Long-duration particle image velocimetry measurements in rough-bed open-channel flows (OCFs) reveal that the pre-multiplied spectra of the streamwise velocity have a bimodal distribution due to the presence of large- and very-large-scale motions (LSMs and VLSMs, respectively). The existence of VLSMs in boundary layers, pipes and closed channels has been acknowledged for some time, but strong supporting evidence for their presence in OCF has been lacking. The data reported in this paper fill this gap. Length scales of the LSMs and VLSMs in OCF exhibit different scaling properties; whereas the streamwise length of the LSM scales with the flow depth, the VLSM streamwise length does not scale purely with flow depth and may additionally depend on other scales such as the channel width, roughness height or viscous length. The transverse extent of the LSMs was found to increase with increasing elevation, but the VLSM transverse scale is anchored around two flow depths. The origin and nature of LSMs and VLSMs are still to be resolved, but differences in their scaling suggest that VLSMs in rough-bed OCFs form independently rather than as a spatial alignment of LSMs.

A theory is presented where the weakly nonlinear analysis of laminar globally unstable flows in the presence of external forcing is extended to the turbulent regime. The analysis is demonstrated and validated using experimental results of an axisymmetric bluff-body wake at high Reynolds numbers, $Re_{D}\sim 1.88\times 10^{5}$, where forcing is applied using a zero-net-mass-flux actuator located at the base of the blunt body. In this study we focus on the response of antisymmetric coherent structures with azimuthal wavenumbers $m=\pm 1$ at a frequency $St_{D}=0.2$, responsible for global vortex shedding. We found experimentally that axisymmetric forcing ($m=0$) couples nonlinearly with the global shedding mode when the flow is forced at twice the shedding frequency, resulting in parametric subharmonic resonance through a triadic interaction between forcing and shedding. We derive simple weakly nonlinear models from the phase-averaged Navier–Stokes equations and show that they capture accurately the observed behaviour for this type of forcing. The unknown model coefficients are obtained experimentally by producing harmonic transients. This approach should be applicable in a variety of turbulent flows to describe the response of global modes to forcing.

While neutral atmospheric boundary layers are rare over land, they occur frequently over sea. In these cases they are almost always of the conventionally neutral type, in which the neutral boundary layer is capped by a strong inversion layer and a stably stratified atmosphere aloft. In the current study, we use large-eddy simulations (LES) to investigate the interaction between a large wind farm that has a fetch of 15 km and a conventionally neutral boundary layer (CNBL) in typical offshore conditions. At the domain inlet, we consider three different equilibrium CNBLs with heights of approximately 300 m, 500 m and 1000 m that are generated in a separate precursor LES. We find that the height of the inflow boundary layer has a significant impact on the wind farm flow development. First of all, above the farm, an internal boundary layer develops that interacts downwind with the capping inversion for the two lowest CNBL cases. Secondly, the upward displacement of the boundary layer by flow deceleration in the wind farm excites gravity waves in the inversion layer and the free atmosphere above. For the lower CNBL cases, these waves induce significant pressure gradients in the farm (both favourable and unfavourable depending on location and case). A detailed energy budget analysis in the turbine region shows that energy extracted by the wind turbines comes both from flow deceleration and from vertical turbulent entrainment. Though turbulent transport dominates near the end of the farm, flow deceleration remains significant, i.e. up to 35 % of the turbulent flux for the lowest CNBL case. In fact, while the turbulent fluxes are fully developed after eight turbine rows, the mean flow does not reach a stationary regime. A further energy budget analysis over the rest of the CNBL reveals that all energy available at turbine level comes from upwind kinetic energy in the boundary layer. In the lower CNBL cases, the pressure field induced by gravity waves plays an important role in redistributing this energy throughout the farm. Overall, in all cases entrainment at the capping inversion is negligible, and also the work done by the mean background pressure gradient, arising from the geostrophic balance in the free atmosphere, is small.

