In this study, we use numerical simulations to investigate the flow field induced by a single magnetic microrobot rotating with a constant angular speed about an axis perpendicular to an underlying surface. A parallel solver for steady Stokes flow equations based on the boundary-element method is used for simulating these flows. A simple transformation is introduced to extend the predictive capability of the solver to cases with small unsteadiness. Flows induced by four simple robot shapes are investigated: sphere, upright cylinder, horizontally-laid cylinder, and five-pointed star-shaped prism. Shapes with cross-sections that are axisymmetric about the rotation axis (sphere and upright cylinder) generate time-invariant flow fields, which could be useful for applications such as micromanipulation. Non-axisymmetric shapes (horizontally-laid cylinder and the star-shaped prism) induce significant unsteadiness inside the flow field, which could be desirable for applications such as micromixing. Furthermore, a slender horizontally-laid cylinder generates substantially three-dimensional flows, an added benefit for micromixing applications. The presence of nearby walls such as a bottom substrate or sidewalls has a retarding effect on the induced flows, which is quantified. Finally, we present the driving torque and power-consumption of these microrobots rotating in viscous liquids. The numerical modeling platform used in this work can enable future optimal microrobot designs for a given application requirement.
We use spectral analysis of Eulerian and Lagrangian dynamics to study the advective mixing in an incompressible 2D bounded cavity flow. A significant property of such a rotational flow at high Reynolds numbers is that mixing in its core is slower than wall-adjacent areas and corner eddies. We explain this property by considering the resonance between frequencies of unsteady motion -- captured by the Koopman spectral analysis of the velocity field -- and the circulation frequency of Lagrangian tracers in the mean flow. In high-Reynolds rotational 2D flows, the vorticity in the rotational core i…
The swimming of a circular disk at low Reynolds number is studied for distortion waves along its two planar surfaces with wavelength much smaller than the size of the disk. The calculation is based on an extension of Taylor's work for a planar sheet. It is shown that in general the disk performs both translational and rotational swimming, resulting in a circular orbit.
Explicit expressions are derived for the matrices determining the mean translational and rotational swimming velocities and the mean rate of dissipation for Stokesian swimming at low Reynolds number of a distorting sphere in a viscous incompressible fluid. As an application an efficient helical propeller-type stroke is found and its properties are calculated.
Low-cost coin vibrational motors, used in haptic feedback, exhibit rotational internal motion inside a rigid case. Because the motor case motion exhibits rotational symmetry, when placed into a fluid such as glycerin, the motor does not swim even though its vibrations induce steady streaming in the fluid. However, a piece of rubber foam stuck to the curved case and giving the motor neutral buoyancy also breaks the rotational symmetry allowing it to swim. We measured a 1 cm diameter coin vibrational motor swimming in glycerin at a speed of a body length in 3 seconds or at 3 mm/s. The swim speed…
Translational and rotational swimming at small Reynolds number of a planar assembly of identical spheres immersed in an incompressible viscous fluid is studied on the basis of a set of equations of motion for the individual spheres. The motion of the spheres is caused by actuating forces and forces derived from a direct interaction potential, as well as hydrodynamic forces exerted by the fluid as frictional and added mass hydrodynamic interactions. The translational and rotational swimming velocities of the assembly are deduced from momentum and angular momentum balance equations. The mean pow…
The large Reynolds number asymptotic approximation of the neutral curve of Taylor-Couette flow subject to axial uniform magnetic field is analysed. The flow has been extensively studied since early 90's as the magneto-rotational instability (MRI) occurring in the flow could possibly explain the origin of the instability observed in certain astrophysical objects. Elsewhere the ideal approximation has been used to study high-speed flows, whilst it sometimes produces paradoxical results. For example, ideal flows must be completely stabilised for strong enough applied magnetic field, but on the ot…
The need to develop models to predict the motion of microrobots, or robots of a much smaller scale, moving in fluids in a low Reynolds number regime, and in particular, in non Newtonian fluids, cannot be understated. The article develops a Lagrangian based model for one such mechanism - a two-link mechanism termed a microscallop, moving in a low Reynolds number environment in a non Newtonian fluid. The modelling proceeds through the conventional Lagrangian construction for a two-link mechanism and then goes on to model the external fluid forces using empirically based models for viscosity to c…
