Hyd2 HS16 Runoff Concentration

Runoff
concentration
Rainfall Input
Runoff generation
GREEN-AMPT
Runoff concentration
(basin response)
Hydrology II Runoff concentration - Autumn Semester 2016 1
Runoff concentration
Lecture content
runoff concentration concept

linear models of runoff concentration
unit hydrograph concept
synthetic unit hydrographs
geomorphologic unit hydrograph
non-linear models of runoff concentration

Linear models of runoff concentration
Hydrology II Runoff Concentration Autumn Semester 2016 3

Runoff concentration (lumped, linear) model assumptions
nature of the physical processes of the model approximations
rainfall-runoff transformation (assumptions)

non linear linear
PR=50 years QR=50 years PR=50 years QR=50 years
time varying time invariant

the basin response varies from storm to storm the basin response is invariant for any storm
distributed in space lumped in space

rainfall and soil properties are variable in space rainfall and soil properties are constant in space

LINEAR, CONCEPTUAL, LUMPED MODELS
OF THE RAINFALL RUNOFF TRANSFORMATION

the rainfall input is constant over the watershed (average in space)
the infiltration model is characterised by one parameter set, which describe the average infiltration response of
the watershed
the runoff concentration model parameters do not change with changing rainfall input or watershed soil properties
Linear models of basin response (1)
transfer
INPUT OUTPUT
function
linear time invariant
time-invariance stationarity
if an input I1(t) produces an output O1(t)
if an input I2(t+) produces an output O2(t+)
two inputs shifted by produce two outputs which are also shifted by
linearity proportionality and addivity (superposition of the effects)

if an input I(t) produces an output O(t)
an input cI(t) produces an output cO(t), c=const.

if an input I1(t) produces an output O1(t) and an input I2(t) produces an output O2(t)
an input I1(t) + I2(t) produces an output O1(t) + O2(t)

Linear models of basin response (2)
INPUT transfer OUTPUT
I(t) function q(t)
linear time invariant

under the condition of stationarity and linearity
if p(t) and q(t) are respectively the input (net rainfall) and the output (runoff) functions
it can be demonstrated that the response of the system to a continuous input p(t) can
be treated as a sum of infinitesimal inputs

the response q(t) can be written as solution of a linear system with constant coefficients

d nq d n1q dq
I ( t ) = a0 n + a1 n1 + ...+ an1 + an q
dt dt dt
t
which can be solved with q ( 0 ) = q0 = 0, q ( 0 ) = q0 = 0, ... as q ( t ) = u ( t ) I ( ) d CONVOLUTION
0
INTEGRAL
h(t-) is the basin response function, which describes the runoff concentration
Impulse Response Function IUH
IMPULSE RESPONSE FUNCTION u(t)
defines the response of a linear

system to an instantaneous unit
input applied at time
t
Q(t ) = I () u(t - )d
=0
convolution integral
(t) applied after response shifted by (t-) h(t-)

Impulse Response Function IUH, UH
CONVOLUTION
continuous
-- impulse response function
-- IUH
discrete
-- pulse response function
-- UH with duration t

Instantaneous Unit Hydrograph (IUH) - properties
u(t) is defined only in +
u(t) > 0 t > 0

because of continuity
0 u (t ) dt = 1
U ( t ) = u ( t ) dt 1; U ( t ) = u ( t ) dt u ( t ) dt = U ( t + dt )
t t t+dt
U(t)
0 0 0
S-curve = response to unit step input I, U(t)
(constant intensity, infinite duration)
t
I(t)
tH = baselength of the hydrograph tR

tR = rainfall duration u(t)
tUH = IUH baselength t UH
q(t)
tH = tR +tUH
tH
Impulse Response Function UH
Example
n M
Qn = P
m =1
m U n - m +1
M - pulses of input ( P1 , P2 , P3 )
Q0 = 0
Q1 = P1 U1-1+1 = P1 U1
Q2 = P1 U 2-1+1 + P2 U 2- 2+1 = P1 U 2 + P2 U1
Q3 = P1 U 3-1+1 + P2 U 3- 2+1 + P3 U 3-3+1 = P1 U 3 + P2 U 2 + P3 U1
...
Q6 = P1 U 6 + P2 U 5 + P3 U 4
Q7 = P2 U 6 + P3 U 5
Q8 = P3 U 6
Q9 = 0

