Boussinesq cut‐cell model for non‐linear wave interaction with coastal structures

Boussinesq models describe the phase‐resolved hydrodynamics of unbroken waves and wave‐induced currents in shallow coastal waters. Many enhanced versions of the Boussinesq equations are available in the literature, aiming to improve the representation of linear dispersion and non‐linearity. This paper describes the numerical solution of the extended Boussinesq equations derived by Madsen and Sørensen (Coastal Eng. 1992; 15 :371–388) on Cartesian cut‐cell grids, the aim being to model non‐linear wave interaction with coastal structures. An explicit second‐order MUSCL‐Hancock Godunov‐type finite volume scheme is used to solve the non‐linear and weakly dispersive Boussinesq‐type equations. Interface fluxes are evaluated using an HLLC approximate Riemann solver. A ghost‐cell immersed boundary method is used to update flow information in the smallest cut cells and overcome the time step restriction that would otherwise apply. The model is validated for solitary wave reflection from a vertical wall, diffraction of a solitary wave by a truncated barrier, and solitary wave scattering and diffraction from a vertical circular cylinder. In all cases, the model gives satisfactory predictions in comparison with the published analytical solutions and experimental measurements. Copyright © 2007 John Wiley & Sons, Ltd.     

Linear and non‐linear stability analysis for finite difference discretizations of high‐order Boussinesq equations

This paper considers a method of lines stability analysis for finite difference discretizations of a recently published Boussinesq method for the study of highly non‐linear and extremely dispersive water waves. The analysis demonstrates the near‐equivalence of classical linear Fourier (von Neumann) techniques with matrix‐based methods for formulations in both one and two horizontal dimensions. The matrix‐based method is also extended to show the local de‐stabilizing effects of the non‐linear terms, as well as the stabilizing effects of numerical dissipation. A comparison of the relative stability of rotational and irrotational formulations in two horizontal dimensions provides evidence that the irrotational formulation has significantly better stability properties when the deep‐water non‐linearity is high, particularly on refined grids. Computation of matrix pseudospectra shows that the system is only moderately non‐normal, suggesting that the eigenvalues are likely suitable for analysis purposes. Numerical experiments demonstrate excellent agreement with the linear analysis, and good qualitative agreement with the local non‐linear analysis. The various methods of analysis combine to provide significant insight into the numerical behaviour of this rather complicated system of non‐linear PDEs. Copyright © 2004 John Wiley & Sons, Ltd.     

A Petrov–Galerkin finite element model for one‐dimensional fully non‐linear and weakly dispersive wave propagation

A new finite element method is presented to solve one‐dimensional depth‐integrated equations for fully non‐linear and weakly dispersive waves. For spatial integration, the Petrov–Galerkin weighted residual method is used. The weak forms of the governing equations are arranged in such a way that the shape functions can be piecewise linear, while the weighting functions are piecewise cubic with C²‐continuity. For the time integration an implicit predictor–corrector iterative scheme is employed. Within the framework of linear theory, the accuracy of the scheme is discussed by considering the truncation error at a node. The leading truncation error is fourth‐order in terms of element size. Numerical stability of the scheme is also investigated. If the Courant number is less than 0.5, the scheme is unconditionally stable. By increasing the number of iterations and/or decreasing the element size, the stability characteristics are improved significantly. Both Dirichlet boundary condition (for incident waves) and Neumann boundary condition (for a reflecting wall) are implemented. Several examples are presented to demonstrate the range of applicabilities and the accuracy of the model. Copyright © 2001 John Wiley & Sons, Ltd.     

Solving a fully nonlinear highly dispersive Boussinesq model with mesh‐less least square‐based finite difference method

Combining mesh‐less finite difference method and least square approximation, a new numerical model is developed for water wave propagation model in two horizontal dimensions. In the numerical formulation of the method, the approximation of the unknown functions and their derivatives are constructed on a set of nodes in a local circular‐shaped region. The Boussinesq equations studied in this paper is a fully nonlinear and highly dispersive model, which is composed of the exact boundary conditions and the truncated series expansion solution of the Laplace equation. The resultant system involves a sparse, unsymmetrical matrix to be solved at each time step of the simulation. Matrix solutions are studied to reduce the computing resource requirements and improve the efficiency and accuracy. The convergence properties of the present numerical method are investigated. Preliminary verifications are given for nonlinear wave shoaling problems; the numerical results agree well with experimental data available in the literature. Copyright © 2006 John Wiley & Sons, Ltd.     

