SYMMETRIC INTERIOR PENALTY DG METHODS FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II: GOAL ORIENTED A POSTERIORI ERROR ESTIMATION

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1 INTERNATIONAL JOURNAL OF NUMERICAL ANALYSIS AND MODELING Volume 3, Number, Pages 4 62 c 26 Institute for Scientific Computing and Information SYMMETRIC INTERIOR PENALTY DG METHODS FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II: GOAL ORIENTED A POSTERIORI ERROR ESTIMATION RALF HARTMANN AND PAUL HOUSTON Abstract. In this article we consider the application of the generalization of the symmetric version of the interior penalty discontinuous Galerkin finite element method to the numerical approximation of the compressible Navier Stokes equations. In particular, we consider the a posteriori error analysis and adaptive mesh design for the underlying discretization method. Indeed, by employing a duality argument weighted) Type I a posteriori bounds are derived for the estimation of the error measured in terms of general target functionals of the solution; these error estimates involve the product of the finite element residuals with local weighting terms involving the solution of a certain dual problem that must be numerically approximated. This general approach leads to the design of economical finite element meshes specifically tailored to the computation of the target functional of interest, as well as providing efficient error estimation. Numerical experiments demonstrating the performance of the proposed approach will be presented. Key Words. Discontinuous Galerkin methods, a posteriori error estimation, adaptivity, compressible Navier Stokes equations. Introduction In the recent series of articles [2, 3, 4, 7], we have been concerned with the development of so called goal oriented a posteriori error estimation for h version adaptive discontinuous Galerkin finite element methods DGFEMs, for short) applied to inviscid compressible fluid flows; see also [9] and the references cited therein for the generalization to the hp version of the DGFEM. Here, in contrast to traditional a posteriori error estimation which seeks to bound the error with respect to a given norm, goal oriented a posteriori error estimation bounds the error measured in terms of certain output or target functionals of the solution of real or physical interest. Typical examples include the mean value of the field over the computational domain Ω, the normal flux through the outflow boundary of Ω, the evaluation of the solution at a given point in Ω and the drag and lift coefficients of a body immersed in a fluid. For related work, we refer to [6, 8], for example. Received by the editors March 2, 2. 2 Mathematics Subject Classification. 6N, 6N3. Paul Houston acknowledges the financial support of the EPSRC GR/R766). 4

2 42 RALF HARTMANN AND PAUL HOUSTON The purpose of this article is to extend our earlier work on nonlinear systems of first order hyperbolic conservation laws to the compressible Navier Stokes equations. As in the companion article [6], the discretization of the leading order terms is performed by employing the generalization of the symmetric version of the interior penalty DGFEM. One of the key aspects of this discretization scheme is the satisfaction of the adjoint consistency condition, cf. [], for linear problems. This condition is essential to guarantee that the optimal order of convergence of the numerical approximation to the underlying analytical solution is attained when the discretization error is measured in terms of either the L 2 norm, or in the goal oriented setting, in terms of a given target functional of practical interest. By employing a duality argument we derive a weighted, or Type I, a posteriori error bound which reflects the error creation and error propagation mechanisms inherent in viscous compressible fluid flows. On the basis of this a posteriori estimate, we design and implement the corresponding adaptive algorithm to ensure both the reliable and efficient control of the error in the prescribed target functional of interest. The superiority of the proposed approach over standard mesh refinement algorithms which employ unweighted) empirical error indicators will be demonstrated. Additionally, we show numerically that the computed error representation formula can be employed to determine a improved value of the computed target functional J ) of interest in order to yield a higher order approximation to the exact value of this quantity. The paper is structured as follows. After introducing, in Section 2, the compressible Navier Stokes equations, in Section 3 we formulate its discontinuous Galerkin finite element approximation. Then, in Section 4 we derive an error representation formula together with the corresponding weighted) Type I and unweighted) Type II a posteriori error bounds for general target functionals of the solution. The error representation formula stems from a duality argument and includes computable residual terms multiplied by local weights involving the dual solution; the inclusion of the dual solution in the Type I bound ensures that the error creation and error propagation mechanisms inherent in viscous compressible fluid flows are reflected by the resulting local error indicators. On the basis of the approximate) Type I error bound, in Section we design and implement an adaptive algorithm that produces meshes specifically tailored to the efficient computation of the target functional of practical interest. The performance of the proposed adaptive strategy, and the quality of the approximate) error representation formula and approximate) Type I a posteriori bound, are then studied in Section 6 through a series of numerical experiments. Finally, in Section 7 we summarize the work presented in this paper and draw some conclusions. The work presented in this paper is a complete and improved account of our recent work announced in the conference article [].

