Hydrostatic versus Nonhydrostatic Euler-Equation Modeling of Nonlinear Internal Waves

Basin-scale internal waves are inherently nonhydrostatic; however, they are frequently resolved features in three-dimensional hydrostatic lake and coastal ocean models. Comparison of hydrostatic and nonhydrostatic formulations of the Centre for Water Research Estuary and Lake Computer Model provides insight into the similarities and differences between these representations of internal waves. Comparisons to prior laboratory experiments are used to demonstrate the expected wave evolution. The hydrostatic model cannot replicate basin-scale wave degeneration into a solitary wave train, whereas a nonhydrostatic model does represent the downscaling of energy. However, the hydrostatic model produces a nonlinear traveling borelike feature that has similarities to the mean evolution of the nonhydrostatic wave.     

Spectral Collocation Model for Solitary Wave Attenuation and Mass Transport over Viscous Mud

In this paper, wave attenuation and mass transport of a water-mud system due to a solitary wave on the free surface is modeled by using the Chebyshev-Chebyshev collocation spectral method for spatial discretization and a fourth-order multistage scheme for time integration. The governing equations are formulated in Lagrangian coordinates and perturbation equations for shallow water waves are derived. An iteration-by-subdomain technique is introduced to tackle the interface in the two-layer system. The numerical model is tested against available analytical solutions and good agreement has been found. Numerical simulations of the water-mud system with different layer thicknesses suggest that the accuracy of the existing boundary layer theory for fluid-mud interaction is limited when the mud layer is thin because the assumption of irrotational core may not be valid. Although the paper is focused on solitary waves and Newtonian fluid-mud, the methodology can be extended to oscillatory, nonlinear water waves over a non-Newtonian mud bottom.     

Fully Nonhydrostatic Modeling of Surface Waves

A fully nonhydrostatic model is tested by simulating a range of surface-wave motions, including linear dispersive waves, nonlinear Stokes waves, wave propagation over bottom topographies, and wave–current interaction. The model uses an efficient implicit method to solve the unsteady, three-dimensional, Navier-Stokes equations and the fully nonlinear free-surface boundary conditions. A new top-layer pressure treatment is incorporated to fully include the nonhydrostatic pressure effect. The model results are verified against either analytical solutions or experimental data. It is found that the model using a small number of vertical layers is capable of accurately simulating both the free-surface elevation and vertical flow structure. By further examining the model’s performance of resolving wave dispersion and nonlinearity, the model’s efficiency and accuracy are demonstrated.     

Simulation of a 3D Numerical Viscous Wave Tank

A numerical scheme was developed to solve the unsteady three-dimensional (3D) Navier–Stokes equations and the fully nonlinear free surface boundary conditions for simulating a 3D numerical viscous wave tank. The finite-analytic method was used to discretize the partial differential equations, and the marker-and-cell method was extended to treat the 3D free surfaces. A piston-type wave generator was incorporated in the computational domain to generate the desired incident waves. This wave tank model was applied to simulate the generation and propagation of a solitary wave in the wave tank and the diffraction of periodic waves by a semiinfinite breakwater. The computation was carried out by a PC cluster established by connecting several personal computers. The message passing interface (MPI) parallel language and MPICH software were used to write the computer code for parallel computing. High consistency between the numerical results and the theoretical solutions for the wave and velocity profiles confirms the accuracy of the proposed wave tank model.     

Downscaling Model Resolution to Illuminate the Internal Wave Field in a Small Stratified Lake

This paper presents the application of hydrostatic and nonhydrostatic three-dimensional hydrodynamic models to a stratified lake. Focus was given to the multiscale response of the internal wave field to strong wind gusts exceeding 20?m?s?1. Simulations were performed using different horizontal grid resolutions with uniform grid sizes varying from 100×100 to 10×10?m. Results of the hydrostatic models were used to investigate the large-scale features of the internal wave motion. With the intent of investigating the high-frequency waves, observed results of these simulations were used as initial conditions for nonhydrostatic simulations using smaller grids. Wavelength of the high frequency waves decreased with grid resolution. However, none of the uniform grids were sufficiently fine to capture the waves of the highest frequency. Simulations performed using a nonuniform grid produced internal waves of similar frequency of the waves observed in the field. The simulations showed that these waves were shear unstable modes and that their vertical and horizontal length scales were in close agreement with results from linear stability analysis.     

