C.A. Brebbia J.e.F.

Telles
L.C. Wrobel

Boundary Element
Techniques
Theory and Applications in Engineering

With 284 Figures

Springer-Verlag
Berlin Heidelberg New York Tokyo 1984

C. A. BREBBIA
Dept. of Civil Engineering
University of Southampton
Southampton S09 5NH
United Kingdom
J.C.F. TELLES

L.c. WROBEL
COPPE - Univ. Federal do Rio de Janeiro
Programa de Engenharia Civil
Caixa Postal 68506
21944-Rio de Janeiro
Brazil

ISBN-I3: 978-3-642-48862-7
e-ISBN-13: 978-3-642-48860-3
DOl: 10.1007/978-3-642-48860-3
Library of Congress Cataloging in Publication Data
Brebbia, C.A.
Boundary element techniques.
Includes index. 1. Boundary value problems. 2. Engineering mathematics.
I. Telles, J. C. Faria (Jose Claudio Faria), 1950--. II. Wrobel, L. C. (Luiz Carlos), 1953-. III. Title.
TA347.B69B734 1983 620'.0042 83-4827
ISBN-13: 978-3-642-48862-7
This work is subject to copyright. All rights are reserved, whether the whole or part of the material is
concerned, specifically those of translation, reprinting. reuse of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks. Under 54 of the Gennan
Copyright Law where copies are made for other than private use, a fee is payable to "Verwertungsgesellschaft Wort", Munich.

o Springer-Verlag Berlin, Heidelberg 1984

Softcovcr reprint of the hardcover ) st edition 1984
The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of
a specific statement, that such names are exempt from the relevant protective laws and regulations and
therefore free for general use.
206113020-543210

The Preface in a Dialogue

The authors have attempted twice to write an appropriate preface to this book but
have on both occasions miserably failed to convey in a brief manner what are the
main points of the book. This failure is mainly due to the aversion of the authors to
prefaces that promise everything but deliver little. Due to the lack of success the
best we can offer is a verbatim report of the two meetings.

Act I
(Our authors start to discuss the writing of this preface. The scene is in Rio de Janeiro beside a swimming pool. The authors are identified by the pseudonyms of Socrates, Plato and Aristotle, not for reasons of vanity but because those illustrious philosophers somewhat characterize their respective points of view).
SOCRATES: I have been reading some of the literature on Integral equations and
Boundary elements recently published and feel most unhappy about the lack of a
comprehensive text.
PLATO: Yes. I have just been looking at one that is rather written in a hurry I
guess to capitalize on the current interest in the topic. The authors failed to comprehend the basic principles of the technique.
ARISTOTLE: That is because people write books without having had a first hand
experience in the relevant research topic. I always insist you have to look at the
problem and build your theory around it!
PLATO: Well, well, Ari. That may well be the case sometimes but you have to remember that the fundamental mathematical concepts are the essential part of any
method.
SOCRATES: I do not think this discussion is leading us anywhere. I propose that
we write one book based on our research experience and our fundamental knowledge of approximate and basic techniques, trying to blend our past finite element
background with the new method and I think we should define the table of contents
and preface right now.
PLATO and ARISTOTLE: Hear! Hear!

VI

Preface

SOCRATES: I think that we ought to stress that we will write only about things that
we have first hand experience in, in a coherent way that will be useful to engineers
and other scientists and stressing the formulation without being too mathematical.
We should write with integrity and honesty, giving reference to other authors where
reference is due, but avoiding mentioning everybody just to be certain that our book
is widely advertised. Above all, the book should be clear and useful.
PLATO: I think we should include a good discussion of fundamental ideas, of how
integral equations are formed, pointing out that they are like two dimensional
shadows of three dimensional objects, ...
SOCRATES: Stop there! Remember you are not 'the' Plato!
PLATO: Sorry, I was carried away.
ARISTOTLE: I think that the book should have many applications so that the
reader can learn by looking at them how to use the method.
SOCRATES: I agree. But we should be careful. It is easy to include many illustrations and examples in a book in order to disguise its meagre contents. All examples
should be relevant.
ARISTOTLE: And we should also include a full computer program to give the
reader if so he wishes, a working experience of the technique.
SOCRATES: That is a good idea, provided that the code is well explained and integrates with the theory. Any fool can nowadays attach a computer code to a book but
requires work and experience to have it properly related to the theory.
PLATO: I wonder if we will write the book. It seems unlikely.
SOCRATES: Yes it does. Does it not? Well, I am going for a swim.

