A numerical method to solve the m‐terms of a submerged body with forward speed

To model mathematically the problem of a rigid body moving below the free surface, a control surface surrounding the body is introduced. The linear free surface condition of the steady waves created by the moving body is satisfied. To describe the fluid flow outside this surface a potential integral equation is constructed using the Kelvin wave Green function whereas inside the surface, a source integral equation is developed adopting a simple Green function. Source strengths are determined by matching the two integral equations through continuity conditions applied to velocity potential and its normal derivatives along the control surface. After solving for the induced fluid velocity on the body surface and the control surface, an integral equation is derived involving a mixed distribution of sources and dipoles using a simple Green function and one component of the fluid velocity. The normal derivatives of the fluid velocity on the body surface, namely the m‐terms, are then solved by this matching integral equation method (MIEM). Numerical results are presented for two elliptical sections moving at a prescribed Froude number and submerged depth and a sensitivity analysis undertaken to assess the influence of these parameters. Furthermore, comparisons are performed to analyse the impact of different assumptions adopted in the derivation of the m‐terms. It is found that the present method is easy to use in a panel method with satisfactory numerical precision. Copyright © 2002 John Wiley & Sons, Ltd.     

有限深水中骑行波的显式Hamilton描述

小尺度波（扰动波）迭加在大尺度波（未受扰动波）上形成的波动一般之为“骑行波”。研究了有限可变深度的理想不可压缩流体中的骑行波的显式Hamliltn表示，考虑了自由面上流体与空气之间的表面张力。采用自由面高度和自由面上速度势构成的Hamilton正则变量表示骑行波的动能密度，并在未受扰动波的自由面上作一阶展开。运用复变函数论方法处理了二维流动。先用保角变换将物理平面上的流动区域变换到复势平面上的无限长带形区域，然后在复势平面上用Fourier变换解出Laplace方程，最后经Fourier逆变换求出了扰动波速度热所满足的积分方程。作为特例考虑了平坦底部的流动，导出了动能密度的显式表达式。这里给出的积分方程可以替代相当难解的Hamilton正则方程。通过求解积分方程可得出agrange密度的显式表达式。本文提出的方法约研究骑行波的Hamilton描述以及波的相互作用问题提供了新的途径，有助于了解海面的小尺度波的精细结构。     

Regular wave integral approach to numerical simulation of radiation and diffraction of surface waves

A regular wave integral method is developed in the discretisation of a linear hydrodynamic problem on radiation and diffraction of surface waves by a floating or submerged body. The velocity potential of the problem is expressed as a solution of a body boundary integral equation involving the pulsating free surface Green function or pulsating free surface sources distributed on the body surface. With the use of a discretisation on the regular wave integral rather than discretisations on the singular wave integral of the Green function as in earlier investigations, the singular wave integral is approximated as an expansion of regular (or nonirregular) wave potentials. Influence coefficients between pulsating free surface source points are computed by the approximate expansion together with Hess–Smith panel integral formulas. Thus the velocity potential solution is evaluated by a boundary element algorithm. The numerical results produced from the proposed method agree well with semi-analytic solution results.     

NUMERICAL SIMULATION OF SHALLOW WATER WAVE PROPAGATION USING A BOUNDARY ELEMENT WAVE EQUATION MODEL

The present paper makes use of a wave equation formulation of the primitive shallow water equations to simulate one-dimensional free surface flow. A numerical formulation of the boundary element method is then developed to solve the wave continuity equation using a time-dependent fundamental solution, while an explicit finite difference scheme is used to derive velocities from the primitive momentum equation. One-dimensional free surface flows in open channels are treated and the results compared with analytical and numerical solutions. © 1997 John Wiley & Sons, Ltd.     

