Elastohydrodynamic lubrication, or simply soft lubrication, refers to the motion of deformable objects near a boundary lubricated by a fluid, and is one of the key physical mechanisms to minimise friction and wear in natural and engineered systems. Hence, it is of particular interest to relate the thickness of the lubricant layer to the entrainment (sliding/rolling) velocity, the mechanical loading exerted onto the contacting elements and the properties of the elastic boundary. In this work, we provide an overview of the various regimes of soft lubrication for two-dimensional cylinders in lubricated contact with compliant walls. We discuss the limits of small and large entrainment velocity, which are equivalent to large and small elastic deformations, as the cylinder moves near thick or thin elastic layers. The analysis focusses on thin elastic coatings, both compressible and incompressible, for which analytical scaling laws are not yet available in the regime of large deformations. By analysing the elastohydrodynamic boundary layers that appear at the edge of the contact, we establish the missing scaling laws – including prefactors. As such, we offer a rather complete overview of the physically relevant limits of soft lubrication.

Stereoscopic particle image velocimetry measurements of open-channel flows over streamwise-orientated triangular-shaped ridges were used to explore interactions between ridge-induced secondary currents (SCs) and turbulence. Terms in the double-averaged (in space and in time) momentum and energy conservation equations were analysed for a range of ridge spacings ($s$) between 0.4 and 4.0 flow depths ($H$). The double-averaged equations neatly partition momentum and energy fluxes into turbulence and SC contributions, making them well suited to this study. The obtained data indicate that for a range of $s/H$ between 0.4 and 2.0, the normalised momentum and energy fluxes due to SCs approximately collapse when plotted as functions of $(z-d)/s$, where $z$ is the vertical coordinate and $d$ a constant that aligns the elevations of SC cell centres. The SCs controlled the shape of the mean velocity distribution with the vertical gradient of the double-averaged streamwise velocity found to be inversely proportional to $s$ near the elevations of SC cell centres. Partitioning the total kinetic energy into double-mean (DMKE), dispersive (DKE) and turbulent (SATKE) components and considering the balance equation for each component indicated that at the elevation of SC cell centres the production rate of SATKE via exchange with DMKE was comparable in magnitude to the production rate via exchange with DKE (due to SCs). For all ridge spacings, SATKE was reduced compared to a no-ridge benchmark case due to suppression of very-large-scale turbulent motions by the SCs. Finally, it is demonstrated that energy is supplied to SCs by turbulence.

Geometric focusing of monochromatic internal waves is a well-known linear mechanism that provides a pathway to smaller length scales and hence energy dissipation, especially when repeated reflection from inclined boundaries focuses these waves onto internal wave attractors (IWAs). While simple attractors have been well documented both theoretically and in idealized laboratory settings, the small aspect ratio and complex shape of the ocean has made it difficult to detect the narrow frequency bands where attractors may form. The greatest obstruction however is the restricted spatiotemporal resolution of measurements of the ocean's internal wave field. Moored instruments provide a detailed temporal but poor spatial resolution, except along line-segments spanning part of the water column only. The ability to measure a fully resolved two-dimensional section through a three-dimensional field, as in present-day laboratory experiments, is missing in the ocean. This prohibits the search for IWAs in ocean data, especially if this concerns a multi-frequency wave field. Mimicking an ocean observation set-up, our experimental study aims at detecting IWA signatures from laboratory observations along a vertical line-segment. We perform small and large amplitude forcing experiments at a fixed wavenumber with both monochromatic and broadband frequency components. We examine energy intensification at dissipative length scales at frequencies known to support attractors. Importantly, our laboratory experiments indicate that even in the presence of multiple forcing frequencies, or for large-amplitude monochromatic forcing (where beams become unstable to Triadic Resonant Instability), focusing reflections due to attractors are the predominant mechanism for transferring energy to dissipative scales.

