Compatible finite element methods for geophysical fluid dynamics

This article surveys research on the application of compatible finite element methods to large scale atmosphere and ocean simulation. Compatible finite element methods extend Arakawa's C-grid finite difference scheme to the finite element world. They are constructed from a discrete de Rham complex, which is a sequence of finite element spaces which are linked by the operators of differential calculus. The use of discrete de Rham complexes to solve partial differential equations is well established, but in this article we focus on the specifics of dynamical cores for simulating weather, oceans and climate. The most important consequence of the discrete de Rham complex is the Hodge-Helmholtz decomposition, which has been used to exclude the possibility of several types of spurious oscillations from linear equations of geophysical flow. This means that compatible finite element spaces provide a useful framework for building dynamical cores. In this article we introduce the main concepts of compatible finite element spaces, and discuss their wave propagation properties. We survey some methods for discretising the transport terms that arise in dynamical core equation systems, and provide some example discretisations, briefly discussing their iterative solution. Then we focus on the recent use of compatible finite element spaces in designing structure preserving methods, surveying variational discretisations, Poisson bracket discretisations, and consistent vorticity transport.Comment: correction of some typo

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

Discrete conservation properties for shallow water flows using mixed mimetic spectral elements

A mixed mimetic spectral element method is applied to solve the rotating shallow water equations. The mixed method uses the recently developed spectral element histopolation functions, which exactly satisfy the fundamental theorem of calculus with respect to the standard Lagrange basis functions in one dimension. These are used to construct tensor product solution spaces which satisfy the generalized Stokes theorem, as well as the annihilation of the gradient operator by the curl and the curl by the divergence. This allows for the exact conservation of first order moments (mass, vorticity), as well as quadratic moments (energy, potential enstrophy), subject to the truncation error of the time stepping scheme. The continuity equation is solved in the strong form, such that mass conservation holds point wise, while the momentum equation is solved in the weak form such that vorticity is globally conserved. While mass, vorticity and energy conservation hold for any quadrature rule, potential enstrophy conservation is dependent on exact spatial integration. The method possesses a weak form statement of geostrophic balance due to the compatible nature of the solution spaces and arbitrarily high order spatial error convergence

A Quasi-Hamiltonian Discretization of the Thermal Shallow Water Equations

International audienceThe rotating shallow water (RSW) equations are the usual testbed for the development of numerical methods for three-dimensional atmospheric and oceanic models. However, an arguably more useful set of equations are the thermal shallow water equations (TSW), which introduce an additional thermodynamic scalar but retain the single layer, two-dimensional structure of the RSW. As a stepping stone towards a three-dimensional atmospheric dynamical core, this work presents a quasi-Hamiltonian discretization of the thermal shallow water equations using compatible Galerkin methods, building on previous work done for the shallow water equations. Structure-preserving or quasi-Hamiltonian discretizations methods, that discretize the Hamiltonian structure of the equations of motion rather than the equations of motion themselves, have proven to be a powerful tool for the development of models with discrete conservation properties. By combining these ideas with an energy-conserving Poisson time integrator and a careful choice of Galerkin spaces, a large set of desirable properties can be achieved. In particular, for the first time total mass, buoyancy and energy are conserved to machine precision in the fully discrete model

Compatible finite element spaces for geophysical fluid dynamics

Compatible finite elements provide a framework for preserving important structures in equations of geophysical uid dynamics, and are becoming important in their use for building atmosphere and ocean models. We survey the application of compatible finite element spaces to geophysical uid dynamics, including the application to the nonlinear rotating shallow water equations, and the three-dimensional compressible Euler equations. We summarise analytic results about dispersion relations and conservation properties, and present new results on approximation properties in three dimensions on the sphere, and on hydrostatic balance properties

Hybridizable compatible finite element discretizations for numerical weather prediction: implementation and analysis

There is a current explosion of interest in new numerical methods for atmospheric modeling. A driving force behind this is the need to be able to simulate, with high efficiency, large-scale geophysical flows on increasingly more parallel computer systems. Many current operational models, including that of the UK Met Office, depend on orthogonal meshes, such as the latitude-longitude grid. This facilitates the development of finite difference discretizations with favorable numerical properties. However, such methods suffer from the ``pole problem," which prohibits the model to make efficient use of a large number of computing processors due to excessive concentration of grid-points at the poles. Recently developed finite element discretizations, known as ``compatible" finite elements, avoid this issue while maintaining the key numerical properties essential for accurate geophysical simulations. Moreover, these properties can be obtained on arbitrary, non-orthogonal meshes. However, the efficient solution of the resulting discrete systems depend on transforming the mixed velocity-pressure (or velocity-pressure-buoyancy) system into an elliptic problem for the pressure. This is not so straightforward within the compatible finite element framework due to inter-element coupling. This thesis supports the proposition that systems arising from compatible finite element discretizations can be solved efficiently using a technique known as ``hybridization." Hybridization removes inter-element coupling while maintaining the desired numerical properties. This permits the construction of sparse, elliptic problems, for which fast solver algorithms are known, using localized algebra. We first introduce the technique for compatible finite element discretizations of simplified atmospheric models. We then develop a general software abstraction for the rapid implementation and composition of hybridization methods, with an emphasis on preconditioning. Finally, we extend the technique for a new compatible method for the full, compressible atmospheric equations used in operational models.Open Acces