Non-ideal gases refer to deformable substances in which the speed of sound can decrease following an isentropic compression. This may occur near a phase transition such as the liquid–vapour critical point due to long-range molecular interactions. Isentropes can then become locally concave in the pressure/specific-volume phase diagram (e.g. Bethe–Zel’dovich–Thompson (BZT) gases). Following the pioneering work of Bethe (Tech. Rep. 545, Office of Scientific Research and Development, 1942) on shocks in non-ideal gases, this paper explores the refraction properties of stable compression shocks in non-reacting but arbitrary substances featuring a positive isobaric volume expansivity. A small-perturbation analysis is carried out to obtain analytical expressions for the thermo-acoustic properties of the refracted field normal to the shock front. Three new regimes are discovered: (i) an extensive but selective (in upstream Mach numbers) amplification of the entropy mode (hundreds of times larger than those of a corresponding ideal gas); (ii) discontinuous (in upstream Mach numbers) refraction properties following the appearance of non-admissible portions of the shock adiabats; (iii) the emergence of a phase shift for the generated acoustic modes and therefore the existence of conditions for which the perturbed shock does not produce any acoustic field (i.e. ‘quiet’ shocks, to contrast with the spontaneous D’yakov–Kontorovich acoustic emission expected in 2D or 3D). In the context of multidimensional flows, and compressible turbulence in particular, these results demonstrate a variety of pathways by which a supplied amount of energy (in the form of an entropy, vortical or acoustic mode) can be redistributed in the form of other entropy, acoustic and vortical modes in a manner that is simply not achievable in ideal gases. These findings are relevant for turbines and compressors operating close to the liquid–vapour critical point (e.g. organic Rankine cycle expanders, supercritical $\text{CO}_{2}$ compressors), astrophysical flows modelled as continuum media with exotic equations of state (e.g. the early Universe) or Bose–Einstein condensates with small but finite temperature effects.

We provide exact solutions of the Stokes equations for a squirming sphere close to a no-slip surface, both planar and spherical, and for the interactions between two squirmers, in three dimensions. These allow the hydrodynamic interactions of swimming microscopic organisms with confining boundaries, or with each other, to be determined for arbitrary separation and, in particular, in the close proximity regime where approximate methods based on point-singularity descriptions cease to be valid. We give a detailed description of the circular motion of an arbitrary squirmer moving parallel to a no-slip spherical boundary or flat free surface at close separation, finding that the circling generically has opposite sense at free surfaces and at solid boundaries. While the asymptotic interaction is symmetric under head–tail reversal of the swimmer, in the near field, microscopic structure can result in significant asymmetry. We also find the translational velocity towards the surface for a simple model with only the lowest two squirming modes. By comparing these to asymptotic approximations of the interaction we find that the transition from near- to far-field behaviour occurs at a separation of approximately two swimmer diameters. These solutions are for the rotational velocity about the wall normal, or common diameter of two spheres, and the translational speed along that same direction, and are obtained using the Lorentz reciprocal theorem for Stokes flows in conjunction with known solutions for the conjugate Stokes drag problems, the derivations of which are demonstrated here for completeness. The analogous motions in the perpendicular directions, i.e. parallel to the wall, currently cannot be calculated exactly since the relevant Stokes drag solutions needed for the reciprocal theorem are not available.

Interfacial boundary conditions determined from empirical or ad hoc models remain the standard approach to model fluid flows over porous media, even in situations where the topology of the porous medium is known. We propose a non-empirical and accurate method to compute the effective boundary conditions at the interface between a porous surface and an overlying flow. Using a multiscale expansion (homogenization) approach, we derive a tensorial generalized version of the empirical condition suggested by Beavers & Joseph (J. Fluid Mech., vol. 30 (01), 1967, pp. 197–207). The components of the tensors determining the effective slip velocity at the interface are obtained by solving a set of Stokes equations in a small computational domain near the interface containing both free flow and porous medium. Using the lid-driven cavity flow with a porous bed, we demonstrate that the derived boundary condition is accurate and robust by comparing an effective model to direct numerical simulations. Finally, we provide an open source code that solves the microscale problems and computes the velocity boundary condition without free parameters over any porous bed.

