When there exists slip on the surface of a solid body moving in an unsteady manner, the extent of slip is not fixed but constantly changes with the time-varying Stokes boundary layer thickness $\unicode[STIX]{x1D6FF}$ in competition with the slip length $\unicode[STIX]{x1D706}$. Here we revisit the unsteady motion of a slippery spherical particle to elucidate this dynamic slip situation. We find that even if the amount of slip is minuscule, it can dramatically change the characteristics of the history force, markedly different from those due to non-spherical and fluid particles (Lawrence & Weinbaum, J. Fluid Mech., vol. 171, 1986, pp. 209–218; Yang & Leal, Phys. Fluids A, vol. 3, 1991, pp. 1822–1824). For an oscillatory translation of such a particle of radius $a$, two distinctive features are identified in the frequency response of the viscous drag: (i) the high-frequency constant force plateau of $O(a/\unicode[STIX]{x1D706})$ much greater than the steady drag due to a constant shear stress caused by $\unicode[STIX]{x1D6FF}$ much thinner than $\unicode[STIX]{x1D706}$ and (ii) the persistence of the plateau while lowering the frequency until the slip–stick transition point $\unicode[STIX]{x1D6FF}\sim \unicode[STIX]{x1D706}$, beyond which $\unicode[STIX]{x1D6FF}$ becomes thicker and the usual Basset decay reappears. Similar features can also be observed in the short-term force response for the particle subject to a sudden movement, as well as in the behaviour of the torque when it undergoes rotary oscillations. In addition, for both translational and rotary oscillations, slip can further introduce a phase jump from the no-slip value to zero in the high-frequency limit. As these features and the associated slip–stick transitions become more evident as $\unicode[STIX]{x1D706}$ becomes smaller and are exclusive to the situation where surface slip is present, they might have potential uses for extracting the slip length of a colloidal particle from experiments.

Direct numerical simulations (DNS) are reported for open-channel flow over streamwise-alternating patches of smooth and fully rough walls. The rough patch is a three-dimensional sinusoidal surface. Owing to the streamwise periodicity, the flow configuration consists of a step change from smooth to rough, and a step change from rough to smooth. The friction Reynolds number varies from 437 over the smooth patch to 704 over the rough patch. Through the fully resolved DNS dataset it is possible to explore many detailed aspects of this flow. Two aspects motivate this work. The first one is the equilibrium assumption that has been widely used in both experiments and computations. However, it is not clear where this assumption is valid. The detailed DNS data reveal a significant departure from equilibrium, in particular over the smooth patch. Over this patch, the mean velocity is recovered up to the beginning of the log layer after a fetch of five times the channel height. However, over the rough patch, the same recovery level is reached after a fetch of two times the channel height. This conclusion is arrived at by assuming that an error of up to 5 % is acceptable and the log layer, classically, starts from 30 wall units above the wall. The second aspect is the reported internal boundary-layer (IBL) growth rates in the literature, which are inconsistent with each other. This is conjectured to be partly caused by the diverse IBL definitions. Five common definitions are applied for the same DNS dataset. The resulting IBL thicknesses are different by 100 %, and their apparent power-law exponents are different by 50 %. The IBL concept, as a layer within which the flow feels the surface underneath, is taken as the basis to search for the proper definition. The definition based on the logarithmic slope of the velocity profile, as proposed by Elliot (Trans. Am. Geophys. Union, vol. 39, 1958, pp. 1048–1054), yields better consistency with this concept based on turbulence characteristics.

Isolated patches of turbulence in transitional straight pipes are sustained by a strong instability at their upstream front, where the production of turbulent kinetic energy (TKE) is up to five times higher than in the core. Direct numerical simulations presented in this paper show no evidence of such strong fronts if the pipe is bent. We examine the temporal and spatial evolution of puffs and slugs in a toroidal pipe with pipe-to-torus diameter ratio $\unicode[STIX]{x1D6FF}=D/d=0.01$ at several subcritical Reynolds numbers. Results show that the upstream overshoot of TKE production is at most one-and-a-half times the value in the core and that the average cross-flow fluctuations at the front are up to three times lower if compared to a straight pipe, while attaining similar values in the core. Localised turbulence can be sustained at smaller energies through a redistribution of turbulent fluctuations and vortical structures by the in-plane Dean motion of the mean flow. This asymmetry determines a strong localisation of TKE production near the outer bend, where linear and nonlinear mechanisms optimally amplify perturbations. We further observe a substantial reduction of the range of Reynolds numbers for long-lived intermittent turbulence, in agreement with experimental data from the literature. Moreover, no occurrence of nucleation of spots through splitting could be detected in the range of parameters considered. Based on the present results, we argue that this mechanism gradually becomes marginal as the curvature of the pipe increases and the transition scenario approaches a dynamical switch from subcritical to supercritical.

