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Exercise 1: Summarize major geometric features used in CAD/CAM/CAE systems
k planes, cylinders, cones, spheres, torus,
Exercise 2: Given n=3, k=4 and p(t ) c B (t )
i 1
i i . ruled surfaces, tabulated cylinders, surface of
5 3(t 1) 8(t 1) 2 2(t 1) 3 revolution,
where Bi ( t ) i 1 = 1 (t a ) 1
k
(t a ) 2
... (t a ) k 1 with a=1 Coon’s surfaces, sweep surfaces, blending surfaces,
and C 5, 3, 8, 2 ,
T
Bézier surfaces, B-spline surfaces, NURBS surfaces,
offset surfaces, trimmed surfaces, ...
k
find d i i 1 such that, p( t ) d i Bi' ( t )
k
i 1 Solid features:
k
with Bi' ( t ) = 1, t 1 , t 2 , ..., t k 1 .
i 1
k
Constructive Solid Geometry (CSG)
Exercise 3: Given n=3, k=4 and p( t ) c i Bi ( t ) 7 13t 8t 2 2t 3 Boundary Representation (B-rep)
i 1
Sweep Representation
with C 7, 13, 8, 2 ,
T
...
k
find d i i 1 such that, p(t ) d i Bi' (t ) , where,
k
a).
i 1
B (t )
k
i
'
= 1 (t a ) 1 (t a ) 2 ... (t a ) k 1 with a=2.
i 1
n
find d i i 0 such that, p( t ) d i Bi" ( t ) ,
n
b).
i0
n
where Bi" ( t ) are Bernstein polynomials.
i 0
Tutorials #1 & #2 (W. Ma / MBE / CityU) 1 Tutorials #1 & #2 (W. Ma / MBE / CityU) 2
2: Some important formulas for 3(a). Using derivatives
various power basis transformation
d d k
The answer for this exercise is Similarly, by setting t=2 to p( t ) d i B'i ( t ) ,
dt dt i 1
k
p(t ) ci Bi (t ) 5 3(t 1) 8(t 1) 2 2(t 1)3
i 1 i.e.,
d
d k
d k
7 13t 8t 2 2t 3 d i Bi' (t ) d i t 2 i 1
dt i 1
8 25t 14t 2 2t 3 dt dt i 1
d2 d2 k
By setting t=2 to p ( t ) 2 i i
d B ' ( t ) ,
dt 2
dt i 1
i.e.,
d
dt
13 16t 6t 2
d
dt
d 2 2d 3 t 2 3d 4 t 22
or 16 12t 2d 3 6d 4 t 2 .
Tutorials #1 & #2 (W. Ma / MBE / CityU) 3 Tutorials #1 & #2 (W. Ma / MBE / CityU) 4
d3 d3 k 3(b) Using functional evaluations
By setting t=2 to p ( t ) 3 i i
d B ' ( t ) ,
dt 3
dt i 1
Solution: Let us assume
d
i.e., 16 12t d 2d3 6d 4 t 2 n
dt dt p( t ) di Bi" ( t )
i0
n
Bi" ( t ) t i 1 t ,
ni
Thus, we have i
and
n n!
,
p( t ) 3 5( t 2) 4( t 2) 2 2( t 2)3 i i !(n i )!
n! n (n 1) (n 2) 2 1
and 0! 1
Verification:
For n=3,
p( t ) 3 5( t 2) 4( t 2)2 2( t 2)3
3
B0" ( t ) t 0 1 t 1 t
3 0 3
3 5t 10 4t 2 16t 16 2t 3 12t 2 24t 16 0
7 13t 8t 2 2t 3 3
B1" ( t ) t 1 1 t 3t 1 t
3 1 2
1
3
B2" ( t ) t 2 1 t 3t 2 1 t
3 2
2
3
B3" ( t ) t 3 1 t
3 3
t3
3
Tutorials #1 & #2 (W. Ma / MBE / CityU) 5 Tutorials #1 & #2 (W. Ma / MBE / CityU) 6
By setting t = 0.0, 1.0, 2.0, 3.0, we obtain 4-5. Continuity conditions
C or G continuity conditions:
d0 7 C continuity means parametric continuity or derivative continuity, and
G continuity means geometric continuity.
d3 0
d0 6 d1 12d 2 8d 3 3 For all the continuity conditions, the right topology is assumed.
8d 0 36d1 54d 2 27d 3 14
For the example of Fig. 4.1, although the two curves satisfy the G 0 and tangent
collinear condition, the two curves are NOT G1 continuous at point a and
obviously there is a cusp.
or in matrix form: For the example of Fig. 4.2, the two curves are topologically connected in the right
7
way and it is possible to smoothly connect the two curves in this case.
1 0 0 0 d 0
0 0 0 1 d 0 Similar situation exists for C continuity conditions and all continuity conditions for
1 surfaces.
1 6 12 8 d 2 3
8 36 54 27 d3 14
dp(t)
dt
p(t) dq(t)
a dt
n
p(t ) di Bi" (t )
q(t)
t
i 0
7 (1 t )3 83 3t (1 t ) 3t (1 t ) 0t
2 2 3 p(t)
t
7 13t 8t 2t 2 3
Fig. 4.2 Two curves are connected at point a
with the right topology for G1 smooth connection
Check also pp. 2 of slides02 for the geometric meaning of the tangent vector (the 1st order
derivative) and the curvature or the radius of the curvature (related to derivatives up to the
2nd order).
Tutorials #1 & #2 (W. Ma / MBE / CityU) 7 Tutorials #1 & #2 (W. Ma / MBE / CityU) 8
A1. C continuity (parametric or derivative continuity) conditions for curves:
For a single curve p(t ) , the C continuity conditions at t t0 are defined as follows: For two curves p(t ) and q(t ) , the C continuity conditions at the connecting point are
defined as follows:
dp(t)
dt
dp(t) dq(t)
dt dt
t0
q(t)
t
p(t)
p(t)
t
t
(a) the curve is already C 0 continuous at t t 0 , and The two curves are C 1 continuous (parametrically smooth) at the connecting
point, if and only if
(b)
d
p(t ) d p(t ) . (a) the curve is already C 0 continuous, and
dt t t0 dt t t0
(a) the curve is already C1 continuous at t t 0 , and The two curves are C 2 continuous (parametrically smooth) at the connecting
point, if and only if
d2 2
(b) p(t ) d 2 p(t ) . (a) the curve is already C1 continuous, and
dt 2 t t
dt t t
0 0
d2 2
dn n
(b) n
p(t ) d n q(t ) .
dt t 1.0
dt t 0.0
Tutorials #1 & #2 (W. Ma / MBE / CityU) 9 Tutorials #1 & #2 (W. Ma / MBE / CityU) 10
For two curves p(t ) and q(t ) , the G continuity conditions at the connecting point are
A2. G continuity (geometric continuity) conditions for curves: defined as follows:
For a single curve p(t ) , the G continuity conditions at t t0 are defined as follows:
dp(t) dq(t)
dt dt
dp(t)
dt q(t)
t
t0 p(t)
p(t)
t
t
The G 0 continuity condition is equivalent to the C 0 continuity condition, i.e.,
the curves are G 0 continuous at the connecting point if p(t ) t 1.0 q(t ) t 0.0 .
