In an open channel flow, deviations to the lower topography can induce abrupt changes in the wave height, known as hydraulic jumps. This phenomenon occurs when the flow switches from subcritical to supercritical (or vice versa), and is commonly observed in rivers, flumes and weirs. Theoretical insight is typically sought through the study of reduced models such as the forced Korteweg–de Vries equation, in which previous work has predominantly focused on either stationary formulations or the initial transient behaviour caused by perturbations. In a joint theoretical and numerical study of the free-surface Euler equations, Keeler & Blyth (J. Fluid Mech., vol. 993, 2024, A9) have detected a new class of unsteady solutions to this problem. These emerge from an unstable steady solution, and feature large-amplitude time-periodic ripples emitted from a sudden decrease in the water depth forced by topography, known as a hydraulic fall.

Evolutions of internal waves of different modes, particularly mode 1 and mode 2, passing over variable bathymetry are investigated based on a new numerical scheme. The problem is idealized as interfacial waves propagating on two interfaces of a three-layer density stratified fluid system with large-amplitude bottom topography. The Dirichlet-to-Neumann operators are introduced to reduce the spatial dimension by one and to adapt the three-layer system and significant topographic effects. However, for simplicity, nonlinear interactions between interfaces are neglected. Numerical techniques such as the Galerkin approximation, proven effective in previous works, are applied to save computational costs. Shoaling of linear waves on an uneven bottom is first studied to validate the proposed formulation and the corresponding numerical scheme. Then, for two-dimensional numerical experiments, mode transition phenomena excited by locally confined bottom obstacles and quickly varying topographies, including the Bragg resonance, mode-2 excitation, wave homogenization, etc., are investigated. In three-dimensional simulations, internal wave refraction by a Luneberg lens is considered, and good agreement is found in comparison with the ray theory. Finally, in the limiting case, when the top layer can be negligible (for example, a gas layer of extremely small density), the problem is reduced to a two-and-a-half-layer fluid system, where an interface and a surface are unknown free boundaries. In this situation, the surface signature of an internal wave is simulated and verified by introducing the realistic bathymetry of the Strait of Gibraltar and qualitatively compared with the satellite image.

The recent work of Siegelman & Young (Proc. Natl Acad. Sci. USA, vol. 120, issue 44, 2023, e2308018120) revealed two extreme states reached by the evolution of unforced and weakly damped two-dimensional turbulence above random rough topography, separated by a critical kinetic energy $E_\#$. The low- and high-energy solutions correspond to topographically locked and roaming vortices, surrounded by non-uniform and homogeneous background potential vorticity (PV), respectively. However, we found that these phenomena are restricted to the particular intermediate length scale where the energy was initially injected into the system. Through simulations initialized by injecting the energy at larger and smaller length scales, we found that the long-term state of topographic turbulence is also dependent on the initial length scale and thus the initial enstrophy. If the initial length scale is comparable to the domain size, the long-term flow field resembles the minimum-enstrophy state proposed by Bretherton & Haidvogel (J. Fluid Mech., vol. 78, issue 1, 1976, pp. 129–154), with very few topographically locked vortices; the long-term enstrophy is quite close to the minimum value, especially when the energy is no larger than $E_\#$. As the initial length scale becomes smaller, more vortices nucleate and become more mobile; the long-term enstrophy increasingly deviates from the minimum value. Simultaneously, the background PV tends to homogenization, even if the energy is below $E_\#$. These results complement the phenomenology of topographic turbulence documented by Siegelman & Young, by showing that the minimum-enstrophy and background PV homogenization states can be adequately approached by large- and small-scale initial fields, respectively, with relatively arbitrary energy.

A series of recent studies has indicated that the component of the bottom drag caused by irregular small-scale topography in the ocean varies non-monotonically with the flow speed. The roughness-induced forcing increases with the speed of relatively slow abyssal currents but, somewhat counterintuitively, starts to decrease when flows are sufficiently swift. This reduction in drag at high speeds leads to the instability of laterally uniform currents, and the resulting evolutionary patterns are explored using numerical and analytical methods. The drag-law instability manifests in the spontaneous emergence of parallel jets, aligned in the direction of the basic flow and separated by relatively quiescent regions. We hypothesize that the mechanisms identified in this investigation could play a role in the dynamics of zonal striations commonly observed in the ocean.

