We study the instantaneous inference of an unbounded planar flow from sparse noisy pressure measurements. The true flow field comprises one or more regularized point vortices of various strength and size. We interpret the true flow's measurements with a vortex estimator, also consisting of regularized vortices, and attempt to infer the positions and strengths of this estimator assuming little prior knowledge. The problem often has several possible solutions, many due to a variety of symmetries. To deal with this ill posedness and to quantify the uncertainty, we develop the vortex estimator in a Bayesian setting. We use Markov-chain Monte Carlo and a Gaussian mixture model to sample and categorize the probable vortex states in the posterior distribution, tailoring the prior to avoid spurious solutions. Through experiments with one or more true vortices, we reveal many aspects of the vortex inference problem. With fewer sensors than states, the estimator infers a manifold of equally possible states. Using one more sensor than states ensures that no cases of rank deficiency arise. Uncertainty grows rapidly with distance when a vortex lies outside of the vicinity of the sensors. Vortex size cannot be reliably inferred, but the position and strength of a larger vortex can be estimated with a much smaller one. In estimates of multiple vortices their individual signs are discernible because of the nonlinear coupling in the pressure. When the true vortex state is inferred from an estimator of fewer vortices, the estimate approximately aggregates the true vortices where possible.

The dynamics of fluid-conveying pipelines with different shapes has received extensive research attention. Significant wall shear stress and flow separation occur when the fluid flows through pipelines with various curvatures. These phenomena trigger pipeline vibration, the generation of mechanical and hydrodynamic noise, damage, and even the rupture of the pipeline. However, previous studies have not considered the mechanism of internal pipeline flow to eliminate flow separation and the generation of secondary flow inside bent pipelines by redirecting and manipulating the flow. To steer the fluid flow, a ‘hydrodynamic transformation strategy’ based on the metamaterial technology is proposed for the first time in this work; through this strategy, the fluid in pipelines can be made to flow along trajectories that are always parallel to the central axis of the bent pipelines. Interestingly, this innovative method can effectively eliminate the elbow-induced secondary flow and prevent the generation of a pressure gradient toward the pipeline wall. Using the soft lithography technology or the three-dimensional printing technology, the hydrodynamic metamaterial microstructure required to manipulate the fluid flow path in actual engineering applications can be achieved. Our work paves the way for developing new approaches for controlling the flow characteristics and reducing the turbulence intensity of the fluid flowing in pipelines with elbows and corners.

To optimize flapping foil performance, in the current study we apply deep reinforcement learning (DRL) to plan foil non-parametric motion, as the traditional control techniques and simplified motions cannot fully model nonlinear, unsteady and high-dimensional foil–vortex interactions. Therefore, a DRL training framework is proposed based on the proximal policy optimization algorithm and the transformer architecture, where the policy is initialized from the sinusoidal expert display. We first demonstrate the effectiveness of the proposed DRL-training framework, learning the coherent foil flapping motion to generate thrust. Furthermore, by adjusting reward functions and action thresholds, DRL-optimized foil trajectories can gain significant enhancement in both thrust and efficiency compared with the sinusoidal motion. Last, through visualization of wake morphology and instantaneous pressure distributions, it is found that DRL-optimized foil can adaptively adjust the phases between motion and shedding vortices to improve hydrodynamic performance. Our results give a hint of how to solve complex fluid manipulation problems using the DRL method.

Eigenvectors of the observability and controllability Gramians represent responsive and receptive flow structures that enjoy a well-established connection to resolvent forcing and response modes. However, whereas resolvent modes have demonstrated great potential to guide sensor and actuator placement, observability and controllability modes have been leveraged exclusively in the context of model reduction via input and output projections. In this work, we introduce interpolatory, rather than orthogonal, input and output projections, that can be leveraged for sensor and actuator placement and open-loop control design. An interpolatory projector is an oblique projector with the property of preserving certain entries in the vector being projected. We review the connection between the resolvent operator and the Gramians, and present several numerical examples where we perform both orthogonal and interpolatory input and output projections onto the dominant forcing and response subspaces. Input projections are used to identify dynamically relevant disturbances, place sensors to measure disturbances, and place actuators for feedforward control in the linearized Ginzburg–Landau equation. Output projections are used to identify coherent structures and place sensors aiming at state reconstruction in the turbulent flow in a minimal channel at $Re_{\tau }=185$. The framework does not require data snapshots and relies only on knowledge of the steady or mean flow.

