Prof.dr. Adalbert KOVACS Prof.dr.

Radu-Emil PRECUP

Prof.dr. Bela PALANCZ Conf.dr. Levente KOVACS

MODERN NUMERICAL METHODS

IN ENGINEERING

Colecjia "MATEMATICIMODERNE

EDITURA POLITEHNICA

TIMI$OARA-2012
 CONTENTS

PREFACE 5
CONTENTS 7
FIRST PART
Ch. 1. AN INTRODUCTION TO MATHEMATICA 14
1.1. Initial notions 14
1.1.1 The structure of Mathematica
15
1.1.2 Basic notions 17
1.1.2.1. Set of characters. Symbols and numbers 17
1.1.2.2. Keywords under Mathematica 19
1.1.2.3. Getting information
20
1.1.2.4. Messages 21
1.1.2.5. Program packages 21
1.2. Structured objects 22
1.2.1. Lists 22
1.2.2. Functions
23
1.2.3. Expressions. Rules of transformations 25
1.3. Processing objects in Mathematica 28
1.3.1. Processing simple objects 28
1.3.2. Processing lists 30
1.3.3. Vectors and matrices 37
1.3.3.1. Operations with matrices 38
1.3.3.2. Operations with vectors 41
1.4. Graphics in Mathematica 42
1.4.1. 2D graphical representation 43
1.4.2. 3D graphical representation 48
1.4.3. Parametric representation of curves and surfaces 52
1.5. Programming elements under Mathematica 55
1.6. References
59
Ch. 2. AN INTRODUCTION TO MATLAB 60
2.1. Initial notions
60
2.2. Commands with general effect 61
2.3. Commands used to control the variables
62
2.4. Predefined constants and variables in MATLAB 66
2.5. File-types in MATLAB 67
2.6. Programming elements in MATLAB 68
2.7. Loops (for, while) and conditional instructions 70
2.8. Graphics in MATLAB 74
2.9. Symbolic and numeric computations in MATLAB 79
8 Contents

2.10 References 86

Ch.3 AN INTRODUCTION TO MATHCAD 87

3.1. Mathcad basics 87
3.1.1. Mathcad Resource Window 87
3.1.2. Mathcad worksheets and regions 88
3.1.3. The Mathcad toolbar 88
3.2. Mathematical expressions 89
3.2.1. Ways to calculate the expressions 92
3.2.2. The format used in editing and typing numerical data 93
3.2.3. Numerical calculus with units of measurement 95
3.3 Mathcad document editing 96
3.4. Range, index and array variables 97
3.5. Matrices and vectors 100
3.5.1. Creating matrices and vectors 100
3.5.2. Indices for matrices and vectors 100
3.5.3. Operations with vectors and matrices 102
3.5.4. Parallel calculations 105
3.6. Mathcad 2D and 3D plots 105
3.7. Symbolic computations in Mathcad 107
3.8. Elements of Mathcad programming 110
3.9. References 112
Ch. 4 NUMERICAL METHODS FOR SOLVING SYSTEMS OF LI¬
NEAR EQUATIONS 113
4.1. Direct methods 115
4.1.1 The Gaussian elimination method 117
4.1.2 The L U decomposition method 121
4.2. Iterative methods 125
4.3. Applications 131
4.3.1 Solving systems of linear equations in Mathematica 131
4.3.2 Solving systems of linear equations in MATLAB 132
4.3.3 Solving systems of linear equations in Mathcad 135
4.4. References 139
Ch. 5 NUMERICAL METHODS FOR SOLVING NONLINEAR EQU¬
ATIONS AND SYSTEMS OF NONLINEAR EQUATIONS 140
5.1. Methods for nonlinear equations 141
5.1.1 The bisection method 142
5.1.2 The regula falsi method 145
5.1.3 Newton's method 147
5.1.4 The secant method 149
5.1.5 Fixed point methods 150
5.2. Methods for systems of nonlinear equations 151
 Contents 9

5.2.1 Successive approximation methods 153

5.2.2 Newton-type methods 157
5.3. Applications 161
5.3.1 Solving nonlinear equations and systems of nonlinear equations
in Mathematica 161
5.3.2 Solving nonlinear equations and systems of nonlinear equations
inMATLAB 163
5.3.3 Solving nonlinear equations and systems of nonlinear equations
inMathcad 167
5.4. References 172
Ch. 6. POLYNOMIAL INTERPOLATION. FUNCTION APPROXIMA¬
TION 173
6.1. Lagrange and Hermite interpolations 173
6.1.1 The Lagrange polynomial interpolation 173
6.1.2 The Hermite polynomial interpolation 176
6.2. Least squares approximation 179
6.3. Interpolation with spline cubic functions 181
6.3.1 Cubic spline functions with end point conditions 184
6.3.2 Periodic cubic spline functions 186
6.3.3 Natural cubic spline functions 187
6.4. Applications 189
6.4.1 Polynomial interpolation with Mathematica 189
6.4.1.1. Commands 189
6.4.1.2. Solved problems 190
6.4.2 Polynomial interpolation under MATLAB 197
6.4.2.1. Commands 197
6.4.2.2. Solved problems 199
6.4.3 Solved problems for polynomial interpolation using Mathcad 203
6.5. References 206

Ch. 7. NUMERICAL METHODS FOR SOLVING DIFFERENTIAL EQ¬

UATIONS AND SYSTEMS OF DIFFERENTIAL EQUATIONS 207
7.1. General aspects. Method of successive approximations 207

7.2. The direct numerical method (unistep) 211

7.2.1 The Taylor numerical method. The Euler methods 211

7.2.2 The Runge-Kutta methods 216

7.3. The indirect numerical method (multistep) 228

7.3.1 The Adams-Basnforth method 229

7.3.2 The Adams-Moulton method 230
7.3.3 The predictor-corrector method. The Adams-Bashforth-Moulton
method 232
10 Contents .