3 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II Model Problem Writing ρ, v = v,v 2 ), p, E, and T to denote the density, velocity vector, pressure, specific total energy, and temperature, respectively, the compressible Navier Stokes equations are given by ) F c u) F v u, u)) fi c u) fi v u, u) = in Ω, x i x i where Ω is an open bounded domain in R 2. Here, and throughout the rest of this article, we use the summation convention, i.e., repeated indices are summed through their range. The vector of conservative variables u, the convective fluxes f c i, i =,2, and the viscous fluxes f v i, i =,2, are defined by u = [ρ,ρv,ρv 2,ρE], f c i u) = [ρv i,ρv v i + δ i p,ρv 2 v i + δ 2i p,ρhv i ], i =,2, and f v i = [,τ i,τ 2i,τ i v + τ i2 v 2 +KT xi ], i =,2, respectively. Here, K is the thermal conductivity coefficient and H is the total enthalpy defined by H = E +p/ρ. The pressure is determined by the equation of state of an ideal gas, i.e., 2) p = γ )ρe 2 v2 ), where γ = c p /c v is the ratio of specific heat capacities at constant pressure c p ) and constant volume c v ); for dry air, γ =.4. For a Newtonian fluid, the viscous stress tensor is given by 3) τ = µ v + v) 2 3 v)i), where µ is the dynamic viscosity coefficient; the temperature T is given by KT = µγ Pr E 2 v2), where Pr =.72 is the Prandtl number. For the purposes of discretization, we rewrite the compressible Navier Stokes equations ) in the following equivalent) form: 4) fi c u) G ij u) u ) = in Ω. x i x j Here, the matrices G ij u) = fi vu, u)/ u x j, for i,j =,2, i.e., fi v u, u) = G ij u) u/ x j, i =,2, where G = µ 4 3 v 4 3 ρ v v2 + v2 2 + )), γ Pr E v 2 4 ) ) γ v 3 Pr γ γ v2 Pr Pr G 2 = µ 2 3 v2 2 3 ρ v, G2 = µ v 2 2 ρ 3 v 2, 3 3 vv2 v2 2 3 v v2 v G 22 = µ ρ v v2 2 + γ Pr 3 vv2 2 3 v 4 3 v2 4 E v 2 )) γ Pr ) v 4 3 γ Pr 3 ) γ v2 Pr Given that Ω R 2 is a bounded region, with boundary Γ, the system of conservation laws 4) must be supplemented by appropriate boundary conditions. As in.

4 44 RALF HARTMANN AND PAUL HOUSTON [6], for simplicity of presentation, we assume that Γ may be decomposed as follows Γ = Γ D,sup Γ D,sub-in Γ D,sub-out Γ N Γ W, where Γ D,sup, Γ D,sub-in, Γ D,sub-out, Γ N, and Γ W are distinct subsets of Γ representing Dirichlet supersonic), Dirichlet subsonic-inflow), Dirichlet subsonic-outflow), Neumann supersonic-outflow), and solid wall boundaries, respectively. Thereby, we may specify the following boundary conditions: ) Bu) = Bg D ) on Γ D,sup Γ D,sub-in Γ D,sub-out, F v u, u) n = g N on Γ N, where g D and g N are given Dirichlet and Neumann boundary conditions, respectively. Here, B is a boundary operator employed to enforce appropriate Dirichlet conditions on Γ D,sup Γ D,sub-in Γ D,sub-out. For simplicity of presentation, we assume that Bu) = u on Γ D,sup, Bu) = u,u 2,u 3,) on Γ D,sub-in, and Bu) =,,,γ )u4 u u 2 3)/2u )) ) on ΓD,sub-out ; we note that this latter condition enforces a specific pressure p out = Bg D )) 4 on Γ D,sub-out. For solid wall boundaries, we consider isothermal and adiabatic conditions; to this end, decomposing Γ W = Γ W,iso Γ W,adia, we set v = on Γ W, T = T wall on Γ W,iso, n T = on Γ W,adia, where T wall is a given wall temperature; see [4,, 7, 8, 9] and the references cited therein for further details 3. Discontinuous Galerkin Discretization In this section we introduce the discontinuous Galerkin method with interior penalty for the discretization of the compressible Navier Stokes equations 4); for full details concerning the derivation of the proposed scheme, we refer to the companion article [6]. We assume that Ω can be subdivided into shape-regular meshes T h = {κ} consisting of quadrilateral elements κ. For each κ T h, we denote by n κ the unit outward normal vector to the boundary κ, and by h κ the elemental diameter. An interior edge of T h is the non-empty) one-dimensional interior of κ + κ, where κ + and κ are two adjacent elements of T h. Similarly, a boundary edge of T h is the non-empty) one-dimensional interior of κ Γ which consists of entire edges of κ. We denote by Γ I the union of all interior edges of T h. Next, we define average and jump operators. To this end, let κ + and κ be two adjacent elements of T h and x be an arbitrary point on the interior edge e = κ + κ Γ I. Moreover, let v and τ be vector- and matrix-valued functions, respectively, that are smooth inside each element κ ±. By v ±,τ ± ) we denote the traces of v,τ) on e taken from within the interior of κ ±, respectively. Then, we define the averages at x e by {v } = v + + v )/2 and {τ } = τ + + τ )/2. Similarly, the jumps at x e are given by [[v]] = v + n κ + + v n κ and [[[[τ]]]] = τ + n κ + +τ n κ. For matrices σ,τ R m n, m,n, we use the standard notation σ : τ = m n k= l= σ klτ kl ; additionally, for vectors v R m,w R n, the matrix v w R m n is defined by v w) kl = v k w l. Given a polynomial degree p, we define the finite element space V h = {v [L 2 Ω)] 4 : v κ [Q p κ)] 4, κ T h }, where Q p κ) denotes the space of tensor product polynomials on κ of degree p in each coordinate direction. We consider the

