Ee Herve | Co FINITE ELEMENT MODELS FOR OCEAN CIRCULATION PROBLEMS* GEORGE J. Fixt Aatract a this paper» fice clomtent model & presenied fora limied repion ocean ereulation Probie. Stability and alsine exror anabss aze ven as well as the ennsersation laws that are Intirsic 1 the iste elament shen. 1, Introduction. Significant insight into the nature of large scale ceean lows has traditionally been obtained from perturbation techniques [1]. The reason is that such flows are rich in boundary layers {[2]. (3) the Gulf Siream being the ‘most striking example, While a great deal has been learned with these analytical (ie. nonnumerical) techniques, still unresolved is the dynamics of culation. This is especially true lor meso-scule lows. One example of this involves the Gulf Stream. Rath have been developed with singular perturbation expansions te show a0 intense current off the eastern coast OF the United States [2]. Undetected by these theories, however, is the so-called meandering of the Gulf Stream. The latier is a meso-scale phenomena, highly nonlinear, and time- to also have important implications for the global circulation pattezn [4] Another example concerns the so-called mid-ocoan meso-scule edulics, These ave limited in size yet transport a significant amount of energy. They are highly nonlinear, and like the meandering problem ciied above, have to date eluded exact analysis In the last fow years there has been in methods to study meso-seale dynamics [5]. So call models hhave been in existence for several years.’ and while they have provided valuable insight, the ceean is simply too lange for these iodels 10 resolve meso-scale 1s on the present ganeration been given to limited region modeling. This activity has been given a fundamental stimulus from the MODE project (mid-ocean dynamies experiment) (6). Indeed, the latter was conceived to (among other things) provide data for limited region numerical models, In this paper we present a specific limited region model bused on a finite clement method. The latter can at best be regarded as untested in fluid cal culations, although there have been some preliminary studies (S}11)). As a Fesult our primary goal here is to study the key properties of the method leg, stabil liusing errors, conservation laws) which are central to its, theories fay there is dependent. It is felt asing interest in using numerical “world ocean’ computers. As a consequence attention has ived by the editors Mach 1, 1974 + Department of Mathersates, University of Michigan, Ann Arbor. Misigan 48104, This ‘Work was supported in past by the Olfice of Naval Ressarsh and LGAS.E, Langley Research Caney, Hampton, Virginia, "See tke arieles by K. yan and M. Coe ia {5} This peajet will join forces in 197 with the “Polygon” project operated by the USS. The ccombinsd efort will be called POLY-MODE. amsuccessful application in studying limited region ocean flows. Ing latter pub: eation in collaboration with J. Hitsh and A. R, Robinson, results from experi- ments using real MODE data will be reported. “The primitive equations will not be used in our model, but rather the three- dimensional quasi-geostrophie equations [13]. The latter is stratified vertically. and in essence is a system of two-dimensional Darotropic (je., stteam function vorticity) equations [14]. To simplify the exposition, we shall do the analysis for only one barotropic equation. The lutter contains all the significant noalinearities of the three-dimensional model, and has the advantage of admitting a con description. Moreover, by setting the Coriolis foreas equal to zero. the analysis, given here contains as a special case finite element approximation to any two- dimensional incompressible inviscid flow 2, Limited region barotropic model. Let @ be a region in the ocean havi the boundary I" (see Fig. 2.1). In keeping with standard notation we let y > 0 be northward sind x > 0 be eastward. ‘The physical variables of interest ate the x and y components u, ¢ of velocity, ihe pressure p and the density p. Due to the rolution of the carth there ars Coriolis forces present, and we let f= « + fly denote the Coriolis parameter. The equations of motion are thus en 123) Fic. 2.1, The resin @ Acwvally the most meaningful variable in the mid-oceun problem is the