## Doctoral Thesis

In contrast to the spatial motion setting, the material motion setting of continuum mechanics is concerned with the response to variations of material placements of particles with respect to the ambient material. The material motion point of view is thus extremely prominent when dealing with defect mechanics to which it has originally been introduced by Eshelby more than half a century ago. Its primary unknown, the material deformation map is governed by the material motion balance of momentum, i.e. the balance of material forces on the material manifold in the sense of Eshelby. Material (configurational) forces are concerned with the response to variations of material placements of 'physical particles' with respect to the ambient material. Opposed to that, the common spatial (mechanical) forces in the sense of Newton are considered as the response to variations of spatial placements of 'physical particles' with respect to the ambient space. Material forces as advocated by Maugin are especially suited for the assessment of general defects as inhomogeneities, interfaces, dislocations and cracks, where the material forces are directly related to the classical J-Integral in fracture mechanics, see also Gross & Seelig. Another classical example of a material - or rather configurational - force is emblematized by the celebrated Peach-Koehler force, see e.g. the discussion in Steinmann. The present work is mainly divided in four parts. In the first part we will introduce the basic notions of the mechanics and numerics of material forces for a quasi-static conservative mechanical system. In this case the internal potential energy density per unit volume characterizes a hyperelastic material behaviour. In the first numerical example we discuss the reliability of the material force method to calculate the vectorial J-integral of a crack in a Ramberg-Osgood type material under mode I loading and superimposed T-stresses. Secondly, we study the direction of the single material force acting as the driving force of a kinked crack in a geometrically nonlinear hyperelastic Neo-Hooke material. In the second part we focus on material forces in the case of geometrically nonlinear thermo-hyperelastic material behaviour. Therefore we adapt the theory and numerics to a transient coupled problem, and elaborate the format of the Eshelby stress tensor as well as the internal material volume forces induced by the gradient of the temperature field. We study numerically the material forces in a bimaterial bar under tension load and the time dependent evolution of material forces in a cracked specimen. The third part discusses the material force method in the case of geometrically nonlinear isotropic continuum damage. The basic equations are similar to those of the thermo-hyperelastic problem but we introduce an alternative numerical scheme, namely an active set search algorithm, to calculate the damage field as an additional degree of freedom. With this at hand, it is an easy task to obtain the gradient of the damage field which induces the internal material volume forces. Numeric examples in this part are a specimen with an elliptic hole with different semi-axis, a center cracked specimen and a cracked disc under pure mode I loading. In the fourth part of this work we elaborate the format of the Eshelby stress tensor and the internal material volume forces for geometrically nonlinear multiplicative elasto-plasticity. Concerning the numerical implementation we restrict ourselves to the case of geometrically linear single slip crystal plasticity and compare here two different numerical methods to calculate the gradient of the internal variable which enters the format of the internal material volume forces. The two numerical methods are firstly, a node point based approach, where the internal variable is addressed as an additional degree of freedom, and secondly, a standard approach where the internal variable is only available at the integration points level. Here a least square projection scheme is enforced to calculate the necessary gradients of this internal variable. As numerical examples we discuss a specimen with an elliptic inclusion and an elliptic hole respectively and, in addition, a crack under pure mode I loading in a material with different slip angles. Here we focus on the comparison of the two different methods to calculate the gradient of the internal variable. As a second class of numerical problems we elaborate and implement a geometrically linear von Mises plasticity with isotropic hardening. Here the necessary gradients of the internal variables are calculated by the already mentioned projection scheme. The results of a crack in a material with different hardening behaviour under various additional T-stresses are given.

