Positivity-preserving high order well-balanced discontinuous Galerkin methods for the shallow water equations

Shallow water equations with a non-flat bottom topography have been widely used to model flows in rivers and coastal areas. An important difficulty arising in these simulations is the appearance of dry areas where no water is present, as standard numerical methods may fail in the presence of these areas. These equations also have still water steady state solutions in which the flux gradients are nonzero but exactly balanced by the source term. In this paper we propose a high order discontinuous Galerkin method which can maintain the still water steady state exactly, and at the same time can preserve the non-negativity of the water height without loss of mass conservation. A simple positivity-preserving limiter, valid under suitable CFL condition, will be introduced in one dimension and then extended to two dimensions with rectangular meshes. Numerical tests are performed to verify the positivity-preserving property, well-balanced property, high order accuracy, and good resolution for smooth and discontinuous solutions.     

An efficient discontinuous Galerkin method for advective transport in porous media

We consider a discontinuous Galerkin scheme for computing transport in heterogeneous media. An efficient solution of the resulting linear system of equations is possible by taking advantage of a priori knowledge of the direction of flow. By arranging the elements in a suitable sequence, one does not need to assemble the full system and may compute the solution in an element-by-element fashion. We demonstrate this procedure on boundary-value problems for tracer transport and time-of-flight.     

Space discontinuous Galerkin method for shallow water flows—kinetic and HLLC flux,and potential vorticity generation

In this paper, a second order space discontinuous Galerkin (DG) method is presented for the numerical solution of inviscid shallow water flows over varying bottom topography. Novel in the implementation is the use of HLLC and kinetic numerical fluxes¹ in combination with a dissipation operator, applied only locally around discontinuities to limit spurious numerical oscillations. Numerical solutions over (non-)uniform meshes are verified against exact solutions; the numerical error in the L₂-norm and the convergence of the solution are computed. Bore–vortex interactions are studied analytically and numerically to validate the model; these include bores as “breaking waves” in a channel and a bore traveling over a conical and Gaussian hump. In these complex numerical test cases, we correctly predict the generation of potential vorticity by non-uniform bores. Finally, we successfully validate the numerical model against measurements of steady oblique hydraulic jumps in a channel with a contraction. In the latter case, the kinetic flux is shown to be more robust.     

Weakly-reflective boundary conditions for two-dimensional shallow water flow problems

In this paper weakly-reflective boundary conditions are derived for the two-dimensional shallow water equations, including bottom friction and Coriolis force. The essential aspects of the derivation are given. Zeroth and first order approximations are applied to the test problem of an initially Gaussian-shaped free surface elevation. For the numerical solution a finite element program is used and various aspects of the numerical implementation are discussed. For small scale practical problems a rather simple (one parameter) formulation might be sufficient. The influence of this parameter is discussed on the weakly-reflectiveness of the boundary condition.     

Application of the discontinuous spectral Galerkin method to groundwater flow

The discontinuous spectral Galerkin method uses a finite-element discretization of the groundwater flow domain with basis functions of arbitrary order in each element. The independent choice of the basis functions in each element permits discontinuities in transmissivity in the flow domain. This formulation is shown to be of high order accuracy and particularly suitable for accurately calculating the flow field in porous media. Simulations are presented in terms of streamlines in a bidimensional aquifer, and compared with the solution calculated with a standard finite-element method and a mixed finite-element method. Numerical simulations show that the discontinuous spectral Galerkin approximation is more efficient than the standard finite-element method (in computing fluxes and streamlines/pathlines) for a given accuracy, and it is more accurate on a given grid. On the other hand the mixed finite-element method ensures the continuity of the fluxes at the cell boundaries and it is particular efficient in representing complicated flow fields with few mesh points. Simulations show that the mixed finite-element method is superior to the discontinuous spectral Galerkin method producing accurate streamlines even if few computational nodes are used. The application of the discontinuous Galerkin method is thus of interest in groundwater problems only when high order and extremely accurate solutions are needed.     

A discontinuous Galerkin method for seismic wave propagation in coupled elastic and poroelastic media

Numerical simulation in coupled elastic and poroelastic media is important in oil and gas exploration. However, the interface between elastic and poroelastic media is a challenge to handle. In order to deal with the coupled model, the first-order velocity–stress wave equations are used to unify the elastic and poroelastic wave equations. In addition, an arbitrary high-order discontinuous Galerkin method is used to simulate the wave propagation in coupled elastic–poroelastic media, which achieves same order accuracy in time and space domain simultaneously. The interfaces between the two media are explicitly tackled by the Godunov numerical flux. The proposed forms of numerical flux can be used efficiently and conveniently to simulate the wave propagation at the interfaces of the coupled model and handle the absorbing boundary conditions properly. Numerical results on coupled elastic–poroelastic media with straight and curved interfaces are compared with those from a software that is based on finite element method and the interfaces are handled by boundary conditions, demonstrating the feasibility of the proposed scheme in dealing with coupled elastic–poroelastic media. In addition, the proposed method is used to simulate a more complex coupled model. The numerical results show that the proposed method is feasible to simulate the wave propagation in such a media and is easy to implement.     

