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1 Introduction
In 1971 Nitsche [21] introduced a simple idea for handling Dirichlet boundary conditions
weakly without the use of Lagrange multipliers. Had this been the only use for his idea, it
would have remained a footnote in computational mechanics. However, the real strength of
the idea lies in the generality with which interface problems can be treated: arbitrary degree
polynomial approximations, arbitrary (shape regular) meshes, even different physical models
can be used on either side of a given (real or artificial) interface. In this review paper, I
will give several applications of the method in the hope that the power of the idea will come
through.
u = f in , u = g on , (1)
where is a bounded domain in two or three space dimensions, with outward pointing normal
n, and f and g are given functions. For simplicity, we shall assume that is polyhedral
(polygonal). The normal way of formulating a finite element method for this problem is to
first write the problem in weak form, using a function space
Vg = {v H 1 () : v = g on }
(u, v) = (f, v) v V0 ,
Corresponding author: e-mail: hansbo@am.chalmers.se, Phone: +46 317 721 494, Fax: +46 317 723 827
c 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim
184 P. Hansbo: Nitsches method
where (, ) denotes the L2 () scalar product. In this formulation it is thus understood that
the trace of the solution is equal to g on , which, in order to make sense, means that we
must have g H 1/2 (). A finite element method may then be constructed by trying to
choose a discrete space Vgh Vg . Since this is not possible in general, due to the fact that
g is involved in the definition of the space Vg , one must modify the definition of Vgh to, for
instance,
where Ih is the interpolant of the same polynomial degree as the finite element approximation
(here we tacitly assume that g has enough smoothness in order for pointwise interpolation to
make sense). We suppose that we have a regular finite element partitioning Th of the domain
into shape regular simplexes K of size hK . In the following, when convenient, we consider
h as the function in L2 () that takes on the value h(x) = h|K for x K. We also note that
the mesh Th implies a trace mesh on the boundary,
Gh = { E : E = K , K Th }. (2)
The standard finite element method consists of seeking U Vgh such that
This is the finite element method as used in the majority of codes run by engineers to solve
various kinds of problems. One might say, however, that there is a discrepancy in using
interpolation to define Vgh . Using pointwise values of the function g goes against the grain
of the main idea of the finite element method as a weak method that only fulfills equations in
the mean. And while the idea works fine for boundary value problems, the generalization to
interface problems is not straightforward.
Classical methods for avoiding interpolating g are the Lagrange multiplier method [2] and
the penalty method [3]. Nitsches method can be said to be intermediate between these. It can
be formulated as follows: find U V h H 1 () such that
where n v := n v and
(u, v) (n u, v) (f, v) 0
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GAMM-Mitt. 28, No. 2 (2005) 185
by Greens formula and (1). The second point is that it is stable in that it can guarantee that
the resulting stiffness matrix is positive definite. Defining a mesh dependent norm as
we find
1
ah (U, U ) U 2L2 () h1/2 n U 2L2 () h1/2 U 2L2 () +h1/2 U 2L2 () .
Now, invoking the inverse inequality
CI
ah (U, U ) U 2L2 () + ( )h1/2 U 2L2 () ,
so if we choose > > CI we will have
for each element K, followed by CI = maxK CIK . Each constant CIK can in general be
found as the largest eigenvalue max in the eigenproblem of finding U V h and R such
that
where E = K . Clearly, CIK will depend on the geometry of the element as well as the
polynomial degree of approximation (cf., e.g., Hansbo and Larson [16]). For affine elements,
v is constant on each element and thus we have
n v2L2 (E) = meas(E)|n v|2 , (5)
where meas() denotes the length, area, or volume of the object in question, and
v2L2 (K) n v2L2 (K) = meas(K)|n v|2 (6)
and it follows that
1/2 hK meas(E)
hK n v2L2 (E) v2L2 (K) . (7)
meas(K)
Hence, once hK has been defined, a bound for CIK follows. We note in particular that if hK
is defined as the distance from the interior node to the boundary, then
hK meas(E)
meas(K) =
2
and CIK = 2.
