Atmos. Chem. Phys., 6, 187–195, 2006 www.atmos-chem-phys.org/acp/6/187/ Atmospheric SRef-ID: 1680-7324/acp/2006-6-187 Chemistry European Geosciences Union and Physics
Technical note: Simulating chemical systems in Fortran90 and Matlab with the Kinetic PreProcessor KPP-2.1
A. Sandu1 and R. Sander2 1Department of Computer Science, Virginia Polytechnic Institute and State University, Blacksburg, Virginia 24060, USA 2Air Chemistry Department, Max-Planck Institute for Chemistry, Mainz, Germany Received: 18 July 2005 – Published in Atmos. Chem. Phys. Discuss.: 13 September 2005 Revised: 30 November 2005 – Accepted: 15 September 2005 – Published: 26 January 2006
Abstract. This paper presents the new version 2.1 of the Ki- The well-established Master Chemical Mechanism (MCM, netic PreProcessor (KPP). Taking a set of chemical reactions http://mcm.leeds.ac.uk/MCM/) has also recently been mod- and their rate coefficients as input, KPP generates Fortran90, ified to add the option of producing output in KPP syn- Fortran77, Matlab, or C code for the temporal integration of tax. In the present paper we focus on the new features in- the kinetic system. Efficiency is obtained by carefully ex- troduced in the release 2.1 of KPP. These features allow ploiting the sparsity structures of the Jacobian and of the an efficient simulation of chemical kinetic systems in For- Hessian. A comprehensive suite of stiff numerical integra- tran90 and Matlab. Fortran90 is the programming language tors is also provided. Moreover, KPP can be used to generate of choice for the vast majority of scientific applications. Mat- the tangent linear model, as well as the continuous and dis- lab (http://www.mathworks.com/products/matlab/) provides crete adjoint models of the chemical system. a high-level programming environment for algorithm devel- opment, numerical computations, and data analysis and visu- alization. The Matlab code produced by KPP allows a rapid implementation and analysis of a specific chemical mech- 1 Introduction anism. KPP-2.1 is distributed under the provisions of the GNU public license (http://www.gnu.org/copyleft/gpl.html) Next to laboratory studies and field work, computer model- and can be obtained on the web at http://people.cs.vt.edu/ ing is one of the main methods to study atmospheric chem- ∼asandu/Software/Kpp. It is also available in the electronic istry. The simulation and analysis of comprehensive chemi- supplement to this paper at http://www.atmos-chem-phys. cal reaction mechanisms, parameter estimation techniques, org/acp/6/187/acp-6-187-sp.zip. and variational chemical data assimilation applications re- The paper is organized as follows. Section 2 describes quire the development of efficient tools for the computational the input information necessary for a simulation, and Sect. 3 simulation of chemical kinetics systems. From a numerical presents the output produced by KPP. Aspects of the simula- point of view, atmospheric chemistry is challenging due to tion code generated in Fortran90, Fortran77, C, and Matlab the coexistence of very stable (e.g., CH ) and very reactive 4 are discussed in Sect. 4. Several applications are presented (e.g., O(1D)) species. Several software packages have been in Sect. 5. The presentation focuses on the main aspects developed to integrate these stiff sets of ordinary differential of modeling but, in the interest of space, omits a number equations (ODEs), e.g., Facsimile (Curtis and Sweetenham, of important (but previously described) features. For a full 1987), AutoChem (http://gest.umbc.edu/AutoChem), Spack description of KPP, inculding the installation procedure, the (Djouad et al., 2003), Chemkin (http://www.reactiondesign. reader should consult the user manual in the electronic sup- com/products/open/chemkin.html), Odepack (http://www. plement. llnl.gov/CASC/odepack/), and KPP (Damian et al., 1995, 2002). KPP is currently being used by many academic, re- search, and industry groups in several countries (e.g. von Glasow et al., 2002; von Kuhlmann et al., 2003; Trent- 2 Input for KPP mann et al., 2003; Tang et al., 2003; Sander et al., 2005). To create a chemistry model, KPP needs as input a chemical Correspondence to: A. Sandu mechanism, a numerical integrator, and a driver. Each of ([email protected]) these components can either be chosen from the KPP library
