基于非结构/混合网格模拟黏性流的高阶精度DDG/FV混合方法

间断Galerkin有限元方法(discontinuous Galerkin method, DGM) 因具有计算精度高、模板紧致、易于并行等优点, 近年来已成为非结构/混合网格上广泛研究的高阶精度数值方法. 但其计算量和内存需求量巨大, 特别是对于网格规模达到百万甚至数千万的大型三维实际复杂外形问题, 其计算量和存储量对计算资源的消耗是难以承受的. 基于“混合重构”的DG/FV 格式可以有效降低DGM 的计算量和存储量. 本文将DDG 黏性项离散方法推广应用于DG/FV 混合算法, 得到新的DDG/FV混合格式, 以进一步提高DG/FV混合算法对于黏性流动模拟的计算效率. 通过Couette流动、层流平板边界层、定常圆柱绕流, 非定常圆柱绕流和NACA0012 翼型绕流等二维黏性流算例, 优化了DDG 通量公式中的参数选择, 验证了DDG/FV 混合格式对定常和非定常黏性流模拟的精度和计算效率, 并与广泛使用的BR2-DG 格式的计算结果和效率进行对比研究. 一系列数值实验结果表明, 本文构造的DDG/FV混合格式在二维非结构/混合网格的Navier-Stokes 方程求解中, 在达到相同的数值精度阶的前提下, 相比BR2-DG格式, 对于隐式时间离散的定常问题计算效率提高了2 倍以上, 对于显式时间离散的非定常问题计算效率提高1.6 倍, 并且在一些算例中, 混合格式具有更优良的计算稳定性. DDG/FV 混合格式提升了计算效率和稳定性, 具有良好的应用前景.      

A hybrid Padé ADI scheme of higher‐order for convection–diffusion problems

A high‐order Padé alternating direction implicit (ADI) scheme is proposed for solving unsteady convection–diffusion problems. The scheme employs standard high‐order Padé approximations for spatial first and second derivatives in the convection‐diffusion equation. Linear multistep (LM) methods combined with the approximate factorization introduced by Beam and Warming (J. Comput. Phys. 1976; 22 : 87–110) are applied for the time integration. The approximate factorization imposes a second‐order temporal accuracy limitation on the ADI scheme independent of the accuracy of the LM method chosen for the time integration. To achieve a higher‐order temporal accuracy, we introduce a correction term that reduces the splitting error. The resulting scheme is carried out by repeatedly solving a series of pentadiagonal linear systems producing a computationally cost effective solver. The effects of the approximate factorization and the correction term on the stability of the scheme are examined. A modified wave number analysis is performed to examine the dispersive and dissipative properties of the scheme. In contrast to the HOC‐based schemes in which the phase and amplitude characteristics of a solution are altered by the variation of cell Reynolds number, the present scheme retains the characteristics of the modified wave numbers for spatial derivatives regardless of the magnitude of cell Reynolds number. The superiority of the proposed scheme compared with other high‐order ADI schemes for solving unsteady convection‐diffusion problems is discussed. A comparison of different time discretizations based on LM methods is given. Copyright © 2009 John Wiley & Sons, Ltd.     

A high‐order compact finite‐difference lattice Boltzmann method for simulation of steady and unsteady incompressible flows

A high‐order compact finite‐difference lattice Boltzmann method (CFDLBM) is proposed and applied to accurately compute steady and unsteady incompressible flows. Herein, the spatial derivatives in the lattice Boltzmann equation are discretized by using the fourth‐order compact FD scheme, and the temporal term is discretized with the fourth‐order Runge–Kutta scheme to provide an accurate and efficient incompressible flow solver. A high‐order spectral‐type low‐pass compact filter is used to stabilize the numerical solution. An iterative initialization procedure is presented and applied to generate consistent initial conditions for the simulation of unsteady flows. A sensitivity study is also conducted to evaluate the effects of grid size, filtering, and procedure of boundary conditions implementation on accuracy and convergence rate of the solution. The accuracy and efficiency of the proposed solution procedure based on the CFDLBM method are also examined by comparison with the classical LBM for different flow conditions. Two test cases considered herein for validating the results of the incompressible steady flows are a two‐dimensional (2‐D) backward‐facing step and a 2‐D cavity at different Reynolds numbers. Results of these steady solutions computed by the CFDLBM are thoroughly compared with those of a compact FD Navier–Stokes flow solver. Three other test cases, namely, a 2‐D Couette flow, the Taylor's vortex problem, and the doubly periodic shear layers, are simulated to investigate the accuracy of the proposed scheme in solving unsteady incompressible flows. Results obtained for these test cases are in good agreement with the analytical solutions and also with the available numerical and experimental results. The study shows that the present solution methodology is robust, efficient, and accurate for solving steady and unsteady incompressible flow problems even at high Reynolds numbers. Copyright © 2014 John Wiley & Sons, Ltd.     

