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Corresponding author. Tel.: +66 2 470 9146; fax: +66 2 427 9063.
E-mail address: somchai.chu@kmutt.ac.th (S. Chucheepsakul).
Engineering Structures 68 (2014) 111120
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the natural frequency of a vertical clamped-free cylindrical shell. It
was found that the natural frequency of the cylindrical shell de-
creased when increasing the internal uid height level.
In the eld of offshore work, the applications of an axisymmetric
shell for investigating the behavior of an underwater spherical shell
has received much attention from many researchers [5,6,2831].
Yasuzawa [28] proposed the static and dynamic responses of an
underwater half drop shell by the theory of thin shells of revolution
and nite element method. It was found that the displacement and
membrane stress distribution are uniform along the meridian ex-
cept at the bottom part. Furthermore, the optimal dome shape of
submerged spherical domes has been presented by Vo et al. [29]
and Wang et al. [30]. They proposed the membrane analysis and
minimumweight designof submergedspherical domes. The numer-
ical solutions were obtained using shooting-optimization tech-
nique. It was found that the variation of the shell thickness of
spherical domes can be accurately dened by the rst-nine terms
in the power series for practical applications. Recently, Jiammeep-
reecha et al. [31] adopted the nite element technique used by Goan
[11] in nding the static equilibrium congurations of a deep water
half dropshell withconstraint volume. Inorder tosolve this problem
and obtain the correct solution, the meridian line should be divided
into many nite elements in two sub-regions. At the junction of two
adjacent sub-regions, the function values, displacements and slopes
are made all continuous. The problem can be solved by using the
Lagrange multiplier technique; in the process four Lagrange multi-
pliers are used. To alleviate this difculty, this paper presents a
new technique of discretization by using spherical polar coordi-
nates. The advantage of this discretization technique is that the
meridiancurve is not dividedinto many regions. The meridiancurve
is divided into number of sub-regions with equal arc length. Thus,
the Lagrange multiplier technique is no longer used in this analysis.
The purpose of this paper is to present the nonlinear static anal-
ysis of an axisymmetric membrane shell storage container sub-
jected to hydrostatic pressure and constraint volume of the shell.
Since the geometry of the shell is always axisymmetric, any merid-
ional curve may be considered as the generating curve. Therefore,
the shell is simulated using one-dimensional beam elements and is
described in spherical polar coordinates. Third-order shape func-
tions are used in the nite element formulation. In this study, large
displacements and rotations are considered. Thus, the strain
energy density is expressed as a quadratic function of Lagrangian
strains, and the material behavior is assumed to be linearly elastic.
By using the straindisplacement relations, the strain energy den-
sity is given in terms of displacements and their derivatives. This
problem is formulated in a variational form by using shell theory
[15], and written in the appropriate forms [32] which are intro-
duced in order to reduce the computation time. The principle of
virtual work [33] and nite element method are used to solve
the problem, and then the nonlinear equilibrium equations are de-
rived. These equations are solved by an iterative process. The nal
deformed conguration of the shell is to be determined.
2. Analytical model
Consider the three states of a shell, shown in Fig. 1. At an unde-
formed state, the empty shell without any strains is designated as
the initial unstrained state (IUS). When the initially unstrained axi-
symmetric shell is fully lled with an incompressible uid and the
internal pressure is assumed to be constant, this state is called the
reference state or equilibrium state 1 (ES1), in which the geometric
conguration is known. The initial strains and displaced congura-
tion at the reference state are small and can be determined by tra-
ditional shell analysis [34]. It is noted that the initial unstrained
state and the reference state are the same when the initial strains
are assumed to be zero. Finally, this shell is subjected to several
external loadings such as linearly hydrostatic pressure, uniform
force or imposed displacement. The nal deformed conguration
is to be determined. This state is referred to as the deformed state
or equilibrium state 2 (ES2).
2.1. Shell geometry at the reference state (ES1)
A portion of the shell at reference state (ES1) is shown in Fig. 2.
Let (X, Y, Z) be the rectangular coordinates and
^
i;
^
j;
^
k be the unit
vectors along the coordinate axes. A surface may be dened by
parametric parameters (h, /); that is X = X(h, /), Y = Y(h, /), and
Z = Z(h, /) where (h, /) are the two surface parameters dening
the position of a point on the meridian and longitude, respectively.
These two surface parameters specify the orthogonal curvilinear
Fig. 1. Three states of the shell.
Fig. 2. Shell reference surface.
