Riemann Problems of the Shallow Water Equations

Nonlinear Systems of Conservation Laws

Brittany Boribong
Kathreen Yanit
PURE Math 2013
Interns Program
University of Hawaii at Hilo

July 19, 2013

Introduction
What happens if a dam breaks?

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

2 / 28

Shallow Water Equations

One-Dimensional Shallow Water Equations


h
hu

"


+
t

hu
1
hu2 + gh2
2

#
=0
x

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

3 / 28

Shallow Water Equations

One-Dimensional Shallow Water Equations


h
hu

"


+
t

hu
1
hu2 + gh2
2

#
=0
x

Using conserved quantaties,


q(x, t) =

h
hu


=

q1
q2

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

3 / 28

Shallow Water Equations

One-Dimensional Shallow Water Equations


h
hu

"


+
t

hu
1
hu2 + gh2
2

#
=0
x

Using conserved quantaties,


q(x, t) =

h
hu


=

q1
q2

The Shallow Water Equations can be rewritten as,



q1
q2

q2
=0
+ q2 2 1
2
+
gq
1
t
q1
2
x

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

3 / 28

Riemann Problems
What is a Riemann Problem?

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

4 / 28

Riemann Problems
What is a Riemann Problem?

Riemann Problem
An initial boundary value problem for the conservation law with a
piecewise constant initial condition.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

4 / 28

Riemann Problems
What is a Riemann Problem?

Riemann Problem
An initial boundary value problem for the conservation law with a
piecewise constant initial condition.

Riemann problems for a single nonlinear equation:

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

4 / 28

Riemann Problems
What is a Riemann Problem?

Riemann Problem
An initial boundary value problem for the conservation law with a
piecewise constant initial condition.

Riemann problems for a single nonlinear equation:

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

4 / 28

Riemann Problems
What is a Riemann Problem?

Riemann Problem
An initial boundary value problem for the conservation law with a
piecewise constant initial condition.

Riemann problems for a single nonlinear equation:

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

4 / 28

Riemann Problems
What is a Riemann Problem?

Riemann Problem
An initial boundary value problem for the conservation law with a
piecewise constant initial condition.

Riemann problems for a nonlinear system of equations:

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

4 / 28

Riemann Problems
What is a Riemann Problem?

Riemann Problem
An initial boundary value problem for the conservation law with a
piecewise constant initial condition.

Riemann problems for a nonlinear system of equations:

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

4 / 28

Riemann Problems
What is a Riemann Problem?

Riemann Problem
An initial boundary value problem for the conservation law with a
piecewise constant initial condition.

Riemann problems for a nonlinear system of equations:

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

4 / 28

Riemann Problems
What is a Riemann Problem?

Riemann Problem
An initial boundary value problem for the conservation law with a
piecewise constant initial condition.

Riemann problems for a nonlinear system of equations:

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

4 / 28

Rarefaction Waves
What is a Rarefaction Wave?

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

5 / 28

Rarefaction Waves
What is a Rarefaction Wave?

Rarefaction Wave
It is a continuous solution to a Riemann Problem.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

5 / 28

Rarefaction Waves
What is a Rarefaction Wave?

Rarefaction Wave
It is a continuous solution to a Riemann Problem.
A rarefaction wave forms in a single nonlinear system,

Conditions of a Rarefaction Wave

F 0 (ur ) > F 0 (ul )

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

5 / 28

Rarefaction Waves
What is a Rarefaction Wave?

Rarefaction Wave
It is a continuous solution to a Riemann Problem.
A rarefaction wave forms in a single nonlinear system,

Conditions of a Rarefaction Wave

F 0 (ur ) > F 0 (ul )

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

5 / 28

Rarefaction Waves
What is a Rarefaction Wave?

Rarefaction Wave
It is a continuous solution to a Riemann Problem.
A rarefaction wave forms in a single nonlinear system,

Conditions of a Rarefaction Wave

F 0 (ur ) > F 0 (ul )

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

5 / 28

Rarefaction Waves
A rarefaction wave is solved in a single nonlinear equation by using a
solution that is self-similar,

Self-Similar Solution for a Single Nonlinear Equation

u(x, t) = u

x
t

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

6 / 28

Rarefaction Waves
A rarefaction wave is solved in a single nonlinear equation by using a
solution that is self-similar,

Self-Similar Solution for a Single Nonlinear Equation

u(x, t) = u

x
t

Consider Burgers equation as an example,

Burgers Equation
1
F (u) = u2
2

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

6 / 28

Rarefaction Waves
A rarefaction wave is solved in a single nonlinear equation by using a
solution that is self-similar,

Self-Similar Solution for a Single Nonlinear Equation

u(x, t) = u

x
t

Consider Burgers equation as an example,

Burgers Equation
1
F (u) = u2
2
Plugged into the conservation law,
   
  x 
1
x 2

u
u
2
t
t
+
=0
t
x
Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

6 / 28

Rarefaction Waves
Rarefaction Wave Solution
u(x, t) = (F 0 )1

x
t

where F 0 is the speed of the characteristic paths u in the structure of

the rarefaction wave.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

7 / 28

Rarefaction Waves
Rarefaction Wave Solution
u(x, t) = (F 0 )1

x
t

where F 0 is the speed of the characteristic paths u in the structure of

the rarefaction wave.