potential vorticity (24) which we shill call si transport of vorticity i ) Since the Dow is ir eo Observe that the straw equation ) In addition. (2.5) can b« 8) where we shall use Jt, Co The equations (27 and hold for (x. "60: specify initial condition (2.10) a) 4 and appropriate bounk want to specify its value 1213) wiry Indeed, the tangential « component of the velo. injo for out of 2s, Ina later pub: results from experi but rather the three stratified vertically. stream funetion- Ido the analysis for icant noalincarities admitting 2 concise Lo zero. the anialysis mation to any Wo- in the occun having tion we let y > 0 be of int st are the x ensity p. Due to the bwe let f= a+ By hus can problem is the Hist HiMuNT ones am which we shall call simply vorticity in the sequel. The equation governing the transport of vorticity is obtained by taking the curl of (2.1)-(2.2). This gives 6 Observe that the stream function is related to vorticity ¢ through the elliptic equation 7 Av In addition, (2.5) can be written Le Stew) “The equations (2.7/-128) are the basic equations ef motion for our model, and hold for (x, r= Qand ¢ > 0. To complete the statement of the problem we specily initial conditions (2.10) Wey Oa flr (sed. aan Woy O= deluw (ne. and appropriate boundary conditions For the stream function we clearly want (o specify its values on P en Vr = vole tO for(.eP. 12> 0. Indeed. the tangential derivative 2y,'2o (taken clockwise) is exacily the normal component of the velocity. Hence. (2.12) is 2) specification of the normal low into (or out of) @ Fic, 2.2. The hnnarya4 GuoRGE J. Hx ‘The boundary conditions on the vorticity ¢ are more complicated. Let us frst give an intuitive argument, Fellowing [14] we note that (2.15) is a statement that Bad Br D_é é Bat aR ie the time change following a specific fluid particle. In shart, the vorticity { remains constant on fluid paths. This suggests that we should specify ¢ only on the inflow d= fever] ean SIDS CO fOr (EFL > 0. ‘The “correctness” of (2.13) exn also be seen from the conservation laws implicit in the model, Since the latter have important implications for approxi- mations we shall produce them here. ‘The first conservation law is related to. eta) cote = [fits oF ds i which is often called entrosphy in the geophysical uid dynamics literature. We start by compating the time change of (2.147 Lay 2a Integrating by parte gives Recalling that Gb/Ga is the normal velocity, which we denote by'r,, we have iis vei fa Gs a5) where Foul = 0 — Txt) is the outlow. & Note that 4 is equal to the d minus the ano greater interest by indeed, y, = 00 means that the using (2.13). 1 dloments, and it Similar calc } jie. a conservatie . and in §5 we she mations 3. Finite of muodel (2.7128 residuals) used i into triangles element space or In practice though the thee The simplest ele function. Letting Siac seguet with Hite eteneats ¥complicated, Let us 2.15) is a statement hort, the vorticity ¢ sd speeily ¢ only on 0. fe conservation laws jeations for approxi- amies literature. We € by ny, We have HI LEME anny un Note that (2.15) is a simple assertion that the time change of entrosphy ¢2 is equal to the amount of ¢? being advected in through the indow {first integral) minus the amount being advected out through Foust) (second integral). OF greater interest is the observation that the time growth of If(-, «| is dominated by indeed, », 2 0 on the outflow so the second integral in (2.15) is nonpusitive, This micans that the growth of ¢? can be controlled by specifying £ on the inflow, ie, using (2.13). It will be scen ia §-4 that a simikur calculation is possible for finite elements. and it in essence is the key to stability of this method. Similar calculations show that 2p Kasffwre ‘ond in § 5 we shall show that analogous laws hold for the nite element approxi- mations : [five 3. Finite element approximation. Our approximation to the barotropic model ((27)-(2.8)) is obtained by the classical Galerkin (or method of weighted residuals) used in conjunction with finite elements. The first step is to subdivide 2 ine wwiangles (possibly curvilinear at the boundary), and to consider a fin element spuce on this grid (soe Fig. 3.1) Fie 31. disre lamers In practice attention will be restricted to three specific finite