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Pinhas Z. Bar-Yoseph
Computational Mechanics Lab.
Mechanical Engineering, Technion
23.3.2006 ISCM-20
Copyright by PZ Bar-Yoseph©
c vt
,
,
jt j
dt
dt
yf y
u f g
u F u F u u 0
1
1
1
0
The time interval
is partitioned into subintervals
where and belong to an orde
one spec
red partition
of time levels 0 .
Each time subinterval is represented by
0,
tral
,
ele
n n n
n n
N
t t
t t t T
I T
I t t
.
Within each spectral element, the dependent variables are
expressed in terms of -th order Lagrangian interpolants
through the Legendre-Gauss-Lobatto poi
ment
nts.
p
t
nInt
1nt
1nt
T T
, , ,
Discon
acts as a stabilizer operator
li
tinuous
m
Galerkin Method (DGM)
nn
tI
Jumpoperator
dt
dt
where
z 0
yw f y w y 0
y y y
v v x z
0
, , 0
0
dt t
dt
yf y
y y
0
Method of Weighed Residuals (MWR
,
)
n nT
dTR T t t
dt
r T t T
1
0
n
n
n
t
T t tt
T Rdt T r
0
0 0
0,dT
T t tdt
T t T
1
0
n
n
nT
tn n
tr t t
R
dTT T dt T T t T
dt
2
Space of piecewise polynomials of degree 0
with no continuity requirements
across interelement boundaries:
: P , np n n
I
T p
v L I v I I I
S
S
1
1 1 2 11,
1 1 1 22 6
,
e e e
e e
ne
n
Tt
T
K C M
C M
U
1
1
Galerkin + Linear elem t
enn n
n n
n n
T N T N T
where T T t
Galerkin Method (CGM)
0,
Con
tinu
ous
0n e
nT T t
F
1 3
2 3
1 A-Stable
n n n
AmplificationfactorA
T T A T
A
Galerkin Method (DGM)D
1 0,
0
iscont
0
in u
0
uo s
e e enT t
F K K
12
2 3
4 6
1
lim =0 Asymptotic annihilation
L -Stable
n n n
A
T T A T
A
A
Bar-Yoseph, Appl. Num. Math. 33, 435-445, 2000
DSM for Dynamic systems
Aharoni & Bar-Yoseph, Comp. Mech. 9, 359-374, 1992
Hamiltonian
Generalized displacement
Generalized momentum
H
q
p
0
0 00
0 00 0
ft
t
H Hdt
t t
t t
q p p Q qp q
p p q
q q p
nt steptimenth
, n 1 n 1p q
,n np q
,n np t q t
nt
t1nt
nt
1nt
Discontinuous element
Plat & Bar-Yoseph, 27th Israel Conf. Mech. Eng. 683-685, 1998
Nonlinear Spatio-Temporal Dynamics of a
Flexible Rod
Bar-Yoseph, Appl. Num. Math. 33, 435-445, 2000
Nave, Bar-Yoseph & Halevi, Dynamics. & Control. 9, 279-296, 1999
The unicycle system, presents an example of inherently unstable system which can be autonomously controlled and stabilized by a skilled rider
Wu -required to maintain the unicylce’s upright position
Tu -required to maintain lateral stability
-the friction torque is assumed to be dependent on the yew rate only
fM
The adaptive technique performed very well for all stiff systems that we have experienced with (convection, radiation and chemical reactions), and is competitive with the best Gear-type routines
dim, 1(1)
Linear Eq's. (scalar wave eq.)
Nonlinear Eq's.
jt j j n u f g
0 1
0 1
0, , ] , [ ]0, [
'
,0
'
, ,
0
u uc x t x x T
t xIC s
u x f x
BC s
u x t u x t
where
c
f x
x
DGM's milestones papers:
, " Triangular mesh methods for the neutron transprt equation",
Proc. Conf. Math. Models &
Comutational Techniques for Analysis of Nuclear Systems, Michigan
Reed & Hill
, 1973 .
