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Introduction
With the advent of signicantly more powerful computers in recent
decades, it has become possible to perform phase-resolving simulations of surface and internal wave motions over physical length
scales that are extensive enough to provide a comprehensive picture
of the processes under consideration. The main tool for performing
these studies in the context of relatively long waves (or waves having wavelengths that are long in comparison to the water depth) has
been a modeling technique based on the theory for weakly dispersive waves pioneered by Joseph Boussinesq in the late 1800s
(Boussinesq 1872). From their original niche as a tool for investigating the forms of surface waves propagating in shallow water, the
Boussinesq equations or their variants have been transformed into a
computational tool of great power and exibility. Although practical models began to be developed in the 1970s (Abbott et al. 1978),
application was generally limited by computer resources. This
began to change in the 1990s, and the growth in development and
application of Boussinesq-type models (or BTMs, as they are
referred to in the recent review by Brocchini 2013) has been explosive, with simulations of surface wind waves over domains with
dimensions of tens of kilometers, or of tsunami waves at global
scale, now being readily feasible. The Journal of Waterway, Port,
Coastal and Ocean Engineering has played a central role in the development of BTMs as a common tool in coastal applications.
Based on the Web of Science indexing for the journal, which
appears to start with the name of Journal of the Waterway, Port,
Coastal and Ocean Division in 1977, papers discussing
Boussinesq model development represent the top three most cited
papers in the journals history, led by the landmark paper by Nwogu
(1993) discussed later, with an additional fourth paper in the
remaining top 10.
Boussinesq equations have classically been derived using a double perturbation expansion in two parameters. One parameter m is
1
v 2 gk2 h
(2)
p
with a resulting phase speed c v =k gh that does not depend
on frequency v . The model equations that correspond to this limit
are referred to as the nonlinear shallow water equations (NLSWEs)
and describe the evolution of water depth and depth-uniform horizontal velocities in horizontal coordinates (x, y) and time t. The classic theory described by Boussinesq (1872) hinges on retention of
one further term and leads to models that are asymptotically equivalent at least to
1
2
(3)
v 2 gk2 h 1 kh
3
and that are referred to as being weakly dispersive. The development of the modern theory revolves around the effective rearrangement of the truncated series to improve accuracy (using techniques
such as Pade approximants), the extension of the series to higher
order, and the combination of both.
The second parameter d represents the ratio of a characteristic
wave amplitude a0 to depth h0, thus representing the degree of nonlinearity in the problem. Linearization results from neglecting terms
of O (d ) in comparison to leading order terms, whereas the classic
theory retains terms of O (d ) and further imposes the restriction
that d = m 2 O1. The resulting theory thus neglects terms of
Od 2 ; d m 2 ; m 4 and smaller. The development of the modern
theory often imposes no restriction on the size of d , leading to so-
03116005-1
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wt u rh w wwz
(4)
1
rh p 0
r
(5)
1
pz g 0
r
(6)
h t u rh h w; z h
(7)
ht u rh h w; z h
(8)
(9)
u
w
; w0
u0
w0
(10)
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Substituting Eq. (10) into Eq. (4) and forcing a leading order balance between the two terms gives w0 m u0 m d c0 , where m
h0 =0 characterizes the ratio of water depth to wavelength or other
horizontal scale. The shallow water limit follows from m ! 0,
whereas the Boussinesq theory follows from developing expansions
in powers of m 1. Turning to the momentum equations, it is recognized that the pressure must scale at leading order with the weight
of the water column, and let
p p0 p0 ; p0 r gh0
(11)
rh u wz 0
(12)
d ut d u rh u wuz rh p 0
(13)
d m 2 wt d u rh w wwz pz 1 0
(14)
The apparent smallness of the contribution of vertical acceleration to the pressure eld is clear in Eq. (14). Considering the kinematic surface boundary condition [Eq. (7)], h is characterized by an
amplitude a0 and obtains
h t d u rh h w; z d h
~h t u rh h d ~
h w; z h d ~
h
(16)
In the absence of imposed forcing of either type, d is a free parameter constrained by initial or boundary data for the wave
motion.
