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Smooth rotating shallow-water energy balance
Statement
Assume the Axiom of Countable Choice . Let be a nonempty open time interval and use with Lebesgue measure on , where as defined for the equation family. Let and be continuously differentiable in time and space with continuous second spatial derivatives and -periodic lifts. Suppose they satisfy the one-layer rotating shallow-water equations with constant , constant , fixed flat bottom, and no friction:
where . Define the normalized energy density per horizontal area by ; it is per unit reference density, so a specified constant density converts its area integral to joules. Then the pointwise energy flux identity is
Consequently, for every in ,
This is an exact smooth identity for the stated adopted equation system, not an aspect-ratio or hydrostatic-error estimate and not a positivity guarantee for an arbitrary discretization. Bottom topography, wetting/drying, bottom friction, or multiple layers require separately defined systems and their corresponding energy terms.
Statement references
Equation family and conventions: Rotating stratified and shallow-water equation families.
Continuous functions on closed rectangles are Riemann integrable: Every continuous function on a closed nondegenerate rectangle in is Riemann integrable.
Under , bounded Borel Riemann integrands on finite-dimensional boxes have the same Lebesgue and Riemann integrals: Borel Darboux integrands in finite dimension.
Riemann integration over products of rectangles: Riemann--Fubini on product rectangles, with lower and upper section integrals and content-zero exceptional sections.
Newton–Leibniz for continuous endpoint functions with an integrable interior derivative: Newton–Leibniz needs only continuity on , differentiability on , and a Riemann-integrable extension of the interior derivative.
Linearity of the multidimensional Riemann integral: Linearity, monotonicity, the absolute-value estimate and coordinate-slice additivity for the Riemann integral in .
Geoffrey K. Vallis, Fluid Dynamics of the Atmosphere and Ocean, §2.4.2, pp. 38–39: full lecture notes, PDF.
Darryl D. Holm, Ideal shallow water dynamics in a rotating frame, §§1.1 and 1.4, pp. 3–6: full lecture notes, PDF.
Paola Rizzoli, MIT OpenCourseWare 12.802, Lecture 12, pp. 1–4: full lecture notes, PDF.
Facts & Assumptions
Given: The Axiom of Countable Choice ; and are classical and -periodic in space; and are constant; the flat-bottom, inviscid equations in the statement hold pointwise.
Rotating stratified and shallow-water equation families: the shallow-water branch is and , with , , and constant.
Rotating stratified and shallow-water equation families: for scalar , ; for vector , ; for a matrix , ; and .
The fields have continuous derivatives through the orders appearing below; division by is valid because .
Countable Choice means that every -indexed family of nonempty sets has a choice function; it is used for the cited Lebesgue-measure and Riemann-to-Lebesgue comparison results (The Axiom of Countable Choice ()).
Every continuous real function on a closed nondegenerate rectangle in , , is Riemann integrable (Every continuous function on a closed nondegenerate rectangle in is Riemann integrable).
Assuming , every bounded Borel Riemann-integrable real function on a closed nondegenerate box is Lebesgue integrable and its Lebesgue and Riemann integrals agree (Borel Darboux integrands in finite dimension).
For a Riemann-integrable function on a product of nondegenerate closed rectangles, if every section in a chosen order is Riemann integrable, the ordinary iterated Riemann integral in that order exists and equals the product Riemann integral; integrability on the product alone does not guarantee that every section is integrable (Riemann--Fubini on product rectangles, with lower and upper section integrals and content-zero exceptional sections).
If is continuous on , differentiable on , and has a Riemann-integrable extension to , then (Newton–Leibniz needs only continuity on , differentiability on , and a Riemann-integrable extension of the interior derivative).
The multidimensional Riemann integral is linear on integrable functions over a nondegenerate rectangle (Linearity, monotonicity, the absolute-value estimate and coordinate-slice additivity for the Riemann integral in ).
Proof
Write . By the product rule and the component conventions in [F2], the mass equation is , while . Thus the momentum equation and give .
Taking the dot product with and using yields . The product-rule identity and continuity with give . Similarly, applying to and using gives . Adding these balances and using proves the stated local flux identity.
Set and write for the Riemann integral of a Riemann-integrable over a rectangle . The local flux identity from step 2.1 has continuous scalar terms on , which are Riemann integrable by [L1]. Integrate that identity over as a Riemann integral. For each fixed , [L4] in time gives ; [L3] then gives . For each spatial flux component and each fixed value of the other coordinates, [L4] in the differentiated coordinate gives the endpoint difference at and , which is zero by periodicity; [L3] yields . By [L5], the integrated local identity therefore gives . Each endpoint energy density is continuous and hence Borel on ; [L2] under [A2] identifies these Riemann integrals with the Lebesgue integrals in the statement.
Depends on
Rotating stratified and shallow-water equation families
The Axiom of Countable Choice ()
Every continuous function on a closed nondegenerate rectangle in is Riemann integrable
Borel Darboux integrands in finite dimension
Riemann--Fubini on product rectangles, with lower and upper section integrals and content-zero exceptional sections
Newton–Leibniz needs only continuity on , differentiability on , and a Riemann-integrable extension of the interior derivative
Linearity, monotonicity, the absolute-value estimate and coordinate-slice additivity for the Riemann integral in
Dependency tree · 2 levels
Sources
- Geoffrey K. Vallis, Fluid Dynamics of the Atmosphere and Ocean, University of Exeter lecture notes, Autumn 2018, §2.4.2, equations (2.55)–(2.59)
- Darryl D. Holm, Ideal shallow water dynamics in a rotating frame, Imperial College London MPE CDT PDE lecture notes, Autumn 2016, §§1.1 and 1.4, equations (1.1) and (1.14)
- Paola Rizzoli, Wave Motion in the Ocean and the Atmosphere, MIT OpenCourseWare 12.802, Lecture 12: Shallow water equations with rotation — Poincaré waves, Spring 2008