The curve is G 1 continuous (geometrically smooth) at t t 0 , if and only if (a) the curves are already G 0 continuous, and
(b)
d
p(t ) and d p(t ) are collinear (or parallel), but may NOT necessarily have the same magnitude,
dt dt
t t0 t t0
i.e.
d
p(t ) and
d
q(t ) may not equal.
but may NOT necessarily have the same magnitude, dt t 1.0 dt t 0.0
i.e.
d
p(t ) and
d
p(t ) may not equal.
dt t t 0 dt t t 0
The curves are G 2 continuous (geometrically smooth) at the connecting point,
if and only if
The curve is G 2 continuous (geometrically smooth) at t t 0 , if and only if
(a) the curve is G1 continuous at the connecting point, and
(a) the curve is G1 continuous at t t 0 , and (b) The curvature (or the radius of the curvature) of the two curves
is continuous at the connecting point.
(b) The curvature (or the radius of the curvature) of the curve
is continuous at t t 0 . For practical applications, higher order geometric continuity is not use.
Tutorials #1 & #2 (W. Ma / MBE / CityU) 11 Tutorials #1 & #2 (W. Ma / MBE / CityU) 12
B1. C continuity (parametric or derivative continuity) conditions for surfaces: The two surfaces are C n continuous (parametrically smooth) across the
common boundary curve if and only if
The C continuity conditions are similar to that for curves. However, instead of a single
derivative for the case of curves, we have two 1st order partial derivatives, 3 second (a) the surfaces are C n 1 continuous along the boundary curve, and
order partial derivatives, 4 third order partial derivatives … for the case of surfaces.
n
p(u, v) i n i q(u, v) for i 0,1,, n .
n
(b) u 0,1 , n i
u v
i
v 1.0
u v v 0.0
p(u, v)
u v 1
p(u, v)
v v 1
q(u , v) q(u , v)
v v 0 u v 0
p(u,v)
q(u,v)
u
v
u
v
The two surfaces are C 0 continuous if the functions (all the coordinates) of the
surfaces are continuous along the entire boundary curve for all u, i.e.
p(u , v) v 1 q(u , v) v 0 .
The two surfaces are C 1 continuous (parametrically smooth) if and only if they
meet the following conditions along the entire boundary curve for all u
The two surfaces are C 2 continuous (parametrically smooth) if and only if they
meet the following conditions along the entire boundary curve for all u
Tutorials #1 & #2 (W. Ma / MBE / CityU) 13 Tutorials #1 & #2 (W. Ma / MBE / CityU) 14
B2. G continuity (geometric continuity) conditions for surfaces:
The two surfaces are G 0 continuous if the functions (all the coordinates) of the
The G continuity conditions are also similar to that for curves. However, instead of a surfaces are continuous along the entire boundary curve for all u, i.e.
single derivative for the case of curves, we have also two 1st order partial derivatives, p(u , v) v 1 q(u , v) v 0 .
3 second order partial derivatives, 4 third order partial derivatives … for the case of
surfaces.
The G 1 continuity for surfaces is the tangent plane continuity.
The definition of G 1 (geometrically smooth) continuity conditions for surfaces
is not unique. Here is one sufficient condition:
q(u , v) p(u , v) The two surfaces are G1 continuous (geometrically smooth) along the common
u v 0 u v 1
boundary curve if
p(u , v)
v (a) the two surfaces share the same boundary, i.e.
v 1 p(u,v)
q(u , v)
v
p(u, v) v 1 q(u, v ) v 0 , for all u, and
v 0
(b) the three principal tangent vectors are coplanar***, i.e. (u ) and (u ) ,
q(u,v)
u p(u , v) q(u , v ) q(u, v )
such that, (u ) (u ) .
v v v 1.0 u v 0.0 v v 0.0
If the three principal tangent vectors are on the same plane, i.e., the tangent
u plane, the two surfaces are then G 1 continuous, i.e. tangent plane continuous.
v
The G 2 continuity conditions of surfaces are similar to that of curves, except
that the radius of curvature in case of surfaces is the radius of a local
approximation sphere (instead of a circle for curves).
Important: Please note that the formula for the G continuity conditions depend on the
configuration of the two surfaces when they are connected together. The formula Two surfaces are G 2 continuous along the common boundary if
produced in the following are based on the connection shown in the above figure.
(a) the two surfaces are already G1 continuous along the common boundary ,
and
(b) The curvature (or the radius of the curvature) of the two surfaces along the
common boundary is continuous.
c
*** Note: Given three vectors a, b and c, a b
if the three vectors are located on the same plane (coplanar),
there exist coefficients and such that c a b ,
or there exist coefficients ' , ' and '
such that 'a 'b 'c 0 .
Tutorials #1 & #2 (W. Ma / MBE / CityU) 15 Tutorials #1 & #2 (W. Ma / MBE / CityU) 16
Important Notes: Please note that the formula for the G continuity conditions depend on
the configuration of the two surfaces when they are connected together. The following
shows two cases with case 1 used in previous discussions. There could also be various
other configurations for G continuity connection.
q(u , v) p(u , v)
u v 0 u v 1
p(u , v) p(u,v)
v v 1
q(u , v)
v v 0
q(u,v)
u
v
u
v
The G1 condition:
p(u , v) q(u , v) q(u, v)
(u ) (u )
v v 1.0 u v 0.0 v v 0.0
Case 2:
q(u , v) p(u , v)
v u 1 v u 0
p(u, v)
v u u 0
q(u, v)
u u 1
u
v
q(u,v)
The G1 condition:
p(u,v)
p(u , v) q (u , v) q(u , v)
(v ) (v )
u u 0.0 u u 1.0 v u 1.0
Tutorials #1 & #2 (W. Ma / MBE / CityU) 17 Tutorials #1 & #2 (W. Ma / MBE / CityU) 18
1: Compute curve points
For n=3,
3
B0 (t ) t 0 1 t 1 t
3 0 3
0
3
B1 (t ) t 1 1 t 3t 1 t
31 2
1
3
B2 (t ) t 2 1 t 3t 2 1 t
3 2
2
3
B3 (t ) t 3 1 t
3 3
t3
3
Tutorials #1 & #2 (W. Ma / MBE / CityU) 19 Tutorials #1 & #2 (W. Ma / MBE / CityU) 20
The Bézier curve is then defined by 2: Smoothly connect two Bézier curves or surfaces
Tutorials #1 & #2 (W. Ma / MBE / CityU) 21 Tutorials #1 & #2 (W. Ma / MBE / CityU) 22
1: Major advantages of
DEPARTMENT OF B-spline curves & surfaces
MECHANICAL AND BIOMEDICAL ENGINEERING over Bézier curves & surfaces.
