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1993

The curvature of plane elastic curves

Brunnett, Guido
Monterey, California. Naval Postgraduate School
http://hdl.handle.net/10945/28706

b?

NPS-MA-93-013

NAVAL POSTGRADUATE SCHOOL

Monterey, California

THE CURVATURE OF
PLANE ELASTIC CURVES
by

Guido Brunnett
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January 1993

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he Curvature of Plane Elastic Curves

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SUB-GROUP

elastic curves, curvature analysis

ABSTRACT (Continue on reverse

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necessary and identify by block number)

In this paper plane elastic curves are revisited from a viewpoint that emphasizes
urvature properties of these curves. The family of elastic curves is considered in
ependence of a tension parameter a and the squared golbal curvature maximum K.
It
s shown that for any elastic curve K is bigger than the tension parameter <T.
A
urvature analysis of the fundamental forms of the elastic curves is presented. A
ormula is established that gives the maximum turning angle of an elastica as a function
epending on K^ and a
Finally, it is shown that an elastic curve can be represented
s a linear combination of its curvature, arc length and energy function and that any
urve with this property is an elastica.
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The Curvature

of Plane Elastic Curves

Guido Brunnett
Department of Mathematics
Naval Postgraduate School

March

1993

25,

Abstract
In this paper plane elastic curves are revisited from a viewpoint

The family of
parameter a and

that emphasizes curvature properties of these curves.

elastic curves

is

considered in dependence of a tension

the squared global curvature

elastic curve

k^

is

maximum k^.

It is

shown that

formula

is

bigger than the tension parameter a.

analysis of the fundamental forms of the elastic curves

maximum

established that gives the

elastica as a function depending on

k^ and

a.

is

for

any

curvature
presented.

turning angle of an
Finally,

it

shown

is

that an elastic curve can be represented as a linear combination of

its

curvature, arc length and energy function and that any curve with

this property

1
The

is

an elastica.

Introduction
search for Smoothing Algorithms in

CAGD

has induced research on

curves and surfaces which minimize functionals with geometrical or physical

meaning.

The

classical

elastic materials.

example are

elastica

which describe the shape of

Plane elastica can be defined as the extremals

(critical

points) of the variational problem

tL
2

k (s)

cr

ds

min

Jo

where k denotes the curvature,

The

5 the arc length of a plane curve

in the

plane

considered to be variable.

comparison curves of the problem

is

the set of

all

C curves

cr is

set of

is

total length

x and

The

of i

constant.

with fixed endpoints and fixed tangent directions at these points.

Lee and Forsythe found (see

[6])

that the curvature function of an elastica

the differential equation

satisfies

k"{s)

+ ^k 3 (s) + Kk{s) =

We begin this paper with

equation

is

KeR.

0,

(1)

a short derivation of this result and a proof that this

We will then

also sufficient for a curve to be an elastica.

show that

any elastica the square of the curvature function has a global maximum
is bigger than the tension parameter a. The fundamental forms of
elastic curves first described by Euler are characterized by the values of the
parameters /c^ and a. A curvature analysis of these curves is presented.
for

k^ which

In section 3 various formulas expressing properties of elastica in terms of

k^ and a

are given. This includes a formula that gives the

angle of an elastica as a function

formula

for the

maximum

As the main

7r.

function E(s)

explicit

we show that a plane

result of this section

f k (s)
and can be used

elastica

The

turning angle allows to determine an upper bound

representation as a linear combination of

turning

an inflectional elastica has a turning angle bigger

for n m in the case that

than

maximum

depending on K m and a.

its

elastica has a

curvature, arc length and energy

ds.

This property characterizes the class of plane

for

speeding up the computation of interpolating

elastica.

The curvature

Given two points P,

then

of plane elastica
and two unit vectors

TpR 2 ,W

TqR

denotes the set

M :={x: [0,L]-+R

<E

*(0)

We

R + ,i
=

C[0, L], \x'(s)\

V,

x\L)

P, x{L)

*'(0)

Q,

for s

[0,1],

= W).

consider the problem of minimizing the functional

tL

E + vL:=

K (s)

<rds

Jo

among

all

curves of

M where k

parameter of a plane curve

x.

denotes the curvature and 5 the arc length

The

integral

E=

2
/ k {s) ds

is

called the en-

a denotes a constant which we call the tension parameter.

is considered to be variable. As the functional considered
is translation and rotation invariant we assume in this section that P = (0,0)
and V = (1,0).

ergy of x on

The

[0, L).

total length

M the tangent vector T of x

For x G

T(s)

given by

is

(cos(tf(s)), sin(*(s)))

s
where the function ^ with ty(s) := f k(s) ds gives the turning angle of
Using this notation the variational problem can be written as

x.

rL

min

W^s) + a

ds

*C~[0,L]./o

under the constraint

where the admissible functions

#(0)

0,

$(L)

ty

G C[0,

cos

According to Lagrange's multiplier rule the

problem

is

some constants

A,/i

(see e.g. in

[3], [6]).