The effect of surface vibrations on the pressure-gradient-driven flows in channels has been studied. The analysis considered monochromatic waves and laminar flows. The effectiveness of the vibrations was gauged by determining the pressure gradient correction required to maintain the same flow rate as without vibrations. Waves propagating upstream always increase pressure losses. Flow response to waves propagating downstream is more complex and changes as a function of the flow Reynolds number. Such waves reduce losses if the Reynolds number $Re <\ \sim\!\!100$, but these waves must be sufficiently fast to reduce pressure losses for larger Re values. In general, the supercritical waves, i.e. waves faster than the reference flow, reduce pressure losses with the magnitude of reduction increasing monotonically with the wave phase speed and wavenumber. The need for an external pressure gradient is eliminated if sufficiently short and fast waves are used. Generally, the subcritical waves, i.e. waves with velocities similar to the reference flow, increase pressure losses. This increase changes somewhat irregularly as a function of the wave phase speed and wavenumber forming local maxima and minima. These waves can reduce pressure losses only if the Reynolds number becomes large enough. It is shown that subcritical waves with very small amplitudes but matching the natural flow frequencies produce significant pressure losses.

Collective wind farm flow control, where wind turbines are operated in an individually suboptimal strategy to benefit the aggregate farm, has demonstrated potential to reduce wake interactions and increase farm energy production. However, existing wake models used for flow control often estimate the thrust and power of yaw-misaligned turbines using simplified empirical expressions that require expensive calibration data and do not extrapolate accurately between turbine models. The thrust, wake velocity deficit, wake deflection and power of a yawed wind turbine depend on its induced velocity. Here, we extend classical one-dimensional momentum theory to model the induction of a yaw-misaligned actuator disk. Analytical expressions for the induction, thrust, initial wake velocities and power are developed as a function of the yaw angle ($\gamma$) and thrust coefficient. The analytical model is validated against large eddy simulations of a yawed actuator disk. Because the induction depends on the yaw and thrust coefficient, the power generated by a yawed actuator disk will always be greater than a $\cos ^3(\gamma )$ model suggests. The power lost due to yaw misalignment depends on the thrust coefficient. An analytical expression for the thrust coefficient that maximizes power, depending on the yaw, is developed and validated. Finally, using the developed induction model as an initial condition for a turbulent far-wake model, we demonstrate how combining wake steering and thrust (induction) control can increase array power, compared to either independent steering or induction control, due to the joint dependence of the induction on the thrust coefficient and yaw angle.

In this work, we focus on a multi-hole pressure-probe-based flow measurement system for wind tunnel measurements that provides real-time feedback to a robot probe-manipulator, rendering the system autonomous. The system relies on a novel, computationally efficient flow analysis technique that translates the probe's point measurements of velocity and pressure into an updatable mean flow map that is accompanied by an uncertainty metric. The latter provides guidance to the manipulator when planning the optimal probe path. The probe is then guided by the robot in the flow domain until an available time budget has been exhausted, or until the uncertainty metric falls below a prescribed target threshold in the entire flow domain. We assess the capabilities of our new measurement system using computational fluid dynamics data, for which the ground truth is available in the form of a mean flow field. An application in a real wind tunnel setting is provided as well.

We derive a limit on energy savings in controlled channel flow. For flow in a channel driven by pressure, shear or any combination of the two, and controlled via wall transpiration or spanwise wall motion, the uncontrolled laminar state requires the least net energy (accounting for the energetic cost of control). Thus, the optimal control solution is to laminarize the flow. Additionally, we raise the possibility of beating this limit. By simultaneously applying wall transpiration and spanwise wall motion, we show that it may be possible to attain sustained sub-laminar energy expenditure in a controlled flow. We provide a necessary design criterion for net energy savings.

This work aims to investigate experimentally the effect of the Reynolds number Re, based on the nozzle diameter D, on jet mixing manipulation using an unsteady radial minijet. A novel artificial intelligence (AI) control system has been developed to manipulate the jet over Re = 5800–40 000. The system may optimize simultaneously the control law and a time-independent parameter, which dictate the actuation ON/OFF states and amplitude, respectively. The control parameters include the mass flow rate, excitation frequency and diameter ratios (Cm, fe/f0 and d/D) of the minijet to the main jet as well as the duty cycle (α) of minijet injection. Jet mixing is quantified using Ke and K0, where K is the decay rate of the jet centreline mean velocity, and subscripts e and 0 denote the manipulated and unforced jets, respectively. It has been found that the maximum Ke achievable does not vary with Re. Scaling analysis of the huge volume of experimental data obtained from the AI system reveals that the relationship Ke = g1 (Cm, fe/f0, α, d/D, Re, K0) may be reduced to Ke/K0 = g2 $(\zeta )$, where g1 and g2 are different functions and the scaling factor $\zeta = ({C_m}/\alpha ){(D/d)^{1 - n}}(1/Re){({f_e}/{f_{e,opt}})^m}$, m and 1 − n are the power indices, and subscript opt denotes the value at which Ke is maximum. The scaling law is discussed in detail, along with the physical meanings of the dimensionless parameters Ke/K0, ζ, $({C_m}/\alpha ){(D/d)^{1 - n}}(1/Re)$ and ${({f_e}/{f_{e,opt}})^m}$.