© 2006 Author(s). This work is licensed under a Creative Commons License. 188 A. Sandu and R. Sander: The Kinetic PreProcessor KPP-2.1 or provided by the user. The KPP input files (with suffix #DEFFIX .kpp) specify the model, the target language, the precision, M = ignore; the integrator and the driver, etc. The file name (without the O2 = O + O; suffix .kpp) serves as the default root name for the simulation. In this paper we will refer to this name as “ROOT”. To specify The chemical kinetic mechanism is specified in the KPP lan- a KPP model, write a ROOT.kpp file with the following lines: guage in the equation file: #MODEL small_strato #EQUATIONS { Stratospheric Mechanism } #LANGUAGE Fortran90
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KPP implements several Rosenbrock methods: Ros-1 and All methods in the KPP library have excellent stability prop- Ros-2 (Verwer et al., 1999), Ros-3 (Sandu et al., 1997), erties for stiff systems. The computational work per time step Rodas-3 (Sandu et al., 1997), Ros-4 (Hairer and Wanner, depends on the type of method (BDF, Runge Kutta, or Rosen- 1991), and Rodas-4 (Hairer and Wanner, 1991). For details brock). For Rosenbrock methods it increases with the num- on Rosenbrock methods and their implementation, consult ber of stages. The order of accuracy typically increases with section IV.7 of Hairer and Wanner (1991). the number of stages as well. For example, Ros-2 uses only The KPP numerical library also contains implementa- two stages and is an order 2 method while Ros-4 has 4 stages tions of several off-the-shelf, highly popular stiff numerical and is an order 4 method. Despite their added work, higher solvers: order methods are typically more efficient when higher ac- curacy is desired. The KPP library offers different methods – Radau5: that can have relative advantages depending on the level of This Runge Kutta method of order 5 based on Radau- desired solution accuracy. Regarding stability, all the Rosen- IIA quadrature (Hairer and Wanner, 1991) is stiffly ac- brock methods are L-stable, and therefore are well suited for curate. The KPP implementation follows the original stiff problems. For these methods the embedded formulas implementation of Hairer and Wanner (1991), and the are also L-stable (or strongly A-stable) which makes the step original Fortran 77 implementation has been translated size controller work well for stiff problems. Radau5 is a fully to Fortran 90 for incorporation into the KPP library. implicit Runge Kutta method with 3 stages and order 5. Each While Radau5 is relatively expensive (when compared step is relatively expensive since it requires one real and one to the Rosenbrock methods), it is more robust and is complex LU decomposition. However, Radau5 is very ro- useful to obtain accurate reference solutions. bust and can provide solutions of high accuracy. It is rec- ommended that Radau5 is used to obtain reference solutions, – SDIRK4: against which one can check the correctness and the accuracy This is an L-stable, singly-diagonally-implicit Runge of other methods. A lighter (less expensive) Runge Kutta Kutta method of order 4. SDIRK4 originates from method is SDIRK4, a diagonally implicit formula of order Hairer and Wanner (1991), and the original Fortran 77 4, which only requires one real LU decomposition per step implementation has been translated to Fortran 90 for in- (SDIRK4 has about the same cost as a Rosenbrock method, corporation into the KPP library. but it performs some additional back substitutions required in the solution of nonlinear systems at each step). While – SEULEX: SDIRK4 does not have the strong nonlinear stability prop- This variable order stiff extrapolation code is able to erties of Radau5, it is L-stable and is also well suited for produce highly accurate solutions. The KPP implemen- solving stiff chemical kinetics. tation follows the one in Hairer and Wanner (1991), and the original Fortran 77 implementation has been trans- The implementations use the KPP sparse linear algebra lated to Fortran 90 for incorporation into the KPP li- routines by default. However, full linear algebra (using LA- brary. PACK routines) is also implemented. To switch from sparse to full linear algebra the user only needs to define the prepro- – LSODE, LSODES: cessor variable (-DFULL ALGEBRA=1) during compilation. The Livermore ODE solver (Radhakrishnan and Hind- marsh, 1993) implements backward differentiation for- mula (BDF) methods for stiff problems. LSODE has 2.4 The driver been translated from Fortran 77 to Fortran 90 for in- corporation into the KPP library. LSODES (Radhakr- ishnan and Hindmarsh, 1993), the sparse version of the Livermore ODE solver LSODE, is modified to interface The so-called driver is