Turbulent flow over a series of increasingly high, two-dimensional bumps is studied by well-resolved large-eddy simulation. The mean flow and Reynolds stresses for the lowest bump are in good agreement with experimental data. The flow encounters a favourable pressure gradient over the windward side of the bump, but does not relaminarize, as is evident from near-wall fluctuations. A patch of high turbulent kinetic energy forms in the lee of the bump and extends into the wake. It originates near the surface, before flow separation, and has a significant influence on flow development. The highest bumps create a small separation bubble, whereas flow over the lowest bump does not separate. The log law is absent over the entire bump, evidencing strong disequilibrium. This dataset was created for data-driven modelling. An optimization method is used to extract fields of variables that are used in turbulence closure models. From this, it is shown how these models fail to correctly predict the behaviour of these variables near to the surface. The discrepancies extend further away from the wall in the adverse pressure gradient and recovery regions than in the favourable pressure gradient region.

Direct numerical simulations are performed to study zero-pressure-gradient turbulent boundary layers beneath quiescent and vortical free streams. The inflow boundary layer is computed in a precursor simulation of laminar-to-turbulence transition, and the free-stream vortical forcing is obtained from direct numerical simulations of homogeneous isotropic turbulence. A level-set approach is employed in order to objectively distinguish the boundary-layer and free-stream fluids, and to accurately evaluate their respective contributions to flow statistics. When free-stream turbulence is present, the skin friction coefficient is elevated relative to its value in the canonical boundary-layer configuration. An explanation is provided in terms of an increase in the power input into production of boundary-layer turbulence kinetic energy. This increase takes place deeper than the extent of penetration of the external perturbations towards the wall, and also despite the free-stream perturbations being void of any Reynolds shear stress. Conditional statistics demonstrate that the free-stream turbulence has two effects on the boundary layer: one direct and the other indirect. The low-frequency components of the free-stream turbulence penetrate the logarithmic layer. The associated wall-normal Reynolds stress acts against the mean shear to enhance the shear stress, which in turn enhances turbulence production. This effect directly enlarges the scale and enhances the energy of outer large-scale motions in the boundary layer. The second, indirect effect is the influence of these newly formed large-scale structures. They modulate the near-wall shear stress and, as a result, increase the turbulence kinetic energy production in the buffer layer, which is deeper than the extent of penetration of free-stream turbulence towards the wall.

Tunnel noise in supersonic testing facilities is known to be a decisive factor in boundary layer transition experiments. It defines initial conditions for the growth of modal instabilities by the receptivity mechanism. That is, to interpret experimental results, the determination of tunnel noise is of crucial importance. It is common to use stagnation point probes equipped with pressure transducers in supersonic flows, but since tunnel noise undergoes modulation during the measurement, the probes must be calibrated. The predominant component of tunnel noise is caused by the nozzle boundary layer which radiates highly inclined slow acoustic waves. Therefore, the calibration of stagnation point probes for these disturbances is essential. For quasi-steady deviations from the free stream, an analytic reduced-order method holds. A corresponding conflicting model derived by Stainback & Wagner (1972, AIAA Paper 72-1003) is revised and corrected. Inclined slow acoustic waves generate higher pressure perturbations at the probe than non-inclined waves. In general, costly three-dimensional direct numerical simulations can be used for calibration. In this study, however, new axisymmetric boundary conditions are proposed to reduce the problem to two dimensions to efficiently investigate the detection of incident inclined slow acoustic waves by stagnation point probes. A cylindrical probe with a rounded edge is investigated in supersonic flow at a Mach number $Ma=5.9$. For the inclination angle of radiated slow acoustic waves, stagnation point pressure fluctuations abruptly decay with increasing Strouhal number and a similar behaviour can be seen at constant Strouhal number with increasing inclination angle. Two simple criteria for the onset of decay based on the radial wavenumber are deduced. Furthermore, stagnation point pressure fluctuations were decomposed into an initial pulse impact and resonant amplification to separately investigate the effects. The initial pulse determines the overall pressure signal. At high inclination angles, a new mechanism for resonance caused by a surface pressure wave travelling at the phase speed of the incident wave was found to supersede resonance caused by oscillating acoustic waves prevailing at low inclination angles.

