Singular asymptotic solution along an elliptical edge for the Laplace equation in 3-D

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1 Singular asymptotic solution along an elliptical edge for the Laplace equation in 3-D Samuel SHANNON a, Victor PERON b, Zohar YOSIBASH a a Pearlstone Center for Aeronautical Engineering Studies, Dept. of Mechanical Engineering Ben-Gurion University of the Negev, Beer-Sheva, 8405, Israel b INRIA-Bordeaux Sud Ouest, LMA - UMR CNRS 54, Université de Pau et des Pays de l Adour, 6403 Pau cedex, France Abstract Explicit asymptotic solutions are still unavailable for an elliptical crack or sharp V-notch in a three-dimensional elastic domain. Towards their derivation we first consider the Laplace equation. Both homogeneous Dirichlet and Neumann boundary conditions on the surfaces intersecting at the elliptical edge are considered. We derive these asymptotic solutions and demonstrate, just as for the circular edge case, that these are composed of three series with eigenfunctions and shadows depending on two coordinates. Keywords: 3-D singularities, elliptical singular edge, edge flux intensity functions. Introduction Asymptotic solutions of the elasticity system or the Laplace equation in the vicinity of singular points over two dimensional domains have been investigated for over half a century. For the Laplace equation these are described by an infinite series of the eigenpairs α k, ϕ k φ)) and their coefficients named flux intensity factors A k FIFs) as follows: τρ, φ) = k A k ρ α k ϕ k φ). ) address: zohary@bgu.ac.il Zohar YOSIBASH) Preprint submitted to EFM December 3, 04

2 In three-dimensional domains such as polyhedra, both vertex and edge singularities exist, see [3, 8]. For straight edges an explicit representation of the singular solutions along the edge was provided in [5,,, 9]. It is given by two infinite series containing the -D series and another series of the derivative of the FIFs A k which are functions along the straight singular edge as follows: τρ, φ, z) = k za l k z)ρ αkl ϕ k,l φ). ) l=0,,4,6 It was shown in [0] that for three-dimensional domains with a circular singular edges, the solution of the Laplace equation is given by three series: τρ, φ, θ) = k θa l k θ)ρ α k ρ l ρ ) i ϕk,l,i φ), 3) R) R l=0,,4,6 where θ is the angle surround the circular edge, ρ is the normal distance from the circular edge and R is the radius of the circular edge. A k θ) are the Edge Flux Intensity Functions EFIFs), α k are the -D eigenvalues and ϕ k,l,i φ) are the -D eigenfunctions and their shadow functions. This expansion contains the 3-D straight edge series and another series associated to the curvature of the singular edge. Explicit asymptotic solutions in the vicinity of singular elliptical edges in a 3-D domain are not yet available neither for the elasticity system nor for the Laplace equation. The elasticity asymptotic solution has same characteristics as the Laplace asymptotic solution and towards its derivation we here consider first the Laplace equation in the vicinity of an elliptical singular edge in a three-dimensional domain. Thereafter same techniques may be used to derive the asymptotic solution for the elasticity system. Sadowsky and Sternberg [3] considered the stress around a 3-D ellipsoidal cavity, but these ellipsoids do not contain singular edges. Green and Sneddon were the first to the best of our knowledge) to analyze an elliptical crack in an infinite body under uniform tension [4]. They used the solutions in [3] to compute the normal displacement to the crack plane. Irwin [6] i=0