Spectral p‐multigrid discontinuous Galerkin solution of the Navier–Stokes equations

Discontinuous Galerkin (DG) methods are very well suited for the construction of very high‐order approximations of the Euler and Navier–Stokes equations on unstructured and possibly nonconforming grids, but are rather demanding in terms of computational resources. In order to improve the computational efficiency of this class of methods, a high‐order spectral element DG approximation of the Navier–Stokes equations coupled with a p‐multigrid solution strategy based on a semi‐implicit Runge–Kutta smoother is considered here. The effectiveness of the proposed approach in the solution of compressible shockless flow problems is demonstrated on 2D inviscid and viscous test cases by comparison with both a p‐multigrid scheme with non‐spectral elements and a spectral element DG approach with an implicit time integration scheme. Copyright © 2010 John Wiley & Sons, Ltd.     

A third‐order implicit discontinuous Galerkin method based on a Hermite WENO reconstruction for time‐accurate solution of the compressible Navier–Stokes equations

A space and time third‐order discontinuous Galerkin method based on a Hermite weighted essentially non‐oscillatory reconstruction is presented for the unsteady compressible Euler and Navier–Stokes equations. At each time step, a lower‐upper symmetric Gauss–Seidel preconditioned generalized minimal residual solver is used to solve the systems of linear equations arising from an explicit first stage, single diagonal coefficient, diagonally implicit Runge–Kutta time integration scheme. The performance of the developed method is assessed through a variety of unsteady flow problems. Numerical results indicate that this method is able to deliver the designed third‐order accuracy of convergence in both space and time, while requiring remarkably less storage than the standard third‐order discontinous Galerkin methods, and less computing time than the lower‐order discontinous Galerkin methods to achieve the same level of temporal accuracy for computing unsteady flow problems. Copyright © 2015 John Wiley & Sons, Ltd.     

A stable second‐order mass‐weighted upwind scheme for unstructured meshes

In this paper, an original second‐order upwind scheme for convection terms is described and implemented in the context of a Control‐Volume Finite‐Element Method (CVFEM). The proposed scheme is a second‐order extension of the first‐order MAss‐Weighted upwind (MAW) scheme proposed by Saabas and Baliga (Numer. Heat Transfer 1994; 26B :381–407). The proposed second‐order scheme inherits the well‐known stability characteristics of the MAW scheme, but exhibits less artificial viscosity and ensures much higher accuracy. Consequently, and in contrast with nearly all second‐order upwind schemes available in the literature, the proposed second‐order MAW scheme does not need limiters. Some test cases including two pure convection problems, the driven cavity and steady and unsteady flows over a circular cylinder, have been undertaken successfully to validate the new scheme. The verification tests show that the proposed scheme exhibits a low level of artificial viscosity in the pure convection problems; exhibits second‐order accuracy for the driven cavity; gives accurate reattachment lengths for low‐Reynolds steady flow over a circular cylinder; and gives constant‐amplitude vortex shedding for the case of high‐Reynolds unsteady flow over a circular cylinder. Copyright © 2005 John Wiley & Sons, Ltd.     

Coupling of finite element method and discontinuous Galerkin method to simulate viscoelastic flows

