Thin and slender structures are widely occurring both in nature and in human creations. Clever geometries of thin structures can produce strong constructions while requiring a minimal amount of material. Computer modeling and analysis of thin and slender structures have their own set of problems, stemming from assumptions made when deriving the governing equations. This thesis deals with the derivation of numerical methods suitable for approximating solutions to problems on thin geometries. It consists of an introduction and four papers. In the first paper we introduce a thread model for use in interactive simulation. Based on a three-dimensional beam model, a corotational approach is used for interactive simulation speeds in combination with adaptive mesh resolution to maintain accuracy. In the second paper we present a family of continuous piecewise linear finite elements for thin plate problems. Patchwise reconstruction of a discontinuous piecewise quadratic deflection field allows us touse a discontinuous Galerkin method for the plate problem. Assuming a criterion on the reconstructions is fulfilled we prove a priori error estimates in energy norm and L2-norm and provide numerical results to support our findings. The third paper deals with the biharmonic equation on a surface embedded in R3. We extend theory and formalism, developed for the approximation of solutions to the Laplace-Beltrami problem on an implicitly defined surface, to also cover the biharmonic problem. A priori error estimates for a continuous/discontinuous Galerkin method is proven in energy norm and L2-norm, and we support the theoretical results by numerical convergence studies for problems on a sphere and on a torus. In the fourth paper we consider finite element modeling of curved beams in R3. We let the geometry of the beam be implicitly defined by a vector distance function. Starting from the three-dimensional equations of linear elasticity, we derive a weak formulation for a linear curved beam expressed in global coordinates. Numerical results from a finite element implementation based on these equations are compared with classical results.

This thesis develops strain and kinetic energy functions and a finite beam element useful for analyzing curved beams which go through large deflections, such as a hockey stick being swung and bent substantially as it hits the ice. The resulting beam model is demonstrated to be rotation invariant and capable of computing the correct strain energy and reaction forces for a specified deformation. A method is also described by which the model could be used to perform static or dynamic simulations of a beam.

This thesis develops strain and kinetic energy functions and a finite beam element useful for analyzing curved beams which go through large deflections, such as a hockey stick being swung and bent substantially as it hits the ice. The resulting beam model is demonstrated to be rotation invariant and capable of computing the correct strain energy and reaction forces for a specified deformation. A method is also described by which the model could be used to perform static or dynamic simulations of a beam.

In this study, a laminated glass unit which consists of two glass sheets bonded together by PVB is analyzed as a curved beam and as a cylindrical shell. Laminated glass curved beams and shells are used in architecture, aerospace, automobile and aircraft industries. Curved beam and shell structures differ from straight structures because of their initial curvature. Because of mathematical complexity most of the studies are about linear behavior rather than nonlinear behavior of curved beam and shell units. Therefore it is necessary to develop a mathematical model considering large deflection theory to analyze the behavior of curved beams and shells. Mechanical behavior of laminated glass structures are complicated because they can easily perform large displacement since they are very thin and the materials with the elastic modulus have order difference. To be more precise modulus of elasticity of glass is about 7*104 times greater than the modulus of elasticity of PVB interlayer. Because of the nonlinearity, analysis of the laminated glass has to be performed by considering large deflection effects. The mathematical model is developed for curved beams and shells by applying both the variational and the minimum potential energy principles to obtain nonlinear governing differential equations. The iterative technique is employed to obtain the deflections. Computer programs are developed to analyze the behavior of cylindrical shell and curved beam. For the verification of the results obtained from the developed model, the results from finite element models and experiments are used. Results used for verification of the model and the explanation of the bahavior of the laminated glass curved beams and shells are presented in figures.

abstract: The focus of this investigation is on the renewed assessment of nonlinear reduced order models (ROM) for the accurate prediction of the geometrically nonlinear response of a curved beam. In light of difficulties encountered in an earlier modeling effort, the various steps involved in the construction of the reduced order model are carefully reassessed. The selection of the basis functions is first addressed by comparison with the results of proper orthogonal decomposition (POD) analysis. The normal basis functions suggested earlier, i.e. the transverse linear modes of the corresponding flat beam, are shown in fact to be very close to the POD eigenvectors of the normal displacements and thus retained in the present effort. A strong connection is similarly established between the POD eigenvectors of the tangential displacements and the dual modes which are accordingly selected to complement the normal basis functions. The identification of the parameters of the reduced order model is revisited next and it is observed that the standard approach for their identification does not capture well the occurrence of snap-throughs. On this basis, a revised approach is proposed which is assessed first on the static, symmetric response of the beam to a uniform load. A very good to excellent matching between full finite element and ROM predicted responses validates the new identification procedure and motivates its application to the dynamic response of the beam which exhibits both symmetric and antisymmetric motions. While not quite as accurate as in the static case, the reduced order model predictions match well their full Nastran counterparts and support the reduced order model development strategy. / Dissertation/Thesis / M.S. Mechanical Engineering 2011

