Kinematic Free Surface Boundary Conditions Research Articles

Linear Spectral Method for Simulating the Generation of Regular Waves by a Moving Bottom in a 3-dimensional Space

In this study, we introduce a linear spectral method capable of simulating wave generation and transformation caused by a moving bottom in a 3-dimensional space. The governing equations are linear dynamic free-surface boundary conditions and linear kinematic free-surface boundary conditions, which are solved in Fourier space. Solved velocity potential and free-surface displacement should satisfy continuity equation and kinematic bottom boundary condition. For numerical analysis, a 4th order Runge-Kutta method was utilized to analyze the time integral. The results obtained in Fourier space can be converted into velocity potential and free-surface displacement in a real space using inverse Fourier transform. Regular waves generated by various types of moving bottoms were simulated with the linear spectral method. Additionally, obliquely generated regular waves using specified bottom movements were simulated. The results obtained from the spectral method were compared to analytical solutions, showing good agreement between the two.

A unified steady and unsteady formulation for hydrodynamic potential flow simulations with fully nonlinear free surface boundary conditions

This work discusses the correct modeling of the fully nonlinear free surface boundary conditions to be prescribed in water waves flow simulations based on potential flow theory. The main goal of such a discussion is that of identifying a mathematical formulation and a numerical treatment that can be used both to carry out transient simulations, and to compute steady solutions — for any flow admitting them. In the literature on numerical towing tank in fact, steady and unsteady fully nonlinear potential flow solvers are characterized by different mathematical formulations. The kinematic and dynamic fully nonlinear free surface boundary conditions are discussed, and in particular it is proven that the kinematic free surface boundary condition, written in semi-Lagrangian form, can be manipulated to derive an alternative non penetration boundary condition by all means identical to the one used on the surface of floating bodies or on the basin bottom. The simplified mathematical problem obtained is discretized over space and time via Boundary Element Method (BEM) and Implicit Backward Difference Formula (BDF) scheme, respectively. The results confirm that the solver implemented is able to solve steady potential flow problems just by eliminating null time derivatives in the unsteady formulation. Numerical results obtained confirm that the solver implemented is able to accurately reproduce results of classical steady flow solvers available in the literature.

A Simplified Numerical Method for Simulating the Generation of Linear Waves by a Moving Bottom

In this study, simplified linear numerical method that can simulate wave generation and transformation by a moving bottom is introduced. Numerical analysis is conducted in wave number domain after continuity equation, linear dynamic and kinematic free surface boundary conditions and linear kinematic bottom boundary condition are Fourier transformed, and the results are expressed in space domain by an inverse Fourier transform. In the wavenumber domain, the dynamic free water surface boundary condition and the kinematic free water surface boundary condition are numerically calculated, and the velocity potential in the mean water level (<i>z</i> = 0) satisfies the continuity equation and the kinematic bottom boundary condition. Wave generation and transformation are investigated when the triangular and rectangular shape of bottoms move periodically. The results of the simplified numerical method are compared with the results of previous analytical solutions and agree well with them. Stability of numerical results according to the calculation time interval (△<i>t</i>) and the calculation wave number interval (△<i>k</i>) was also investigated. It was found that the numerical results were appropriate when △<i>t</i>≤<i>T</i>(period)/1000 and △<i>k</i>≤π/100.

Newton's Method to Determine Fourier Coefficients and Wave Properties for Deep Water Waves

Since Chappelear developed a Fourier approximation method, considerable research efforts have been made. On the other hand, Fourier approximations are unsuitable for deep water waves. The purpose of this study is to provide a Fourier approximation suitable even for deep water waves and a numerical method to determine the Fourier coefficients and the wave properties. In addition, the convergence of the solution was tested in terms of its order. This paper presents a velocity potential satisfying the Laplace equation and the bottom boundary condition (BBC) with a truncated Fourier series. Two wave profiles were derived by applying the potential to the kinematic free surface boundary condition (KFSBC) and the dynamic free surface boundary condition (DFSBC). A set of nonlinear equations was represented to determine the Fourier coefficients, which were derived so that the two profiles are identical at specified phases. The set of equations was solved using Newton’s method. This study proved that there is a limit to the series order, i.e., the maximum series order is N=12, and that there is a height limitation of this method which is slightly lower than the Michell theory. The reason why the other Fourier approximations are not suitable for deep water waves is discussed.