the main program. It is responsible for directly with the KPP generated code. calling the integrator routine, reading the data from files and writing the results. Existing drivers differ from one another – VODE: by their input and output data file format, and by the auxil- This solver (Brown et al., 1989) uses a different formu- iary files created for interfacing with visualization tools. For lation of backward differentiation formulas. The ver- large 3-D atmospheric chemistry simulations, the 3-D code sion of VODE present in the KPP library uses directly will replace the default drivers and call the KPP-generated the KPP sparse linear algebra routines. routines directly. In our current implementation of KPP into a 3-D model (Sander et al., 2005), the chemical mechanism – ODESSA: is integrated separately for each grid cell. The interaction be- The BDF-based direct-decoupled sensitivity integrator tween the grid cells (advection, diffusion, convection . . . ) is ODESSA (Leis and Kramer, 1986) has been modified calculated outside of KPP, i.e. the operator splitting approach to use the KPP sparse linear algebra routines. is used. www.atmos-chem-phys.org/acp/6/187/ Atmos. Chem. Phys., 6, 187–195, 2006 190 A. Sandu and R. Sander: The Kinetic PreProcessor KPP-2.1
2.5 The substitution preprocessor stored in RCONST(NREACT), the current integration time is TIME, absolute and relative integration tolerances are Templates are inserted into the simulation code after be- ATOL(NSPEC) and RTOL(NSPEC), etc. ing run by the substitution preprocessor. This preprocessor replaces placeholders in the template files with their partic- 3.3 The chemical ODE function ular values in the model at hand. For example, KPP ROOT is replaced by the model (ROOT) name, KPP REAL by the The chemical ODE system for our example is: selected real data type, and KPP NSPEC and KPP NREACT d [O(1D)] by the numbers of species and reactions, respectively. = k [O ]−k [O(1D)][M]−k [O(1D)][O ] dt 5 3 6 7 3 2.6 The inlined code d [O] = 2 k [O ]−k [O][O ] + k [O ] dt 1 2 2 2 3 3 In order to offer maximum flexibility, KPP allows the user to −k [O][O ] + k [O(1D)][M] include pieces of code in the kinetic description file. Inlined 4 3 6 − [ ][ ] + [ ] code begins on a new line with #INLINE and the inline type. k9 O NO2 k10 NO2 Next, one or more lines of code follow, written in Fortran90, d [O3] = k2 [O][O2]−k3 [O3]−k4 [O][O3]−k5 [O3] Fortran77, C, or Matlab, as specified by the inline type. The dt 1 inlined code ends with #ENDINLINE. The code is inserted −k7 [O( D)][O3]−k8 [O3][NO] into the KPP output at a position which is also determined by d [NO] = −k [O ][NO] + k [O][NO ] + k [NO ] inline type. dt 8 3 9 2 10 2 d [NO2] = k8 [O3][NO]−k9 [O][NO2]−k10 [NO2] 3 Output of KPP dt where square brackets denote concentrations of the species. KPP generates code for the temporal integration of chemical The chemical ODE system has dimension NVAR. The con- systems. This code consists of a set of global variables, plus centrations of fixed species are parameters in the derivative several functions and subroutines. The code distinguishes function. KPP computes the vector A of reaction rates and between variable and fixed species. The ordinary differential the vector Vdot of variable species time derivatives. The equations are produced for the time evolution of the vari- input arguments V and F are the concentrations of variable able species. Fixed species enter the chemical reactions, but and fixed species, respectively. RCT contains the rate coeffi- their concentrations are not modified. For example, the at- cients. Below is the Fortran90 code generated by KPP for the mospheric oxygen O2 is reactive, however its concentration ODE function of our example stratospheric system. It shows is in practice not influenced by chemical reactions. how the KPP-generated code for Vdot corresponds to the ODE system shown above, using the indicies from Sect. 3.1: 3.1 Parameters SUBROUTINE Fun (V, F, RCT, Vdot ) KPP defines a complete set of simulation parameters which USE small_Precision are global and can be accessed by all functions. Im- USE small_Params portant simulation parameters are the total number of REAL(kind=DP) :: V(NVAR), & species (NSPEC=7), the number of variable (NVAR=5) and F(NFIX), RCT(NREACT), & fixed (NFIX=2) species, the number of chemical reactions Vdot(NVAR), A(NREACT) & (NREACT=10), the number of nonzero entries in the Jaco- ! Computation of equation rates bian (NONZERO=18) and in the sparse Hessian (NHESS=10), A(1) = RCT(1)*F(2) etc. The explicit