rts. Numer.

T.cace Theorems Non~

for Functional Spaces Related to Maxwell Equations: an Overview

merit-based Computers

ss property.

liv operator !3, 2000. Nell's eigen- 1096, 200l. ~l models of n. SIAM J.

Annalisa Buffa

Istituto di Matematica Applicata e Tecnologie Informatiche. Via Ferrata, 1 27100 Pavia, Italy

of Maxwell

Summary. We study tangential vector fields on the boundary of a bounded Lipschitz domain in 1R.3. Our attention is focused on the definition of suitable Hilbert spaces over a range of Sobolev regularity which we try to make as large as possible, and also on the construction of tangential differential operators. Hodge decompositions are proved to hold for some special choices of spaces which are of interest in the theory of Maxwell equations.

ximation of mer. Math.,

squations in

les on poly-

Introduction

te elements.

curl curl u - k2u = 0 n

u x n = g or curl u x n = g'

an

rtic absorput. Methods .ces in Com-

ms, Numer.

In the present paper we collect results, observations and open problems as regards to a comprehensive functional theory for Maxwell equations in Lipschitz domains. Many results are known in this field and we refer e.g., to [1],

[10], [11], [12], [13], [20], [21].

The main concern of our research is the construction of a suitable functional setting for non-homogeneous Dirichlet and Neumann problems for time-harmonic Maxwell equations, i.e.,

analysis of :: first world ie 64, pages

s. Teubner,

In Software '4.

where n is a Lipschitz-continuous bounded domain, n denotes the outer normal to n, k the wave number, u either the magnetic or the electric field, and g, g' need to be properly chosen.

More precisely, we characterize the space of tangential trace (u M u x n) for H( curl, n) as well as more and less regular fields under the assumption that n is a bounded domain with Lipschitz continuous boundary. This will be made precise in the next sections. This work is mainly inspired by [7] and [2] and we aim to extend (in a suitable way) the results contained in these papers. More precisely, we do not succeed in writing a completely general theory, but we present some extensions of the known results and we discuss some open problem.

consider then domains. is deduced

one developed for Lipschitz domains and the results presented in [4], [5] are

1e- harmonic

-341, 1980. mer. Math.)

ite elements.

on of threeics, 24:2685-

24

reinterpreted this of the case of piecewise regular do-

on one hand the theory should be easier, but on the other hand one expects to have more "explicit" informations. Here we characterize some of the spaces introduced for Lipschitz domains terms of face by face regularity plus compatibility condition at the edges (i.e., ";i la Grisvard" [15], [16]).

The trace theorems we present here have a direct impact on the application and, more precisely, they are important to properly formulate integral equations for Maxwell equations and to study their approximation by boundary elements. Some pioneering works in this direction are [6], [17], [3], [8].

1 Preliminaries

Before stating trace theorems for spaces related to Maxwell equations, we need to define some Sobolev spaces and some differential operator acting on them. We refer to [4, 5, 2] and to [7] for more detail.

1.1 Functional spaces

We denote by D(D)3 the space of the 3D vector fields defined as C~mp(lEk3 )IS?'

Let n c IR3 be a bounded Lipschitz-continuous domain in lEk3. We denote by T its boundary, and the assumptions on n imply that r is locally subgraph of Lipschitz functions. Without loss of generality, we suppose that T is connected. When it is not the case, the theory presented in this paper can be applied separately at each connected component. We denote by n the outer unit normal vector to n. Moreover we denote by HS(n), Vs E IR+ and Ht(r), Vt E [-1,1] the standard real valued, Hilbertian Sobolev space defined on n, and r respectively (with the convention HO = L2.) We denote by

(n), s E (0,1/2] the dual space of HS(n) with L2(n) as pivot. Remark that in this way we are adopting the notation introduced by [19] which is in contrast with the one used in [15].

Although the electromagnetic fields are naturally complex valued vectors, here we consider real valued function spaces only for the sake of exposition. The results extend to complex valued function spaces with no change.