A generalized weak-scatterer approximation for nonlinear wave–structure interaction in marine hydrodynamics

In this paper, a generalized weak-scatterer (GWS) approximation is proposed for solving nonlinear wave–structure interaction problems. In contrast to the original weak-scatterer (OWS) theory, where the approximated free surface boundary conditions (FSBCs) are Taylor-expanded in the vertical direction from the incident wave surface, we apply Taylor series expansion in an arbitrary direction which, in particular, is tangential to the boundary of the floating structure close to the waterline. This leads to generalized kinematic and dynamic FSBCs for the radiated and scattered waves, along with corresponding expressions of the wave loads. Accordingly, an Arbitrary Lagrangian–Eulerian (ALE) approach is adopted to track the free-surface properties. The new GWS method is more consistent than the OWS model in that the wave markers do not separate from the body surface at the waterline for structures with flare. An Immersed-Boundary Adaptive Harmonic Polynomial Cell (IB-AHPC) method is implemented to solve the corresponding boundary value problems (BVPs) for both the velocity potential and the Lagrangian acceleration potential at each time step. The new formulation introduces additional convective terms in the FSBCs, making them similar to the seakeeping problems for ships with forward speed, and this requires special treatment to avoid instability in the time-domain simulations. Based on a matrix-based eigenvalue stability analysis, we illustrate that stable solutions can be achieved by introducing an upwind-biased scheme to discretize the convective terms in the kinematic FSBC. The proposed model is verified by three wave diffraction problems in regular waves, including a submerged circular cylinder, a rounded-corner rectangular ship section, and a trapezoidal section with a large flare angle.

An Analytical Study of Regular Waves Generated by Bottom Wave Makers in a 3-Dimensional Wave Basin

Analytical solutions for regular waves generated by bottom wave makers in a 3-dimensional wave basin were derived in this study. Bottom wave makers which have triangular, rectangular and combination of two shapes were adopted. The 3-dimensional velocity potential was derived based on the linear wave theory with the bottom moving boundary condition, kinematic and dynamic free surface boundary conditions in a wave basin. Then, analytical solutions of 3-dimensional particle velocities and free surface displacement were derived from the velocity potential. The solutions showed physically valid results for regular waves generated by bottom wave makers in a wave basin. The analytical solution for obliquely propagating wave generation from bottom wave maker which works like a snake was also derived. Numerical results of the solution agree well with theoretically predicted results.

Development of Analytical Solutions on Velocities of Regular Waves Generated by Bottom Wave Makers in a Flume

Analytical solutions for two-dimensional velocities of regular waves generated by bottom wave makers in a flume were derived in this study. Triangular and rectangular bottom wave makers were adopted. The velocity potential was derived based on the linear wave theory with the bottom moving boundary condition, kinematic and dynamic free surface boundary conditions. Then, analytical solutions of two-dimensional particle velocities were derived from the velocity potential. The velocity potential and two-dimensional particle velocities which were derived as complex integral equations were numerically calculated. The solutions showed physically valid results as velocities of regular waves generated by bottom wave makers in a flume.

A Fourier Series Approximation for Deep-water Waves

Dean (1965) proposed the use of the root mean square error (RMSE) in the dynamic free surface boundary condition (DFSBC) and kinematic free-surface boundary condition (KFSBC) as an error evaluation criterion for wave theories. There are well known wave theories with RMSE more than 1%, such as Airy theory, Stokes theory, Dean’s stream function theory, Fenton’s theory, and trochodial theory for deep-water waves. However, none of them can be applied for deep-water breaking waves. The purpose of this study is to provide a closed-form solution for deep-water waves with RMSE less than 1% even for breaking waves. This study is based on a previous study (Shin, 2016), and all flow fields were simplified for deep-water waves. For a closed-form solution, all Fourier series coefficients and all related parameters are presented with Newton’s polynomials, which were determined by curve fitting data (Shin, 2016). For verification, a wave in Miche’s limit was calculated, and, the profiles, velocities, and the accelerations were compared with those of 5th-order Stokes theory. The results give greater velocities and acceleration than 5th-order Stokes theory, and the wavelength depends on the wave height. The results satisfy the Laplace equation, bottom boundary condition (BBC), and KFSBC, while Stokes theory satisfies only the Laplace equation and BBC. RMSE in DFSBC less than 7.25×10-2% was obtained. The series order of the proposed method is three, but the series order of 5th-order Stokes theory is five. Nevertheless, this study provides less RMSE than 5th-order Stokes theory. As a result, the method is suitable for offshore structural design.

