Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan...

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Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical University Ostrava Baruch College, City University of New York New York, January 2005, DDM 16 http://www.am.vsb.cz

Transcript of Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan...

Page 1: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Scalable FETI-DP based algorithms for variational inequalities

Zdeněk DOSTÁL, David Horák, Dan Stefanica 

Department of Applied Math., FEI–VŠB Technical University Ostrava

Baruch College, City University of New York

 

 

 

New York, January 2005, DDM 16

http://www.am.vsb.cz

Page 2: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Outline1. Coercive and semicoercive contact model problem2. Variational formulation3. Dual formulation4. FETI-DP5. Theory for scalability of FETI-DP for coercive problem6. Theory for scalability of FETI-DP for semicoercive

problem7. QP algorithm8. Numerical experiments - evidence of scalability9. Remarks and conclusions

Page 3: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Model contact problems

c2

2

1

1

c12

2

2

c2

2

21c

12

if

iu

21

on 0

on 0)(

on 0

on 0

2 ,1 ,on 0

2 ,1,on 0

in

n

u

n

u

uun

u

n

u

uu

in

u

iu

fu

cc

i

i

i

Coercive problem

Semicoercive problem

Page 4: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Variational formulation and domain decomposition

EI

k,j,c

jkE

ki,ji,jikiI

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ji,ji,ji,

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i j

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ΓΓon VV

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Η ,

wherefor min Find Pc)

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,,21

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,212,111,11

,,2

1

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1

,,,,

0:,

:,

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,...

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1(

,

,

Page 5: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Discretized primal problem

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EB

IBBiKK,

sf

f

fsK

K

KiΩifiK

set dcomplicateover on minimizati :Drawback

0and0 s.t.21

min

:nformulatio Primal

te,semidefinior definite positive -

1

,

1

,, :ntsdisplaceme nodal andmatrix Stiffness

Page 6: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Conforming and mortar FE discretization of contact interface

Conforming

Nonconforming mortars

11 :0 and 1 with

of row of meansby described 0

:readsit couplefor and

1111 :0 and 1 with

of row of meansby described 0

:ntsdisplacemecorner for condition tion Nonpenetra

Inm

Ilkji

Buu

Buuuu

space multiplier Lagrange is

space,mortar product nedunconstrai is

,,0||

: sidenonmortar across conditionsmortar on prescribti and

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across 0:conditionsmortar enforcing sidenonmortar each for

blocks horizontal from consistsmatrix

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NMBB

mmmm

mmm

Page 7: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Coercive FETI-DP problem

***

**

1

1

1*

1

1

1

1*

1

1

1

1

1

11 ˆ,ˆˆ,0 s.t.2

1min

:n eliminatioafter DP-FETI

0 s.t.ˆ

ˆ :problem DP-FETI

,,,

,,,,

,,,,

matrix definite positive -regular is

remainderboundary ... corner,boundary ... interior,... remainder,... corner,...

through satisfiedexactly is nodescorner at ntsdisplaceme of Continuity

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IccIIITT

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srI

N

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sbc

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c

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u

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brbcirc

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rcrr

sss

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s

rr

c

Page 8: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Semicoercive FETI-DP problem

:onModificati

0)ˆ( and0 s.t.2

1min

:problem DP-FETI

domain floating ofmatrix stiffness of kernel theform 1 entries ,1...10...0

,)ˆ( then 0)ˆ( condition y solvabilit

)(Kerˆ )Im(ˆ 0ˆsatisfy must

matrix tesemidefini positive -singular is

but case, DP-FETI coercivein asapproach Similar

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2

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******

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ccccccccccT

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rc

rcrc

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Page 9: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Mortar FE–Importance of normalization of BI–rows

22

2

2

maxmin2

222

maxmin

1

2222

22

~,)

~(,)

~()

~(

,)(,)()(

:hold ~~~

and for bounds following The:Theorem

~else

then,normalized are of rows theIf :Lemma

normalized-non is ~

, 0

0~

~ ,

0

00Let

222

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H

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ll

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l

ll

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I

II

Er

Ir

Er

Ir

r

Page 10: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

QP with modified proportioning and gradient projection

x i s p r o p o r c i o n a l w h e n 22 )()()(~ xxxT

G i v e n x A0 10 0 , ( , ] ,

( i ) i f x k i s n o t p r o p o r t i o n a l , t h e n

d e f i n e x k 1 b y p r o p o r t i o n a l i z a t i o n

i . e . m i n i m a l i z a t i o n i n d i r e c t i o n )( kx

( i i ) i f x k i s p r o p o r t i o n a l , t h e n

g e n e r a t e x k 1 b y t r i a l c g s t e p

i f 1kx t h e n u s e i t ,

e l s e ))((1 kkk xxx

Page 11: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Numerical scalability

