An Entropy Stable Nodal Discontinuous Galerkin Method for the Two Dimensional Shallow Water Equations on Unstructured Curvilinear Meshes with Discontinuous Bathymetry

We design an arbitrary high-order accurate nodal discontinuous Galerkin spectral element approximation for the nonlinear two dimensional shallow water equations with non-constant, possibly discontinuous, bathymetry on unstructured, possibly curved, quadrilateral meshes. The scheme is derived from an equivalent flux differencing formulation of the split form of the equations. We prove that this discretisation exactly preserves the local mass and momentum. Furthermore, combined with a special numerical interface flux function, the method exactly preserves the mathematical entropy, which is the total energy for the shallow water equations. By adding a specific form of interface dissipation to the baseline entropy conserving scheme we create a provably entropy stable scheme. That is, the numerical scheme discretely satisfies the second law of thermodynamics. Finally, with a particular discretisation of the bathymetry source term we prove that the numerical approximation is well-balanced. We provide numerical examples that verify the theoretical findings and furthermore provide an application of the scheme for a partial break of a curved dam test problem

A discontinuous Galerkin method for a new class of Green-Naghdi equations on simplicial unstructured meshes

In this paper, we introduce a discontinuous Finite Element formulation on simplicial unstructured meshes for the study of free surface flows based on the fully nonlinear and weakly dispersive Green-Naghdi equations. Working with a new class of asymptotically equivalent equations, which have a simplified analytical structure, we consider a decoupling strategy: we approximate the solutions of the classical shallow water equations supplemented with a source term globally accounting for the non-hydrostatic effects and we show that this source term can be computed through the resolution of scalar elliptic second-order sub-problems. The assets of the proposed discrete formulation are: (i) the handling of arbitrary unstructured simplicial meshes, (ii) an arbitrary order of approximation in space, (iii) the exact preservation of the motionless steady states, (iv) the preservation of the water height positivity, (v) a simple way to enhance any numerical code based on the nonlinear shallow water equations. The resulting numerical model is validated through several benchmarks involving nonlinear wave transformations and run-up over complex topographies

Higher-order compatible finite element schemes for the nonlinear rotating shallow water equations on the sphere

We describe a compatible finite element discretisation for the shallow water equations on the rotating sphere, concentrating on integrating consistent upwind stabilisation into the framework. Although the prognostic variables are velocity and layer depth, the discretisation has a diagnostic potential vorticity that satisfies a stable upwinded advection equation through a Taylor-Galerkin scheme; this provides a mechanism for dissipating enstrophy at the gridscale whilst retaining optimal order consistency. We also use upwind discontinuous Galerkin schemes for the transport of layer depth. These transport schemes are incorporated into a semi-implicit formulation that is facilitated by a hybridisation method for solving the resulting mixed Helmholtz equation. We illustrate our discretisation with some standard rotating sphere test problems.Comment: accepted versio

A modified Galerkin/finite element method for the numerical solution of the Serre-Green-Naghdi system

A new modified Galerkin / Finite Element Method is proposed for the numerical solution of the fully nonlinear shallow water wave equations. The new numerical method allows the use of low-order Lagrange finite element spaces, despite the fact that the system contains third order spatial partial derivatives for the depth averaged velocity of the fluid. After studying the efficacy and the conservation properties of the new numerical method, we proceed with the validation of the new numerical model and boundary conditions by comparing the numerical solutions with laboratory experiments and with available theoretical asymptotic results

An entropy stable discontinuous Galerkin method for the shallow water equations on curvilinear meshes with wet/dry fronts accelerated by GPUs

We extend the entropy stable high order nodal discontinuous Galerkin spectral element approximation for the non-linear two dimensional shallow water equations presented by Wintermeyer et al. [N. Wintermeyer, A. R. Winters, G. J. Gassner, and D. A. Kopriva. An entropy stable nodal discontinuous Galerkin method for the two dimensional shallow water equations on unstructured curvilinear meshes with discontinuous bathymetry. Journal of Computational Physics, 340:200-242, 2017] with a shock capturing technique and a positivity preservation capability to handle dry areas. The scheme preserves the entropy inequality, is well-balanced and works on unstructured, possibly curved, quadrilateral meshes. For the shock capturing, we introduce an artificial viscosity to the equations and prove that the numerical scheme remains entropy stable. We add a positivity preserving limiter to guarantee non-negative water heights as long as the mean water height is non-negative. We prove that non-negative mean water heights are guaranteed under a certain additional time step restriction for the entropy stable numerical interface flux. We implement the method on GPU architectures using the abstract language OCCA, a unified approach to multi-threading languages. We show that the entropy stable scheme is well suited to GPUs as the necessary extra calculations do not negatively impact the runtime up to reasonably high polynomial degrees (around $N=7$). We provide numerical examples that challenge the shock capturing and positivity properties of our scheme to verify our theoretical findings

Mixed finite elements for numerical weather prediction

We show how two-dimensional mixed finite element methods that satisfy the conditions of finite element exterior calculus can be used for the horizontal discretisation of dynamical cores for numerical weather prediction on pseudo-uniform grids. This family of mixed finite element methods can be thought of in the numerical weather prediction context as a generalisation of the popular polygonal C-grid finite difference methods. There are a few major advantages: the mixed finite element methods do not require an orthogonal grid, and they allow a degree of flexibility that can be exploited to ensure an appropriate ratio between the velocity and pressure degrees of freedom so as to avoid spurious mode branches in the numerical dispersion relation. These methods preserve several properties of the C-grid method when applied to linear barotropic wave propagation, namely: a) energy conservation, b) mass conservation, c) no spurious pressure modes, and d) steady geostrophic modes on the $f$-plane. We explain how these properties are preserved, and describe two examples that can be used on pseudo-uniform grids: the recently-developed modified RT0-Q0 element pair on quadrilaterals and the BDFM1-\pdg element pair on triangles. All of these mixed finite element methods have an exact 2:1 ratio of velocity degrees of freedom to pressure degrees of freedom. Finally we illustrate the properties with some numerical examples.Comment: Revision after referee comment

Port-Hamiltonian discretization for open channel flows

A finite-dimensional Port-Hamiltonian formulation for the dynamics of smooth open channel flows is presented. A numerical scheme based on this formulation is developed for both the linear and nonlinear shallow water equations. The scheme is verified against exact solutions and has the advantage of conservation of mass and energy to the discrete level