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.     

A 3‐D non‐hydrostatic pressure model for small amplitude free surface flows

A three‐dimensional, non‐hydrostatic pressure, numerical model with k–ε equations for small amplitude free surface flows is presented. By decomposing the pressure into hydrostatic and non‐hydrostatic parts, the numerical model uses an integrated time step with two fractional steps. In the first fractional step the momentum equations are solved without the non‐hydrostatic pressure term, using Newton's method in conjunction with the generalized minimal residual (GMRES) method so that most terms can be solved implicitly. This method only needs the product of a Jacobian matrix and a vector rather than the Jacobian matrix itself, limiting the amount of storage and significantly decreasing the overall computational time required. In the second step the pressure–Poisson equation is solved iteratively with a preconditioned linear GMRES method. It is shown that preconditioning reduces the central processing unit (CPU) time dramatically. In order to prevent pressure oscillations which may arise in collocated grid arrangements, transformed velocities are defined at cell faces by interpolating velocities at grid nodes. After the new pressure field is obtained, the intermediate velocities, which are calculated from the previous fractional step, are updated. The newly developed model is verified against analytical solutions, published results, and experimental data, with excellent agreement. Copyright © 2005 John Wiley & Sons, Ltd.     

A height–flux method for simulating free surface flows and interfaces

A new technique for the numerical simulation of the free surface flows is developed. This technique is based on the finite element method with penalty formulation, and a flux method for surface advection. The advection part which is completely independent of the momentum solver is based on subdividing the fluid domain into small subvolumes along one of the co-ordinate axis. The subvolumes are then used to find the height function which will later describe the free surface. The free surface of the fluid in each subvolume is approximated by a line segment and its slope is calculated using the volume of the fluid in the two neighbouring subvolumes. Later, the unidirectional volume flux from one subvolume to its neighbouring one is calculated using the conservation laws, and the new surface line segments are reconstructed. This technique, referred to as the Height–Flux Method (HFM) is implemented to simulate the temporal instability of a capillary jet. The results of the numerical simulation well predict the experimental data. It is also shown that the HFM is computationally more efficient than the techniques which use a kinematic boundary condition for the surface advection.     

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 hybrid finite-element–volume-of-fluid method for simulating free surface flows and interfaces

A numerical technique is developed for the simulation of free surface flows and interfaces. This technique combines the strength on the finite element method (FEM) in calculating the field variables for a deforming boundary and the versatility of the volume-of-fluid (VOF) technique in advection of the fluid interfaces. The advantage of the VOF technique is that it allows the simulation of interfaces with large deformations, including surface merging and breaking. However, its disadantage is that is solving the flow equations, it cannot resolve interfaces smaller than the cell size, since information on the subgrid scale is lost. Therefore the accuracy of the interface reconstruction and the treatment of the boundary conditions (i.e. viscous stresses and surface tension forces) become grid-size-dependent. On the other hand, the FEM with deforming interface mesh allows accurate implementation of the boundary conditions, but it cannot handle large surface deformations occurring in breaking and merging of liquid regions. Combining the two methods into a hybrid FEM-VOF method eliminates the major shortcomings of both. The outcome is a technique which can handle large surface deformations with accurate treatment of the boundary conditions. For illustration, two computational examples are presented, namely the instability and break-up of a capillary jet and the coalescence collision of two liquid drops.     

A fully hydrodynamic model for three‐dimensional,free‐surface flows

The hydrostatic pressure assumption has been widely used in studying water movements in rivers, lakes, estuaries, and oceans. While this assumption is valid in many cases and has been successfully used in numerous studies, there are many cases where this assumption is questionable. This paper presents a three‐dimensional, hydrodynamic model for free‐surface flows without using the hydrostatic pressure assumption. The model includes two predictor–corrector steps. In the first predictor–corrector step, the model uses hydrostatic pressure at the previous time step as an initial estimate of the total pressure field at the new time step. Based on the estimated pressure field, an intermediate velocity field is calculated, which is then corrected by adding the non‐hydrostatic component of the pressure to the estimated pressure field. A Poisson equation for non‐hydrostatic pressure is solved before the second intermediate velocity field is calculated. The final velocity field is found after the free surface at the new time step is computed by solving a free‐surface correction equation. The numerical method was validated with several analytical solutions and laboratory experiments. Model results agree reasonably well with analytical solutions and laboratory results. Model simulations suggest that the numerical method presented is suitable for fully hydrodynamic simulations of three‐dimensional, free‐surface flows. Copyright © 2003 John Wiley & Sons, Ltd.     

