We conducted a series of pore-scale numerical simulations on convective flow in porous media, with a fixed Schmidt number of 400 and a wide range of Rayleigh numbers. The porous media are modeled using regularly arranged square obstacles in a Rayleigh–Bénard (RB) system. As the Rayleigh number increases, the flow transitions from a Darcy-type regime to an RB-type regime, with the corresponding $Sh$–$Ra_D$ relationship shifting from sublinear scaling to the classical 0.3 scaling of RB convection. Here, $Sh$ and $Ra_D$ represent the Sherwood number and the Rayleigh–Darcy number, respectively. For different porosities, the transition begins at approximately $Ra_D = 4000$, at which point the characteristic horizontal scale of the flow field is comparable to the size of a single obstacle unit. When the thickness of the concentration boundary layer is less than approximately one-sixth of the pore spacing, the flow finally enters the RB regime. In the Darcy regime, the scaling exponent of $Sh$ and $Ra_D$ decreases as porosity increases. Based on the Grossman–Lohse theory (J. Fluid Mech. vol. 407, 2000, pp. 27–56; Phys. Rev. Lett. vol. 86, 2001, p. 3316), we provide an explanation for the scaling laws in each regime and highlight the significant impact of mechanical dispersion effects during the development of the plumes. Our findings provide some new insights into the validity range of the Darcy model.

When a droplet impacts onto a superheated liquid pool, vapour generation and drainage within the gas cushion play a crucial role in postponing or even preventing contact between the droplet and the pool surface. Through direct numerical simulations, we closely examine the transient dynamics of vapour flow confined within the thin film, with a particular focus on the minimum thickness of this film under a range of impact conditions. Our numerical findings manifest the significant influence of evaporation on the vertical motion of the liquid–vapour interface, revealing how the minimum film thickness evolves in response to variations in impact velocity and degree of superheat. In our numerical simulations, we have identified two distinct evolution laws for the minimum film thickness, corresponding to moderate and high superheat regimes, respectively. These regimes are differentiated by the dominance of evaporation effects within the vapour film during the early falling stage. Subsequently, we establish scaling relations to characterize these regimes by carefully balancing inertial, pressure and evaporation effects within the thin vapour film. Furthermore, we observe that the vapour pressure eventually reaches equilibrium with the rapid increase in capillary pressure at the spreading front, thereby controlling the minimum thickness of the vapour layer in both moderate and high superheat regimes. We derive self-similar solutions based on this equilibrium, and the predicted minimum film thickness aligns remarkably well with our numerical results. This provides compelling evidence that evaporation alone is insufficient to prevent droplet–pool coalescence.

We present an experimental study on the drag reduction by polymers in Taylor–Couette turbulence at Reynolds numbers ($Re$) ranging from $4\times 10^3$ to $2.5\times 10^4$. In this $Re$ regime, the Taylor vortex is present and accounts for more than 50 % of the total angular velocity flux. Polyacrylamide polymers with two different average molecular weights are used. It is found that the drag reduction rate increases with polymer concentration and approaches the maximum drag reduction (MDR) limit. At MDR, the friction factor follows the $-0.58$ scaling, i.e. $C_f \sim Re^{-0.58}$, similar to channel/pipe flows. However, the drag reduction rate is about $20\,\%$ at MDR, which is much lower than that in channel/pipe flows at comparable $Re$. We also find that the Reynolds shear stress does not vanish and the slope of the mean azimuthal velocity profile in the logarithmic layer remains unchanged at MDR. These behaviours are reminiscent of the low drag reduction regime reported in channel flow (Warholic et al., Exp. Fluids, vol. 27, no. 5, 1999, pp. 461–472). We reveal that the lower drag reduction rate originates from the fact that polymers strongly suppress the turbulent flow while only slightly weaken the mean Taylor vortex. We further show that polymers steady the velocity boundary layer and suppress the small-scale Görtler vortices in the near-wall region. The former effect reduces the emission rate of both intense fast and slow plumes detached from the boundary layer, resulting in less flux transport from the inner cylinder to the outer one and reduces energy input into the bulk turbulent flow. Our results suggest that in turbulent flows, where secondary flow structures are statistically persistent and dominate the global transport properties of the system, the drag reduction efficiency of polymer additives is significantly diminished.