5 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II 4 following interior penalty discontinuous Galerkin discretization of the compressible Navier Stokes equations 4): find u h V h such that Nu h,v h ) F c u h ) : h v h dx + Hu + h,u h,n κ) v + h ds 6) Ω κ T h κ\γ + F v u h, h u h ) : h v h dx {F v u h, h u h ) } : [[v h ]]ds Ω Γ I { G i h v h / x i,g ) i2 h v h / x i } : [[uh ]]ds + δ[[u h ]] : [[v h ]]ds Γ I Γ I + Hu + h,u Γu + h ),n) v+ h Γ\Γ ds + δ u + h u Γu + h )) v + h ds N Γ Γ\Γ N Γ W,adia ) F v u + h, hu + h ) : [[v h]]ds g N v h ds Γ N F v,adia u + h, hu + h ) : [[v h]]ds Γ W,adia G i u + h ) hv + h / x i,g i2u + h ) hv + h / x i Γ\Γ N ) : u + h u Γu + h )) n ds = for all v h in V h. Here, the subscript h on the operators h and h / x i, i =,2, is used to denote the discrete counterparts of and / x i, i =,2, respectively, defined elementwise. Furthermore, H,, ) denotes a numerical convective) flux function, assumed to be Lipschitz continuous, consistent and conservative. The discontinuity penalization matrix δ = diag{δ i,i =,...,4} is set to 7) δ i e = C IP µp 2 h for e Γ I Γ, where h = minmeasκ),measκ ))/mease) represents the element dimension orthogonal to the edge e of elements κ and κ adjacent to e, and C IP is a positive constant, which, for reasons of stability, must be chosen sufficiently large, cf. []. Finally, the boundary function u Γ u) is given according to the type of boundary condition imposed. To this end, we set u Γ u) = g D on Γ D,sup, u Γ u) = u on Γ N, u Γ u) = g D ),g D ) 2,g D ) 3, pu) γ + g D) g D ) 2 3)/2g D ) )) on Γ D,sub-in, and u Γ u) = u,u 2,u 3, p out γ + u2 2 + u 2 3)/2u )) on Γ D,sub-out. Here, p pu) denotes the pressure evaluated using the equation of state 2). Finally, we set u Γ u) = u,,,u c v T wall ) on Γ W,iso, u Γ u) = u,,,u 4 ) on Γ W,adia, and define F v,adia u, u) such that F v,adia u, u) n =,τ j n xj,τ 2j n xj,τ ij v j n xi ). 4. Goal oriented a posteriori error estimation In this section, we shall be concerned with controlling the error in the numerical approximation measured in terms of a given target functional J ). Quantities of real or physical interest include the drag and lift coefficients, c d and c l, respectively, of a body immersed into a viscous fluid. These quantities are defined by J cd u) = J cdp u) + J cdf u), J cl u) = J clp u) + J clf u),

6 46 RALF HARTMANN AND PAUL HOUSTON respectively, where c dp and c lp are the pressure induced force coefficients given by 8) J cdp u) = 2 l ρ v 2 pn ψ d ) ds and J clp u) = 2 l ρ v 2 pn ψ l ) ds, S respectively, and c df and c lf are the viscous force coefficients, defined by 9) J cdf u) = 2 l ρ v 2 τ n) ψ d ds and J clf u) = 2 l ρ v 2 τ n) ψ l ds, S respectively. Here, S denotes the surface of the body, l its chord length, v and ρ are the reference or free-stream) velocity and density, respectively, τ n) ψ = τ ij n j ψ i, where τ is the viscous stress tensor defined in 3), ) ) ) ) cosα) sinα) cosα) sinα) ψ d =, ψ l =, sinα) cosα) sinα) cosα) and α is the angle of attack. Other examples of J ) include the local mean value of the field or its flux through the outflow boundary of the computational domain Ω, and the point evaluation of a component of u in Ω. For a more detailed discussion, we refer to the review articles [6, 9]. Assuming that J ) is differentiable, we write ) Ju,uh ;u u h ) = Ju) Ju h ) = S S J [θu + θ)u h ]u u h ) dθ, where J [w] ) denotes the Fréchet derivative of J ) evaluated at some w in V. Here, V is some suitably chosen function space such that V h V. Analogously, we write ) Mu,u h ;u u h,v) = Nu,v) Nu h,v) = N u[θu + θ)u h ]u u h,v) dθ for all v in V. Here, N u[w],v) denotes the Fréchet derivative of u Nu,v), for v V fixed, at some w in V. We remark that the linearization defined in ) is only a formal calculation, in the sense that N u[w], ) may not in general exist. Instead, a suitable approximation to N u[w], ) must be determined, for example, by computing appropriate finite difference quotients of N, ), cf. [, 2]. For the purposes of the current section, we assume that this linearization may be performed exactly; in Section 6 we employ the approximation to N u[w], ) defined in the companion article [6]. Given a suitable linearization, we introduce the following dual problem: find z V such that 2) Mu,u h ;w,z) = Ju,u h ;w) w V. We assume that 2) possesses a unique solution. Clearly, the validity of this assumption depends on both the definition of Mu,u h ;, ) and the choice of the target functional under consideration, cf. [2]. For the proceeding error analysis, we must therefore assume that the dual problem 2) is well posed. Proposition 4. Error representation formula). Let u and u h denote the solutions of 4) and 6), respectively, and suppose that the dual problem 2) is well posed. Then, 3) Ju) Ju h ) = E Ω u,u h ;z z h ) κ T h η κ,

7 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II 47 where η κ = κ Ru h ) ω dx + F c u h ) n κ Hu + h,u h,n κ)) ω + ds κ\γ κ Γ κ\γ κ\γ F c u h ) n κ Hu + h,u Γu + h ),n κ)) ω + ds G i h ω / x i,g ) ) i2 h ω / x i : [[uh ]] [[[[F v u h, u h )]]]] ω + ds δ[[u h ]] : ω + n κ ds δ u + h u Γu + h )) ω + ds κ Γ\Γ N) F v u + h, u+ h ) n κ g N ) ω + ds κ Γ N F v u + h, u+ h ) Fv,adia u + h, u+ h )) : ω + nds κ Γ W,adia + G i u + h ) hω + / x i,g i2u + h ) hω + / x i) : u + h u Γu + h )) nds, κ Γ\Γ N ) and ω = z z h for all z h in V h. Here, Ru h ) κ = F c u h )+ F v u h, u h ), κ T h, denotes the elementwise residual. Proof. Choosing w = u u h in 2), recalling the linearization performed in ), and exploiting the Galerkin orthogonality property of the DGFEM, we get Ju) Ju h ) = Ju,u h ;u u h ) = Mu,u h ;u u h,z) = Mu,u h ;u u h,z z h ) = Nu h,z z h ) z h V h. Equation 3) now follows by application of the divergence theorem. Remark 4.2. We note that the dependence of the error representation formula E Ω u,u h ;z z h ) on the unknown analytical solution u to the compressible Navier Stokes equations 4) stems from the linearizations performed in ) and ). From the error representation formula 3) we can easily derive the following Type I error bound. Corollary 4.3 Type I error bound). Given that the assumptions of Proposition 4. hold. Then, 4) Ju) Ju h ) η κ I), κ T h where η I) κ = η κ, and η κ as given in Proposition 4.. Proof. Equation 4) follows from 3) by employing the triangle inequality. We now proceed to derive a so called unweighted, or Type II, a posteriori error bound, where the dependence of the dual solution z only enters the resulting estimate via a stability constant. To this end, under the foregoing assumption that the underlying computational meshes employed, T h, parameterised by h >, are shape-regular, we first recall the following approximation result; cf. [3], for example.

