Divergence-free or curl-free finite elements for solving the curl-div system

Transcription

1 Divergence-free or curl-free finite elements for solving the curl-div system Alberto Valli Dipartimento di Matematica, Università di Trento, Italy

2 Joint papers with: Ana Alonso Rodríguez Dipartimento di Matematica, Università di Trento, Italy and Enrico Bertolazzi Dipartimento di Ingegneria Industriale, Università di Trento, Italy Jessika Camaño Departamento de Matematica y Fisica Aplicadas, Universidad Catolica de la Santisima Concepcion, Chile Riccardo Ghiloni Dipartimento di Matematica, Università di Trento, Italy

3 Outline 1 Introduction 2 3 4

4 The aim Aim of this talk is the analysis of the following three problems and of their mutual relations: (a) finding finite element potentials, namely, solving by means of finite elements the problems grad ψ = H, curl A = B, div v = G; (b) finding suitable basis functions for the spaces of curl-free or divergence-free finite elements; (c) based on (a) and (b), devising simple finite element schemes for the solution of the curl div system, which reads curl u = B in Ω div u = G in Ω (1) u n = a (or u n = b) on Ω.

5 First results Determining the necessary and sufficient conditions for assuring that a function defined in a bounded domain Ω R 3 is the gradient of a scalar potential, or the curl of a vector potential, or the divergence of a vector field is one of the most classical problem of vector analysis. The answer is well-known, and shows an interesting interplay of differential calculus and topology (see, e.g., Cantarella et al. (2002)).

6 First results (cont d) a vector field is the gradient of a scalar potential if and only if it is curl free and its line integral is vanishing on all the closed curves that furnish a basis of the first homology group of Ω; a vector field is the curl of a vector potential if and only if it is divergence free and its flux is vanishing across all the closed surfaces that furnish a basis of the second homology group of Ω, or, equivalently, across (all but one) the connected components of Ω; each scalar function is the divergence of a vector field.

7 First results (cont d) However, this theoretical result only clarifies when the answer is positive, and does not say how to determine an explicit and efficient procedure for constructing finite element potentials. Our approach is based on (simple) tools from algebraic topology and graph theory. We suppose to have: a basis σ n, n = 1,..., g, of the first homology group of Ω; a basis σ n, n = 1,..., g, of the first homology group of R 3 \ Ω; a spanning tree S h of the graph given by the nodes and the edges of the mesh T h. [Note: an easy way for constructing σ n and σ n is presented in Hiptmair and Ostrowski (2002); the determination of a spanning tree is a standard procedure in graph theory.]

8 First results (cont d) Let us also introduce the finite element spaces we will use: the space L h of continuous piecewise-linear elements, with dimension n v, the number of vertices in T h ; the space N h of Nédélec edge elements of degree 1, with dimension n e, the number of edges in T h ; the space RT h of Raviart-Thomas elements of degree 1, with dimension n f, the number of faces in T h ; the space PC h of piecewise-constant elements, with dimension n t, the number of tetrahedra in T h.

9 The grad problem We want to solve grad ψ h = H h in the finite element context. This is an easy problem, and the only reason for considering it is that it is useful for understanding better the procedures needed for the other two problems. The right finite elements are: ψ h L h a piecewise-linear nodal element, H h N h a lowest order Nédélec edge element, and we only have to impose that the line integral of grad ψ h and H h on each edge of the mesh T h is the same. The fundamental theorem of calculus says that ψ h (v b ) ψ h (v a ) = grad ψ h τ = e e H h τ (2) for an edge e = [v a, v b ]. Hence the linear system associated to grad ψ h = H h has exactly two non-zero values per row.

10 The grad problem (cont d) Starting from a root v of the spanning tree S h, where, for the sake of uniqueness, we impose ψ h (v ) = 0, for an edge e = [v, v] S h we compute ψ h ( v) = ψ h (v ) + H h τ ; e since S h is a spanning tree, going on in this way we can visit all the nodes of T h. The spanning tree is therefore a tool for selecting the rows for which, using the additional equation ψ h (v ) = 0, one can eliminate the unknowns one after the other. We have thus found a nodal element ψ h such that its gradient has line integral on all the edges of the spanning tree equal to that of H h.