Unit Hydrograph - interpretation
u(t) as memory or weight function

memory of q(t) for the input I(t), which occurred (t-) before
influence (weight) on q(t) due to the input I(t), which occurred (t-) before
u(t) as probability density function

probability that a raindrop occurred at time t=0 in any place of the basin has to reach the outlet
between t and t+dt
U(t) as cumulative distribution function

probability that a raindrop occurred at time t=0 in any place of the basin has to reach the outlet
within a time t.
u(t)
tp = time to peak mode of the pdf
up = peak intensity mode value
up tL = time lag mean of the pdf
t
t u ( t ) dt = E h ( t )
tUH
tL =
tp tL t UH 0

UH identification (1)
Two options
de-convolution given observed q(t) and p(t) solve for h(t) the convolution integral
t
q ( t ) = u ( t ) I ( ) d u(t) =
0
synthetic unit hydrographs (linear parametric)

empirical generally characterised by prescribed shape and by functions of the time to peak and
peak intensity h(t)
e.g. triangular unit hydrograph
t
conceptual based on lumped parametric descriptions of the runoff concentration mechanisms
e.g. basin storage and transfer represented by the hydraulic analogue of the linear reservoir
P(t) h(t)
W(t) = kQ(t)
W(t) t
Q(t)
e.g. basin response parameterised on the basis of the river network topology
UH identification (2)
synthetic unit hydrographs (non-linear parametric)
u(t) q(t) RP of I(t) = RP of q(t)

I(t)
u(t, p) RP of I(t) RP of q(t)

I(t) q(t)
non-linearities decrease with increasing areas of basins and with increasing amount of precipitation
two approaches:
geomorphoclimatic UH: quasi linear, i.e. linear scheme different from storm to storm
non linear analogues: e.g. linear-exponential reservoir

Linear reservoir IUH 1/2
Hypothesis: p(t)
synchronous transfer throughout the network W = W[h(q)] W(q)
linear dependence of W on Q W(t) = kq(t) ()

dW ( t )
mass continuity p (t ) q (t ) = ()
dt q(t)
(t )
dq ( t )
q (t ) = p ( ) d + q
t e k
() + () k + q (t ) = p (t )
0 k
0
dt

t h(t)
1
IUH h (t ) = e k
k
where the parameter k 1/k
is a storage constant
and tp = 0 ;hp = 1/k ;tL = k ;tUH
t
Linear reservoir IUH 2/3 hydrograph
h(t) constant rainfall intensity, h(t) constant rainfall intensity,
infinite duration finite duration
t t
p(t) p(t)
p* p*
t t

q(t) q(t)
Q max
Q max
p* p*
t t

Qmax = p* is reached for t (

Qmax = p * 1 e
k
)
rising limb (
q ( t ) = p * 1 e
tk
)
q (t ) = p * ( e )
t tk
falling limb k
e
Linear reservoir IUH 3/3 reservoir in series (Nash model 1/2)
To better modulate the basin response through the storage effects n reservoirs of equal storage
constant k can be used in a cascade
1 t k
p(t) for a unitary pulse p(t)=1 q1 ( t ) = e = I 2 (t )
k
outflow from the inflow to the

q1 first reservoir second reservoir
by applying the convolution

( ) 0 I 2 (t ) h (t )
t
integral for the second linear 2
q t =
q2 reservoir, one obtains t 1 t 1 (t ) k
= e e k
d =
q n-1 0 k k
t t
= 2e k
k
qn
n1
1 t t
by repeating for n reservoirs h ( t ) = e k
(n N) ( n 1)!k k
1
1 t t
for (n + ) n h ( t ) = e k
where ( ) = x 1e x dx is the Gamma function
( ) k k 0

Linear reservoir IUH 3/3 reservoir in series (Nash model 2/2)
The characteristics of the Nash model depend on the value of the parameters, n (or ) and k
h(t) n = 1
integer # of non-integer # of
reservoirs n reservoirs,
n = 2 k = 1
tL = nk tL = k
n = 5
tp = (n-1) k tp = (-1) k
n = 10
n = 15
hp =
( n 1) e(n1)
n1
hp =
( 1) 1
e(1)
k ( n 1)! k ( )
t

Geomorphological approach to IUH

Geomorphological basin characteristics

Geomorphological laws stream ordering

Geomorphological laws Hortons laws (1)




