Continuum Vlasov simulations can be utilized for highly accurate modelling of fully kinetic plasmas. Great progress has been made recently regarding the applicability of the method in realistic plasma configurations. However, a reduction of the high computational cost that is inherent to fully kinetic simulations would be desirable, especially at high velocity space resolutions. For this purpose, low-rank approximations can be employed. The so far available low-rank solvers are restricted to either electrostatic systems or low dimensionality and can therefore not be applied to most space, astrophysical and fusion plasmas. In this paper we present a new parallel low-rank solver for the full six-dimensional electromagnetic Vlasov-Maxwell equations with a compression of the particle distribution function in velocity space. Special attention is paid to mass conservation and Gauss's law. The low-rank Vlasov solver is applied to standard benchmark problems of plasma turbulence and magnetic reconnection and compared to the full grid method. It yields accurate results at significantly reduced computational cost.
Vlasov solvers that operate on a phase-space grid are highly accurate but also numerically demanding. Coarse velocity space resolutions, which are unproblematic in particle-in-cell (PIC) simulations, can lead to numerical heating or oscillations in standard continuum Vlasov methods. We present a new dual Vlasov solver which is based on an established positivity preserving advection scheme for the update of the distribution function and an energy conserving partial differential equation solver for the kinetic update of mean velocity and temperature. The solvers work together via moment fitting …
We discuss the development, analysis, implementation, and numerical assessment of a spectral method for the numerical simulation of the three-dimensional Vlasov-Maxwell equations. The method is based on a spectral expansion of the velocity space with the asymmetrically weighted Hermite functions. The resulting system of time-dependent nonlinear equations is discretized by the discontinuous Galerkin (DG) method in space and by the method of lines for the time integration using explicit Runge-Kutta integrators. The resulting code, called Spectral Plasma Solver (SPS-DG), is successfully applied t…
The paper [1] by Crouseilles, Einkemmer, and Faou used an incorrect Poisson bracket for the Vlasov-Maxwell equations. If the correct Poisson bracket is used, the solution of one of the subsystems cannot be computed exactly in general. As a result, one cannot construct a symplectic scheme for the Vlasov-Maxwell equations using the splitting Hamiltonian method proposed in Ref [1].
Hamiltonian integration methods for the Vlasov-Maxwell equations are developed by a Hamiltonian splitting technique. The Hamiltonian functional is split into five parts, i.e., the electrical energy, the magnetic energy, and the kinetic energy in three Cartesian components. Each of the subsystems is a Hamiltonian system with respect to the Morrison-Marsden-Weinstein Poisson bracket and can be solved exactly. Compositions of the exact solutions yield Poisson structure preserving, or Hamiltonian, integration methods for the Vlasov-Maxwell equations, which have superior long-term fidelity and accu…
In this paper, we develop Hamiltonian particle-in-cell methods for Vlasov-Maxwell equations by applying conforming finite element methods in space and splitting methods in time. For the spatial discretisation, the criteria for choosing finite element spaces are presented such that the semi-discrete system possesses a discrete non-canonical Poisson structure. We apply a Hamiltonian splitting method to the semi-discrete system in time, then the resulting algorithm is Poisson preserving and explicit. The conservative properties of the algorithm guarantee the efficient and accurate numerical simul…
In this work we recast the collisional Vlasov-Maxwell and Vlasov-Poisson equations as systems of coupled stochastic and partial differential equations, and we derive stochastic variational principles which underlie such reformulations. We also propose a stochastic particle method for the collisional Vlasov-Maxwell equations and provide a variational characterization of it, which can be used as a basis for a further development of stochastic structure-preserving particle-in-cell integrators.