CITY UNIVERSITY OF HONG KONG
Shape local control,
MBE4005 - Finite Element Analysis
(Tutorial #3) Large surface patches,
Capability in handling discontinuities,
Added flexibility in defining piecewise curves or
surfaces.
Tutorial #3: B-Spline Curves and Surfaces
{0, 0, 0, 0, 0.2, 0.4, 0.6, 0.8, 1, 1, 1, 1} for k=4; a: {0, 0, 0, 0.2, 0.4, 0.6, 0.8, 1, 1, 1} for k=3
{0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0} for k=2, 3, 4; and b: {0, 0, 0, 0, 0.25, 0.5, 0.75, 1, 1, 1, 1} for k=4
{0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.6, 0.7, 0.8, 0.9, 1.0} for k=2, 3, 4.
determine the number of control points, parameter range for defining c: {-0.4, -0.2, 0.0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.2, 1.4} for k=3
a B-spline curve, and the corresponding number of curve segments. d: {-0.75,-0.5, -0.25, 0.0, 0.25, 0.5, 0.75, 1.0, 1.25, 1.5, 1.75}
Exercise 4: Given k=3, n=3, and a set of knots {0.0, 0.0, 0.0, 1.0, 1.0, 1.0},
for k=4
derive all normalized B-splines and compare with Bernstein Cases c & d are also called periodical knots.
polynomials of order k=3. How about knots {-2.0, -1.0, 0.0, 1.0, 2.0, 3.0}
with the same order? Examples of non-uniform knots:
Exercise 5: Under what conditions one can connect
two B-spline curves or surfaces with G 1 or C 1 continuity. e: {0, 0, 0, 0.25, 0.37, 0.64, 0.95, 1, 1, 1} for k=3
f: {0, 0, 0, 0, 0.31, 0.64, 0.73, 1, 1, 1, 1} for k=4
Exercise 6: Use examples to illustrate how to define closed B-spline curves (two cases).
Exercise 7: Describe some major properties of g: {-0.4, -0.2, 0.0, 0.2, 0.4, 0.66, 0.8, 1.0, 1.2, 1.4} for k=3
B-spline curves and surfaces. h: {-0.75,-0.5, -0.25, 0.0, 0.25, 0.5, 0.75, 1.0, 1.15, 1.5, 1.75}
for k=4
determine the number of control points, parameter range Case 1. {0, 0, 0, 0, 0.2, 0.4, 0.6, 0.8, 1, 1, 1, 1} for k=4;
for defining a B-spline curve, and the corresponding
number of curve segments.
Total number of knots :
With order :
Hints ... The number of control points : n=
{0, 0, 0, 0, 0.2, 0.4, 0.6, 0.8, 1, 1, 1, 1} for k=4; {0, 0, 0, 0, 0.2, 0.4, 0.6, 0.8, 1, 1, 1, 1} for k=4;
{0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0} for k=2, 3, 4; and {0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0} for k=2, 3, 4; and
{0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.6, 0.7, 0.8, 0.9, 1.0} for k=2, 3, 4. {0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.6, 0.7, 0.8, 0.9, 1.0} for k=2, 3, 4.
determine the number of control points, parameter range for defining determine the number of control points, parameter range for defining
a B-spline curve, and the corresponding number of curve segments. a B-spline curve, and the corresponding number of curve segments.
Case 2. {0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0} for k=3; Case 3. {0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.6, 0.7, 0.8, 0.9, 1.0} for k=4;
for k = 3, then n = 11 – k = 8
number of control points = n = 8
parameter range: [ tk, tn+1 ] = [ 0.3, 0.8 ]
number of curve segments = n – k + 1 = 6 (actual number = 5 due to a double knot)
for k = 4, then n = 11 – k = 7
number of control points = n = 7
parameter range: [ tk, tn+1 ] = [ 0.4, 0.7 ]
number of curve segments = n – k + 1 = 4 (actual number = 3 due to a double knot)
B3,1 (t ) 1 t t1 t t
B1,3(t ) = B (t ) 4 B (t )
Bi,1(t ) 0 for i 3 t3 t1 1,2 t4 t2 2,2
t 0.0 10. t
= 0 (1 t )
0.0 0.0 . 0.0
10
for k=2: = (1 t ) 2
t t2 t t t t2 t t
B2,2 (t ) = B (t ) 4 B (t ) B2,3(t ) = B (t ) 5 B (t )
t3 t2 2,1 t4 t3 3,1 t4 t2 2,2 t5 t3 3,2
t 0.0 . t
10 t 0.0 . t
10
= 0 1 = (1 t ) t
0.0 0.0 . 0.0
10 10. 0.0 . 0.0
10
= 1 t = 2t (1 t )
t t3 t t t t3 t t
B (t ) 5 B3,3(t ) = B (t ) 6 B (t )
B3,2 (t ) =
t4 t3 3,1
B (t )
t5 t4 4,1 t5 t3 3,2 t6 t4 4,2
t 0.0 . t t 0.0 . t
10
= 1
10
0 = t 0
10. 0.0 . 10
10 . 10. 0.0 . 10
10 .
= t = t2
i 0
0 0
Note: ’s are set to 0.0 (the de-Boor evaluation avoids ’s,
0 0
see de-Boor72 for reference).
B3,1 (t ) 1 t t3 t t
B3,3(t ) = B (t ) 6 B (t )
Bi,1(t ) 0 for i 3 t5 t3 3,2 t6 t4 4,2
t 0.0 3.0 t
= t 0
for k=2: 2.0 0.0 3.0 10
.
1 2
t t2 t t = t
B2,2 (t ) = B (t ) 4 B (t ) 2
t3 t2 2,1 t4 t3 3,1
t ( 10
. ) . t
10
= 0 1
0.0 ( 10. ) . 0.0
10 We have then the B-spline curve
= 1 t
3
t t3 t t p(t ) v i Bi (t )
B3,2 (t ) = B (t ) 5 B (t ) i 1
t4 t3 3,1 t5 t4 4,1
=
t 0.0
1
2.0 t
0
1
2
2
1 t p 1 1 t 2 t 2 t p 2 t 2p 3
10. 0.0 2.0 10
.
= t which is not the same as a Bézier curve of order k=3.