The classic theory (Boussinesq 1872; Korteweg and de Vries
1895) corresponds to a double expansion in d and m 2 with each
assumed small and with the Ursell number d = m 2 O1. The
original Boussinesq or Korteweg-deVries (KdV) equations represent corrections to the linear, nondispersive shallow water theory,
which retains corrections to the leading order for weak O (d ) nonlinearity and weak O ( m 2) dispersive effects. This restriction on
the theory has long been superceded in practice due to the need, in
the case of short wind waves, to obtain a model that is valid for
larger values of m , as discussed later. It is now common to see the
development of models in which series expansions to much
higher powers of m are retained, together with no assumption on
ASCE
px; z; t z d p0 x; t m 2 p2 x; z; t
(19)
(15)
where the choice d a0 =h0 has been introduced as the nondimensional parameter characterizing the motions amplitude. Turning to
the remaining conditions, it is noted that, if the motion is locally
forced by bottom displacement, then the magnitude of this motion
should serve as the scale for amplitude of the generated wave. (This
result is particularly clear in the usual approach to tsunami modeling
in which the initial static water displacement is set equal to the bottom displacement.) In this case, the depth should be separated into a
time-constant value hx scaled by h0 and a perturbation to this
value ~hx; t scaled by the amplitude a0, leading to
p d~
pa; z d h
p2 x; z; t m
dh
2
Dwdz
(20)
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ux; z; t u0 x; t m 2 u2 x; z; t O m 4
(24)
In developing a fully nonlinear theory, Wei et al. (1995) effectively neglected V3 through the process of invoking a velocity
potential. Chen et al. (2003) closed the system by evaluating Eq.
(29) at z = za, neglecting the rst component of V3 because
u2 za 0. Chen (2006) closed the system by depth integrating Eq.
(29). After evaluating the Bernoulli head, higher-order acceleration,
and nonhydrostatic pressure, the resulting equations in a form
allowing for vertical motion of za is given by Shi et al. (2012)
h t rh M 0
3 O m 4
ua;t d ua rh ua rh h m 2 V1 V2 V
(32)
where
A rh hua;
where
z2a
h2
rh B zarh A rh
Bt h At
V1
2
2
;t
A rh ua
(27)
(28)
V2 rh za h ua rh A
(25)
1
A h B2
2
"
#!
p2
1 2
O m4
rh
d ua u2 w1
2
r
(29)
(30)
1 2
z h 2 ua rh B
2 a
V3 X0 iz u2 X2 iz ua
(33)
2 h
h
(31)
(35)
Madsen et al. (1991) achieved the same end result by manipulating linear operators in equations derived using depth-averaged velocity as the dependent variable. In either case, the choice a
2=5 reduces Eq. (34) to the (2, 2) Pade approximant, which is
accurate to O ( m 6). Nwogu (1993) suggested that the range of
model applicability could be extended to deeper water by adopting
a criterion for choosing a based on minimizing an error measure
over some range of kh values. Nwogu (1993) chose to minimize the
error in phase speed over the range 0 kh 3. Results for the ratio
of model/exact phase speed are shown in Fig. 1, in which the
dashed-dotted line represents a model with depth-averaged velocity as the dependent variable (Peregrine 1966, 1967), the dotted
line represents the Pade approximant, and the dashed line represents Nwogus optimization, giving a value of a 0:39 or
za 0:53h.
03116005-4
1.2
1.1
c/cexact
0.9
0.8
0.7
0.6
0
Fig. 1. Phase speed estimates relative to full linear theory: O ( m 2) Boussinesq based on depth-averaged velocity (dashed-dotted line); O ( m 2)
Boussinesq (data from Nwogu 1993) (dotted line); O ( m 4) Boussinesq (adapted from Gobbi et al. 2000, with permission) (dashed line)
120
h= 2.5cm
h= 5.0cm
100
h= 7.5cm
h=10.0cm
80
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h=12.5cm
h=15.0cm
60
h=17.5cm
h=20.0cm
40
h=25.0cm
h=30.0cm
20
h=35.0cm
h=47.0cm
0
20
22
24
26
28
30
32
34
36
38
40
Time (sec)
Fig. 2. Sample water surface displacements at wave gauge locations in Mase and Kirby (1992), Run 2: measured (solid lines); Nwogu optimization
(dashed lines); and Simarro optimization (dotted lines) (reprinted from Choi et al. 2015b, with permission)
03116005-5
1
1
2
kh4
1 kh
10
9
945
v gk h
Okh
4
1
2
4
1 kh kh
9
63
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(36)
The resulting model has a signicantly improved range of accuracy in both phase speed and group velocity. No error minimization
strategy was used to try to improve the results further. Schffer and
Madsen (1995) also advocated the use of the linear shoaling gradient a5 to assess the accuracy of the model for waves over a sloping
bed, dened by
Ax
hx
a5
A
h
(37)
2kh
sinh 2kh
Ht rh H
u 0
rh u
grh h
t u
u
1
p2 h
rh p2 h
rh h h 0
2r
rH
(38)
t
w
p2 h
rH
(39)
(40)
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Fig. 3. Comparison of (a) horizontal and (b) vertical velocity proles at O ( m 2) and O ( m 4) (reprinted from Gobbi et al. 2000, with permission)
optimization were made. The resulting model provided a fairly robust estimation of internal ow kinematics compared with the full
linear theory, as illustrated in Fig. 3. Gobbi and Kirby (1999) developed a variable depth version of the model in one horizontal dimension; this was subsequently extended to two horizontal dimensions
by Zhou and Teng (2010). This approach has not been extended to
higher order, as the extension to the strategy for choosing weighted
averages for potentials is not clear.
