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Douglas N. Arnold
The failure of the Sleipner A offshore platform Convergence, consistency, and stability of discretizations
hLh u , v iXh Xh = u v dx u , v Xh
Z krh u uh kXh kL 1
h kL(Yh ,Xh ) kLh rh u fh kYh
hfh , v iXh Xh = f v dx
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Discretization:
n n n n n n
1 0.632121 6 0.145480 11 1.684800 uh ( x , t + k ) uh ( x , t )
h uh (x , t ) = 0, x grid, t = 0, k , 2k , . . .
2 0.367879 7 0.127120 12 -17.5328 k
3 0.264242 8 0.110160 13 211.394 consistency error = O (k ) + O (h2 )
4 0.207274 9 0.118720 14 -2747.12
5 0.170904 10 -0.068480 15 38,460.6
Z 1
x 14 ex 1 dx = 38,460.6 ???
0
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Stability for the discretized heat equation Milestones: consistency does not imply convergence
Courant, Friedrichs, and Lewy were first to realize that a consistent
discretization of a well-posed problem need not converge.
uh (x , (n + 1)k ) uh (x , nk )
h uh (x , nk ) = 0 In their classic 1928 paper, they considered the wave eq. t
k
2u 2u k = h
(x , t ) = (x , t )
uh , (n + 1)k = (I + k h )uh ( , nk ) =: G[uh ( , nk )]
t 2 x 2 h
with centered differences and timestep k proportional to h. x
4k k
Gv (x ) = (1 )v (x ) + [v (N ) + v (S ) + v (E ) + v (W )]
h2 h2
If > 1, the numerical domain of
dependence does not cover the
If k h2 /4 then kGv kl kv kl , so uh ( , 0) 7 uh is bounded in l
true domain of dependence and
uniformly in h and k and we obtain stability.
the method cannot be convergent.
If k > h2 /4, then kGkL(l ,l ) > 1, and the method is unstable.
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Finite element methods Stability of finite element methods
Continuous problem:
V , W Hilbert spaces, B : V W R bdd bilinear form, f W
For a generalized Galerkin method, the stability constant can be
Find u V such that B (u , w ) = hf , w i, w W. expressed as the reciprocal of the inf-sup constant:
Lu = f where hLv , w i := B (v , w ). 1
k L1
h kL(Vh ,Vh ) =
This is a generalized Galerkin method. If Vh and Wh are piecewise So we need to bound h below. This is easy if Bh is coercive:
polynomial spaces of a certain sort, it is a finite element method.
Ex: If Vh V , Wh W , Bh = B |Vh Vh , fh = f |Wh , this is a true Bh (v , v ) kv k2 ,
Galerkin method, or a conforming FEM.
but otherwise can be quite difficult.
For simplicity we henceforth assume V = W , Vh = Wh V
(although both Vh 6= Wh and Vh 6 V are of interest).
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1 1
Z Z Z Z
B (, u ; , v ) := 0 0
( u + v ) dx = fv dx H , v L
1 2
( div u + div v ) dx = fv dx H (div), v L2
1 1
P1 P0 RT0 P0
P1 -P1 (20 elts) P1 -P1 (40 elts) P1 -P0 (40 elts) Raviart-Thomas 1976
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Consistency of finite element methods Convergence of finite element methods
For rh take the V -orthogonal projection into Vh : rh u = arg min ku v kV .
v Vh
By the fundamental theorem, for a conforming FEM we have
|Bh (rh u , w ) hfh , w i|
consistency error := kLh rh u fh kVh = sup .
w Vh kw kV kuh rh u kV h1 kB k inf ku v kV .
v Vh
The simplest (and most important) case is a conforming FEM, i.e.,
Bh = B |Vh Vh , fh = f |Vh . Then the consistency error is With the triangle inequality, this becomes
|B (rh u , w ) hf , w i| |B (rh u u , w )|
sup = sup kB k inf ku v kV .
w Vh kw kV w Vh kw kV |v Vh {z ku uh kV (1 + h1 kB k) inf ku v kV
v Vh
}
For a conforming method the consistency error is
Stable conforming finite elements are quasioptimal.
bounded by the approximation error times kB k.
(Cea 1964 in the coercive case, Babuska 1972)
conformity error
In the general case,
For nonconforming methods we get some extra terms coming from the
z }| {
z
}| {
|Bh (u , w ) hfh , w i| conformity error. (Strang 1972, coercive case)
consistency error kBh k inf ku v k + sup
v Vh v Vh kw k
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P1 P2 P3
For distorted quads or
1 1 1
x y x y x y hexes, we use a
xy x 2 xy y 2 x 2 xy y 2 multilinear map from a
x 2 y xy 2 x 2 y xy 2
reference cube, and
x 2y 2
compose to get the shape
functions.
n h rate n h rate
From The Sleipner accident and its causes, B Jakobsen, 1998:
8 10.3474 8 9.99708
The reasons for the. . . reduced load bearing capacity were:
16 10.2829 2.0 16 9.90136 2.0
(a) Unfavorable geometrical shaping of some nite elements in the global 32 10.2670 2.0 32 9.87754 2.0
analysis. In conjunction with the subsequent post-processing of the 64 10.2629 2.1 64 9.87159 2.0
analysis results, this led to underestimation of the shear forces at
the wall supports by some 45%. extrapolated: 10.2616 exact: 2 = 9.86906
(b) Inadequate design of the haunches at the cell joints, which support
the tricell walls.
