Quadrature Integration Research Articles

Characterizing Subsurface Environments Using Borehole Magnetic Gradiometry.

Forward modeling the magnetic effects of an inferred source is the basis of magnetic anomaly inversion for estimating subsurface magnetization parameters. This study uses numerical least-squares Gauss-Legendre quadrature (GLQ) integration to evaluate the magnetic potential, anomaly, and gradient components of a cylindrical prism element. Relative to previous studies, it quantifies for the first time the magnetic gradient components, enabling their applications in the interpretation of cylindrical bodies. A comparison of this method to other methods of evaluating the vertical component of the magnetic field associated with a full cylinder shows that it has comparable to improved performance in computational accuracy and speed. Based on the developed theory, a conceptual design is presented for an instrument to measure the magnetic gradient effects of subsurface material in the vicinity of a borehole. The significance of this instrument relative to conventional borehole magnetometers is in its ability to determine the azimuthal directions of magnetic sources within the borehole environment.

A Modified Bubnov-Galerkin Method for Solving Boundary Value Problems with Linear Ordinary Differential Equations

Introduction. The paper considers the solution of boundary value problems on an interval for linear ordinary differential equations, in which the coefficients and the right-hand side are continuous functions. The conditions for the orthogonality of the residual equation to the coordinate functions are supplemented by a system of linearly independent boundary conditions. The number of coordinate functions m must exceed the order n of the differential equation. Materials and Methods. To numerically solve the boundary value problem, a system of linearly independent coordinate functions is proposed on a symmetric interval [−1,1], where each function has a unit Chebyshev’s norm. A modified Petrov-Galerkin method is applied, incorporating linearly independent boundary conditions from the original problem into the system of linear algebraic equations. An integral quadrature formula with twelfth-order error is used to compute the scalar product of two functions. Results. A criterion for the existence and uniqueness of a solution to the boundary value problem is obtained, provided that n linearly independent solutions of the homogeneous differential equation are known. Formulas are derived for the matrix coefficients and the coefficients of the right-hand side in the system of linear algebraic equations for the vector expansion of the solution in terms of the coordinate function system. These formulas are obtained for second- and third-order linear differential equations. The modified Bubnov-Galerkin method is formulated for differential equations of arbitrary order. Discussion and Conclusions. The derived formulas for the generalized Bubnov-Galerkin method may be useful for solving boundary value problems involving linear ordinary differential equations. Three boundary value problems with second- and third-order differential equations are numerically solved, with the uniform norm of the residual not exceeding 10–11.

Explicit Uncertainty Quantification for Probabilistic Assessment of Rotorcraft Handling Qualities

Early-stage vehicle design processes are typically subject to significant uncertainty in aerodynamic loads and control responses. In many cases, it may be necessary to consider this uncertainty in preliminary evaluations of stability, handling qualities, and performance metrics. This article introduces a novel methodology for computing these quantities in a probabilistic framework using the Koopman operator. The algorithm discretizes the uncertainty space and uses relevant transformations or simulations to map each point to the handling qualities evaluation domain, resulting in a stability, handling quality, and/or performance assessment for each discretized point. The expected value of the stability, handling quality, and/or performance requirement is then computed via quadrature integration, yielding a probabilistic assessment with respect to relevant specifications. The methodology is demonstrated through two examples involving a quadrotor unmanned aerial system and a generic utility helicopter. In the first example, the methodology is applied to evaluate the handling qualities of a quadrotor, for which a multiloop dynamic inversion controller is developed. In the second example, the method is used to quantify the impact of parametric uncertainty in a pilot model on specific pilot???vehicle system performance specifications and to predict vehicle handling qualities. The proposed explicit uncertainty quantification approach is shown to provide a convenient framework for the propagation of parametric uncertainty to stability, handling quality, and performance specifications with unique advantages over Monte Carlo techniques.