Recent experiments have demonstrated that small-scale rotary devices installed in a microfluidic channel can be driven passively by the underlying flow alone without resorting to conventionally applied magnetic or electric fields. In this work, we conduct a theoretical and numerical study on such a flow-driven "watermill" at low Reynolds number, focusing on its hydrodynamic features. We model the watermill by a collection of equally-spaced rigid rods. Based on the classical resistive force (RF) theory and direct numerical simulations, we compute the watermill's instantaneous rotational velocit…
The swimming of an elliptical disk at small Reynolds number is studied on the basis of a perturbative solution of the Navier-Stokes equations for fluid flow near a deformable infinite sheet. A stroke involving an elliptically polarized plane surface wave is studied, in extension of work by Taylor and Tuck. In general the elliptic polarization of the stroke leads to an asymmetry of the flow in the upper and lower half-space. On the basis of results for an infinite sheet expressions for the mean translational and rotational swimming velocity of an elliptical disk of size much larger than the wav…
Flow around two rotating side-by-side circular cylinders of equal diameter D is numerically studied at the Reynolds number Re=40-200 and various rotation rate theta_i. The incoming flow is assumed to be two-dimensional laminar flow. The governing equations are the incompressible Navier-Stokes equations and solved by the finite volume method (FVM). The ratio of the center-to-center spacing to the cylinder diameter is T/D=2. The objective of the present work is to investigate the effect of rotational speed and Reynolds number on the stability of the flow. The simulation results are compared with…
With the continuing rapid development of artificial microrobots and active particles, questions of microswimmer guidance and control are becoming ever more relevant and prevalent. In both the applications and theoretical study of such microscale swimmers, control is often mediated by an engineered property of the swimmer, such as in the case of magnetically propelled microrobots. In this work, we will consider a modality of control that is applicable in more generality, effecting guidance via modulation of a background fluid flow. Here, considering a model swimmer in a commonplace flow and sim…
We study the dynamics of a dilute solution of rigid rodlike polymers in a viscous fluid at low Reynolds number by means of numerical simulations of a simple rheological model. We show that the rotational dynamics of polymers destabilizes the laminar flow and causes the emergence of a turbulent-like chaotic flow with a wide range of active scales. This regime displays an increased flow resistance, corresponding to a reduced mean flow at fixed external forcing, as well as an increased mixing efficiency. The latter effect is quantified by measuring the decay of the variance of a scalar field tran…
The present paper describes a combined experimental and high performance computing study of new specific behaviors of the Strato-Rotational Instability (SRI). The confrontation of low frequency Particle Image Velocimetry (PIV) experimental data with Direct Numerical Simulations reveal new non-linear phenomena and patterns not yet observed in the SRI, that can contribute for our understanding of astrophysical flows, specially regarding phenomena related to accretion disk theories. The experiment designed to investigate these SRI related phenomena consists of a classical Taylor-Couette (TC) syst…
New families of three-dimensional nonlinear travelling waves are discovered in pipe flow. In contrast to known waves (Faisst & Eckhardt Phys. Rev. Lett. 91, 224502 (2003), Wedin & Kerswell, J. Fluid Mech. 508, 333 (2004)), they possess no rotational symmetry and exist at much lower Reynolds numbers. Particularly striking is an `asymmetric mode' which has one slow streak sandwiched between two fast streaks located preferentially to one side of the pipe. This family originates in a pitchfork bifurcation from a mirror-symmetric travelling wave which can be traced down to a Reynolds number of 773.…
Mixing in numerous medical and chemical applications, involving overly long microchannels, can be enhanced by inducing flow instabilities. The channel length, is thus shortened in the inertial microfluidics regime due to the enhanced mixing, thereby rendering the device compact and portable. Motivated by the emerging applications of lab-on-a-CD based compact microfluidic devices, we analyze the linear stability of rotationally actuated microchannel flows commonly deployed for biochemical and biomedical applications. The solution of the coupled system of Orr-Sommerfeld (OS) and Squire (SQ) equa…