In this paper, a numerical method, which is about the coupling of continuous and discontinuous Galerkin method based on the splitting scheme, is presented for the calculation of viscoelastic flows of the Oldroyd‐B fluid. The momentum equation is discretized in time by using the Adams‐Bashforth second‐order algorithm, and then decoupled via the splitting approach. Considering the Oldroyd‐B constitutive equation, the second‐order Runge‐Kutta approach is selected to complete the temporal discretization. As for the spatial discretizations, the fundamental purpose is to make the best of finite element method (FEM) and discontinuous Galerkin (DG) method to handle different types of equations. Specifically speaking, for the subequations, FEM is chosen to treat the Poisson and Helmholtz equations, and DG is employed to deal with the nonlinear convective term. In addition, because of the hyperbolic nature, DG is also utilized to discretize the Oldroyd‐B constitutive equation spatially. This coupled method avoids resorting to extra stabilization technique occurred in standard FEM framework even for moderately high values of Weissenberg number and also reduces the complexity compared with unified DG scheme. The Oldroyd‐B model is applied to investigate several typical and challenging benchmarks, such as the 4:1 planar contraction flow and the lid‐driven cavity flow, with a wide range of Weissenberg number to illustrate the feasibility, robustness, and validity of our coupled method.     

High‐resolution p‐adaptive DG simulations of flows with moving shocks

High‐order accurate DG discretization is employed for Reynolds‐averaged Navier–Stokes equations modeling of complex shock‐dominated, unsteady flow generated by gas issuing from a shock tube nozzle. The DG finite element discretization framework is used for both the flow field and turbulence transport. Turbulent flow in the near wall regions and the flow field is modeled by the Spalart–Allmaras one‐equation model. The effect of rotation on turbulence modeling for shock‐dominated supersonic flows is considered for accurate resolution of the large coherent and vortical structures that are of interest in high‐speed combustion and supersonic flows. Implicit time marching methodologies are used to enable large time steps by avoiding the severe time step limitations imposed by the higher order DG discretizations and the source terms. Sufficiently high mesh density is used to enable crisp capturing of discontinuities. A p ? type refinement procedure is employed to accurately represent the vortical structures generated during the development of the flow. The computed solutions showed qualitative agreement with experiments. Copyright © 2014 John Wiley & Sons, Ltd.     

Developing a unified FVE‐ALE approach to solve unsteady fluid flow with moving boundaries

In this study, an arbitrary Lagrangian–Eulerian (ALE) approach is incorporated with a mixed finite‐volume–element (FVE) method to establish a novel moving boundary method for simulating unsteady incompressible flow on non‐stationary meshes. The method collects the advantages of both finite‐volume and finite‐element (FE) methods as well as the ALE approach in a unified algorithm. In this regard, the convection terms are treated at the cell faces using a physical‐influence upwinding scheme, while the diffusion terms are treated using bilinear FE shape functions. On the other hand, the performance of ALE approach is improved by using the Laplace method to improve the hybrid grids, involving triangular and quadrilateral elements, either partially or entirely. The use of hybrid FE grids facilitates this achievement. To show the robustness of the unified algorithm, we examine both the first‐ and the second‐order temporal stencils. The accuracy and performance of the extended method are evaluated via simulating the unsteady flow fields around a fixed cylinder, a transversely oscillating cylinder, and in a channel with an indented wall. The numerical results presented demonstrate significant accuracy benefits for the new hybrid method on coarse meshes and where large time steps are taken. Of importance, the current method yields the second‐order temporal accuracy when the second‐order stencil is used to discretize the unsteady terms. Copyright © 2009 John Wiley & Sons, Ltd.     

A high‐order discontinuous Galerkin method for all‐speed flows

In this article, we present a discontinuous Galerkin (DG) method designed to improve the accuracy and efficiency of steady solutions of the compressible fully coupled Reynolds‐averaged Navier–Stokes and k ? ω turbulence model equations for solving all‐speed flows. The system of equations is iterated to steady state by means of an implicit scheme. The DG solution is extended to the incompressible limit by implementing a low Mach number preconditioning technique. A full preconditioning approach is adopted, which modifies both the unsteady terms of the governing equations and the dissipative term of the numerical flux function by means of a new preconditioner, on the basis of a modified version of Turkel's preconditioning matrix. At sonic speed the preconditioner reduces to the identity matrix thus recovering the non‐preconditioned DG discretization. An artificial viscosity term is added to the DG discretized equations to stabilize the solution in the presence of shocks when piecewise approximations of order of accuracy higher than 1 are used. Moreover, several rescaling techniques are implemented in order to overcome ill‐conditioning problems that, in addition to the low Mach number stiffness, can limit the performance of the flow solver. These approaches, through a proper manipulation of the governing equations, reduce unbalances between residuals as a result of the dependence on the size of elements in the computational mesh and because of the inherent differences between turbulent and mean‐flow variables, influencing both the evolution of the Courant Friedrichs Lewy (CFL) number and the inexact solution of the linear systems. The performance of the method is demonstrated by solving three turbulent aerodynamic test cases: the flat plate, the L1T2 high‐lift configuration and the RAE2822 airfoil (Case 9). The computations are performed at different Mach numbers using various degrees of polynomial approximations to analyze the influence of the proposed numerical strategies on the accuracy, efficiency and robustness of a high‐order DG solver at different flow regimes. Copyright © 2014 John Wiley & Sons, Ltd.     

