the primal dual active set strategy as a semismooth newton method this paper addresses complementarity problems motivated by constrained optimal control problems it is shown that the primal dual active set strategy which is known to be extremely efficient for this class of problems and a specific semismooth newton method lead to identical algorithms the notion of slant differentiability is recalled and it is argued that the max function is slantly differentiable in lp spaces when appropriately combined with a two norm concept this leads to new local convergence results of the primal dual active set strategy global unconditional convergence results are obtained by means of appropriate merit functions

the liapunov dimension of strange attractors abstract many papers have been published recently on studies of dynamical processes in which the attracting sets appear quite strange in this paper the question of estimating the dimension of the attractor is addressed while more general conjectures are made here particular attention is paid to the idea that if the jacobian determinant of a map is greater than one and a ball is mapped into itself then generically the attractor will have positive two dimensional measure and most of this paper is devoted to presenting cases with such jacobians for which the attractors are proved to have non empty interior

on h p adaptive bem for frictional contact problems in linear elasticity a mixed formulation for a tresca frictional contact problem in linear elasticity is considered in the context of boundary integral equations which is later extended to coulomb friction the discrete lagrange multiplier an approximation of the surface traction on the contact boundary part is a linear combination of biorthogonal basis functions in case of curved isoparametric elements these are the solutions of local problems in particular the biorthogonality allows to rewrite the variational inequality constraints as a simple set of complementarity problems thus enabling an efficient application of a semi smooth newton solver for the discrete mixed problem converging locally super linearly in the frictional case and quadratically in the frictionless case typically the solution of frictional contact problems is of reduced regularity at the interface between contact to non contact and from stick to slip to identify the a priori unknown locations of these interfaces two a posteriori error estimations are introduced in a first step the error is split into specific error contributions resulting from the contact and friction conditions and from the discretization error of a variational equation for the latter a residual and a bubble error estimation are considered explicitly the numerical experiments show the applicability of the derived error estimations and the superiority of h p adaptivity compared to low order uniform and adaptive approaches

modelling unilateral frictionless contact using the null space method and cubic b spline interpolation the analysis of unilateral sliding contact in elasticity is equivalent to a minimisation problem subjected to a set of inequality constraints however the presence of boundary discontinuities such as those stemming from the spatial discretisation appears as a major problem to determine the set of active constraints this work introduces a smoothing technique of the master surface resorting to cubic b spline interpolation which is c 1 continuous in contact situations between elastic and rigid bodies and g 1 continuous in elastic elastic contact problems the technique is applied in conjunction with the null space method where the solution is searched in an unconstrained manifold the resulting formulation eases the contact transition along the master surface and recovers the quadratic convergence of the iterative newton raphson process the robustness of the method is demonstrated using 2d and 3d examples

improved robustness and consistency of 3d contact algorithms based on a dual mortar approach abstract mortar finite element methods have been successfully applied as discretization scheme to a wide range of contact and impact problems in recent years the 3d finite deformation contact formulation taken up and enhanced in this paper is based on a mortar approach using so called dual lagrange multipliers which substantially facilitate the treatment of interface constraints as compared with standard mortar techniques despite being quite well established in the meantime dual mortar methods may lack robustness or even consistency in certain situations e g when large curvatures occur in the contact zone or when one body slides off another at a sharp edge however since such scenarios are regularly appearing in engineering practice the present contribution provides several new extensions that completely resolve these issues and thus significantly improve the applicability of dual mortar formulations for challenging contact problems the proposed extensions include a consistent biorthogonalization procedure to obtain feasible dual lagrange multiplier shape functions close to boundaries of the contact surfaces an improved conditioning of the global linear system of equations by nodal scaling and a novel approach to unify the advantages of standard and dual mortar methods via a petrov galerkin type of lagrange multiplier interpolation several numerical examples demonstrate the achievable improvements in terms of consistency and robustness for 3d contact analysis including finite deformations

