PubDat 225260

Die approbierte Originalversion dieser Diplom-/Masterarbeit ist an der
Hauptbibliothek der Technischen Universität Wien aufgestellt

(http://www.ub.tuwien.ac.at).
The approved original version of this diploma or master thesis is available at the
main library of the Vienna University of Technology
(http://www.ub.tuwien.ac.at/englweb/).
Unterschrift des Betreuers
DIPLOMARBEIT
Modeling and Numerical Simulation

of Wave Propagation in Elastic
Wave Guides
Ausgeführt am Institut für
Analysis und Scientific Computing
unter der Anleitung von
Univ.Prof. Dipl.-Ing. Dr.techn. Joachim Schöberl

Univ.Ass. Dipl.-Math. Dr.rer.nat. Lothar Nannen
durch
Martin Halla BSc
Enenkelstraße 11-13/38, 1160 Wien
10. Dezember 2012

Martin Halla
i
Danksagung
Meinem Betreuer Dr. Lothar Nannen möchte ich dafür danken, dass er mir dieses Diplo-
marbeitsthema vorgeschlagen und mich bei der Bearbeitung fruchtvoll angeleitet hat.
Weiters danke ich Prof.Dr. Joachim Schöberl dafür, dass er die offizielle Betreuung dieser
Diplomarbeit übernommen hat.
Meinen Eltern möchte ich dafür danken, dass sie mich während meines Studiums im-
mer unterstützt haben. Mag. Verena Berger danke ich für das sprachliche Korrek-
turlesen dieser Dipomarbeit. Schlussendlich möchte ich auch meinen Studienkollegen für
das gemeinsame studentische Leben danken. Ohne sie wäre das Studium nicht dasselbe
gewesen.
Contents
Chapter 1. Introduction and Outline 5

1.1. Outline 5
1.2. Linear Elasticity Equations 6
1.3. Geometry used 7
Chapter 2. Modeling 9
2.1. Properties of Wave Numbers 11
2.2. Properties of Lamb Modes 19
2.3. Limiting Absorption Principle 20
Chapter 3. Numerical Concepts 27
3.1. Acoustic Wave Propagation 27
3.2. Wave Numbers and Dispersion Curves 29
3.3. Complex Scaling 34
3.4. Hardy Space Method 37
Chapter 4. A Model Problem 41
4.1. Formulation of the Problem 41
4.2. Collapsing Wave Numbers 43
4.3. Galerkin Formulation 44
4.4. Numerical Tests 49
Chapter 5. Summary and Outlook 53
Appendix A 55
Matlab Code of solve modelproblem.m 55
Matlab Code of ext Matrices.m 58
Bibliography 63
iii
CHAPTER 1
Introduction and Outline
In this diploma thesis we want to discuss wave propagation in elastic wave guides.
Apart from electro magnetic waves, every wave needs a medium to be transmitted in.
If the shape and form of this medium is clearly defined, we speak of a wave guide.
Due to scaling reasons studying of unbounded wave guides is necessary to understand
wave propagation in bounded wave guides. Hence we focus on unbounded wave guides.
As we are only dealing with elastic waves in this thesis, a reader without physical
background knowledge can imagine an elastic wave as some body that oscillates. As
was unfortunately seen on November 7th 1940 bridges are also elastic wave guides:
The Tacoma Narrows Bridge in the U.S. state of Washington dramatically collapsed
due to a physical phenomenon called aeroelastic flutter, which causes rapid periodic
motion, see [3] and [12]. This bridge made history as Galloping Gertie. However, in
our context the wave guide will always have the simple geometry of a beam, plate or pipe.
1.1. Outline
To complete the picture we give a brief introduction into elasticity theory in Section 1.2.
The advanced reader might take a short look into this section to check the notation used.
As at the moment research is not yet ready to deal with arbitrary geometries of wave
guides, we restrict our work on a simple beam. We explain this and some additional
scaling arguments in Section 1.3.
Chapter 2 deals with constructing physically meaningful solutions of the elasticity equa-
tions equipped with suitable boundary and radiation conditions. We follow [1] to con-
struct solutions of the elasticity equations analytically, which fulfill the boundary condi-
tions on one part of the boundary. In Section 2.1 we show some new results about the
asymptotic properties of the wave numbers kn . We use these properties to justify several
assumptions in Section 2.2, which we need in Section 2.3. There we use the limiting
absorption principle to justify our choice of the wave numbers kn .
In Chapter 3 we present the problem of guided acoustic wave propagation and discuss
different concepts for numerical methods, namely complex scaling aka perfectly matched
layer and the Hardy space method. Complex scaling reaches back to the sixties. A his-
torical synopsis can be found in [9]. The concept was redeveloped as perfectly matched
layers (PML) in [2]. First convergence results where published in [5]. In [18] PML was
applied to guided elastic wave propagation by projecting onto eigen modes. We show why
PML cannot be used or adapted to elastic wave propagation without such a projection
5
6 1. INTRODUCTION AND OUTLINE
onto the eigen modes. In contrast we show why and how the Hardy space method can
be adapted to the elastic case without a projection onto the eigen modes.
In Chapter 4 we discuss an artificial model problem, which exemplifies several properties
and difficulties of the Hardy space method for elastic waves, in order to prepare the Hardy
space method for the elastic case.
1.2. Linear Elasticity Equations

As we are analysing elastic waves it is appropriate to give a brief summary of linear
elastic continuum mechanics. We closely adhere to [8] and [1]. But first we define our
notation. Let us mention that we use Einstein’s summation convention in this section,
but when we switch to a simpler geometry in the next section, we drop it. The notation
will be used as follows:
• let Ω ⊂ R3 be an open simple connected set, which describes our body of interest,
x
• let x = y  ∈ R3 be our position vector,
z
+
• let t ∈ R be our time variable,
• let u : Ω × R+ → R3 be our displacement vector, i.e. u(x, t) describes the
position of the point x ∈ Ω at time t,
• let ǫ = (ǫij )i,j∈{1,2,3} be our (small) strain tensor,
• let τ = (τij )i,j∈{1,2,3} be our stress tensor,
• let ρ ∈ R+ be the density constant,
• let f : Ω → R3 be the external force per unit,
• let λ and µ be Lame’s elasticity constants for which 0 < µ < ∞, 0 < 2µ+3λ < ∞
hold.
Now the linear elastic model consists of the conservation of linear and angular momentum,
and a constitutive relation between force and deformation, the density is approximated
as a constant ρ. Due to the conservation of angular momentum, the stress tensor τ is
symmetric, i.e. τij = τji . The following partial differential equation can be derived from
the conservation of linear momentum :
∂k τki + ρfi = ρ∂t ∂t ui .
As we are only treating the linear model the deformation of our body Ω can be described
via the (small) strain tensor
ǫij = (∂i uj + ∂j ui )/2.
For a homogeneous, isotropic, linearly elastic solid, stress and strain are related by
τij = λǫkk δij + 2µǫij ,
where µ and λ are material constants. If we plug the above equations into another we
gain
(λ + µ)∂i ∂k uk + µ∂j ∂j ui + ρfi = ρ∂t ∂t ui .
1.3. GEOMETRY USED 7
In vectorial notation this reads

µ∆u + (λ + µ)∇ div u + ρf = ρ∂t ∂t u. (1.1)
This equation can be better understood, if we apply a Hemlholtz decomposition to u.
Thus let curl be the standard curl -operator: Be ψ : Ω → R3 be smooth enough, then
 
∂y ψ3 − ∂z ψ2
curl ψ = ∇ × ψ = ∂z ψ1 − ∂x ψ3  .
∂x ψ2 − ∂y ψ1
We say φ : Ω → R, ψ : Ω → R3 is Helmholtz decomposition of u, if
u = ∇φ + curl ψ.
Often the additional constraint div ψ = 0 is demanded. For the existence of general
Helmholtz decompositions see [17]. For Helmholtz decompositions specified to the elas-
ticity equations we refer to [1]. We will see later why a Helmholtz decomposition is so
useful in Chapter 2.
1.3. Geometry used

We assume u to be time harmonic. I.e. from now on u is only a function of x and we
write for some positive frequency ω ∈ R+
u(x, t) = u(x)e−iωt ,
and so
∂t ∂t u = −ω 2 u.
The physical quantity is described by Re u. As research on numerical methods for this
particular case of guided elastic waves is comparatively young, we will focus on a very
simple geometry. Thus we take a two dimensional beam Ω := (−M, M) × (−h, h) with
h, M ∈ R+ and suppose there is motion in the (x, y)-plane only. Hence
u3 = 0,
∂z ( ) = 0.
This two dimensional model, gained by reducing one dimension, is called plain strain. It
is not the only choice possible: We could also reduce the dimension by one, but allow
movement in the z-dimension, the model in this case is called plain stress. For a more
detailed description, we refer to [4]. This thesis focuses on plain strain.
We suppose the beam to be homogeneous with a small local anomaly in the center, i.e.
a hole χ (or possibly some other disturbance). Due to the stated size proportion, it is
sufficient to rescale and assume the beam to be infinitely long, i.e. Ω := R × (−h, h) \ χ.
We also omit exterior force f, but assume that we can split our displacement vector u
into a given incoming and a reflected outgoing wave, i.e. u = uin + uout . Since u and
our incoming wave uin fulfill Equation (1.1), our outgoing wave to be calculated uout also
8 1. INTRODUCTION AND OUTLINE
Figure 1. A decomposition of the rescaled beam.
fulfills Equation (1.1).

Summarizing the above statements, our problem reads
• (Ω = R × (−h, h)) \ χ.
• We search for uout : Ω → R2 such that
* µ∆uout + (λ + µ)∇ div uout = −ρω 2 uout in Ω,
* ∂n uout = −∂n uin on ∂χ,
* uout is stress free on the outer boundary, i.e.
τ21 = µ(∂x uout,2 + ∂y uout,1 ) = 0,
on ∂ (Ω ∪ χ).
τ22 = λ(∂x uout,1 + ∂y uout,2 ) + 2µ∂y uout,2 = 0
When we speak of u in the following chapters, we always mean uout , but drop the index
for the sake of simplicity.
From the numerical point of view it is useful to split the domain Ω into Ωlef t , Ωcenter
and Ωright as seen in Figure 1. On Ωcenter some standard numerical scheme like a finite
element method or a boundary element method can be used and coupled through the
boundary with numerical schemes for Ωlef t and Ωright . As Ωlef t and Ωright are infinite, the
development of numerical schemes for these domains is rather difficult. However since
Ωlef t is just an inversion of Ωright , we only have to deal with Ωright , which we will do in
the following chapters.
CHAPTER 2
Modeling
We are interested in wave propagation in elastic wave guides. In particular we investigate

time harmonic wave propagation in a half open two dimensional stripe Ω := R+ ×(−h, h).
I.e. for a given positive frequency ω ∈ R+ and boundary data g, we look for the displace-
ment function u : Ω → R2 , such that
Figure 1. Our domain of interest.
µ∆u + (λ + µ)∇ div u = −ρω 2 u in R+ × (−h, h), (2.1)

u = g on {0} × (−h, h), (2.2)
with natural stress free boundary conditions, i.e.
τ21 = µ(∂x u2 + ∂y u1) = 0 on R+ × {±h}, (2.3)
+
τ22 = λ(∂x u1 + ∂y u2 ) + 2µ∂y u2 = 0 on R × {±h}. (2.4)
We take a Helmholtz
 decomposition of u and consider u to be two dimensional, i.e. we
0
associate ψ with  0 . This reads as
ψ
u = ∇φ + curl ψ ⇔ u1 = ∂x φ + ∂y ψ, u2 = ∂y φ − ∂x ψ,
Equation (2.1) then reads
∇ (λ + 2µ)∆φ + ρω 2 φ + curl µ∆ψ + ρω 2 ψ = 0.

(2.5)
9
10 2. MODELING
We define
ρ
r
cL := ,
λ + 2µ
ρ
r
cT := .
µ
Because of 0 < µ < ∞, 0 < 2µ + 3λ we have
cL , cT > 0,
and
c2T 2µ + λ λ
2
= =2+
cL µ µ
(2.6)
2 4
≥2− = .
3 3
Equation (2.5) is clearly fulfilled if
ω2
∆φ = − φ, (2.7)
c2L
ω2
∆ψ = − 2 ψ. (2.8)
cT
We use the following product ansatz
φ(x, y) = eikx (A1 sin(αy) + A2 cos(αy)) ,
ψ(x, y) = eikx (B1 sin(βy) + B2 cos(βy)) ,
with k, α, β ∈ C. We see that equations (2.7) and (2.8) are satisfied iff
ω2
α = 2 − k2 ,
2
(2.9)
cL
ω2
β 2 = 2 − k2 . (2.10)
cT
An inspection of φ and ψ shows, that we can split the modes into symmetric, i.e. A1 =
B2 = 0, and antisymmetric ones, i.e. A2 = B1 = 0. Hence we get the symmetric Lamb
modes as
u1 = (ikA2 cos(αy) + βB1 cos(βy)) eikx ,
(2.11)
u2 = (−αA2 sin(αy) − ikB1 sin(βy)) eikx .
If we insert these into the boundary conditions at y = ±h
τ21 = τ22 = 0, (2.12)
2.1. PROPERTIES OF WAVE NUMBERS 11
this leads to a system of two homogeneous linear equations for the constants A2 , B1 .
Since the system is homogeneous, the determinant of the coefficients has to be zero. As
in [1, page 223] calculated
0 = 4k 2 αβ sin(αh) cos(βh) + (k 2 − β 2 )2 cos(αh) sin(βh). (2.13)
If α, β, k fulfill equations (2.9),(2.10) and (2.13) we can solve Equation (2.12) and gain
2
A2 = k 2 − β 2 sin(βh),
(2.14)
B1 = 2ikα sin(αh).
We only analyze the symmetric modes, since the case for the antisymmetric ones is
similar. Hence, we further analyze Equation (2.13). We observe that for every solution
k, −k also solves the equation. For k ∈ / R, we choose k such that Im k > 0 in order to
∞ + d
attain u ∈ L (R × (−h, h)). For k ∈ R we choose k so that dω k(ω) > 0. If k ∈ R and
d d2
dω
k(ω) = 0, we choose k so that dω2 k(ω) < 0 and so on. The objective of this chapter
is to justify this decision using the limiting absorption principle. First let us further
investigate Equation (2.13). We are looking for solutions of
F (k) = 0 (2.15)
with
F (k) = 4k 2 αβ sin(αh) cos(βh) + (k 2 − β 2 )2 cos(αh) sin(βh),
s
ω2
α= − k2 ,
c2L (2.16)
s
ω2
β= − k2 .
c2T
Remark 2.0.1. Since F is symmetric in α, antisymmetric in β and we are looking for
solutions of F (k) = 0, how we define the root in the definitions of α and β is of no
consequence.
2.1. Properties of Wave Numbers
Lemma
S 2.1.1. There exist at most N roots kn of F and the only cluster point of
n∈N {kn } can be at infinity.
Proof. We can split R × iR+ + + − +
0 in R0 × iR0 and R0 × iR0 . On each of these sets the
root of k 2 − ω 2 can be defined analytically and so F . Obviously F is not constant. Hence
with [16] the claim follows.
Theorem 2.1.2. If there exists an infinite number of kn , then there holds for large n
√ !
1 √ √ 2π
kn,±1 ,±2 ≈ ±1 arccosh 2 2nπ + 2π ±2
2h 4
(2.17)
i π
+ 2nπ + π ±2
h 4
12 2. MODELING
Proof. First we set