For more than half a century, most of the plasma scientists have encountered a violation of the conservation laws of charge, momentum, and energy whenever they have numerically solve the first-principle equations of kinetic plasmas, such as the relativistic Vlasov--Maxwell system. This fatal problem is brought by the fact that both the Vlasov and Maxwell equations are indirectly associated with the conservation laws by means of some mathematical manipulations. Here we propose a quadratic conservative scheme, which can strictly maintain the conservation laws by discretizing the relativistic Vla…
The proof of the Jacobi property of the guiding-center Vlasov-Maxwell bracket underlying the Hamiltonian structure of the guiding-center Vlasov-Maxwell equations is presented.
The perturbative variational formulation of the Vlasov-Maxwell equations is presented up to third order in the perturbation analysis. From the second and third-order Lagrangian densities, respectively, the first-order and second-order Vlasov-Maxwell equations are expressed in gauge-invariant and gauge-independent forms. Upon deriving the reduced second-order Vlasov-Maxwell Lagrangian for the linear nonadiabatic gyrokinetic Vlasov-Maxwell equations, the reduced Lagrangian densities for the linear drift-wave equation and the linear hybrid kinetic-magnetohydrodynamic (MHD) equations are derived, …
The Hamiltonian structure of the guiding-center Vlasov-Maxwell equations is presented in terms of a Hamiltonian functional and a guiding-center Vlasov-Maxwell bracket. The bracket, which is shown to satisfy the Jacobi identity exactly, is used to show that the guiding-center momentum and angular-momentum conservation laws can also be expressed in Hamiltonian form.
A parallel, relativistic, three-dimensional particle-in-cell code SPACE has been developed for the simulation of electromagnetic fields, relativistic particle beams, and plasmas. In addition to the standard second-order Particle-in-Cell (PIC) algorithm, SPACE includes efficient novel algorithms to resolve atomic physics processes such as multi-level ionization of plasma atoms, recombination, and electron attachment to dopants in dense neutral gases. SPACE also contains a highly adaptive particle-based method, called Adaptive Particle-in-Cloud (AP-Cloud), for solving the Vlasov-Poisson problems…
The Hamiltonian structure of the gauge-free gyrokinetic Vlasov-Maxwell equations is presented in terms of a Hamiltonian functional and a gyrokinetic Vlasov-Maxwell bracket. The bracket is used to show that the gyrokinetic angular-momentum conservation law can also be expressed in Hamiltonian form. The Jacobi property of the gyrokinetic Vlasov-Maxwell bracket is also demonstrated explicitly.
The dynamics of collisionless plasmas can be modelled by the Vlasov-Maxwell system of equations. An Eulerian approach is needed to accurately describe processes that are governed by high energy tails in the distribution function, but is of limited efficiency for high dimensional problems. The use of an adaptive mesh can reduce the scaling of the computational cost with the dimension of the problem. Here, we present a relativistic Eulerian Vlasov-Maxwell solver with block-structured adaptive mesh refinement in one spatial and one momentum dimension. The discretization of the Vlasov equation is …
A fully variational, unstructured, electromagnetic particle-in-cell integrator is developed for integration of the Vlasov-Maxwell equations. Using the formalism of Discrete Exterior Calculus, the field solver, interpolation scheme and particle advance algorithm are derived through minimization of a single discrete field theory action. As a consequence of ensuring that the action is invariant under discrete electromagnetic gauge transformations, the integrator exactly conserves Gauss's law.
The distributional form of the Maxwell-Vlasov equations are formulated. Submanifold distributions are analysed and the general submanifold distributional solutions to the Vlasov equations are given. The properties required so that these solutions can be a distributional source to Maxwell's equations are analysed and it is shown that a sufficient condition is that spacetime be globally hyperbolic. The cold fluid, multicurrent and water bag models of charge are shown to be particular cases of the distributional Maxwell-Vlasov system.
The gyrokinetic Vlasov-Maxwell equations are cast as an infinite-dimensional Hamiltonian system. The gyrokinetic Poisson bracket is remarkably simple and similar to the Morrison-Marsden-Weinstein bracket for the Vlasov-Maxwell equations. By identifying many of the bracket's Casimirs, this work enables (i) the derivation of gyrokinetic equilibrium variational principles and (ii) the application of the energy-Casimir method and the method of dynamically-accessible variations to study stability properties of gyrokinetic equilibria.
