## Schriften zur Funktionalanalysis und Geomathematik

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11

This work is concerned with a nonlinear Galerkin method for solving the incompressible Navier-Stokes equation on the sphere. It extends the work of Debussche, Marion,Shen, Temam et al. from one-dimensional or toroidal domains to the spherical geometry. In the first part, the method based on type 3 vector spherical harmonics is introduced and convergence is indicated. Further it is shown that the occurring coupling terms involving three vector spherical harmonics can be expressed algebraically in terms of Wigner-3j coefficients. To improve the numerical efficiency and economy we introduce an FFT based pseudo spectral algorithm for computing the Fourier coefficients of the nonlinear advection term. The resulting method scales with O(N^3), if N denotes the maximal spherical harmonic degree. The latter is demonstrated in an extensive numerical example.

3

The Earth's surface is an almost perfect sphere. Deviations from its spherical shape are less than 0,4% of its radius and essentially arise from its rotation. All equipotential surfaces are nearly spherical, too. In consequence, multiscale modelling of geoscientifically relevant data on the sphere involving rotational symmetry of the trial functions used for the approximation plays an important role. In this paper we deal with isotropic kernel functions showing local support and (one-dimensional) polynomial structure (briefly called isotropic finite elements) for reconstructing square--integrable functions on the sphere. Essential tool is the concept of multiresolution analysis by virtue of the spherical up function. The main result is a tree algorithm in terms of (low--order) isotropic finite elements.

22

By means of the limit and jump relations of classical potential theory with respect to the vectorial Helmholtz equation a wavelet approach is established on a regular surface. The multiscale procedure is constructed in such a way that the emerging scalar, vectorial and tensorial potential kernels act as scaling functions. Corresponding wavelets are defined via a canonical refinement equation. A tree algorithm for fast decomposition of a complex-valued vector field given on a regular surface is developed based on numerical integration rules. By virtue of this tree algorithm, an effcient numerical method for the solution of vectorial Fredholm integral equations on regular surfaces is discussed in more detail. The resulting multiscale formulation is used to solve boundary-value problems for the time harmonic Maxwell's equations corresponding to regular surfaces.

27

This paper presents a method for approximating spherical functions from discrete data of a block-wise grid structure. The essential ingredients of the approach are scaling and wavelet functions within a biorthogonalisation process generated by locally supported zonal kernel functions. In consequence, geophysically and geodetically relevant problems involving rotation-invariant pseudodifferential operators become attackable. A multiresolution analysis is formulated enabling a fast wavelet transform similar to the algorithms known from one-dimensional Euclidean theory.

39

The purpose of this paper is the canonical connection of classical global gravity field determination following the concept of Stokes (1849), Bruns (1878), and Neumann (1887) on the one hand and modern locally oriented multiscale computation by use of adaptive locally supported wavelets on the other hand. Essential tools are regularization methods of the Green, Neumann, and Stokes integral representations. The multiscale approximation is guaranteed simply as linear difference scheme by use of Green, Neumann, and Stokes wavelets, respectively. As an application, gravity anomalies caused by plumes are investigated for the Hawaiian and Iceland areas.

23

The following three papers present recent developments in nonlinear Galerkin schemes for solving the spherical Navier-Stokes equation, in wavelet theory based on the 3-dimensional ball, and in multiscale solutions of the Poisson equation inside the ball, that have been presented at the 76th GAMM Annual Meeting in Luxemburg. Part A: A Nonlinear Galerkin Scheme Involving Vectorial and Tensorial Spherical Wavelets for Solving the Incompressible Navier-Stokes Equation on the Sphere The spherical Navier-Stokes equation plays a fundamental role in meteorology by modelling meso-scale (stratified) atmospherical flows. This article introduces a wavelet based nonlinear Galerkin method applied to the Navier-Stokes equation on the rotating sphere. In detail, this scheme is implemented by using divergence free vectorial spherical wavelets, and its convergence is proven. To improve numerical efficiency an extension of the spherical panel clustering algorithm to vectorial and tensorial kernels is constructed. This method enables the rapid computation of the wavelet coefficients of the nonlinear advection term. Thereby, we also indicate error estimates. Finally, extensive numerical simulations for the nonlinear interaction of three vortices are presented. Part B: Methods of Resolution for the Poisson Equation on the 3D Ball Within the article at hand, we investigate the Poisson equation solved by an integral operator, originating from an ansatz by Greens functions. This connection between mass distributions and the gravitational force is essential to investigate, especially inside the Earth, where structures and phenomena are not sufficiently known and plumbable. Since the operator stated above does not solve the equation for all square-integrable functions, the solution space will be decomposed by a multiscale analysis in terms of scaling functions. Classical Euclidean wavelet theory appears not to be the appropriate choice. Ansatz functions are chosen to be reflecting the rotational invariance of the ball. In these terms, the operator itself is finally decomposed and replaced by versions more manageable, revealing structural information about itself. Part C: Wavelets on the 3–dimensional Ball In this article wavelets on a ball in R^3 are introduced. Corresponding properties like an approximate identity and decomposition/reconstruction (scale step property) are proved. The advantage of this approach compared to a classical Fourier analysis in orthogonal polynomials is a better localization of the used ansatz functions.