Taylor’s swimming sheet is a classical model of microscale propulsion and pumping. Many biological fluids and substances are fibrous, having a preferred direction in their microstructure; for example, cervical mucus is formed of polymer molecules which create an oriented fibrous network. Moreover, suspensions of elongated motile cells produce a form of active oriented matter. To understand how these effects modify viscous propulsion, we extend Taylor’s classical model of small-amplitude zero-Reynolds-number propulsion of a ‘swimming sheet’ via the transversely isotropic fluid model of Ericksen, which is linear in strain rate and possesses a distinguished direction. The energetic costs of swimming are significantly altered by all rheological parameters and the initial fibre angle. Propulsion in a passive transversely isotropic fluid produces an enhanced mean rate of working, independent of the initial fibre orientation, with an approximately linear dependence of the energetic cost on the extensional and shear enhancements to the viscosity caused by fibres. In this regime, the mean swimming velocity is unchanged from the Newtonian case. The effect of the constant term in Ericksen’s model for the stress, which can be identified as a fibre tension or alternatively a stresslet characterising an active fluid, is also considered. This stress introduces an angular dependence and dramatically changes the streamlines and flow field; fibres aligned with the swimming direction increase the energetic demands of the sheet. The constant fibre stress may result in a reversal of the mean swimming velocity and a negative mean rate of working if it is sufficiently large relative to the other rheological parameters.

We explore the two-dimensional flow around a circular cylinder with the aim of elucidating the changes in the topology of the vorticity field that lead to the formation of the Kármán vortex street. Specifically, we analyse the formation and disappearance of extremal points of vorticity, which we consider to be feature points for vortices. The basic vortex creation mechanism is shown to be a topological cusp bifurcation in the vorticity field, where a saddle and an extremum of the vorticity are created simultaneously. We demonstrate that vortices are first created approximately 100 diameters downstream of the cylinder, at a Reynolds number, $Re_{K}$, which is slightly larger than the critical Reynolds number, $Re_{crit}\approx 46$, at which the flow becomes time periodic. For $Re$ slightly above $Re_{K}$, the newly created vortices disappear again a short distance further downstream. As $Re$ is further increased, the points of creation and disappearance move rapidly upstream and downstream, respectively, and the Kármán vortex street persists over increasingly large streamwise distances.

We present a frame-invariant method for detecting coherent structures from Lagrangian flow trajectories that can be sparse in number, as is the case in many fluid mechanics applications of practical interest. The method, based on principles used in graph colouring and spectral graph drawing algorithms, examines a measure of the kinematic dissimilarity of all pairs of fluid trajectories, measured either experimentally, e.g. using particle tracking velocimetry, or numerically, by advecting fluid particles in the Eulerian velocity field. Coherence is assigned to groups of particles whose kinematics remain similar throughout the time interval for which trajectory data are available, regardless of their physical proximity to one another. Through the use of several analytical and experimental validation cases, this algorithm is shown to robustly detect coherent structures using significantly less flow data than are required by existing spectral graph theory methods.

When a fluid enters a rotating circular pipe, an angular momentum or swirl boundary layer appears at the wall and interacts with the axial momentum boundary layer. In the centre of the pipe, the fluid is free of swirl and is accelerated due to boundary layer growth. Below a critical flow number, defined as the ratio of average axial velocity to circumferential velocity of the pipe, there is flow separation, known in the turbomachinery context as part load recirculation. To describe this phenomenon analytically, we extended boundary layer theory to a swirl boundary layer interacting with the axial momentum boundary layer. The solution of the resulting generalized von Kármán momentum equation takes into account the influence of the Reynolds number and flow number. We show the impact of swirl on the axial boundary layer and conduct experiments in which we vary Reynolds number, flow number and surface roughness to validate the analytical results. The extended boundary layer theory predicts a critical flow number which is analytically derived and validated. Below this critical flow number, separation is expected.