A discontinuous Galerkin method for seismic soil–structure interaction analysis in the time domain

A technique for modeling transient wave propagation in unbounded media is extended and applied to seismic soil–structure interaction analysis in the time domain. The technique, based on the discontinuous Galerkin method, requires lower computational cost and less storage than the boundary element method, and the time‐stepping scheme resulting from Newmark's method in conjunction with the technique is unconditionally stable, allowing for efficient and robust time‐domain computations. To extend the technique to cases characterized by seismic excitation, the free‐field motion is used to compute effective forces, which are introduced on the boundary of the computational domain containing the structure and the soil in the vicinity of the structure. A numerical example on a dam–foundation system subjected to seismic excitation demonstrates the performance of the method. Copyright © 2003 John Wiley & Sons, Ltd.     

A limiter-based well-balanced discontinuous Galerkin method for shallow-water flows with wetting and drying: One-dimensional case

An important part in the numerical simulation of tsunami and storm surge events is the accurate modeling of flooding and the appearance of dry areas when the water recedes. This paper proposes a new algorithm to model inundation events with piecewise linear Runge–Kutta discontinuous Galerkin approximations applied to the shallow water equations. This study is restricted to the one-dimensional case and shows a detailed analysis and the corresponding numerical treatment of the inundation problem.The main feature is a velocity based “limiting” of the momentum distribution in each cell, which prevents instabilities in case of wetting or drying situations. Additional limiting of the fluid depth ensures its positivity while preserving local mass conservation. A special flux modification in cells located at the wet/dry interface leads to a well-balanced method, which maintains the steady state at rest. The discontinuous Galerkin scheme is formulated in a nodal form using a Lagrange basis. The proposed wetting and drying treatment is verified with several numerical simulations. These test cases demonstrate the well-balancing property of the method and its stability in case of rapid transition of the wet/dry interface. We also verify the conservation of mass and investigate the convergence characteristics of the scheme.     

间断有限元方法的数值频散分析及其波场模拟

数值求解波动方程是大尺度正演波场模拟、基于波动方程的地震偏移和反演成像的关键.本文针对求解二维声波方程的Runge-Kutta 间断有限元（RKDG）方法的数值频散问题,从理论推导和数值分析的角度进行了深入研究,并将其与近似解析离散化方法（Optimal Nearly Analytic Discrete Method,简称ONAD 方法）、Lax-Wendroff 修正方法、交错网格（Staggered-Grid,简称SG）方法的数值频散进行了比较研究.结果表明：RKDG方法以及近似解析离散化方法在压制数值频散方面要好于上述其他方法,特别是空间精度为3阶的RKDG方法,即使当空间步长取波长的一半,即一个波长内取2个网格点时,最大的频散误差也不超过1.67%.同时,我们也通过波场模拟对比研究了不同数值方法的数值频散问题,进一步直观地验证了数值频散的理论分析结果.     

地震波动方程的局部间断有限元方法数值模拟

近年来,随着地震波数值模拟对计算精度和效率的要求越来越高,间断有限元方法开始受到越来越多的关注.本文中,针对具有吸收边界条件的二维地震声波波动方程,作者提出了一种基于局部间断有限元方法的数值模拟算法.该算法在空间上使用局部间断有限元方法进行离散,在时间上采用了显式蛙跳格式.在这种时空离散的组合方式下,每个时间步上,此算法在空间剖分的每个单元上的求解计算是相互独立的,因而具有极高的并行性.通过数值算例,我们将该算法与连续有限元方法进行了比较.结果表明,本算法不仅具有对起伏构造的良好适应性,而且在计算效率和计算精度等方面,都具有优越性.     