We propose a model and numerical method for the propulsion of rectangular and rhombic lattices of flapping plates at $O$(10–100) Reynolds numbers in incompressible flow. The numerical method uses an adaptive mesh to mitigate singularities at the plates’ edges. We establish convergence rates and find good numerical accuracy in a test problem: Laplace's equation in the region exterior to a plate. We then use the method to establish benchmark results for a single flapping plate, including vortex wake characteristics and Froude efficiency over ranges of flapping amplitude, frequency and Strouhal number. As a prelude to a study of propulsive efficiency in Part 2 (J. Fluid Mech., vol. 915, 2021, A21), we study a key ingredient: the time-averaged input power in lattices of plates. Scaling laws for the mean input power are estimated in the limits of small and large streamwise spacings, using steady flow models with small-gap and Poiseuille-like flows between the plates respectively in the two limits. For both lattice types, the mean input power saturates as the lateral spacing becomes large (and thrust occurs). At small lateral spacings, the rhombic lattices’ input power becomes much larger when the plates overlap. The time-averaged input power in flapping lattices agrees qualitatively with the steady models.

We present a numerical study of spatially quasi-periodic travelling waves on the surface of an ideal fluid of infinite depth. This is a generalization of the classic Wilton ripple problem to the case when the ratio of wavenumbers satisfying the dispersion relation is irrational. We propose a conformal mapping formulation of the water wave equations that employs a quasi-periodic variant of the Hilbert transform to compute the normal velocity of the fluid from its velocity potential on the free surface. We develop a Fourier pseudo-spectral discretization of the travelling water wave equations in which one-dimensional quasi-periodic functions are represented by two-dimensional periodic functions on the torus. This leads to an overdetermined nonlinear least-squares problem that we solve using a variant of the Levenberg–Marquardt method. We investigate various properties of quasi-periodic travelling waves, including Fourier resonances, time evolution in conformal space on the torus, asymmetric wave crests, capillary wave patterns that change from one gravity wave trough to the next without repeating and the dependence of wave speed and surface tension on the amplitude parameters that describe a two-parameter family of waves.

We study liquid migration in partly saturated shear bands of granular media where liquid is transported away from the shear-band centre. Earlier studies show that the liquid migration can be modelled as a diffusive process with a shear-rate-dependent diffusion coefficient. Here, we apply this model in a two-dimensional Cartesian split-bottom shear cell with one wide, steady shear band. Initially, a high liquid concentration peak develops at the edges of the shear band, which propagates away from the shear band, splitting the shear cell into a liquid-depleted shear-band region and an outer region not yet affected by the liquid migration. Assuming the liquid transport in the vertical direction is negligible, we simplify the liquid migration model to a one-dimensional form evolving over time. By coordinate transformation, an analytically solvable drift-diffusion model is obtained for liquid migration from the simplified model. From here, we obtain analytical solutions for the liquid concentration as a function of space and time. The significance of the mechanisms is studied in terms of the local Péclet number. While drift enhances drying of the shear band and accumulates the liquid in the peak, diffusion shifts the liquid further away from the shear band. To validate the model, we predict numerically the trajectory of the liquid concentration peak from the continuum model and compare with discrete particle method (DPM) simulations. Our continuum model results give a perfect qualitative and an approximate quantitative agreement with the overall results predicted from the DPM model.

It is known that the pitchfork bifurcation of Kelvin–Helmholtz instability occurring at minimum gradient Richardson number $Ri_m \simeq 1/4$ in viscous stratified shear flows can be subcritical or supercritical depending on the value of the Prandtl number, $Pr$. Here, we study stratified shear flow restricted to two dimensions at finite Reynolds number, continuously forced to have a constant background density gradient and a hyperbolic tangent shear profile, corresponding to the ‘Drazin model’ base flow. Bifurcation diagrams are produced for fluids with $Pr=0.7$ (typical for air), 3 and $7$ (typical for water). For $Pr=3$ and $7$, steady billow-like solutions are found to exist for strongly stable stratification of $Ri_m$ beyond $1/2$. Interestingly, these solutions are not a direct product of a Kelvin–Helmholtz instability, having half the wavelength of the linear instability, and arising through a superharmonic bifurcation. These short-wavelength states can be tracked down to at least $Pr \approx 2.3$ and act as instigators of complex dynamics, even in strongly stratified flows. Direct numerical simulations of forced and unforced two-dimensional flows are performed, which support the results of the bifurcation analyses. Perturbations are observed to grow approximately exponentially from random initial conditions where no modal instability is predicted by a linear stability analysis.

