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Пѓ d = 2GЛњ d = GB ,
ОµF (12.40)
with K the compression modulus and G the shear modulus of the material.
Лњd
Пѓ = K( J в€’ 1) I + GB . (12.41)
This coupling between the stress and deformation state is often indicated as
вЂ˜compressible Neo-HookeanвЂ™ material behaviour, thus referring to the linearity.
It can be shown that Eq. (12.41) does not exactly satisfy the requirement that
in a cyclic process no energy is dissipated. It can be proven that a small (but not
trivial) modiп¬Ѓcation, according to:
G Лњd
Пѓ = K( J в€’ 1) I + B (12.42)
J
does satisfy this requirement.
int0 ( t), Eq. (12.29)
Substituting Eq. (12.42) into the deп¬Ѓnition equation for
yields
t
Лњd
int0 ( t) = K( J в€’ 1) Jtr( D) + Gtr( B В· D) dП„ . (12.43)
П„ =0
Based on the relations given in Chapter 10 the following expressions can be
derived for the п¬Ѓrst and second term in the integrand:
.
Jtr( D) = J , (12.44)
Constitutive modelling of solids and fluids
202

and
1Лњ
Лњd Лњ
tr( B В· D) = tr B в€’ tr( B) I В· D
3
1
= J в€’2/3 tr( B В· D) в€’ J в€’2/3 tr( B) tr( D)
3
1 в€’2/3 Л™ Л™T
tr F В· FT В· F В· Fв€’1 + F В· FT В· Fв€’T В· F
=J
2
1
Л™
в€’ J в€’5/3 J tr( B)
3
1 в€’2/3 1 Л™
Л™ Л™T
tr F В· FT + F В· F + ( J в€’2/3 ) tr( B)
=J
2 2
1 в€’2/3
1 в€’2/3 Л™
tr B + ( J Л™ ) tr( B) .
=J
2 2
(12.45)

With Eq. (12.45) the integral expression for int0 ( t) can be elaborated further:
t
1 1
K( J в€’ 1)2 + GJ в€’2/3 tr( B)
= . (12.46)
int0
2 2 П„ =0

Using J = 1 and B = I for П„ = 0 results in the current energy density int0 , which
only depends on the current left Cauchy Green tensor B( t), so it can be noted:
1 1
K( J в€’ 1)2 + G J в€’2/3 tr( B) в€’3 ,
int0 ( B) = (12.47)
2 2
with

J = (det( B) )1/2 . (12.48)

Again, it can be established, that in int0 the volumetric and the deviatoric part are
clearly distinguishable and that both parts deliver an always positive contribution
to the energy density, for every arbitrary deformation process. Finally, it can again
be observed that a cyclic process in the deformation or in the stress will always be
energetically neutral.
More general expressions for (non-linearly) elastic behaviour can formally be
written as

Лњ
Пѓ d = Пѓ d ( J, B) .
p = p( J) , (12.49)

For a detailed speciп¬Ѓcation many possibilities exist and have been published in the
scientiп¬Ѓc literature. An extensive treatment for biological materials is beyond the
scope of the present discussion. For this the reader is referred to more advanced
textbooks on Biomechanics.
203 12.5 Constitutive modelling of viscous fluids

12.5 Constitutive modelling of viscous fluids

For viscous п¬‚uids, as considered in this book, in contrast to solids a reference
state is not important. Therefore an Eulerian approach is pursued. Accordingly,
the velocity п¬Ѓeld is written as
and also в€ј = в€ј( x, t) .
v = v( x, t) v vв€ј (12.50)
So the velocity is a function of the coordinates x, y and z, associated with a п¬Ѓxed
coordinate system in space, and the time t. The current local velocity does not
include any information with respect to deformation changes in the п¬‚uid, contrary
to the velocity gradient tensor L with matrix representation L, deп¬Ѓned in Sections
7.5 and 10.6 according to:
T T
L = в€‡v and also L = в€‡ vT . (12.51)
в€јв€ј

In Section 10.6 the velocity gradient tensor L is split into the symmetrical rate
of deformation tensor D and the skew symmetric spin tensor . The tensor D is a
measure for the deformation changes. After all the tensor D determines the current
length changes of all material line segments and if D = 0, all those line segments
have a (temporarily) constant length, independent of . In components the matrix
D associated with tensor D can be written as
вЋЎ вЋ¤
в€‚vy в€‚vz
в€‚vx 1 в€‚vx 1 в€‚vx
2 в€‚y + в€‚x 2 в€‚z + в€‚x
в€‚x
вЋў вЋҐ
вЋў вЋҐ
вЋў вЋҐ
вЋў 1 в€‚vy в€‚vx вЋҐ
в€‚vy 1 в€‚vy в€‚vz
D = вЋў 2 в€‚x + в€‚y 2 в€‚z + в€‚y вЋҐ. (12.52)
в€‚y
вЋў вЋҐ
вЋў вЋҐ
вЋЈ вЋ¦
в€‚vy
1 в€‚vz 1 в€‚vz в€‚vz
в€‚vx
2 в€‚x + в€‚z 2 в€‚y + в€‚z в€‚z

When comparing this elaborated expression for matrix D with the linear strain
matrix Оµ, see Section 10.4, it is not surprising that D is called the rate of defor-
mation matrix. Should the current state be chosen to be the reference state (in that
special case in the current state: F = I) the following relation holds: D = Оµ (and
Л™
Л™
in tensor notation: D = Оµ ).
As a constitutive equation for the behaviour of incompressible viscous п¬‚u-
ids, based on the above considerations, the following (general) expression for the
Cauchy stress tensor will be used:
Пѓ = в€’pI + Пѓ d ( D) . (12.53)
Because of the assumption of incompressibility, the pressure p is undetermined,
while the deformation rate tensor D has to satisfy the constraint: tr( D) = 0. It
should be noted that both the Cauchy stress tensor and the deformation rate tensor
Constitutive modelling of solids and fluids
204

are objective tensors. In Sections 12.6 and 12.7 two types of constitutive behaviour
for п¬‚uids will be discussed by means of a speciп¬Ѓcation of Пѓ d ( D).