Toward application of conformal decomposition finite elements to non‐colloidal particle suspensions

Particle suspensions play an important role in many engineering applications, yet their behavior in a number of respects remains poorly understood. In conjunction with careful experiments, modeling and simulation of these systems can provide key insight into their complex behavior. However, these two‐phase systems pose the challenge of simultaneously, accurately, and efficiently capturing the complex geometric structure, kinematics, and dynamics of the particulate discrete phase and the discontinuities it introduces into the variables (e.g., velocity, pressure, density) of the continuous phase. To this end, a new conformal decomposition finite element method (CDFEM) is introduced for solid particles in a viscous fluid. The method is verified in several simple test problems that are representative of aspects of particle suspension behavior. In all cases, we find the CDFEM to perform accurately and efficiently leading to the conclusion that it forms a prime candidate for application to the full direct numerical simulation of particle suspensions. Copyright © 2012 John Wiley & Sons, Ltd.     

A numerical investigation of 2d,steady free surface flows

Systematic tests have been performed to study the behaviour of a numerical method developed to calculate 2D, steady free surface flows. The Reynolds equations are solved in the physical space by employing a non–orthogonal staggered grid, while the k-ε model is adopted to approximate the Reynolds stresses. The free surface is calculated following an iterative procedure and various parameters that affect convergence and accuracy of the numerical solution have been examined. Calculated results are compared with measured data for two cases, i.e. the wave generation above a bottom topography at various Froude numbers and the free surface formation above a submerged hydrofoil. © 1997 John Wiley & Sons, Ltd.     

A local domain‐free discretization method for simulation of incompressible flows over moving bodies

This paper presents a local domain‐free discretization (DFD) method for the simulation of unsteady flows over moving bodies governed by the incompressible Navier–Stokes equations. The discretization strategy of DFD is that the discrete form of partial differential equations at an interior point may involve some points outside the solution domain. All the mesh points are classified as interior points, exterior dependent points and exterior independent points. The functional values at the exterior dependent points are updated at each time step by the approximate form of solution near the boundary. When the body is moving, only the status of points is changed and the mesh can stay fixed. The issue of ‘freshly cleared nodes/cells’ encountered in usual sharp interface methods does not pose any particular difficulty in the presented method. The Galerkin finite‐element approximation is used for spatial discretization, and the discrete equations are integrated in time via a dual‐time‐stepping scheme based on artificial compressibility. In order to validate the present method for moving‐boundary flow problems, two groups of flow phenomena have been simulated: (1) flows over a fixed circular cylinder, a harmonic in‐line oscillating cylinder in fluid at rest and a transversely oscillating cylinder in uniform flow; (2) flows over a pure pitching airfoil, a heaving–pitching airfoil and a deforming airfoil. The predictions show good agreement with the published numerical results or experimental data. Copyright © 2010 John Wiley & Sons, Ltd.     

A semi‐implicit finite volume implementation of the CSF method for treating surface tension in interfacial flows

We present an implementation of Hysing's (Int. J. Numer. Meth. Fluids 2006; 51 :659–672) semi‐implicit method for treating surface tension, for finite volume models of interfacial flows. Using this method, the surface tension timestep restriction, which is often very stringent, can be exceeded by at least a factor of 5 without destabilizing the solution. The surface tension force in this method consists of an explicit part, which is the regular continuum surface force, and an implicit part which represents the diffusion of velocities induced by surface tension on fluids interfaces. The surface tension force is applied to the velocity field by solving a system of equations iteratively. Since the equations are solved only near interfaces, the computational time spent on the iterative procedure is insignificant. Copyright © 2008 John Wiley & Sons, Ltd.     