The duality pairing between H-S(r) and HS(r) is denoted by (-, ·)s,r.

We set:

HS(n) := (HS(n))3,

H'{cur l , n) = {u E HS(5?) I curl u E HS(5?)}; HS(div, n) = {u E HS(n) I divu E HS(n)}; L;(r) = {v E L2(r) I n i v = ° on r};

(r) := {u E H-S(T) I (u, l)s,r = U] (8 E [-1,1]) for t > 1, Ht(r) := {ulr I u E Ht+l/2(n)}.

(1) (2) (3) (4) (5) (6)

tangent bl grable.

The sp Neverthels

We denote Finally, wl face. We re

';":;.~.:;Vi:

Definitim - the nom

- the tonq.

In(u)n; - the «tan!

We denote V, I(u) =

notation 1f? which acts

1fT and IT (

We defi:

Definition

For 8 = 0, '

For s > 0, . ensure the (

Note th. isomorphisn of our consi dual spaces

HT(r)', H~

e regular doher hand one erize some of ace regularity

[15], [16]).

1 the applicaulate integral on by boundl7J, [3], [8].

We denote by II . Ils,curl,Q and II . Ils,div,Q the graph norms associated

respectively to (curl, D) and HS (div, 0).

The space L; (r) is identified with the space of fields belonging to the tangent bundle T T of T for almost every x E T and which are square integrable.

The spaces Ht (r), t > 1 have no intrinsic definition on the surface r.

Nevertheless they are Hilbert spaces endowed with the norms:

IIAllt r := inf {IIUllt+l!2 Q such that ulr = A}.

, UEHt+l/2(Q) ,

C~mp(lR3)IQ' 1 IR3. We de-

t T is locally suppose that in this paper .iote by n the 'lis E IR+ and lev space deWe denote by ivot. Remark ~] which is in

We denote by n=ir, the dual space of Ht(r) with L2(r) as pivot space. Finally, when .0 is a polyhedron these spaces can be characterized face by face. We refer to [4] for details.

Definition 1 We define:

the normal trace operator: 1'n : V(D)3 --t L;(rL u r--+ U· n,

- the tangential components trace operator: 1fT : V(D)3 --t L;(r), u r--+ u-

1'n(u)n;

- the "tangential trace" operator: 1'T : V(D)3 --t L¥(r), u r--+ n x ulr.

We denote by l' the standard trace operator acting on vectors: l' : HI (D) --t V, 1'(u) = ulr. Let 1'-1 be one of its right inverses. We will also use the notation 1fT (resp. 1'T) for the composite operator 1fT 01'-1 (resp. 1'T 01'-1) which acts only on traces. By density of V(D)fr into L2(r), the operators 1f T and 1'T can be extended to linear continuous operators in L2 (r).

We define:

.quations, we tor acting on

Definition 2 For any s > 0, let

ilued vectors, )f exposition. ~hange.

d by C ·)s,r.

For s = 0, we adopt the convention: H~ (r) = H~(r) = L;(r).

For s > 0, H~ (r) and Hf(r) are Hilbert spaces endowed with norms that ensure the continuity of the operators 1'T and 1fT' respectively. We set:

1])

(1) (2) (3) (4) (5) (6)

11>..lls,x = inf {llulls+l!2,Q I 1'T(U) = >..}

uEHs+l/2(Q)

11>"lls,T = inf {llulls+1!2,Q I 1fT(U) = >..}

l.I.EHs+l/2(Q)

(7) (8)

Note that 1fT : Hs+l!2(0) --t HT(r) and 1'T : Hs+l!2(0) -t H~(r) are isomorphisms by construction. The spaces HT(r), H~ (r) will be the bases of our construction. For any positive s, we denote by (ry, H~ (r)' the dual spaces of H T( r), H ~ (r) respectively with L; (r) as pivot. that Hf(r)', H~ (r)' are Hilbert spaces endowed with their natural norms.