finite deformation frictional mortar contact using a semi smooth newton method with consistent linearization a two dimensional finite deformation frictional contact formulation with coulomb s law is presented the approach considers multibody contact and is based on a mortar formulation the enforcement of contact constraints is realized with dual lagrange multipliers these alternative multiplier spaces are constructed in a way that the multipliers can easily be eliminated from the global system of equations by static condensation such that the system size does not increase friction kinematic variables are formulated in an objective way and enter non smooth complementarity functions for expressing the contact constraints an active set strategy is derived by applying a semismooth newton method which treats contact nonlinearities material and geometrical nonlinearities in one single iterative scheme by further carrying out a consistent linearization for both normal and frictional contact forces and constraints a robust and highly efficient algorithm for linear and higher order quadratic interpolation is achieved efficiency of the proposed method and quality of results are demonstrated in serveral exemples

a cal v cycle multigrid approach for mortar finite elements mortar methods based on dual lagrange multipliers provide a flexible tool for the numerical approximation of partial differential equations the associated finite element spaces are in general nonconforming and nonnested optimal multigrid results have previously been established for cal w cycle and the variable cal v cycle multigrid methods in this paper we introduce a new multigrid method based on a nested sequence of modified mortar spaces for which we can establish that the cal v cycle with one smoothing step has contraction numbers uniformly bounded away from one to obtain nested mortar spaces we apply a product form of certain corrections at the interfaces numerical results demonstrate the efficiency of the resulting multigrid solver

the local average contact lac method abstract the local average contact lac method allows the handling of nonmatching meshes in an easy way by averaging locally the interpenetration between the contacting bodies in this paper we consider the frictionless unilateral contact problem and several numerical experiments involving two and three dimensional bodies discretized with various linear and quadratic finite elements we also present a convergence analysis of the method in the geometrical nonconforming case in which the boundary points of the candidate contact areas do not coincide

efficient simulation of multi body contact problems on complex geometries a flexible decomposition approach using constrained minimization we consider the numerical simulation of non linear multi body contact problems in elasticity on complex three dimensional geometries in the case of warped contact boundaries and non matching finite element meshes particular emphasis has to be put on the discretization of the transmission of forces and the non penetration conditions at the contact interface we enforce the discrete contact constraints by means of a non conforming domain decomposition method which allows for optimal error estimates here we develop an efficient method to assemble the discrete coupling operator by computing the triangulated intersection of opposite element faces in a locally adjusted projection plane but carrying out the required quadrature on the faces directly our new element based algorithm does not use any boundary parameterizations and is also suitable for isoparametric elements the emerging non linear system is solved by a monotone multigrid method of optimal complexity several numerical examples in 3d illustrate the effectiveness of our approach copyright 2008 john wiley sons ltd

a dual lagrange method for contact problems with regularized frictional contact conditions modelling micro slip abstract this paper presents an algorithm for solving quasi static non linear elasticity contact problems with friction in the context of rough surfaces here we want to model the transition from sticking to slipping also called micro slip in a physically correct way in order to reproduce measured frictional damping the popular dual mortar method is used to enforce the contact constraints in a variationally consistent way without increasing the algebraic system size the algorithm is deduced from a perturbed lagrange formulation and combined with a serial parallel iwan model this leads to a regularized saddle point problem for which a non linear complementary function and thus a semi smooth newton method can be derived numerical examples demonstrate the applicability to industrial problems and show good agreement to experimentally obtained results

hybrid finite element methods for the signorini problem we study three mixed linear finite element methods for the numerical simulation of the two dimensional signorini problem applying falk s lemma and saddle point theory to the resulting discrete mixed variational inequality allows us to state the convergence rate of each of them two of these finite elements provide optimal results under reasonable regularity assumptions on the signorini solution and the numerical investigation shows that the third method also provides optimal accuracy

a posteriori error estimates of discontinuous galerkin methods for the signorini problem a reliable and efficient a posteriori error estimator is derived for a class of discontinuous galerkin dg methods for the signorini problem a common property shared by many dg methods leads to a unified error analysis with the help of a constraint preserving enriching map the error estimator of dg methods is comparable with the error estimator of the conforming methods numerical experiments illustrate the performance of the error estimator