Dispersive and Nonhydrostatic Pressure Effects at the Front of Surge

Undular bores and shocks generated by dam-break flows or tsunamis are examined considering nonhydrostatic pressure and dispersive effects in one- and two-horizontal-dimensional space. The fully nonlinear Boussinesq-type equations based on a weakly nonhydrostatic pressure assumption are chosen as the governing equations. The equation set is solved by a fourth-order accurate finite-volume method with an approximate Riemann solver. Several typical benchmark problems such as dam-break flows and tsunami wave fission are tested in one- and two-horizontal-dimensional space. The computed results by the Boussinesq-type model are at least as accurate as the results by the hydrostatic shallow water equations. This is particularly evident near the steep front of the wave, where frequency dispersion can play an important role. The magnitude of this nonhydrostatic pressure and dispersive effect near the front is quantified, and the engineering implications of neglecting these physics, as would be done through the use of a hydrostatic model, are discussed.     

Nonhydrostatic Modeling of Nonlinear Deep-Water Wave Groups

A nonhydrostatic model with a higher-order top-layer pressure treatment is developed. Accuracy with respect to linear wave dispersion and wave nonlinearity is carefully examined. The model is thereafter applied to simulate nonlinear deep-water wave groups. For slowly modulated wave groups, the model well predicts the characteristics of bichromatic waves better than those obtained by the fourth-order nonlinear Schr?dinger equation and the multilayer Boussinesq model. For fast evolution of focusing wave groups, the model accurately captures the limiting extreme wave conditions. Particularly the predicted local wave steepness of a narrow-banded wave group is higher than that of a broad-banded wave group, supporting the importance of spectral bandwidth in determining the limiting wave condition in the previous study. Overall, the agreement between the model’s results and experimental data are excellent, demonstrating the capability of the model on resolving wave-wave interactions in the nonlinear deep-water wave groups.     

Flow Conditions of Undular Hydraulic Jumps in Horizontal Rectangular Channels

The flow conditions of undular jumps for fully developed inflow condition have been investigated systematically. If the inflow Froude number is larger than 1.2, an undular jump has lateral shock waves near the toe of the jump. For a narrow channel, the shock waves cross upstream of the first wave crest, and the flow conditions of undular jumps depend on the aspect ratio and the inflow Froude number. In contrast, for a wide channel the shock waves do not cross upstream of the first wave crest, and the flow conditions of undular jumps are independent of the aspect ratio. The flow conditions of undular jumps are classified by considering the cross position of the lateral shock waves and the inflow Froude number. Also, the hydraulic conditions for the formation of nonbreaking and breaking undular jumps are determined. The effect of the Reynolds number on undular-jump formations is discussed, and changes of the flow conditions with the Reynolds number are described.     

Time Domain Analysis on the Dynamic Response of a Flexible Floating Structure to Waves

A time-domain numerical method is developed to analyze the hydroelastic responses of flexible floating structures to waves; in which, the boundary element method is applied to evaluate the fluid motion and the finite-element method to analyze the elastic deformation of structure. The dynamic wave-structure interaction is simulated by prescribing the conditions on a wave generation boundary for each time step and by satisfying the continuity of the pressure and displacement on the fluid-structure interface. A time-domain solution is obtained in a predictor-corrector scheme and through a time-stepping computation. The effect of space and time discretizations on the convergence and stability of solution for regular, random and solitary waves is discussed by comparing among numerical solutions. The validity of the present method is verified by comparing it with the experimental results for the three kinds of waves mentioned. Further, the fission of a solitary wave under a flexible floating structure is observed both in numerical analysis and experiments.     

Two-Dimensional SPH Simulations of Landslide-Generated Water Waves

Water waves generated by landslides have been of interest to ocean and coastal engineers, as well as to dam engineers. The present study uses a meshless and pure Lagrangian method known as smoothed particle hydrodynamics (SPH) to simulate nonlinear water waves due to landslides, with the aim of an accurate numerical prediction of the generation and propagation of such water waves. Validation is carried out by comparison between the computed prediction and experimental data of water waves generated by a two-dimensional triangular rigid body sliding into water. The calculated results show that the simulated water waves agree well with those observed in the experiment confirming the effectiveness and the accuracy of the proposed scheme.     

Oblique Long Waves on Beach and Induced Longshore Current

This study considers the 3D runup of long waves on a uniform beach of constant or variable downward slope that is connected to an open ocean of uniform depth. An inviscid linear long-wave theory is applied to obtain the fundamental solution for a uniform train of sinusoidal waves obliquely incident upon a uniform beach of variable downward slope without wave breaking. For waves at nearly grazing incidence, runup is significant only for the waves in a set of eigenmodes being trapped within the beach at resonance with the exterior ocean waves. Fourier synthesis is employed to analyze a solitary wave and a train of cnoidal waves obliquely incident upon a sloping beach, with the nonlinear and dispersive effects neglected at this stage. Comparison is made between the present theory and the ray theory to ascertain a criterion of validity. The wave-induced longshore current is evaluated by finding the Stokes drift of the fluid particles carried by the momentum of the waves obliquely incident upon a sloping beach. Currents of significant velocities are produced by waves at incidence angels about 45° and by grazing waves trapped on the beach. Also explored are the effects of the variable downward slope and curvature of a uniform beach on 3D runup and reflection of long waves.     

