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Mechanics Research Communications xxx (2010) xxx–xxx

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Mechanics Research Communications

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Reciprocal and variational principles in linear thermoelasticity without

energy dissipation
S. Chiritßă a, M. Ciarletta b,*
a
Faculty of Mathematics, Al. I. Cuza University of Iasßi, Blvd. Carol I, nr. 11, 700506 Iasßi, Romania
b
DIIMA, University of Salerno, Via Ponte Don Melillo, 84084 Fisciano (SA), Italy

a r t i c l e i n f o a b s t r a c t

Article history: In the present paper we consider the equations which govern the behavior of an anisotropic and inhomo-
Received 19 November 2009 geneous centrosymmetric material within the framework of the linear theory of thermoelasticity without
Received in revised form 18 January 2010 energy dissipation. We establish a reciprocal relation which is based on a characterization of the bound-
Available online xxxx
ary–initial value problem in which the initial conditions are incorporated into the field equations. Fur-
ther, a variational principle is presented too.
Keywords: Ó 2010 Elsevier Ltd. All rights reserved.
Thermoelasticity without energy dissipation
Reciprocal relation
Variational principle

1. Introduction tion with the problem in which a thermoelastic body is subject to

In the literature concerning thermal effects in continuum
mechanics there are developed several parabolic and hyperbolic
theories for describing the heat conduction. The hyperbolic theo-
ries are also called theories of second sound and there the flow
of heat is modelled with finite propagation speed, in contrast to
the classical model based on the Fourier’s law leading to infinite
propagation speed of heat signals. A review of these theories is pre-
sented in the articles by Chandrasekharaiah (1998) and Hetnarski
and Ignaczak (1999, 2000).
A new thermoelastic theory without energy dissipation has
been proposed by Green and Naghdi (1993). This thermomechan-
ical theory of deformable media introduces the so-called thermal
displacement relating the common temperature and uses a general
entropy balance as postulated in Green and Naghdi (1977). By the
procedure of Green and Naghdi (1995), the reduced energy equa-
tion is regarded as an identity for all thermodynamical processes
and places some restrictions on the functional forms of the depen-
dent constitutive variables. The theory is illustrated in detail in the
context of flow of heat in a rigid solid, with particular reference to
the propagation of thermal waves at finite speed. The linearized
formulation allows the transmission of heat flow as thermal waves
at finite speed and the evolution equations are fully hyperbolic.
The linear theory of thermoelasticity without energy dissipation
for homogeneous and isotropic materials was employed by Nappa
(1998) and Quintanilla (1999) in order to obtain spatial energy
bounds and decay estimates for the transient solutions in connec-
* Corresponding author. Tel.: +39 089964251.
E-mail address: ciarlett@diima.unisa.it (M. Ciarletta).
boundary and initial data and body supplies having a compact sup-
port, provided positive definiteness assumptions are supposed
upon the constitutive coefficients. Moreover, we have to mention
that Chandrasekharaiah (1996) proves uniqueness of solutions,
Iesßan (1998) establishes continuous dependence results, while
Quintanilla (2002) studies the question of existence. Further re-
sults of structural stability and decay type are given by Quintanilla
(2001, 2003) and Quintanilla and Straughan (2000) used logarith-
mic convexity and Lagrange identity arguments to yield unique-
ness and growth without requiring sign definiteness of the
constitutive coefficients.
In this paper we establish a reciprocal theorem of Graffi type
within the framework of the linear theory of thermoelasticity
without energy dissipation for an inhomogeneous and anisotropic
thermoelastic material with a center of symmetry at each point.
The reciprocity relation is derived for a body of volume region B
and surface @B and represents an integral relation over B and @B
between body supplies, surface tractions and surface fluxes, dis-
placements and thermal displacements of two solutions of the
mixed problem of the thermoelasticity without energy dissipation,
namely, a solution of an actual problem and a solution of an auxil-
iary or virtual problem. To this end we first give an alternative
characterization of the solution to the mixed boundary–initial va-
lue problem in which the initial conditions are incorporated into
the field equations. In the classical elasticity this characterization
was established by Ignaczak (1963) and Gurtin (1964).
A reciprocal principle of Betti–Rayleigh type was established in
the context of the linear thermoelasticity without energy dissipa-
tion for a homogeneous and isotropic material by Chandrasekhara-
iah (1998).