The presence of dispersed-phase droplets can result in a notable increase in a system's drag. However, our understanding of the mechanism underlying this phenomenon remains limited. In this study, we use three-dimensional direct numerical simulations with a modified multi-marker volume-of-fluid method to investigate liquid–liquid two-phase turbulence in a Taylor–Couette geometry. The dispersed phase has the same density and viscosity as the continuous phase. The Reynolds number $Re\equiv r_i\omega _i d/\nu$ is fixed at 5200, the volume fraction of the dispersed phase is up to $40\,\%$, and the Weber number $We\equiv \rho u^2_\tau d/\sigma$ is approximately 8. It is found that the increase in the system's drag originates from the contribution of interfacial tension. Specifically, droplets experience significant deformation and stretching in the streamwise direction due to shear near the inner cylinder. Consequently, the rear end of the droplets lags behind the fore head. This causes opposing interfacial tension effects on the fore head and rear end of the droplets. For the fore head of the droplets, the effect of interfacial tension appears to act against the flow direction. For the rear end, the effect appears to act in the flow direction. The increase in the system's drag is attributed primarily to the effect of interfacial tension on the fore head of the droplets which leads to the hindering effect of the droplets on the surrounding continuous phase. This hindering effect disrupts the formation of high-speed streaks, favouring the formation of low-speed ones, which are generally associated with higher viscous stress and drag of the system. This study provides new insights into the mechanism of drag enhancement reported in our previous experiments.

We present a practical verification method for safety analysis of the autonomous driving system (ADS). The main idea is to build a surrogate model that quantitatively depicts the behavior of an ADS in the specified traffic scenario. The safety properties proved in the resulting surrogate model apply to the original ADS with a probabilistic guarantee. Given the complexity of a traffic scenario in autonomous driving, our approach further partitions the parameter space of a traffic scenario for the ADS into safe sub-spaces with varying levels of guarantees and unsafe sub-spaces with confirmed counter-examples. Innovatively, the partitioning is based on a branching algorithm that features explainable AI methods. We demonstrate the utility of the proposed approach by evaluating safety properties on the state-of-the-art ADS Interfuser, with a variety of simulated traffic scenarios, and we show that our approach and existing ADS testing work complement each other. We certify five safe scenarios from the verification results and find out three sneaky behavior discrepancies in Interfuser which can hardly be detected by safety testing approaches.

We investigate the coupling effects of the two-phase interface, viscosity ratio and density ratio of the dispersed phase to the continuous phase on the flow statistics in two-phase Taylor–Couette turbulence at a system Reynolds number of $6\times 10^3$ and a system Weber number of 10 using interface-resolved three-dimensional direct numerical simulations with the volume-of-fluid method. Our study focuses on four different scenarios: neutral droplets, low-viscosity droplets, light droplets and low-viscosity light droplets. We find that neutral droplets and low-viscosity droplets primarily contribute to drag enhancement through the two-phase interface, whereas light droplets reduce the system's drag by explicitly reducing Reynolds stress due to the density dependence of Reynolds stress. In addition, low-viscosity light droplets contribute to greater drag reduction by further reducing momentum transport near the inner cylinder and implicitly reducing Reynolds stress. While interfacial tension enhances turbulent kinetic energy (TKE) transport, drag enhancement is not strongly correlated with TKE transport for both neutral droplets and low-viscosity droplets. Light droplets primarily reduce the production term by diminishing Reynolds stress, whereas the density contrast between the phases boosts TKE transport near the inner wall. Therefore, the reduction in the dissipation rate is predominantly attributed to decreased turbulence production, causing drag reduction. For low-viscosity light droplets, the production term diminishes further, primarily due to their greater reduction in Reynolds stress, while reduced viscosity weakens the density difference's contribution to TKE transport near the inner cylinder, resulting in a more pronounced reduction in the dissipation rate and consequently stronger drag reduction. Our findings provide new insights into the physics of turbulence modulation by the dispersed phase in two-phase turbulence systems.

Reducing drag under high turbulence is a critical but challenging issue that has engendered great concern. This study utilizes hydrophilic tips in superhydrophobic (SHP) grooves to enhance the stability of plastron, which results in a considerable drag reduction ($DR$) up to 62 %, at Reynolds number ($Re$) reaching $2.79 \times 10^{4}$. The effect of the spacing width $w$ of the microgrooves on both $DR$ and flow structures is investigated. Experimental results demonstrate that $DR$ increases as either microgroove spacing $w$ or $Re$ increases. The velocity fields obtained using particle image velocimetry indicate that the air-filled SHP grooves induce a considerable wall slip. This slip significantly weakens the intensity of Taylor rolls, reduces local momentum transport, and consequently lowers drag. This phenomenon becomes more pronounced with increasing $w$. Furthermore, to quantify the multiscale relationship between global response and geometrical as well as driving parameters, $DR\sim (w, \phi _s, Re)$, a theoretical model is established based on angular momentum defect theory and magnitude estimate. It is demonstrated that a decrease in the surface solid fraction can reduce wall shear, and an increase in the groove width can weaken turbulence kinetic energy production, rendering enhanced slip and drag reduction. This research has implications for designing and optimizing turbulent-drag-reducing surfaces in various engineering applications, such as transportation and marine engineering.