elements, alk though the theory developed in the next sections applies more generally The simplest element we shall use is the familiar linear piecewise polynomial function. Letting 2,, 17S NM) be the nodss of the iriangles, any function * Tnife sequel i > 0 will denote anareragemesh spacing, and for sonvenience quantities ssiciated With foie slements willbe paramatrized by eg, the maniber of nodes & eeaoked N=376 GHORGE 1. FIN Ix) in the piecenise linear finite element space S* can be written By Ho) = Ye vie, where @; are the familiar bill functions [7] satistying 1 ipa rE) ofa) = ‘We shall also use quadratic and cubie elements. For these spaces any function 1 can be represented by (3.1) except that 2). 1 Z j ZN, include not only nodes but also midpoints in the case of quadraties and two equally spaced points on the sides of triangles plus the centroid in the case of eubies (see Fig Quai obi ig. 32. The pointe 3 In each of the above cases we have approximations to the stream function and vorticity at each time > O of the form wae weve) 6.4) she. T chinese We determine the weights pil) = #20) and £40) by the Galerkin method and the initial and boundary conditions, For the laticr we have from (213-213), G3) whl = tayo) 6.6) HO = fel) forse Tair) > 0 sand for initial conditions we whe on HO) = vale) Gay SHO = Sy) } for 7,0 UT To determine the remaining weights. namely We) fore, Cin) for 2,6 2U Tourtth ‘we rewrite the barotropic 89) G10) where H 1) denotes the i and ¢ = 0 on. ; The Galerkin idea is subspace, whieh in our 8 the test funetions v t0 sa approximate system is ey any wi [foe Observe dat B11) she weights whieh ean be written ay) [fem and J is vector whose The elliptic equation (3.1 14) where K is the “stiffnessspaces any function rslude not only nodes y spaced points an the : Fig. 3.2) > the stream function 8? the Galerkin lactone have fom Hvis rresniyr MODELS v7 wwe rewrite the barotropic eyuations in the integral form ffcvin a (suo) [fowve =[[ uae ait ee rise 129) reli. where 42) denotes the Saboley space of functions » satisfying eh = {fir 0 tel i r } and e= Don P. “The Galerkin idea is to use(3.9)-13.10) except restricted to a finite-dimensional subspace, which in our secting is the finite element space S* As usual we require the tost functions v to satisfy the homogeneous boundury conditions, henee the approximate system is equivatent 10 oye [[aehehe, all cQU Pout, aig [fovea [fur sie, atycn Observe that (3.11) is an implicit system of ordinacy iffrensal equations in the weights Gn = Bhiol. Yer = fyhto} which ea be writen ain, ME = IHW, where the “mass matrix” M has the entries fem meQUE and =22U Tonio ‘nd J is a vector whose generic entries ure 0, (BjE2U Toul. ‘The elliptic equation (3.12) is equivalent to the matrix equation Ga) KW = Q, where K is the “stiffness matrix” whose generie entiies aiexr covonct 3, 108 ‘The generic entry of the vector Q is fle =f, eM ® To obtain the numecical approximation we must integrate the ordinary differential equation (3.13) in time for the vorticity ¢; the stiffness matrix is then inverted to compute the stream function y from (3.14), Specific time integration schemes will be treated in the last section. In the subsequent sections the semi discrete approximation is discussed. pat the 4, Stability aml convergence. The goal of this section is 10 prove semigiscreve finite element system ((3.11)-(3-12)) is stable in the sense that HC Alle, WW are hounded by the initial and boundary date. In adcition, the order of con ‘vergence of approximate vorticity ¢* and stream function y's established. ‘The proof of stability centers around 2 calculation similar to one whi prodiiced (2.15). We start by writing an ad. vat vb where (42) $= SD den “Tus, ch vanishes on the inflow Tis(t) and Wf vanishes everywhere on the boundary use of the former we ean replace g, with Ch in G11). This gives + [J sectwtvt + [f ach. veh. “The left-hand side of (43) can be writen ty ed it NEBL Mor; HAC. Hence after dividing by [A(-. los 43) becomes a differential relation describing, the time growth of vorticity: We want to bound the right-hand side by known Guuntivies whieh in this sotting are the boundary data ¢b, ¥,and the initial data Te first term on the right-hand side causes no dificulties and we use the Schwartz