The work of Agnon et al. (1999) established the basis for a continued effort in developing higher-order models. Agnon et al.
(1999) rst developed a power series solution for Laplaces equation referenced to values at the still-water level, and then used operator methods to enhance the form of truncated representations of
horizontal and vertical velocities. The resulting model was truncated at leading order in bottom slope terms, which proves to be a
drawback in practice. Madsen et al. (2002, 2003) modied the procedure of Agnon et al. (1999) by referencing the series expansion to
a xed level in the water column rather than the still-water level,
and chose model coefcients by minimizing errors in predictions of
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linear velocity proles. Madsen and Agnon (2003) examined the accuracy of the expansions in terms of radius of convergence.
The expansion strategies developed in this series of work can be
extended to high order, with the caveat that numerical implementation becomes difcult due to the presence of high-order spatial
derivatives. The model with truncation at O ( m 6) provides accurate
reproduction of horizontal velocities up to kh 25 and vertical
velocities up to kh 12. Fuhrman et al. (2004, 2006) have investigated the evolution of wave instabilities in deepwater wave patterns
and have demonstrated that the high-order model is a faithful representation of the full water wave problem.
Multilayer Approaches
Models based on extended higher-order series expansions are difcult to implement as a result of the presence of higher and higher
order spatial derivatives as model accuracy increases. Pursuing a
different strategy, Lynett and Liu (2004) suggested dividing the
water column into multiple layers and then formulating the O ( m 2)
in each layer, with the layers coupled by appropriate matching conditions. Lynett and Liu (2004) worked from the Euler equations in
each layer (which opens up the possibility of treating rotational
ows). The derivation is closed by imposing irrotationality. For the
case of two layers, it is possible to eliminate the lower layer velocity, and the resulting model is then a two-equation model for surface
displacement and horizontal velocity in the upper layer. Lynett and
Liu (2004) allowed for arbitrary, moving reference levels in each
layer, and chose the levels based on an optimization for combined
errors in phase speed, group velocity, and shoaling coefcient. The
model provided accurate phase speed up to kh 6 and group velocity up to kh 4. More importantly, the division of the velocity proles into matched segments eliminated the development of reversed
ows or inection points at large kh values, as seen in single-layer
models such as Gobbi et al. (2000). A slightly different version of
the two-layer model, developed to O ( m 2) based on Laplaces equation, may be found in Liu and Fang (2015), which retains the lower
layer velocity as a dependent variable and achieves greater accuracy
in linear dispersion.
Further examples of multilayer approaches include the work of
Chazel et al. (2009), in which the higher-order expansion (Agnon
et al. 1999; Madsen et al. 2003) is applied to the irrotational problem
in each of two layers, and Bai and Cheung (2013), in which a procedure based more closely on the NHM formulation is applied to multiple layers.
Integral Transform Methods
The problem of linear wave propagation in a region of constant
depth can be fully described using an integro-differential equation
with a kernel based on the Fourier transform of the phase velocity.
Karambas and Memos (2009) used this approach to develop a fully
dispersive BTM for weakly nonlinear waves over a mild slope. The
model is seen to be quite accurate compared with laboratory examples, in spite of the limitation of weak nonlinearity and the fact that
the convolution integral is only strictly accurate in constant depth.
The second restriction ends up not being important because the integration kernel dies off rapidly with distance. Further enhancements
of this model are described in Memos et al. (2016).