112 W. Jiammeepreecha et al. / Engineering Structures 68 (2014) 111120
coordinate lines on the surface. Also, X = X(h, /), Y = Y(h, /), and
Z = Z(h, /) are single valued, continuous, and differentiable func-
tions. Furthermore, there shall be a one-to-one correspondence be-
tween pairs of two surface parameter (h, /) values and points on
the surface P.
Due to symmetry, the shell surface may be generated by rotat-
ing a plane curve about the axis of symmetry. For the case of a shell
of revolution, any meridional curve may be considered as the gen-
erating curve on the rZ plane, as shown in Fig. 2. Therefore, only
the change shape of the generating curve need be considered. Let
r be the position vector of any point P. Therefore, the position vec-
tor r can be dened by using parallel circle radius r as
r r cos /
^
i r sin /
^
j Z
^
k 1
where r = r(h) and Z = Z(h).
The total differential line element of r is given by
dr r
h
dh r
/
d/, where subscripts (h, /) denote partial derivatives
along the shell coordinates. The rst fundamental form of the ref-
erence surface (S) is dened by
dr dr Edh
2
2F dhd/ Gd/
2
2
where E, F, and G are the metric tensor components of the reference
surface (S), and are given by
E r
h
r
h
r
2
h
Z
2
h
3a
F r
h
r
/
0 3b
G r
/
r
/
r
2
3c
The unit vector normal to the shell surface at point P can be
determined by
^ n
r
h
r
/
jr
h
r
/
j
rZ
h
cos /
^
i rZ
h
sin /
^
j rr
h
^
k
D
4
in which
D jr
h
r
/
j
EG F
2
_
r
r
2
h
Z
2
h
_
5
Since d^ n ^ n
h
dh ^ n
/
d/, the second fundamental form of the
reference surface (S) is determined by
dr d^ n edh
2
2f dhd/ gd/
2
6
where e, f, and g are the curvature tensor components of the refer-
ence surface (S), and given by
e r
hh
^ n
r
h
Z
hh
r
hh
Z
h
r
2
h
Z
2
h
_ 7a
f r
h/
^ n 0 7b
g r
//
^ n
rZ
h
r
2
h
Z
2
h
_ 7c
Accordingly, the curvature j of a normal section of the surface
can be determined by
j
edh
2
2f dhd/ g d/
2
Edh
2
2F dhd/ Gd/
2
8
In the case of the axisymmetric shell, the lines of principal cur-
vature coincide with the coordinate lines. That means F = f = 0.
Therefore, the principal curvatures can be expressed as j
1
= e/E
and j
2
= g/G.
2.2. Displacements and deformed surface
When the shell is deformed, its reference surface (S) transfers to
a new surface (S
E
p u
r
/
G
p v ^ nw 9
where u, v, and w are the displacement components along meridian,
longitudinal, and normal directions, respectively. Since an axial
shell problem is considered herein, the term r
/
=
G
p
v is equal to
zero. Let A
E
p
r
2
h
Z
2
h
_
and B
G
p
r. Then R
h
and R
/
can
be written as
R
h
A u
h
e
A
w
_ _
r
h
A
e
A
u w
h
_ _
^ n 10a
R
/
B
B
h
A
u
g
B
w
_ _
r
/
B
10b
The metric tensor components of the deformed surface (S
) can
be written as
E
R
h
R
h
A u
h
e
A
w
_ _
2
e
A
u w
h
_ _
2
11a
F
R
h
R
/
0 11b
G
R
/
R
/
B
B
h
A
u
g
B
w
_ _
2
11c
2.3. Straindisplacement relations
Consider an innitesimal line element of length ds
0
in the initial
unstrained state (IUS) and ds
1
2
ds
2
ds
0
2
ds
0
2
12
Since all the displacements are measured from the reference
state (ES1), it is necessary to express the strain component in terms
of arc length ds at the reference state (ES1) and separate it into two
parts, as follows:
e
L
e
0
ds
2
ds
2
0
e
ds
2
ds
2
0
13
in which
e
0
1
2
ds
2
ds
0
2
ds
2
; e
1
2
ds
2
ds
2
ds
2
14a-b
It is apparent that e
0
is the initial Eulerian strains component at
the reference state (ES1) and e is the added strains component
associated with the surface deformation from the reference state
(ES1) to the deformed state (ES2).
For the case of a symmetrical shell, the shearing strains c
0h/
= 0.