There are numerous ways to control objects in the Stokes regime, with microscale examples ranging from the use of optical tweezers to the application of external magnetic fields. In contrast, there are relatively few explorations of theoretical controllability, which investigate whether or not refined and precise control is indeed possible in a given system. In this work, seeking to highlight the utility and broad applicability of such rigorous analysis, we recount and illustrate key concepts of geometric control theory in the context of multiple particles in Stokesian fluids interacting with each other, such that they may be readily and widely applied in this largely unexplored fluid-dynamical setting. Motivated both by experimental and abstract questions of control, we exemplify these techniques by explicit and detailed application to multiple problems concerning the control of two particles, such as the motion of tracers in flow and the guidance of one sphere by another. Further, we showcase how this analysis of controllability can directly lead to the construction of schemes for control, in addition to facilitating explorations of mechanical efficiency and contributing to our overall understanding of non-local hydrodynamic interactions in the Stokes limit.

A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework’s aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies robustness requirements to ensure safe performance under varying environmental conditions. Extensive mathematical derivations, which have formerly been carried out manually, are checked for their correctness on a computer. To illustrate the procedures, a higher-order logic interactive theorem-prover and an automated theorem-prover are utilised to formally verify a nonlinear attitude control system of a generic multi-rotor UAV over a stability domain within the dynamical state space of the drone. Further benefits of the procedures are that some of the resulting methods can be implemented onboard the aircraft to detect when its controller breaches its flight envelope limits due to severe weather conditions or actuator/sensor malfunction. Such a detection procedure can be used to advise the remote pilot, or an onboard intelligent agent, to decide on some alterations of the planned flight path or to perform emergency landing.

The application of control tools to complex flows frequently requires approximations, such as reduced-order models and/or simplified forcing assumptions, where these may be considered low rank or defined in terms of simplified statistics (e.g. white noise). In this work we propose a resolvent-based control methodology with causality imposed via a Wiener–Hopf formalism. Linear optimal causal estimation and control laws are obtained directly from full-rank, globally stable systems with arbitrary disturbance statistics, circumventing many drawbacks of alternative methods. We use efficient, matrix-free methods to construct the matrix Wiener–Hopf problem, and we implement a tailored method to solve the problem numerically. The approach naturally handles forcing terms with space–time colour; it allows inexpensive parametric investigation of sensor/actuator placement in scenarios where disturbances/targets are low rank; it is directly applicable to complex flows disturbed by high-rank forcing; it has lower cost in comparison to standard methods; it can be used in scenarios where an adjoint solver is not available; or it can be based exclusively on experimental data. The method is particularly well suited for the control of amplifier flows, for which optimal control approaches are typically robust. Validation of the approach is performed using the linearized Ginzburg–Landau equation. Flow over a backward-facing step perturbed by high-rank forcing is then considered. Sensor and actuator placement are investigated for this case, and we show that while the flow response downstream of the step is dominated by the Kelvin–Helmholtz mechanism, it has a complex, high-rank receptivity to incoming upstream perturbations, requiring multiple sensors for control.

We consider linear feedback control of the two-dimensional flow past a cylinder at low Reynolds numbers, with a particular focus on the optimal placement of a single sensor and a single actuator. To accommodate the high dimensionality of the flow, we compute its leading resolvent forcing and response modes to enable the design of $\mathcal {H}_2$-optimal estimators and controllers. We then investigate three control problems: (i) optimal estimation (OE) in which we measure the flow at a single location and estimate the entire flow; (ii) full-state information control (FIC) in which we measure the entire flow but actuate at only one location; and (iii) the overall feedback control problem in which a single sensor is available for measurement and a single actuator is available for control. We characterize the performance of these control arrangements over a range of sensor and actuator placements and discuss implications for effective feedback control when using a single sensor and a single actuator. The optimal sensor and actuator placements found for the OE and FIC problems are also compared with those found for the overall feedback control problem over a range of Reynolds numbers. This comparison reveals the key factors and conflicting trade-offs that limit feedback control performance.

