Numerical Relativity Using a Generalized Harmonic Decomposition

A new numerical scheme to solve the Einstein field equations based upon the generalized harmonic decomposition of the Ricci tensor is introduced. The source functions driving the wave equations that define generalized harmonic coordinates are treated as independent functions, and encode the coordinate freedom of solutions. Techniques are discussed to impose particular gauge conditions through a specification of the source functions. A 3D, free evolution, finite difference code implementing this system of equations with a scalar field matter source is described. The second-order-in-space-and-time partial differential equations are discretized directly without the use first order auxiliary terms, limiting the number of independent functions to fifteen--ten metric quantities, four source functions and the scalar field. This also limits the number of constraint equations, which can only be enforced to within truncation error in a numerical free evolution, to four. The coordinate system is compactified to spatial infinity in order to impose physically motivated, constraint-preserving outer boundary conditions. A variant of the Cartoon method for efficiently simulating axisymmetric spacetimes with a Cartesian code is described that does not use interpolation, and is easier to incorporate into existing adaptive mesh refinement packages. Preliminary test simulations of vacuum black hole evolution and black hole formation via scalar field collapse are described, suggesting that this method may be useful for studying many spacetimes of interest.Comment: 18 pages, 6 figures; updated to coincide with journal version, which includes some expanded discussions and a new appendix with a stability analysis of a simplified problem using the same discretization scheme described in the pape

Generalized harmonic formulation in spherical symmetry

In this pedagogically structured article, we describe a generalized harmonic formulation of the Einstein equations in spherical symmetry which is regular at the origin. The generalized harmonic approach has attracted significant attention in numerical relativity over the past few years, especially as applied to the problem of binary inspiral and merger. A key issue when using the technique is the choice of the gauge source functions, and recent work has provided several prescriptions for gauge drivers designed to evolve these functions in a controlled way. We numerically investigate the parameter spaces of some of these drivers in the context of fully non-linear collapse of a real, massless scalar field, and determine nearly optimal parameter settings for specific situations. Surprisingly, we find that many of the drivers that perform well in 3+1 calculations that use Cartesian coordinates, are considerably less effective in spherical symmetry, where some of them are, in fact, unstable.Comment: 47 pages, 15 figures. v2: Minor corrections, including 2 added references; journal version

Constrained hyperbolic divergence cleaning in smoothed particle magnetohydrodynamics with variable cleaning speeds

We present an updated constrained hyperbolic/parabolic divergence cleaning algorithm for smoothed particle magnetohydrodynamics (SPMHD) that remains conservative with wave cleaning speeds which vary in space and time. This is accomplished by evolving the quantity $\psi / c_h$ instead of $\psi$. Doing so allows each particle to carry an individual wave cleaning speed, $c_h$, that can evolve in time without needing an explicit prescription for how it should evolve, preventing circumstances which we demonstrate could lead to runaway energy growth related to variable wave cleaning speeds. This modification requires only a minor adjustment to the cleaning equations and is trivial to adopt in existing codes. Finally, we demonstrate that our constrained hyperbolic/parabolic divergence cleaning algorithm, run for a large number of iterations, can reduce the divergence of the field to an arbitrarily small value, achieving $\nabla \cdot B=0$ to machine precision.Comment: 23 pages, 16 figures, accepted for publication in Journal of Computational Physic

An axisymmetric generalized harmonic evolution code

We describe the first axisymmetric numerical code based on the generalized harmonic formulation of the Einstein equations which is regular at the axis. We test the code by investigating gravitational collapse of distributions of complex scalar field in a Kaluza-Klein spacetime. One of the key issues of the harmonic formulation is the choice of the gauge source functions, and we conclude that a damped wave gauge is remarkably robust in this case. Our preliminary study indicates that evolution of regular initial data leads to formation both of black holes with spherical and cylindrical horizon topologies. Intriguingly, we find evidence that near threshold for black hole formation the number of outcomes proliferates. Specifically, the collapsing matter splits into individual pulses, two of which travel in the opposite directions along the compact dimension and one which is ejected radially from the axis. Depending on the initial conditions, a curvature singularity develops inside the pulses.Comment: 21 page, 18 figures. v2: minor corrections, added references, new Fig. 9; journal version

Hydrodynamics of Suspensions of Passive and Active Rigid Particles: A Rigid Multiblob Approach

We develop a rigid multiblob method for numerically solving the mobility problem for suspensions of passive and active rigid particles of complex shape in Stokes flow in unconfined, partially confined, and fully confined geometries. As in a number of existing methods, we discretize rigid bodies using a collection of minimally-resolved spherical blobs constrained to move as a rigid body, to arrive at a potentially large linear system of equations for the unknown Lagrange multipliers and rigid-body motions. Here we develop a block-diagonal preconditioner for this linear system and show that a standard Krylov solver converges in a modest number of iterations that is essentially independent of the number of particles. For unbounded suspensions and suspensions sedimented against a single no-slip boundary, we rely on existing analytical expressions for the Rotne-Prager tensor combined with a fast multipole method or a direct summation on a Graphical Processing Unit to obtain an simple yet efficient and scalable implementation. For fully confined domains, such as periodic suspensions or suspensions confined in slit and square channels, we extend a recently-developed rigid-body immersed boundary method to suspensions of freely-moving passive or active rigid particles at zero Reynolds number. We demonstrate that the iterative solver for the coupled fluid and rigid body equations converges in a bounded number of iterations regardless of the system size. We optimize a number of parameters in the iterative solvers and apply our method to a variety of benchmark problems to carefully assess the accuracy of the rigid multiblob approach as a function of the resolution. We also model the dynamics of colloidal particles studied in recent experiments, such as passive boomerangs in a slit channel, as well as a pair of non-Brownian active nanorods sedimented against a wall.Comment: Under revision in CAMCOS, Nov 201