Numerical resolution of well-balanced shallow water equations with complex source terms

This paper presents a well-balanced numerical scheme for simulating frictional shallow flows over complex domains involving wetting and drying. The proposed scheme solves, in a finite volume Godunov-type framework, a set of pre-balanced shallow water equations derived by considering pressure balancing. Non-negative reconstruction of Riemann states and compatible discretization of slope source term produce stable and well-balanced solutions to shallow flow hydrodynamics over complex topography. The friction source term is discretized using a splitting implicit scheme. Limiting value of the friction force is derived to ensure stability. This new numerical scheme is validated against four theoretical benchmark tests and then applied to reproduce a laboratory dam break over a domain with irregular bed profile.     

Comparison between TVD-MacCormack and ADI-type solvers of the shallow water equations

A total variation diminishing (TVD) modification of the MacCormack scheme is developed for simulating shallow water dynamics on a uniform Cartesian grid. Results obtained using conventional and deviatoric forms of the conservative non-linear shallow water equations (SWEs) are compared for cases where the bed has a varying topography. The comparisons demonstrate that the deviatoric form of the SWEs gives more accurate results than the conventional form, in the absence of numerical balancing of the flux-gradient and source terms. A further comparison is undertaken between the TVD-MacCormack model and an alternating direction implicit (ADI) model for cases involving steep-fronted shallow flows. It is demonstrated that the ADI model is unable to predict trans-critical flows correctly, and artificial viscosity has to be introduced to remove spurious oscillations. The TVD-MacCormack model reproduces all flow regimes accurately. Finally, the TVD-MacCormack model is used to predict a laboratory-scale dyke break undertaken at Delft University of Technology. The predictions agree closely with the experimental data, and are in excellent agreement with results from an alternative Godunov-type model.     

High-order finite volume WENO schemes for the shallow water equations with dry states

The shallow water equations are used to model flows in rivers and coastal areas, and have wide applications in ocean, hydraulic engineering, and atmospheric modeling. These equations have still water steady state solutions in which the flux gradients are balanced by the source term. It is desirable to develop numerical methods which preserve exactly these steady state solutions. Another main difficulty usually arising from the simulation of dam breaks and flood waves flows is the appearance of dry areas where no water is present. If no special attention is paid, standard numerical methods may fail near dry/wet front and produce non-physical negative water height. A high-order accurate finite volume weighted essentially non-oscillatory (WENO) scheme is proposed in this paper to address these difficulties and to provide an efficient and robust method for solving the shallow water equations. A simple, easy-to-implement positivity-preserving limiter is introduced. One- and two-dimensional numerical examples are provided to verify the positivity-preserving property, well-balanced property, high-order accuracy, and good resolution for smooth and discontinuous solutions.     

A SPH simulation on large-amplitude sloshing for fluids in a two-dimensional tank

Smoothed particle hydrodynamics(SPH) is a mesh-free adaptive Lagrangian particle method with attractive features for dealing with the free surface flow.This paper applies the SPH method to simulate the large-amplitude lateral sloshing both with and without a floating body,and the vertical parametrically-excited sloshing in a two-dimensional tank.The numerical results show that the SPH approach has an obvious advantage over conventional mesh-based methods in handling nonlinear sloshing problems such as violent fluid-solid interaction,and flow separation and wave-breaking on the free fluid surface.The SPH method provides a new alternative and an effective way to solve these special strong nonlinear sloshing problems.     

Lagrangian simulations of unstable gravity-driven flow of fluids with variable density in randomly heterogeneous porous media

A new Lagrangian particle model based on smoothed particle hydrodynamics (SPH) is developed and used to simulate Darcy scale flow and transport in porous media. The method has excellent conservation properties and treats advection exactly. The Lagrangian method is used in stochastic analysis of miscible density-driven fluid flows. Results show that heterogeneity significantly increases dispersion and slows development of Rayleigh–Taylor instability. The presented numerical examples illustrate the advantages of Lagrangian methods for stochastic transport simulations.     

