The trajectory of surface gravity waves in the potential flow regime is affected by the gravitational acceleration, water density and sea bed depth. Although the gravitational acceleration and water density are approximately constant, the effect of water depth on surface gravity waves exponentially decreases as the water depth increases. In shallow water, cloaking an object from surface waves by varying the sea bed topography is possible, however, as the water depth increases, cloaking becomes a challenge because there is no physical parameter to be engineered and subsequently affects the wave propagation. In order to create an omnidirectional cylindrical cloaking device for finite-depth/deep-water waves, we propose an elastic composite plate that floats on the surface around a to-be-cloaked cylinder. The composite plate is made of axisymmetric, homogeneous and isotropic annular thin rings which provide adjustable degrees of freedom to engineer and affect the wave propagation. We first develop a pseudo-spectral method to efficiently determine the wave solution for a floating composite plate. Next, we optimise the physical parameters of the plate (i.e. flexural rigidity and mass of every ring) using an evolutionary algorithm to minimise the energy of scattered waves from the object and therefore cloak the inner cylinder from incident waves. We show that the optimised cloak reduces the energy of scattered waves as high as 99 % for the target wave number. We quantify the effectiveness of our cloak with different parameters of the plate and show that varying the flexural rigidity is essential to control wave propagation and the cloaking structure needs to be at least made of four rings with a radius of at least three times of the cloaked region. We quantify the wave drift force exerted on the structures and show that the optimised plate reduces the exerted force by 99.9 %. The proposed cloak, due to its structural simplicity and effectiveness in reducing the wave drift force, may have potential applications in cloaking offshore structures from water waves.

Hydrodynamic signatures at the Stokes regime, pertinent to motility of micro-swimmers, have a long-range nature. This implies that movements of an object in such a viscosity-dominated regime can be felt tens of body-lengths away and significantly alter dynamics of the surrounding environment. Here, we devise a systematic methodology to actively cloak swimming objects within any arbitrarily crowded suspension of micro-swimmers. Specifically, our approach is to conceal the target swimmer throughout its motion using cooperative flocks of swimming agents equipped with adaptive decision-making intelligence. Through a reinforcement learning algorithm, the cloaking agents experientially learn an optimal adaptive behaviour policy in the presence of flow-mediated interactions. This artificial intelligence enables them to dynamically adjust their swimming actions, so as to optimally form and robustly retain any desired arrangement around the moving object without disturbing it from its original path. Therefore, the presented active cloaking approach not only is robust against disturbances, but also is non-invasive to motion of the cloaked object. We then further generalize the proposed approach and demonstrate how our cloaking agents can be readily used, in any region of interest, to realize hydrodynamic invisibility cloaks around any number of arbitrary intruders.

Here we show that monochromatic long-crested corrugations on an otherwise flat seafloor can coherently scatter the energy of an oblique incident internal wave to multiple multi-directional higher-mode internal waves via a series of resonant interactions. We demonstrate that a resonance between seabed corrugations and a normally or slightly oblique incident internal wave results in a series of follow-up resonant interactions, which take place between the same corrugations and successively resonated shorter waves. A chain resonance of internal waves that carries energy to small scales is thus obtained, and we find that the Richardson number decreases by several orders of magnitude over the corrugated patch. If the incidence angle is large, and the incident wave perfectly satisfies a resonance condition with the topography, it turns out that not many higher-mode resonance or near-resonance conditions can be satisfied, such that energy stays confined within the first few modes. Nevertheless, if the incident waves are sufficiently detuned from satisfying a perfect resonance condition with the seabed corrugations, then we show that this frequency detuning may balance off the large detuning due to oblique incidence, leading to a chain resonance that again carries energy to small scales. The evolution of the incident and resonated wave amplitudes is predicted from the envelope equation for internal waves over resonant seabed topography in a three-dimensional rotating fluid, which we derive considering the Boussinesq and $f$-plane approximations with $f$ the Coriolis frequency, linear density stratification and small-amplitude corrugations. Our results suggest that topographic features on the ocean floor with a well-defined dominant wavenumber vector, through the chain resonance mechanism elucidated here, may play a more important role than previously thought in the enhancement of diapycnal mixing and energy dissipation.