The Lagrange, Euler, and Euler-Poincaré variational principles for the guiding-center Vlasov-Maxwell equations are presented. Each variational principle presents a different approach to deriving guiding-center polarization and magnetization effects into the guiding-center Maxwell equations. The conservation laws of energy, momentum, and angular momentum are also derived by Noether method, where the guiding-center stress tensor is now shown to be explicitly symmetric.
We consider linear stability of steady states of 1(1/2) and 3D Vlasov-Maxwell systems for collisionless plasmas. The linearized systems can be written as separable Hamiltonian systems with constraints. By using a general theory for separable Hamiltonian systems, we recover the sharp linear stability criteria obtained previously by different approaches. Moreover, we obtain the exponential trichotomy estimates for the linearized Vlasov-Maxwell systems in both relativistic and nonrelativistic cases.
Strict mathematics reveals that the strict solution of a Vlasov-Maxwell equation set cannot be of a zero-temperature mathematical form. This universal property of Vlasov-Maxwell system can lead to a closed equation set of three macroscopic quantities: selfconsistent fields E, B and fluid velocity u, and hence their exact solutions.Strict solution of microscoipc distribution governed by self-consistent electromagnetic fields is found to be a universal extension of well-known BGK mode, which corresponds to electrostatic case.
The foundations of gyrokinetic theory are reviewed with an emphasis on the applications of Lagrangian and Hamiltonian methods used in the derivation of nonlinear gyrokinetic Vlasov-Maxwell equations. These reduced dynamical equations describe the turbulent evolution of low-frequency electromagnetic fluctuations in nonuniform magnetized plasmas with arbitrary magnetic geometry.
We show that nonrelativsitic scaling of the collisionless Vlasov-Maxwell system implies the existence of a formal invariant slow manifold in the infinite-dimensional Vlasov-Maxwell phase space. Vlasov-Maxwell dynamics restricted to the slow manifold recovers the Vlasov-Poisson and Vlasov-Darwin models as low-order approximations, and provides higher-order corrections to the Vlasov-Darwin model more generally. The slow manifold may be interpreted to all orders in perturbation theory as a collection of formal Vlasov-Maxwell solutions that do not excite light waves, and are therefore "dark". We p…
The Hamiltonian formulation of the reduced Vlasov-Maxwell equations is expressed in terms of the macroscopic fields D and H. These macroscopic fields are themselves expressed in terms of the functional Lie-derivative generated by the functional S with the Poisson bracket [.,.] for the exact Vlasov-Maxwell equations. Hence, the polarization vector P= (D-E)/(4pi) and the magnetization vector M=(B-H)/(4pi) are defined in terms of the expressions 4pi P=[S,E]+... and 4pi M =-[S,B]+..., where lowest-order terms yield dipole contributions.
Kinetic simulations based on the Eulerian Hybrid Vlasov-Maxwell (HVM) formalism permit the examination of plasma turbulence with useful resolution of the proton velocity distribution function (VDF). The HVM model is employed here to study the balance of energy, focusing on channels of conversion that lead to proton kinetic effects, including growth of internal energy and temperature anisotropies. We show that this Eulerian simulation approach, which is almost noise-free, is able to provide an accurate energy balance for protons. The results demonstrate explicitly that the recovered temperature…
A novel method to derive stationary solutions of the Vlasov-Maxwell system is established. This method is based on the assumption that the deviation of the velocity distribution from the Maxwell-Boltzmann distribution can be expanded by the Hermite polynomials. By applying our method, a new two-dimensional equilibrium is derived, which may provide an initial setup for investigations of three-dimensional collisionless reconnection of magnetic fields.
Two-dimensional Maxwell-Vlasov equilibria with finite electric fields, axial ("toroidal") plasma flow and isotropic pressure are constructed in plane geometry by using the quasineutrality condition to express the electrostatic potential in terms of the vector potential. Then for Harris-type distribution functions, Ampere's equation becomes of Liouville type and can be solved analytically. As an example, a periodic "cat-eyes" steady state consisting of a row of magnetic islands is presented. The method can be extended to (toroidal) axisymmetric equilibria.