A similar process can be done to solve for the structure inside a

rarefaction wave in a nonlinear system of equations by choosing a
self-similar solution,

Self-Similar Solution for a System of Nonlinear Equations

q(x, t) = q

x
t

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

7 / 28

Rarefaction Waves
Plugged into the conservation law,
DF (q) q 0

x
t

x
t

q0

x
t

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

8 / 28

Rarefaction Waves
Plugged into the conservation law,
DF (q) q 0

x
t

x
t

q0

x
t

where

DF (q) =

q2
q1

0
2
+ gq1

1
2q2
q1

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

8 / 28

Rarefaction Waves
Plugged into the conservation law,
DF (q) q 0

x
t

x
t

q0

x
t

where

DF (q) =

q2
q1

0
2
+ gq1

1
2q2
q1

Similar to the eigenvector equation,

Ax = x
Therefore q 0

x
t

is an eigenvector with corresponding eigenvalue .

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

8 / 28

Rarefaction Waves
Finding the eigenvalues and eigenvectors of DF (q),

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

9 / 28

Rarefaction Waves
Finding the eigenvalues and eigenvectors of DF (q),

Eigenvalues
p
gh
p
2 = u + gh

1 = u

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

9 / 28

Rarefaction Waves
Finding the eigenvalues and eigenvectors of DF (q),

Eigenvalues
p
gh
p
2 = u + gh

1 = u

Eigenvectors

r~1 =

u


r~2 =

u+

1
1


gh

gh

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

9 / 28

Rarefaction Waves
Going back to the equation,

Self-Similar Equation
q
where q

x
t

x
t

= (p )1

x
t

is the state on a curve corresponding to p .

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

10 / 28

Rarefaction Waves
Going back to the equation,

Self-Similar Equation
q
where q

x
t

x
t

= (p )1

x
t

is the state on a curve corresponding to p .

What is an integral curve?

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

10 / 28

Rarefaction Waves
Going back to the equation,

Self-Similar Equation
q
where q

x
t

x
t

= (p )1

x
t

is the state on a curve corresponding to p .

What is an integral curve?

Integral Curve
A curve of the vector field r~p that has a tangent vector at each point q
that is an eigenvector of DF (q) corresponding to the eigenvalue p (q).

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

10 / 28

Integral Curves
Finding the integral curves by plotting the points (h, u) on the vector
field by solving for the system of differential equations obtained by the
eigenvectors r~1 and r~2 .

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

11 / 28

Integral Curves
Finding the integral curves by plotting the points (h, u) on the vector
field by solving for the system of differential equations obtained by the
eigenvectors r~1 and r~2 .

Differential Equations of Eigenvector r~1

dq1
=1
dt
dq2
q2
=
g q1
dt
q1

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

11 / 28

Integral Curves
Finding the integral curves by plotting the points (h, u) on the vector
field by solving for the system of differential equations obtained by the
eigenvectors r~1 and r~2 .

Integral Curves of r~1

h = h
p
p 
hu = hu + 2h
gh gh

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

11 / 28

Integral Curves
Finding the integral curves by plotting the points (h, u) on the vector
field by solving for the system of differential equations obtained by the
eigenvectors r~1 and r~2 .

Differential Equations of Eigenvector r~2

dq1
=1
dt
dq2
q2
=
g q1
dt
q1

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

12 / 28

Integral Curves
Finding the integral curves by plotting the points (h, u) on the vector
field by solving for the system of differential equations obtained by the
eigenvectors r~1 and r~2 .

Integral Curves of r~2

h = h
p
p 
hu = hu + 2h
gh gh

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

12 / 28

Directional Derivatives
Need to find the section of the integral curve that is increasing when
dealing with rarefactions waves.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

13 / 28

Directional Derivatives
Need to find the section of the integral curve that is increasing when
dealing with rarefactions waves.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

13 / 28

Directional Derivatives
Need to find the section of the integral curve that is increasing when
dealing with rarefactions waves.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

13 / 28

Directional Derivatives
Need to find the section of the integral curve that is increasing when
dealing with rarefactions waves.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

13 / 28

Rarefaction Waves
Recall the solution in the beginning,

Speed of Rarefaction Waves Equation

q

x
t

= (1 )1

x
t

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

14 / 28

Rarefaction Waves
Recall the solution in the beginning,

Speed of Rarefaction Waves Equation

q

x
t

= (1 )1

x
t

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

14 / 28

Rarefaction Waves
Once the speeds of the characteristic paths inside the rarefaction wave
are found and the states corresponding to the speeds on the integral
curve, the structure inside the rarefaction wave can be displayed.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

15 / 28

All-Rarefaction Riemann Problem

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

16 / 28

All-Rarefaction Riemann Problem

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

16 / 28

All-Rarefaction Riemann Problem

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

16 / 28

All-Rarefaction Riemann Problem

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

16 / 28

All-Rarefaction Riemann Problem

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

16 / 28

All-Rarefaction Riemann Problem

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

16 / 28

Shockwaves
What is a shockwave?