Solution of the Poisson equation by the boundary integral method

PurposeThe boundary integral method (BIM) is very attractive to practicing engineers as it reduces the dimensionality of the problem by one, thereby making the procedure computationally inexpensive compared to its peers. The principal feature of this technique is the limitation of all its computations to only the boundaries of the domain. Although the procedure is well developed for the Laplace equation, the Poisson equation offers some computational challenges. Nevertheless, the literature provides a couple of solution methods. This paper revisits an alternate approach that has not gained much traction within the community. The purpose of this paper is to address the main bottleneck of that approach in an effort to popularize it and critically evaluate the errors introduced into the solution by that method.Design/methodology/approachThe primary intent in the paper is to work on the particular solution of the Poisson equation by representing the source term through a Fourier series. The evaluation of the Fourier coefficients requires a rectangular domain even though the original domain can be of any arbitrary shape. The boundary conditions for the homogeneous solution gets modified by the projection of the particular solution on the original boundaries. The paper also develops a new Gauss quadrature procedure to compute the integrals appearing in the Fourier coefficients in case they cannot be analytically evaluated.FindingsThe current endeavor has developed two different representations of the source terms. A comprehensive set of benchmark exercises has successfully demonstrated the effectiveness of both the methods, especially the second one. A subsequent detailed analysis has identified the errors emanating from an inadequate number of boundary nodes and Fourier modes, a high difference in sizes between the particular solution and the original domains and the used Gauss quadrature integration procedures. Adequate mitigation procedures were successful in suppressing each of the above errors and in improving the solution accuracy to any desired level. A comparative study with the finite difference method revealed that the BIM was as accurate as the FDM but was computationally more efficient for problems of real-life scale. A later exercise minutely analyzed the heat transfer physics for a fin after validating the simulation results with the analytical solution that was separately derived. The final set of simulations demonstrated the applicability of the method to complicated geometries.Originality/valueFirst, the newly developed Gauss quadrature integration procedure can efficiently compute the integrals during evaluation of the Fourier coefficients; the current literature lacks such a tool, thereby deterring researchers to adopt this category of methods. Second, to the best of the author’s knowledge, such a comprehensive error analysis of the solution method within the BIM framework for the Poisson equation does not currently exist in the literature. This particular exercise should go a long way in increasing the confidence of the research community to venture into this category of methods for the solution of the Poisson equation.

Spherical harmonic–based DEM in LAMMPS: Implementation, verification and performance assessment

Particle shape plays a major role in the behaviour of most granular systems. This has led to increasing interest in the representation of arbitrarily shaped particles in discrete element method (DEM) simulations. In this paper, we present a simulation approach based on the representation of particle shapes using spherical harmonics where their radii can be calculated in spherical coordinates. An energy-conserving contact model is adopted which is based on the volume of overlap between interacting particles. Contact detection makes use of the bounding spheres of the interacting particles, simplifying its incorporation within a conventional sphere-based DEM code. The volume of overlap and other required quantities are calculated using Gaussian quadrature integration of the spherical cap formed by the bounding spheres. Both the accuracy and the computational cost increase with the number of quadrature points. The algorithm has been implemented as a LAMMPS user package, and verified by means of energy conservation. The performance and parallel scaling of the approach are illustrated, and an observed scaling limitation owing to load imbalance arising from the evaluation of the overlap volume is discussed. Program summaryProgram Title: SH-DEM LAMMPS packageCPC Library link to program files:https://doi.org/10.17632/vk6fj6yjtf.1Developer's repository link:https://github.com/EPCCed/lammps/tree/feature-sh-demLicensing provisions: GPLv2Programming language: C++Nature of problem: Particles are often highly non-spherical. Spherical harmonics provide a natural way to represent complex particle shapes within a discrete element method (DEM) simulation. However, there is no publicly available DEM code which allows particle shapes to be represented using spherical harmonics.Solution method: The SH-DEM package extends the capabilities of LAMMPS so that irregularly shaped particles can be represented using spherical harmonics. The package includes the definition of a new ‘shdem’ atom style for spherical harmonic particles, a time integration scheme for these particles based on the Velocity Verlet algorithm, algorithms for detecting and evaluating contacts between spherical harmonic particles, evaluation of the contact forces between these particles and rigid walls, and two energy computes for groups of spherical harmonic particles.Additional comments including restrictions and unusual features: The SH-DEM package is applicable only to 3D simulations. In order for a particle to be defined by spherical harmonics, it is required that any line segment drawn from an origin inside the particle crosses the contour of the particle's three-dimensional surface only once. If the ‘shdem’ atom style is used, the current implementation requires all particles to be defined using this atom style, e.g., mixtures of sphere and shdem atom styles are not permitted.