values given here refer to our example from A(2) = RCT(2)*V(2)*F(2) Sect. 2.1. KPP orders the variable species such that the spar- A(3) = RCT(3)*V(3) sity pattern of the Jacobian is maintained after an LU decom- A(4) = RCT(4)*V(2)*V(3) position and defines their indices explicitly. For our example: A(5) = RCT(5)*V(3) ind_O1D=1, ind_O=2, ind_O3=3, ind_NO=4, A(6) = RCT(6)*V(1)*F(1) ind_NO2=5, ind_M=6, ind_O2=7 A(7) = RCT(7)*V(1)*V(3) A(8) = RCT(8)*V(3)*V(4) 3.2 Global data A(9) = RCT(9)*V(2)*V(5) A(10) = RCT(10)*V(5) KPP defines a set of global variables that can be accessed by ! Aggregate function all routines. This set includes C(NSPEC), the array of con- Vdot(1) = A(5)-A(6)-A(7) centrations of all species. C contains variable (VAR(NVAR)) Vdot(2) = 2*A(1)-A(2)+A(3) & and fixed (FIX(NFIX)) species. Rate coefficients are -A(4)+A(6)-A(9)+A(10)
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Vdot(3) = A(2)-A(3)-A(4)-A(5) & and column LU ICOL(K). The sparsity coordinate vectors -A(7)-A(8) are computed by KPP and initialized statically. These vec- Vdot(4) = -A(8)+A(9)+A(10) tors are constant as the sparsity pattern of the Hessian does Vdot(5) = A(8)-A(9)-A(10) not change during the computation. END SUBROUTINE Fun The routines Jac SP Vec(JVS,U,V) and JacTR SP Vec(JVS,U,V) perform sparse multipli- 3.4 The chemical ODE Jacobian cation of JVS (or its transpose) with a user-supplied vector U without any indirect addressing. The Jacobian matrix for our example contains 18 non-zero elements: 3.5 Sparse linear algebra
J(1, 1) = −k6 [M]−k7 [O3] To numerically solve for the chemical concentrations one = − [ 1 ] J(1, 3) k5 k7 O( D) must employ an implicit timestepping technique, as the sys- J(2, 1) = k6 [M] tem is usually stiff. Implicit integrators solve systems of the J(2, 2) = −k2 [O2]−k4 [O3]−k9 [NO2] form J(2, 3) = k3 − k4 [O] P x = (I − hγ J) x = b (1) J(2, 5) = −k9 [O] + k10 J(3, 1) = −k7 [O3] where the matrix P=I−hγ J is refered to as the “prediction J(3, 2) = k2 [O2]−k4 [O3] matrix”. I the identity matrix, h the integration time step, γ a 1 J(3, 3) = −k3 − k4 [O]−k5−k7 [O( D)]−k8 [NO] scalar parameter depending on the method, and J the system Jacobian. The vector b is the system right hand side and the J(3, 4) = −k [O ] 8 3 solution x typically represents an increment to update the J(4, 2) = k9 [NO2] solution. J(4, 3) = −k8 [NO] The chemical Jacobians are typically sparse, i.e. only a J(4, 4) = −k8 [O3] relatively small number of entries are nonzero. The sparsity structure of P is given by the sparsity structure of the Jaco- J(4, 5) = k9 [O] + k10 bian, and is produced by KPP with account for the fill-in. By = − [ ] J(5, 2) k9 NO2 carefully exploiting the sparsity structure, the cost of solving J(5, 3) = k8 [NO] the linear system can be considerably reduced. J(5, 4) = k8 [O3] KPP orders the variable species such that the sparsity pat- tern of the Jacobian is maintained after an LU decomposition. J(5, 5) = −k9 [O]−k10 KPP defines a complete set of simulation parameters, includ- ing the numbers of variable and fixed species, the number It defines how the temporal change of each chemical species of chemical reactions, the number of nonzero entries in the depends on all other species. For example, J(5, 2) shows that sparse Jacobian and in the sparse Hessian, etc. NO2 (species number 5) is affected by O (species number 2) KPP generates the routine KppDecomp(P,IER) which via reaction number R9. performs an in-place, non-pivoting, sparse LU decomposi- The command #JACOBIAN controls the generation of tion of the matrix P. Since the sparsity structure accounts for the Jacobian routine. The option OFF inhibits the con- fill-in, all elements of the full LU decomposition are actually struction of the Jacobian. The option FULL generates the stored. The output argument IER returns a nonzero value if subroutine Jac(V,F,RCT,JVS) which produces a square singularity is detected. (NVAR×NVAR) Jacobian. The routines KppSolve(P,b,x) and The options SPARSE ROW and SPARSE LU ROW gen- KppSolveTR(P,b,x) use the LU factorization of P erate the routine Jac SP(V,F,RCT,JVS) which pro- as computed by KppDecomp and perform sparse backward duces the Jacobian in sparse (compressed on rows) for- and forward substitutions to solve the linear systems P x=b mat. With the option SPARSE LU ROW, KPP extends and PT x=b, respectively. The KPP sparse linear algebra the number of nonzeros to account for the fill-in due routines are extremely efficient, as shown in Sandu et al. to the LU decomposition. The vector JVS contains (1996). the LU NONZERO elements of the Jacobian in row or- der. Each row I starts at position LU CROW(I), and 3.6 The chemical ODE Hessian LU CROW(NVAR+1)=LU NONZERO+1. The location of the I-th diagonal element is LU DIAG(I). The sparse el- The Hessian is used for sensitivity analysis calculations. It ement JVS(K) is the Jacobian entry in row LU IROW(K) contains second order derivatives of the time derivative func- www.atmos-chem-phys.org/acp/6/187/ Atmos. Chem. Phys., 6, 187–195, 2006 192 A. Sandu and R. Sander: The Kinetic PreProcessor KPP-2.1 tions. More exactly, the Hessian is a 3-tensor such that Table 1. List of KPP-generated files (for Fortran90). 