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

High order direct Arbitrary-Lagrangian-Eulerian schemes on moving Voronoi meshes with topology changes

We present a new family of very high order accurate direct Arbitrary-Lagrangian-Eulerian (ALE) Finite Volume (FV) and Discontinuous Galerkin (DG) schemes for the solution of nonlinear hyperbolic PDE systems on moving 2D Voronoi meshes that are regenerated at each time step and which explicitly allow topology changes in time. The Voronoi tessellations are obtained from a set of generator points that move with the local fluid velocity. We employ an AREPO-type approach, which rapidly rebuilds a new high quality mesh rearranging the element shapes and neighbors in order to guarantee a robust mesh evolution even for vortex flows and very long simulation times. The old and new Voronoi elements associated to the same generator are connected to construct closed space--time control volumes, whose bottom and top faces may be polygons with a different number of sides. We also incorporate degenerate space--time sliver elements, needed to fill the space--time holes that arise because of topology changes. The final ALE FV-DG scheme is obtained by a redesign of the fully discrete direct ALE schemes of Boscheri and Dumbser, extended here to moving Voronoi meshes and space--time sliver elements. Our new numerical scheme is based on the integration over arbitrary shaped closed space--time control volumes combined with a fully-discrete space--time conservation formulation of the governing PDE system. In this way the discrete solution is conservative and satisfies the GCL by construction. Numerical convergence studies as well as a large set of benchmarks for hydrodynamics and magnetohydrodynamics (MHD) demonstrate the accuracy and robustness of the proposed method. Our numerical results clearly show that the new combination of very high order schemes with regenerated meshes with topology changes lead to substantial improvements compared to direct ALE methods on conforming meshes

Coupling techniques for nonlinear hyperbolic equations. IV. Multi-component coupling and multidimensional well-balanced schemes

This series of papers is devoted to the formulation and the approximation of coupling problems for nonlinear hyperbolic equations. The coupling across an interface in the physical space is formulated in term of an augmented system of partial differential equations. In an earlier work, this strategy allowed us to develop a regularization method based on a thick interface model in one space variable. In the present paper, we significantly extend this framework and, in addition, encompass equations in several space variables. This new formulation includes the coupling of several distinct conservation laws and allows for a possible covering in space. Our main contributions are, on one hand, the design and analysis of a well-balanced finite volume method on general triangulations and, on the other hand, a proof of convergence of this method toward entropy solutions, extending Coquel, Cockburn, and LeFloch's theory (restricted to a single conservation law without coupling). The core of our analysis is, first, the derivation of entropy inequalities as well as a discrete entropy dissipation estimate and, second, a proof of convergence toward the entropy solution of the coupling problem.Comment: 37 page

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

Coupling techniques for nonlinear hyperbolic equations. III. The well-balanced approximation of thick interfaces

We continue our analysis of the coupling between nonlinear hyperbolic problems across possibly resonant interfaces. In the first two parts of this series, we introduced a new framework for coupling problems which is based on the so-called thin interface model and uses an augmented formulation and an additional unknown for the interface location; this framework has the advantage of avoiding any explicit modeling of the interface structure. In the present paper, we pursue our investigation of the augmented formulation and we introduce a new coupling framework which is now based on the so-called thick interface model. For scalar nonlinear hyperbolic equations in one space variable, we observe that the Cauchy problem is well-posed. Then, our main achievement in the present paper is the design of a new well-balanced finite volume scheme which is adapted to the thick interface model, together with a proof of its convergence toward the unique entropy solution (for a broad class of nonlinear hyperbolic equations). Due to the presence of a possibly resonant interface, the standard technique based on a total variation estimate does not apply, and DiPerna's uniqueness theorem must be used. Following a method proposed by Coquel and LeFloch, our proof relies on discrete entropy inequalities for the coupling problem and an estimate of the discrete entropy dissipation in the proposed scheme.Comment: 21 page

A limiter-based well-balanced discontinuous Galerkin method for shallow-water flows with wetting and drying: Triangular grids

A novel wetting and drying treatment for second-order Runge-Kutta discontinuous Galerkin (RKDG2) methods solving the non-linear shallow water equations is proposed. It is developed for general conforming two-dimensional triangular meshes and utilizes a slope limiting strategy to accurately model inundation. The method features a non-destructive limiter, which concurrently meets the requirements for linear stability and wetting and drying. It further combines existing approaches for positivity preservation and well-balancing with an innovative velocity-based limiting of the momentum. This limiting controls spurious velocities in the vicinity of the wet/dry interface. It leads to a computationally stable and robust scheme -- even on unstructured grids -- and allows for large time steps in combination with explicit time integrators. The scheme comprises only one free parameter, to which it is not sensitive in terms of stability. A number of numerical test cases, ranging from analytical tests to near-realistic laboratory benchmarks, demonstrate the performance of the method for inundation applications. In particular, super-linear convergence, mass-conservation, well-balancedness, and stability are verified