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THE

KARL S. KUNZ
RAYMOND J. LUEBBERS

0
CRC Press
Boca Raton London New York Washington, D.C.
 Library of Congress Cataloging-in-Publication Data

Kunz, Karl S.
The finite difference time domain method for electromagnetics / by Karl S. Kunz
and Raymond J. Luebbers.
p. cm.
Includes bibliographical references and index.
ISBN 0-8493-8657-8
1. Electromagnetic fields—Mathematics. 2. Time-domain analysis I. Luebbers, Raymond
J. II. Title.
QC665.E4K82 1993
530.1'41—dc20 92-33535
CIP

This book contains information obtained from authentic and highly regarded sources. Reprinted material
is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable
efforts have been made to publish reliable data and information, but the author and the publisher cannot
assume responsibility for the validity of all materials or for the consequences of their use.
Neither this book nor any part may be reproduced or transmitted in any form or by any means, electronic
or mechanical, including photocopying, microfilming, and recording, or by any information storage or
retrieval system, without prior permission in writing from the publisher.
The consent of CRC Press LLC does not extend to copying for general distribution, for promotion, for
creating new works, or for resale. Specific permission must be obtained in writing from CRC Press LLC
for such copying.
Direct all inquiries to CRC Press LLC, 2000 N.W. Corporate Blvd., Boca Raton, Florida 33431.
Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are
used only for identification and explanation, without intent to infringe.

Visit tbe CRC Press Web site at www.crcpress.com

© 1993 by CRC Press LLC

No claim to original U.S. Government works

International Standard Book Number 0-8493-8657-1
Library of Congress Card Number 92-33535
 AUTHORS

Karl S. Kunz, Ph.D., has worked in industry, government, and academia

since receiving his Ph.D. in physics at NMSU in 1971. Now at Penn State, as
Professor, he specializes in computational engineering, in particular FDTD
applications and developments for modeling aerospace systems, antennas,
biological systems, and plasmas to name just a few areas.
His past associations include Lawrence Livermore National Laboratory
(LLNL), TRW, Mission Research Corporation, BDM, and White Sands Mis­
sile Range. He was in charge of the Microwave and BMP Group at LLNL with
responsibility for their indoor transient range. At TRW he was a Technology
Section Leader and an BMP Group Leader at MRC. While at BDM he was the
ARBS BMP Simulator Scientist. At White Sands he worked as a Systems
Analyst spending part of that time at the Madison NJ Bell Telephone facilities.
Dr. Kunz is an active consultant having worked with LLNL, Chemring
LTD, Lockheed, BG&G, and Dynaeletron. He performs some of this work out
of the consulting firm he founded in the late 70s, Kunz Associates, Inc., with
his father, Kaiser S. Kunz. While at Penn State he served as Department Head
from 1986 to 1989 and has enjoyed an active research career throughout his
tenure there.

Raymond Luebbers, Ph.D., is Professor of Blectrical Bngineering at the

Pennsylvania State University. He received the B.S.B.B. degree from the
University of Cincinnati, and M.S.B.B. and Ph.D. degrees from the Ohio State
University, where he was a member of the BlectroScience Laboratory. He has
been an electrical engineering faculty member at Ohio University, and a
Research Scientist at the Lockheed Palo Alto research laboratory. He was also
a Visiting Professor at Tohoku University, Sendai, under the National Science
Foundation program for U.S./Japan Cooperative Research. Dr. Luebbers has
written series of technical papers in several areas, including frequency selec­
tive surfaces, geometrical theory of diffraction, and FDTD. He is a Senior
Member of the Antennas and Propagation Society of the IBBB, and is on the
Board of Directors of the Applied Computational Blectromagnetics Society.
He has chaired a number of IBBB and URSI conference sessions, including an
URSI General Assembly session, and reviews articles for several technical
journals.
 PREFACE

