete Lagrangian. The exact discrete Lagrangian can either be characterized variationally, or in terms of Jacobi’s solution of the Hamilton-Jacobi equation. These two characterizations lead to the Galerkin and shooting constructions for discrete Lagrangians, which depend on a choice of a numerical quadrature formula, together with either a finite-dimensional function space or a one-step method. We prove that the properties of the quadrature formula, finite-dimensional function space, and underlying one-step method determine the order of accuracy and momentum-conservation properties of the associated variational integrators. We also illustrate these systematic methods for constructing variational integrators with numerical examples.     

Mass and momentum conservation of the least-squares spectral collocation method for the Navier-Stokes equations

From the literature, it is known that the Least-Squares Spectral Element Method (LSSEM) for the stationary Stokes equations performs poorly with respect to mass conservation but compensates this lack by a superior conservation of momentum. Furthermore, it is known that the Least-Squares Spectral Collocation Method (LSSCM) leads to superior conservation of mass and momentum for the stationary Stokes equations. In the present paper, we consider mass and momentum conservation of the LSSCM for time-dependent Stokes and Navier-Stokes equations. We observe that the LSSCM leads to improved conservation of mass (and momentum) for these problems. Furthermore, the LSSCM leads to the well-known time-dependent profiles for the velocity and the pressure profiles. To obtain these results, we use only a few elements, each with high polynomial degree, avoid normal equations for solving the overdetermined linear systems of equations and introduce the Clenshaw-Curtis quadrature rule for imposing the average pressure to be zero. Furthermore, we combined the transformation of Gordon and Hall (transfinite mapping) with the least-squares spectral collocation scheme to discretize the internal flow problems.     

Convergence of Runge-Kutta methods for neutral Volterra delay-integro-differential equations

In this paper, we focus on the error behavior of Runge-Kutta methods for nonlinear neutral Volterra delay-integro-differential equations (NVDIDEs) with constant delay. The convergence properties of the Runge-Kutta methods with two classes of quadrature technique, compound quadrature rule and Pouzet type quadrature technique, are investigated.      

Derivative corrections for quadrature formulas

In this paper, we develop corrected quadrature formulas by approximating the derivatives of the integrand that appear in the asymptotic error expansion of the quadrature, using only the function values in the original quadrature rule. A higher order convergence is achieved without computing additional function values of the integrand.This author is in part supported by National Science Foundation under grant DMS-9504780 and by NASA-OAI Summer Faculty Fellowship (1995).     

Configurational–Force–Based Adaptive Methods in Nonlocal Gradient-Type Inelastic Solids

We propose a configurational-force-based framework for h-adaptive finite element discretizations of solids with nonlocal, gradient-type constitutive response. Typical applications are related to gradient-type damage mechanics, strain gradient plasticity and regularized brittle fracture. On the theoretical side, we outline a general incremental variational framework for the multifield problem of gradient-type dissipative solids, where generalized internal variable fields account for the current state of evolving microstructures. The Euler equations of the multifield variational principle define the macroscopic balance of momentum along with balance-type evolution equations for the generalized internal variables in the physical space as well as the balance of configurational forces in the material space. We propose a staggered computational scheme for satisfying those balances in both the physical as well as the material space. The coupled micro- and macro-structural balances of momentum and internal variables provide a solution in the physical space for a given finite element mesh. The balance in the material space is then used to provide an indicator for the quality of the finite element mesh and accounts for a subsequent h-type mesh refinement. Such a configurational-force-based approach provides in a natural and unified format mesh refinement indicators for a broad class of complex nonlocal problems. This framework is applied to damage-type regularized brittle fracture. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Hamilton–Pontryagin Integrators on Lie Groups Part I: Introduction and Structure-Preserving Properties

