International Conference on Computational Methods in Marine Engineering MARINE 2011 L.Ea, E. Oate, J. Garca, T. Kvamsdal and P.

Bergan (Eds)

MODELING OF SOLITARY WAVE RUN-UP USING LOCALIZED DQM COMBINED WITH REAL TIME AM ALGORITHM
Ali Mahdavi and Mohammad R. Hashemi
Dept.

of Civil and Environmental Engineering Shiraz University, Shiraz, Iran E-mail: mahdavi@shirazu.ac.ir

Dept. of Water Engineering Shiraz University, Shiraz 71441-65186, Iran E-mail: hashemi@shirazu.ac.ir

Key words: wave run-up, time integration, mapping, localized dierential quadrature Abstract. An ecient numerical model, based on non-linear shallow water equations, was developed for propagation and run-up of non-breaking solitary waves. For treatment of the moving shoreline, an Eulerian-Lagrangian mapping technique was used. The model employs localized dierential quadrature method for spatial discretization and real-time Adams-Moulton algorithm combined with Runge-Kutta method for the time integration. Experimental and other numerical data were used as benchmark to assess the performance of the proposed method. It was concluded that, despite using relatively small number of grid points, the model leads to accurate results compared with FORCE-MUSCL nite volume method which needs a very ne mesh. The time integration algorithm is also preferred to pure Runge-Kutta scheme due to structure of the governing equations.

INTRODUCTION

The propagation and run-up of solitary waves have received considerable attention in coastal hydrodynamics. The nearshore behavior of such waves is of crucial importance in the design of the coastal structures subjected to wave overtopping and also assessing the potential damages due to tsunamis. The system of non-linear shallow water equations has given widespread acceptance by coastal engineering community over the last several decades. Many researchers have addressed the numerical solution to this hyperbolic system of equations for wet bed situations. Nevertheless, the moving wetting-drying fronts appearing in presence of dry coasts, should be accurately captured by any numerical model applied in the nearshore zone. 1

Ali Mahdavi and Mohammad R. Hashemi

From the physical point of view, wetting and drying can be regarded as a conventional phenomenon observed frequently in many coastal and estuarine ows such as tidal uctuations and long wave run-up and run-down. The wetting-drying shoreline boundary also has a great inuence on substantial part of wave reection from the beach[1] . However, from the numerical point of view, such advancing-retreating moving boundaries can impose challenges when implementing a numerical scheme as they often need numerical treatments dierent from the rest of the computational domain. Misinterpretation of physics or improper implementation of this moving interface may give rise to serious contamination of the entire computational domain and thus to erroneous predictions[2] . Various approaches have been suggested to handle wetting-drying conditions in numerical models. A relatively large number of models deal with the moving shoreline by adopting special adding-removing procedures for grid points in the vicinity of shoreline. Successful applications of such shoreline-tracking methods have been reported in the literature. Some examples are, Lax-Wendro scheme[3] , characteristic based nite dierence scheme[4] and upwind-downwind scheme[5] . Another idea is to employ a minimum depth criterion to determine the shoreline position. Accordingly, at the beginning of each time step, the computational cell having a water depth below a specied minimum value is supposed to be a dry cell, otherwise the cell is regarded as being wet. The line separating these two groups of cells is dened as the shoreline[6] . Despite the previous works, the accuracy and eciency of the applied numerical scheme still remains a challenging task. Dierential Quadrature (DQ) based techniques have attracted the attention of many numerical modelers in various elds of science and engineering including modeling of long waves[7] , free surface ow[8] , seepage[9] , solid mechanics, and vibration of plates[10] . Many claimed the eciency and accuracy of this method even on relatively coarse mesh and various extensions of DQ have been proposed to surmount its limitations[11] . The application of DQ for simulation of the moving boundary problems is regarded as a new area of research. For discretization of the governing equations by DQ, two approaches have been examined in the literature. In the rst approach, DQ approximates both of spatial and temporal derivatives. Although this approach is claimed to be unconditionally stable[8] , it is highly implicit and dicult to programm. In the second approach, another numerical technique like FDM, Runge-Kutta or Crank-Nicolson is coupled with DQ to perform the time integration[9, 12] . In this study, a new combination of localized dierential quadrature method(LDQM) and real-time predictor-corrector Adams-Moulton algorithm has been proposed for wave run-up modeling. To overcome diculties posed by shoreline-tracking, a mapping technique, introduced by Zhang and coworkers[13, 14] , was successfully utilized. Careful attention has been paid to time integration of semi-discretized equations as they involve some extra variables that need to be treated separately. Finally, numerical examples were presented to demonstrate the performance of the proposed scheme.

