ISSN 0965-5425, Computational Mathematics and Mathematical Physics, 2016, Vol. 56, No. 3, pp. 450459.

Pleiades Publishing, Ltd., 2016.

Original Russian Text E.M. Rudoy, 2016, published in Zhurnal Vychislitelnoi Matematiki i Matematicheskoi Fiziki, 2016, Vol. 56, No. 3, pp. 455464.

Numerical Solution of the Equilibrium Problem for a Membrane

with Embedded Rigid Inclusions
E. M. Rudoy
Lavrentev Institute of Hydrodynamics, Siberian Branch, Russian Academy of Sciences,
pr. Akademika Lavrenteva 15, Novosibirsk, 630090 Russia
Novosibirsk State University, ul. Pirogova 2, Novosibirsk, 630090 Russia
e-mail: rem@hydro.nsc.ru
Received May 25, 2015

AbstractThe equilibrium problem for a membrane containing a set of volume and thin rigid inclusions is considered. A solution algorithm reducing the original problem to a system of Dirichlet ones
is proposed. Several examples are presented in which the problem is solved numerically by applying
the finite element method.

Keywords: membrane with rigid inclusions, FEM, variational method.

DOI: 10.1134/S0965542516030155

1. INTRODUCTION
An important application issue in mechanics is the creation of highly strong materials, such as dispersion hardening alloys, steels with various inclusions, composite materials, and reinforced materials, which
enhance the strength of structures and improve their reliability. Among thin-walled structures, we can distinguish membranes, which have wide applications in all industrial branches. Composite materials can
consist of an elastic medium containing rigid inclusions. By a rigid inclusion, we mean a body part having
zero deformations, whereas its displacements can be nonzero. There are volume rigid inclusions (their
dimension is the same as that of the ambient body) and thin rigid inclusions (their dimension is one less
than that of the ambient body).
In this paper, we consider a boundary value problem for Laplaces equation describing the equilibrium
of a membrane. The membrane is clamped on the external boundary and contains a set of volume and
thin rigid inclusions of arbitrary geometry (see Fig. 1). It is assumed that an external force is applied to the
membrane. The problem is stated in variational form as the minimization of an energy functional on the
set of admissible displacements, which is equivalent to a variational equation.
The set of admissible displacements is a subspace of the Sobolev space H 01() , where is the domain
occupied by the membrane. In fact, the variational equation satisfied by the solution determines the projection of some element corresponding to the external force onto the subspace of admissible displacements. Accordingly, the original problem is reduced to one of decomposing H 01() into the direct sum of
the subspace of admissible displacements and its orthogonal subspace.
Below, we construct an algorithm for finding such a decomposition and compute numerical examples
by applying this algorithm.
Models of membranes with rigid inclusions were investigated in [14]. The problem considered below
describes the behavior of a body within the framework of the out-of-plane deformation model (see, e.g.,
[5, 6]). It can also find application in the theory of electricity (see, e.g., [7, 8]).
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451

Fig. 1. Membrane with rigid inclusions.

2. FORMULATION OF THE PROBLEM

Suppose that R 2 is a bounded domain with a Lipschitz boundary . Let i be a family of
subdomains in with Lipschitz boundaries i, i = 1, , I; and let j be a family of Lipschitz curves in ,
j = 1, , J. The following conditions are assumed to hold:

i k = 0,
/

i k, j l = 0,
k l, n m = 0,
/
/
i, k, m = 1, , I , l, j, n = 1, J .

Note that the curves j can have self-intersection points.

Consider the following boundary value problem in with nonlocal boundary conditions: find a function u and numbers k, k = 1, , I + J, such that

u = f

I
J

\
i j ,

i =1
j =1

in

u=0
u = Ai

u = AI + j

(2)

i ,

(3)

fudx,

(4)

a.e. i n

(1)

on

u ds =

a.e. o n

j,

(5)

u
ds = 0,

(6)

where i = 1, , I and j = 1, , J. Here, i is the outward unit normal vector to i, j is the unit normal
vector to j, the square brackets [v ] = v+ v denote the jump of the function v on the curve j, the sign
corresponds to a positive or negative direction of the normal j , and the function f L2() is assumed to
be given.
Equations (1) and boundary conditions (2)(5) determine the deflections of the membrane, which is
clamped on the external boundary , contains the volume i (i = 1, , I) and thin j (j = 1, J) rigid
inclusions, and is in equilibrium under the action of the external force f.
To give a variational formulation of problem (1)(6), we define the closed convex set of membranes
admissible deflections:

K = {v H 01()| v = ai a.e. in i , i = 1, , I ,
v = aI + j a.e. o n j , j = 1, , J , ak R, k = 1,, I + J },
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i.e., the set K consists of all functions from H 01() such that their restrictions to i and their traces on j
take constant values. Then the weak solution of problem (1)(6) is a function u K satisfying the variational equation

u v dx = f v dx

v K .