2 ∂ (Vdot)i HESSi,j,k = , 1 ≤ i, j, k ≤ NVAR . (2) File Description ∂Vj ∂Vk ROOT Main.f90 Driver With the command #HESSIAN ON, KPP produces the routine Hessian(V,F,RCT,HESS) which calculates the ROOT Precision.f90 Parameterized types Hessian HESS using the variable (V) and fixed (F) concen- ROOT Parameters.f90 Model parameters trations, and the rate coefficients (RCT). ROOT Global.f90 Global data headers The Hessian is a very sparse tensor. KPP computes the ROOT Monitor.f90 Equation info number of nonzero Hessian entries (and saves this in the ROOT Initialize.f90 Initialization variable NHESS). The Hessian itself is represented in coor- ROOT Model.f90 Summary of modules dinate sparse format. The real vector HESS holds the values, ROOT Function.f90 ODE function and the integer vectors IHESS I, IHESS J, and IHESS K hold the indices of nonzero entries. Since the time derivative ROOT Jacobian.f90 ODE Jacobian function is smooth, these Hessian matrices are symmetric, ROOT JacobianSP.f90 Jacobian sparsity HESS(I,J,K)=HESS(I,K,J). KPP generates code only for those entries HESS(I,J,K) with J≤K. ROOT Hessian.f90 ODE Hessian The sparsity coordinate vectors IHESS I, IHESS J, and ROOT HessianSP.f90 Sparse Hessian data IHESS K are computed by KPP and initialized statically. These vectors are constant as the sparsity pattern of the Hes- ROOT LinearAlgebra.f90 Sparse linear algebra sian does not change during the simulation. ROOT Integrator.f90 Numerical integration The routines Hess Vec(HESS,U1,U2,HU) and ROOT Stoichiom.f90 Stoichiometric model HessTR Vec(HESS,U1,U2,HU) compute the action ROOT StoichiomSP.f90 Stoichiometric matrix of the Hessian (or its transpose) on a pair of user-supplied vectors U1, U2. Sparse operations are employed to produce ROOT Rates.f90 User-defined rate laws the result vector HU. ROOT Util.f90 Utility input-output ROOT Stochastic.f90 Stochastic functions 3.7 Utility routines Makefile ROOT Makefile In addition to the chemical system description routines dis- cussed above, KPP generates several utility routines. They ROOT.map Human-readable info are used to set initial values and to update the rate coeffi- cients, e.g. according to current temperature, pressure, and solar zenith angle. It was shown in Sect. 2.1 that each reaction may contain generate a warning message pointing to the location of this an equation tag. KPP can generate code that allows to ob- expression. tain individual reaction rates as well as a string describing The driver file ROOT Main.f90 contains the main For- the chemical reaction. This information could be used, for tran90 program. All other code is enclosed in Fortran mod- example, to analyze the chemical mechanism and identify ules. There is exactly one module in each file, and the name important reaction cycles as shown by Lehmann (2004). of the module is identical to the file name but without the suffix .f90. 4 Language-specific code generation Fortran90 code uses parameterized real types. KPP gener- ates the module ROOT Precision which contains the sin- The code generated by KPP for the kinetic model description gle and double real kind definitions: is organized in a set of separate files. The files associated with the model ROOT are named with the prefix “ROOT ”. A INTEGER, PARAMETER :: & list of KPP-generated files is shown in Table 1. SP = SELECTED_REAL_KIND(6,30), & DP = SELECTED_REAL_KIND(12,300) 4.1 Fortran90 Depending on the user choice of the #DOUBLE switch the The generated code is consistent with the Fortran90 standard. real variables are of type double or single precision. Chang- It will not exceed the maximum number of 39 continuation ing the parameters of the SELECTED REAL KIND function lines. If KPP cannot properly split an expression to keep the in this module will cause a change in the working precision number of continuation lines below the threshold then it will for the whole model.