8 48 RALF HARTMANN AND PAUL HOUSTON Lemma 4.4. Given κ T h, suppose that v κ H kκ κ), k κ p+. Then, there exists Πv in Q p κ), a constant C int dependent on k κ, p, and the shape-regularity of T h, but independent of v and h κ, such that for q k κ, ) v Πv H q κ) C int hκ kκ q v H kκκ). Moreover, by employing Lemma 4.4, together with the multiplicative trace inequality /2 v L2 κ) C trace v L2κ) v L2κ) + h κ v 2 L 2κ)), where C trace > is a constant, dependent solely on the shape-regularity of T h, we deduce that, given v κ H kκ κ) for some k κ p + and κ T h, 6) v Πv L2 κ) Chκ kκ /2 v H kκκ). Similarly, given v κ H kκ κ) for some 2 k κ p + and κ T h, we have 7) v Πv H κ) Ch kκ 3/2 κ v H kκκ). In 6) and 7), C is a positive constant, different at each occurrence, which depends on the shape-regularity of T h and the polynomial degree p, but is independent of the mesh size. Equipped with ), 6), and 7), we now prove the following Type II a posteriori error bound. Corollary 4. Type II error bound). Given that the assumptions of Proposition 4. hold, suppose that z [H s Ω)] 4, 2 s p +, and that we have found a constant C stab such that 8) z H s Ω) C stab. Then, the following Type II a posteriori error bound holds: ) ) /2 2 9) Ju) Ju h ) C, where 2) η II) κ κ T h η II) κ = h s κru h ) L2κ) + hκ s /2 F c u h ) n κ Hu + h,u h,n κ)) L2 κ\γ) + hκ s /2 F c u h ) n κ Hu + h,u Γu + h ),n κ)) L2 κ Γ) + h s 3/2 κ G j [[u h ]] j L2 κ\γ) + h s /2 [[[[F v u h, u h )]]]] L2 κ\γ) + h s /2 κ δ u + h u h ) L2 κ\γ) + hκ s /2 δ u + h u Γu + h )) L2 κ Γ\Γ N)) + hκ s /2 F v u + h, u+ h ) n κ g N ) L2 κ Γ N ) + hκ s /2 F v u + h, u+ h ) Fv,adia u + h, u+ h )) n κ L2 κ Γ W,adia ) + h s 3/2 κ G j u + h )[ u + h u Γu + h )) n ] j L 2 κ Γ\Γ N )) and C is a positive constant depending on the shape-regularity of the mesh, the polynomial degree and the regularity of the dual solution, but is independent of the κ

9 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II 49 mesh size. For interior edges, we have used the notation 2 G j [[u h ]] j L2 κ) = i= κ ) 2 2 G ij [[u h ]] j ds where for a m n matrix A, we write A j, j n, to denote the m vector consisting of the jth column of A; the last term on the right-hand side of 2) is also defined in an analogous manner. Proof. Selecting z h = Πz, applying the Cauchy Schwarz inequality, together with the approximation results ), 6), and 7), we note that the local error indicator η κ, cf. Proposition 4., may be bounded as follows: η κ C h s κru h ) L2κ) + hκ s /2 F c u h ) n κ Hu + h,u h,n κ)) L2 κ\γ) 2) + hκ s /2 F c u h ) n κ Hu + h,u Γu + h ),n κ)) L2 κ Γ) + h s 3/2 κ G j [[u h ]] j L2 κ\γ) + h s /2 [[[[F v u h, u h )]]]] L2 κ\γ) + h s /2 κ δ u + h u h ) L2 κ\γ) + hκ s /2 δ u + h u Γu + h )) L2 κ Γ\Γ N)) + h s /2 + h s /2 κ + h s 3/2 κ G j u + h )[ u + h u Γu + h )) n ] j L 2 κ Γ\Γ N )) κ κ F v u + h, u+ h ) n κ g N ) L2 κ Γ N ) F v u + h, u+ h ) Fv,adia u + h, u+ h )) n κ L2 κ Γ W,adia ) ) z H s κ), for 2 s p +, where C is a positive constant which depends on the shaperegularity of the mesh T h and the polynomial degree, but is independent of the mesh size. Here, for the fourth and tenth terms on the right hand side of 2), we have employed the following identity: G i h ω / x i,g i2 h ω / x i ) : [[uh ]] = G ij [[u h ]] j h ω / x i., Upon summing over the elements in the mesh T h, application of the Cauchy Schwarz inequality, together with the stability bound 8), the statement of the corollary follows immediately. We note that the error representation formula 3) and the Type I a posteriori error bound 4) depends on the unknown analytical solution to the primal and dual problems, u and z, respectively. Thus, in order to render these quantities computable, both u and z must be replaced by suitable approximations. Here, the linearizations leading to Mu,u h ;, ) and Ju,u h ; ) are performed about u h and the dual solution z is replaced by a DGFEM approximation ẑ computed on the same mesh T h used for u h, but with a higher degree polynomial. Notwithstanding these approximations, we shall show through numerical experimentation in Section 6, that the reliability of the Type I a posteriori error bound 4) is not compromised, in the sense that κ T h ˆη κ I), where ˆη κ I) = ˆη κ and ˆη κ is defined in an analogous manner to η κ, cf. Proposition 4., with z replaced by ẑ, remains an upper bound on the true error in the target functional J ). Furthermore,

