A model based on a convolutional neural network (CNN) is designed to reconstruct the three-dimensional turbulent flows beneath a free surface using surface measurements, including the surface elevation and surface velocity. Trained on datasets obtained from the direct numerical simulation of turbulent open-channel flows with a deformable free surface, the proposed model can accurately reconstruct the near-surface flow field and capture the characteristic large-scale flow structures away from the surface. The reconstruction performance of the model, measured by metrics such as the normalised mean squared reconstruction errors and scale-specific errors, is considerably better than that of the traditional linear stochastic estimation (LSE) method. We further analyse the saliency maps of the CNN model and the kernels of the LSE model and obtain insights into how the two models utilise surface features to reconstruct subsurface flows. The importance of different surface variables is analysed based on the saliency map of the CNN, which reveals knowledge about the surface–subsurface relations. The CNN is also shown to have a good generalisation capability with respect to the Froude number if a model trained for a flow with a high Froude number is applied to predict flows with lower Froude numbers. The results presented in this work indicate that the CNN is effective regarding the detection of subsurface flow structures and by interpreting the surface–subsurface relations underlying the reconstruction model, the CNN can be a promising tool for assisting with the physical understanding of free-surface turbulence.

Extensive studies of the hydraulics of pipes have focused on limiting cases, such as fully-developed laminar or turbulent flow through long conduits and the accelerating flow through an orifice, for which there exist laws relating pressure drop and flow rate. We carry out experiments on smooth, circular pipes for dimensions and flow rates that interrogate intermediate conditions between the well-studied limits. Organizing this information in terms of dimensionless friction factor, Reynolds number and pipe aspect ratio yields a surface $f_D(Re,\alpha )$ that is shown to match the three laws associated with developed laminar, developed turbulent, and orifice flows. While each law fails outside its applicable range of $(Re,\alpha )$, we present a hybrid theoretical–empirical model that includes inlet, development and transition effects, and that proves accurate to approximately 10 % over wide ranges of $Re$ and $\alpha$. We also present simple formulas for the boundaries between the three hydraulic regimes, which intersect at a triple point. Measurements show that sipping through a straw is an everyday example of such intermediate conditions not accounted for by existing laws but described accurately by our model. More generally, our findings provide formulas for predicting frictional resistance for intermediate-$Re$ flows through finite-length pipes.

This study conducts direct numerical simulations of free-streaming turbulence passing over individual fixed particles and particle arrays of different number densities. The purpose is to investigate the changes in the mean particle drag due to turbulent environments and the responsible mechanisms. It is confirmed that turbulent environments significantly enhance the particle drag relative to the standard drag in a uniform flow, and the nonlinear dependency of the drag force on the instantaneous incoming flow velocity is insufficient to explain the enhancement. Two mechanisms of particle–turbulence interactions are found to be responsible for the particle drag enhancements. The first mechanism is the enlarged pressure drops on the particle surface, mainly governed by the large scales in turbulent flows. The second mechanism is the increased viscous stresses on the particle surface, dominated by the small scales that enhance the mixing of the low- and high-speed fluids across the particle boundary layer. In terms of quantitative drag enhancement predictions, more general models accounting for the anisotropy of the turbulence are proposed, which fit well with both the simulation data generated in this study and those reported in the literature. Finally, by measuring the drag forces of laminar and turbulent flows passing over arrays of particles, it is found that the overall particle drag increases with decreasing particle–particle relative gap distance. However, the relative enhancement due to turbulence decreases with the particle–particle relative gap distance.

A dynamical understanding of the physical process of surface gravity wave breaking remains an unresolved problem in fluid dynamics. Conceptually, breaking can be described by inception and onset, where breaking inception is the initiation of unknown irreversible processes within a wave crest that precede the visible manifestation of breaking onset. In the search for an energetic indicator of breaking inception, we use an ensemble of non-breaking and breaking crests evolving within unsteady wave packets simulated in a numerical wave tank to investigate the evolution of each term in the kinetic energy balance equation. We observe that breaking onset is preceded by around one quarter of a wave period by a rapid increase in the rate of convergence of kinetic energy that triggers an irreversible acceleration of the kinetic energy growth rate. This energetic signature, which is present only for crests that subsequently break, arises when the kinetic energy growth rate exceeds a critical threshold. At this point the additional kinetic energy convergence cannot be offset by converting excess kinetic energy to potential energy or by dissipation through friction. Our results suggest that the ratio of the leading terms of the kinetic energy balance equation at the time of this energetic signature is proportional to the strength of the breaking crest. Hence this energetic inception point both predicts the occurrence of breaking onset and indicates the strength of the breaking event.