ω2
c1 := ,
2c2L
ω2
c2 := 2 .
2cT
Due to Lemma 2.1.1 we may assume |k| to be big enough, such that linearising is justifi-
able. Thus
s 2
1 ω i ω2
α = ik 1 − 2 ≈ ik − ,
k cL k 2c2L
s 2
1 ω i ω2
β = ik 1 − 2 ≈ ik − ,
k cT k 2c2T
icj h icj h
sin( )≈ , j = 1, 2,
k k
icj h
cos( ) ≈ 1, j = 1, 2.
k
The linearisation of Equation (2.15) is

4
c1 c2 ic1 h
0 =k 1 − 2 1 − 2 sin(ikh) cos(ikh) − 2 cos2 (ikh)
k k k
2

ic2 h 2 c1 c2 h
+ 2 sin (ikh) − sin(ikh) cos(ikh)
k k2
(2.18)
4
c2 2 ic2 h
−k 1− 2 sin(ikh) cos(ikh) − cos2 (ikh)
k k
c1 c2 h2

ic1 h 2
+ sin (ikh) − sin(ikh) cos(ikh) .
k k2
As we may assume |k| to be big enough, we have k, β 6= 0. Equation (2.18) is equivalent
to
c1 c2 h2

ic1 h 2 ic2 h 2
0 = sin(ikh) cos(ikh) − cos (ikh) + sin (ikh) − sin(ikh) cos(ikh)
k k k2
c1 c2 h2

c1 ic1 h 2 ic2 h 2
− 2 sin(ikh) cos(ikh) − cos (ikh) + sin (ikh) − sin(ikh) cos(ikh)
k k k k2
c1 c2 h2

ic2 h 2 ic1 h 2
− sin(ikh) cos(ikh) − cos (ikh) + sin (ikh) − sin(ikh) cos(ikh)
k k k2
c1 c2 h2

c2 ic2 h 2 ic1 h 2
+ 2 sin(ikh) cos(ikh) − cos (ikh) + sin (ikh) − sin(ikh) cos(ikh)
k k k k2
The first and the third line cancel each other to (c2 − c1 ) ih
k
. The terms with sin2 and cos2
2 2 ih 2
h other to (c1 − c2 ) k3 cos
of the second and forth line cancel each i (ikh). The remaining
sin(ikh) cos(ikh) c21 c2 h2 c1 c22 h2
terms can be written as k2
−c1 + k2
+ c2 − k2
. Thus we have
ih ih
0 = (c2 − c1 ) + (c21 − c22 ) 3 cos2 (ikh)
k k
(2.19)
c21 c2 h2 c1 c22 h2

sin(ikh) cos(ikh)
+ −c1 + + c2 − .
k2 k2 k2
Due to (2.6) and ω 6= 0 there holds c1 6= c2 . Equation (2.19) is divided by (c2 − c1 ) ih
k
which yields
cos2 (ikh) sin(ikh) cos(ikh) c1 c2 h2

0 = 1 − (c1 + c2 ) + 1− .
k2 ikh k2
This equation can be reformulated as
cos2 (ikh) sin(ikh) cos(ikh) c1 c2 h2

1 = (c1 + c2 ) − 1− . (2.20)
k2 ikh k2
2
We want to show that for k → ∞ the equation yields no solution if cos k(ikh) 2 or sin(ikh) cos(ikh)
ik 3 h
does not converge to zero.
2
If we assume | cos|k|(ikh)|
2 ≥ |k|−1/2 for k big enough, then
sin(ikh) cos(ikh) 1 c1 c2 h2
2
cos (ikh) |k|
1 ≥ − 2
+
2
| tan(ikh)| − (c1 + c2 )
ikh 2 |k| k 2h
≥ |k| | tan(ikh)| − |k|−1/2 (c1 + c2 ) .
1/2
S
Let δ be positive. For k ∈ / z∈Z {k : |ikh S − zπ| ≤ δ} the right hand side is unbounded,
which is a contradiction. But for k ∈ z∈Z {k : |ikh − zπ| ≤ δ} we have | cos(ikh)| ≈ 1.
2 2
Hence cos k(ikh) 2 ≥ |k|−1/2 cannot hold. Thus for big k, solutions kn fulfill | cos|k(ik n|
2
n h)|
≤
−1/2
|kn | .
If we assume | sin(ikh) cos(ikh)|
|ik 3 h|
≥ |k|−1/2 for k big enough, then
sin(ikh) cos(ikh) sin(ikh) cos(ikh)c1 c2 h2 cos2 (ikh)

1 ≥ − − (c1 + c2 )
ikh ik 3 h k2

sin(ikh) cos(ikh)
|k|2 − c1 c2 h2 − (c1 + c2 )| cot(ikh)ih|

≥
ik 3 h
≥ |k| − c1 c2 h2 |k|−1/2 − (c1 + c2 )h| cot(ikh)||k|1/2 .
3/2
S
Let δ be positive. For k ∈ / z∈Z {k : S |ikh − zπ| ≤ δ} the right hand side is unbounded,
which is a contradiction. But for k ∈ z∈Z {k : |ikh−zπ| ≤ δ} we have | cos(ikh)| ≈ 1 and
sin(ikh) ≈ ikh. Hence | sin(ikn|ik h) cos(ikn h)|
3 h| ≥ |k|−1/2 cannot hold. Thus for big k, solutions
n
14 2. MODELING
kn fulfill | sin(ikn|ik
h) cos(ikn h)|
3 ≤ |kn |−1/2 .
n h|
Dropping the small terms in Equation (2.20) yields
ikh = − sin(ikh) cos(ikh). (2.21)
Setting ikh = x + iy with x ∈ R−
0 , y ∈ R, Equation (2.21) becomes
x + iy = − sin(x + iy) cos(x + iy)

= − (sin(x) cosh(y) + i cos(x) sinh(y)) (cos(x) cosh(y) − i sin(x) sinh(y))
= − sin(x) cos(x) cosh2 (y) + sinh2 (y)

− i cos2 (x) − sin2 (x) sinh(y) cosh(y)

1 1
= − sin(2x) cosh(2y) − i 2 cos2 (x) − 1) sinh(2y).

2 2
If the equation is split into the real and imaginary part, this results in
1
x = − sin(2x) cosh(2y), (2.22)
2
1
y = − 2 cos2 (x) − 1) sinh(2y).

(2.23)
2
If 2 cos2 (x) − 1 6= 0, Equation (2.23) can only hold for bounded y. Due to this and
Equation (2.22) x is bounded, which contradicts the assumption that |k| is big. Thus
2 cos2 (x) − 1 = 0 has to hold, i.e. x = − π2 (n + 12 ). Due to x < 0 Equation (2.22) is only
solvable if sin(2x) ≥ 0. Hence
π
x = −2nπ − π ± .
4
Solving Equation (2.22) yields
√ !
11
√ √ 2 2π
y = ± arccosh 2 2nπ + 2π ± .
2 4
y
Due to ikh = x + iy, i.e. k = h
− i xh we have
√ !
1 √ √ 2π
k = ±1 arccosh 2 2nπ + 2π ±2
2h 4
i π
+ 2nπ + π ±2
h 4
and the claim is proven.
Lemma 2.1.3. If there exists an infinite number of kn , then there exist N ∈ N, C > 0
such that for all n ≥ N kn is analytic at ω and |kn′ (ω)| ≤ C.
Proof. First we want to show, that for |k| big enough, we can apply the analytic
implicit function theorem to F . For every k ∈ (R × iR+
0 ) \ {ω}, the root can be defined
analytically in a neighbourhood of k × ω and thus F . ∂k F 6= 0 remains to be shown. We

have
−hk
∂k F = 4k 2 αβ cos(αh) cos(βh) (2.24a)
α
hk
+ 4k 2 αβ sin(αh) sin(βh) (2.24b)
β
hk
+ (k 2 − β 2 )2 sin(αh) sin(βh) (2.24c)
α
−hk
+ (k 2 − β 2 )2 cos(αh) cos(βh) (2.24d)
β
c 2
+ 16k 3 (1 − 2 ) cos(αh) sin(βh) (2.24e)
k
+ 8kαβ sin(αh) cos(βh) (2.24f)
−kβ
+ 4k 2 sin(αh) cos(βh) (2.24g)
α
−kα
+ 4k 2 sin(αh) cos(βh). (2.24h)
β
Again for the sake of simplicity we set
ω2
c1 := ,
2c2L
ω2
c2 := 2 .
2cT
We assume |k| to be big enough, so that linearising α, β is justifiable, i.e.
s 2
1 ω ic1
α = ik 1− 2 ≈ ik − ,
k cL k
s 2
1 ω ic2
β = ik 1− 2 ≈ ik − .
k cT k
16 2. MODELING
We take a closer look at the first four terms of ∂k F :
(2.24a) + (2.24b) + (2.24c) + (2.24d) ≈

c2
− i4hk 4 (1 − 2 ) cos(αh) cos(βh)
k
4 c1
+ i4hk (1 − 2 ) sin(αh) sin(βh)
k
c2 c1
4
− i4hk (1 − 2 )2 (1 − 2 )−1 sin(αh) sin(βh)
k k
c2 2 c2
4
+ i4hk (1 − 2 ) (1 − 2 )−1 cos(αh) cos(βh)
k k
(1 − kc22 )2

4 c1
= i4hk sin(αh) sin(βh)(1 − 2 ) 1 −
k (1 − kc12 )2
c21 −c22
!
2(c2 −c1 )
c1 k2
+ k4
= i4hk 4 sin(αh) sin(βh)(1 − 2 ) c1 2
k (1 − k2
)
= i8h(c2 − c1 )k 2 sin(αh) sin(βh) + O(|k 0 sin(αh) sin(βh)|).
Now we inspect the second four terms of ∂k F :
(2.24e) + (2.24f) + (2.24g) + (2.24h) ≈

c2
+ 16k 3 (1 − 2 ) cos(αh) sin(βh)
k
c 1 c2
− 8k 3 (1 − 2 )(1 − 2 ) sin(αh) cos(βh)
k k
3 c1 −1 c2
− 4k (1 − 2 ) (1 − 2 ) sin(αh) cos(βh)
k k
3 c1 c2 −1
− 4k (1 − 2 )(1 − 2 ) sin(αh) cos(βh)
k k
3 c2
= 16k (1 − 2 ) cos(αh) sin(βh)
k
3 c2
− k (1 − 2 ) sin(αh) cos(βh)
k
c1 c2 c1 c2
· 8(1 − 2 ) + 4(1 − 2 )−1 + 4(1 − 2 )(1 − 2 )−2
k k k k
c 2
= k 3 (1 − 2 ) sin(αh) cos(βh)
k
tan(βh) −2
· 16 + 16( − 1) − 16 + O(|k| ) .
tan(αh)
Hence we examine
tan(βh) tan(βh) − tan(αh)
−1= .
tan(αh) tan(αh)
Due to Theorem 2.1.2 we know Im kn → ∞, hence | tan(αn h)| ≥ c for n big enough. We
examine further
−ic1
tan(βh) − tan(αh) ≈ tan(ikh) + (1 + tan2 (ikh))
k
−ic 2
− tan(ikh) − (1 + tan2 (ikh))
k
i(c 2 − c 1 )
= (1 + tan2 (ikh)) .
k
There holds
sin(2x) sinh(2y)
tan(x + iy) = +i .
cos(2x) + cosh(2y) cos(2x) + cosh(2y)
Due to Theorem 2.1.2 we have

q √
∓1 2 (π 2(2n + 1 ±2 14 ))2 − 1
tan(ikn,±1 ,±2 h) ≈ √ +i √ .
π 2(2n + 1 ±2 14 ) π 2(2n + 1 ±2 14 )
Hence
1
(1 + tan2 (ikn,±1 ,±2 h)) ≈ O( ) = O(|kn |−1 ).
n
Thus
(2.24e) + (2.24f) + (2.24g) + (2.24h) = O(|kn sin(αn h) sin(βn h)|).
This yields
∂k F (ω, kn) ≈ i8h(c2 − c1 )kn2 sin(αn h) sin(βn h)

+ O(|kn sin(αn h) sin(βn h)|).
Therefore for n big enough we have F (ω, kn ) 6= 0. Hence for n big enough kn is analytic.
Now we can calculate kn′ as kn′ = − ∂∂ωk FF . If we show
∂ω F (ω, kn) ≈ O(|kn2 sin(αn h) sin(βn h)|),

18 2. MODELING
we obtain kn′ bounded. We have

β ω
∂ω F = 4k 2 sin(αh) cos(βh) (2.25a)
α c2L
αω
+ 4k 2 2 sin(αh) cos(βh) (2.25b)
β cT
ω2 ω
− 4(k 2 − 2 ) 2 cos(αh) sin(βh) (2.25c)
cT cT
ω
+ 4k 2 β 2 cos(αh) cos(βh) (2.25d)
cL
ω
− 4k 2 α 2 sin(αh) sin(βh) (2.25e)
cT
ω2 ω
− (2k 2 − 2 )2 2 sin(αh) sin(βh) (2.25f)
cT αcL
ω2 ω
+ (2k 2 − 2 )2 2 cos(αh) cos(βh). (2.25g)
cT βcT
The first three terms (2.25a)-(2.25c) of ∂ω F are of the desired order. For the last four
terms we obtain
(2.25d) + (2.25e) + (2.25f) + (2.25g) ≈
i8(c1 − c2 )k 3 sin(αh) sin(βh) + i8(c1 − c2 )k 3 cos(αh) cos(βh)
+ O(|k sin(αh) sin(βh)|)
= i8(c1 − c2 )k 3 cos(αh) cos(βh) (1 + tan(αh) tan(βh))
+ O(|k sin(αh) sin(βh)|)
through linearizing α, β. Yet another linearization shows
ic1
tan(αn h) = tan(ikn h) − (1 + tan2 (ikn h)) + O(|kn |−2 )
kn
= tan(ikn h) + O(|kn |−2 )
= i + O(|kn |−1 ).
Thus
1 + tan(αh) tan(βh) = O(|kn |−1 ).
Hence
∂ω F (ω, kn) = O(|kn2 sin(αn h) sin(βn h)|)
and kn′ is bounded.