Geomorphological Instantaneous Unit Hydrograph (GIUH)
BASIN RESPONSE
is regulated by the
topological structure
of the river network

Geomorphological Instantaneous Unit Hydrograph (GIUH) - 1
DEFINITION
The GIUH is the probability density function of a drops

travel time in a basin
Rodriguez-Iturbe and Valdes (1979), Gupta et al. (1980)
The path of a drop, s :

transitions
a r r+1 rW
hillslope region stream of given order
CDF of the time a drop takes to travel to the outlet TB:
P(TB t ) = P(Ts t ) P(s)

sS
where Ts is the travel time in a path s:
Ts = Ta + Tr + Tr + ...+ Tr
+1

assuming that Ts in Ts are independent we get the convolution integral for the pdf of Ts :
fT (t) = fT (t) * fT (t) * fT (t) *...* fT (t)

s a r r+1 r
and the probability of following a given path s, P(s) is:
P(s) = P,+1 P+1,+2 ...P1,

- is the probability that a drop will start its travel in a
hillslope segment draining into a stream of order
- Pi,j are the tansition probabilities from streams of order i to j
Function of network topology only !!!

GIUH = pdf of TB
dP(TB t)
hB (t) = = fT (t) * fT (t) * fT (t) *...* fT (t)P(s)
dt sS
a r r+1 r

We have to make an assumption for the pdfs of Tr:
fT (t) = K exp( K t)
r
Rodriguez-Iturbe and Valdes (1979)

suggest estimating K as the mean travel time: K = v / L
v is the DYNAMIC PARAMETER, the characteristic velocity constant
throughout the basin
assuming a triangular GIUH we get the following relations between
peak hp and time to peak tp by regression among parameters
- v is in m/s
1.31 0.43
hp = RL v - L is in km hp
LW
- hp is in 1/hr
0.55
0.44 LW RB
tp = RL -0.38
v RA
tp tb
Rosso (1984), Rodriguez-Iturbe (1993)

assuming a Gamma GIUH we get the following relations between peak
Gamma distribution parameters and basin properties
connection between hydraulic behaviour (Nash cascade) and
geomorphology
n -1 t
1 t -
h(t ) = e k
k G ( n) k
0.78
RB
n = 3.29 RL 0.07 - v is in m/s
RA - L is in km
0.48
LW RA 1000 - k is in 1/hr
k = 0.7
v RB RL 3600 - n is dimensionless

GIUH Example (1)
RIETHOLZBACH BASIN http://www.iac.ethz.ch/groups/seneviratne/research/rietholzbach
RA = 5
RB = 4
RL = 2
v = 1 (m / s)
L = 3 (km)
Gamma GIUH Triangular GIUH
n = 2.9 hp = 0.59 (1/ hr )

k = 0.47 (1/ hr ) t p = 0.9 (hr )
tb = 3.4 (hr )

GIUH Example (2)
RIETHOLZBACH BASIN
RA = 5
RB = 4
RL = 2
v = 1 (m / s)
L = 3 (km)
Gamma GIUH
Triangular GIUH

GIUH Example (3)
RIETHOLZBACH BASIN
Travel time distribution
1
t= l
v
Hillslope versus channel flow
v = vchannel
v = vhillslope = e vchannel
e <1

Calibration
GIUH
4 out of 5 parameters
calibrated from topographic
data
1 parameter only requires
Validation calibration
same parameter set as calibration, but used on independent data

check for time to peak, peak flow, volume
Hydrology Erosion and Sediment Transport - Autumn Semester 2016 34

Estimation of the velocity parameter, v (1)
Rodriguez-Iturbe & Valdes (1979)

mean flow velocity
Rodriguez-Iturbe et al. (1979)

velocity at peak flow
meaning
average in space (throughout the channel network) and in time (throughout the flood
event)
in practice:
e.g. computed on the basis of the uniform flow given a known hydraulic geometry
and a reference flow (e.g. the bankfull discharge) throughout the network and
averaged
velocity distribution --> mean, mode, median

Estimation of the velocity parameter, v (2)
Al-Wagdany and Rao (1997)
velocity as function of the precipitation and geomorphology
where P is the excess rainfall depth, 0 and 1 are linear regression coefficient related
to basin characteristics
and SA is the slope-area parameter , AT being the drainage area
and being the cumulative mean slope
with = mean elevation difference observed for streams of order i