Le , " On a finite element method for solving the neutron transprt equation",
Mathematical Aspects of Finite Elements
sa
in
int & Rav
PDE's,
iart
1974
u x
x
Classical artificia
Conti
l dif
nuous Gale
fusio
Dis
Exact solutio
continuous Ga
rk
le
in
n
n
rkin
ν
t
x
1G
2G
3G
3
0
u in G I
u u on
3 3 3
3 3
11
1
2
12
3
23
2
0w u d w u d w u d
u u d
uu
d
u
n ν n ν
n ν n ν
3 3
0G
w udG w u d
First Order
Upwind FD scheme
0p
x
t
e
G
t
x
x
tx
t
f
1n
n
1j j 1j
1p
ˆ ˆ 0e e e
t x
e e et x
G
u uw c d w u d w cu d
t x
DGM
10 0 1
indicates the time slab
indicates element number within the time slab
n n nt x i i j j jc c c
n
j
D D L R U L U R U
T T
T T0
T T0
,
ˆ ˆ,
ˆ ˆ,
e e
e et t
e ex x
e et x
G G
e ei t t
e ei x x
where
d dt x
d d
c d c d
N ND W D W
L W N L W N
R W N R W N
Space-Time Discontinuous Approximations
Bar-Yoseph & Elata, IJNME, 29, 1229-1245, 1990
Conventional el. "Gauss-Lagrange" el.
2
Space of piecewise polynomials of degree 0
with no continuity requirements
across interelement boundaries:
: P , p n e n e
G
u p
S v L G v G G G
S
int Basis functions are
at the integration points.
po wise orthogonal
0 0
2 1 2 1 2 2 1 1
1 2 1 2 2 2 1 1,
2 1 2 1 1 1 2 212 12
1 2 1 2 1 1 2 2
4 2 0 0 0 0 4 2
2 4 0 0 0 0 2 4,
0 0 0 0 012 12
0 0 0
ˆFor and bilinear element:
0
t t x x
i i
x tx t
x xx x
D D D D
L L L
= =
L
W W N
0 0
0 0 0
0 0 0 0
4 0 2 0 0 4 0 2
0 0 0 0 0 0 0 0,
2 0 4 0 0 2 0 412 12
0 0 0 0 0 0 0 0
i i
t tt t
R R R R
11 0
Von Neumann Analysis
exp 2 / , / , 1
n n j nj j
wavewavelengthnumber
where
i k k L x i
U U U
1 10 0 0 0
n nt x i i D D L R R U L U
110 0t x i i
Amplificationmatrix
A D D L R R L
Bar-Yoseph & Elata & Israeli, IJNME, 36, 679-694, 1993;
Golzman & Bar-Yoseph (Project)
Bar-Yoseph & Elata & Israeli, IJNME, 36, 679-694, 1993;
Golzman & Bar-Yoseph (Project)
Bar-Yoseph & Elata, IJNME, 29, 1229-1245, 1990
Adaptive
Refinements
: This problem can be solved by use of ,
where two elements are sufficient to reconstruct t
tilt
he e
ed el
xact
em
solution.
entsNote
Fischer & Bar-Yoseph, IJNME, 48, 1571-1582, 2000
Adaptive Level of Details
Technique for Meshing
Advanced CAD Visualization Methods
Morphing between Meshes at Different Times
DGM Elements are discontinuous.
CGM
Conforming elements.
Elemental Contributions
are to
GLO
assemb
BAL
generate
the set of equat
led
ions.
The size of the equations is equal to
the inside the corresponding element.
The element matrices can be inverted by
using symbolic manipolator once an
LOCAL
d
for all!
edofn
"Conforming" eleCGM ments
"Non-conforming"
elem
DGM
ents
The degree of the
approximating polynomial
can be easily changed
from one element to the other.
Space-Time Discontinuous Approximations
x
u t
DGM remains compact
with high-order polynomial basis
(essential for unstructured mesh computation)
•Gauss-Lobatto nodes are clustered near element boundaries and are chosen because of their interpolation and quadrature properties.• Mass lumping by nodal quadrature.• Exponential rate of convergence.•The increase in the due to the discontinuity at the interelement boundaries is balanced in high order elements.
Discontinuous SPECTRAL ELEMENTS
dofn
x
can
since refinement or unrefinement of the mesh
can be achieved without taking into account
the continuity restrictions
ty
adaptivity
pical of co
ea
nfo
strategie
rming FEM
sily ha
(needs
n
DGM
tra
d
n
sle
sition elements).
x
t
Parallel adaptive DGFE computation.
type of convergence
can be easily implemented,
since no continuity requirement
is imposed on the
test and trail space of
-
functions.
h p
a priori
11
x21
9 876
543
10
15141312
16
t
V
highly paralleliD zGM are eable.