Ali Mahdavi and Mohammad R. Hashemi

GOVERNING EQUATIONS

Non-linear shallow water equations are commonly known as a mathematical tool for modeling a wide range of free surface ows such as: long wave propagation, dam break and open channel ows, among others. Neglecting the eect of bottom friction, Coriolis force and wind stresses, the system of 1-D shallow water equations can be written as: + ((h + )u) = 0 t x u u +u +g =0 t x x (1)

The above equations represent the conservation of mass and momentum respectively, in which is the free surface elevation, u depth-averaged velocity, x horizontal distance, t time, h undisturbed water depth and g acceleration due to gravity. Also, the total water depth is h + . Eulerian-Lagrangian mapping technique Zhang and coworkers[13, 14] proposed a transformation which exploits the ease of Eulerian approach for the interior ow eld and robustness of Lagrangian approach for tracking the position of the moving shoreline. This mapping technique converts a time varying physical domain into a region of xed-length in which the shoreline is no longer a moving boundary and, thus, becomes more simple to implement. Denoting the position of seaward boundary by x = L and instantaneous moving shoreline by x = X(t), the time varying region L x X(t) in physical plane (x, t) is mapped to computational plane (x , t ) as follows: x= 1+ X(t) x + X(t) L t=t (2) 2.1

With this transformation, the seaward boundary will remain at x = L while the moving shoreline will be always coincident with x = 0 which leads to a xed-length computational domain, L x 0 in (x , t ) plane. Referring to Eq.(2), the spatial and temporal derivatives in the two coordinate systems are related by: = c2 x x = c 1 U0 t t x
L+x where U0 = dX(t) denotes the shoreline velocity, c1 = L+X(t) and c2 = dt above formulae to the governing equations and rearranging, leads to: L . L+X(t)

(3)

Applying

Ali Mahdavi and Mohammad R. Hashemi

c1 U0 + c2 ((h + )u) = 0 t x x u u u =0 c 1 U0 + c2 u +g t x x x

(4)

Eq.(4) represents the system of non-linear shallow water equations in the transformed domain. Clearly, if no shoreline motion occurs (i.e., X(t) = 0), these equations reduce to the standard non-linear shallow water equations, Eq.(1). 2.2 Shoreline boundary conditions

Implementation of Lagrangian description yields the following boundary conditions for the moving shoreline[13, 14] : h(X(t)) + (X(t), t) = 0 dX(t) = u(X(t), t) = U0 (t) dt dU0 (t) = g dt x (5) (6) (7)

Eq.(5) simply implies that the free surface intersects the bed topography at shoreline position. Eq.(6) represents the shoreline velocity and Eq.(7) is the momentum equation in Lagrangian framework. It should be mentioned that the right hand side of Eq.(7) should be modied to gc2 x for applications in the transformed computing domain, as Eq.(3) suggests. Hereafter, the primes indicating transformed domain will be dropped for convenience. 3 NUMERICAL PROCEDURE

The transformed governing equations and boundary conditions should be discretized by numerical schemes. In the present work, a localized form of DQM was used for approximation of the spatial derivatives while the real time Adams-Moulton algorithm combined with Runge-Kutta method was used for time integration. By this methodology, accurate results were produced with less computational eort compared to FORCE-MUSCL nite volume method. 3.1 Spatial discretization using LDQM