0
Velocity (ft./sec)
SA
1
[Precipitation Depth]-1 (in.)
Hydrology Erosion and Sediment Transport - Autumn Semester 2016 SA 37

Non linear IUHs

Geomorphoclimatic Instantaneous Unit Hydrograph (GcIUH) - 1
km, m
m /s
km2
m1/3 /s-1
Geomorphoclimatic Instantaneous Unit Hydrograph (GcIUH) - 2

Linear-exponential reservoir

Sensitivity analysis of GIUH
and non linear IUHs

GIUH calibration to real event
Rietholzbach event 3.9.85
1.4
v=0.2 m/s
1.2 v=0.4 m/s
v=0.6 m/s
observed
1
0.8
q(m3/s)
0.6
0.4
0.2
0
0 5 10 15 20
time step

GIUH sensitivity to parameter range (1)
GIUH Gamma - sensitivity to v GIUH Triangular - sensitivity to v
0.5 0.5
v=0.2 m/s v=0.2 m/s
v=0.4 m/s v=0.4 m/s
0.4 v=0.6 m/s
0.4 v=0.6 m/s
0.3 0.3
h(t)
h(t)
0.2 0.2
0.1 0.1
0 0
0 5 10 15 20 0 5 10 15 20
time step time step

GIUH Gamma vs Triangular GIUH Gamma vs Triangular
0.5 0.5
v=0.2 m/s G v=0.4 m/s G
v=0.2 m/s T v=0.4 m/s T
0.4 0.4
0.3 0.3
h(t)
h(t)
0.2 0.2
0.1 0.1
GIUH Gamma vs Triangular

0 0
0 5 10 15 0.5 20 0 5 10 15 20
v=0.6 m/s T
time step time step
v=0.6 m/s G
0.4
0.3
h(t)
0.2
0.1
0
0 5 10 15 20
time step Autumn Semester 2016
Hydrology Erosion and Sediment Transport - 45
GIUH Gamma - sensitivity to Rb
0.5
Rb=3.0
Rb=4.0
0.4 Rb=4.9
Range: 2 < RB < RA
0.3
h(t)
for equal Nu+1 higher RB

0.2 implies higher Nu
more channel routing
0.1
slower response
0 for equal Nu+1 lower RB

0 5 10 15 20 implies lower Nu
time step less channel routing
faster response
GIUH Gamma - sensitivity to RL
0.5
RL=1.5
RL=2.0
0.4 RL=3.5
Range: 1 < RL < 4
0.3
h(t)
for equal Lu higher RL

0.2 implies lower Lu-1
shorter channel propag.
0.1 faster response
0 for equal Lu lower RL

implies higher Lu-1
0 5 10 15 20
more channel routing
time step
slower response
GIUH Gamma - sensitivity to RA
0.5
RA=4.5
RA=5.0
0.4 RA=6.0 Range: RB < RA < 8
0.3
h(t)
for equal Au higher RA

0.2 implies smaller Au-1
less overland flow
0.1 faster response
for equal Au lower RA

0 implies higher Au-1
0 5 10 15 20
more overland flow
time step slower response
GIUH Triangular - sensitivity to Rb
0.5
Rb=3.0
Rb=4.0
0.4 Rb=4.9
0.3
h(t)
0.2
sensitivity of triangular IUH
0.1 smaller than gamma IUH
0
0 5 10 15 20
time step

GIUH Triangular - sensitivity to RL
0.5
RL=1.5
RL=2.0
0.4 RL=3.5
0.3
h(t)
0.2
0
0 5 10 15 20
time step

GIUH Triangular - sensitivity to RA
0.5
RA=4.5
RA=5.0
0.4 RA=6.0
0.3
h(t)
0.2
0
0 5 10 15 20
time step

GcIUH calibration to real event
Rietholzbach event 3.9.85 - GcIUH
1
Ks=25
0.9
Ks=30
0.8 Ks=35
observed
0.7
0.6
q(m3/s)
0.5
0.4
0.3
0.2
0.1
0
0 5 10 15 20
time step

GcIUH sensitivity to parameter range (1)
GcIUH - sensitivity to Ks
0.5
Ks=25
Ks=30
0.4 Ks=35
0.3
h(t)
0.2
0.1
0
0 5 10 15 20
time step