#' 2 (s)

R,

\K( 5 )

W'

differential equation of this

(T

Acosty(s)

/isinty(s),

i.e.

= -^ sin V{s) + cos *(s).

I

By introducing
A

we

sin

V>,

the Euler equation for the integrand

F{y,V,s) =
for

'

L] are subject to the constraints:

with

ip

CS

<(s)
\s\n*(s)J

Jo

2a cos

the constants

4>

fi

2a

sin

<f>

rewrite the Euler equation in the form

V" =
Multiplying

(3)

where

k'

= -asm{V-<f>).

2acos(*

-<}>)

(4)

denotes an integration constant. Equation (4) has been used

to define elastic curves in the plane in the classic literature (see

In order to determine the constant

we

(3)

by 2^' and integrating yields

/c

<j,

(2)

in

consider the boundary condition

F((L),'(L),L) -

[7]).

terms of the tension parameter

-^F(* (s), *'(*), s)\l*'(L) =

that must be satisfied by the extremal. This condition

that the total length
p. 571).

of the curve

is

implied by the fact

is

variable in the variation (see e.g.

[2],

Thus,
*"(/,)

Comparing

(5)

k (L)

A cos Vf(L)

ft

sin

*(I) +

a.

(5)

with (4) shows that

A=

a.

Therefore we give the following definition of an elastic curve under tension.

Definition 1
tion k

some

An

arc length parametrized plane curve x with curvature func-

where

ty

= 2acos(* -

+o

4>)

in [6] that

equation (1) for the curvature function

in fact equivalent to (6).

Theorem

2 If k

some constants

= 2acos($ -

^ and a

a,

(i)

if

<f>)

We

will

now show

that

0-

and only

+ \k 3 - \vk =

k"

Proof:

/c.

S
and $(s) := / K{s)ds, then

C 2 (R)
k

holds for

(6)

the Euler equation (2) implies the

differential

(3).

for

denotes the function ty(s) := / * K(s)ds.

Lee and Forsythe showed

is

if

a,(^ER
k

(1)

parameter a,

called elastica (or elastic curve) with tension

is

if

0.

(7)

Differentiating (6) yields the Euler equation in the form of

Differentiating the Euler equation gives

k"

Substituting the term cos(ty

obtain
(ii)

= acos(ty
<p) in

4>)k.

the above equation according to (6)

we

(7).

Differential equation (7) can

be integrated to the

first

oder differential

equation

(K')

= C-(\/4)a 2

Note, that for a real solution of (8)

a

-(\/4)(K 2
it is

-a) 2

necessary that

:=C-(l/4)<7 2

>0

(8)

and
("

~ Y
<
2

1.

4a

The

function 6 defined by

:=(-l) n arccos(- 5?

with n

>

for '

and n

=
k

It

remains to show that

is

2 for

<

/c'

<J

obviously obeys the relation

+ a.

2\a\cos0

an integral of

(9)

k.

2
(8) together with the definition of a and (9) implies

(*')

Since sin

is

positive (negative)

a sin

if k' is

0.

negative (positive),

we obtain

K'=-\a\sm6.
Differentiating (9)

and substituting

k'

0'

Since
<a

^ and
<t>.

For

Lemma

2
/c

is

a constant

4>

such that

2|a|cos(^

<)

<7

(9).

The squared curvature

if

K.

6 are both integrals of k there

holds because of

even

according to (10) yields

vp

mum,

(10)

is

function

2
/c

of an elastic curve has a global maxi-

extended to the whole

If k is a solution of (7)

real line.

on R, then k 2 has a global maximum.

