Subdivision Surfaces: A New Paradigm For Thin-Shell Finite ... · 4. Subdivision Surfaces •...

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Subdivision Surfaces: A NewParadigm For Thin-ShellFinite-Element Analysis

By Fehmi Cirak, Michael Ortiz, Peter SchröderCalifornia Institute of Technology

Presented by Michael Gatto

Supervised by Daniel Bielser

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Overview

1. The problem with thin-shell finite-elementanalysis

2. Physics of thin-shells

3. Finite element discretization4. Subdivision surfaces5. Examples, convergence of method

6. Conclusions7. My evaluation

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1. Thin Shell DeformationsThe Problem

• Undeformed shell, deformed shell,finite element analysis

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Thin-Shell Surface Problem

• Difficult to create C1 continuity betweenElements of the limit surface of a shell

• Shell must have a finite Kirchhoff-Loveenergy

• Usual methods include derivatives, lead tohigh order polynomials, difficult to calculateand physical limitations

• Purpose of paper: present a method thatleads to the desired C1 continuity.

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2. Physics of deformation in Thin-Shell• Energies involved in a deformation:

- Strain of the shell (elasticity)

- Variation of the bending of the shell

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Physics of deformation in Thin-ShellThe physical formulas used to express this:

)(21

jijiij aaaa −=α Strain tensor

βαβααβ θθβ

∂∂−

∂∂= 33 a

aa

a Bending strain

),,

2,1,,3,2,1,

,

32 θθθβα

1(components3Dtheare

lyrespectiveshelldeformed

andundeformedinvectorsbasisarewhere

∈∈ji

aa

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… the two deformation tensors can beexpressed as a function of the not deformedcoordinates and the displacement functions,which will be ideal for the finite-elementanalysis.

Physics of deformation in Thin-Shell

Since the deformed shell is the undeformed shellplus a deformation function (linearization), i.e.

functionntdisplacemeis

ion,configuratundeformedtheand

deformedtheinscoordinatetheare,where

u

xx

uxx ),(),(),( 212121 θθθθθθ +=

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Equilibrium in the Deformation

• The energy density of the shell is a function ofthe previously defined α and β;

• The potential energy of the shell thus is

• The potential energy of the applied load is

where q are applied loads, N axial forces onboundary

∫Ω

Ω=Φ dWu ),(][int βα

∫∫Ω∂Ω

⋅−Ω⋅−=Φ udsNudquext ][

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• In a stable configuration the sum of the potentialenergies must be minimal (physics)

• Potential energy:We minimize it according to Euler-Lagrangeequations

• “Statement of the principle of virtual work”:Actio=Reactio principle, force caused by shelldeformation must be compensated by the forcecaused by the loads.

Equilibrium in the Deformation

][][][ int uuu extΦ+Φ=Φ

0],[],[],[ extint =⟩Φ⟨+⟩Φ⟨=⟩Φ⟨ uuDuuDuuD δδδ

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• Build a mesh on the shell, choose base function• The discretization leads to the expression:

• Done as sum over the elements• K and f involve the evaluation of an integral• Integrals can be computed with a quadrature rule• Authors use a one-point quadrature rule, which is

said to achive a sufficient precision for thisanalysis.

3. Finite-Element Discretization

hhh fuK =⋅

K is the energy of the shell

u is displacement field (array)

f is external force applied to theshell

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4. Subdivision Surfaces

• Construction of a smooth surface• Done by repeated subdivision of a given

mesh• New nodes created at every subdivision• Coordinates of nodes at step k+1 are

computed as linear combination of nodes atstep k

• Good choice of weights produce a smoothlimit surface(H2 integrability, C1 continuity)

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Subdivision Schemes: Why?

• 1D case easy to build Cn continuity throughpolynomial interpolation

• 2D surfaces: C2 smoothness requires up to6th order polynomials

• Difficulties arise when handling cross-patchsmoothness

• Approximation scheme: C2 continuity=> subdivision surfaces are advantageous!

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Subdivision Scheme: Loop

• Subdivision for triangulated meshes donewith Loop’s scheme, although every strategycould be used

• Leads to quadrisection of every triangle

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Loop’s Scheme

=>

=

+−=

Choice)s(Warren'

(Loop)

3,

3,

])cos(([

163

83

2241

83

851

N

Nw

w

N

NNπ

8

33 1101kI

kI

kI

kkI

xxxxx +−+ +++=

kN

kkk wxwxxNwx +++−=+ ...)1( 101

0

where

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Loop’s Scheme: Examples

Loop on a Distributor Cap mesh

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Loop’s Scheme: Examples

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• The convergence of this method can beproven using a two vertex neighbourhood.

