Regularized shallow water equations and an efficient method for numerical simulation of shallow water flows

Regularized shallow water equations are derived as based on a regularization of the Navier-Stokes equations in the form of quasi-gasdynamic and quasi-hydrodynamic equations. Efficient finite-difference algorithms based on the regularized shallow water equations are proposed for the numerical simulation of shallow water flows. The capabilities of the model are examined by computing a test Riemann problem, the flow over an obstacle, and asymmetric dam break.     

Simulation of shallow water flows with shoaling areas and bottom discontinuities

A numerical method based on a second-order accurate Godunov-type scheme is described for solving the shallow water equations on unstructured triangular-quadrilateral meshes. The bottom surface is represented by a piecewise linear approximation with discontinuities, and a new approximate Riemann solver is used to treat the bottom jump. Flows with a dry sloping bottom are computed using a simplified method that admits negative depths and preserves the liquid mass and the equilibrium state. The accuracy and performance of the approach proposed for shallow water flow simulation are illustrated by computing one- and two-dimensional problems.     

Multi-objective analysis of dam release flows in rivers downstream from hydropower reservoirs

This paper assesses dam releases from hydropower reservoirs in order to optimize power production and fish habitat protection. A multi-objective programming model includes output from 2-D hydraulic simulation for habitat assessment to optimize power production and fish habitat suitability as a Pareto set. To identify the optimal Pareto set two different approaches are used and compared: ε-constraint methods and non-dominant-sorting genetic algorithm (NSGA II). To formulate the ecological objective the river habitat quality is quantified by the weighted usable area (WUA). The relation between the WUA and the river flow-rate is obtained by using a 2D hydraulic model in which the hydraulic characteristics of river current – depth and velocity – are calculated by a finite difference numerical integration of two-dimensional shallow water equations on a boundary fitted non orthogonal curvilinear mesh. This approach allows the integration of motion equations on geometrically complex domains as those representing the morphology of natural watercourses. The performance of the proposed methodology is analyzed in a case study of a stretch of the Piave river downstream of the dam of the Pieve di Cadore reservoir (Belluno, Italy).     

Relaxation approximation to bed-load sediment transport

In this work we propose and apply a numerical method based on finite volume relaxation approximation for computing the bed-load sediment transport in shallow water flows, in one and two space dimensions. The water flow is modeled by the well-known nonlinear shallow water equations which are coupled with a bed updating equation. Using a relaxation approximation, the nonlinear set of equations (and for two different formulations) is transformed to a semilinear diagonalizable problem with linear characteristic variables. A second order MUSCL-TVD method is used for the advection stage while an implicit–explicit Runge–Kutta scheme solves the relaxation stage. The main advantages of this approach are that neither Riemann problem solvers nor nonlinear iterations are required during the solution process. For the two different formulations, the applicability and effectiveness of the presented scheme is verified by comparing numerical results obtained for several benchmark test problems.     

Simulation of the spread of a viscous fluid using a bidimensional shallow water model

In this paper we propose a numerical method to solve the Cauchy problem based on the viscous shallow water equations in an horizontally moving domain. More precisely, we are interested in a flooding and drying model, used to modelize the overflow of a river or the intrusion of a tsunami on ground. We use a nonconservative form of the two-dimensional shallow water equations, in eight velocity formulation and we build a numerical approximation, based on the Arbitrary lagrangian eulerian formulation, in order to compute the solution in the moving domain.     

浅水方程组的数值方法

构造了浅水方程组的二阶精度的TVD格式。格式由简单的TVD Runge-Kutta型时间离散和有坡度限制的空间对称离散格式组成。数值耗散项用局部棱柱化河道流的特征变量构造。格式的主要优点是能够计算天然河道中浅水方程组的弱解并且构造简单。格式能够求出天然河道或非平底部渠道中的精确静水解。给出了渠道溃坝问题数值解与解析解的比较,验证格式精度高。实际天然河道型梯级水库溃坝的数值实验表明格式稳定,适应性强。     

Pipe roughness identification of water distribution networks: The full turbulent case

This paper proposes a technique to identify individual pipe roughness parameters in a water distribution network by means of the inversion of the steady-state hydraulic network equations. By enabling the reconstruction of these hydraulic friction parameters to be reliable, this technique improves the conventional model’s accuracy and thereby promises to enhance model-based leakage detection and localization. As it is the case in so-called fireflow tests, this methodology is founded on the premise to measure the pressure distributed at a subset of nodes in the network’s graph while assuming the nodal consumption to be known. Beside of the proposed problem formulation, which is restricted to only allow turbulent flow in each of the network’s pipes initially, developed algorithms are presented and evaluated using simulation examples.     