11 The grad problem (cont d) What about the edges not belonging to the spanning tree? For each node v i, v i v, let us denote by C vi the set of edges in S h joining v to v i. Given an edge e = [v a, v b ] not belonging to S h, we define the cycle D e = C va + e C vb. Since H h is a gradient (it is curl-free and its line integral on all the cycles σ n vanishes), its line integral on D e vanishes. Therefore we have 0 = D e H h ds = ψ h (v a ) + e H h τ ψ h (v b ) = e H h τ e grad ψ h τ.

12 The curl problem We want to solve curl A h = B h in the finite element context. The right finite elements are: A h N h a lowest order Nédélec edge element, B h RT h a lowest order Raviart Thomas face element, and we only have to impose that the flux of curl A h and B h on each face of the mesh T h is the same. The Stokes theorem assures that A h τ + e 1 A h τ + e 2 A h τ = e 2 f curl A h ν f = f B h ν f, (3) where f = e 1 e 2 e 3, hence the linear system associated to curl A h = B h has exactly three non-zero values for each row.

13 The curl problem (cont d) With respect to the preceding case: three unknowns per row instead of two. Therefore, in order to devise an efficient elimination algorithm, it is useful to fix the value of other unknowns. The best situation should occur when the number of the new equations agrees with the dimension of the kernel of the curl operator. Since this kernel is given by the gradients of nodal elements plus the space generated by the basis of the first de Rham cohomology group of Ω, we see that its dimension is equal to n v 1 + g.

14 The curl problem (cont d) Having this in mind, we are led to the problem curl A h = B h in Ω σ n A h ds = ρ n n = 1,..., g e A h τ = 0 e S h, for arbitrarily given constants ρ n. (4) [Note that the number of edges e in S h is n v 1; therefore (4) 3 can be seen as a filter for gradients. On the other hand, homology and cohomology are in duality, hence (4) 2 can be seen as a filter for cohomology fields.] It is not difficult to prove that there exists a unique solution to (4).

15 Webb Forghani algorithm Webb and Forghani (1989) proposed this solution algorithm: Algorithm 1 take a face f for which at least one edge unknown has not yet been assigned 1 if exactly one edge unknown is not determined, compute its value from the Stokes relation (3) 2 if two or three edge unknowns are not determined, pass to another face. This is a simple elimination procedure for solving the linear system at hand, and it is quite efficient, as the computational cost is linearly dependent on the number of unknowns. The weak point is that: it can stop without having determined all the edge unknowns (even in simple topological situations!)

16 An explicit formula for the vector potential Cure: devise an explicit formula for the solution to (4). (We are able to do that if B h n = 0 on Ω, a quite natural condition in the most interesting physical situations, and for a suitable choice of the constants ρ n.) The idea is the following. Define the Biot Savart field H BS (x) = 1 B h (y) x y 4π x y 3 dy, Ω and set ρ n = σ n H BS ds in (4). One has curl H BS = B h in Ω (here the condition B h n = 0 on Ω has played a role). Hence the Nédélec interpolant Π N hh BS satisfies (4) 1 and (4) 2.

17 An explicit formula for the vector potential (cont d) To find the solution to (4), we can correct Π N hh BS by a gradient, namely, construct the nodal element φ h whose gradient has the same line integral of H BS on the edges of the spanning tree S h. The Nédélec finite element A h = Π N hh BS grad φ h is the solution to (4). To express its degrees of freedom, we proceed as follows. For each edge e S h, we define the cycle D e as before (the edges from the root of the spanning tree to the first vertex of e, the edge e, the edges from the second vertex of e to the root of the spanning tree).

18 An explicit formula for the vector potential (cont d) The cycle D e is constituted by edges all belonging to the spanning tree (except e): hence we have e A h τ = e (ΠN hh BS grad φ h ) τ = e HBS τ [φ h (v b ) φ h (v a )] = [ e HBS τ H BS τ ] Cvb C va H BS τ = D e H BS ds ( ) = 1 4π D e Ω B h(y) x y dy x y 3 ds(x). Using (5), we can always restart the Webb Forghani algorithm. (5)

19 A basis of the first de Rham cohomology group This algorithm permits to solve also the problem curl A h = 0 in Ω σ n A h ds = κ n n = 1,..., g e A h τ = 0 e S h, for any choice of the constants κ n. Taking κ n equal to lκ(σ n, σ j ), j = 1,..., g, (lκ denotes the linking number) we find a basis T (j) of the first de Rham cohomology group, and we have also an explicit formula like (5) for expressing the degrees of freedom of each T (j). (6)

20 The div problem We want to solve div v h = G h in the finite element context. The right finite elements are: v h RT h a lowest order Raviart Thomas face element, G h PC h a piecewise-constant nodal element, and we have only to impose that the integral of div v h and of G h on each element of the mesh T h is the same. The Gauss theorem says that f 1 v h ν f + f 2 v h ν f + f 3 v h ν f + f 4 v h ν f = K div v h = K G h, (7) where K = f 1 f 2 f 3 f 4, hence the linear system associated to div v h = G h has exactly four unknowns per row.