The finite difference time domain (FDTD) approach is rapidly becoming

one of the most widely used computational methods in electromagnetics. There
are several reasons for this, including the increased availability of low cost but
powerful computers, and increasing interest in electromagnetic interactions
with complicated geometries, which include penetrable dielectric and/or mag­
netic materials. Just as important perhaps is the extreme simplicity of the
method. The fundamentals of FDTD can be grasped easily by undergraduate
students, more easily than traditional frequency-domain approaches to
electromagnetics. Yet FDTD is capable of computing electromagnetic interac­
tions for problem geometries that are extremely difficult to analyze by other
methods. It is this combination of simplicity and power that makes FDTD such
a popular method.
This also allows this book to serve a wide range of potential readers. It can
be used to introduce undergraduate students to time domain electromagnetics,
in which case only the first two parts of the book need be covered. It can be
used in a graduate level course, in which case the mathematical basis of FDTD
would be emphasized with topics selected from the sections on special capa­
bilities and advanced applications at the discretion of the instructor. Finally,
someone who wants to use FDTD to solve a particular problem in
electromagnetics can use the book to learn FDTD basics and special capabili­
ties necessary for their application. In addition, it can be seen, through the
examples in this book, how FDTD has been applied to a variety of problems.
The goals of the book are to provide the basic information necessary to
apply FDTD to problems in electromagnetics, and to illustrate some of the
types of problems that can be analyzed using it. The theoretical and mathemati­
cal basis for much of FDTD is included, but the emphasis is on the practical
aspects of applying FDTD.
While equations are given in the text as needed to develop and understand
the method and applications, complete detail is not included. For example,
equations usually are not given for all vector components but only for one
representative component. There are two reasons for this. One is to avoid a
book filled with pages of almost but not quite identical equations. The other is
that the book includes FORTRAN listings of a complete 3-D FDTD program
based on the concepts presented in Part 1. This provides better documentation
of the actual details of the method than equations included in the text.
While a joint effort of the two authors, the primary responsibilities were
divided between the authors by chapter. Karl Kunz wrote the majority of
Chapters 1 and 2, all chapters in Part 2, the last section of Chapter 10, Chapter
12, all chapters in Part 5, and Appendix A. Raymond Luebbers wrote the
majority of the remaining chapters, i.e.. Chapter 3, Chapters 7 through 11
(except for the last section of Chapter 10), all chapters in Part 4, and Appendix
B. Despite this division of labor we have attempted to make the book consistent
throughout in both notation and philosophy.
 In addition to the authors themselves, many people contributed to this book
in many ways, both directly and indirectly. Acknowledging all of them is not
possible, but some contributions are too important to remain unmentioned.
First, let me acknowledge the tremendous effect Karl Kunz has had, not just on
this book, but on my career. He introduced me to FDTD and initiated the
project of writing this book. Several others made direct contributions. Chapter
15 is closely based on the work of Forrest P. Hunsberger, Jr. John Beggs is
responsible for much of the content of Chapter 9. Both were graduate students
at Penn State when this work was done. Other students who contributed results
which are incorporated in the book include Deirdre Ryan and David Steich of
Penn State, and Li Chen and Ken Kumagai of Tohoku University, Sendai,
Japan. Results provided by Chris Trueman and Stan Kubina of Concordia
University in collaboration with Shantnu Mishra and C. Larose of David
Florida Laboratory are also greatly appreciated. Kent Chamberlin of the Uni­
versity of New Hampshire provided a critical review of the original manuscript
and his numerous suggestions for improvement have been incorporated.
While many people provided encouragement, support, or technical advice,
a few provided these in greater measure and deserve acknowledgment: Vaughn
Cable, Randy Jost, Doug Havens, Tom Campbell, Fred Beck, Alex Woo, Scott
Ray, Ken Demarest, Kane Yee, Ron Ständler, Richard Holland, Kultegin
Aydin, Michael Schneider, Saburo Adachi, Kunio Sawaya, Tom Uno, Linda
Kellerman, and Julie Cork Without the support of these people this book would
not have its present form.