26

following we need various differential operators on the sur-

face which is a closed The tangential

functional spaces defined here above are suitable for their definition. The operators:

curlr:

are defined on T in the usual way by a localization argument (see [22] or [7]). The adjoint operators of - v rand cur lj- are:

respectively, and they are linear and continuous for these choices of spaces. The operators v rand curlj- can be restricted to more regular spaces.

Using the results in [7] and noting that for any regular P E D(D):

JrT(vP) = vr(Plr) 'Yr(vP) = curlr(P1r), (9)

we can easily deduce that for any t ~ 1, the operators

(10)

curlj+:

are linear and continuous. Moreover, we easily have that v rP 0 or

curlj-p = 0 if and only if P = canst.

As a consequence, their adjoint operators divj- : H},-l(r)' -+ H;;t(r) and curlj- : H~-l(r)' -+ H;;t(r) are linear and continuous operators.

Finally, we define the Laplace-Beltrami operator on the Lipschitz manifold T as Llru = divr(vru) for any u E HI(r). One can prove [7] that L1r HI (r) -+ u;: (r) is linear, continuous and admits a right inverse.

2 Green formulae

In order to have an insight on the functional spaces we have to deal with when treating the problem of traces for H( curl, f?), we first introduce the related Green formulae.

Let u E D(D), then

In divtu) = Ir 'Yn(u).

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Let now v E D(D)3 and v E D(D). Since div(uv) = div(u)v + u . vv and div(u x v) = curl u· v - U· curl v , and (u x v) . n = 'YTV' u, we deduce:

In div(u)v + U· vv = l 'Yn(u) v ; (12)

In curl u . v - U· curl v = Ir 'YT V . u.

There are some consequences of (12, 13).

(13)

Stn formulated H8(D)" s

For pos space whic set:

-1<

Theorem from HS(c'

Proof. For 2 and the 1

which is a

H:j2-S(r)

such that 1

By densitj H:j2-S(r) Hs-1/2(r)

Remark 2. be built UE trace map] precisely, t a countere:

The ne: trace mapj

Theorem c; : Hs-1

and divL(1

ed on the surThe tangential :iefinition. The

Theorem 2, The operator In extends to a linear and continuous operator from HS(div, fl) to HS-1/2(r) for -1/2 :s; 8 < 1/2.

Proof. Straightforward using (12) and [18]. Remark that this result can be formulated in this way only thanks to our choice of notation, i.e., H-S(D) = HS(D)', s E (0,1/2].

')' ~ H;t(r)

erators.

rchitz manifold [7] that .1r 'erse.

Vu E H(curl, D)

(16)

r)

see [22] or [7]).

For positive values of s, let H~(r) = In(H1/2+S(D)). This is a Hilbert space which can be endowed with the norm that let In be continuous. We set:

(r)

-1:S; s:S; 0 HS(divr,r):= {A E H:y.S(r)' I divj-X E H!(r)} (14)

s > 0 HS(divr, r) := {A E H~ (r) I divj-X E H~,*(r)} (15)

rices of spaces. r spaces.

E V(s2):

(9)

where H~,*(r) denote the space of zero mean value functions in H~(r). Theorem 3. The operator IT extends to a linear and continuous mapping from H'{cur l , D) to Hs-l/2(divr, r), for any s ~ -1/2, s::J:- 1/2.

(r). Vrp

(10)

Proof. For s > 1/2, the statement is obviously true thanks to the Definition 2 and the relation:

o or

which is an easy consequence of (12, 13). For -1/2 :s; s < 1/2, let e E H3j2-S(r). By definition itself of H3j2-S(r), there exists a u E H1-S(D) such that 7rT(u) = e. Let now v E V(s2)3; using (13), we have:

Ii 7rT(U) . IT (v) I = 1£ curl u· v curl v . ul < Ilulh-s,nllvlls,curl,n.

e to deal with introduce the

By density of V(s2)3 in HS(curl, fl) we deduce IT : H'{cur! , D) ~ H3j2-S(r)' is continuous. Using then (16), we deduce that divr("Yru) E HS-1/2(r) as a consequence of Theorem 2.