Here we show that the distribution of energy of internal gravity waves over a patch of seabed corrugations strongly depends on the distance of the patch to adjacent seafloor features located downstream of the patch. Specifically, we consider the steady state energy distribution due to an incident internal wave arriving at a patch of seabed ripples neighbouring (i) another patch of ripples (i.e. a second patch) and (ii) a vertical wall. Seabed undulations with dominant wavenumber twice as large as overpassing internal waves reflect back part of the energy of the incident internal waves (Bragg reflection) and allow the rest of the energy to transmit downstream. In the presence of a neighbouring topography on the downstream side, the transmitted energy from the patch may reflect back; partially if the downstream topography is another set of seabed ripples or fully if it is a vertical wall. The reflected wave from the downstream topography is again reflected back by the patch of ripples through the same mechanism. This consecutive reflection goes on indefinitely, leading to a complex interaction pattern including constructive and destructive interference of multiply reflected waves as well as an interplay between higher mode internal waves resonated over the topography. We show here that when steady state is reached both the qualitative and quantitative behaviour of the energy distribution over the patch is a strong function of the distance between the patch and the downstream topography: it can increase or decrease exponentially fast along the patch or stay (nearly) unchanged. As a result, for instance, the local energy density in the water column can become an order of magnitude larger in certain areas merely based on where the downstream topography is. This may result in the formation of steep waves in specific areas of the ocean, leading to breaking and enhanced mixing. At a particular distance, the wall or the second patch may also result in a complete disappearance of the trace of the seabed undulations on the upstream and the downstream wave field.

Shore protection by small seabed bars was once considered possible because seafloor undulations strongly reflect surface waves of twice the wavelength by the so-called Bragg resonance mechanism. The idea, however, proved ‘unreliable’ when it was realized that a patch of longshore seabed bars adjacent to a reflective shore could result in larger waves at the shoreline than for the case of a flat seabed. Here we propose to revamp the Bragg resonance mechanism as a means of coastal protection by considering oblique seabed bars that divert, rather than reflect, shore-normal incident waves to the shore-parallel direction. We show, via multiple-scale analysis supported by direct numerical simulations, that the creation of a large protected wake near the shoreline requires a bi-chromatic patch to deflect the incident waves to the shore-parallel direction. With two superposed sets of oblique seabed bars, the incident wave energy becomes efficiently deflected far to the sides, leaving a wake of decreased wave activity downstream of the patch. We demonstrate that the shore protection efficiency provided by this novel arrangement is not affected by reflection of leaked waves at the shoreline, and that it is relatively robust against small frequency detuning.

Here we show that there exist internal gravity waves that are inherently unstable, that is, they cannot exist in nature for a long time. The instability mechanism is a one-way (irreversible) harmonic-generation resonance that permanently transfers the energy of an internal wave to its higher harmonics. We show that, in fact, there are a countably infinite number of such unstable waves. For the harmonic-generation resonance to take place, the nonlinear terms in the free surface boundary condition play a pivotal role, and the instability does not occur in a linearly stratified fluid if a simplified boundary condition, such as a rigid lid or a linearized boundary condition, is employed. Harmonic-generation resonance presented here provides a mechanism for the transfer of internal wave energy to the higher-frequency part of the spectrum hence affecting, potentially significantly, the evolution of the internal waves spectrum.

Efficient mixing, typically characterised by chaotic advection, is hard to achieve in low Reynolds number conditions because of the linear nature of the Stokes equation that governs the motion. Here we show that low Reynolds number swimmers moving in quasi-periodic orbits can result in considerable stretching and folding of fluid elements. We accurately follow packets of tracers within the fluid domain and show that their trajectories become chaotic as the swimmer’s trajectory densely fills its invariant torus. The mixing process is demonstrated in two dimensions using the Quadroar swimmer that autonomously propels and tumbles along quasi-periodic orbits with multi-loop turning trajectories. We demonstrate and discuss that the streamlines of the flow induced by the Quadroar closely resemble the oscillatory flow field of the green alga Chlamydomonas reinhardtii. Our findings can thus be utilized to understand the interactions of microorganisms with their environments, and to design autonomous robotic mixers that can sweep and mix an entire volume of complex geometry containers.