10 RALF HARTMANN AND PAUL HOUSTON we shall show that the ratio of the approximate error representation formula 22) E Ω u h,u h ;ẑ z h ) κ T h ˆη κ and the true value Ju) Ju h ) is extremely close to one; see [, 2, 3, 8], for related work. Before we end this section, we finally note that provided the linearization error is sufficiently small and the analytical solutions to the underlying compressible Navier Stokes equations and the corresponding dual problem are sufficiently regular, then the approximate error representation formula 22) may be used to improve the computed value of the target functional of interest, Ju h ). To see this, we note that the error representation formula may be written as follows: 23) Ju) Ju h ) = E Ω u h,u h ;ẑ z h ) + E Ω u h,u h ;z ẑ) +E Ω u,u h ;z z h ) E Ω u h,u h ;z z h ). Here, the first term on the right hand side of 23) is the approximate error representation formula which is actually computed in practice, cf. above. Given that ẑ is computed using higher order polynomials to those employed for u h, the second term on the right hand side of 23) will be of higher order than the first, provided that the dual solution is sufficiently regular. The last two terms on the right hand side of 23) represent the error incurred through linearization; in cases when the analytical solution u is smooth, we would expect these terms to be relatively small. Thereby, in these circumstances, we can expect that the modified value of the target functional, namely, Ju h ) = Ju h ) + E Ω u h,u h ;ẑ z h ) should provide an improved estimate of the actual value of the target functional Ju); this will be demonstrated numerically in Section 6.. Adaptive mesh refinement In this section we consider the design of an adaptive algorithm to ensure the efficient computation of the given target functional J ) of practical interest. To this end, we employ the approximate Type I a posteriori error bound κ T h ˆη κ I) to determine when the desired level of accuracy has been achieved. For example, suppose that the aim of the computation is to compute J ) such that the error Ju) Ju h ) is less than some user-defined tolerance TOL, i.e., Ju) Ju h ) TOL; then, in practice we may enforce the stopping criterion ˆη κ I) TOL. κ T h If this condition is not satisfied on the current finite element mesh T h, then the elementwise terms ˆη κ I) are employed as local error indicators to guide mesh refinement and coarsening. The cycle of the adaptive mesh refinement is outlined as follows: ) Construct an initial mesh T h. 2) Compute u h V h on the current mesh T h.

11 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II a) b) Figure. Computational mesh with 372 elements: a) Full view; b) Zoom of the mesh. 3) Compute ẑ ˆV h, where ˆV h is a finite element space defined in an analogous manner to V h based on the same) computational mesh T h, but consisting of piecewise discontinuous) polynomials of degree ˆp > p. 4) Evaluate the approximate a posteriori error bound κ T h ˆη I) ) If κ T h ˆη κ I) TOL, where TOL is a given tolerance, then STOP. 6) Otherwise, refine and coarsen a fixed fraction of the total number of elements according to the size of ˆη κ I) and generate a new mesh T h ; GOTO Numerical experiments In this section we present a series of numerical examples to highlight the advantages of designing an adaptive finite element algorithm based on the weighted error indicator ˆη κ I), in comparison to an adaptive algorithm based on an empirical unweighted) refinement indicator which does not require the solution of an auxiliary dual) problem; for simplicity, we employ the Type II residual based indicator η κ II) defined in Section 4. Throughout this section, we employ the Vijayasundaram flux for the discretization of the convective terms and set p = bilinear elements). As in [6], we select the constant C IP appearing in the discontinuity penalisation parameter δ i, i =,...,4, defined in 7) as follows: C IP =. Finally, for both adaptive refinement strategies, we use the fixed fraction refinement algorithm with refinement and derefinement fractions set to 2% and %, respectively; we also note that for the computation of ˆη κ I), the dual solution is approximated using piecewise biquadratic polynomials, i.e., ˆp = 2. All computations presented in this section have been performed using a DG flow solver based on the deal.ii library [2]. 6.. Mach. flow at Re = and α = around a NACA2. In this example, we consider the subsonic viscous flow around a NACA2 airfoil; here, the upper and lower surfaces of the airfoil geometry are specified by the function κ.

12 2 RALF HARTMANN AND PAUL HOUSTON Figure 2. M =.,Re =,α = flow around the NACA2 airfoil: top) Mach isolines; bottom) Streamlines. g ±, respectively, where g ± s) = ± s /2.26s.36s s 3.s 4 ). As the chord length l of the airfoil is l.893 we use a rescaling of g in order to yield an airfoil of unit chord) length. The computational domain Ω is subdivided into quadrilateral elements; cf. the C-type mesh depicted in Figure. Curved boundaries are approximated by piecewise quadratic polynomials. At the farfield inflow) boundary we specify a Mach. flow at a zero angle of attack, i.e. α =, with Reynolds number Re = ; on the walls of the airfoil geometry, we impose a zero heat flux adiabatic) no-slip boundary condition. This is a standard laminar test case which has been investigated by many other authors, cf. [], for example; this test case was also considered in the companion article [6] in order to demonstrate the convergence of the inviscid and viscous drag coefficients, c dp and c df, respectively, on the surface of the airfoil under both global and local mesh refinement. The solution to this problem consists of a strictly subsonic flow which is symmetric about the x-axis, see Figure 2. On the basis of a fine grid computation, the reference values for these quantities of interest are given by J cdp u) and J cdf u).323. In Table we demonstrate the performance of the adaptive algorithm for the numerical approximation of the inviscid drag coefficient, i.e. when J ) J cdp ), based on employing the weighted Type I error indicators ˆη κ I). Here, we show the number of elements and degrees of freedom DoF) in V h, the true error in the functional Ju) Ju h ), the computed error representation formula, the approximate a posteriori error bound, and their respective effectivity indices θ = κ T h ˆη κ /Ju) Ju h )) and θ 2 = κ T h ˆη κ / Ju) Ju h ) ; here, we recall that ˆη κ I) = ˆη κ. We see that initially on very coarse meshes the quality of the computed error representation formula κ T h ˆη κ is rather poor, in the sense that θ noticeably differs from one; however, as the mesh is refined, we observe that the effectivity indices θ slowly tend towards unity. On the other hand, just the