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Remark 2. For s = 1/2 the statement is false and a counterexample can be built using the construction proposed in [18] to show that the standard trace mapping u 1-+ ulr is "not" continuous from H3/2(D) to Hl(r). More precisely, the gradient of the H3/2(D)-function constructed in [18] furnishes a counterexample for the statement of Theorem 3 in the case s = 1/2.

+ U· VV and we deduce:

(12)

The next task is to study the existence of suitable right inverses for the trace mappings In and IT'

(13)

Theorem 4. For any s, -1/2 < s :s; 1/2, there exists a lifting operator

: HS-l/2(r) ~ (div,D) such that InCCn(u)) = u 'v'u E JjS-l/2(r)

and div£(u) = Ir u,

28 Annalisa Buffa

For 0 :=; s < it is

of the results proved [18].

transposition argument [19J.

s = 1/2 it is a consequence < s < 0, it is an

0""""'0"""'" 5, There exists a linear and continuous extension operator

jar any 1/2 < s :=; 1/2 such that 1TTs(>,) = ..\.

Proof. In [25], Tartar proved that 1T : H(curl, D) -+ H-l/2(divr, r) admits a linear right inverse. It is not hard to see that his proof holds true for any s, s E (-1/2, 1/2J.

This theorem has several consequences.

- We define the bilinear form b(·, .) : Lf (r) x Li (r) -+ ffi.,

b(..\,e) = Ir x. e x n.

Theorem 5 together with the first green formula (13) implies that the bilinear form b defines a duality between HS(divr,r) and H-l-s(divr,r) for s E (-1,0); i.e., b is continuous from HS(divr,r) x H-1-S(divr,r) to

ffi., and v H b( v, .) maps (div r, r) onto its dual.

- The differential operator cur1r : H; (r) -+ L; (r) can be extended by using the formula (9) (see [3]):

S(r) H-(s-l) (r)'

° < s :=; 1, curlr : H* -+ T ;

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The question: "Does the cur lj- have closed range in H:;,(S-l) (r)'?" remains open for the moment and the answer can not be easily deduced from Theorem 5.

Note that the following diagram commutes for 0 < s < 1:

curlr

- Many choices of extension operator are possible. The next theorem explains one of these.

Theorem 6. There exists a linear and continuous extension operator Lx :

Hs-l/2(divr, r) -+ HS(curl, D) [or any ° :=; s :=; 1/2 such that fTLx (..\) = ..\ and div(Lxu) = 0 in D.

The result

Remark 3. 1) assumed to 1 can be ext en it makes sur, mann trace c different, chc

3 Hodge I

We nowfocu: this aim, we section is rna

Following -+ H'{divj-, p E H;(r) is

Since div 1

kerQs

Thus the opel HS(divr, r).

1

we have:

s E [-1,0]

The next i this we take c notations: Let defined on the

lHIJ := {u E I lHI2 := {u E I

curl curl u + u = 0, rT(U) = A.

msequence .ion of the

Proof. For O:S: s :s: 1/2, let A E HS-l/2(divr,F). We can solve the prob-

lem: Find u E ,J?) such that

iior

F) admits ue for any

The result is then a consequence of the results stated in [9].

Remark 3. Using Theorem 6 together with [1, Theorem 3.5], and since F is assumed to be connected, we know that actually any vector A E H'{divr , F) can be extended in the form of a curl. This observation is important since it makes sure that both Dirichlet trace operator (u M rT(U)) and the Neumann trace operator (u M rT(Cu:rl u)) have the same range (for suitable, and different, choices of the spaces where they act on).

E , D) n H ( div, D) u = 0, divu - 0, U·

E H(cud, De) n H(div, De) curl u = 0, divu = 0, U·

= O}; = O}.

3 Hodge decompositions

tended by

We now focus the attention on the structure of the spaces HS (div r, r) and to this aim, we introduce suitable Hodge decompositions of these spaces. This section is mainly inspired by [7], [2] and [3].

