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Scheepsbouwbrnk
R CHIEF oceedings of. the Firs t Intenationa i Conference Tech nische Hog eschool
on Numerical Ship Hydrod;nancs Deift
Gaitherebug., MD.., Oct., 19'5
Rcnd V. Vuncy
Mat!s tittt of Tcsooqy
Cmbrdp, Twxsettz G23 U.S.A.
ABSTRACT
582
step-like transition can be handled, in principle, by exploit-
ing a Green function, if available, that satisfies the bottom
conditions on both sides of the transition region. Evans
(1972) in fact derived this function. The resulting expres-
sion is quite complex. To this author's knowledge, no appli-
cation of it to practical problems has yet been made. Bai
and Yeung (1974) investigated two new approaches for treating
the problem of general bottom topography. One method utilizes
a variational formulation with the fluid domain represented by
finite elements; minimization of a certain functional then
leads to the solution of the problem. The other approach con-
sists of applying the simple source function for an infinite
fluid to a finite fluid domain, resulting in an integral
equation along the fluid boundary that has to be solved. Chan
and Hirt (1974) used an initial-value problem formulation and
a finite-difference mesh to tackle the problem.
The method described in this paper stems from the
author's earlier work [Yeung (1973), also Bai and Yeung
(1974)1 in which case, the inner region where all the geo-
metrical changes occur is described by Green's theorem using
the source function for an infinite fluid. However, instead
of applying a radiation condition at a large distance from
the origin of disturbance, we now match the flux and pressure
fields at the "radiation boundaries" with solutions in the
outer fields represented by eigenfunction expansions. The
location of the radiation boundary can now be chosen arbi-
trarily close to the body, thus shortening the length of the
contour which bounds the inner field. The method is found to
be highly efficient from the computation viewpoint.
583
So
(I)
/ TI/f S = SouSFt)Z+uE.
SB
i-1
N3+1
SB ________ , ],_,,
\n.
Segment
584
generated by the oscillation of the body or by an incident wave
system impinging on the body. If the flow is assumed irrota-
tional and time-harmonic of angular frequency 0 the fluid
,
where
(2.lb)
= O (2.2)
q.cp = o (2.3a)
C) (2.3b)
-f(s) (2.3c)
585
0
(2.4)
(2.5)
-
=O on (2.8)
586
-
-.L5k i
cxe)=-R 1'r.)e i (2.9)
with
t'
Ycx) = v4(x,o) + (2.10)
Nothing has been said so far about how the two types of
problems are related. Such relations can be most conveniently
obtained by the application of Green's second formula. This
was indicated in a recent work by Newman (1975) pertaining to
the case of equal asymptotic-depths. The results can be gener-
alized for the unequal-depths case. For this latter case, there
exist two sets of transmission and reflection coefficients,
corresponding to the two different directions of incidence of
the propagating waves. The two sets are somewhat related as
indicated by Kreisel (1949) and Newman (1965). If (R1Tj
(T ) denote the reflection and transmission coefficients
due to incident waves from the left and the right respectively,
i.e.
4l.X %--
r
+ R1 e il K(p
'p,
LnX (2.11a)
T ,_-%co
and
+ R2 eJ Kq), (2.11b)
f T2 e -
where
587
4
then
f1
R -i- i r (D/D-' ) = I (2.12)
= (2.13)
= (2.15)
where
4- mht - 2Pi
(2.16)
- t
- DY (2.17)
J AB.. - (2.18)
T - AB A ft: (A - A 5) D/D
588
3. The Method of Solution
We illustrate the method of solution by applying it to the
forced-motion or radiation problem. The treatment for the
scattering problem requires only slight modification. First
let , .,, be two artificially chosen vertical boundaries
subdividing the fluid domain into an inner region of changing
geometry and two outer regions of constant depths. These are
denoted by regions I, II, and III as shown in Fig. 1. Let P be
a field point in Region I, and Q be a variable point on the
boundary of this region. Application of Green1s second ideri-
tity to and /
being the distance between P
and , then yields
where
F -
--
being variables of integration along Z . Here
denotes an infinitesimal arclength element along the boundary.