Roughness of the surface underlying the atmospheric boundary layer causes departures of the near-surface scalar and momentum transport in comparison with aerodynamically smooth surfaces. Here, we investigate the effect of $56\times 56$ homogeneously distributed roughness elements on bulk properties of a turbulent Ekman flow. Direct numerical simulation in combination with an immersed boundary method is performed for fully resolved, three-dimensional roughness elements. The packing density is approximately $10\,\%$ and the roughness elements have a mean height in wall units of $10 \lesssim H^+ \lesssim 40$. According to their roughness Reynolds numbers, the cases are transitionally rough, although the roughest case is on the verge of being fully rough. We derive the friction of velocity and of the passive scalar through vertical integration of the respective balances. Thereby, we quantify the enhancement of turbulent activity with increasing roughness height and find a scaling for the friction Reynolds number that is verified up to $Re_\tau \approx 2700$. The higher level of turbulent activity results in a deeper logarithmic layer for the rough cases and an increase of the near-surface wind veer in spite of higher $Re_\tau$. We estimate the von Kármán constant for the horizontal velocity $\kappa _{m}=0.42$ (offset $A=5.44$) and for the passive scalar $\kappa _{h}=0.35$ (offset $\mathbb {A}=4.2$). We find an accurate collapse of the data under the rough-wall scaling in the logarithmic layer, which also yields a scaling for the roughness parameters $z$-nought for momentum ($z_{0{m}}$) and the passive scalar ($z_{0{h}}$).

Seafloor roughness profoundly influences the pattern and dynamics of large-scale oceanic flows. However, these kilometre-scale topographic patterns are unresolved by global numerical Earth system models and will remain subgrid for the foreseeable future. To properly represent the effects of small-scale bathymetry in analytical and coarse-resolution numerical models, we develop the stratified ‘sandpaper’ theory of flow–topography interaction. This model, which is based on the multilayer shallow-water framework, extends its barotropic antecedent to stratified flows. The proposed theory is successfully tested on the configuration representing the interaction of a zonal current with a corrugated cross-flow ridge.

We consider two-dimensional flows above topography, revisiting the selective decay (or minimum enstrophy) hypothesis of Bretherton and Haidvogel. We derive a ‘condensed branch’ of solutions to the variational problem where a domain-scale condensate coexists with a flow at the (smaller) scale of the topography. The condensate arises through a supercritical bifurcation as the conserved energy of the initial condition exceeds a threshold value, a prediction that we quantitatively validate using direct numerical simulations. We then consider the forced–dissipative case, showing how weak forcing and dissipation select a single dissipative state out of the continuum of solutions to the energy-conserving system predicted by selective decay. As the forcing strength increases, the condensate arises through a supercritical bifurcation for topographic-scale forcing and through a subcritical bifurcation for domain-scale forcing, both predictions being quantitatively validated by direct numerical simulations. This method provides a way of determining the equilibrated state of forced–dissipative flows based on variational approaches to the associated energy-conserving system, such as the statistical mechanics of two-dimensional flows or selective decay.

There are numerous examples of long-lived, surface-intensified anticyclones over submarine depressions and troughs in the ocean. These often co-exist with a large-scale cyclonic circulation. The latter is predicted by existing barotropic theory but the anticyclone is not. We extend one such theory, which minimizes enstrophy while conserving energy, to two fluid layers. This yields a bottom-intensified flow with cyclonic circulation over a depression. The solution is steady, an enstrophy minimum and stable. When the Lagrange multiplier, $\lambda$, is near zero, the total potential vorticity (PV) becomes homogenized, in both layers. For positive $\lambda$, the surface PV is anticyclonic and strongest at intermediate energies. In quasi-geostrophic numerical simulations with a random initial perturbation PV, the bottom-intensified cyclonic flow always emerges. Vortices evolve independently in the layers and vortex mergers are asymmetric over the depression; cyclones are preferentially strained out at depth while only anticyclones merge at the surface. Both asymmetries are linked to the topographic flow. The deep cyclones feed the bottom-intensified cyclonic circulation while the asymmetry at the surface is only apparent after that circulation has spun up. The result of the surface merger asymmetry is often a lone anticyclone above the depression. This occurs primarily at intermediate energies, when the surface PV predicted by the theory is strongest. Similar results obtain in a full complexity ocean model but with a more pronounced asymmetry in surface vortex mergers and, with bottom friction, significant bottom flow beneath the central anticyclone.