Based on the traditional DQM, functional values at all of the grid points are needed to evaluate spatial derivatives in each gird point of interest. On the contrary, derivatives in LDQM are estimated by using grid points located in a certain neighborhood of point of interest. This localization results in an enhanced stability and accuracy compared to DQM[15] . Consider an approximation to the rst-order derivative of the function f with 4

Ali Mahdavi and Mohammad R. Hashemi

# $!

!
"#$%&'()&((*+, "#$%&'()&((*+-

"
"#$%&'()&((*+.

Figure 1: Typical neighborhood sets for expansion of derivatives in LDQM (Ns = 5)

respect to x in a typical point xi . Denote the number of points in neighborhood of xi (including xi ) by Ns (an odd number is usually preferred to get a symmetrical stencil). According to LDQM, a linear weighted sum of the functional values at those neighboring points are used for expansion of the derivative. With reference to Fig. 1, depending on the overall location of a neighborhood set (which collects Ns entities) in the computational domain, the derivatives are approximated as:
x=xi Ns j=1 Ns j=1 Ns j=1

wij f (xj )

for i = 2, ..., m 1 (8)

f x

wmj f (xi+jm ) for i = m, ..., s wiq,j f (xj+q ) for i = s + 1, ..., N

where f corresponds to the ow variables (i.e., , u or (h + )u in Eq.(4)), wij are the weighting coecients of the rst order derivative, N is the number of grid points used to discretize the computational domain,(L x 0), m = (Ns + 1)/2, s = N m + 1 and q = N Ns . To evaluate the weighting coecients, Eq.(8) should be satised by relevant test functions. Accordingly, one of the most accepted approaches is to apply Lagrange interpolation polynomials. The resultant algebraic formulation to compute weighting coecients is given by [10] , 1 wij = xj xi
Ns Ns

k=1, k=i,j

xi xk xj xk

for j = i

(9)

wii =
k=1,

1 xi xk k=i

for 1 i, j Ns . The weighting coecients compose a non-symmetric matrix with Ns Ns entries. 5

Ali Mahdavi and Mohammad R. Hashemi

3.2

Time integration algorithm

For the sake of briefness, only the time integration of mass conservation law in transformed domain is outlined here. A similar procedure could be applied to momentum equation. In explicit methods, the spatial derivatives are computed using knownstate variables and unknown state variables appear just in the expansion of temporal derivatives. Consequently, after discretization of the spatial derivatives using LDQM, the governing equation may be reduced to an ordinary dierential equation describing temporal evolution of free surface elevation: d = Gn (10) dt This is the semi-discretized form of governing partial dierential equation in which superscript n denotes current or knowntime level. The right hand side of Eq. (10) can be obtained through a simple rearrangement of mass conservation law in the transformed domain: n ]LDQ cn [ ((h + n )un )]LDQ (11) 2 x x in which cn ( = 1, 2) stands for c coecient evaluated on the basis of current shoreline position X n , and [ ]LDQ denotes LDQ approximation to spatial derivative. One of the most common time-stepping schemes is the optimal third-order total variation diminishing Runge-Kutta (TVDRK) method[16] . This time integration method uses a three-step structure to calculate new ow variables at time level n + 1 from the known variables at current time level, n. However, the fractions of an individual time step between each TVDRK step to the next one are not clear quantities. This somehow restricts the applicability of TVDRK method if the integrant involves additional time-dependent variables that should be specied externally. This issue was encountered in Eq. (11) n where cn and U0 are extra variables governed by shoreline boundary conditions. To over come this limitation, the present model employs the real-time Adams-Moulton algorithm (RTAM) which is a two-step, fourth-order, time integration scheme[17] . As it is explained later, each time step is divided into two equal intervals via a predictor-corrector structure. Therefore, the mentioned restriction of TVDRK method is eciently relaxed. For a typical point xi (1 i N 1) the predictor step is:
n Gn = cn U0 [ 1

n+1/2

n = i +

t 297Gn 187Gn1 + 107Gn2 25Gn3 384

x=xi

(12)

followed by the corrector step:

n+1 n i = i +

t 36Gn+1/2 10Gn + 5Gn1 Gn2 30 6

x=xi

(13)