the normal derivative of Q
On $j:' and is
either known or expressible in terms of itself. Hence
+1
)c (3.2)
I 4C)--
,1
589
Consider now regions II and III. Since the fluid depth is
constant, the solution in either one of these regions may be
written in the form of eigenfunction expansions [Wehausen,
1969], viz.,
pC%,) A e" +)
. c;
CoS
CorJ
for X(3.3)
and
-
.Ln?OX 0L nC (tk) v
e c:os
y}'
for
= (3.5)
f
2W q
tA-1 o +
c -
r
K
590
- A:
j+ ; e' 1r( (3.6)
kI
m(j+) ,1?'
(1,7)
c_o mJ ( .Pj 2)
G C- , ) -h
.:
) c& m('7) ioI
\)
(3.8)
:4 (
NR and NL
Referring to (3.6) we see that the velocity potential, (e
will be known everywhere if is known on the boundary
u ,and if the coefficients of the expansions are
known. To obtain an equation for the () , we simply let
591
the field point approach the aforementioned boundary. The fol-
lowing "hybrid" integral equation then results.
-Ti-cpcp tj
F
+Ae[ -G:i
-mL[L} N,..
= for F 0uSvg
(3.9)
If we now place the point P at ( NRtI ) distinct locations
on and t4+ ) distinct locations on
( we shall ,
5 Icro 5
t -LR( ccsh
Ng .j. .f '1
tAe
o
-.11
co5JiWt Ji CLS Th W
.sGko,4vj
-
Io e
L
= J 4()
U
-irqcp) qqh.c(
+5 cPJerJc$
-)1
2tL '0 -
-1-
-t-
tA:e
T + Z e '13
kI
593
-A
-Ln
[3G: I + KI
c em G T
mL -
(3.12)
The inhomogeneity now occurs on the left radiation boundary.
The analog of (3.10) can also be obtained, in a similar fashion.
Once the system of equations is solved, the complex-valued
transmission and reflection coefficients are simply given
respectively by
-
(3.13)
R - Ai/AI
It is worthwhile to note in passing that in classical el-
liptic boundary-value problems, one normally specifies either
the potential or the normal derivative on the boundary. In our
present approach, an indirect specification of both cpand cp
on and Z is accomplished by requiring them to be expand-
able in the y-direction as a sequence of orthogonal functions
with unknown coefficients. Although such a type of "boundary
condition" is hardly discussed in the theory of partial differ-
ential equations, we have experienced no difficulty in finding
a stable numerical solution, which will be discussed next.
*
See page 584.
594
lip".-.-
.[-1rj )cp
A0 $Ai' t z. c s = i ,
Q..
= = , N4; (4.2)
-foi. =
=N5+t .......
.
(4.4)
and
= [ (X.,.)- LGC,L)j
(4.5)
595
with the and
defined by (3.8) and (3.). In Equation
(4.5), the top and bottom signs are to be associated with the
right and left radiation boundaries respectively.
+ CS f_FX)
for
Jm(h)
T=e [-h+ + LG(o,)J
o (4.7a)
T =1_r Cih +
(4.7b)
596
complex arguments. Namely, define the complex numbers
=m(+i), =
rn [thJ , o (4.8)
then
F( ,
:
=-m n(c) c, rn(-di)
+ -5m e E1(2) t e E
f
IQ ih e 'E1)e-jmk -
z ,1e
mJ rnC
7
k)Jc{1+ (-7}
-h
=
n
Y[Oi-] -
Y2
-1TcP(t)e
- [ e() - eE,(-)J (4.10)
+Jtee Eu,)-
where the exponential-integral special function E,() is
defined to be
E() , j9j K
(4.11)
literature
A preponderance of techniques is available in the
for efficient evaluation of this special function.
597
5. Results and Discussions
2 (5.1)
+
598
-.-
t - b=1 -
-
h=2
1.2 1.0
'fl/f
- - - -
- } Present Calculations
1.0 4- l, Bai & 0.8
11: Rectangle J Yeung (1974)
4-
0 X Lebreton & Margnac (1966)
Circle
0.8 /
/ 0.6
___.*_____.s___*__
/ Rectangle
-S-
lo- -, -S-
// 4<
0.6 /, -S-- 0.4
S-
Circle S--
/
0.4/ 0.2
h= 2
= 2e Ec)LuYzc%) (5.2)
where the first term after the first equality sign represents
the incidentwave and the second the diffracted waves.