21 The div problem (cont d) In order to reduce the dimension of the system, we want to fix the value of some unknowns. Similarly to what done before we start by analyzing the dimension of the kernel of the divergence operator. This kernel is given by the curl of the Nédélec elements plus the space generated by the basis of the second de Rham cohomology group of Ω. If we denote by ( Ω) 0,..., ( Ω) p the connected components of Ω, we know that the dimension of the second de Rham cohomology group of Ω is equal to p.

22 The div problem (cont d) On the other hand, it is easy to check that the dimension of the space of the curl of the Nédélec elements is equal to the number of the edges minus the dimension of the kernel of the curl operator. Hence, it is equal to n e n v + 1 g. By the Euler Poincaré formula we have n v n e + n f n t = 1 g + p, hence the dimension of the space of the curl of the Nédélec elements can be rewritten as n f n t p. In conclusion, besides the topological conditions ( Ω) r v h n = c r, r = 1,..., p, that are a filter for the cohomology fields, we could add n f n t p equations.

23 A dual graph To do that, let us note that an internal face connects two tetrahedra, while a boundary face connects a tetrahedron and a connected component of Ω. We can therefore consider the following (connected) dual graph G h : the dual vertices are W = T Σ, where the elements of T are the tetrahedra of the mesh and the elements of Σ are the p + 1 connected components of Ω; the set of dual arcs is F, the set of the faces of the mesh.

24 A dual graph (cont d) The number of dual vertices is equal to n t + p + 1, hence a spanning tree M h of G h has n t + p dual arcs (and consequently its cotree has n f n t p dual arcs). Therefore the linear system div v h = G h in Ω ( Ω) v h n = c r r = 1,..., p (8) r f v h ν f = 0 f M h is a square linear system of n f equations and unknowns. It can be shown that this system has a unique solution.

25 Well-posedness of (8) The procedure is constructive, similar in some sense to the elimination procedure used for the grad problem but now going along the dual spanning tree, starting from the leaves. (Let us recall that the leaves of a spanning tree M h are the vertices of W that have only one arc of M h incident to them.) Remembering that we have imposed f v h ν f = 0 if f M h, we can reduce the problem to the faces f M h. If w (a tetrahedron or a connected component) is a leaf of M h, then on it there is only one face f (w) belonging to the spanning tree M h, therefore the value of the flux of v h on f (w) can be computed by the Gauss theorem (recall that we know that f v h ν f = 0 for all f M h ).

26 Well-posedness of (8) (cont d) We can iterate this argument: if we remove from the spanning tree M h a leaf and its corresponding incident arc, the remaining graph is still a tree. After a finite number of steps the remaining tree reduces to just on vertex, and the result is that f v h ν f is known for all f F.

27 A basis of the second de Rham cohomology group It can be also noted that the solutions W (s), s = 1,..., p, of the problem div v h = 0 in Ω ( Ω) v h n = δ r,s r = 1,..., p (9) r f v h ν f = 0 f M h furnish a basis of the second de Rham cohomology group of Ω.

28 Curl-free finite elements The problem of describing in a suitable way curl-free finite elements is quite easy. In fact, it is straightforward to find a basis of the finite element space V 0,h = {v h N h curl v h = 0 in Ω, σ n v h ds = 0 n = 1,..., g}, as this space is coincident with grad L h (indeed, the conditions σ n v h ds = 0 are filtering all the curl-free vector fields that are not gradients, namely, the fields belonging to the first de Rham cohomology group). (10) Thus we have only to identify and eliminate the kernel of the gradient operator: the constants. In conclusion, a basis for V 0,h is simply given by grad Φ i h, i = 1,..., n v 1, where Φ i h, i = 1,..., n v, are the standard nodal basis functions of L h.

