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ABC
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2011 Chulalongkorn University International School of Engineering (ISE)
PML region
The PML method which was introduced in 1994 by Berenger, represents one of the most significant advances in FDTD development, since its conception in 1966, by Kane Yee. The PML produces back reflection ~10-6 10-8 over a very broad range of incident frequencies.
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
Early ABCs
When Yee first introduced the FDTD method, he used PEC boundary conditions. This technique is not very useful in a general sense. It wasnt until the 70s when several alternative ABCs were introduced. However, these early ABCs suffered from large back reflections, which limited the efficacy of the FDTD method.
E n (i ,3)
E n (i,2)
x, (i)
E (i,1)
Since En(i, 2) and En(i, 3) are determined in the FDTD calculations, and are therefore known values, we can solve this equation for En(i, 1) the exterior node. E n (i,1) = 2 E n (i,2) E n (i,3) This equation is only effective on normally incident waves and degrades rapidly when the incident wave is off-normal.
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
E ~ e j (t kx ) 1 jkE + jE = 0 c k
=0k =
(N )
n Ez
(N 1) + 1
n+ 1 2
Ez
1 Ez 2 t
1 2N
1 2
=0
Ez
and half space as
n n E z ( N ) + E z +1 (N ) (N ) = 2
Ez
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n+
1 2N
1 Ez = 2
n+
1 2
(N ) + E z (N 1)
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2011 Chulalongkorn University International School of Engineering (ISE)
n+
1 2
n Ez ( N
ct x n n E z ( N 1) E z 1 ( N ) 1) + ct + x
If we use the magic time step t = x/c, then we have following radiation condition.
n n E z ( N ) = E z 1 ( N 1)
This approach applies to a wide range of incident field angles, but due to the nature of the averaging process often gives rise to significant non-physical back reflections.
1/3
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
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Dissapative Medium
In this technique a lossy medium is used to surround the FDTD computational region. The idea is that as the waves propagate into this medium, they are dissipated before they can undergo back reflection. The problem is that there is often an input impedance between the FDTD region and the long media.
Quadratic Linear
The back reflection results from the ratio of electricalconductivity and magnetic-conductivity parameters, and *, respectively.
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
x0
x1
Dissapative Medium
Here the 0 and 0 are assumed to be free space. Therefore the input impedance is:
+ j 0 z= + j 0
which is not necessarily equal to R0 = 120. To overcome this the conductivity values can be implemented in a non-uniform fashion. That is they can have a linear or quadratic profile. This tends to require relatively thick medium layers computational requirements.
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
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By doing this the field values along the truncated boundary are determined, in the direction of outgoing wave propagation.
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Spherical Coordinates
In this case consider the spherical wave equation in 3D:
2 u = c 2 2u t 2 The radiating solution to this equation can be expressed in an expansion of the form:
U (r , , t ) = uj (ct r , , ) u1(ct r , , ) u 2(ct r , , ) un(ct r , , ) = + + ... + r rj r2 rn j =1
At very large distances only the leading terms dominate the expansion 1 We now introduce the operator L = + c t r
which is known as the Sommerfeld radiation condition.
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
Spherical Coordinates
j e jk = 0 k = + = c c t z c Note that this operator is true for a plane, however, the field distribution is not necessarily a plane wave. As a result, ERROR is introduced. To see how the error can be reduced consider the application of the radiation condition to the expansion. 1 u1 1 u1 1 u2 1 u2 lim LU = + + + r cr t r r cr t r r 1 1 1 u1 u1 1 u1 u2 = cu1 2 + 2 cu1 2 2 3 2 r r cr r 2u ru cr 2 Cancelling the first two terms we get: LU = 1 2 3 r2 r
j (t kz ) 1
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
Spherical Coordinates
This produces error to the order r-2. given this we can rewrite the radiation operator as: 1 = + O(r 2 ) r c t Radial expansion What Bayliss and Turkel did was to devise a modification to the radiation condition that allowed it to delay more quickly. The modification was proposed as 1 B1 = L + r
Sommerfeld Radiation Condition
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
Spherical Coordinates
If we now apply this operator to the expansion, we get
u3 u2 u4 B1U = 3 2 4 3 5 + O r 3 r r r This is referred to as the Bayliss-Turkel Operator of Order 1. To improve it further, they proposed a higher operator:
3 1 B2 = B12 B1 = L + L + r r
2nd order operator B12 B1
( )
( )
Spherical Coordinates
In principle this process can be repeated infinitely according to the following operator:
2k 1 2k 1 5 3 1 Bm = L + = L+ ... L + L + L + r r r r r k =1
In general the most popular order is the 2nd order, which is a good trade between accuracy and complexity of implementation.