Shearing and rotational forces in fluids can significantly alter the transport of momentum.A numerical investigation was undertaken to study the role of these forces using plane Couette flow subject to rotation about an axis perpendicular to both wall-normal and streamwise directions. Using a set of progressively higher Reynolds numbers up to Re = 5200, we find that the torque for a given Re is a non-monotonic function of rotation number, Ro. For low-to-moderate turbulent Reynolds numbers we find a maximum that is associated with flow fields that are dominated by downstream vortices and calcul…
A three-dimensional model of a low-Reynold's swimmer is introduced and analyzed in this paper. This model consists of two large and small spheres connected by two perpendicular thin rods. The geometry of this system is motivated by the microorganisms that use a single tail to swim, the large sphere represents the head of microorganism and the small sphere resembles its tail. Each rod changes its length and orientation in a non-reciprocal manner that effectively propel the system. Translational and rotational velocities of the swimmer are studied for different values of parameters. Our findings…
This work introduces a novel data-driven framework to formulate explicit algebraic Reynolds-averaged Navier-Stokes (RANS) turbulence closures. Recent years have witnessed a blossom in applying machine learning (ML) methods to revolutionize the paradigm of turbulence modeling. However, due to the black-box essence of most ML methods, it is currently hard to extract interpretable information and knowledge from data-driven models. To address this critical limitation, this work leverages deep learning with symbolic regression methods to discover hidden governing equations of Reynolds stress models…
In this thesis, a variable speed heat conducting cylinder is positioned in the middle of a rectangular channel with an active flow modification system to demonstrate a numerical study of steady two-dimensional mixed convention heat transfer phenomena. In the current study, the lower wall has a discrete isoflux heater installed while the upper wall is kept at an isothermal low temperature. The Prandtl number of air passing through the channel is held constant at 0.71 while the Reynolds and Grashof numbers are greatly varied for four different cylinder configurations, including (a) channels with…
Instability of stratified multi-phase flow in a rotating platform becomes important because of a potential role in micro-mixing and micro-machines. Centrifugal actuation can play an important role in driving the flow and Coriolis force can enhance the mixing in a short span by destabilizing the flow. In this study, we focus on the impact of the Coriolis force on a rotating viscosity-stratified flow with a thin diffusive mixed layer between two fluid layers. Modal stability analysis is used to estimate the critical parameters, namely Rotation number, Reynolds number, and wave number, which are …
Helical propulsion is used by many microorganisms to swim in viscous-dominated environments. Their swimming dynamics are relatively well understood, but detailed study of the flow fields and actuation mechanisms are still needed to realize wall effects and hydrodynamic interactions. In this letter, we describe the development of an autonomous swimming robot with a helical tail that operates in the Stokes regime. The device uses a battery-based power system with a miniature motor that imposes a rotational speed to a helical tail. The speed, direction, and activation are controlled electronicall…
A new flamelet model is developed for sub-grid modeling and coupled with the resolved flow for turbulent combustion. The model differs from current models in critical ways. (i) Non-premixed flames, premixed flames, or multi-branched flame structures are determined rather than prescribed. (ii) The effects of shear strain and vorticity are determined. (iii) The strain rates and vorticity applied at the sub-grid level are directly determined from the resolved-scale strain rates and vorticity without a contrived progress variable. (iv) The flamelet model is three-dimensional . (v) The effect of va…
We present experimental and computational results for the orientation distributions of slender fibers and ramified particles settling in an isotropic turbulent flow. The rotational dynamics of the particles is modeled using a slender-body theory that includes the inertial torque due to sedimentation that tends to rotate the particles toward a broadside orientation. The particles are assumed to rotate due to viscous forces associated with the turbulent velocity gradients occurring on the particle length scale. In the simulations, the turbulence is obtained from a stochastic model of the velocit…