10

The following two papers present recent developments in multiscale ocean circulation modeling and multiscale gravitational field modeling that have been presented at the 2nd International GOCE User Workshop 2004 in Frascati. Part A - Multiscale Modeling of Ocean Circulation In this paper the applicability of multiscale methods to oceanography is demonstrated. More precisely, we use convolutions with certain locally supported kernels to approximate the dynamic topography and the geostrophic flow. As data sets the French CLS01 data are used for the mean sea surface topography and are compared to the EGM96 geoid. Since those two data sets have very different levels of spatial resolutions the necessity of an interpolating or approximating tool is evident. Compared to the standard spherical harmonics approach, the strongly space localizing kernels improve the possibilities of local data analysis here. Part B - Multiscale Modeling from EIGEN-1S, EIGEN-2, EIGEN-GRACE01S, GGM01, UCPH2002_0.5, EGM96 Spherical wavelets have been developed by the Geomathematics Group Kaiserslautern for several years and have been successfully applied to georelevant problems. Wavelets can be considered as consecutive band-pass filters and allow local approximations. The wavelet transform can also be applied to spherical harmonic models of the Earth's gravitational field like the most up-to-date EIGEN-1S, EIGEN-2, EIGEN-GRACE01S, GGM01, UCPH2002_0.5, and the well-known EGM96. Thereby, wavelet coefficients arise. In this paper it is the aim of the Geomathematics Group to make these data available to other interested groups. These wavelet coefficients allow not only the reconstruction of the wavelet approximations of the gravitational potential but also of the geoid, of the gravity anomalies and other important functionals of the gravitational field. Different types of wavelets are considered: bandlimited wavelets (here: Shannon and Cubic Polynomial (CuP)) as well as non-bandlimited ones (in our case: Abel-Poisson). For these types wavelet coefficients are computed and wavelet variances are given. The data format of the wavelet coefficients is also included.

24

We will give explicit differentiation and integration rules for homogeneous harmonic polynomial polynomials and spherical harmonics in IR^3 with respect to the following differential operators: partial_1, partial_2, partial_3, x_3 partial_2 - x_2 partial_3, x_3 partial_1 - x_1 partial_3, x_2 partial_1 - x_1 partial_2 and x_1 partial_1 + x_2 partial_2 + x_3 partial_3. A numerical application to the problem of determining the geopotential field will be shown.

29

We introduce a method to construct approximate identities on the 2-sphere which have an optimal localization. This approach can be used to accelerate the calculations of approximations on the 2-sphere essentially with a comparably small increase of the error. The localization measure in the optimization problem includes a weight function which can be chosen under some constraints. For each choice of weight function existence and uniqueness of the optimal kernel are proved as well as the generation of an approximate identity in the bandlimited case. Moreover, the optimally localizing approximate identity for a certain weight function is calculated and numerically tested.

16

We introduce splines for the approximation of harmonic functions on a 3-dimensional ball. Those splines are combined with a multiresolution concept. More precisely, at each step of improving the approximation we add more data and, at the same time, reduce the hat-width of the used spline basis functions. Finally, a convergence theorem is proved. One possible application, that is discussed in detail, is the reconstruction of the Earth´s density distribution from gravitational data obtained at a satellite orbit. This is an exponentially ill-posed problem where only the harmonic part of the density can be recovered since its orthogonal complement has the potential 0. Whereas classical approaches use a truncated singular value decomposition (TSVD) with the well-known disadvantages like the non-localizing character of the used spherical harmonics and the bandlimitedness of the solution, modern regularization techniques use wavelets allowing a localized reconstruction via convolutions with kernels that are only essentially large in the region of interest. The essential remaining drawback of a TSVD and the wavelet approaches is that the integrals (i.e. the inner product in case of a TSVD and the convolution in case of wavelets) are calculated on a spherical orbit, which is not given in reality. Thus, simplifying modelling assumptions, that certainly include a modelling error, have to be made. The splines introduced here have the important advantage, that the given data need not be located on a sphere but may be (almost) arbitrarily distributed in the outer space of the Earth. This includes, in particular, the possibility to mix data from different satellite missions (different orbits, different derivatives of the gravitational potential) in the calculation of the Earth´s density distribution. Moreover, the approximating splines can be calculated at varying resolution scales, where the differences for increasing the resolution can be computed with the introduced spline-wavelet technique.