Unsteady RANS method for surface ship boundary layer and wake and wave field

Results are reported of an unsteady Reynolds‐averaged Navier–Stokes (RANS) method for simulation of the boundary layer and wake and wave field for a surface ship advancing in regular head waves, but restrained from body motions. Second‐order finite differences are used for both spatial and temporal discretization and a Poisson equation projection method is used for velocity–pressure coupling. The exact kinematic free‐surface boundary condition is solved for the free‐surface elevation using a body‐fitted/free‐surface conforming grid updated in each time step. The simulations are for the model problem of a Wigley hull advancing in calm water and in regular head waves. Verification and validation procedures are followed, which include careful consideration of both simulation and experimental uncertainties. The steady flow results are comparable to other steady RANS methods in predicting resistance, boundary layer and wake, and free‐surface effects. The unsteady flow results cover a wide range of Froude number, wavelength, and amplitude for which first harmonic amplitude and phase force and moment experimental data are available for validation along with frequency domain, linear potential flow results for comparisons. The present results, which include the effects of turbulent flow and non‐linear interactions, are in good agreement with the data and overall show better capability than the potential flow results. The physics of the unsteady boundary layer and wake and wave field response are explained with regard to frequency of encounter and seakeeping theory. The results of the present study suggest applicability for additional complexities such as practical ship geometry, ship motion, and maneuvering in arbitrary ambient waves. Copyright © 2001 John Wiley & Sons, Ltd.     

CAPILLARY EFFECT ON VERTICALLY EXCITED SURFACE WAVE IN CIRCULAR CYLINDRICAL VESSEL

In a vertically oscillating circular cylindrical container, singular perturbation theory of two-time scale expansions was developed in inviscid fluids to investigate the motion of single free surface standing wave including the effect of surface tension. A nonlinear slowly varying amplitude equation, which incorporates cubic nonlinear term, external excitation and the influence of surface tension, was derived from potential flow equation. The results show that, when forced frequency is lower, the effect of surface tension on mode selection of surface wave is not important. However, when forced frequency is higher, the surface tension can not be neglected. This proved that the surface tension causes free surface returning to equilibrium location. In addition, due to considering the effect of surface tension, the theoretical result approaches to experimental results much more than that of no surface tension.     

A marker-and-cell approach to viscoelastic free surface flows using the PTT model

This work is concerned with the development of a numerical method capable of simulating two-dimensional viscoelastic free surface flows governed by the non-linear constitutive equation PTT (Phan-Thien–Tanner). In particular, we are interested in flows possessing moving free surfaces. The fluid is modelled by a marker-and-cell type method and employs an accurate representation of the fluid surface. Boundary conditions are described in detail and the full free surface stress conditions are considered. The PTT equation is solved by a high order method which requires the calculation of the extra-stress tensor on the mesh contour. The equations describing the numerical technique are solved by the finite difference method on a staggered grid. In order to validate the numerical method fully developed flow in a two-dimensional channel was simulated and the numerical solutions were compared with known analytic solutions. Convergence results were obtained throughout by using mesh refinement. To demonstrate that complex free surface flows using the PTT model can be computed, extrudate swell and a jet flowing onto a rigid plate were simulated.     

Finite difference method for 2-D and 3-D nonlinear free surface wave problems

A finite difference method is developed for the numerical modelling of the 2-D and 3-D unsteady potential flow generated by transient disturbances on the free surface, on which the nonlinear boundary conditions are fully satisfied. The unknown function is computed with an iteration scheme processing in a transformed time-invariant space. After the velocity is calculated, the location of the free surface is renewed and so is the value of velocity on it. The boundary-value problem of the governing equation is then solved at the next time step. The present method incorporates the FFT. Consequently, a tri-diagonal equation system is obtained which could be readily solved. The feasibility of this method has been demonstrated by 2-D and 3-D examples corresponding to different initial disturbances. This work is supported by the science foundation of Academia Sinica. The paper had been accepted by the XVIth International Congress of IUTAM, Lyngby, Denmark, August, 1984.     

A net inflow method for incompressible viscous flow with moving free surface

A new finite element procedure called the net inflow method has been developed to simulate time-dependent incompressible viscous flow including moving free surfaces and inertial effects. As a fixed mesh approach with triangular element, the net inflow method can be used to analyse the free surface flow in both regular and irregular domains. Most of the empty elements are excluded from the computational domain, which is adjusted successively to cover the entire region occupied by the liquid. The volume of liquid in a control volume is updated by integrating the net inflow of liquid during each iteration. No additional kinetic equation or material marker needs to be considered. The pressure on the free surface and in the liquid region can be solved explicitly with the continuity equation or implicitly by using the penalty function method. The radial planar free surface flow near a 2D point source and the dam-breaking problem on either a dry bed or a still liquid have been analysed and presented in this paper. The predictions agree very well with available analytical solutions, experimental measurements and/or other numerical results.     