Recent studies reveal the dramatic impact of seafloor roughness on the dynamics and stability of broad oceanic flows. These findings motivate the development of parameterizations that concisely represent the effects of small-scale bathymetric patterns in theoretical and coarse-resolution numerical circulation models. The previously reported quasi-geostrophic ‘sandpaper’ theory of flow–topography interaction a priori assumes gentle topographic slopes and weak flows with low Rossby numbers. Since such conditions are often violated in the ocean, we now proceed to formulate a more general model based on shallow-water equations. The new version of the sandpaper model is validated by comparing roughness-resolving and parametric simulations of the flow over a corrugated seamount.

Turbulent flows above a solid surface are characterised by a hydrodynamic roughness that represents, for the far velocity field, the typical length scale at which momentum mixing occurs close to the surface. Here, we are theoretically interested in the hydrodynamic roughness induced by a two-dimensional modulated surface, the elevation profile of which is decomposed in Fourier modes. We describe the flow for a sinusoidal mode of given wavelength and amplitude with Reynolds-averaged Navier–Stokes equations closed by means of a mixing-length approach that takes into account a possible surface geometrical roughness as well as the presence of a viscous sublayer. It also incorporates spatial transient effects at the laminar–turbulent transition. Performing a weekly nonlinear expansion in the bedform aspect ratio, we predict the effective hydrodynamic roughness when the surface wavelength is varied and we show that it presents a non-monotonic behaviour at the laminar–turbulent transition when the surface is hydrodynamically smooth. Further, with a self-consistent looped calculation, we are able to recover the smooth–rough transition of a flat surface, for which the hydrodynamic roughness changes from a regime where it is dominated by the viscous length to another one where it scales with the surface corrugation. We finally apply the results to natural patterns resulting from hydrodynamic instabilities such as those associated with dissolution or sediment transport. We discuss in particular the aspect ratio selection of dissolution bedforms and roughness hierarchy in superimposed ripples and dunes.

This work discusses modons, or dipolar vortices, propagating along sloping topography. Two different regimes exist, which are studied separately using the surface quasi-geostrophic equations. First, when the modon propagates in the direction opposite to topographic Rossby waves, steady solutions exist and a semi-analytical method is presented for calculating these solutions. Second, when the modon propagates in the same direction as the Rossby waves, a wave wake is generated. This wake removes energy from the modon, causing it to decay slowly. Asymptotic predictions are presented for this decay and found to agree closely with numerical simulations. Over long times, decaying vortices are found to break down due to an asymmetry resulting from the generation of waves inside the vortex. A monopolar vortex moving along a wall is shown to behave in a similar way to a dipole, though the presence of the wall is found to stabilise the vortex and prevent the long-time breakdown. The problem is equivalent mathematically to a dipolar vortex moving along a density front, hence our results apply directly to this case.

The present paper simplifies the naturally formed dunes (riverbeds) as large-scale three-dimensional staggered wavy walls to investigate the features of the accompanying secondary flows and streamwise vortices via large-eddy simulation. A comparison between the swirling strength and the mean velocities suggests where a secondary flow induces upwash or downwash motions. Moreover, we propose a pseudo-convex wall mechanism to interpret the directionality of the secondary flow. The centrifugal instability criterion is then used to reveal the generation of the streamwise vortices. Based on these analytical results, we found that the streamwise vortices are generated in the separation and reattachment points on both characteristic longitudinal–vertical and horizontal cross-sections, which is related to the curvature effect of the turbulent shear layer. Furthermore, the maximum Görtler number characterized by the ratio of centrifugal to viscous effects suggests that, for fixed ratio of spanwise- to streamwise-wavelength cases, the strongest centrifugal instability occurring on the longitudinal–vertical cross-section gradually dominates with the increases in amplitude. A similar trend for the cases with varied spanwise wavelength can also be found. It is also found that the streamwise vortices are generated more readily via transverse flow around the crest near the separation and reattachment points when the ratio of spanwise- to streamwise-wavelength equals 1.