inequality to bovnd it by Another application of the Schwartz inequality permits us to bound the second term by WEBCO ERC 0, aoWAC> lh» where ‘The approximate stream em (3.12). Thus stanc wt Cy = 1 are 60 ‘The last expression appears (0 be’ iroubleso! Ir is at this point, I central role. In particul Teading wo (2.15), except the term sn question is, ration hy pacts But ¢f vanishes on their (.e. the normal velocity! Combining the abo asi f where Cy is 66) EAC. Alo This inequality is our st We now consider tt In particular suppose (°integrate the ordinary stiffness matrix is then pecific time integration sent sections the semi- ni to prove that the | the sense that ion, We order of con ii established, similur 19 one which where on the boundary 11}. This gives, Jc Wh. tial relation describing, t-hand side by known /t.and the initial data. nd we use the Schwartz s to bound the second FINITE ELEMENT MODELS 379 where Hols... = sup Vol + [vd. The approximate stream funetion y* and vorticity ¢* are related through elliptic systema (3.12). Thus standard [7] estimates give (a) WH S CWE, + CaEMo + CIEE where Cj. = 1,3, are constant independent of A > 0, The last expression in (4.3) is the most interesting one On the surface it appears t0 be troublesome since J(ch. v") involves first spatial derivatives of Ch 11 is at this point, however. where the inflow boundary condition plays a central role. In particular, we duplicate the calculation starting with (2.14) aad leading to (2.15), except in this case with funetions in the space S*, We recall that the term in question is J[ost.wet ‘An integration by parts shows that this cexm is equal to -$ |heura ato But Ch vanishes onthe inflow and the angel derivative of the sreum function {ie the normal velocity) ie nonnegative onthe out [Jos-vis 50 Combining the above with (4.3) gives . a (4.5) Gli Blo S Ca + CollCal- Olo, G3) UM. le S Cu + CoA where C, isthe sup for 0 Sz Tof ST FICE te CoE TD + Cal CE Dll + An integration of the differential inequality (4.5) gives (6) RRC Allo S exp [Catch -. 001 + (Ca/Ce) {exp [Cue] ~ 1]. ‘This inequality is our statement of stability. We now consider the order of accuracy of the finite clemeat approximations. In particular suppose ¢" consists of piecewise polynomials of degree k ~ 1; thus380 GuoRGE 1. HX k = 2for linear elements, k = 3 jor quadraties and k = 4 for cubies. Let an 2x0) = Dota theys (48) FO = Lule te; be the interpolants of ¢, w respectively. Then (49) We ct, CH, and (410) CY for r = 0,1, where rel, ry Let us now introduce the residual or truncation error in Be) ie - [Poem ‘This of course is a measure of the extent to which { isa solution of the vorticity transport equation, A simple estimate using (4.9) gives I ‘| + oat isih vanishes on T(t), @.11) can be written lS ttefoue Whe, + Be. [ser yo + [foes — whe + Be The calculation now resembles the sability estimate with the decisive step being the observation that ffaewre s With this We conclude cn alel ‘HeelW — Wl + OU But elliptie theory [7] gives We = Will, = OG) + fet ON); allen ence aK since this is true at c= I Defining the approxi, we see that the finite mations to Une veloc! vorticity ¢ ‘ 5. Aliasing errors » given in the previous &P the empirical data from in fact could be in erry exuct input is somewhs is “physically realistic to be valid for the ausr gating exactly which | ‘These results are hen 1 aliasing errors. The hat culations [21 To simplify our cal stream function is const boundary conditions on conservation laws ; the ¢ an the conservation of ente: (52) and the conservation of ak 63 S (53) 7 ‘We assert that the above mation. To see this note Tio practice aeveace qufor cubies. Let in ¢ slution of tie vorticity 1 f Me ere) with the decisive step FINITE ELEMENT MODELS 381 hence HEC Po = Hells Do = ONE 4 0. We conciude that Le WS = tilly = OUT), by since this is true at Delining the approximate velocit: ne ot pS we sce (hat the finite element system (3.11}-(3.12) produces OU") appro mations to the velocities « v and a similar order of approximation to the vorticity ¢. 