(7)

It follows from the calculus of variations [9, 10] that problem (7) has a unique solution, which additionally minimizes the functional (v) on the set K, where

(v ) = 1 | v | 2dx
2

By virtue of the Poincar inequality,

H 01()

f v dx.

is a Hilbert space with the inner product

(u,v ) = u v dx.

(8)

The Riesz theorem implies that, for any linear continuous functional f, in H 01() there is an element uf
such that

f ,v = (u f ,v )

v H 01().

Therefore, after finding a function uf satisfying the variational equation

v dx =

f v dx

v H 01(),

(9)

we can rewrite (7) as follows: find a function u K such that

(u u f ,v ) = 0

v K .

(10)

Note that K is a subspace of H 01() . Therefore, the solution u of problem (10) is the orthogonal projection of uf onto K (see, e.g., [9]).
Thus, problem (7) is reduced to finding the orthogonal projection of uf onto K, where uf is the solution
of problem (9).
In turn, problem (10) is restated in a different form. Specifically, Eq. (10) is written in integral form as

(u u

) v dx = 0

v K .

(11)

Since the functions v from K are constants on j, i = 1, , I, the integral in (11) is taken over the domain

g = \

I
i =1

i .

Define the space

H 1,0( g ) = {v H 1( g )| v = 0 a.e. on }
and the set

K g = {v H 1,0( g )| v = ai a.e . in i , i = 1, I ,
v = aI + j a.e. on j , j = 1, , J , ak R, k = 1,, I + J } .
Consider the following problem: find a function p Kg such that

( p u

) v dx = 0

v K g .

(12)

Obviously, the solution u of problem (11) and the solution p of problem (12) are related as follows: the
restriction of u to g coincides with p, while the extension of p from the boundary i to the entire subdomain i (i = 1, , I) by suitable constants coincides with u.
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Now let uf denote the restriction of uf to the set g. By the Poincar inequality, which holds in g, problem (12) can be rewritten as

( p u f ,v ) = 0

v K g ,

(13)

i.e., p is the orthogonal projection of uf onto the set Kg

Since Kg is a subspace of 1, 0(g), we have the decomposition

H1, 0(g).

H 1,0( g ) = K g K g,
where K g is the orthogonal complement of Kg.
Let us design an algorithm for decomposing H1, 0(g) into the direct sum of Kg and K g .
3. DECOMPOSITION OF H1, 0(g) INTO THE DIRECT SUM K g K g
Define the auxiliary set

J
c = \ i j = g \ j .

i =1 j =1
j =1

Let w be an arbitrary function from K g . Then

(w,v ) = 0

v K g .

(14)

Substituting v C 0 ( c ) as a test function into (14), we see that w satisfies the differential equation

w = 0

a.e . in

c.

(15)

Moreover, we have

w=0

a.e. on

(16)

Now substituting an arbitrary function v Kg into (14) and applying Greens formula yields
I

(w,v ) = wv dx

i =1 i

w v ds
i

w v ds.

j =1 j

Since v takes constant values on i and j for i = 1, , I and j = 1, , J, respectively, and in view
of (15), we obtain

w ds = 0,

i = 1, , I ,

(17)

w
ds = 0,

j
j

j = 1, , J .

(18)

Thus, any function w from K g satisfies the nonlocal boundary value problem (15)(18). Obviously, the
converse is also true: any function satisfying (15)(18) belongs to K g .
Let = (1, , aI, aI + 1, , aI + J), where ak (k = 1, , I + J) are arbitrary numbers. Consider the following problem: find a function ya H1, 0(g) such that

y a = u f | i ai ,

i = 1, , I ,

y a = u f | j aI + j ,

v dx = 0

j = 1,, J ,
(19)

v H 01( c ).

For any a, problem (19) has a unique solution a, which is a weak solution of the Dirichlet problem

y a = 0

in

c,

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ya = 0
y a = u f ai

on

y a = u f aI + j

on

i ,

i = 1, , I ,

j,

j = 1, , J .

on

Define

hi (a) =

hI + j (a) =

y
ds,
i

i = 1, , I ,

y a
ds,
j
j

j = 1, , J .

