Bifurcations of two-dimensional into three-dimensional wave regimes for a vertically flowing liquid film

The three-dimensional steady traveling wave regimes of a viscous liquid film flowing down a vertical wall which branch off from two-dimensional nonlinear waves are investigated. The numerical calculations are based on a model system of equations valid for intermediate Reynolds numbers. It is shown that there exist two fundamentally different types of three-dimensional steady traveling waves branching off from plane waves. One of these possesses checkerboard symmetry in the distribution of the maxima of the wave profile thickness and is the more interesting. An important difference in the breakdown of plane waves of the first and second families is also demonstrated. The wave characteristics of certain three-dimensional regimes are calculated as functions of the bifurcation parameter.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 5, pp. 109–114, September–October, 1990.     

Steady Periodic Water Waves with Constant Vorticity: Regularity and Local Bifurcation

This paper studies periodic traveling gravity waves at the free surface of water in a flow of constant vorticity over a flat bed. Using conformal mappings the free-boundary problem is transformed into a quasilinear pseudodifferential equation for a periodic function of one variable. The new formulation leads to a regularity result and, by use of bifurcation theory, to the existence of waves of small amplitude even in the presence of stagnation points in the flow.     

Three-dimensional overturned traveling water waves

Traveling gravity-capillary water waves on the interface of a three-dimensional fluid of infinite depth are computed. The vortex sheet formulation with the small scale approximation is used as the mathematical model for the fluid motion. The fluid interface is parameterized isothermally. The traveling wave ansatz for parameterized surfaces is described. Waves are computed using Fourier collocation and quasi-Newton iteration; large amplitude overturned traveling waves are computed via a dimension-breaking based numerical continuation method.     

Surface waves propagation in shallow water: A finite element model

A two-dimensional (in-plane) numerical model for surface waves propagation based on the non-linear dispersive wave approach described by Boussinesq-type equations, which provide an attractive theory for predicting the depth-averaged velocity field resulting from that wave-type propagation in shallow water, is presented. The numerical solution of the corresponding partial differential equations by finite-difference methods has been the subject of several scientific works. In the present work we propose a new approach to the problem: the spatial discretization of the system composed by the Boussinesq equations is made by a finite element method, making use of the weighted residual technique for the solution approach within each element. The model is validated by comparing numerical results with theoretical solutions and with results obtained experimentally.     

Dispersion Equation for Water Waves with Vorticity and Stokes Waves on Flows with Counter-Currents

The two-dimensional free-boundary problem of steady periodic waves with vorticity is considered for water of finite depth. We investigate how flows with small-amplitude Stokes waves on the free surface bifurcate from a horizontal parallel shear flow in which counter-currents may be present. Two bifurcation mechanisms are described: one for waves with fixed Bernoulli’s constant, and the other for waves with fixed wavelength. In both cases the corresponding dispersion equations serve for defining wavelengths from which Stokes waves bifurcate. Necessary and sufficient conditions for the existence of roots of these equations are obtained. Two particular vorticity distributions are considered in order to illustrate the general results.     

Wave resistance of a viscous liquid

In this paper we examine the resistance encountered by a system of normal stresses during its rectilinear motion along the surface of a viscous liquid of infinite depth. The problem is solved in the linear formulation, i.e., it is assumed that amplitudes of the waves which arise are small and the waves are shallow. The solution for the two-and three-dimensional problems is obtained in the general case in closed form. In the two-dimensional case a detailed study is made of the case when a constant pressure p₀, moving with the constant velocity U, is given on a segment of length 2l. In the three-dimen-sional problem the case is studied when the normal stress is concentrated on a segment of a straight line of length 2l, which can replace a ship moving along a straight course with the constant velocity U. The integrals obtained in both cases are studied using the stationary phase method, the application of which for the three-dimensional integrals with respect to a volume with boundaries is justified in §1 of the paper. As a result we obtain equations for the wave resistance in the two- (§2) and three-dimensional (§3) cases.     