Two-dimensional modelling of the river Rhine

The system for operational water level forecast and prediction of (fortunately not daily) pollutant transport for the river Rhine is in daily use. This model is based on the Saint-Venant or one-dimensional shallow water equations.The model is augmented by additional terms and equations to model the effect of dead zones and the transport of soluble components.The next step is to move towards two-dimensional models. An important problem that arises is that the domain of the fluid is not fixed by the given data, but depends on the water level and is therefore part of the solution of the model. Even worse, depending on the topography of the river bed, even the topology of the fluid domain may change, as islands may appear at low water and get flooded at high water situations.     

Quasi-2D model for computation of supercritical free surface flow in sudden expansion

This work deals with the mathematical modeling of a supercritical flow at an abrupt channel expansion. A simplified approach for the study of the characteristics and features of the flow in the presence of the cross shock waves is then proposed. Based on the two-dimensional Saint-Venant equations and using certain simplifying assumptions in practice, this 2D shallow water model is reconverted to an equivalent 1D flow problem by inverting space time variables. The numerical solution of the 1D equation then makes it possible to reconstitute the solution of the 2D flow field according to translating planes. The results obtained show a satisfactory agreement with the experiments carried out for this problem. The profiles of the waterline along the wall and the flow axis are accurately reconstituted thus allowing the good design of the channel walls and the positioning of the oblique shock waves.     

Unconditionally Stable Splitting Methods for the Shallow Water Equations

The front-tracking method for hyperbolic conservation laws is combined with operator splitting to study the shallow water equations. Furthermore, the method includes adaptive grid refinement in multidimensions and shock tracking in one dimension. The front-tracking method is unconditionally stable, but for practical computations feasible CFL numbers are moderately above unity (typically between 1 and 5). The method resolves shocks sharply and is highly efficient. The numerical technique is applied to four test cases, the first being an expanding bore with rotational symmetry. The second problem addresses the question of describing the time development of two constant water levels separated by a dam that breaks instantaneously. The third problem compares the front-tracking method with an explicit analytic solution of water waves rotating over a parabolic bottom profile. Finally, we study flow over an obstacle in one dimension.     

A variable boundary method for modelling two dimensional free surface flows with moving boundaries

A coordinate transformation method is proposed for modelling unsteady, depth-averaged shallow water equations for a open channel flow with moving lateral boundaries. The transformation technique which maps the changing domain onto a fixed domain and solves the governing equations in the mapped domain, facilitates the numerical treatment of an irregular boundary configuration. The transformed equations are solved on a staggered grid with a conditionally stable, explicit finite difference scheme. Several numerical experiments are carried out corresponding to different situations, viz., flow with constant discharge, flow with constant discharge and a closed boundary at the downstream, flow in a converging channel with constant discharge and finally flow with varying discharge. The experiments are used to verify the model ability to predict free surface elevation, circulatory pattern and displacement of the boundaries. The simulated results such as displaced area, depth, displacement–time and flow-field are used to evaluate the effects of excess discharge at the upstream on the movement of lateral boundaries.     

Seismic-generated unsteady motions in shallow basins and channels. Part II: Numerical modelling

In this paper, unsteady motions generated by seismic-type excitation are simulated by a 2D depth-averaged mathematical model based on the classic shallow water approximation. A suitable time-dependent forcing term is added in the governing equations, and these are solved by a MUSCL-type shock-capturing finite volume scheme with a splitting treatment of the source term. The HLL approximate Riemann solver is used to estimate the numerical fluxes. The accuracy of the numerical scheme is assessed by comparison with novel exact solutions of test cases concerning sinusoidally-generated sloshing in a prismatic tank, a rectangular open channel, and a parabolic basin. A sensitivity analysis is performed on the influence of the relevant dimensionless parameters. Moreover, numerical results are validated against experimental data available in literature concerning shallow water sloshing in a swaying tank. Finally, real‐scale applications to a reservoir created by a dam and an urban water-supply storage tank are presented. The results show that the model provides accurate solutions of the shallow water equations with a seismic-type source term and can be effectively adopted to predict the main flow features of the unsteady motion induced by horizontal seismic acceleration when the long wave assumption is valid.     

Numerical simulation two phase flows of casting filling process using SOLA particle level set method

Mould filling process is a typical gas–liquid metal two phase flow phenomenon. Numerical simulation of the two phase flows of mould filling process can be used to properly predicate the back pressure effect, the gas entrapment defects, and better understand the complex motions of the gas phase and the liquid phase. In this paper, a novel sharp interface incompressible two phase numerical model for mould filling process is presented. A simple ghost fluid method like discretization method and a density evaluation method at face centers of finite difference staggered grid are proposed to overcome the difficulties when solving two phase Navier–Stokes equations with large-density ratio and large-viscosity ratio. A new mass conservation particle level set method is developed to capture the gas–liquid metal phase interface. The classical pressure-correction based SOLA algorithm is modified to solve the two phase Navier–Stokes equations. Two numerical tests including the Zalesak disk problem and the broken dam problem are used to demonstrate the accuracy of the present method. The numerical method is then adopted to simulate three mould filling examples including two high speed CCD camera imaging water filling experiments and an in situ X-ray imaging experiment of pure aluminum filling. The simulation results are in good agreement with the experiments.     