Extension of the volume-of-fluid method for analysis of free surface viscous flow in an ideal gas

The volume-of-fluid (VOF) method is a simple and robust technique for simulating free surface flows with large deformations and intersecting free surfaces. Earlier implementations used Laplace's formula for the normal stress boundary condition at the interface between the liquid and vapour phases. We have expanded the interfacial boundary conditions to include the viscous component of the normal stress in the liquid phase and, in a limited manner, to allow the pressure in the vapour phase to vary. Included are sample computations that show the accuracy of added third-order-accurate differencing schemes for the convective terms in the Navier-Stokes equation (NSE), the viscous terms in the normal stress at the interface and the solution of potential flow in the vapour phase coupled with the solution of the NSE in the liquid phase. With these modifications we show that the VOF method can accurately predict the instability of a thin viscous sheet flowing through a stagnant vapour phase.     

Beating capillarity in thin film flows

The combination of substrate unevenness and capillarity is known to induce far‐reaching perturbations at the free surface of thin liquid films. These might be undesired and this paper explores the possibility to control the free surface of thin liquid films to give it a prescribed profile by a suitable design of the underlying substrate. This corresponds to the inverse of the widely studied forward problem, which considers the effect of substrate unevenness on a free surface. Assuming that the steady free surface profile can be described by the lubrication approximation, this optimal control problem is shown to be governed by a first‐order partial differential equation, which is solved numerically using the method of characteristics. The proposed method is successfully tested for a range of desired free surface profiles and the domain of existence of a solution to the inverse problem is probed. Expectedly, it is shown that, owing to surface tension, not all free surface profiles can be achieved but in some cases capillarity can be beaten and a prescribed free surface profile obtained. Copyright © 2009 John Wiley & Sons, Ltd.     

用Level Set方法求解具有自由面的流动问题

为采用Ｌｅｖｅｌ Ｓｅｔ方法来计算有自由的流动问题提出了一种方案,把自由水面视为水和空气的交界面,两种介质用统一的Ｎ－Ｓ方法求解,在自由面两侧分别采用各自的密度和粘性,并在自由面上给以适当的光滑;采用边界元法求解双调和方程来确定距离函数;Ｎ－Ｓ方程用投影法求解,文中给出了二维水池水面振荡和瞬时溃坝问题的算例,可以看出用ＬｅｖｅｌＳｅｔ方法求解有自由面流动问题是有效的。     

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.     

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

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

An efficient finite difference scheme for free‐surface flows in narrow rivers and estuaries

This paper presents a free‐surface correction (FSC) method for solving laterally averaged, 2‐D momentum and continuity equations. The FSC method is a predictor–corrector scheme, in which an intermediate free surface elevation is first calculated from the vertically integrated continuity equation after an intermediate, longitudinal velocity distribution is determined from the momentum equation. In the finite difference equation for the intermediate velocity, the vertical eddy viscosity term and the bottom‐ and sidewall friction terms are discretized implicitly, while the pressure gradient term, convection terms, and the horizontal eddy viscosity term are discretized explicitly. The intermediate free surface elevation is then adjusted by solving a FSC equation before the intermediate velocity field is corrected. The finite difference scheme is simple and can be easily implemented in existing laterally averaged 2‐D models. It is unconditionally stable with respect to gravitational waves, shear stresses on the bottom and side walls, and the vertical eddy viscosity term. It has been tested and validated with analytical solutions and field data measured in a narrow, riverine estuary in southwest Florida. Model simulations show that this numerical scheme is very efficient and normally can be run with a Courant number larger than 10. It can be used for rivers where the upstream bed elevation is higher than the downstream water surface elevation without any problem. Copyright © 2003 John Wiley & Sons, Ltd.     