Measurements were made in rough-wall boundary layers subject to favourable, zero and adverse pressure gradients. Profiles of mean velocity and turbulence quantities were acquired and velocity fields were measured in multiple planes to document flow structure. Comparisons were made to equivalent smooth-wall cases with the same free stream velocity distributions. Outer layer similarity was observed between the rough- and smooth-wall cases in all quantities in the favourable and zero pressure gradient regions, but large differences were observed with adverse pressure gradients. In both the smooth- and rough-wall cases, the favourable pressure gradient reduced the turbulence in the boundary layer, and increased the size of turbulence structures relative to the boundary layer thickness in both the streamwise and spanwise directions, while lowering their inclination angle with respect to the wall. When the boundary layer was returned to a zero pressure gradient following the favourable pressure gradient region, the turbulence level and the size and inclination of the structures returned to their canonical zero pressure gradient condition. The response of the boundary layer was somewhat faster in the rough-wall case, causing it to reach equilibrium in a shorter streamwise distance after the changes in pressure gradient than in the smooth-wall case. The adverse pressure gradient increased turbulence levels relative to the wall friction velocity, reduced the size of turbulence structures relative to the boundary layer thickness and increased their inclination angle. The changes with the adverse pressure gradient were significantly larger with the rough wall than the smooth. The results suggest that similarity might be achieved with adverse pressure gradients if smooth- and rough-wall cases with the same Clauser pressure gradient parameter history are compared.

The potential of frequency-tuned surfaces as a passive control strategy for reducing drag in wall-bounded turbulent flows is investigated using resolvent analysis. These surfaces are considered to have geometries with impedances that permit transpiration and/or slip at the wall in response to wall pressure and/or shear and are tuned to target the dynamically important structures of wall turbulence. It is shown that wall impedance can suppress the modes resembling the near-wall cycle and the very-large-scale motions and the Reynolds stress contribution of these modes. Suppression of the near-wall cycle requires a more reactive impedance. In addition to these dynamically important modes, the effect of wall impedance across the spectral space is analysed by considering varying mode speeds and wavelengths. It is shown that the materials designed for suppression of the near-wall modes lead to gain reduction over a wide range across the spectral space. Furthermore, a wall with only shear-driven impedance is found to suppress turbulent structures over a wider range in spectral space, leading to an overall turbulent drag reduction. Most importantly, the present analysis shows that the drag-reducing impedance is non-unique and the control performance is not sensitive to variations of the surface impedance within a favourable range. This implies that specific frequency bandwidths can be targeted with periodic material design.

The collapse of a quasi-two-dimensional column of cohesive granular media is investigated experimentally and numerically in the framework of a continuum model. The configuration is an initial parallelepiped-shaped granular pile, which is suddenly released by opening a retaining door. The experiments rely on a model material developed by Gans et al. (Phys. Rev. E, vol. 101, 2020, 032904) made of silica particles coated with polyborosiloxane, for which the adhesive interparticle force can be tuned by controlling the thickness of the coating. Numerically, the collapse is simulated using a simple cohesive rheological model implemented in a two-dimensional Navier–Stokes solver. We investigate the role of cohesion on the stability of the column, the mode of failure, the flow dynamics and the geometry of the final deposit. Our results show that the continuum model captures the main features observed experimentally.

We use small-amplitude inviscid theory to study the swimming performance of a flexible flapping plate with time-varying flexibility. The stiffness of the plate oscillates at twice the frequency of the kinematics in order to maintain a symmetric motion. Plates with constant and time-periodic stiffness are compared over a range of mean plate stiffnesses, oscillating stiffness amplitudes and oscillating stiffness phases for isolated heaving, isolated pitching and combined leading-edge kinematics. We find that there is a profound impact of oscillating stiffness on the thrust, with a lesser impact on propulsive efficiency. Thrust improvements of up to 35 % relative to a constant-stiffness plate are observed. For large enough frequencies and amplitudes of the stiffness oscillation, instabilities emerge. The unstable regions may confer enhanced propulsive performance; this hypothesis must be verified via experiments or nonlinear simulations.

The motion of a finite layer of Bingham material on a solid plate that executes in-plane oscillations was reported previously by Balmforth et al. (J. Non-Newtonian Fluid Mech., vol. 158, issue 1–3, 2009, pp. 46–53). There, it was suggested that multiple yielded regions may arise within the material; this contrasts to start-up flow of the same material for which only one yielded region is generated. Here, we explore quantitatively the fluid physics of this oscillatory flow problem through analytical approximations and further numerical computation. Four new key topological properties concerning the generation and termination of the yielded regions are reported. It is shown that the existence of multiple yielded regions is equivalent to the layer never becoming entirely rigid during the periodic motion. For small inertia, the flow is approximately time-reversible with only a single yielded region generated at the plate. For large inertia, shear stress in the material decays rapidly as a function of distance from the plate. A thin zone of yielded material detaches periodically from the plate, and subsequently terminates within the layer. At high oscillation frequency, there can be any number $N$ of distinct rigid regions, satisfying $N= \lfloor 1- {\rm \pi}^{-1} \log B \rfloor$ where $B$ is the Bingham number. It is also shown that for $B>0.5370$, there are at most one yielded region and one rigid region throughout the motion. These theoretical results can be used as a basis for oscillatory rheometry, allowing for measurement of the yield stress using existing apparatus.