2

2

2

,,

1

021

11

22102

2

1k

min11

implies /such that , oft independen 1 is Then there

0 iterates, salgorithm' ,,0 constant, ,0,Let

:Theorem

that 0such is ere then th1)(2 if (iii)

that 0such is re then the0)( implies 0 if (ii)

ˆ22)(

11

ˆ221 where,)()(2

bygiven is normenergy in econvergenc of rate (i)

:then,,0 with sequence salgorithm' is

),( (CP), ofsolution unique is},,max{ˆ,0Let

:Theorem

F

k

FhHk

hH

iH,h

k

kii

k

F

k

T

F

bC

η

ChHHh

λλCCCΓC

kFΓ

kg

Fηη

F

F

FΓΓΓΓ

Page 12: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Numerical experiments-Conforming FE

H 1/2 1/4 1/8

H/h=4 200/33/10 800/161/42 3200/705/154

17 21 27

H/h=8 648/73/10 2592/369/42 10365/1633/154

22 36 38

H/h=16 2312/153/10 9248/785/42 36992/3489/154

27 48 51

H 1/2 1/4 1/8

H/h=4 200/33/10 800/161/42 3200/705/154

24 24 31

H/h=8 648/73/10 2592/369/42 10365/1633/154

27 39 46

H/h=16 2312/153/10 9248/785/42 36992/3489/154

41 57 -

Page 13: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Numerical experiments-mortar FEN1 N2 1x2 1x3 2x4 2x5 4x8 4x11

H1/h1=4 242/23x35/6 840/122x140/25 3616/620x662/97

H2/h2=7 15 x 41 34 x 52 49 x 65

H1/h1=7 203/26x23/6 762/125x116/25 3616/581x566/97

H2/h2=4 28 x 23 43 x 38 56 x 50

H1/h1=8 750/47x69/6 2608/256x288/25 11216/1298x1374/97

H2/h2=13 29 x 48 49 x 68 59 x 88

H1/h1=13 635/52x49/6 2378/261x248/25 9836/1233x1214/97

H2/h2=8 37 x 36 58 x 51 71 x 65

H1/h1=16 2606/95x137/6 9072/524x584/25 38992/2654x2798/97

H2/h2=25 33 x 60 57 x 87 78 x 125

H1/h1=25 2219/104x101/6 8298/533x512/25 34348/2537x2510/97

H2/h2=16 41 x 41 67 x 63 94 x 90

N1 N2 1x2 1x3 2x4 2x5 4x8 4x11

H1/h1=4 242/23x35/6 840/122x140/25 3616/620x662/97

H2/h2=7 20 x 45 37 x 60 52 x 80

H1/h1=7 203/26x23/6 762/125x116/25 3616/581x566/97

H2/h2=4 29 x 28 56 x 44 60 x 53

H1/h1=8 750/47x69/6 2608/256x288/25 11216/1298x1374/97

H2/h2=13 36 x 54 56 x 76 70 x 112

H1/h1=13 635/52x49/6 2378/261x248/25 9836/1233x1214/97

H2/h2=8 44 x 38 68 x 56 86 x 71

H1/h1=16 2606/95x137/6 9072/524x584/25 38992/2654x2798/97

H2/h2=25 39 x 82 65 x 100 - x -

H1/h1=25 2219/104x101/6 8298/533x512/25 34348/2537x2510/97

H2/h2=16 47 x 48 91 x 68 - x -

21 xonNonmortars cc

Page 14: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Numerical experiments-mortar FEnormalized BI x nonnormalized BI

N1 N2 1x1 1x1 2x2 2x2 4x4 4x4

H1/h1=4 89/5/0 356/44/10 1424/230/42

H2/h2=7 6 x 8 20 x 48 28 x 106

H1/h1=8 277/9/0 1108/92/10 4432/486/42

H2/h2=13 11 x 14 26 x 118 46 x 263

H1/h1=16 965/17/0 3860/188/10 15440/998/42

H2/h2=25 16 x 25 31 x 268 60 x 743

Page 15: Scalable FETI-DP based algorithms for variational inequalities Zdeněk DOSTÁL, David Horák, Dan Stefanica Department of Applied Math., FEI–VŠB Technical.

Conclusion1. x2. x3. x4. x5. x