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

17 / 28

Shockwaves
What is a shockwave?

Shockwave
It is a discontinuous solution to a Riemann Problem.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

17 / 28

Shockwaves
What is a shockwave?

Shockwave
It is a discontinuous solution to a Riemann Problem.
A shockwave forms in a single nonlinear equation:

Rankine-Hugoniot Jump Conditions

s(ul ur ) = F (ul ) F (ur )

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

17 / 28

Shockwaves
What is a shockwave?

Shockwave
It is a discontinuous solution to a Riemann Problem.
A shockwave forms in a single nonlinear equation:

Lax Entropy Condition

F 0 (ul ) > F 0 (ur )

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

17 / 28

Shockwaves
A shockwave forms in a non-linear system of equations:

Jump Conditions
s(q q) = f (q ) f (q)

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

18 / 28

Shockwaves
A shockwave forms in a non-linear system of equations:

Jump Conditions
s(q q) = f (q ) f (q)

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

18 / 28

Shockwaves
A shockwave forms in a non-linear system of equations:

Entropy Condition
p (qL ) > p (qR )

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

18 / 28

Shockwaves
A shockwave forms in a non-linear system of equations:

Entropy Condition
p (qL ) > p (qR )

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

18 / 28

State Space

Note: Integral curves of the state space for an arbitrary state q, share
the same tangent vector at the base state but are not equal curves.
Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

19 / 28

State Space

Note: Integral curves of the state space for an arbitrary state q, share
the same tangent vector at the base state but are not equal curves.
Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

19 / 28

State Space

Note: Integral curves of the state space for an arbitrary state q, share
the same tangent vector at the base state but are not equal curves.
Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

19 / 28

State Space

Note: Integral curves of the state space for an arbitrary state q, share
the same tangent vector at the base state but are not equal curves.
Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

19 / 28

State Space

Note: Integral curves of the state space for an arbitrary state q, share
the same tangent vector at the base state but are not equal curves.
Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

19 / 28

Shockwaves
Produces a system of algebraic equations when plugged into the jump
conditions,

Shallow Water Equations

s(h h) = h u hu
1
s(h q hu) = h u2 hu2 + g(h2 h2 )
2

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

20 / 28

Shockwaves
Produces a system of algebraic equations when plugged into the jump
conditions,

Shallow Water Equations

s(h h) = h u hu
1
s(h q hu) = h u2 hu2 + g(h2 h2 )
2
After solving for the 3 unknowns,

Equation of the Shockwave Solution

s 

g 1
1
u(h) = u (h h)
+
2 h h

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

20 / 28

Shockwaves

Hugoniot Loci
corresponds to the 1-Shockwave
+ corresponds to the 2-Shockwave
Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

21 / 28

Shockwaves

Hugoniot Loci
corresponds to the 1-Shockwave
+ corresponds to the 2-Shockwave
Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

21 / 28

All-Shockwave

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

22 / 28

All-Shockwave

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

22 / 28

All-Shockwave

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

22 / 28

All-Shockwave

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

22 / 28

All-Shockwave

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

22 / 28

All-Shockwave

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

22 / 28

Shallow Water Equations

General Riemann Solver for Shallow Water Equations

p
p 

u
+
2
gh

gh ,

l
l

s 

l (h) =
g 1
1

ul (h hl ) 2 h + h ,
l

p

p

ghr gh ,

ur 2
s 

r (h) =
g 1
1

ur + (h hr ) 2 h + h ,
r

if h < hl ,
if h > hl
if h < hr ,
if h > hr

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

23 / 28

Dam-Break Solution

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

24 / 28

Dam-Break Solution

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

24 / 28

Dam-Break Solution

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

24 / 28

Dam-Break Solution

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

24 / 28

Dam-Break Solution

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

24 / 28

Dam-Break Solution

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

25 / 28

Shallow Water Equations

Theorem





q1l
q1r
and qr =
, where q1l , q1r > 0, there exists a
q2l
q2r
solution to determine the intermediate state qm to the Riemann
Problem of the Shallow Water Equations.

Given ql =

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

26 / 28

References
Randall J. LeVeque Finite Volume Methods for Hyperbolic
Problems. Pages 253-283. 2002.
Randall J. LeVeque Nonlinear Conservation Laws and Finite
Volume Methods for Astrophysical Fluid Flow. Pages 35-43. 1998.

Brittany Boribong Kathreen Yanit Riemann Problems of the Shallow Water Equations July 19, 2013

27 / 28