In order to perform isogeometric analysis with increased smoothness on complex domains, trimming, variational coupling or unstructured spline methods can be used. The latter two classes of methods require a multi-patch segmentation of the domain, and provide continuous bases along patch interfaces. In the context of shell modelling, variational methods are widely used, whereas the application of unstructured spline methods on shell problems is rather scarce. In this paper, we therefore provide a qualitative and a quantitative comparison of a selection of unstructured spline constructions, in particular the D-Patch, Almost-C¹, Analysis-Suitable G¹ and the Approximate C¹ constructions. Using this comparison, we aim to provide insight into the selection of methods for practical problems, as well as directions for future research. In the qualitative comparison, the properties of each method are evaluated and compared. In the quantitative comparison, a selection of numerical examples is used to highlight different advantages and disadvantages of each method. In the latter, comparison with weak coupling methods such as Nitsche's method or penalty methods is made as well. In brief, it is concluded that the Approximate C¹ and Analysis-Suitable G¹ converge optimally in the analysis of a bi-harmonic problem, without the need of special refinement procedures. Furthermore, these methods provide accurate stress fields. On the other hand, the Almost-C¹ and D-Patch provide relatively easy construction on complex geometries. The Almost-C¹ method does not have limitations on the valence of boundary vertices, unlike the D-Patch, but is only applicable to biquadratic local bases. Following from these conclusions, future research directions are proposed, for example towards making the Approximate C¹ and Analysis-Suitable G¹ applicable to more complex geometries.

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Given a domain Ω⊂Rn, the de Rham complex of differential forms arises naturally in the study of problems in electromagnetism and fluid mechanics defined on Ω, and its discretization helps build stable numerical methods for such problems. For constructing such stable methods, one critical requirement is ensuring that the discrete subcomplex is cohomologically equivalent to the continuous complex. When Ω is a hypercube, we thus require that the discrete subcomplex be exact. Focusing on such Ω, we theoretically analyze the discrete de Rham complex built from hierarchical B-spline differential forms, i.e., the discrete differential forms are smooth splines and support adaptive refinements—these properties are key to enabling accurate and efficient numerical simulations. We provide locally-verifiable sufficient conditions that ensure that the discrete spline complex is exact. Numerical tests are presented to support the theoretical results, and the examples discussed include complexes that satisfy our prescribed conditions as well as those that violate them.

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In this paper we propose a local projector for truncated hierarchical B-splines (THB-splines). The local THB-spline projector is an adaptation of the Bézier projector proposed by Thomas et al. (Comput Methods Appl Mech Eng 284, 2015) for B-splines and analysis-suitable T-splines (AS T-splines). For THB-splines, there are elements on which the restrictions of THB-splines are linearly dependent, contrary to B-splines and AS T-splines. Therefore, we cluster certain local mesh elements together such that the THB-splines with support over these clusters are linearly independent, and the Bézier projector is adapted to use these clusters. We introduce general extensions for which optimal convergence is shown theoretically and numerically. In addition, a simple adaptive refinement scheme is introduced and compared to Giust et al. (Comput. Aided Geom. Des. 80, 2020), where we find that our simple approach shows promise.

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Isogeometric Analysis generalizes classical finite element analysis and intends to integrate it with the field of Computer-Aided Design. A central problem in achieving this objective is the reconstruction of analysis-suitable models from Computer-Aided Design models, which is in general a non-trivial and time-consuming task. In this article, we present a novel spline construction, that enables model reconstruction as well as simulation of high-order PDEs on the reconstructed models. The proposed almost-C¹ splines are biquadratic splines on fully unstructured quadrilateral meshes (without restrictions on placements or number of extraordinary vertices). They are C¹ smooth at all regular and extraordinary vertices. Moreover, they are C¹ smooth across all edges between regular vertices and C⁰ smooth across all edges that are adjacent to an extraordinary vertex. The splines thus form H²-nonconforming analysis-suitable discretization spaces. This is the lowest-degree unstructured spline construction that can be used to solve fourth-order problems. The associated spline basis is non-singular and has several B-spline-like properties (e.g., partition of unity, non-negativity, local support), the almost-C¹ splines are described in an explicit Bézier-extraction-based framework that can be easily implemented. Numerical tests suggest that the basis is well-conditioned and exhibits optimal approximation behaviour.