Bi ,2 (t ) 0 for i 2,3
With k1 multiple end knots for the first curve, p m k 2 q1 , p m k 3 q 2 , ... ..., p m q k 1
and k 2 multiple end knots for the second curve,
the two B-spline curves will be smoothly connected in
same conditions as Bézier curves for G1 continuity connection.
Gk-2 continuity.
The two B-spline curves are connected with G1 continuity If the knots pacing of the two B-spline curves are also
if they meet the following three conditions: the same, the two B-spline curves will be smoothly
connected in Ck-2 continuity.
right topology,
end point match p m q1 , and
p m 1 , p m q1 and q 2 are collinear. 5.3. General non-uniform knots
5.1.2. Uniform k-multiple end knots (uniform knots) The continuity conditions in the general case for non-
uniform knots are possible, but too complex to have
If the two B-spline curves use uniform k multiple end general explicit formulas. Case by case evaluations are
knots, i.e., all internal knots are uniform, required.
the two curves can be connected with C1 continuity if
5.4. Between two surfaces
The above three conditions, plus
All the above cases for curves can be extended to the
k1 p m p m 1 = k 2 q 2 q1 .
cases of surfaces.
Use k-multiple end knots to define closed curves smoothly. Endpoint interpolation
Refer to Exercise 5 of this tutorial, but treat the second (with non-uniform k-multiple end knots only)
curve in Ex. 5 as the start of the same curve for this
exercise. Endpoint tangent vectors
(with non-uniform k-multiple end knots only)
n
Assume that the curve is defined as P (t ) v i Bi , k (t )
i 1
Symmetric property
(inverse both control points and the knots)
6.1 With k multiple end knots, we can define a closed B-spline
curve by joining the start and the end of the curve with G1 Convex hull property
continuity if it meets the following three conditions: (union of convex hulls)
dp(t) dq(t)
dt dt v p(u,v)
q(u,v) u v
q(t) u
t v p(u,v) u
u
v
q(u,v)
(a) The right topology for both C and G continuity
u v
dp(t) dq(t) v u
dq(t) dt dp(t) dt
dt u
dt
q(t) u
q(t)
t v v
q(u,v)
t t p(u,v) p(u,v)
p(t) t p(t)
(b) Right topologies for G continuity, but NOT for C continuity
dq(t)
dp(t) dt dp(t) p(u,v) p(u,v)
dt t dt
a a v
p(t) p(t)
dq(t) t u
t dt v u v
u u
t v
q(t) q(t)
Exercise 1: What are the parameters for defining NURBS curves and surfaces?
with the following parameters
Exercise 2: Illustrate the difference for modifying a NURBS curve k, the order,
by either moving a control point or changing the corresponding weight.
Exercise 3: Under what conditions a NURBS becomes a B-spline entity, and n, the number of control points,
under what conditions a B-spline entity becomes a Bézier entity.
Exercise 4: How to define a 90 degree arc using NURBS, and ti in1k , a set of n+k knots
how to define a complete circle using 4 piece of 90 degree arcs?
(With radius r and on the z=h plane).
for defining the normalized B-splines
Bi ,k (t ) for i=1, 2, ..., n,
Exercise 5: Given a NURBS curve in 3D space defined by a set of knots
{0.0, 0.0, 0.0, 1.0, 1.0, 1.0} with n=3, k=3, and a set of control points
P1 1,0,0 , P2 2,0,5 , P3 1,0,10 with corresponding weights
T T T v i R 3 for i=1, 2, ..., n, the control points, and
w={1.0, 2.0, 1.0}, find a NURBS representation for defining
a surface of revolution around the z-axis. wi for i=1, 2, ..., n, the corresponding weights
How about the case of an arbitrary rotational axis? of the control points v i .
Exercise 6: Other special NURBS curves and surfaces
A NURBS curve is also defined over parameter range
Exercise 7: Summarize major properties of NURBS curves. tk t tn 1.
{0
.0 0,
, 0. , 0
.0, 10
. ,
10
.
,
,
10
.}
k times k times
{0
.0 ,
, 0.0 , 0
.0, 10
. ,
10
.
,
,
10
.} for u-direction,
ku times ku times
{0
.0 ,
, 0.0 , 0
.0, 10
. ,
10
.,
,
10
.} for v-direction
k v times k v times
are used.
v i in1 = { [r, 0, h], [r, r, h], [0, r, h] } the u number of control points nu n 3,
wi in1 = { 1, 2 , 1 }.
2 the u knots t ui inu1 ku {0.0, 0.0, 0.0, 1.0, 1.0, 1.0}.
For a complete circle: The rotational direction is then the v-direction. To be rotational,
the v-knots must be a set of knots which can define a circle. We
k=3, n=9, use the following v knots:
t vj j1
nv k v
ti in1k {0.0, 0.0, 0.0, 0.25, 0.25, 0.5, 0.5, 0.75, 0.75, 1.0, 1.0, 1.0}, {0.0, 0.0, 0.0, 0.25, 0.25, 0.5, 0.5, 0.75, 0.75, 1.0, 1.0, 1.0}.
v i in1 = { [r, 0, h], [r, r, h], [0, r, h], [-r, r, h], with v order k v 3,
[-r, 0, h], [-r, -r, h], [0, -r, h], [r, -r, h], [r, 0, h]
} and v number of control points nv 9 ,
defined by transforming the three control points and their and the corresponding weight w1 1 , we obtain the
corresponding weights into three circles respectively
transformed control points and weights for defining a circle of
with z-axis being their axis.
radius r=1 in the z=10 plane as the second row of control points
for defining the rotational surface, i.e.
From the first control point P1 1,0,0
T
v 1 j j1 w3 j j1
nv nv
= { [1,0,0], [1,1,0], [0,1,0], [-1,1,0], = w3 { 1, 2 , 1, 2 , 1, 2 , 1, 2 , 1 }
2 2 2 2
[-1,0,0], [-1,-1,0], [0,-1,0], [1,-1,0], [1,0,0] } = { 1, 2 , 1, 2 , 1, 2 , 1, 2 , 1 }.
2 2 2 2
w1 j j1
nv
= w1 { 1, 2 , 1, 2 , 1, 2 , 1, 2 , 1 }
2 2 2 2
2 , 1, 2 , 1, 2 , 1, 2 , 1 }. The rotational surface is then defined by
= { 1, 2 2 2 2
nu nv
wij v ij Bui (u) Bvj (v)
i 1 j 1
From the second control point P2 2,0,5 p (u, v )
T
nu nv
and the corresponding weight w2 2 , we obtain the wij Bui (u) Bvj (v)
i 1 j 1
transformed control points and weights for defining a circle of
radius r=2 in the z=5 plane as the second row of control points
for defining the rotational surface, i.e. In case of an arbitrary rotational axis, the knots setting are the
same, and the control points are set as the control points
v 2 j j1
nv defining a circle in the plane perpendicular to the rotational
= { [2,0,5], [2,2,5], [0,2,5], [-2,2,5], axis. The radius of the circle is the distance from that control
[-2,0,5], [-2,-2,5], [0,-2,5], [2,-2,5], [2,0,5] } point to the axis.
endpoint interpolation
(with non-uniform k-multiple end knots only)
symmetric property
(inverse both control points and the knots)
Shape modification
(By moving a control point: Corresponding curve points
move following the same direction of the control point; By
Exercise 2: Illustrate major steps for constructing a solid model of the object of Figure 2
using a B-rep solid modeller with CSG-like user interface.