46

In this article we combine the modern theory of Sobolev spaces with the classical theory of limit formulae and jump relations of potential theory. Also other authors proved the convergence in Lebesgue spaces for integrable functions. The achievement of this paper is the L2 convergence for the weak derivatives of higher orders. Also the layer functions F are elements of Sobolev spaces and a two dimensional suitable smooth submanifold in R3, called regular Cm-surface. We are considering the potential of the single layer, the potential of the double layer as well as their first order normal derivatives. Main tool is the convergence in Cm-norm which is proved with help of some results taken from [14]. Additionally, we need a result about the limit formulae in L2-norm, which can be found in [16], and a reduction result which we took from [19]. Moreover we prove the convergence in the Hölder spaces Cm,alpha. Finally, we give an application of the limit formulae and jump relations to Geomathematics. We generalize a density results, see e.g. [11], from L2 to Hm,2. For it we prove the limit formula for U1 in (Hm,2)' also.

31

This paper deals with the problem of determining the sea surface topography from geostrophic flow of ocean currents on local domains of the spherical Earth. In mathematical context the problem amounts to the solution of a spherical differential equation relating the surface curl gradient of a scalar field (sea surface topography) to a surface divergence-free vector field(geostrophic ocean flow). At first, a continuous solution theory is presented in the framework of an integral formula involving Green’s function of the spherical Beltrami operator. Different criteria derived from spherical vector analysis are given to investigate uniqueness. Second, for practical applications Green’s function is replaced by a regularized counterpart. The solution is obtained by a convolution of the flow field with a scaled version of the regularized Green function. Calculating locally without boundary correction would lead to errors near the boundary. To avoid these Gibbs phenomenona we additionally consider the boundary integral of the corresponding region on the sphere which occurs in the integral formula of the solution. For reasons of simplicity we discuss a spherical cap first, that means we consider a continuously differentiable (regular) boundary curve. In a second step we concentrate on a more complicated domain with a non continuously differentiable boundary curve, namely a rectangular region. It will turn out that the boundary integral provides a major part for stabilizing and reconstructing the approximation of the solution in our multiscale procedure.

19

In modern geoscience, understanding the climate depends on the information about the oceans. Covering two thirds of the Earth, oceans play an important role. Oceanic phenomena are, for example, oceanic circulation, water exchanges between atmosphere, land and ocean or temporal changes of the total water volume. All these features require new methods in constructive approximation, since they are regionally bounded and not globally observable. This article deals with methods of handling data with locally supported basis functions, modeling them in a multiscale scheme involving a wavelet approximation and presenting the main results for the dynamic topography and the geostrophic flow, e.g., in the Northern Atlantic. Further, it is demonstrated that compressional rates of the occurring wavelet transforms can be achieved by use of locally supported wavelets.

30

We present a constructive theory for locally supported approximate identities on the unit ball in \(\mathbb{R}^3\). The uniform convergence of the convolutions of the derived kernels with an arbitrary continuous function \(f\) to \(f\), i.e. the defining property of an approximate identity, is proved. Moreover, an explicit representation for a class of such kernels is given. The original publication is available at www.springerlink.com

48

We provide a space domain oriented separation of magnetic fields into parts generated by sources in the exterior and sources in the interior of a given sphere. The separation itself is well-known in geomagnetic modeling, usually in terms of a spherical harmonic analysis or a wavelet analysis that is spherical harmonic based. However, it can also be regarded as a modification of the Helmholtz decomposition for which we derive integral representations with explicitly known convolution kernels. Regularizing these singular kernels allows a multiscale representation of the magnetic field with locally supported wavelets. This representation is applied to a set of CHAMP data for crustal field modeling.

50

This report gives an insight into basics of stress field simulations for geothermal reservoirs.
The quasistatic equations of poroelasticity are deduced from constitutive equations, balance
of mass and balance of momentum. Existence and uniqueness of a weak solution is shown.
In order of to find an approximate solution numerically, usage of the so–called method of
fundamental solutions is a promising way. The idea of this method as well as a sketch of
how convergence may be proven are given.

47

Due to the increasing demand of renewable energy production facilities, modeling geothermal reservoirs is a central issue in today's engineering practice. After over 40 years of study, many models have been proposed and applied to hundreds of sites worldwide. Nevertheless, with increasing computational capabilities new efficient methods are becoming available. The aim of this paper is to present recent progress on seismic processing as well as fluid and thermal flow simulations for porous and fractured subsurface systems. The commonly used methods in industrial energy exploration and production such as forward modeling, seismic migration, and inversion methods together with continuum and discrete flow models for reservoir monitoring and management are reviewed. Furthermore, for two specific features numerical examples are presented. Finally, future fields of studies are described.