Now, shape regularity of the elements is required in order not to destroy the conditioning
of the problem. Since the jump terms are divided by hK , we must avoid a degenerating case
where meas(E) is fixed but meas(K) 0. Namely, in such a case we must either divide by
a vanishing number in the jump term or redefine hK ; redefining hK will not help, however.
For example, if we set hK = meas(E), we note that instead
meas(E)2
CIK =
meas(K)
grows without bound and so must .
The reason for not directly using h lies in the fact that ah (, ) is not continuous on H 2 ()
with respect to this norm. On the discrete space, however, the norms are equivalent because
of (4).
For handling the edge terms, the following continuous trace inequality (or variants thereof)
is invariably used:
w2L2 (K) C h1 K w 2
L 2 (K) + h K w 2
L 2 (K) , w H 1 (K). (8)
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GAMM-Mitt. 28, No. 2 (2005) 187
This inequality is proved by scaling from a trace inequality on a reference element. With (8),
the following interpolation estimate follows: let Ih : H 2 () V h be the standard nodal
interpolation operator; then
and it follows that we have a best approximation result for the triple norm,
u U h C u v h v V h .
Finally, taking v = Ih u, (9) follows. Error estimates in L2 () can be deduced by the Aubin
Nitsche duality trick.
3 Interface problems
Not long after the publication of [21], several papers on Nitsches method as applied to elliptic
and parabolic problems with piecewise discontinuous ansatz functions were published [5, 1,
27]. In this guise, Nitsches method is known as the Discontinuous Galerkin method, and is
currently undergoing a revival, partly because it presents a convenient way of discretizing the
viscous operator in flow problems with small viscosity (where discontinuous approximations
are standard), and partly because it allows more freedom in the choice of approximation than
the standard conforming finite element method. However, the approach was not suggested for
interface problems until much later in spite of the fact that it is so well suited for handling this
class of problems.
We shall begin by looking at a problem where the interface is taken into account when
meshing the domains. The Dirichlet boundary conditions will in the following be treated in
the traditional way; Nitsches method will only be used for handling the interface conditions.
we identify the pair (u1 , u2 ) with the function u which equals ui on i . For definiteness, we
define n as the outward pointing unit normal to 1 .
Consider now the following variant of Poissons equation:
u = f in 1 2 ,
u = 0 on ,
(10)
[[u]] = 0 on ,
[[n u]] = 0 on .
Invoking again the smoothness assumption u H 2 (), we have that (10) is equivalent to (1)
(assuming g = 0) with u|i = ui , i = 1, 2. We may then write u = (u1 , u2 ) V1 V2
with the continuous spaces
Vi = vi H 1 (i ) : vi /ni L2 (), vi |i = 0 , i = 1, 2.
To formulate the method, we suppose that we have regular finite element partitionings Thi
of the subdomains i into shape regular simplexes. We shall in the following meet problems
where only one of the meshes contains shape regular elements bordering to the interface. For
definiteness, we define this to be Th1 and define the corresponding trace mesh as
Gh = { E : E = K , K Th1 }. (11)
We shall seek the approximation U = (U1 , U2 ) in the space V h = V1h V2h , where
Vih = vi Vi : vi |K is a polynomial of degree p for all K Thi .
The Nitsche method for the problem (10) can then be written as follows: find U V h such
that
ah (U, v) = L(v) v V h , (12)
with
2
ah (w, v) := (wi , vi )i + (h1 [[w]] , [[v]]) (13)
i=1
(n w1 , [[v]]) (n v1 , [[w]])
and
2
L(v) := (f, vi )i . (14)
i=1
Again, this is a consistent method: multiplying the first equation in (10) with vi , integrating
over i , using Greens formula and the fact that n u1 = n u2 on yields
2
2
L(v) = (f, vi )i = (ui , vi )i (n u1 , v1 ) + (n u2 , v2 )
i=1 i=1
2
= (ui , vi )i (n u1 , [[v]]) . (15)
i=1
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GAMM-Mitt. 28, No. 2 (2005) 189
Finally, adding (15) and (16) shows consistency in that the solution u = (u1 , u2 ) to (10)
satisfies
Remark 3.1 In [10], the normal derivative on the interface was taken as the mean, replac-
ing n w1 with (n w1 + n w2 )/2. Indeed, one may use any convex combination n w1 +
(1 )n w2 , 0 1, without upsetting the consistency of the method (cf. [24]). The
only reason for choosing one-sided mortaring on the trace mesh of Th1 is the possible lack
of shape regularity in Th2 .