This article deals with approximating steady-state particle-resolved fluid flow around a fixed particle of interest under the influence of randomly distributed stationary particles in a dispersed multiphase setup using Convolutional Neural Network (CNN). The considered problem involves rotational symmetry about the mean velocity (streamwise) direction. Thus, this work enforces this symmetry using $\mathbf{\textbf{SE(3)-equivariant}}$, special Euclidean group of dimension 3, CNN architecture, which is translation and three-dimensional rotation equivariant. This study mainly explores the general…
In this article, the hydrodynamic characteristics of Autonomous Underwater Vehicles (AUVs) are investigated and analyzed under the influence of rotating flow fields, that were generated in a recirculating water tank via a rotating propeller. Initially, experiments were carried out for the measurement of flow field variables and Quantities of Interest across the AUV in the presence of the rotating propeller while varying the rotational speed and the extent of rotational flow strength. The flow field across the AUV was measured using an Acoustic Doppler Velocimeter (ADV). These measured turbulen…
We experimentally investigate the effect of geometrical anisotropy for buoyant ellipsoidal particles rising in a still fluid. All other parameters, such as the Galileo number $Ga \approx 6000$ and the particle density ratio $Γ\approx 0.53$ are kept constant. The geometrical aspect ratio, $χ$, of the particle is varied systematically from $χ$ = 0.2 (oblate) to 5 (prolate). Based on tracking all degrees of particle motion, we identify six regimes characterised by distinct rise dynamics. Firstly, for $0.83 \le χ\le 1.20$, increased rotational dynamics are observed and the particle flips over semi…
A three-dimensional nonlinear dynamo process is identified in rotating plane Couette flow in the Keplerian regime. It is analogous to the hydrodynamic self-sustaining process in non-rotating shear flows and relies on the magneto-rotational instability of a toroidal magnetic field. Steady nonlinear solutions are computed numerically for a wide range of magnetic Reynolds numbers but are restricted to low Reynolds numbers. This process may be important to explain the sustenance of coherent fields and turbulent motions in Keplerian accretion disks, where all its basic ingredients are present.
We consider rotating, kinematic dynamos at low magnetic Prandtl number $Pm$. We show that the inclusion of rotation leads to an increase in spatio-temporal coherence and a modification of the turbulent spectrum. These effects make the flow more efficient in driving the dynamo, in the sense that the energy injection rate required to reach the critical value of the magnetic Reynolds number $Rm_c$ is reduced in comparison with a non-rotating dynamo (Seshasayanan et al. 2017). For random dynamos it is known that the growth-rate would largely be determined by the spectral index of the flow at the r…
A number of new closed-form fundamental solutions for the generalized unsteady Oseen and Stokes flows associated with arbitrary time-dependent translational and rotational motions have been developed. These solutions are decomposed into two parts corresponding to a longitudinal wave and a transversal wave. As examples of application, the hydrodynamic force acting on a sphere or on a circular cylinder translating in an unsteady flow field at low Reynolds numbers are calculated using the new generalized fundamental solutions. The results for a rotating viscous flow past an impulsively moving sph…
The vorticity plays an important role in aerodynamics and rotational flow. Usually, they are studied with modified Navier-Stokes equation. This research will deduce the motion equation of vorticity from Navier-Stokes equation. To this propose, the velocity gradient field is decomposed as the stack of non-rotation field and pure-rotation field. By introducing the Chen S+R decomposition, the rotational flow is redefined. For elastic fluid, the research shows that for Newton fluid, the local average rotation always produces an additional pressure on the rotation plane. This item is deterministic …
The radial gradient of the rotation rate in the near-surface shear layer (NSSL) of the Sun is independent of latitude and radius. Theoretical mean-field models have been successful in explaining this property of the solar NSSL, while global direct convection models have been unsuccessful. We investigate reason for this discrepancy by measuring the mean flows, Reynolds stress, and turbulent transport coefficients under NSSL conditions. Simulations have minimal ingredients. These ingredients are inhomogeneity due to boundaries, anisotropic turbulence, and rotation. Parameters of the simulations …
The current understanding of motility through body shape deformation of microorganisms and the knowledge of fluid flows at the microscale provides ample examples for mimicry and design of soft microrobots. In this work, a two-dimensional spiral is presented that is capable of rotating by non-reciprocal curling deformations. The body of the microswimmer is a ribbon consisting of a thermo-responsive hydrogel bilayer with embedded plasmonic gold nanorods. Such a system allows fast local photothermal heating and non-reciprocal bending deformation of the hydrogel bilayer under non-equilibrium condi…