29 Divergence-free finite elements A more complicated situation arises for divergence-free finite elements. In fact, we start considering the space W 0,h = {v h RT h div v h = 0 in Ω, ( Ω) r v h n = 0 r = 1,..., p}, (11) and it is easy to check that W 0,h = curl N h. However, the problem is that the kernel of the curl operator is large: it contains all the gradients and the fields belonging to the first de Rham cohomology group, and has dimension equal to n v 1 + g.

30 Divergence-free finite elements (cont d) Thus we need: to devise a strategy for selecting n e n v + 1 g edges in order that the associated edge element basis functions have linearly independent curls. Results in this direction were obtained by Hecht (1981), Dubois (1990) and Scheichl (2002) for a simply-connected domain, and by Rapetti et al. (2003) for a κ-fold torus. Here we present a general procedure for the determination of a set of basis functions of W 0,h, together with an easy proof of its effectiveness.

31 Divergence-free finite elements (cont d) Let us assume for a while that Ω is simply-connected (therefore we have g = 0). Consider all the edges not belonging to the spanning tree S h, namely, belonging to the cotree C h ; their number is n e n v + 1. The result is: A basis of W 0,h is given by curl w j h, for the indices j such that the corresponding edges e j belong to the cotree C h (say, j = 1,..., n e n v + 1).

32 Divergence-free finite elements (cont d) The proof is as follows: from 0 = n e n v +1 j=1 α j curl w j h = curl n e n v +1 j=1 α j w j h we can conclude that n e n v +1 j=1 α j w j h is a gradient, say, grad ϕ h. For all i = 2,..., n v consider the unique path C vi, composed by edges belonging to the spanning tree, connecting v 1 and v i. One clearly has C vi w j h τ = 0, thus n e n v +1 ϕ h (v i ) ϕ h (v 1 ) = grad ϕ h τ = α j w C vi j=1 C j h τ = 0. vi Consequently n e n v +1 j=1 α j w j h = grad ϕ h = 0 and α j = 0 for all j = 1,..., n e n v + 1, since {w j h }ne j=1 is a basis of N h.

33 Divergence-free finite elements (cont d) The general topological case needs the identification of g additional edges to discard: a possible option is to select one edge for each basis element σ n of the first homology group of Ω, having constructed the spanning tree in such a way that all the other edges of σ n belong to it. (For definiteness, suppose these edges are associated to the indices j = 1,..., g: the union of the spanning tree S h and these additional g edges was called belted tree in Bossavit (1998), Rapetti et al. (2003).) With this choice we have that the line integral of n e n v +1 j=g+1 α j w j h over σ n vanishes for each n = 1,..., g (all the edges contained in σ n belong to the belted tree, namely, they correspond to indices smaller than g + 1 or larger than n e n v + 1). Therefore ne nv +1 j=g+1 α j w j h is a gradient, and the argument develops as before.

34 First case: u n assigned on Ω The problem at hand (slightly more general than the one previously presented) reads curl (ηu) = B in Ω div u = G in Ω (ηu) n = a on Ω ( Ω) r u n = α r r = 1,..., p, where η is a symmetric matrix, uniformly positive definite in Ω, with entries belonging to L (Ω), B (L 2 (Ω)) 3, G L 2 (Ω), a H 1/2 (div τ ; Ω) [the space of tangential traces of vector fields belonging to H(curl ; Ω)], α R p. (12)

35 First case: u n assigned on Ω (cont d) The data satisfy the necessary conditions div B = 0 in Ω, Ω B ρ + Ω a ρ = 0 for each ρ H(m), and B n = div τ a on Ω. Here H(m) is the space of Neumann harmonic fields, namely, H(m) = {ρ (L 2 (Ω)) 3 curl ρ = 0 in Ω, div ρ = 0 in Ω, ρ n = 0 on Ω}. The first step of the procedure is to find a vector field u (L 2 (Ω)) 3 satisfying { div u = G in Ω ( Ω) r u n = α r r = 1,..., p. (13)

36 First case: u n assigned on Ω (cont d) The vector field W = u u satisfies curl (ηw) = B curl (ηu ) in Ω div W = 0 in Ω (ηw) n = a (ηu ) n on Ω ( Ω) r W n = 0 r = 1,..., p. (14) The second step is to devise a variational formulation of (14).