Consistency with continuity in conservative advection schemes for free‐surface models

The consistency of the discretization of the scalar advection equation with the discretization of the continuity equation is studied for conservative advection schemes coupled to three‐dimensional flows with a free‐surface. Consistency between the discretized free‐surface equation and the discretized scalar transport equation is shown to be necessary for preservation of constants. In addition, this property is shown to hold for a general formulation of conservative schemes. A discrete maximum principle is proven for consistent upwind schemes. Various numerical examples in idealized and realistic test cases demonstrate the practical importance of the consistency with the discretization of the continuity equation. Copyright © 2002 John Wiley & Sons, Ltd.     

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.     

GENSMAC3D: a numerical method for solving unsteady three‐dimensional free surface flows

A numerical method for solving three‐dimensional free surface flows is presented. The technique is an extension of the GENSMAC code for calculating free surface flows in two dimensions. As in GENSMAC, the full Navier–Stokes equations are solved by a finite difference method; the fluid surface is represented by a piecewise linear surface composed of quadrilaterals and triangles containing marker particles on their vertices; the stress conditions on the free surface are accurately imposed; the conjugate gradient method is employed for solving the discrete Poisson equation arising from a velocity update; and an automatic time step routine is used for calculating the time step at every cycle. A program implementing these features has been interfaced with a solid modelling routine defining the flow domain. A user‐friendly input data file is employed to allow almost any arbitrary three‐dimensional shape to be described. The visualization of the results is performed using computer graphic structures such as phong shade, flat and parallel surfaces. Results demonstrating the applicability of this new technique for solving complex free surface flows, such as cavity filling and jet buckling, are presented. Copyright © 2001 John Wiley & Sons, Ltd.     

A VARIATIONAL INEQUALITY APPROACH FOR NON-STEADY SEEPAGE FLOW THROUGH THREE-DIMENSIONAL FRACTURE NETWORK

为了求解裂隙岩体有自由面非稳定渗流问题,将Darcy定律延拓至整个研究区域,使得潜在溢出边界条件满足Signorini型边界条件,建立了三维裂隙网络非稳定渗流问题的抛物型变分不等式（parabolic variational inequality,PVI）提法,并证明其与偏微分方程（partial differential equation,PDE）提法的等价性,从而将自由面上的流量条件以及潜在溢出边界上的互补条件转化成自然边界条件,降低该问题求解难度。同时给出了基于PVI提法的有限元数值求解方法,通过与交叉裂隙模型理论解的对比分析,证明了该方法的正确性。最后将该方法对含复杂三维裂隙网络的边坡进行非稳定渗流分析,计算结果表明该方法对于复杂裂隙网络求解具有较强的可靠性和适应性。     

A conservative semi‐implicit method for coupled surface–subsurface flows in regional scale

A semi‐implicit method for coupled surface–subsurface flows in regional scale is proposed and analyzed. The flow domain is assumed to have a small vertical scale as compared with the horizontal extents. Thus, after hydrostatic approximation, the simplified governing equations are derived from the Reynolds averaged Navier–Stokes equations for the surface flow and from the Darcy's law for the subsurface flow. A conservative free‐surface equation is derived from a vertical integral of the incompressibility condition and extends to the whole water column including both, the surface and the subsurface, wet domains. Numerically, the horizontal domain is covered by an unstructured orthogonal grid that may include subgrid specifications. Along the vertical direction a simple z‐layer discretization is adopted. Semi‐implicit finite difference equations for velocities and a finite volume approximation for the free‐surface equation are derived in such a fashion that, after simple manipulation, the resulting discrete free‐surface equation yields a single, well‐posed, mildly nonlinear system. This system is efficiently solved by a nested Newton‐type iterative method that yields simultaneously the pressure and a non‐negative fluid volume throughout the computational grid. The time‐step size is not restricted by stability conditions dictated by friction or surface wave speed. The resulting algorithm is simple, extremely efficient, and very accurate. Exact mass conservation is assured also in presence of wetting and drying dynamics, in pressurized flow conditions, and during free‐surface transition through the interface. A few examples illustrate the model applicability and demonstrate the effectiveness of the proposed algorithm. Copyright © 2015 John Wiley & Sons, Ltd.