Numerical Approaches
The review of Brocchini (2013) provided an extensive overview
of numerical methods used in Boussinesq models, including
ASCE
Finite Difference
Wei and Kirby (1995) developed a nite-difference scheme for the
weakly nonlinear equations of Nwogu (1993), using a mixed-order
centered difference scheme in space and the fourth-order AdamsBashforth-Moulton (ABM) scheme in time. The ABM scheme has
remained a popular choice for solving Boussinesq-type problems
and has been used as the basis for a number of codes, along with
higher-order Runge-Kutta methods. The centered difference
scheme for spatial derivatives proved to be noisy in practice, requiring lters to suppress noise near shorelines and in locations with
rapidly changing solutions, such as breaking wave crests. The use
of staggered grid schemes proved to generally be more workable,
but to a large extent the approach has been replaced by widespread
use of nite-volume schemes.
Finite Volume
The vast majority of BTMs in use today are based on nite-volume
schemes. This approach has become dominant largely because the
robustness of numerical schemes developed for the shallow water
equations (Toro 2001; Leveque 2002) carries over to the
Boussinesq application. Starting with the work of Erduran et al.
(2005) and Cienfuegos et al. (2006), the approach has largely supplanted the use of nite-difference models. The shock-capturing
capabilities of the codes, when applied to the NLSWE, has motivated the use of hybrid BTM/NLSWE models in which the shockcapturing properties are allowed to take over and control the wave
breaking process by suppressing the dispersive portion of the governing equations, as discussed later.
Various nite-volume formulations have been used. A number
of models (Erduran et al. 2005; Kim et al. 2009; Tonelli and Petti
2009; Shi et al. 2012; Kazolea et al. 2012) use the fourth-order
MUSCL-TVD scheme to reconstruct velocity variables, and ux
computations are often based on the HLL scheme. The choice of
time-stepping algorithms is fairly evenly split between the ABM
explicit/implicit scheme and various versions of Runge-Kutta
schemes. There are a number of alternative choices that have been
made in all these categories in various models. The models, overall,
are characterized by extreme robustness when compared with their
nite-difference predecessors, and they provide a natural framework for handling two of the problem areas that generally were
troublesome in nite-difference calculations: breaking wave formation, which is treated naturally by the shock-capturing capabilities
of the numerical schemes, and wetting-drying boundaries, which
are handled straightforwardly when the information needed to specify shoreline movement is already carried in the Riemann variables
computed as part of the solution.
FEMs
The FEMs for BTMs have been developed beginning with the
work of Walkley and Berzins (1999, 2002). Modern developments have focused on using the discontinuous Galerkin method
and are reviewed in Brocchini (2013). A recent addition in this
area is the discontinuous Galerkin model of Panda et al. (2014)
applied to the fully nonlinear model of Zhang et al. (2013).
03116005-8
ADV A
3
U (m/ s)
2
1
0
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-1
-2
0
10
15
20
25
t(s)
30
35
40
45
Additional Physics
Wave Breaking
Most aspects of explicit models for breaking wave dissipation,
including roller models (Schffer et al. 1993), detailed vorticity
models (Veeramony and Svendsen 2000), or eddy viscosity models
(Zelt 1991; Kennedy et al. 2000) were already established at the
time of the review of Kirby (2003) and were discussed there. Of
these methods, the eddy viscosity method is still widely used.
Progress in this area since 2003 includes the development of the relative trough Froude number (RTFN) as a breaking criterion for use
in either eddy viscosity or roller models (Okamoto and Basco
2006), and the breaking celerity index (BCI) (DAlessandro and
Tomasicchio 2008), which combines the RTFN criterion with the
earlier criterion developed by Kennedy et al. (2000). Each of these
sees occasional use, along with the original version. Cienfuegos
et al. (2010) further added terms representing breaking effects to
both the mass and momentum equations. Each term is in the form of
a diffusion operator, with diffusivities determined from calibration
against laboratory data.
After the amount of effort devoted to the development of explicit
expressions for wave breaking effects in the 1990s and early 2000s,
it is somewhat surprising that most recent progress has been made
using a hybrid approach in which dispersive effects are turned off
when some criterion is reached, reducing the model to the
NLSWEs. Already steep wave crests rapidly evolve toward discontinuous jump solutions, which are characteristic of the NLSWE,
and lead to energy dissipation rates found in hydraulic jumps or
bores with comparable crest-to-trough surface elevation changes.
The approach, which appears to have rst been introduced by
Tonelli and Petti (2009), goes hand in hand with the adoption of the
nite-volume method as the dominant computational approach,
because these methods had already evolved to provide robust
shock-capturing capabilities for the NLSWE (Toro 2001). Because
the consequence of turning off dispersion and shifting to the
NLSWE form is basically the same in any robust solution method
for the NLSWE, the differences between implementations of the
strategy basically boils down to choosing criteria for (1) when to
turn dispersion off and (2) when to turn it back on.