Gaussian quadrature for certain two-dimensional hypersingular integrals

In this paper, the Gaussian quadrature formula is used to approximately calculate two-dimensional hypersingular integrals of the form ∬Sf(x,y)r3dS on the circular domain. The two-dimensional hypersingular integrals are changed into iterated integrals by polar transformation. The inner layer of the integral has singularity and Gaussian quadrature formula is constructed for this part. The outer layer without singularity is calculated by Gauss–Legendre quadrature formula of Riemann integral. The corresponding theoretical analysis is given. Furthermore, this type of two-dimensional hypersingular integral is extended to the form ∬Sf(x,y)rp+1dS(p>2) and an error estimate is also derived. Several numerical examples are presented to verify the effectiveness of the proposed algorithm, no matter the singularity is located at the center or near the boundary of the circular domain.

On the Integrability in Quadratures of the Problem of Rolling a Heavy Homogeneous Ball on a Surface of Revolution of the Second Order

On the Integrability in Quadratures of the Problem of Rolling a Heavy Homogeneous Ball on a Surface of Revolution of the Second Order

Investigation of moving load-induced vibrations in layered functionally graded Terfenol-D beams: a differential quadrature method and analytical approach

The paper investigates the potential of the full-sinusoidal Fourier series as a solution form for the deflection of layered functionally graded beams associated with smart actuators, drawing on the fundamental principles of classical Fourier series theory. The current method simplifies the difficult beam problem to a set of linear algebraic equations by using the Duhamel integration technique and the orthogonality of the trial function. The study takes into account generalized boundary conditions and moving forces, which are seldom discussed in previous research. Under the action of a moving load, the boundary value problem for a functionally graded beam integrated with Terfenol-D is efficiently addressed using the approach of combined differential and integral quadrature. The generalized boundary conditions may be easily achieved by adjusting the stiffness of the restraining springs. The significant agreement between the differential quadrature solution and the Fourier series solution underlines the efficiency and accuracy of both methods. Furthermore, the influences of various crucial physical characteristics on the natural frequencies and the essential flow velocities are explored, including boundary stiffness, foundation parameters, and geometric parameters.

Thermo-Mechanical analysis of laminated Doubly-Curved Shells: Higher order Equivalent Layer-Wise formulation

The paper presents a refined two-dimensional formulation for the thermo-mechanical analysis of laminated doubly-curved shell structures under thermodynamic equilibrium conditions. Both the kinematic configuration variables and the temperature variation with respect to the natural equilibrium state are described with a generalized formulation, following the Equivalent Layer-Wise (ELW) approach employing higher order polynomials, along with some proper zigzag functions. The governing equations are derived from the stationary configuration of the Helmholtz free energy of the system, and a semi-analytical solution is found. In the post-processing phase, the Fourier-based Generalized Differential Quadrature (F-GDQ) is applied to recover the actual three-dimensional response of the doubly-curved shell solid, and very accurate results are obtained for the quantities of both mechanical and heat conduction problems. In addition, the integrals occurring in the theory are performed numerically with the Taylor-based Generalized Integral Quadrature (GTIQ), showing a high level of accuracy with a reduced number of sample points. The model is validated in some case studies, where the accuracy of the model is shown, and the numerical predictions are successfully compared with those ones from refined three-dimensional numerical simulations. After that, an extensive set of parametric investigations is reported, pointing out the effects of the panel curvature, lamination schemes and different levels of coupling on the thermo-mechanical structural behavior of the investigated panels.

