From fe3b4003aae448c9d8ab0349397f77b9140acbaf Mon Sep 17 00:00:00 2001
From: Timo Koch <timokoch@uio.no>
Date: Fri, 9 Jun 2023 18:04:07 +0200
Subject: [PATCH] [doxygen] Add box documentation from handbook
---
doc/doxygen/groups/details/box.md | 136 +
doc/doxygen/images/box.svg | 5431 +++++++++++++++++++++++++++++
2 files changed, 5567 insertions(+)
create mode 100644 doc/doxygen/groups/details/box.md
create mode 100644 doc/doxygen/images/box.svg
diff --git a/doc/doxygen/groups/details/box.md b/doc/doxygen/groups/details/box.md
new file mode 100644
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+@addtogroup BoxDiscretization
+
+The so called box method is a control volume finite element method (uniting the advantages of the finite-volume (FV) and
+finite-element (FE) methods) based on linear nodal basis functions for the trial space.
+
+First, the model domain $\Omega$ is discretized (primary grid, see figure).
+Then, a secondary control volume mesh is constructed by connecting the face barycenters and element barycenters,
+thus creating a control volume $B_v$, also called box, with node $v$ in the center.
+When referring to faces, we mean entities of codimension $1$ with respect to the element dimension.
+
+{html: width=50%}
+
+Control volumes $B_v$ are partitioned into sub-control volumes (`scv`s) such that each
+sub-control volume is the intersection of the control volume with a different primal grid element, $M_v = B_v \cap M$.
+The faces of $B_v$ are partitioned into sub-control volume faces $\sigma_k$ (`scvf`s) analogously and $|\sigma_k|$ denotes
+the measure of sub-control volume face $k$.
+Finally, the integration points $x_k$ which lie on the `scvf`s and the outer normal
+vectors $\boldsymbol{n}_{\sigma_k}$ also need to be defined.
+
+The advantage of the FE method is that unstructured grids can be used, while the
+FV method is mass conservative. The idea is to apply the FV method (balance of
+fluxes across the interfaces) to each control volume and to get the fluxes across
+the `scvf`s at the integration points $x_k$ from the FE approach.
+Consequently, at each `scvf` the following expression results:
+
+\begin{equation}
+ f(\tilde u(x_k)) \cdot \boldsymbol{n}_{\sigma_k} \: |\sigma_k| \qquad \textrm{with}
+ \qquad \tilde u(x_k) = \sum_i N_i(x_k) \cdot \hat u_i,
+\end{equation}
+where $N_i$ represents the basis function of the finite element ansatz at node $i$. The basis functions are defined such that $N_i(x_j)=\delta_{ij}$ with $\delta_{ij}$ being the Kronecker delta.
+In the following, the discretization of the balance equation is going to be derived.
+From the Reynolds transport theorem follows the general balance equation:
+
+\begin{equation}
+ \underbrace{\int_\Omega \frac{\partial}{\partial t} \: u \, \mathrm{d}x}_{1}
+ + \underbrace{\int_{\partial\Omega} (\boldsymbol{v} u + \boldsymbol{w}) \cdot \textbf n \, \mathrm{d}\Gamma}_{2} = \underbrace{\int_\Omega q \, \mathrm{d}x}_{3}
+\end{equation}
+
+\begin{equation}
+ f(u) = \int_\Omega \frac{\partial u}{\partial t} \, \mathrm{d}x + \int_{\Omega} \nabla \cdot
+ \underbrace{\left[ \boldsymbol{v} u + \boldsymbol{w}(u)\right] }_{F(u)} \, \mathrm{d}x - \int_\Omega q \, \mathrm{d}x = 0
+\end{equation}
+where the first term describes the changes of entity $u$ within a control volume over
+time, the second term the advective, diffusive and dispersive fluxes over the interfaces
+of the control volume, and the third term is a source or sink. $\Omega$ denotes the
+model domain and $F(u) = F(\boldsymbol{v}, p) = F(\boldsymbol{v}(\boldsymbol{x},t), p(\boldsymbol{x},t))$.
+
+Like the finite element method, the box method follows the principle of weighted residuals.
+In the function $f(u)$ the unknown $u$ is approximated by discrete values at the
+nodes of the primary grid $\hat u_i$ and linear basis functions $N_i$ yielding an
+approximate function $f(\tilde u)$.