The Reynolds-number dependence of turbulent channel flow over two irregular rough surfaces, based on scans of a graphite and a grit-blasted surface, is studied by direct numerical simulation. The aim is to characterise the changes in the flow in the immediate vicinity of and within the rough surfaces, an area of the flow where it is difficult to obtain experimental measurements. The average roughness heights and spatial correlation of the roughness features of the two surfaces are similar, but the two surfaces have a significant difference in the skewness of their height distributions, with the graphite sample being positively skewed (peak-dominated) and the grit-blasted surface being negatively skewed (valley-dominated). For both cases, numerical simulations were conducted at seven different Reynolds numbers, ranging from $Re_{\unicode[STIX]{x1D70F}}=90$ to $Re_{\unicode[STIX]{x1D70F}}=720$. The positively skewed surface gives rise to higher friction factors than the negatively skewed surface in all cases. For the highest Reynolds numbers, the flow has values of the roughness function $\unicode[STIX]{x0394}U^{+}$ well in excess of $7$ for both surfaces and the bulk flow profile has attained a constant shape across the full height of the channel except for the immediate vicinity of the roughness, which would indicate fully rough flow. However, the mean flow profile within and directly above the rough surface still shows considerable Reynolds-number dependence and the ratio of form to viscous drag continues to increase, which indicates that at least for some types of rough surfaces the flow retains aspects of the transitionally rough regime to values of $\unicode[STIX]{x0394}U^{+}$ or $k^{+}$ well in excess of the values conventionally assumed for the transitionally to fully rough threshold. This is also reflected in the changes that the near-wall flow undergoes as the Reynolds number increases: the viscous sublayer, within which the surface roughness is initially buried, breaks down and regions of reverse flow intensify. At the highest Reynolds numbers, a layer of near-wall flow is observed to follow the contours of the local surface. The distribution of thickness of this ‘blanketing’ layer has a mixed scaling, showing that viscous effects are still significant in the near-wall flow.

A reactive control technique with localised actuators and sensors is used to delay the transition to turbulence in a flat-plate boundary-layer flow. Through extensive direct numerical simulations, it is shown that an adaptive technique, which computes the control law on-line, is able to significantly reduce skin-friction drag in the presence of random three-dimensional perturbation fields with linear and weakly nonlinear behaviour. An energy budget analysis is performed in order to assess the net energy saving capabilities of the linear control approach. When considering a model of the dielectric-barrier-discharge (DBD) plasma actuator, the energy spent to create appropriate actuation force inside the boundary layer is of the same order as the energy gained from reducing skin-friction drag. With a model of an ideal actuator a net energy gain of three orders of magnitude can be achieved by efficiently damping small-amplitude disturbances upstream. The energy analysis in this study thus provides an upper limit for what we can expect in terms of drag-reduction efficiency for linear control of transition as a means for drag reduction.

From rain drops landing on the ocean to inkjet printing, the impact of droplets onto moving liquid surfaces is a ubiquitous process in nature and in industry. A rich range of phenomena can arise. The behaviour depends on the inertia, the properties of the drops and the relative speeds in the impact zone. While the result ranges from tranquil coalescence to violent splashing, intermediate regimes also occur, including partial and complete bouncing and even ‘surfing’ of the droplet. These regimes are determined by the ratio of the drop and surface velocities and the liquid properties. A regime diagram can be constructed in which distinct dynamical regimes are clearly identified.