Raymond Luebbers
University Park, PA
August 1992
 FOREWORD

Any book on the finite difference time domain (FDTD) technique can
expect to be out of date as soon as it is published. We hope that this is the first
book devoted to FDTD and will therefore gladly suffer this fate. We must
apologize to the reader, however, as the reader would undoubtedly prefer to
have a timeless text. We have tried to provide some measure of timelessness
combined with some measure of currency.
The timeless elements are the applications of FDTD which are as broad as
the Maxwell equations they embody in discretized form, the basic formulation
using centered finite difference expressions which can treat virtually any
material type and geometry and the basic “housekeeping” needed to implement
the technique. Our introduction and first section covers these matters and
should be of lasting value.
We choose next to address some basic modeling issues well suited to FDTD
— exterior and interior coupling, waveguide propagation and coupling and
scattering from lossy dielectrics. These cases illustrate the operation of the
basic code and also provide, for the most part, the historical origins of the
particular formulation of FDTD we emphasize, the scattered field formulation.
This formulation is easy to implement as a code, is only slightly more complex
in the equations employed than its alternative, the total field formulation, and
offers some pleasing physical insights. Part 2, with these basic applications,
should also remain useful as a pedagogical necessity for introducing the reader
to the actual use of FDTD. One can argue which “history” is the best one to
use. We took the direct approach and used what we have been personally
involved with. Chacun â son goût.
One of the reasons for stating how short an expiration date comes with any
version of FDTD arises from the work we did for Part 3. Here, we have placed
some of our best work, extensions to the basic FDTD capabilities. Some are
very basic extensions, near to far zone capabilities and frequency-dependent
material modeling capabilities to name two. The need for these capabilities will
not diminish, but we can expect other researchers to improve on what we offer
here. This is all to the good and we trust the reader will make themselves aware
of any evolutions in these areas after reading our book which we would
consider current as of 1992.
A fourth section trades timelessness for currency. It is our section on
advanced applications and it makes use of the extensions of the prior section.
We know that in time this will become old news and perhaps only hold a little
bit of historic interest. It is today “hot off the press” and tells better than
anything else where some of the research frontiers are and how hard a straight­
forward technique such as FDTD has to be pushed to get there.
Finally, we close with some of the mathematical foundations and some of
the alternatives available to FDTD — a mix of currency and timeliness. A
FORTRAN listing of a simple version of the code completes our offering.
 My colleague, Professor Raymond Luebbers, and I have had a stimulating
time putting this book together. I wish to recognize and say that I much admire
the pioneering work he has contributed to this effort, much of which appears
in Parts 3 and 4. We both remain active in FDTD research and are working to
make further contributions. I expect that we will need to do this in collaboration
with the many students and friends Professor Luebbers so ably acknowledges
in the Preface; their contributions have been invaluable.
To our friend. Dr. Kane Yee, who started all this in 1966, we send our
regards and our thanks.
Karl S. Kunz
 TABLE OF CONTENTS

Chapter 1. Introduction ............................................. 1

Part 1: Fundamental Concepts

Chapter 2. Scattered Field FDTD Formulation......................................... 11

2.1 Maxwell Curl Equations.................................................11
2.2 Separate Field Formalism.............................................. 12
2.3 Perfect Conductor FDTD Formulation.......................... 16
2.4 Perfect Conductor FDTD FORTRAN Code.................. 19
2.5 Lossy Material Formulation...........................................20
2.6 Lossy Dielectric FDTD FORTRAN C ode....................22
2.7 FDTD Code Requirements and Architecture................24
References..................................................................................................... 27

Chapter 3. FDTD Basics............................................................................ 29

3.1 Introduction.....................................................................29
3.2 Determining the Cell Size..............................................30
3.3 Time Step Size for Stability...........................................32
3.4 Specifying the Incident Field.........................................33
3.5 Building an Object in Yee Cells....................................37
3.6 Direct Computation of Total Fields...............................42
3.7 Radiation Boundary Condition......................................43
3.8 Resource Requirements..................................................46
References..................................................................................................... 49

Part 2: Basic Applications

Chapter 4. Coupling Effects...................................................................... 53

4.1 Introduction.....................................................................53
4.2 Electromagnetic Pulse........................ 54
4.3 Exterior Pulse Response.................................................55
4.3.1 Measurement Facility...........................................55
4.3.2 FDTD Model of the Aircraft...............................56
4.3.3 Comparison of Predictions and
Measurements.......................................................58
4.4 Interior Electromagnetic Shielding................................61
4.4.1 Frequencies Above Aperture Cutoff....................62
4.4.2 Frequencies Below Aperture Cutoff....................70
References..................................................................................................... 76

Chapter 5. Waveguide Aperture Coupling (Article by P. Alinikula and

K. S. Kunz)........................... 79
5.1 Introduction......................................................................79
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