Remark 3.2 The error estimates in [10] requires H s ()regularity, s > 3/2, due to the
use of the trace inequality. By use of weighted norms, Heinrich and Pietsch [19] and Heinrich
and Nicaise [18] have performed a more precise analysis in the case when we only have
u H 1 ().
Remark 3.3 There is an interpretation of the Nitsche method in terms of Lagrange mul-
tipliers due to Stenberg [23]. Let us start with a classical formulation for imposing weak
continuity on the interface by the use of a Lagrange multiplier: Find (u, ) V , such
that:
2
(ui , vi )i + (, [[v]]) + ([[u]] , ) = L(v), (18)
i=1
for all (v, ) V , with appropriate spaces V and . A typical finite element discretization
of (18), consisting of choosing discrete approximations U V h V and h h ,
must balance the discrete spaces carefully. Choosing h too large compared with V h will lead
to an over-constrained problem which is unstable. There are two possible strategies to obtain
a stable discretization: either choose well balanced discrete spaces or change the discrete
bilinear form to increase stability.
The first strategy is followed by the mortar element method, see [26]. Here one basically
takes the traces of the finite element functions on one specified side of the interface. At the
interface boundaries, special conditions have to be satisfied.
The second possibility is to add stabilization terms in order to achieve more freedom on the
choice of h . This was first proposed for the inhomogenuous Dirichlet problem by Barbosa
and Hughes [6] (see also [23]) and extended to domain decomposition by Baiocchi, Brezzi,
and Marini [4]. To (18) is added the stabilizing least squares term
(h + n U1 , 1 ( + n v1 )) .
For a properly choosen parameter of order O(h1 ), stability then follows. The Lagrange
multiplier can be directly eliminated:
h = Ph (n U1 + [[U ]]) ,
In this sense, the Nitsche method can be interpreted as a stabilized multiplier method.
A comparison of the relative performances of the mortar and the Nitsche methods, in the
case of transmission problems in elasticity, can be found in [8].
= uI + 2(u) in 1 2 ,
= f in 1 2 ,
u=0 on , (19)
[[ n]] = 0 on ,
[[u]] = K n on ,
n
ijf [L
where the load
n
2 ()] . Here and are the Lam
e parameters, assumed constant in
i , (u) = (u) i,j=1 is the strain tensor with components
1ui uj
ij (u) = + ,
2xj xi
n n
2 ij j
= j=1 /x , I = ij i,j=1 with ij = 1 if i = j and ij = 0 if i = j,
i=1
and n is the outward normal to 1 . Finally, K is a positive semi-definite tensor representing
the compliancy of the interface, assumed isotropic and constant on . Isotropy implies that
we can write
K = I + ( )n n, or K ij = ij + ( )ni nj ,
with 0 and 0 denoting the complicancy in the direction tangential and normal to the
interface, respectively.
Let the interface stiffness S be defined by
K 1 for > 0, > 0,
2
K = 1 (I n n) for > 0, = 0,
S=
2 K = 1 n n for = 0, > 0,
0 for = 0, = 0,
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GAMM-Mitt. 28, No. 2 (2005) 191
Here,
aS (u, v) := ( (ui ) , (v i ) )i + (S [[u]] , [[v]] ) ,
i
where
( , )i = : dx = kl kl dx,
i i kl
and
L(v) := (f , v i )i .
i
Now, for > 0, > 0, the continuous problem (20) could simply be approximated by a
straightforward use of the discrete space V h : find U V h such that
aS (U , v) := ( (U i ) , (v i ) )i + (S [[U ]] , [[v]] ) = L(v) v V h . (21)
i
However, in the case of small compliancy parameters and this would lead to a badly
conditioned problem, and, furthermore, the question of locking would have to be considered.