The compact (nearest neighbor) scheme
minimizes interelement communication.
Mjinjjt 11, 0fu
iii fff
Flux Splitting
Mjh
N
i
N
i
jjt
te
ie
ie
e
11,;]][[
]][[]][[
,
21211
Vwu,w
f,wf,w
fuw
ii
0
Bar-Yoseph,Comput. Mech., 5, 145-160, 1989
Nonlinear Wave Eq.
0
020
2
202
2
22
2
2
1
11
,
Ec
Xu
cc
where
X
uc
t
u
Miles Rubin (2005)
uuAf uuAf
i i
i 0ff i i
i 0ff
Flux splitting for non homogeneous uf i
where :
The effective wave speed:
In a matrix form:
2
1
u
uu
),0(,2
2
Lxxt
0fu
1
22
20 1
11
1
u
uu
c
f
0
0
011
11
10
10
01
2
122
20
2
1
u
u
xuc
u
u
t
2
2
20
2
11
1
1
ucc
Traper & Bar-Yoseph (Project)
• The Jacobian matrix:
• The eigenvalues:
• The corresponding eigenvectors:
011
11
10 2
2
20
uc
uA
2
222
02
2
222
01
11
211
11
211
u
uuc
u
uuc
111
211
2
222
01 u
uuc
v
111
211
2
222
02 u
uuc
v
22222
22
2201
22
2201
2
222
0
1
211
1211
2
1
2
1
11
1
2
1
11
211
2
1
uuuu
uuucu
uu
ucu
u
uuc
ff
22222
22
2201
22
2201
2
222
0
2
211
1211
2
1
2
1
11
1
2
1
11
211
2
1
uuuu
uuucu
uu
ucu
u
uuc
ff
2222
22
220
2
220
2
222
0
1
211
1211
2
1
2
1
11
1
2
1
11
211
2
1
uuu
uuuc
u
uc
u
uuc
AA
2222
22
220
2
220
2
222
0
2
211
1211
2
1
2
1
11
1
2
1
11
211
2
1
uuu
uuuc
u
uc
u
uuc
AA
tx,
Displacement 2.0,1,1,5.0 00 cL
Traper & Bar-Yoseph (Project)
Velocity 2.0,1,1,5.0 00 cL
Strain 2.0,1,1,5.0 00 cL
• -Time for breakdown [Lax (1964)]:
1,, 00max2
2
xxucr KT
3.0396
2.0
12
2.00max
10
1
11
20
2
2
2
,2
0,
22
0
2
c
LT
Lu
cK
ucK
cr
x
u
crT
Velocity at t = 3 sec
1u
2.0,1,1,5.0 00 cLx
bilinear
biquadratic
Coarse (& Uniform) grid
Strain at t = 3 sec
2u
x
bilinear
biquadratic
2.0,1,1,5.0 00 cL
Explicit Vs. Implicit schemes
Bar-Yoseph et al., JCP, 119, 62-74, 1995
The discontinuous approximation
can capture shock waves
and other discontinuities
with accuracy.
Bar-Yoseph & Moses, IJNMHFF, 7, 215-235, 1997
c vt
t
c v
numerical flux
, 0
, 0
, ,
,
Runge-Kutta Discontinuous
,
Galerkin (RKDG ; LDGM)
0e e e
where
dd d d
dt
H
u F u F u u
u F u u
F u u F u F u u
uu u F u u n u F u u
Cockburn& Shu, JCP, 84, 90, 1989; Basi & Rebay, JCP, 131,267-279, 1997
c vt
c vt
, 0 (1)
0
Runge-Kutta Dis
(2)
, 0
continuous Galerkin (RKDG)
u F u F u u
D u
u F u F u D
D
(3)
(2)
0 (4)e e e
numericalflux
d d d
H
DD D u n D u
c
v
c
numerical flux
v v
numerical flux
(3)
, , 0 (5)
e e e
e e
edd d d
dt
d d
H
H
uu u F u n u F u
u F u D n u F u D
c v
c c D
c v
: When evaluating boundary integral of (5) along ,
the flux terms, , & , , are not uniquely defined
due to the discontinuous approximation.
H , H 1 2 ,
H 1 2 ,
eNote
u n F u F u D
F u u u n
F u D
v , . (6) F u D n
d
dt
UM K U 0
Semi-discrete method
This system of ODE's is integrated
with a Runge-Kutta method.