An explicit formulation for the evolution of nonlinear surface waves interacting with a submerged body

An explicit formulation to study nonlinear waves interacting with a submerged body in an ideal fluid of infinite depth is presented. The formulation allows one to decompose the nonlinear wave–body interaction problem into body and free‐surface problems. After the decomposition, the body problem satisfies a modified body boundary condition in an unbounded fluid domain, while the free‐surface problem satisfies modified nonlinear free‐surface boundary conditions. It is then shown that the nonlinear free‐surface problem can be further reduced to a closed system of two nonlinear evolution equations expanded in infinite series for the free‐surface elevation and the velocity potential at the free surface. For numerical experiments, the body problem is solved using a distribution of singularities along the body surface and the system of evolution equations, truncated at third order in wave steepness, is then solved using a pseudo‐spectral method based on the fast Fourier transform. A circular cylinder translating steadily near the free surface is considered and it is found that our numerical solutions show excellent agreement with the fully nonlinear solution using a boundary integral method. We further validate our solutions for a submerged circular cylinder oscillating vertically or fixed under incoming nonlinear waves with other analytical and numerical results. Copyright © 2007 John Wiley & Sons, Ltd.     

Nonlinear Stability for Multidimensional Fourth-Order Shock Fronts

We consider the question of stability for planar wave solutions that arise in multidimensional conservation laws with only fourth-order regularization. Such equations arise, for example, in the study of thin films, for which planar waves correspond to fluid coating a pre-wetted surface. An interesting feature of these equations is that both compressive, and undercompressive, planar waves arise as solutions (compressive or undercompressive with respect to asymptotic behavior relative to the un-regularized hyperbolic system), and numerical investigation by Bertozzi, Münch, and Shearer indicates that undercompressive waves can be nonlinearly stable. Proceeding with pointwise estimates on the Green's function for the linear fourth-order convection–regularization equation that arises upon linearization of the conservation law about the planar wave solution, we establish that under general spectral conditions, such as appear to hold for shock fronts arising in our motivating thin films equations, compressive waves are stable for all dimensions d≧2 and undercompressive waves are stable for dimensions d≧3. (In the special case d=1, compressive waves are stable under a very general spectral condition.) We also consider an alternative spectral criterion (valid, for example, in the case of constant-coefficient regularization), for which we can establish nonlinear stability for compressive waves in dimensions d≧3 and undercompressive waves in dimensions d≧5. The case of stability for undercompressive waves in the thin films equations for the critical dimensions d=1 and d=2 remains an interesting open problem.     

Two methods of approximate description of steady-state motions of a viscous incompressible liquid with a free boundary

In this paper waves on the surface of a viscous incompressible liquid are investigated in a linear approximation. It is shown that the linear theory gives the principal term of the solution of the problem of steady-state two-dimensional waves of small amplitude in an exact formulation. Subsequently a three-dimensional steady-state motion of a viscous liquid with high surface tension in a vessel is considered. In the first approximation the free boundary is determined as a minimum surface in a field of gravity. The velocity field is found from the solution of the Navier-Stokes equations.     

River and reservoir flow modelling using the transformed shallow water equations

This paper describes a versatile finite difference scheme for the solution of the two-dimensional shallow water equations on boundary-fitted non-orthogonal curvilinear meshes. It is believed that this is the first non-orthogonal shallow water equation model incorporating the advective acceleration terms to have been developed in the United Kingdom. The numerical scheme has been validated against the severe condition of jet-forced flow in a circular reservoir with vertical side walls, where reflections of the initial free surface waves pose major problems in achieving a stable solution. Furthermore, the validation exercises are designed to test the computer model for artificial diffusion, which may be a consequence of the numerical scheme adopted to stabilize the shallow water equations. The model is shown to be capable of simulating the flow conditions in an irregularly shaped domain typical of the geometries frequently encountered in civil engineering river basin management.     

Free-surface flow over curved surfaces: Part I: Perturbation analysis

The standard two-dimensional shallow water equation formulation assumes a mild bed slope and no curvature effect. These assumptions limit the applicability of these equations for some important classes of problems. In particular, flow over a spillway is affected by the bed curvature via a decidedly non-hydrostatic pressure distribution. A detailed derivation of a more general equation set is given here in Part I. The method relies upon a perturbation expansion to simplify a bed-fitted co-ordinate configuration of the three-dimensional Euler equations. The resulting equations are essentially the equivalent of the two-dimensional shallow water equations but with curvature included and without the mild slope assumption. A finite element analysis and flume result are given in Part II. © 1998 John Wiley & Sons, Ltd.     