This thesis introduces a novel parametric beam model for describing the kinematics and elastic properties of ortho-planar compliant Micro-Electro-Mechanical Systems (MEMS) with straight beams subject to specific buckling loads. Ortho-planar MEMS have the ability to achieve motion out the plane on which they were fabricated, characteristic that can be used to integrate optical devices such as variable optical attenuators and micro-mirrors. In addition, ortho-planar MEMS with large output forces and long strokes could be used to develop new applications such as tactile displays, active Braille, and actuation of micro-mirrors. In order to analyze the kinematics and elasticity of a curved beam contained in a Micro Helico-Kinematic Platform (MHKP) device, this thesis offers an improved model of straight and curved flexures under compressive loads. This model uses an approach similar to the one applied to develop a regular Pseudo-Rigid -Body Model but it differs in the definition of a key parameter, the characteristic radius factor, γ, which is not a constant, but a function of the moment, γ*=γ(M) . This approach allows for the Pseudo-Rigid-Body Model (PRBM) to describe the motion taken by the deflected beam precisely over a large range of motion. In developing the model, this thesis describes kinematic and elastic parameters such as the angle coefficient, C9, the characteristic radius, γl, and the torque coefficient, Tθ. Furthermore, the torque coefficient is divided into two component functions, Tf, and, Tm, which can be used to find the working loads (force and moment) on the beam. The input displacement is the only needed state variable, object variables, which describe the beam, include the material modulus of elasticity, E, the moment of inertia, I, and its length, l.

A study of a thin-walled curved rectangular box beam under torsion and out-of-plane bending is documented in this thesis. A new one-dimensional theory that takes into account warping and distortion in the beam cross-sections is the main focus. Existing available theories for thin-walled curved beams lack rigorous theoretical development, and most have ignored the effects of warping and distortion. A higher order theory including two additional degrees of freedom corresponding to warping and distortion was derived. The conventional three degrees of freedom model was compared with the new five degrees of freedom model. The variation of beam thickness to control and decrease the high distortion variable is investigated.

This thesis presents a geometrically exact curved beam theory, with the assumption that the cross-section remains rigid, and its finite element formulation/implementation. The theory provides a theoretical view and an exact and efficient means to handle a large range of nonlinear beam problems. A geometrically exact curved/twisted beam theory, which assumes that the beam cross-section remains rigid, is re-examined and extended using orthonormal reference frames starting from a 3-D beam theory. The relevant engineering strain measures at any material point on the current beam cross-section with an initial curvature correction term, which are conjugate to the first Piola-Kirchhoff stresses, are obtained through the deformation gradient tensor of the current beam configuration relative to the initially curved beam configuration. The Green strains and Eulerian strains are explicitly represented in terms of the engineering strain measures while other stresses, such as the Cauchy stresses and second Piola-Kirchhoff stresses, are explicitly represented in terms of the first Piola-Kirchhoff stresses and engineering strains. The stress resultant and couple are defined in the classical sense and the reduced strains are obtained from the three-dimensional beam model, which are the same as obtained from the reduced differential equations of motion. The reduced differential equations of motion are also re-examined for the initially curved/twisted beams. The corresponding equations of motion include additional inertia terms as compared to previous studies. The linear and linearized nonlinear constitutive relations with couplings are considered for the engineering strain and stress conjugate pair at the three-dimensional beam level. The cross-section elasticity constants corresponding to the reduced constitutive relations are obtained with the initial curvature correction term. For the finite element formulation and implementation of the curved beam theory, some basic concepts associated with finite rotations and their parametrizations are first summarized. In terms of a generalized vector-like parametrization of finite rotations under spatial descriptions (i.e., in spatial forms), a unified formulation is given for the virtual work equations that leads to the load residual and tangent stiffness operators. With a proper explanation, the case of the non-vectorial parametrization can be recovered if the incremental rotation is parametrized using the incremental rotation vector. As an example for static problems, taking advantage of the simplicity in formulation and clear classical meanings of rotations and moments, the non-vectorial parametrization is applied to implement a four-noded 3-D curved beam element, in which the compound rotation is represented by the unit quaternion and the incremental rotation is parametrized using the incremental rotation vector. Conventional Lagrangian interpolation functions are adopted to approximate both the reference curve and incremental rotation of the deformed beam. Reduced integration is used to overcome locking problems. The finite element equations are developed for static structural analyses, including deformations, stress resultants/couples, and linearized/nonlinear bifurcation buckling, as well as post-buckling analyses of arches subjected to conservative and non-conservative loads. Several examples are used to test the formulation and the Fortran implementation of the element. / Master of Science