• Calculation of limit position of vertices using aone vertex neighbourhood:

Convergence of limit surface

vertex.ofvalenceisNwhereLet ),,...,,( 10kN

kkk xxxx =kkk xSxx ⋅=++ 11 asexpresscanWe

S is a matrix expressing the Loop relationship.Computation of limit configuration of vertices (k→∞)

ionconfiguratstart00 ,)( xxSx ⋅= ∞∞

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Convergence of limit surface0)( xSx ⋅= ∞∞ Since λ0=1, λ i≤1 for all i≠0,

S∞ converges to a limit.

Using eigenvalue/eigenvector decomposition, it can beshown that :

Nl

lllNL

w +=

⋅−=

83

0

1

),,...,,1(

where

00 XLX ⋅=∞

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• Similar consideration for all the limit valuesneeded in the FE computation(tangents on shell, surface normal)

• Advantage: computation of limit configuration ofvertices and other primitives is possible at everystep k of the refinement, i.e. when one hasachieved the desired mesh subdivision.

• Convergence (regular patches, i.e. valence 6 ateach vertex) to a quartic box Spline on everypatch.

Convergence of limit surface

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Evaluations in an Element

• We need to compute values of points andderivates inside an element (FE Analysis).

• For regular patches (vertices with valence 6):

ii

ih

ii

i

uNu

xNx

⋅=

⋅=

∑

∑

=

=

),(),(

),(),(

2112

1

21

2112

1

21

θθθθ

θθθθ

N spline shape functions

x,u vertex coordinates and displacements of neighbourhood

x(θ1,θ2).

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• Irregular patches: subdivide the element withLoop’s scheme until the searched point isknown to be in a regular sub-patch, thencompute as before (with adapted parameters)

Evaluations in an Element

x(θ1,θ2).

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Implementation and computation

1. One subdivision step (Max one irregular vertex per patch)

2. Introduction of artificial nodes at boundary3. Find 1-neighbourhood of vertices

4. Create local coordinates on irregular patches5. Create stiffness matrix and force array

6. Introduce displacement boundaries7. Solve system of equations (finite elements)

8. Compute limit position of nodes (sub. surfaces)

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5. Examples and convergence

• The method is compared with two otherapproaches.

• A bound for a finite-element solution isknown to exist.

• For the examples shown in the following, ananalytical solution is known, thus we cananalyse the “goodness” of this approachwith the exact solution as well.

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Rectangular Plate

A typical mesh on such a plate

Irregular vertices are present

Uniform load on the shell

ClampedBoundary

SimplySupportedBoundary

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Pinched Cylinder

• Cylinder with unit loadsapplied on a mash point

• Loads diametricallyopposed

• Due to subdivision schemethe loads spread overseveral points.

• The total weight ismaintained

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• Method converges to the optimal solution

• Convergence is faster than two other methods

Pinched Cylinder

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• Surface cannot betriangulated withoutirregular nodes

• Generalizationsneeded

• Hard Test :Generic Box-SplineApproach not possible

Hemispherical Shell

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Hemispherical Shell

• Surface converges optimally for this irregular meshas well, even if standard approach is not possible

• Important that no parasitic strains appear.

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• Use of subdivision surfaces for description ofundeformed and deformed shell

• Method takes care of physical considerations(finite Kirchhoff-Love energy)

• Loop scheme: provable local convergence• Smoothness between elements without using

derivatives

• Finite element analysis on same mesh assubdivision (no additional triangulation error)

6. Conclusions

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• Displacement field depends not only fromelement vertices, but from the1-Neighbourhood as well

• Simple quadrature for finite-elements issufficient

• Convergence is optimal in the finite elementsense

• Method is applicable as well for othersubdivision rules, not only for Loop scheme

Conclusions

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7. My Opinion

• Easy to implement (easier than consideringderivatives, mask existence, no particulardata structures)

• No double meshes needed

• Respects physical laws

• How other schemes really behave

• Behaviour with not linearized Kinematics

It would be interesting to see…

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Questi

ons ?

][][][ extint uuu Φ+Φ=Φ

Kirchhoff-Love Energy

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• Finite Elements for thin Shells and curved Members, Edited byD.G.Ashwell and R.H.Gallagher, John Wiley and sons, London1976

• R. E. White: An introduction to the finite element method withapplications to nonlinear problems

• Leif Kobblet: Subdivision Techniques for Curve and SurfaceGeneration

• Siggraph Subdivision Course notes 2000:http://www.multires.caltech.edu/pubs/sig00notes.pdfhttp://www.mrl.nyu.edu/dzorin/sig00course/coursenotes00.pdf

• Integrated Modeling, Finite-Element Analysis, and EngineeringDesign for Thin-Shell Structures using Subdivisionby Fehmi Cirak, Michael J. Scott, Erik K. Antonsson, MichaelOrtiz, Peter Schröderhttp://www.multires.caltech.edu/pubs/design.pdf

References