2.2. PROPERTIES OF LAMB MODES 19
2.2. Properties of Lamb Modes

For every solution kn with Im kn > 0 if kn ∈ / R and kn′ > 0 if kn ∈ R we associate a mode
un :
un,1 = (ikn An,2 cos(αn y) + βn B1 cos(βn y)) eikn x ,
(2.26)
un,2 = (−αAn,2 sin(αn y) − ikn B1 sin(βn y)) eikn x .
From now on we assume
2
Assumption 2.2.1. There exist N kn and for every symmetric function g ∈ [L2 (−h, h)] ,
there exists a unique sequence cn ∈ l∞ such that
X un (0, y)
g(y) = cn . (2.27)
n∈N
kun (0, .)kL2(−h,h)
Then one (not the unique) solution of problem (2.1)-(2.4) with g symmetric is
X un (x, y)
u(x, y) = cn . (2.28)
n∈N
kun (0, .)kL2 (−h,h)
Remark 2.2.2. Due to Theorem 2.1.2 it is plausible that there exist N solutions kn of
Equation (2.13). We proof the linear independence of the functions un : Let any linear
combination of zero M m=1 cm unm (0, y) = 0 with cm ∈ C be given. Then there exists a
P
l ∈ {1, . . . , M} such that either
|αnl | ≥ |αnm |, |βnm | ∀m ∈ {1, . . . , M},
or
|βnl | ≥ |αnm |, |βnm | ∀m ∈ {1, . . . , M}.
We assume that the first case holds. The second one can be treated in a similar way.
Since
XM
cm unm (0, y) = 0,
m=1
there holds
X M
cm (−αnm Anm ,2 sin(αnm y) − iknm Bnm ,1 sin(βnm y)) = 0, ∀y ∈ C.
m=1
We multiply with e−|αnl |t and set y = iᾱnl t. Hence

M
X
cm e−|αnl |t (−αnm Anm ,2 sin(αnm iᾱnl t) − iknm Bnm ,1 sin(βnm iᾱnl t)) = 0.
m=1
Taking the limit t → +∞ yields cl = 0.

We also want to show that Assumption 2.2.1 is plausible in the sense, that the system
20 2. MODELING
{un } is complete. To do this, we take a look at a well known orthogonal basis of the
symmetric function space on the interval (-h,h):
cos( πn

y) 0
h , , n ∈ N.
0 sin( πn
h
y)
Due to
√ !
1 √ √ 2π
kn,±1,±2 ≈ ±1 arccosh 2 2nπ + 2π ±2
2h 4
i π
+ 2nπ + π ±2 ,
h 4
we have
−1 π 1
αn ∼ βn ∼ 2nπ + π ±2 ± i · Cn ,
h 4
and
Dn cos 2nπ + π ±2 π4 hy ±1 i · Cn · hy

un,±1,±2 ∼
En sin 2nπ + π ±2 π4 hy ±1 i · Cn · hy
with Cn ∈ R for large n. When we compare the two systems, we see that the sin and cos
terms are split in the first system, but not in the second one. However, for every n we
get two functions in the first system, one sin and one cos, which we can associate with
the two functions in the second system generated by ±1 for every n. We also see that
frequency in the first system is πn
h
. In the second system the frequency increases faster,
2πn 2
i.e. h . Yet due to ± we still have two functions for each n. Thus for this concept of
counting, we have to divide 2πnh
by 2, which yields same frequency growing rate as in the
first system.
Hence these heuristic arguments state that Assumption 2.2.1 is plausible. In order to
prove this in a rigorous way one could consider the best approximation of a given g in
the finite sub spaces span {un }Nn=1 with N ∈ N. Writing g in the previous orthogonal
basis and calculating the approximation error would then lead to the spectral norm of the
inverse of a explicit given N × N matrix. If one showed that this term converges to zero
for N → ∞, the claim would be proven.
2.3. Limiting Absorption Principle

Now we show that the given u is indeed the physical solution, due to the correct choice of
the wave numbers kn . In natural physical processes one always observes the absorption of
energy. But this absorption can be considered sufficiently small. Thus, it is adequate to
set the absorption parameter in the physical/mathematical model to zero. Nevertheless,
one has to revert to the damped model, because the change to the undamped model
produces a loss of information. I.e. we add a damping parameter iǫ to the frequency ω
and choose the sign of the wave numbers so that the solution uǫ of the problem converges
to zero for x → ∞. Afterwards we let ǫ tend to zero and calculate limǫ→0 uǫ =: u. An
2.3. LIMITING ABSORPTION PRINCIPLE 21
analysis of u then shows that for real k, k ′ (ω) > 0 is the correct criterion for deciding on
the sign of the wave number.
This approach is called the limiting absorption principle. We now apply it and carry out
the mathematically rigorous details. The formulation of the damped problem is: Find
u ∈ L∞ (R+ × (−h, h)), so that
µ∆u + (λ + µ)∇ div u = ρ(ω + iǫ)2 u in R+ × (−h, h), (2.29)

u = g on {0} × (−h, h), (2.30)
+
τ21 = µ(∂x u2 + ∂y u1 ) = 0 on R × {±h}, (2.31)
+
τ22 = λ(∂x u1 + ∂y u2 ) = 0 on R × {±h}. (2.32)
Finding the solution uǫ of problem (2.29)-(2.32) and taking the limit u := limǫ→0 uǫ then
gives us the physical solution. Similarly to the undamped problem
ǫ
uǫn,1 = iknǫ Aǫn,2 cos(αnǫ y) + βnǫ Bn,1
ǫ
cos(βnǫ y) eikn x ,
ǫ (2.33)
uǫn,2 = −αnǫ Aǫn,2 sin(αnǫ y) − iknǫ Bn,1
ǫ
sin(βnǫ y) eikn x ,
solve equations (2.29), (2.31)-(2.32), with

s
(ω + iǫ)2
αnǫ = − (knǫ )2 ,
c2L
s
(ω + iǫ)2
βnǫ = − (knǫ )2 , (2.34)
c2T
2
Aǫn,2 = (knǫ )2 − (βnǫ )2 sin(βnǫ h),
ǫ
Bn,1 = 2iknǫ αnǫ sin(αnǫ h),
where knǫ := kn (ω + iǫ) are the solutions of
4(k ǫ )2 αǫ β ǫ sin(αǫ h) cos(β ǫ h) + ((k ǫ )2 − (β ǫ )2 )2 cos(αǫ h) sin(β ǫ h) = 0. (2.35)
Assumption 2.3.1. For every n ∈ N there holds: ǫ 7→ kn (ω + iǫ) is continuous at ǫ = 0.

For every n ∈ N with kn (ω) 6= 0, ǫ 7→ kn (ω + iǫ) is differentiable at ǫ = 0.
For big n Lemma 2.1.3 already yields the previous assumption. For the remaining finitely
many small n we simply have to assume the property.
Remark 2.3.2. For k(ω) = 0 we cannot expect k to be differentiable. If we consider

F (ω, k) = 0 with k = 0 we gain
ω4

ωh ωh
4
cos sin = 0.
cT cL cT
22 2. MODELING
Solving this equations yields

cL π
ωn,1 =
(nπ − ),
h 2
cT
ωn,2 = nπ.
h
′
Because of F = 0 we have ∂ω F + ω ∂k F = 0 and thus
∂k F
ω′ = − .
∂ω F
Due to k = 0 we have
∂k F (ωn,j , 0) = 0, j = 1, 2
∂ω F (ωn,j , 0) 6= 0, j = 1, 2.
Hence ω ′ (0) = 0 and therefore ∄k ′ (ω) for k = 0. If we take a look at the dispersion curves
in Section 3.2, we see that for certain ω there indeed exist certain kn (ω) with kn (ω) 6= 0
and ∄kn′ (ω).
In order to ensure u ∈ L∞ we choose knǫ so that Im knǫ ≥ 0. Due to Assumption 2.3.1
/ R the sign of Im kn determines the sign of Im knǫ for ǫ small enough. Due to
for kn ∈
Lemma 2.1.3 this holds uniformly in n. If kn ∈ R we have
knǫ = kn (ω + iǫ) ≈ kn (ω) + iǫkn′ (ω).
Thus we choose kn (ω + iǫ) so that kn′ (ω) > 0. In the case that kn′ vanishes we have to
assume ǫ 7→ kn (ω + iǫ) ∈ C 3 in a neighbourhood of 0 (again Lemma 2.1.3 helps us) and
gain
ǫ2 iǫ3 ′′′
knǫ = kn (ω + iǫ) ≈ kn (ω) − kn′′ (ω) − k (ω),
2! 3! n
and thus take kn (ω + iǫ) with kn′′′ (ω) < 0 and so on. Similar to the undamped problem
we have to assume
Assumption 2.3.3. There exists ǫ0 > 0 such that for all ǫ ∈ [0, ǫ0 ) there holds: For
2
every symmetric function g ∈ [L2 (−h, h)] , there exists a unique sequence cǫn ∈ l∞ such
that
X uǫ (0, y)
g(y) = cǫn ǫ n . (2.36)
n∈N
kun (0, .)kL2(−h,h)
Hence we can write the solution of the damped problem as
X uǫ (x, y)
uǫ (x, y) = cǫn ǫ n . (2.37)
n∈N
ku n (0, .)k L 2 (−h,h)
Now we want to show that uǫ converges to u in some norms of interest. In order to do

that, we require two more plausible assumptions:
ǫ→0
Assumption 2.3.4. For every fixed n ∈ N there holds cǫn −−→ cn .
Assumption 2.3.5. There exists C > 0 such that |cǫn | ≤ C for all n ∈ N, ǫ ∈ [0, ǫ0 ).
Remark 2.3.6. Due to Lemma 2.1.3 and Assumption 2.3.1 we have knǫ → kn uniformly
L2 (−h,h)
in n. If we consider the background of the problem to solve, we can also show uǫn −−−−−→
un uniformly in n for fixed x = 0: Originally we were investigating the elastic behaviour
of an infinite beam. The left boundary of our half infinite beam is just set for analytical
reasons. Thus it is acceptable to assume the half beam begins already at x = −η < 0 and
hence
ǫ
uǫn,1 = iknǫ Aǫn,2 cos(αnǫ y) + βnǫ Bn,1
ǫ
cos(βnǫ y) eikn (x+η) ,
ǫ
uǫn,2 = −αnǫ Aǫn,2 sin(αnǫ y) − iknǫ Bn,1
ǫ
sin(βnǫ y) eikn (x+η) .
ǫ
Due to the uniform convergence of knǫ and the exponentially damped term eikn η , we have
uǫn (0, y) → un (0, y) uniformly in L∞ (−h, h). The coefficients of a function u with respect
to an orthonormal basis are linear continuous functionals of u. We expect this to be
similar for the ”nonorthogonal basis” {un (0, y)}. Therefore the above observations suggest
cǫn → cn in l∞ , which would yield assumptions 2.3.4 and 2.3.5.
Theorem 2.3.7. Let uǫ be the solution of the damped problem with damping parameter ǫ
and u be the stated solution of the undamped problem. Then for every x ∈ R+ there holds
limǫ→0 ku − uǫ k[L2 ({x}×(−h,h))]2 = 0.
Proof. Due to Lebesgue’s dominated convergence theorem it suffices to show that

(1) |uǫ | ≤ C ∀y ∈ (−h, h), ∀0 ≤ ǫ ≤ ǫ0 ,
(2) for almost every y ∈ (−h, h), uǫ converges pointwise to u.
Due to Assumption 2.3.3, we can write
X un (0, y) ikn x
u= cn e ,
n∈N
kun (0, .)kL2
ǫ
X uǫn (0, y) iknǫ x
u = cǫn e .
n∈N
kuǫn (0, .)kL2
First we show that

kuǫn (0, .)kL∞ (−h,h) iknǫ x π
ǫ
|e | ≤ Ce− 4h nx ∀n ∈ N, ǫ ∈ [0, ǫ0 ).
kun (0, y)kL2(−h,h)
We know that for n big enough we have Im kn,±1 ,±2 ≈ 2π

h
π
n. Thus Im kn & 2h n. Due
′ ǫ π
to |kn | ≤ C we have Im kn ≥ 2h n − C. A straight forward calculation yields that
kuǫn (0,y)kL∞ (−h,h)
kuǫn (0,y)kL2 (−h,h)
is bounded by a polynomial in |knǫ |. Additionally due to Theorem 2.1.2
ǫ
kuǫn (0,y)kL∞ (−h,h) ikn x
we have | Re knǫ | ≤ | Im knǫ | + C. Thus kuǫn (0,y)kL2 (−h,h)
|e 2 | is bounded.
24 2. MODELING
Now using Assumption 2.3.5 we obtain
X uǫn (0, y) ǫx
X π
| cǫn ǫ
eikn
| ≤ C e− 4h nx
n∈N
kun (0, .)kL2 (−h, h) n∈N
≤ C.
Now we obtain the pointwise convergence of uǫ :
X uǫn (0, y) iknǫ x |uǫ (0, y)| iknǫ x

un (0, y) ikn x X
| ǫ
cn ǫ e − cn e |≤ |cǫn − cn | ǫn |e |
n∈N
kun (0, .)kL2 kun (0, .)kL2 n∈N
kun (0, .)kL2
X uǫ (0, y) iknǫ x un (0, y) ikn x
+ |cn || ǫn e − e |
n∈N
ku n (0, .)k L 2 ku n (0, .)kL2
For any given δ > 0 we choose N ∈ N such that
∞
π
X
4C e− 4h nx ≤ δ.
n=N
|uǫn (0,y)| uǫn (0,y)

Since N |+ N − kuunn(0,.)k
(0,y)
ǫ ǫx
ikn ǫx
ikn
eikn x | is contin-
P P
n=1 |cn − cn | kuǫn (0,.)kL2 |e n=1 |cn || kuǫn (0,.)kL2 e L2
uous in ǫ, we have

un (0, y) ikn x
lim sup | cǫn e − e | ≤ δ.
ǫ→0
n∈N
kuǫn (0, .)kL2 kun (0, .)kL2
As δ was chosen arbitrarily, we have

ǫ un (0, y) ikn x
lim | cn ǫ e − e | = 0.
ǫ→0
n∈N
ku n (0, .)k L 2 ku n (0, .)kL2
Theorem 2.3.8. Let uǫ be the solution of the damped problem with damping parameter
ǫ and u be the stated solution of the undamped problem. Then
limǫ→0 ku − uǫ k[L∞ ((η,D)×(−h,h))]2 = 0
holds for every 0 < η < D < ∞.