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Where does the error come from? The bilinear form is H 1 coercive We introduced the and
10
1
(hence stability), the method is conforming and linear elements give additional DOF for and
good approximation in H 1 . . . but kB k behaves like t 2 , so we still have nonconformity for w 10
2
How can we solve the problem? Introduce = t 2 (w ), the have to bound the
shear stress. The new bilinear form is
4
w t=1
nonconformity error, but 10
2
t = .01
Z it turns out that this is w
P1 -P1 AF OZF
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The impact of instability on an eigenvalue problem Finite element exterior calculus
For many electromagnetic problems, stable finite elements are elusive.
A striking example of what can goRwrong with unstable elements is
the curl-curl eigenvalue problem: curl u curl v dx = u v dx v , Finite element exterior calculus is an approach to the design and
R
understanding of nite element discretizations for a wide variety of
solved using standard P1 finite elements.
systems of partial dierential equations. This approach brings to
On a square the positive eigenvalues are 1, 1, 2, 4, 4, 5, 5, 8, . . . bear tools from dierential geometry, algebraic topology, and
10
homological algebra to develop discretizations which are compatible
9
with the geometric, topological, and algebraic structures which
On an unstructured 8
7 underlie well-posedness of the PDE problem being solved.
mesh, the discrete 6
Finite element exterior calculus, homological techniques, and applications,
5
spectrum looks nothing 4
Arnold, Falk & Winther, Acta Numerica 2006, pp. 1155.
3
like the true spectrum. 2
1
0
On this structured 10
9
mesh the discrete 8
From the point of view of FEEC, Lagrange elements dont seem at all
7
eigenvalues converge 6
natural for curl curl problems. We should not discretizing a differential
5
to the true eigenvalues, 4
1-form with elements devised for 0-forms.
3
but also to a sequence 2
1
of spurious ones. 0
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To get an impression of FEEC consider the Hodge Laplacian. This is Introducing = d u, we get the mixed formulation of Hodge
the PDE most closely associated to the de Rham complex Laplacian. If we also account for the harmonic forms, the resulting
problem is always well-posed.
d d d
0 H 0 ()
H 1 () H n () 0
Continuous problem:
grad curl
0 H () H (curl, ) H (div, )
1
L2 () 0
div Given f L2 k (), find H k 1 , u H k , p Hk :
h, i hd , u i = 0 H k 1
Hodge Laplacian: Given a k -form f find a k -form u such that hd , v i + hdu , dv i+hp, v i = hf , v i v H k
hu , q i = 0 q Hk
(dd + d d )u = f
The proof of well-posedness, via the inf-sup condition, relies on two
fundamental results:
The degree of well-posedness is determined by the harmonic forms
Hodge decomposition: H k = Bk Hk Zk
Hk := Zk (Bk ) , with dimension equal to the k th Betti number.
k k 1
Poincare inequality: kkL2 c kd kL2 , H k , Zk
ker d range d
So we need to capture these in our discretization.
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Discretization Bounded cochain projections
To discretize we use a generalized Galerkin method based on finite The key property is that there must exist a bounded cochain projection.
dimensional subspaces Vhk 1 H k 1 , Vhk H k .
d k 1
H k 1 H k
We require the subcomplex property dVhk 1 Vhk in order to obtain hk bounded
k 1 k
the yh y h hk a projection
Discrete Hodge decomposition: Vhk = Bkh Hkh Zkh d k 1
Vhk 1 Vhk hk d k 1 = d k 1 hk 1
where Hkh := (Bkh ) Zkh .
Theorem
Generalized Galerkin method:
Find h Vhk 1 , uh Vhk , ph Hkh : If kv hk v k < kv k v Hk , then the induced map on
cohomology is an isomorphism.
hh , i hd , uh i = 0 Vhk 1
gap Hk , Hkh sup kv hk v k
hd h , v i + hduh , dv i+hph , v i = hf , v i v Vhk v Hk
huh , q i = 0 q Hkh kv k=1
The discrete Poincare inequality holds uniformly in h.
The generalized Galerkin method is stable and convergent.
When is this discretization stable, consistent, and convergent?
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Finite element differential forms: shape functions Finite element differential forms: DOFs
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Finite element differential forms/Mixed FEM Finite element de Rham subcomplexes
1
n = 2: Pr (T ) H (curl) BrezziDouglasMarini elts 85 Whitney 1957, Bossavit 1988
Pr k spaces with decreasing degree:
n = 3: Pr 1 (T ) H (curl) Nedelec 1st kind edge elts 80
d d d
0 Pr 0 (T )
Pr 1 1 (T ) Pr n n (T ) 0
n = 3: Pr 1 (T ) H (curl) Nedelec 2nd kind edge elts 86
grad curl div
0 0
n = 3: Pr 2 (T ) H (div) Nedelec 1st kind face elts 80
2 DemkowiczMonkVardapetyanRachowicz 2000
n = 3: Pr (T ) H (div) Nedelec 2nd kind face elts 86
These are extreme cases. For every r 2n1 such FEdR subcomplexes.
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Applications of FEEC
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