3
Proof: Since the function (1/2)(k an) is of the class C ] (R) the solutions of (7) can be extended to the whole real line.
To show that k 2 has a global maximum we observe first that (3) implies
the existence of a local extremum of k. This is because the assumption
for all s
means that ty is convex or concave and
k'(s) = ^"(s) /
therefore unbounded while according to (6) k' has no zeros only if ty is
bounded. Furthermore from (3) and (4) it is obvious that any local extremum

of k

is

a global extremum of k 2

We

assume now that k 2 has no global maximum on R. In this situation

k' has exactly one zero s mtn on
and k 2 takes its global minimum in this
point. Note that k is non-zero for any s ^ s mtn because a zero of k at a
point s ^ s mtn would imply that /c(s mtn ) =
and k'(s) = for some point s
2
between s and s mtn Therefore (k )' has no zero besides s mtn and k 2 is strictly
monotone increasing on the right of s mtn Hence k is monotone increasing
resp. decreasing on the right of s min if k has positive resp. negative values
on the right of s mfn The formula

*($)=

K{s)ds

V{s min )

'*min

yields that

ty

is

any case unbounded. This

in

sumption because

a contradiction to the as-

is

(4) implies the existence of global

maxima

for k

if

is

unbounded.

We now

a and express k

tension parameter

Theorem
a global
(i)

maximum

give the relation between the global

C 2 (R)

4 Let k
2

maximum

k^

=fi

in

terms of

k 2^ of k 2 and the

elliptic functions.

be a solution of the differential equation (7) with

2
of k on R. Then the following statements hold:

l >
k has a zero

(ii)

if

k(s)

and only

= Km

if

k^ > 2a.

2
cn(y/(K m

In this case k

is

given by

-a)/2(s - sm ) k 2 )

(11)

with the parameter

k

(Hi)

2a k 2^ < K 2

<

k{s)

Proof: As a global

k 2^ for k 2^

<

2a. In this case k

= K m dn(K m {s - s m )/2

maximum point s m

of k

is

).

is

given by

(12)

also a zero of k' (8) implies

C=-K m - -CK m
4

Hence

(8) takes the

form

(*')'

= j(m"

)(

4 -2^).

(13)

As
(

quantities in (13) are real

all

Km ~

2
*

(i)

follows from the fact that the

always non-negative and therefore the term (k

any k 2

also to be non-negative for

that k ^

>

To express k
case that

2
/c

< 2a

while for k^

2<r

in

terms of

> 2a we

+ Km
2

term

2a) has

Using the same argument we observe that k 2 (s)

2

some

has to be greater or equal

we procede

elliptic functions

substitute z 2

for

(/c^

2<r

5 implies

2n

as follows. In the

2 )/ 2n in (13) and obtain for z

the differential equation

M^Jod-.rXl-z'Xl-fcV)

(14)

where
2

(14)

is

ment u

2-^)-

the differential equation of Jacobi's function sn=sn(u) for the argu-

= -J^i^

a)s (see

z*(s)

The

relation k

2
= nm
{\

2
)

/(Kl

We

therefore obtain

-c)/2(s-3 n )\k 2 ).

then gives

(15)

differentiable, (15) implies (11).

is

2
In the case that K m

and obtain

sn

114).

2
= K 2m cn 2 (J(K m
-a)/2(s - s n )

k (s)
(see [8],p.l6). Since k

[l],p.

< 2a we

substitute z

(/c^

k 2 )/2(k 2ti

a)

in (14)

for z the differential equation

(*T = 1,4(1 -

- IV)

z')(l

where
2(K 2m

J_
k

'

a)

-2

*m

Hence
z

The

2
(

5)

sn (K m (s-s m )/2|/

2
).

relation

= K 2m (l-l 2 Z 2

yields

K
(see [8],p.l6)

(s)

= K m2 dn 2 (K m (s-s m )/2\l 2

which implies (13) again because of the

differentiability of n.

Theorem

2 implies that the curvature function of an elastic curve extends

R. In the case that , > 2a this periodic function is

symmetric with respect to any zero of its derivative and antisymmetric with
respect to any zero. According to Love [7] this situation is called inflectional
because the extension of x has turning points. In the case that K 2m < 2a the
extension of k has no zeros but is still symmetric with respect to any zero
of its derivative. The local extrema in this case are /c m and (2cr k^).
The situation is illustrated in figure 1 - figure 8 where for /c m = 1 various
to a periodic function on

curvature functions and the corresponding elastica are shown.

negative tension values are considered a
increasing from

to

lemniscate function (a

is

an element of

If

[0,1].

only non-

With a

the curvature function changes continuously from a

0) to a constant (a

different forms of elastica has

1).

been given by Euler (see

classification of the
[5], [7]).

Figure

a=

1.

0; /c(s)

1C

Figure

2.