Ali Mahdavi and Mohammad R. Hashemi

where superscripts n1, n2 and n3 refer to previous time levels, t is the time step size and Gn+1/2 is evaluated by an expression similar to Eq. (11) but computed with ow variables which have already been obtained from the predictor step. In essence, both of the predictor and the corrector steps are constructed on the basis of cubic approximation for G(t). The predictor step considers the area from t = nt to t = (n + 1 )t and passes 2 through Gn , Gn1 , Gn2 and Gn3 , whereas the corrector step relies on the area from t = nt to t = (n + 1)t and passes through Gn+1/2 , Gn , Gn1 and Gn2 . In the original paper, the RTAM algorithm has proven to be signicantly more accurate than traditional Runge-Kutta methods[17] . With reference to Eqs. (12)-(13), the RTAM algorithm needs ow variables in three time levels prior to current time level. Particulary, when starting at level n = 4, estimations of G1 , G2 , G3 and G4 should be available for RTAM to perform time integration by its predictor-corrector structure. To specify these warm-upquantities, it is reasonable to assume that no disturbance has enough time to approach the shoreline during rst three time steps. In other words, the shoreline is supposed to be motionless during this very early and short time span so that the standard form of non-linear shallow water equations can be applied. Under this assumption, the warm-up quantities can be obtained using the initial conditions together with TVDRK method that integrates Eq. (1) along the time axis. The ow variables at shoreline will be treated by a dierent scheme as detailed in the next subsection. 3.3 Time evolution of ow variables at shoreline

By using the transformed form of Eq. (7), the shoreline velocity is advanced by half time step to provide variables needed in the corrector step (Eq.(13)), U0
n+1/2 n = U0 g

t n n c 2 2 x

x=0 LDQ

(14)

Since N is the index of last computational grid which corresponds to shoreline (x = 0), at each time level U0 = uN . This transmission of moving boundary velocity to the xed grid may be regarded as a bridge connecting Lagrangian and Eulerian viewpoints. The shoreline position can be estimated by integrating Eq. (6) via trapezoidal rule: t n+1/2 n (15) U0 + U0 4 Once the shoreline position has been determined, the free surface elevation at shoreline N , can be directly calculated from bed topography at that point. As an example, for wave run-up on a plane sloping beach inclined at angle to the horizontal, the relation would be N = X tan . Similar procedure is followed to compute the ow variables associated with shoreline at the next time level, n + 1. X n+1/2 = X n +

Ali Mahdavi and Mohammad R. Hashemi

Figure 2: Denition sketch for solitary wave run-up (not to scale)

RESULTS AND DISCUSSION

The propagation and run-up of a non-breaking solitary wave is discussed here to demonstrate the performance of the LDQ-RTAM (Localized Dierential Quadrature-Real Time Adams Moulton) method which was proposed in this research. The problem geometry is delineated by a water of constant depth h0 connected to a plane sloping beach of angle as shown in Fig. 2 [18] . The initial surface prole is characterized by a rst-order solitary wave of height H with the wave crest initially located at x = x0 . (x, 0) = H sech2 in which: x0 = x1 4h3 0 arccosh 3H 1 0.05 (17) 3H (x x0 ) 4h3 0 (16)

The toe of the beach is positioned at x = x1 . Also, at the beginning of the computation, the ow velocity is: c (x, 0) u(x, 0) = (18) h0 + (x, 0) where c = g(H + h0 ) is the wave celerity. Numerical simulation was carried out for a solitary wave with H/h0 = 0.0185 which propagates in a region of constant depth h0 = 1m and then climbs up a beach of slope 1:19.85 (cot = 19.85). In order to apply LDQM, the computational domain extending from x = 100h0 to x = 0 is rst divided into 50 uniformly distributed segments (N = 51) and then ve grid point stencils contribute to computation of spatial derivatives (Ns = 5). The experimental free surface proles at dierent non-dimensional times 8

