Relaxation Source Terms Research Articles

A Semi-implicit Finite Volume Scheme for Incompressible Two-Phase Flows

This paper presents a mass and momentum conservative semi-implicit finite volume (FV) scheme for complex non-hydrostatic free surface flows, interacting with moving solid obstacles. A simplified incompressible Baer-Nunziato type model is considered for two-phase flows containing a liquid phase, a solid phase, and the surrounding void. According to the so-called diffuse interface approach, the different phases and consequently the void are described by means of a scalar volume fraction function for each phase. In our numerical scheme, the dynamics of the liquid phase and the motion of the solid are decoupled. The solid is assumed to be a moving rigid body, whose motion is prescribed. Only after the advection of the solid volume fraction, the dynamics of the liquid phase is considered. As usual in semi-implicit schemes, we employ staggered Cartesian control volumes and treat the nonlinear convective terms explicitly, while the pressure terms are treated implicitly. The non-conservative products arising in the transport equation for the solid volume fraction are treated by a path-conservative approach. The resulting semi-implicit FV discretization of the mass and momentum equations leads to a mildly nonlinear system for the pressure which can be efficiently solved with a nested Newton-type technique. The time step size is only limited by the velocities of the two phases contained in the domain, and not by the gravity wave speed nor by the stiff algebraic relaxation source term, which requires an implicit discretization. The resulting semi-implicit algorithm is first validated on a set of classical incompressible Navier-Stokes test problems and later also adds a fixed and moving solid phase.

A New Class of Simple, General and Efficient Finite Volume Schemes for Overdetermined Thermodynamically Compatible Hyperbolic Systems

In this paper, a new efficient, and at the same time, very simple and general class of thermodynamically compatible finite volume schemes is introduced for the discretization of nonlinear, overdetermined, and thermodynamically compatible first-order hyperbolic systems. By construction, the proposed semi-discrete method satisfies an entropy inequality and is nonlinearly stable in the energy norm. A very peculiar feature of our approach is that entropy is discretized directly, while total energy conservation is achieved as a mere consequence of the thermodynamically compatible discretization. The new schemes can be applied to a very general class of nonlinear systems of hyperbolic PDEs, including both, conservative and non-conservative products, as well as potentially stiff algebraic relaxation source terms, provided that the underlying system is overdetermined and therefore satisfies an additional extra conservation law, such as the conservation of total energy density. The proposed family of finite volume schemes is based on the seminal work of Abgrall [1], where for the first time a completely general methodology for the design of thermodynamically compatible numerical methods for overdetermined hyperbolic PDE was presented. We apply our new approach to three particular thermodynamically compatible systems: the equations of ideal magnetohydrodynamics (MHD) with thermodynamically compatible generalized Lagrangian multiplier (GLM) divergence cleaning, the unified first-order hyperbolic model of continuum mechanics proposed by Godunov, Peshkov, and Romenski (GPR model) and the first-order hyperbolic model for turbulent shallow water flows of Gavrilyuk et al. In addition to formal mathematical proofs of the properties of our new finite volume schemes, we also present a large set of numerical results in order to show their potential, efficiency, and practical applicability.

Non-isothermal viscoelastic flows with conservation laws and relaxation

We propose a system of conservation laws with relaxation source terms (i.e. balance laws) for non-isothermal viscoelastic flows of Maxwell fluids. The system is an extension of the polyconvex elastodynamics of hyperelastic bodies using additional structure variables. It is obtained by writing the Helmholtz free energy as the sum of a volumetric energy density (function of the determinant of the deformation gradient det F and the temperature [Formula: see text] like the standard perfect-gas law or Noble–Abel stiffened-gas law) plus a polyconvex strain energy density function of F, [Formula: see text] and of symmetric positive-definite structure tensors that relax at a characteristic time scale. One feature of our model is that it unifies various ideal materials ranging from hyperelastic solids to perfect fluids, encompassing fluids with memory like Maxwell fluids. We establish a strictly convex mathematical entropy to show that the system is symmetric-hyperbolic. Another feature of the proposed model is therefore the short-time existence and uniqueness of smooth solutions, which define genuinely causal viscoelastic flows with waves propagating at finite speed. In heat-conductors, we complement the system by a Maxwell–Cattaneo equation for an energy-flux variable. The system is still symmetric-hyperbolic, and smooth evolutions with finite-speed waves remain well-defined.