An adaptive numerical scheme for solving incompressible 2‐phase and free‐surface flows

In this paper, we present a numerical scheme for solving 2‐phase or free‐surface flows. Here, the interface/free surface is modeled using the level‐set formulation, and the underlying mesh is adapted at each iteration of the flow solver. This adaptation allows us to obtain a precise approximation for the interface/free‐surface location. In addition, it enables us to solve the time‐discretized fluid equation only in the fluid domain in the case of free‐surface problems. Fluids here are considered incompressible. Therefore, their motion is described by the incompressible Navier‐Stokes equation, which is temporally discretized using the method of characteristics and is solved at each time iteration by a first‐order Lagrange‐Galerkin method. The level‐set function representing the interface/free surface satisfies an advection equation that is also solved using the method of characteristics. The algorithm is completed by some intermediate steps like the construction of a convenient initial level‐set function (redistancing) as well as the construction of a convenient flow for the level‐set advection equation. Numerical results are presented for both bifluid and free‐surface problems.     

A 2D boundary element method for simulating the deformation of axisymmetric compound non‐Newtonian drops

The boundary integral formulation of the solution to the Stokes equations is used to describe the deformation of small compound non‐Newtonian axisymmetric drops suspended in a Newtonian fluid that is subjected to an axisymmetric flow field. The non‐Newtonian stress is treated as a source term in the Stokes equations, which yields an extra integral over the domains containing non‐Newtonian material. By transforming the integral representation for the velocity to cylindrical co‐ordinates and performing the integration over the azimuthal direction analytically, the dimension of the problem can be reduced from three to two. A boundary element method for the remaining two‐dimensional problem aimed at the simulation of the deformation of such axisymmetric compound non‐Newtonian drops is developed. Apart from a numerical validation of the method, simulation results for a drop consisting of an Oldroyd‐B fluid and a viscoelastic material are presented. Moreover, the method is extended to compound drops that are composed of a viscous inner core encapsulated by a viscoelastic material. The simulation results for these drops are verified against theoretical results from literature. Moreover, it is shown that the method can be used to identify the dominant break‐up mechanism of compound drops in relation to the specific non‐Newtonian character of the membrane. Copyright © 1999 John Wiley & Sons, Ltd.     

An unsteady single‐phase level set method for viscous free surface flows

The single‐phase level set method for unsteady viscous free surface flows is presented. In contrast to the standard level set method for incompressible flows, the single‐phase level set method is concerned with the solution of the flow field in the water (or the denser) phase only. Some of the advantages of such an approach are that the interface remains sharp, the computation is performed within a fluid with uniform properties and that only minor computations are needed in the air. The location of the interface is determined using a signed distance function, and appropriate interpolations at the fluid/fluid interface are used to enforce the jump conditions. A reinitialization procedure has been developed for non‐orthogonal grids with large aspect ratios. A convective extension is used to obtain the velocities at previous time steps for the grid points in air, which allows a good estimation of the total derivatives. The method was applied to three unsteady tests: a plane progressive wave, sloshing in a two‐dimensional tank, and the wave diffraction problem for a surface ship, and the results compared against analytical solutions or experimental data. The method can in principle be applied to any problem in which the standard level set method works, as long as the stress on the second phase can be specified (or neglected) and no bubbles appear in the flow during the computation. Copyright © 2006 John Wiley & Sons, Ltd.     

Numerical simulation of natural and mixed convection flows by Galerkin‐characteristic method

A numerical investigation is performed to study the solution of natural and mixed convection flows by Galerkin‐characteristic method. The method is based on combining the modified method of characteristics with a Galerkin finite element discretization in primitive variables. It can be interpreted as a fractional step technique where convective part and Stokes/Boussinesq part are treated separately. The main feature of the proposed method is that, due to the Lagrangian treatment of convection, the Courant–Friedrichs–Lewy (CFL) restriction is relaxed and the time truncation errors are reduced in the Stokes/Boussinesq part. Numerical simulations are carried out for a natural convection in squared cavity and for a mixed convection flow past a circular cylinder. The computed results are compared with those obtained using other Eulerian‐based Galerkin finite element solvers, which are used for solving many convective flow models. The Galerkin‐characteristic method has been found to be feasible and satisfactory. Copyright © 2006 John Wiley & Sons, Ltd.     

On the usage of NURBS as interface representation in free‐surface flows

When simulating free‐surface flows using the finite element method, there are many cases where the governing equations require information which must be derived from the available discretized geometry. Examples are curvature or normal vectors. The accurate computation of this information directly from the finite element mesh often requires a high degree of refinement—which is not necessarily required to obtain an accurate flow solution. As a remedy and an option to be able to use coarser meshes, the representation of the free surface using non‐uniform rational B‐splines (NURBS) curves or surfaces is investigated in this work. The advantages of a NURBS parameterization in comparison with the standard approach are discussed. In addition, it is explored how the pressure jump resulting from surface tension effects can be handled using doubled interface nodes. Numerical examples include the computation of surface tension in a two‐phase flow as well as the computation of normal vectors as a basis for mesh deformation methods. For these examples, the improvement of the numerical solution compared with the standard approaches on identical meshes is shown. Copyright © 2011 John Wiley & Sons, Ltd.     