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The global parameters (Sect. 3.1) are defined and initial- The sparse data structures for the Jacobian (Sect. 3.4), the ized in the module ROOT Parameters. The global vari- Hessian (Sect. 3.6), the stoichiometric matrix and the Jaco- ables (Sect. 3.2) are declared in the module ROOT Global. bian of reaction products are declared as Matlab global They can be accessed from within each program unit that variables in the file ROOT Sparse defs.m. They are ini- uses the global module. tialized in separate m-files, namely ROOT JacobianSP.m The sparse data structures for the Jacobian (Sect. 3.4) are ROOT HessianSP.m, and ROOT StoichiomSP.m, re- declared and initialized in the module ROOT JacobianSP. spectively. The sparse data structures for the Hessian (Sect. 3.6) are de- Two wrappers (ROOT Fun Chem.m and clared and initialized in the module ROOT HessianSP. ROOT Jac SP Chem.m) are provided for interfacing The code for the ODE function (Sect. 3.3) is in mod- the ODE function and the sparse ODE Jacobian with ule ROOT Function. The code for the ODE Jaco- Matlab’s suite of ODE integrators. Specifically, the syntax bian and sparse multiplications (Sect. 3.4) is in mod- of the wrapper calls matches the syntax required by Matlab’s ule ROOT Jacobian. The Hessian function and as- integrators like ode15s. Moreover, the Jacobian wrapper sociated sparse multiplications (Sect. 3.6) are in module converts the sparse KPP format into a Matlab sparse matrix. ROOT Hessian. 4.3 C The module ROOT Stoichiom contains the functions for reactant products and its Jacobian, and derivatives with The driver file ROOT Main.c contains the main driver and respect to rate coefficients. The declaration and initialization numerical integrator functions, as well as declarations and of the stoichiometric matrix and the associated sparse data initializations of global variables (Sect. 3.2). structures is done in the module ROOT StoichiomSP. The generated C code includes three header files which Sparse linear algebra routines (Sect. 3.5) are in the mod- are #include-d in other files as appropriate. The global ule ROOT LinearAlgebra. The code to update the rate parameters (Sect. 3.1) are #define-d in the header file constants and the user defined rate law functions are in mod- ROOT Parameters.h. The global variables (Sect. 3.2) ule ROOT Rates. The utility and input/output functions are extern-declared in ROOT Global.h, and declared in (Sect. 3.7) are in ROOT Util and ROOT Monitor. the driver file ROOT.c. The header file ROOT Sparse.h Matlab-mex gateway routines for the ODE function, Jaco- contains extern declarations of sparse data structures for the bian, and Hessian are discussed in Sect. 4.5. Jacobian (Sect. 3.4), Hessian (Sect. 3.6), stoichiometric ma- trix and the Jacobian of reaction products. The actual decla- 4.2 Matlab rations of each data structures is done in the corresponding files. Matlab code allows for rapid prototyping of chemical kinetic The code for each of the model functions, integration rou- schemes, and for a convenient analysis and visualization of tine, etc. is located in the corresponding file (with extension the results. Differences between different kinetic mecha- .c) as shown in Table 1. nisms can be easily understood. The Matlab code can be Finally, Matlab mex gateway routines that allow the C im- used to derive reference numerical solutions, which are then plementation of the ODE function, Jacobian, and Hessian to compared against the results obtained with user-supplied nu- be called directly from Matlab (Sect. 4.5) are also generated. merical techniques. Last but not least Matlab is an excellent environment for educational purposes. KPP/Matlab can be 4.4 Fortran77 used to teach students fundamentals of chemical kinetics and chemical numerical simulations. The general layout of the Fortran77 code is similar to the Each Matlab function has to reside in a separate m-file. layout of the C code. The driver file ROOT Main.f contains Function calls use the m-function-file names to reference the the main program and the initialization of global variables. function. Consequently, KPP generates one m-function-file The generated Fortran77 code includes three header for each of the functions discussed in Sects. 3.3, 3.4, 3.5, files. The global parameters (Sect. 3.1) are de- 3.6, and 3.7. The names of the m-function-files are the same fined as parameters and initialized in the header file as the names of the functions (prefixed by the model name ROOT Parameters.h. The global variables (Sect. 3.2) ROOT). are declared in ROOT Global.h as common block vari- The global parameters (Sect. 3.1) are defined as ables. There are global common blocks for real (GDATA), Matlab global variables and initialized in the file integer (INTGDATA), and character (CHARGDATA) global ROOT parameter defs.m. The global variables data. They can be accessed from within each program unit (Sect. 3.2) are declared as Matlab global variables in the that includes the global header file. file ROOT Global defs.m. They can be accessed from The header file ROOT Sparse.h contains common block within each Matlab function by using global declarations declarations of sparse data structures for the Jacobian of the variables of interest. (Sect. 3.4), Hessian (Sect. 3.6), stoichiometric matrix and the www.atmos-chem-phys.org/acp/6/187/ Atmos. Chem. Phys., 6, 187–195, 2006 194 A. Sandu and R. Sander: The Kinetic PreProcessor KPP-2.1