Tonelli and Petti (2009) used a Froude number criterion based
on the ratio of crest-to-trough wave height to water depth in front of
ASCE
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03116005-10
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Fig. 5. Normalized phase velocity (model velocity cb divided by the exact phase velocity calculated from the Rayleigh equation, ce) and associated
current proles: (a) 1/7 power law; (b) cubic polynomial (reprinted from Rego et al. 2001, ASCE)
wavelength is long relative to either the overall depth or, in the case
of distinct density layers, to the depth of either the upper or lower
layer. The case in which both layers are shallow is naturally treated
by models developed in the Boussinesq framework, and there are a
number of instances in the literature of idealized treatments using
KdV-type equations in one horizontal dimension (Benjamin 1966),
K-P equations for weakly two-dimensional (2D) problems (Kirby
1988; Pierini 1989), or Boussinesq-type equations for fully 2D
problems (Tomasson and Melville 1992). Extensions to fully nonlinear and higher-order models for waves in two-layer systems continue to be developed as well (Choi and Camassa 1999; Debsarma
et al. 2010). However, implementations of models for general 2D
geometries are relatively rare. One example is that of Lynett and
Liu (2002b), who used a procedure similar to that used in Lynett
and Liu (2004) to eliminate the velocity variable in one layer and
obtain a set of two coupled equations in the interface displacement
and a single momentum ux variable. The model was implemented
and applied to several idealized cases involving shoaling through a
transition from a deeper to a shallower lower layer (in which the
sign of quadratic nonlinear effects changes), and internal wave passage through sudden expansions. Fig. 8 shows an example for an
idealized geometry corresponding to the Strait of Gibraltar, together
with a satellite image of the same location. There is room for continued development of this type of model for internal waves; however,
discretely layered systems are not always an appropriate model for
ocean stratication, and it is likely that future developments would
be more likely to occur in the context of the 3D NHMs, which are
discussed next.
03116005-11
0
Model
Experiment
Currentonly
0.02
0.04
0.08
0.08
depth(m)
0.06
depth(m)
0.06
0.1
b=0.5
0.1
0.12
0.12
0.14
0.14
0.16
0.16
0.18
0.18
0.2
0.2
0.05
0.1
0.15
Timeaveraged horizontal velocity(m/s)
0.05
0.1
0.15
Timeaveraged horizontal velocity(m/s)
0.2
0
Model
Experiment
Currentonly
0.02
0.04
b=0.8
0.04
0.08
0.08
depth(m)
0.06
0.1
0.12
0.14
0.14
0.16
0.16
0.18
0.18
0.05
0.1
0.15
Timeaveraged horizontal velocity(m/s)
0.2
b=1.2
0.1
0.12
Model
Experiment
Currentonly
0.02
0.06
0.2
0.2
depth(m)
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0.04
Model
Experiment
Currentonly
0.02
b=0.2
0.2
0.05
0.1
0.15
Timeaveraged horizontal velocity(m/s)
0.2
Fig. 6. (Color) Mean velocity proles of combined waves and currents from experiments of Kemp and Simons (1982); waves on following currents
(reprinted from Coastal Engineering, Vol. 90, Son and Lynett, Interaction of dispersive water waves with weakly sheared currents of arbitrary prole, pp. 6484, Copyright 2014, with permission from Elsevier)
03116005-12
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Fig. 7. (Color) Mean velocity proles of combined waves and currents from experiments of Kemp and Simons (1983); waves on opposing currents
(reprinted from Coastal Engineering, Vol. 90, Son and Lynett, Interaction of dispersive water waves with weakly sheared currents of arbitrary prole, pp. 6484, Copyright 2014, with permission from Elsevier)
Fig. 8. (a) Numerical snapshot of internal wave passing through the Strait of Gibraltar and (b) satellite image of the same location (reprinted
from Wave Motion, Vol. 36, Lynett and Liu, A two-dimensional, depth-integrated model for internal wave propagation over variable bathymetry, pp. 221240, Copyright 2002, with permission from Elsevier)
ASCE
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Fig. 9. (Color) Comparison with undertow data of Cox et al. (1995) [Note: Experimental undertow values are shown with dots; breaking-enhanced
Boussinesq results are shown by solid lines; and unmodied Boussinesq results are shown by the dashed-dotted lines (reprinted from Lynett 2006,
with permission)]
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Fig. 10. (Color) (a) Photograph of breaking waves (propagating toward the shore from lower right to upper left) showing the triangular
patches of residual white foam marking the location in which breaking
occurred; (b) schematics (looking down from above) of negative and
positive vorticity generated by left-handed and right-handed ends of
breaking waves and possible variations in positioning of breaker termination relative to sensing array (dark circles) (reprinted from Clark
et al. 2012, with permission)
All of these studies, in which waves are propagating and breaking over fairly featureless bathymetry, show ow complexity and
mixing processes in wave-resolved calculations that are consistent
with observations and much stronger than predicted by waveaveraged models. [Indeed, in the case of normally incident waves
(Johnson and Pattiaratchi 2006; Spydell and Feddersen 2009), a
wave-averaged model would simply predict setup with no resulting
mean ow.] Geiman et al. (2011) performed a similar model/
model/data comparison for waves incident over a complex beach
incised by rip channels located reasonably regularly in the alongshore direction. For each model [FUNWAVE as the BTM model
and Delft3D (Lesser et al. 2004) as the wave-averaged model],
Lagrangian particle trajectories were computed using modelgenerated ow elds and then used to compute particle separation
statistics, which is a precursor to deriving diffusion estimates.