Simultaneous Trajectory and Speed Planning for Autonomous Vehicles Considering Maneuver Variants

The paper presents a technique of motion planning for autonomous vehicles (AV) based on simultaneous trajectory and speed optimization. The method includes representing the trajectory by a finite element (FE), determining trajectory parameters in Frenet coordinates, composing a model of vehicle kinematics, defining optimization criteria and a cost function, forming a set of constraints, and adapting the Gaussian N-point scheme for quadrature numerical integration. The study also defines a set of minimum optimization parameters sufficient for making motion predictions with smooth functions of the trajectory and speed. For this, piecewise functions with three degrees of freedom (DOF) in FE’s nodes are implemented. Therefore, the high differentiability of the trajectory and speed functions is ensured to obtain motion criteria such as linear and angular speeds, acceleration, and jerks used in the cost function and constraints. To form the AV roadway position, the Frenet coordinate system and two variable parameters are used: the reference path length and the lateral displacement perpendicular to reference line’s tangent. The trajectory shape, then, depends only on the final position of the AV’s mass center and the final reference’s curvature. The method uses geometric, kinematic, dynamic, and physical constraints, some of which are related to hard restrictions and some to soft restrictions. The planning technique involves parallel forecasting for several variants of the AV maneuver followed by selecting the one corresponding to a specified criterion. The sequential quadratic programming (SQP) technique is used to find the optimal solution. Graphs of trajectories, speeds, accelerations, jerks, and other parameters are presented based on the simulation results. Finally, the efficiency, rapidity, and prognosis quality are evaluated.

A compact, equality-based weighted residual formulation for periodic solutions of systems undergoing frictional occurrences.

A very compact weighted residual formulation is proposed for the construction of periodic solutions of oscillators subject to frictional occurrences. Coulomb's friction is commonly expressed as a differential inclusion which can be cast into the complementarity formalism. When targeting periodic solutions, existing algorithms rely on a procedure alternating between the frequency domain, where the dynamics is solved, and the time domain, where friction is dealt with. In contrast, the key idea of the present work is to express all governing equations including friction as equalities, which are then satisfied in a weak integral sense through a weighted residual formulation. The resulting algebraic nonlinear equations are solved numerically using an adapted trust region nonlinear solver and basic integral quadrature schemes. To increase efficiency, the Jacobian of the friction forces is calculated analytically in a piecewise linear fashion. The shape functions considered in this work are the classical Fourier functions. It is shown that periodic solutions with clear multiple sticking and sliding phases can be found with a high degree of accuracy. The equality-based formulation is shown to be effective and efficient, convergence being achieved in all cases considered with low computational cost, including for large numbers of harmonics. Importantly, this new friction formulation does not suffer from the typical limitations or hypotheses of existing frequency-time domain methods for non-smooth systems, such as regularization, penalization, or massless frictional interfaces.

Differential-integral quadrature numerical solution for free and forced vibration of bidirectional functionally graded Terfenol-D curved beam

The dynamic behaviour of a bidirectional functionally graded Terfenol-D curved beam under a moving load is the focus of this study. Combined differential and integral quadrature solve the curved beam boundary value problem. A bidirectional functionally graded Terfenol-D curved beam's damping, damped frequencies for different boundary conditions, and mode shapes were examined in free vibration investigations. Based on accessible literature data, the findings are reliable. Furthermore, DQ-IQ numerical technique findings examine the impact of many factors, including control gain, thickness, moving load velocity, bidirectional gradation index, and multi-moving load.

A p-Refinement Method Based on a Library of Transition Elements for 3D Finite Element Applications

Wave propagation or acoustic emission waves caused by impact load can be simulated using the finite element (FE) method with a refined high-fidelity mesh near the impact location. This paper presents a method to refine a 3D finite element mesh by increasing the polynomial order near the impact location. Transition elements are required for such a refinement operation. Three protocols are defined to implement the transition elements within the low-order FE mesh. Due to the difficulty of formulating shape functions and verification, there are no transition elements beyond order two in the current literature for 3D elements. This paper develops a complete set of transition elements that facilitate the transition from first- to fourth-order Lagrangian elements, which facilitates mesh refinement following the protocols. The shape functions are computed and verified, and the interelement compatibility conditions are checked for each element case. The integration quadratures and shape function derivative matrices are also computed and made readily available for FE users. Finally, two examples are presented to illustrate the applicability of this method.