This formulation would also fail in the limit case = 0 or = 0 since the functions in V h do
not fulfill any interface conditions over . On the other hand, for the case = 0 and = 0,
the boundary conditions may still be imposed weakly over the interface by using Nitsches
method.
To be able to treat all cases using the same method, we considered in [12] a more general
consistent penalty approach: Find U V h such that
aS h (U , v) = L(v), v V h , (22)
where
aS h (U , v) := ( (U i ) , (v i ) )i
i
( [[U ]] + K (U 1 ) n , (v 1 ) n )
( (U 1 ) [[v]] + K (v 1 ) n ) (23)
+( K(U 1 ) n , (v 1 ) n )
+( S h ([[U ]] + K(U 1 ) n) , [[v]] + K(v 1 ) n ) .
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192 P. Hansbo: Nitsches method
Here S h is a matrix which depends on the interface conditions of the problem, the local
meshsize, and a penalty parameter which has to be large enough for the method to be stable.
More precisely, on an element K with diameter hK ,
S h |K = (hK / + K)1 .
We remark that the form aS h (, ) formally coincides with aS (, ) in the limit case S h =
K 1 corresponding to hK = 0. Note also that, in the case K = 0, aS h (, ) coincides with
the standard Nitsche form. Thus the proposed method extends these methods into one single
method for all compliancy parameters 0, 0.
In [12], optimal convergence was shown for the method (22) in the energylike norm
1/2
v2h := ( (v i ) , (v i ) )i + S h [[v]] 2L2 () + 1 h (v 1 ) n2L2 () ,
i
i.e.,
u U h Chmax uH 2 (i ) , (24)
i
The convergence is uniform with respect to the complicancy of the interface, i.e., the error
constant is independent of and . Optimal error estimates in L2 () were also derived.
h(x) = hK j , x j . (25)
1
K j
j
Kj
Fig. 1 The approximation on K2j is defined by the usual three nodes (as indicated), but the integration
is only performed on K2j 2 .
Note, however, that a node of interpolation used to define I2h v lies in 2 = KTh2 K but not
necessarily in 2 .
Stability, consistency, and convergence follows using the same arguments as above. Since
the elements on Th2 are cut, we however need a slight modification of the trace inequality (8)
so that if l is the intersection between a line (plane) and an element K, then
w2L2 (l) C h1 2 2
K wL2 (K) + hK wL2 (K) , w H 1 (K), (26)
0.07
0.06
0.05
0.04
0.03
0.02
0.01 0
0.2
0 0.4
0 0.6
0.2
0.4 0.8
0.6
0.8 1
1
the triangles outside of , we can use extensions of the load and solve the problem over the
whole of . We let n denote the normal vector on pointing from 1 to 2 .
Consider now the discrete problem of finding U V h such that
where
This a variant of the standard Nitsche approach, directly applicable to fictitious domain com-
putations. We give an example where is a circle with radius R = 4/10 in a domain
= (0, 1) (0, 1), and f = 4/R2 , giving the exact solution on 1 as
(x 1/2)2 + (y 1/2)2
u=1 .
R2
In Figure 3 we give the mesh with indicated together with the isolines of the discrete solu-
tion. Here f was extended to the whole domain and zero Dirichlet boundary conditions were
applied at . In Figure 4 we give the obtained L2 convergence which in not much better
than first order. This should be contrasted with the optimal second order obtained using the
cut meshes.
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GAMM-Mitt. 28, No. 2 (2005) 195
-1
-1.5
log of L error
-2
2
-2.5
-3
-3.5
-4 -3.5 -3 -2.5 -2 -1.5
log of meshsize
(u) = f in 1 2 ,
u = 0 on ,
(28)
[[u]] = 0 on ,
[[ n u]] = g on .