A major obstacle in designing a perfect cloak for objects in shallow-water waves is that the linear transformation media scheme (also known as transformation optics) requires spatial variations of two independent medium properties. In the Maxwell’s equation and for the well-studied problem of electromagnetic cloaking, these two properties are permittivity and permeability. Designing an anisotropic material with both variable permittivity and variable permeability, while challenging, is achievable. On the other hand, for long gravity waves, whose governing equation maps one-to-one to the single polarization Maxwell’s equations, the two required spatially variable properties are the water depth and the gravitational acceleration; in this case changing the gravitational acceleration is simply impossible. Here we present a nonlinear transformation that only requires the change in one of the medium properties, which, in the case of shallow-water waves, is the water depth, while keeping the gravitational acceleration constant. This transformation keeps the governing equation perfectly intact and, if the cloak is large enough, asymptotically satisfies the necessary boundary conditions. We show that with this nonlinear transformation an object can be cloaked from any wave that merely satisfies the long-wave assumption. The presented transformation can be applied as well for the design of non-magnetic optical cloaks for electromagnetic waves.

Landslides plunging into lakes and reservoirs can result in extreme wave runup at the shores. This phenomenon has claimed lives and caused damage to near-shore properties. Landslide tsunamis in lakes are different from typical earthquake tsunamis in the open ocean in that (i) the affected areas are usually within the near field of the source, (ii) the highest runup occurs within the time period of the geophysical event, and (iii) the enclosed geometry of a lake does not let the tsunami energy escape. To address the problem of transient landslide tsunami runup and to predict the resulting inundation, we utilize a nonlinear model equation in the Lagrangian frame of reference. The motivation for using such a scheme lies in the fact that the runup on an inclined boundary is directly and readily computed in the Lagrangian framework without the need to resort to approximations. In this work, we investigate the inundation patterns due to landslide tsunamis in a lake. We show by numerical computations that Airy’s approximation of an irrotational theory using Lagrangian coordinates can legitimately predict runup of large amplitude. We also demonstrate that in a lake of finite size the highest runup may be magnified by constructive interference between edge waves that are trapped along the shore and multiple reflections of outgoing waves from opposite shores, and may occur somewhat after the first inundation.

Here we show that weakly nonlinear flexural-gravity wave packets, such as those propagating on the surface of ice-covered waters, admit three-dimensional fully localized solutions that travel with a constant speed without dispersion or dissipation. These solutions, that are formed at the intersection of line-soliton mean-flow tracks, have exponentially decaying tails in all directions and are called dromions in contrast to lumps that decay only algebraically. We derive, by asymptotic expansion and assuming multiple scales for spatial and temporal variations, the three-dimensional weakly nonlinear governing equations that describe the coupled motion of the wavepacket envelope and the underlying mean current. We show that in the limit of long waves and strong flexural rigidity these equations reduce to a system of nonlinear elliptic–hyperbolic partial differential equations similar to the Davey–Stewartson I (DSI) equation, but with major differences in the coefficients. Specifically, and contrary to DSI equations, the elliptic and hyperbolic operators in the flexural-gravity equations are not canonical resulting in complications in analytical considerations. Furthermore, standard computational techniques encounter difficulties in obtaining the dromion solution to these equations owing to the presence of a spatial hyperbolic operator whose solution does not decay at infinity. Here, we present a direct (iterative) numerical scheme that uses pseudo-spectral expansion and pseudo-time integration to find the dromion solution to the flexural-gravity wave equation. Details of this direct simulation technique are discussed and properties of the solution are elaborated through an illustrative case study. Dromions may play an important role in transporting energy over the ice cover in the Arctic, resulting in the ice breaking far away from the ice edge, and also posing danger to icebreaker ships. In fact we found that, contrary to DSI dromions that only exist in water depths of less than 5 mm, flexural-gravity dromions exist for a broad range of ice thicknesses and water depths including values that may be realized in polar oceans.

In a two-layer density-stratified fluid it is known, due to Ball (J. Fluid Mech., vol. 19, 1964, p. 465), that two oppositely travelling surface waves may form a triad resonance with an interfacial wave. Ball claims ‘there are no other interactions’ between two surface waves and one interfacial wave. Contrary to this, here we present a new class of triad resonance that occurs between two co-propagating surface waves and one interfacial wave. While in Ball’s resonance the interfacial wave has a wavelength of about half of two surface waves, in the new resonance presented here the interfacial wave has a much higher wavelength compared to those of surface waves. This, together with the unidirectionality of the participant triplet, makes the realization of the new resonance more likely in real ocean scenarios. We further show, via theoretical analysis and direct simulation, that, unique to this new class of resonance, the triad inevitably undergoes a cascade of (near-) resonance interaction that spreads the energy of initial waves to a number of lower and higher harmonics. The significance of the resonance studied here is, particularly, more emphasized in the littoral zones, where the spectrum refracts toward a unidirectional wave train.