Ali Mahdavi and Mohammad R. Hashemi

t g/h0 have been reported in previous research[18] . The time step t, is chosen such that specic out-put times, for which experimental measurements exist, can be represented by multiples of t. This leads to t = 0.16 s. Another numerical model which solves the system of 1-D shallow water equations in conservative form was also used for further comparison. The model utilizes the FORCEMUSCL nite volume scheme for spatial discretization and TVDRK method for time integration. The model has shock-capturing feature which enables computation of discontinues ows induced by breaking solitary waves. A minimum water depth was dened as a criterion for identifying the wet and dry cells throughout the run-up process[6] . Fig. 3 shows the comparison of normalized surface proles computed by the present model and those obtained by FORCE-MUSCL scheme. Also shown in this gure are the experimental measurements at dierent time instances. The results of FORCE-MUSCL scheme were obtained using 1000 computational cells and average time step t = 0.02 s. Although coarser mesh and larger time steps were employed in LDQ-RTAM, an overall good agreement between the results of two model exists. Specially, the advancing boundary is appropriately tracked by the LDQ-RTAM model throughout run-up motion. However, FORCE-MUSCL scheme provides a more accurate shoreline tracking during the run-down phase (Fig. 3j). It can be seen that the horizontal position of grid points exhibits a time-dependent character in the physical domain. This behavior must be attributed to the time varying position of the shoreline which according to Eq.(2) aects the position of other grid points in the physical domain. To assess the performance of the proposed scheme in the prediction of the maximum run-up heights, simulations were also performed for a range of solitary waves that propagate and run-up over the same bathymetry. The maximum run-up height R, is taken as the maximum value of free surface elevation attained by shoreline during wave motions (Fig. 2). By virtue of the Lagrangian nature of shoreline motion, the shoreline tracking and determination of R become almost eortless, with no need to any special treatment such as that proposed by Dodd[19] . The normalized initial wave height was varied from H/h0 = 0.0052 to H/h0 = 0.0280, and the numerical results were compared in Fig. 4 with the well-known run-up law introduced by Synolakis[18] for non-breaking waves: R/h0 = 2.831(cot )1/2 (H/h0 )5/4 . It should be mentioned that in the cases studied, the simulation time was selected large enough to guarantee a complete run-up process. As Fig. 4 shows, the agreement is perfect. This implies the capability of LDQ-RTAM to predict the maximum run-up of non-breaking solitary waves even using a very coarse grid. 5 CONCLUSIONS

Localized dierential quadrature method has been combined with real-time AdamsMoulton algorithm (LDQ-RTAM) to provide a solver for transformed shallow water equations subjected to moving boundaries. To the best of our knowledge, it is the rst time this scheme is applied for shallow water modeling and run-up calculations. The main 9

Ali Mahdavi and Mohammad R. Hashemi

Figure 3: Run-up of solitary wave with H/h0 = 0.0185 on 1:19.85 sloping beach for non-dimensional time t g/h0 = (a) 25, (b) 30, (c) 35, (d) 40, (e) 45, (f) 50, (g) 55, (h) 60, (i) 65 and (j) 70. Solid lines: FORCE-MUSCL scheme[6] ; Dots: Experimental data[18] ; Open circles: Present model.