an interior point method for isogeometric contact abstract the interior point method is applied to frictionless contact mechanics problems and is shown to be a viable alternative to the augmented lagrangian approach the method is derived from a mixed formulation which induces a contact discretization scheme in the spirit of the mortar method and naturally delivers slack variables that help constrain the solution to the feasible region the derivation of the algorithm as well as its robustness benefits from the contact interface description that is induced by nurbs based isogeometric volume discretizations various interior point algorithms are discussed including a primal dual approach that satisfies the unilateral contact constraints exactly in addition to two primal approaches that retain an arbitrary barrier parameter the developed algorithms can easily be pursued starting from an augmented lagrangian implementation numerical investigations on benchmark problems demonstrate the efficiency and the robustness of the framework but also highlight current limitations that suggest paths for future research overall the results indicate that the interior point method can challenge the augmented lagrangian method in contact mechanics even displaying potential for higher efficiency and robustness

unilateral non linear dynamic contact of thin walled structures using a primal dual active set strategy the efficient modelling of three dimensional contact problems is still a challenge in non linear implicit structural analysis we use a primal dual active set strategy siam j optim 2003 13 865 888 based on dual lagrange multipliers siam j numer anal 2000 38 989 1012 to handle the non linearity of the contact conditions this allows us to enforce the contact constraints in a weak integral sense without any additional parameter due to the biorthogonality condition of the basis functions the lagrange multipliers can be locally eliminated we perform a static condensation to achieve a reduced system for the displacements the lagrange multipliers representing the contact pressure can be easily recovered from the displacements in a variationally consistent way for the application to thin walled structures we adapt a three dimensional non linear shell formulation including the thickness stretch of the shell to contact problems a reparametrization of the geometric description of the shell body gives us a surface oriented shell element which allows the application of contact conditions directly to nodes lying on the contact surface shell typical locking phenomena are treated with the enhanced assumed strain method and the assumed natural strain method the discretization in time is done with the implicit generalized method j appl mech 1993 60 371 375 and the generalized energy momentum method comp methods appl mech eng 1999 178 343 366 to compare the development of energies within a frictionless contact description in order to conserve the total energy within the discretized frictionless contact framework we follow an approach from laursen and love int j numer methods eng 2002 53 245 274 who introduced a discrete contact velocity to update the velocity field in a post processing step various examples show the good performance of the primal dual active set strategy applied to the implicit dynamic analysis of thin walled structures

a posteriori error estimator and error control for contact problems in this paper we consider two error estimators for one body contact problems the first error estimator is defined in terms of h div conforming stress approximations and equilibrated fluxes while the second is a standard edge based residual error estimator without any modification with respect to the contact we show reliability and efficiency for both estimators more over the error is bounded by the first estimator with a constant one plus a higher order data oscillation term plus a term arising from the contact that is shown numerically to be of higher order the second estimator is used in a control based afem refinement strategy and the decay of the error in the energy is shown several numerical tests demonstrate the performance of both estimators

a discontinuous stabilized mortar method for general 3d elastic problems first the present paper is concerned with the extension to linearized elastodynamics of the optimal results known in statics for the mortar method it also analyzes and tests a new couple of displacements lagrange multipliers for the method as proposed independently by ben belgacem f ben belgacem a stabilized domain decomposition method with non matching grids for the stokes problem in three dimensions siam j numer anal 42 2 2004 667 685 and the authors p hauret methodes numeriques pour la dynamique des structures non lineaires incompressibles a deux echelles numerical methods for the dynamic analysis of two scale incompressible nonlinear structures ph d thesis ecole polytechnique 2004 finally questions of practical implementation in the presence of curved interfaces are addressed and validated from the numerical point of view

a stable energy conserving approach for frictional contact problems based on quadrature formulas a common approach for the numerical simulation of non linear multi body contact problems is the use of lagrange multipliers to model the contact conditions the stability of standard algorithms is improved by introducing a modified mass matrix which assigns no mass to the potential contact nodes by this the spurious algorithmic oscillations in the multiplier do not occur any more which facilitates the application of the primal dual active set strategy to dynamical contact problems the new mass matrix is calculated via a modified quadrature formula that needs no extra computational cost in addition the conservation properties of the underlying algorithm are transferred to the modified mass version different numerical examples for frictional two body contact problems illustrate the improvement in the results for the contact stresses copyright 2007 john wiley sons ltd