-10

0.3; *(*)

= (^ coslemn(/cm (5 - s m )/2).

12

= Km cnfv/^ -

ct)/2(*

- sm )

Figure

Figure

4.

3.

0.35; k(s) as in figure 2.

0.394757217; (*) as in figure

9

3.

k2 )

Figure

-15

3.

-10

15

-1C

-15

-10

4.

-5

5.

-J

= * m cn^/c^ -

0.49; #c()

-5

Figure

Figure

10

10

= Km sech(/cm

15

0.62; (s)

Figure

^ dn(*m

(5

1;

k(s)
10

- s m )/2).

- 5m )/2 ).

JO

6.

- m )

I!

0.5; *(s)

a)/2(*

k^.

k 7 ).

characterizing representation theorem

we summarize the main formulas for elastic curves.

repetitions we use the following convention: if a curve x

In order to avoid

First

elastica

k (s m )
f"

k^ the

^.

the function E(s)

i?

is

/ k

(cosV>,sinV0.

Theorem

maximum

global

Furthermore

denotes the extension of

C(rp)

[0,

L]

R2

is

an

then k denotes the (analytic) curvature function of x, k denotes the

extension of k on R,
2

on

ty

L)

and

[0,

of k

and

s m is a

number with

the function ty(s) := / * k(s) ds,

:= $(s m ). The energy E of x is

is

<p

For convenience we also use the notation

(s) ds.

the angle in

[0,2tt[

with x'(0)

C{ti).

5 For a plane elastic curve x with tension parameter

the fol-

lowing relations hold:

k'(s)

(i)

= -}(!&-

a) sin(* -tp),

(ii)

K 2 (s)

(K m

-o)cOs(*(s)-v) +

(iii)

k(s)

(0)

= -|(i -

(iv) E(s)

= (4 -

Proof: Without

From lemma
a the

<

a)

a)

<

C'(<p

r?),

*), *(a)

x(0)

C(y>

loss of generality
2

we know that k has

maximum

occurs

iff

Cr,

>

x(0) >.

-ras,

we can assume that a

a global

cos(ty(s m

<j>)

2a

x(s)

maximum

1, it

in (4)

is

positive.

k^. Since for positive

follows that

= K 2m -a

and

<

Therefore (3) and (4) imply

K '(s)

= --{n 2m -

(i)

(r)(sin(tf

tf(s m )

and

t?)

+ 2*?r.

(ii).

To obtain

cos(<^

<&)

(iii)

cos(tf

we

rewrite

(i)

+ d) sin(v? +

as

d))

and integrate using

x'( 5 )

To

verify (iv)

K 2 (s)

(n m

we

write

(cos(*(5)),sin(*(s))).

(ii)

in

ti)

<r)(cos(tf

the form
cos(y?

and integrate.

11

t?)

sin(*

d) sm(ip

#))

<r

Since the elliptic function en in

of a sine

wave while dn

is

Theorem

3 has the

symmetry properties

positive, the turning angle of an elastic curve

is

bounded in the inflectional case a < ^ac^ and unbounded otherwise. Formula
(ii) of Theorem 3 can be used to determine the maximum turning angle of
an inflectional elastic curve.

Corollary 6 The maximum turning angle ^ max := max j6 + ^ |^(s)| of an

elastica x with period T and tension parameter a < \K 2 is given by
[ (i

Ji

*ma X = 2arccos(
2
Ifa> \K m
/

for any

a
-).

(16)

a k2

then
|*(<

be a zero of

k.

:r)-*(t)|

27r

/R.

Proof: Let

Then

symmetry prop-

follows from the

it

erties of k in the inflectional case that

rao+T/4

*mar

2|

R(s) ds\

2\V (s

T/4)

(l)|.

J so

With

(ii)

we

get

Vmax = 2 arccos
and therefore

-\-ip- arccos(

is

tp\

a positive periodic with the period

4A7|K m where K denotes the complete

|

= sm

(16).

In the non-inflectional case k

elliptic integral of

the

first

T=

kind. For

one obtains

|*(s m

T)

tf (s ro )|

dn(u|/

2
)

du

4arcsin(sn(/0)

2*.

Jo

For an inflectional elastica x formula (16) implies an upper bound for k^

if

the absolute value of the oriented angle between x'(0) and x'(L)

than

is

bigger

with tension parameter

a and

7T.

