MANE 4240 & CIVL 4240

Introduction to Finite Elements

Prof. Suvranu De

Numerical Integration in 2D
Reading assignment:

Lecture notes, Logan 10.4

Summary:

• Gauss integration on a 2D square domain

• Integration on a triangular domain
• Recommended order of integration
• “Reduced” vs “Full” integration; concept of “spurious” zero
energy modes/ “hour-glass” modes
 1D quardrature rule recap
M
I   f ( ) d   Wi f ( i )
1

1
i 1

Weight Integration point

Choose the integration points and weights to maximize accuracy

Newton-Cotes Gauss quadrature
1. ‘M’ integration points are 1. ‘M’ integration points are
necessary to exactly integrate necessary to exactly integrate a
a polynomial of degree ‘M-1’ polynomial of degree ‘2M-1’
2. More expensive 2. Less expensive
3. Exponential convergence,
error proportional to  1  2 M
 
 2M 
Example f


f  1/ 3  
f 1/ 3 

-1  1/ 3 1/ 3 1

A 2-point Gauss quadrature rule

1 1 1
 1
f ( ) d  f (
3
)  f (
3
)

is exact for a polynomial of degree 3 or less

 2D square domain
t 1  1 1 
 1 1   , 
  ,  1  3 3
 3 3
1 1
1 I   f ( s, t ) dsdt
1 1
s
1
 1 1   1 1 
  ,   , 
 3 3  3 3
1 1
I   f ( s, t ) dsdt
1 1

M 
    W j f ( s, t j )  ds Using 1D Gauss rule to integrate along ‘t’
1

1
 j 1 
M M
  WiW j f ( s i , t j ) Using 1D Gauss rule to integrate along ‘s’
i 1 j 1
M M
  Wij f ( si , t j ) Where Wij =Wi Wj
i 1 j 1
For M=2

2 2
I   Wij f ( si , t j ) Wij =Wi Wj=1
i 1 j 1

1 1 1 1 1 1 1 1
 f( , )  f ( , )  f ( , ) f( , )
3 3 3 3 3 3 3 3

Number the Gauss points IP=1,2,3,4

W
1 1
I   f ( s, t ) dsdt  IP f IP
1 1
IP 1
 The rule
M M
f ( s, t ) dsdt   Wij f ( si , t j )
1 1
I  
1 1
i 1 j 1

Uses M2 integration points on a nonuniform grid inside the

parent element and is exact for a polynomial of degree (2M-1)
i.e.,
exact M M

Wij si t j
1 1
 
   
s t dsdt  for     2M  1
1 1
i 1 j 1

A M2 –point rule is exact for a complete polynomial of degree (2M-1)

 1 1
CASE I: M=1 (One-point GQ rule) I 
 
1 1
f ( s, t ) dsdt  4 f (0,0)

t is exact for a product of two

1 1 linear polynomials
s1=0, t1=0
W1= 4
1
s
1
 CASE II: M=2 (2x2 GQ rule)

t  1 1 
 1 1   , 
  ,  1 1  3 3
 3 3

1
s
1
 1 1   1 1 
  ,   , 
 3 3  3 3
2 2
I   Wij f ( si , t j )
i 1 j 1

1 1 1 1 1 1 1 1
 f( , )  f ( , )  f ( , ) f( , )
3 3 3 3 3 3 3 3
is exact for a product of two
cubic polynomials
CASE III: M=3 (3x3 GQ rule)

t
1 1
64
W1  ,
3 6 2 81
3
1 1 9 25
7 5 W  W3  W4  W5 
3 s 2 81
1 4 8 5 5 40
W6  W7  W8  W9 
81
3 3
5 5

3 3
f ( s, t ) dsdt   Wij f ( si , t j )
1 1
I  
1 1
i 1 j 1

is exact for a product of two 1D polynomials of degree 5

 Examples
If f(s,t)=1
1 1
I   f ( s, t ) dsdt  4
1 1
A 1-point GQ scheme is sufficient
If f(s,t)=s
1 1
I   f ( s, t ) dsdt  0
1 1

A 1-point GQ scheme is sufficient

If f(s,t)=s2t2
1 1 4
I   f ( s, t ) dsdt 
1 1 9
A 3x3 GQ scheme is sufficient
 2D Gauss quadrature for triangular domains

Remember that the parent element is a right angled triangle with unit
sides
t The type of integral encountered
1 1t
I   f ( s, t ) dsdt
t 0 s 0
1
t 1 1t
s=1-t t s I   f ( s, t ) dsdt
t 0 s 0
1 M
  WIP f IP
IP 1
Constraints on the weights
if f(s,t)=1