Wave-induced shallow-water monopolar vortex: large-scale experiments

Abstract

New Weighted Total Acceleration on Momentum Euler Equation for Formulating Water Wave Dispersion Equation

In this present study, weighted total acceleration for Kinematic Free Surface Boundary Condition (KFSBC) and in momentum Euler equation was formulated. Furthermore, by using both aforementioned equations, the nonlinear water wave dispersion equation was then formulated. The wavelength obtained from dispersion equation is determined by weighting coefficient. The weighting coefficient value was determined by using the maximum wave height and critical wave steepness criteria which have been obtained from the previous studies.

A Finite Volume Based Fully Nonlinear Potential Flow Model for Water Wave Problems

A new Fully Nonlinear Potential Flow (FNPF) numerical model has been developed for the simulation of nonlinear water wave problems. At each time step, the mixed boundary value problem for the flow field is spatially discretised by Finite Volume Method (FVM) and the kinematic and dynamic free surface boundary conditions are defined in a semi-Eulerian-Lagrangian form, which are used to update the wave elevation and velocity potential on the free surface. In the numerical model, waves are generated through a relaxation zone and absorbed by an artificial damping zone at the inlet and outlet of the numerical wave tank (NWT), respectively. Instead of a five-point smoothing technique, a more versatile fourth-order technique is developed to eliminate the possible saw-tooth instability at the free surface. Test cases with increasing complexities, such as wave generation and absorption, 2- and 3-Dimensional wave shoaling, and wave-cylinder interaction are simulated to assess its accuracy, convergence, and robustness. For all the cases considered, satisfactory agreements of free surface elevation and wave-induced forces against the experimental measurements and other existing numerical results are achieved. The developed numerical model fully utilises the existing functionalities in OpenFOAM and has the potential to provide an effective alternative to other FNPF based models for constructing a hybrid numerical wave tank model through its coupling with the multiphase flow models in OpenFOAM.

On the initial values of kinematic and dynamic free-surface boundary conditions for water wave problems

The kinematic and dynamic boundary conditions on the free surface of a fluid should be posed for water wave problems. In the framework of potential theory for an inviscid and incompressible fluid with an irrotational motion, the combined boundary condition, which involves the velocity potential only, is often used by eliminating the elevation terms mathematically. Such a combination is correct for the solutions in the frequency domain, and is not feasible for an initial-boundary-value problem in the time domain since it leads to a totally different physical formulation. The correct initial conditions for pure gravity waves and hydroelastic waves are presented.

REEF3D::FNPF—A Flexible Fully Nonlinear Potential Flow Solver

Abstract In situations where the calculation of ocean wave propagation and impact on structures are required, fast numerical solvers are desired in order to find relevant wave events. Computational fluid dynamics (CFD)-based numerical wave tanks (NWTs) emphasize on the hydrodynamic details such as fluid–structure interaction, which make them less ideal for the event identification due to the large computational resources involved. Therefore, a computationally efficient numerical wave model is needed to identify the events both for offshore deep-water wave fields and coastal wave fields where the bathymetry and coastline variations have strong impact on wave propagation. In the current paper, a new numerical wave model is represented that solves the Laplace equation for the flow potential and the nonlinear kinematic and dynamics free surface boundary conditions. This approach requires reduced computational resources compared to CFD-based NWTs. The resulting fully nonlinear potential flow solver REEF3D::FNPF uses a σ-coordinate grid for the computations. This allows the grid to follow the irregular bottom variation with great flexibility. The free surface boundary conditions are discretized using fifth-order weighted essentially non-oscillatory (WENO) finite difference methods and the third-order total variation diminishing (TVD) Runge–Kutta scheme for time stepping. The Laplace equation for the potential is solved with Hypre’s stabilized bi-conjugated gradient solver preconditioned with geometric multi-grid. REEF3D::FNPF is fully parallelized following the domain decomposition strategy and the message passing interface (MPI) communication protocol. The numerical results agree well with the experimental measurements in all tested cases and the model proves to be efficient and accurate for both offshore and coastal conditions.