The tangential layers are characterized by a bulk plasma velocity and a magnetic field that are perpendicular to the gradient direction. They have been extensively described in the frame of the Magneto-Hydro-Dynamic (MHD) theory. But the MHD theory does not look inside the transition region if the transition has a size of a few ion gyroradii. A series of kinetic tangential equilibria, valid for a collisionless plasma is presented. These equilibria are exact analytical solutions of the Maxwell-Vlasov equations. The particle distribution functions are sums of an infinite number of elementary fun…
The Vlasov-Maxwell equations possess a Hamiltonian structure expressed in terms of a Hamiltonian functional and a functional bracket. In the present paper, the transformation ("lift") of the Vlasov-Maxwell bracket induced by the dynamical reduction of single-particle dynamics is investigated when the reduction is carried out by Lie-transform perturbation methods. The ultimate goal of this work is to derive explicit Hamiltonian formulations for the guiding-center and gyrokinetic Vlasov-Maxwell equations that have important applications in our understanding of turbulent magnetized plasmas. Here,…
A new representation of electromagnetic gyrokinetic Vlasov-Maxwell theory is presented in which the gyrocenter equations of motion are expressed solely in terms of the perturbed electric and magnetic fields. In this representation, the gyrocenter symplectic (Poisson-bracket) structure and the gyrocenter Jacobian contain electric and magnetic perturbation terms associated with the standard first-order gyrocenter polarization and magnetization terms that traditionally appear in the gyrokinetic Maxwell equations. In addition, the gyrocenter polarization drift (which includes perturbed magnetic-fi…
This letter reports on a metriplectic formulation of collisional, nonlinear full-$f$ electromagnetic gyrokinetic theory compliant with energy conservation and monotonic entropy production. In an axisymmetric background magnetic field, the toroidal angular momentum is also conserved. Notably, a new collisional current, contributing to the gyrokinetic Maxwell-Ampère equation and the gyrokinetic charge conservation law, is discovered.
We consider the linear stability problem for a 3D cylindrically symmetric equilibrium of the relativistic Vlasov-Maxwell system that describes a collisionless plasma. For an equilibrium whose distribution function decreases monotonically with the particle energy, we obtained a linear stability criterion in our previous paper. Here we prove that this criterion is sharp; that is, there would otherwise be an exponentially growing solution to the linearized system. Therefore for the class of symmetric Vlasov-Maxwell equilibria, we establish an energy principle for linear stability. We also treat t…
In many problems involving particle accelerators and relativistic plasmas, the accurate modeling of relativistic particle motion is essential for accurate physical predictions. Here, we extend a charge-conserving finite element time-domain (FETD) particle-in-cell (PIC) algorithm for the time-dependent Maxwell-Vlasov equations on irregular (unstructured) meshes to the relativistic regime by implementing and comparing three particle pushers: (relativistic) Boris, Vay, and Higuera-Cary. We illustrate the application of the proposed relativistic FETD-PIC algorithm for the analysis of particle cycl…
We derive the gauge-free Hamiltonian structure of an extended kinetic theory, for which the intrinsic spin of the particles is taken into account. Such a semi-classical theory can be of interest for describing, e.g., strongly magnetized plasma systems. We find that it is possible to construct generalized brackets for the extended phase space, and discuss the implications of our findings.
We consider the Vlasov-Maxwell equations with one spatial direction and two momenta, one in the longitudinal direction and one in the transverse direction. By solving the Jacobi identity, we derive reduced Hamiltonian fluid models for the density, the fluid momenta and the second order moments, related to the pressure tensor. We also provide the Casimir invariants of the reduced Poisson bracket. We show that the linearization of the equations of motion around homogeneous equilibria reproduces some essential feature of the kinetic model, the Weibel instability.