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Multivariate piecewise polynomial functions (or splines) on polyhedral complexes have been extensively studied over the past decades and find applications in diverse areas of applied mathematics including numerical analysis, approximation theory, and computer aided geometric design. In this paper we address various challenges arising in the study of splines with enhanced mixed (super-)smoothness conditions at the vertices and across interior faces of the partition. Such supersmoothness can be imposed but can also appear unexpectedly on certain splines depending on the geometry of the underlying polyhedral partition. Using algebraic tools, a generalization of the Billera–Schenck–Stillman complex that includes the effect of additional smoothness constraints leads to a construction which requires the analysis of ideals generated by products of powers of linear forms in several variables. Specializing to the case of planar triangulations, a combinatorial lower bound on the dimension of splines with supersmoothness at the vertices is presented, and we also show that this lower bound gives the exact dimension in high degree. The methods are further illustrated with several examples.

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Easy to construct and optimally convergent generalisations of B-splines to unstructured meshes are essential for the application of isogeometric analysis to domains with non-trivial topologies. Nonetheless, especially for hexahedral meshes, the construction of smooth and optimally convergent isogeometric analysis basis functions is still an open question. We introduce a simple partition of unity construction that yields smooth blended B-splines, referred to as SB-splines, on semi-structured quadrilateral and hexahedral meshes, i.e. on mostly structured meshes with sufficiently separated unstructured regions. To this end, we first define the mixed smoothness B-splines that are C⁰ continuous in the unstructured regions of the mesh but have higher smoothness everywhere else. Subsequently, the SB-splines are obtained by smoothly blending in the physical space the mixed smoothness B-splines with Bernstein bases of equal degree. One of the key novelties of our approach is that the required smooth weight functions are assembled from the available smooth B-splines on the unstructured mesh. The SB-splines are globally smooth, non-negative, have no breakpoints within the elements and reduce to conventional B-splines away from the unstructured regions of the mesh. Although we consider only quadratic mixed smoothness B-splines in this paper, the construction generalises to arbitrary degrees. We demonstrate the excellent performance of SB-splines studying Poisson and biharmonic problems on semi-structured quadrilateral and hexahedral meshes, and numerically establishing their optimal convergence in one and two dimensions.

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Given an unstructured mesh consisting of quadrilaterals and triangles (we allow both planar and non-planar meshes of arbitrary topology), we present the construction of quadratic splines of mixed smoothness — C¹ smooth away from the unstructured regions of T and C⁰ smooth otherwise. The splines have several useful B-spline-like properties – partition of unity, non-negativity, local support and linear independence – and allow for straightforward imposition of boundary conditions. We propose a non-nested refinement process for the splines with multiple advantages — a simple computer implementation, reduction in the footprint of C⁰ smoothness, boundary preservation, and excellent approximation behaviour in simulations. Furthermore, the refinement process leaves the splines invariant on the mesh boundary. Numerical tests indicate that the spline spaces demonstrate optimal approximation behaviour in the L² and H¹ norms under mesh refinement, and provide a viable approach to simulations on watertight reconstructions of trimmed surfaces.

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In this paper, we study the dimension of bivariate polynomial splines of mixed smoothness on polygonal meshes. Here, “mixed smoothness” refers to the choice of different orders of smoothness across different edges of the mesh. To study the dimension of spaces of such splines, we use tools from homological algebra. These tools were first applied to the study of splines by Billera (Trans. Am. Math. Soc. 310(1), 325–340, 1988). Using them, estimation of the spline space dimension amounts to the study of the Billera-Schenck-Stillman complex for the spline space. In particular, when the homology in positions 1 and 0 of this complex is trivial, the dimension of the spline space can be computed combinatorially. We call such spline spaces “lower-acyclic.” In this paper, starting from a spline space which is lower-acyclic, we present sufficient conditions that ensure that the same will be true for the spline space obtained after relaxing the smoothness requirements across a subset of the mesh edges. This general recipe is applied in a specific setting: meshes of arbitrary topologies. We show how our results can be used to compute the dimensions of spline spaces on triangulations, polygonal meshes, and T-meshes with holes.@en

With the aim of a seamless integration with Computer-Aided Design, Isogeometric Analysis has been proposed by Hughes et al. (2005) as a numerical technique for the solution of partial differential equations. Indeed, isogeometric analysis is based on splines, the same functions that are adopted for geometry parametrizations in CAD. Smooth splines yield two important benefits when compared to C⁰ piecewise polynomial approximations: superior accuracy and stability, and the possibility to directly discretize high-order differential equations, such as the ones arising in thin-shell theory, in fracture models, in phase-field based multiphase flows, and in geometric flows on surfaces. In this chapter we review three different methods to construct C¹ isogeometric spaces on multi-patch domains or unstructured quadrilateral meshes. The first, proposed in Collin et al. (2016), is based on the concept of geometric continuity, well-known in geometric design. The second, from Toshniwal et al. (2017c), uses a specific singular construction (the D-patch construction) at extraordinary points. The third is a polar construction from Toshniwal et al. (2017a). Such constructions possess properties that make them suitable for performing both computational analysis and geometric modeling.

