Shoreline tracking and implicit source terms for a well balanced inundation model

The HyFlux2 model has been developed to simulate severe inundation scenario due to dam break, flash flood and tsunami‐wave run‐up. The model solves the conservative form of the two‐dimensional shallow water equations using the finite volume method. The interface flux is computed by a Flux Vector Splitting method for shallow water equations based on a Godunov‐type approach. A second‐order scheme is applied to the water surface level and velocity, providing results with high accuracy and assuring the balance between fluxes and sources also for complex bathymetry and topography. Physical models are included to deal with bottom steps and shorelines. The second‐order scheme together with the shoreline‐tracking method and the implicit source term treatment makes the model well balanced in respect to mass and momentum conservation laws, providing reliable and robust results. The developed model is validated in this paper with a 2D numerical test case and with the Okushiri tsunami run up problem. It is shown that the HyFlux2 model is able to model inundation problems, with a satisfactory prediction of the major flow characteristics such as water depth, water velocity, flood extent, and flood‐wave arrival time. The results provided by the model are of great importance for the risk assessment and management. Copyright © 2009 John Wiley & Sons, Ltd.     

Depth‐integrated,non‐hydrostatic model with grid nesting for tsunami generation,propagation, and run‐up

Tsunamis generated by earthquakes involve physical processes of different temporal and spatial scales that extend across the ocean to the shore. This paper presents a shock‐capturing dispersive wave model in the spherical coordinate system for basin‐wide evolution and coastal run‐up of tsunamis and discusses the implementation of a two‐way grid‐nesting scheme to describe the wave dynamics at resolution compatible to the physical processes. The depth‐integrated model describes dispersive waves through the non‐hydrostatic pressure and vertical velocity, which also account for tsunami generation from dynamic seafloor deformation. The semi‐implicit, finite difference model captures flow discontinuities associated with bores or hydraulic jumps through the momentum‐conserved advection scheme with an upwind flux approximation. The two‐way grid‐nesting scheme utilizes the Dirichlet condition of the non‐hydrostatic pressure and both the horizontal velocity and surface elevation at the inter‐grid boundary to ensure propagation of dispersive waves and discontinuities across computational grids of different resolution. The inter‐grid boundary can adapt to bathymetric features to model nearshore wave transformation processes at optimal resolution and computational efficiency. A coordinate transformation enables application of the model to small geographic regions or laboratory experiments with a Cartesian grid. A depth‐dependent Gaussian function smoothes localized bottom features in relation to the water depth while retaining the bathymetry important for modeling of tsunami transformation and run‐up. Numerical experiments of solitary wave propagation and N‐wave run‐up verify the implementation of the grid‐nesting scheme. The 2009 Samoa Tsunami provides a case study to confirm the validity and effectiveness of the modeling approach for tsunami research and impact assessment. Copyright © 2010 John Wiley & Sons, Ltd.     

A particle finite element method applied to long wave run‐up

This paper presents a Lagrangian–Eulerian finite element formulation for solving fluid dynamics problems with moving boundaries and employs the method to long wave run‐up. The method is based on a set of Lagrangian particles which serve as moving nodes for the finite element mesh. Nodes at the moving shoreline are identified by the alpha shape concept which utilizes the distance from neighbouring nodes in different directions. An efficient triangulation technique is then used for the mesh generation at each time step. In order to validate the numerical method the code has been compared with analytical solutions and a preexisting finite difference model. The main focus of our investigation is to assess the numerical method through simulations of three‐dimensional dam break and long wave run‐up on curved beaches. Particularly the method is put to test for cases where different shoreline segments connect and produce a computational domain surrounding dry regions. Copyright © 2006 John Wiley & Sons, Ltd.     