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196 P. Hansbo: Nitsches method
In a standard finite element method, the jump in normal derivative resulting from the con-
tinuity of the flux, when 1 = 2 , can be taken into account by letting coincide with mesh
lines, following the approaches described above. We will now take an alternative approach
and define a method for solving (10) approximately using piecewise linear finite elements on
a family of conforming triangulations Th of which are independent of the location of the
interface . Instead, we shall allow the approximation to be discontinuous inside elements
which intersect the interface.
We will use the following notation for mesh related quantities. For any element K, let
Ki = K i denote the part of K in i . By Gh := {K Th : K = } we here
denote the set of elements that are intersected by the interface. For an element K Gh , let
K := K be the part of in K.
We shall, as before, seek a discrete solution U = (U1 , U2 ) in the space V h = V1h V2h ,
where
Vih = {vi H 1 (i ) : vi |Ki is linear, vi | = 0}.
Since may intersect two edges of a triangle arbitrarily, the size of the parts Ki are not fully
characterized by the meshsize parameters. Thus, to guarantee stability of this method using
elements with internal discontinuities, further conditions on the combinations of numerical
fluxes (co-normal derivatives) must be imposed by choosing appropriate mesh and geometry
dependent weights . One simple approach is to choose the numerical fluxes by
1 if meas(K1 ) meas(K2 ),
1 |K = , and 2 = |1 1 |, (29)
0 if meas(K1 ) < meas(K2 )
where meas(K) denotes the size (area or volume) of K, and use on
{n v} := (1 1 n v1 + 2 2 n v2 ) |
instead of the flux 1 n v1 which we have used in the previous Sections. Thus, for an inter-
sected element, we compute the numerical stress at that side of the interface where the larger
part of the element resides. When an element side is entirely contained in the interface, one
may indeed chose any convex combination of the fluxes on each side.
The method is defined by the variational problem of finding U V h such that
ah (U, v) = L(v), v V h , (30)
where
ah (U, v) := ( i Ui , vi )i ( [[U ]] , {n v} )
i
( {n U } , [[v]] ) + ( h1 [[U ]] , [[v]] )
with sufficiently large and
L(v) := (f, vi )i + (2 g, v1 ) + (1 g, v2 ) .
i
With these definitions, the discrete problem (30) is consistent in the sense that, for u solving
(10),
ah (u, v) = L(v), v V h .
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GAMM-Mitt. 28, No. 2 (2005) 197
This can be shown as follows. We first note that, for u solving (10),
g {n u} = (1 + 2 ) g {n u} 1 (g [[n u]])
= 2 g 1 1 n u1 2 2 n u2 + 1 1 n u1 1 2 n u2
= 2 g 2 n u2 ,
and, similarly,
g {n u} = (1 + 2 ) g {n u} + 2 (g [[n u]])
= 1 g 1 1 n u1 2 2 n u2 2 1 n u1 + 2 2 n u2
= (1 + 2 )g 1 n u1 ,
so that
{n u} = 1 n u1 2 g = 2 n u2 + 1 g. (31)
Since [[u]] = 0, we may use (31) and Greens formula to obtain
ah (u, v) = ( i ui , vi )i ( {n u} , v1 v2 )
i
= ( i ui , vi )i (1 n u1 2 g, v1 ) + ( 2 n u2 + 1 g , v2 )
i
= ( (i ui ) , vi )i + ( 2 g, v1 ) + (1 g , v2 )
i
= (f, v) + (2 g, v1 ) + (1 g, v2 ) = L(v),
implying consistency.
A FE basis for V h is easily obtained from a standard FE basis on the mesh by the introduc-
tion of new basis functions for the elements that intersect . Thus, we replace each standard
basis function living on an element that intersects the interface by two new basis functions,
namely its restrictions to 1 and 2 , respectively. The collection of basis functions with
support in i is then clearly a basis for Vih , and hence we obtain a basis for V h by the iden-
tification = (|1 , |2 ). If the interface coincides exactly with an element edge, no new
basis functions are introduced on these elements but the approximating functions may still be
discontinuous over such an edge. As a consequence, there are six non-zero basis functions on
each element that properly intersects . Perhaps this process is most easily seen as creating
two new separate meshes with doubling of the elements crossed by the interface, see Figure
5.