A NONLINEAR AND DISPERSIVE 3D MODEL FOR COASTAL WAVES USING RADIAL BASIS FUNCTIONS

Accurate wave propagation models are required for the design of coastal structures and the evaluation of coastal risks. Nonlinear and dispersive effects are particularly important in the nearshore environment. Two-dimensional cross-shore (2DV) wave models can be used as a preliminary step in coastal studies, but 3D models are needed to capture fully the effects of alongshore bathymetric variations, variable wave incidence, the presence of coastal or harbor structures, etc. Yates and Benoit (2015) developed a numerical model based on fully nonlinear potential flow theory. By assuming non-overturning waves, the kinematic and dynamic free surface boundary conditions are expressed as evolution equations of the free surface elevation and velocity potential, following Zakharov (1968). At each time step, the free surface vertical velocity is estimated by solving the Laplace equation for the velocity potential in the domain. Following Tian and Sato (2008), a spectral approach is used to expand the velocity potential in the vertical as a linear combination of Chebyshev polynomials. The accuracy of the 2DV model was validated with several non-breaking experimental test cases (Benoit et al., 2014; Raoult et al., 2016). Here the model is extended to 3D using scattered nodes (for flexibility) to discretize the horizontal domain. Spatial derivatives are estimated at each node using a linear combination of the function values at neighboring points using Radial Basis Functions (RBF) (Wright and Fornberg, 2006). The accuracy of the method depends on the number of neighboring nodes (Nsten) and the chosen RBF type (e.g. multiquadric, Gaussian, polyharmonic spline (PHS), thin plate spline, etc.), with associated shape factor C for some of them.

An Analytical Solution for Regular Progressive Water Waves

In order to provide simple and accurate wave theory in design of offshore structure, an analytical approximation is introduced in this paper. The solution is limited to flat bottom having a constant water depth. Water is considered as inviscid, incompressible and irrotational. The solution satisfies the continuity equation, bottom boundary condition and non-linear kinematic free surface boundary condition exactly. Error for dynamic condition is quite small. The solution is suitable in description of breaking waves. The solution is presented with closed form and dispersion relation is also presented with closed form. In the last century, there have been two main approaches to the nonlinear problems. One of these is perturbation method. Stokes wave and Cnoidal wave are based on the method. The other is numerical method. Dean’s stream function theory is based on the method. In this paper, power series method was considered. The power series method can be applied to certain nonlinear differential equations (initial value problems). The series coefficients are specified by a nonlinear recurrence inherited from the differential equation. Because the non-linear wave problem is a boundary value problem, the power series method cannot be applied to the problem in general. But finite number of coefficients is necessary to describe the wave profile, truncated power series is enough. Therefore the power series method can be applied to the problem. In this case, the series coefficients are specified by a set of equations instead of recurrence. By using the set of equations, the nonlinear wave problem has been solved in this paper.

Dispersion and kinematics of multi-layer non-hydrostatic models

Multi-layer non-hydrostatic models are gaining popularity in studies of coastal wave processes owing to the resolution of the flow kinematics, but the linear dispersion relation remains the primary criterion for assessment of model convergence. In this paper, we reformulate the linear governing equations of an N-layer model into Boussinesq form by writing the non-hydrostatic terms as high-order derivatives of the horizontal flow velocity. The equation structure allows implementation of Fourier analysis to provide a [2N−2, 2N] expansion of the velocity at each layer. A variable transformation converts the governing equations into separate flux- and dispersion-dominated systems, which explicitly give an equivalent Pade´ expansion of the wave celerity for examination of the convergence and asymptotic properties. Flow continuity equates the depth-integrated horizontal velocity to the celerity and verifies the analytical solution. The surface-layer velocity, which is driven by the kinematic free surface boundary condition, shows a positive error and converges monotonically to the solution of Airy wave theory. When the depth parameter kd > 2N, flow reversal occurs in the sub-surface layers to offset overestimation of the surface velocity and to better approximate the flux. This model internal mechanism facilitates convergence of the celerity at large kd and benefits applications on wave transformation. Such non-physical flow reversal, however, might complicate studies that require detailed wave kinematics.