Figure 1. Figure 2.
Tutorial #5 & #6 (W. Ma / MBE / CityU) 51 Tutorial #5 & #6 (W. Ma / MBE / CityU) 52
1. Construct a CSG solid of the following object and 3. What are the commonly used tools for CSG tree
provide the CSG tree. manipulation.
replace/remove a primitive
Tutorial #5 & #6 (W. Ma / MBE / CityU) 53 Tutorial #5 & #6 (W. Ma / MBE / CityU) 54
4. What are the commonly used tools for B-rep solid 5. What are the major advantages of solid modelling
modeling. over surface modelling?
CSG-like user interface Major advantages of solid modelling over surface modelling:
Some special modelling tools provided by a B-rep modellers sophisticated and automatic construction and
manipulation tools,
solidify
projection fully automatic mass properties calculation,
offset
localized operations complete and unambiguous geometric models
sweep operations
Tutorial #5 & #6 (W. Ma / MBE / CityU) 55 Tutorial #5 & #6 (W. Ma / MBE / CityU) 56
Exercise 6: Verify the Euler-Poincaré Formula with the
following solid object with two penetrating holes DEPARTMENT OF
(the figure on the right side is a cut-off MECHANICAL AND BIOMEDICAL ENGINEERING
illustration of the internal structure of the object). CITY UNIVERSITY OF HONG KONG
MBE4005 - Finite Element Analysis
Answer #1: The solid has two penetrating holes and no internal
(Tutorial #6)
chamber as shown by the right cut-away figure. It has 24
vertices, 36 edges, 14 faces, 2 hole (i.e., genus is 2), 1 shells
and 18 loops (14 faces + 4). Therefore,
Tutorial #6: Properties of Geometric Models
V-E+F-(L-F)-2(S-G) = 24-36+14-(18-14)-2(1-2)=0 Exercise 1: Summarize all the following properties of geometric models.
Provide the definitions of the properties, illustrate the properties with hand
drawings, and briefly explain the physical meaning.
Length Y Y Y -
Area - Y Y (Y)
Volumn - - - Y
Answer #2. The following solid has a penetrating hole and an Mass (Y) (Y) (Y) Y
internal cubic chamber as shown by the right cut-away figure. It
has 24 vertices, 12*3 (cubes) = 36 edges, 6*3 (cubes) - 2 (top Centroid Y Y Y Y
and bottom openings) = 16 faces, 1 hole (i.e., genus is 1), 2
1st MoI (Y) (Y) (Y) Y
shells and 18 loops (16 faces + 2 inner loops on top and ( M xy , M zx , M yz )
bottom faces). Therefore,
2nd MoI (Y) (Y) (Y) Y
V-E+F-(L-F)-2(S-G) = 24-36+16-(18-16)-2(2-1)=0 ( I xx , I yy , I zz )
Tutorial #5 & #6 (W. Ma / MBE / CityU) 57 Tutorial #5 & #6 (W. Ma / MBE / CityU) 58
DEPARTMENT OF
MECHANICAL AND BIOMEDICAL ENGINEERING
CITY UNIVERSITY OF HONG KONG
MBE4005 - Finite Element Analysis
(Tutorial #6)
Length Y Y Y -
Area - Y Y (Y)
Volumn - - - Y
Centroid Y Y Y Y
Exercise 1. Illustrate the following types of meshes with hand drawings: triangle Exercise 1. Illustrate the following types of meshes with hand drawings:
mesh, quadrilateral meshes, tetrahedron meshes, pentahedron meshes triangle mesh, quadrilateral meshes, tetrahedron meshes,
and hexahedron meshes. pentahedron meshes and hexahedron meshes.
Exercise 2. Briefly summarize the geometric meaning of a voronoi diagram. Hints: See slides.
Circumcircle criteria,
Mini-max criteria,
Max-min criteria.
Figure 2: A Delaunay triangulation and its dual voronoi diagram (The Voronoi edges
are dotted and the dual Delaunay edges are solid).
Figure 1: Seven points which define the same number of Voronoi regions. One of the
regions is bounded because the defining point is surrounded by others. Exercise 4. Given a set of randomly distributed points on a 2D plane, find a
Delaunay triangulation using a point insertion algorithm and the
following criteria:
Circumcircle criteria,
Mini-max criteria,
Max-min criteria.
Parametric Space: Parametric space algorithms will form elements in the two-
dimensional parametric space of the surface. Since all NURBS surfaces have an
underlying uv representation, it can often be efficient to mesh in two dimensions and
as a final step, map the uv coordinates back to world space, xyz coordinates. The
drawback to this method is that the elements formed in parametric space may not
always form well-shaped elements in three dimensions once mapped back to the
surface. To resolve this, parametric surface meshers can do one of two things:
Direct Approaches: Direct 3D surface mesh generators form elements directly on the
geometry without regard to the parametric representation of the underlying geometry.
In some cases where a parametric representation is not available or where the surface
paramaterization is very poor, direct 3D surface mesh generators can be useful. One
of the approaches is called an advancing front approach for arbitrary 3D surfaces. In
this method surface normals and tangents must be computed in order to compute the
direction of the advancing front. In addition, a significant number of surface
projections are required to ensure that new nodes remain on the surface. Also of
significance is the increased complexity of the intersection calculations required to
ensure that triangles on the surface do not overlap.
Hints/Notes:
You may also extract a piece of the curve as another B-spline curve.
See slides on B-splines (pp. 14-18) for splitting a B-spline curve
into multiple segments (applicable to any knots, uniform, non-uniform, or multiple) n
or joining two curves into s single B-spline curve (for global uniform knots). t r (t ) v i Bi , k (t )
i 1
The answers explained in the following pages for curve splitting apply to ALL types
of knots, such as uniform, global uniform, non-uniform or multiple knots.
However, the approach for joining curves shown in slides pp. 14-18 (mainly on pp.
18) is ONLY applicable to global uniform knots, which is easy to handle (there are
also other conditions, but we did not discuss during the lecture). k=4
B1(t) B2(t) B3(t) B4(t) B5(t) B6(t) B7(t) B8(t) B9(t) B10(t)
-0.2 -0.1 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1
tk t4 t n 1 t11
FEA / Supplementary Exercises (W. Ma / MBE / CityU) iii FEA / Supplementary Exercises (W. Ma / MBE / CityU) iv
(2) The parameter range of the original curve is [tk, tn+1] = [0.1, 0.8]. (7) In a similar way, one can also extract the second curve from the original curve.