A horizontally curvilinear non‐hydrostatic model for simulating nonlinear wave motion in curved boundaries

A horizontally curvilinear non‐hydrostatic free surface model that embeds the second‐order projection method, the so‐called θ scheme, in fractional time stepping is developed to simulate nonlinear wave motion in curved boundaries. The model solves the unsteady, Navier–Stokes equations in a three‐dimensional curvilinear domain by incorporating the kinematic free surface boundary condition with a top‐layer boundary condition, which has been developed to improve the numerical accuracy and efficiency of the non‐hydrostatic model in the standard staggered grid layout. The second‐order Adams–Bashforth scheme with the third‐order spatial upwind method is implemented in discretizing advection terms. Numerical accuracy in terms of nonlinear phase speed and amplitude is verified against the nonlinear Stokes wave theory over varying wave steepness in a two‐dimensional numerical wave tank. The model is then applied to investigate the nonlinear wave characteristics in the presence of dispersion caused by reflection and diffraction in a semicircular channel. The model results agree quantitatively with superimposed analytical solutions. Finally, the model is applied to simulate nonlinear wave run‐ups caused by wave‐body interaction around a bottom‐mounted cylinder. The numerical results exhibit good agreement with experimental data and the second‐order diffraction theory. Overall, it is shown that the developed model, with only three vertical layers, is capable of accurately simulating nonlinear waves interacting within curved boundaries. Copyright © 2011 John Wiley & Sons, Ltd.     

A σ‐coordinate three‐dimensional numerical model for surface wave propagation

A three‐dimensional numerical model based on the full Navier–Stokes equations (NSE) in σ‐coordinate is developed in this study. The σ‐coordinate transformation is first introduced to map the irregular physical domain with the wavy free surface and uneven bottom to the regular computational domain with the shape of a rectangular prism. Using the chain rule of partial differentiation, a new set of governing equations is derived in the σ‐coordinate from the original NSE defined in the Cartesian coordinate. The operator splitting method (Li and Yu, Int. J. Num. Meth. Fluids 1996; 23 : 485–501), which splits the solution procedure into the advection, diffusion, and propagation steps, is used to solve the modified NSE. The model is first tested for mass and energy conservation as well as mesh convergence by using an example of water sloshing in a confined tank. Excellent agreements between numerical results and analytical solutions are obtained. The model is then used to simulate two‐ and three‐dimensional solitary waves propagating in constant depth. Very good agreements between numerical results and analytical solutions are obtained for both free surface displacements and velocities. Finally, a more realistic case of periodic wave train passing through a submerged breakwater is simulated. Comparisons between numerical results and experimental data are promising. The model is proven to be an accurate tool for consequent studies of wave‐structure interaction. Copyright © 2002 John Wiley & Sons, Ltd.     

A dimension split method for the incompressible Navier–Stokes equations in three dimensions

In this paper, we describe a new method for the three‐dimensional steady incompressible Navier–Stokes equations, which is called the dimension split method (DSM). The basic idea of DSM is that the three‐dimensional space is split up into a cluster of two‐dimensional manifolds and then the three‐dimensional solution is approximated by the solutions on these two‐dimensional manifolds. Through introducing some technologies, such as SUPG stabilization, multigrid method, and such, we firstly make DSM feasible in the computation of real flow. Because of split property of DSM, all computation is carried out on these two‐dimensional manifolds, namely, a series of two‐dimensional problems only need to be solved in the computation of three‐dimensional problem, which greatly reduces the difficulty and the computational cost in the mesh generation. Moreover, these two‐dimensional problems can be computed simultaneously and a coarse‐grained parallel algorithm would be constructed, whereas the two‐dimensional manifold is considered as the computation unit. In the last, we explore the behavior and the accuracy of the proposed method in two numerical examples. Firstly, error estimates, performance of multigrid method, and parallel algorithm are well‐demonstrated by the known analytical solution case. Secondly, the computations of three‐dimensional lid‐driven cavity flows with different Reynolds numbers are compared with other numerical simulations. Results show that the present implementation is able to exhibit good stability and accuracy properties for real flows. Copyright © 2013 John Wiley & Sons, Ltd.     