13 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II 3 Table. M =.,Re =,α = flow around the NACA2 airfoil: Adaptive algorithm for the numerical approximation of c dp based on employing the Type I error indicator ˆη I) κ. Elements DoF Ju) Ju h ) κ T h ˆη κ θ κ T h ˆη κ θ e-2.4e e e e e e-3.6e e e-4 3.6e e e- 8.67e e e- 2.3e-..23e error of cdp value for ref. by ind. eta^ii) error of cdp value for ref. by ind. eta^i) error of improved cdp value for ref. by ind. eta^i) c dp c dp.. e-.8.6 reference cdp = improved cdp value for ref. by ind. eta^i) cdp value for ref. by ind. eta^i) cdp value for ref. by ind. eta^ii) 3 3 Number of elements a) e Number of elements b) Figure 3. M =.,Re =,α = flow around the NACA2 airfoil: a) Computed values of c dp based on employing the error indicators ˆη κ I) and η κ II), together with the improved value; b) Convergence of the error in these quantities. Table 2. M =.,Re =,α = flow around the NACA2 airfoil: Adaptive algorithm for the numerical approximation of c df based on employing the Type I error indicator ˆη κ I). Elements DoF Ju) Ju h ) κ T h ˆη κ θ κ T h ˆη κ θ e e e e e e e e e e e e e e e e e-..328e application of the triangle inequality leads to reliable error estimation, even on the coarsest mesh; indeed, here we see that θ 2 is always greater than one, though we do observe a slight increase in this quantity as the mesh is refined.

14 4 RALF HARTMANN AND PAUL HOUSTON.2. reference cdf =.323 cdf value for ref. by ind. eta^ii) cdf value for ref. by ind. eta^i) improved cdf value for ref. by ind. eta^i). error of cdf value for ref. by ind. eta^ii) error of cdf value for ref. by ind. eta^i) error of improved cdf value for ref. by ind. eta^i) c df c df.. e Number of elements a) e Number of elements b) Figure 4. M =.,Re =,α = flow around the NACA2 airfoil: a) Computed values of c df based on employing the error indicators ˆη κ I) and η κ II), together with the improved value; b) Convergence of the error in these quantities. In Figure 3 we compare the true error in the computed target functional J cdp ) using the two mesh refinement strategies. Here, we clearly observe the superiority of employing the weighted Type I a posteriori error indicator; on the final mesh, the true error in the computed target functional is over an order of magnitude smaller than J cdp u) J cdp u h ) computed on the sequence of meshes produced using η κ II). Moreover, here we also show the error in the improved value of the inviscid drag coefficient, i.e. J cdp u) J cdp u h ) ; in this case, we clearly see that this error is of higher order than the baseline error J cdp u) J cdp u h ). Indeed, on the finest mesh the error in the improved target functional is over an order of magnitude smaller than the corresponding quantity computed with the weighted Type I error indicator. We also point out that after just one mesh refinement step, the improved value J cdp u h ) computed on the mesh refined using the weighted Type I indicator is more accurate than the corresponding value J cdp u h ) computed on the finest mesh designed on the basis of employing the Type II error indicator. Analogous behaviour is also observed for the numerical approximation of the viscous stress induced drag coefficient, i.e., J cdf u). Indeed, from Table 2 we again see that the quality of the computed error representation formula is extremely good as the mesh is refined; here, θ on the finer meshes. However, the loss of sharpness of the Type I a posteriori error bound is now more pronounced; here, θ 2 increases to a value of almost 33 on the finest mesh. In Figure 4, we compare the true error in the computed functional J cdf ) using the two mesh refinement strategies, as well as the improved value of this target functional. As before, for the computation of c dp, we clearly see the superiority of employing the weighted Type I error indicators in comparison with the Type II indicator: the former error indicator leads to almost 2 orders of magnitude improvement in the error in the computed viscous stress induced drag coefficient on the finest mesh. Indeed, we note that the accuracy in the computed target functional on a mesh with only 84 elements refined using the Type I indicator is still better than the accuracy on the finest mesh with elements designed using the Type II indicator. Also, we

15 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II Figure. M =., Re =, α = flow around the NACA2 airfoil: Meshes constructed using top row) Type II error indicators; middle row) Weighted Type I error indicators for cdp ; bottom row) Weighted Type I error indicators for cdf. again note that the improved value of the target functional leads to a significant reduction in the baseline error in the numerical approximation of cdf. Indeed, in this case the error in the improved target functional J cdf uh ) is over 2 orders of