(3) If the curve is split at t=0.5, it will be split into two pieces with parameter ranges as n
The second curve q(t ) q j B j , k (t ) is defined by
[0.1, 0.5] and [0.5, 0.8], respectively. j 1
(6) After sorting out the information, you can now define the first piece
n t
The first piece of curve p(t ) pi Bi , k (t ) is defined by n
i 1 q(t ) q j B j, k (t )
j 1
order k=4 (same as the original curve),
the number of control points n=7,
a sub set of the original knots: {-0.2, -0.1, 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8}
a sub set of the original control points: p i v i R 3 for i=1, 2, 3, 4, 5, 6, 7
the parameter range is [0.1, 0.5].
k=4
B1(t) B2(t) B3(t) B4(t) B5(t) B6(t) B7(t) B8(t) B9(t) B10(t)
n
t p(t ) p i Bi , k (t )
i 1
-0.2 -0.1 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1
tk t4 t n 1 t 6
k=4
B1(t) B2(t) B3(t) B4(t) B5(t) B6(t) B7(t) B8(t) B9(t) B10(t)
(8) The two curves share 2k-1=7 knots and k-1=3 control points at the splitting end.
The principle is the same as that for defining a closed B-spline curve using periodical
knots (global uniform knots).
-0.2 -0.1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1
(9) You may also extract any piece of the original curve, such as a piece defined
within [0.4, 0.7], as another B-spline curve.
tk t4 t n 1 t8
FEA / Supplementary Exercises (W. Ma / MBE / CityU) v FEA / Supplementary Exercises (W. Ma / MBE / CityU) vi
2. Given two B-spline curves defined by Answer: The two curves can be connected at the meeting end in two steps: (1) through knots
3 transformation; and (2)-(5) with an approach for connecting two curves with multiple end
p(t ) pi Bi ,3 (t ) with k=3 and knots {0.0, 0.0, 0.0, 1.0, 1.0, 1.0} for 0 ≤ t ≤ 1.0; knots presented in the slides on pp. 10-13 on B-slines.
i 1
and
4 (1) Preliminaries – knots transformation: Given a B-spline curve or surface, one may
q(t ) q i Bi ,3 (t ) with k=3 and knots {0.0, 0.0, 0.0, 0.5, 1.0, 1.0, 1.0} for 0 ≤ t ≤ 1.0 apply the following transformation to the set of knots without altering the shape of
i 1 the curve or the surface. The only change to the curve or surface is the
as shown in the following figure, where p 3 q1 and p 2 , p 3 , q1 , q 2 are collinear. parametrizatoin:
n
Represent the above two curves by a single B-spline curve as r (t ) v i Bi , k (t ) . equal translation to ALL knots, and
i 1
equal scaling to ALL knots.
Provide all the parameters for defining the B-spline curve r (t ) and indicate:
q4 t
tn 1 t4 1.0
n
t k t 3 0 .0
p2 q(t ) q j B j , k (t )
j 1
After equal knots scaling with ti 0.5 ti , the original set of knots is transformed
q1 to a new set of knots {0, 0, 0, 0.5, 0.5, 0.5}.
p1 q3
n p3
After the transformation, the curve remains unchanged, but the parametrization
t p(t ) pi Bi, k (t ) t
has been changed as shown in the following figure.
i 1
q2
n
p(t ) pi Bi,k (t )
i 1
Hints/Notes: See slides on B-splines pp. 10-13 for joining two B-spline curves with
multiple end knots.
t
The answers explained in the following pages
tn 1 t4 0.5
are ONLY applicable to curves t k t 3 0 .0
having the same order AND defined using k-multiple end knots at the meeting end.
FEA / Supplementary Exercises (W. Ma / MBE / CityU) vii FEA / Supplementary Exercises (W. Ma / MBE / CityU) viii
(2) After the above knots transformation, the original B-spline curves become
Example 2:
tn 1 t5 1.0 3
The 2nd curve of this example is defined p(t ) pi Bi ,3 (t ) with k=3 and knots {0.0, 0.0, 0.0, 0.5, 0.5, 0.5} for 0 ≤ t ≤ 0.5;
i 1
with knots {0, 0, 0, 0.5, 1, 1, 1}.
and
4
q(t ) q i Bi ,3 (t ) with k=3 and knots {0.5, 0.5, 0.5, 0.75, 1.0, 1.0, 1.0} for 0.5 ≤ t ≤ 1.0
n i 1
q(t ) q j B j , k (t )
as shown in the following figure, where p 3 q1 and p 2 , p 3 , q1 , q 2 are collinear.
j 1
t n 1 t 5 1 . 0
t
q4
t k t 3 0 .0
n
p2 q(t ) q j B j , k (t )
j 1
After equal knots translation with ti ti 1.0 , the original set of knots is transformed
to a new set of knots {1, 1, 1, 1.5, 2, 2, 2}.
tn 1 t5 2.0 q1 tk t3 0.5
p1 q3
After the transformation, n p3
the curve remain unchanged, t p(t ) pi Bi, k (t ) t
but the parametrization i 1
{0.0, 0.0, 0.0, 0.5, 0.5, 0.5} {0.5, 0.5, 0.5, 0.75, 1.0, 1.0, 1.0}
t k t 3 1 .0 {0.0, 0.0, 0.0, 0.5, 0.5, 0.75, 1.0, 1.0, 1.0} for 0.0 ≤ t ≤ 1.0
After the transformation, the curve remain unchanged, as the set of control points for the new curve after connection.
but the parametrization has been changed as shown
in the right figure
n
q(t ) q j B j , k (t )
j 1
t k t 3 0 .5
FEA / Supplementary Exercises (W. Ma / MBE / CityU) ix FEA / Supplementary Exercises (W. Ma / MBE / CityU) x
(5) The two curves are finally defined as a single B-spline curve
n
r (t ) v i Bi , k (t )
MBE4005 - Finite Element Analysis
i 1 (Supplement for Tutorial #7)
1. Given a group of seven surfaces as shown in the following figure, use hand drawings
and briefly explain how to use the parametric approach for surface mesh generation
for the entire area covered by all the surfaces in 3D space.
tn 1 t7 1.0
v6
v2
v1 v3 v5
t
t k t 3 0 .0 t4 0.5
v4
Note: As there is no unique solution for knots transformation, you may obtain other solutions
for defining the same curve as shown in the above figure. x y
FEA / Supplementary Exercises (W. Ma / MBE / CityU) xi FEA / Supplementary Exercises (W. Ma / MBE / CityU) xii
Hints/Answers:
Similar to the parametric approach for single surface mesh generation (See A as follows), a (B). For a group of surfaces, a similar approach can be developed with the help of a global
unified mesh can also be produced for a group of surfaces using the parametric approach (B). mapping M1 shown in the following figure. See next page for further details about the mesh
generation algorithm.