A high‐order triangular discontinuous Galerkin oceanic shallow water model

A high‐order triangular discontinuous Galerkin (DG) method is applied to the two‐dimensional oceanic shallow water equations. The DG method can be characterized as the fusion of finite elements with finite volumes. This DG formulation uses high‐order Lagrange polynomials on the triangle using nodal sets up to 15th order. Both the area and boundary integrals are evaluated using order 2N Gauss cubature rules. The use of exact integration for the area integrals leads naturally to a full mass matrix; however, by using straight‐edged triangles we eliminate the mass matrix completely from the discrete equations. Besides obviating the need for a mass matrix, triangular elements offer other obvious advantages in the construction of oceanic shallow water models, specifically the ability to use unstructured grids in order to better represent the continental coastlines for use in tsunami modeling. In this paper, we focus primarily on testing the discrete spatial operators by using six test cases—three of which have analytic solutions. The three tests having analytic solutions show that the high‐order triangular DG method exhibits exponential convergence. Furthermore, comparisons with a spectral element model show that the DG model is superior for all polynomial orders and test cases considered. Copyright © 2007 John Wiley & Sons, Ltd.     

A three‐dimensional hydrodynamic model for shallow waters using unstructured Cartesian grids

This paper presents a three‐dimensional unstructured Cartesian grid model for simulating shallow water hydrodynamics in lakes, rivers, estuaries, and coastal waters. It is a flux‐based finite difference model that uses a cut‐cell approach to fit the bottom topography and shorelines and, at the same time, has the flexibility of discretizing complex geometries with Cartesian grids that can be arbitrarily downsized in the two horizontal directions simultaneously. Because of the use of Cartesian grids, the grid generation is very simple and does not suffer the grid generation headache often seen in many other unstructured models, as the unstructured Cartesian grid model does not have any requirements on the orthogonality of the grids. The newly developed unstructured Cartesian grid model was validated against analytical solutions for a three‐dimensional seiching case in a rectangular basin, before it was compared with another three‐dimensional model named LESS3D for circulations and salinity transport processes in an idealized embayment that is driven by tides and freshwater inflows. Model tests show that the numerical procedure used in the unstructured Cartesian grid model is robust. Similar to other unstructured models, a variable grid size has resulted in a smaller number of grids required for a reasonable model simulation, which in turn reduces the CPU time used in the model run. Copyright © 2010 John Wiley & Sons, Ltd.     

On the construction of manufactured solutions for one and two‐equation eddy‐viscosity models

This paper presents manufactured solutions (MSs) for some well‐known eddy‐viscosity turbulence models, viz. the Spalart & Allmaras one‐equation model and the TNT and BSL versions of the two‐equation k–ω model. The manufactured flow solutions apply to two‐dimensional, steady, wall‐bounded, incompressible, turbulent flows. The two velocity components and the pressure are identical for all MSs, but various alternatives are considered for specifying the eddy‐viscosity and other turbulence quantities in the turbulence models. The results obtained for the proposed MSs with a second‐order accurate numerical method show that the MSs for turbulence quantities must be constructed carefully to avoid instabilities in the numerical solutions. This behaviour is model dependent: the performance of the Spalart & Allmaras and k–ω models is significantly affected by the type of MS. In one of the MSs tested, even the two versions of the k–ω model exhibit significant differences in the convergence properties. Copyright © 2006 John Wiley & Sons, Ltd.     