path following and augmented lagrangian methods for contact problems in linear elasticity a certain regularization technique for contact problems leads to a family of problems that can be solved efficiently using infinite dimensional semismooth newton methods or in this case equivalently primal dual active set strategies we present two procedures that use a sequence of regularized problems to obtain the solution of the original contact problem first order augmented lagrangian and path following methods the first strategy is based on a multiplier update while path following with respect to the regularization parameter uses theoretical results about the path value function to increase the regularization parameter appropriately comprehensive numerical tests investigate the performance of the proposed strategies for both a 2d as well as a 3d contact problem

semi smooth newton methods for mixed fem discretizations of higher order for frictional elasto plastic two body contact problems in this article a semi smooth newton method for frictional two body contact problems and a solution algorithm for the resulting sequence of linear systems are presented it is based on a mixed variational formulation of the problem and a discretization by finite elements of higher order general friction laws depending on the normal stresses and elasto plastic material behavior with linear isotropic hardening are considered numerical results show the efficiency of the presented algorithm

numerical implementation of two nonconforming finite element methods for unilateral contact we consider the finite element approximation of the unilateral contact problem between elastic bodies we are interested in a practical problem which often occurs in finite element computations concerning two independently discretized bodies in unilateral contact it follows that the nodes of both bodies located on the contact surface do not fit together we present two different approaches in order to define unilateral contact on nonmatching meshes the first is an extension of the mortar finite element method to variational inequalities that defines the contact in a global way on the contrary the second one expresses local node on segment contact conditions in both cases the theoretical approximation properties are given then we implement and compare the two methods

incorporation of contact for high order finite elements in covariant form the covariant contact description is applied to incorporate the treatment of contact problems into a high order finite element technique a hierarchical enrichment of the shape functions space allows to construct a contact layer finite element combining both exact geometry representation for contact surfaces and a mesh with linear shape functions for the interior of the contacting bodies the developed contact approach can be viewed as a smoothing technique for linear meshes as well as a general application of high order fem the good approximation property for the developed contact layer elements is shown for the classical hertz problem even within a few contact elements discretizing the contact zone

solution of contact problems by feti domain decomposition with natural coarse space projections abstract an efficient non overlapping domain decomposition algorithm of the neumann neumann type for solving both coercive and semicoercive contact problems is presented the discretized problem is first turned by the duality theory of convex programming to the quadratic programming problem with bound and equality constraints and the latter is further modified by means of orthogonal projectors to the natural coarse space introduced by farhat and roux in the framework of their feti method the resulting problem is then solved by an augmented lagrangian type algorithm with an outer loop for the lagrange multipliers for the equality constraints and an inner loop for the solution of the bound constrained quadratic programming problems the projectors are shown to guarantee fast convergence of iterative solution of auxiliary linear problems and to comply with efficient quadratic programming algorithms proposed earlier reported theoretical results and numerical experiments indicate high numerical scalability of the algorithm which preserves the parallelism of the feti methods

chaotic attractors on a 3 torus and torus break up abstract two coupled driven van der pol oscillators can have three frequency quasiperiodic attractors which lie on a 3 torus the evidence presented in this paper indicates that the torus is destroyed when the stable and unstable manifolds of an unstable orbit become tangent furthermore no chaotic orbits lying on a torus were observed suggesting that in most cases at least in the case of this system orbits do not become chaotic before their tori are destroyed to expedite the calculations a method was developed which can be used to determine if an orbit is on a torus without actually displaying that orbit the method also described in this paper was designed specifically for our system the basic idea however could be used for studying attractors of other systems very few modifications of the method if any would be necessary when studying systems with the number of degrees of freedom equal to that of our van der pol system