A discontinuous Galerkin method for two-dimensional flow and transport in shallow water

A discontinuous Galerkin (DG) finite element method is described for the two-dimensional, depth-integrated shallow water equations (SWEs). This method is based on formulating the SWEs as a system of conservation laws, or advection–diffusion equations. A weak formulation is obtained by integrating the equations over a single element, and approximating the unknowns by piecewise, possibly discontinuous, polynomials. Because of its local nature, the DG method easily allows for varying the polynomial order of approximation. It is also “locally conservative”, and incorporates upwinded numerical fluxes for modeling problems with high flow gradients. Numerical results are presented for several test cases, including supercritical flow, river inflow and standard tidal flow in complex domains, and a contaminant transport scenario where we have coupled the shallow water flow equations with a transport equation for a chemical species.     

A 2D well-balanced shallow flow model for unstructured grids with novel slope source term treatment

Within the framework of the Godunov-type cell-centered finite volume (CCFV) scheme, this paper proposes a 2D well-balanced shallow water model for unstructured grids. In this model, the face-based van Albada limiting scheme is employed in conjunction with a directional correction to reconstruct second order spatial values at the midpoint of the considered face. The Harten, Lax and van Leer approximate Riemann solver with the Contact wave restored (HLLC) is applied to compute the fluxes of mass and momentum, while the splitting implicit method is utilized to solve the friction source terms. The novel aspects of the model include the new limited directional correction with which the new local extrema caused by the unlimited correction are prevented efficiently, the simplified non-negative water depth reconstruction used to get rid of numerical instabilities and in turn to preserve mass conservation at wet–dry interfaces and the novel slope source term treatment which suits complex unstructured grids well by transforming the slope source of a cell into fluxes at its faces. This model is able to preserve the C-property and mass conservation, to achieve good convergence to steady state, to capture discontinuous flows and to handle complex flows involving wetting and drying over uneven beds on unstructured grids with poor connectivity in an accurate, efficient and robust way. These capabilities are verified against analytical solutions, numerical results of alternative models and experimental and field data.     

Investigation of pressure variations over stepped spillways using smooth particle hydrodynamics

In this paper the smoothed particle hydrodynamics, (SPH), technique is used to investigate the pressure distribution on steps located in the non-aerated flow region of a stepped spillway for different discharges typical of skimming flow conditions. The open source code 2D SPHysics has been employed after being validated against the laboratory model studies of flow over broad crested weirs and flow over stepped spillways. The numerical results, in terms of the water surface and velocity profiles at different sections, are in good agreement with the corresponding experimental results. The code is then applied to determine the pressure distribution on the vertical and horizontal step faces. Also, the aspects of the pressure pattern are described and the positions/magnitudes of the maximum and minimum pressure values are presented.     

A GPU-based numerical model coupling hydrodynamical and morphological processes

Sediment transport simulations are important in practical engineering. In this study, a graphics processing unit (GPU)-based numerical model coupling hydrodynamical and morphological processes was developed to simulate water flow, sediment transport, and morphological changes. Aiming at accurately predicting the sediment transport and sediment scouring processes, the model resolved the realistic features of sediment transport and used a GPU-based parallel computing technique to the accelerate calculation. This model was created in the framework of a Godunov-type finite volume scheme to solve the shallow water equations (SWEs). The SWEs were discretized into algebraic equations by the finite volume method. The fluxes of mass and momentum were computed by the Harten, Lax, and van Leer Contact (HLLC) approximate Riemann solver, and the friction source terms were calculated by the proposed a splitting point-implicit method. These values were evaluated using a novel 2D edge-based MUSCL scheme. The code was programmed using C++ and CUDA, which could run on GPUs to substantially accelerate the computation. The aim of the work was to develop a GPU-based numerical model to simulate hydrodynamical and morphological processes. The novelty is the application of the GPU techniques in the numerical model, making it possible to simulate the sediment transport and bed evolution in a high-resolution but efficient manner. The model was applied to two cases to evaluate bed evolution and the effects of the morphological changes on the flood patterns with high resolution. This indicated that the GPU-based high-resolution hydro-geomorphological model was capable of reproducing morphological processes. The computational times for this test case on the GPU and CPU were 298.1 and 4531.2 s, respectively, indicating that the GPU could accelerate the computation 15.2 times. Compared with the traditional CPU high-grid resolution, the proposed GPU-based high-resolution numerical model improved the reconstruction speed more than 2.0–12.83 times for different grid resolutions while remaining computationally efficient.     