(A). For a single surface using the parametric approach, a surface mesh can be produced
using the following procedure:
(A1) Find the mapping from the 2D parametric space to 3D physical space, i.e., the (M2) nu 1 nv 1
nu 2 n v 2
nu nv
p 2 (u2 , v2 ) p ij2 Bi (u2 ) B j (v2 )
p(u , v) v ij Bi (u ) B j (v) v5 v6 v7 i 1 j 1
i 1 j 1
nu 7 n v 7
v3 v4
p(u0, v0)
(u0, v0)
v0
u3 u4
v
p(u,v) v1 v2 p6(u6,v6)
u z u p7(u7,v7)
u0
u1 u2
(P2)
u6 v7
v6
x y
P5(u5,v5) u7
(A2) Based on the above mapping, one can then do the triangulation in the parametric (u, p1(u1,v1)
v) space first, and then map the triangulation from the parametric (u, v) space to the 3D u1 u u2 u 1 u f (u , v) v5
u5
(M1) , , , 7 p3(u3,v3)
physical space (x, y, z), by mapping all vertices from (u, v) space to (x, y, z) space while 1
v v 2
v v v7 g (u , v) v4
keeping all topological connectivity unchanged. See following figure shown with one
u4
triangle. v3
u3 P2(u2,v2)
nu nv
p(u , v) v ij Bi (u ) B j (v) v
p1(u1,v1)
i 1 j 1
v2
z
u2
v v1
v6 u6 u1
v5 v7
p(u0, v0) u5 u7 x y
(P3)
(u0, v0)
v0 v3 v4
v u3 u4
p(u,v)
z v1 v2
u u
u0 u
(P1) u1 u2
x y
FEA / Supplementary Exercises (W. Ma / MBE / CityU) xiii FEA / Supplementary Exercises (W. Ma / MBE / CityU) xiv
(B1) In case of a group of surfaces, each surface has a local mapping, The other vertex located in the local parametric space (u4, v4) in P2 is mapped to
such as (u1, v1) in local parametric space P2 to p1 (u1 , v1 ) in physical space P3 the corresponding surface p 4 (u4 , v4 ) in the physical space P3 through the
through the respective equation of p1 (u1 , v1 ) in the mapping defined in M2. nu 4 n v 4
corresponding mapping p 4 (u4 , v4 ) pij4 Bi (u4 ) B j (v4 ) in M2.
i 1 j 1
(B2) In order to apply the parametric approach, we also need a global mapping from a The final surface mesh for the group of surface in P3 is then defined following the
local region in the global parametric space (u, v) in P1 to the corresponding local same topological connectivity as that of the original mesh defined in the global
parametric space in P2 through the respective global to local mapping defined in M1. parametric space P1.
For instance, a local region (u2, v2) shown in the global parametric space P1 is (B4) While this example only shows complete surfaces, the approach also works for
mapped to the corresponding local parametric space (u2, v2) in P2 through the trimmed surfaces.
u u 1
corresponding mapping 2 shown in the mapping defined in M1.
v2 v
(B3) When the mappings are properly defined, one may construct a unified surface mesh
for the group of surfaces in the physical space P3 starting from a triangulation in the
global parametric space P1. The procedure is as follows:
Perform triangulation (or produce any other type of meshes) in the global space,
such as the triangle shown in the global parametric space P1.
Note that two vertices of this triangle are located in the local region of (u3, v3) in
the global parametric space P1 and the third vertex is located in the local region
of (u4, v4) in the global parametric space P1.
Vertices of the triangulation in the global parametric space P1 are further mapped
to the corresponding local parametric space in P2 through respective mapping
defined in M1.
Note that the two vertices located in the region of (u3, v3) in the global parametric
space P1 are mapped to the corresponding local parametric space (u3, v3) in P2
u u
through the corresponding mapping 3 in M1.
v3 v 1
The other vertex located in the region of (u4, v4) in the global parametric space P1
is mapped to the corresponding local parametric space (u4, v4) in P2 through the
u u 1
corresponding mapping 4 in M1.
v4 v 1
The mapped vertices in the local parametric space P2 are further mapped to the
physical space P3 through the respective mapping defined in M2.
The two vertices located in the local parametric space (u3, v3) in P2 are mapped to
the corresponding surface p3 (u3 , v3 ) in the physical space P3 through the
nu 3 n v 3
corresponding mapping p3 (u3 , v3 ) p3ij Bi (u3 ) B j (v3 ) in M2.
i 1 j 1
FEA / Supplementary Exercises (W. Ma / MBE / CityU) xv FEA / Supplementary Exercises (W. Ma / MBE / CityU) xvi
1. Review of truss finite element model formulation
DEPARTMENT OF
MECHANICAL AND BIOMEDICAL ENGINEERING
CITY UNIVERSITY OF HONG KONG Our basic steps are:
MBE4005 - Finite Element Analysis
(Tutorial #8) - build a relationship for strain and nodal displacements
-d (continuity equation)
1 2
2. Equivalent load force from distributed load Objective: We wish to find f ei an f ej that produce equivalent
work compared with the distributed loading (work is given by
The criterion for producing equivalent load is related to w F d F d ).
For the case shown in Fig. 2.5, there is a distributed load on Solutions: Now let us first consider the work produced by
a member (see Fig. 2.5 below), distributed loading:
wq qdx u ( x) qu ( x)dx
e e
x x
Note that for a truss element, we have u (1 )u1 u2
L L
1 2 Thus the work wq can be defined as
x x
wq q (1 )u1 u 2 dx
e
we have the following procedure to find the equivalent L L
x x
forces at related nodes based on the virtual work principle wq q(1 )dx u1 q dx u2 (a)
L L
(see next page). e e
Noticing that the work produced by f ei an f ej is as follows:
w f f ei u1 f ej u 2 (b)
Comparing equations (a) and (b), we have then the equivalent forces
x x
f ei q(1 )dx , f ej q dx
e
L e
L
3 4
3. Kinematic collapse vs. equivalent member *** Question ***
In what circumstances do we have to assign
3.1 Element assignment & kinematic collapse
more than one element on one member?
Element-1
Element-2
Element-3
5 6
Solution: 3.2 Finding an equivalent member for truss elements
A B C
Solution:
(a) Beam assignment used in the laboratory
7 8
Objective: To find an equivalent member of ABC For a two force member,
EA
F F k .