Proof. We use the same main ideas used in the proof of Theorem 2.3.7. For every
y ∈ (−h, h), x ∈ (η, D) we have


ǫ un (0, y) ikn x
cn ǫ e −cn e ≤

ku (0, .)k ku (0, .)k

L 2 n L 2

n∈N n

X ǫ

u (0, y) u n (0, y) ǫ

cǫn ǫn − cn eikn x

ku (0, .)k ku (0, .)k

L 2 n L 2

n∈N n

X un (0, y) ǫx
ikn

ikn x
+ cn e −e .

kun (0, .)kL2
n∈N

We can estimate the second summand as

X u n (0, y) ǫx
ikn
X
ikn x kun (0, .)kL∞ ǫ
|eikn x | 1 − ei(kn −kn )x .

c e − e ≤

n
kun (0, .)kL2 kun (0, .)kL2

n∈N n∈N
As in the proof of the previous theorem we have

X kun (0, .)kL∞ ǫ
X πnη ǫ
|eikn x | 1 − ei(kn −kn )x ≤ C e− 4h 1 − ei(kn −kn )x .

n∈N
kun (0, .)kL2 n∈N
If ǫ ∈ [0, ǫ0 ) and using the explicit formula of exp, we conclude

X πnη ǫ
X πnη
e− 4h 1 − ei(kn −kn )x ≤ C e− 4h |knǫ − kn |D.

n∈N n∈N
This estimate is uniform in x and y and converges to zero for ǫ → 0 as well. To deal with
the first summand we start with a simple estimate

uǫn (0, y)
X
ǫ un (0, y) ǫ x
ikn
cn ǫ − cn e ≤

ku (0, .)k ku n (0, .)kL2

L 2

n∈N n
ǫ − ηπn uǫn (0, y)

X ηπn
− 8h − ηπn un (0, y)
C e sup cn e
8h − cn e 8h .
n∈N y∈(−h,h) kuǫn (0, .)kL2 kun (0, .)kL2

ǫ − ηπn uǫn (0,y) − ηπn un (0,y)
Now if we can show that for all n ∈ N supy∈(−h,h) cn e 8h
kuǫn (0,.)kL2
− cn e 8h
kun (0,.)kL2
converges to zero for ǫ → 0, as well as that
ǫ − ηπn uǫn (0,y) − ηπn un (0,y)
supy∈(−h,h) cn e 8h kuǫ (0,.)k 2 − cn e 8h kun (0,.)k 2 stays bounded in n ∈ N, ǫ ∈ [0, ǫ0 ), the
n L L
ηπn
stated theorem is proven. The boundedness holds due to the term e− 8h and the same
L∞
arguments as in Theorem 2.3.7. To prove the convergence we show uǫn (0, y) −−→ un (0, y).
26 2. MODELING
The rest follows easily. Now

αǫn
Z
cos(αnǫ y)|

| cos(αn y) − = y sin(γy)dγ
αn
≤ |αnǫ − αn |h sup | sin(γy)|.
y∈(−h,h),γ∈Uδ (αn )
From this the stated follows.

− πnx
Remark 2.3.9. Due to the exponential decreasing terms eikn x ∼ e 4h convergence in
additional norms could be shown, if wanted to.
CHAPTER 3
Numerical Concepts
In this chapter we present some numerical methods for acoustic wave propagation and
study why, why not and how these concepts can be adapted to the elastic case. Hence
it is necessary to give a short introduction to acoustic wave propagation, which we do in
Section 3.1, where we adhere very closely to [14].
In Section 3.2 we elaborate on the qualitative difference between acoustic and elastic
wave propagation, which is the behaviour of the wave numbers and the dispersion curves.
In particular this means that elastic dispersion curves can have negative slopes, which
entails that phase and group velocity have different signs.
The first numerical concept which we present in Section 3.3, is complex scaling aka per-
fectly matched layers. However, we will not give a full discussion of this method, but
only sketch its main ideas. We will further show that without a projection onto eigen
modes this concept cannot be successfully adapted to our specific elastic problem.
Hence in Section 3.4 we will introduce another numerical concept for acoustic wave prop-
agation, i.e. the Hardy space method. Again we do not give rigorous proofs for this
numerical concept, but we elaborate on why and how it can be successfully adapted to
elastic wave propagation.
3.1. Acoustic Wave Propagation

To describe acoustic waves we require the following variables:
• The space variable x ∈ Rd , where d = 1, 2, 3 is the space dimension,
• the time variable t ∈ R+ 0,
• the velocity field v(x, t) ∈ Rd ,
• the pressure field p(x, t) ∈ R,
• the density field ρ(x, t) ∈ R.
Additionally we assume that
• p0 = const,
• v0 = 0,
• ρ0 = ρ0 (x)
describe the stationary state. The relationship between v, p and ρ can be described by
the linearised Euler equation
ρ0 ∂t v + ∇p = 0, (3.1)
27
28 3. NUMERICAL CONCEPTS
the linearised continuity equation

∂t ρ + div (ρ0 v) = 0 (3.2)
and
p = c2 ρ, (3.3)
where c = c(x) describes the speed of sound. If we plug Equation (3.3) into Equation (3.2)
we gain
1
∂t p + div (ρ0 v) = 0. (3.4)
c2
Now taking the time derivative of Equation (3.4) and subtracting it from the divergence
of Equation (3.1) yields
1
∂t ∂t p = ∆p.
c2
If we consider time harmonic waves of the form
p(x, t) = u(x)e−iωt ,
with the amplitude u and the positive frequency ω, we gain
ω2
∆u + u = 0.
c2
In the case of a homogeneous medium, i.e. c = const, we obtain the Helmholtz equation
∆u + κ2 u = 0,
with κ = ωc . Now we consider an acoustic wave guide with the same geometry as described
in Section 1.3. Hence we gain the problem (for given boundary g):
2
Find u ∈ Hloc (R+ × (−h, h); C) such that
∆u + κ2 u = 0 for (x, y) ∈ R+ × (−h, h), (3.5)
∂y u = 0 for x ∈ R+ , y = ±h, (3.6)
u=g for x = 0, y ∈ (−h, h). (3.7)
π
problem ∂x2 u = 0 with
S
n∈N {cos( h ny)}
are the eigen functions to the Sturm-Liouville
π
S
Neumann boundary conditions ∂x u(±h) = 0. Thus n∈N {cos( h ny)} is an orthogonal
basis of L2 (−h, h). Additionally, every basis function fulfills the boundary conditions at
y = ±h. Hence we can write
X π
g(y) = cn cos( ny)
n∈N
h
with
1 π
cn = g(y) cos( ny) .
π h L2 (−h,h)
3.2. WAVE NUMBERS AND DISPERSION CURVES 29
As in the elastic problem we use a product and series ansatz

X π
u(x, y) = cn cos( ny)e±ikn x (3.8)
n∈N
h
with wave numbers

r
π2 2
kn := κ2 − n, (3.9)
h2
which
q solves equations (3.5)-(3.7). As in the elastic case for q each n we can choose a sign
2 π2 2
of i κ2 − πh2 n2 . If κ < πh n we choose the sign, such that e±i κ − h2 n x stays bounded. If
2
q
2
π
κ > h n we choose the sign, such that the imaginary part of i κ2 − πh2 n2 is positive. This
choice can be justified by the limiting absorption principle as was done for the elastic
wave numbers. This is much easier to be shown for acoustic wave guides, thus we leave
it to the reader. One way to implement this condition on the wave numbers into the
set of Equations (3.5)-(3.7) is the so called pole condition, see [11, 15, 10]. If we have
u(x, y) = n∈N cn cos( πh ny)eiknx , we can easily calculate the Laplace transformation of u
P
in x:
Z ∞
û(s, y) = u(x, y)e−sx dx
0
Z ∞
X π
= cn cos( ny) e(ikn −s)x dx
n∈N
h 0
X π 1
= cn cos( ny) .
n∈N
h ikn − s
Since we demanded Im kn eiπ/4 ≥ 0, which is equivalent to Re ikn eiπ/4 ≤ 0, û(s) has an

analytic extension to Re seiπ/4 > 0. Thus one way to complete our formulation of the
problem is:
2
Find u ∈ Hloc (R+ × (−h, h); C) such that
∆u + κ2 u = 0 for (x, y) ∈ R+ × (−h, h), (3.10)
∂y u = 0 for x ∈ R+ , y = ±h, (3.11)
u=g for x = 0, y ∈ (−h, h), (3.12)
û(s) has an analytic extension on the half plane Re seiπ/4 > 0. (3.13)
3.2. Wave Numbers and Dispersion Curves

3.2.1. Material Parameters. Up to now we have described our material in the
elastic problem with the help of Lame’s parameters: Lame’s first parameter λ and the
shear modulus µ. However, for some purposes it is more practical to use Young’s modulus
E and Poisson’s ration ν to describe the material, as done in [1]:

µ(3λ + 2µ)
E= ,
λ+µ
λ
ν= ,
2(λ + µ)
(3.14)
Eν
λ= ,
(1 + ν)(1 − 2ν)
E
µ= .
2(1 + ν)
If we express our wave speeds cT and cL with E and ν we get
s
µ E 1
r
cT = = ,
ρ ρ(1 + ν) 2
s s (3.15)
λ + 2µ E (1 − ν)
cL = = .
ρ ρ(1 + ν) (1 − 2ν)
We take a look at the relation equation for k and ω:
F (ω, k) = 4k 2 αβ sin(αh) cos(βh) + (k 2 − β 2 )2 cos(αh) sin(βh),
s
ω2
α= − k2,
c2L
s
ω2
β= − k2.
c2T
ω2 ω2
We see that ω either occurs as c2T
or as c2L
. Since we have
E 1
c2T = ,
ρ(1 + ν) 2
(3.16)
E (1 − ν)
c2L = ,
ρ(1 + ν) (1 − 2ν)
2 2
1
there either occurs ω ρE (1+ν)2 or ω ρE (1+ν)(1−2ν)
1−ν
. We see that the factor Eρ only scales ω,
whereas the size of ν makes a qualitative difference in the solutions of the equation. That
is why we fixed E, ρ and h in figures 2-3 and only varied the Poission’s ratio ν.
3.2.2. Dispersion Curves. A dispersion curve is a curve {(ω, kn (ω)) :
ω ∈ (ωn , ∞)}, where ωn is the root of kn . In the acoustic case we have the wave
numbers explicitly given as
r
ω2 π2 2
kn (ω) = − 2n ,
c2 h
20
15
10
0
0 5 10 15 20 25 30
ω
Figure 1. Acoustic dispersion curves with c = h = 1.
with the root

π
ωn = c n.
h
In the elastic case we also expect that if ω < ωn , kn (ω) is imaginary and if ω > ωn , kn (ω)
is real. The roots ωn of the even elastic dispersion curves can be easily calculated by
solving
ω4

ωh ωh
4
cos sin = 0.
cT cL cT
Hence
cL π
ωn,1 = (nπ − ),
h 2
cT
ωn,2 = nπ.
h
For the odd elastic dispersion curves we calculate
ω4

ωh ωh
4
cos sin = 0.
cT cT cL
Hence
cT π
ωn,1 = (nπ − ),
h 2
cL
ωn,2 = nπ.
h
Although it may seem simple, finding and calculating all dispersion curves is rather
tricky. One knows the points where dispersion curves start, but one does not know how
many different curves have the same root. We take for example ωn = 0: at least two
q
Figure 2. Elastic dispersion curves with h = 1, cT = 1, cL = 2(1−ν)
1−2ν
,ν =
0.3663, compare with [18]. Even curves are red, odd curves are blue.
Figure 3. Elastic dispersion curves for concrete: h = 1, cT = 1, cL =

q
2(1−ν)
1−2ν
, ν = 0.2. Even curves are red, odd curves are blue.
linear curves, i.e. k = cωT and k = cωL , have roots there. But plugging these equations
into u shows, that these curves correspond to u = 0.
In many text books, as in [1], in addition to the phase velocity ω the group velocity is
defined as ∂k ω. If we set the material parameters E, ν and h in the elastic case or c
and h in the acoustic case and choose a frequency ω, we can read from the figure of the
dispersion curves how many real wave numbers exist. Moreover one can see which sign of
k is the physically correct choice by regarding the slope of the curves. We see that in the
acoustic case group and phase velocity always have the same sign. Yet, when regarding
the given figures of the elastic dispersion curves, one can see that there actually exist
wave numbers with different sign of group and phase velocity, which justifies our effort
into developing a numerical scheme.
3.2.3. Wave Numbers. In the acoustic case we can calculate the wave numbers
explicitly as
r
ω2 π2 2
kn (ω) = − 2 n , n ∈ N0 : kn ∈ R,
c2 h
r
π2 2 ω2
kn (ω) = i n − 2 , n ∈ N0 : k n ∈
/ R.
h2 c
Figure 4 shows them in the complex plane. The wave numbers which are the correct
60
40
20
imaginary axis
−20
−40
−60
−50 −40 −30 −20 −10 0 10 20 30 40 50
real axis
Figure 4. Acoustic wave numbers in the complex plane.
physical choice are marked red, the non-physical ones are marked blue. We see that the
correct wave numbers lie in the rotated upper half of the complex plane. In contrast,
in the elastic case we only know the asymptotic behaviour of the wave numbers due to
Chapter 2, i.e. for the symmetric wave number there holds for large n:
√ !
1 √ √ 2π
kn,±1,±2 ≈ ±1 arccosh 2 2nπ + 2π ±2
2h 4
i π
+ 2nπ + π ±2 .
h 4
Additionally, as we pointed out in the previous subsection, the real valued wave numbers
do not necessary lie in one half plane, but can have different signs. Thus we can expect
the elastic wave numbers to look similar to Figure 5.