Finite element simulation of fully non‐linear interaction between vertical cylinders and steep waves. Part 1: methodology and numerical procedure

A methodology for computing three‐dimensional interaction between waves and fixed bodies is developed based on a fully non‐linear potential flow theory. The associated boundary value problem is solved using a finite element method (FEM). A recovery technique has been implemented to improve the FEM solution. The velocity is calculated by a numerical differentiation technique. The corresponding algebraic equations are solved by the conjugate gradient method with a symmetric successive overrelaxation (SSOR) preconditioner. The radiation condition at a truncated boundary is imposed based on the combination of a damping zone and the Sommerfeld condition. This paper (Part 1) focuses on the technical procedure, while Part 2 [Finite element simulation of fully non‐linear interaction between vertical cylinders and steep waves. Part 2. Numerical results and validation. International Journal for Numerical Methods in Fluids 2001] gives detailed numerical results, including validation, for the cases of steep waves interacting with one or two vertical cylinders. Copyright © 2001 John Wiley & Sons, Ltd.     

A high‐order Petrov–Galerkin finite element method for the classical Boussinesq wave model

A high‐order Petrov–Galerkin finite element scheme is presented to solve the one‐dimensional depth‐integrated classical Boussinesq equations for weakly non‐linear and weakly dispersive waves. Finite elements are used both in the space and the time domains. The shape functions are bilinear in space–time, whereas the weighting functions are linear in space and quadratic in time, with C⁰‐continuity. Dispersion correction and a highly selective dissipation mechanism are introduced through additional streamline upwind terms in the weighting functions. An implicit, conditionally stable, one‐step predictor–corrector time integration scheme results. The accuracy and stability of the non‐linear discrete equations are investigated by means of a local Taylor series expansion. A linear spectral analysis is used for the full characterization of the predictor–corrector inner iterations. Based on the order of the analytical terms of the Boussinesq model and on the order of the numerical discretization, it is concluded that the scheme is fourth‐order accurate in terms of phase velocity. The dissipation term is third order only affecting the shortest wavelengths. A numerical convergence analysis showed a second‐order convergence rate in terms of both element size and time step. Four numerical experiments are addressed and their results are compared with analytical solutions or experimental data available in the literature: the propagation of a solitary wave, the oscillation of a flat bottom closed basin, the oscillation of a non‐flat bottom closed basin, and the propagation of a periodic wave over a submerged bar. Copyright © 2008 John Wiley & Sons, Ltd.     

High‐order compact scheme for Boussinesq equations: implementation and numerical boundary condition issue

Application of the three‐point fourth‐order compact scheme to spatial differencing of the vorticity‐stream function‐density formulation of the two‐dimensional incompressible Boussinesq equations is presented. The details for the derivation of difference relations at boundaries to generate accurate and stable solutions are also given. To assess the numerical accuracy, two linear prototype test problems with known exact solution are used. The two‐dimensional planar and cylindrical lock‐exchange flow configurations are used to conduct the numerical experiments for the Boussinesq equations. Quantitative measures for the two linear prototype test problems and comparison of the results of this work with the published results for the planar lock‐exchange flow indicates the validity and accuracy of the three‐point fourth‐order compact scheme for numerical solution of two‐dimensional incompressible Boussinesq equations. In addition, the study of using different high‐order numerical boundary conditions for the implementation of the no‐penetration boundary condition for the density at no‐slip walls is considered. It is shown that the numerical solution is sensitive to the choice of difference relation for the density at boundaries and using an inappropriate difference relation leads to spurious numerical solution. Copyright © 2011 John Wiley & Sons, Ltd.     