Model-generated statistics were compared with each other and to
similar statistics derived from drifter trajectories in the eld. Fig.
ASCE
In recent years, Boussinesq models have come into play as a frequently used component in the process of modeling tsunamis. The
choice of BTMs over NLSWE models for modeling tsunamis has
been somewhat controversial, because the problem is thought by
many to be essentially nondispersive and thus not requiring the
input of the more expensive BTMs. Initially, the use of BTMs was
often a matter of preference, with investigators who were involved
in developing or using BTMs for surface wave applications choosing to use the models in tsunami applications. Subsequent work has
revealed a number of areas in which the capabilities of BTMs relative to NLSWEs come into play in possibly signicant ways.
Tsunami hydrodynamic modeling may be thought of as being divided into three categories: generation due to ground motion, propagation over local to ocean basin scales, and shoreline inundation. These
aspects of the problem may be treated separately in separate model
runs, or comprehensively in a unied, nested treatment, depending on
the choice of model and preferences of the investigator.
Tsunami Generation
Dynamic tsunami generation using BTMs has largely been limited
to modeling the response to an imposed time-dependent ground
motion. Both seismic subduction zone events and smaller scale submarine mass failures (SMFs) have been simulated this way. Lynett
and Liu (2002a) described a study of SMF tsunami generation in
one dimension, using a Boussinesq model extended to account for
time-dependent bottom motion. A BIEM model was used to provide
a reference solution for evaluation of the Boussinesq model, and the
Boussinesq model was seen to differ from the full solution, particularly in details of the maximum drawdown above the moving slide.
Lynett and Liu (2005) extended the modeling to two horizontal
dimensions and studied the generation of edge waves resulting from
slides occurring on planar slopes.
Zhou and Teng (2010) extended the O (m 4) model of Gobbi and
Kirby (1999) to two horizontal dimensions and incorporated a moving
bottom. They performed 1D laboratory experiments for wave generation by a sliding solid wedge and measured waveforms as well as velocity proles on vertical transects. Model-data comparison showed
that there was not much difference between the O ( m 4) model results
and results computed using the equations of Lynett and Liu (2002a),
with the difference between model results being smaller than the differences between either model and their measurements. The O ( m 4)
model provided consistently better estimates of the velocity eld,
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Fig. 11. (Color) Generation of local vorticity patches at ends of breaking wave crests (reprinted from Johnson and Pattiaratchi 2006, with permission)
Fig. 12. Horizontal distributions of vorticity uctuations for two peak wave periodaveraged velocity at (a) t = 30 Tp, (b) t = 410 Tp, (c) t = 420 Tp,
and (d) t = 430 Tp in the present simulation of the SandyDuck experiment (reprinted from Choi et al. 2015a, with permission)
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Fig. 13. Wave number-frequency spectra obtained using measurements of (a) cross-shore and (b) longshore velocity and the computations of (c)
cross-shore and (d) longshore velocity for the longshore array at x = 160 m and y = 704,906 m [Note: The logarithmic gray scale indicates energy density; the bold lines denote mode-0 edge waves propagating upcoast and downcoast with a small wavenumber offset (0.0015 m1) (reprinted from Choi
et al. 2015a, with permission)]
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Fig. 14. (Color) (a) Low-pass eld drifter trajectories, displayed according to their release locations (red dots) at 1, 2, and 3, respectively; (b) absolute
dispersion A2(t) for particles seeded inside the surf zone at the same locations in the two models, with eld observations (thick black line), Boussinesq