This general knowledge about the wave numbers can be used to develop and justify
100
80
60
40
20
imaginary axis
−20
−40
−60
−80
−100
−3 −2 −1 0 1 2 3
real axis
Figure 5. Expected appearance of elastic wave numbers in the complex plane.
different numerical methods, which do not depend on the wave numbers. Two of them
will be introduced in the next sections.
3.3. Complex Scaling

Complex scaling reaches back to the sixties. A historical synopsis can be found
in [9]. The concept was redeveloped as perfectly matched layers (PML) in [2]. First
convergence results where published in [5]. In [18] PML was applied to guided elastic
wave propagation by projecting onto eigen modes.
We set Ω = (−h, h) × R+ . The idea of complex scaling follows a very classical approach.
We reformulate the problem in a weak sense, i.e. we search for u ∈ H such that
Z Z
∇u · ∇v + κ2 uv = 0 ∀v ∈ H0 ,
Ω Ω
(3.17)
u = g for x = 0, y ∈ (−h, h),
u ”is outgoing”,
with some Hilbert space H ⊂ H 1 (Ω) and H0 = {v ∈ H : v|{0}×(−h,h) = 0}, but since
this implies u ∈ H 1 (Ω), which does not hold, this clearly does not work. Hence we
modify u in such a way, that it becomes an element of H 1 (Ω). The modification used is
complex scaling. As we want to explain the expression PML we do not restrict ourselves
to the exterior domain but split Ω into an interior domain Ωinn := (0, x0 ) × (−h, h) and
3.3. COMPLEX SCALING 35
an exterior domain Ωext := (x0 , ∞) × (−h, h) with x0 ∈ R+ . We define an anisotropic

scaling γ, such that x is transformed to a complex variable on the exterior domain:
(
x x ≤ x0
γ(x) = R x−x0 . (3.18)
x+i 0 σ(r)dr x0 < x
Rx
We demand σ to be a continuous function σ : R+ +
0 → R and exp(− 0
σ(r)dr) ∈ H 1 (R+ ).
Then we define
uscal := u ◦ γ. (3.19)
Now we set Vg := {v ∈ H 1 (Ω) : v = g on {0} × (−h, h)} and we define the variational
problem: Find uscal ∈ Vg such that
a(uscal , v) + b(uscal , v) = 0, ∀v ∈ V0 , (3.20)
with
1
Z
a(u, v) := ′
∂x u∂x v + γ ′ ∂y u∂y v, (3.21)
Ω γ
and
Z
b(u, v) := γ ′ uv. (3.22)
Ω
If u is a solution of the strong formulation (3.10)-(3.13), we calculate that uscal solves the
variational formulation (3.21):
0 = ∂x ∂x u + ∂y ∂y u + κ2 u
0 = (∂x ∂x u) ◦ γ + (∂y ∂y u) ◦ γ + κ2 u ◦ γ
1
= ′ ∂x ((∂x u) ◦ γ) + ∂y ∂y (u ◦ γ) + κ2 u ◦ γ
γ
1 1
= ′ ∂x ′ ∂x (u ◦ γ) + ∂y ∂y uscal + κ2 uscal
γ γ
1 1
= ′ ∂x ′ ∂x uscal + ∂y ∂y uscal + κ2 uscal
γ γ
1
= ∂x ′ ∂x uscal + γ ′ ∂y ∂y uscal + γ ′ κ2 uscal .
γ
We further have
X π
uscal (x, y) = cn cos( ny)eikn γ(x) ∈ H 1 (Ω).
n∈N
h
Hence for v ∈ V0 we have

1
Z
0 = (∂x ′ ∂x uscal + γ ′ ∂y ∂y uscal + γ ′ κ2 uscal )v
γ
ZΩ
1
= ∂ u ∂ v + γ ′ ∂y uscal ∂y v + γ ′ κ2 uscal v
′ x scal x
Ω γ
= a(uscal , v) + b(uscal , v).
On the other hand, if uscal solves the variational problem (3.21), we have
1 1
∂x ∂x uscal + ∂y ∂y uscal + κ2 uscal = 0 on Ω, (3.23)
γ′ γ′
∂y uscal = 0 on y = ±h, (3.24)
uscal = g on x = 0, (3.25)
1
uscal ∈ H (Ω). (3.26)
If we solve Equations (3.23)-(3.25) and consider condition (3.26) we get
X π
uscal (x, y) = cn cos( ny)eikn γ(x) ∈ H 1 (Ω).
n∈N
h
Hence uscal |Ωinn = u|Ωinn . Now that we know that the restriction on Ωinn of the solution
of the variational formulation (3.21) gives us a restriction on Ωinn of the solution
of (3.10)-(3.13), it suggests itself to perform a Galerkin Method on the weak formulation.
Proofs of convergence for finite element methods on complex scaling can be found
here [14].
In the implementation of the method, the calculation of the interior and the exterior part
is split. The name perfectly matched layer is earned by the fact that at the interface
between interior and exterior domain, the bilinear forms produce the same Neumann
boundary terms:
1 1 1
Z Z Z
′ ′ 2
′
∂x u scal ∂x v + γ ∂y u scal ∂y v = − ∂x ∂x u scal v + γ ∂y u scal v + ∂ u v
′ x scal
Ωext γ Ωext γ′ {x0 }×(−h,h) γ
1
Z Z
′ 2
=− ∂x ′ ∂x uscal v + γ ∂y uscal v + ∂x uv.
Ωext γ {x0 }×(−h,h)
x→∞
The core of the mentioned method is Re ikn γ(x) −−−→ −∞ for all n ∈ N. This is
possible because all wave numbers kn lie in one half plane. In elasticity this is not
necessarily
R x−x0 the case: If there exist −kn , km > 0, thereR would have to hold Re ikn γ(x) =
x→∞ x−x x→∞
−kn 0 σ(r)dr −−−→ −∞ and Re ikm γ(x) = −km 0 0 σ(r)dr −−−→ −∞, which can
clearly not both be satisfied. Thus to perform PML for elasticity one would have to
separate the modes with negative group velocity, as done in [18].
3.4. HARDY SPACE METHOD 37
3.4. Hardy Space Method

The Hardy space method continues with the observation that û(s, y) has in s an analytic
extension on the half plane Re seiπ/4 > 0, but before we proceed, we need some analytical
background. The Hardy space was first introduced by Godfrey Harold Hardy in [7]. We
take the stated definitions and results from [13].
Definition 3.4.1.
(1) The Hardy space H ± (S 1 ) consists of all functions f ∈ L2 (S 1 ) for which there
exist g with the following properties
• g is analytic on {z ∈ C : |z ± |R< 1},
• there exists C > 0 such that S 1 |g(r ± z)|2 dz ≤ C for all 0 < r < 1,
rր1
• f is the L2 -trace of g, i.e. S 1 |g(r ±z) − f (z)|2 dz −−→ 0.
R
(2) The Hardy space H ± (R) consists of all functions f ∈ L2 (R) for which there exist
g with the following properties
• g is analytic on C± := {z ∈ C R : Im ±z > 0},
• there exists C > 0 such that R |g(z ± iǫ)|2 dz ≤ C for all 0 < ǫ,
ǫց0
• f is the L2 -trace of g, i.e. R |g(z ± iǫ) − f (z)|2 dz −−→ 0.
R
(3) Let κ0 ∈ C with Re κ0 > 0. Then H ± (κ0 R) := {f : f (κ0 .) ∈ H ± (R)}.

Lemma 3.4.2.
(1) The Hardy space H ± (S 1 ) equipped with the standard L2 (S 1 ) product is a Hilbert
space.
(2) The monomials z ±n , n ∈ N0 are a orthogonal basis of H ± (S 1 ).
If f ∈ H ± (S 1 ), then the function g from Definition 3.4.1 is uniquely given by
(3) P
∞ n ±n
n=0 (f, z )z .
Lemma 3.4.3. Let Re κ0 > 0 and
z+1
φ(z) := iκ0 , z ∈ S1
z−1
1
be a family of maps from S to κ0 R. Then the Möbius transformations M
1
(Mf )(z) := (f ◦ φ)(z) , z ∈ S 1 , f ∈ H − (κ0 R)
z−1
p
are a family of unitary maps from H − (κ0 R) to H + (S 1 ) up to the factor 2|κ0 |.
Proposition 3.4.4. Let Re κ0 > 0. The Hardy spaces H ± (κo R) are Hilbert spaces with
the standard L2 product.
Lemma 3.4.5. Let M ≥ 0, κ0 > 0 and f, g : R+ → C be two functions, so that fˆ := Lf
exists for {s ∈ C : Re s ≥ M} and ĝ := Lg exists for {s ∈ C : Re s ≥ −M − ǫ}
with some ǫ > 0. Further let fˆ and ĝ have an analytic extension onto a neighbourhood
of E(M, κ0 ) := {s ∈ C : Re is/κ0 ≥ 0 ∨ Re s ≥ M} and let fˆ and ĝ be bounded on

E(M, κ0 ). Then there holds
i κ0
Z Z Z
f (r)g(r)dr = − ˆ
f (s)ĝ(−s)ds = − Mfˆ(z)Mĝ(z̄)dz.
R + 2π κ0 R + π S 1
Lemma 3.4.6. Let f : R+

0 → C be Laplace transformable. Further let F := MLf ∈
+ 1
H (S ). Then
f (0) = lim s(Lf )(s) = 2iκ0 F (1)
s→∞
holds.
Now we develop a numerical scheme for
∆u + κ2 u = 0 for (x, y) ∈ R+ × (−h, h),
∂y u = 0 for x ∈ R+ , y = ±h,
(3.27)
u = g for x = 0, y ∈ (−h, h),
u ”outgoing”.
The following integrals and transformation have to be understood only in a formal sense.
For a mathematical rigorous justification we refer to [13]. We multiply with a test
function v and integrate by parts:
Z ∞Z h Z h
2
∂x u∂x v + ∂y u∂y v − κ uv dydx = ∂x uv dy.
0 −h −h
We use a Galerkin method with tensor product functions, where we define our basis
functions later:
X
u(x, y) = cj,mbj,x (x)bm,y (y).
j,m
We gain the integrals

Z h
∂y bm,y (y)∂y bn,y (y) dy,
−h
Z h
bm,y (y)bn,y (y) dy,
−h
with bounded integration domains and the integrals

Z ∞
∂x bj,x (x)∂x bl,x (x) dx,
0
Z ∞
bj,x (x)bl,x (x) dx.
0
3.4. HARDY SPACE METHOD 39
with unbounded integration domains. The latter we can draw back to H + (S 1 ) with help
of Lemma 3.4.5:
Z ∞
κ0
Z
∂x bj,x (x)∂x bl,x (x) dx = − (ML∂x bj,x )(s)ML∂x bl,x )(−s)ds
0 π S1
Z ∞
κ0
Z
bj,x (x)bl,x (x) dx = − (MLbj,x )(s)MLbl,x )(−s)ds.
0 π S1
At S 1 we have an orthogonal basis z j , j ∈ N0 at hand. This choice of basis functions may
100
80
60
40
20
imaginary axis
−20
−40
−60
−80
−100
−3 −2 −1 0 1 2 3
real axis
Figure 6. We need a transformation from the upper part to S 1 .
seem practical, because of it’s orthogonality, but it is difficult to implement the Dirichlet
boundary conditions with it. Due to Lemma 3.4.6 it is convenient to set
1
Mb̂j,x (z) := , j=0
2iκ0
Mb̂j,x (z) := (z − 1)z j−1 , j > 0.
With this choice of basis functions we simply have
X
u(0, y) = c0,m bm,y (y).
We gain
j
X j (2iκ0 x)k+1
bj,x (x) =
k (k + 1)!
k=0
by transforming back. For bm,y we can use some standard finite element basis.
We obtained u to be outgoing by demanding MLu ∈ H + (S 1 ), which is equivalent to

Lu ∈ H + (κ0 R). Now in the case of an elastic wave guide our wave numbers do not lie
in one half plane and therefore û has no analytic extension to any half plane. Thus we
define a −iΓ like in Figure 6. By using a Schwarz-Christöffel mapping, see [6], we can
define H ± (Γ) analogously to H ± (κ0 R). Now we can implement the pole condition by
demanding that û has an analytic extension to H + (Γ).
CHAPTER 4
A Model Problem
In order to understand the problems arising in the Hardy space method by switching
from the acoustic case to the elastic case, we study a model problem. It captures the
main structure, properties and difficulties of the general problem, but unlike most model
problems it is not the simplest case of some general problem, i.e. all parameters are con-
stants and either 1 or 0, neither does it have a physical meaning. This artificial problem is
designed only for the purpose of studying analytical properties of and numerical concepts
for guided elastic wave propagation.
As we have the explicit solution and more importantly the explicit wave numbers for our
model problem at hand, we can elaborate on and study degenerated cases of the model
problem, i.e. collapsing wave numbers. We expect the same behaviour for guided elastic
wave propagation, although we have no rigorous proof for this conclusion. Nevertheless,
if we develop a numerical scheme capable of handling the degenerated cases of our model
problem, we can hope and expect the scheme also to work successfully for guided elastic
wave propagation.
In the last part of this chapter we consider only one branch of the model problem and
carry out numerical tests. We conclude that the approximation results are satisfying. The
arising matrix of the linear equation system is not stable, but the condition is suitable
small for a practical number of degrees of freedom.
4.1. Formulation of the Problem

We work on the same domain as in the previous chapters, i.e. Ω := R+ × (−h, h) with
h ∈ R+ . For the sake of simplicity we set h := π/2. Let a, b, c ∈ R+ be parameters. In
the last chapters we studied the time harmonic two dimensional linear elastic equations,
i.e. a two dimensional second order system in space. Hence it is consistent to start with
our model problem as a one dimensional fourth order system. Let
2
H := −a2 ∂x2 + b2 ∂y2 + c2 ∂y4 . (4.1)
We are looking for solutions of
Hu = −∂t2 u. (4.2)
We are interested only in time harmonic solutions. Hence for a given frequency ω ∈ R+
we write
u(x, y, t) = u(x, y)e−itω . (4.3)
41
42 4. A MODEL PROBLEM
Thus we gain the equation
Hu = ω 2 u. (4.4)
With the help of
D1 := −a2 ∂x2 + b2 ∂y2 − ic∂y2 , (4.5)

D2 := −a2 ∂x2 + b2 ∂y2 + ic∂y2 , (4.6)
we can factorize H as
H := D2 D1 . (4.7)
This and defining