0093-6413/$ - see front matter Ó 2010 Elsevier Ltd. All rights reserved.
doi:10.1016/j.mechrescom.2010.03.001

Please cite this article in press as: Chiritßă, S., Ciarletta, M. Reciprocal and variational principles in linear thermoelasticity without energy dissipation. Mech.
Res. Commun. (2010), doi:10.1016/j.mechrescom.2010.03.001
 ARTICLE IN PRESS

2 S. Chiritßă, M. Ciarletta / Mechanics Research Communications xxx (2010) xxx–xxx

The first reciprocal theorem in the classical thermoelastody- variation from the uniform reference temperature h0 ; eij are the
namics is due to Ionescu-Cazimir (1964). The proof is based on components of the strain tensor, bi are the components of the ther-
the assumption of null initial data and systematic use of the La- mal displacement gradient vector, Sij are the components of the
place transform. Iesßan (1974) has established a reciprocal theorem stress tensor, qi are the components of the entropy-heat flux vector,
without using the Laplace transform. The method of proof is based g is the entropy density per unit mass and bi represents the compo-
on a characterization of the boundary–initial value problem in nents of the external body force vector and r is the external rate of
which the initial conditions are incorporated into the basic equa- supply of heat per unit mass. Furthermore, . is the density mass,
tions of motion. Later, Iesßan (1989) has established a new recipro- C ijkl ; M ij ; c and K ij are the constitutive coefficients satisfying the fol-
cal theorem where the proof avoids both the use of the Laplace lowing symmetries:
transform and the incorporation of the initial conditions into the
C ijkl ¼ C klij ¼ C jikl ; M ij ¼ M ji ; K ij ¼ K ji ; ð2:6Þ
basic equations of motion.
Despite its long existence, the reciprocal theorem was, until re- and the subscripts i; j; k; l take values 1, 2, 3 and summation is im-
cently, not used extensively to actually solve problems. A recent plied by index repetition. Moreover, a superposed dot denotes dif-
book by Achenbach (2003) presents, however, novel uses of reci- ferentiation with respect to time and a subscript comma indicates
procity relations for the actual determination of elastodynamic partial differentiation. The specific Helmholtz free energy w is given
fields. Various other applications of the reciprocal theorem have by
been presented in Ionescu-Cazimir (1964) and Nowacki (1986).
We will use the alternative formulation of the boundary–initial 1 c 2 1
.w ¼ C ijkl eij ekl  Mij eij s_  s_ þ K ij bi bj ; ð2:7Þ
value problem in order to establish a variational characterization of 2 2h0 2h0
the solution within the framework of linear theory of thermoelas-
while the specific internal energy  is given by
ticity without energy dissipation for anisotropic and inhomoge-
neous materials. A functional is indicated whose variation 1 c 2 1
vanishes at a solution of the boundary–initial value problem.
. ¼ C ijkl eij ekl þ s_ þ K ij bi bj : ð2:8Þ
2 2h0 2h0
In the context of the classical theory of thermoelasticity, varia-
The components of the surface traction and the heat flux at reg-
tional principles have been presented in various works (see, e.g.,
ular points of @B can be expressed in the form
Carlson, 1972; Lebon, 1980; Iesßan, 1966, 1998).
We have to outline that Chandrasekharaiah (1998) has estab- si ¼ Sji nj ;
lished a variational principle of Biot type and a variational principle ð2:9Þ
q ¼ qi ni ;
of Hamilton type for thermoelasticity without energy dissipation