Applications of a higher‐order bounded numerical scheme to turbulent flows

This paper applies the higher‐order bounded numerical scheme Weighted Average Coefficients Ensuring Boundedness (WACEB) to simulate two‐ and three‐dimensional turbulent flows. In the scheme, a weighted average formulation is used for interpolating the variables at cell faces and the weighted average coefficients are determined from a normalized variable formulation and total variation diminishing (TVD) constraints to ensure the boundedness of the solution. The scheme is applied to two turbulent flow problems: (1) two‐dimensional turbulent flow around a blunt plate; and (2) three‐dimensional turbulent flow inside a mildly curved U‐bend. In the present study, turbulence is evaluated by using a low‐Reynolds number version of the k–ω model. For the flow simulation, the QUICK scheme is applied to the momentum equations while either the WACEB scheme (Method 1) or the UPWIND scheme (Method 2) is used for the turbulence equations. The present study shows that the WACEB scheme has at least second‐order accuracy while ensuring boundedness of the solutions. The present numerical study for a pure convection problem shows that the ‘TVD’ slope ranges from 2 to 4. For the turbulent recirculating flow, two different mixed procedures (Method 1 and Method 2) produce a substantial difference for the mean velocities as well as for the turbulence kinetic energy. Method 1 predicts better results than Method 2 does, comparing the analytical solution and the experimental data. For the turbulent flow inside the mildly curved U‐bend, although the predictions of velocity distributions with two procedures are very close, a noticeable difference of turbulence kinetic energy is exhibited. It is noticed that the discrepancy exists between numerical results and the experimental data. The reason is the limit of the two‐equation turbulence model to such complex turbulent flows with extra strain‐rates. Copyright © 2001 John Wiley & Sons, Ltd.     

A fully non‐linear model for three‐dimensional overturning waves over an arbitrary bottom

An accurate three‐dimensional numerical model, applicable to strongly non‐linear waves, is proposed. The model solves fully non‐linear potential flow equations with a free surface using a higher‐order three‐dimensional boundary element method (BEM) and a mixed Eulerian–Lagrangian time updating, based on second‐order explicit Taylor series expansions with adaptive time steps. The model is applicable to non‐linear wave transformations from deep to shallow water over complex bottom topography up to overturning and breaking. Arbitrary waves can be generated in the model, and reflective or absorbing boundary conditions specified on lateral boundaries. In the BEM, boundary geometry and field variables are represented by 16‐node cubic ‘sliding’ quadrilateral elements, providing local inter‐element continuity of the first and second derivatives. Accurate and efficient numerical integrations are developed for these elements. Discretized boundary conditions at intersections (corner/edges) between the free surface or the bottom and lateral boundaries are well‐posed in all cases of mixed boundary conditions. Higher‐order tangential derivatives, required for the time updating, are calculated in a local curvilinear co‐ordinate system, using 25‐node ‘sliding’ fourth‐order quadrilateral elements. Very high accuracy is achieved in the model for mass and energy conservation. No smoothing of the solution is required, but regridding to a higher resolution can be specified at any time over selected areas of the free surface. Applications are presented for the propagation of numerically exact solitary waves. Model properties of accuracy and convergence with a refined spatio‐temporal discretization are assessed by propagating such a wave over constant depth. The shoaling of solitary waves up to overturning is then calculated over a 1:15 plane slope, and results show good agreement with a two‐dimensional solution proposed earlier. Finally, three‐dimensional overturning waves are generated over a 1:15 sloping bottom having a ridge in the middle, thus focusing wave energy. The node regridding method is used to refine the discretization around the overturning wave. Convergence of the solution with grid size is also verified for this case. Copyright © 2001 John Wiley & Sons, Ltd.     

Numerical modelling of 3D stratified free surface flows: a case study of sediment dumping

A three‐dimensional numerical model has been developed to simulate stratified flows with free surfaces. The model is based on the Reynolds‐averaged Navier–Stokes (RANS) equations with variable fluid density. The equations are solved in a transformed σ‐coordinate system with the use of operator‐splitting method (Int. J. Numer. Meth. Fluids 2002; 38 :1045–1068). The numerical model is validated against the one‐dimensional diffusion problem and the two‐dimensional density‐gradient flow. Excellent agreements are obtained between numerical results and analytical solutions. The model is then used to study transport phenomena of dumped sediments into a water body, which has been modelled as a strongly stratified flow. For the two‐dimensional problem, the numerical results compare well with experimental data in terms of mean particle falling velocity and spreading rate of the sediment cloud for both coarse and medium‐size sediments. The model is also employed to study the dumping of sediments in a three‐dimensional environment with the presence of free surface. It is found that during the descending process an annulus‐like cloud is formed for fine sediments whereas a plate‐like cloud for medium‐size sediments. The model is proven to be a good tool to simulate strongly stratified free surface flows. Copyright © 2005 John Wiley & Sons, Ltd.     