Hence, the initial Eulerian strains e
0
can be expressed in terms of
the metric tensor components as follows:
e
0h
1
2
1
E
0
E
_ _
; e
0/
1
2
1
G
0
G
_ _
15a-b
where E
0
, F
0
, and G
0
are the metric tensor components at the initial
unstrained state (IUS). It should be noted that F
0
is zero due to the
symmetrical shell. Thus, Eq. (5) becomes
W. Jiammeepreecha et al. / Engineering Structures 68 (2014) 111120 113
D
0
E
0
G
0
_
D
1 2e
0h
1 2e
0/
_
16
Similarly, the added strains e are related to the metric tensor
components by
e
h
1
2
E
E
1
_ _
; e
/
1
2
G
G
1
_ _
17a-b
Finally, the total Lagrangian strains can be expressed in a matrix
form
fe
L
g Tfe
0
g feg 18
in which
T
1
12e
0h
0
0
1
12e
0/
_ _
19
where [T] is the diagonal material-element matrix. It is formed in
order to transform the strain components from the reference state
(ES1) to the initial unstrained state (IUS). By substituting Eq. (11)
into Eq. (17), the added strains can be expressed in terms of dis-
placements as follows:
e
h
1
A
u
h
e
A
2
w
1
2
1
A
u
h
e
A
2
w
_ _
2
1
2
e
A
2
u
1
A
w
h
_ _
2
20a
e
/
B
h
AB
u
g
B
2
w
1
2
B
h
AB
u
g
B
2
w
_ _
2
20b
Let fgg
T
bu w u
h
w
h
c. Then the added strains can be sep-
arated into two parts, a linear and nonlinear, and written in the fol-
lowing index form:
e
i
e
L
i
e
N
i
L
i
k
g
k
1
2
H
i
kl
g
k
g
l
21
where L
i
k
and H
i
kl
are column and symmetric matrices, respectively.
These matrices depend on the reference surface (S) characteristics
and are identied by Eq. (20). The strains e
0
, e
L
i
, and e
N
i
are constant,
linear, and nonlinear in terms of displacements, respectively.
2.4. Strain energy of the shell
The shell is assumed to be a linearly elastic material of constant
thickness. Then the strain energy of the shell can be expressed as
follows:
U
_
h
2
h
1
_
2p
0
1
2
fe
L
g
T
C
0
fe
L
gtD
0
d/dh 22
in which
C
0
E
0
1 m
2
1 m
m 1
_ _
23
where [C
0
] is the shell material property matrix, t is the shell thick-
ness, E
0
is the Youngs modulus, and m is the Poissons ratio. Substi-
tution of Eq. (18) into Eq. (22) yields
U
_
h
2
h
1
1
2
fe
0
g
T
feg
T
Cfe
0
g fegdh 24
in which
C 2pT
T
C
0
TtD
0
25
Since [T] and [C
0
] are symmetric metric, [C] is also symmetric and
C
ij
= C
ji
. Using the index notations, the strain energy of the shell
can be written as
U
_
h
2
h
1
1
2
C
ij
e
i
0
e
j
0
C
ij
e
i
0
e
j
1
2
C
ij
e
i
e
j
_ _
dh 26
The rst term in the integrand of Eq. (26) is irrelevant, so it is
dropped hereafter. Substituting Eq. (21) into Eq. (26), the strain en-
ergy can be expressed in the appropriate forms [32]; their rst and
second derivatives with respect to g
i
can be obtained by only chang-
ing coefcients without re-calculating the matrices.