A meshless method for numerical simulation of depth‐averaged turbulence flows using a k‐ϵ model

A three‐dimensional numerical model is developed to analyze free surface flows and water impact problems. The flow of an incompressible viscous fluid is solved using the unsteady Navier–Stokes equations. Pseudo‐time derivatives are introduced into the equations to improve computational efficiency. The interface between the two phases is tracked using a volume‐of‐fluid interface tracking algorithm developed in a generalized curvilinear coordinate system. The accuracy of the volume‐of‐fluid method is first evaluated by the multiple numerical benchmark tests, including two‐dimensional and three‐dimensional deformation cases on curvilinear grids. The performance and capability of the numerical model for water impact problems are demonstrated by simulations of water entries of the free‐falling hemisphere and cone, based on comparisons of water impact loadings, velocities, and penetrations of the body with experimental data. For further validation, computations of the dam‐break flows are presented, based on an analysis of the wave front propagation, water level, and the dynamic pressure impact of the waves on the downstream walls, on a specific container, and on a tall structure. Extensive comparisons between the obtained solutions, the experimental data, and the results of other numerical simulations in the literature are presented and show a good agreement. Copyright © 2015 John Wiley & Sons, Ltd.     

The Lagrange–Galerkin method for the two‐dimensional shallow water equations on adaptive grids

The weak Lagrange–Galerkin finite element method for the two‐dimensional shallow water equations on adaptive unstructured grids is presented. The equations are written in conservation form and the domains are discretized using triangular elements. Lagrangian methods integrate the governing equations along the characteristic curves, thus being well suited for resolving the non‐linearities introduced by the advection operator of the fluid dynamics equations. An additional fortuitous consequence of using Lagrangian methods is that the resulting spatial operator is self‐adjoint, thereby justifying the use of a Galerkin formulation; this formulation has been proven to be optimal for such differential operators. The weak Lagrange–Galerkin method automatically takes into account the dilation of the control volume, thereby resulting in a conservative scheme. The use of linear triangular elements permits the construction of accurate (by virtue of the second‐order spatial and temporal accuracies of the scheme) and efficient (by virtue of the less stringent Courant–Friedrich–Lewy (CFL) condition of Lagrangian methods) schemes on adaptive unstructured triangular grids. Lagrangian methods are natural candidates for use with adaptive unstructured grids because the resolution of the grid can be increased without having to decrease the time step in order to satisfy stability. An advancing front adaptive unstructured triangular mesh generator is presented. The highlight of this algorithm is that the weak Lagrange–Galerkin method is used to project the conservation variables from the old mesh onto the newly adapted mesh. In addition, two new schemes for computing the characteristic curves are presented: a composite mid‐point rule and a general family of Runge–Kutta schemes. Results for the two‐dimensional advection equation with and without time‐dependent velocity fields are illustrated to confirm the accuracy of the particle trajectories. Results for the two‐dimensional shallow water equations on a non‐linear soliton wave are presented to illustrate the power and flexibility of this strategy. Copyright © 2000 John Wiley & Sons, Ltd.     

A semi‐Lagrangian level set method for incompressible Navier–Stokes equations with free surface

In this paper, we formulate a level set method in the framework of finite elements‐semi‐Lagrangian methods to compute the solution of the incompressible Navier–Stokes equations with free surface. In our formulation, we use a quasi‐monotone semi‐Lagrangian scheme, which is both unconditionally stable and essentially non oscillatory, to compute the advective terms in the Navier–Stokes equations, the transport equation and the equation of the reinitialization stage for the level set function. The method we propose is quite robust and flexible with regard to the mesh and the geometry of the domain, as well as the magnitude of the Reynolds number. We illustrate the performance of the method in several examples, which range from a benchmark problem to test the volume conservation property of the method to the flow past a NACA0012 foil at high Reynolds number. Copyright © 2005 John Wiley & Sons, Ltd.