GcIUH - sensitivity to channel slope
0.5
i=2%
i=3%
0.4 i=4%
0.3
h(t)
0.2
0.1
0
0 5 10 15 20
time step

GcIUH - sensitivity to precipitation rate
0.5
P rate=0.07 mc/s
0.4 P rate=0.17 mc/s
P rate=0.34 mc/s
0.3
h(t)
0.2
0.1
0
0 5 10 15 20
time step

GcIUH - sensitivity to channel width
0.5
B=1.5 m
B=2.0 m
0.4 B=3.0 m
0.3
h(t)
0.2
0.1
0
0 5 10 15 20
time step

LinExp sensitivity to threshold runoff
linear k = 3 hrs
linexp Q* = 2 mm/h
linexp Q* = 1 mm/h
Storage

LinExp simulation of a real event
Rietholzbach event 3.9.85 - LinExp IUH
1.2
Qthr=0.2 mm/h
1 Qthr=0.4 mm/h
Qthr=0.6 mm/h
0.8 observed
Q (m3/s)
0.6
0.4
0.2
0
0 5 10 15 20
time step
Linear vs nonlinear reservoir IUHs comparison
Rietholzbach event 3.9.85

LinExp vs LinRes vs Nash(2) IUH
1
lin res
0.9
Nash n=2
0.8 linexp 0.2 mm/h
0.7 observed
0.6
Q (m3/s)
equal storage constant

0.5
0.4
0.3
0.2
0.1
0
0 5 10 15 20
time step

Hyd2 HS16 Runoff Concentration

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Runoff

runoff concentration concept

non-linear models of runoff concentration

Hydrology II Runoff concentration - Autumn Semester 2016 2

Hydrology II Runoff Concentration Autumn Semester 2016 3

time varying time invariant

distributed in space lumped in space

linearity proportionality and addivity (superposition of the effects)

an input cI(t) produces an output cO(t), c=const.

an input I1(t) + I2(t) produces an output O1(t) + O2(t)

linear time invariant

IMPULSE RESPONSE FUNCTION u(t)

defines the response of a linear

(t) applied after response shifted by (t-) h(t-)

Hydrology II Runoff concentration - Autumn Semester 2016 9

tH = baselength of the hydrograph tR

Hydrology II Runoff concentration - Autumn Semester 2016 11

u(t) as memory or weight function

u(t) as probability density function

U(t) as cumulative distribution function

Hydrology II Runoff concentration - Autumn Semester 2016 12

synthetic unit hydrographs (linear parametric)

u(t) q(t) RP of I(t) = RP of q(t)

u(t, p) RP of I(t) RP of q(t)

non linear analogues: e.g. linear-exponential reservoir

Hydrology II Runoff concentration - Autumn Semester 2016 14

linear dependence of W on Q W(t) = kq(t) ()

and tp = 0 ;hp = 1/k ;tL = k ;tUH

Qmax = p* is reached for t (

outflow from the inflow to the

by applying the convolution

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Hydrology II Runoff Concentration Autumn Semester 2016 19

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The GIUH is the probability density function of a drops

The path of a drop, s :

CDF of the time a drop takes to travel to the outlet TB:

P(TB t ) = P(Ts t ) P(s)

Hydrology II Runoff concentration - Autumn Semester 2016 27

fT (t) = fT (t) * fT (t) * fT (t) *...* fT (t)

and the probability of following a given path s, P(s) is:

P(s) = P,+1 P+1,+2 ...P1,

Function of network topology only !!!

Hydrology II Runoff concentration - Autumn Semester 2016 28

Rodriguez-Iturbe and Valdes (1979)

Rosso (1984), Rodriguez-Iturbe (1993)

Hydrology II Runoff concentration - Autumn Semester 2016 30

Gamma GIUH Triangular GIUH

n = 2.9 hp = 0.59 (1/ hr )

Hydrology II Runoff concentration - Autumn Semester 2016 31

Hydrology II Runoff concentration - Autumn Semester 2016 32

Travel time distribution

Hydrology II Runoff concentration - Autumn Semester 2016 33

same parameter set as calibration, but used on independent data

Hydrology Erosion and Sediment Transport - Autumn Semester 2016 34

Rodriguez-Iturbe & Valdes (1979)

Rodriguez-Iturbe et al. (1979)

fT (t) = fT (t) * fT (t) * fT (t) ... fT (t)