A flow in which a thin film falls due to gravity on the inner surface of a vertical, rotating cylinder is investigated. This is performed using two-dimensional (2D) and three-dimensional (3D) direct numerical simulations, with a volume-of-fluid approach to treat the interface. The problem is parameterised by the Reynolds, Froude, Weber and Ekman numbers. The variation of the Ekman number ($Ek$), defined to be proportional of the rotational speed of the cylinder, has a strong effect on the flow characteristics. Simulations are conducted over a wide range of $Ek$ values ($0 \leq Ek \leq 484$) in…
This paper pioneers the direct numerical simulation (DNS) and physical analysis in supersonic three-temperature carbon dioxide (CO2) turbulent channel flow. CO2 is a linear and symmetric triatomic molecular, with the thermal non-equilibrium three-temperature effects arising from the interactions among translational, rotational and vibrational modes under room temperature. Thus, the rotational and vibrational modes of CO2 are addressed. Thermal non-equilibrium effect of CO2 has been modeled in an extended three-temperature BGK-type model, with the calibrated translational, rotational and vibrat…
Dynamics of the particle phase in a particle laden turbulent flow is highly influenced by the fluctuating velocity and vorticity field of the fluid phase. The present work mainly focuses on exploring the possibility of applying a Langevin type of random torque model to predict the rotational dynamics of the particle phase. Towards this objective, direct numerical simulations (DNS) have been carried out for particle laden turbulent shear flow with Reynolds number, $Re_δ=750$ in presence of sub-Kolmogorov sized inertial particles (Stokes number >>1). The inter-particle and wall-particle interact…
Instability mechanism based on Coriolis force, on a rapidly rotating portable device handling shear thinning fluids such as blood, is of utmost importance for eventual detection of diseases by mixing with the suitable reagents. Motivated by this proposition, the present study renders a modal stability analysis of shear thinning fluids in a rotating microchannel modelled by the Carreau rheological law. When a microchannel is engraved a rotating compact disc (CD) based device, the centrifugal force acts as the driving force that actuates the flow and the Coriolis force enhances the mixing proces…
The intention of the ''von Karman sodium'' (VKS) experiment is to study the hydromagnetic dynamo effect in a highly turbulent and unconstrained flow. Much effort has been devoted to the optimization of the mean flow and the lateral boundary conditions in order to minimize the critical magnetic Reynolds number and hence the necessary motor power. The main focus of this paper lies on the role of ''lid layers'', i.e. layers of liquid sodium between the impellers and the end walls of the cylinder. First, we study an analytical test flow to show that lid layers can have an ambivalent effect on the …
Angular momentum of spinning bodies leads to their remarkable interactions with fields, waves, fluids, and solids. Orbiting celestial bodies, balls in sports, liquid droplets above a hot plate, nanoparticles in optical fields, and spinning quantum particles exhibit nontrivial rotational dynamics. Here, we report self-guided propulsion of magnetic fast-spinning particles on a liquid surface in the presence of a solid boundary. Above some critical spinning frequency (higher rotational Reynolds numbers), such particles generate localized 3D vortices and form composite 'spinner-vortex' quasi-parti…
We analyze the stability of a cylindrical Couette flow under the imposition of a weak axial flow in case of a very short cylinder with a narrow annulus gap. We consider an incompressible viscous fluid which is contained in the narrow gap between two concentric short cylinders, where the inner cylinder rotates with constant angular velocity. The caps of the cylinders have narrow tubes conically tapering to super narrow slits which allow for an axial flow along the surface of the inner cylinder. The approximated solution for the Couette flow for short cylinders was found and used for the stabili…
We investigate the optimal shapes of the hydrodynamic resistance of a rigid body set in motion in a Stokes flow. In this low Reynolds number regime, the hydrodynamic drag properties of an object are encoded in a finite number of parameters contained in the grand resistance tensor. Considering these parameters as objective functions to be optimised, we use calculus of variations techniques to derive a general shape derivative formula, allowing to specify how to deform the body shape to improve the objective value of any given resistance tensor entry. We then describe a practical algorithm for n…