Selective heating of a microparticle surface had been observed to cause its autonomous movement in a fluid medium due to self-generated temperature gradients. Here, we theoretically investigate the response of such an auto-thermophoretic particle near an isothermal planar wall. We derive an exact solution of the energy equation and employ the Lorentz reciprocal theorem to obtain the translational and rotational swimming velocities in the creeping-flow limit. We report fixed points for vertical movement of the micromotor for its specific orientations relative to the wall. The critical wall gap for fixed points shows unique non-monotonic dependence on the metallic coating coverage on the particle. Also, the micromotor trajectories can be switched either from wall-bound sliding or stationary state to escape from the near-wall zone by tuning the particle and the surrounding fluid pair thermal conductivity contrast. The scenario holds several exclusive distinguishing features from the otherwise extensively studied self-diffusiophoresis phenomenon near an inert wall, despite obvious analogies in the respective constitutive laws relating the fluxes with the gradients of the concerned forcing parameters. The most contrasting locomotion is the ability of a self-thermophoretic micromotor with a large heated cap to migrate towards the wall even if it is initially directed away from the wall. During the stationary states of swimming, the cold portion on the micromotor surface faces away from the wall under all conditions. Such unique aspects hold the potential of being harnessed in practice towards achieving intricate control over the autonomous motion of microparticles in thermally regulated fluidic environments.

This paper analyses the turbulent energy cascade from the perspective of statistical mechanics, and relates interscale energy fluxes to statistical irreversibility and information entropy production. The microscopical reversibility of the energy cascade is tested by constructing a reversible three-dimensional turbulent system using a dynamic model for the sub-grid stresses. This system, when reversed in time, develops a sustained inverse cascade towards the large scales, evidencing that the characterisation of the inertial energy cascade must consider the possibility of an inverse regime. This experiment is used to study the origin of statistical irreversibility and the prevalence of direct over inverse energy cascades in isotropic turbulence. Statistical irreversibility, a property of statistical ensembles in phase space related to entropy production, is connected to the dynamics of the energy cascade in physical space by considering the space locality of the energy fluxes and their relation to the local structure of the flow. A mechanism to explain the probabilistic prevalence of direct energy transfer is proposed based on the dynamics of the rate-of-strain tensor, which is identified as the most important source of statistical irreversibility in the energy cascade.

We study propulsion of rectangular and rhombic lattices of flapping plates at $O$(10–100) Reynolds numbers in incompressible flow. The fluid dynamics often converges to time periodic in 5–30 flapping periods, facilitating accurate computations of time-averaged thrust force and input power. We classify the propulsive performances of the lattices and the periodicities of the flows with respect to flapping amplitude and frequency, horizontal and vertical spacings between plates, and oncoming flow velocity. Non-periodic states are most common at small streamwise spacing, large lateral spacing and large Reynolds number. Lattices that are closely spaced in the streamwise direction produce intense vortex dipoles between adjacent plates. The flows transition sharply from drag- to thrust-producing as these dipoles switch from upstream to downstream orientations at critical flow speeds. Near these transitions the flows pass through a variety of periodic and non-periodic states, with and without up–down symmetry, and multiple stable self-propelled speeds can occur. As the streamwise spacing increases (and with large lateral spacing), the plates may shed vortex streets that impinge on downstream neighbours. The most efficient streamwise spacing increases with flapping amplitude. With small lateral spacing, the rectangular lattices have Poiseuille-type flows that yield net drag, while the rhombic lattices may shed vortices and generate net thrust, sometimes with relatively high efficiency. As lateral spacing increases to one plate length and beyond, the rectangular lattices begin to shed vortices and generate thrust, eventually with efficiencies similar to the rhombic lattices', as the two types of flows converge. At $Re = 70$, the lattices’ maximum Froude efficiencies are approximately twice those of an isolated plate (only considering nearly periodic lattice flows). As $Re$ decreases, the lattices’ efficiency advantage increases further.