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2U 2U 1 2U + 2 =0 2 2 c t y x
We can define a partial differential operator.
2 2 1 2 1 2 2 2 L= 2 + 2 = Dx + D y 2 Dt 2 c t x y c
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
LU = L + L U = 0
where
Dy Dt L = Dx 1 c D 2 t
Engquist and Majda showed that when applied to the appropriate boundary, L- and L+ act as exact ABCs for outgoing waves.
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which is simply the Sommerfeld Radiation Condition. If we take a two-term expansion we get: 1 2 2 1 s 1 s 2
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Dr. Yan Zhao
Dt U 1 U L Dx = =0 c x c t
Murs ABC
As we discussed, the 1st and 2nd order approximation to the Engquist-Majda one-way wave operators can be extended to 3D and applied to a rectangular region.
c
0 a
Truncated Boundary
Murs ABC
So the 1st and 2nd order operators have the following form:
Truncated Boundary First Order Approximation Second Order Approximation
x=0 x=a
1 f x c t 1 + f x c t
1 f y c t 1 + f y c t
x =0
1 2 2 1 2 1 2 =0 + + f c x t c 2 t 2 2 y 2 z 2 1 2 1 2 1 2 2 + + =0 c x t c 2 t 2 2 y 2 z 2 f
x =0
=0
x=a
x=a
=0
y=0 y=b
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y =0
=0
1 2 1 2 1 2 2 + + f c yt c 2 t 2 2 x 2 z 2 1 2 2 1 2 1 2 + + f c yt c 2 t 2 2 x 2 z 2
y =0
=0
y =b
=0
y =b
=0
Murs ABC
z=0
1 f z c t 1 + f z c t
z =0
1 2 1 2 1 2 2 =0 + + f c zt c 2 t 2 2 y 2 x 2 1 2 1 2 1 2 2 + + =0 f c zt c 2 t 2 2 y 2 x 2
z =0
=0
z=c
z =c
z =c
=0
For the 1st and 2nd order operators to be implemented, they must be converted to difference equations. This was first successfully done by Mur in 1981.
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
Murs ABC in 2D
Mur pointed that for a 2D problem, the 2nd approximation to the one-way wave operators could be reduced to a set of formulas that contain only one spatial derivative for both E and H. To see this, recall the 2D form of Maxwells equations for TE polarisation. E z 1 H y H x E z = x y t
H x 1 E z = y t H y 1 E z = t x
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
Murs ABC in 2D
If we substitute the 2nd equation into the Ez/y term of the 2nd order one-way wave operator
1 2 1 2 1 2 2 2+ E =0 2 z 2 y c xt c t 1 2 Ez 1 2 Ez 2 H x 2 + =0 2 c xt c t 2 yt z =0 Now we can integrate w.r.t. t, assuming that the initial field values are zero t f (t = 0) = 0
t =0
E z 1 E z c H x x c t 2 y = 0 z =0
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
Murs ABC in 2D
We have now reduced the form of the one-way wave operator to all first order derivatives. This significantly simplifies the implementation of this method because now all of the spatial and temporal derivatives, or finite differences, are first order. For the TM wave, we can repeat this process:
1 2 1 2 1 2 H =0 2 2+ 2 z 2 y c xt c t
at z = 0 boundary.
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Murs ABC in 2D
Substituting in the appropriate expression for Hz/y we get:
2 H z 1 2 H z ct 2 E x =0 2 2 yt z =0 xt c t
Integrating, we get:
H z 1 H z ct E x x c t 2 y = 0 z =0
ABC at the z = 0 plane.