A discontinuous finite element suspended sediment transport model for water quality assessments in river networks

Suspended sediment plays an important role in the distribution and transport of many pollutants (such as radionuclides) in rivers. Pollutants may adsorb on fine suspended particles (e.g. clay) and spread according to the suspended sediment movement. Hence, the simulation of the suspended sediment mechanism is indispensable for realistic transport modelling. This paper presents and tests a simple mathematical model for predicting the suspended sediment transport in river networks. The model is based on the van Rijn suspended load formula and the advection–diffusion equation with a source or sink term that represents the erosion or deposition fluxes. The transport equation is solved numerically with the discontinuous finite element method. The model evaluation was performed in two steps, first by comparing model simulations with the measured suspended sediment concentrations in the Grote Nete–Molse Nete River in Belgium, and second by a model intercomparison with the sediment transport model NST MIKE 11. The simulations reflect the measurements with a Nash‐Sutcliffe model efficiency of 0.6, while the efficiency between the proposed model and the NST MIKE 11 simulations is 0.96. Both evaluations indicate that the proposed sediment transport model, that is sufficiently simple to be practical, is providing realistic results.     

间断的Galerkin方法在地震波场数值模拟中的应用概述

通过数值求解描述地震波传播的微分方程来模拟波的传播角度而言,在日趋繁荣的地震波场数值模拟方法的探索中,间断的Galerkin方法(Discontinuous Galerkin,DG)是继有限差分法、伪谱法、有限元法以及谱元法之后出现的另一种有效的数值模拟方法,该方法从2005年以来在地震波场模拟中得到了迅速发展,给这一学科注入了新的活力.但是从国内的发展来看,在地震波场数值模拟方面还没有得到足够的关注.尤其是现有的综述性文献都忽略了这一方法得到的有益的成果,本文将重点介绍间断的Galerkin方法的发展及其在地震波场数值模拟的最新应用研究.     

Multilayer shallow water flow using lattice Boltzmann method with high performance computing

A multilayer lattice Boltzmann (LB) model is introduced to solve three-dimensional wind-driven shallow water flow problems. The multilayer LB model avoids the expensive Navier–Stokes equations and obtains stratified horizontal flow velocities as vertical velocities are relatively small and the flow is still within the shallow water regime. A single relaxation time BGK method is used to solve each layer coupled by the vertical viscosity forcing term. To increase solution stability, an implicit step is suggested to obtain flow velocities. The main advantage of using the LBM is that after selecting appropriate equilibrium distribution functions, the LB algorithm is only slightly modified for each layer and retains all the simplicities of the LBM within the high performance computing (HPC) environment. The performance of the parallel LB model for the multilayer shallow water equations is investigated on CPU-based HPC environments using OpenMP. We found that the explicit loop control with cache optimization in LBM gives better performance on execution time, speedup and efficiency than the implicit loop control as the number of processors increases. Numerical examples are presented to verify the multilayer LB model against analytical solutions. We demonstrate the model’s capability of calculating lateral and vertical distributions of velocities for wind-driven circulation over non-uniform bathymetry.     

Accelerating the discontinuous Galerkin method for seismic wave propagation simulations using multiple GPUs with CUDA and MPI

We have successfully ported an arbitrary high-order discontinuous Galerkin method for solving the three-dimensional isotropic elastic wave equation on unstructured tetrahedral meshes to multiple Graphic Processing Units (GPUs) using the Compute Unified Device Architecture (CUDA) of NVIDIA and Message Passing Interface (MPI) and obtained a speedup factor of about 28.3 for the single-precision version of our codes and a speedup factor of about 14.9 for the double-precision version. The GPU used in the comparisons is NVIDIA Tesla C2070 Fermi, and the CPU used is Intel Xeon W5660. To effectively overlap inter-process communication with computation, we separate the elements on each subdomain into inner and outer elements and complete the computation on outer elements and fill the MPI buffer first. While the MPI messages travel across the network, the GPU performs computation on inner elements, and all other calculations that do not use information of outer elements from neighboring subdomains. A significant portion of the speedup also comes from a customized matrix–matrix multiplication kernel, which is used extensively throughout our program. Preliminary performance analysis on our parallel GPU codes shows favorable strong and weak scalabilities.     

A Cartesian cut cell method for shallow water flows with moving boundaries

A new computational method for the calculation of shallow water flows with moving physical boundaries is presented. The procedure can cope with shallow water problems having arbitrarily complex geometries and moving boundary elements. Although the method provides a fully boundary-fitted capability, no mesh generation is required in the conventional sense. Solid regions are simply cut out of a background Cartesian mesh with their boundaries represented by different types of cut cell. Moving boundaries are accommodated by up-dating the local cut cell information on a stationary background mesh as the boundaries move. No large-scale re-meshing is required. For the flow calculations, a multi-dimensional high resolution upwind finite volume scheme is used in conjunction with an efficient approximate Riemann solver at flow interfaces, and an exact Riemann solution for a moving piston at moving boundary elements. The method is validated for test problems that include a ship's hull moving at supercritical velocity and two hypothetical landslide events where material plunges laterally into a quiescent shallow lake and a fiord.     