for homogeneous and isotropic materials. Such type of variational where ni are the components of the unit outward normal vector to
principles does not characterize completely the boundary–initial @B.
value problem since it fails to take into account the initial velocity We assume that bi ; r; .; h0 and the constitutive coefficients are
distribution and presupposes the knowledge of the displacements prescribed functions with the following properties: (i) bi and r are
at a later time. continuous on B  ½0; 1Þ; (ii) C ijrs ; Mij and K ij are smooth on B,
while c is continuous on B; (iii) C ijrs ; Mij and K ij satisfy the relation
2. The mixed boundary–initial value problem (2.6); (iv) h0 is a strictly positive constant.
We say that ðui ; sÞ is a dynamically admissible state on
Throughout this section we assume that the properly regular re- B  ½0; 1Þ provided: ðaÞ ui and s are of class C 2 on
gion B  R3 is occupied by an inhomogeneous and anisotropic € i ; s; s_ ; s
B  ½0; 1Þ; ðbÞ ui ; u_ i ; u €; eij ; e_ ij and s;i are continuous on
thermoelastic material with a center of symmetry at each point. B  ½0; 1Þ.
We denote by @B the boundary surface of B. By an admissible system of stresses and heat fluxes on
In what follows we will consider the dynamic theory of thermo- B  ½0; 1Þ we mean an ordered array ðSij ; qk Þ with properties: (a)
elasticity without energy dissipation as described in Green and Sij and qk are of class C 1;0 on B  ½0; 1Þ and (b) Sij , Sji;j ; qi and qi;i
Naghdi (1993, 1995). The governing equations of the linear theory are continuous on B  ½0; 1Þ.
of anisotropic and inhomogeneous thermoelasticity without en- By an admissible process on B  ½0; 1Þ we mean an ordered ar-
ergy dissipation are given by the evolution equations (Green and ray of functions p ¼ ðui ; s; eij ; bi ; Sij ; qi ; gÞ with the following proper-
Naghdi, 1993, 1995) ties: (1) ðui ; sÞ is a dynamically admissible state on B  ½0; 1Þ; (2) eij
and bi are continuous fields on B  ½0; 1Þ; (3) ðSij ; qk Þ is an admissi-
Sji;j þ .bi ¼ .u
€i ; ð2:1Þ
ble system of stresses and heat fluxes on B  ½0; 1Þ. The set of all
. admissible processes on B  ½0; 1Þ can be organized as a vector
.g_ ¼ r  qi;i ; ð2:2Þ
h0 space provided addition and scalar multiplication are defined in
in B  ð0; 1Þ, the constitutive equations an appropriate manner.
We say that p ¼ ðui ; s; eij ; bi ; Sij ; qi ; gÞ is a thermoelastic process
Sij ¼ C ijkl ekl  M ij s_ ; corresponding to the supply terms ðbi ; rÞ if p is an admissible pro-
c cess that satisfies the fundamental system of field Eqs. (2.1)–(2.5)
.g ¼ Mij eij þ s_ ; ð2:3Þ
h0 on B  ½0; 1Þ.
1 To the field Eqs. (2.1)–(2.5) we adjoin initial conditions and
qi ¼  K ij bj ; ð2:4Þ
h0 boundary conditions. In what follows we consider the initial condi-
tions in the form
in B  ½0; 1Þ, the geometrical equations
1 ui ðx; 0Þ ¼ u0i ðxÞ; u_ i ðx; 0Þ ¼ v 0i ðxÞ; sðx; 0Þ ¼ 0;
eij ¼ ðui;j þ uj;i Þ; 0
2 ð2:5Þ s_ ðx; 0Þ ¼ h ; x 2 B; ð2:10Þ
bj ¼ s;j ;
where u0i ; v 0i and h0 are prescribed continuous functions on B so that
in B  ½0; 1Þ. Here ui are the components of the displacement vec- u0i;j is continuous on B. Without loss of generality, here we have con-
tor, s is the thermal displacement, s_ ¼ h represents the temperature sidered zero initial condition for the thermal displacement. Our

Please cite this article in press as: Chiritßă, S., Ciarletta, M. Reciprocal and variational principles in linear thermoelasticity without energy dissipation. Mech.
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 ARTICLE IN PRESS