The main concern of this contribution is the computational modeling of biomechanically relevant phenomena. To minimize resource requirements, living biomaterials commonly adapt to changing demands. One way to do so is the optimization of mass. For the modeling of biomaterials with changing mass, we distinguish between two different approaches: the coupling of mass changes and deformations at the constitutive level and at the kinematic level. Mass change at the constitutive level is typically realized by weighting the free energy function with respect to the density field, as experimentally motivated by Carter and Hayes [1977] and computationally realized by Harrigan and Hamilton [1992]. Such an ansatz enables the simulation of changes in density while the overall volume remains unaffected. In this contribution we call this effect remodeling. Although in principle applicable for small and large strains, this approach is typically adopted for hard tissues, e.g. bone, which usually undergo small strain deformations. Remodeling in anisotropic materials is realized by choosing an appropriate anisotropic free energy function. <br> Within the kinematic coupling, a changing mass is characterized through a multiplicative decomposition of the deformation gradient into a growth part and an elastic part, as first introduced in the context of plasticity by Lee [1969]. In this formulation, which we will refer to as growth in the following, mass changes are attributed to changes in volume while the material density remains constant. This approach has classically been applied to model soft tissues undergoing large strains, e.g. the arterial wall. The first contribution including this ansatz is the work by Rodriguez, Hoger and McCulloch [1994]. To model anisotropic growth, an appropriate anisotropic growth deformation tensor has to be formulated. In this contribution we restrict ourselves to transversely isotropic growth, i.e., growth characterized by one preferred direction. On that account, we define a transversely isotropic growth deformation tensor determined by two variables, namely the stretch ratios parallel and perpendicular to the characteristic direction. <br> Another method of material optimization is the adaption of the inner structure f a material to its loading conditions. In anisotropic materials this can be realized by a suitable orientation of the material directions. For example, the trabeculae in the human femur head are oriented such that they can carry the daily loads with an optimum mass. Such a behavior can also be observed in soft tissues. For instance, the fibers of muscles and the collagen fibers in the arterial wall are oriented along the loading directions to carry a maximum of mechanical load. If the overall loading conditions change, for instance during a balloon angioplasty or a stent implantation, the material orientation readapts, which we call reorientation. The anisotropy type in biomaterials is often characterized by fiber reinforcement. A particular subclass of tissues, which includes muscles, tendons and ligaments, is featured by one family of fibers. More complex microstructures, such as arterial walls, show two fiber families, which do not necessarily have to be perpendicular. Within this contribution we confine ourselves to the first case, i.e., transversely isotropic materials indicated by one characteristic direction. The reorientation of the fiber direction in biomaterials is commonly smooth and continuous. For transverse isotropy it can be described by a rotation of the characteristic direction. Analogous to the theory of shells, we additionally exclude drilling rotations, see also Menzel [2006]. However, the driving force for these reorientation processes is still under discussion. Mathematical considerations promote strain driven reorientations. As discussed, for instance, in Vianello [1996], the free energy reaches a critical state for coaxial stresses and strains. For transverse isotropy, it can be shown that this can be achieved if the characteristic direction is aligned with a principal strain direction. From a biological point of view, depending on the kind of material (i.e. bone, muscle tissue, cartilage tissue, etc.), both strains and stresses can be suggested as stimuli for reorientation. Thus, whithin this contribution both approaches are investigated. <br> In contrast to previous works, in which remodeling, growth and reorientation are discussed separately, the present work provides a framework comprising all of the three mentioned effects at once. This admits a direct comparison how and on which level the individual phenomenon is introduced into the material model, and which influence it has on the material behavior. For a uniform description of the phenomenological quantities an internal variable approach is chosen. Moreover, we particularly focus on the algorithmic implementation of the three effects, each on its own, into a finite element framework. The nonlinear equations on the local and the global level are solved by means of the Newton-Raphson scheme. Accordingly, the local update of the internal variables and the global update of the deformation field are consistently linearized yielding the corresponding tangent moduli. For an efficient implementation into a finite element code, unitized update algorithms are given. The fundamental characteristics of the effects are illustrated by means of some representative numerical simulations. Due to the unified framework, combinations of the individual effects are straightforward.

Elastomeric and other rubber-like materials are often simultaneously exposed to short- and long-time loads within engineering applications. When aiming at establishing a general simulation tool for viscoelastic media over these different time scales, a suitable material model and its corresponding material parameters can only be determined if an appropriate number of experimental data is taken into account. In this work an algorithm for the identification of material parameters for large strain viscoelasticity is presented. Thereby, data of multiple experiments are considered. Based on this method the experimental loading intervals for long-time experiments can be shortened in time and the parameter identification procedure is now referred to experimental data of tests under short- and long-time loads without separating the parameters due to these different time scales. The employed viscoelastic material law is based on a nonlinear evolution law and valid far from thermodynamic equilibrium. The identification is carried out by minimizing a least squares functional comparing inhomogeneous displacement fields from experiments and FEM simulations at given (measured) force loads. Within this optimization procedure all material parameters are identified simultaneously by means of a gradient based method for which a semi-analytical sensitivity analysis is calculated. Representative numerical examples are referred to measured data for different polyurethanes. In order to show the general applicability of the identification method for multiple tests, in the last part of this work the parameter identification for small strain plasticity is presented. Thereby three similar test programs on three specimen of the aluminum alloy AlSi9Cu3 are analyzed, and the parameter sets for the respective individual identifications, and for the combination of all tests in one identification, is compared.

The primary object of this work is the development of a robust, accurate and efficient time integrator for the dynamics of flexible multibody systems. Particularly a unified framework for the computational dynamics of multibody systems consisting of mass points, rigid bodies and flexible beams forming open kinematic chains or closed loop systems is developed. In addition, it aims at the presentation of (i) a focused survey of the Lagrangian and Hamiltonian formalism for dynamics, (ii) five different methods to enforce constraints with their respective relations, and (iii) three alternative ways for the temporal discretisation of the evolution equations. The relations between the different methods for the constraint enforcement in conjunction with one specific energy-momentum conserving temporal discretisation method are proved and their numerical performances are compared by means of theoretical considerations as well as with the help of numerical examples.