An informal introduction is provided to a range of topics in fluid dynamics having a topological character. These topics include flows with boundary singularities, Lagrangian chaos, frozen-in fields, magnetohydrodynamic analogies, fast- and slow-dynamo mechanisms, magnetic relaxation, minimum-energy states, knotted flux tubes, vortex reconnection and the finite-time singularity problem. The paper concludes with a number of open questions concerning the above topics.

The description of the feedback mechanism is one of the crucial points in the understanding of self-sustained flow oscillations, such as the edge tone or the cavity tone. In this paper a new model for the edge tone, using linear adjoint modes is proposed for low speeds, when acoustic effects are negligible. The two crucial points of the model are (i) a new relationship between the jet oscillation and the generated vortex at the edge tip and (ii) a new model for the effect of the generated vortex on the oscillation. The frequency corresponding to the optimum open-loop gain of the feedback mechanism was compared with experimental data and good agreement was found.

We introduce a network (graph) theoretic community-based framework to extract vortical structures that serve the role of connectors for the vortical interactions in two- and three-dimensional isotropic turbulence. The present framework represents the vortical interactions on a network, where the vortical elements are viewed as the nodes and the vortical interactions are regarded as edges weighted by induced velocity. We identify closely interacting vortical elements as vortical network communities through community detection algorithms. The inter- and intra-community interactions are used to identify the communities which have the strongest and weakest interactions amongst them. These vortical communities are referred to as the connector and peripheral communities, respectively. We demonstrate the influence of the network-based structures to modify the dynamics of a collection of discrete point vortices. Taking advantage of the strong inter-community interactions, connector community can significantly modify the collective dynamics of vortices through the application of multiple impulse perturbations. We then apply the community-based framework to extract influential structures in isotropic turbulence. The connector and peripheral communities extracted from turbulent flows resemble shear-layer and vortex-core-like structures, respectively. The influence of the connector structures on the flow field and their neighbouring vortical structures is analysed by adding impulse perturbations to the connectors in direct numerical simulations. The findings are compared with the cases of perturbing the strongest vortex tube and shear-layer regions. We reveal that perturbing the connector structures enhances local turbulent mixing beyond what is achieved by the other cases.

The net erosion-deposition rate of an avalanche is fundamental to its dynamics and in determining its growth or decay. Small-scale experiments are performed by releasing a given volume of yellow sand onto a stationary erodible red sand layer on a rough inclined plane. Depending on the erodible layer depth and the slope angle, the avalanche is found to either decay, grow, propagate steadily or rapidly shed grains to produce secondary avalanches. The use of different coloured sand with identical properties shows that a particle exchange occurs, which eventually results in a flow that is comprised entirely of particles from the stationary layer rather than the initial release. It is notoriously difficult to model the erosion and deposition processes in granular flows, but it is shown that a two-dimensional depth-averaged avalanche model, with a hysteretic basal friction law, can reproduce all of the observed behaviours. The results illustrate how a continuous exchange of particles with the substrate layer is fundamentally important to the propagation of such avalanches. An investigation into long distance propagation behaviour reveals that avalanches can reach a steady state, the size and speed of which are independent of the initially released volume. In certain conditions avalanches can grow to steady states that are significantly more massive than the flows from which they are originally formed. This paper demonstrates the importance of correctly including erosion-deposition in operational forecast models of snow avalanches and other geophysical mass flows.

On the basis of the generalized Saint-Venant equations, hydraulic jumps in laminar open channel flow are obtained as continuous shock structures. They arise as stable stationary solutions of the governing equations and are particularly well suited for a dynamical systems analysis, where they manifest themselves as near-parabolic trajectories in phase space. We derive an analytic approximate expression for the jump length as a function of the Froude and effective Reynolds numbers, reflecting the fact that – along with inertia – gravity and viscous diffusion both contribute to the balance of forces that shape the jump. The stability of the jumps is confirmed by means of a numerical experiment and an analysis of the propagation and attenuation of small perturbations.

We calculate analytically the self-similar Stokes flow driven by an externally applied electric field in a multiple coaxial Taylor cone consisting of an arbitrary number of immiscible leaky-dielectric or dielectric fluids. The proposed conical solutions open new avenues for innovative technological applications, some of which are briefly discussed.