1
v := D1 u, (4.8)
ω
allows us to reformulate the equation as a two dimensional second order system:
D1 u − ωv = 0,
(4.9)
−ωu + D2 v = 0.
We add homogeneous Dirichlet boundary conditions at the unbounded part of the bound-
ary:
u = v = 0 at y = ±π/2. (4.10)
A product ansatz u = eikx cos(ny) yields the solutions
u = eikx cos(ny),
1 (4.11)
v = (a2 k 2 − b2 n2 + icn2 )eikx cos(ny),
ω
with
n ∈ N0 ,
√ (4.12)
q
11
k±1 ,±2 ,n = ± b2 n2 ±2 ω 2 − c2 n4 .
a
The indices of ± indicate that the choices of the signs are independently. We only allow
outgoing wave numbers k. As in the previous chapters we call non real wave numbers
outgoing if Im k > 0 and incoming if not. We call real wave numbers for which ∂ω k exists
outgoing if ∂ω k > 0 and incoming if not. We call real wave numbers degenerated if ∂ω k
does not exist and treat this special cases in the next section.
Up to the end of this section we assume ω such that there do not exist any degenerated
wave numbers. If we add further Neumann boundary conditions on x = 0 we see that
4.2. COLLAPSING WAVE NUMBERS 43
20
18
16
14
k 12
10
0
0 50 100 150
ω
Figure 1. Dispersion curves of the model problem.
the problem, find u, v ∈ H 2 (Ω), so that

D1 u − ωv = 0,
−ωu + D2 v = 0,
∂x u = f, ∂x v = g at x = 0, (4.13)
u, v = 0 at y = ±π/2,
u, v outgoing,
has a unique solution. Observing elastic dispersion curves no intersection between dis-
persion curves with different signs of group and phase velocity seem to occur. Hence we
choose our parameters in such a way, that this holds for our model problem. b = 1 and
c ≥ 2 satisfy our demand. Thus we can describe the possible domain of the outgoing
wave numbers as follows: there exists ξ ∈ R+ such that for every outgoing k there holds
k ∈ {z ∈ C : Im z > 0} ∪ (−ξ, 0) ∪ (ξ, ∞). For the incoming wave numbers there ac-
cordingly holds k ∈ {z ∈ C : Im z < 0} ∪ (−∞, −ξ) ∪ (0, ξ). Hence we can force u to be
outgoing by the pole condition: û, v̂ have an extension in H − (Γ) with Γ as in Figure 6.
4.2. Collapsing Wave Numbers

We speak of collapsing wave numbers if two different wave numbers have the same value.
This either happens if two different dispersion curves intersect or if a dispersion curve
has a turning point, i.e. k ′ (ω) = ∞. In the first case we can distinguish two situations:
slopes of the two dispersion curves have the same sign or they do not. Since in elasticity
we never observed the latter and we have already chosen the parameters of our model
problem accordingly, we only discus the situation with the same sign of slopes. The case
k ′ (ω) = ∞ always occurs at roots k = 0 and can happen if the dispersion curve has an
additional turning point k 6= 0.
Intersecting dispersion curves in the model problem: The to k corresponding eigen space
in y is now two dimensional, i.e. u = eikx cos(ny) and u = eikx cos(my) with n 6= m
are both solutions, but this gives neither rise to analytical nor to numerical problems,
because the dispersion curves have the same sign of group velocity.
Turning points of dispersion curves in the model problem: In the model problem turning
points exist at every root k = 0, ω 2 = (c2 + b4 )n4 of a dispersion curve. All but
the first dispersion curve have a turning point at k = bn, ω 2 = c2 n4 . If k = 0 the
solutions
√ u = e±ikx cos(ny) collapse to cos(ny), x cos(ny). If ω 2 = c2 n4 the solutions
1
√ 1 1
2 2 2 2 2 4
e a b n ± ω −c n cos(ny) collapse to e a bn cos(ny), xe a bn cos(ny). The same happens for
the solutions corresponding to −k. Due to continuity and boundedness arguments, we
call solutions with a xeikx -term ”non-physical”.
The case of intersecting dispersion curves should not create numerical problems. The case
of turning points creates problems, because in this case wave numbers lie on our usual
separation path Γ. We could modify Γ in such a way that 0, respectively both ±k lie in
the allowed pole domain, but if the elasticity problem behaves like the model problem
additional non-physical modes would arise. An extra condition to the formulation of the
problem would be needed to eliminate those non-physical modes. If those non-physical
modes of the elasticity problem behaved like the ones of the model problem, the condition
u ∈ L∞ would be analytically sufficient. However, the question how to implement this
into a numerical scheme arises. We refer to Chapter 5 for some ideas.
4.3. Galerkin Formulation

We want to break the model problem down to an even simpler problem. We take the
model problem with the parameters a = b = c = 1 and solve it only for the second
branch:
(−∂x2 − 1 + i)u − ωv = 0,
(4.14)
−ωu + (−∂x2 − 1 − i)v = 0.
If we multiply these equations with appropriate test functions p, q, we gain formally the
weak formulation
Z ∞
u′ p′ + (−1 + i)up − ωvpdx = u′0 p(0),
Z ∞0 (4.15)
′ ′ ′
−ωuq + v q + (−1 − i)vqdx = v0 q(0).
0
4.3. GALERKIN FORMULATION 45
Analogously to the standard Hardy space method we are able to derive a variational
formulation in H − (Γ):
−i
Z
L(u′)(s)L(p′ )(−s) + ((i − 1)L(u)(s) − ωL(v)(s)) L(p)(−s)ds = u′0 p(0),
2π Γ
(4.16)
−i
Z
L(v ′)(s)L(q ′ )(−s) + (−ωL(u)(s) − (i + 1)L(v)(s)) L(q)(−s)ds = v0′ q(0).
2π Γ
In the standard Hardy space method the integrals are mapped back using the Möbius
transformation onto the unit circle, where we choose
1 z−1 j
Ψ̃−1 (z) := , Ψ̃j (z) := z , z ∈ S 1 , j = 0, . . . , N, (4.17)
2iκ0 2iκ0
as basis functions. The corresponding basis of H − (κ0 R) (p0 := iκ0 ) is
j
1 2p0 s + p0
Ψp−1
0
(s) := , Ψpj 0 (s) := , j = 0, . . . , N. (4.18)
s − p0 (s − p0 )2 s − p0
It is also useful to state
p0 p0
ψ−1 (s) := (L∂x L−1 Ψp−1
0
)(s) = ,
s − p0
j (4.19)
2sp0 s + p0
ψjp0 (s) := (L∂x L −1
Ψpj 0 )(s) = , j = 0, . . . , N.
(s − p0 )2 s − p0
The modification, which seems useful, is the usage of two poles p0 and p1 in order to
illuminate the edges of Γ. Using the basis functions (4.18) with p0 and p1 leads to
1
Ψp−1
0
(s) := ,
s − p0
j
2p0 s + p0
Ψpj 0 (s) := , j = 0, . . . , N, (4.20)
(s − p0 )2 s − p0
j
2p1 s + p1
Ψpj 1 (s) := , j = 0, . . . , N.
(s − p1 )2 s − p1
For the integrals we can use Cauchy’s integral theorem to rewrite the integration over Γ
as an integration over a line. The line is chosen so that the distance to the poles of the
integrand is minimized. Hence we are left with four kinds of integrals:

−i −i
Z Z
p0 p0
11
Mjk := Ψj (s)Ψk (−s)ds, 11
Sjk := ψjp0 (s)ψjp0 (−s)ds
2π −ip0 R 2π −ip0 R
−i −i
Z Z
p1 p1
22
Mjk := Ψ (s)Ψk (−s)ds, 22
Sjk := ψ p1 (s)ψjp1 (−s)ds
2π −ip1 R j 2π −ip1 R j
−i −i
Z Z
p0 p1
12
Sjk := ψjp0 (s)ψjp1 (−s)ds
2π −i(p0 +p1 )R+ 0 2 1
p −p 2π −i(p0 +p1 )R+ 0 2 1
p −p
−i −i
Z Z
p1 p0
21
Sjk := ψjp1 (s)ψjp0 (−s)ds.
2π −i(p1 +p0 )R+ p1 −p
2
0 2π p1 −p0
−i(p1 +p0 )R+ 2
We define 11
M M 12
M := ,
M 21 M 22
11 (4.21)
S S 12
S := .
S 21 S 22
With these two matrices we can build the discretization matrix of (4.16):

S + (−1 + i)M −ωM
A := . (4.22)
−ωM S + (−1 − i)M
We want to point out that if we apply this method to an elastic wave Rguide, the given
∞
matrices M and S will be important. In elasticity also mixed integrals 0 u∂x vdx arise.
Therefore we state
−i
Z
11
Djk := Ψpj 0 (s)ψkp0 (−s)ds,
2π −ip0 R
−i
Z
22
2π −ip1 R
−i
Z
12
Djk := Ψpj 0 (s)ψkp1 (−s)ds, (4.23)
2π −i(p0 +p1 )R+ p0 −p
2
1
−i
Z
21
2π −i(p1 +p0 )R+ 1 2 0
p −p
11
D 12

D
D := .
D 21 D 22
The exterior discretization matrix of the elastic problem is build with the very same
matrices M, S and D. Hence we can learn much by studying these. We observe that the
matrix blocks S ij behave like the matrix blocks M ij . Therefore it is sufficient to focus
on the matrix M. M 11 and M 22 are matrices of the standard Hardy space method and
hence are tridiagonal. It can be seen in the numerical results, that the the second two
kinds of integrals and thus the entries of M 12 , M 21 become large. This results in a bad
4.3. GALERKIN FORMULATION 47
condition number of A. Therefore a slightly different method is implemented using the

ansatz and test functions:
1
Ψp−1
0
(s) := ,
s − p0
j
2p0 s + p1
Ψpj 0 (s) := , j = 0, . . . , N, (4.24)
(s − p0 )2 s − p0
j
2p1 s + p0
Ψpj 1 (s) := , j = 0, . . . , N.
(s − p1 )2 s − p1
Now M 12 , M 21 become tridiagonal and the first two kinds of integrals become large. We
can also use a mixture of the two variants (4.18) and (4.24). Let w : N0 → N0 such that
w(n + 1) − w(n) ∈ {0, 1} ∀n ∈ N0 . Then
1
Ψp−1
0
(s) := ,
s − p0
w(j) j−w(j)
2p0 s + p0 s + p1
Ψpj 0 ,p1 (s) := , j = 0, . . . , N, (4.25)
(s − p0 )2 s − p0 s − p0
w(j) j−w(j)
2p1 s + p1 s + p0
Ψpj 1 ,p0 (s) := , j = 0, . . . , N.
(s − p1 )2 s − p1 s − p1
If for example w(n+1)−w(n) := n mod 2, we expect the same structure of M 11 , M 22 , M 12

and M 21 . To see this we calculate
Z
ψjp0 ,p1 (s)ψkp1 ,p0 (−s)ds
p0 −p1
−i(p0 +p1 )R+ 2
w(j) j−w(j) w(k) k−w(k)
4s2 p0 p1

s + p0 s + p1 s − p1 s − p0
Z
= ds
(s − p0 )2 (s + p1 )2 s − p0 s − p0 s + p1 s + p1
4s2 p0 p1
Z
= 2+j+w(k)−k 2+k+w(j)−j
(s + p0 )w(j) (s − p1 )w(k) ds.
(s − p0 ) (s + p1 )
Because the order of the polynomial in the denominator minus the order of the polynomial
in the nominator is greater or equal two, the integral is 2πi times the sum of residuals in
the upper part of the half space bounded by the integration path. Now if 2+j+w(k)−k ≤
0, there exist no residuals in that domain and the integral vanishes. If 2+k +w(j)−j ≤ 0
we calculate the integral with the residuals in the other part of C, which do not exist in
this case. The other integrals can be calculated in a similar way.
We now focus on the matrices obtained by the ansatz and test functions (4.24). Since we
calculate integrals of meromorphic functions with different poles, we expect and observe
that the different matrix blocks grow at a different rate in N. Taking the limit N → ∞
20
5
−10 15 −10
10
−20 −20 0
5
−30 −30
−5
0
−40 −40
−5
−10
−50 −50
−10
−60 −15 −60 −15
10 20 30 40 50 60 10 20 30 40 50 60
(a) Basis (4.20) (b) Basis (4.24)
10
−10
5
−20
−30
−5
−40
−10
−50
−15
−60
10 20 30 40 50 60
(c) Basis (4.25) with w(n + 1) − w(n) := n mod 2
Figure 2. log10 of the absolute value of matrix A with different basis.
this results in a ”matrix” with the structure

 
0 0 0 0
0 1 0 1
 .
0 0 0 0
0 1 0 1
A matrix with such a structure is singular. We observe in numerical computations
11 C0 p0j+k + C1 p1j+k + w(p0 , p1 )
Mjk ≈ ,
pj+k+1
0
(4.26)
22 C0 p0j+k + C1 p1j+k + w(p0 , p1 )
Mjk ≈ ,
pj+k+1
1
with a polynomial w of degree j + k − 1. Thus it seems appropriate to rescale:
4.4. NUMERICAL TESTS 49
0
−10 10 −10
−2
−20 −20
−4
5
−30 −30
−6
−40 −40
−8
0
−50 −50 −10
−60 −60 −12

−5
−70 −70 −14
−16
−80 −80
−10
−18
−90 −90
−20
−100 −15 −100
10 20 30 40 50 60 70 80 90 100 10 20 30 40 50 60 70 80 90 100
(a) Unscaled Basis (4.24) (b) Scaled Basis (4.27)
Figure 3. log10 of the absolute value of the matrix A.
1
Ψp−1
0
(s) := ,
s − p0
j
2p0 s + p1 |p0 |
Ψpj 0 ,p1 (s) := · , j = 0, . . . , N, (4.27)
(s − p0 )2 s − p0 max(|p0 |, |p1|)
j
2p1 s + p0 |p1 |
Ψpj 1 ,p0 (s) := · , j = 0, . . . , N.
(s − p1 )2 s − p1 max(|p0 |, |p1|)
Numerical tests show that this scaling performs well, f.e. it reduces the condition number
of A with N = 15, i.e. 60 degrees of freedom, from 1013 to 108 . The still high condition
number seems to be generated by the numerical calculation of the integrals: In the matlab
code the on the unit circle uniformly distributed integration nodes are mapped to the
given line using the Möbius transformation. M 12 and M 21 should be tridiagonal matrices.
If we set the non-tridiagonal entries to zero, the condition number of A (again N = 15)
reduces to 105 . However, the error becomes high. The cause of this might be that only
parts of M are corrected, but not M 11 and M 22 . Hence we expect a stable and convergent
method if we improve the numerical integration of the unbounded integrals. This could
be done by calculating the integrals analytically: We know the integrals are equal to the
residues of the integrands at p0 respectively p1 . If f is a meromorphic function with a
pole of nth order at p, we can calculate the residue as