We perform linear stability analysis and direct numerical simulations to study the effect of the radius ratio on the instability and flow characteristics of the sheared annular centrifugal Rayleigh–Bénard convection, where the cold inner cylinder and the hot outer cylinder rotate with a small angular velocity difference. With the shear enhancement, the thermal convection is suppressed and finally becomes stable for different radius ratios $\{\eta \in \mathbb {R}|0.2\leqslant \eta \le 0.95\}$. Considering the inhomogeneous distribution of shear stresses in the base flow, a new global Richardson number $Ri_g$ is defined and the marginal-state curves for different radius ratios are successfully unified in the parameter domain of $Ri_g$ and the Rayleigh number $Ra$. The results are consistent with the marginal-state curve of the wall-sheared classical Rayleigh–Bénard convection in the streamwise direction, demonstrating that the basic stabilization mechanisms are identical. Moreover, systems with small radius ratios exhibit greater geometric asymmetry. On the one hand, this results in a smaller equivalent aspect ratio for the system, accommodating fewer convection roll pairs; fewer roll pairs are more likely to cause a transition in the flow structure during shear enhancement. On the other hand, the shear distribution is more inhomogeneous, allowing for an outward shift of the convection region and the elevation of bulk temperature under strong shear.

The presence of a dispersed phase can significantly modulate the drag in turbulent systems. We derived a conserved quantity that characterizes the radial transport of azimuthal momentum in the fluid–fluid two-phase Taylor–Couette turbulence. This quantity consists of contributions from advection, diffusion and two-phase interface, which are closely related to density, viscosity and interfacial tension, respectively. We found from interface-resolved direct numerical simulations that the presence of the two-phase interface consistently produces a positive contribution to the momentum transport and leads to drag enhancement, while decreasing the density and viscosity ratios of the dispersed phase to the continuous phase reduces the contribution of local advection and diffusion terms to the momentum transport, respectively, resulting in drag reduction. Therefore, we concluded that the decreased density ratio and the decreased viscosity ratio work together to compete with the presence of a two-phase interface for achieving drag modulation in fluid–fluid two-phase turbulence.

Evaporation of multicomponent droplets is important, albeit complex, in a wide range of applications, and requires a careful investigation. We investigate experimentally and numerically the evaporation characteristics of spherical, ethanol–water droplets with different initial concentration ratios in the acoustic levitation field. Imaging techniques and infrared thermometry are used for acquiring volume and surface temperature variations of droplets, reflecting their mass and heat transfer characteristics. Numerical simulations are conducted using modified parameters based on a theoretical model to consider the effect of the acoustic field. The calculation results show good agreement with the experimental data. The concentration and temperature distribution within the droplet is further investigated based on the numerical results.

In view of the fact that the current research on active and passive rehabilitation training of lower limbs is mainly based on the analysis of exoskeleton prototype and the lack of analysis of the actual movement law of limbs, the human-machine coupling dynamic characteristics for active rehabilitation training of lower limbs are studied. In this paper, the forward and inverse kinematics are solved on the basis of innovatively integrating the lower limb and rehabilitation prototype into a human-machine integration system and equivalent to a five-bar mechanism. According to the constraint relationship of hip joint, knee joint and ankle joint, the Lagrange dynamic equation and simulation model of five-bar mechanism under the constraint of human physiological joint motion are constructed, and the simulation problem of closed-loop five-bar mechanism is solved. The joint angle experimental system was built to carry out rehabilitation training experiments to analyze the relationship between lower limb error and height, weight and BMI, and then, a personalized training planning method suitable for people with different lower limb sizes was proposed. The reliability of the method is proved by experiments. Therefore, we can obtain the law of limb movement on the basis of traditional rehabilitation training, appropriately reduce the training speed or reduce the man-machine position distance and reduce the training speed or increase the man-machine distance to reduce the error to obtain the range of motion angle closer to the theory of hip joint and knee joint respectively, so as to achieve better rehabilitation.