Simulation of non‐hydrostatic,density‐stratified flow in irregular domains

A numerical model has been developed for simulating density‐stratified flow in domains with irregular but simple topography. The model was designed for simulating strong interactions between internal gravity waves and topography, e.g. exchange flows in contracting channels, tidally or convectively driven flow over two‐dimensional sills or waves propagating onto a shoaling bed. The model is based on the non‐hydrostatic, Boussinesq equations of motion for a continuously stratified fluid in a rotating frame, subject to user‐configurable boundary conditions. An orthogonal boundary fitting co‐ordinate system is used for the numerical computations, which rely on a fourth‐order compact differentiation scheme, a third‐order explicit time stepping and a multi‐grid based pressure projection algorithm. The numerical techniques are described and a suite of validation studies are presented. The validation studies include a pointwise comparison of numerical simulations with both analytical solutions and laboratory measurements of non‐linear solitary wave propagation. Simulation results for flows lacking analytical or laboratory data are analysed a posteriori to demonstrate satisfaction of the potential energy balance. Computational results are compared with two‐layer hydraulic predictions in the case of exchange flow through a contracting channel. Finally, a simulation of circulation driven by spatially non‐uniform surface buoyancy flux in an irregular basin is discussed. Copyright © 2000 John Wiley & Sons, Ltd.     

Modified method of characteristics for solving population balance equations

This paper presents a new numerical method for solving the population balance equation using the modified method of characteristics. Aggregation and break‐up are neglected but the density function variations in the three‐dimensional space and its dependence on the external fields are accounted for. The method is an interpretation of the Lagrangian approach. Based on a pre‐specified grid, it follows the particles backward in time as opposed to forward in the case of traditional method of characteristics. Unlike the direct marching method, the inverse marching method uses a fixed grid thus, making it compatible with other numerical schemes (e.g. finite‐volume, finite elements) that may be used to solve other coupled equations such as the mass, momentum, and energy conservation equations. The numerical solutions are compared with the exact analytical solutions for simple one‐dimensional flow cases. Very good agreement between the numerical and the theoretical solutions has been obtained confirming the validity of the numerical procedure and the associated computer program. Copyright © 2003 John Wiley & Sons, Ltd.     

A multi‐energy‐level lattice Boltzmann model for two‐dimensional wave equation

A lattice Boltzmann model for two‐dimensional wave equation is presented. In this model, we used higher‐order moment method, multi‐scale technique and Chapman–Enskog expansion, and multi‐energy‐level to obtain wave equation and energy conservation equation. As numerical examples, the interference and diffraction of wave are simulated. The numerical results show this model can be used to simulate two‐dimensional wave propagation. Copyright © 2009 John Wiley & Sons, Ltd.     

A semi‐implicit finite element model for non‐hydrostatic (dispersive) surface waves

The objective of this research is to develop a model that will adequately simulate the dynamics of tsunami propagating across the continental shelf. In practical terms, a large spatial domain with high resolution is required so that source areas and runup areas are adequately resolved. Hence efficiency of the model is a major issue. The three‐dimensional Reynolds averaged Navier–Stokes equations are depth‐averaged to yield a set of equations that are similar to the shallow water equations but retain the non‐hydrostatic pressure terms. This approach differs from the development of the Boussinesq equations where pressure is eliminated in favour of high‐order velocity and geometry terms. The model gives good results for several test problems including an oscillating basin, propagation of a solitary wave, and a wave transformation over a bar. The hydrostatic and non‐hydrostatic versions of the model are compared for a large‐scale problem where a fault rupture generates a tsunami on the New Zealand continental shelf. The model efficiency is also very good and execution times are about a factor of 1.8 to 5 slower than the standard shallow water model, depending on problem size. Moreover, there are at least two methods to increase model accuracy when warranted: choosing a more optimal vertical interpolation function, and dividing the problem into layers. Copyright © 2005 John Wiley & Sons, Ltd.     

