Uncertainty analysis for flood inundation modelling with a random floodplain roughness field
© Huang and Qin; licensee Springer. 2014
Received: 23 December 2013
Accepted: 10 February 2014
Published: 18 February 2014
This study tested a first-order perturbation method based on Karhunen-Loevè expansion (FP-KLE), to analyze flood inundation modeling under uncertainty. The floodplain roughness over a 2-dimensional domain was assumed to be a statistically heterogeneous field with log-normal distributions. Firstly, we attempted to use KLE to decompose the random field of log-transferred floodplain roughness N(x), which was based on the eigenvalues and eigenfunctions of the covariance function of N(x), and a set of orthogonal normal random variables. Secondly, the maximum flow depths were expanded by the first-order perturbation method by using the same set of random variables as used in the KLE decomposition. Then, a flood inundation model, named FLO-2D, was adopted to numerically solve the corresponding perturbation expansions.
To illustrate the methodology, a one-in-five-years flood event was chosen as the study case. The results indicated that the mean of the maximum flow-depth field obtained from the proposed method was fairly close to that from Monte Carlo Simulation (MCS), but the standard deviation was somewhat higher. However, the FP-KLE method was computationally more efficient than MCS.
The study verified the applicability of FP-KLE in handling uncertainties of flood modeling in a more efficient manner; further test with multiple inputs of random fields is desired.
Flood inundation mapping is important for helping identify potential flood profiles, and assist decision makers in planning and mitigation operations (Jung and Merwade, 2012). Due to inherent complexity and large numbers of parameters, flood inundation modelling processes often involve large uncertainties, especially at topographical formation where no sufficient data are available for model parameterization, calibration and validation. As a key global parameter in flood inundation modelling, it has been recognized that the Manning’s roughness coefficient (Manning’s n) could notably affect flood inundation predictions (Beven and Binley, 1992; Aronica et al., 1998; Hall et al., 2005). Furthermore, due to different types of vegetation, surface irregularity and non-uniform/unsteady flows over the floodplain, the roughness coefficient has demonstrated a high heterogeneity (Pappenberger et al., 2005; Liu, 2009). Previously, many studies were devoted to analyse uncertainty propagation from manning’s roughness coefficients during flood modelling, such as Generalized Likelihood Uncertainty Estimation (GLUE) and traditional Monte Carlo simulations (MCS) (Aronica et al., 1998; Aronica et al., 2002; Van Vuren et al., 2005; Reza Ghanbarpour et al., 2011; Jung and Merwade, 2012). However, most of these studies tend to adopt homogenous values of roughness coefficient over the study domain, and this could lead to significant discrepancies between the observed data and simulation results.
It has been realized that the geological-related process involving spatial distribution of uncertainty, such as roughness coefficients, can be more practically considered as a random field (Ghanem and Spanos, 1991; Lu and Zhang, 2007). Subsequently, the governing equations describing one- or multi-dimensional physical processes will be transformed into stochastic. The simulation results (such as the flow depth and flow velocity) are probabilistic distributions of the outputs, instead of deterministic quantifications. In recent decades, new stochastic methodologies based on Karhunen-Loevè expansion (KLE) decomposition have been proposed, which could consider the spatial distribution of uncertain parameters in generating realizations (Huang et al., 2001; Zhang and Lu, 2004; Liu et al., 2006). KLE decomposition was firstly developed to deal with uncertain random field with spatial distribution and the corresponding uncertainties were treated with an orthogonal basis of polynomial chaos (Ghanem and Spanos, 1991). Roy and Grilli (1997) firstly applied KLE to decompose the random field of hydraulic conductivity in a 2-dimensional (2D) stationary groundwater flow modelling system. Later on, Zhang and Lu (2004) developed a new approach called KLME (which combined KLE with moment equation method) and applied it to analyze the first and second moments of the hydraulic head. Despite of quite a large number of analytical approaches been developed for assessing parameter uncertainty in flood modeling, studies on the uncertainty parameters with spatial distribution are relatively limited. Liu and Matthies (2010) attempted to combine KLE and Hermite polynomial chaos expansion and examine the uncertainty from inflow, topography and roughness coefficient over the entire flood modelling domain using stochastic 2D shallow water equations. In this study, KLE is to be tested in decomposing the random field of floodplain roughness coefficients (keeping the channel roughness coefficients fixed) within a coupled 1-dimensional (1D) (for channel flow) and 2D (for floodplain flow) physical flood inundation model (i.e. FLO-2D). The method is effective in saving computational efforts without compromising the accuracy of uncertainty assessment. Previously, no such attempt was made using FLO-2D.