We model linear, inviscid, internal tides generated by the interaction of a barotropic tide with one-dimensional topography. Starting from the body-forcing formulation of the hydrodynamic problem, we derive a coupled-mode system (CMS) using a local eigenfunction expansion of the stream function. For infinitesimal topography, we solve this CMS analytically, recovering the classical weak topography approximation (WTA) formula for the barotropic-to-baroclinic energy conversion rate. For arbitrary topographies, we solve this CMS numerically. The CMS enjoys faster convergence with respect to existing modal solutions and can be applied in the subcritical and supercritical regimes for both ridges and shelf profiles. We show that the non-uniform barotropic tide affects the baroclinic field locally over topographies with large slopes and we study the dependence of the radiated energy conversion rate on the criticality. We show that non-radiating or weakly radiating topographies are common in the subcritical regime. We also assess the region of validity of the WTA approximation for the commonly used Gaussian ridge and a compactly supported bump ridge studied here for the first time. Finally, we provide numerical evidence showing that in the strongly supercritical regime, the energy conversion rate for a ridge (respectively shelf) approaches the value obtained by the knife-edge (respectively step) topography.

While large-scale seafloor features (e.g. continental slopes, mid-ocean ridges) help shape the broad patterns of ocean circulation, small-scale rough topography (e.g. seamounts, abyssal hills) can also impact the large-scale dynamics in two significant ways. First, they impact the momentum budget through flow steering, flow blocking and drag force, non-local momentum transfer via the generation of radiating internal waves and momentum dissipation by topographically induced turbulence. Second, they impact the density budget. Turbulence induced by flow–topography interactions facilitates ocean overturning circulation by upwelling dense, deep waters which form in polar oceans and sink to the abyss. Rough topography and its associated dynamics are of subgrid scale in Earth systems models (ESMs) and need parameterization for the foreseeable future. A parameterization of the intertwined impacts of flow–topography interactions on momentum and density budgets is currently non-existent, although its importance is well established. Radko (J. Fluid Mech., vol. 961, 2023, A24) provides a novel analytical model for representing the impact of rough seafloor on larger-scale flows, spanning slow to fast flow-speed regimes in homogeneous and multilayer models. The proposed ‘closure’ is in remarkable agreement with high-resolution numerical simulations and provides a crucial step forward in parameterizing the impact of rough topography in coarse-resolution ocean models. Extending the model to the full Navier–Stokes equations, linking it to the density budget and considering more realistic ocean topography are three critical future steps towards implementing Radko's theory in operational ESMs.

An analytical model is developed which explores the impact of irregular sea-floor roughness on large-scale oceanic flows. The previously reported asymptotic ‘sandpaper’ theory of flow-topography interaction represents relatively swift currents and exhibits singular behaviour in the weak flow limit. The present investigation systematically spans a wider parameter space and identifies the principal dissimilarities in the topographic regulation of slow and fast currents. The fast flows are controlled by the Reynolds stresses produced by topographically generated eddies. In contrast, relatively weak flows are more affected by the eddy-induced bottom form drag. The asymptotic models for fast and slow currents are then combined to arrive at a concise description of flow forcing by small-scale topography in homogeneous and multilayer models. The proposed closure is validated by comparing corresponding topography-resolving and parametric simulations.

The linear instability of circular vortices over isolated topography in a homogeneous and inviscid fluid is examined for the shallow-water and quasi-geostrophic models in the $f$-plane. The eigenvalue problem associated with azimuthal disturbances is derived for arbitrary axisymmetric topographies, either submarine mountains or valleys. Amended Rayleigh and Fjørtoft theorems with topographic effects are given for barotropic instability, obtaining necessary criteria for instability when the potential vorticity gradient is zero somewhere in the domain. The onset of centrifugal instability is also discussed by deriving the Rayleigh circulation theorem with topography. The barotropic instability theorems are applied to a wide family of nonlinear, quasi-geostrophic solutions of circular vortices over axisymmetric topographic features. Flow instability depends mainly on the vortex/topography configuration, as well as on the vortex size in comparison with the width of the topography. It is found that anticyclones/mountains and cyclones/valleys may be unstable. In contrast, cyclone/mountain and anticyclone/valley configurations are stable. These statements are validated with two numerical methods. First, the generalised eigenvalue problem is solved to obtain the wavenumber of the fastest-growing perturbations. Second, the evolution of the vortices is simulated numerically to detect the development of linear perturbations. The numerical results show that for unstable vortices over narrow topographies, the fastest growth rate corresponds to mode $1$, which subsequently forms asymmetric dipolar structures. Over wide topographies, the fastest perturbations are mainly modes $1$ and $2$, depending on the topographic features.