We carry out high-resolution particle image velocimetry experiments to characterize the flow field of fractal grids located at the exit section of a turbulent round jet. We comment on the mean flow organization and on the turbulence properties of such jets by comparing the results with those obtained with square grids, a regular grid (having the same effective mesh length) and a jet without turbulator. We find that, different from the case of decaying grid turbulence, a correction must be accounted for to properly scale the turbulence intensity profiles with a length scale based on grid parameters. We perform a low-order reconstruction of the velocity field based on the most energetic proper orthogonal decomposition modes and we compare the flow-field structure produced in the lee of fractal grids with a single square object and the jet without turbulator. The typical turbulence intensity profile detailed in Cafiero et al. (Phys. Fluids, vol. 27, 2015, 115103) for jets with fractal grids is produced by the interaction of small eddies shed by the central grid item. In the single square grid case, the turbulence is built upon the interaction between larger structures. Conversely, the interaction of the outward spreading wake with the external shear layer produces pairs of vortical structures, which we relate to the higher entrainment rate featured by jets with fractal turbulators. The secondary grid iterations have a disruptive effect on the turbulence transport, with a corresponding large correlation between the velocity fluctuations at the jet core with those at the jet shear layer.

We report laboratory results on bubble plumes released from a point source into a homogeneous liquid environment of depth $H$ and rotation rate $\varOmega$. The gas phase is characterised by the non-dimensional slip velocity $u_N=u_s/(BH^{-1})^{1/3}$, where $u_s$ is the slip velocity of the dominant bubble species and $B$ is the source buoyancy flux. The effects of the background rotation are characterised by the Rossby number $Ro=(B\varOmega ^{-3})^{1/4}/H$. We study the regimes $0.06\lessapprox u_N\lessapprox 0.36$ and $0.03\lessapprox Ro\lessapprox 0.3$. We establish that, from $\varOmega t\approx 2.3$, the growth of the maximum plume width $b_{max}$ is slowed down compared to the non-rotating $t^{3/4}$ power law, where $t$ is the time. At $\varOmega t\approx {\rm \pi}$, the plume axis starts to tilt laterally and causes a slowdown of the rise of the height $h_c$ of the plume silhouette centroid from the $t^{3/4}$ power law. These critical times do not depend on $u_N$. After $\varOmega t \approx {\rm \pi}$, the slip velocity counteracts the effects of rotation such that $h_c$ rises faster for larger $u_N$. The subsequent onset of the anticyclonic plume precession causes the disintegration of the rising plume front into vertical columnar structures for $Ro\lessapprox 0.15$. Once the plume reaches the free surface, the subsurface lateral dispersion of bubbles is increased compared to the non-rotating case. However, background rotation suppresses the lateral dispersion of bubbles at the free surface. We find that, asymptotically, the surface area $A$ affected by the bubbles scales as $(B\varOmega ^{-1})^{1/2}t$, and the proportionality factor reduces with an increasing $u_N$.

We found a multi-scale steady solution of the Boussinesq equations for Rayleigh–Bénard convection in a three-dimensional periodic domain between horizontal plates with a constant temperature difference. This was realised using a homotopy from the wall-to-wall optimal transport solution provided by Motoki et al. (J. Fluid Mech., vol. 851, 2018, R4). A connected steady solution, which is a consequence of bifurcation from a thermal conduction state at Rayleigh number $Ra\sim 10^{3}$, is tracked up to $Ra\sim 10^{7}$ using a Newton–Krylov iteration. The three-dimensional exact coherent thermal convection exhibits a scaling of $Nu\sim Ra^{0.31}$ (where $Nu$ is the Nusselt number) as well as multi-scale thermal plume and vortex structures, which are quite similar to those in turbulent Rayleigh–Bénard convection. The mean temperature profiles and the root-mean-square of the temperature and velocity fluctuations are in good agreement with those of the turbulent states. Furthermore, the energy spectrum follows Kolmogorov's $-5/3$ scaling law with a consistent prefactor, and the energy transfer to small scales with a nearly constant flux in the wavenumber space is in accordance with the turbulent energy transfer.

Celebrating the life and work of Professor George K. Batchelor FRS Founding Editor of the Journal of Fluid Mechanics.

Graphical Abstract © Mark Hallworth. Reproduced with Permission.