Results and discussion
A flood inundation case modified from Aronica et al. (2002) is chosen to demonstrate the proposed FP-KLE method. The related settings are listed as follows (Aronica et al., 2002; Hall et al., 2005; Bates et al., 2008): (i) 50-meter resolution DEM is used as the topographical data with 0.25-meter accuracy vertically, changing from 67.73 to 83.79 m; this is relatively moderate compared to those of the steeply-changing mountain areas; and (ii) channel cross-section is defined as rectangular with the size of 25 m (width) by 1.5 m (depth); (iii) the upstream inflow hydrograph is suggested as steady at 73 m3/s; this corresponds to a flood event with a 5-years return period (i.e. December 1992 flood lasting about 27.8 hours). The channel roughness coefficient n is fixed at 0.03. More detailed description of the study case can be referred to Bates et al. (2008). For uncertainty assessment, the floodplain roughness is assumed as a random field with log-normal probability distribution function (PDF). Monte Carlo simulation (MCS), as a traditional stochastic method, could be used to deal with the stochastic partial differential equations, i.e., 2D shallow water equations. Although MCS is easy to use, it is restricted by extensive computational needs, particularly for large-scale flood inundation modelling problems. It is desired to apply KLE method for improving the computational efficiency.
Simplifications of KLE for the random floodplain roughness field
In order to make the uncertainty analysis with KLE more practical, some simplifications are made according to Zhang and Lu (2004) for 1D model: (i) , where L x is the length of domain at the x direction, (ii) , (iii) normalized correlation length , and (iv) normalized eigenfuctions For simplicity, the tilde is omitted for the above four expressions in the followed equations and expressions within the parts of results and discussion, and conclusion.
where x and y represent normalized correlation lengths in the x- and y-directions, respectively; (x 1 , y 1 ) and (x 1 , y 1 ) are the spatial Cartesian coordinates of two points located in a 2D physical domain.
where λ n are the eigenvalues for 2D modelling domain; λ i (i = 1, 2,…, ∞) and λ j (j = 1, 2,…, ∞) are the eigenvalues for the x- and y-directions separately; σ N is the standard deviation of the log-transformed floodplain roughness coefficient; D is the size of the 2D modelling domain.
In this study, the random field of floodplain roughness coefficient n(x) is suggested as log-normal PDF with u n = 0.06 (mean) and σ n = 0.001 (standard deviation), spatially. The N(x) = ln[n(x)] is a normal distribution with mean u N = -2.936 and standard deviation σ N = 0.495. The range of N(x) is approximated as [u N -3σ N , u N +3σ N ] which is (0.012, 0.234). To achieve both efficiency in operationality and accuracy in computation, the number of KLE terms with different normalized correlation lengths may vary with different scenarios (i.e., various scales of the domain size) with specific model settings (i.e., boundary condition settings) and floodplain roughness coefficients (i.e., changing from rural to urban areas) under consideration. In this case, the numbers of terms retained in KLE expansion in the x-direction (m x ) and y-direction (m y ) are set as 20 and 10, respectively; hence, the total number of KLE terms is 20 × 10 = 200.
Comparison with MCS
Generally, the FP-KLE is capable of quantifying uncertainty propagation in a highly heterogeneous flood modelling system. By comparison, FP-KLE is proved to be more efficient than traditional MCS in terms of computational efforts. The presented approach can be used for large-scale flood domains with high spatial-variability of input parameters, and it could provide reliable predictions to the decision-makers in flood risk assessment with relatively a small number of model runs.