u (black line), Boussinesq u corrected for wave drift (blue line), and Delft3D u corrected for wave drift (red line) (reprinted from Geiman et al. 2011,
with permission)
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(a)
(b)
(c)
(d)
(e)
(f)
(g)
(h)
Fig. 15. (Color) Simulations of the 2011 Tohoku-oki tsunami: comparison between measured surface elevations at DART buoys (black lines) and full model
simulations; the buoy numbers and lead-in model arrival times are (a) 21418, 0 min, (b) 51407, 5 min, (c) 46404, 6 min, and (d) 32411, 10 min; (e)(h)
modeled surface elevations at DART buoys [times are as indicated in panels (a)(d), respectively] [Note: Model results are offset by the indicated shift
to facilitate waveform comparisons; modeled surface elevations at DART buoys; full model (blue lines), no dispersion (red lines), no Coriolis (blue
dashed lines), and no dispersion/Coriolis (green dashed lines) (reprinted from Ocean Modelling, Vol. 62, Kirby et al., Dispersive tsunami waves in the
ocean: Model equations and sensitivity to dispersion and Coriolis effects, pp. 3955, Copyright 2013, with permission from Elsevier)]
ASCE
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propagate across the ocean at speeds that are slightly slower than predicted by shallow water theory or Boussinesq theory. This effect was
illustrated in Fig. 15, which reports a progressive increase in observed
lag between Boussinesq model results and measured data with distance from the tsunami source. This indication of an additional phase
speed decrease relative to the Boussinesq results has been traced by
several authors (Allgeyer and Cummins 2014; Tsai et al. 2013) to the
combined effects of water compressibility and earth elasticity. Wang
(2015) has developed a model correction that adjusts still-water depth
slightly to account for these effects, but the effects can and should be
accounted for directly in the model physics.
Run-Up and Inundation
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Fig. 17. Sequence of snapshots of the solitary wave run-up event: (a) t = 6.4 s; (b) t = 8.4 s; (c) t = 14.4 s [Note: Experimental conguration of Lynett et al.
(2010b); model results were computed using FUNWAVE-TVD (reprinted from Ocean Modelling, Vol. 43, Shi et al., A high-order adaptive time-stepping
TVD solver for Boussinesq modeling of breaking waves and coastal inundation, pp. 3651, Copyright 2012, with permission from Elsevier)]
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Fig. 18. (Color) Modeled coastal community in Seaside, Oregon, with instrument locations: (a) layout of wave basin; (b) close-up of instrument layout in modeled area (reprinted from Park et al. 2013, with permission)
2007; Zijlema and Stelling 2008; Bradford 2011). At least two readily accessible open source models have been developed: SWASH
(Zijlema et al. 2011) and NHWAVE (Ma et al. 2012).
An alternate approach to the general Navier-Stokes-like solution
strategy used in most NHMs is proposed in Antuono and Brocchini
(2013), in which the continuity and horizontal momentum equations
03116005-22
Flow Depth
0.35
0.3
0.25
0.2
0.15
0.1
0.05
0
20
22
24
26
28
30
32
34
36
38
40
34
36
38
40
Cross-Shore Velocity
Cross-Shore Velocity (m/s)
3
2.5
2
1.5
1
0.5
0
20
22
24
26
28
30
32
Time (sec)
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Time (sec)
Simulated
Measured
0.8
0.6
0.4
0.2
0
20
22
24
26
28
30
32
34
36
38
40
Time (sec)
Fig. 19. (Color) FUNWAVE-TVD results for ow depth, velocity, and momentum ux at measurement location A1 (data from Park et al. 2013)
are integrated over depth, whereas information about the nonhydrostatic component of the pressure eld leads to a Poissons equation
for vertical velocity w, which is then solved to obtain the 3D ow
eld for use in the integrated 2D continuity and momentum equations. The proposed method has not been implemented numerically
to date but is potentially more efcient than the direct approach to
the 3D problem used to date.