5. Aliasing errors and conservation laws, The stability and error a en in the previous section ire only a small purt of the picture. For example empicieal data from the MODE project cannot be expected to be exact, and Biv in fact could be in ersor up 10 say 20 percent, Thus an error analysis based on exe input is somewhat meaningless. What one needs from a num ical model hysivally realistic” behavior: ie.. we Want the conservation laws cited in §2 valid for the numerical approximation. Tais section is devoted to investi- ‘ing exactly which laws are valid for the finite element model (3.11}-(3,12) ‘These results are then used to investigate that purely nonlinear ellect Known as aliasing errors, The latter has been especially troublesome in atmospheri¢ cal- culations (21). To simplify our calculations let us suppose Tis a solid boundary. Thus the sureamt function is constant on Tie. e, = Oy/de is zer0 there, and there are no boundary concitions on the vorticity ¢. In this setting there are three fundamental conservation laws; the conservation of vorticity way the conservation of entrosphy 62) ‘and the conservation of energy cy Hal Lffursenad fv We assert that the above tee principles are valid for the finite element approxi. mation, To see this note that (211) can be written Tiap tice difarence quotients of #*atepreficeble if uniforia meshes are used (se (8){foe vre, in @t0 obtain Thus Je = J Jet) i.e. vorticity is conserved, To verily (4.2) we replace p, with ("in (5.4) (ie, multiply (5.4) by (He) and sum over j) te get [eX = [fren aff ore ff Tg An integration by parts shows that the integral on the right is ive, eatrasphy is conserve Finally, we turn to the kinetic energy iffro-ve, 4and for simplicity lot us assume is simply connecied so we ean take which we rewrite as , = 0 onl. From (312) we have keh ffoe- oe 0 foe aL So oh fo. But from (3.11), In addition, for each In short or energy is conserved approximation has n9 These conservatio errors. Following Phil vorticity transport 65) when the velocities 1, advected with constant then the vorticity at an 5 Each mode is advectior but like the physical s independent af time).FINITE ELEMENT MODELS 383 but from (3.11), In addition, for each ¢ & 0, Pes-fots) is in hence (3.12) gives Le (fo cin aK [vue var = SF In short dK dk ak i or energy is conserved. Incidentally this shows that the semidiserete finite element Approximation has no hidien menerical friction, ‘These conservation Jaws have fundamental significance for the size of aliasing errors. Following Phillips [21] we define the latter as follows. First we note in vorticity transport 55) when the velocities u, v are constant (this for our model is the linear case), ¢ is advected with consiant velocity ; ie. ifthe initial vorticity is 7 then the vorticity at any time ¢ is Sn exp (ie — uh f+ ity ~ en. Numerics! schemes—ineluding finite of the form cments—will produce an approximation Tshesp ite — ahs + ay — oon). Each mode is advection with different velocities us, ¢ (ie, there is dispersion), but like the physical system there is no interaction between modes |i.c., o4, is independent of time).i roKak 499% In the nonlinear case (.e.. variable w end » in (5.5)) there will be interactions between the modes. Aliasing ertors are related to nonphysical energy inter- actions. To amike this more precise, let us consider the eigenfunctions Go Wont kip = 0 in, =O onW ‘These are a complete set of orthonormal functions in L3(Q). Thus for each ¢ > 0 wweean write F ceotsixn. Wesyd A simple calculation shows E wer (57) 1 ffov- v= LK: thus K,(0) = J42C,) is the energy in the nth mode, A similar calculation yields E atkuo, 8) fle = S eeu That (5.71 and (8.8) are constants in sme implies the average frequency TDRKO TK is constant in time, In short, the energy interchange in the non! mociel conserves tne average frequency F Most diffessace schemes conserve vorticity, and if there is no numerical friction. energy is also conserved (see (18. Chap. 3)). The point is that entrosphy Sf a¢? is rarely conserved, The only well-known exception is the Arakawa scheme 118, pp. 105-106). and it is true for the fatter only with uniform grids and rec tangutar boundaries. When entrosphy is not conserved the average frequency & will in general nov be constant, and in such cases Phillips (21} :see also [18. p.