The modified mapping-collocation (MMC) method is applied to analyze a circumferential crack in an isotropic curved beam. Based on the method a MATLAB code was developed to obtain the stress field. Incorporating the stress correlation technique, the opening and sliding fracture mode stress intensity factors (SIF)s of the crack for the beam under pure bending moment load case are calculated. The MMC method aims to solve two-dimensional problems of linear elastic fracture mechanics (LEFM) by combining the power of analytic tools of complex analysis (Muskhelishvili formulation, conformal mapping, and extension arguments) with simplicity of applying the boundary collocation method as a numerical solution approach. Qualitatively, a good agreement between the computed stress contours and the fringe shapes obtained from the photoelastic experiment on a plexiglass specimen is observed. Quantitatively, the results are compared with that of ANSYS finite element analysis software. The effect of crack size, crack position and beam thickness variation on SIF values and mode mixity is investigated.

Uncertainties in load and system properties play a significant role in reliability analysis of vibrating structural systems. The subject of random vibrations has evolved over the last few decades to deal with uncertainties in external loads. A well developed body of literature now exists which documents the status of this subject. Studies on the influ­ence of system property uncertainties on reliability of vibrating structures is, however, of more recent origin. Currently, the problem of dynamic response characterization of sys­tems with parameter uncertainties has emerged as a subject of intensive research. The motivation for this research activity arises from the need for a more accurate assess­ment of the safety of important and high cost structures like nuclear plant installations, satellites and long span bridges. The importance of the problem also lies in understand­ing phenomena like mode localization in nearly periodic structures and deviant system behaviour at high frequencies. It is now well established that these phenomena are strongly influenced by spatial imperfections in the vibrating systems. Design codes, as of now, are unable to systematically address the influence of scatter and uncertainties. Therefore, there is a need to develop robust design algorithms based on the probabilistic description of the uncertainties, leading to safer, better and less over-killed designs. Analysis of structures with parameter uncertainties is wrought with diffi­culties, which primarily arise because the response variables are nonlinearly related to the stochastic system parameters; this being true even when structures are idealized to display linear material and deformation characteristics. The problem is further com­pounded when nonlinear structural behaviour is included in the analysis. The analysis of systems with parameter uncertainties involves modeling of random fields for the system parameters, discretization of these random fields, solutions of stochastic differential and algebraic eigenvalue problems, inversion of random matrices and differential operators, and the characterization of random matrix products. It should be noted that the mathematical nature of many of these problems is substantially different from those which are encountered in the traditional random vibration analysis. The basic problem lies in obtaining the solution of partial differential equations with random coefficients which fluctuate in space. This has necessitated the development of methods and tools to deal with these newer class of problems. An example of this development is the generalization of the finite element methods of structural analysis to encompass problems of stochastic material and geometric characteristics. The present thesis contributes to the development of methods and tools to deal with structural uncertainties in the analysis of vibrating structures. This study is a part of an ongoing research program in the Department, which is aimed at gaining insights into the behaviour of randomly parametered dynamical systems and to evolve computational methods to assess the reliability of large scale engineering structures. Recent studies conducted in the department in this direction, have resulted in the for­mulation of the stochastic dynamic stiffness matrix for straight Euler-Bernoulli beam elements and these results have been used to investigate the transient and the harmonic steady state response of simple built-up structures. In the present study, these earlier formulations are extended to derive the stochastic dynamic stiffness matrix for a more general beam element, namely, the curved Timoshenko beam element. Furthermore, the method has also been extended to study the mean and variance of the stationary response of built-up structures when excited by stationary stochastic forces. This thesis is organized into five chapters and four appendices. The first chapter mainly contains a review of the developments in stochas­tic finite element method (SFEM). Also presented is a brief overview of the dynamics of curved beams and the essence of the dynamic stiffness matrix method. This discussion also covers issues pertaining to modeling rotary inertia and shear deformations in the study of curved beam dynamics. In the context of SFEM, suitability of different methods for modeling system uncertainties, depending on the type of problem, is discussed. The relative merits of several schemes of discretizing random fields, namely, local averaging, series expansions using orthogonal functions, weighted