3 derived the pointwise edge stress intensity factor K I based on [4] for an elliptical crack in an infinite body under uniform tension. Kassir and Sih computed mode II and mode III edges stress intensity functions K II and K III for an elliptical crack in an infinite body under uniform shear see [7]). These solutions have been used in many papers for computing the edge stress intensity functions by the superposition method [4, 5]), the weight function method for example see [0, 6]) and by Fourier approximation of the boundary condition or of the geometry see [7,, 6, 9]). Leblond and Torlai provided the mechanism for the point-wise derivation of the elastic solution up to second order for a general curved crack [8]). Much attention has been devoted to the computation of the first coefficient of the asymptotic series in elasticity, namely the pointwise evaluation of the mode I stress intensity function along an elliptical crack. In [] the exact analytical pointwise stress intensity function has been obtained for an elliptical crack embedded in an infinite elastic body and subjected to an arbitrary applied normal stress Mode I). However, the general asymptotic solution of the Laplace equation and the elasticity system in the vicinity of an elliptical singular edge is yet unknown. As a result there are no methods that may provide the flux/stress intensity factors along the edge as functions of the coordinate along it. Towards this goal we herein consider first the general expression of the asymptotic solution to the Laplace equation in a domain that contains an elliptical singular edge. For the Laplace equation we show that as for the circular edge case, the solution in the vicinity of an elliptical edge is composed of three series, but here the eigenfunctions ϕ k,l,i are functions of the coordinate φ and of the coordinate γ along the elliptical edge. Specific examples for an elliptical crack with homogeneous Dirichlet or Neumann BCs are provided. The asymptotic solution and especially the dual solution is required to extract the edge flux intensity function EFIFs) using the quasi-dual function method as in [, 0]. Therefore we provide explicit formulae in Appendix A for the first terms of the dual solution. This is the first step for the computation of the solution to the elasticity system in the vicinity of elliptical singular edges which is of major 3

4 engineering importance because most surface cracks are semi-elliptical.. The Laplace equation in the vicinity of an elliptic singular edge Consider a singular edge of an elliptic shape in the x x plane. We use a standard orthogonal curvilinear elliptic coordinate system β, γ) related to the Cartesian coordinates by: x = a coshβ) cosγ) 4) x = a sinhβ) sinγ) 5) where β 0, γ [0, π], and ±a are the ellipse foci. A planar ellipse is determined by a fixed β = β 0 and a given a. The outer normal vector ˆn at any point along such an ellipse determined by γ ) is: ˆn = cosh β0 ) cosγ) sinhβ 0) cosγ), cosh β 0 ) sinγ), 0) 6) Remark. The ellipse reduces to a circle of a radius R by substituting a = R at the limit β sinhβ 0 ) 0 in 4)-5). R coshβ 0 or a = ) We locate the two orthogonal coordinates ρ, φ) initiating at the elliptical edge in the plane containing the normal ˆn as shown in Fig.. The connection between the coordinates ρ, γ, φ and the Cartesian coordinates x, x, x 3 is: ) sinhβ0 ) x = a coshβ 0 ) ρ cosφ) cosγ) 7) coshβ0 ) cosγ) ) coshβ0 ) x = a sinhβ 0 ) ρ cosφ) sinγ) 8) coshβ0 ) cosγ) x 3 = ρ sinφ) 9) and the scale factors also known as the Lamé factors) are: 4

5 n Figure : An ellipse in the x, x ) - plane and the notations. h ρ = 0) h φ = ρ ) a h γ = gγ) ρ ) qγ) a fφ) ) with: fφ) = sinh β 0 ) cosφ) 3) qγ) = cosh β 0 ) cosγ) 4) gγ) = q 3 γ)/ 5) 5

6 The Laplace equation in the new coordinate system ρ, φ, γ) located on the ellipse edge see Figure ) is: {ρ,φ,γ} = ρρ ρ ρ ρ φ,φ 6) ) sinh β0 ) a gγ) ρ fφ) cosφ) ρ ) ρ sinφ) φ a ) a gγ) ρ fφ) qγ) sinγ) γ a ρ ) 3 a 3 gγ) ρ fφ) qγ) sinγ)3fφ) γ a ) qγ) a gγ) ρ fφ) γγ a Remark. For the limit case of a circular crack a = R or a = coshβ 0 ) ) R and β sinhβ 0 ) 0 : lim β 0 lim β 0 lim β 0 lim β 0 { a gγ) ρ a fφ) ) } sinhβ 0 ) { ) a gγ) ρ fφ) qγ) sinγ)} = 0 a = R ρ cosφ) R { ) 3 ρ a 3 gγ) ρ fφ) 3qγ) sinγ)fφ)} = 0 a { ) } qγ) a gγ) ρ fφ) a = R ρ R cosφ)) and 6) reduces to the Laplace equation along a circular edge as presented in [0]). 6