We experimentally investigate the two-phase interplay in an open-channel turbulent boundary layer laden with finite-size particles at global volume fractions between 4 and 25 %. The working fluid (water) and the dispersed phase (hydrogel spheres) have closely matched refractive indices, allowing us to measure the properties of both phases using particle image velocimetry and particle tracking velocimetry, respectively. The particles have a diameter of approximately 9 % of the channel depth and are slightly denser than the fluid. The negative buoyancy causes a strong vertical concentration gradient, characterized by discrete and closely spaced particle layers parallel to the wall. Even at the lowest considered volume fractions, the near-wall fluid velocity and velocity gradients are strongly reduced, with large mean shear throughout most of the channel height. This indicates that the local effective viscosity of the suspension is greatly increased due to the friction between particle layers sliding over one another. The particles consistently lag the fluid and leave their footprint on its mean and fluctuating velocity profiles. The turbulent activity is damped near the wall, where the nearly packed particles disrupt and suppress large-scale turbulent fluctuations and redistribute some of the kinetic energy to smaller scales. On the other hand, in the outer region of the flow where the local particle concentration is low, the mean shear produces strong Reynolds stresses, with enhanced sweeps and ejections and frequent swirling events.

A variational principle is given for the motion of a rigid body dynamically coupled to its interior fluid sloshing in three-dimensional rotating and translating coordinates. The fluid is assumed to be inviscid and incompressible. The Euler–Poincaré reduction framework of rigid body dynamics is adapted to derive the coupled partial differential equations for the angular momentum and linear momentum of the rigid body and for the motion of the interior fluid relative to the body coordinate system attached to the moving rigid body. The variational principle is extended to the problem of interactions between gravity-driven potential flow water waves and a freely floating rigid body dynamically coupled to its interior fluid motion in three dimensions.

In this paper a model for viscous boundary and shear layers in three dimensions is introduced and termed a vortex-entrainment sheet. The vorticity in the layer is accounted for by a conventional vortex sheet. The mass and momentum in the layer are represented by a two-dimensional surface having its own internal tangential flow. Namely, the sheet has a mass density per-unit-area making it dynamically distinct from the surrounding outer fluid and allowing the sheet to support a pressure jump. The mechanism of entrainment is represented by a discontinuity in the normal component of the velocity across the sheet. The velocity field induced by the vortex-entrainment sheet is given by a generalized Birkhoff–Rott equation with a complex sheet strength. The model was applied to the case of separation at a sharp edge. No supplementary Kutta condition in the form of a singularity removal is required as the flow remains bounded through an appropriate balance of normal momentum with the pressure jump across the sheet. A pressure jump at the edge results in the generation of new vorticity. The shedding angle is dictated by the normal impulse of the intrinsic flow inside the bound sheets as they merge to form the free sheet. When there is zero entrainment everywhere the model reduces to the conventional vortex sheet with no mass. Consequently, the pressure jump must be zero and the shedding angle must be tangential so that the sheet simply convects off the wedge face. Lastly, the vortex-entrainment sheet model is demonstrated on several example problems.

Compliant walls offer the tantalising possibility of passive flow control. This paper examines the mechanics of compliant surfaces driven by wall shear stresses, with solely in-plane velocity response. We present direct numerical simulations of turbulent channel flows at low ($Re_{\unicode[STIX]{x1D70F}}\approx 180$) and intermediate ($Re_{\unicode[STIX]{x1D70F}}\approx 1000$) Reynolds numbers. In-plane spanwise and streamwise active controls proposed by Choi et al. (J. Fluid Mech., vol. 262, 1994, pp. 75–110) are revisited in order to characterise beneficial wall fluctuations. An analytical framework is then used to map the parameter space of the proposed compliant surfaces. The direct numerical simulations show that large-scale passive streamwise wall fluctuations can reduce friction drag by at least $3.7\pm 1\,\%$, whereas even small-scale passive spanwise wall motions lead to considerable drag penalty. It is found that a well-designed compliant wall can theoretically exploit the drag-reduction mechanism of an active control; this may help advance the development of practical active and passive control strategies for turbulent friction drag reduction.