a segment to segment mortar contact method for quadratic elements and large deformations abstract this paper describes a new extension of mortar based segment to segment algorithms for large deformation contact analysis permitting their use when quadratic interpolations are used in the underlying finite element method the work builds upon results previously described by puso and laursen m a puso t a laursen a mortar segment to segment contact method for large deformation solid mechanics comput methods appl mech engrg 193 2004 601 629 m a puso t a laursen a mortar segment to segment frictional contact method for large deformations comput methods appl mech engrg 193 2004 601 629 where methods were developed for quasistatic and implicit dynamic analysis in the context of linear element interpolations here we see that many algorithmic ideas from the linear case can be adopted for use with quadratic elements along with different alternative interpolations of the mortar contact multipliers the result is a class of methods appropriate for use for either mesh tying true large sliding simulation frictionless or frictional and readily admits mixing of element types several numerical examples are given to demonstrate the effectiveness of the approach

a mortar method for energy momentum conserving schemes in frictionless dynamic contact problems summary in the present work the mortar method is applied to planar large deformation contact problems without friction in particular the proposed form of the mortar contact constraints is invariant under translations and rotations these invariance properties lay the foundation for the design of energy momentum timestepping schemes for contact impact problems the iterative solution procedure is embedded into an active set algorithm lagrange multipliers are used to enforce the mortar contact constraints the solution of generalized saddle point systems is circumvented by applying the discrete null space method numerical examples demonstrate the robustness and enhanced numerical stability of the newly developed energymomentum scheme copyright q 2008 john wiley sons ltd

monotone multigrid methods on nonmatching grids for nonlinear multibody contact problems nonconforming domain decomposition techniques provide a powerful tool for the numerical approximation of partial differential equations we use a generalized mortar method based on dual lagrange multipliers for the discretization of a nonlinear contact problem between linear elastic bodies in the case of unilateral contact problems pointwise constraints occur and monotone multigrid methods yield efficient iterative solvers here we generalize these techniques to nonmatching triangulations where the constraints are realized in terms of weak integral conditions the basic new idea is the construction of a nested sequence of nonconforming constrained spaces we use suitable basis transformations and a multiplicative correction in contrast to other approaches no outer iteration scheme is required the resulting monotone method is of optimal complexity and can be implemented as a multigrid method numerical results illustrate the performance of our approach in two and three dimensions

a mortar finite element method using dual spaces for the lagrange multiplier the mortar finite element method allows the coupling of different discretization schemes and triangulations across subregion boundaries in the original mortar approach the matching at the interface is realized by enforcing an orthogonality relation between the jump and a modified trace space which serves as a space of lagrange multipliers in this paper this lagrange multiplier space is replaced by a dual space without losing the optimality of the method the advantage of this new approach is that the matching condition is much easier to realize in particular all the basis functions of the new method are supported in a few elements the mortar map can be represented by a diagonal matrix in the standard mortar method a linear system of equations must be solved the problem is considered in a positive definite nonconforming variational as well as an equivalent saddle point formulation

adaptive finite elements for elastic bodies in contact to avoid interpenetration of matter under the small strain assumption the linear contact condition is frequently applied where the distance of bodies is controlled only along a certain direction the standard direction is the normal on the surface where interpenetration might occur in this paper we allow other directions as well we address questions such as the correct mathematical model existence of solutions the penalty method for regularization of the variational inequality finite element discretization and a priori and a posteriori error estimates but exclude the error of penalization the computable upper error bound leads to a criterion for automatic mesh refinements within a finite element method numerical simulations of the hertzian contact problem and a supported cantilever beam are included

a primal dual active set strategy for non linear multibody contact problems abstract non conforming domain decomposition methods provide a powerful tool for the numerical approximation of partial differential equations for the discretization of a non linear multibody contact problem we use the mortar approach with a dual lagrange multiplier space to handle the non linearity of the contact conditions we apply a primal dual active set strategy to find the actual contact zone the algorithm can be easily generalized to multibody contact problems a suitable basis transformation guarantees the same algebraic structure in the multibody situation as in the one body case using an inexact primal dual active set strategy in combination with a multigrid method yields an efficient iterative solver different numerical examples for one and multibody contact problems illustrate the performance of the method