7 Multiplying the operator 6) by ρfφ) ) 3 ρ = M 0 agγ) with: ρ sinh β0 ) agγ) ρ sinh β0 ) agγ) ρ sinh β0 ) agγ) ρ a gθ) fφ) ) 3 ρ 0, there holds: ) 3 cos φm 0 ρm 0 ) 7) ) 3 cos φm 0 cos φm 0 ) 3 cos 3 φm 0 cos φm 0 ) qγ) sinγ) γ sinh β 0 ) qγ) ) γγ cos φ qγ) sinγ) γ sinh β 0 ) qγ) ) γγ ) M 0 = ρ ρ ) φφ 8) M 0 = cosφ)ρ ρ sinφ) φ 9) Following the Laplace solution for the circular edge see [0]), we consider a solution of 7) of the form: τ = k γa l k γ)ρ α k l=0 ρ qγ) a gγ) ) l ) i ρ sinh β0 ) ϕ k,l,iφ, γ) 0) i=0 a gγ) with either homogeneous Dirichlet or Neumann BCs on Γ and Γ see Fig. ): Remark 3. For the limit case of a circular crack a = R or a = coshβ 0 ) ) R and β sinhβ 0 ) 0 : lim β 0 ) i ρ sinh β0 ) ρ i = a gγ) R) and 0) reduces to 3). lim β 0 ) l ρ qγ) ρ l = a gγ) R) The homogeneous Dirichlet boundary conditions on φ and φ in view of 0) are: ϕ k,l,i φ, γ) = ϕ k,l,i φ, γ) = 0 on Γ Γ γ [0, π], ) 7

8 Figure : A slice of the ellipse singular edge. and the homogeneous Neumann boundary conditions are: φ ϕ k,l,i φ, γ) = φ ϕ k,l,i φ, γ) = 0 on Γ Γ γ [0, π]. ) In Figure 3 the boundaries on which homogeneous Dirichlet or Neumann boundary conditions are prescribed are visualized. 8

9 Figure 3: The surfaces that intersect at the elliptic singular edge on which homogeneous boundary conditions are prescribed. Left - The entire ellipse, Right - Zoom in the right part γ = 0 ). Substituting 0) in 7) one obtains: 0 = A k γ)ρ α [{ } k m 0 ϕ k,0,0 ) ρ sinh β0 ) {m0 } ϕ k,0, 3 cosφ) m 0 m 0) ϕ k,0,0 a gγ) ρ sinh β0 ) a gγ) } qγ) sinh β 0 ) sinγ) γ qγ) γγ ) ϕ k,0,0 ρ sinh β0 ) a gγ) ) { m0 ϕ k,0, 3 cosφ) m 0 m 0) ϕ k,0, 3 cos ) φ) m 0 cosφ) m 0 ϕk,0,0 ) 3 { m0 ϕ k,0,3 3 cosφ) m 0 m 0) ϕ k,0, 3 cos ) φ)m 0 cosφ)m 0 ϕk,0, cos 3 φ)m 0 cos ) φ) m 0 ϕk,0,0 qγ) ϕk,0, sinh β 0 ) gγ) sinγ) γ qγ) γγ ) gγ) ) A k γ)ρα k ρ qγ) [{m0 } ϕ k,,0 a gγ) ) { } ρ sinh β0 ) m 0 ϕ k,, 3 cosφ)m 0 m 0 ) ϕ k,,0 a gγ) sinh β 0 ) sinγ) qγ) γ) ϕ k,0,0 ) ρ sinh β0 ) { m0 ϕ k,, 3 cosφ)m 0 m 0) ϕ k,, 3 cos ) φ) m 0 cosφ)m 0 ϕk,,0 a gγ) ) ) ϕk,0, sinγ)ϕ k,0, qγ)gγ) γ cosφ) sinγ) qγ) γ ) ϕ k,0,0 sinh β 0 ) gγ) qγ)ϕk,,0 gγ) sinh β 0 ) sinγ) γ qγ) γγ ) gγ) 3) ) )} ] cosφ) sinγ) γ qγ) γγ ) ϕ k,0,0 )} ] 4) 9