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We extend the recently introduced divergence-conforming immersed boundary (DCIB) method [1] to fluid-structure interaction (FSI) problems involving closed co-dimension one solids. We focus on capsules and vesicles, whose discretization is particularly challenging due to the higher-order derivatives that appear in their formulations. In two-dimensional settings, we employ cubic B-splines with periodic knot vectors to obtain discretizations of closed curves with C² inter-element continuity. In three-dimensional settings, we use analysis-suitable bi-cubic T-splines to obtain discretizations of closed surfaces with at least C¹ inter-element continuity. Large spurious changes of the fluid volume inside closed co-dimension one solids are a well-known issue for IB methods. The DCIB method results in volume changes orders of magnitude lower than conventional IB methods. This is a byproduct of discretizing the velocity-pressure pair with divergence-conforming B-splines, which lead to negligible incompressibility errors at the Eulerian level. The higher inter-element continuity of divergence-conforming B-splines is also crucial to avoid the quadrature/interpolation errors of IB methods becoming the dominant discretization error. Benchmark and application problems of vesicle and capsule dynamics are solved, including mesh-independence studies and comparisons with other numerical methods.

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In this paper, we describe a general class of C¹ smooth rational splines that enables, in particular, exact descriptions of ellipses and ellipsoids — some of the most important primitives for CAD and CAE. The univariate rational splines are assembled by transforming multiple sets of NURBS basis functions via so-called design-through-analysis compatible extraction matrices; different sets of NURBS are allowed to have different polynomial degrees and weight functions. Tensor products of the univariate splines yield multivariate splines. In the bivariate setting, we describe how similar design-through-analysis compatible transformations of the tensor-product splines enable the construction of smooth surfaces containing one or two polar singularities. The material is self-contained, and is presented such that all tools can be easily implemented by CAD or CAE practitioners within existing software that support NURBS. To this end, we explicitly present the matrices (a) that describe our splines in terms of NURBS, and (b) that help refine the splines by performing (local) degree elevation and knot insertion. Finally, all C¹ spline constructions yield spline basis functions that are locally supported and form a convex partition of unity.

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Spaces of discrete differential forms can be applied to numerically solve the partial differential equations that govern phenomena such as electromagnetics and fluid mechanics. Robustness of the resulting numerical methods is complemented by pointwise satisfaction of conservation laws (e.g., mass conservation) in the discrete setting. Here we present the construction of isogeometric discrete differential forms, i.e., differential form spaces built using smooth splines. We first present an algorithm for computing Bézier extraction operators for univariate spline differential forms that allow local degree elevation. Then, using tensor-products of the univariate splines, a complex of discrete differential forms is built on meshes that contain polar singularities, i.e., edges that are singularly mapped onto points. We prove that the spline complexes share the same cohomological structure as the de Rham complex. Several examples are presented to demonstrate the applicability of the proposed methodology. In particular, the splines spaces derived are used to simulate generalized Stokes flow on arbitrarily curved smooth surfaces and to numerically demonstrate (a) optimal approximation and inf–sup stability of the spline spaces; (b) pointwise incompressible flows; and (c) flows on deforming surfaces.@en

Polynomial splines are ubiquitous in the fields of computer-aided geometric design and computational analysis. Splines on T-meshes, especially, have the potential to be incredibly versatile since local mesh adaptivity enables efficient modeling and approximation of local features. Meaningful use of such splines for modeling and approximation requires the construction of a suitable spanning set of linearly independent splines, and a theoretical understanding of the spline space dimension can be a useful tool when assessing possible approaches for building such splines. Here, we provide such a tool. Focusing on T-meshes, we study the dimension of the space of bivariate polynomial splines, and we discuss the general setting where local mesh adaptivity is combined with local polynomial degree adaptivity. The latter allows for the flexibility of choosing non-uniform bi-degrees for the splines, i.e., different bi-degrees on different faces of the T-mesh. In particular, approaching the problem using tools from homological algebra, we generalize the framework and the discourse presented by Mourrain (Math. Comput. 83(286):847–871, 2014) for uniform bi-degree splines. We derive combinatorial lower and upper bounds on the spline space dimension and subsequently outline sufficient conditions for the bounds to coincide.@en

