gstar-1d: a one-dimensional hydraulic and … software/models/fisc 2006 short course...• the...
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Jianchun Huang, Ph.D., Colorado State University, Fort Collins, CO
Blair Greimann, Ph.D., P.E., Technical Service Center, Sedimentation and River Hydraulics Group, Denver, CO
Prepared for FISC 2006, Reno, NV
GSTAR-1D: A ONE-DIMENSIONAL HYDRAULIC AND SEDIMENT TRANSPORT MODEL
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What Is GSTAR-1D ?
Generalized Sediment Transport
model for Alluvial Rivers – One
Dimension
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Why GSTAR-1D?• Why did Reclamation develop GSTAR-1D?
– Full Flexibility for Research and Development– Specialized Applications– Lack of flexible tools available
• We do not try to compete with commercial codes
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History
• 1980s – STARS (Randle)• 1986 – GSTARS (Molinas and Yang)• 1998 – GSTARS2.0 (Yang, Trevino and
Simões)• 2000 – GSTARS2.1 (Yang and Simões)• 2003 – GSTARS3 (Yang and Simões)• 2006 – GSTAR-1D 1.1 (Huang and
Greimann)• Current Work in Progress: GSTAR-W (Lai)
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Scale Issues in Modeling• Spatial Scale:
– Three-dimensional (3D) model (most comprehesive, smallest scales)
– Two-dimensional (2D) model (depth-averaged or laterally averaged)
– One-dimensional (1D) model (cross-sectional averaged)
• Time Scale:– Event based small time scale analysis– Long term simulation
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GSTAR-1D Methods• 1D hydraulic model• Quasi-3D model for sediment routing• Single channel and channel network• Steady and unsteady hydraulic and
sediment transport models• Cohesive and non-cohesive sediment
transport• Large spatial scale application and long
term simulation
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Major Features (1/2)• Flow Regimes
– subcritical flow computation for steady flow– subcritical, critical, and supercritical flow computation for
unsteady flow• Network
– simple channel, simple channel network, and complex channel network
• Cohesive and non-cohesive sediment transport– cohesive sediment aggregation, deposition, erosion, and
consolidation– many sediment transport equations for non-cohesive sediment
• Different sediment size fractions– separate routing of different size fractions to simulate sorting and
armoring
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Major Features (2/2)• Floodplains
– separate subchannels for main channel and floodplains, exchange of water and sediment between main channel and floodplains
• Point and non-point sources– allowing lateral flow and sediment input from tributary and
water shield
• Internal boundary conditions– time-stage table, rating curve, weir, bridge, and radial gate
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Limits of Application (or Keeping Your Expectations Low)
• GSTAR-1D is a 1D model. It should not be applied to situations where a truly 2D or truly 3D model is needed for detailed simulation of local conditions.
• The phenomena of secondary currents, transverse movement, diffusion, and super elevation are ignored.
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1D Problem areas:– Lateral sorting (a cross section armors
before you think it will)– Pool-riffle sequences (pools fill up and are
not scoured)– Changes in plan form (cannot simulate
transitions from braided to meandering)– Bank erosion (hydraulics are not resolved
adequately to predict bank erosion)
Limits of Application (or Keeping Your Expectations Low)
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• General problems:– Transport and mixing of gravel-sand
mixtures– Sediment supply prediction– Channel modifications (the D9 factor)
Limits of Application (or Keeping Your Expectations Low)
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Model Representation
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Steady Flow ComputationEnergy equation for steady gradually varied flow
cf hhgVβZg
VβZ +=−−+ 22
21
11
22
22
( ) )(212
2
21xxKK
Qhf −⎥⎦⎤
⎢⎣⎡
+= g
Vg
VCh cc 22
22
21 −=
where where zz = water surface elevation= water surface elevationββ = velocity distribution coefficients= velocity distribution coefficientsVV = flow velocity= flow velocityhhff = = friction lossfriction losshhcc = = contraction or expansioncontraction or expansion lossesK = conveyance computed from Manning’s equation
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Steady Flow Computation-Network
• The energy equation and the continuity equation
• Upstream B.C.• Downstream B.C.