Implicit time accurate simulation of unsteady flow

Implicit time integration was studied in the context of unsteady shock‐boundary layer interaction flow. With an explicit second‐order Runge–Kutta scheme, a reference solution to compare with the implicit second‐order Crank–Nicolson scheme was determined. The time step in the explicit scheme is restricted by both temporal accuracy as well as stability requirements, whereas in the A‐stable implicit scheme, the time step has to obey temporal resolution requirements and numerical convergence conditions. The non‐linear discrete equations for each time step are solved iteratively by adding a pseudo‐time derivative. The quasi‐Newton approach is adopted and the linear systems that arise are approximately solved with a symmetric block Gauss–Seidel solver. As a guiding principle for properly setting numerical time integration parameters that yield an efficient time accurate capturing of the solution, the global error caused by the temporal integration is compared with the error resulting from the spatial discretization. Focus is on the sensitivity of properties of the solution in relation to the time step. Numerical simulations show that the time step needed for acceptable accuracy can be considerably larger than the explicit stability time step; typical ratios range from 20 to 80. At large time steps, convergence problems that are closely related to a highly complex structure of the basins of attraction of the iterative method may occur. Copyright © 2001 John Wiley & Sons, Ltd.     

A high‐order accurate discontinuous Galerkin finite element method for laminar low Mach number flows

In this paper we present a discontinuous Galerkin (DG) method designed to improve the accuracy and efficiency of laminar flow simulations at low Mach numbers using an implicit scheme. The algorithm is based on the flux preconditioning approach, which modifies only the dissipative terms of the numerical flux. This formulation is quite simple to implement in existing implicit DG codes, it overcomes the time‐stepping restrictions of explicit multistage algorithms, is consistent in time and thus applicable to unsteady flows. The performance of the method is demonstrated by solving the flow around a NACA0012 airfoil and on a flat plate, at different low Mach numbers using various degrees of polynomial approximations. Computations with and without flux preconditioning are performed on different grid topologies to analyze the influence of the spatial discretization on the accuracy of the DG solutions at low Mach numbers. The time accurate solution of unsteady flow is also demonstrated by solving the vortex shedding behind a circular cylinder at the Reynolds number of 100. Copyright © 2012 John Wiley & Sons, Ltd.     

On the treatment of transient area variation in 1D discontinuous Galerkin simulations of train‐induced pressure waves in tunnels

To simulate the pressure wave generated by a train travelling through a tunnel, we implement a discontinuous Galerkin (DG) method for the solution of the one‐dimensional equations of variable area flow. This formulation uses a spatial discretisation via Legendre polynomials of arbitrary degree, and the resulting semi‐discrete system is integrated using an explicit Runge–Kutta scheme. A simulation of subsonic steady flow in a nozzle shows that the scheme produces stable solutions, without the need for artificial dissipation, and that its performance is optimal for polynomial degrees between 5 and 7. However, when dealing with an unsteady area, we report the presence of numerical oscillations that are not due to the steep pressure fronts in the flow but rather to the projection of a moving area, with piecewise continuous derivatives onto a fixed grid. We propose a reformulation of the DG method to eliminate these oscillations that, put in simple terms, amount to splitting the integrals where the derivatives of the cross‐sectional area are discontinuous into subintegrals where they are continuous. The resulting method does not exhibit oscillations, and it is applied here to two practical cases involving train‐induced pressure waves in a tunnel. The first application is a validation of the DG method through comparison of its computational results with pressure data measured during transit at the Patchway tunnel near Bristol (UK). The second application is a study of the influence of the nose shape and length on the pressure wave gradients responsible for sonic boom at tunnel exit portals to show that the proposed modification is able to deal with realistic train shapes. Copyright © 2012 John Wiley & Sons, Ltd.     