S. Chiritßă, M. Ciarletta / Mechanics Research Communications xxx (2010) xxx–xxx 3

analysis in the present paper works also in the case when non-zero € i ¼ ui  t v 0i  u0i ;
gu
initial condition is considered for the thermal displacement. g  .g_ ¼ ‘  ð‘  .g_ Þ ¼ ‘  ð.g  .g0 Þ ¼ ‘  .g  t .g0 ; ð3:10Þ
Throughout this paper we will consider the mixed boundary–
initial value problem. To this end we set Rm ðm ¼ 1; 2; 3; 4Þ the and the notations (3.1) and (3.3) we arrive to the relations (3.6) and
subsets of @B such that R1 [ R2 ¼ R3 [ R4 ¼ @B; R1 \ R2 ¼ (3.7). Further, we take the convolution of Eq. (2.3)1 with g and use
R3 \ R4 ¼ ; and consider the following boundary conditions: the result
~ i on R1  ð0; 1Þ;
ui ¼ u g  s_ ¼ ‘  ð‘  s_ Þ ¼ ‘  s ð3:11Þ
si ¼ Sji nj ¼ ~si on R2  ð0; 1Þ; to obtain the relation (3.8). Finally, we take the convolution of Eq.
(2.3)2 with ‘ðtÞ ¼ 1; t 2 ½0; 1Þ and note that
s ¼ s~ on R3  ð0; 1Þ; ð2:11Þ
‘  s_ ¼ s: ð3:12Þ
~ on R4  ð0; 1Þ;
q ¼ qi ni ¼ q
Thus, from (2.3)2 we obtain the relation (3.9). The converse is
where u ~i ; s ~ are prescribed functions. We assume that u
~; ~si and q ~i verified by reversing the foregoing argument.
and s~ are continuous on R1  ð0; 1Þ and R3  ð0; 1Þ, while ~si and Consequently, the above result furnishes an alternative charac-
~ are continuous in time and piecewise regular on R2  ð0; 1Þ and
q terization of the solution to the mixed boundary–initial value
R4  ð0; 1Þ, respectively. We also assume that these data are com- problem in which the initial conditions are incorporated into the
patible with the initial data. field of basic equations. In fact, the admissible process p is a
The mixed boundary–initial value problem of the linear ther- solution of the mixed boundary–initial value problem of linear
moelasticity without energy dissipation consists in finding a ther- thermoelasticity without dissipation energy if and only if p
moelastic process p corresponding to the supply term ðbi ; rÞ that satisfies the Eqs. (3.6)–(3.9), (2.4) and (2.5) and the boundary
satisfies the initial conditions (2.10) and the boundary conditions conditions (2.11). h
(2.11). We call such a thermoelastic process a solution of the mixed
boundary–initial value problem.
4. Reciprocal theorem
3. An alternative characterization of the mixed problem
In this section we present a reciprocal theorem of the Betti type.
Throughout this section we will give a characterization of the To this end we consider two external data systems
n o
ðaÞ
mixed boundary–initial value problem in which the initial condi-
ðaÞ
L ¼ bi ; rðaÞ ; u ~ ði aÞ ; s
~ðaÞ ; ~sði aÞ ; q
~ðaÞ ; ui0ðaÞ ; v i0ðaÞ ; h0ðaÞ ; ða ¼ 1; 2Þ and
tions are incorporated into the field of basic equations. To this  
ðaÞ ðaÞ ðaÞ ðaÞ ðaÞ ðaÞ ðaÞ ðaÞ
consider p ¼ ui ; s ; eij ; bi ; Sij ; qi ; g , ða ¼ 1; 2Þ, the cor-
end we follow Ignaczak (1963), Gurtin (1964), Carlson (1972)
and Lebon (1980) and introduce the generalized supplies responding solutions of the mixed boundary–initial value problem.
  We introduce the notations
F i ¼ . g  bi þ t v 0i þ u0i ;
  ða Þ
si
ðaÞ
¼ Sji nj ;
1
R ¼ . g  r þ g0 t ; ð3:1Þ ðaÞ
h0 qðaÞ ¼ qi ni ; a ¼ 1; 2; ð4:1Þ
 
