The present paper is devoted to a novel smoothing function method for convex quadratic programming problem with mixed constrains, which has important application in mechanics and engineering science. The problem is re...The present paper is devoted to a novel smoothing function method for convex quadratic programming problem with mixed constrains, which has important application in mechanics and engineering science. The problem is reformulated as a system of non-smooth equations, and then a smoothing function for the system of non-smooth equations is proposed. The condition of convergences of this iteration algorithm is given. Theory analysis and primary numerical results illustrate that this method is feasible and effective.展开更多
Although predictor-corrector methods have been extensively applied,they might not meet the requirements of practical applications and engineering tasks,particularly when high accuracy and efficiency are necessary.A no...Although predictor-corrector methods have been extensively applied,they might not meet the requirements of practical applications and engineering tasks,particularly when high accuracy and efficiency are necessary.A novel class of correctors based on feedback-accelerated Picard iteration(FAPI)is proposed to further enhance computational performance.With optimal feedback terms that do not require inversion of matrices,significantly faster convergence speed and higher numerical accuracy are achieved by these correctors compared with their counterparts;however,the computational complexities are comparably low.These advantages enable nonlinear engineering problems to be solved quickly and accurately,even with rough initial guesses from elementary predictors.The proposed method offers flexibility,enabling the use of the generated correctors for either bulk processing of collocation nodes in a domain or successive corrections of a single node in a finite difference approach.In our method,the functional formulas of FAPI are discretized into numerical forms using the collocation approach.These collocated iteration formulas can directly solve nonlinear problems,but they may require significant computational resources because of the manipulation of high-dimensionalmatrices.To address this,the collocated iteration formulas are further converted into finite difference forms,enabling the design of lightweight predictor-corrector algorithms for real-time computation.The generality of the proposed method is illustrated by deriving new correctors for three commonly employed finite-difference approaches:the modified Euler approach,the Adams-Bashforth-Moulton approach,and the implicit Runge-Kutta approach.Subsequently,the updated approaches are tested in solving strongly nonlinear problems,including the Matthieu equation,the Duffing equation,and the low-earth-orbit tracking problem.The numerical findings confirm the computational accuracy and efficiency of the derived predictor-corrector algorithms.展开更多
Kellogg gave a version of the Peaceman-Radford method. In this paper, we introduce a SSOR iteration method which uses Kellogg’s method. The new algorithm has some advantages over the traditional SSOR algorithm. A Cyc...Kellogg gave a version of the Peaceman-Radford method. In this paper, we introduce a SSOR iteration method which uses Kellogg’s method. The new algorithm has some advantages over the traditional SSOR algorithm. A Cyclic Reduction algorithm is introduced via a decoupling in Kellogg’s method.展开更多
A class of coupled system for the E1 Nifio-Southern Oscillation (ENSO) mechanism is studied. Using the method of variational iteration for perturbation theory, the asymptotic expansions of the solution for ENSO mode...A class of coupled system for the E1 Nifio-Southern Oscillation (ENSO) mechanism is studied. Using the method of variational iteration for perturbation theory, the asymptotic expansions of the solution for ENSO model are obtained and the asymptotic behaviour of solution for corresponding problem is considered.展开更多
A class of E1 Niйo atmospheric physics oscillation model is considered. The E1 Niйo atmospheric physics oscillation is an abnormal phenomenon involved in the tropical Pacific ocean-atmosphere interactions. The conce...A class of E1 Niйo atmospheric physics oscillation model is considered. The E1 Niйo atmospheric physics oscillation is an abnormal phenomenon involved in the tropical Pacific ocean-atmosphere interactions. The conceptual oscillator model should consider the variations of both the eastern and western Pacific anomaly patterns. An E1 Niйo atmospheric physics model is proposed using a method for the variational iteration theory. Using the variational iteration method, the approximate expansions of the solution of corresponding problem are constructed. That is, firstly, introducing a set of functional and accounting their variationals, the Lagrange multiplicators are counted, and then the variational iteration is defined, finally, the approximate solution is obtained. From approximate expansions of the solution, the zonal sea surface temperature anomaly in the equatorial eastern Pacific and the thermocline depth anomaly of the sea-air oscillation for E1 Niйo atmospheric physics model can be analyzed. E1 Niйo is a very complicated natural phenomenon. Hence basic models need to be reduced for the sea-air oscillator and are solved. The variational iteration is a simple and valid approximate method.展开更多