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Murs ABC in 2D
Now lets consider the FDTD difference equations that Mur formulated as an ABC for the first order:
x
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i, j
Hy (i+1/2, j)
Dr. Yan Zhao
Murs ABC in 2D
In this figure the fields at the truncated boundary can be determined using a discretised form of the first order one-way wave operator:
E z x E z t
n E z +1
n +1 / 2 i +1 / 2, j n +1 / 2 i +1 / 2, j
n n E z +1 / 2 (i + 1, j ) E z +1 / 2 (i, j ) = x n n E z +1 (i + 1 / 2, j ) E z (i + 1 / 2, j ) = t
Murs ABC in 2D
Now we can determine the field values for non-integer indices
1 n n n n E z +1 (i + 1, j ) + E z (i + 1, j ) E z +1 (i, j ) E z (i, j ) 8x 1 n+1 n +1 n n E z (i + 1, j ) + E z (i, j ) E z (i + 1, j ) E z (i, j ) = 0 2ct
(i, j ) =
n Ez
Note the similarity of this equation to Tafloves introduced in 1975. ~ Introduced on auxiliary term E = Rb E ~ n +1 ~ n ~n ct ~ n +1 E z = E z (i + 1, j ) + E z (i + 1, j ) E z (i, j ) ct +
ct (i + 1, j ) + ct +
n +1 n E z (i + 1, j ) E z (i, j )
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Murs ABC in 2D
This indicates that the Ez field value at the left truncated boundary can be determined from the field values at the internal nodes on the boundary at a previous time. For the 2nd order Murs ABC, we need to include the difference equation for the magnetic field component.
H x y
n +1 / 2
i +1 / 2 , j
n n H x +1 / 2 (i + 1 / 2, j + 1 / 2) H x +1 / 2 (i + 1 / 2, j 1 / 2 ) = y
] ]
Murs ABC in 2D
According to this, then Tafloves ABC changes to:
Ra ~ n +1 ~n ~n ct ~ n +1 E z (i, j ) = E z (i + 1, j ) + E z (i + 1, j ) E z (i, j ) ct ct + + 1 2
1 1 1 n+ 1 n+ n+ n+ 1 1 1 2 i, j + 2 (i + 1, j ) H 2 i + 1, j + 2 i + 1, j H x Hx Hx x 2 2 2
For the TM case, the 1st order approximation at the truncated boundary is identical to the TE case except replace Ez with Hz.
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Murs ABC in 2D
Also, by comparison, we can see that the 2nd order approximation of the TM absorption is identical to that of the TE condition, except that we replace (-Hx) with (Ex) so
n H z +1 (i,
j) =
n H z (i + 1,
ct n +1 n j) + H z (i + 1, j ) H z (i, j ) ct +
n +1 n H z (i + 1, j ) H z (i, j ) +
1 2 (i + 1,
j) =
n H z (i + 1,
ct j) + ct + 1 j + ) + Ex 2
Ex
~ n+
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1 2 (i ,
1 j + ) Ex 2
~ n+
1 2 (i ,
~ n+
1 j + ) Ex 2
~ n+
1 2 (i + 1,
1 j ) 2
Corners in 2D Problem
In a rectangular region, the differences for the ABCs located at the corner nodes need to be dealt with differently (separately).
