Abstract
A systematic approach based on a diagonal-norm summation-by-parts (SBP) framework is presented for implementing entropy stable (SS) formulations of any order for the compressible Navier-Stokes equations (NSE). These SS formulations discretely conserve mass, momentum, energy and satisfy a mathematical entropy equality for smooth problems. They are also valid for discontinuous flows provided sufficient dissipation is added at shocks and discontinuities to satisfy an entropy inequality. Admissible SBP operators include all centred diagonal-norm finite-difference (FD) operators and Legendre spectral collocation-finite element methods (LSC-FEM). Entropy stable multiblock FD and FEM operators follows immediately via nonlinear coupling operators that ensure conservation, accuracy and preserve the interior entropy estimates. Nonlinearly stable solid wall boundary conditions are also available. Existing SBP operators that lack a stability proof (e.g. weighted essentially nonoscillatory) may be combined with an entropy stable operator using a comparison technique to guarantee nonlinear stability of the pair. All capabilities extend naturally to a curvilinear form of the NSE provided that the coordinate mappings satisfy a geometric conservation law constraint. Examples are presented that demonstrate the robustness of current state-of-the-art entropy stable SBP formulations.