• Final equation:
021
221
1111 =++⎟⎟
⎠
⎞⎜⎜⎝
⎛ β−
β+−=
+
++++ cf
i
iii
i
iiiiii hh
AQQ
AQQ
gZZF
01 =−−= + iLatiii QQQG
⎥⎥⎥⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢⎢⎢⎢
⎣
⎡
−=
⎥⎥⎥⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢⎢⎢⎢
⎣
⎡
∆∆∆
∆∆∆
⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢
⎣
⎡
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
∂∂
+
+
++
++
++
BDGF
GF
BU
QZQ
ZQZ
QBD
ZBD
QG
ZG
QG
ZG
QG
ZG
QG
ZG
QG
ZG
QG
ZG
QF
ZF
QF
ZF
QBU
ZBU
N
N
N
N
N
NN
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
N
MMMMOMM1
1
1
1
2
1
1
11
11
11
2
1
2
1
1
1
1
1
2
1
2
1
1
1
1
1
11
0),( 11 == ZQfBU
0),( 11' == ++ NN ZQfBD
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Steady Flow Computation-Network
• Example:
• Downstream B.C. for River 1:• Upstream B.C. for River 2:• Upstream B.C. for River 3:
0322 =−+= inisis QQQBU
022 2
2
222
223
233
33 =β
−−β
+=is
isisis
is
isisis gA
QZgA
QZBU
022 2
2
2
2
1 =−−+=is
isisis
ie
ieieie gA
QZgAQZBD ββ
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Unsteady Flow Computationde St Venant equationsContinuity:
Momentum:
wherewhere Q Q = discharge (m= discharge (m33/s),/s),AA = cross section area (m= cross section area (m22),),AAdd = ineffective cross section area (m= ineffective cross section area (m22),),qqlatlat = lateral inflow per unit length of channel (m= lateral inflow per unit length of channel (m22/s),/s),tt = time independent variable (s),= time independent variable (s),xx = spatial independent variable (m),= spatial independent variable (m),ββ = velocity distribution coefficients,= velocity distribution coefficients,ZZ = water surface elevation (m), and= water surface elevation (m), andSSff = energy slope= energy slope
latd qx
Qt
AA=
∂∂+
∂+∂ )(
fgASxZgAx
AQtQ −=
∂∂+
∂β∂+
∂∂ )/( 2
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Unsteady Flow Computation• Discretized grid for unsteady flow simulation
• Discretized equations
Ais Ai-1 Ais+1 Ai Ai+1 Aie
×Qis ×Qis+1 ×Qi ×Qi-1 ×Qi+1 ×Qie ×Qie+1
∆si
∆xi
imii
mii
mi QQA γ+∆δ+∆α=∆ +1
imii
mii
mii dQcQbQa =∆+∆+∆ +− 11
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Internal Boundary Conditions• Time Stage Table • Rating Curve• Weir
• Bridge
• Radial Gate
)(tHH =
)(QHH =23
)( 0ZZCBQ −=
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Sediment Computation
• Conceptual model
Water with suspended sediment
h4, P4,k Layer 4: inactive
h3, P3,k Layer 3: inactive
h1, P1,k Layer 1: active
h2, P2,k Layer 2: inactive
……hN, PN,k Layer N: inactive
erosion deposition
floor source
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Sediment Computation • Non-Cohesive Sediment Transport Capacity
FunctionsEquations Type DuBoys (1879) B Meyer-Peter and Müller (1948) B Laursen (1958) BM Midified Laursen's Formula (Madden, 1993) BM Toffaleti (1969) BM Engelund and Hansen (1972) BM Ackers and White (1973) BM Ackers and White (1990) BM Yang (1973) + Yang (1984) BM Yang (1979) + Yang (1984) BM Parker (1990) B Brownlie (1981) BM Yang et al. (1996) BM
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Sediment Computation • Cohesive Sediment Physical processes
• Aggregation
• Deposition
– Partial deposition– Full deposition
• Erosion– Surface erosion– Mass erosion
• Consolidation
0
1
2
3
4
5
0 0.05 0.1 0.15 0.2
Shear StressEr
osio
n R
ate
Surface Erosion Rate Constant, M se
Mass Erosion Rate Constant, M me
τ cme
τ cse
1
1
τ d,full
tiff e β−ε−ε−ε=ε )(
Concentration (mg/l)M
ean
settl
ing
velic
ity(m
m/s
)101 102 103 104 10510-2
10-1
100
101
(C1, V1)
(C2, V2)
(C3, V3)
(C4, V4)
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Uniform Sediment or Non-Uniform Sediment Model
• A uniform model uses a representative particle size for sediment routing.
• A non-uniform model routes sediment by size fraction to more realistically reflect the phenomenon of sediment sorting and the formation and destruction of an armor layer on a river bed.