On Thermodynamically Compatible Finite Volume Schemes for Continuum Mechanics

In this paper we present a new family of semidiscrete and fully discrete finite volume schemes for overdetermined, hyperbolic, and thermodynamically compatible PDE systems. In the following, we will denote these methods as HTC schemes. In particular, we consider the Euler equations of compressible gasdynamics as well as the more complex Godunov--Peshkov--Romenski (GPR) model of continuum mechanics, which, with the aid of suitable relaxation source terms, is able to describe nonlinear elasto-plastic solids at large deformations as well as viscous fluids as two special cases of a more general first-order hyperbolic model of continuum mechanics. The main novelty of the schemes presented in this paper lies in the fact that we solve the entropy inequality as a primary evolution equation rather than the usual total energy conservation law. Instead, total energy conservation is achieved as a mere consequence of a thermodynamically compatible discretization of all the other equations. For this, we first construct a discrete framework for the compressible Euler equations that mimics the continuous framework of Godunov's seminal paper [Dokl. Akad. Nauk SSSR, 139(1961), pp. 521--523] exactly at the discrete level. All other terms in the governing equations of the more general GPR model, including nonconservative products, are judiciously discretized in order to achieve discrete thermodynamic compatibility, with the exact conservation of total energy density as a direct consequence of all the other equations. As a result, the HTC schemes proposed in this paper are provably marginally stable in the energy norm and satisfy a discrete entropy inequality by construction. We show some computational results obtained with HTC schemes in one and two space dimensions, considering both the fluid limit as well as the solid limit of the governing PDEs.

Arbitrary-rate relaxation techniques for the numerical modeling of compressible two-phase flows with heat and mass transfer

We describe compressible two-phase flows by a single-velocity six-equation flow model, which is composed of the phasic mass and total energy equations, one volume fraction equation, and the mixture momentum equation. The model contains relaxation source terms accounting for volume, heat and mass transfer. The equations are numerically solved via a fractional step algorithm, where we alternate between the solution of the homogeneous hyperbolic portion of the system via a HLLC-type wave propagation scheme, and the solution of a sequence of three systems of ordinary differential equations for the relaxation source terms driving the flow toward mechanical, thermal and chemical equilibrium. In the literature often numerical relaxation procedures are based on simplifying assumptions, namely simple equations of state, such as the stiffened gas one, and instantaneous relaxation processes. These simplifications of the flow physics might be inadequate for the description of the thermodynamical processes involved in various flow problems. In the present work we introduce new numerical relaxation techniques with two significant properties: the capability to describe heat and mass transfer processes of arbitrary relaxation time, and the applicability to a general equation of state. We show the effectiveness of the proposed methods by presenting several numerical experiments.

Assessment of Machine Learning Methods for State-to-State Approach in Nonequilibrium Flow Simulations

State-to-state numerical simulations of high-speed reacting flows are the most detailed but also often prohibitively computationally expensive. In this work, we explore the usage of machine learning algorithms to alleviate such a burden. Several tasks have been identified. Firstly, data-driven machine learning regression models were compared for the prediction of the relaxation source terms appearing in the right-hand side of the state-to-state Euler system of equations for a one-dimensional reacting flow of a N2/N binary mixture behind a plane shock wave. Results show that, by appropriately choosing the regressor and opportunely tuning its hyperparameters, it is possible to achieve accurate predictions compared to the full-scale state-to-state simulation in significantly shorter times. Secondly, several strategies to speed-up our in-house state-to-state solver were investigated by coupling it with the best-performing pre-trained machine learning algorithm. The embedding of machine learning algorithms into ordinary differential equations solvers may offer a speed-up of several orders of magnitude. Nevertheless, performances are found to be strongly dependent on the interfaced codes and the set of variables onto which the coupling is realized. Finally, the solution of the state-to-state Euler system of equations was inferred by means of a deep neural network by-passing the use of the solver while relying only on data. Promising results suggest that deep neural networks appear to be a viable technology also for this task.