The scattering characteristics of a finite-size step are
given in Table 1 and are compared with Hhlaly (1967) . By
Equation (2.11):
lY*1zIYI = (5.3)
I
.35
.54
30
.52
.25
.50
.48
.15
.46
.10
.44
.05
.42
o
0. 0.1 .40
0.2 0.3 0.4 0.5
601
1.2
0.6
- 0.4
0.2
602
where and Y , being the resulting wave amplitudes cor-
responding to unit-amplitude incoming wave, are essentially
the transmission and reflection coefficients respectively.
evidently represents the group-velocity ratio. The
Here, '
6. Concluding Remarks
We have examined in this paper a very versatile method for
solving the two-dimensional time-harmonic free-surface flow
problem for a fluid of arbitrary bottom topography. The method
is quite stable. Results obtained always satisfy consistency
and energy checks very well. Generally speaking, the numerical
accuracy is not as good for scattering problems when the ref lec-
tion coefficient is vanishingly small. This corresponds to
situations in which the wave frequency is fairly high. For
low to moderately high frequency, the technique discussed here
represents a simple yet potent tool for investigating the hydro-
dynamic interaction of bodies with their physical environment
which can be made as realistic as possible.
603
Table 1. Reflection and Transmission Coef-
ficients of a Finite-height Step
R1 T1 Eqn (5.3),
vh
R1I
arg R1() arg T () L.H.S.=
0. 04365
.4242 -160.86 .5846 5.64 1.00016
.4246 -161.00 .5846 5.61 1.00001
*TaJfl frc Hilaly (1967). His phase angle cx is related to the present
notation by: cx = -(ri + arg R)
604
1.2 0.5
5%_
's 0.4
--- "s
N
N
N
0.3
'ai
o
C-) 0.8 0.1
(I)
h+
o r
h
I,
y+(x).. _h+[1_.cosCnx/h+)]
/
hump case 0.0
y(x)= '7
_h+[2.5_.cos(Tx/h+)J
h/h 2.5 step case
i I'vh i I i J J,
.02 .04 0.1 0.2 0.4 0.6 1.0 2.0 4.0
Fig. 6 Reflection and Transmission Coeffs. of a hump
Acknowledgement
This work was carried out under the Naval Ship Systems
Command General Hydrodynamics Research Program administered by
the Naval Ship Research and Development Center, Contract Number
N00016-75-C-0236. The author is also grateful to partial
support by the National Science Foundation, Grant Number GK-
43886X. Acknowledgement is made for the valuable assistance
of Mr. Y. H. Kim, Research Assistant in the Department of Ocean
Engineering, MIT.
REFERENCE S
606
Newman, J. N., "Interaction of Waves with Two-dimen-
sional Obstacles: a Relation between the Radiation and Scat-
tering Problems," to be published in J. Fluid Mech., 1975.
Newman, J. N. and Yeung, R. W., "On the Low-frequency
Limit of Added Mass of Cylinders," in preparation, 1975.
Ogilvie, T. F., "First- and Second-Order Forces on a
Cylinder Submerged under a Free Surface," J. Fluid Mech., vol.
16, 1963, pp. 451-472.
Ursell, F., "On the Heaving Motion of a Circular
Cylinder in the Free Surface of a Fluid," Quart. J. Mech. Appi.
Math., vol. 2, 1949, pp. 218-231.
Wehausen, J. V. and Laitone, E. V., "Surface Waves,"
Handbuch der Physik, vol. 9, pp. 446-778, Springer-Verlag,
Berlin, 1960.
Yeung, R. W., "A Singularity-Distribution Method for
Free-Surface Flow Problems with an Oscillating Body," Univ. of
Calif. Berkeley, College of Engineering, Report NA 73-6, Aug.,
1973, vi + 124 pp.
607