Under suitable conditions,the monotone convergence about the projected iteration method for solving linear complementarity problem is proved and the influence of the involved parameter matrix on the convergence rate o...Under suitable conditions,the monotone convergence about the projected iteration method for solving linear complementarity problem is proved and the influence of the involved parameter matrix on the convergence rate of this method is investigated.展开更多
One of the advantages of the variational iteration method is the free choice of initial guess. In this paper we use the basic idea of the Jacobian-function method to construct a generalized trial function with some un...One of the advantages of the variational iteration method is the free choice of initial guess. In this paper we use the basic idea of the Jacobian-function method to construct a generalized trial function with some unknown parameters. The Jaulent-Miodek equations are used to illustrate effectiveness and convenience of this method, some new explicit exact travelling wave solutions have been obtained, which include bell-type soliton solution, kink-type soliton solutions, solitary wave solutions, and doubly periodic wave solutions.展开更多
This paper compares the variational iteration method(VIM),the Adomian decomposition method(ADM)and the Picard iteration method(PIM)for solving a system of first o rder n onlinear o rdinary d ifferential e quations(ODE...This paper compares the variational iteration method(VIM),the Adomian decomposition method(ADM)and the Picard iteration method(PIM)for solving a system of first o rder n onlinear o rdinary d ifferential e quations(ODEs).A unification of the concepts underlying these three methods is attempted by considering a very general iterative algorithm for VIM.It is found that all the three methods can be regarded as special cases of using a very general matrix of Lagrange multipliers in the iterative algorithm of VIM.The global variational iteration method is briefly reviewed,and further recast into a Local VIM,which is much more convenient and capable of predicting long term complex dynamic responses of nonlinear systems even if they are chaotic.展开更多
The relativistic Duffin-Kemmer-Petiau equation in the presence of Hulthen potential in (1 +2) dimensions for spin-one particles is studied. Hence, the asymptotic iteration method is used for obtaining energy eigenv...The relativistic Duffin-Kemmer-Petiau equation in the presence of Hulthen potential in (1 +2) dimensions for spin-one particles is studied. Hence, the asymptotic iteration method is used for obtaining energy eigenvalues and eigenfunctions.展开更多
This article presents the Parametric Iteration Method (PIM) for finding optimal control and its corresponding trajectory of linear systems. Without any discretization or transformation, PIM provides a sequence of func...This article presents the Parametric Iteration Method (PIM) for finding optimal control and its corresponding trajectory of linear systems. Without any discretization or transformation, PIM provides a sequence of functions which converges to the exact solution of problem. Our emphasis will be on an auxiliary parameter which directly affects on the rate of convergence. Comparison of PIM and the Variational Iteration Method (VIM) is given to show the preference of PIM over VIM. Numerical results are given for several test examples to demonstrate the applicability and efficiency of the method.展开更多
A new algorithm called homotopy iteration method based on the homotopy function is studied and improved. By the improved homotopy iteration method, Polynomial systems with high Order and deficient can be solved fast a...A new algorithm called homotopy iteration method based on the homotopy function is studied and improved. By the improved homotopy iteration method, Polynomial systems with high Order and deficient can be solved fast and efficiently comparing to the original homotopy iteration method. Numerical examples for the ninepoint path synthesis of four-bar linkages show the advantages and efficiency of the improved homotopy iteration method.展开更多
This paper describes geometrical essentials of some iteration methods (e.g. Newton iteration, secant line method, etc.) for solving nonlinear equations and advances some geometrical methods of iteration that are fle...This paper describes geometrical essentials of some iteration methods (e.g. Newton iteration, secant line method, etc.) for solving nonlinear equations and advances some geometrical methods of iteration that are flexible and efficient.展开更多
In this paper a new .mnultidimensional time series forecasting scheme based on the empirical orthogonal function (EOF) stepwise iteration process is introduced. The scheme is tested in a series of forecast experiments...In this paper a new .mnultidimensional time series forecasting scheme based on the empirical orthogonal function (EOF) stepwise iteration process is introduced. The scheme is tested in a series of forecast experiments of Nino3 SST anomalies and Tahiti-Darwin SO index. The results show that the scheme is feasible and ENSO predictable.展开更多