Non-Equilibrium Time-Relaxation Kinetic Model for Compressible Turbulence Modeling

For the first time, the non-equilibrium time-relaxation kinetic model (NTRKM) is proposed for compressible turbulence modeling on unresolved grids. Within the non-equilibrium time-relaxation framework, NTRKM is extended in the form of modified Bhatnagar-Gross-Krook model. Based on the first-order Chapman-Enskog expansion, NTRKM connects with the six-variable macroscopic governing equations. The first five governing equations correspond to the conservative laws in mass, momentum and total energy, while the sixth equation governs the evolution of unresolved turbulence kinetic energy Kutke. The unknowns in NTRKM, including turbulent relaxation time and source term, are determined by essential gradient-type assumption and standard dynamic modeling approach. Current generalized kinetic model on unresolved grids consequently offers a profound mesoscopic understanding for one-equation subgrid-scale turbulence kinetic energy Ksgs model in compressible large eddy simulation. To solve NTRKM accurately and robustly, a non-equilibrium gas-kinetic scheme is developed, which succeeds the well-established gas-kinetic scheme for simulating Navier-Stokes equations. Three-dimensional decaying compressible isotropic turbulence and temporal compressible plane mixing layer on unresolved grids are simulated to evaluate the generalized kinetic model and non-equilibrium gas-kinetic scheme. The performance of key turbulent quantities up to second-order statistics confirms that NTRKM is comparable with the widely-used eddy-viscosity Smagorinsky model (SM) and dynamic Smagorinsky model (DSM). Specifically, compared with the DNS solution in temporal compressible plane mixing layer, the performance of NTRKM is much closer with DSM and better than SM. This study provides a workable approach for compressible turbulence modeling on unresolved grids.

Staggered Semi-Implicit Hybrid Finite Volume/Finite Element Schemes for Turbulent and Non-Newtonian Flows

This paper presents a new family of semi-implicit hybrid finite volume/finite element schemes on edge-based staggered meshes for the numerical solution of the incompressible Reynolds-Averaged Navier–Stokes (RANS) equations in combination with the k−ε turbulence model. The rheology for calculating the laminar viscosity coefficient under consideration in this work is the one of a non-Newtonian Herschel–Bulkley (power-law) fluid with yield stress, which includes the Bingham fluid and classical Newtonian fluids as special cases. For the spatial discretization, we use edge-based staggered unstructured simplex meshes, as well as staggered non-uniform Cartesian grids. In order to get a simple and computationally efficient algorithm, we apply an operator splitting technique, where the hyperbolic convective terms of the RANS equations are discretized explicitly at the aid of a Godunov-type finite volume scheme, while the viscous parabolic terms, the elliptic pressure terms and the stiff algebraic source terms of the k−ε model are discretized implicitly. For the discretization of the elliptic pressure Poisson equation, we use classical conforming P1 and Q1 finite elements on triangles and rectangles, respectively. The implicit discretization of the viscous terms is mandatory for non-Newtonian fluids, since the apparent viscosity can tend to infinity for fluids with yield stress and certain power-law fluids. It is carried out with P1 finite elements on triangular simplex meshes and with finite volumes on rectangles. For Cartesian grids and more general orthogonal unstructured meshes, we can prove that our new scheme can preserve the positivity of k and ε. This is achieved via a special implicit discretization of the stiff algebraic relaxation source terms, using a suitable combination of the discrete evolution equations for the logarithms of k and ε. The method is applied to some classical academic benchmark problems for non-Newtonian and turbulent flows in two space dimensions, comparing the obtained numerical results with available exact or numerical reference solutions. In all cases, an excellent agreement is observed.

Simulation of non-Newtonian viscoplastic flows with a unified first order hyperbolic model and a structure-preserving semi-implicit scheme

We discuss the applicability of a unified hyperbolic model for continuum fluid and solid mechanics to modeling non-Newtonian flows and in particular to modeling the stress-driven solid-fluid transformations in flows of viscoplastic fluids, also called yield-stress fluids. In contrast to the conventional approaches relying on the non-linear viscosity concept of the Navier-Stokes theory and representation of the solid state as an infinitely rigid non-deformable solid, the solid state in our theory is deformable and the fluid state is considered rather as a “melted” solid via a certain procedure of relaxation of tangential stresses similar to Maxwell’s visco-elasticity theory. The model is formulated as a system of first-order hyperbolic partial differential equations with possibly stiff non-linear relaxation source terms. The computational strategy is based on a staggered semi-implicit scheme which can be applied in particular to low-Mach number flows as usually required for flows of non-Newtonian fluids. The applicability of the model and numerical scheme is demonstrated on a few standard benchmark test cases such as Couette, Hagen-Poiseuille, and lid-driven cavity flows. The numerical solution is compared with analytical or numerical solutions of the Navier-Stokes theory with the Herschel-Bulkley constitutive model for nonlinear viscosity.