Nonhydrostatic modeling provides a robust means for computing a wide range of phenomena in the coastal ocean. The models
gain their efciency from a combination of several factors. First, the
acceptance of the idea that the surface will not be reproduced at
higher resolution than used in Boussinesq models leads to the adoption of a locally smooth, single-valued representation. This allows
the mass conservation equation to be integrated over depth to specify the surface location in terms of the divergence of volume ux, as
in Eq. (22). The approach differs from Boussinesq theory, however,
in retaining the 3D momentum equations. These are typically
solved using a split-step algorithm, as in other treatments of NavierStokes equations; in the present case, it is convenient to take the rst
step to represent solution of the hydrostatic problem, after which a
Poisson problem for the nonhydrostatic pressure correction is
solved, followed by a second step, which updates the velocity eld
in response to the nonhydrostatic pressure correction. Several additional details that can help (and are not universally adopted) include
mapping the vertical coordinate onto a xed strip using a s coordinate transformation (xing the location of both bottom and surface
in the computational grid), and using a Keller-type variable stencil
with pressure specied at the upper face of grid cells, placing the
specication of the surface pressure boundary condition exactly at
the surface position. The resulting equations are usually solved
robustly using the same approaches that work for 2D NLSWE or
Boussinesq models. For the case of surface wave propagation in
ASCE
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Fig. 20. (Color) Nonhydrostatic simulations of the lock exchange problem with (a) velocity and pressure solved at 20 vertical levels, (b) velocity and
pressure solved at 200 and 20 levels, respectively, (c) velocity and pressure each solved at 200 vertical levels, and (d) the hydrostatic case (reprinted
from Ocean Modelling, Vol. 96, Shi et al., Pressure Decimation and Interpolation (PDI) method for a baroclinic non-hydrostatic model, pp. 265
279, Copyright 2015, with permission from Elsevier)
Future Avenues
The growing importance of the class of NHMs is a given, and it is clear
that this approach will take precedence in a number of coastal modeling
areas as access to larger multiprocessor environments becomes more
prevalent. However, Boussinesq modeling, taken to represent the general class of 2D depth-integrated modeling strategies, should remain a
preferred method in practice for any type of ow for which a simplied
model of vertical ow structure is useful and adequate. The following
are several areas in which developments are likely in the near future.
(This list is by no means exclusive or complete.)
Treatment of the Nonhydrostatic Pressure Correction
As pointed out by Castro-Orgaz et al. (2015) and discussed earlier,
there is a great deal of correspondence between typical Boussinesq
formulations in which nonhydrostatic pressure corrections are
expressed in terms of derivatives of the horizontal velocity eld and
models in which the localization of the correction is maintained in
the horizontal momentum equations and then resolved as a separate
step, as in the work of Yamazaki et al. (2009) on water waves or
treatments of landslide motions over steeper slopes, such as
Denlinger and Iverson (2004). The second choice has computational advantages because it does not stray outside the scope of
well-developed treatments for the hydrostatic NLSWEs, whereas
the rst choice introduces higher-order derivatives in the formulation and requires the use of additional diagonal matrix solvers. The
schemes that have been developed for the rst choice have also
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Conclusions
Boussinesq models represent a highly evolved means for computing
free-surface ows in cases in which motion is dominated by the
external, or barotropic, gravity forcing, and in which the vertical
distribution of internal ow properties can be readily parameterized
for the purposes of integrating over depth. In such cases,
Boussinesq or Boussinesq-type models represent an indispensable
tool for the calculation of waves and wave-driven processes ranging
in scale from short wind waves in the nearshore to ocean basin
scale propagation of tsunamis. The framework is presently being
extended to cover a range of problems that have previously been
generally treated by models in the long wave limit, such as granular
debris ows (Denlinger and Iverson 2004; Castro-Orgaz et al.
2015) and other versions of complex natural ow phenomena.
In cases in which ow elds depend on baroclinic response, or
in which vertical distributions of either transported material or
applied body forces (such as vertically varying plant canopy density) are strongly spatially variable and thus not easily parameterized for vertical integration, it is not clear that there is an avenue forward for the Boussinesq approach. Given the availability of general
3D NHM formulations such as NHWAVE (Ma et al. 2012) and
SWASH (Zijlema et al. 2011), it seems more logical to use a modeling framework that allows one to replicate the spatial complexity of
the domain from the outset. This choice will certainly not be dominant in the near future, because the relative efciency of Boussinesq
models in comparison to fully 3D codes will still be a deciding factor for model choice for applications that are adequately described
by the depth-integrated model framework.
Acknowledgments
The author thanks the Ofce of Naval Research, the Army
Research Ofce, the National Science Foundation, and the
Delaware Sea Grant Program for their support of his efforts in this
area over the years. The work discussed here includes the efforts
of a number of present and former students, postdocs, and
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