A model developed by Wilmott et al. (J. Fluid Mech., vol. 841, 2018, pp. 310–350) for the advance of a charged oil droplet along a charged capillary pore is considered. The oil droplet is surrounded by an aqueous phase filling the pore, and the model considers a uniformly curved capillary static droplet front plus an aqueous thin film separating the body of the oil droplet from the capillary wall, with these two regions being joined by a transition region. The methodology follows a classical asymptotic approach proposed by Bretherton (J. Fluid Mech., vol. 10, 1961, pp. 166–188) but incorporates additional electro-osmotic effects (specifically an electro-osmotic disjoining tension) due to the charged surfaces. A number of dimensionless parameters control the model’s behaviour, of which the most important is denoted $\unicode[STIX]{x1D712}^{\prime }$ and represents the ratio between the ‘nominal’ thickness of the aqueous film (as determined neglecting any electrostatic effects) and the Debye length within the film, which is sensitive to ion concentrations and hence to salinity. When $\unicode[STIX]{x1D712}^{\prime }$ is large, electro-osmotic effects are screened and Bretherton’s classical results are recovered. However as $\unicode[STIX]{x1D712}^{\prime }$ decreases, electro-osmotic effects come into play and the film becomes much thicker than Bretherton’s prediction to ensure that screening effects are not altogether lost, and also there is a noticeable increase in the pressure needed to drive the droplet front along. These results apply with minor variations in the case of singly charged surfaces (charge on either oil or on the capillary wall), oil and wall surfaces with like charges, or oil and wall surfaces with opposite but unequal charges. However in the case of opposite and equal charges, the system’s behaviour changes dramatically. There is now a conjoining electro-osmotic pressure rather than a disjoining tension, the film becomes thinner than the analogous Bretherton film, and the pressure needed to drive the droplet front along decreases. Surprisingly in this case, for sufficiently small $\unicode[STIX]{x1D712}^{\prime }$, the work done by the conjoining pressure can exceed the work done against viscous dissipation, meaning the pressure required to drive the droplet front is not just smaller than in Bretherton’s predictions but also slightly less than would be estimated based on capillary forces alone. Although the main effect of reducing salinity is to increase Debye length and hence reduce $\unicode[STIX]{x1D712}^{\prime }$, salinity also affects surface charges. A situation is explored whereby reducing salinity affects charges, producing a switch from disjoining tensions to conjoining pressures and back again: this leads to a non-monotonic response in film thickness and pressure required to drive the droplet front along.

Free surface oscillations in a narrow gap between elongated parallel bodies are studied numerically. As this represents both a highly resonant system and an arrangement of relevance to offshore operations, the nature of the damping is of primary interest, and has a critical role in determining the response. Previous experimental work has suggested that the damping could be attributed to laminar boundary layers; here our numerical wave tank successfully resolves both wave and boundary layer scales to provide strong numerical evidence in support of this conclusion. The simulations follow the experiments in using wave groups so that the computation is tractable, and both linear and second harmonic excitation of the gap are demonstrated.