37 A variational formulation for the first case Multiplying the first equation by a test function v H(curl ; Ω), integrating in Ω and integrating by parts we find: Ω B v = Ω curl [η(w + u )] v = Ω η(w + u ) curl v Ω [η(w + u ) n] v = Ω ηw curl v + Ω ηu curl v Ω a v. Let us introduce the space W 0 = {v H(div ; Ω) div v = 0 in Ω, ( Ω) r v n = 0 r = 1,..., p}. It is readily seen that W 0 = curl [H(curl ; Ω)]. (15)

38 A variational formulation for the first case (cont d) The vector field W is thus a solution to W W 0 : Ω ηw curl v = Ω B v Ω ηu curl v + Ω a v v H(curl ; Ω). (16) More precisely, W is the unique solution of that problem: in fact, assuming B = u = a = 0, and taking v such that curl v = W, it follows at once Ω ηw W = 0, hence W = 0.

39 Finite element approximation of the first case The finite element approximation follows the same steps. The first one is finding a finite element potential u h RT h such that { div u h = G h in Ω ( Ω) r u h n = α (17) r r = 1,..., p, where G h PC h is the piecewise-constant interpolant I PC h G of G. This can be done as in (8).

40 Finite element approximation of the first case (cont d) The second step concerns the numerical approximation of problem (16). The natural choice for the finite element space is clearly the space W 0,h introduced in (11). The finite element approximation of (16) reads as follows: W h W 0,h : Ω ηw h curl v h = Ω B v h Ω ηu h curl v h + Ω a v h v h N h, (18) where Nh = span{wj +1 }ne nv h j=g+1. (19)

41 Finite element approximation of the first case (cont d) The corresponding algebraic problem is a square linear system of dimension n e n v + 1 g, and it is uniquely solvable. In fact, we note that W 0,h = curl Nh, hence we can choose v h N h such that curl vh = W h; from (18) we find at once W h = 0, provided that G = u h = a = 0. The convergence of this finite element scheme is easily shown by standard arguments. For the sake of completeness, let us present the proof.

42 Convergence of the approximation for the first case Theorem A. Let W W 0 and W h W 0,h be the solutions of problem (16) and (18), respectively. Set u = W + u and u h = W h + u h, where u H(div ; Ω) and u h RT h are solutions to problem (13) and (17), respectively. Assume that u is regular enough, so that the interpolant Ih RT u is defined. Then the following error estimate holds u u h H(div ;Ω) c 0 ( u Ih RT u L 2 (Ω) + G Ih PC G L 2 (Ω)). (20)

43 Convergence of the approximation for the first case (cont d) Proof. Since Nh H(curl ; Ω), we can choose v = v h Nh in (16). By subtracting (18) from (16) we end up with η[(w + u ) (W h + u h )] curl v h = 0 v h Nh, Ω namely, the consistency property η(u u h ) curl v h = 0 v h Nh. (21) Ω Then from W 0,h = curl Nh we can write W h = curl vh for a suitable vh N h, and using (21) we find

44 Convergence of the approximation for the first case (cont d) c 1 u u h 2 L 2 (Ω) Ω η(u u h) (u u h ) = Ω η(u u h) (u W h u h ) = Ω η(u u h) (u curl v h u h ) = Ω η(u u h) (u curl v h u h ) c 2 u u h L 2 (Ω) u Φ h u h L 2 (Ω) Φ h W 0,h. We can choose Φ h = (Ih RT u u h ) W 0,h; in fact, div (Ih RT u) = Ih PC (div u) = Ih PC G = G h and u n = ( Ω) r u n = α r for each r = 1,..., p. Then it ( Ω) r Ih RT follows at once u u h L 2 (Ω) c 2 c 1 u Ih RT u L 2 (Ω). Finally, div (u u h ) = G G h = G Ih PC G.

45 Convergence of the approximation for the first case (cont d) Note that a sufficient condition for defining the interpolant of u is that u (H 1 2 +δ (Ω)) 3, δ > 0. This is satisfied if, e.g., η is a scalar Lipschitz function in Ω and a (H γ ( Ω)) 3, γ > 0.