In this paper a novel nonlinear feedback control design methodology for incompressible fluid flows aiming at the optimisation of long-time averages of flow quantities is presented. It applies to reduced-order finite-dimensional models of fluid flows, expressed as a set of first-order nonlinear ordinary differential equations with the right-hand side being a polynomial function in the state variables and in the controls. The key idea, first discussed in Chernyshenko et al. (Phil. Trans. R. Soc. Lond. A, vol. 372, 2014, 20130350), is that the difficulties of treating and optimising long-time averages of a cost are relaxed by using the upper/lower bounds of such averages as the objective function. In this setting, control design reduces to finding a feedback controller that optimises the bound, subject to a polynomial inequality constraint involving the cost function, the nonlinear system, the controller itself and a tunable polynomial function. A numerically tractable and efficient approach to the solution of such optimisation problems, based on sum-of-squares techniques and semidefinite programming, is proposed. To showcase the methodology, the mitigation of the fluctuation kinetic energy in the unsteady wake behind a circular cylinder in the laminar regime at $Re=100$, via controlled angular motions of the surface, is numerically investigated. A compact reduced-order model that resolves the long-term behaviour of the fluid flow and the effects of actuation, is first derived using proper orthogonal decomposition and Galerkin projection. In a full-information setting, feedback controllers are then designed to reduce the long-time average of the resolved kinetic energy associated with the limit cycle. These controllers are then implemented in direct numerical simulations of the actuated flow. Control performance, total energy efficiency and the physical control mechanisms identified are analysed in detail. Key elements of the methodology, implications and future work are finally discussed.

Geophysical granular flows, such as landslides, pyroclastic flows and snow avalanches, consist of particles with varying surface roughnesses or shapes that have a tendency to segregate during flow due to size differences. Such segregation leads to the formation of regions with different frictional properties, which in turn can feed back on the bulk flow. This paper introduces a well-posed depth-averaged model for these segregation-mobility feedback effects. The full segregation equation for dense granular flows is integrated through the avalanche thickness by assuming inversely graded layers with large particles above fines, and a Bagnold shear profile. The resulting large particle transport equation is then coupled to depth-averaged equations for conservation of mass and momentum, with the feedback arising through a basal friction law that is composition dependent, implying greater friction where there are more large particles. The new system of equations includes viscous terms in the momentum balance, which are derived from the $\unicode[STIX]{x1D707}(I)$-rheology for dense granular flows and represent a singular perturbation to previous models. Linear stability calculations of the steady uniform base state demonstrate the significance of these higher-order terms, which ensure that, unlike the inviscid equations, the growth rates remain bounded everywhere. The new system is therefore mathematically well posed. Two-dimensional simulations of bidisperse material propagating down an inclined plane show the development of an unstable large-rich flow front, which subsequently breaks into a series of finger-like structures, each bounded by coarse-grained lateral levees. The key properties of the fingers are independent of the grid resolution and are controlled by the physical viscosity. This process of segregation-induced finger formation is observed in laboratory experiments, and numerical computations are in qualitative agreement.

This work focuses on the development of a semi-analytical model that is appropriate for the rotational, steady, inviscid, and compressible motion of an ideal gas, which is accelerated uniformly along the length of a right-cylindrical rocket chamber. By overcoming some of the difficulties encountered in previous work on the subject, the present analysis leads to an improved mathematical formulation, which enables us to retrieve an exact solution for the pressure field. Considering a slender porous chamber of circular cross-section, the method that we follow reduces the problem’s mass, momentum, energy, ideal gas, and isentropic relations to a single integral equation that is amenable to a direct numerical evaluation. Then, using an Abel transformation, exact closed-form representations of the pressure distribution are obtained for particular values of the specific heat ratio. Throughout this effort, Saint-Robert’s power law is used to link the pressure to the mass injection rate at the wall. This allows us to compare the results associated with the axisymmetric chamber configuration to two closed-form analytical solutions developed under either one- or two-dimensional, isentropic flow conditions. The comparison is carried out assuming, first, a uniformly distributed mass flux and, second, a constant radial injection speed along the simulated propellant grain. Our amended formulation is consequently shown to agree with a one-dimensional solution obtained for the case of uniform wall mass flux, as well as numerical simulations and asymptotic approximations for a constant wall injection speed. The numerical simulations include three particular models: a strictly inviscid solver, which closely agrees with the present formulation, and both $k$–$\unicode[STIX]{x1D714}$ and Spalart–Allmaras computations.