1 n−1 n

res(f, p) = ∂x (x − p) f (x) . (4.28)
(n − 1)! x=p
4.4. Numerical Tests

√
For ω ∈ (0, 1) we have two imaginary
√ wave numbers. For ω ∈ (1, 2) we have two real
wave numbers and for ω ∈ ( 2, ∞) we have one real and one imaginary wave number.
√
At ω = 1, 2 the wave numbers are degenerated. In elasticity we have infinitely many
wave numbers and hence all the above non-generated cases will occur at once. Thus we
want the method to work for all mentioned cases.
2
1.5
1
imaginary part
0.5
−0.5
−1
−1.5
−1.2 −1 −0.8 −0.6 −0.4 −0.2 0 0.2 0.4
real part
Figure 4. Green/blue: poles of the outgoing solution for ω ∈ [0, 2].
We want to experimentally verify the convergence of the method. Thus the question
arises in which norm the error has to be measured. The reason for studying this exterior
space problem is to couple it with the interior space problem, see Section 1.3. Thus the
appropriate error has to be measured in the Dirichlet data calculated by this method.
Since our domain is R+ , the error norm is defined as the absolute value at 0. We take
uexact (x) := C1 eik1 (ω)x + C2 eik2 (ω)x ,
1 (4.29)
vexact (x) := ((−∂x2 − 1 + i)uexact )(x),
ω
and calculate numerically unum, vnum with Neumann boundary data u′exact(0), vexact
′
(0).
Then we gain the error as
erroru := |uexact(0) − unum (0)|,
(4.30)
errorv := |vexact (0) − vnum (0)|.
We use the method with Basis 4.27. We notice a strong influence of the chosen poles
p0 , p1 on the approximation results. If we take a look at Figure 5, we observe
√ convergence
everywhere except in the region of the degenerated points, i.e. ω = 1, 2. If we change
now p1 from −0.75i − 0.2 to −0.5i − 0.2, we notice in Figure 6 that for ω < 1 the method
does not converge any more. This is due to bad approximation properties of this basis
for ω in that region. As we can see in Figure 7(d) the slow convergence is dominated by
the rising condition number. In Figure 7 we see that the condition of A is bounded with
the very high constant 1022 . If we couple the exterior problem with the interior problem,
we expect the interior error to be in a range of 10−5 . Thus we state that ω outside the
degenerated area, an error of 10−5 with a condition 106 is reached with N = 10, i.e. 40
degrees of freedom of A.
4.4. NUMERICAL TESTS 51
0 0 0
10 10 10
rel. erroru rel. erroru rel. erroru
rel. errorv rel. errorv rel. errorv
−5 −5
10 10
−5
10
−10 −10
10 10
−10
10
−15 −15
10 10
−15 −20 −20

10 10 10
0 1 2 0 1 2 0 1 2
ω ω ω
(a) N = 20 (b) N = 30 (c) N = 40
Figure 5. Error for ω ∈ [0, 2]. To analyze convergence, plots are given for
different N. Parameters are C1 = 1, C2 = 1, p0 = 1.3i − 0.4, p1 =
−0.75i − 0.2.
5 5 5
10 10 10
rel. erroru rel. erroru rel. erroru
rel. errorv rel. errorv rel. errorv
0
0 10 0
10 10
−5
10
−5 −5
10 10
−10
10
−10 −10
10 −15 10
10
−15 −20 −15

10 10 10
0 1 2 0 1 2 0 1 2
ω ω ω
(a) N = 20 (b) N = 30 (c) N = 40
Figure 6. Error for ω ∈ [0, 2]. To analyze convergence, plots are given for
different N. Parameters are C1 = 1, C2 = 1, p0 = 1.3i − 0.4, p1 =
−0.5i − 0.2.
30 30
10 10
20 20
10 10
rel. erroru rel. erroru
10 rel. errorv 10 rel. errorv
10 10
Condition Condition
0 0
10 10
−10 −10
10 10
−20 −20
10 10
0 10 20 30 40 50 0 10 20 30 40 50
ω ω
(a) p1 = −0.75i − 0.2, ω = 0.5 (b) p1 = −0.75i − 0.2, ω = 1.2

30 30
10 10
20
10 20
rel. erroru 10 rel. erroru
10 rel. errorv rel. errorv
10
Condition 10 Condition
10
0
10
0
−10 10
10
−20 −10
10 10
0 10 20 30 40 50 0 10 20 30 40 50
ω ω
(c) p1 = −0.75i − 0.2, ω = 1.75 (d) p1 = −0.55i − 0.2, ω = 0.5
Figure 7. Error of u, v and condition number of matrix A. Parameters

are C1 = 1, C2 = 1, p0 = 1.3i − 0.4.
CHAPTER 5
Summary and Outlook
In Chapter 1 we presented the problem of guided time harmonic elastic wave propagation.
In the first part of Chapter 2 we derived an analytical description of the solution using the
Lamb modes. In Section 2.1 we presented new asymptotic results of the wave numbers,
i.e. for large n there hold
√ !
1 √ √ 2π
kn,±1,±2 ≈ ±1 arccosh 2 2nπ + 2π ±2
2h 4
i π
+ 2nπ + π ±2 ,
h 4
and
|kn′ (ω)| ≤ C.
In Section 2.2 we further outlined properties of the Lamb modes. Wave numbers kn are
defined to be outgoing if Im kn > 0 or kn′ > 0 if kn ∈ R. As far as the author knows,
there exists no literature showing a mathematical justification for this criterion in this
specific case of an elastic wave guide. With the results of the previous sections we
were able to give a rigorous proof of this physical decision criterion using the limiting
absorption principle.
In Chapter 3 we gave a brief introduction to guided acoustic wave propagation and
carried out the similarities/differences between acoustic and elasticity. We presented two
popular numerical methods for acoustic wave propagation, i.e. perfectly matched layers
and the Hardy space method, and analyzed how suitable these concepts are for guided
elastic wave propagation.
In Chapter 4 we formulated a model problem. We analyzed degenerated wave numbers
of the model problem, in order to understand those in elasticity. In Section 4.3
we formulated a numerical scheme for the model problem and carried out different
modifications in order to get a stable method. In Section 4.4 we presented numerical
results.
To continue the work of this thesis one would have to carry out the given ideas for
stabilization of the numerical method in full detail. The next step would be to make
numerical experiments with the method for the full elastic problem. We also give an idea
how to handle degenerated wave numbers, i.e. kn′ (ω) = ∞, which we call pole swapping.
The case kn =0, i.e. the case where the two different real wavenumbers ±kn first both
53
54 5. SUMMARY AND OUTLOOK
become zero and then complex, could be treated numerically in the following way: Let
a ∈ C with Re a < 0. We define
s
L(U)(s) := L(u)(s). (5.1)
s+a
We observe U(0) = u(0) and U ′ (0) = u′ (0). We know that we can write the analytical
solution as
X an
L(u)(s) = . (5.2)
s − pn
Thus we calculate
s2
L(U ′ ) = −U(0) + sL(U)(s) = −u(0) + L(u)(s)
s+a
X s2

1
= an −1 + ·
s + a s − pn
X an s2

= pn + −s
s − pn s+a
sa
= L(u′ )(s) − L(u)(s)
s+a
= L(u′ )(s) − aL(U)(s).
Hence
L(u′) = L(U ′ ) + aL(U). (5.3)
We define L(V ) in an analogous way
s
L(V )(s) := L(v)(s). (5.4)
s+a
Now we can formulate the problem for the variables U and V .
−i s+a
Z
(L(U ′ )(s) +aL(U)(s)) L(p′ )(−s) + (i − 1) L(U)(s)L(p)(−s)
2π Γ s
s+a
−ω L(v)(s)L(p)(−s)ds = u′0 p(0),
s (5.5)
−i s+a
Z
′ ′
(L(V )(s) +aL(V )) L(q )(−s) − (1 + i) L(V )(s)L(q)(−s)
2π Γ s
s+a
−ω L(U)(s)L(q)(−s)ds = v0′ q(0).
s
L(U) is holomorph at 0 and the integrands have a pole at 0. Thus Γ has to be chosen
such that 0 lies on the right hand side of Γ. In the case that ±ξ are both physical wave
numbers, we set
s(s + ξ 2 )
L(U)(s) := L(u)(s). (5.6)
(s + a)(s + b)(s + c)
Appendix A
The matlab code used in Chapter 4 is listed in this appendix.
Matlab Code of solve modelproblem.m

This script solves the model problem.
1 c lear a l l ;
2 c lo se a l l ;
3
4 p o l 1 =1.32 i − 0 . 4 ;
5 p o l 2 =−0.75 i − 0 . 2 ;
6 dimH=10;
7 b a s i s =4;
8
9 [ S ,M]= e x t M a t r i c e s ( dimH , [ pol1 , p o l 2 ] , b a s i s ) ;
10 error u =[];
11 error v =[];
12 abs error u =[];
13 abs error v =[];
14 CondA = [ ] ;
15 k1vec = [ ] ;
16 k2vec = [ ] ;
17 omega vec = 0 . 0 1 : 0 . 0 5 : 2 ;
18
19 fo r omega=omega vec
20 C1=1;
21 C2=1;
22
23 i f omega<1
24 i f r eal ( sqrt (1+ sqrt (1−omega ˆ 2 ) ∗ i ) ∗ i )>0
25 k1=−sqrt (1+ sqrt (1−omega ˆ 2 ) ∗ i ) ∗ i ;
26 else
27 k1=sqrt (1+ sqrt (1−omega ˆ 2 ) ∗ i ) ∗ i ;
55
56 APPENDIX A
28 end
29 i f r eal (−sqrt (1− sqrt (1−omega ˆ 2 ) ∗ i ) ∗ i )>0
30 k2=sqrt (1− sqrt (1−omega ˆ 2 ) ∗ i ) ∗ i ;
31 else
32 k2=−sqrt (1−sqrt (1−omega ˆ 2 ) ∗ i ) ∗ i ;
33 end
34 e l s e i f omega<sqrt ( 2 )
35 k1=sqrt (1+ sqrt ( omegaˆ2−1) ) ∗ i ;
36 k2=−sqrt (1−sqrt ( omegaˆ2−1) ) ∗ i ;
37 else
38 k1=sqrt (1+ sqrt ( omegaˆ2−1) ) ∗ i ;
39 i f r eal (−sqrt (1− sqrt ( omegaˆ2−1) ) ∗ i )>0
40 k2=sqrt (1− sqrt ( omegaˆ2−1) ) ∗ i ;
41 else
42 k2=−sqrt (1−sqrt ( omegaˆ2−1) ) ∗ i ;
43 end
44 end
45
46 k1vec =[ k1vec , k1 ] ;
47 k2vec =[ k2vec , k2 ] ;
48 e x a c t u = @( x ) C1∗exp ( k1 ∗x ) + C2∗exp ( k2 ∗x ) ;
49 e x a c t u d 1 = @( x ) C1∗ k1 ∗exp ( k1∗x ) + C2∗k2 ∗exp ( k2 ∗x ) ;
50 e x a c t u d 2 = @( x ) C1∗ k1 ˆ2∗exp ( k1∗x ) + C2∗k2 ˆ2∗exp ( k2 ∗x ) ;
51 e x a c t u d 3 = @( x ) C1∗ k1 ˆ3∗exp ( k1∗x ) + C2∗k2 ˆ3∗exp ( k2 ∗x ) ;
52
53 e x a c t v = @( x ) 1/omega∗(− e x a c t u d 2 ( x ) + (−1+ i ) ∗ e x a c t u ( x ) ) ;
54 e x a c t v d 1 = @( x ) 1/omega∗(− e x a c t u d 3 ( x ) + (−1+ i ) ∗
exact u d1 (x) ) ;
55
56 A=[S+(−1+ i ) ∗M , −omega∗M ; −omega∗M , S+(−1− i ) ∗M] ;
57 r h s =[− e x a c t u d 1 ( 0 ) ; zeros ( dimH , 1 ) ;− e x a c t u d 1 ( 0 ) ; zeros (
dimH , 1 ) ; . . .
58 −e x a c t v d 1 ( 0 ) ; zeros ( dimH , 1 ) ;− e x a c t v d 1 ( 0 ) ; zeros ( dimH
,1) ] ;
59
60 s o l=A \ r h s ;
61 e r r o r u =[ e r r o r u , abs ( s o l ( 1 )+s o l ( dimH+2)−e x a c t u ( 0 ) ) /abs (
exact u (0) ) ] ;
MATLAB CODE OF SOLVE MODELPROBLEM.M 57
62 e r r o r v =[ e r r o r v , abs ( s o l ( 2 ∗dimH+3)+s o l ( 3 ∗dimH+4)−e x a c t v ( 0 ) )