Act II
(The manuscript is finished and the writers are sitting around it. The scene is now in
Southampton in April. A timid ray of sun is coming through a window. The writers
are spellbound and looking attentively at the manuscript).
PLATO: I cannot believe it! It is really finished!
SOCRATES: Well, not quite. You will see how the publishers will want us to trim it
down. They always do as a matter of principle. 20 to 25% I think.*
ARISTOTLE: But that would be a pity! We have been over the manuscript three
times. It is perfect!

* Springer-Verlag, to their great credit, accepted the full manuscript. Our apologies The Authors

Preface

VII

PLATO: We can only achieve but pallid reflections of perfection. Still it is a good
book.
SOCRATES: You are right. We should fight for it and make them publish the
whole work. We have some rights do we not (looks at the contract for a moment
and concludes). No, we do not! (meakley) but we can try ...
ARISTOTLE: And once it is published we have to explain to our colleagues that
this is a serious book, a work with applications. We should specially stress (i) that
the work has a great unity; (ii) the large range of topics covered in depth; (iii) that
it is written by those who have used the method; (iv) that it is well written and clear.
PLATO: How are we going to do that?
ARISTOTLE: (downcast) I do not know ...
SOCRATES: I know! We should write a Preface (everybody agrees). Well let us
start; "Recent new advances and developments in the field of boundary elements
... etc, etc."
ARISTOTLE and PLATO: Not again!!

The Book
The purpose of this book is to present a comprehensive and up-to-date treatment of
the boundary element method (B.E.M.).
The work stresses the non-linear and time-depending applications together with
a series of new problems which can now be solved using B.E.M.
The approach followed by the authors is to present the techniques as an outgrowth of the finite element method in a way that is simple for engineers to understand. The mathematical treatment is always subordinate to the applicability of the
technique.
The reader will thus find in this definitive monograph a comprehensive treatment of the topic from fundamentals to computer applications, including a fully
operational computer program.
The Authors

Contents

Chapter 1

APPROXIMATE METHODS

1.1. Introduction. . . . .
1.2. Basic Definitions. . . . . . .
l.3. Approximate Solutions . . . .
1A. Method of Weighted Residuals.
1.4.1. The Collocation Method.
1.4.2. Method of Collocation by Subregions
1.5. Method of Galerkin . . . . . . . . .
1.6. Weak Formulations . . . . . . . . .
1.7. Inverse Problem and Boundary Solutions
1.8. Classification of Approximate Methods
References .
Bibliography . . . . . . . . . . . . .

23
25
35
43
44
45

Chapter 2

47

POTENTIAL PROBLEMS

2.1.
2.2.
2.3.
2A.
2.5.
2.6.

2
7
12
13
17

Introduction. . . . . . . .
Elements of Potential Theory
Indirect Formulation. . .
Direct Formulation
Boundary Element Method
Two-Dimensional Problems
2.6.1. Source Formulation
2.7. Poisson Equation . . . .
2.8. Subregions . . . . . . .
2.9. Orthotropy and Anisotropy
2.lO. Infinite Regions . . . . .
2.11. Special Fundamental Solutions
2.l2. Three-Dimensional Problems .
2.13. Axisymmetric Problems. . . .
2.l4. Axisymmetric Problems with Arbitrary Boundary Conditions .
2.15. Nonlinear Materials and Boundary Conditions
2.l5.l. Nonlinear Boundary Conditions
References . . . . . . . . . . . . . . .

102
106
107

Chapter 3

109

3.1.
3.2.

INTERPOLA TION FUNCTIONS

Introduction. . . . . . . . . . . . . .
Linear Elements for Two-Dimensional Problems

47
49
58
61
64
65
70
75
79
82
85

89
92

96
99

109
109

Contents

3.3.
3.4.

Quadratic and Higher-Order Elements . . . . . .