Let us show that there exists a vector R I + J such that hk(A) = 0 for all k = 1, , I + J. Then the
function satisfies (15)(18) and, hence, belongs to K g .
First, we note that a is a linear function of a. Therefore, it can be represented as
I +J

y =
a

a y

+ y 0,

k k

(20)

k =1

where y0 is the solution of problem (19) with a = (0, , 0) R I + J and the functions yk (k = 1, , I + J)
are solutions of the following two families of Dirichlet problems:
1. Find a function yi H 1, 0(g) such that yi = 1 on i; yi = 0 on k, k = 1, , I, k i; yi = 0 on m,
m = 1, , J; and

v dx = 0

v H 0( c ),
1

i = 1, , I .

(21)

2. Find a function yI + j H 1, 0(g) such that yI + j = 1 on j; yI + j = 0 on n, n = 1, , I; yI + j = 0

on k, k = 1, , J, k j; and

I +J

v dx = 0

v H 0( c ),
1

j = 1, , J .

(22)

Note that the function k for all k = 1, , I + J belongs to Kg, since it takes constant values (1 or 0)
on i (i = 1, , I) and j (j = 1, , J).
Moreover, the system {y k } kI +=1J is linearly independent. Indeed, if there are numbers k, k = 1, , I + J,
such that
I +J

v =

= 0,

k yk

k =1

then

v | i = i = 0,

i = 1, , I ,

v | j = I + J = 0,

j = 1, , J .

Note that the solutions i (i = 1, , I) of the families of problems (21) are weak solutions of the boundary value problems

yi = 0
yi = 1
yi = 0

a.e. on

yi = 0

a.e. i n

c,

(23)

a.e. on

i ,

(24)

k ,

a.e. on

k = 1, , I ,
m,

k i,

(25)

m = 1, , J ,

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(26)
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NUMERICAL SOLUTION OF THE EQUILIBRIUM PROBLEM

yi = 0

455

a.e. on

(27)

while the solutions yI + j (j = 1, , J) of the families of problems (22) are weak solutions of the problems

y I + j = 0
yI + j = 0

i ,

a.e. on

yI + j = 1
yI + j = 0

a.e. i n

a.e. o n
m,

a.e. o n
yI + j = 0

c,

(28)

i = 1, , I ,
j,

(30)

m = 1, , J ,

a.e. o n

(29)

m j,

(31)

(32)

It follows from (20) that hk (k = 1, , I + J) are also linear functions of a; therefore,

0
ak y k ds + y ds,

i

k =1
i
i i

I +J

hi (a) =

i = 1, , I ,

(33)

y k
y 0

hI + j (a) =
ak ds + ds, j = 1, , J .

j
i
k =1
j
j
Let us show that there exists a vector A R I + J such that hk(A) = 0 for all k = 1, , I + J.
Applying Greens formula and taking into account (23)(27) and (28)(32), we easily see that
I +J

yk

i
yk
( y k , yi ) = y k yi dx +
yi ds = i
n
y k
c
c
i
i
Moreover, we have

for

k = 1, , I + J ,

(34)

i = 1, , I ,
(35)

for

k = 1, , I + J ,

i = I + 1, , I + J .

y 0
, i = 1, , I ,

i
0

0
0
(36)
( y , yi ) = y yi dx +
yi ds = i 0
n
y

c
c
, i = I + 1, , I + J .
i
i
Define an (I + J) (I + J) matrix B = {bkm} and a column vector C = (c1, , cI + J)T with components

bkm = ( y k , y m ),

c k = ( y 0, y k ),

k, m = 1, , I + J .

(37)

Then, by virtue of (35) and (36), the functions hk(a), k = 1, , I + J, vanish if and only if the equation

Ba + C = 0

(38)

has a solution.
Since B is the Gram matrix for the linearly independent functions k, k = 1, , I + J, its determinant
is nonzero and system (38) is uniquely solvable. Let A = 1 be the solution of this system, where A =
(A1, , AI, AI + 1, , AI + J). Then the function yA satisfies Eq. (15) and obeys the nonlocal boundary conditions (16)(18). This means that yA belongs to K g .
Now consider the function = uf yA. The trace of p on i is the constant Ai, i = 1, , I, while its
trace on j is the constant AI + j, j = 1, , J. Therefore, p belongs to Kg and is the orthogonal projection of
uf onto Kg.
Finally, we continue p into i by the constants i, i = 1, , I. As was noted above, the resulting function, which is denoted by u, is the orthogonal projection of uf onto K. In turn, this means that u is the solution of problem (1)(6).
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4. ALGORITHM FOR SOLVING THE EQUILIBRIUM PROBLEM FOR A MEMBRANE

CONTAINING A SET OF VOLUME AND THIN RIGID INCLUSIONS
Summarizing the above results, we propose the following algorithm for solving problem (1)(6).
Algorithm
Step 1. Given a function f L2(), find a function uf H 01() satisfying variational equality (9).
Step 2. Construct a linearly independent system {y k } kI +=1J , where the functions k are the solutions of
variational equations (21) and (22).
Step 3. Find the function 0 by solving variational equation (19) with a = (0, , 0) R I+J.
Step 4. Determine the (I + J) (I + J) matrix B and the (I + J)-vector C using formulas (37).
Step 5. Find the vector R I+J by solving Eq. (38).
Step 6. Determine the function using the formula
I +J

y =
A

A y

k k

+y .
0

k =1

Step 7. Determine the function p = uf yA.