This study attempted to use a first-order perturbation called FP-KLE to investigate the impact of uncertainty associated with floodplain roughness coefficients on a 2D flooding modelling process. Firstly, the KLE decomposition for the log-transformed floodplain random field was made within a 2D rectangular flood domain represented by pairs of eigenvalue and eigenfunctions. Secondly, the first-order expansion of h (x) perturbation was applied to the maximum flow depth distribution. Thirdly, the flood inundation model, i.e. FLO-2D, was used to solve each term of the perturbation based on the FP-KLE approach. Finally, the results were compared with those obtained from traditional Monte Carlo simulation (MCS).
The following facts were found from this study: (i) for the 2D flood case, with parameter setting of x = 0.15, y = 0.3, and the number of KLE terms = 200, about 86.56% energy have been saved; this was considered sufficient for reproduction of statistical characteristics; (ii) the mean of h (x) field from FP-KLE reproduced well the results from MCS, but the standard deviation was somewhat higher; (iii) the first-order KLE-based perturbation method was computationally more efficient than MCS with comparable accuracy. Some limitations need further discussions in future studies: (i) compared with the first-order KLE-based perturbation approach, the second-order (or higher orders) perturbation may lead to more accurate result, but the required computational effort would increase dramatically; further test of the method on higher orders is desired; (ii) for this study, the simulation is in a steady-state condition; the KLE-based perturbation method for unsteady state could be further explored; (iii) the input random field in this study was assumed in normal distribution, non-normal distributions of the input random fields could be explored in the future.
Stochastic flood inundation model
FLO-2D is used in this study as the flood inundation model. It is based on the full 2D shallow water equations (also called dynamic wave momentum equation) (FLO-2D Software, 2012). In the FLO-2D modeling system, channel flow is 1D with the channel geometry represented by either rectangular or trapezoidal cross sections; meanwhile, the overland flow is modelled 2D as either sheet flow or flow in multiple channels (FLO-2D Software, 2012). Overbank flow in the channel is computed when the channel capacity is exceeded. Besides, an interface routine calculates the channel to floodplain flow exchange including return flow to the channel. More technical details of FLO-2D can be referred to Obrien et al. (1993), O'Brien et al. (1999), and D'Agostino and Tecca (2006).
where, h(x) is the flow depth; V represents the averaged-in-depth velocity in each direction x; x represents Cartesian coordinate spatially, such as x = (x, y) represents 2D Cartesian coordinate; t is the time; S o is the bed slope, and S f is the friction slope; and I is lateral flow into the channel from other sources. Equation (3a) is the continuity equation or mass conservation equation, and Equation (3b) is the momentum equation; both of them are the fundamental equations in the flood modelling. In Equation (3c), n is the Manning coefficient (Manning’s n), which is the most commonly applied friction parameter in flooding modelling. R is the hydraulic radius. Equations (3a)-(3c) are solved mathematically in eight directions by FLO-2D. In this study, n(x) is assumed as a random function spatially, and Equations (3a)-(3c) are transformed into stochastic partial differential equations with random floodplain roughness coefficients and other items within the model are considered to be deterministic. Our purpose is to solve the mean and standard deviation of the flow depth h(x), which are used to assess the uncertainty propagation during the flood inundation modelling.
Karhunen-Loevè expansion (KLE) of log floodplain manning’s roughness coefficients
where is the approximation for the random floodplain roughness field. Generally, the more the terms used in g n (x), the more accurate the random floodplain roughness filed is represented; this implies that more random field energy is saved, but with an increasing computational efforts. For simplicity of expression, the tilde over the symbol N is omitted in the followed expressions and functions.
where, h(i) (∙) is the ith order perturbation term based on the standard deviation of N(x) (denoted as σ N ).
Substituting Equations (8) and (9) into Equations (3a-3c), we can obtain the ith order term of the expansion h(i) (x) and each order of perturbation is calculated based on σ N . For example, the first-order perturbation expansion for h (x) can be expressed as h(x) = h(0) (x) + h(1) (x). It can be seen that the higher the order of the term h(i) (∙) kept in the expansion of h(x), the more energy could be retained in the expansion; hence more corrections are provided for the statistical moments (i.e. mean and variation) of the simulation results (Roy and Grilli, 1997). However, in this study, considering the computational requirements of the flood modelling, only the first-order perturbation expansion based on KLE is investigated.
This research was supported by Singapore’s Ministry of Education (MOM) AcRF Tier 1 Project (M4010973.030) and Tier 2 Project (M4020182.030).
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