We now have to show that the approximation property of V h is still optimal in the following
mesh dependent norm:
v2h := vi 2L2 (i ) + hK {n v}2L2 (K ) + h1 2
K [[v]] L2 (K ) .
i
KGh
KGh
Fig. 5 A mesh with the interface indicated is being divided into two new meshes. The doubled elements
are shaded.
Ih v := (Ih,1
v1 , Ih,2
v2 ) where Ih,i vi := (Ih Ei vi )|i . (33)
We then have the following result. Let Ih be an interpolation operator defined as in (33). Then
v Ih vh C hmax vH 2 (i ) , v H01 () H 2 (1 2 ).
i
In the proof of this result, we need to estimate the interpolation error at the interface. To
that end, the following variant of the trace inequality (8) is necessary: under reasonable mesh
assumptions (see [11, 12]) there exist a constant C, depending on but independent of the
mesh, such that
w2L2 (K ) C h1
K w 2
L 2 (K) + h K w 2
L 2 (K) , w H 1 (K). (34)
The crucial fact is that the constant in this inequality is independent of the location of
the interface relative to the mesh. Optimal interpolation estimates follow, as does optimal
convergence of the method irrespective of the location of the interface relative to the mesh.
For details, see [11].
space h could be defined independently of the trace meshes and the stabilization method
subsequently could avoid least-squares terms involving the jumps.
Such a method was proposed in [17] and analysed in the case of global (or piecewise)
polynomial multiplier spaces. We emphasize, however, the possibility of using any reason-
able space for defining the multipliers; this may simplify the implementation considerably in
many cases. Let us again take as a model problem (28), for simplicity with g = 0. Concerning
the meshes, we assume that we are again in the setting of Section 3.1, i.e., that have regular
finite element partitionings Thi of the subdomains i into shape regular simplexes. The ap-
proximation space V h is assumed as in Section 3.1, and on we introduce a family of spaces
h of discrete multipliers such that P 0 () h , P 0 () being the space of constants on the
whole interface (this natural condition is set in order to have a discrete Poincare inequality).
As a particular example, consider the case of R2 with a space h of global polynomials
defined as follows: the interface is decomposed as the union = j of n straight lines
j , and we associate with each j the non-negative integer pj . We then choose
h = { : |j P pj (j ), j = 1, . . . , n }, (35)
([[u U ]] , ) ( 1 1 n (u1 U1 ), ) ( 1 ( h ), ) = 0,
([[w]] , ) + ( 1 1 n w1 , ) + ( 1 , ) ,
c 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim
200 P. Hansbo: Nitsches method
we thus have that the method (36) is consistent in the sense that
Bh (u U, h ; v, ) = 0,
for all v V h and h . Stability (in the inf-sup sense) can be shown and again relies
heavily upon the inverse inequality (4) in order to control the normal derivatives on in terms
of the energy scalar product. For details, see [17].
Remark 4.1 The formulation (36) does not allow the use of mean values of co-normal
derivatives: this would reintroduce cross products of functions on the two trace meshes in the
integral containing products of co-normal derivatives. Thus (36) must be used in conjunction
with one-sided mortaring. The alternative would be to use a non-symmetric formulation, see
[17].
We emphasize that by choosing to compute the numerical stress in V1h , the space V2h does not
matter for the stability of the method. In this respect, we are thus completely free to choose
V2h .
We will now give two examples of choosing V2h : coupling of elasticity and rigid bodies,
and coupling of elasticity and beam/plate models.
Standard approaches to model coupling typically employ multipoint constraint equations or
transition elements (e.g., [20]). We argue that the Nitsche approach is both easier to implement
and more general.
and the displacement field in 2 is determined by the three unknowns (a1 , a2 , b). Since
(v 2 ) = 0, the bilinear form reduces to
ah (U , v) := ( (U ) , (v) )1 ( [[U ]] , (v 1 ) n )
( (U 1 ) n , [[v]] ) + ( h1 [[U ]] , [[v]] ) .