Boundary Elements for Three-Dimensional Problems
3.4.1. Quadrilateral Elements . . . . . .
3.4.2. Higher-Order Quadrilateral Elements
3.4.3. Lagrangian Quadrilateral Elements
3.4.4. Triangular Elements . . . . . .
3.4.5. Higher-Order Triangular Elements
3.5. Three-Dimensional Cell Elements
3.5.1. Tetrahedron. . . . . . .
3.5.2. Cube. . . . . . . . . .
3.6. Discontinuous Boundary Elements
3.7. Order ofInterpolation Functions
References . . . . . . . . . . . . .
Chapter 4

DIFFUSION PROBLEMS

4.1.
4.2.
4.3.
4.4.
4.5.

Introduction. . . . . . . . . . .
Laplace Transforms . . . . . . .
Coupled Boundary Element - Finite Difference Methods
Time-Dependent Fundamental Solutions
Two-Dimensional Problems . . .
4.5.1. Constant Time Interpolation .
4.5.2. Linear TIme Interpolation . .
4.5.3. Quadratic Time Interpolation
4.5.4. Space Integration. . .
4.6. Time-Marching Schemes . .
4.7. Three-Dimensional Problems
4.8. Axisymmetric Problems .
4.9. Nonlinear Diffusion
References
Chapter 5

5.1.
5.2.
5.3.
5.4.
5.5.
5.6.
5.7.
5.8.
5.9.
5.10.
5.11.
5.12.

ELASTOSTATICS

Introduction to the Theory of Elasticity

5.1.1. Initial Stresses or Initial Strains.
Fundamental Integral Statement
5.2.1. Somigliana Identity.
Fundamental Solutions . . .
Stresses at Internal Points
Boundary Integral Equation
Infinite and Semi-Infinite Regions
Numerical Implementation
Boundary Elements . . . . . .
System of Equations . . . . . .
Stresses and Displacements Inside the Body
Stresses on the Boundary . . .
Surface Traction Discontinuities . . . . .

118
127
129
131
131
132
134
135
136
136
137
138
140
141
141
142
146
147
150
150
152
153
154
156
164
165
171
174
177

177
183
183
185
187
190
191
195
197
199
201
202
203
204

Contents

XI

5.13. Two-Dimensional Elasticity

5.14. Body Forces . . . . . .
5.14.1. Gravitational Loads
5.14.2. Centrifugal Load
5.14.3. Thermal Loading .
5.15. Axisymmetric Problems. .
5.15.1. Extension to Nonaxisymmetric Boundary Values.
5.16. Anisotropy
References . . . . . . . . . . . . . . . . . . . . . . .
Chapter 6

BOUNDARY INTEGRAL FORMULATION FOR

INELASTIC PROBLEMS.

6.1. Introduction. . . . . . . . .
6.2. Inelastic Behavior of Materials .
6.3. Governing Equations. . . . .
6.4. Boundary Integral Formulation
6.5. Internal Stresses . . . . . . .
6.6. Alternative Boundary Element Formulations
6.6.1. Initial Strain. . . . . . . . . . .
6.6.2. Initial Stress. . . . . . . . . . .
6.6.3. Fictitious Tractions and Body Forces
6.7. Half-Plane Formulations
6.8. Spatial Discretization.
6.9. Internal Cells . . .
6.10. Axisymmetric Case.
References . . . . . . .
Chapter 7

ELASTOPLASTICITY . .

210
217
219
220
222
224
230
230
234

237
237
240
251
253
255
258
258
260
261
262
265
270
274
275
277

Introduction . . . . . . . . . . .
Some Simple Elastoplastic Relations
Initial Strain: Numerical Solution Technique.
7.3.1. Examples - Initial Strain Formulation .
7.4. General Elastoplastic Stress-Strain Relations .
7.5. Initial Stress: Outline of Solution Techniques.
7.5.1. Examples: Kelvin Implementation . .
7.5.2. Examples: Half-Plane Implementation
7.6. Comparison with Finite Elements
References . . . . . . . . . . . . . . . . . .

277
277
281
282
286
290
292
297
300
304

Chapter 8

306

7.1.
7.2.
7.3.

8.1.
8.2.
8.3.

OTHER NONLINEAR MATERIAL PROBLEMS.

Introduction. . . . . . . . . . . . .
Rate-Dependent Constitutive Equations.
Solution Technique: Viscoplasticity . . .

306
306
309

Contents

XII

8.4. Examples: Time-Dependent Problems

8.5. No-Tension Materials
References . . . . . . . . . .
Chapter 9

PLA TE BENDING

9.1.
9.2.
9.3.