Developing inverse motion planning technique for autonomous vehicles using integral nonlinear constraints

The study considers issues of elaborating and validating a technique of autonomous vehicle motion planning based on sequential trajectory and speed optimization. This method includes components such as representing sought-for functions by finite elements (FE), vehicle kinematic model, sequential quadratic programming for nonlinear constrained optimization, and Gaussian N-point quadrature integration. The primary novelty consists of using the inverse approach for obtaining vehicle trajectory and speed. The curvature and speed are represented by integrated polynomials to reduce the number of unknowns. For this, piecewise functions with two and three degrees of freedom (DOF) are implemented through FE nodal parameters. The technique ensures higher differentiability compared to the needed in the geometric and kinematic equations. Thus, the generated reference curves are characterized by simple and unambiguous forms. The latter fits best the control accuracy and efficiency during the motion tracking phase. Another advantage is replacing the nodal linear equality constraints with integral nonlinear ones. This ensures the non-violation of boundary limits within each FE and not only in nodes. The optimization technique implies that the spatial and time variables must be found separately and staged. The trajectory search is accomplished in the restricted allowable zone composed by superposing an area inside the external and internal boundaries, based on keeping safe distances, excluding areas for moving obstacles. Thus, this study compares two models that use two and three nodal DOF on optimization quality, stability, and rapidity in real-time applications. The simulation example shows numerous graph results of geometric and kinematic parameters with smoothed curves up to the highest derivatives. Finally, the conclusions are made on the efficiency and quality of prognosis, outlining the similarities and differences between the two applied models.

Numerical quadrature for the Prandtl Meyer function at high temperature with application for air in nozzles

When the stagnation temperature of the combustion chamber or ambient air increases, the specific heats and their ratio do not remain constant any more, and start to vary with this temperature. The gas remains perfect, except, it will be calorically imperfect and thermally perfect. A new generalized form of the Prandtl Meyer function is developed, by adding the effect of variation of this temperature, lower than the threshold of dissociation. The new relation is presented in the form of integral of a complex analytical function, having an infinite derivative at the critical temperature. A robust numerical integration quadrature is presented in this context. The classical form of the Prandtl Meyer function of a perfect gas becomes a particular case of the developed form. The comparison is made with the perfect gas model for aim to present a limit of its application. The application is for air.

A General Procedure to Formulate 3D Elements for Finite Element Applications

This paper presents a general procedure to formulate and implement 3D elements of arbitrary order in meshes with multiple element types. This procedure includes obtaining shape functions and integration quadrature and establishing an approach for checking the generated element’s compatibility with adjacent elements’ surfaces. This procedure was implemented in Matlab, using its symbolic and graphics toolbox, and complied as a GUI interface named ShapeGen3D to provide finite element users with a tool to tailor elements according to their analysis needs. ShapeGen3D also outputs files with the element formulation needed to enable users to implement the generated elements in other programming languages or through user elements in commercial finite element software. Currently, finite element (FE) users are limited to employing element formulation available in the literature, commercial software, or existing element libraries. Thus, the developed procedure implemented in ShapeGen3D offers FEM users the possibility to employ elements beyond those readily available. The procedure was tested by generating the formulation for a brick element, a brick transition element, and higher-order hexahedron and tetrahedron elements that can be used in a spectral finite element analysis. The formulation obtained for the 20-node element was in perfect agreement with the formulation available in the literature. In addition, the results showed that the interpolation condition was met for all the generated elements, which provides confidence in the implementation of the process. Researchers and educators can use this procedure to efficiently develop and illustrate three-dimensional elements.