We investigate experimentally and theoretically the stability of a shear-thickening suspension flowing down an inclined plane. In a previous paper (Darbois Texier et al., Commun. Phys., vol. 3, 2020), we have shown that for particle volume fractions $\phi$ above the discontinuous shear-thickening fraction $\phi _{DST}$, long surface waves grow spontaneously at a flow Reynolds number much below 1. This motivated a simplified analysis based on a purely inertialess mechanism, called the ‘Oobleck waves’ mechanism, which couples the negatively sloped rheology of the suspension with the free-surface deflection and captures well the experimental instability threshold and the wave speed, for $\phi >\phi _{DST}$. However, neglecting inertia does not allow us to describe the inertial Kapitza regime observed for $\phi <\phi _{DST}$, nor does it allow us to discriminate between Oobleck waves and other inertial instabilities expected above $\phi _{DST}$. This paper fills this gap by extending our previous analysis, based on a depth-averaged approach and the Wyart–Cates constitutive shear-thickening rheology, to account for inertia. The extended analysis recovers quantitatively the experimental instability threshold in the Kapitza regime, below $\phi _{DST}$, and in the Oobleck waves regime, above $\phi _{DST}$. By providing additional measurements of the wave growth rate and investigating theoretically the effect of a strain delay in the rheology, it also confirms that the instability observed above $\phi _{DST}$ stems from the non-inertial Oobleck wave mechanism, which is specific to free-surface flows and dominates modes of inertial origin. These results emphasize the variety of instability mechanisms for shear-thickening suspensions and might be relevant to free-surface flows of other complex fluids displaying velocity-weakening rheology.

This serial work presents a linear-time-invariance (LTI) notion to the Koopman analysis, finding consistent and physically meaningful Koopman modes and addressing a long-standing problem of fluid mechanics: deterministically relating the fluid excitations and corresponding structure reactions. Part 1 (Li et al., Phys. Fluids, vol. 34, no. 12, p. 125136) developed the Koopman-LTI architecture and applied it to a pedagogical prism wake. By a systematic analytical procedure, the Koopman-LTI generated sampling-independent linear models that captured all the recurring dynamics embedded in the input data, finding six corresponding, orthogonal, and in-synch fluid–structure mechanisms. This Part 2 analyses the six modal duplets to underpin their physical implications, providing a phenomenological analysis of the subcritical prism wake. Visualizing the newly proposed dynamic Koopman modes, results show that two mechanisms at St1 = 0.1242 and St5 = 0.0497 describe shear layer dynamics, the associated Bérnard–Kármán shedding and turbulence production, which together overwhelm the upstream and crosswind walls by instigating a reattachment-type of reaction. The on-wind walls’ dynamical similarity renders them a spectrally unified fluid–structure interface. Another four harmonic counterparts, namely the subharmonic at St7 = 0.0683, the second harmonic at St3 = 0.2422, and two ultra-harmonics at St7 = 0.1739 and St13 = 0.1935, govern the downstream wall. Finally, this work discovered the vortex breathing phenomenon, describing the constant energy exchange in the wake's circulation-entrainment-deposition processes. With the Koopman-LTI, one may pinpoint the exact excitations responsible for a specific structure reaction, benefiting future investigations into fluid–structure interactions and nonlinear, stochastic systems.

Our focus concerns the turbulent convective flow above a uniformly heated high-aspect-ratio rectangular plate on $z=0$. Prior to this study, classic plume theory could not be applied directly as the Richardson number is ill-defined at the plate. Guided by observation, conservation equations are posed for the near-plate region where the attached buoyant flow is predominantly horizontal. Analytical solutions under the Boussinesq approximation reveal this to be a dynamically invariant region where the attached ‘plumes’ grow linearly toward the plate centreline, their merger forming an ‘apparent’ source for the vertical plume above. Coupling predictions with data from flow visualisation and temperature measurement, we deduce the half-width $0.72b_0$, height ${z=0.46b_0}$ and finite Richardson number $({\sim }18)$ of an apparent source from which plume theory can be applied to model the plume above a heated plate of width $2b_0$. Finally, practical implications of this advancement to the analytical theory of turbulent plumes are noted.