• GSTAR-1D is non-uniform model
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Bed Sorting and Armoring
• GSTAR-1D computes sediment transport by size fraction; it will show particles of different sizes being transported at different rates. Some particle sizes may be eroded, while others may be deposited or may be immovable
• GSTAR-1D computes the carrying capacity for each size fraction present in the bed, but the amount of material actually moved is computed by the sediment routing equation. Consequently, sorting and armoring are simulated
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Bed Sorting and Armoring
• Both the sediment size fraction and porosity are unknowns.– kinematic condition
– mass-conservation equation
ha, Pa,k, εa,k Active Layer
erosion
floor source
∑ ε+
ε−=
k k
kek
k
kekaa
SP
Sdt
dPh ,,, ~
kfkeakaka SShPdtd
,,,, )( +−=ε
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Steady Model- non-equilibrium
• Equilibrium Model: there is an instantaneous exchange between suspended and bed sediments when there is a difference between sediment supply and a river’s sediment transport capacity
• For fine sediments, there is usually a time lag. GSTAR-1D provides a non-equilibrium model (based on Han, 1990) which takes this phenomenon into consideration
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Assumptions• Change in suspended sediment concentration
at a cross section is much smaller than change of a river bed, i.e.,
• During a time step, parameters for a cross section remain constant
(This allows decoupling of water and sediment computations)
tAp
tA d
ss
∂∂
−<<∂
∂ )1(
dtdQ
tQ ss =∂
∂
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Floodplain Simulation(still under development…)
Sub-channel 1 Sub-channel 2 Sub-channel 3
Left Floodplain
Main Channel Right Floodplain
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Unsteady Sediment Model• The 2D depth-averaged convection-diffusion equation for
unsteady sediment transport is
Unsteady Convective Diffusion Source Term Term Term Term
Lax-Wendroff TVD CDSScheme Scheme
sychD
yxchD
xyhvc
xhuc
thc
yx +∂∂
∂∂+
∂∂
∂∂=
∂∂+
∂∂+
∂∂ )()()()()(
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Channel Width Changes• GSTAR-1D channel geometry adjustments can be
vertical or lateral depends on a minimization theory– No Minimization– Minimization With Maximum Conveyance (Not Recommended)– Minimization With Total Stream Power (Not Recommended)– Minimization With Energy Slope– Minimization With Bed Slope (Not Recommended)
Vertical adjustment Lateral adjustment
A
∆zi
∆zi
A∆zi
B
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Channel Side Slope Computation
• GSTAR-1D can check whether the angle of repose exceeds a known critical slope. A user is allowed the option of specifying one critical angle above the water surface, and a different critical angle for submerged points.
• GSTAR-1D scans each cross section at the end of each time step to determine if any vertical or horizontal adjustments have caused the banks to become too steep.
• Bank erosion is added as lateral inflow.
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Channel Incision• GSTAR-1D uses an equation related to flow rate to
determine erosion width: Erosion Width = a Qb
a and b are user defined.
• The erosion width can be much smaller than the wetted width (e.g. delta erosion during dam removal
RM = 17.05
1040
1060
1080
1100
1120
1140
1160
1180
1200
1220
1240
0 200 400 600 800 1000 1200
station (ft)
elev
atio
n (f
t)
time = 14time = 30time = 46time = 150time = 280time = 400
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Test and Applications
• Simulation of Networks• Canal Sedimentation (San Luis Canal)• Dam Removal (Matilija Dam Removal)• Reservoir Sediment Management (Black
Canyon Diversion Dam)• River Restoration (Rio Grande, Trinity River)• River Aggradation for Flood Protection (Little
Colorado River)
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Simulation of a simple network channel with sediment transport. The network is composed of 4
trapezoidal channels. Rivers are numbered ascending from upstream to downstream
River 1
River 2
River 3
River 4
1. Network Simulation
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Simulation of a simple network channel with sediment transport. Bed elevation and water surface
elevation
River distance (ft)
Bed
and
wat
ersu
rfac
eel
evat
ions
(ft)
0 2000 4000 6000 8000 10000 12000 14000 160001000
1005
1010
1015
1020
1025 Initial bedInitial water surfaceFinialFinal water surface
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2. San Luis Canal (SLC), a reach of the California Aqueduct, extends 75 miles from Check Structure
15 to Check Structure 21
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The Arroyo Pasajero