We consider the indirect mechanism for dissipation of short surface waves through their near-resonant interactions with long sub-harmonic waves that are dissipated by the bottom. Using direct perturbation analysis and an energy argument, we obtain analytic predictions of the evolution of the amplitudes of two short primary waves and the long sub-harmonic wave which form a near-resonant triad, elucidating the energy transfer, from the short waves to the long wave, which may be significant over time. We obtain expressions for the rate of total energy loss of the system and show that this rate has an extremum corresponding to a specific value of the (bottom) damping coefficient (for a given pair of short wavelengths relative to water depth). These analytic results agree very well with direct numerical simulations developed for the general nonlinear wave–wave and wave–bottom interaction problem.

We investigate the nonlinear wave signature of a translating and oscillating disturbance under the influence of ambient waves in a two-layer fluid. The main interests are the generation and features of the far-field waves due to nonlinear wave resonances. We show, using perturbation theory, that free waves on the surface and/or interface can be produced by triad-resonant interactions, a mechanism not obtained in a homogeneous fluid. These occur among the radiated waves due to the disturbance motion (disturbance waves); and between the disturbance waves and free ocean waves (ambient waves). Such resonance-generated waves can appear upstream or downstream, and may propagate away from or towards the disturbance. In realistic situations where ambient waves and disturbance oscillations contain multiple frequencies, numerous resonant and near-resonant interactions at second and higher orders may occur, making the theoretical analysis of the problem intractable. For this purpose, we develop a direct simulation capability using a high-order spectral method, which provides independent validation of the theoretical predictions. Our investigations show that, under specific but realistic conditions, resonance interactions may lead to significant far-field short waves that are more amenable to remote sensing. If the characteristics of the disturbance are known, we illustrate how nonlinear wave resonances provide a mechanism for more precise estimation of ocean stratification properties using surface wave measurements. Finally we show that when a moving disturbance oscillates at multiple frequencies, ensuing multiple resonances may lead to energy spreading across a broader spectrum, resulting in the loss of information about the body motion.

We consider a class of higher order (quartet) Bragg resonance involving two incident wave components and a bottom ripple component (so called class III Bragg resonance). In this case, unlike class I/II Bragg resonance involving a single incident wave and one/two bottom ripple components, the frequency of the resonant wave, which can be reflected or transmitted, is a sum or difference of the incident wave frequencies. In addition to transferring energy across the spectrum leading to potentially significant spectral transformation, such resonances may generate long (infragravity) waves of special importance to coastal processes and engineering applications. Of particular interest here is the case where the incident waves are oblique to the bottom undulations (or to each other) which leads to new and unexpected wave configurations. We elucidate the general conditions for such resonances, offering a simple geometric construction for obtaining these. Perturbation analysis results are obtained for these resonances predicting the evolutions of the resonant and incident wave amplitudes. We investigate special cases using numerical simulations (applying a high-order spectral method) and compare the results to perturbation theory: infragravity wave generation by co- and counter-propagating incident waves normal to bottom undulations; longshore long waves generated by (bottom) oblique incident waves; and propagating–standing resonant waves due to (bottom) parallel incident waves. Finally, we consider a case of multiple resonance due to oblique incident waves on bottom ripples which leads to complex wave creation and transformations not easily tractable with perturbation theory. These new wave resonance mechanisms can be of potential importance on continental shelves and in littoral zones, contributing to wave spectral evolution and bottom processes such as sandbar formation.