Eulerian-Lagrangian Numerical Scheme for Simulating Advection, Dispersion, and Transient Storage in Streams and a Comparison of Numerical Methods

Past applications of one-dimensional advection, dispersion, and transient storage zone models have almost exclusively relied on a central differencing, Eulerian numerical approximation to the nonconservative form of the fundamental equation. However, there are scenarios where this approach generates unacceptable error. A new numerical scheme for this type of modeling is presented here that is based on tracking Lagrangian control volumes across a fixed (Eulerian) grid. Numerical tests are used to provide a direct comparison of the new scheme versus nonconservative Eulerian numerical methods, in terms of both accuracy and mass conservation. Key characteristics of systems for which the Lagrangian scheme performs better than the Eulerian scheme include: nonuniform flow fields, steep gradient plume fronts, and pulse and steady point source loadings in advection-dominated systems. A new analytical derivation is presented that provides insight into the loss of mass conservation in the nonconservative Eulerian scheme. This derivation shows that loss of mass conservation in the vicinity of spatial flow changes is directly proportional to the lateral inflow rate and the change in stream concentration due to the inflow. While the nonconservative Eulerian scheme has clearly worked well for past published applications, it is important for users to be aware of the scheme’s limitations.     

Finite-Difference TVD Scheme for Computation of Dam-Break Problems

A second-order hybrid type of total variation diminishing (TVD) finite-difference scheme is investigated for solving dam-break problems. The scheme is based upon the first-order upwind scheme and the second-order Lax-Wendroff scheme, together with the one-parameter limiter or two-parameter limiter. A comparative study of the scheme with different limiters applied to the Saint Venant equations for 1D dam-break waves in wet bed and dry bed cases shows some differences in numerical performance. An optimum-selected limiter is obtained. The present scheme is extended to the 2D shallow water equations by using an operator-splitting technique, which is validated by comparing the present results with the published results, and good agreement is achieved in the case of a partial dam-break simulation. Predictions of complex dam-break bores, including the reflection and interactions for 1D problems and the diffraction with a rectangular cylinder barrier for a 2D problem, are further implemented. The effects of bed slope, bottom friction, and depth ratio of tailwater∕reservoir are discussed simultaneously.     

Role of Artificial Dissipation Scaling and Multigrid Acceleration in Numerical Solutions of the Depth-Averaged Free-Surface Flow Equations

A numerical model is developed for solving the depth-averaged, open-channel flow equations in generalized curvilinear coordinates. The equations are discretized in space in strong conservation form using a space-centered, second-order accurate finite-volume method. A nonlinear blend of first- and third-order accurate artificial dissipation terms is introduced into the discrete equations to accurately model all flow regimes. Scalar- and matrix-valued scaling of the artificial dissipation terms are considered and their effect on the accuracy of the solutions is evaluated. The discrete equations are integrated in time using a four-stage explicit Runge–Kutta method. For the steady-state computations, local time stepping, implicit residual smoothing, and multigrid acceleration are used to enhance the efficiency of the scheme. The numerical model is validated by applying it to calculate steady and unsteady open-channel flows. Extensive grid sensitivity studies are carried out and the potential of multigrid acceleration for steady depth-averaged computations is demonstrated.     

Nonlinear Response of Fluid-Filled Membrane in Gravity Waves

This paper describes a time-domain model for the nonlinear response of fluid-filled membranes in gravity waves. A formulation based on the principle of virtual work provides an integral governing equation for membrane deformation that fully accounts for geometric nonlinearity, which is known to be important even for relatively small deformation. The incident wave amplitude and membrane deformation are considered to be small, to allow linearization of the hydrodynamic problems. The potential flows inside and outside the membrane are solved by two boundary element models, which are coupled to the finite element model of the membrane. An iterative scheme based on Newmark’s method integrates the resulting nonlinear equations of motion in time. The computed results for a bottom-mounted fluid-membrane system show favorable agreement with available experimental and numerical data. Membrane geometric nonlinearity increases the system stiffness due to strain-stiffening and gives rise to hysteresis response at some frequencies.     