Differential-geometric-control theory represents a mathematically elegant combination of differential geometry and control theory. Practically, it allows exploitation of nonlinear interactions between various inputs for the generation of forces in non-intuitive directions. Since its early developments in the 1970s, the geometric-control theory has not been duly exploited in the area of fluid mechanics. In this paper, we show the potential of geometric-control theory in the analysis of fluid flows, exemplifying it as a heuristic analysis tool for discovery of symmetry-breaking and unconventional force-generation mechanisms. In particular, we formulate the wing unsteady aerodynamics problem in a geometric-control framework. To achieve this goal, we develop a reduced-order model for the unsteady flow over a pitching–plunging wing that is (i) rich enough to capture the main physical aspects (e.g. nonlinearity of the flow dynamics at large angles of attack and high frequencies) and (ii) efficient and compact enough to be amenable to the analytic tools of geometric nonlinear control theory. We then combine tools from geometric-control theory and averaging to analyse the developed reduced-order dynamical model, which reveals regimes for lift and thrust enhancement mechanisms. The unsteady Reynolds-averaged Navier–Stokes equations are simulated to validate the theoretical findings and scrutinize the underlying physics behind these enhancement mechanisms.

Jets in crossflow are a recurring flow configuration in many engineering applications and have been the subject of many computational and experimental investigations. While these studies have identified the jet-to-crossflow velocity ratio $R$ as a critical parameter for the global stability and mixing behaviour which ultimately leads to breakdown into turbulence, a far less studied, but equally determining, factor is the presence of chemical reactions. Understanding and quantifying the nature of intrinsic instabilities in reacting and non-reacting flows and their dependence on the governing flow parameters are paramount to devising optimal designs or effective control strategies. In this study, we concentrate on the effect of reactions on the flow behaviour and extract optimal forcing and response functions for a range of driving frequencies, juxtaposing the reactive and non-reactive configurations. Simulations are performed using a compressible framework with a free-stream Mach number of $0.2$, and a constant jet-to-crossflow ratio of three. The flow configuration is kept identical for the reactive and non-reactive cases in order to isolate the effect of combustion on the resulting optimal forcing and response solutions. The frequency response is extracted using an adjoint-based optimization formalism. The presence of reactions markedly impacts the dominant frequencies of the flow. The inert case shows forcing and response modes, whose support aligns with the shear layer – as would be expected from a globally unstable jet. However, the analogous forcing functions for the reactive case concentrate around the flame, in accordance with combustion instabilities.

We derive equations of motion that describe the dynamics of a fluid confined within an elastic nanotube subject to periodic bending deflections. We use the principle of least action applied to a continuous open system at constant temperature. We solve the equations analytically in two limiting situations: when the tube oscillations are so small that they do not affect the fluid motion, but this one affects the tube dynamics; and when the flow magnitude is so small that it has no influence on the tube dynamics, but this one affects fluid motion. In the first case, we find out that the characteristic bending frequency spectrum of the tube depends not only on the magnitude of flow velocity, as previously stated in the literature, but also on the fluid velocity profile. This could constitute the basis of a strategy for indirect determination of the slip length in carbon nanotubes conveying flow via measurement of the buckling speed. In the second case, we find that tube vibrations can modify the dynamics of the fluid. Particularly, for a fluid subject to a constant pressure gradient, the tube motion induces an oscillatory motion in the fluid with twice the frequency of the tube. Moreover, the amplitude of the oscillatory fluid motion persists at high frequencies. This could constitute a strategy to generate high-frequency flows at nanoscales. Our results open up a panorama to control flow across nanotubes via tube vibrations, which could be complementary to chemical functionalization of nanostructures.

Modal decomposition techniques have become important mathematical methodologies in analysing complex flow physics. The data-driven methods, such as proper orthogonal decomposition and dynamic mode decomposition are used to extract coherent structures in the form of spatial modes. These methods can be applied to both numerical and experimental data to identify the characteristic dynamics of the system. However, the classical data-driven modal decomposition methods are only applicable to problems with a fixed shape and are not suitable for systems with fluid–structure interaction or systems with shape-changing geometries. In this paper we propose a novel method utilizing a conformal mapping technique to solve this issue. Through different examples with deforming geometry, the capability of the method to accurately capture the flow features is demonstrated. The proposed method is found to be suitable for a wide range of applications and a possible candidate for reduced-order flow modelling of complex shape-changing systems.