We investigate, via perturbation analyses, the mechanisms of nonlinear resonant interaction of surface-interfacial waves with a rippled bottom in a two-layer density-stratified fluid. As in a one-layer fluid, three classes of Bragg resonances are found to exist if nonlinear interactions up to the third order in the wave/ripple steepness are considered. As expected, the wave system associated with the resonances is more complicated than that in a one-layer fluid. Depending on the specifics of the resonance condition, the resonance-generated wave may be a surface or internal mode and may be transmitted or reflected. At the second order, class I Bragg resonance occurs involving two surface and/or internal waves and one bottom-ripple component. The interaction of an incident surface/internal wave with the bottom ripple generates a new surface or internal wave that may propagate in the same or the opposite direction as the incident wave. At the third order, class II and III Bragg resonances occur involving resonant interactions of four wave/ripple components: two surface and/or internal waves and two bottom-ripple components for class II resonance; three surface and/or internal waves and one bottom-ripple components for class III resonance. As in class I resonance, the resonance-generated wave in class II resonance has the same frequency as that of the incident wave. For class III resonance, the frequency of the resonant wave is equal to the sum or difference of the two incident wave frequencies. We enumerate and represent, using Feynman-like diagrams, the possible cases and combinations for Bragg resonance up to the third order (in two dimensions). Analytical regular perturbation results are obtained and discussed for all three classes of Bragg resonances. These are valid for limited bottom patch lengths and initial/finite growth of the resonant waves. For long bottom patches, a uniformly valid solution using multiple scales is derived for class I resonance. A number of applications underscoring the importance and implication of these nonlinear resonances on the evolution of ocean waves are presented and discussed. For example, it is shown that three internal/surface waves co-propagating over bottom topography are resonant under a broad range of Bragg conditions. The present study provides the theoretical basis and understanding for the companion paper (Alam, Liu & Yue 2008), where a direct numerical solution for the general nonlinear problem is pursued.

We develop a direct numerical method to study the general problem of nonlinear interactions of surface/interfacial waves with variable bottom topography in a two-layer density stratified fluid. We extend a powerful high-order spectral (HOS) method for nonlinear gravity wave dynamics in a homogeneous fluid to the case of a two-layer fluid over non-uniform bottom. The method is capable of capturing the nonlinear interactions among large number of surface/interfacial wave mode and bottom ripple components up to an arbitrary high order. The method preserves exponential convergence with respect to the number of modes of the original HOS and the (approximately) linear effort with respect to mode number and interaction order. The method is validated through systematic convergence tests and comparison to a semi-analytic solution we obtain for an exact nonlinear Stokes waves on a two-layer fluid (in uniform depth). We apply the numerical method to the three classes of generalized Bragg resonances studied in Alam, Liu & Yue (J. Fluid Mech., vol. 624, 2009, p. 225), and compare the perturbation predictions obtained there with the direct simulation results. An important finding is possibly the important effect of even higher-order nonlinear interactions not accounted for in the leading-order perturbation analyses. To illustrate the efficacy of the numerical method to the general problem, we consider a somewhat more complicated case involving two incident waves and three bottom ripple components with wavenumbers that lead to the possibility of multiple Bragg resonances. It is shown that the ensuing multiple (near) resonant interactions result in the generation of multiple new transmitted/reflected waves that fill a broad wavenumber band eventually leading to the loss of order and chaotic motion.

Effects of random bathymetric irregularities on wave generation by transcritical ship motion in a shallow channel are investigated. Invoking Boussinesq approximation in shallow waters, it is shown that the wave evolution is governed by an integro-differential equation combining features of Korteweg–deVries and Burgers equations. For an isolated ship, the bottom roughness weakens the transient waves radiated both fore and aft. When many ships advance in tandem, a steady mount of high water can be formed in front and a depression behind. Wave forces on both an isolated ship and a ship in a caravan are obtained as functions of the mean-square roughness, ship speed and the blockage coefficient.

The effects of randomly irregular bathymetry on the propagation of interfacial gravity waves are studied. Modelling sea water by a two-layer fluid of different densities, weakly nonlinear waves much longer than the sea depth but comparable to the horizontal scale of bathymetry are treated by Boussinesq approximation and multiple-scale analysis. For transient wave pulses, the governing equation for the pulse profile is shown to be an integro-differential equation combining KdV and Burgers terms. Quantitative and qualitative effect of disorder on the attenuation of wave amplitude, reduction of wave speed and change of wave profile are examined numerically and analytically based on the asymptotic approximation. For time-harmonic waves, mode-coupling equations are derived and examined for the competition between diffusion by random scattering, steepening by nonlinearityand frequency dispersion for a broad range of depth ratios.