Nonlinear effects on edge wave development

The effect of nonlinearity on the evolution of free edge waves is investigated by solving numerically the nonlinear shallow water equations. The numerical scheme is the two-dimensional WAF method, originally developed by Toro [Riemann Solvers and Numerical Methods for Fluid Dynamics, Springer, 1997]. First, a simple beach geometry [J. Fluid Mech. 381 (1999) 271] is considered and the numerical results are validated against available analytical solutions for small amplitude edge waves. Then, results are obtained for edge waves of larger amplitude. Nonlinear effects are found to be relevant even for moderate values of the nonlinearity parameter a which is the ratio between the wave amplitude and the water depth. In particular a resonance phenomenon has been observed which causes a modulation in time of the ultra-harmonic components of the wavefield. Larger values of a lead to a complex time evolution.     

Wave forces on a submerged horizontal plate - Part I: Theory and modelling

This paper is concerned with the propagation of nonlinear gravity waves over a thin horizontal plate submerged in water of shallow depth. An unsteady solution of the problem is obtained by use of the theory of directed fluid-sheets for the two-dimensional motion of an incompressible and inviscid fluid. Particular attention is paid to the calculation of the nonlinear wave-induced vertical and horizontal forces and overturning moment by solving the Level I Green–Naghdi equations. The theoretical formulation of the problem is given in this paper (Part I), while the results due to solitary and cnoidal waves, and comparisons with the available experimental data are given in a companion paper under the same title (Part II).     

Nonlinear waves on the surface of a charged liquid. Instability,bifurcation, and nonequilibrium shapes of the charged surface

Plane nonlinear waves in shallow water are described by the Kortewegde Vries equation [1–3]. The present paper contains theoretical investigations of nonlinear waves and nonlinear equilibrium shapes on the surface of a charged liquid. The influence of the field on the velocity and shape of a hydrodynamic soliton is considered. The bifurcation of the equilibrium shapes is investigated. Problems of the equilibrium shapes of a charged liquid are solved in the nonlinear formulation of the dynamics of nonlinear solitary forms (lunes, trenches) on the surface.Translated from Izvestiya Akademii Nauk SSSR, Mekhanika Zhidkosti i Gaza, No. 3, pp. 94–102, May–June, 1984.     

NUMERICAL SIMULATION OF THREE-DIMENSIONAL INCOMPRESSIBLE FLOW BY A NEW FORMULATION

A new mathematical formulation, called the pseudovorticity–velocity formulation, of the three-dimensional incompressible Navier–Stokes equations is presented as an alternative to the vorticity–velocity approach. For the model lid-driven cavity flow problem in two and three dimensions, combined with an explicit mixed spectral /finite different numerical scheme the proposed formulation is found to be efficient and very accurate as compared with the results available in the literature. In particular, the simulation results demonstrate an attractive feature of the present formulation compared with the vorticity–velocity approach, namely that the divergence-free condition of the velocity field can always be achieved on a non-staggered mesh.     

Analysis of efficient preconditioned defect correction methods for nonlinear water waves

Robust computational procedures for the solution of non‐hydrostatic, free surface, irrotational and inviscid free‐surface water waves in three space dimensions can be based on iterative preconditioned defect correction (PDC) methods. Such methods can be made efficient and scalable to enable prediction of free‐surface wave transformation and accurate wave kinematics in both deep and shallow waters in large marine areas or for predicting the outcome of experiments in large numerical wave tanks. We revisit the classical governing equations are fully nonlinear and dispersive potential flow equations. We present new detailed fundamental analysis using finite‐amplitude wave solutions for iterative solvers. We demonstrate that the PDC method in combination with a high‐order discretization method enables efficient and scalable solution of the linear system of equations arising in potential flow models. Our study is particularly relevant for fast and efficient simulation of non‐breaking fully nonlinear water waves over varying bottom topography that may be limited by computational resources or requirements. To gain insight into algorithmic properties and proper choices of discretization parameters for different PDC strategies, we study systematically limits of accuracy, convergence rate, algorithmic and numerical efficiency and scalability of the most efficient known PDC methods. These strategies are of interest, because they enable generalization of geometric multigrid methods to high‐order accurate discretizations and enable significant improvement in numerical efficiency while incuring minimal storage requirements. We demonstrate robustness using such PDC methods for practical ranges of interest for coastal and maritime engineering, that is, from shallow to deep water, and report details of numerical experiments that can be used for benchmarking purposes. Copyright © 2014 John Wiley & Sons, Ltd.     