§1)) showa th stabilities can be created by high frequency ncise cascading dawn inio the low frequencies. Phillips calls these effects aliasing Noie that (5.2) holds for our model. independent of the irregularity of our grid. We did impiicitly assuine, however. that Q is a polygon. so that the normal velocity O64/¢a was icentically zero on T. We thus conehide in this case that the semidiscrete finite element model will have no aliasing errors ear barotropic pumerieal 6. Time discretizations. We postponed tie tine discretization until the last simply because there are several possibilities available. In addition, we feel that iis importani io cleariy identity the properties of the semidiserete approximation, ang let them be a guide for the selection of time integrations. Itis perhaps important to note that the “implicitness” of the finite clement system (3.13) is viewed by many as the major drawback of finite clement approxi- mations (e.g, see the article by H. O. Kreiss in [5]). This is to be sure a valid criticism, for the imp avoided. To see this | cn) ata constant velocity ordinary differential (6.2) Ga (This exactiy (13, $3) A siandatd ‘ech into explicit ones is i Soar with €5, and ther‘ wwe were to continue (hes a classical unsiaie dit The imphicitness the numerical approx than would otherwise for some k thus, the & 4 wave advected with (6.2) will also be a wav Inuier with U. Putting into (62) we obtain where = Kh, Note tha ie, the linear elements p Clearly we would will preserve this proper-re will be interaetions physical energy inter- nfunctions fs ). Thus for each > 0 KA) ilar caleulation yields 1e frequency : nonlinear barotropic fore is: no nmercal iat i that entrospiy = the Arakawa scheme wiform grids and rec e average frequency f 1} 880 aso (18, p. 81) high frequency noise these effsets aliasing the irfegulurity of our on, $0 that the normal de in this case that the etization until the addition, we feel Uw iserete approximation, iS * of the finite element nite clement approxi: sis w be sure a valid FINITE ELEMENT MODELS 385 criticism, for the implicitness is fundamental to the finite element and cannot be avoided. To see this let us consider a one-dimensional advection of vorticity wy at a constant velocity U. The usc of linear elements on a uniform grid gives the ordinary differential equation (62) har FASS + Cheny6 + Oe yeh (This exactiy [13, $3) for the one-dimersioual prodiem (6.1).) A standard technique for converting implicit finite element approximations into explicit ones is known as “lumping” [7]. For (6.2) this amounts to replacing Sia: with ¢,, and thereby giving + UC — It we were to continue and use a forward time difference we would obtain t+ At) — Hoar + Fhe ~ 2h = 0, h = 0. a classical unstavie ditierence approximation! ‘The implicitness of the time derivatives in (6.2] vewuaity adds a great eal wo the numerical approximations, e.g.. the phase errors in (62) are much smaller than would otherwise be excepted. To see this, let us use as initial data de.) for some &; thus, the exaict solution of (6.1) is: ox 8 wave advected with velocity L/. The exact solution of the finite element system (6.2) will also be a wave advected with velocity U*, and we want to compare the Iatter with U. Putting iio = eAotu into (6.2) wo obtain bsin 90 | “2 jSsin O10. | * of; + Peos Bf" ‘where = kh, Nove that ‘ * + OG) ght ea {5 OW’ ie, the near elements produce fourth onde accurate phase errors. Clearly we would want an appropriate time discretization. £5" = (jn A®) will preserve this property. The frst such example, and one which does not haveaK avowain 3, 10% umerical friction, isa leap frog scheme (ee aa ta! = - [ “+a zs ] et. — GA (63) in conjunction with one time extrapolation, For the two-dimensional noalinear model this scheme can be written (6.8) [forrr- corn, ar [fac omen. where xeyendd, Py) For quadratic und cubic elements, one would presumably need more than one me exttapoiation, Although (6.3) is implicit, it is not unconditionally stable (in the sense of (U5). In facta von Neumann analysis for (6.3) shows that va 7 Mx, yon At). 1 is both nevessary and sufficient for stability. Presumably this means At Sivan al) + eM) Sd -ded in the two-dimensional model. alternate to (6.8) which is unconditionally stable is (65) Ife ities +e gy BE [Parham SOY Gey In the preliminary calculations reported in (22), this proved to be the most successful scheme. 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