(a)
A
L
B C
As E, L are the same, we thus have
F F
(b) EAeq
A C k eq ,
L
(a) We first consider (a) the original elements: The total or,
deformation is given by k eq L
Aeq ,
x x1 x2 E
F F 1 1
x F Aeq is often the input parameter for many FEA software
k1 k 2 k1 k 2 (such as UGII / GFEM) instead of k eq .
The overall stiffness of the two elements is
F 1 k k
k 1 2
x 1 1 k1 k 2
k1 k 2
(b) We then consider the equivalent element (b)
F
k eq
x
Based on (a) and (b), we have
k k
k eq 1 2
k1 k 2
9 10
Modelling of Engineering Problems with FEM
DEPARTMENT OF
MECHANICAL AND BIOMEDICAL ENGINEERING
CITY UNIVERSITY OF HONG KONG
MBE4005 - Finite Element Analysis
Three aspects need to be simultaneously considered:
(Tutorial #9)
Geometry: symmetric
Agenda: FEA tutorial #2
Restraint: symmetric
Modelling of Engineering Problems with FEM
(Examples)
or
(b) AS
1 2
Case 3: (symmetric axies 1-1, 2-2; anti-symmetric 3-3)
Case 2:
q
1
(a) Symmetric lines 1-1, 2-2
q q
2 2
1
q 1
2 P P 2
1 q
1
Symmetric q
1
Symmetric
P
1 q
1 Symmetric
q
q
Symmetric P/2
Anti-symmetric
3 4
Case 4: The solution is given below.
Figure below shows an engineering problem, a large plate with
several holes. There are uniform distributed loads at four sides. q
x
q r
l
y q
r
x 1. Pick up one block-area and mark constraints (all symmetric):
l 1
l 2 2
2 2
5 6
Assignment 1 (simple case, no decomposition needed):
3. Symmetry in load, geometry and constraints (2-2):
In Figure 2 shown below, there is a strip which is assumed as infinitive long. The thickness
of the strip is very small compared with the other dimensions of the strip. Equal sized circles
are arranged as shown in the figure. Inside the circles there is a distributed load q applied.
(a) What is the smallest area considered for developing a finite element model?
(b) Explain the boundary conditions of that smallest area.
D t
A
3
Figure 2
B C
Boundary conditions:
7 8
Assignment 2 (complex case, decomposition needed): Assignment 1 (simple case, no decomposition needed):
Figure 3 shows a strip which is assumed to be infinitively long. The thickness of the strip In Figure 2 shown below, there is a strip which is assumed as infinitive long. The thickness
is very small compared with other dimensions of the strip. Equal sized circles are of the strip is very small compared with the other dimensions of the strip. Equal sized circles
arranged as shown in the figure. A distributed load acts within some circles as shown in the Figure. are arranged as shown in the figure. Inside the circles there is a distributed load q applied.
A pair of planar normal forces are applied at two ends.
(a) What is the smallest area considered for developing a finite element model?
(a) What is the smallest area considered for developing a finite element mesh model?
(b) Explain the boundary conditions of that smallest area.
(b) Explain the boundary conditions of that smallest area.
Figure 3
9 10
Hints for assignment #1: Assignment 2 (complex case, decomposition needed):
The model can be simplified as follows: Figure 3 shows a strip which is assumed to be infinitively long. The thickness of the strip
is very small compared with other dimensions of the strip. Equal sized circles are
1. Pick up one block-area and mark constraints (all symmetric): arranged as shown in the figure. A distributed load acts within some circles as shown in the Figure.
A pair of planar normal forces are applied at two ends.
1
(a) What is the smallest area considered for developing a finite element mesh model?
(c) Explain the boundary conditions of that smallest area.
2 2
q
1
2. Symmetry in load, geometry and constraints (1-1):
1
2 q 2
Figure 3
v E
q D
u C
Boundary conditions:
11 12
Case A: The model can be further simplified as follows:
Hints for assignment #2:
1. Pick up one block-area and mark constraints (all symmetric):
Decompose the system into three independent sub-systems. The final/total effect will be the
integration of the three effects: 1
2 2
N q q N
1
2. Symmetry in load, geometry and constraints (1-1):
1
(A)
= 2 2
N N 1
(B)
+ v
u
E
D
C
(C)
+ CD: symmetry [ 0 , v 0 ]
DE: free boundary with ( 0 , 0 )
EA: symmetry [ 0 , 0 ( N ) , u 0 ]
q/2 q/2 q/2 q/2
13 14
Case B: The model can be further simplified as follows: Case C: The model can be simplified as follows:
1. Pick up one block-area and mark constraints (all symmetric): 1. Pick up one block-area and mark constraints (symmetry in geometry and constraints, anti-
symmetry in load):
1
1
2 2
q/2
2 2
q/2
1
2. Symmetry in load, geometry and constraints (1-1): 1
1 2. Symmetry in load, geometry and constraints (1-1):
1
2 q/2 2
2 q/2 2
1
1
Boundary conditions:
Boundary conditions:
AB: free boundary with ( 0 , 0 )
AB: free boundary with ( 0 , 0 )
BC: symmetry ( 0 , u 0 )
BC: anti-symmetry ( 0 , v 0 )
CD: symmetry ( 0 , v 0 )
CD: symmetry ( 0 , v 0 )
DE: free boundary with [ 0 , 0 q / 2 ]
DE: free boundary with ( 0 , 0 q / 2 )
EA: symmetry ( 0 , u 0 )
EA: symmetry ( 0 , u 0 )
15 16
DEPARTMENT OF 2. Deriving the system equations for each of the elements shown
MECHANICAL AND BIOMEDICAL ENGINEERING below (the same figure on pp. 56) using the result of truss
CITY UNIVERSITY OF HONG KONG element (derived using the virtual work principle on pp. 43-56 for
truss element).
MBE4005 - Finite Element Analysis
(Supplementary Exercises
for FEA Tutorials)
1. Use the spring system shown below, derive the system equation
using the direct model formulation method. Based on the
resulting equations, apply boundary constraints and external
loading to simplify the system equations. Symbolically solve the
system equations for unknown displacements and unknown nodal
forces. (See pp. 11-17 for partial solution). 3. Using the assemble method to set up the entire system equation
for the example of the previous question. Apply appropriate
boundary conditions and external loading for realizing the FEA
solution. Symbolically solve the FEA problem for unknown
displacements and unknown nodal forces. (See pp. 56-63 for
related information)
1 2
5. Get familiar with the derivation of the system equations for a 2D
DEPARTMENT OF linear triangular element and a quadrilateral element, respectively
MECHANICAL AND BIOMEDICAL ENGINEERING (pp. 99-120). Explain why it is much more accurate using
CITY UNIVERSITY OF HONG KONG quadrilateral elements than using triangular elements?
MBE4005 - Finite Element Analysis
(Supplementary Exercises
for FEA Tutorials)
3 4