Long time interaction of envelope solitons and freak wave formations

This paper concerns long time interaction of envelope solitary gravity waves propagating at the surface of a two-dimensional deep fluid in potential flow. Fully nonlinear numerical simulations show how an initially long wave group slowly splits into a number of solitary wave groups. In the example presented, three large wave events are formed during the evolution. They occur during a time scale that is beyond the time range of validity of simplified equations like the nonlinear Schrödinger (NLS) equation or modifications of this equation. A Fourier analysis shows that these large wave events are caused by significant transfer to side-band modes of the carrier waves. Temporary downshiftings of the dominant wavenumber of the spectrum coincide with the formation large wave events. The wave slope at maximal amplifications is about three times higher than the initial wave slope. The results show how interacting solitary wave groups that emerge from a long wave packet can produce freak wave events.Our reference numerical simulation are performed with the fully nonlinear model of Clamond and Grue [D. Clamond, J. Grue, A fast method for fully nonlinear water wave computations, J. Fluid Mech. 447 (2001) 337–355]. The results of this model are compared with that of two weakly nonlinear models, the NLS equation and its higher-order extension derived by Trulsen et al. [K. Trulsen, I. Kliakhandler, K.B. Dysthe, M.G. Velarde, On weakly nonlinear modulation of waves on deep water, Phys. Fluids 12 (10) (2000) 2432–2437]. They are also compared with the results obtained with a high-order spectral method (HOSM) based on the formulation of West et al. [B.J. West, K.A. Brueckner, R.S. Janda, A method of studying nonlinear random field of surface gravity waves by direct numerical simulation, J. Geophys. Res. 92 (C11) (1987) 11 803–11 824]. An important issue concerning the representation and the treatment of the vertical velocity in the HOSM formulation is highlighted here for the study of long-time evolutions.     

Bifurcation Equations Through Multiple-Scales Analysis for a Continuous Model of a Planar Beam

The Multiple-Scale Method is applied directly to a one-dimensional continuous model to derive the equations governing the asymptotic dynamic of the system around a bifurcation point. The theory is illustrated with reference to a specific example, namely an internally constrained planar beam, equipped with a lumped viscoelastic device and loaded by a follower force. Nonlinear, integro-differential equations of motion are derived and expanded up to cubic terms in the transversal displacements and velocities of the beam. They are put in an operator form incorporating the mechanical boundary conditions, which account for the lumped viscoelastic device; the problem is thus governed by mixed algebraic-integro-differential operators. The linear stability of the trivial equilibrium is first studied. It reveals the existence of divergence, Hopf and double-zero bifurcations. The spectral properties of the linear operator and its adjoint are studied at the bifurcation points by obtaining closed-form expressions. Notably, the system is defective at the double-zero point, thus entailing the need to find a generalized eigenvector. A multiple-scale analysis is then performed for the three bifurcations and the relevant bifurcation equations are derived directly in their normal forms. Preliminary numerical results are illustrated for the double-zero bifurcation.     

Method of relaxed streamline upwinding for hyperbolic conservation laws

In this work a new finite element based Method of Relaxed Streamline Upwinding is proposed to solve hyperbolic conservation laws. Formulation of the proposed scheme is based on relaxation system which replaces hyperbolic conservation laws by semi-linear system with stiff source term also called as relaxation term. The advantage of the semi-linear system is that the nonlinearity in the convection term is pushed towards the source term on right hand side which can be handled with ease. Six symmetric discrete velocity models are introduced in two dimensions which symmetrically spread foot of the characteristics in all four quadrants thereby taking information symmetrically from all directions. Proposed scheme gives exact diffusion vectors which are very simple. Moreover, the formulation is easily extendable from scalar to vector conservation laws. Various test cases are solved for Burgers equation (with convex and non-convex flux functions), Euler equations and shallow water equations in one and two dimensions which demonstrate the robustness and accuracy of the proposed scheme. New test cases are proposed for Burgers equation, Euler and shallow water equations. Exact solution is given for two-dimensional Burgers test case which involves normal discontinuity and series of oblique discontinuities. Error analysis of the proposed scheme shows optimal convergence rate. Moreover, spectral stability analysis gives implicit expression of critical time step.