A method to derive stationary solutions of the relativistic Vlasov-Maxwell system is explored. In the non-relativistic case, a method using the Hermite polynomial series to describe the deviation from the Maxwell-Boltzmann distribution is found to be successful in deriving a few stationary solutions including two dimensional one. Instead of the Hermite polynomial series, two special orthogonal polynomial series, which are appropriate to expand the deviation from the Maxwell-Jüttner distribution, are introduced in this paper. By applying this method, a new two-dimensional equilibrium is derived…
Numerical schemes that preserve the structure of the kinetic equations can provide stable simulation results over a long time. An electromagnetic particle-in-cell solver for the Vlasov-Maxwell equations that preserves at the discrete level the non-canonical Hamiltonian structure of the Vlasov-Maxwell equations has been presented in [Kraus et al. 2017]. Whereas the original formulation has been obtained for Cartesian coordinates, we extend the formulation to curvilinear coordinates in this paper. For the discretisation in time, we discuss several (semi-)implicit methods either based on a Hamilt…
We discuss a family of Vlasov-Maxwell equilibrium distribution functions for current sheet equilibria that are intermediate cases between the Harris sheet and the force-free (or modified) Harris sheet. These equilibrium distribution functions have potential applications to space and astrophysical plasmas. The existence of these distribution function had been briefly discussed in by Harrison and Neukirch 2009, but here it is shown that their approach runs into problems in the limit where the guide field goes to zero. The nature of this problem will be discussed and an alternative approach will …
Full self-consistent stationary Vlasov-Maxwell solutions of magnetically confined plasmas are built for systems with cylindrical symmetries. The stationary solutions are thermodynamic equilibrium solutions. These are obtained by computing the equilibrium distribution function resulting from maximizing the entropy and closing the equations with source terms that are then computed by using the obtained distribution. This leads to a self-consistent problem corresponding to solving a set of two coupled second order non-linear differential equations. Relevant plasma parameters are introduced and a …
The elimination of a fast time scale from the Vlasov equation by Lie-transform methods is an important step in deriving a reduced Vlasov equation such as the drift-kinetic Vlasov equation or the gyrokinetic Vlasov equation. It is shown here that this dynamical reduction also leads to the introduction of polarization and magnetization effects in the reduced Maxwell equations, which ensure that the reduced Vlasov-Maxwell equations possess an exact energy-momentum conservation law.
A detailed discussion is presented of the Vlasov-Maxwell equilibrium for the force-free Harris sheet recently found by Harrison and Neukirch (Phys. Rev. Lett. 102, 135003, 2009). The derivation of the distribution function and a discussion of its general properties and their dependence on the distribution function parameters will be given. In particular, the distribution function can be single-peaked or multi-peaked in two of the velocity components, with possible implications for stability. The dependence of the shape of the distribution function on the values of its parameters will be invest…
This paper discusses energy-conserving time-discretizations for finite element particle-in-cell discretizations of the Vlasov--Maxwell system. A geometric spatially discrete system can be obtained using a standard particle-in-cell discretization of the particle distribution and compatible finite element spaces for the fields to discretize the Poisson bracket of the Vlasov--Maxwell model (see Kraus et al., J Plasma Phys 83, 2017). In this paper, we derive energy-conserving time-discretizations based on the discrete gradient method applied to an antisymmetric splitting of the Poisson matrix. Fir…
Techniques for coordinate changes that depend on both dependent and independent variables are developed and applied to the Maxwell-Vlasov Hamiltonian theory. Particle coordinate changes with a new velocity variable dependent on the magnetic field, with spatial coordinates unchanged, are lifted to transform the noncanonical Poisson bracket and, thus, the field Hamiltonian structure of the Vlasov-Maxwell equation. Several examples are given including magnetic coordinates, where the velocity is decomposed into components parallel and perpendicular to the local magnetic field, and the case of sphe…