/abs ( e x a c t v ( 0 ) ) ] ;
63 a b s e r r o r u =[ a b s e r r o r u , abs ( s o l ( 1 )+s o l ( dimH+2)−e x a c t u ( 0 ) )
];
64 a b s e r r o r v =[ a b s e r r o r v , abs ( s o l ( 2 ∗dimH+3)+s o l ( 3 ∗dimH+4)−
exact v (0) ) ] ;
65 CondA=[CondA , condest (A) ] ;
66 end
67
68 fig ur e ( 1 ) ;
69
70 subplot ( 2 , 2 , 1 ) ;
71 semilogy ( omega vec , e r r o r u , omega vec , e r r o r v ) ;
72 t i t l e ( ’ r e l . e r r o r s i n u 0 and v 0 ’ ) ;
73 xlabel ( ’ omega ’ ) ;
74 legend ( ’ r e l . e r r o r u 0 ’ , ’ r e l . e r r o r v 0 ’ ) ;
75
76 subplot ( 2 , 2 , 2 ) ;
77 semilogy ( omega vec , CondA) ;
78 t i t l e ( ’ Matrix Co ndi t i o n ’ ) ;
79 xlabel ( ’ omega ’ ) ;
80 ylabel ( ’CondA ’ ) ;
81
82 subplot ( 2 , 2 , 3 ) ;
83 t i t l e ( ’ modes ’ ) ;
84 plot ( r eal ( k1vec ) , imag ( k1vec ) , ’ b ’ ) ;
85 hold on ;
86 plot ( r eal ( k2vec ) , imag ( k2vec ) , ’ g ’ ) ;
87 plot ( r eal ( [ p o l 1 p o l 2 ] ) , imag ( [ p o l 1 p o l 2 ] ) , ’ r . ’ , ’ Ma r ker Si ze ’ , 2 0 ) ;
88 l i n e ( [ −0.1 , 0 . 1 ] , [ 1 , 1 ] , ’ Co l o r ’ , ’ k ’ , ’ LineWidth ’ , 2 ) ;
89 l i n e ( [ −0.1 , 0 . 1 ] , [ 1 , 1 ] , ’ Co l o r ’ , ’ k ’ , ’ LineWidth ’ , 2 ) ;
90 l i n e ( [ −0.1 , 0 . 1 ] , [ 0 , 0 ] , ’ Co l o r ’ , ’ k ’ , ’ LineWidth ’ , 1 , ’ L i n e S t y l e
’ , ’−− ’ ) ;
91 plot ( r eal ( k1vec ( 1 ) ) , imag ( k1vec ( 1 ) ) , ’ b . ’ , ’ Ma r ker Si ze ’ , 1 5 ) ;
92 plot ( r eal ( k2vec ( 1 ) ) , imag ( k2vec ( 1 ) ) , ’ g . ’ , ’ Ma r ker Si ze ’ , 1 5 ) ;
93 axis ( [ r eal ( k2vec ( end ) ) −0.5 0 . 5 imag ( k2vec ( 1 ) ) −0.5 imag ( k1vec ( end
) ) +0.5])
94 xlabel ( ’ r e a l p a r t ’ ) ;
95 ylabel ( ’ i ma g i na r y p a r t ’ ) ;
58 APPENDIX A
96 legend ( ’ k1 ’ , ’ k2 ’ , ’ p o l e s ’ , ’ s q r t ( x i ) ’ , ’ L o c a t i o n ’ , ’ NorthWest ’ ) ;
97
98 subplot ( 2 , 2 , 4 ) ;
99 X=1: s i z e (A, 1 ) ;
100 pcolor (X,−X, log10 ( abs (A) ) ) ; colorbar ;
101 t i t l e ( [ ’ cond (A)= ’ num2str (max(CondA) , ’ %0.1 e ’ ) ] ) ;
102
103 fig ur e ( 2 ) ;
104 pcolor (X,−X, log10 ( abs (myA) ) ) ; colorbar ;
105 t i t l e ( ’ l o g 1 0 o f a b s o l u t e v a l u e o f ma t r i x A ’ ) ;
106
107 fig ur e ( 1 ) ;
108
109 fprintf ( ’=======================\n ’ ) ;
110 fprintf ( ’ p o l 1=%e \n ’ , p o l 1 ) ;
111 fprintf ( ’ p o l 2=%e \n ’ , p o l 2 ) ;
112 fprintf ( ’ b a s i s=%e \n ’ , b a s i s ) ;
113 fprintf ( ’ dimH=%e \n ’ , dimH) ;
114 fprintf ( ’ e r r o r u ( 0 ) : %e \n ’ ,max( e r r o r u ) ) ;
115 fprintf ( ’ e r r o r v ( 0 ) : %e \n ’ ,max( e r r o r v ) ) ;
116 fprintf ( ’ cond (A) : %e \n ’ , max(CondA) ) ;
Matlab Code of ext Matrices.m

This function returns the matrices M and S.
1 function [ S , M]= e x t M a t r i c e s ( dimH , p o l e s , b a s i s )
2
3 p o l 1=p o l e s ( 1 ) ;
4 p o l 2=p o l e s ( 2 ) ;
5 n i p o i n t s =10∗dimH+10;
6 t h e t a=linspace ( 0 , 2 ∗ pi , n i p o i n t s +1) ;
7 t h e t a=t h e t a ( 1 : end−1)+t h e t a ( 2 ) / 2 ;
8 z=exp ( t h e t a ∗1 i ) ;
9 w e i g h t s =2∗pi / ( n i p o i n t s ) ∗ o nes ( 1 , n i p o i n t s ) ;
10
11 %========== 11 ======================
12 k0=p o l 1 ;
13 m = @( z ) k0 ∗ ( z +1) . / ( z −1) ;
14 s=m( z ) −0.00 i ;
15 w e i g h t s s =(−2∗k0 ) . / ( 2 ∗ pi ) ∗ w e i g h t s . / abs ( z −1) . ˆ 2 ;
MATLAB CODE OF EXT MATRICES.M 59
16 [ v a l s 1 , d e r i v s 1 ]= b a s i s e v a l ( s , dimH , [ pol1 , p o l 2 ] , b a s i s ) ;
17 [ v a l s 2 , d e r i v s 2 ]= b a s i s e v a l (−s , dimH , [ pol1 , p o l 2 ] , b a s i s ) ;
18 M 11=( v a l s 1 . ∗ repmat ( w e i g h t s s , dimH+1 ,1) ) ∗ v a l s 2 . ’ ;
19 S 11 =( d e r i v s 1 . ∗ repmat ( w e i g h t s s , dimH+1 ,1) ) ∗ d e r i v s 2 . ’ ;
20
21 %========== 22 ======================
22 k0=p o l 2 ;
23 m = @( z ) k0 ∗ ( z +1) . / ( z −1) ;
24 s=m( z ) +0.00 i ;
30
31 %========== 12 ======================
32 k0=p o l 1+p o l 2 ;
33 m = @( z ) k0 ∗ ( z +1) . / ( z −1) ;
34 s=m( z ) +( pol1 −p o l 2 ) /2 −0.00 i ;
40
41 %========== 21 ======================
42 k0=p o l 2+p o l 1 ;
43 m = @( z ) k0 ∗ ( z +1) . / ( z −1) ;
44 s=m( z ) +( pol2 −p o l 1 ) /2+0.00 i ;
50
51 %========== t o g e t h e r ======================
52 S=[ S 11 , S 12 ; S 21 , S 22 ] ;
53 M=[M 11 , M 12 ; M 21 , M 22 ] ;
54
60 APPENDIX A
55 %========== e v a l u a t e b a s i s ===============
56 function [ va l , d e r i v ]= b a s i s e v a l ( p o i n t s , n , p o l e s , b a s i s )
57
58 p o l 1=p o l e s ( 1 ) ;
59 p o l 2=p o l e s ( 2 ) ;
60
61 p o i n t s=reshape ( p o i n t s , 1 , length ( p o i n t s ) ) ;
62 v a l =1./( p o i n t s −p o l 1 ) ;
63 d e r i v=p o l 1 . / ( p o i n t s −p o l 1 ) ;
64
65 i f n>0
66 v a l =[ v a l ; v a l ( end , : ) . ∗ 2 ∗ p o l 1 . / ( p o i n t s −p o l 1 ) ] ;
67 d e r i v =[ d e r i v ; d e r i v ( end , : ) . ∗ 2 . ∗ p o i n t s . / ( p o i n t s −p o l 1 ) ] ;
68
69 switch b a si s
70 case 1
71 fo r k=2:n
72 v a l =[ v a l ; v a l ( end , : ) . ∗ ( p o i n t s+p o l 1 ) . / ( p o i n t s −p o l 1
) ];
73 d e r i v =[ d e r i v ; d e r i v ( end , : ) . ∗ ( p o i n t s+p o l 1 ) . / (
p o i n t s −p o l 1 ) ] ;
74 end
75 case 2
76 fo r k=2:n
) ];
p o i n t s −p o l 1 ) ] ;
79 end
80 case 3
81 m = 2;
82 otherbasis = [ 1 ] ;
83 fo r k=2:n
84 i f any (mod( k ,m)==o t h e r b a s i s )
85 v a l =[ v a l ; v a l ( end , : ) . ∗ ( p o i n t s+p o l 2 ) . / ( p o i n t s −
pol1 ) ] ;
p o i n t s −p o l 1 ) ] ;
87 else
MATLAB CODE OF EXT MATRICES.M 61
88 v a l =[ v a l ; v a l ( end , : ) . ∗ ( p o i n t s+p o l 1 ) . / ( p o i n t s −
pol1 ) ] ;
p o i n t s −p o l 1 ) ] ;
90 end
91 end
92 case 4
93 damp = abs ( p o l 1 /max( abs ( p o l 1 ) , abs ( p o l 2 ) ) ) ;
94 fo r k=2:n
) ∗damp ] ;
p o i n t s −p o l 1 ) ∗damp ] ;
97 end
98 end
99 end
Bibliography
[1] J. Achenbach. Wave propagation in elastic solids. North-Holland Publishing Company, 1975.
[2] J.-P. Berenger. Three-dimensional perfectly matched layer for the absorption of electromagnetic
waves. J. Comput. Phys., 127(2):363–379, 1996.
[3] Y. K. Billah and R. H. Scanlan. Resonance, tacoma narrows bridge failure, and undergraduate
physics textbooks. American Journal of Physics, 59(2):118–124, 1991.
[4] D. Braess. Finite Elemente. Springer-Verlag Berlin Heidelberg, 2007.
[5] F. Collino and P. Monk. The perfectly matched layer in curvilinear coordinates. SIAM J. Sci.
Comput., 19(6):2061–2090 (electronic), 1998.
[6] T. A. Driscoll and L. N. Trefethen. Schwarz-Christoffel Mapping. Cambridge Monographs on Applied
and Computational Mathematics, 2002.
[7] G. H. Hardy. The mean value of the modulus of an analytic function. Proc. London Math. Soc. 2,
14:269–277, 1915.
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Sciences. Springer-Verlag, New York, 1996. With applications to Schrödinger operators.
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SIAM J. Numer. Anal., 47(2):972–996, 2009.
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the pole condition. I. Theory. SIAM J. Math. Anal., 35(1):183–210 (electronic), 2003.
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International, 10(4):243–248, 2000.
[13] L. Nannen. Hardy-Raum Methoden zur numerischen Lösung von Streu- und Resonanzproblemen
auf unbeschränkten Gebieten. Dissertation, Georg-August-Universität zu Göttingen, 2008. Online:
http://num.math.uni-goettingen.de/picap/pdf/E630.pdf.
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http://www.asc.tuwien.ac.at/~lnannen/Lectures/ScatteringProblems/ScatteringProblems.pdf.
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bounded inhomogeneities. Wave Motion, 48(2):116–129, 2011.
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Die approbierte Originalversion dieser Diplom-/Masterarbeit ist an der

Hauptbibliothek der Technischen Universität Wien aufgestellt

Unterschrift des Betreuers

Modeling and Numerical Simulation

Ausgeführt am Institut für

Analysis und Scientific Computing

unter der Anleitung von

Univ.Prof. Dipl.-Ing. Dr.techn. Joachim Schöberl

Martin Halla BSc

Enenkelstraße 11-13/38, 1160 Wien

10. Dezember 2012

Chapter 1. Introduction and Outline 5

Introduction and Outline

1.2. Linear Elasticity Equations

In vectorial notation this reads

1.3. Geometry used

Figure 1. A decomposition of the rescaled beam.

fulfills Equation (1.1).

We are interested in wave propagation in elastic wave guides. In particular we investigate

Figure 1. Our domain of interest.

µ∆u + (λ + µ)∇ div u = −ρω 2 u in R+ × (−h, h), (2.1)

Proof. First we set

x + iy = − sin(x + iy) cos(x + iy)

− i cos2 (x) − sin2 (x) sinh(y) cosh(y)

analytically in a neighbourhood of k × ω and thus F . ∂k F 6= 0 remains to be shown. We

Again for the sake of simplicity we set

We assume |k| to be big enough, so that linearising α, β is justifiable, i.e.

We take a closer look at the first four terms of ∂k F :

(2.24a) + (2.24b) + (2.24c) + (2.24d) ≈

Now we inspect the second four terms of ∂k F :

(2.24e) + (2.24f) + (2.24g) + (2.24h) ≈

Due to Theorem 2.1.2 we have

(2.24e) + (2.24f) + (2.24g) + (2.24h) = O(|kn sin(αn h) sin(βn h)|).

∂k F (ω, kn) ≈ i8h(c2 − c1 )kn2 sin(αn h) sin(βn h)

∂ω F (ω, kn) ≈ O(|kn2 sin(αn h) sin(βn h)|),

we obtain kn′ bounded. We have

and kn′ is bounded.

2.2. Properties of Lamb Modes

We multiply with e−|αnl |t and set y = iᾱnl t. Hence

Taking the limit t → +∞ yields cl = 0.

2.3. Limiting Absorption Principle

µ∆u + (λ + µ)∇ div u = ρ(ω + iǫ)2 u in R+ × (−h, h), (2.29)

solve equations (2.29), (2.31)-(2.32), with

where knǫ := kn (ω + iǫ) are the solutions of

4(k ǫ )2 αǫ β ǫ sin(αǫ h) cos(β ǫ h) + ((k ǫ )2 − (β ǫ )2 )2 cos(αǫ h) sin(β ǫ h) = 0. (2.35)

Assumption 2.3.1. For every n ∈ N there holds: ǫ 7→ kn (ω + iǫ) is continuous at ǫ = 0.

Remark 2.3.2. For k(ω) = 0 we cannot expect k to be differentiable. If we consider

Solving this equations yields

Now we want to show that uǫ converges to u in some norms of interest. In order to do

Proof. Due to Lebesgue’s dominated convergence theorem it suffices to show that

First we show that

We know that for n big enough we have Im kn,±1 ,±2 ≈ 2π

Now using Assumption 2.3.5 we obtain

Now we obtain the pointwise convergence of uǫ :

X uǫn (0, y) iknǫ x |uǫ (0, y)| iknǫ x

For any given δ > 0 we choose N ∈ N such that

|uǫn (0,y)| uǫn (0,y)

X uǫn (0, y) iknǫ x

As δ was chosen arbitrarily, we have

X uǫn (0, y) iknǫ x

limǫ→0 ku − uǫ k[L∞ ((η,D)×(−h,h))]2 = 0

holds for every 0 < η < D < ∞.

We can estimate the second summand as

As in the proof of the previous theorem we have

If ǫ ∈ [0, ǫ0 ) and using the explicit formula of exp, we conclude

X uǫn (0, y) iknǫ x |uǫ (0, y)| iknǫ x

X uǫn (0, y) iknǫ x

X uǫn (0, y) iknǫ x