U
_
h
2
h
1
c
0
k
g
k
1
2
c
1
kn
1
2
k
kn
1
6
n
1
kn
1
12
n
2
kn
_ _
g
k
g
n
_ _
dh 27
in which
c
0
k
C
ij
e
i
0
L
j
k
; c
1
kn
C
ij
e
i
0
H
j
kn
; k
kn
C
ij
L
i
k
L
j
n
28a-c
n
1
kn
C
ij
L
i
k
H
j
mn
L
i
m
H
j
nk
L
i
n
H
j
km
_ _
g
m
28d
n
2
kn
C
ij
H
i
kl
H
j
mn
1
2
H
i
nk
H
j
lm
_ _
g
l
g
m
28e
According to Eq. (28), the matrices c
1
, k, n
1
, and n
2
are symmet-
ric and the variation of strain energy dU can be obtained as follows:
dU
_
h
2
h
1
dg
k
c
0
k
c
1
kn
k
kn
1
2
n
1
kn
1
3
n
2
kn
_ _
g
n
_ _
dh 29
2.5. Volume change of the shell
The volume change of the shell from reference state (ES1) to de-
formed state (ES2) can be expressed in terms of displacements as
follows:
DV
1
3
_
h
2
h
1
_
2p
0
R
h
R
/
R r
h
r
/
r
_ _
d/dh 30
Substituting Eqs. (1), (9) and (10) into Eq. (30) yields
DV
1
3
_
h
2
h
1
_
2p
0
v
1
v
2
v
3
d/dh 31
in which
v
1
B
h
r ^ n
Be
A
2
r r
h
_ _
u
Ag
B
r ^ n
Be
A
r ^ n AB
_ _
w
Br ^ nu
h
B
A
r r
h
_ _
w
h
32a
v
2
B
h
e
A
3
r r
h
Be
A
_ _
u
2
B
h
e
A
2
r ^ n
eg
A
2
B
r r
h
B
h
_ _
uw
B
h
A
r ^ n
_ _
uu
h
B
h
A
2
r r
h
B
_ _
uw
h
eg
AB
r ^ n
Ag
B
Be
A
_ _
w
2
g
B
r ^ n B
_ _
wu
h
g
AB
r r
h
_ _
ww
h
32b
v
3
B
h
e
A
2
_ _
u
3
eg
AB
_ _
u
2
w
B
h
A
_ _
u
2
w
h
g
B
_ _
uww
h
B
h
A
_ _
uu
h
w
g
B
_ _
u
h
w
2
B
h
e
A
2
_ _
uw
2
eg
AB
_ _
w
3
32c
where v
1
, v
2
, and v
3
contain the linear, quadratic, and cubic terms of
the displacements in the volume change DV, respectively. Using the
index notations, designate R
h
, R
/
, and R by a
1
, a
2
, and a
3
; the unit
vectors r
h
=A, r
/
=B, and ^ n can be denoted by
^
i
1
,
^
i
2
, and
^
i
3
, respectively.
Then the vectors a
1
, a
2
, and a
3
can be written as
a
i
a
i
j
^
i
j
a
i
j
b
i
jk
g
k
_ _
^
i
j
33
Consequently, using the permutation symbols (e
ijk
) as follows:
114 W. Jiammeepreecha et al. / Engineering Structures 68 (2014) 111120
R
h
R
/
R e
ijk
a
1
i
a
2
j
a
3
k
34
Therefore, the volume change can be expressed in the appropri-
ate forms [35] as follows:
DV
_
h
2
h
1
v
c
k
g
k
1
2
v
K
kn
1
6
v
N
kn
_ _
g
k
g
n
_ _
dh 35
in which
v
c
k
2p
3
e
ijl
a
1
i
a
2
j
b
3
lk
a
1
i
b
2
jk
a
3
l
b
1
ik
a
2
j
a
3
l
_ _
36a
v
K
kn
2p
3
e
ijl
a
1
i
b
2
jk
b
3
ln
b
1
ik
a
2
j
b
3
ln
b
1
ik
b
2
jn
a
3
l
a
1
i
b
2
jn
b
3
lk
b
1
in
a
2
j
b
3
lk
b
1
in
b
2
jk
a
3
l
_ _
36b
v
N
kn
2p
3
e
ijl
b
1
ik
b
2
jm
b
3
ln
b
1
im
b
2
jn
b
3
lk
b
1
in
b
2
jk
b
3
lm
b
1
in
b
2
jm
b
3
lk
_
b
1
ik
b
2
jn
b
3
lm
b
1
im
b
2
jk
b
3
ln
_
g
m
36c
where v
c
k
, v
K
kn
, and v
N
kn
are linear, quadratic, and cubic in terms of
displacement gradients g, respectively. However, the values of a
i
and b
ij
can be derived by Eq. (32). According to Eqs. (36b), (36c),
the matrices v
K
kn
and v
N
kn
are symmetric and directly obtained from
the variation of volume change d(DV) as follows:
dDV
_
h
2
h
1
dg
k
v
c
k
v
K
kn
1
2
v
N
kn
_ _
g
n
_ _
dh 37
2.6. Strain energy due to internal uid
Assume that the internal pressure at reference state (ES1) is lin-
early proportional to the volumetric strain by the relation
p
0
~
k
DV
0W
V
0W
38
where
~
k is the bulk modulus of the uid, V
0W
is the unstrained uid
volume, and DV
0W
is the volume change of uid from the un-
strained uid state to the reference state (ES1). Then the strain en-
ergy in the enclosed uid is determined by the relation
C
1
2
~
k
DV
0W
DV
V
0W
_ _
2
V
0W
39
where DV is the volume change of uid and shell which are
unchangeable. Associated with the variation of volume change,
the variation of strain energy due to internal uid dC can be written
as
dC
~
k
DV
0W
DV
V
0W
_ _
dDV 40
Substituting Eq. (38) into Eq. (40) yields
dC p
0
kdDV 41
Physically, k, which represents the change of pressure from the
reference state (ES1) to the deformed state (ES2) is dened as
k
~
k
DV
V
0W
42
According to Eqs. (38) and (42), the constraint equation is con-
sidered by the relation
DV
V
~
k p
0
k 0 43
where V is the shell volume at reference state (ES1). It is noted that
the numerical value of k is an unknown, which will be obtained by
solving the entire problem as will be presented.