7.4. Applications •
238
7.4.1 Solving equations and systems of differential equations under
Mathematica 238
7.4.1.1. Commands 238
7.4.1.2. Solved problems 240
7.4.2 Solving equations and systems of differential equations with
MATLAB 244
7.4.2.1. Commands 244
7.4.2.2. Solved
problems 246
7.4.3 Solving equations and systems of differential equations with
Mathcad 250
7.5. References 253

SECOND PART
Ch. 8. GLOBAL METHODS TO SOLVE SYSTEMS OF NONLINEAR
EQUATIONS 256

8.1. Homotopy continuation analysis 257

8.1.1 Definition of homotopy.... 257
8.1.2 Solving nonlinear equation via homotopy 258
8.1.3 Tracing homotopy path as initial value 261
8.1.4 Types of linear homotopy 264
8.1.4.1. Fixed point homotopy 265
8.1.4.2. Newton homotopy 265
8.1.5 Start system for polynomial systems 265
8.2. Gauss-Jacobi combinatorial method 270
8.2.1 Linear systems 270
8.2.2 Nonlinear systems 272
8.3. Parallel computation 276
8.3.1 Implementation of homotopy method in Mathematica 276
8.3.2 Parallel computation in Mathematica 278
8.4. References 281
Ch. 9. FUNDAMENTAL PRINCIPLES OF THE FINITE ELEMENT ME¬
THOD (FEM) 283
9.1. Introduction to FEM 283
9.2. Topological properties in the FEM 286
9.3. Local and global systems of coordinates. Interpolation functions 291
9.4. Energetical and numerical methods in FEM. Galerkin's Method 298
9.4.1 Energetical methods in FEM 298
9.4.1.1. The principle of apparent mechanical work (apparent
displacements) 299
9.4.1.2. Potential energy theorem 300
9.4.1.3. Approximation calculus (Numerical methods) in FEM
Galerkin's Method 300
 Contents 11

9.5. Mathematical simulation in engineering by FEM 307

9.5.1 Determination of a beam displacements subject to an axial foce
by FEM 307
9.5.1.1. Assembling Process 311
9.5.1.2. Assembling according to the nodes 312
9.5.1.3. Assembling according to elements 315
9.5.1.4. Implementation of boundary conditions 317
9.5.1.5. Numerical solving in MATLAB 322
9.5.1.6. Numerical solving in Mathcad 328
9.5.2 The analysis of the displacements in mechanical systems with
springs by FEM 329
9.5.2.1. Numerical solving in MATLAB 335
9.5.2.2. Numerical solving in Mathcad 338
9.5.3 The analysis of temperature distribution in a conductive thermal
field by means of Galerkin's method 339
9.5.3.1. Numerical solving in MATLAB 346
9.5.3.2. Numerical solving in Mathcad 348
9.5.4 The temperature distribution analysis in a conducting wire by
variational calculation 350
9.5.4.1. Numerical solving in MATLAB 359
9.5.4.2. Numerical solving in Mathcad 361
9.5.5 The analysis of the plane structure displacements by FEM 366
9.5.5.1. Numerical (digital) solving in MATLAB 374
9.5.5.2. Numerical solving in Mathcad 378
9.5.6 Determination of the permanent parallel plane movement rate

Galerkin's method 382

by
9.5.6.1. Numerical solving in Mathcad 389
9.6. References 399
Ch. 10. AN INTRODUCTION TO BOUNDARY ELEMENT METHOD
(BEM) 400
10.1. General aspects. Direct and indirect formulations of the boundary
element method 400
10.2. One-Dimensional Problems Solved by BEM 405
10.2.1 The Method of Influence Functions. Applications of the Indirect
Element Method (IBEM) 405
Boundary
10.2.1.1. The Method of Influence Functions 405
10.2.1.2. Application of the Indirect Boundary Element Method
409
(IBEM)
10.2.1.3. The simple beam problem by IBEM 416
10.2.2 Application Boundary Element Method Compari¬
of the Direct
son between IBEM and DBEM 425

10.3. Two-dimensional problems solved by BEM 439

10.3.1 Potential Flow Basic Equations. Indirect-BEM Application 439
10.3.1.1. Basic Governing Equations. Singular Solutions 439
12 Contents

10.3.1.2. Indirect Boundary Element Method (IBEM) for a Ho¬

mogenous Region 442
10.3.2 Direct Boundary Element Application (DBEM) for a Homoge¬
neous Region; Equivalence of IBEM and DBEM Methods 450
10.3.2.1. Calculation of Internal Potentials and Velocities 460
10.3.2.2. The Equivalence of Indirect and Direct Boundary
Element Method Analysis IBEM and DBEM 461
10.3.3. Concluding Remarks 462
10.4. Some Developments in Applicability of CVBEM (Complex Variable
Boundary Elements Method) 464
10.4.1 Some Developments of CVBEM at Mixed Boundary Value
Problems for Laplace Equation 464
10.4.1.1. Introduction 464
10.4.1.2. CVBEM Development 465
10.4.1.3. Treatment of singularities 468
10.4.1.4. Solution of the Mixed Boundary Values Problem
(BVP) by CVBEM 572
10.4.1.5. Conclusions 475
10.4.2 CVBEM Developments to Obtain the Analytic Solution to the
Poisson equation in Plane Domains 475
10.4.2.1. Introduction. Basic formula 475
10.4.2.2. An illustrative example 479
10.4.2.3. Conclusions 481
10.5. References 482