Jacobian of reaction products. These sparse data structures Table 2. Benchmark tests with the small stratospheric mechanism are initialized in four named “block data” statements. and with MECCA performed on on a Linux PC with a 2 GHz CPU. The code for each of the model functions, integration rou- tine, etc. is located in the corresponding file (with extension Integrator stratospheric MECCA .f) as shown in Table 1. mechanism Matlab-mex gateway routines for the ODE function, Jaco- CPU time [s] CPU time [s] bian, and Hessian are discussed in Sect. 4.5. rodas3 0.42 38.71 4.5 Mex interfaces kpp lsode 0.32 39.79 ros3 0.38 41.33 KPP generates mex gateway routines for the ODE func- rodas4 0.46 49.92 ros4 0.43 51.09 tion (ROOT mex Fun), Jacobian (ROOT mex Jac SP), and kpp seulex 0.50 55.31 Hessian (ROOT mex Hessian), for the target languages C, kpp sdirk 0.86 63.24 Fortran77, and Fortran90. ros2 0.39 69.43 After compilation (using Matlab’s mex compiler) the mex kpp radau5 0.49 103.33 functions can be called instead of the corresponding Mat- ros2 manual 0.08 — lab m-functions. Since the calling syntaxes are identical, the user only has to insert the “mex” string within the cor- responding function name. Replacing m-functions by mex- functions gives the same numerical results, but the computa- tional time could be considerably shorter, especially for large MECCA mechanism with 212 species, 106 gas-phase reac- kinetic mechanisms. tions, 266 aqueous-phase reactions, 154 heterogeneous reac- If possible we recommend to build mex files using the C tions, 37 photolyses, and 48 aqueous-phase equilibria. The language, as Matlab offers most mex interface options for CPU times for 8-day simulations with different integrators the C language. Moreover, Matlab distributions come with are shown in Table 2. Again, Radau5 is the slowest in- a native C compiler (lcc) for building executable functions tegrator. The Rosenbrock integrators with automatic time from mex files. Fortran77 mex files work well on most plat- step control and LSODE are much faster. The integrator forms without additional efforts. The mex files built using ros2 manual with manual time step control was unable to Fortran90 may require further platform-specific tuning of the solve this very stiff system of differential equations. mex compiler options.
5.2 Direct and adjoined sensitivity studies 5 Applications
In this section we illustrate several applications using KPP. KPP has recently been extended with the capability to gen- erate code for direct and adjoint sensitivity analysis. This 5.1 Benchmark tests was described in detail by Sandu et al. (2003) and Daescu et al. (2003). Here, we only briefly summarize these features. We performed some model runs to test the stability and ef- The direct decoupled method, build using backward differ- ficiency of the KPP integrators. First, we used the very ence formulas (BDF), has been the method of choice for di- simple Chapman-like stratospheric mechanism. Simulations rect sensitivity studies. The direct decoupled approach was of one month were made using the 10 different integrators extended to Rosenbrock stiff integration methods. The need ros2, ros3, ros4, rodas3, rodas4, ros2 manual, kpp radau5, for Jacobian derivatives prevented Rosenbrock methods to be kpp sdirk, kpp seulex, and kpp lsode. The CPU times used used extensively in direct sensitivity calculations. However, for the runs are shown in Table 2. Radau5, the most ac- the new automatic differentiation and symbolic differentia- curate integrator, is also the slowest. Since the overhead tion technologies make the computation of these derivatives for the automatic time step control is relatively large in this feasible. The adjoint modeling is an efficient tool to evalu- small mechanism, the integrator ros2 manual with manual ate the sensitivity of a scalar response function with respect time step control is by far the fastest here. However, it is to the initial conditions and model parameters. In addition, also the least precise integrator, when compared to Radau5 sensitivity with respect to time dependent model parameters as reference. may be obtained through a single backward integration of As a second example, we have performed runs with the adjoint model. KPP software may be used to completely the complex chemistry model MECCA (Sander et al. generate the continuous and discrete adjoint models taking (2005), see also http://www.mpch-mainz.mpg.de/∼sander/ full advantage of the sparsity of the chemical mechanism. messy/mecca/) simulating gas and aerosol chemistry in the Flexible direct-decoupled and adjoint sensitivity code imple- marine boundary layer. We have selected a subset of the mentations are achieved with minimal user intervention.