Can the similarity between rotation and stratification provide quantitative predictions for complex turbulence? In this work, we focus on plane Couette turbulence as the background flow, which allows us to eliminate the key differences between Rayleigh–Bénard and Taylor–Couette turbulence, and facilitates a quantitative mapping across many complex turbulent systems involving rotation, stratification and curvature effects. To characterize the separated or coupled effects of rotation and stratification, we introduce an overall Richardson number ${Ri}_\chi$ which is the sum of the Coriolis Richardson number $Ri_\theta$ and the buoyancy Richardson number $Ri_T$. When the Prandtl number $Pr=1$, the heat and inertial-frame momentum transport almost coincide and mainly depend on ${Ri}_\chi$ and the Reynolds number, regardless of the specific ratio between $Ri_\theta$ and $Ri_T$. When $Pr$ varies, the weighted average ${Nu}_\chi$ of the transport coefficients can still remain approximately invariant in most cases. Furthermore, the large-scale structures in purely rotating and purely stratified cases exhibit strikingly similar features. These findings not only indicate a more reasonable analogy for the ultimate Taylor–Couette turbulence but also pave the way for developing new predictive models for natural and industrial processes.

We investigate experimentally and theoretically the interactions between a cavitation bubble and a hemispherical pendant oil droplet immersed in water. In experiments, the cavitation bubble is generated by a focused laser pulse right below the pendant droplet with well-controlled bubble–wall distances and bubble–droplet size ratios. By high-speed imaging, four typical interactions are observed, namely: oil droplet rupture; water droplet entrapment; oil droplet large deformation; and oil droplet mild deformation. The bubble jetting at the end of collapse and the migration of the bubble centroid are particularly different in each bubble–droplet interaction. We propose theoretical models based on the method of images for calculating the Kelvin impulse and the anisotropy parameter which quantitatively reflects the migration of the bubble centroid at the end of the collapse. Finally, we explain that a combination of the Weber number and the anisotropy parameter determines the regimes of the bubble–droplet interactions.

Direct numerical simulations are performed to explore the effects of the rotating direction of the vertically asymmetric rough wall on the transport properties of Taylor–Couette (TC) flow, up to a Taylor number of ${Ta} = 2.39\times 10^{7}$. It is shown that, compared with the smooth wall, the rough wall with vertical asymmetric strips can enhance the dimensionless torque ${Nu}_{\omega }$. More importantly, at high Ta, clockwise rotation of the inner rough wall (where the fluid is sheared by the steeper slope side of the strips) results in a significantly greater torque enhancement compared to counter-clockwise rotation (where the fluid is sheared by the smaller slope side of the strips), due to the larger convective contribution to the angular velocity flux. However, the rotating direction has a negligible effect on the torque at low Ta. The larger torque enhancement caused by the clockwise rotation of the vertically asymmetric rough wall at high Ta is then explained by the stronger coupling between the rough wall and the bulk, attributed to the larger biased azimuthal velocity towards the rough wall at the mid-gap of the TC system, the increased turbulence intensity manifested by larger Reynolds stress and a thinner boundary layer, and the more significant contribution of the pressure force on the surface of the rough wall to the torque.

We investigate the coupling effect of buoyancy and shear based on an annular centrifugal Rayleigh–Bénard convection (ACRBC) system in which two cylinders rotate with an angular velocity difference. Direct numerical simulations are performed in a Rayleigh number range $10^6\leq Ra\leq 10^8$, at fixed Prandtl number $Pr=4.3$, inverse Rossby number $Ro^{-1}=20$, and radius ratio $\eta =0.5$. The shear, represented by the non-dimensional rotational speed difference $\varOmega$, varies from $0$ to $10$, corresponding to an ACRBC without shear and a radially heated Taylor–Couette flow with only the inner cylinder rotating, respectively. A stable regime is found in the middle part of the interval for $\varOmega$, and divides the whole parameter space into three regimes: buoyancy-dominated, stable and shear-dominated. Clear boundaries between the regimes are given by linear stability analysis, meaning the marginal state of the flow. In the buoyancy-dominated regime, the flow is a quasi-two-dimensional flow on the $r\varphi$ plane; as shear increases, both the growth rate of instability and the heat transfer are depressed. In the shear-dominated regime, the flow is mainly on the $rz$ plane. The shear is so strong that the temperature acts as a passive scalar, and the heat transfer is greatly enhanced. The study shows that shear can stabilize buoyancy-driven convection, makes a detailed analysis of the flow characteristics in different regimes, and reveals the complex coupling mechanism of shear and buoyancy, which may have implications for fundamental studies and industrial designs.