Extended Boussinesq Equations for Water-Wave Propagation in Porous Media

This paper presents a new Boussinesq-type model equations for describing nonlinear surface wave motions in porous media. The mathematical model based on perturbation approach reported by Hsiao et al. is derived. The drag force and turbulence effect suggested by Sollitt and Cross are incorporated for observing the flow behaviors within porous media. Additionally, the approach of Chen for eliminating the depth-dependent terms in the momentum equations is also adopted. The model capability on an applicable water depth range is satisfactorily validated against the linear wave theory. The nonlinear properties of model equations are numerically confirmed by the weakly nonlinear theory of Liu and Wen. Numerical experiments of regular waves propagating in porous media over an impermeable submerged breakwater are performed and the nonlinear behaviors of wave energy transfer between different harmonics are also examined.     

WAF Method and Splitting Procedure for Simulating Hydro- and Thermal-Peaking Waves in Open-Channel Flows

Hydro- and thermal-peaking waves, generated by hydroelectric power generation, have a strong impact on the ecological integrity of aquatic ecosystems. In order to reduce such effects, mitigation procedure must be studied and implemented. To this end a one-dimensional model which solves the coupling of hydrodynamics with heat transport is developed. The solution is obtained advancing simultaneously the hydrodynamic and thermal module with the same accuracy. For the numerical solution of the governing advection-reaction/diffusion problem a splitting procedure is adopted: the advection-reaction part is solved by means of the weight average flux (WAF) finite volume explicit method, while the diffusion part is solved using a nonlinear version of the implicit Crank-Nicolson method. The WAF method is extended to second-order in the presence of reaction terms. Numerical results are presented for different test examples, which demonstrate the accuracy and robustness of the scheme and its applicability in predicting temperature transport by shallow water flows. Application to the Adige River (Northern Italy) of this framework proves that the model is an effective tool for designing hydro- and thermal-peaking waves mitigation procedures.     

Numerical Investigation of Wave–Current–Vegetation Interaction

A fully three-dimensional numerical model has been developed to simulate the wave–current–vegetation interaction phenomenon. Physical experiments have also been carried out to provide data for the verification of the model. The numerical model utilizes the split-operator approach, in which the advection, diffusion, and pressure propagation are solved separately. Vegetation is modeled as a sink of momentum. The unsteady fluid force on vegetation is split into a time-dependent inertia component and a drag component. The model has been applied to simulate vegetation under pure waves, pure current, as well as wave current. Compared to available experimental data, the model is capable of reproducing the turbulence and velocity profiles induced by vegetation–current interaction. The wave attenuation due to vegetation is simulated correctly with a proper value of drag coefficient. Both the physical experiments and numerical simulations show that the interaction of waves and current leads to a greater attenuation of waves in the presence of vegetation, which can be explained by the nonlinear nature of the resistance force induced by the vegetation.     

Two-Dimensional Analysis of Dam-Break Flow in Vertical Plane

This work presents numerical computations for the analysis of Dam-Break Flow using two-dimensional flow equations in a vertical plane. The numerical model uses the general approach of the simplified marker and cell method combined with the volume of fluid approach for the surface tracking. The time evolution of flow depth at the dam site and the evolution of the pressure distribution are investigated for both wet and dry bed conditions. The effect of the initially nonhydrostatic state on the long term surface profile and wave velocity are studied. These long term effects are found to be marginal in the case of wet-bed conditions, but are significant in dry-bed conditions. The dry-bed tip velocity immediately after the dam break, computed numerically, compares well with analytical results published previously. The time taken to obtain a constant flow depth at the dam site increases with decreasing initial depth ratio. The numerical result for this time elapse for dry-bed conditions is close to the experimentally obtained value.     

Generation of Three-Dimensional Fully Nonlinear Water Waves by a Submerged Moving Object

This paper describes a numerical investigation on the generation of three-dimensional (3D) fully nonlinear water waves by a submerged object moving at speeds varied from subcritical to supercritical conditions in an unbounded fluid domain. Considering a semispheroid as the moving object, simulations of the time evolutions of 3D free-surface elevation and flow field are performed. The present 3D model results are found to agree reasonably well with other published vertical two-dimensional (2D) and quasi-3D numerical solutions using Boussinesq-type models. Different from the 2D cases with near critical moving speeds, the 3D long-term wave pattern suggests that in addition to the circularly expanded upstream advancing solitonlike waves, a sequence of divergent and transverse waves are also developed behind the moving object. The velocity distributions and associated fluid-particle trajectories at the free-surface and middle layers are presented to show the 3D feature of the motion. The results under various vertical positions (referred as gap) of a moving object are also compared. It is found the gap has shown a substantial influence on the generated waves, especially in the wake region, when an object moves at a near critical or subcritical speed. However, the results under the case with a high supercritical moving speed indicate the gap has a negligible effect on the generated upstream and downstream waves.