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S U M M A R YWe present a new numerical method to solve the heterogeneous elastic wave equations formulated as a linear hyperbolic system using first-order derivatives with arbitrary high-order accuracy in space and time on 3-D unstructured tetrahedral meshes. The method combines the Discontinuous Galerkin (DG) Finite Element (FE) method with the ADER approach using Arbitrary high-order DERivatives for flux calculation. In the DG framework, in contrast to classical FE methods, the numerical solution is approximated by piecewise polynomials which allow for discontinuities at element interfaces. Therefore, the well-established theory of numerical fluxes across element interfaces obtained by the solution of RiemannProblems can be applied as in the finite volume framework. To define a suitable flux over the element surfaces, we solve so-called Generalized Riemann-Problems (GRP) at the element interfaces. The GRP solution provides simultaneously a numerical flux function as well as a time-integration method. The main idea is a Taylor expansion in time in which all time-derivatives are replaced by space derivatives using the so-called Cauchy-Kovalewski or Lax-Wendroff procedure which makes extensive use of the governing PDE. The numerical solution can thus be advanced for one time step without intermediate stages as typical, for example, for classical Runge-Kutta time stepping schemes. Due to the ADER time-integration technique, the same approximation order in space and time is achieved automatically. Furthermore, the projection of the tetrahedral elements in physical space on to a canonical reference tetrahedron allows for an efficient implementation, as many computations of 3-D integrals can be carried out analytically beforehand. Based on a numerical convergence analysis, we demonstrate that the new schemes provide very high order accuracy even on unstructured tetrahedral meshes and computational cost and storage space for a desired accuracy can be reduced by higher-order schemes. Moreover, due to the choice of the basis functions for the piecewise polynomial approximation, the new ADER-DG method shows spectral convergence on tetrahedral meshes. An application of the new method to a well-acknowledged test case and comparisons with analytical and reference solutions, obtained by different well-established methods, confirm the performance of the proposed method. Therefore, the development of the highly accurate ADER-DG approach for tetrahedral meshes provides a numerical technique to approach 3-D wave propagation problems in complex geometry with unforeseen accuracy.

SUMMARY We present a new numerical approach to solve the elastic wave equation in heterogeneous media in the presence of externally given source terms with arbitrary high‐order accuracy in space and time on unstructured triangular meshes. We combine a discontinuous Galerkin (DG) method with the ideas of the ADER time integration approach using Arbitrary high‐order DERivatives. The time integration is performed via the so‐called Cauchy‐Kovalewski procedure using repeatedly the governing partial differential equation itself. In contrast to classical finite element methods we allow for discontinuities of the piecewise polynomial approximation of the solution at element interfaces. This way, we can use the well‐established theory of fluxes across element interfaces based on the solution of Riemann problems as developed in the finite volume framework. In particular, we replace time derivatives in the Taylor expansion of the time integration procedure by space derivatives to obtain a numerical scheme of the same high order in space and time using only one single explicit step to evolve the solution from one time level to another. The method is specially suited for linear hyperbolic systems such as the heterogeneous elastic wave equations and allows an efficient implementation. We consider continuous sources in space and time and point sources characterized by a Delta distribution in space and some continuous source time function. Hereby, the method is able to deal with point sources at any position in the computational domain that does not necessarily need to coincide with a mesh point. Interpolation is automatically performed by evaluation of test functions at the source locations. The convergence analysis demonstrates that very high accuracy is retained even on strongly irregular meshes and by increasing the order of the ADER–DG schemes computational time and storage space can be reduced remarkably. Applications of the proposed method to Lamb's Problem, a problem of strong material heterogeneities and to an example of global seismic wave propagation finally confirm its accuracy, robustness and high flexibility.

S U M M A R YThis article describes the extension of the arbitrary high-order Discontinuous Galerkin (ADER-DG) method to treat locally varying polynomial degress of the basis functions, so-called p-adaptivity, as well as locally varying time steps that may be different from one element to another. The p-adaptive version of the scheme is useful in complex 3-D models with small-scale features which have to be meshed with reasonably small elements to capture the necessary geometrical details of interest. Using a constant high polynomial degree of the basis functions in the whole computational domain can lead to an unreasonably high CPU effort since good spatial resolution at the surface may be already obtained by the fine mesh. Therefore, it can be more adequate in some cases to use a lower order method in the small elements to reduce the CPU effort without loosing much accuracy. To further increase computational efficiency, we present a new local time stepping (LTS) algorithm. For usual explicit time stepping schemes the element with the smallest time step resulting from the stability criterion of the method will dictate its time step to all the other elements of the computational domain. In contrast, by using local time stepping, each element can use its optimal time step given by the local stability condition. Our proposed LTS algorithm for ADER-DG is very general and does not need any temporal synchronization between the elements. Due to the ADER approach, accurate time interpolation is automatically provided at the element interfaces such that the computational overhead is very small and such that the method maintains the uniform high order of accuracy in space and time as in the usual ADER-DG schemes with a globally constant time step. However, the LTS ADER-DG method is computationally much more efficient for problems with strongly varying element size or material parameters since it allows to reduce the total number of element updates considerably. This holds especially for unstructured tetrahedral meshes that contain strongly degenerate elements, so-called slivers. We show numerical convergence results and CPU times for LTS ADER-DG schemes up to sixth order in space and time on irregular tetrahedral meshes containing elements of very different size and also on tetrahedral meshes containing slivers. Further validation of the algorithm is provided by results obtained for the layer over half-space (LOH.1) benchmark problem proposed by the Pacific Earthquake Engineering Research Center. Finally, we present a realistic application on earthquake modelling and ground motion prediction for the alpine valley of Grenoble.Large-scale applications in numerical seismology including realistic material properties and complex geometries usually still require a tremendous effort in model building, mesh generation, computer storage and CPU time. In the past, advancements in the field of mesh generation have led to automated algorithms that produce unstructured tetrahedral meshes even for very complex geometries. However, the ...