It is well established that when a turbulent flow is subjected to a non-uniform body force, the turbulence may be significantly suppressed in comparison with that of the flow of the same flow rate and hence the flow is said to be laminarised. This is the situation in buoyancy-aided mixed convection when severe heat transfer deterioration may occur. Here we report results of direct numerical simulations of flow with a linear or a step-change profile of body force. In contrast to the conventional view, we show that applying a body force to a turbulent flow while keeping the pressure force unchanged causes little changes to the key characteristics of the turbulence. In particular, the mixing characteristics of the turbulence represented by the turbulent viscosity remain largely unaffected. The so-called flow laminarisation due to a body force is in effect a reduction in the apparent Reynolds number of the flow, based on an apparent friction velocity associated with only the pressure force of the flow (i.e. excluding the contribution of the body force). The new understanding allows the level of the flow ‘laminarisation’ and when the full laminarisation occurs to be readily predicted. In terms of the near-wall turbulence structure, the numbers of ejections and sweeps are little influenced by the imposition of the body force, whereas the strength of each event may be enhanced if the coverage of the body force extends significantly away from the wall. The streamwise turbulent stress is usually increased in accordance with the observation of more and stronger elongated streaks, but the wall-normal and the circumferential turbulent stresses are largely unchanged.

We experimentally examine a laser-induced underwater shock wave paying special attention to the pressure impulse, the time integral of the pressure evolution. Plasma formation, shock-wave expansion and the pressure in water are observed simultaneously using a combined measurement system that obtains high-resolution nanosecond-order image sequences. These detailed measurements reveal a distribution of the pressure peak which is not spherically symmetric. In contrast, remarkably, the pressure impulse is found to be symmetrically distributed for a wide range of experimental parameters, even when the shock waves are emitted from an elongated region. The structure is determined to be a collection of multiple spherical shock waves originating from point-like plasmas in the elongated region.

The low-frequency unsteadiness in the direct numerical simulation of a Mach 2.9 shock wave/turbulent boundary layer interaction with mean flow separation is analysed using dynamic mode decomposition (DMD). The analysis is applied both to three-dimensional and spanwise-averaged snapshots of the flow. The observed low-frequency DMD modes all share a common structure, characterized by perturbations along the shock, together with streamwise-elongated regions of low and high momentum that originate at the shock foot and extend into the downstream flow. A linear superposition of these modes, with dynamics governed by their corresponding DMD eigenvalues, accurately captures the unsteadiness of the shock. In addition, DMD analysis shows that the downstream regions of low and high momentum are unsteady and that their unsteadiness is linked to the unsteadiness of the shock. The observed flow structures in the downstream flow are reminiscent of Görtler-like vortices that are present in this type of flow due to an underlying centrifugal instability, suggesting a possible physical mechanism for the low-frequency unsteadiness in shock wave/turbulent boundary layer interactions.

The world of cellular biology provides us with many fascinating fluid dynamical phenomena that lie at the heart of physiology, development, evolution and ecology. Advances in imaging, micromanipulation and microfluidics over the past decade have made possible high-precision measurements of such flows, providing tests of microhydrodynamic theories and revealing a wealth of new phenomena calling out for explanation. Here I summarize progress in four areas within the field of ‘active matter’: cytoplasmic streaming in plant cells, synchronization of eukaryotic flagella, interactions between swimming cells and surfaces and collective behaviour in suspensions of microswimmers. Throughout, I emphasize open problems in which fluid dynamical methods are key ingredients in an interdisciplinary approach to the mysteries of life.