Well-balanced high-order centered schemes on unstructured meshes for shallow water equations with fixed and mobile bed

In this paper, we study the numerical approximation of the two-dimensional morphodynamic model governed by the shallow water equations and bed-load transport following a coupled solution strategy. The resulting system of governing equations contains non-conservative products and it is solved simultaneously within each time step. The numerical solution is obtained using a new high-order accurate centered scheme of the finite volume type on unstructured meshes, which is an extension of the one-dimensional PRICE-C scheme recently proposed in Canestrelli et al. (2009) [5]. The resulting first-order accurate centered method is then extended to high order of accuracy in space via a high order WENO reconstruction technique and in time via a local continuous space–time Galerkin predictor method. The scheme is applied to the shallow water equations and the well-balanced properties of the method are investigated. Finally, we apply the new scheme to different test cases with both fixed and movable bed. An attractive future of the proposed method is that it is particularly suitable for engineering applications since it allows practitioners to adopt the most suitable sediment transport formula which better fits the field data.     

Well-balanced numerical modelling of non-uniform sediment transport in alluvial rivers

The last two decades have witnessed the development and application of well-balanced numerical models for shallow flows in natural rivers.However,until now there have been no such models for flows with non-uniform sediment transport.This paper presents a 1D well-balanced model to simulate flows and non-capacity transport of non-uniform sediment in alluvial rivers.The active layer formulation is adopted to resolve the change of bed sediment composition.In the framework of the finite volume Slope Llmiter Centred(SLIC) scheme,a surface gradient method is incorporated to attain well-balanced solutions to the governing equations.The proposed model is tested against typical cases with irregular topography,including the refilling of dredged trenches,aggradation due to sediment overloading and flood flow due to landslide dam failure.The agreement between the computed results and measured data is encouraging.Compared to a non-well-balanced model,the well-balanced model features improved performance in reproducing stage,velocity and bed deformation.It should find general applications for non-uniform sediment transport modelling in alluvial rivers,especially in mountain areas where the bed topography is mostly irregular.     

Intercomparison of 3D pore-scale flow and solute transport simulation methods

Multiple numerical approaches have been developed to simulate porous media fluid flow and solute transport at the pore scale. These include 1) methods that explicitly model the three-dimensional geometry of pore spaces and 2) methods that conceptualize the pore space as a topologically consistent set of stylized pore bodies and pore throats. In previous work we validated a model of the first type, using computational fluid dynamics (CFD) codes employing a standard finite volume method (FVM), against magnetic resonance velocimetry (MRV) measurements of pore-scale velocities. Here we expand that validation to include additional models of the first type based on the lattice Boltzmann method (LBM) and smoothed particle hydrodynamics (SPH), as well as a model of the second type, a pore-network model (PNM). The PNM approach used in the current study was recently improved and demonstrated to accurately simulate solute transport in a two-dimensional experiment. While the PNM approach is computationally much less demanding than direct numerical simulation methods, the effect of conceptualizing complex three-dimensional pore geometries on solute transport in the manner of PNMs has not been fully determined. We apply all four approaches (FVM-based CFD, LBM, SPH and PNM) to simulate pore-scale velocity distributions and (for capable codes) nonreactive solute transport, and intercompare the model results. Comparisons are drawn both in terms of macroscopic variables (e.g., permeability, solute breakthrough curves) and microscopic variables (e.g., local velocities and concentrations). Generally good agreement was achieved among the various approaches, but some differences were observed depending on the model context. The intercomparison work was challenging because of variable capabilities of the codes, and inspired some code enhancements to allow consistent comparison of flow and transport simulations across the full suite of methods. This study provides support for confidence in a variety of pore-scale modeling methods and motivates further development and application of pore-scale simulation methods.     

High-order balanced CWENO scheme for movable bed shallow water equations

In this work the numerical integration of 1D shallow water equations (SWE) over movable bed is performed using a well-balanced central weighted essentially non-oscillatory (CWENO) scheme, fourth-order accurate in space and in time. Time accuracy is obtained following a Runge–Kutta (RK) procedure, coupled with its natural continuous extension (NCE). Spatial accuracy is obtained using WENO reconstructions of conservative variables and of flux and bed derivatives. An original treatment for bed slope source term, which maintains the established order of accuracy and satisfies the property of exactly preserving the quiescent flow (C-property), is introduced in the scheme. This treatment consists of two procedures. The former involves the evaluation of the point-values of the flux derivative, considered as a whole with the bed slope source term. The latter involves the spatial integration of the source term, analytically manipulated to take advantage from the expected regularity of the free surface elevation. The high accuracy of the scheme allows to obtain good results using coarse grids, with consequent gain in terms of computational effort. The well-balancing of the scheme allows to reproduce small perturbations of the free surface and of the bottom otherwise of the same order of magnitude of the numerical errors induced by the non-balancing. The accuracy, the well-balancing and the good resolution of the model in reproducing free surface flow over movable bed are tested over analytical solutions and over numerical results available in literature.     