10 ) ρ qγ) [{ } m0 ϕ k,,0 ϕ k,0,0 a gγ) ) ρ sinh β0 ) {m0 ϕ k,, 3 cosφ) m 0 m 0) ϕ k,,0 ϕ k,0, a gγ) A k γ)ρα k A k γ)ρα k cosφ)ϕ k,0,0 ) ρ qγ) 3 [{ } ] m0 ϕ k,3,0 ϕ k,,0 a gγ) ))} ] qγ)ϕk,,0 sinγ)ϕ k,,0 gγ) γ sinh β 0 ) gγ) where m 0 and m 0 are defined by: m 0 ϕ k,l,i = α l i) ϕ k,l,i φφ ϕ k,l,i 5) m 0 ϕ k,l,i = α l i) cosφ)ϕ k,l,i sinφ) φ ϕ k,l,i 6) Equation 3) has to hold true for any ρ/a) i and for any γa l k γ), resulting in the following recursive set of ODEs for the determination of ϕ k,l,i φ, γ) : m 0 ϕ k,0,0 = 0 7) m 0 ϕ k,0, = 3 cosφ)m 0 m 0 ) ϕ k,0,0 8) m 0 ϕ k,0, = 3 cosφ)m 0 m 0 ) ϕ k,0, cosφ) 3 cosφ)m 0 m 0 ) ϕ k,0,0 9) qγ) sinh β 0 ) sinγ) γ qγ) γγ ) ϕ k,0,0 m 0 ϕ k,0,3 = 3 cosφ)m 0 m 0 ) ϕ k,0, cosφ) 3 cosφ)m 0 m 0 ) ϕ k,0, cos φ) cosφ)m 0 m 0 ) ϕ k,0,0 30) ) ) qγ) ϕk,0, sinh gγ) sinγ) γ qγ) γγ) cosφ) sinγ) γ qγ) γγ) ϕ k,0,0 β 0 ) gγ) m 0 ϕ k,,0 = 0 3) m 0 ϕ k,, = 3 cosφ)m 0 m 0 ) ϕ k,,0 sinh β 0 ) sinγ) qγ) γ) ϕ k,0,0 3) m 0 ϕ k,, = 3 cosφ)m 0 m 0 ) ϕ k,, cosφ) 3 cosφ)m 0 m 0 ) ϕ k,,0 33) ) ) ϕk,0, sinγ)ϕ k,0, qγ)gγ) γ cosφ) sinγ) qγ) γ) ϕ k,0,0 sinh β 0 ) gγ) ) gγ) sinh β 0 ) sinγ) qγ)ϕk,,0 γ qγ) γγ ) gγ) m 0 ϕ k,,0 = ϕ k,0,0 34) m 0 ϕ k,, = 3 cosφ)m 0 m 0 ) ϕ k,,0 ϕ k,0, cosφ)ϕ k,0,0 35) )) qγ)ϕk,,0 sinγ)ϕ k,,0 gγ) γ sinh β 0 ) gγ) m 0 ϕ k,3,0 = ϕ k,,0 36) 0