A new numerical model for simulations of wave transformation,breaking and long‐shore currents in complex coastal regions

In this paper, we propose a model based on a new contravariant integral form of the fully nonlinear Boussinesq equations in order to simulate wave transformation phenomena, wave breaking, and nearshore currents in computational domains representing the complex morphology of real coastal regions. The aforementioned contravariant integral form, in which Christoffel symbols are absent, is characterized by the fact that the continuity equation does not include any dispersive term. A procedure developed in order to correct errors related to the difficulties of numerically satisfying the metric identities in the numerical integration of fully nonlinear Boussinesq equation on generalized boundary‐conforming grids is presented. The Boussinesq equation system is numerically solved by a hybrid finite volume–finite difference scheme. The proposed high‐order upwind weighted essentially non‐oscillatory finite volume scheme involves an exact Riemann solver and is based on a genuinely two‐dimensional reconstruction procedure, which uses a convex combination of biquadratic polynomials. The wave breaking is represented by discontinuities of the weak solution of the integral form of the nonlinear shallow water equations. The capacity of the proposed model to correctly represent wave propagation, wave breaking, and wave‐induced currents is verified against test cases present in the literature. The results obtained are compared with experimental measures, analytical solutions, or alternative numerical solutions. Copyright © 2015 John Wiley & Sons, Ltd.     

A comparative study of two fast nonlinear free‐surface water wave models

This paper presents a comparison in terms of accuracy and efficiency between two fully nonlinear potential flow solvers for the solution of gravity wave propagation. One model is based on the high‐order spectral (HOS) method, whereas the second model is the high‐order finite difference model OceanWave3D. Although both models solve the nonlinear potential flow problem, they make use of two different approaches. The HOS model uses a modal expansion in the vertical direction to collapse the numerical solution to the two‐dimensional horizontal plane. On the other hand, the finite difference model simply directly solves the three‐dimensional problem. Both models have been well validated on standard test cases and shown to exhibit attractive convergence properties and an optimal scaling of the computational effort with increasing problem size. These two models are compared for solution of a typical problem: propagation of highly nonlinear periodic waves on a finite constant‐depth domain. The HOS model is found to be more efficient than OceanWave3D with a difference dependent on the level of accuracy needed as well as the wave steepness. Also, the higher the order of the finite difference schemes used in OceanWave3D, the closer the results come to the HOS model. Copyright © 2011 John Wiley & Sons, Ltd.     

Two‐dimensional dispersion analyses of finite element approximations to the shallow water equations

Dispersion analysis of discrete solutions to the shallow water equations has been extensively used as a tool to define the relationships between frequency and wave number and to determine if an algorithm leads to a dual wave number response and near 2Δx oscillations. In this paper, we explore the application of two‐dimensional dispersion analysis to cluster based and Galerkin finite element‐based discretizations of the primitive shallow water equations and the generalized wave continuity equation (GWCE) reformulation of the harmonic shallow water equations on a number of grid configurations. It is demonstrated that for various algorithms and grid configurations, contradictions exist between the results of one‐dimensional and two‐dimensional dispersion analysis as a result of subtle changes in the mass matrix. Numerical experiments indicate that the two‐dimensional dispersion analysis correctly predicts the existence and onset of near 2Δx noise in the solution. Copyright © 2004 John Wiley & Sons, Ltd.