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  A 8 t q g d  B 9 u r

 f c

  A 8 t q q ! F y p E x i D w 

Ali Mahdavi and Mohammad R. Hashemi

!#' !#& !#$ !# ,*+ ! ( ! ' ! & ! $ ! " ! # ! #" )*+ ! $ ! $" ! % -./0/123456/7 ,8198:3;<=

Figure 4: Normalized maximum run-up height versus normalized incident wave height for non-breaking solitary waves climbing up 1:19.85 sloping beach: Comparison with non-breaking run-up law[18]

results of this study can be summarized as follows: Despite using relatively small number of grid points (e.g., 50 grids versus 1000 mesh in FORCE-MUSCL nite volume scheme), the model produces accurate results. The employed Lagrangian-Eulerian mapping technique facilitates the implementation of LDQ method in presence of the moving boundary which can be applied to similar cases. Numerical simulations were focused on non-breaking solitary waves traveling in a region of constant depth and moving up a plane sloping beach. The application of method on breaking waves needs further research which is currently underway. REFERENCES [1] Brocchini, M., Svendsen, I.A., Prasad, R.S. and Bellotti, G. A comparison of two different types of shoreline boundary conditions. Comput. Methods Appl. Mech. Engrg. (2002) 191:44754496. [2] Sobey, R. J. Wetting and drying in coastal ows. Coast. Eng. (2009) 56:565576. [3] Hibbert, S. and Peregrine, D.H. Surf and run-up on a beach: a uniform bore. J. Fluid. Mech. (1979) 95:323345. [4] Titov, V.V. and Synolakis, C.E. Modeling of breaking and non-breaking long-wave evolution and run-up using VTCS-2. J. Waterway, Port, Coastal, and Ocean Eng., ASCE (1995) 121:308316.

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Ali Mahdavi and Mohammad R. Hashemi

[5] Kowalik, Z. Basic relations between tsunami calculation and their physics. Science of Tsunami Hazards. (2001) 19:99115. [6] Mahdavi, A. and Talebbeydokhti, N. Modeling of non-breaking and breaking solitary wave run-up using FORCE-MUSCL scheme. J. Hydraul. Res. (2009) 47:476485. [7] Hashemi, M.R., Abedini, M.J. , Neill, S.P. and Malekzadeh, P. Tidal and surge modelling using dierential quadrature: a case study in the Bristol channel. Coast. Eng. (2008) 55:811819. [8] Hashemi, M.R., Abedini, M.J. and Malekzadeh, P. A dierential quadrature analysis of unsteady open channel ow. Appl. Math. Modell. (2007) 31:15941608. [9] Hashemi, M.R. and Hatam, F. Unsteady seepage analysis using local radial basis function-based dierential quadrature method. Appl. Math. Modell. (2011) In Press. [10] Shu, C. Dierential quadrature and its application in engineering. Springer-Verlag. (2000). [11] Zong, Z. and Zhang, Y. Advanced dierential quadrature methods. CRC Press. (2009). [12] Meral, G. and Tezer-Sezgin, M. The dierential quadrature solution of nonlinear reaction-diusion and wave equations using several time-integration schemes. Int. J. Numer. Meth. Biomed. Engng. (2011) 27:485497. [13] Zhang, J.E. Run-up of ocean waves on beaches. PhD Thesis. California Institute of Technology, Pasadena, CA. (1996) [14] Zhang, J.E., Wu, T.Y. and Hou, T.Y. Coastal hydrodynamics of ocean waves on beach. Adv. Appl. Mech. (2001) 37:89165. [15] Zong, Z. and Lam, K.Y. A localized dierential quadrature (LDQ) method and its application to the 2D wave equation. Comput. Mech. (2002) 29:382391. [16] Shu, C.-W. and Osher, S. Ecient implementation of essentially non-oscillatory shock-capturing schemes. J. Comput. Phys. (1988) 77:439471. [17] Howe, R.M. A new family of real-time predictor-corrector integration algorithms. Simulation. (1991) 57:177186. [18] Synolakis, C.E. The run-up of long waves. PhD Thesis. California Institute of Technology, Pasadena, CA. (1986) [19] Dodd, N. Numerical model of wave run-up, overtopping, and regeneration. J. Waterway, Port, Coastal, and Ocean Eng., ASCE (1998) 124:7381.

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