2

A new class of locally supported radial basis functions on the (unit) sphere is introduced by forming an infinite number of convolutions of ''isotropic finite elements''. The resulting up functions show useful properties: They are locally supported and are infinitely often differentiable. The main properties of these kernels are studied in detail. In particular, the development of a multiresolution analysis within the reference space of square--integrable functions over the sphere is given. Altogether, the paper presents a mathematically significant and numerically efficient introduction to multiscale approximation by locally supported radial basis functions on the sphere.

4

The following three papers present recent developments in multiscale gravitational field modeling by the use of CHAMP or CHAMP-related data. Part A - The Model SWITCH-03: Observed orbit perturbations of the near-Earth orbiting satellite CHAMP are analyzed to recover the long-wavelength features of the Earth's gravitational potential. More precisely, by tracking the low-flying satellite CHAMP by the high-flying satellites of the Global Positioning System (GPS) a kinematic orbit of CHAMP is obtainable from GPS tracking observations, i.e. the ephemeris in cartesian coordinates in an Earth-fixed coordinate frame (WGS84) becomes available. In this study we are concerned with two tasks: First we present new methods for preprocessing, modelling and analyzing the emerging tracking data. Then, in a first step we demonstrate the strength of our approach by applying it to simulated CHAMP orbit data. In a second step we present results obtained by operating on a data set derived from real CHAMP data. The modelling is mainly based on a connection between non-bandlimited spherical splines and least square adjustment techniques to take into account the non-sphericity of the trajectory. Furthermore, harmonic regularization wavelets for solving the underlying Satellite-to-Satellite Tracking (SST) problem are used within the framework of multiscale recovery of the Earth's gravitational potential leading to SWITCH-03 (Spline and Wavelet Inverse Tikhonov regularized CHamp data). Further it is shown how regularization parameters can be adapted adequately to a specific region improving a globally resolved model. Finally we give a comparison of the developed model to the EGM96 model, the model UCPH2002_02_0.5 from the University of Copenhagen and the GFZ models EIGEN-1s and EIGEN-2. Part B - Multiscale Solutions from CHAMP: CHAMP orbits and accelerometer data are used to recover the long- to medium- wavelength features of the Earth's gravitational potential. In this study we are concerned with analyzing preprocessed data in a framework of multiscale recovery of the Earth's gravitational potential, allowing both global and regional solutions. The energy conservation approach has been used to convert orbits and accelerometer data into in-situ potential. Our modelling is spacewise, based on (1) non-bandlimited least square adjustment splines to take into account the true (non-spherical) shape of the trajectory (2) harmonic regularization wavelets for solving the underlying inverse problem of downward continuation. Furthermore we can show that by adapting regularization parameters to specific regions local solutions can improve considerably on global ones. We apply this concept to kinematic CHAMP orbits, and, for test purposes, to dynamic orbits. Finally we compare our recovered model to the EGM96 model, and the GFZ models EIGEN-2 and EIGEN-GRACE01s. Part C - Multiscale Modeling from EIGEN-1S, EIGEN-2, EIGEN-GRACE01S, UCPH2002_0.5, EGM96: Spherical wavelets have been developed by the Geomathematics Group Kaiserslautern for several years and have been successfully applied to georelevant problems. Wavelets can be considered as consecutive band-pass filters and allow local approximations. The wavelet transform can also be applied to spherical harmonic models of the Earth's gravitational field like the most up-to-date EIGEN-1S, EIGEN-2, EIGEN-GRACE01S, UCPH2002_0.5, and the well-known EGM96. Thereby, wavelet coefficients arise and these shall be made available to other interested groups. These wavelet coefficients allow the reconstruction of the wavelet approximations. Different types of wavelets are considered: bandlimited wavelets (here: Shannon and Cubic Polynomial (CP)) as well as non-bandlimited ones (in our case: Abel-Poisson). For these types wavelet coefficients are computed and wavelet variances are given. The data format of the wavelet coefficients is also included.

14

Based on the well-known results of classical potential theory, viz. the limit and jump relations for layer integrals, a numerically viable and e±cient multiscale method of approximating the disturbing potential from gravity anomalies is established on regular surfaces, i.e., on telluroids of ellipsoidal or even more structured geometric shape. The essential idea is to use scale dependent regularizations of the layer potentials occurring in the integral formulation of the linearized Molodensky problem to introduce scaling functions and wavelets on the telluroid. As an application of our multiscale approach some numerical examples are presented on an ellipsoidal telluroid.