Following [3], for any S E [-1, 1], we define the operator 9B: HB (div r, r) -+ HB (div r, r) as follows: For any u E HS (div r, r), 9s (u) = v rP where P E HJ; (F) is the solution of the problem:

i v rP . \7 rq = i div ru q

; that the "(divj-, F) .ivr, F) to

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Since divr9S(u) = divj-u, the operator 9s verifies the following:

(r)'?" reI deduced

1f.B(r) = {p E H;(r) I i1rp E H!(r)} , S E [-1,0];

Thus the operator 9s is a projection and it generates a splitting for the space HS(divr, r). Namely let

we have:

n explains

The next step is the characterization of ker{ divr} n HS(divr, F) and for this we take advantage of the results in [2]. first need to introduce some notations: Let rfe denote the tangential trace operator acting on functions

defined on the exterior domain De := ]{3 \ n. set:

raior Lx :

.t.; (A) =

30 Annalisa

It is that the spaces rr-~

[10] or [1], and moreover dim{lHlI} = We set:

lHl2 have dimensions [23], } (see [24, theorem p. 296]).

- I'TlHll

and we state the following proposition:

Proposition 1 We have that HI, sition holds:

~ L; (r) and the following decompo-

(19)

where EEl denotes the direct sum with respect to the L;(r) scalar product. Proof. First of all:

lHll C {u E L2(D) : curl u E L2(D), divu E L2(D), U· nil' E L2(r)}

lHl2 C {u E L2 (De) : curl u E L2(De), divu E L2(De) , U· nil' E L2(oDe)}.

Using standard regularity results for Maxwell equations [9], we deduce

HI, H2 ~ L;(r).

Then the proof of the statement proposed in [2] extends with no change to the case of Lipschitz domains. From [2], we know also that (19) can be rewritten

as

.L ker{ divj- } n L; (r) = curlrHI (r) EElIHI

where lHl := {>.. E L;(r) I divr>" = 0, curlr>" = O} and the orthogonality is in the sense of L; (r).

We can now prove the following:

Proposition 2 For any s, -1 < s ::;; 0 we have:

ker{ div I' } n (div r, r) = curlrHS+l (r) EEllHl.

Proof. This result is basically a consequence of Theorem 5 and the proof can be obtained adapting the proof Theorem 2 in [2J.

Note that a consequence of this theorem is the following:

Coronary 1. The operator curlj- : HS(r) -+ H:;;(S-l) (r)' has closed range for any s, 0 < s < 1. Moreover, since ker{ curlj-} = lR, we have:

Ilplls,r ::;; Gllcur1rpll(s-I),T

'l/p E H!(r).

Note that by symmetry the same holds true for the gradient operator: V r :

HS(r) -+ H-;;(S-I)(ry has closed range for any s, 0 < s < 1 and it holds:

Ilplls,r < Gil V rpll(s-I),T

'l/pEH!(r).

Summarizing we have proved the following theorem:

Moreooer, follows:

Note tJ

u EI v s E

b

4 Polyh

When D i: acterized i we know, 1 recent resi To this en boundary of edges. I The coup] (resp. rj); 'Ij the set

For an used wher any functi We set all, we has

Theorem

For any <.p

N.+(rn'

~J y,

ensions [23], 16,p.296]).

Theorem 7. For any s E [-1,0], we have:

H'{divj-, r) = V r1{B(r) EB ker{ divr} n (divr, r).

Moreover, fors E (-1,0), ker{divr}nHB(divr,r) can be characterized as follows:

ng decompo-

ker{ divj- } n (div r, r) = curlrHB+1 (r) EEllHI.

Note that, the duality induced by breads:

(19)

u EHB(divr, r), u = vrpu + cur1rqu + h.,

v EH-l-S(divr, r), u = vrPv + curlrqv + h,

b(u, v) = -(iJ.rPu, qv)-s,r + (iJ.rPv, qu)-s,r + l h., . h, x n.

product.

~}(r))

E L2(ane)}.