Boundary‐fitted non‐linear dispersive wave model for regions of arbitrary geometry

A vertically integrated non‐linear dispersive wave model is expressed in non‐orthogonal curvilinear co‐ordinate system for simulating shallow or deep water wave motions in regions of arbitrary geometry. Both dependent and independent variables are transformed so that an irregular physical domain is converted into a rectangular computational domain with contravariant velocities. Thus, the wall condition for enclosures surrounding a typical physical domain, such as a channel, port or harbor, is satisfied accurately and easily. The numerical scheme is based on staggered grid finite‐difference approximations, which result in implicit formulations for the momentum equations and semi‐explicit formulation for the continuity equation. Test cases of linear wave propagation in converging, diverging and circular channels are performed to check the reliability of model simulations against the analytical solutions. Cnoidal waves of different steepness values in a circular channel are also considered as examples to non‐linear wave propagation within curved walls. In closing, remarks concerning versatility and practical uses of the numerical model are made. Copyright © 2004 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.     

An efficient and accurate non‐hydrostatic model with embedded Boussinesq‐type like equations for surface wave modeling

A novel approach that embeds the Boussinesq‐type like equations into an implicit non‐hydrostatic model (NHM) is developed. Instead of using an integration approach, Boussinesq‐type like equations with a reference velocity under a virtual grid system are introduced to analytically obtain an analytical form of pressure distribution at the top layer. To determine the size of vertical layers in the model, a top‐layer control technique is proposed and the reference location is employed to optimize linear wave dispersion property. The efficiency and accuracy of this NHM with Boussinesq‐type like equations (NHM‐BTE) are critically examined through four free‐surface wave examples. Overall model results show that NHM‐BTE using only two vertical layers is capable of accurately simulating highly dispersive wave motion and wave transformation over irregular bathymetry. Copyright © 2008 John Wiley & Sons, Ltd.     

Finite element simulations of fully non‐linear interaction between vertical cylinders and steep waves. Part 2: numerical results and validation

In Ma, Wu, Eatock Taylor [Finite element simulation of fully non‐linear interaction between vertical cylinders and steep waves. Part 1: methodology and numerical procedure. International Journal for Numerical Methods in Fluids 2001], designated Part 1 hereafter, we have developed the methodology and solution procedure for simulating the three‐dimensional interaction between fixed bodies and steep waves based on a finite element method (FEM). This paper provides extensive numerical results and validation. The effectiveness of the radiation condition is investigated by comparing the results from short and long tanks; the accuracy of the computed data is confirmed through comparison with analytical solutions. The adopted mathematical model is also validated by comparing the obtained numerical results with experimental data. Various test cases, including non‐linear bichromatic and irregular waves and the interactions between waves and one or two cylinders, are analysed. Copyright © 2001 John Wiley & Sons, Ltd.     

Non‐oscillatory relaxation methods for the shallow‐water equations in one and two space dimensions

In this paper, a new family of high‐order relaxation methods is constructed. These methods combine general higher‐order reconstruction for spatial discretization and higher order implicit‐explicit schemes or TVD Runge–Kutta schemes for time integration of relaxing systems. The new methods retain all the attractive features of classical relaxation schemes such as neither Riemann solvers nor characteristic decomposition are needed. Numerical experiments with the shallow‐water equations in both one and two space dimensions on flat and non‐flat topography demonstrate the high resolution and the ability of our relaxation schemes to better resolve the solution in the presence of shocks and dry areas without using either Riemann solvers or front tracking techniques. Copyright © 2004 John Wiley & Sons, Ltd.     

A σ‐coordinate non‐hydrostatic model with embedded Boussinesq‐type‐like equations for modeling deep‐water waves

A σ‐coordinate non‐hydrostatic model, combined with the embedded Boussinesq‐type‐like equations, a reference velocity, and an adapted top‐layer control, is developed to study the evolution of deep‐water waves. The advantage of using the Boussinesq‐type‐like equations with the reference velocity is to provide an analytical‐based non‐hydrostatic pressure distribution at the top‐layer and to optimize wave dispersion property. The σ‐based non‐hydrostatic model naturally tackles the so‐called overshooting issue in the case of non‐linear steep waves. Efficiency and accuracy of this non‐hydrostatic model in terms of wave dispersion and nonlinearity are critically examined. Overall results show that the newly developed model using a few layers is capable of resolving the evolution of non‐linear deep‐water wave groups. Copyright © 2009 John Wiley & Sons, Ltd.     

A numerical eigenvalue study of preconditioned non‐equilibrium transport equations

The finite element integration of non‐equilibrium contaminant transport in porous media yields sparse, unsymmetric, real or complex equations, which may be solved by iterative projection methods, such as Bi‐CGSTAB and TFQMR, on condition that they are effectively preconditioned. To ensure a fast convergence, the eigenspectrum of the preconditioned equations has to be very compact around unity. Compactness is generally measured by the spectral condition number. In difficult advection‐dominated problems, however, the condition number may be large and nevertheless, convergence may be good. A numerical study of the preconditioned eigenspectrum of a representative test case is performed using the incomplete triangular factorization. The results show that preconditioning eliminates most of the original complex eigenvalues, and that compactness is not necessarily jeopardized by a large condition number. Quite surprisingly, it is shown that the preconditioned complex problem may have a more compact real eigenspectrum than the equivalent real problem. Copyright © 1999 John Wiley & Sons, Ltd.     

Further application of hybrid solution to another form of Boussinesq equations and comparisons

Recently, a new hybrid scheme is introduced for the solution of the Boussinesq equations. In this study, the hybrid scheme is used to solve another form of the Boussinesq equations. The hybrid solution is composed of finite‐volume and finite difference method. The finite‐volume method is applied to conservative part of the governing equations, whereas the higher order Boussinesq terms are discretized using the finite‐difference scheme. Fourth‐order accuracy is provided in both time and space. The solution is then applied to several test cases, which are taken from the previous studies. The results of this study are compared with experimental and theoretical results as well as those of the previous ones. The comparisons indicate that the Boussinesq equations solved here and in the previous study produce quite similar results. Copyright © 2006 John Wiley & Sons, Ltd.     

Oscillations in high‐order finite difference solutions of stiff problems on non‐uniform grids

This work investigates the mitigation and elimination of scheme‐related oscillations generated in compact and classical fourth‐order finite difference solutions of stiff problems, represented here by the Burgers and Reynolds equations. The regions where severe gradients are anticipated are refined by the use of subdomains where the grid is distributed according to a geometric progression. It is observed that, for multi‐domain solutions, both the classical and compact fourth‐order finite difference schemes can exhibit spurious oscillations. When present, the oscillations are initially generated around the interface between the uniform and non‐uniform grid subdomains. Based on a thorough study of the grid distribution effects, it is shown that the numerical oscillations are caused by inadequate geometric progression ratios within the non‐uniformly discretized subdomains. Indeed, accurate solutions are obtainable if and only if the grid ratios in the non‐uniform subdomains are greater than a critical threshold ratio. It is concluded that high‐order classical and compact schemes can be used with confidence to efficiently solve one‐ or two‐dimensional problems whose solutions exhibit sharp gradients in very thin regions, provided that the numerically generated oscillations are eliminated by an appropriate choice of grid distribution within the non‐uniformly discretized subdomains. Copyright © 1999 John Wiley & Sons, Ltd.     

Practical evaluation of five partly discontinuous finite element pairs for the non‐conservative shallow water equations

This paper provides a comparison of five finite element pairs for the shallow water equations. We consider continuous, discontinuous and partially discontinuous finite element formulations that are supposed to provide second‐order spatial accuracy. All of them rely on the same weak formulation, using Riemann solver to evaluate interface integrals. We define several asymptotic limit cases of the shallow water equations within their space of parameters. The idea is to develop a comparison of these numerical schemes in several relevant regimes of the subcritical shallow water flow. Finally, a new pair, using non‐conforming linear elements for both velocities and elevation (P?P), is presented, giving optimal rates of convergence in all test cases. P?P₁ and P?P₁ mixed formulations lack convergence for inviscid flows. P?P₂ pair is more expensive but provides accurate results for all benchmarks. P?P provides an efficient option, except for inviscid Coriolis‐dominated flows, where a small lack of convergence is observed. Copyright © 2009 John Wiley & Sons, Ltd.