In this paper we develop two multilevel iteration methods for solving linear systems resulting from the Galerkin method and Tikhonov regularization for linear ill-posed problems. The two algorithms and their convergen...In this paper we develop two multilevel iteration methods for solving linear systems resulting from the Galerkin method and Tikhonov regularization for linear ill-posed problems. The two algorithms and their convergence analyses are presented in an abstract framework.展开更多
A new iterating method based on homotopy function is developed in this paper. All solutions can be found easily without the need of choosing proper initial values. Compared to the homotopy continuation method, the sol...A new iterating method based on homotopy function is developed in this paper. All solutions can be found easily without the need of choosing proper initial values. Compared to the homotopy continuation method, the solution process of the present method is simplified, and the computation efficiency as well as the reliability for obtaining all solutions is also improved. By application of the method to the mechanisms problems, the results are satisfactory.展开更多
Using the Picard iteration method and treating the involved integration by numerical quadrature formulas, we propose a numerical scheme for the second kind nonlinear Volterra integral equations. For enlarging the conv...Using the Picard iteration method and treating the involved integration by numerical quadrature formulas, we propose a numerical scheme for the second kind nonlinear Volterra integral equations. For enlarging the convergence region of the Picard iteration method, multistage algorithm is devised. We also introduce an algorithm for problems with some singularities at the limits of integration including fractional integral equations. Numerical tests verify the validity of the proposed schemes.展开更多
Linear minimum mean square error(MMSE)detection has been shown to achieve near-optimal performance for massive multiple-input multiple-output(MIMO)systems but inevitably involves complicated matrix inversion,which ent...Linear minimum mean square error(MMSE)detection has been shown to achieve near-optimal performance for massive multiple-input multiple-output(MIMO)systems but inevitably involves complicated matrix inversion,which entails high complexity.To avoid the exact matrix inversion,a considerable number of implicit and explicit approximate matrix inversion based detection methods is proposed.By combining the advantages of both the explicit and the implicit matrix inversion,this paper introduces a new low-complexity signal detection algorithm.Firstly,the relationship between implicit and explicit techniques is analyzed.Then,an enhanced Newton iteration method is introduced to realize an approximate MMSE detection for massive MIMO uplink systems.The proposed improved Newton iteration significantly reduces the complexity of conventional Newton iteration.However,its complexity is still high for higher iterations.Thus,it is applied only for first two iterations.For subsequent iterations,we propose a novel trace iterative method(TIM)based low-complexity algorithm,which has significantly lower complexity than higher Newton iterations.Convergence guarantees of the proposed detector are also provided.Numerical simulations verify that the proposed detector exhibits significant performance enhancement over recently reported iterative detectors and achieves close-to-MMSE performance while retaining the low-complexity advantage for systems with hundreds of antennas.展开更多
This paper presents Modified Chebyshev-Picard Iteration(MCPI)methods for long-term integration of the coupled orbit and attitude dynamics.Although most orbit predictions for operational satellites have assumed that th...This paper presents Modified Chebyshev-Picard Iteration(MCPI)methods for long-term integration of the coupled orbit and attitude dynamics.Although most orbit predictions for operational satellites have assumed that the attitude dynamics is decoupled from the orbit dynamics,the fully coupled dynamics is required for the solutions of uncontrolled space debris and space objects with high area-to-mass ratio,for which cross sectional area is constantly changing leading to significant change on the solar radiation pressure and atmospheric drag.MCPI is a set of methods for solution of initial value problems and boundary value problems.The methods refine an orthogonal function approximation of long-time-interval segments of state trajectories iteratively by fusing Chebyshev polynomials with the classical Picard iteration and have been applied to multiple challenging aerospace problems.Through the studies on integrating a torque-free rigid body rotation and a long-term integration of the coupled orbit-attitude dynamics through the effect of solar radiation pressure,MCPI methods are shown to achieve several times speedup over the Runge-Kutta 7(8)methods with several orders of magnitudes of better accuracy.MCPI methods are further optimized by integrating the decoupled dynamics at the beginning of the iteration and coupling the full dynamics when the attitude solutions and orbit solutions are converging during the iteration.The approach of decoupling and then coupling during iterations provides a unique and promising perspective on the way to warm start the solution process for the longterm integration of the coupled orbit-attitude dynamics.Furthermore,an attractive feature of MCPI in maintaining the unity constraint for the integration of quaternions within machine accuracy is illustrated to be very appealing.展开更多