Introduction. . . . .
Governing Equations. . .
Integral Equations . . . .
9.3.1. Other Fundamental Solutions
9.4. Applications.
References
Chapter 10

WA VE PROPAGA TION PROBLEMS.

10.1. Introduction. . . . . . . . . . . . . . . . .
10.2. Three-Dimensional Water Wave Propagation Problems
10.3. Vertical Axisymmetric Bodies . . . . .
10.4. Horizontal Cylinders of Arbitrary Section
10.5. Vertical Cylinders of Arbitrary Section
10.6. Transient Scalar Wave Equation . . . .
10.7. Three-Dimensional Problems: The Retarded Potential.
10.8. Two-Dimensional Problems
References
Chapter 11

VIBRA TIONS .

11.1. Introduction. . . . . .
11.2. Governing Equations. .
11.3. Time-Dependent Integral Formulation
11.4. Laplace Transform Formulation
11.5. Steady-State Elastodynamics
11.6. Free Vibrations
References . . . . . . . . . . .
Chapter 12

12.1.
12.2.
12.3.
12.4.
12.5.
12.6.

FURTHER APPLICA TIONS IN

FLUID MECHANICS

Introduction. . . . . . . .
Transient Groundwater Flow .
Moving Interface Problems . .
Axisymmetric Bodies in Cross Flow.
Slow Viscous Flow (Stokes Flow) .
General Viscous Flow
12.6.1. Steady Problems
12.6.2. Transient Problems
References . . . . . . . . . .

312
318
322
324
324
324
326
330
331
336
338
338
339
344
347
350
352
354
356
357
360
360
360
362
363
367
373
375

377
377
377
381
384
386
389
393
395
398

Contents

Chapter 13

XIII

COUPLING OF BOUNDARY ELEMENTS

WITH OTHER METHODS

13.1.
13.2.

Introduction. . . . . . . . . . . .
Coupling of Finite Element and Boundary Element Solutions
13.2.1. The Energy Approach
13.3. Alternative Approach. . . . . . . . .
13.4. Internal Fluid Problems. . . . . . . .
13.4.1. Free-Surface Boundary Condition
13.4.2. Extension to Compressible Fluid
13.5. Approximate Boundary Elements
13.6. Approximate Finite Elements
References . . . . . . . . . . . . .
Chapter 14

COMPUTER PROGRAM FOR TWO-DIMENSIONAL

ELASTOSTA TICS.

14.1. Introduction. . . . . . . .
14.2. Main Program and Data Structure
14.3. Subroutine INPUT.
14.4. Subroutine MATRX
14.5. Subroutine FUNC .
14.6. Subroutine SLNPD
14.7. Subroutine OUTPT
14.8. Subroutine FENC .
14.9. Examples. . . . .
14.9.1. Square Plate
14.9.2. Cylindrical Cavity Problem
References . . . . . . . . . . . . .

Appendix A

NUMERICAL INTEGRA TION FORMULAS.

A.1. Introduction . . . . . . . . . . .
A.2. Standard Gaussian Quadrature . . .
A.2.1. One-Dimensional Quadrature .
A.2.2. Two- and Three-Dimensional Quadrature for Rectangles
and Rectangular Hexahedra.
A.2.3. Triangular Domain . . . . . . . . .
A.3. Computation of Singular Integrals . . . . . .
A.3.1. One-Dimensional Logarithmic Gaussian
Quadrature Formulas . . . . . . . .
A.3.2. Numerical Integration over Triangles and Squares
with 1Ir Singularity . . . . . . . . . . . . .
A.3.3. Numerical Evaluation of Cauchy Principal Values
References . . . . . . . . . . . . . . . . . . . . . .

400
400
401
405
409
411
412
414
415
422
424

427
427
428
430
433
435
437
438
439
440
440
446
446

447

447
447
447
447
449
449

449
449
451
454

Contents

XIV

Appendix B

SEMI-INFINITE FUNDAMENTAL SOLUTIONS

B.l. Half-Space
B.2. Half-Plane
References .
Appendix C

455

455
458
460
SOME PARTICULAR EXPRESSIONS FOR
TWO-DIMENSIONAL INELASTIC PROBLEMS.

461

SUBJECT INDEX . . . . . . . . . . . . . . . . . . . . . .

463