The present paper investigates theoretically and experimentally the boundary layer generated by a stably stratified fluid flowing horizontally along a surface tilted in the transverse direction and deformed by sinusoidal undulations with crests perpendicular to the flow direction. In the absence of undulations, a weak transverse velocity proportional to the normal velocity is created such that the flow remains purely horizontal. In the presence of undulations of amplitude $h$, a stronger transverse flow is generated that exhibits a singular behaviour at the critical altitude where the frequency of the perturbation matches the buoyancy frequency of the fluid. This baroclinic critical layer was previously analysed by Passaggia et al. (J. Fluid Mech., vol. 751, 2014, pp. 663–684) for a boundary layer flow with a small sliding velocity on the surface. Here, the no-slip boundary condition of the experimental flow is applied. For this purpose, we solve the viscous sub-layer to obtain a complete theoretical model for the solution in the critical layer without any adjusting parameter. The theoretical predictions for the transverse velocity are compared with experimental measurements, and a good quantitative agreement is demonstrated. Compared with the sliding case, the no-slip boundary condition on the surface reduces the amplitude of the critical layer solution by a factor $Re^{-1/3}$, where the Reynolds number Re is defined using the velocity at infinity and the thickness of the boundary layer. As a consequence, the transverse velocity has a maximum in the critical layer of order $h$, but it still induces a shear rate of order $h\,Re^{1/3}$.

We present experimental results of irregular long-crested waves propagating over a submerged trapezoidal bar with the presence of a background current in a wave flume. We investigate the non-equilibrium phenomenon (NEP) induced by significant changes of water depth and mean horizontal flow velocity as wave trains pass over the bar. Using skewness and kurtosis as proxies, we show evidence that an accelerating following current could increase the sea-state non-Gaussianity and enhance both the magnitude and spatial extent of the NEP. We also find that below a ‘saturation relative water depth’ $k_p h_2 \approx 0.5$ ($k_p$ being the peak wavenumber in the shallow area of depth $h_2$), although the NEP manifests, the decrease of the relative water depth does not further enhance the maximum skewness and kurtosis over the bar crest. This work highlights the nonlinear physics according to which a following current could provoke higher freak wave risk in coastal areas where modulation instability plays an insignificant role.

This study explores the impact of small-scale variability in the bottom relief on the dynamics and evolution of broad baroclinic flows in the ocean. The analytical model presented here generalizes the previously reported barotropic ‘sandpaper’ theory of flow–topography interaction to density-stratified systems. The multiscale asymptotic analysis leads to an explicit representation of the large-scale effects of irregular bottom roughness. The utility of the multiscale model is demonstrated by applying it to the problem of topography-induced spin-down of an axisymmetric vortex. We find that bathymetry affects vortices by suppressing circulation in their deep regions. As a result, vortices located above rough topography tend to be more stable than their flat-bottom counterparts. The multiscale theory is validated by comparing corresponding topography-resolving and parametric simulations.

We show that in free surface flows, a uniform, streamwise current over small-amplitude wavy bottom topography generates cross-stream drift velocity. This drift mechanism, referred to as the current–bathymetry interaction-induced drift (CBIID), is specifically understood in the context of a simplified nearshore environment consisting of a uniform alongshore current, onshore-propagating surface waves and monochromatic wavy bottom making an oblique angle with the shoreline. The CBIID is found to originate from the steady, non-homogeneous solution of the governing system of equations. Similar to Stokes drift induced by surface waves, CBIID also generates a compensating Eulerian return flow to satisfy the no-flux lateral boundaries, e.g. the shoreline. The CBIID increases with an increase in particle's initial depth, bottom undulation amplitude and the strength of the alongshore current. Additionally, CBIID near the free (bottom) surface increases (decreases) with an increase in bottom undulation's wavelength. Maximum CBIID is obtained for long-wavelength bottom topography that makes an angle of approximately ${\rm \pi} /4$ with the shoreline. Unlike Stokes drift, particle excursions due to current–bathymetry interactions might not be small, and hence analytical expressions based on the small-excursion approximation could be inaccurate. We provide an alternative $z$-bounded approximation, which leads to highly accurate expressions for drift velocity and time period of particles especially located near the free surface. Realistic parametric analysis reveals that in some nearshore environments, CBIID's contribution to the net Lagrangian drift can be as important as Stokes drift, implying that CBIID can have major implications in cross-shelf tracer transport.