For an upper bound of the spectral radius of the QHSS (quasi Hermitian and skew-Hermitian splitting) iteration matrix which can also bound the contraction factor of the QHSS iteration method,we give its minimum point ...For an upper bound of the spectral radius of the QHSS (quasi Hermitian and skew-Hermitian splitting) iteration matrix which can also bound the contraction factor of the QHSS iteration method,we give its minimum point under the conditions which guarantee that the upper bound is strictly less than one. This provides a good choice of the involved iteration parameters,so that the convergence rate of the QHSS iteration method can be significantly improved.展开更多
The Time Fractional Burger equation was solved in this study using the Mabel software and the Variational Iteration approach. where a number of instances of the Time Fractional Burger Equation were handled using this ...The Time Fractional Burger equation was solved in this study using the Mabel software and the Variational Iteration approach. where a number of instances of the Time Fractional Burger Equation were handled using this technique. Tables and images were used to present the collected numerical results. The difference between the exact and numerical solutions demonstrates the effectiveness of the Mabel program’s solution, as well as the accuracy and closeness of the results this method produced. It also demonstrates the Mabel program’s ability to quickly and effectively produce the numerical solution.展开更多
文摘The present paper is devoted to a novel smoothing function method for convex quadratic programming problem with mixed constrains, which has important application in mechanics and engineering science. The problem is reformulated as a system of non-smooth equations, and then a smoothing function for the system of non-smooth equations is proposed. The condition of convergences of this iteration algorithm is given. Theory analysis and primary numerical results illustrate that this method is feasible and effective.
基金work is supported by the Fundamental Research Funds for the Central Universities(No.3102019HTQD014)of Northwestern Polytechnical UniversityFunding of National Key Laboratory of Astronautical Flight DynamicsYoung Talent Support Project of Shaanxi State.
文摘Although predictor-corrector methods have been extensively applied,they might not meet the requirements of practical applications and engineering tasks,particularly when high accuracy and efficiency are necessary.A novel class of correctors based on feedback-accelerated Picard iteration(FAPI)is proposed to further enhance computational performance.With optimal feedback terms that do not require inversion of matrices,significantly faster convergence speed and higher numerical accuracy are achieved by these correctors compared with their counterparts;however,the computational complexities are comparably low.These advantages enable nonlinear engineering problems to be solved quickly and accurately,even with rough initial guesses from elementary predictors.The proposed method offers flexibility,enabling the use of the generated correctors for either bulk processing of collocation nodes in a domain or successive corrections of a single node in a finite difference approach.In our method,the functional formulas of FAPI are discretized into numerical forms using the collocation approach.These collocated iteration formulas can directly solve nonlinear problems,but they may require significant computational resources because of the manipulation of high-dimensionalmatrices.To address this,the collocated iteration formulas are further converted into finite difference forms,enabling the design of lightweight predictor-corrector algorithms for real-time computation.The generality of the proposed method is illustrated by deriving new correctors for three commonly employed finite-difference approaches:the modified Euler approach,the Adams-Bashforth-Moulton approach,and the implicit Runge-Kutta approach.Subsequently,the updated approaches are tested in solving strongly nonlinear problems,including the Matthieu equation,the Duffing equation,and the low-earth-orbit tracking problem.The numerical findings confirm the computational accuracy and efficiency of the derived predictor-corrector algorithms.
文摘Kellogg gave a version of the Peaceman-Radford method. In this paper, we introduce a SSOR iteration method which uses Kellogg’s method. The new algorithm has some advantages over the traditional SSOR algorithm. A Cyclic Reduction algorithm is introduced via a decoupling in Kellogg’s method.
基金Project supported by the National Natural Science Foundation of China (Grant Nos 90111011 and 10471039), the National Key Basic Research Special Foundation of China (Grant Nos 2003CB415101-03 and 2004CB418304), the Key Basic Research Foundation of the Chinese Academy of Sciences (Grant No KZCX3-SW-221) and in part by E-Institutes of Shanghai Municipal Education Commission (Grant No N.E03004).