A structure-preserving staggered semi-implicit finite volume scheme for continuum mechanics

We propose a new pressure-based structure-preserving (SP) and quasi asymptotic preserving (AP) staggered semi-implicit finite volume scheme for the unified first order hyperbolic formulation of continuum mechanics [1], which goes back to the pioneering work of Godunov [2] and further work of Godunov & Romenski [3] and Peshkov & Romenski [4]. The unified model is based on the theory of symmetric-hyperbolic and thermodynamically compatible (SHTC) systems [2,5] and includes the description of elastic and elasto-plastic solids in the nonlinear large-strain regime as well as viscous and inviscid heat-conducting fluids, which correspond to the stiff relaxation limit of the model. In the absence of relaxation source terms, the homogeneous PDE system is endowed with two stationary linear differential constraints (involutions), which require the curl of distortion field and the curl of the thermal impulse to be zero for all times. In the stiff relaxation limit, the unified model tends asymptotically to the compressible Navier-Stokes equations.The new structure-preserving scheme presented in this paper can be proven to be exactly curl-free for the homogeneous part of the PDE system, i.e. in the absence of relaxation source terms. We furthermore prove that the scheme is quasi asymptotic preserving in the stiff relaxation limit, in the sense that the numerical scheme reduces to a consistent second order accurate discretization of the compressible Navier-Stokes equations when the relaxation times tend to zero. Last but not least, the proposed scheme is suitable for the simulation of all Mach number flows thanks to its conservative formulation and the implicit discretization of the pressure terms.

Mathematics and Numerics for Balance Partial Differential-Algebraic Equations (PDAEs)

We study systems of partial differential-algebraic equations (PDAEs) of first order. Classical solutions of the theory of hyperbolic partial differential equation such as discontinuities (shock and contact discontinuities), rarefactions and diffusive traveling waves are extended for variables living on a surface $$\mathcal {S}$$ , which is defined as solution of a set of algebraic equations. We propose here an alternative formulation to study numerically and theoretically the PDAEs by changing the algebraic conditions into partial differential equations with relaxation source terms (PDREs). The solution of such relaxed systems is proved to tend to the surface $$\mathcal {S}$$ , i.e., to satisfy the algebraic equations for long times. We formulate a unified numerical scheme for systems of PDAEs and PDREs. This scheme is naturally parallelizable and has faster convergence. We do not perform a rigorous analysis about the convergence or accuracy for the method, the evidence of its effectiveness is presented by means of simulations for physical and synthetical problems.

Existence and decay rates for a coupled Balakrishnan‐Taylor viscoelastic system with dynamic boundary conditions

In this paper, we are concerned with a coupled viscoelastic wave system with Balakrishnan‐Taylor dampings, dynamic boundary conditions, source terms, and past histories. Under suitable assumptions on relaxation functions and source terms, we prove the global existence of solutions by potential well theory and we establish a more general decay result of energy, in which the exponential decay and polynomial decay are only special cases, by introducing suitable energy and perturbed Lyapunov functionals.

An All Speed Second Order IMEX Relaxation Scheme for the Euler Equations

We present an implicit-explicit finite volume scheme for the Euler equations. We start from the non-dimensionalised Euler equations where we split the pressure in a slow and a fast acoustic part. We use a Suliciu type relaxation model which we split in an explicit part, solved using a Godunov-type scheme based on an approximate Riemann solver, and an implicit part where we solve an elliptic equation for the fast pressure. The relaxation source terms are treated projecting the solution on the equilibrium manifold. The proposed scheme is positivity preserving with respect to the density and internal energy and asymptotic preserving towards the incompressible Euler equations. For this first order scheme we give a second order extension which maintains the positivity property. We perform numerical experiments in 1D and 2D to show the applicability of the proposed splitting and give convergence results for the second order extension.