Multi-block lattice Boltzmann simulations of solute transport in shallow water flows

We report a two-dimensional multi-block lattice Boltzmann model for solute transport in shallow water flows, which is developed based on the advection–diffusion equation for mass transport and the shallow water equations for the flows. A weighting factor is included in the centered scheme for improved accuracy. The model is firstly verified by simulating three benchmark tests: wind-driven circulation in a dish-shaped lake, jet-forced flow in a circular basin, and flow formed by two parallel streams containing different uniform concentrations at the same constant velocity; and then it is applied to a practical wind-induced flow, Baiyangdian Lake, which is characterized by irregular geometries and complex bathymetries. The numerical results have shown that the model is able to produce accurate and detailed results for both water flows and solute transport, which is attractive, especially for flows in narrow zones of practical terrains and certain areas with largely varying pollutant concentrations.     

探地雷达正演的间断伽辽金法影响因素分析

时域间断伽辽金(discontinuous Galerkin time-domain, DGTD)算法具有守恒性、稳定性、高精度性和间断性等优点, 现已成为一种有效的探地雷达(Ground penetrating radar, GPR)正演方法.为了提高DGTD算法的计算效率和精度, 作者详细分析了数值通量、时间离散格式、单元大小与局部基函数阶次、网格剖分方式等影响因素.数值实验表明, 局部Lax-Friedrichs中τ=1/2的补偿数值通量既可以消除伪解, 又可以提高计算精度; 在精度相同的情况下, 低存储显式Runge-Kutta方案(low-storage explicit Runge-Kutta, LSERK)的稳定性条件和低存储优势要明显优于其它两种时间离散格式, 尤其是在大型复杂模型和三维正演模拟中更有优势.而提高基函数的阶次或增大网格数, 均可以提高其误差的收敛性, 局部基函数阶次N和单元大小d与电磁波波长λ的适用关系为d/N约等于λ/15;当单元数目大致相等时, 网格剖分方式对于高阶DGTD算法的影响较小, 说明DGTD算法对网格具有较好的适应性.最后, 采用DGTD算法对火星乌托邦平原模型进行正演, 验证了基于最优参数的DGTD算法模拟精度高, 可为火星乌托邦平原GPR实测数据的解译奠定理论基础.

     

A three-dimensional discontinuous Galerkin model applied to the baroclinic simulation of Corpus Christi Bay

In this work, we present results of a numerical study of Corpus Christi Bay, Texas and surrounding regions and compare simulated model results to recorded data. The validation data for the year 2000 include the water elevation, velocity, and salinity at selected locations. The baroclinic computations were performed using the University of Texas Bays and Estuaries 3D (UTBEST3D) simulator based on a discontinuous Galerkin finite element method for unstructured prismatic meshes. We also detail some recent advances in the modeling capabilities of UTBEST3D, such as a novel turbulence scheme and the support for local vertical discretization on parts of the computational domain. All runs were conducted on parallel clusters; an evaluation of parallel performance of UTBEST3D is included.     

An assembly model for simulation of large-scale ground water flow and transport

When managing large-scale ground water contamination problems, it is often necessary to model flow and transport using finely discretized domains--for instance (1) to simulate flow and transport near a contamination source area or in the area where a remediation technology is being implemented; (2) to account for small-scale heterogeneities; (3) to represent ground water-surface water interactions; or (4) some combination of these scenarios. A model with a large domain and fine-grid resolution will need extensive computing resources. In this work, a domain decomposition-based assembly model implemented in a parallel computing environment is developed, which will allow efficient simulation of large-scale ground water flow and transport problems using domain-wide grid refinement. The method employs common ground water flow (MODFLOW) and transport (RT3D) simulators, enabling the solution of almost all commonly encountered ground water flow and transport problems. The basic approach partitions a large model domain into any number of subdomains. Parallel processors are used to solve the model equations within each subdomain. Schwarz iteration is applied to match the flow solution at the subdomain boundaries. For the transport model, an extended numerical array is implemented to permit the exchange of dispersive and advective flux information across subdomain boundaries. The model is verified using a conventional single-domain model. Model simulations demonstrate that the proposed model operated in a parallel computing environment can result in considerable savings in computer run times (between 50% and 80%) compared with conventional modeling approaches and may be used to simulate grid discretizations that were formerly intractable.