46 The algebraic problem for the first case The solution W h W 0,h can be written in terms of the basis as W h = n e n v +1 j=g+1 W j curl w h,j. Hence the finite dimensional problem (18) can be rewritten as n e n v +1 W j η curl w h,j curl w h,m j=g+1 Ω = Ω B w h,m (22) Ω η u h curl w h,m + a w h,m, for each m = g + 1,..., n e n v + 1. The matrix K with entries Kmj = η curl w h,j curl w h,m Ω is clearly symmetric and positive definite, as the vector fields curl w h,j are linearly independent. Ω

47 Second case: u n assigned on Ω The problem at hand reads curl u = B div (µu) = G µu n = b σ n u ds = β n n = 1,..., g, (23) where µ is a symmetric matrix, uniformly positive definite in Ω, with entries belonging to L (Ω), B (L 2 (Ω)) 3, G L 2 (Ω), b H 1/2 ( Ω), β R g.

48 Second case: u n assigned on Ω (cont d) The data satisfy the necessary conditions div B = 0 in Ω, Ω G = Ω b; moreover, in order that the line integral of u on σ n has a meaning, we also assume that B n = 0 on Ω (which is more restrictive than the necessary condition ( Ω) r B n = 0 for each r = 1,..., p). The first step of the procedure is to find a vector field u (L 2 (Ω)) 3 satisfying { curl u = B in Ω σ n u ds = β n n = 1,..., g. (24)

49 Second case: u n assigned on Ω (cont d) The vector field V = u u satisfies curl V = 0 in Ω div (µv) = G div (µu ) in Ω (µv) n = b (µu ) n on Ω σ n V ds = 0 n = 1,..., g, (25) The second step is to devise a variational formulation of (25).

50 A variational formulation for the second case Multiplying the second equation by a test function ϕ H 1 (Ω), integrating in Ω and integrating by parts we find: Ω G ϕ = Ω div [µ(v + u )] ϕ = Ω µ(v + u ) grad ϕ + Ω [µ(v + u ) n] ϕ = Ω µv grad ϕ Ω µu grad ϕ + Ω b ϕ. Let us introduce the space V 0 = {v H(curl ; Ω) curl v = 0 in Ω, σ n v ds = 0 n = 1,..., g}. (26) Note that V 0 = grad [H 1 (Ω)].

51 A variational formulation for the second case (cont d) The vector field V is thus a solution to V V 0 : Ω µv grad ϕ = Ω G ϕ Ω µu grad ϕ + Ω b ϕ ϕ H 1 (Ω). (27) It is easily seen that V is indeed the unique solution of that problem: in fact, assuming G = b = 0, u = 0, and taking ϕ such that grad ϕ = V, it follows at once Ω µv V = 0, hence V = 0.

52 Finite element approximation of the second case The finite element approximation follows the same steps. The first one is finding a finite element potential u h N h such that { curl u h = B h in Ω σ n u h ds = β n n = 1,..., g, (28) where B h RT h is the Raviart Thomas interpolant Ih RT B of B (we therefore assume that B is so regular that its interpolant Ih RT B is defined; for instance, as already recalled, it is enough to assume B (H 1 2 +δ (Ω)) 3, δ > 0). The construction of u h can be done as in (4).

53 Finite element approximation of the second case (cont d) The second step is related to the numerical approximation of problem (27). The natural choice for the finite element space is clearly the space V 0,h introduced in (10). The finite element approximation of (27) reads as follows: V h V 0,h : Ω µv h grad ϕ h = ϕ h L h, Ω G ϕ h Ω µu h grad ϕ h + Ω b ϕ h (29) where L h = span{ψ nv 1 h,i} i=1 = {ϕ h L h ϕ h (v nv ) = 0}. (30)

54 Finite element approximation of the second case (cont d) The corresponding algebraic problem is a square linear system of dimension n v 1, and it is uniquely solvable. In fact, since V 0,h = grad L h, we can choose ϕ h L h such that grad ϕ h = V h; from (29) we find at once V h = 0, provided that G = b = 0, u h = 0. The convergence of this finite element scheme is easily shown by standard arguments.