A numerical model for multiphase liquid–vapor–gas flows with interfaces and cavitation

We are interested in multiphase flows involving the liquid and vapor phases of one species and a third inert gaseous phase. We describe these flows by a hyperbolic single-velocity multiphase flow model composed of the phasic mass and total energy equations, the volume fraction equations, and the mixture momentum equation. The model includes stiff mechanical and thermal relaxation source terms for all the phases, and chemical relaxation terms to describe mass transfer between the liquid and vapor phases of the species that may undergo transition. First, we present an analysis of the characteristic wave speeds associated to the hierarchy of relaxed multiphase models corresponding to different levels of activation of infinitely fast relaxation processes, showing that sub-characteristic conditions hold. We then propose a mixture-energy-consistent finite volume method for the numerical solution of the multiphase model system. The homogeneous portion of the equations is solved numerically via a second-order wave propagation scheme based on robust HLLC-type Riemann solvers. Stiff relaxation source terms are treated by efficient numerical procedures that exploit algebraic equilibrium conditions for the relaxed states. We present numerical results for several three-phase flow problems, including two-dimensional simulations of liquid–vapor–gas flows with interfaces and cavitation phenomena.

Vapour-liquid phase transition and metastability

The paper deals with the modelling of the relaxation processes towards thermodynamic equilibrium in a liquid-vapour isothermal mixture. Focusing on the van der Waals equation of state, we construct a constrained optimization problem using Gibbs' formalism and characterize all possible equilibria: coexistence states, pure phases and metastable states. Coupling with time evolution, we develop a dynamical system whose equilibria coincide with the minimizers of the optimization problem. Eventually we consider the coupling with hydrodynamics and use the dynamical system as a relaxation source terms in an Euler-type system. Numerical results illustrate the ability of the whole model to depict coexistence and metastable states as well.

A hierarchy of non-equilibrium two-phase flow models

We review and extend a hierarchy of relaxation models for two-phase flow. The models are derived from the non-equilibrium Baer–Nunziato model, which is endowed with relaxation source terms to drive it towards equilibrium. The source terms cause transfer of volume, heat, mass and momentum due to differences between the phases in pressure, temperature, chemical potential and velocity, respectively. In the context of two-phase flow models, the subcharacteristic condition implies that the sound speed of an equilibrium system can never exceed that of the relaxation system. Here, previous work by Flåtten and Lund [Math. Models Methods Appl. Sci., 21 (12), 2011, 2379–2407] and Lund [SIAM J. Appl. Math. 72, 2012, 1713–1741] is extended to encompass two-fluid models, i.e. models with separately governed velocities for the two phases. Each remaining model in the hierarchy is derived, and analytical expressions for the sound speeds are presented. Given only physically fundamental assumptions, the subcharacteristic condition is shown to be satisfied in the entire hierarchy, either in a weak or in a strong sense.

Numerical simulation of a compressible two-layer model: A first attempt with an implicit–explicit splitting scheme

This paper is devoted to the numerical simulation of the compressible two-layer model developed in Demay and Hérard (2017). The latter is a hyperbolic two-fluid two-pressure model dedicated to gas–liquid flows in pipes, especially stratified air–water flows. Using explicit schemes, one obtains a CFL condition based on the celerity of (fast) acoustic waves which typically brings large numerical diffusivity for the (slow) material waves and small time steps. In order to overcome these drawbacks, the proposed scheme involves an operator splitting and an implicit–explicit time discretization. Thus, the full system is split into two hyperbolic sub-systems. The first one deals with the transport equation on the liquid height using an explicit scheme and upwind fluxes. The second one deals with the averaged mass and momentum conservation equations of both phases using an implicit scheme which handles the propagation of acoustic waves. At last, the positivity of heights and densities is ensured under a CFL condition which involves material velocities. Numerical experiments are performed using acoustic as well as material time steps. Adding the Rusanov scheme for comparison, the best accuracy is obtained with the proposed scheme used with acoustic time steps. Focusing on material waves of the convective system, the efficiency of the latter is improved when using material steps. However, considering the whole system with relaxation source terms, an efficient approximation of slow dynamics, typically a gravity driven flow, is still challenging.

