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    used here for validation, the tube is seamless, cold-drawn,
    low-carbon steel-type ASTM 179 and the tubesheet mate-
    rial is carbon steel-type ASTM A5 16 G70 with average
    yield stress of 248 MPa and modulus of elasticity of
    207 GPa (Al-Aboodi et al. 2008; Shuaib et al. 2003).
    Because of expected large plastic strains, the Bilinear
    Isotropic Hardening (BISO) option was used in the 3-D FE
    model. The curve in the plastic region was approximated
    by a linear relationship. The slope of the approximated line
    in the plastic region of the true stress–strain diagram
    defines the tangent modulus of plasticity (Ett). An elastic-
    perfectly plastic material is that having zero tangent
    modulus. The average value of Ett for the tube material
    used in the experimental study was found to be 733 MPa
    (Al-Aboodi et al. 2008). In order to investigate the effect of
    tube material strain hardening on the residual stresses, Ett
    values ranging from 0 to 1.2 GPa were considered
    (Table 1). These values were chosen to cover the plastic
    behavior of most of the steel materials used in similar
    applications. Table 1 contains the input parameters to FE
    code of the analysis. They consist of the range of clear-
    ances (c), percentage wall reductions (%WR), and tube and
    tubesheet material constants. The friction coefficient
    between the tube and tubesheet is assumed to be zero
    (Merah et al. 2003; Al-Zayer 2001).Rolling is performed by the rigid rollers that stay in contact
    with the inner surface of the tube being expanded. During
    expansion the rollers are modeled as rigid lines that
    undergo outward radial displacement and simultaneous
    circumferential motion that simulate tube expansion kine-
    matics. According to the industrial rolling practice speci-
    fied by a major roller expansion equipment manufacturer
    (Cooper Power Tools 2005), the amount of the radial dis-
    placement ðurÞ of the rigid rollers against the tube inner
    surface during the tube expansion phase is obtained from
    the values of the required tube percent wall reduction
    (%WR = 5%), the tube thickness (t), and initial tube–
    tubesheet clearance (c = 0–4.5 mm) as follows:
    ur ¼ð%WRÞt þ c: ð1Þ
    Once the expansion process reaches this limit of radial
    deformation, the inner tube surface will be released. The
    rolling process is simulated by three rigid rollers, 120 apart,
    moving circumferentially by increments of 6. Four
    revolutions are required to reach the maximum radial
    displacement determined by Eq. 1. The rolling process is
    described schematically in Fig. 2a. Graphical representation
    of the displacement profile along the circumference of the
    inner tube is shown in Fig. 2b. Figure 3 shows that for each
    roller, it is assumed that a total of 11 nodes are effectively
    deformed. Five nodes on each side of the roller are partially
    displaced plus the middle node along the generating line.
    Equation 2 is used to define the deformation profile yielding
    maximum displacement at the mid node. It is a sinusoidal
    function that represents the shape of the inner tube surface
    displaced by the radial movement of the roller.
    where ui is the nodal displacement at the ith node, us is the
    step displacement and bi is a normalized nodal factor
    taking the values 0, 0.25, 0.5, 0.75, 1.0, and 1.25; bi = 0
    corresponds to the mid point.
    The boundary condition in this model was applied by
    constraining the primary side of tube from moving axially
    (Fig. 1c) and the outer side of the tube at its secondary side
    from moving tangentially. The model used in the current
    investigation did not require that the analysis includes the
    effects of torsional moments, because the tube was con-
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