Turbulent plane-Couette flow suspended with finite-size spheroidal particles is studied using fully particle-resolved direct numerical simulations. The effects of particle aspect ratio on turbulent arguments and particle statistics are explored, leading to the same conclusions as the previous experimental findings (Wang et al., J. Fluid Mech., vol. 937, 2022, A15). By performing stress analysis, we find that the presence of particles introduces extra stresses to the system and accounts for the global drag increases. The particle-laden flow cases exhibit spectra that are consistent with the scalings $k^{-5/3}$ and $k^{-3}$ in the large and small scales, respectively. While the $k^{-3}$ scaling observed in the particle-laden flow is reminiscent of bubbly flow, an examination of the particle Reynolds number suggests that the mechanism responsible may not be attributable to the pseudo-turbulence induced by particles as in the case of bubbles. In the view of particle statistics, we observe that spherical and non-spherical particles cluster preferentially in the near-wall and the bulk region, respectively, and that the orientations of non-spherical particles are affected by their aspect ratios, especially in the near-wall region. The present numerical results, combined with previous experimental findings in Wang et al. (J. Fluid Mech., vol. 937, 2022, A15), provide in-depth information on both the fluid and the particle phase, contributing to a better understanding of particle suspension in shear flows.

We perform a two-dimensional numerical study on the thermal effect of porous media on global heat transport and flow structure in Rayleigh–Bénard (RB) convection, focusing on the role of thermal conductivity $\lambda$ of porous media, which ranges from $0.1$ to $50$ relative to the fluid. The simulation is carried out in a square RB cell with the Rayleigh number $Ra$ ranging from $10^7$ to $10^9$ and the Prandtl number $Pr$ fixed at $4.3$. The porosity of the system is fixed at $\phi =0.812$, with the porous media modelled by a set of randomly displayed circular obstacles. For a fixed $Ra$, the increase of conductivity shows a small effect on the total heat transfer, slightly depressing the Nusselt number. The limited influence comes from the small number of obstacles contacting with thermal plumes in the system as well as the counteraction of the increased plume area and the depressed plume strength. The study shows that the global heat transfer is insensitive to the conduction effect of separated porous media in the bulk region, which may have implications for industrial designs.

Sea ice is crucial in many natural processes and human activities. Understanding the dynamical couplings between the inception, growth and equilibrium of sea ice and the rich fluid mechanical processes occurring at its interface and interior is of relevance in many domains, ranging from geophysics to marine engineering. Here we investigate experimentally the complete freezing process of water with dissolved salt in a standard natural convection system, i.e. the prototypical Rayleigh–Bénard cell. Due to the presence of a mushy phase, the studied system is considerably more complex than the freezing of fresh water in the same conditions (Wang et al., Proc. Natl Acad. Sci. USA, vol. 118, issue 10, 2021, e2012870118). We measure the ice thickness and porosity at the dynamical equilibrium state for different initial salinities of the solution and temperature gaps across the cell. These observables are non-trivially related to the controlling parameters of the system as they depend on the heat transport mode across the cell. We identify in the experiments five out of the six possible modes of heat transport. We highlight the occurrence of brine convection through the mushy ice and of penetrative convection in stably stratified liquid underlying the ice. A one-dimensional multi-layer heat flux model built on the known scaling relations of global heat transport in natural convection systems in liquids and porous media is proposed. Given the measured porosity of the ice, it allows us to predict the corresponding ice thickness, in a unified framework.

We report on the modification of the spectrum of a passive scalar inside a turbulent flow by the injection of large bubbles. Although the spectral modification through bubbles is well known and well analysed for the velocity fluctuations, little is known on how bubbles change the fluctuations of an approximately passive scalar, in our case temperature. Here we uncover the thermal spectral scaling behaviour of a turbulent multiphase thermal mixing layer. The development of a $-3$ spectral scaling is triggered. By injecting large bubbles (${Re}_{{bub}} = {O}(10^2)$) with gas volume fractions $\alpha$ up to 5 %. For these bubbly flows, the $-5/3$ scaling is still observed at intermediate frequencies for low $\alpha$ but becomes less pronounced when $\alpha$ further increases and it is followed by a steeper $-3$ slope for larger frequencies. This $-3$ scaling range extends with increasing gas volume fraction. The $-3$ scaling exponent coincides with the typical energy spectral scaling for the velocity fluctuations in high-Reynolds-number bubbly flows. We identify the frequency scale of the transition from the $-5/3$ scaling to the $-3$ scaling and show how it depends on the gas volume fraction.