12.6 Newtonian fluids

For a Newtonian п¬‚uid the relation between the deviatoric stress tensor and the
deformation rate tensor is linear, yielding:
Пѓ = в€’pI + 2О·D,
Пѓ = в€’pI + 2О·D and also (12.54)
with О· the viscosity (a material parameter that is assumed to be constant) of the
п¬‚uid. The typical behaviour of a Newtonian п¬‚uid can be demonstrated by applying
Eq. (12.54) to two elementary examples of п¬‚uid п¬‚ow: pure shear and uniaxial
extensional п¬‚ow.
A pure shear п¬‚ow вЂ˜in the xy-planeвЂ™ can be created with the following velocity
п¬Ѓeld (in column notation):
вЋ¤
вЋЎ вЋ¤ вЋЎ
vx y
вЋҐ
вЋў вЋҐ вЋў
v = вЋЈ vy вЋ¦ = Оі вЋЈ 0 вЋ¦ ,
Л™ (12.55)
в€ј
0
vz
with Оі (the shear velocity) constant. For the associated deformation rate matrix D
Л™
it can easily be derived that
вЋЎ вЋ¤
0Оі0 Л™
1вЋў вЋҐ
D= вЋЈ Оі 0 0 вЋ¦
Л™ (12.56)
2
000
and veriп¬Ѓed that the constraint tr( D) = tr( D) = 0 is satisп¬Ѓed. Applying the
constitutive equation it follows for the relevant shear stress Пѓxy = Пѓyx in the п¬‚uid:
Пѓxy = О·Оі ,
Л™ (12.57)
which appears to be constant. Thus, the viscosity can be interpreted as the
вЂ˜resistanceвЂ™ of the п¬‚uid against вЂ˜shearвЂ™ (shear rate actually).
To a uniaxial extensional п¬‚ow (incompressible) in the x-direction the following
deformation rate matrix is applicable:
вЋ¤
вЋЎ
Л™ 0 0
вЋҐ
вЋў
D = вЋЈ 0 в€’ Л™ /2 0 вЋ¦, (12.58)
в€’ Л™ /2
0 0
with Л™ (the rate of extension) constant. For the stress matrix it is immediately
found that
205 12.8 Diffusion and filtration
вЋ¤
вЋЎ
Л™ 0 0
вЋҐ
вЋў
Пѓ = в€’p I + 2О· вЋЈ 0 в€’ Л™ /2 0 вЋ¦. (12.59)
в€’ Л™ /2
0 0
Assuming, that in the y- and in the z-direction the п¬‚ow can develop freely: Пѓyy =
Пѓzz = 0 and with that it follows for the hydrostatic pressure:
p = в€’О· Л™ . (12.60)
This leads to the required uniaxial stress for the extensional п¬‚ow:
Пѓxx = 3О· Л™ . (12.61)
The fact that the effective uniaxial extensional viscosity (3О·) is three times as high
as the shear viscosity (О·) is known as TroutonвЂ™s law.

12.7 Non-Newtonian fluids

For a non-Newtonian incompressible viscous п¬‚uid the constitutive equation has
the same form as the equation for a Newtonian п¬‚uid:
Пѓ = в€’pI + 2О·D Пѓ = в€’pI + 2О·D,
and also (12.62)
however, the viscosity О· is now a function of the deformation rate tensor: О· =
О·( D). Speciп¬Ѓcation of the relation for the viscosity has to be based on experimen-
tal research. Here we limit ourselves to an example, the three parameter вЂ˜power
lawвЂ™ model (with the temperature inп¬‚uence T according to Arrhenius):
(nв€’1)
О· = me(A/T) 2 tr( D В· D) , (12.63)
with m, A and n material constants (for n = 1 the viscosity is independent of D and
the behaviour is вЂ˜NewtonianвЂ™ again). Substitution of the deformation rate tensor
for pure shear (see previous section) leads to
О· = m e(A/T) |Оі |(nв€’1) ,
Л™ (12.64)
making the mathematical format of the equation more transparent.

12.8 Diffusion and filtration

Although somewhat beyond the scope of the present chapter in this last section
material п¬‚ow due to diffusion or п¬Ѓltration is considered, i.e. transport of mate-
rial through a stationary porous medium (no convection). The п¬‚owing material
can indeed be considered to be a continuum, but the constitutive equations are
Constitutive modelling of solids and fluids
206

completely different from those treated before. Here, the constitutive equations
describe the transport of material depending on the driving mechanisms, while
above the constitutive equations related the characteristics of the п¬‚ow to the
internal stresses.
Diffusion of a certain material through a porous medium is generated by con-
centration differences of the material in the medium. The material will in general
strive for a homogeneous density distribution (provided that the porous medium
is homogeneous) implying that material will п¬‚ow from regions with a high con-
centration to regions with a low concentration. The mathematical form for this
phenomenon is given by FickвЂ™s law:
ПЃv = в€’Dв€‡ПЃ, (12.65)
with on the left-hand side the mass п¬‚ux vector (also see Section 7.5) and on the
right-hand side the driving mechanism for transport, в€‡ПЃ, multiplied with a certain
factor D. This factor D is called the diffusion coefп¬Ѓcient, and can be considered
to be a constitutive parameter, that is determined by the combination of materials
(and the temperature).
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