文摘A class of coupled system for the E1 Nifio-Southern Oscillation (ENSO) mechanism is studied. Using the method of variational iteration for perturbation theory, the asymptotic expansions of the solution for ENSO model are obtained and the asymptotic behaviour of solution for corresponding problem is considered.
文摘A class of E1 Niйo atmospheric physics oscillation model is considered. The E1 Niйo atmospheric physics oscillation is an abnormal phenomenon involved in the tropical Pacific ocean-atmosphere interactions. The conceptual oscillator model should consider the variations of both the eastern and western Pacific anomaly patterns. An E1 Niйo atmospheric physics model is proposed using a method for the variational iteration theory. Using the variational iteration method, the approximate expansions of the solution of corresponding problem are constructed. That is, firstly, introducing a set of functional and accounting their variationals, the Lagrange multiplicators are counted, and then the variational iteration is defined, finally, the approximate solution is obtained. From approximate expansions of the solution, the zonal sea surface temperature anomaly in the equatorial eastern Pacific and the thermocline depth anomaly of the sea-air oscillation for E1 Niйo atmospheric physics model can be analyzed. E1 Niйo is a very complicated natural phenomenon. Hence basic models need to be reduced for the sea-air oscillator and are solved. The variational iteration is a simple and valid approximate method.
文摘Under suitable conditions,the monotone convergence about the projected iteration method for solving linear complementarity problem is proved and the influence of the involved parameter matrix on the convergence rate of this method is investigated.
基金National Natural Science Foundation of China under Grant No.10172056
文摘One of the advantages of the variational iteration method is the free choice of initial guess. In this paper we use the basic idea of the Jacobian-function method to construct a generalized trial function with some unknown parameters. The Jaulent-Miodek equations are used to illustrate effectiveness and convenience of this method, some new explicit exact travelling wave solutions have been obtained, which include bell-type soliton solution, kink-type soliton solutions, solitary wave solutions, and doubly periodic wave solutions.
文摘This paper compares the variational iteration method(VIM),the Adomian decomposition method(ADM)and the Picard iteration method(PIM)for solving a system of first o rder n onlinear o rdinary d ifferential e quations(ODEs).A unification of the concepts underlying these three methods is attempted by considering a very general iterative algorithm for VIM.It is found that all the three methods can be regarded as special cases of using a very general matrix of Lagrange multipliers in the iterative algorithm of VIM.The global variational iteration method is briefly reviewed,and further recast into a Local VIM,which is much more convenient and capable of predicting long term complex dynamic responses of nonlinear systems even if they are chaotic.
文摘The relativistic Duffin-Kemmer-Petiau equation in the presence of Hulthen potential in (1 +2) dimensions for spin-one particles is studied. Hence, the asymptotic iteration method is used for obtaining energy eigenvalues and eigenfunctions.
文摘This article presents the Parametric Iteration Method (PIM) for finding optimal control and its corresponding trajectory of linear systems. Without any discretization or transformation, PIM provides a sequence of functions which converges to the exact solution of problem. Our emphasis will be on an auxiliary parameter which directly affects on the rate of convergence. Comparison of PIM and the Variational Iteration Method (VIM) is given to show the preference of PIM over VIM. Numerical results are given for several test examples to demonstrate the applicability and efficiency of the method.
文摘A new algorithm called homotopy iteration method based on the homotopy function is studied and improved. By the improved homotopy iteration method, Polynomial systems with high Order and deficient can be solved fast and efficiently comparing to the original homotopy iteration method. Numerical examples for the ninepoint path synthesis of four-bar linkages show the advantages and efficiency of the improved homotopy iteration method.
文摘This paper describes geometrical essentials of some iteration methods (e.g. Newton iteration, secant line method, etc.) for solving nonlinear equations and advances some geometrical methods of iteration that are flexible and efficient.
文摘In this paper a new .mnultidimensional time series forecasting scheme based on the empirical orthogonal function (EOF) stepwise iteration process is introduced. The scheme is tested in a series of forecast experiments of Nino3 SST anomalies and Tahiti-Darwin SO index. The results show that the scheme is feasible and ENSO predictable.
基金The NSF(0611005)of Jiangxi Province and the SF(2007293)of Jiangxi Provincial Education Department.
文摘In this paper we develop two multilevel iteration methods for solving linear systems resulting from the Galerkin method and Tikhonov regularization for linear ill-posed problems. The two algorithms and their convergence analyses are presented in an abstract framework.