11 Equation 7) with the BCs ) or ) is the well known eigenvalues problem in a -D V- notched domain. For example, for a crack with homogeneous Neumann BCs the eigenvalues are: α k = 0, /,, 3/,,. Notice that equations 7)-30) depend only on φ, so: ϕ k,0,0 φ, γ) = ϕ k,0,0 φ) 37) ϕ k,0, φ, γ) = ϕ k,0, φ) 38) ϕ k,0, φ, γ) = ϕ k,0, φ) 39) For simplicity, we can choose the homogeneous solution of 3) and 36) as zero, so: ϕ k,,0 φ, γ) = 0 40) ϕ k,3,0 φ, γ) = 0 4) and 7)-36) reduce to: m 0 ϕ k,0,0 = 0 4) m 0 ϕ k,0, = 3 cosφ)m 0 m 0 ) ϕ k,0,0 43) m 0 ϕ k,0, = 3 cosφ)m 0 m 0 ) ϕ k,0, cosφ) 3 cosφ) m 0 m 0 ) ϕ k,0,0 44) m 0 ϕ k,0,3 = 3 cosφ)m 0 m 0 ) ϕ k,0, cosφ) 3 cosφ) m 0 m 0 ) ϕ k,0, 45) ) cos qγ) φ) cosφ)m 0 m 0 ) ϕ k,0,0 sinh β 0 ) gγ) sinγ) ϕk,0, γ qγ) γγ ) gγ) sinγ) m 0 ϕ k,, = sinh β 0 ) ϕ k,0,0 46) m 0 ϕ k,, = 3 cosφ)m 0 m 0 ) ϕ k,, 47) )) ϕk,0, sinγ) ϕ k,0, cosφ)ϕ k,0,0 ) qγ)gγ) γ sinh β 0 ) gγ) m 0 ϕ k,,0 = ϕ k,0,0 m 0 ϕ k,, = 3 cosφ) m 0 m 0 ) ϕ k,,0 ϕ k,0, cosφ)ϕ k,0,0 49) 48).. A specific example: An elliptical Crack with homogeneous Dirichlet BCs For elliptical cracks with homogeneous Dirichlet BCs the eigenvalues are α k = /,, 3/,,. Equations 4)-49) can be solved with the homogeneous Dirichlet BCs ) for the different α k

12 to find ϕ k,l,i φ, γ). For example, the singular part of the solution i.e. for α = / ) up to order of ρ) 7/ is given by: τ α φ ) = A γ)ρ {cos / ρ sinh β0 ) a gγ) ) 4 cos φ ρ sinh β0 ) a gγ) ) cos φ 3 3 cos 3φ ) ) ρ sinh β0 ) 3 a gγ) 6 cos φ 30 cos 3φ 5 8 cos 5φ cos4γ) cosγ) cosh β 0 ) 8 sinh β 0 ) cos φ ) { ) ρ qγ) sinγ) ρ sinh A γ)ρ / β0 ) a gγ) sinh β 0 ) a gγ) 6 cos φ ) ρ sinh β0 ) 3 a gγ) 8 cos φ 4 5 cos 3φ ) } ) ρ qγ) { A γ)ρ / a gγ) 6 cos φ ) ρ sinh β0 ) a gγ) 8 cos φ 7 60 cos 3φ ) } O {ρ 9/} ) } 50).. A specific example: An elliptical Crack with homogeneous Neumann BCs For elliptical cracks with homogeneous Neumann BCs the eigenvalues are α k = 0, /,, 3/,,. Equations 4)-49) can be solved with homogeneous Neumann BCs ) for the different α k to find ϕ k,l,i φ, γ). For example, the singular part of the solution i.e. for α = / ) up to order of ρ) 7/ is given by: { τ α = A γ)ρ / sin φ ) ρ sinh β0 ) a gγ) 4 sin φ ) ρ sinh β0 ) a gγ) sin φ 3 3 sin 3φ ) ) ρ sinh β0 ) 3 a gγ) 6 sin φ 30 sin 3φ 5 8 sin 5φ cos4γ) cosγ) cosh β 0 ) 8 sinh β 0 ) sin φ ) { ) ρ qγ) sinγ) ρ sinh A γ)ρ / β0 ) a gγ) sinh β 0 ) a gγ) 6 sin φ ) ρ sinh β0 ) 3 a gγ) 8 sin φ 4 5 sin 3φ ) } ) ρ qγ) { A γ)ρ / a gγ) 6 sin φ ) ρ sinh β0 ) a gγ) 8 sin φ 7 60 sin 3φ ) } O {ρ 9/} ) } 5) 3. Summary and Conclusions We provided the machinery to develop an explicit asymptotic solution for the Laplace equation in the vicinity of an elliptical crack or sharp V-notch in a three dimensional domain. Specifically, for an elliptical crack with homogeneous Dirichlet or Neumann boundary conditions we provided the asymptotic series up to an order of ρ) 7/. We have also shown that at the limit