55 Convergence of the approximation for the second case Theorem B. Let V V 0 and V h V 0,h be the solutions of problem (27) and (29), respectively. Set u = V + u and u h = V h + u h, where u H(curl ; Ω) and u h N h are solutions to problem (24) and (28), respectively. Assume that u and B are regular enough, so that the interpolants Ih N u and I RT h B are defined. Then the following error estimate holds u u h H(curl ;Ω) c 0 ( u I N h u L 2 (Ω) + B I RT h B L 2 (Ω)). (31)

56 Convergence of the approximation for the second case (cont d) Proof. Since L h H1 (Ω), we can choose ϕ = ϕ h L h in (27). By subtracting (29) from (27) we end up with µ[(v + u ) (V h + u h )] grad ϕ h = 0 ϕ h L h, Ω namely, the consistency property µ(u u h ) grad ϕ h = 0 ϕ h L h. (32) Ω Then, since V 0,h = grad L h and thus V h = grad ϕ h for a suitable ϕ h L h, from (32) we find

57 Convergence of the approximation for the second case (cont d) c 1 u u h 2 L 2 (Ω) Ω µ(u u h) (u u h ) = Ω µ(u u h) (u V h u h ) = Ω µ(u u h) (u grad ϕ h u h ) = Ω µ(u u h) (u grad ϕ h u h ) c 2 u u h L 2 (Ω) u Ψ h u h L 2 (Ω) Ψ h V 0,h. We can choose Ψ h = (Ih Nu u h ) V 0,h; in fact, curl (Ih N u) = I RT h (curl u) = Ih RT B = B h and σ n Ih Nu ds = σ n u ds = β n for each n = 1,..., g. Then we find at once u u h L 2 (Ω) c 2 c 1 u Ih Nu L 2 (Ω). Moreover, curl (u u h ) = B B h = B Ih RT B.

58 Convergence of the approximation for the second case (cont d) Note that a sufficient condition for defining the interpolants of u and B = curl u is that they both belong to (H 1 2 +δ (Ω)) 3, δ > 0. Thus one has to assume that B (H 1 2 +δ (Ω)) 3 ; moreover, u belongs to (H 1 2 +δ (Ω)) 3 if, for instance, µ is a scalar Lipschitz function in Ω and b H γ (Ω), γ > 0.

59 The algebraic problem for the second case The solution V h V 0,h is given by V h = n v 1 i=1 V igrad ψ h,i. Hence the finite dimensional problem (29) can be rewritten as n v 1 i=1 V i µ grad ψ h,i grad ψ h,l Ω = Ω G ψ h,l Ω µ u h grad ψ h,l + for each l = 1,..., n v 1. The matrix K with entries Kli = µ grad ϕ h,i grad ϕ h,l is clearly symmetric and positive definite. Ω Ω b ψ h,l, (33)

60 References A. Alonso Rodríguez, and A. Valli,, Appl. Numer. Math., 95 (2015), A. Alonso Rodríguez, J. Camaño, R. Ghiloni, and A. Valli, Graphs, spanning trees and divergence-free finite elements in general topological domains, IMA J. Numer. Anal., (2015) [submitted]. A. Alonso Rodríguez, E. Bertolazzi, and A. Valli, Simple finite element schemes for the solution of the curl div system, (2016) [in preparation]. A. Bossavit, Computational Electromagnetism, Academic Press, San Diego, 1998.

61 References (cont d) J. Cantarella, D. DeTurck, and H. Gluck, Vector calculus and the topology of domains in 3-space, Amer. Math. Monthly, 109 (2002), F. Dubois, Discrete vector potential representation of a divergence-free vector field in three-dimensional domains: numerical analysis of a model problem, SIAM J. Numer. Anal., 27 (1990), F. Hecht, Construction d une base de fonctions P 1 non conforme à divergence nulle dans R 3, RAIRO Anal. Numér., 15 (1981), R. Hiptmair and J. Ostrowski, Generators of H 1 (Γ h, Z) for triangulated surfaces: Construction and classification, SIAM J. Comput., 31 (2002),

62 References (cont d) F. Rapetti, F. Dubois and A. Bossavit, Discrete vector potentials for nonsimply connected three-dimensional domains, SIAM J. Numer. Anal., 41 (2003), R. Scheichl, Decoupling three-dimensional mixed problems using divergence-free finite elements, SIAM J. Sci. Comput., 23 (2002), J.P. Webb and B. Forghani, A single scalar potential method for 3D magnetostatics using edge elements, IEEE Trans. Magn., 25 (1989),

63 The linking number The linking number between σ j and another disjoint cycle σ is given by: lκ(σ, σ j ) = 1 ( ) y x 4π σ y x 3 ds y ds x. σ j The linking number (introduced by Gauss...) is an integer that represents the number of times that each cycle winds around the other. An explicit formula is available also for determining the basis elements T (j) : we have T (j) τ = lκ(d e, σ j ) (34) e (where σ j has been chosen inside R 3 \ Ω, namely, not intersecting D e ).