:leduce

4 Polyhedral domains

hange to the be rewritten

When n is a polyhedron, the spaces H~ (r) and Hf(r) could be fully characterized in an intrinsic way on the surface T for some values of s. As far as we know, the theory is not complete in this context and we report here some recent results in this framework. This section is largely inspired by [4], [5]. To this end, we introduce some notation. We denote by rj, j = 1, .. , Nr the boundary faces of the polyhedron n and by eij = l'jnf'i (for some i,j) the set of edges. Let T ij be a unit vector parallel to eij and llj = lllrj; T i := T ij /\ n.. The couple (T i, T ij) is an orthonormal basis of the plane generated by ri (resp. rj); (Ti,Tij,lli) is an orthonormal basis oflR3. Finally, we denote by Ij the set of indices i such that T; shares an edge (namely eij) with rj.

For any <p E L2 (r) we adopt the notation <pj = <Plrj' This notation is used whenever the restriction to a face is considered, that is as regards to any functional space in which the restriction to a face is meaningful.

We set H~(r) := {'P E LZ(r) such that 'Pj E HB(rj)2}, s > 0. First of all, we have the following:

Theorem 8, For 0 < s < 1/2,

iogonality is

closed range HT(r) = H~{r) = H~(r).

he proof can

1

For any <p E 2: (r), we define:

erator: vr : d it holds:

32

we

1 '2 . Tij =

if JV:!,~ (tp) (resp.

H:;LJlHH.O~ can

1 '2 . Ti =

JU<eU_U.Udl 1. Let n be a polyhedron. The spaces HiP (r) and H~/2 (r) can be characterized in the following way:

Hf(r) := { 'I/J E ~ (r) I 'l/Ji . Tij i 'ljJj . Tij at eij Vi E Ij) Vj } .

H~(r) := {'I/J E H!(r) I 'ljJi' Ti i 'ljJj . Tj at eij Vi E Ij) Vj}

2.

connect

3. A. Buff;

(20)

screens: press)

4. A. Buff; equatio Meth. j

5. A. Buff;

As far as more regular fields are concerned we can develop a theory which is somehow parallel to the one proposed in the case of Lipschitz domains. For any t > 1, we define the space:

(21)

Y~uatio
hedra a
6. A. Buf
Maxwel
10.1007
7. A.Buff
domain
8. A.Buff
method
(in pres
9. M. Cos
on Lips
10. P. Fern
homoge
conditic
11. P. Fern
and mo
200l.
12. N. Filo
Univers
13. N. Filo
bounda
14, V. Gira
tions. ~
15. P. Cris:
and stu
16. P. Cris-
son, Pa
17. R. Hipt
148, So
mitted
18. D. Jeris
domain
19. J.-L. Li
tions. I endowed with its natural norm

vVe define:

(r) - {SO E L;(r) I SOj E HS(rj)2} (8;:: 0) ;

H~(r) = {SO E H~(r) I SOi' Tij = SOj . Tij at eij} (8 > ~) ; (22)

Hi(r) = {SO E H~(r) I SOi' Ti = SOj' Ti at eij} (8 > ~) .

The space H~ (r) is endowed with its natural norm

Vr : HS+1(r) -t H~(r) ;

curlr : Hs+1 (r) -+ Hi (r)

The spaces H~(r) and Hi(r) are closed subspaces ofH~(r) for any 8 > ~.

Finally it is easy to see that, for any 8 ;:: ~, the operators

are linear and continuous.

Remark 4. The equalities H~ (r) == Hi (r) and HT(r) = H~ (r) for 8 > 1/2 are not obvious. Moreover, the definition (21) seems natural for polyhedra, but cannot be extended to the general case of Lipschitz surfaces. In particular, in the case 8 = 3/2, in [4] it is shown that the two definitions (6) and (21) give the same space both algebraically and topologically.

1 2" esp. <.pi . 'ii =

References

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r~/2 (r) can be

aeory which is domains. For

(21)

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r) for s > 1/2 for polyhedra, In particular, 3 (6) and (21)

34 Annalisa

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