13 when the ellipse turns into a circle the asymptotic solution simplifies to the one obtained for a penny shaped crack in [0]. The asymptotic dual solution associated with the negative eigenvalue / ) has been also derived and will serve for the extraction of the flux intensity functions using the quasi dual function method. The machinery and solution for the Laplace equation serves as a cornerstone for the asymptotic solution for the elasticity system, and attempts are underway to obtain an asymptotic solution to the elasticity system in the vicinity of an elliptical and semi-elliptic crack. Acknowledgements S. Shannon and Z. Yosibash gratefully acknowledge the support by the Israel Science Foundation grant No. 593/4). Appendix A. The dual solution for an elliptical crack Here we provide the first dual solution associated with the negative eigenvalues α k < 0 ) for an elliptical crack with homogenoues Dirichlet or Neumann BCs on the crack faces. Appendix A.. An elliptical crack with homogenous Dirichlet BCs For an elliptical crack with homogenous Dirichlet BCs the first dual eigenvalue is: α = /. Substituting α = / in equations 4)-48) with homogeneous Dirichlet BCs ) one obtains the first terms of the dual solution K α = ) : { K α = ) = B γ)ρ / cos φ ) ρ sinh β0 ) a gγ) 4 cos 3φ ) ρ sinh β0 ) 3 a gγ) 3 cos 5φ ) ρ sinh β0 ) 3 5 a gγ) 8 cos 7φ 3 cos4γ) cosγ) cosh β 0 ) 8 sinh β 0 ) cos 3φ ) } ) { ) ρ qγ) sinγ) ρ sinh B β0 ) γ)ρ / a gγ) sinh β 0 ) a gγ) cos φ ) ρ sinh β0 ) a gγ) cos φ 9 8 cos 3φ ) ρ qγ) { B γ)ρ / a gγ) cos φ ) ρ sinh β0 ) a gγ) 4 cos φ 3 8 cos 3φ ) } O {ρ 7/} A.) ) } 3

14 Appendix A.. An elliptical crack with homogeneous Neumann BCs For an elliptical crack with homogenous Neumann BCs the first dual eigenvalue is: α = /. Substituting α = / in equations 4)-48) with the homogeneous BCs ) one obtains the first terms of the dual solution K α = ) : { K α = ) = B γ)ρ / sin φ ) ρ sinh β0 ) a gγ) 4 sin 3φ ) ρ sinh β0 ) 3 a gγ) 3 sin 5φ ) ρ sinh β0 ) 3 5 a gγ) 8 sin 7φ 3 cos4γ) cosγ) cosh β 0 ) 8 sinh β 0 ) sin 3φ ) } ) { ) ρ qγ) sinγ) ρ sinh B γ)ρ / β0 ) a gγ) sinh β 0 ) a gγ) sin φ ) ρ sinh β0 ) a gγ) sin φ 9 8 sin 3φ ) ρ qγ) { B γ)ρ / a gγ) sin φ ) ρ sinh β0 ) a gγ) 4 sin φ 3 8 sin 3φ ) } O {ρ 7/} A.) ) } References [] Elena Atroshchenko. Stress intensity factors for elliptical and semi-elliptical cracks subjected to an arbitrary mode I loading. PhD thesis, Civil Engineering, University of Waterloo, Waterloo, Ontario, Canada, 00. [] M. Costabel, M. Dauge, and Z. Yosibash. A quasidual function method for extracting edge stress intensity functions. SIAM Jour. Math. Anal., 355):77 0, 004. [3] M. Dauge. Elliptic boundary value problems in corner domains - smoothness and asymptotics of solutions. Lecture notes in Mathematics 34, Springer-Verlag, Heidelberg, 988. [4] A.E. Green and I.N. Sneddon. The distribution of stress in the neighbourhood of a flat elliptical crack in an elastic solid. Mathematical Proceedings of the Cambridge Philosophical Society, 46:59 63, 950. [5] R.J. Hartranft and G.C. Sih. The use of eigenfunction expansions in the general solution of three-dimensional crack problems. Jour. Math. Mech., 9):3 38,

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