2.7. Virtual work done by linearly hydrostatic pressure
The linearly hydrostatic pressure acting on the normal surface
of the shell is given by
p
w
q
w
gZ
w
44
where q
w
is the density of the sea water, g is the specic gravity,
and Z
w
is the vertical distance from the sea water level. The virtual
work done by linearly hydrostatic pressure dX can be expressed as
follows:
dX
_
h
2
h
1
_
2p
0
p
w
fdwgDd/dh 2p
_
h
2
h
1
p
w
fdwgDdh 45
3. Equilibrium equation requirement
Based on the principle of virtual work, the equilibrium equation
of the shell can be obtained by setting the total virtual work of the
shell to be zero, as follows:
dp dU dC dX 0 46
Substituting Eqs. (29), (37), (41), and (45) into Eq. (46) gives
_
h
2
h
1
dg
k
c
0
k
c
1
kn
k
kn
1
2
n
1
kn
1
3
n
2
kn
_ _
g
n
_ _ _
p
0
k v
c
k
v
K
kn
1
2
v
N
kn
_ _
g
n
_ __
dh2p
_
h
2
h
1
p
w
fdwgDdh 0 47
Two highly nonlinear differential equations in terms of u(h) and
w(h) are embedded in the above Eulers equation. Before the hydro-
static pressure is applied, the shell is in equilibrium at the refer-
ence state (ES1). Thus, setting p
w
, k, and g
n
to be zero, Eq. (47) is
also valid. This requires
_
h
2
h
1
dg
k
c
0
k
p
0
v
c
k
dh 0 48
This equation should be satised everywhere, and it can be used
to predict the value of initial strains e
0
.
3.1. Constraint equation
Since the uid is incompressible,
~
k approaches innity and the
last term in Eq. (43) becomes zero. Thus, k in Eq. (43) may be inter-
preted as a Lagrange multiplier associated with the constraint vol-
ume (DV = 0). Finally, the constraint equation can be written as
_
h
2
h
1
v
c
k
g
k
1
2
v
K
kn
1
6
v
N
kn
_ _
g
k
g
n
_ _
dh 0 49
4. Finite element method
To solve the problem by using the nite element method, the
shell is divided along the h coordinate into many nite ring ele-
ments. Consider a general single element with the local coordinate
u, the shell global coordinate h and the angle a = h
2
h
1
, as shown
in Fig. 3. The local coordinate u is related to the global coordinate h
by u = h h
1
, and the derivatives of any quantity with respect to u
and h are equal. Therefore, using the C
1
continuity in nite element
method [36], the displacements u(u) and w(u) within each ele-
ment are approximated by a third-order polynomial of the local
coordinate u
uu b
1
b
2
u b
3
u
2
b
4
u
3
50a
wu b
5
b
6
u b
7
u
2
b
8
u
3
50b
W. Jiammeepreecha et al. / Engineering Structures 68 (2014) 111120 115
where b
i
i 1; 2; . . . ; 8 are unknown coefcients. Their rst deriv-
atives with respect to u or h are as follows:
u
h
u b
2
2b
3
u3b
4
u
2
51a
w
h
u b
6
2b
7
u3b
8
u
2
51b
Consider the eight-unknown coefcient (b
i
) in Eq. (50). In nite
element formulation the displacements u and w are expressed in
terms of element nodal degrees of freedom {d} via the cubic poly-
nomial shape function. Therefore, the displacement gradient vector
{g} can be expressed as
fgg wfdg 52
in which
fgg
T
b uu wu u
h
u w
h
u c 53a
fdg
T
b u0 w0 u
h
0 w
h
0 ua wa u
h
a w
h
a c
53b
w
N
1
0 N
2
0 N
3
0 N
4
0
0 N
1
0 N
2
0 N
3
0 N
4
N
1;u
0 N
2;u
0 N
3;u
0 N
4;u
0
0 N
1;u
0 N
2;u
0 N
3;u
0 N
4;u
_
_
_
_
53c
where [w] is the cubic polynomial shape function. This function and
its derivatives can be expressed as follows:
N
1
1 3
u
2
a
2
2
u
3
a
3
; N
1;u
6
a
u
a
u
2
a
2
_ _
54a-b