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Radial Gates
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A reach of the California Aqueduct, or San Luis Canal (SLC), extends 75 miles from Check Structure
15 to Check Structure 21
River distance (mi)
Bed
elev
atio
n(f
t)
100 110 120 130 140 150 160 170288
290
292
294
296
298
300
302
304
306
308
Initialt=300hrst=600hrsAfter flood
Bed elevation change of the SLC before and after a flood event
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A reach of the California Aqueduct, or San Luis Canal (SLC), extends 75 miles from Check Structure
15 to Check Structure 21
Time (hr)
Sedi
men
tcon
cent
ratio
n(m
g/l)
0 100 200 300 400 500 600 700 8000
5000
10000
15000 Upstreamincoming flowLateral incoming flowDownstreamof lateral incoming
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3. Matilija Dam Removal
• Matilija Dam is located on the Ventura River and now has only 500 ac-ft left of its original 7000 ac-ft capacity
• GSTAR-1D is being used to quantify downstream impacts associated with dam removal
• It is being used to predict: sediment concentrations, river bed aggradation, sediment inputs to diversion, sediment delivery to ocean, reservoir erosion
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Erosion From Matilija Reservoir
RM = 17.05
1040
1060
1080
1100
1120
1140
1160
1180
1200
1220
1240
0 200 400 600 800 1000 1200
station (ft)
elev
atio
n (f
t)
time = 14time = 30time = 46time = 150time = 280time = 400
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Erosion From Matilija Reservoir
Erosion from Matilija Reservoir
-800000
-700000
-600000
-500000
-400000
-300000
-200000
-100000
0
100000
0 500 1000 1500
Time (hrs)
depo
sitio
n/er
osio
n (y
d3)
fines sands gravels cobbles
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Deposition at Downstream Diversion
• GSTAR-1D was used to assess the ability to pass sediment through the diversion using additional radial gates
Robles Deposition
0
10000
20000
30000
40000
50000
60000
70000
80000
90000
100000
0 50 100 150 200 250
Time (hrs)
depo
sitio
n (y
d3 )
0
2000
4000
6000
8000
10000
12000
14000
16000
18000
20000
Flow
(cfs
)
Alternative 2a - No Bypass
Alternative 2a - With Bypass
Current
Flow Rate
time at which deposition exceeds 40,000 cubic yards
Sediment By-pass
No Sediment By-pass
Current Condition
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4. Sediment Sluicing at Black Canyon Diversion Dam
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Sluicing Experiment at Black Canyon
• Dam height of 111.5 ft
• Reservoir capacity of 26,860 ac-ft in 1984
• Sluice gates open from Dec 1 –Dec 27, 1984
• Mean daily outflows ranged from 980 cfs to 1630 cfs
• Removed 89 ac-ft of sediment, approx. 30 % of annual inflow
• Sediment removal limited by sluice gate capacity
• Deposition and concentrations were monitored downstream
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47-400
-350
-300
-250
-200
-150
-100
-50
0
0 5000 10000 15000 20000 25000
Distance Upstream of Dam (ft)
Cum
ulat
ive
Volu
me
(acr
e-ft)
10X5 ft Gate Opening
10X10 ft Gate Opening
20X5 ft Gate Opening
20X10 ft Gate Opening
Bla
ck C
anyo
n D
am
Ran
ge 1
2
Ran
ge 9
Ran
ge 7
Ran
ge 5
Modeling of Sediment Sluicing
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5. Middle Rio Grande
• Much of the Middle Rio Grande has been degrading in the last several decades resulting in:
• Channel narrowing• Bed material coarsening• Increased meandering
• Resulting in:• Reduced habitat• More vegetation encroachment
• Necessary to predict future condition of the Rio Grande to assess reservoir operations
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Summary• Computation of water surface profiles in a single
channel or channel networks. • Steady and unsteady flows. • Subcritical flows in steady hydraulic simulation. • Subcritical, supercritical, and transcritical flows in
unsteady hydraulic simulation• Steady and unsteady sediment transport models. • Transport of cohesive and non-cohesive sediments
simultaneously. • Cohesive sediment aggregation, deposition, erosion,
and consolidation. • Many different non-cohesive sediment transport
equations that are applicable to a wide range of hydraulic and sediment conditions.
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Summary• Floodplain simulation. • Exchange of water and sediment between main
channel and floodplains. • Fractional sediment transport, bed sorting, and
armoring. • Computation of width changes using the theory of
stream power minimization and other minimizations. • Point and non-point sources of flow and sediments. • Internal boundary conditions, such as time-stage
tables, rating curves, weirs, bridges, and radial gates.