文摘A new iterating method based on homotopy function is developed in this paper. All solutions can be found easily without the need of choosing proper initial values. Compared to the homotopy continuation method, the solution process of the present method is simplified, and the computation efficiency as well as the reliability for obtaining all solutions is also improved. By application of the method to the mechanisms problems, the results are satisfactory.
文摘Using the Picard iteration method and treating the involved integration by numerical quadrature formulas, we propose a numerical scheme for the second kind nonlinear Volterra integral equations. For enlarging the convergence region of the Picard iteration method, multistage algorithm is devised. We also introduce an algorithm for problems with some singularities at the limits of integration including fractional integral equations. Numerical tests verify the validity of the proposed schemes.
基金supported by National Natural Science Foundation of China(62371225,62371227)。
文摘Linear minimum mean square error(MMSE)detection has been shown to achieve near-optimal performance for massive multiple-input multiple-output(MIMO)systems but inevitably involves complicated matrix inversion,which entails high complexity.To avoid the exact matrix inversion,a considerable number of implicit and explicit approximate matrix inversion based detection methods is proposed.By combining the advantages of both the explicit and the implicit matrix inversion,this paper introduces a new low-complexity signal detection algorithm.Firstly,the relationship between implicit and explicit techniques is analyzed.Then,an enhanced Newton iteration method is introduced to realize an approximate MMSE detection for massive MIMO uplink systems.The proposed improved Newton iteration significantly reduces the complexity of conventional Newton iteration.However,its complexity is still high for higher iterations.Thus,it is applied only for first two iterations.For subsequent iterations,we propose a novel trace iterative method(TIM)based low-complexity algorithm,which has significantly lower complexity than higher Newton iterations.Convergence guarantees of the proposed detector are also provided.Numerical simulations verify that the proposed detector exhibits significant performance enhancement over recently reported iterative detectors and achieves close-to-MMSE performance while retaining the low-complexity advantage for systems with hundreds of antennas.
文摘This paper presents Modified Chebyshev-Picard Iteration(MCPI)methods for long-term integration of the coupled orbit and attitude dynamics.Although most orbit predictions for operational satellites have assumed that the attitude dynamics is decoupled from the orbit dynamics,the fully coupled dynamics is required for the solutions of uncontrolled space debris and space objects with high area-to-mass ratio,for which cross sectional area is constantly changing leading to significant change on the solar radiation pressure and atmospheric drag.MCPI is a set of methods for solution of initial value problems and boundary value problems.The methods refine an orthogonal function approximation of long-time-interval segments of state trajectories iteratively by fusing Chebyshev polynomials with the classical Picard iteration and have been applied to multiple challenging aerospace problems.Through the studies on integrating a torque-free rigid body rotation and a long-term integration of the coupled orbit-attitude dynamics through the effect of solar radiation pressure,MCPI methods are shown to achieve several times speedup over the Runge-Kutta 7(8)methods with several orders of magnitudes of better accuracy.MCPI methods are further optimized by integrating the decoupled dynamics at the beginning of the iteration and coupling the full dynamics when the attitude solutions and orbit solutions are converging during the iteration.The approach of decoupling and then coupling during iterations provides a unique and promising perspective on the way to warm start the solution process for the longterm integration of the coupled orbit-attitude dynamics.Furthermore,an attractive feature of MCPI in maintaining the unity constraint for the integration of quaternions within machine accuracy is illustrated to be very appealing.
基金the National Natural Science Foundation (No.11671393),China.
文摘For an upper bound of the spectral radius of the QHSS (quasi Hermitian and skew-Hermitian splitting) iteration matrix which can also bound the contraction factor of the QHSS iteration method,we give its minimum point under the conditions which guarantee that the upper bound is strictly less than one. This provides a good choice of the involved iteration parameters,so that the convergence rate of the QHSS iteration method can be significantly improved.
文摘The Time Fractional Burger equation was solved in this study using the Mabel software and the Variational Iteration approach. where a number of instances of the Time Fractional Burger Equation were handled using this technique. Tables and images were used to present the collected numerical results. The difference between the exact and numerical solutions demonstrates the effectiveness of the Mabel program’s solution, as well as the accuracy and closeness of the results this method produced. It also demonstrates the Mabel program’s ability to quickly and effectively produce the numerical solution.