Continuum modelling of dense gas–solid flows strongly depends on the constitutive relations used, including the interphase drag force, particle phase stress and the boundary condition for particle–wall interactions. The lack of scale separation is usually claimed to cause the breakdown of the Navier–Stokes (NS) order continuum theory. In this study, computational fluid dynamics–discrete element method (CFD-DEM) simulations of bubbling, turbulent and fast fluidization of smooth, inelastic spheres were conducted to systematically analyse the valid range of NS theory. An entropy-based criterion $I_{s}$ and Knudsen numbers defined using different characteristic length scales ($Kn_{frac}$, $Kn_{gran}$ and $Kn_{vel}$) were quantified. It was found that (i) except at the centre of bubbles where the solid concentration is quite low, NS theory for discrete particles was valid for bubbling fluidization irrespective of the breakdown criterion. Even at the boundary of the bubbles, values of $I_{s}$ and $Kn$ were small; and (ii) the conclusion depended on the criterion used in turbulent and fast fluidization. If $Kn_{frac}$ was used, NS theory would be generally valid. If $I_{s}$ was chosen, NS theory would be still valid but with lower confidence. However, if $Kn_{vel}$ or $Kn_{gran}$ was selected, NS theory broke down. Because $I_{s}$ includes the non-equilibrium effects caused by the gradient of hydrodynamic fields and particle inelasticity, we may conclude that NS theory was valid for all tested cases. This means that the continuum description of discrete particles is not the main source of the breakdown of NS theory.

The bi-modal behaviour of the turbulent flow past three-dimensional blunt bluff bodies is simulated using wall-resolved large eddy simulations. Bi-modality (also called bi-stability) is a phenomenon that occurs in the wakes of three-dimensional bluff bodies. It manifests as a random displacement of the wake between preferred off-centre locations. Two bluff bodies are considered in this work: a conventional square-back Ahmed body representative of road cars, and a simplified lorry, which is taller than it is wide, with its aspect ratio corresponding to a 15 % European lorry scale model. To our knowledge, this is the first time that the asymmetric bi-modal switching behaviour of the wake, observed experimentally, has been captured in simulations. The resulting unsteady flow fields are then analysed, revealing instantaneous topological changes in the wake experiencing bi-modal switching. The best-resolved case, the simplified lorry geometry, is then studied in greater detail using modal decomposition to gain insights into the energy content and the dominant frequencies of the wake flow structures associated with the asymmetric states. High-frequency snapshots of the switching sequence allow us to propose that large hairpin vortices are responsible for the triggering of the switching.

This paper evaluates and modifies the so-called suboptimal control technique for turbulent skin friction reduction through a combination of low-order modelling and direct numerical simulation (DNS). In a previous study, Nakashima et al. (J. Fluid Mech., vol. 828, 2017, pp. 496–526) employed resolvent analysis to show that the efficacy of suboptimal control was mixed across spectral space when the streamwise wall shear stress (case ST) was used as a sensor signal, i.e. specific regions of spectral space showed drag increment. This observation suggests that drag reduction may be attained if control is applied selectively in spectral space. DNS results presented in the present study, however, do not show a significant effect on the flow with selective control. A posteriori analyses attribute this lack of efficacy to a much lower actuation amplitude in the simulations compared to model assumptions. Building on these observations, resolvent analysis is used to design and provide a preliminary assessment of modified control laws that also rely on sensing the streamwise wall shear stress. Control performance is then assessed by means of DNS. The proposed control laws generate as much as $10\,\%$ drag reduction, and these results are broadly consistent with resolvent-based predictions. The physical mechanisms leading to drag reduction are assessed via conditional sampling. It is shown that the new control laws effectively suppress the near-wall quasi-streamwise vortices. A physically intuitive explanation is proposed based on a separate evaluation of clockwise and anticlockwise vortices.

Jet-like surface waves generated by an electric-spark-generated underwater bubble are experimentally studied. Three different motions of jet-like surface waves are observed depending on the inception position of the bubble ($d$: 0.28–7 mm) below the free surface and the maximum radius of the bubble ($R_{m}$: 1.5–3.6 mm). When $d/R_{m}>1.3$, the surface wave shows a simple smooth hump (case 1). When $0.82<d/R_{m}<1.3$, a single droplet or multiple droplets are pinched off sequentially or simultaneously at the tip or from some points of the jet-like surface wave (case 2). Finally, when $d/R_{m}<0.82$, a series of squirting and jetting phenomena are observed at the top of the jet-like surface wave (case 3). For case 1, a proportional relationship is found between $\unicode[STIX]{x1D70C}gh/\unicode[STIX]{x0394}p$ and $(d/R_{m})^{-4.4}$, where $\unicode[STIX]{x1D70C}$ is the density of the fluid, $g$ is the gravitational acceleration and $\unicode[STIX]{x0394}p$ is the difference between the reference atmospheric pressure and the vapour pressure inside a bubble. This proportional relationship is explained semi-analytically using a scaling argument and conservation of momentum and energy, with the help of the Kelvin impulse theory. In addition, we solve the relevant axisymmetric Cauchy–Poisson problem where the initial condition is a jet-like surface wave near its maximum height. By comparing the analytical wave solution with the observed surface wave pattern, it is found that the resultant surface waves are indeed gravity–capillary waves where both the gravity and the surface tension are equally important.