Development of a class of multiple time‐stepping schemes for convection–diffusion equations in two dimensions

In this paper we present a class of semi‐discretization finite difference schemes for solving the transient convection–diffusion equation in two dimensions. The distinct feature of these scheme developments is to transform the unsteady convection–diffusion (CD) equation to the inhomogeneous steady convection–diffusion‐reaction (CDR) equation after using different time‐stepping schemes for the time derivative term. For the sake of saving memory, the alternating direction implicit scheme of Peaceman and Rachford is employed so that all calculations can be carried out within the one‐dimensional framework. For the sake of increasing accuracy, the exact solution for the one‐dimensional CDR equation is employed in the development of each scheme. Therefore, the numerical error is attributed primarily to the temporal approximation for the one‐dimensional problem. Development of the proposed time‐stepping schemes is rooted in the Taylor series expansion. All higher‐order time derivatives are replaced with spatial derivatives through use of the model differential equation under investigation. Spatial derivatives with orders higher than two are not taken into account for retaining the linear production term in the convection–diffusion‐reaction differential system. The proposed schemes with second, third and fourth temporal accuracy orders have been theoretically explored by conducting Fourier and dispersion analyses and numerically validated by solving three test problems with analytic solutions. Copyright © 2006 John Wiley & Sons, Ltd.     

An operator splitting scheme for the stream‐function formulation of unsteady Navier–Stokes equations

A fictitious time is introduced into the unsteady equation of the stream function rendering it into a higher‐order ultra‐parabolic equation. The convergence with respect to the fictitious time (we call the latter ‘internal iterations’) allows one to obtain fully implicit nonlinear scheme in full time steps for the physical‐time variable. For particular choice of the artificial time increment, the scheme in full time steps is of second‐order of approximation. For the solution of the internal iteration, a fractional‐step scheme is proposed based on the splitting of the combination of the Laplace, bi‐harmonic and advection operators. A judicious choice for the time staggering of the different parts of the nonlinear advective terms allows us to prove that the internal iterations are unconditionally stable and convergent. We assess the number of operations needed per time step and show computational effectiveness of the proposed scheme. We prove that when the internal iterations converge, the scheme is second‐order in physical time and space, nonlinear, implicit and absolutely stable. The performance of the scheme is demonstrated for the flow created by oscillatory motion of the lid of a square cavity. All theoretical findings are demonstrated practically. Copyright © 2006 John Wiley & Sons, Ltd.     

A coupled continuous and discontinuous finite element method for the incompressible flows

In this paper, we develop a coupled continuous Galerkin and discontinuous Galerkin finite element method based on a split scheme to solve the incompressible Navier–Stokes equations. In order to use the equal order interpolation functions for velocity and pressure, we decouple the original Navier–Stokes equations and obtain three distinct equations through the split method, which are nonlinear hyperbolic, elliptic, and Helmholtz equations, respectively. The hybrid method combines the merits of discontinuous Galerkin (DG) and finite element method (FEM). Therefore, DG is concerned to accomplish the spatial discretization of the nonlinear hyperbolic equation to avoid using the stabilization approaches that appeared in FEM. Moreover, FEM is utilized to deal with the Poisson and Helmholtz equations to reduce the computational cost compared with DG. As for the temporal discretization, a second‐order stiffly stable approach is employed. Several typical benchmarks, namely, the Poiseuille flow, the backward‐facing step flow, and the flow around the cylinder with a wide range of Reynolds numbers, are considered to demonstrate and validate the feasibility, accuracy, and efficiency of this coupled method. Copyright © 2016 John Wiley & Sons, Ltd.     

A finite volume unstructured multigrid method for efficient computation of unsteady incompressible viscous flows

An unstructured non‐nested multigrid method is presented for efficient simulation of unsteady incompressible Navier–Stokes flows. The Navier–Stokes solver is based on the artificial compressibility approach and a higher‐order characteristics‐based finite‐volume scheme on unstructured grids. Unsteady flow is calculated with an implicit dual time stepping scheme. For efficient computation of unsteady viscous flows over complex geometries, an unstructured multigrid method is developed to speed up the convergence rate of the dual time stepping calculation. The multigrid method is used to simulate the steady and unsteady incompressible viscous flows over a circular cylinder for validation and performance evaluation purposes. It is found that the multigrid method with three levels of grids results in a 75% reduction in CPU time for the steady flow calculation and 55% reduction for the unsteady flow calculation, compared with its single grid counterparts. The results obtained are compared with numerical solutions obtained by other researchers as well as experimental measurements wherever available and good agreements are obtained. Copyright © 2004 John Wiley & Sons, Ltd.     