Analysis-suitable T-splines (ASTS) including both extraordinary points and T-junctions are used to solve Kirchhoff–Love shell problems. Extraordinary points are required to represent surfaces with arbitrary topological genus. T-junctions enable local refinement of regions where increased resolution is needed. The benefits of using ASTS to define shell geometries are at least two-fold: (1) The manual and time-consuming task of building a new mesh from scratch using the CAD geometry as an input is avoided and (2) C¹ or higher inter-element continuity enables the discretization of shell formulations in primal form defined by fourth-order partial differential equations. A complete and state-of-the-art description of the development of ASTS, including extraordinary points and T-junctions, is presented. In particular, we improve the construction of C¹-continuous non-negative spline basis functions near extraordinary points to obtain optimal convergence rates with respect to the square root of the number of degrees of freedom when solving linear elliptic problems. The applicability of the proposed technology to shell analysis is exemplified by performing geometrically nonlinear Kirchhoff–Love shell simulations of a pinched hemisphere, an oil sump of a car, a pipe junction, and a B-pillar of a car with 15 holes. Building ASTS for these examples involves using T-junctions and extraordinary points with valences 3, 5, and 6, which often suffice for the design of free-form surfaces. Our analysis results are compared with data from the literature using either a seven-parameter shell formulation or Kirchhoff–Love shells. We have also imported both finite element meshes and ASTS meshes into the commercial software LS-DYNA, used Reissner–Mindlin shells, and compared the result with our Kirchhoff–Love shell results. Excellent agreement is found in all cases. The complexity of the shell geometries considered in this paper shows that ASTS are applicable to real-world industrial problems.

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In this paper we study the dimension of splines of mixed smoothness on axis-aligned T-meshes. This is the setting when different orders of smoothness are required across the edges of the mesh. Given a spline space whose dimension is independent of its T-mesh's geometric embedding, we present constructive and sufficient conditions that ensure that the smoothness across a subset of the mesh edges can be reduced while maintaining stability of the dimension. The conditions have a simple geometric interpretation. Examples are presented to show the applicability of the results on both hierarchical and non-hierarchical T-meshes. For hierarchical T-meshes it is shown that mixed smoothness spline spaces that contain the space of PHT-splines (Deng et al., 2008) always have stable dimension.

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In this paper, we present an efficient and robust approach to compute a normalized B-spline-like basis for spline spaces with pieces drawn from extended Tchebycheff spaces. The extended Tchebycheff spaces and their dimensions are allowed to change from interval to interval. The approach works by constructing a matrix that maps a generalized Bernstein-like basis to the B-spline-like basis of interest. The B-spline-like basis shares many characterizing properties with classical univariate B-splines and may easily be incorporated in existing spline codes. This may contribute to the full exploitation of Tchebycheffian splines in applications, freeing them from the restricted role of an elegant theoretical extension of polynomial splines. Numerical examples are provided that illustrate the procedure described.

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This paper addresses theoretical considerations behind the algorithmic computation of polynomial multi-degree spline basis functions as presented in Toshniwal et al. (2017). The approach in Toshniwal et al. (2017) breaks from the reliance on computation of integrals recursively for building B-spline-like basis functions that span a given multi-degree spline space. The gains in efficiency are indisputable; however, the theoretical robustness needs to be examined. In this paper, we show that the construction of Toshniwal et al. (2017) yields linearly independent functions with the minimal support property that span the entire multi-degree spline space and form a convex partition of unity.

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For T a planar triangulation, let R_m ^r(T) denote the space of bivariate splines on T such that f∈R_m ^r(T) is C^r(τ) smooth across an interior edge τ and, for triangle σ in T, f|_σ is a polynomial of total degree at most m(σ)∈Z_≥0. The map m:σ↦Z_≥0 is called a non-uniform degree distribution on the triangles in T, and we consider the problem of computing (or estimating) the dimension of R_m ^r(T) in this paper. Using homological techniques, developed in the context of splines by Billera (1988), we provide combinatorial lower and upper bounds on the dimension of R_m ^r(T). When all polynomial degrees are sufficiently large, m(σ)≫0, we prove that the number of splines in R_m ^r(T) can be determined exactly. In the special case of a constant map m, the lower and upper bounds are equal to those provided by Mourrain and Villamizar (2013).

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