基于拟Shannon小波浅水长波近似方程组的数值解

本文研究了浅水长波近似方程组初边值问题的数值解.利用小波多尺度分析和区间拟Shannon小波,对浅水长波近似方程组空间导数实施空间离散,用时间步长自适应精细积分法对其变换所的非线性常微分方程组进行求解,得到了浅水长波近似方程组的数值解,并将此方法计算的结果与其解析解进行比较和验证.     

Numerical modelling of free-surface shallow flows over irregular topography with complex geometry

A well-balanced Godunov-type finite volume algorithm is developed for modelling free-surface shallow flows over irregular topography with complex geometry. The algorithm is based on a new formulation of the classical shallow water equations in hyperbolic conservation form. Unstructured triangular grids are used to achieve the adaptability of the grid to the geometry of the problem and to facilitate localised refinement. The numerical fluxes are calculated using HLLC approximate Riemann solver, and the MUSCL-Hancock predictor–corrector scheme is adopted to achieve the second-order accuracy both in space and in time where the solutions are continuous, and to achieve high-resolution results where the solutions are discontinuous. The novelties of the algorithm include preserving well-balanced property without any additional correction terms and the wet/dry front treatments. The good performance of the algorithm is demonstrated by comparing numerical and theoretical results of several benchmark problems, including the preservation of still water over a two-dimensional hump, the idealised dam-break flow over a frictionless flat rectangular channel, the circular dam-break, and the shock wave from oblique wall. Besides, two laboratory dam-break cases are used for model validation. Furthermore, a practical application related to dam-break flood wave propagation over highly irregular topography with complex geometry is presented. The results show that the algorithm can correctly account for free-surface shallow flows with respect to its effectiveness and robustness thus has bright application prospects.     

Application of a fractional steps method for the numerical solution of the two-dimensional modeling of the Lake Mariut

A fractional steps technique for the numerical solution of the shallow water equations is applied to study the water velocity in Lake Mariut, its concentration and the distribution of the temperature along it. Lake Mariut is considering the most productive natural systems in Egypt. The current configuration of this lake is changing rapidly, due to people’s activities and natural processes. Most of its water supply comes from polluted agricultural drains. Several problems affect the conservation of the Lake Mariut, mainly pollution, land reclamation, intensive aquatic vegetation, over fishing and coastal erosion. The shallow water equations for this lake are discretized on a fixed grid and time stepped with the fractional steps method, where the Riemann invariants of the equations are interpolated at each time step along the characteristics of the equations using a cubic spline interpolation. The method is efficient and simple, since it evolves the equations without the iterative steps involved in the multi-dimensional interpolation problem. The absence of iterative steps in the present technique makes it very suitable for the problems in which small time steps and grid sizes are required and the simplicity of the method makes it very suitable for parallel computer. Therefore, the method provides numerical algorithms which are more efficient than other classical schemes.     

正变坐标系下完全深度平均湍流方程组

本文针对宽浅型水域，对三维湍流时均方程组逐项进行深度平均，推导出包含自由水面和地形影响的深度平均流动控制方程组．本文还同时获得了深度平均形式的ｋ－ε湍流模型方程组．因计入了水流的三维效应，该模型称为完全深度平均模型．考虑到天然水域几何边界复杂，本文运用较简便的方法，将上述模型方程组交换至正交坐标系下．所得控制方程组可以直接运用于对实际问题的数值模拟．     

Flatness based trajectory planning for the shallow water equations

A flatness based feed-forward control design approach for an open channel flow modelled by the shallow water equations is discussed. The control input consists of the adjustable height of opening of a delimiting sluice gate. In order to compute the trajectory of the control input, the problem is reduced to an initial value problem w.r.t. the spatial coordinate. The solution to this problem can be obtained with the method of characteristics. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Nonhydraulic Effects in Particle-Driven Gravity Currents in Deep Surroundings

In this article, we present an approach to modeling the flow of particle-driven gravity currents produced by the sudden release of well-mixed, fixed-volume suspensions into deep surroundings. Our model accounts for the initial turbulent energy of mixing in the release volume, characteristic of the classical lock–release experiments, as well as the spatiotemporal variability in the driving buoyancy forces attributable to particle settling. We show that, in contrast to compositionally driven flows, particle-driven flows cannot be described consistently in terms of shallow water theory. Specifically, we show that the presence of particles in the flow dynamics produces significant horizontal velocity shear, thereby changing the flow configuration in important ways from flows assumed to be governed by the shallow water equations. These new flow properties are calculated and contrasted with flow properties derived on the basis of the shallow water equations to show that the shallow water analysis misses dynamical features of the flow. We also show that our model provides significant improvement over the previous shallow water-based models in predicting the experimentally determined deposition patterns associated with the lock–release experiments.