The (9,5) HOC formulation for the transient Navier–Stokes equations in primitive variable

We recently proposed an improved (9,5) higher order compact (HOC) scheme for the unsteady two‐dimensional (2‐D) convection–diffusion equations. Because of using only five points at the current time level in the discretization procedure, the scheme was seen to be computationally more efficient than its predecessors. It was also seen to capture very accurately the solution of the unsteady 2‐D Navier–Stokes (N–S) equations for incompressible viscous flows in the stream function–vorticity (ψ – ω) formulation. In this paper, we extend the scope of the scheme for solving the unsteady incompressible N–S equations based on primitive variable formulation on a collocated grid. The parabolic momentum equations are solved for the velocity field by a time‐marching strategy and the pressure is obtained by discretizing the elliptic pressure Poisson equation by the steady‐state form of the (9,5) scheme with the Neumann boundary conditions. In particular, for pressure, we adopt a strategy on the collocated grid in conjunction with ideas borrowed from the staggered grid approach in finite volume. We first apply this extension to a problem having analytical solution and then to the famous lid‐driven square cavity problem. We also apply our formulation to the backward‐facing step problem to see how the method performs for external flow problems. The results are presented and are compared with established numerical results. This new approach is seen to produce excellent comparison in all the cases. Copyright © 2007 John Wiley & Sons, Ltd.     

A space-time lower–upper symmetric Gauss–Seidel scheme for the time-spectral method

The time-spectral method (TSM) offers the advantage of increased order of accuracy compared to methods using finite-difference in time for periodic unsteady flow problems. Explicit Runge–Kutta pseudo-time marching and implicit schemes have been developed to solve iteratively the space-time coupled nonlinear equations resulting from TSM. Convergence of the explicit schemes is slow because of the stringent time-step limit. Many implicit methods have been developed for TSM. Their computational efficiency is, however, still limited in practice because of delayed implicit temporal coupling, multiple iterative loops, costly matrix operations, or lack of strong diagonal dominance of the implicit operator matrix. To overcome these shortcomings, an efficient space-time lower–upper symmetric Gauss–Seidel (ST-LU-SGS) implicit scheme with multigrid acceleration is presented. In this scheme, the implicit temporal coupling term is split as one additional dimension of space in the LU-SGS sweeps. To improve numerical stability for periodic flows with high frequency, a modification to the ST-LU-SGS scheme is proposed. Numerical results show that fast convergence is achieved using large or even infinite Courant–Friedrichs–Lewy (CFL) numbers for unsteady flow problems with moderately high frequency and with the use of moderately high numbers of time intervals. The ST-LU-SGS implicit scheme is also found to work well in calculating periodic flow problems where the frequency is not known a priori and needed to be determined by using a combined Fourier analysis and gradient-based search algorithm.     

Implicit preconditioned high‐order compact scheme for the simulation of the three‐dimensional incompressible Navier–Stokes equations with pseudo‐compressibility method

This paper combines the pseudo‐compressibility procedure, the preconditioning technique for accelerating the time marching for stiff hyperbolic equations, and high‐order accurate central compact scheme to establish the code for efficiently and accurately solving incompressible flows numerically based on the finite difference discretization. The spatial scheme consists of the sixth‐order compact scheme and 10th‐order numerical filter operator for guaranteeing computational stability. The preconditioned pseudo‐compressible Navier–Stokes equations are marched temporally using the implicit lower–upper symmetric Gauss–Seidel time integration method, and the time accuracy is improved by the dual‐time step method for the unsteady problems. The efficiency and reliability of the present procedure are demonstrated by applications to Taylor decaying vortices phenomena, double periodic shear layer rolling‐up problem, laminar flow over a flat plate, low Reynolds number unsteady flow around a circular cylinder at Re = 200, high Reynolds number turbulence flow past the S809 airfoil, and the three‐dimensional flows through two 90°curved ducts of square and circular cross sections, respectively. It is found that the numerical results of the present algorithm are in good agreement with theoretical solutions or experimental data. Copyright © 2011 John Wiley & Sons, Ltd.