Modelling multi-phase liquid-sediment scour and resuspension induced by rapid flows using Smoothed Particle Hydrodynamics (SPH) accelerated with a Graphics Processing Unit (GPU)

A two-phase numerical model using Smoothed Particle Hydrodynamics (SPH) is applied to two-phase liquid-sediments flows. The absence of a mesh in SPH is ideal for interfacial and highly non-linear flows with changing fragmentation of the interface, mixing and resuspension. The rheology of sediment induced under rapid flows undergoes several states which are only partially described by previous research in SPH. This paper attempts to bridge the gap between the geotechnics, non-Newtonian and Newtonian flows by proposing a model that combines the yielding, shear and suspension layer which are needed to predict accurately the global erosion phenomena, from a hydrodynamics prospective. The numerical SPH scheme is based on the explicit treatment of both phases using Newtonian and the non-Newtonian Bingham-type Herschel-Bulkley-Papanastasiou constitutive model. This is supplemented by the Drucker-Prager yield criterion to predict the onset of yielding of the sediment surface and a concentration suspension model. The multi-phase model has been compared with experimental and 2-D reference numerical models for scour following a dry-bed dam break yielding satisfactory results and improvements over well-known SPH multi-phase models. With 3-D simulations requiring a large number of particles, the code is accelerated with a graphics processing unit (GPU) in the open-source DualSPHysics code. The implementation and optimisation of the code achieved a speed up of x58 over an optimised single thread serial code. A 3-D dam break over a non-cohesive erodible bed simulation with over 4 million particles yields close agreement with experimental scour and water surface profiles.     

Machine learning for accelerating 2D flood models: Potential and challenges

Two-dimensional hydrodynamic models numerically solve full Shallow Water Equations (SWEs). Despite their high accuracy, these models have long simulation run times and therefore are of limited use for exploratory or real-time flood predictions. We investigated the possibility of improving flood modelling speed using Machine Learning (ML). We propose a new method that replaces the computationally expensive parts of the hydrodynamic models with simple and efficient data-driven approximations. Our hypothesis is that by integrating ML with physics-based numerical methods, we can achieve improved generalization performance: that is, the trained model for one case study can be used in other studies without the need for new training. We tested two ML approaches: for the first, we integrated curve fitting, and, for the second, artificial neural networks (ANN) with a finite volume scheme to solve the local inertial approximation of the SWEs. The data-driven models approximated the Momentum Equation, which explicitly solved the time derivative of flow rates. Water depths were then updated by applying a water balance equation. We also tested two different training datasets: the simulated dataset, generated from the results of hydrodynamic model, and the random dataset, generated by directly solving the momentum equation on randomly sampled input data. Various combinations of input features, for example, water slope and depth, were explored. The proposed models were trained in a small hypothetical case and tested in a different hypothetical and in two real case studies. Results showed that the curve-fitting method can be implemented successfully, given sufficient training and input data. The ANN model trained with a random dataset was substantially more accurate than that of the model trained with the simulated dataset. However, it was not successful in the real case studies. The curve-fitting method resulted in better generalization performance and increased the simulation speed of the local inertial model by 23%. Future research should test the performance of ML in terms of an increase in stable time step size and approximation of the full SWEs.     

A meshless method to simulate solute transport in heterogeneous porous media

We derive a meshless numerical method based on smoothed particle hydrodynamics (SPH) for the simulation of conservative solute transport in heterogeneous geological formations. We demonstrate that the new proposed scheme is stable, accurate, and conserves global mass. We evaluate the performance of the proposed method versus other popular numerical methods for the simulation of one- and two-dimensional dispersion and two-dimensional advective–dispersive solute transport in heterogeneous porous media under different Pèclet numbers. The results of those benchmarks demonstrate that the proposed scheme has important advantages over other standard methods because of its natural ability to control numerical dispersion and other numerical artifacts. More importantly, while the numerical dispersion affecting traditional numerical methods creates artificial mixing and dilution, the new scheme provides numerical solutions that are “physically correct”, greatly reducing these artifacts.     