Consistent equations for open-channel flows in the smooth turbulent regime with shearing effects

Consistent equations for turbulent open-channel flows on a smooth bottom are derived using a turbulence model of mixing length and an asymptotic expansion in two layers. A shallow-water scaling is used in an upper – or external – layer and a viscous scaling is used in a thin viscous – or internal – layer close to the bottom wall. A matching procedure is used to connect both expansions in an overlap domain. Depth-averaged equations are then obtained in the approximation of weakly sheared flows which is rigorously justified. We show that the Saint-Venant equations with a negligible deviation from a flat velocity profile and with a friction law are a consistent set of equations at a certain level of approximation. The obtained friction law is of the Kármán–Prandtl type and successfully compared to relevant experiments of the literature. At a higher precision level, a consistent three-equation model is obtained with the mathematical structure of the Euler equations of compressible fluids with relaxation source terms. This new set of equations includes shearing effects and adds corrective terms to the Saint-Venant model. At this level of approximation, energy and momentum resistances are clearly distinguished. Several applications of this new model that pertains to the hydraulics of open-channel flows are presented including the computation of backwater curves and the numerical resolution of the growing and breaking of roll waves.

High order ADER schemes for a unified first order hyperbolic formulation of Newtonian continuum mechanics coupled with electro-dynamics

In this paper, we propose a new unified first order hyperbolic model of Newtonian continuum mechanics coupled with electro-dynamics. The model is able to describe the behavior of moving elasto-plastic dielectric solids as well as viscous and inviscid fluids in the presence of electro-magnetic fields. It is actually a very peculiar feature of the proposed PDE system that viscous fluids are treated just as a special case of elasto-plastic solids. This is achieved by introducing a strain relaxation mechanism in the evolution equations of the distortion matrix A, which in the case of purely elastic solids maps the current configuration to the reference configuration. The model also contains a hyperbolic formulation of heat conduction as well as a dissipative source term in the evolution equations for the electric field given by Ohm's law. Via formal asymptotic analysis we show that in the stiff limit, the governing first order hyperbolic PDE system with relaxation source terms tends asymptotically to the well-known viscous and resistive magnetohydrodynamics (MHD) equations. Furthermore, a rigorous derivation of the model from variational principles is presented, together with the transformation of the Euler–Lagrange differential equations associated with the underlying variational problem from Lagrangian coordinates to Eulerian coordinates in a fixed laboratory frame. The present paper hence extends the unified first order hyperbolic model of Newtonian continuum mechanics recently proposed in [110,42] to the more general case where the continuum is coupled with electro-magnetic fields. The governing PDE system is symmetric hyperbolic and satisfies the first and second principle of thermodynamics, hence it belongs to the so-called class of symmetric hyperbolic thermodynamically compatible systems (SHTC), which have been studied for the first time by Godunov in 1961 [61] and later in a series of papers by Godunov and Romenski [67,69,119]. An important feature of the proposed model is that the propagation speeds of all physical processes, including dissipative processes, are finite. The model is discretized using high order accurate ADER discontinuous Galerkin (DG) finite element schemes with a posteriori subcell finite volume limiter and using high order ADER-WENO finite volume schemes. We show numerical test problems that explore a rather large parameter space of the model ranging from ideal MHD, viscous and resistive MHD over pure electro-dynamics to moving dielectric elastic solids in a magnetic field.

High Order Accurate Direct Arbitrary-Lagrangian-Eulerian ADER-MOOD Finite Volume Schemes for Non-Conservative Hyperbolic Systems with Stiff Source Terms

AbstractIn this paper we present a 2D/3D high order accurate finite volume scheme in the context of direct Arbitrary-Lagrangian-Eulerian algorithms for general hyperbolic systems of partial differential equations with non-conservative products and stiff source terms. This scheme is constructed with a single stencil polynomial reconstruction operator, a one-step space-time ADER integration which is suitably designed for dealing even with stiff sources, a nodal solver with relaxation to determine the mesh motion, a path-conservative integration technique for the treatment of non-conservative products and ana posterioristabilization procedure derived from the so-called Multidimensional Optimal Order Detection (MOOD) paradigm. In this work we consider the seven equation Baer-Nunziato model of compressible multi-phase flows as a representative model involving non-conservative products as well as relaxation source terms which are allowed to become stiff. The new scheme is validated against a set of test cases on 2D/3D unstructured moving meshes on parallel machines and the high order of accuracy achieved by the method is demonstrated by performing a numerical convergence study. Classical Riemann problems and explosion problems with exact solutions are simulated in 2D and 3D. The overall numerical code is also profiled to provide an estimate of the computational cost required by each component of the whole algorithm.