Based on hierarchies of filter lengths, the large eddy decomposition and the related subgrid stresses are recognized to represent generalized central moments for the study and modelling of the different modes composing turbulence. In particular, the subgrid stresses and the subgrid dissipation are shown to be alternative observables for quantitatively assessing the scale-dependent properties of momentum flux (subgrid stresses) and the energy exchange between the large and small scales (subgrid dissipation). In this work we present a theoretical framework for the study of the subgrid stress and dissipation. Starting from an alternative decomposition of the turbulent stresses, a new formalism for their approximation and understanding is proposed which is based on a tensorial turbulent viscosity. The derived formalism highlights that every decomposition of the turbulent stresses is naturally approximated by a general form of turbulent viscosity tensor based on velocity increments which is then recognized to be a peculiar property of small-scale stresses in turbulence. The analysis in a turbulent channel shows the rich physics of the small-scale stresses which is unveiled by the tensorial formalism and usually missed in scalar approaches. To further exploit the formalism, we also show how it can be used to derive new modelling approaches. The proposed models are based on the second- and third-order inertial properties of the grid element. The basic idea is that the structure of the integration volume for filtering (either implicit or explicit) impacts the anisotropy and inhomogeneity of the filtered-out motions and, hence, this information could be leveraged to improve the prediction of the main unknown features of small-scale turbulence. The formalism provides also a rigorous definition of characteristic lengths for the turbulent stresses, which can be computed in every type of computational elements, thus overcoming the rather elusive definition of filter length commonly employed in more classical models. A preliminary analysis in a turbulent channel shows reasonable results. In order to solve numerical stability issues, a tensorial dynamic procedure for the evolution of the model constants is also developed. The generality of the procedure is such that it can be employed also in more conventional closures.

Data available in the literature from direct numerical simulations of two-dimensional turbulent channels by Lee & Moser (J. Fluid Mech., vol. 774, 2015, pp. 395–415), Bernardini et al. (J. Fluid Mech., 742, 2014, pp. 171–191), Yamamoto & Tsuji (Phys. Rev. Fluids, vol. 3, 2018, 012062) and Orlandi et al. (J. Fluid Mech., 770, 2015, pp. 424–441) in a large range of Reynolds number have been used to find that $S^{\ast }$ the ratio between the eddy turnover time ($q^{2}/\unicode[STIX]{x1D716}$, with $q^{2}$ being twice the turbulent kinetic energy and $\unicode[STIX]{x1D716}$ the isotropic rate of dissipation) and the time scale of the mean deformation ($1/S$), scales very well with the Reynolds number in the wall region. The good scaling is due to the eddy turnover time, although the turbulent kinetic energy and the rate of isotropic dissipation show a Reynolds dependence near the wall; $S^{\ast }$, as well as $-\langle Q\rangle =\langle s_{ij}s_{ji}\rangle -\langle \unicode[STIX]{x1D714}_{i}\unicode[STIX]{x1D714}_{i}/2\rangle$ are linked to the flow structures, and also the latter quantity presents a good scaling near the wall. It has been found that the maximum of turbulent kinetic energy production $P_{k}$ occurs in the layer with $-\langle Q\rangle \approx 0$, that is, where the unstable sheet-like structures roll-up to become rods. The decomposition of $P_{k}$ in the contribution of elongational and compressive strain demonstrates that the two contributions present a good scaling. However, the good scaling holds when the wall and the outer structures are separated. The same statistics have been evaluated by direct simulations of turbulent flows in the presence of different types of corrugations on both walls. The flow physics in the layer near the plane of the crests is strongly linked to the shape of the surface and it has been demonstrated that the $u_{2}$ (normal to the wall) fluctuations are responsible for the modification of the flow structures, for the increase of the resistance and of the turbulent kinetic energy production.