N
2
u2
u
2
a
u
3
a
2
; N
2;u
1 4
u
a
3
u
2
a
2
54c-d
N
3
3
u
2
a
2
2
u
3
a
3
; N
3;u
6
a
u
a
u
2
a
2
_ _
54e-f
N
4
u
2
a
u
3
a
2
; N
4;u
2
u
a
3
u
2
a
2
54g-h
Substituting Eq. (52) into the matrices c
0
k
, c
1
kn
, k
kn
, n
1
kn
, n
2
kn
, v
c
k
, v
K
kn
,
and v
N
kn
in Eq. (47) yields
fddg
T
_
h
2
h
1
w
T
fc
0
g p
0
kfv
c
gdh
_
_
h
2
h
1
w
T
c
1
k
1
2
n
1
1
3
n
2
_
p
o
k v
K
1
2
v
N
_ __
wdhfdg
_
ff g 0 55
in which
ff g 2pfdwg
T
_
h
2
h
1
p
w
fwgDdh
_ _
56
Since the global degree of freedom {Q} is the same as the local
degree of freedom {d}, the global equilibrium equation can be ob-
tained by assembly process using Eq. (55). The results are
fC
0
g p
0
kfVCg
C
1
K
1
2
N
1
1
3
N
2
p
0
k VK
1
2
VN
_ _ _ _
fQg
fFg f0g 57
Similarly, the constraint equation, Eq. (49), becomes
fQg
T
fVCg
1
2
VK
1
6
VN
_ _
fQg
_ _
0 58
Finally, the equilibrium equation, Eq. (57), and the constraint
equation, Eq. (58), are combined into a symmetrical matrix form,
as follows:
59
Since an axially symmetrical shell is considered, the boundary
conditions at the top are
u 0; w
h
0 60
The supported condition is considered to be fully xed at the
sea bed. Therefore
u 0; w 0; u
h
0; w
h
0 61
The system of nonlinear equations in Eq. (59), which is con-
strained by both boundary conditions Eqs. (60) and (61), can be
solved numerically by an iterative procedure.
5. Numerical example and results
In order to present the nite element formulation of the mem-
brane shell theory, one has to study the behaviors of the axisym-
metric half drop shell storage container installed in deep water,
as shown in Fig. 3. A computer program developed by Goan [11]
is modied to solve the problem, and the independent variable
to h coordinate is used. This independent variable is generally for
a spherical shell having a constant Gaussian curvature. In the case
Fig. 3. Deep water axisymmetric half drop shell.
116 W. Jiammeepreecha et al. / Engineering Structures 68 (2014) 111120
of discretization by using h coordinate, the meridian curve is not
divided into many regions. Therefore, the size of the global matrix
is reduced in parts of the four Lagrange multipliers when compared
with the previous work of Jiammeepreecha et al. [31].
To validate the accuracy of the present solutions, consider a half
drop shell, as shown in Fig. 3, submerged at a water depth of
H = 1745 mm. The shell geometry and material are: a = 220 mm,
t = 2.5 mm, E
0
= 757 kgf/mm
2
, and m = 0.36, and the specic weight
of external uid is c
w
= 1.0 10
6
kgf/mm
3
. The present results
show the tangential and normal displacements for a linearly dis-
tributed hydrostatic pressure along the sea depth and a constant
hydrostatic pressure at the sea bed. As shown in Fig. 4, it can be
seen that the results of constant hydrostatic pressure are in close
agreement with Yasuzawas results [28], except the normal dis-
placement near the support. In this study, the hydrostatic pressure
is varied along the sea depth, while there is no information on the
hydrostatic pressure in Yasuzawas [28] work. However, the
numerical results from this study were veried with Roarks for-
mula for a spherical subjected to uniform external pressure [37],
and were found to be conformable. The input parameters em-
ployed in this analysis are tabulated in Table 1.