y n 0 Hx Ez P Hy, Ez (i0+1, j0+1) 0 Corner (i0, j0)
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
(i0+1, j0+1)
Ez
(i0+1, j0+1)
Corners in 2D Problem
We rotate the original x, y coordinate system by 45 degrees to obtain a new coordinate system. If we assume that the truncated boundary located at the corner is parallel to the 0, n axis, then the first order Mur approximation of the one-way operator is: E z 1 E z =0 c t Now using the procedure similar to the one presented above, the difference representation at the cell centre (P) is:
E z
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1 n+ 2 p
Ez
n+
1 2
(i0 + 1, j0 + 1) Ez (i0 , j0 )
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
n+
1 2
Corners in 2D Problem
Using interpolation we get:
1 2 n n E z +1 (i0 , j0 ) + E z (i0 , j0 ) (i0 , j0 ) = 2
Ez
n+
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Murs ABC in 3D
We can use the discretized 2nd order ABC, because on x = 0 boundary there are only Hx, Ey, and Ez components. The general formula for the Mur ABC in 3D is:
ct n +1 ct n n 1 n f n+1 ( P0 ) = f n1 (Q0 ) + f (Q0 ) f ( Po ) 2 f (Q0 ) + f ( P0 ) ct + (ct )2 f n ( P ) + f n ( P2 ) + f n ( P3 ) + f n ( P4 ) + f n (Q1 ) 1 + 2 (ct + ) + f n (Q ) + f n (Q ) + f n (Q ) 2 3 4
P4 Q4 Q0 Q3 Q2 Q1 P3 P0 P1 P2
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Murs ABC in 3D
Where P0 is a node on the truncated boundary, Q0 is a node internally adjacent to P0. The nodes P1, P2, P3, P4 are the nodes on the truncated boundary that are adjacent to P0, and the nodes Q1, Q2, Q3, Q4 are adjacent to Q0. The variable f stands for the electric field component. We can refer to the following table to determine the individual field components. x = 0 or x = a, f E y E z
y = 0 or y = b, f E x E z z = 0 or z = c, f E y E x
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Data Interpolation
ABCs are based on interpolation or extrapolation. The main task of interpolation or curve fitting is given a discrete set of data values find a function that satisfies not only the value at those points, but can be used to determine the values at intermediate points. More often than not, polynomials are used as function approximators and their curves are used for curve fitting.
Outer boundary
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Taylor Polynomial
The idea behind Taylor polynomials is given an analytic function, it can be approximated by a series expansion in terms of its derivatives,
f ' ( x), f ' ' ( x), f ' ' ' ( x), etc K
If we are given a sample point within the computational domain, say X0, we can use the series expansion to determine additional points in the domain.
f ' ( x0 ) f ' ' ( x0 ) f n ( x0 ) 2 Pn ( x) = f ( x0 ) + ( x x0 ) + ( x x0 ) + K + ( x x0 ) n n! 1! 2! n f ( k ) ( x0 ) (x x0 )k = k! k =0
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
Pk ( xk ) = f k
Polynomial Data Pair
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p ( x) = a0 + a1 x + a2 x 2 + ...am1 x m1 + am x m
Therefore the goal in these techniques is to determine the coefficients of the nth degree polynomial.
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( x xk ) + an1 ( x x1 )( x x2 )...( x xn 1 )
where the coefficients a0, a1, a2 an-1 are determined so as to enforce the interpolation criteria, Pn1 ( xk ) = f k
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
f 2 a0 a0 = f1 , a1 = x2 x1
Note that in this case the x2 variable eliminates all of the ak (for k 2). In extending this to the next higher coefficient, a2, we get:
Pn 1 ( x3 ) = f 3 = a0 + a1 ( x3 x1 ) + a2 ( x3 x1 )( x3 x2 )
Which yields:
f 3 a0 a1 ( x3 x1 ) a2 = ( x3 x1 )( x3 x2 )
Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
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ak =
ak =
f 3 a0 al( x3 x1 )( x3 x2 )... ( x3 x1 )( x3 x2 )
l +1
a0 = f [x1 ]
a1 = f [x1 , x2 ]
an 1 = f [x1 , x2 ,...xn ]
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Xmax
X1 U1
X2 U2
X3 U3
Xn Un
The updated field component at the location of the truncated boundary, Xmax.
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0 2 Now we can define a sequence of backward differences that originate at U1: 1u (t , xmax ct ) = 1u1 = u1 u2
2u (t , xmax ct ) = 2u1 = 1u1 1u2 N 1u (t , xmax ct ) = N 1u1 = N 2u1 N 2u2
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Dr. Yan Zhao 2011 Chulalongkorn University International School of Engineering (ISE)
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Ul U1 + U1 +
1
( + 1)
2U1 + K
If we let l = 0, we get a (t+t, xmax), which is the field value on the truncated boundary. The resulting Liaos ABC is: