A finite element method for two‐dimensional water‐wave problems

In this paper, the authors treat the free‐surface waves generated by a moving disturbance with a constant speed in water of finite and constant depth. Specifically, the case when the disturbance is moving with the critical speed is investigated. The water is assumed inviscid and its motion irrotational. The surface tension is neglected. It is well‐known that the linear theory breaks down when a disturbance is moving with the critical speed. As a remedy to overcome the invalid linear theory, approximate non‐linear theories have been applied with success in the past, i.e. Boussinesq and Korteweg de Vries equations, for example. In the present paper, the authors describe a finite element method applied to the non‐linear water‐wave problems in two dimensions. The present numerical method solves the exact non‐linear formulation in the scope of potential theory without any additional assumptions on the magnitude of the disturbances. The present numerical results are compared with those obtained by other approximate non‐linear theories. Also presented are the discussions on the validity of the existing approximate theories applied to two types of the disturbances, i.e. the bottom bump and the pressure patch on the free‐surface at the critical speed. Copyright © 1999 John Wiley & Sons, Ltd.     

Numerical solutions of fully non‐linear and highly dispersive Boussinesq equations in two horizontal dimensions

This paper investigates preconditioned iterative techniques for finite difference solutions of a high‐order Boussinesq method for modelling water waves in two horizontal dimensions. The Boussinesq method solves simultaneously for all three components of velocity at an arbitrary z‐level, removing any practical limitations based on the relative water depth. High‐order finite difference approximations are shown to be more efficient than low‐order approximations (for a given accuracy), despite the additional overhead. The resultant system of equations requires that a sparse, unsymmetric, and often ill‐conditioned matrix be solved at each stage evaluation within a simulation. Various preconditioning strategies are investigated, including full factorizations of the linearized matrix, ILU factorizations, a matrix‐free (Fourier space) method, and an approximate Schur complement approach. A detailed comparison of the methods is given for both rotational and irrotational formulations, and the strengths and limitations of each are discussed. Mesh‐independent convergence is demonstrated with many of the preconditioners for solutions of the irrotational formulation, and solutions using the Fourier space and approximate Schur complement preconditioners are shown to require an overall computational effort that scales linearly with problem size (for large problems). Calculations on a variable depth problem are also compared to experimental data, highlighting the accuracy of the model. Through combined physical and mathematical insight effective preconditioned iterative solutions are achieved for the full physical application range of the model. Copyright © 2004 John Wiley & Sons, Ltd.     

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.     

Adaptive Q‐tree Godunov‐type scheme for shallow water equations

This paper presents details of a second‐order accurate, Godunov‐type numerical model of the two‐dimensional shallow water equations (SWEs) written in matrix form and discretized using finite volumes. Roe's flux function is used for the convection terms and a non‐linear limiter is applied to prevent unwanted spurious oscillations. A new mathematical formulation is presented, which inherently balances flux gradient and source terms. It is, therefore, suitable for cases where the bathymetry is non‐uniform, unlike other formulations given in the literature based on Roe's approximate Riemann solver. The model is based on hierarchical quadtree (Q‐tree) grids, which adapt to inherent flow parameters, such as magnitude of the free surface gradient and depth‐averaged vorticity. Validation tests include wind‐induced circulation in a dish‐shaped basin, two‐dimensional frictionless rectangular and circular dam‐breaks, an oblique hydraulic jump, and jet‐forced flow in a circular reservoir. Copyright © 2001 John Wiley & Sons, Ltd.     

A comparison of the GWCE and mixed P − P1 formulations in finite‐element linearized shallow‐water models

The appearance of spurious pressure modes in early shallow‐water (SW) models has resulted in two common strategies in the finite element (FE) community: using mixed primitive variable and generalized wave continuity equation (GWCE) formulations of the SW equations. One FE scheme in particular, the P ? P₁ pair, combined with the primitive equations may be advantageously compared with the wave equation formulations and both schemes have similar data structures. Our focus here is on comparing these two approaches for a number of measures including stability, accuracy, efficiency, conservation properties, and consistency. The main part of the analysis centres on stability and accuracy results via Fourier‐based dispersion analyses in the context of the linear SW equations. The numerical solutions of test problems are found to be in good agreement with the analytical results. Copyright © 2011 John Wiley & Sons, Ltd.     

A two‐dimensional vertical non‐hydrostatic σ model with an implicit method for free‐surface flows

An implicit finite difference model in the σ co‐ordinate system is developed for non‐hydrostatic, two‐dimensional vertical plane free‐surface flows. To accurately simulate interaction of free‐surface flows with uneven bottoms, the unsteady Navier–Stokes equations and the free‐surface boundary condition are solved simultaneously in a regular transformed σ domain using a fully implicit method in two steps. First, the vertical velocity and pressure are expressed as functions of horizontal velocity. Second, substituting these relationship into the horizontal momentum equation provides a block tri‐diagonal matrix system with the unknown of horizontal velocity, which can be solved by a direct matrix solver without iteration. A new treatment of non‐hydrostatic pressure condition at the top‐layer cell is developed and found to be important for resolving the phase of wave propagation. Additional terms introduced by the σ co‐ordinate transformation are discretized appropriately in order to obtain accurate and stable numerical results. The developed model has been validated by several tests involving free‐surface flows with strong vertical accelerations and non‐linear waves interacting with uneven bottoms. Comparisons among numerical results, analytical solutions and experimental data show the capability of the model to simulate free‐surface flow problems. Copyright © 2004 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.     

Local maximum principle satisfying high‐order non‐oscillatory schemes

The main contribution of this work is to classify the solution region including data extrema for which high‐order non‐oscillatory approximation can be achieved. It is performed in the framework of local maximum principle (LMP) and non‐conservative formulation. The representative uniformly second‐order accurate schemes are converted in to their non‐conservative form using the ratio of consecutive gradients. Using the local maximum principle, these non‐conservative schemes are analyzed for their non‐linear LMP/total variation diminishing stability bounds which classify the solution region where high‐order accuracy can be achieved. Based on the bounds, second‐order accurate hybrid numerical schemes are constructed using a shock detector. The presented numerical results show that these hybrid schemes preserve high accuracy at non‐sonic extrema without exhibiting any induced local oscillations or clipping error. Copyright © 2015 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.     

Computer‐algebra multiple‐timescale method for spatially periodic thin‐film viscous‐flow problems

A flexible, fully automated, computer‐algebra algorithm is developed for solving a class of non‐linear partial‐differential evolution equations arising frequently in the modeling of two‐dimensional transient free‐surface viscous thin‐film flows. The method, which is formulated for solving spatially periodic problems, is based upon an explicit multiple‐timescale asymptotic approximation of the thin‐film thickness. It admits the resolution of diverse physical phenomena by employing a finite geometric progression of increasingly slow timescales. The method is implemented on a challenging test problem comprising the evolution of an annular film of viscous liquid, with a free surface, adhering to the exterior of a horizontal rotating circular cylinder; as a model for numerous industrially motivated coating flows, this benchmark problem has been analyzed in diverse numerical and theoretical studies, against whose results those of the present method are compared. The explicit algebraic form of the solution admits a study of large‐time evolutionary dynamics that lies beyond the reach of considerably more expensive conventional numerical solvers, thereby shedding new light on the hitherto‐undiscovered explicit dependence of large‐time evolutionary fluid dynamics in terms of independent parameters describing gravitational and capillary effects. The results obtained from the new computer‐algebra procedure are demonstrated to be in good agreement with those obtained from a bespoke efficient numerical integration method that is spectrally accurate in space and 8th‐order (Runge–Kutta) in time. Newly discovered mechanisms describing the decay of free‐surface wave modes, from arbitrary initial conditions to the steady state, are presented. Copyright © 2010 John Wiley & Sons, Ltd.     

A 3D second‐order accurate projection‐based Finite Volume code on non‐staggered,non‐uniform structured grids with continuity preserving properties: application to buoyancy‐driven flows

It is well known that exact projection methods (EPM) on non‐staggered grids suffer for the presence of non‐solenoidal spurious modes. Hence, a formulation for simulating time‐dependent incompressible flows while allowing the discrete continuity equation to be satisfied up to machine‐accuracy, by using a Finite Volume‐based second‐order accurate projection method on non‐staggered and non‐uniform 3D grids, is illustrated. The procedure exploits the Helmholtz–Hodge decomposition theorem for deriving an additional velocity field that enforces the discrete continuity without altering the vorticity field. This is accomplished by first solving an elliptic equation on a compact stencil that is by performing a standard approximate projection method (APM). In such a way, three sets of divergence‐free normal‐to‐face velocities can be computed. Then, a second elliptic equation for a scalar field is derived by prescribing that its additional discrete gradient ensures the continuity constraint based on the adopted linear interpolation of the velocity. Characteristics of the double projection method (DPM) are illustrated in details and stability and accuracy of the method are addressed. The resulting numerical scheme is then applied to laminar buoyancy‐driven flows and is proved to be stable and efficient. Copyright © 2006 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.     

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.     

A CIP/multi‐moment finite volume method for shallow water equations with source terms

A novel finite volume method has been presented to solve the shallow water equations. In addition to the volume‐integrated average (VIA) for each mesh cell, the surface‐integrated average (SIA) is also treated as the model variable and is independently predicted. The numerical reconstruction is conducted based on both the VIA and the SIA. Different approaches are used to update VIA and SIA separately. The SIA is updated by a semi‐Lagrangian scheme in terms of the Riemann invariants of the shallow water equations, while the VIA is computed by a flux‐based finite volume formulation and is thus exactly conserved. Numerical oscillation can be effectively avoided through the use of a non‐oscillatory interpolation function. The numerical formulations for both SIA and VIA moments maintain exactly the balance between the fluxes and the source terms. 1D and 2D numerical formulations are validated with numerical experiments. Copyright © 2007 John Wiley & Sons, Ltd.     

Simulation of non‐linear free surface motions in a cylindrical domain using a Chebyshev–Fourier spectral collocation method

When a liquid is perturbed, its free surface may experience highly non‐linear motions in response. This paper presents a numerical model of the three‐dimensional hydrodynamics of an inviscid liquid with a free surface. The mathematical model is based on potential theory in cylindrical co‐ordinates with a σ‐transformation applied between the bed and free surface in the vertical direction. Chebyshev spectral elements discretize space in the vertical and radial directions; Fourier spectral elements are used in the angular direction. Higher derivatives are approximated using a collocation (or pseudo‐spectral) matrix method. The numerical scheme is validated for non‐linear transient sloshing waves in a cylindrical tank containing a circular surface‐piercing cylinder at its centre. Excellent agreement is obtained with Ma and Wu's [Second order transient waves around a vertical cylinder in a tank. Journal of Hydrodynamics 1995; Ser. B4 : 72–81] second‐order potential theory. Further evidence for the capability of the scheme to predict complicated three‐dimensional, and highly non‐linear, free surface motions is given by the evolution of an impulse wave in a cylindrical tank and in an open domain. Copyright © 2001 John Wiley & Sons, Ltd.     

A variational multiscale Newton–Schur approach for the incompressible Navier–Stokes equations

In the following paper, we present a consistent Newton–Schur (NS) solution approach for variational multiscale formulations of the time‐dependent Navier–Stokes equations in three dimensions. The main contributions of this work are a systematic study of the variational multiscale method for three‐dimensional problems and an implementation of a consistent formulation suitable for large problems with high nonlinearity, unstructured meshes, and non‐symmetric matrices. In addition to the quadratic convergence characteristics of a Newton–Raphson‐based scheme, the NS approach increases computational efficiency and parallel scalability by implementing the tangent stiffness matrix in Schur complement form. As a result, more computations are performed at the element level. Using a variational multiscale framework, we construct a two‐level approach to stabilizing the incompressible Navier–Stokes equations based on a coarse and fine‐scale subproblem. We then derive the Schur complement form of the consistent tangent matrix. We demonstrate the performance of the method for a number of three‐dimensional problems for Reynolds number up to 1000 including steady and time‐dependent flows. Copyright © 2009 John Wiley & Sons, Ltd.     

A higher‐order Boussinesq‐type model with moving bottom boundary: applications to submarine landslide tsunami waves

A two‐dimensional depth‐integrated numerical model is developed using a fourth‐order Boussinesq approximation for an arbitrary time‐variable bottom boundary and is applied for submarine‐landslide‐generated waves. The mathematical formulation of model is an extension of (4,4) Padé approximant for moving bottom boundary. The mathematical formulations are derived based on a higher‐order perturbation analysis using the expanded form of velocity components. A sixth‐order multi‐step finite difference method is applied for spatial discretization and a sixth‐order Runge–Kutta method is applied for temporal discretization of the higher‐order depth‐integrated governing equations and boundary conditions. The present model is validated using available three‐dimensional experimental data and a good agreement is obtained. Moreover, the present higher‐order model is compared with fully potential three‐dimensional models as well as Boussinesq‐type multi‐layer models in several cases and the differences are discussed. The high accuracy of the present numerical model in considering the nonlinearity effects and frequency dispersion of waves is proven particularly for waves generated in intermediate and deeper water area. Copyright © 2006 John Wiley & Sons, Ltd.     

A numerical method for the determination of weakly non‐hydrostatic non‐linear free surface wave propagation

A numerical method is described that may be used to determine the propagation characteristics of weakly non‐hydrostatic non‐linear free surface waves over a general, bottom topography. In shallow water of constant undisturbed depth, such waves are equivalent to the familiar cnoidal waves characterized by sharp crests and relatively flat troughs. For a certain range of parameters, these propagate without change of form by virtue of the weakly non‐hydrostatic balance in the vertical momentum equation. Effectively, this counters the tendency for the non‐linearity in a purely hydrostatic theory to lead to a continuously deforming surface wave profile. The realistic representation furnished by cnoidal wave theory of free surface waves in the shallow near‐shore zone has led to its utilization in evaluating their propagation characteristics. Nonetheless, the classic analytical theory is inapplicable to the case of wave propagation over a sloping beach or off‐shore sand bar topography. Under these conditions, a local change in form of the surface wave profile is anticipated before the waves break and knowing this is required in order to evaluate fully the propagation process. The efficacy of the numerical method is first demonstrated by comparing the solution for water of constant depth with the evaluation of the analytical solution expressed in terms of the Jacobian elliptic function cn. The general method described in the paper is then illustrated by experiments to determine the change in profile of weakly non‐hydrostatic non‐linear surface waves propagating over bed forms representative of those found in shallow coastal seas. Copyright © 2001 John Wiley & Sons, Ltd.     

Three‐dimensional modeling of non‐hydrostatic free‐surface flows on unstructured grids

A three‐dimensional numerical model is presented for the simulation of unsteady non‐hydrostatic shallow water flows on unstructured grids using the finite volume method. The free surface variations are modeled by a characteristics‐based scheme, which simulates sub‐critical and super‐critical flows. Three‐dimensional velocity components are considered in a collocated arrangement with a σ‐coordinate system. A special treatment of the pressure term is developed to avoid the water surface oscillations. Convective and diffusive terms are approximated explicitly, and an implicit discretization is used for the pressure term to ensure exact mass conservation. The unstructured grid in the horizontal direction and the σ coordinate in the vertical direction facilitate the use of the model in complicated geometries. Solution of the non‐hydrostatic equations enables the model to simulate short‐period waves and vertically circulating flows. Copyright © 2015 John Wiley & Sons, Ltd.     

Semi‐Lagrangian semi‐implicit time‐splitting scheme for the shallow water equations

Time‐splitting technique applied in the context of the semi‐Lagrangian semi‐implicit method allows the use of extended time steps mainly based on physical considerations and reduces the number of numerical operations at each time step such that it is approximately proportional to the number of the points of spatial grid. To control time growth of the additional truncation errors, the standard stabilizing correction method is modified with no penalty for accuracy and efficiency of the algorithm. A linear analysis shows that constructed scheme is stable for time steps up to 2h. Numerical integrations with actual atmospheric fields of pressure and wind confirm computational efficiency, extended stability and accuracy of the proposed scheme. Copyright © 2006 John Wiley & Sons, Ltd.