Energy conserving particle-in-cell schemes are constructed for a class of reduced relativistic Vlasov--Maxwell equations of laser-plasma interaction. Discrete Poisson equation is also satisfied by the numerical solution. Specifically, distribution function is discretized using particle-in-cell method, discretization of electromagnetic fields is done using compatible finite element method in the framework of finite element of exterior calculus, and time discretization used is based on discrete gradient method combined with Poisson splitting. Numerical experiments of parametric instability are d…
This paper presents an optimized and scalable semi-Lagrangian solver for the Vlasov-Poisson system in six-dimensional phase space. Grid-based solvers of the Vlasov equation are known to give accurate results. At the same time, these solvers are challenged by the curse of dimensionality resulting in very high memory requirements, and moreover, requiring highly efficient parallelization schemes. In this paper, we consider the 6d Vlasov-Poisson problem discretized by a split-step semi-Lagrangian scheme, using successive 1d interpolations on 1d stripes of the 6d domain. Two parallelization paradig…
A new scheme for numerical integration of the 1D2V relativistic Vlasov-Maxwell system is proposed. Assuming that all particles in a cell of the phase space move with the same velocity as that of the particle located at the center of the cell at the beginning of each time step, we successfully integrate the system with no artificial loss of particles. Furthermore, splitting the equations into advection and interaction parts, the method conserves the sum of the kinetic energy of particles and the electromagnetic energy. Three test problems, the gyration of particles, the Weibel instability, and …
In this paper the first non-linear force-free Vlasov-Maxwell equilibrium is presented. One component of the equilibrium magnetic field has the same spatial structure as the Harris sheet, but whereas the Harris sheet is kept in force balance by pressure gradients, in the force-free solution presented here force balance is maintained by magnetic shear. Magnetic pressure, plasma pressure and plasma density are constant. The method used to find the equilibrium is based on the analogy of the one-dimensional Vlasov-Maxwell equilibrium problem to the motion of a pseudo-particle in a two-dimensional c…
The interactions of gravitational waves with interstellar matter, dealing with resonant wave-particle and wave-wave interactions, are considered on the basis of magnetic-type Maxwell-Vlasov equations. It is found that the behavior of the fields, involving the "gravitoelectromagnetic" or "GEM " fields, the perturbed density field and self-generated gravitomagnetic field with low frequency,can be described by the nonlinear coupling equations Eqs. (6.10)-(6.12). Numerical results show that they may collapse. In other words, due to self-condensing, a stronger GME fields could be produced; and they…
The NASA Magnetospheric Multiscale mission has made in situ diffusion region and kinetic-scale resolution measurements of asymmetric magnetic reconnection for the first time, in the Earth's magnetopause. The principal theoretical tool currently used to model collisionless asymmetric reconnection is particle-in-cell simulations. Many particle-in-cell simulations of asymmetric collisionless reconnection start from an asymmetric Harris-type magnetic field but with distribution functions that are not exact equilibrium solutions of the Vlasov equation. We present new and exact equilibrium solutions…
The action principle by Low [Proc. R. Soc. Lond. A 248, 282--287] for the classic Vlasov-Maxwell system contains a mix of Eulerian and Lagrangian variables. This renders the Noether analysis of reparametrization symmetries inconvenient, especially since the well-known energy- and momentum-conservation laws for the system are expressed in terms of Eulerian variables only. While an Euler-Poincaré formulation of Vlasov-Maxwell-type systems, effectively starting with Low's action and using constrained variations for the Eulerian description of particle motion, has been known for a while [J. Math. …
The low-frequency limit of Maxwell equations is considered in the Maxwell-Vlasov system. This limit produces a neutral Vlasov system that captures essential features of plasma dynamics, while neglecting radiation effects. Euler-Poincaré reduction theory is used to show that the neutral Vlasov kinetic theory possesses a variational formulation in both Lagrangian and Eulerian coordinates. By construction, the model recovers all collisionless neutral models employed in plasma simulations. Then, comparisons between the neutral Vlasov system and hybrid kinetic-fluid models are presented in the line…