ðaÞ ðaÞ 0ðaÞ 0ðaÞ
where F i ¼ . g  bi þ tv i þ ui ;
 
gðtÞ ¼ t; t 2 ½0; 1Þ; ð3:2Þ 1
RðaÞ ¼ . g  rðaÞ þ g0ðaÞ t ; a ¼ 1; 2; ð4:2Þ
c h0
.g ¼ Mij u0i;j þ h0 ;
0
ð3:3Þ 0ðaÞ c
h0 g ¼ Mij ui;j þ h0ðaÞ ; a ¼ 1; 2:
0ðaÞ
ð4:3Þ
h0
and the sign  denotes the convolution product, that is
Z Thus, we can establish a reciprocal relation in the form of the
t
ðf  hÞðtÞ ¼ f ðsÞhðt  sÞds: ð3:4Þ following theorem.
0
Theorem 2 (Reciprocal theorem). Assume that the thermoelastic
We also introduce the function
coefficients satisfy the symmetry relation (2.6). Let
 
‘ðtÞ ¼ 1; t 2 ½0; 1Þ: ð3:5Þ ða Þ ðaÞ ðaÞ ðaÞ ðaÞ ðaÞ ða Þ ðaÞ
p ¼ ui ; s ; eij ; bi ; Sij ; qi ; g be a solution of the mixed
boundary–initial value problem corresponding to the external system
n o
ðaÞ
~ iðaÞ ; s
LðaÞ ¼ bi ; rðaÞ ; u ~ðaÞ ; ~siðaÞ ; q
~ðaÞ ; u0ð
i
aÞ 0ðaÞ 0ðaÞ
; vi ; h ; ða ¼ 1; 2Þ. Then
Theorem 1. Let p ¼ ðui ; s; eij ; bi ; Sij ; qi ; gÞ be an admissible process on
B  ½0; 1Þ. Then p satisfies the equations of motion (2.1), the equation we have
Z   Z  
of energy (2.2), the constitutive Eqs. (2.3) and the initial conditions ð1Þ ð2Þ ð1Þ ð2Þ
F i  ui  Rð1Þ  sð2Þ dV þ g  si  ui þ qð1Þ  sð2Þ dA
(2.10) if and only if B @B
Z   Z  
ð2Þ ð1Þ ð2Þ ð1Þ
¼ F i  ui  Rð2Þ  sð1Þ dV þ g  si  ui þ qð2Þ  sð1Þ dA:
g  Sji;j þ F i ¼ .ui ; ð3:6Þ B @B

‘  .g ¼ R  g  qi;i; ð3:7Þ ð4:4Þ

g  Sij ¼ g  C ijkl ekl  ‘  Mij s; ð3:8Þ
c Proof. We introduce the notation
‘  .g ¼ ‘  M ij eij þ s: ð3:9Þ
h0
ðaÞ ðbÞ 1 ðaÞ ðbÞ
Nab ¼ g  C ijkl eij  ekl  g  K ij bi  bj
Proof. We first assume that the basic Eqs. (2.1)–(2.3) and the ini- h0
 
ðaÞ ðbÞ
tial condition (2.10) hold true. Taking the convolution of the Eqs.  ‘  M ij eij  sðbÞ þ M ij eij  sðaÞ ð4:5Þ
(2.1) and (2.2) with gðtÞ ¼ t; t 2 ½0; 1Þ, and by using the relations

Please cite this article in press as: Chiritßă, S., Ciarletta, M. Reciprocal and variational principles in linear thermoelasticity without energy dissipation. Mech.
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4 S. Chiritßă, M. Ciarletta / Mechanics Research Communications xxx (2010) xxx–xxx

 
and note that relation (2.6) implies that Proof. Let p0 ¼ u0i ; s0 ; e0ij ; b0i ; S0ij ; q0i ; g0 2 M and p ¼ ðui ; s; eij ; bi ;
Sij ; qi ; gÞ 2 M. Then p þ Kp0 2 M for every scalar k. A straightfor-
Nab ¼ Nba ; ða; b ¼ 1; 2Þ: ð4:6Þ
ward calculation yields
Further, by means of relations (3.8), (3.9) and (2.5), we have Z

h0
ðbÞ ðaÞ ðaÞ ðbÞ ðbÞ dp0 Kt ðpÞ ¼ g  C ijkl ekl  g  Mij ð.g  Mrs ers Þ  g  Sij  e0ij
Nab ¼ g  Sij  eij þ g  bi  qi  ‘  Mij eij  sðaÞ B c