A robust well-balanced finite volume model for shallow water flows with wetting and drying over irregular terrain

An unstructured Godunov-type finite volume model is developed for the numerical simulation of geometrically challenging two-dimensional shallow water flows with wetting and drying over convoluted topography. In the framework of sloping bottom model, a modified formulation of shallow water equations is used to preserve mass conservation during flooding and recession. The key ingredient of the model is the use of this combination of the sloping bottom model and the modified shallow water equations to provide a robust technique for wet/dry fronts tracking and, together with centered discretization of the bed slope source term, to exactly preserve the static flow on irregular topographies. The variable reconstruction technique ensures nonnegative reconstructed water depth and reasonable reconstructed velocity, and the friction terms are solved by semi-implicit scheme that does not invert the direction of velocity components. The robustness and accuracy of the proposed model are assessed by comparing numerical and reference results of extensive test cases. Moreover, the results of a dam-break flooding over real topography are presented to show the capability of the model on field-scale application.     

SPH simulation of free surface flow over a sharp-crested weir

In this paper the numerical simulation of a free surface flow over a sharp-crested weir is presented. Since in this case the usual shallow water assumptions are not satisfied, we propose to solve the problem using the full weakly compressible Navier–Stokes equations with the Tait equation of state for water. The numerical method used consists of the new meshless Smooth Particle Hydrodynamics (SPH) formulation proposed by Ferrari et al. (2009) [8], that accurately tracks the free surface profile and provides monotone pressure fields. Thus, the unsteady evolution of the complex moving material interface (free surface) can been properly solved. The simulations involving about half a million of fluid particles have been run in parallel on two of the most powerful High Performance Computing (HPC) facilities in Europe. The validation of the results has been carried out analysing the pressure field and comparing the free surface profiles obtained with the SPH scheme with experimental measurements available in literature [18]. A very good quantitative agreement has been obtained.     

THREE-DIMENSIONAL GEO-MORPHOLOGICAL MODELLING OF ESTUARINE WATERS

1 INTRODUCTION Estuaries and coastal zones have been used as means of navigation, disposal of waste material, fishing and many commercial and economic activities over the centuries. One of the most important phenomena in these regions is the suspended sediment transport, which may cause erosion and deposition, and hence changes in the estuarys morphology. In turn, such changes may lead to problems relating to navigation and estuarine management. When the bed boundary of an estuary change…     

Benchmark on the numerical simulations of the hydrodynamic and morphodynamic evolution of tidal channels and tidal inlets

A correct understanding of the hydrodynamics and morphodynamics of tidal basins is of fundamental importance for the fate of the Venice Lagoon, Italy. If on one hand, the development of sophisticated numerical models is called for in order to reproduce the complexity of the mechanisms governing the morphodynamic evolution of many natural environments, including lagoons, on the other hand, a clear knowledge of the reliability and limits of the results provided by these models is crucial in order to establish the condition under which they can be safely applied. To this aim, researchers involved in numerical modeling in the framework of the recent Corila research programmes, agreed to perform an accurate comparison of results provided by three different numerical models, applying them to the test case offered by the experimental investigations performed under controlled conditions by Tambroni et al. (2005a). Here, we consider the following numerical models: (i) a 2D finite element hydrodynamic model coupled with a 2D finite volume morphodynamic model (5 and 3); (ii) a 2D finite element morphodynamic model (Ferrarin et al., 2008); (iii) a 2D depth-averaged model for the inlet region, coupled with a 1D model for the channel (Tambroni et al., 2005b). A first set of simulations concerns the fixed bed case and shows that all the models provide similar results: in particular, they are able to predict the observed free surface oscillations satisfactorily, while comparison with the measured velocity field is less satisfactory. Moreover, as far as the flow field at the inlet is concerned, the models describe accurately the potential flow into the channel during the flood phase, while they are not able to adequately reproduce the occurrence of the fine structure of the shear layers shed by the inlet edges during the ebb phase. This limit is related to the shallow water character of the models. As for the morphodynamics, the long term equilibrium configurations of the bottom of the channel and of the near inlet region show qualitative agreement with the experimental observations, although in this case the differences between the results provided by the distinct numerical approaches are more marked.