+For instance, an unknown vector $u\in \lbrace \boldsymbol{v}, p, x^\kappa \rbrace$ (velocity, pressure, mole fraction)
+is approximated as
+
+\begin{align}
+ \tilde p &= \sum_i N_i \hat{p}_i,&
+ \tilde{\boldsymbol{v}} &= \sum_i N_i \hat{\boldsymbol{v}}_i,&
+ \tilde x^\kappa &= \sum_i N_i \hat x_i^\kappa,&
+\end{align}
+
+\begin{align}
+ \nabla \tilde p &= \sum_i \nabla N_i \hat{p}_i,&
+ \nabla \tilde{\boldsymbol{v}} &= \sum_i \nabla N_i \hat{\boldsymbol{v}}_i,&
+ \nabla \tilde x^\kappa &= \sum_i \nabla N_i \hat x_i^\kappa .&
+\end{align}
+
+Due to the approximation in a discrete function space with linear basis functions,
+the differential equations are not exactly fulfilled anymore but a residual $\varepsilon$ is produced.
+
+\begin{equation}
+ f(u) = 0 \qquad \Rightarrow \qquad f(\tilde u) = \varepsilon
+\end{equation}
+
+Application of the principle of weighted residuals, meaning the multiplication
+of the residual $\varepsilon$ with a weighting function $W_j$ and claiming that
+this product has to vanish within the whole domain,
+
+\begin{equation}
+ \int_\Omega \varepsilon W_j \, \mathrm{d}x \overset {!}{=} \: 0 \qquad \textrm{with} \qquad \sum_j W_j =1
+\end{equation}
+yields the following equation:
+
+\begin{equation}
+ \int_\Omega \frac{\partial \tilde u}{\partial t} W_j \, \mathrm{d}x + \int_\Omega
+ \left[ \nabla \cdot F(\tilde u) \right] W_j \, \mathrm{d}x - \int_\Omega q W_j \, \mathrm{d}x = \int_\Omega \varepsilon W_j \, \mathrm{d}x \: \overset {!}{=} \: 0.
+\end{equation}
+
+For Galerkin schemes (standard finite element method), the weighting functions $W_j$ are chosen the same as the ansatz functions $N_j$.
+However, this does not yield a locally mass-conservative discretization scheme.
+Instead, for the Box method, the weighting functions $W_j$ are chosen as the piece-wise constant functions over a
+control volume box $B_j$,
+\begin{equation}
+ W_j(x) = \begin{cases}
+ 1 &x \in B_j \\
+ 0 &x \notin B_j.\\
+ \end{cases}
+\end{equation}
+Thus, the Box method is a Petrov-Galerkin scheme with weighting functions
+not belonging to the same function space as the ansatz functions.
+
+Inserting the introduced weighting functions and using the divergence theorem results in
+\begin{equation}
+ \int_{B_j} \frac{\partial \tilde u}{\partial t} \, \mathrm{d}x + \int_{\partial B_j} F(\tilde u) \cdot \boldsymbol{n} \, \mathrm{d}\Gamma_{B_j} - \int_{B_j} q \, \mathrm{d}x \overset {!}{=} \: 0,
+\end{equation}
+which has to hold for every control volume $B_j$.
+
+The first term in previous equation can be written as
+\begin{equation}
+\int_{B_j} \frac{\partial \tilde u}{\partial t} \, \mathrm{d}x = \frac{d}{dt} \int_{B_j} \sum_i \hat u_i N_i \, \mathrm{d}x = \sum_i \frac{\partial \hat u_i}{\partial t} \int_{B_j} N_i \, \mathrm{d}x.
+\end{equation}
+A technique called mass lumping is applied by assuming that the storage capacity is
+reduced to the nodes. This means that the integrals $M_{i,j} = \int_{B_j} N_i \, \mathrm{d}x$
+are replaced by some mass lumped terms $M^{lump}_{i,j}$ which are defined as
+\begin{equation}
+ M^{lump}_{i,j} =
+ \begin{cases}
+ |B_j| &j = i\\
+ 0 &j \neq i,\\
+ \end{cases}
+\end{equation}
+where $|B_j|$ is the volume of the control volume $B_j$ associated with node $j$.
+Mass lumping yields
+\begin{equation}
+ |B_j| \frac{\partial \hat u_j}{\partial t}
+ + \int_{\partial B_j} F(\tilde u) \cdot \boldsymbol{n} \, \mathrm{d}\Gamma_{B_j} - Q_j = 0,
+\end{equation}
+where $Q_j$ is an approximation (using some quadrature rule) of the integrated source/sink term $\int_{B_j} q \, \mathrm{d}x$.
+
+Using an implicit Euler time discretization finally
+leads to the discrete form
+\begin{equation}
+ |B_j| \frac{\hat u_j^{n+1} - \hat u_j^{n}}{\Delta t}
+ + \int_{\partial B_j} F(\tilde u^{n+1}) \cdot \boldsymbol{n}
+ \; \mathrm{d}\Gamma_{B_j} - Q_j^{n+1} \: = 0,
+\end{equation}
+which is to be fulfilled for each box $B_j$.
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