integral approach and the use of system Green functions, are highlighted. Many of the discretization schemes reported in the literature have been developed in the context of static problems. The advantages of using the dynamic stiffness matrix approach in conjunction with discretization schemes based on frequency dependent shape functions, are discussed. The review identifies the dynamic analysis of structures built-up of randomly parametered curved beams, using dynamic stiffness matrix method, as a problem requiring further research. The review also highlights the need for studies on the treatment of non-Gaussian nature of system parameters within the framework of stochastic finite element analysis and simulation methods. The problem of deterministic analysis of curved beam elements is consid­ered first. Chapter 2 reports on the development of the dynamic stiffness matrix for a curved Timoshenko beam element. It is shown that when the beam is uniformly param-etered, the governing field equations can be solved in a closed form. These closed form solutions serve as the basis for the formulation of damping and frequency dependent shape functions which are subsequently employed in the thesis to develop the dynamic stiffness matrix of stochastically inhomogeneous, curved beams. On the other hand, when the beam properties vary spatially, the governing equations have spatially varying coefficients which discount the possibility of closed form solutions. A numerical scheme to deal with this problem is proposed. This consists of converting the governing set of boundary value problems into a larger class of equivalent initial value problems. This set of Initial value problems can be solved using numerical schemes to arrive at the element dynamic stiffness matrix. This algorithm forms the basis for Monte Carlo simulation studies on stochastic beams reported later in this thesis. Numerical results illustrating the formulations developed in this chapter are also presented. A satisfactory agreement of these results has been demonstrated with the corresponding results obtained from independent finite element code using normal mode expansions. The formulation of the dynamic stiffness matrix for a curved, randomly in-homogeneous, Timoshenko beam element is considered in Chapter 3. The displacement fields are discretized using the frequency dependent shape functions derived in the pre­vious chapter. These shape functions are defined with respect to a damped, uniformly parametered beam element and hence are deterministic in nature. Lagrange's equations are used to derive the 6x6 stochastic dynamic stiffness matrix of the beam element. In this formulation, the system property random fields are implicitly discretized as a set of damping and frequency dependent Weighted integrals. The results for a straight Timo- shenko beam are obtained as a special case. Numerical examples on structures made up of single curved/straight beam elements are presented. These examples also illustrate the characterization of the steady state response when excitations are modeled as stationary random processes. Issues related to ton-Gaussian features of the system in-homogeneities are also discussed. The analytical results are shown to agree satisfactorily with corresponding results from Monte Carlo simulations using 500 samples. The dynamics of structures built-up of straight and curved random Tim-oshenko beams is studied in Chapter 4. First, the global stochastic dynamic stiffness matrix is assembled. Subsequently, it is inverted for calculating the mean and variance, of the steady state stochastic response of the structure when subjected to stationary random excitations. Neumann's expansion method is adopted for the inversion of the stochastic dynamic stiffness matrix. Questions on the treatment of the beam characteris­tics as non-Gaussian random fields, are addressed. It is shown that the implementation of Neumann's expansion method and Monte-Carlo simulation method place distinc­tive demands on strategy of modeling system parameters. The Neumann's expansion method, on one hand, requires the knowledge of higher order spectra of beam properties so that the non-Gaussian features of beam parameters are reflected in the analysis. On the other hand, simulation based methods require the knowledge of the range of the stochastic variations and details of the probability density functions. The expediency of implementing Gaussian closure approximation in evaluating contributions from higher order terms in the Neumann expansion is discussed. Illustrative numerical examples comparing analytical and Monte-Carlo simulations are presented and the analytical so­lutions are found to agree favourably with the simulation results. This agreement lends credence to the various approximations involved in discretizing the random fields and inverting the global dynamic stiffness matrix. A few pointers as to how the methods developed in the thesis can be used in assessing the reliability of these structures are also given. A brief summary of contributions made in the thesis together with a few suggestions for further research are presented in Chapter 5. Appendix A describes the models of non-Gaussian random fields employed in the numerical examples considered in this thesis. Detailed expressions for the elements of the covariance matrix of the weighted integrals for the numerical example considered in Chapter 5, are presented in Appendix B; A copy of the paper, which has been ac­cepted for publication in the proceedings of IUTAM symposium on 'Nonlinearity and Stochasticity in Structural Mechanics' has been included as Appendix C.