16 6 RALF HARTMANN AND PAUL HOUSTON a) b) Figure 6. M =.,Re =,α = flow around the NACA2 airfoil: Isolines of component z of the dual solution for a) c dp ; b) c df. magnitude smaller than the error in J cdf u h ) computed on the sequence of meshes generated by the weighted Type I error indicator. Finally, in Figure we show the meshes generated using both the Type II error indicator η κ II), as well as the weighted Type I indicator for both the computation of the pressure induced and viscous stress induced drag coefficients; note that since η κ II) only depends on the dual solution through a global stability constant, the same mesh is produced, irrespective of the choice of the target functional under consideration. Here, we observe that the Type II error indicator mainly refines the computational mesh in the region of the boundary layer, as well as in the long wake behind the airfoil geometry. In contrast for both the computation of c dp and c df, we see that while the meshes generated by employing the weighted Type I error indicator ˆη κ I) are both refined within the boundary layer, the wake is far less refined, indicating that a good resolution of the wake is not important for the accurate computation of the pressure and stress induced drag coefficients, respectively. Indeed, from Figure 6, we see that while the corresponding dual solutions for c dp and c df exhibit boundary layers in the vicinity of the airfoil geometry, both dual solutions become increasing smooth as we enter the trailing edge wake. We also note that both dual solutions contain a strong singularity emanating from the leading edge of the airfoil; indeed, this leads to some additional refinement of the computational mesh directly in front of the airfoil geometry Mach. flow at Re = and α = 3 around a NACA2. In this second example we again consider a laminar Mach. flow at Re =, but now prescribe an angle of attack of α = 3, in contrast to α = which was employed in the previous example; cf. [2], for example. While the boundary layer in the previous example, see Figure 2, was completely attached to the surface of the airfoil geometry, the boundary layer in this example, see Figure 7, only remains

17 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II 7 Figure 7. M =.,Re =,α = 3 flow around the NACA2 airfoil: top) Mach isolines; bottom) Streamlines. Figure 8. M =.,Re =,α = 3 flow around the NACA2 airfoil: Zoom of the streamlines at the trailing edge. Elements DoF Ju) Ju h ) κ T h ˆη κ θ κ T h ˆη κ θ e e e e e e e e e e e e e-4-3.7e e Table 3. M =.,Re =,α = 3 flow around the NACA2 airfoil: Adaptive algorithm for the numerical approximation of c lp based on employing the Type I error indicator ˆη I) κ. attached on the lower surface; indeed, separation on the upper surface occurs at approximately % of the chord length, see Figure 8 for a close-up view of the separated flow. The force coefficients of the airfoil under these flow conditions strongly depend on the position of the flow separation and their numerical approximation represents a significantly more challenging task than for the previous example.

18 8 RALF HARTMANN AND PAUL HOUSTON Elements DoF Ju) Ju h ) κ T h ˆη κ θ κ T h ˆη κ θ e-4.449e e e-4 4.6e e e e e e-4.436e e e- 7.7e e-4 8. Table 4. M =.,Re =,α = 3 flow around the NACA2 airfoil: Adaptive algorithm for the numerical approximation of c lf based on employing the Type I error indicator ˆη κ I)..2. reference clf =.439 improved clf value for ref. by ind. eta^i) clf value for ref. by ind. eta^i) clf value for ref. by ind. eta^ii). error of clf value for ref. by ind. eta^ii) error of clf value for ref. by ind. eta^i) error of improved clf value for ref. by ind. eta^i) c lf c lf e Number of elements a) 3 Number of elements b) Figure 9. M =.,Re =,α = 3 flow around the NACA2 airfoil: a) Computed values of c lf based on employing the error indicators ˆη κ I) and η κ II), together with the improved value; b) Convergence of the error in these quantities. In contrast to the previous example, here we now consider the numerical approximation of the pressure induced and viscous stress induced lift coefficients, c lp and c lf, respectively. On the basis of a fine grid computation, the reference values for these target functionals are given by J clp u).224 and J clf u) In Tables 3 and 4 we show the performance of our adaptive algorithm employing the weighted Type I error indicator ˆη κ I), for both the numerical approximation of c lp and c lf, respectively. In each case we see that the quality of the computed error representation formula is extremely good; indeed, from the second mesh onwards the effectivity index θ is extremely close to one. Moreover, the Type I a posteriori error bound provides a reliable upper bound on the true error in the computed target functional. In particular, while the effectivity index θ 2 slightly grows as the mesh is refined for the numerical approximation of c lp, for c lf we observe that θ 2 is relatively constant on each of the meshes employed. In Figure 9 we present a comparison of the true error in the computed functional J clf ) using the two mesh refinement strategies, as well as the improved value of this target functional. As in the previous example, we observe that the meshes designed by employing the weighted Type I error indicators lead to an improvement in

19 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II Figure. M =., Re =, α = 3 flow around the NACA2 airfoil: Meshes constructed using top row) Type II error indicators; middle row) Weighted Type I error indicators for clp ; bottom row) Weighted Type I error indicators for clf. the error in the computed target functional in comparison with the corresponding quantity computed on the sequence of meshes generated by the Type II error indiii) cator ηκ. However, here the improvement is less dramatic than in the previous example; indeed, on the finest mesh we see that the error in the computed value

20 6 RALF HARTMANN AND PAUL HOUSTON a) -... b) Figure. M =., Re =, α = 3 flow around the NACA2 airfoil: Isolines of component z of the dual solution for a) clp ; b) clf. I) of clf is only 3 4 times more accurate when η κ is employed to design the mesh, II) as apposed to ηκ. However, for the latter error indicator, we observe that the error reduction from one mesh to the next is gradually becoming less as the mesh refinement algorithm proceeds, whereas, the weighed Type I error indicator leads to a constant reduction in Jclf u) Jclf uh ) as the mesh is refined. Finally, we again note that the improved value of target functional leads to a significant reduction in the baseline error. Analogous behaviour is also observed for the numerical approximation of clp ; for brevity, we omit the results. Finally, in Figure we show the meshes generated using both the Type II error II) indicator ηκ, as well as the weighted Type I indicator for both the computation of the pressure induced and viscous stress induced lift coefficients. As in the previous example, here we observe that the Type II error indicator mainly refines the computational mesh in the region of the boundary layer, as well as in the long wake behind the airfoil geometry. In contrast, for both the computation of clp and clf, we see that while the meshes generated by employing the weighted Type I error ini) dicator η κ are both refined within the boundary layer, the wake is far less refined. Though, here we again observe some additional refinement of the mesh directly in front of the airfoil geometry, which corresponds to the region of the computational domain where the dual solutions exhibit a strong singularity emanating from the leading edge of the airfoil, cf. Figure. 7. Concluding Remarks In this article, we have developed the a posteriori error analysis of the discontinuous Galerkin finite element method for the numerical approximation of the compressible Navier Stokes equations in two dimensional space. In particular, by employing a duality argument, we have derived weighted) Type I and unweighted) Type II a posteriori error bounds for general linear and nonlinear target functionals