ðbÞ ðaÞ ðbÞ ðaÞ
¼ g  Sij  ui;j þ g  qi  s;i  ‘  Mij eij  sðaÞ
ðbÞ h0
þ ‘  s þ ‘  ð.g  Mrs ers Þ  .g0
  c
ðbÞ ðaÞ ðbÞ ðbÞ
¼ g  Sij  uj þ g  qi  sðaÞ  g  Sji;j  ui
ða Þ   
1
;i  g  qi þ K ij bj  b0i dV
ðbÞ ðaÞ ðbÞ h0
g qi;i s ‘ Mij eij  sðaÞ : ð4:7Þ Z

þ ð.ui  g  Sji;j  F i Þ  u0i  ð‘  .g þ g  qi;i  RÞ  s0 dV
In view of the basic Eqs. (3.6) and (3.7) and by using (3.9), from B
Z
 
(4.7) we obtain 1
     g  eij  ðui;j þ uj;i Þ  S0ij þ g  ðbi  s;i Þ  q0i dV
2
ðbÞ ða Þ ðbÞ ðaÞ
Nab ¼ g  Sij  uj þ g  qi  sðaÞ  ui  .ui  F i
ðbÞ ðbÞ
ZB Z
;i
h   i þ g  ðu~ i  ui Þ  s0i dA þ g  ðsi  ~si Þ  u0i dA
ðbÞ
þ sðaÞ  ‘  .gðbÞ  Mij eij  RðbÞ Z
R1
Z
R2
  þ g  ðs~  sÞ  q0 dA þ g  ðq  q~Þ  s0 dA; ð5:3Þ
ðbÞ ðaÞ ðbÞ ðbÞ ðaÞ
¼ g  Sij  uj þ g  qi  sðaÞ þ F i  ui  RðbÞ  sðaÞ R3 R4
;i
ðaÞ ðbÞ c for all t 2 ½0; 1Þ. If p is a solution of the mixed boundary–initial va-
 .ui  ui þ sðaÞ  sðbÞ : ð4:8Þ
h0 lue problem, then on the basis of relations (2.4)–(3.9) and the
Further, we introduce boundary conditions (2.11), we obtain

ðaÞ ðbÞ c ðaÞ dp0 Kt ðpÞ ¼ 0; t 2 ½0; 1Þ; ð5:4Þ

Lab ¼ Nab þ .ui  ui  s  sðbÞ ; ð4:9Þ  
h0
for every p0 ¼ u0i ; s0 ; e0ij ; b0i ; S0ij ; q0i ; g0 2 M, and therefore
and note that
dKt ðpÞ ¼ 0; t 2 ½0; 1Þ: ð5:5Þ
Lab ¼ Lba : ð4:10Þ
Conversely, suppose that (5.2) holds true and hence (5.4) holds.
On the other hand, from (4.8) we have On making suitable choices of p0 into (5.3) and appealing Lemmas
  64.1–64.3 established by Gurtin (1972), p. 224, from (5.3) and (5.4)
ðbÞ ðaÞ ðbÞ ðbÞ ðaÞ
Lab ¼ g  Sij  uj þ g  qi  sðaÞ þ F i  ui  RðbÞ  sðaÞ :
;i we see that p is a solution of the mixed boundary–initial value
ð4:11Þ problem and the proof is complete. h

If we integrate the relation (4.11) on B and use the divergence

theorem and the symmetry relation (4.10), then we obtain (4.4) Acknowledgments
and the proof is complete.
Other reciprocal relation was established by Chandrasekharaiah The author SC acknowledges support from the Romanian Minis-
(1998). h try of Education and Research and Innovation, CNCSIS under Grant
code ID-401, Contract No. 15/28.09.2007. Support of the Italian
GNFM is also gratefully acknowledged.
5. Variational principle
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Please cite this article in press as: Chiritßă, S., Ciarletta, M. Reciprocal and variational principles in linear thermoelasticity without energy dissipation. Mech.
Res. Commun. (2010), doi:10.1016/j.mechrescom.2010.03.001