Hygrothermally-Induced Vibration Analysis of Porous FGM Rectangular Mindlin Plates Resting on Elastic Foundation

The nonlinear vibration response of rectangular plates made of functionally graded porous materials (FGPs) induced by hygrothermal loading is investigated in this article using a numerical approach. The effect of elastic foundation on the vibrations is taken into account according to the Winkler–Pasternak model. Hygroscopic stresses produced due to nonlinear rise in moisture concentration are also considered. The temperature-dependent material properties of plate are computed based on the modified Voigt’s rule of mixture and Touloukian experiments for even and uneven distribution patterns of porosity. Within the framework of the first-order shear deformation plate theory and von-Kármán nonlinearity, Hamilton’s principle is utilized in order to derive the equations of motions. To achieve the temporal evolution of maximum lateral deflection of hygrothermally-induced plates, the generalized differential quadrature (GDQ) and Newmark integration methods are employed. Selected numerical results are presented to study the influences of temperature distribution, porosity volume fraction, moisture concentration, geometrical parameters, elastic foundation parameters and FG index on the geometrically nonlinear vibrations of FG porous plates with various boundary conditions.

Novel Quadrature-Element Analysis of Plane Stress Elastoplasticity

A novel quadrature element for performing plane stress elastoplastic analysis is introduced in this paper. Differing from the popular finite-element method, the quadrature-element method (QEM) first evaluates the integration in the weak-form statement of the problem by an integral quadrature scheme, and then approximates the differentiation at the discrete integration points by the differential quadrature analog. As a result, the QEM avoids construction of shape functions and obtains higher-order elements easily by just increasing the order of integration. The usage of higher-order elements leads to more accurate solutions and coarser geometric meshes without detriment to the computational scale because the number of degrees of freedom is maintained. In addition, the element nodes in the QEM are the same as the integration points that possess physical meanings such as strains and stresses, which is crucial in the elastoplastic analysis for determining the elastic/plastic state of the nodes. A straightforward elastoplastic quadrature-element formulation is developed. Incremental-iterative and return mapping solution schemes are adopted to implement the quadrature element for the elastoplastic analysis. Numerical examples are presented to demonstrate the effectiveness and high accuracy of the proposed approach.

Using Inverse Dynamics Technique in Planning Autonomous Vehicle Speed Mode Considering Physical Constraints

The study aims at improving the technique of planning the autonomous vehicles’ (AV) speed mode based on a kinematic model with physical restrictions. A mathematical model relates the derivatives of kinematic parameters with ones of the trajectory’s curvature. The inverse approach uses an expanded vehicle model considering the distribution of vertical reactions, wheels’ longitudinal reactions according to a drive type, and lateral forces ensuring motion stability. For analysis of the drive type, four options are proposed: front-wheel drive (FWD), rear-wheel drive (RWD), permanent engaged all-wheel drive (AWD), and 4-wheel drive with torque vectoring (4WD-TV). The optimization model is also built by the inverse scheme. The longitudinal speed’s higher derivatives are modeled by the finite element (FE) functions with nodal unknowns. The sequential integrations ensure the optimality and smoothness of the third derivative. The kinematic restrictions are supplemented by the tire-road critical slip states. Sequential quadratic programming (SQP) and the Gaussian N-point scheme for quadrature integration are used to minimize the objective function. The simulation results show a significant difference in the mode forecasts between four types of AV drives at the same initial conditions. This technique allows redistributing the traction forces strictly according to the wheels’ adhesion potentials and increases the optimization performance by about 40% compared to using the kinematic model based on the same technique without physical constrains.

A finite element approach for nonlinear, transient heat conduction problems with convection, radiation or contact boundary conditions

Heat conduction problems with convection and/or radiation boundary conditions arise in nuclear and other engineering fields. This paper presents a finite element approach to solve transient, three-dimensional (3-D), nonlinear heat conduction problems using quadratic tetrahedral elements with area/volume coordinates and quadrature integrations. Boundary conditions modeled include surface convection, to-ambient radiation, and surface-to-surface radiation (using the radiosity matrix method, RMM). Instead of the commonly used hemi-cube method, L′Huilier’s theorem is used here to calculate view factors. Contact constraints are also imposed. Interface condition is set up for the interfaces of different material. The one- and two-step backward differentiation are used for time integration. Nonlinearities introduced by temperature-dependent material thermal properties and the Stefan–Boltzmann law for radiation are handled using the Picard and/or Newton–Raphson methods. The convergence rate of the numerical scheme is verified using an analytical solution obtained using the method of manufactured solutions (MMS). Several practical cases are simulated, including that of two spheres in contact with each other, and results are compared to those obtained using commercial codes.