In this paper, structure-preserving time-integrators for rigid body-type mechanical systems are derived from a discrete Hamilton–Pontryagin variational principle. From this principle, one can derive a novel class of variational partitioned Runge–Kutta methods on Lie groups. Included among these integrators are generalizations of symplectic Euler and Störmer–Verlet integrators from flat spaces to Lie groups. Because of their variational design, these integrators preserve a discrete momentum map (in the presence of symmetry) and a symplectic form. In a companion paper, we perform a numerical analysis of these methods and report on numerical experiments on the rigid body and chaotic dynamics of an underwater vehicle. The numerics reveal that these variational integrators possess structure-preserving properties that methods designed to preserve momentum (using the coadjoint action of the Lie group) and energy (for example, by projection) lack.     

Mass and momentum conservation of the least-squares spectral collocation method for the Navier–Stokes equations

From the literature, it is known that the Least-Squares Spectral Element Method (LSSEM) for the stationary Stokes equations performs poorly with respect to mass conservation but compensates this lack by a superior conservation of momentum. Furthermore, it is known that the Least-Squares Spectral Collocation Method (LSSCM) leads to superior conservation of mass and momentum for the stationary Stokes equations. In the present paper, we consider mass and momentum conservation of the LSSCM for time-dependent Stokes and Navier–Stokes equations. We observe that the LSSCM leads to improved conservation of mass (and momentum) for these problems. Furthermore, the LSSCM leads to the well-known time-dependent profiles for the velocity and the pressure profiles. To obtain these results, we use only a few elements, each with high polynomial degree, avoid normal equations for solving the overdetermined linear systems of equations and introduce the Clenshaw–Curtis quadrature rule for imposing the average pressure to be zero. Furthermore, we combined the transformation of Gordon and Hall (transfinite mapping) with the least-squares spectral collocation scheme to discretize the internal flow problems.     

Dual-mixed finite element analysis of crystalline sub-micron gold

An extended crystal plasticity model is applied to crystalline sub-micron gold in order to study the mechanical response. Numerical results for different crystal sizes are presented and discussed. The governing equations are discretized and, subsequently, solved via a dual-mixed finite element formulation [1, 2]. The evolution equation of the dislocation density is taken as a global field relation additionally to the balance of linear momentum, whereas the flow rule is solved locally at the Gauß point level [3,4]. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

求解时间分布阶扩散方程的两个高阶有限差分格式

基于复化Simpson公式和复化两点Gauss-Legendre公式，构造了两个求解时间分布阶扩散方程的高阶有限差分格式.不同于以往文献中提出的时间一阶或二阶格式，这两种格式在时间方向都具有三阶精度，而在分布阶和空间方向可达到四阶精度.数值结果表明，两种算法都是稳定且收敛的，从而是有效的.两种格式的收敛速率也通过数值实验进行了验证，并且通过和文献中的算法对比可以得出其更为高效,     

Quadrature and Schatz’s Pointwise Estimates for Finite Element Methods

We investigate numerical integration effects on weighted pointwise estimates. We prove that local weighted pointwise estimates will hold, modulo a higher order term and a negative-order norm, as long as we use an appropriate quadrature rule. To complete the analysis in an application, we also prove optimal negative-order norm estimates for a corner problem taking into account quadrature. Finally, we present an example to show that our result is sharp. AMS subject classification (2000) 65N15     

Alternating direction implicit OSC scheme for the two-dimensional fractional evolution equation with a weakly singular kernel

In this paper, a new kind of alternating direction implicit (ADI) Crank-Nicolson-type orthogonal spline collocation (OSC) method is formulated for the two-dimensional fractional evolution equation with a weakly singular kernel arising in the theory of linear viscoelasticity. The novel OSC method is used for the spatial discretization, and ADI Crank-Nicolson-type method combined with the second order fractional quadrature rule are considered for the temporal component. The stability of proposed scheme is rigourously established, and nearly optimal order error estimate is also derived. Numerical experiments are conducted to support the predicted convergence rates and also exhibit expected super-convergence phenomena.