5.1. Half drop shell behavior subjected to hydrostatic pressure
Table 2 shows the convergence of the apex displacement for
half drop shell with constraint volume. It can be seen that the high-
er mesh models gives the more accurate result. However, the dif-
ference of apex movement is less than 0.50% between the model
with 24 and 28 elements. In this paper the model with 24 elements
is assumed to be sufcient for accurate results.
Based on the results of the rst part of the study, the shell at the
deformed state (ES2) subjected to hydrostatic pressure is shown in
Fig. 5. The present results show very good agreement with the pre-
vious work of Jiammeepreecha et al. [31].
5.2. Effects of hydrostatic pressure on half drop shell
Linearly varying hydrostatic pressure has no effect on the dis-
placement response of the half drop shell, as shown in Figs. 6
and 7. Fig. 8 describes the values of k versus the sea water level.
It can be seen that the change of pressure from the reference state
(ES1) to the deformed state (ES2) is linearly proportional to the
hydrostatic pressure; that is, the value of k increases under large
hydrostatic pressure and decreases when the hydrostatic pressure
becomes small.
5.3. Effects of radius-to-thickness ratio on half drop shell
Using the main data in Table 1 and varying the radius-to-thick-
ness ratio (a/t ratio) from 25 to 200, the tangential and normal dis-
placements of the half drop shell are shown in Figs. 9 and 10,
Fig. 4. Comparison of displacement responses with Yasuzawas results [28].
Table 1
Input parameter data.
Parameter Value
Youngs modulus, E
0
(N/m
2
) 2.04 10
11
Poissons ratio, m 0.30
Sea water level, H (m) 40
Radius of shell, a (m) 5
Thickness of shell, t (m) 0.20
Initial internal pressure, p
0
(N/m
2
) 50 10
3
Density of sea water, q
w
(kg/m
3
) 1025
Table 2
Convergence of deection of half drop shell at the apex.
Number of elements w
apex
(10
3
m)
8 0.019425
12 0.020044
16 0.020356
20 0.020544
24 0.020669
28 0.020759
Fig. 5. Conguration of the half drop shell at deformed state (ES2).
Fig. 6. Effects of linearly varying hydrostatic pressure on tangential displacement of
half drop shell.
W. Jiammeepreecha et al. / Engineering Structures 68 (2014) 111120 117
respectively. It can be seen that the radius-to-thickness ratio has a
signicant effect on the displacements on a deep water half drop
shell. On the contrary, changing of the radius-to-thickness ratios
may have little effect on the values of k, as shown in Fig. 11. Fur-
thermore, the results show that the point of intersection is on
the same location, as shown in Fig. 10. This intersection point loca-
tion is independent of the radius-to-thickness ratio.
5.4. Effects of initial internal pressure on half drop shell
Using the main data in Table 1 and varying the initial internal
pressure (p
0
) from 50 10
3
to 50 10
6
N/m
2
, the tangential and
normal displacements of the half drop shell are shown in Figs. 12
Fig. 7. Effects of linearly varying hydrostatic pressure on normal displacement of
half drop shell.
Fig. 8. Effects of linearly varying hydrostatic pressure on the change of pressure k.
Fig. 9. Effects of thickness variation on tangential displacement of half drop shell.
Fig. 10. Effects of thickness variation on normal displacement of half drop shell.
Fig. 11. Effects of thickness variation on the change of pressure k.
Fig. 12. Effects of initial internal pressure on tangential displacement of half drop
shell.
Fig. 13. Effects of initial internal pressure on normal displacement of half drop
shell.
118 W. Jiammeepreecha et al. / Engineering Structures 68 (2014) 111120
and 13, respectively. When a low value of initial internal pressure
is applied to the shell, the shell has a large effect versus the high
initial internal pressure. Fig. 14 shows the effects of the increase
of initial internal pressure on the values of k. It can be seen that
the values of k decrease when the initial internal pressure becomes
large. However, the values of k are unchangeable under high initial
internal pressure.
