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We present a robust method for generating high-order nodal tetrahedral curved meshes. The approach consists of modifying an initial linear mesh by first, introducing high-order nodes, second, displacing the boundary nodes to ensure that they are on the CAD surface, and third, smoothing and untangling the mesh obtained after the displacement of the boundary nodes to produce a valid curved high-order mesh. The smoothing algorithm is based on the optimization of a regularized measure of the mesh distortion relative to the original linear mesh. This means that whenever possible, the resulting mesh preserves the geometrical features of the initial linear mesh such as shape, stretching and size. We present several examples to illustrate the performance of the proposed algorithm. Furthermore, the examples show that the implementation of the optimization problem is robust and capable of handling situations in which the mesh before optimization contains a large number of invalid elements. We consider cases with polynomial approximations up to degree ten, large deformations of the curved boundaries, concave boundaries, and highly stretched boundary layer elements. The meshes obtained are suitable for high-order finite element analyses.

We present a new definition of distortion and quality measures for high-order hexahedral (quadrilateral) elements. This definition leads to two direct applications. First, it can be used to check the validity and quality of a high-order hexahedral (quadrilateral) mesh. Second, it allows the generation of high-order curved meshes composed of valid and high-quality hexahedral (quadrilateral) elements. We describe a method to simultaneously smooth and untangle high-order hexahedral (quadrilateral) meshes by minimizing the proposed mesh distortion. Finally, we analyze the behavior of the proposed distortion measure and we present several results to illustrate the benefits of the mesh generation framework.