Corollary 7 For an

inflectional elastica x

2<*k<l

cos(rp/2)

12

Proof: It follows from (16) that a turning angle bigger than tt can only
happen for positive a. The inflectional nature of x implies therefore the left

The

inequality.

or equal

<P mar

right inequality follows

which

from the

fact that

has to be

%l>

less

given by (16).

is

D
As the main

paragraph we show that an elastica can be

result of this

represented as a linear combination of

Theorem

If x is

an

\p

Proof:

(kI

a)/(K 2n

d)

sin(y>

+ t?)A

a) and sin

\p

^ k^

parameter a

elastica with tension

{) ~ Kl-*\-cos(<p +
where cos

curvature, energy and arc length.

its

E(s)

2k' I{k

2
ti

then

J+'WVn

as
a).

plane curve x C[0, L] has a representation

x(s)-x(0)

['

C(V{s)-

if

<p

tf)

ds

Jo

C{<p

d) I cos(*(s)

- ip) ds

Jo

C'Up

+ ti)

[* sm( V(s)-<p)ds

Jo

Applying

(iii)

and

(iv) of

Theorem

-jl (C(if + d)(E(s) - as) - C'{tp

x(s)

x(0)

which

is

equivalent to (17).

The formulas

Formula
of

its

curve

Km"*
for

(p

follow from

if

k 2^

a.

a circle of radius l/| m &s

|

Finally

(i)

and

(ii)

for 6

-r

*)2(k(s)

/c(0)))

0.

(17) provides an explicit representation of an elastica in terms

curvature function
is

3 yields

we show

Note that in the case

shown in figure 8.

/c^

=a

the elastic

that elastica are essentially the only curves in the plane

that have a representation of the form (17).

9 Let k be an arbitrary C 2 (R) function with a global maximum

2
2
k ^ of k a a real number smaller than n m and E(s) := / ' n (s)ds. An arc
length parametrized curve x where x(s) is given by (17) is an elastica with
curvature function k and tension parameter a.

Theorem
2

13

Proof: We assume the case <p

by applying a rotation to x. Then
x

is

(2k',

arc length parametrized

(2k')

if

-f

i?

a),

which can always be achieved

tt/2

x"

if

x'

and only

= ( - of -

(k

(2k", 2kk').

1, i.e.

a)

(18)

Differentiating (18) yields

2k k"
Therefore either k

satisfies

k'k(k

(7)

or

parametrized curve the determinant

constant the curvature of x

If

If

k satisfies (7)

is

we

is

k
,

x")

zero,

0.

For an

constant.

is

[x

a)

is

curvature. Here

hence x

is

arc

length

we have

a trivial elastic curve.

substitute in (19) k" according to (7) and k'

according

to (18). This yields

[X,X

The

K.

representation formula (17) of an elastic curve

the computation of interpolating elastica.

One

is

extremely useful

reason for this

is

for

that (17)

involves no trigonometric functions and fewer integrations than the standard

representation based on the formula x'

Therefore (17) is
less expensive to evaluate. Furthermore (17) can be used to find piecewise
polynomial approximations of elastic curves based on a spline approximation
of the curvature function.

(cos

The author has

ty,

sin ^).

established polynomial splines

which approximate the curvature functions of plane elastica with high accuracy. Using these piecewise polynomial curvature functions together with
the

new representation

the elastica

itself.

one obtains polynomial spline approximations of

These approximations will be discussed in [4].
(17)

References
[1]

Boehm,

K., Elliptische Funktionen, Teil 2, Verlagshandlung Goeschen,

Leipzig, 1910.

14

[2]

Bolza, 0., Vorlesungen uber Variationsrechnung, Koehler

und Amelang,

Leipzig, 1949.

[3]

Born, M., Untersuchungengen uber die Stabilitat der elastischen Linie in

Ebene und Raum,

[4]

Dissertation, Universitat Gottingen, 1906.

Brunnett, G., Spline Approximation of Interpolating Elastica,

in prepa-

ration.

[5]

Additamentum: De curvis elasticis, in Methodus inveniendi

curvas maximi minimive proprietate gaudentes, Ser. 1, Vol. 24,

Euler, L.,
lineas

Lausanne, 1744.
[6]

Lee, E. H., G. E. Forsythe, Variational Study of Nonlinear Spline Curves,

SIAM
[7]

Review,

Love A.

E.,

Publications,
[8]

15, 1975,

Treatise on the Mathematical Theory of Elasticity, Dover

New

Milne-Thompson,
lications,

120-133.

New

York, 1944.
L.

M., Jacobian Elliptic Function Tables, Dover Pub-

York, 1950.

15

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