A Continuous Desingularized Source Distribution Method Describing Wave–Body Interactions of a Large Amplitude Oscillatory Body

A Rankine source method with a continuous desingularized free surface source panel distribution is developed to solve numerically a wave–body interaction problem with nonlinear boundary conditions. A body undergoes forced oscillatory motion in a free water surface and the variation of wetted body surface is captured by a regridding process. Free surface sources are placed in continuous panels, rather than points in isolation, over the calm water surface, with free surface collocation points placed on the calm water surface. Nonlinear kinematic and dynamic free surface boundary conditions along the collocation points on the calm water surface are solved in a time domain simulation based on a Lagrange time dependent formulation. Compared with isolated desingularized source points distribution methods, a significantly reduced number of free surface collocation points with sparse distribution are utilized in the present numerical computation. The numerical scheme of study is shown to be computationally efficient and the accuracy of numerical solutions is compared with traditional numerical methods as well as measurements.

Constant acceleration exit of two-dimensional free-surface-piercing bodies

The forced constant acceleration exit of two-dimensional bodies through a free-surface is computed for various 2D bodies (symmetric wedges, asymmetric wedges, truncated wedges and boxes). The calculations are based on the fully non-linear time-stepping complex-variable method of Vinje and Brevig (1981). The model was formulated as an initial boundary-value problem (IBVP) with boundary conditions specified on the boundaries (dynamic and kinematic free-surface boundary conditions) and initial conditions at time zero (initial velocity and position of the body and free-surface particles). The formulated problem was solved by means of a boundary-element method using collocation points on the boundary of the domain and stepped forward in time using Runge–Kutta and Hamming predictor–corrector methods. Numerical results for the deformed free-surface profile, pressure along the wetted region of the bodies and force experienced by the bodies are given for the exit. The analytical added-mass force is presented for the exit of symmetric wedges and boxes with constant acceleration using conformal mappings. To verify the numerical results, the added-mass force and the numerical force are compared and give good agreement for the exit of a symmetric wedge at a time zero (t=0) as expected but only moderate agreement for the box.

An iterative Rankine boundary element method for wave diffraction of a ship with forward speed

A 3-D time-domain seakeeping analysis tool has been newly developed by using a higher-order boundary element method with the Rankine source as the kernel function. An iterative time-marching scheme for updating both kinematic and dynamic free-surface boundary conditions is adopted for achieving numerical accuracy and stability. A rectangular computational domain moving with the mean speed of ship is introduced. A damping beach at the outer portion of the truncated free surface is installed for satisfying the radiation condition. After numerical convergence checked, the diffraction unsteady problem of a Wigley hull traveling with a constant forward speed in waves is studied. Extensive results including wave exciting forces, wave patterns and pressure distributions on the hull are presented to validate the efficiency and accuracy of the proposed 3-D time-domain iterative Rankine BEM approach. Computed results are compared to be in good agreement with the corresponding experimental data and other published numerical solutions.

Numerical simulation of sloshing in a rectangular tank under combined horizontal, vertical and rotational oscillations

The sloshing of fluid in an enclosed tank due to regular excitation in the horizontal, vertical and rotational modes is investigated through a numerical model. Finite element method with cubic spline and finite difference approximations has been adopted to simulate the fully nonlinear sloshing wave. Herein, the external excitations, including rotational oscillation, are built-in within the kinematic and dynamic free surface boundary conditions. The predictions from the present model are compared with those of Nakayama and Wazhizu due to regular wave excitation in the roll mode, whereas the results from the combined excitations were compared with the results of Chen and Chiang. The sloshing oscillation induced by different combination of tank motions has been subjected to frequency domain analysis. The results exhibited the occurrence of dominant peak at the natural frequencies of the system, irrespective of the excitation frequency for the rotational motion. There is nearly a twofold increase in the peak amplitude if sway and roll excitations are in phase. Sloshing amplitude decreases if the vertical and rotational excitations act together.