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Acknowledgement
The development and testing of GSTAR-1D was partially funded by Environmental Protection Agency and the Bureau of Reclamation Science and Technology Research Program
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Example: Matilija Dam Removal
www.matilijadam.org
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Example: Matilija Dam
Removal
www.matilijadam.org
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54
Example: Matilija Dam Removal
www.matilijadam.org
Video
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Example: Matilija Dam Removal
• What are the issues:– Flooding– Channel aggradation– Bank Erosion– Water Diversion Reliability– Fish Passage– Reservoir Erosion
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Example: Matilija Dam Removal
• What can we estimate from the model:– Volume of material eroded from
reservoir– Vertical channel aggradation in
downstream reach– Change in particle size in downstream
reach– Deposition in diversion pool
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Example: Matilija Dam Removal
• What we cannot estimate from the model:– Quantification of bank erosion– Details of reservoir erosion– Deposition in estuary reach
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Example: Matilija Dam Removal
• What we cannot estimate from the model:– Quantification of bank erosion– Details of reservoir erosion– Deposition in estuary reach
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Example: Matilija Dam Removal
Steps:1. Prepare cross section geometry2. Calibrate hydraulic model3. Prepare sediment transport information4. Calibrate sediment model5. Make predictions
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Cross Section Geometry
– HEC-GEORAS used to generate XC data from LiDAR data
– XC every 500 feet– Translated into
GSTAR-1D format – Levees, bridges,
weirs, etc…
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Hydraulic Calibration
Calibration Using 2005 Peak Flow
250
260
270
280
290
300
310
320
6.8 7 7.2 7.4 7.6 7.8
River Mile
Elev
atio
n (f
t)
GroundCritical WSEComputed Peak WSEObserved Peak WSEGSTAR-1D WSE(ft)
Manning’s
n = 0.04
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Sediment Transport Information
• Flow boundary conditions (upstream and tributaries)
• Geometry (directly from HEC-RAS)• Sediment loads by size fraction (upstream
and tributaries) • Bed material• Transport parameters
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Sediment Transport Information
• Transport parameters:– Sediment transport equation– Cohesive parameters (deposition, erosion,
and consolidation)– Active layer thickness– Non-equilibrium adjustment parameters– Angle of repose for banks– Active layer to sub-layers exchange
parameter
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Sediment Calibration
1
10
100
1000
10000
100000
10 100 1000 10000 100000
flow (cfs)
conc
entra
tion
(mg/
l)
computed conc silt to < 4mm
Toff/MPM Conc silt to < 4 mm
measured fine conc
measured conc silt to < 4mm
regression silt
regression silt to < 4mm
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Sediment Calibration
1
10
100
1000
10000
100000
1000000
10 100 1000 10000 100000
flow (cfs)
Bed
Load
(ton
/d)
bed load > 4mm (ton/d)
bed load > 16mm (ton/d)
computed > 4 mm
computed > 16 mm
Toff/MPM computed > 4 mm
Toff/MPM computed > 16 mm
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Sediment Calibration
Base Historical Calibration
-15
-10
-5
0
5
8 9 10 11 12 13 14 15 16
River Mile (mi)
Bed
Elev
atio
n C
hang
e (ft
)
t = 10 years
t = 30 years
measured
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Base Historical Calibration
-15
-10
-5
0
5
10
0 1 2 3 4 5 6 7 8
River Mile (mi)
Bed
Elev
atio
n C
hang
e (ft
)
t = 10.5 yearst = 30 yearsmeasured
Sediment Calibration
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Sediment CalibrationBase Historical Calibration
10
100
1000
0 1 2 3 4 5 6 7 8
River Mile (mi)
d50
(mm
)
t = 0t = 10.5 yearst = 20.4 yearst = 30 years
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• Parameters modified:– Active layer thickness (∆za = 2 feet)– Critical Shields parameter in Parker’s
transport formula (θc = 0.035)– Hiding factor in Parker’s transport formula
(α = 0.67)
Sediment Calibration
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Terminology• Verification: Formal proof of model correctness
(from IEEE, Jay, 1984).• Calibration: Adjustment of parameters needed
to fit observations or experimental data (Roach, 1998).
• Validation: Substantiation that a calibrated model within its domain of applicability possesses a satisfactory range of accuracy consistent with the intended application of the model (Schleinger, 1979).
Validation is a process that requires post project analysis of future predictions
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Calibrated ≠ Correct
Don’t be fooled: A calibrated model may accurately predict the future if and only if the future is much the same as the past.
In this case, we calibrated to erosion, but we want to predict deposition.
We could be very wrong.
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Predictions
-4
-2
0
2
4
6
8
10
12
14
8 9 10 11 12 13 14 15 16
River Mile
Ave
rage
Tha
lweg
Cha
nge
(ft)
3 yr10 yr50 yrLive Oaks Levee
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-2
0
2
4
6
8
10
12
14
0 1 2 3 4 5 6 7 8
River Mile
Ave
rage
Tha
lweg
Cha
nge
(ft)
3 yr
10 yr
50 yr
Predictions