1 1t 1
I    f ( s, t ) dsdt 
t 0 s 0 2
M
  WIP
IP 1
M
1
  WIP 
IP 1 2
 Example 1. A M=1 point rule is exact for a polynomial
f ( s, t ) ~ 1
s t
t

1/3 1 1 1
1
I  f , 
2  3 3
1/3
s
1
Why?
Assume
f ( s, t )   1   2 s   3 t
Then
1 1t 1 1 1
t 0 s0 f (s, t ) dsdt  2 1  3! 2  3! 3
But
1 1t
 
t 0 s 0
f ( s, t ) dsdt  W1 f ( s1 , t1 )
1 1 1
  1   2   3  W1   1   2 s1   3t1 
2 3! 3!
Hence 1 1 1
W1  ; W1 s1  ; W1t1 
2 3! 3!
 Example 2. A M=3 point rule is exact for a complete polynomial
of degree 2 f ( s, t ) ~ 1
s t
s 2 st t2
t
1 1 1 1 1  1  1
1/2 I  f  ,   f  ,0   f  0, 
6 2 2 6 2  6  2
1
1 2
1/2
3
s
1
Example 4. A M=4 point rule is exact for a complete polynomial
of degree 3

t f ( s, t ) ~ 1
s t
(0.2,0.6) (1/3,1/3) s 2 st t2
1 2
1 s 3 s 2 t st 2 t 3
3 4
s
(0.2,0.2)
1(0.6,0.2)

27  1 1  25 25 25
I  f ,  f  0.2,0.6   f  0.2,0.2  f  0.6,0.2
96  3 3  96 96 96
Recommended
order of
integration
“Finite Element
Procedures”
by K. –J. Bathe
“Reduced” vs “Full” integration

Full integration: Quadrature scheme sufficient to provide

exact integrals of all terms of the stiffness matrix if the element
is geometrically undistorted.
Reduced integration: An integration scheme of lower order
than required by “full” integration.

Recommendation: Reduced integration is NOT recommended.

 Which order of GQ to use for full integration?

To computet the stiffness matrix we need to evaluate the following integral

1 1
k    B D B det( J ) dsdt
T

1 1

For an “undistroted” element det (J) =constant

1
Example : 4-noded parallelogram Ni ~ s t
st

B~
1
s t
T
1
B DB ~
s t
s2 st t2
Hence, 2M-1=2
M=3/2
Hence we need at least a 2x2 GQ scheme
Example 2: 8-noded Serendipity element

Ni ~
1
s t
s2 st t2
s2t st2

B~
1
s t
s2 st t2
 T
1
B DB ~
s t
s2 st t2
s3 s2t st2 t3
s4 s3t s2t2 st3 t4

Hence, 2M-1=4
M=5/2

Hence we need at least a 3x3 GQ scheme

Reduced integration leads to rank deficiency of the stiffness matrix
and “spurious” zero energy modes

“Spurious” zero energy mode/ “hour-glass” mode

The strain energy of an element
1 T 1
U  d k d   e  D dV
T

2 2 V

Corresponding to a rigid body mode,   0 U  0

If U=0 for a mode d that is different from a rigid body mode, then
d is known as a “spurious” zero energy mode or “hour-glass” mode

Such a mode is undesirable

 Example 1. 4-noded element

 
NGAUSS
1
U   e  D dV   Wi  D
T T
y i
1 1 2 V i 1

1 Full integration: NGAUSS=4

Element has 3 zero energy (rigid
x body) modes
1
Reduced integration: e.g.,
NGAUSS=1

 T
U  4  D  x 0
y 0
 Consider 2 displacement fields

u  C xy u0
v0 v  C xy

y y

x
x

At x  y  0  x   y   xy  0
U  0

We have therefore 2 hour-glass modes.

Propagation of hour-glass modes through a mesh
 Example 2. 8-noded serendipity element

 
NGAUSS
1
U   e  D dV   Wi  D
T T
y i
1 1 2 V i 1

1 Full integration: NGAUSS=9

Element has 3 zero energy (rigid
x body) modes
1
Reduced integration: e.g.,
NGAUSS=4
 Element has one spurious zero energy mode corresponding to
the following displacement field

u  C x ( y 2  1 / 3)
v  C y ( x 2  1 / 3)
y Show that the strains corresponding to
this displacement field are all zero at the
4 Gauss points
x

Elements with zero energy modes introduce uncontrolled

errors and should NOT be used in engineering practice.