Step 8. The function

p, x g ,
u=
Ai , x i ,

i = 1, , I ,

where Ai = p| i , i = 1, , I, is the solution of the original problem (1)(6).

5. EXAMPLES OF NUMERICAL SOLUTIONS
The algorithm proposed above is efficient when applied to the numerical solution of problem (1)(6)
in combination with the finite element method.
In all the examples considered below, the domain is a disk of radius 5 centered at the origin, i.e.,

= {( x, y) R 2 | x 2 + y 2 < 25}.
The membrane is assumed to be clamped at the external boundary
= {( x, y) R 2 | x 2 + y 2 = 25}.
The test problems illustrate the performance of the algorithm. They are solved in terms of dimensionless
variables. For illustrative purposes, the deformed membranes are depicted on a larger scale.
The algorithm was implemented by applying FreeFEM ++ (see [11]). The domain was triangulated
using Lagrange Pl-elements.
5.1. Membrane with a Circular and a Rigid Line Inclusion
Consider a membrane with two rigid inclusions: circular

= {( x, y) R 2 |( x + 3)2 + y 2 < 1}
and rigid line

= {( x, y) R 2 | x = 0, y ( 2,2)}.
Assume that the membrane experiences the constant force f = 1.
The domain g = \ is divided into 32204 triangles with 16252 vertices, so that each of , , and
contain 150 vertices. The deformed membrane is shown in Fig. 2.
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Fig. 2. Deflections of a membrane with a circular and a rigid line inclusion.

Fig. 3. Deflections of a membrane with a cross-shaped rigid inclusion.

5.2. Membrane with a Cross-Shaped Rigid Inclusion

Consider a membrane containing the thin cross-shaped rigid inclusion

= {( x, y) R 2 | x = 0, y ( 2,2)} {( x, y) R 2 | x ( 2,2), y = 0}.

Assume that the membrane experiences the constant force f = 1.
The domain is divided into 46378 triangles with 23265 vertices, so that contains 300 vertices. The
deformed membrane is shown in Fig. 3.
5.3. Membrane with Three Parallel Rigid Line Inclusions
Consider a membrane with three rigid line inclusions placed in parallel to each other:

1 = {( x, y) R 2 | x = 2, y ( 2,2)},
2 = {( x, y) R 2 | x = 0, y ( 2,2)},
1 = {( x, y) R 2 | x = 2, y ( 2,2)}.
The domain is divided into 35192 triangles with 17672 vertices, so that each rigid inclusion k (k = 1, 2, 3)
contains 100 vertices. Figure 4 shows the deflections of the membrane subjected to the external force
(a) f1 = 1 and (b) f2 = sgn(y).
5.4. Membrane with Three Concentric Thin Rigid Inclusions
Consider a membrane with three concentric thin rigid inclusions

1 = {( x, y) R 2 | x 2 + y 2 = 4},

2 = {( x, y) R 2 | x 2 + y 2 = 9},
3 = {( x, y) R 2 | x 2 + y 2 = 16}.
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(b)
(a)

Fig. 4. Deflections of a membrane with three parallel rigid line inclusions.

Fig. 5. Deflections of a membrane with concentric thin rigid inclusions.

Fig. 6. Deflections of a membrane with a square rigid inclusion.

Assume that it experiences the force f = sgn(x). The domain is divided into 10 904 triangles with 5528
vertices, so that each rigid inclusion k (k = 1, 2, 3) contains 150 vertices. The deformed membrane is
shown in Fig. 5.
5.5. Membrane with a Square Rigid Inclusion
Let a membrane with a square rigid inclusion

= {( x, y) R 2 | 2 < x, y < 2}
be in equilibrium under the action of the constant force f = 1.
The domain is divided into 13390 triangles with 6771 vertices, so that each side of contains 50 vertices. The deformed membrane is shown in Fig. 6.
ACKNOWLEDGMENTS
This work was supported by a grant from the President of the Russian Federation, MD-3123.2015.1.
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Translated by I. Ruzanova

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