6. Conclusions
The nonlinear static responses of a deep-water axisymmetric
half drop shell storage container with constraint volume condition
by using membrane theory are presented in this paper. The prob-
lem is formulated by using the variational principle and the nite
element method in terms of displacements, which are expressed in
the appropriate forms. The change of pressure from the reference
state to the deformed state may be explained as a Lagrange multi-
plier. In the present study, small displacement theory and tradi-
tional shell analysis are used to calculate the initial strains and
displaced conguration of the half drop shell, respectively. The
numerical results indicate that the Lagrange multiplier represents
the parameter for adjusting the internal pressure in order to sus-
tain the shell in equilibrium position under the constraint volume
condition.
The numerical results show that the effect of radius-to-
thickness ratio has a major impact on the displacements on the
shell, whereas changing the hydrostatic pressure has no effect.
However, by varying linearly hydrostatic pressure, the change of
pressure from the reference state to the deformed state is linearly
proportional to the hydrostatic pressure. For a large value of initial
internal pressure, the change of pressure is unchangeable.
Acknowledgements
The rst and second authors gratefully acknowledge nancial
support by the Thailand Research Fund (TRF) and King Mongkuts
University of Technology Thonburi (KMUTT) through the Royal
Golden Jubilee Ph.D. program (Grant No. PHD/0134/2552).
Appendix A. Derivation of initial Eulerian strain
The initial engineering strains e
e
and initial Lagrangian strains
e
L
0
are related by [11]
e
L
0
1
2
ds
2
ds
0
2
ds
0
2
e
e
1
2
e
2
e
A:1
in which
e
e
ds ds
0
ds
0
A:2
In the present study, the initial engineering strains e
e
are as-
sumed to be small, and the small displacement theory is used to
calculate the initial strains. Furthermore, by neglecting the qua-
dratic term in Eq. (A.1), e
L
0
e
e
. The initial engineering strains e
e
can be computed by using the membrane theory equilibriumequa-
tion of the shell; that is
N
h
r
1
N
/
r
2
p
0
A:3
where p
0
is the internal pressure. For the case of a reference surface
(S) of a spherical shell having a constant Gaussian curvature, the to-
tal tension forces are N
h
= N
/
= N and the principal curvatures are 1/
r
1
= 1/r
2
= 1/a. Therefore, the tension force N is given by
N
1
2
p
0
a A:4
The initial engineering strains e
e
can be determined by
e
e
r
E
0
1 m
N
E
0
t
1 m
p
0
a
2E
0
t
1 m A:5
Let a
0
be the radius of a spherical shell at the initial unstrained
state (IUS). The initial Lagrangian strain e
L
0
becomes
e
L
0
e
e
1
2
a
2
a
2
0
a
2
0
A:6
Finally, the initial Eulerian strain e
0
component at the reference
state (ES1) can be determined by
e
0
1
2
ds
2
ds
0
2
ds
2
1
2
a
2
a
2
0
a
2
A:7
Appendix B. Characteristic quantities of the reference surface
Referring to the position vector in Eq. (1), the reference surface
(S) of a spherical shell having a radius a can be dened by
r a sin h cos /
^
i a sin h sin /
^
j a cos h
^
k B:1
in which
r a sin h; r
h
a cos h; r
hh
a sin h B:2a-c
Z a cos h; Z
h
a sin h; Z
hh
a cos h B:3a-c
The metric tensor components of the reference surface (S) are
E r
2
h
Z
2
h
a
2
; F 0; G r
2
a
2
sin
2
h B:4a-c
Also,
D r
r
2
h
Z
2
h
_
a
2
sin h B:5
Let A
E
p
and B
G
p
, then
A a; B a sin h; B
h
a cos h B:6a-c
Therefore, the unit vector normal is given by
^ n
rZ
h
cos /
^
i rZ
h
sin /
^
j rr
h
^
k
D
sin h cos /
^
i sin h sin /
^
j cos h
^
k B:7
The curvature tensor components of the reference surface (S)
are
Fig. 14. Effects of initial internal pressure on the change of pressure k.
W. Jiammeepreecha et al. / Engineering Structures 68 (2014) 111120 119
e
r
h
Z
hh
r
hh
Z
h
r
2
h
Z
2
h
_ a; f 0; g
rZ
h
r
2
h
Z
2
h
_ a sin
2
h
B:8a-c
Since F = f = 0, the coordinate lines (h, /) are also lines of princi-
pal curvature. Accordingly, the principal curvatures can be deter-
mined by
j
1
e
E
1
a
; j
2
g
G
1
a
B:9a-b
From Eqs. (B.1) and (B.7), the quantities r r
h
and r ^ n are given
by
r r
h
0; r ^ n a B:10a-b
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