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6 Conclusions Lehmann, R.: An algorithm for the determination of all significant pathways in chemical reaction systems, J. Atmos. Chem., 47, The widely-used software environment KPP for the simula- 45–78, 2004. tion of chemical kinetics was added the capabilities to gen- Leis, J. and Kramer, M.: ODESSA – An Ordinary Differential erate simulation code in Fortran90 and Matlab. An update Equation Solver with Explicit Simultaneous Sensitivity Analy- of the Fortran77 and C generated code was also performed. sis, ACM Transactions on Mathematical Software, 14, 61–67, The new capabilities will allow researchers to include KPP 1986. generated modules in state-of-the-art large scale models, for Radhakrishnan, K. and Hindmarsh, A.: Description and use of LSODE, the Livermore solver for differential equations, NASA example in the field of air quality studies. Many of these reference publication 1327, 1993. models are implemented in Fortran90. The Matlab capabil- Sander, R., Kerkweg, A., Jockel,¨ P., and Lelieveld, J.: Technical ities will allow for a rapid prototyping of chemical kinetic Note: The new comprehensive atmospheric chemistry module systems, and for the visualization of the results. Matlab also MECCA, Atmos. Chem. Phys., 5, 445–450, 2005, offers an ideal educational environment and KPP can be used SRef-ID: 1680-7324/acp/2005-5-445. in this context to teach introductory chemistry or modeling Sandu, A., Potra, F. A., Damian, V., and Carmichael, G. R.: Effi- classes. cient implementation of fully implicit methods for atmospheric The KPP-2.1 source code is distributed under the pro- chemistry, J. Comp. Phys., 129, 101–110, 1996. visions of the GNU public license (http://www.gnu.org/ Sandu, A., Verwer, J. G., Blom, J. G., Spee, E. J., Carmichael, copyleft/gpl.html) and is available in the electronic supple- G. R., and Potra, F. A.: Benchmarking stiff ODE solvers for at- ment to this paper at http://www.atmos-chem-phys.org/acp/ mospheric chemistry problems II: Rosenbrock solvers, Atmos. Environ., 31, 3459–3472, 1997. 6/187/acp-6-187-sp.zip. The source code and the docu- Sandu, A., Daescu, D., and Carmichael, G. R.: Direct and adjoint mentation can also be obtained from http://people.cs.vt.edu/ sensitivity analysis of chemical kinetic systems with KPP: I – ∼ asandu/Software/Kpp. Theory and software tools, Atmos. Environ., 37, 5083–5096, 2003. Acknowledgements. The work of A. Sandu was supported by Tang, Y., Carmichael, G. R., Uno, I., Woo, J.-H., Kurata, G., Lefer, the awards NSF-CAREER ACI 0413872 and NSF-ITR AP&IM B., Shetter, R. E., Huang, H., Anderson, B. E., Avery, M. A., 0205198. Clarke, A. D., and Blake, D. R.: Impacts of aerosols and clouds on photolysis frequencies and photochemistry during TRACE-P: Edited by: M. Ammann 2. Three-dimensional study using a regional chemical transport model, J. Geophys. Res., 108D, doi:10.1029/2002JD003100, 2003. References Trentmann, J., Andreae, M. O., and Graf, H.-F.: Chemical processes in a young biomass-burning plume, J. Geophys. Res., 108D, doi: Brown, P., Byrne, G., and Hindmarsh, A.: VODE: A Variable Step 10.1029/2003JD003732, 2003. ODE Solver, SIAM J. Sci. Stat. Comput., 10, 1038–1051, 1989. Verwer, J., Spee, E., Blom, J. G., and Hunsdorfer, W.: A second Curtis, A. R. and Sweetenham, W. P.: Facsimile/Chekmat User’s order Rosenbrock method applied to photochemical dispersion Manual, Tech. rep., Computer Science and Systems Division, problems, SIAM Journal on Scientific Computing, 20, 1456– Harwell Lab., Oxfordshire, Great Britain, 1987. 1480, 1999. Daescu, D., Sandu, A., and Carmichael, G. R.: Direct and ad- von Glasow, R., Sander, R., Bott, A., and Crutzen, P. J.: joint sensitivity analysis of chemical kinetic systems with KPP: Modeling halogen chemistry in the marine boundary layer. 1. II – Validation and numerical experiments, Atmos. Environ., 37, Cloud-free MBL, J. Geophys. Res., 107D, 4341, doi:10.1029/ 5097–5114, 2003. 2001JD000942, 2002. Damian, V., Sandu, A., Damian, M., Carmichael, G. R., and Potra, von Kuhlmann, R., Lawrence, M. G., Crutzen, P. J., and Rasch, F. A.: KPP – A symbolic preprocessor for chemistry kinetics P. J.: A model for studies of tropospheric ozone and nonmethane – User’s guide, Technical report, The University of Iowa, Iowa hydrocarbons: Model description and ozone results, J. Geophys. City, IA 52246, 1995. Res., 108D, doi:10.1029/2002JD002893, 2003. Damian, V., Sandu, A., Damian, M., Potra, F., and Carmichael, G. R.: The kinetic preprocessor KPP – a software environment for solving chemical kinetics, Comput. Chem. Eng., 26, 1567– 1579, 2002. Djouad, R., Sportisse, B., and Audiffren, N.: Reduction of mul- tiphase atmospheric chemistry, J. Atmos. Chem., 46, 131–157, 2003. Hairer, E. and Wanner, G.: Solving Ordinary Differential Equations II. Stiff and Differential-Algebraic Problems, Springer-Verlag, Berlin, 1991.
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