We note that the rigid body is not actually meshed; one element is enough to define the dis-
placement field. This element may of course have an arbitrary shape (as long as can be
meshed).
In Figure 6 we show a mesh of an elastic material, with = 0.3, E = 1, where
E E
= , = ,
(1 2)(1 + ) 2 (1 + )
with zero body force and with a rigid inclusion, and in Figure 7 we show the deformation
and isolines of the stress = ( : )1/2 (projected onto V1h ). The boundary conditions
were: traction free boundaries at the top and bottom and prescribed displacement boundary
conditions to the left and to the right, stretching the domain horizontally.
5.3 Coupling elasticity with the Bernoulli beam model and Kirchhoff plate
model
Two different applications come to mind in this situation:
Model reduction, where the higher order theory is sufficiently accurate in some regions
but not in others (accurate modeling of edge effects in plates, for example).
Modeling of sandwich structures, where thin, stiff, structures are glued to a core of softer
material.
c 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim
202 P. Hansbo: Nitsches method
Thus one may want to consider coupling the beam equations to elasticity in two ways: cou-
pling to the end of a beam and coupling to the top of a beam. Here we will focus on the latter
situation, but the first is equally simple to handle.
For definiteness, let us assume that 2 = (0, L) (t/2, t/2) with t << L. For the
elasticity equations in 2 we can then introduce the following simplifying assumptions:
u2 1 u1 u2 u1
= 0, + = 0, 11 = E , 22 = 0.
x2 2 x2 x1 x1
These conditions define (Euler-Bernoulli) beam theory where 11 is the predominant stress.
We note that we can get these relations by simply assuming plane stress conditions and, for
v = v(x1 ), let u := (x2 v , v), where v := v/x1 , in the equations of elasticity. This
means that it is natural to enforce C 1 continuity for the approximation in the standard fashion.
c 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim
GAMM-Mitt. 28, No. 2 (2005) 203
Thus, we divide 2 into one line of elements {K} and define V2h as
where
Here, t3 /12 is more generally replaced by the second moment of inertia, but for simplicity we
compute per unit length in the suppressed x3 -direction.
We give an example where an elastic material is coupled to two beams, one at the top and
one at the bottom. The beams are fixed, with fixed rotations, at the left side and free at the
right side. No boundary conditions are applied to the elastic material other than the Nitsche
coupling conditions. A body force f = (0, 1) is applied in 1 = (0, 1) (0, 1), no external
forces are applied to the beams. Further data were: = 0.3, E|1 = 102 , E|2 = 108 ,
t = 1/100. Three elements were used to discretize each of the beams.
In Figure 8 we give the deformations (exaggerated) and the corresponding strain energy
(projected onto V1h ) isolines. The beams are indicated using thicker lines.
6 Concluding remarks
We have given some application of Nitsches method in computational mechanics. The ex-
position has focused on solid mechanics, but this is by no means the only field of applica-
tion for the approach. In [14] we study a fluidstructure acoustic eigenvalue problem, where
c 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim
GAMM-Mitt. 28, No. 2 (2005) 205
Fig. 9 Deformations (exaggerated) of the elastic medium and the top plate (different scaling).
Raviart-Thomas elements were used in the fluid domain and standard conforming elements
for the solid domain. Nitsches method makes the coupling between the H(div)conforming
Raviart-Thomas elements and the standard elements particularly straightforward. In [15], we
give applications to fluid-structure interaction where one mesh may have to move relative to
the other. Again, the Nitsche approach simplifies the fluid-structure coupling.
Obviously, the Nitsche method has a very wide range of applicability. It is also very phys-
ical in that it employs only continuity conditions regarding the primal variable and the fluxes
or stresses. Thus, many possibilities remain to be investigated. It would be surprising indeed
if the Nitsche method did not before long find a central place among numerical methods for
interface problems.
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