21 SIPDG FEM FOR THE COMPRESSIBLE NAVIER STOKES EQUATIONS II 6 of the solution. Numerical experiments have been presented to illustrate the quality of the approximate error representation formula, when the approximate) dual problem is approximated numerically. In particular, comparisons between Type I and Type II error indicators have clearly demonstrated the superiority of exploiting weighted a posteriori error indicators to guide adaptive mesh refinement. Moreover, provided the analytical solutions to the compressible Navier Stokes equations and the corresponding dual problem are sufficiently smooth, then our numerical experiments also indicate that the computed approximate error representation may also be employed to improve the error in the computed value of the target functional under consideration. Future extensions of this work include the consideration of three dimensional compressible fluid flows, turbulent flows, anisotropic mesh refinement, as well as the simultaneous approximation of multiple target quantities of practical interest. References [] D. Arnold, F. Brezzi, B. Cockburn and D. Marini, Unified analysis of discontinuous Galerkin methods for elliptic problems. SIAM J. Numer. Anal. 39): , 22. [2] W. Bangerth, R. Hartmann, and G. Kanschat. deal.ii Differential Equations Analysis Library, Technical Reference. edition, Dec. 24. first edition 999. [3] I. Babuška and M. Suri, The hp version of the finite element method with quasiuniform meshes, M2AN Math. Model. Numer. Anal. 2:99 238, 987. [4] C.E. Baumann and J.T. Oden, A discontinuous hp finite element method for the solution of the Euler and Navier Stokes equations. Int. J. Numer. Meth. Fluids 3:79 9, 999. [] F. Bassi and S. Rebay, High order accurate discontinuous finite element solution of the numerical solution of the compressible Navier Stokes equations. J. Comput. Phys. 3: , 997. [6] R. Becker and R. Rannacher, An optimal control approach to a-posteriori error estimation in finite element methods. In: Iserles, A. ed), Acta Numerica, pp. 2, CUP, 2. [7] P.J. Capon, Adaptive Stable Finite Element Methods for the Compressible Navier Stokes Equations. Ph.D. Thesis, University of Leeds, 99. [8] V. Dolejsi, On the discontinuous Galerkin method for the numerical solution of the Euler and the Navier Stokes equations. Int. J. Numer. Methods Fluids, 4:83 6, 24. [9] M. Feistauer, J. Felcman and I. Straškraba, Mathematical and Computational Methods for Compressible Flow. Clarendon Press, Oxford, 23. [] R. Hartmann. Adaptive Finite Element Methods for the Compressible Euler Equations. PhD thesis, University of Heidelberg, 22. [] R. Hartmann The role of the Jacobian in the adaptive discontinuous Galerkin method for the compressible Euler equations. In G. Warnecke, editor, Analysis and Numerics for Conservation Laws, pp. 3 36, Springer, 2. To appear. [2] R. Hartmann and P. Houston, Adaptive Discontinuous Galerkin Finite Element Methods for Nonlinear Hyperbolic Conservation Laws. SIAM J. Sci. Comp., 243):979 4, 22. [3] R. Hartmann and P. Houston, Adaptive discontinuous Galerkin finite element methods for the compressible Euler equations. J. Comp. Phys., 83:8 32, 22. [4] R. Hartmann and P. Houston, Goal oriented a posteriori error estimation for multiple target functionals. In T.Y. Hou and E. Tadmor, editors, Hyperbolic Problems: Theory, Numerics, Applications, pp , Springer-Verlag, 23. [] R. Hartmann and P. Houston, Adaptive discontinuous Galerkin finite element methods with interior penalty for the compressible Navier Stokes equations. In M. Feistauer, V. Dolejsi, P. Knobloch and K. Najzar, editors, Numerical Mathematics and Advanced Applications, ENUMATH 23, pp. 4 49, Springer-Verlag, 24.

22 62 RALF HARTMANN AND PAUL HOUSTON [6] R. Hartmann and P. Houston, Symmetric Interior Penalty DG Methods for the Compressible Navier Stokes Equations I: Method formulation. Int. J. Numer. Anal. Model., 3): 2, 2. [7] P. Houston, R. Hartmann and E. Süli, Adaptive discontinuous Galerkin finite element methods for compressible fluid flows. In M. Baines, editor, Numerical Methods for Fluid Dynamics VII, ICFD, pp , 2. [8] M.G. Larson and T.J. Barth, A posteriori error estimation for discontinuous Galerkin approximations of hyperbolic systems, in Discontinuous Galerkin Methods, B. Cockburn, G. Karniadakis, and C.-W. Shu, eds., Lecture Notes in Comput. Sci. Engrg.,, Springer, Berlin, 2, pp [9] E. Süli and P. Houston, Adaptive finite element approximation of hyperbolic problems. In: Barth, T., Deconinck, H.eds) Error Estimation and Adaptive Discretization Methods in Computational Fluid Dynamics. Lecture Notes in Computational Science and Engineering, Volume 2, pp , Springer-Verlag, 22. [2] D. A. Venditti and D. L. Darmofal, Anisotropic grid adaptation for functional outputs: application to two-dimensional flows. J. Comp. Phys., 87:22 46, 23. Institute of Aerodynamics and Flow Technology, German Aerospace Center, Lilienthalplatz 7, 388 Braunschweig, Germany. Ralf.Hartmann@dlr.de School of Mathematical Sciences, University of Nottingham, University Park, Nottingham, NG7 2RD, UK. Paul.Houston@nottingham.ac.uk